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139 lines
4.0 KiB
Python
139 lines
4.0 KiB
Python
import logging
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import struct
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import time
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from pylegoboost.constants import *
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log = logging.getLogger('movehub')
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class MoveHub(object):
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"""
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:type connection: pylegoboost.comms.Connection
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:type led: LED
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"""
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def __init__(self, connection):
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self.notified = False
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self.connection = connection
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self.led = LED(self)
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self.motor_A = EncodedMotor(self, PORT_A)
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self.motor_B = EncodedMotor(self, PORT_B)
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self.motor_AB = EncodedMotor(self, PORT_AB)
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# self.button
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# self.tilt_sensor
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# enables notifications reading
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self.connection.set_notify_handler(self._notify)
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self.connection.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
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# while not self.notified:
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# log.debug("Waiting to be notified")
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# time.sleep(1)
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# self.port_C = None
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# self.port_D = None
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# transport.write(MOVE_HUB_HARDWARE_HANDLE, b'\x0a\x00\x41\x01\x08\x01\x00\x00\x00\x01')
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def _notify(self, handle, data):
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# TODO
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log.debug("Notification on %s: %s", handle, data.encode("hex"))
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def get_name(self):
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# note: reading this too fast makes it hang
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self.connection.read(DEVICE_NAME)
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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):
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super(Peripheral, self).__init__()
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self.parent = parent
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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 = CMD_SET_COLOR + chr(color)
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self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, cmd)
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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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PACKET_VER = b'\x01'
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SET_PORT_VAL = b'\x81'
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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)
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if port not in PORTS:
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raise ValueError("Invalid port for motor: %s" % port)
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self.port = 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.SET_PORT_VAL + chr(self.port) + self.MOVEMENT_TYPE + command
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command += chr(self._speed_abs(speed_primary))
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if self.port == PORT_AB:
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command += chr(self._speed_abs(speed_secondary))
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command += self.TRAILER
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self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, chr(len(command) + 1) + self.PACKET_VER + 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 > 255 * 255:
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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 ColorDistanceSensor(Peripheral):
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pass
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