mirror of
https://github.com/undera/pylgbst.git
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254 lines
8.9 KiB
Python
254 lines
8.9 KiB
Python
import logging
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import struct
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import time
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from pylgbst import get_byte, int2byte, str2hex
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from pylgbst.constants import *
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log = logging.getLogger('peripherals')
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class Peripheral(object):
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"""
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:type parent: MoveHub
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"""
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def __init__(self, parent, port):
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"""
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:type parent: pylgbst.MoveHub
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:type port: int
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"""
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super(Peripheral, self).__init__()
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self.parent = parent
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self.port = port
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self.working = False
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self._subscribers = set()
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def __repr__(self):
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return "%s on port %s" % (self.__class__.__name__, PORTS[self.port] if self.port in PORTS else 'N/A')
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def _write_to_hub(self, msg_type, params):
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cmd = int2byte(PACKET_VER) + int2byte(msg_type) + int2byte(self.port)
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cmd += params
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self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE,
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int2byte(len(cmd) + 1) + cmd) # should we +1 cmd len here?
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def started(self):
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self.working = True
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def finished(self):
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self.working = False
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def _notify_subscribers(self, *args, **kwargs):
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for subscriber in self._subscribers:
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subscriber(*args, **kwargs)
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def handle_sensor_data(self, data):
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log.warning("Unhandled device notification for %s: %s", self, str2hex(data))
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class LED(Peripheral):
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def set_color(self, color):
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if color not in COLORS:
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raise ValueError("Color %s is not in list of available colors" % color)
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cmd = b'\x01\x51\x00' + int2byte(color)
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self._write_to_hub(MSG_SET_PORT_VAL, cmd)
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def finished(self):
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super(LED, self).finished()
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log.debug("LED has changed color")
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class EncodedMotor(Peripheral):
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TRAILER = b'\x64\x7f\x03' # NOTE: \x64 is 100, might mean something
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MOVEMENT_TYPE = b'\x11'
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TIMED_SINGLE = b'\x09'
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TIMED_GROUP = b'\x0A'
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ANGLED_SINGLE = b'\x0B'
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ANGLED_GROUP = b'\x0C'
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def __init__(self, parent, port):
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super(EncodedMotor, self).__init__(parent, port)
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if port not in [PORT_A, PORT_B, PORT_AB, PORT_C, PORT_D]:
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raise ValueError("Invalid port for motor: %s" % port)
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def _speed_abs(self, relative):
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if relative < -1 or relative > 1:
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raise ValueError("Invalid speed value: %s", relative)
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absolute = round(relative * 100)
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if absolute < 0:
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absolute += 255
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return int(absolute)
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def _wrap_and_write(self, command, speed_primary, speed_secondary):
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# set for port
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command = self.MOVEMENT_TYPE + command
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command += int2byte(self._speed_abs(speed_primary))
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if self.port == PORT_AB:
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command += int2byte(self._speed_abs(speed_secondary))
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command += self.TRAILER
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self._write_to_hub(MSG_SET_PORT_VAL, command)
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def timed(self, seconds, speed_primary=1, speed_secondary=None, async=False):
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if speed_secondary is None:
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speed_secondary = speed_primary
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# movement type
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command = self.TIMED_GROUP if self.port == PORT_AB else self.TIMED_SINGLE
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# time
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msec = int(seconds * 1000)
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if msec >= pow(2, 16):
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raise ValueError("Too large value for seconds: %s", seconds)
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command += struct.pack('<H', msec)
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self._wrap_and_write(command, speed_primary, speed_secondary)
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if not async:
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time.sleep(seconds)
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def angled(self, angle, speed_primary=1, speed_secondary=None):
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if speed_secondary is None:
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speed_secondary = speed_primary
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# movement type
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command = self.ANGLED_GROUP if self.port == PORT_AB else self.ANGLED_SINGLE
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# angle
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command += struct.pack('<I', angle)
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self._wrap_and_write(command, speed_primary, speed_secondary)
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# TODO: how to tell when motor has stopped?
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class TiltSensor(Peripheral):
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TRAILER = b'\x00\x00\x00'
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def __init__(self, parent, port):
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super(TiltSensor, self).__init__(parent, port)
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self.mode = None
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def subscribe(self, callback, mode=TILT_SENSOR_MODE_BASIC, granularity=1):
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self.mode = mode
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params = int2byte(self.mode)
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params += int2byte(granularity)
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params += self.TRAILER
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params += int2byte(1) # enable
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self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
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self._subscribers.add(callback)
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def unsubscribe(self, callback=None):
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if callback in self._subscribers:
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self._subscribers.remove(callback)
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if not self._subscribers:
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self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + b'\x00\x00\x00' + int2byte(0))
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self.mode = None
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def handle_sensor_data(self, data):
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if self.mode == TILT_SENSOR_MODE_BASIC:
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state = get_byte(data, 4)
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self._notify_subscribers(state)
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elif self.mode == TILT_SENSOR_MODE_2AXIS_SIMPLE:
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# TODO: figure out right interpreting of this
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state = get_byte(data, 4)
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self._notify_subscribers(state)
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elif self.mode == TILT_SENSOR_MODE_BUMP:
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bump_count = get_byte(data, 4)
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self._notify_subscribers(bump_count)
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elif self.mode == TILT_SENSOR_MODE_2AXIS_FULL:
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roll = self._byte2deg(get_byte(data, 4))
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pitch = self._byte2deg(get_byte(data, 5))
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self._notify_subscribers(roll, pitch)
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elif self.mode == TILT_SENSOR_MODE_FULL:
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roll = self._byte2deg(get_byte(data, 4))
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pitch = self._byte2deg(get_byte(data, 5))
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yaw = self._byte2deg(get_byte(data, 6)) # did I get the order right?
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self._notify_subscribers(roll, pitch, yaw)
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else:
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log.debug("Got tilt sensor data while in unexpected mode: %s", self.mode)
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def _byte2deg(self, val):
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if val > 90:
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return val - 256
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else:
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return val
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class ColorDistanceSensor(Peripheral):
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def __init__(self, parent, port):
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super(ColorDistanceSensor, self).__init__(parent, port)
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self.mode = None
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def subscribe(self, callback, mode=CDS_MODE_COLOR_DISTANCE_INCHES_SUBINCHES, granularity=1):
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self.mode = mode
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params = int2byte(mode)
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params += int2byte(granularity)
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params += b'\x00\x00\x00'
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params += int2byte(1) # enable
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self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
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self._subscribers.add(callback)
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def unsubscribe(self, callback=None):
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if callback in self._subscribers:
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self._subscribers.remove(callback)
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if not self._subscribers:
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self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + b'\x01\x00\x00\x00' + int2byte(0))
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self.mode = None
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def handle_sensor_data(self, data):
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if self.mode == CDS_MODE_COLOR_DISTANCE_INCHES_SUBINCHES:
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color = get_byte(data, 4)
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distance = get_byte(data, 5)
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partial = get_byte(data, 7)
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if partial:
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distance += 1.0 / partial
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self._notify_subscribers(color if color != 0xFF else None, float(distance))
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elif self.mode == CDS_MODE_COLOR_ONLY:
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color = get_byte(data, 4)
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self._notify_subscribers(color if color != 0xFF else None)
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elif self.mode == CDS_MODE_DISTANCE_INCHES:
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distance = get_byte(data, 4)
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self._notify_subscribers(float(distance))
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elif self.mode == CDS_MODE_DISTANCE_HOW_CLOSE:
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distance = get_byte(data, 4)
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self._notify_subscribers(float(distance))
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elif self.mode == CDS_MODE_DISTANCE_SUBINCH_HOW_CLOSE:
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distance = get_byte(data, 4)
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self._notify_subscribers(float(distance))
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elif self.mode == CDS_MODE_OFF1 or self.mode == CDS_MODE_OFF2:
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log.info("Turned off led on %s", self)
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elif self.mode == CDS_MODE_COUNT_2INCH:
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count = struct.unpack("<L", data[4:8])[0] # is it all 4 bytes or just 2?
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self._notify_subscribers(count)
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elif self.mode == CDS_MODE_STREAM_3_VALUES:
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# TODO: understand better meaning of these 3 values
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val1 = struct.unpack("<H", data[4:6])[0]
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val2 = struct.unpack("<H", data[6:8])[0]
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val3 = struct.unpack("<H", data[8:10])[0]
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self._notify_subscribers(val1, val2, val3)
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elif self.mode == CDS_MODE_LUMINOSITY:
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luminosity = struct.unpack("<H", data[4:6])[0]
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self._notify_subscribers(luminosity)
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else: # TODO: support whatever we forgot
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log.warning("Unhandled data in mode %s: %s", self.mode, str2hex(data))
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# 0a00 41 01 01 enable
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class Button(Peripheral):
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def __init__(self, parent):
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super(Button, self).__init__(parent, 0)
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LISTEN_ENCODER_ON_A = b' \x0a\x00 \x41\x37 \x02\x01\x00\x00\x00\x01'
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LISTEN_ENCODER_ON_B = b' \x0a\x00 \x41\x38 \x02\x01\x00\x00\x00\x01'
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LISTEN_ENCODER_ON_C = b' \x0a\x00 \x41\x01 \x02\x01\x00\x00\x00\x01'
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LISTEN_ENCODER_ON_D = b' \x0a\x00 \x41\x02 \x02\x01\x00\x00\x00\x01'
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