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Code Issues Releases Wiki Activity

Handle port status notification

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This commit is contained in:
Andrey Pohilko 2017-09-13 20:34:34 +03:00
parent e2fe66ac2d
commit 3390e5243c
4 changed files with 44 additions and 8 deletions
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17
demo.py
View File

@ -28,7 +28,7 @@ def demo_motors_timed(movehub):
log.info("Motors movement demo: timed")
for level in range(0, 101, 5):
level /= 100.0
log.info("Speed level: %s%%", level)
log.info("Speed level: %s%%", level * 100)
movehub.motor_A.timed(0.2, level)
movehub.motor_B.timed(0.2, -level)
movehub.motor_AB.timed(1.5, -0.2, 0.2)
@ -54,16 +54,23 @@ def demo_motors_angled(movehub):
def demo_port_cd_motor(movehub):
motor = None
if isinstance(movehub.port_D, EncodedMotor):
log.info("Rotation motor is on port D")
motor = movehub.port_D
elif isinstance(movehub.port_C, EncodedMotor):
motor = movehub.port_D
log.info("Rotation motor is on port C")
motor = movehub.port_C
else:
log.warning("Motor not found on ports C or D")
if motor:
motor.angled(20, 1)
motor.angled(20, 0.2)
sleep(3)
motor.angled(20, -0.2)
sleep(1)
motor.angled(20, -1)
motor.angled(20, -0.1)
sleep(2)
motor.angled(20, 0.1)
sleep(1)
@ -94,6 +101,6 @@ if __name__ == '__main__':
sleep(1)
# hub.get_name()
demo_port_cd_motor(hub)
# demo_all(hub)
#demo_all(hub)
# demo_led_colors(hub)
sleep(1)

26
pylegoboost/__init__.py
View File

@ -57,11 +57,26 @@ class MoveHub(object):
if msg_type == MSG_PORT_INFO:
self._handle_port_info(data)
elif msg_type == MSG_PORT_STATUS:
self._handle_port_status(data)
else:
log.warning("Unhandled msg type %s: %s", msg_type, orig.encode("hex"))
log.warning("Unhandled msg type 0x%x: %s", msg_type, orig.encode("hex"))
pass
def _handle_port_status(self, data):
port = ord(data[3])
status = ord(data[4])
if status == STATUS_STARTED:
self.devices[port].started()
elif status == STATUS_FINISHED:
self.devices[port].finished()
elif status == STATUS_CONFLICT:
log.warning("Command conflict on port %s", PORTS[port])
else:
log.warning("Unhandled status value: 0x%x", status)
def _handle_port_info(self, data):
port = ord(data[3])
dev_type = ord(data[5])
@ -69,7 +84,7 @@ class MoveHub(object):
if port in PORTS and dev_type in DEVICE_TYPES:
log.debug("Device %s at port %s", DEVICE_TYPES[dev_type], PORTS[port])
else:
log.debug("Device 0x%x at port 0x%x", dev_type, port)
log.warning("Device 0x%x at port 0x%x", dev_type, port)
if dev_type == TYPE_MOTOR:
self.devices[port] = EncodedMotor(self, port)
@ -114,6 +129,7 @@ class Peripheral(object):
super(Peripheral, self).__init__()
self.parent = parent
self.port = port
self.working = False
def _set_port_val(self, value):
cmd = self.PACKET_VER + self.SET_PORT_VAL + chr(self.port)
@ -121,6 +137,12 @@ class Peripheral(object):
self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, chr(len(cmd)) + cmd)
def started(self):
self.working = True
def finished(self):
self.working = False
class LED(Peripheral):
def set_color(self, color):

5
pylegoboost/constants.py
View File

@ -58,6 +58,7 @@ PORTS = {
# NOTIFICATIONS
MSG_PORT_INFO = 0x04
MSG_PORT_STATUS = 0x82
TYPE_DISTANCE_COLOR_SENSOR = 0x25
TYPE_IMOTOR = 0x26
@ -77,3 +78,7 @@ DEVICE_TYPES = {
TYPE_SOMETHING1: "UNK1",
TYPE_SOMETHING2: "UNK2",
}
STATUS_STARTED = 0x01
STATUS_CONFLICT = 0x05
STATUS_FINISHED = 0x0a

4
test.py
View File

@ -62,8 +62,10 @@ class GeneralTest(unittest.TestCase):
conn.notifications.append((14, '1b0e00 0f00 04 3a 0128000000000100000001'))
conn.notifications.append((14, '1b0e00 0f00 04 3b 0115000200000002000000'))
conn.notifications.append((14, '1b0e00 0f00 04 3c 0114000200000002000000'))
conn.notifications.append((14, '1b0e00 0f00 8202 01'))
conn.notifications.append((14, '1b0e00 0f00 8202 0a'))
time.sleep(1)
demo_all(hub)
#demo_all(hub)
conn.running = False
while not conn.finished: