[tuxdroid-svn] r368 - api/python/trunk
Status: Beta
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[tuxdroid-svn] r368 - api/python/trunk
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From: jaguarondi <c2m...@c2...> - 2007-06-11 16:27:18
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Author: jaguarondi
Date: 2007-06-11 18:27:12 +0200 (Mon, 11 Jun 2007)
New Revision: 368
Modified:
api/python/trunk/tuxapi_class.py
api/python/trunk/tuxapi_const.py
Log:
* Added all connection commands in the python api. There's still some firmware
* issues that should be fixed before we can test them thoroughly.
Modified: api/python/trunk/tuxapi_class.py
===================================================================
--- api/python/trunk/tuxapi_class.py 2007-06-11 16:07:01 UTC (rev 367)
+++ api/python/trunk/tuxapi_class.py 2007-06-11 16:27:12 UTC (rev 368)
@@ -37,6 +37,7 @@
#==============================================================================
api_version ="0.2.2"
+TCPIP_FRAME_LENGTH = 16
#==============================================================================
# TUXTCPCommunicator class
@@ -54,6 +55,7 @@
functions
"status" as class : Class which manages the request of a
status
+ "connect" as class : Class which manages connection functions
"sys" as class : Class which manages the system functions
"tts" as class : Class which manages the text to speech
@@ -93,6 +95,7 @@
self.tcp_data_fifo_event_mutex = threading.Lock()
self.event=TUXevent(self)
self.cmd=TUXcmd(self)
+ self.connect=TUXconnect(self)
self.sys=TUXsys(self)
self.daemon=TUXdaemon(self)
self.sdaemon=self.daemon
@@ -458,7 +461,180 @@
"""
self.daemon.disconnect()
+#==============================================================================
+# TUXTCPCommunicator - connect - class
+#==============================================================================
+class TUXconnect(object):
+ """Class which manages connection functions
+ """
+ #--------------------------------------------------------------------------
+ # Constructor of the class
+ #--------------------------------------------------------------------------
+ def __init__(self,parent):
+ """
+ Constructor of the class
+ """
+ self.parent=parent
+
+ #--------------------------------------------------------------------------
+ # Send a connection command and wait for the result
+ #--------------------------------------------------------------------------
+ def tux_connection(self, connection_command, connection_args=[]):
+ """
+ """
+ if not self.parent.daemon.connected:
+ return 0
+ data=[DEST_TUX, SD_DEFAULT, USB_CONNECTION_CMD, 0, connection_command]
+ data.extend(connection_args)
+ if len(data) > TCPIP_FRAME_LENGTH:
+ return False
+ # Fill up the end of the frame with 0
+ data.extend([0] * (TCPIP_FRAME_LENGTH - len(data)))
+ self.parent.sock.send("".join( [chr(x) for x in data] ))
+ return self.parent.status.rsp_status(connection_command, timeout=5)
+
+ #--------------------------------------------------------------------------
+ # Disconnect from tux
+ #--------------------------------------------------------------------------
+ def disconnect_from_tux(self):
+ """Disconnect from tux
+ """
+ ack_frame = self.tux_connection(TUX_CONNECTION_DISCONNECT)
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+ #--------------------------------------------------------------------------
+ # Connect to a tux by its ID
+ #--------------------------------------------------------------------------
+ def connect_to_tux(self, id):
+ """Connect to a tux by its ID
+ """
+ # 0 is an invalid id and 0xFFFF is reserved
+ assert 0 < id < 0xFFFF
+ id_msb = id >> 8
+ id_lsb = id & 0xFF
+ ack_frame = self.tux_connection(TUX_CONNECTION_CONNECT,
+ [id_msb, id_lsb])
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+ #--------------------------------------------------------------------------
+ # Connect to the first tux discovered
+ #--------------------------------------------------------------------------
+ def random_connect_to_tux(self):
+ """Connect to the first tux discovered
+
+ Catch any disconnected tux, request it's ID and connect to it.
+
+ """
+ ack_frame = self.tux_connection(TUX_CONNECTION_RANDOM)
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+ #--------------------------------------------------------------------------
+ # Get the ID of the first disconnected tux which is discoverred
+ #--------------------------------------------------------------------------
+ def id_request(self):
+ """Get the ID of tux currently connected
+ """
+ ack_frame = self.tux_connection(TUX_CONNECTION_ID_REQUEST)
+ if ack_frame and ord(ack_frame[5]) == TUX_CONNECTION_ACK:
+ return (ord(ack_frame[6])*256) + ord(ack_frame[7])
+
+ return False
+
+ #--------------------------------------------------------------------------
+ # Get the ID of the first disconnected tux which is discoverred
+ #--------------------------------------------------------------------------
+ def id_lookup(self):
+ """Get the ID of the first disconnected tux which is discoverred
+
+ The first disconnected tux that will detect this command will reply
+ with it's ID and disconnect immediately. You can then connect to
+ that tux with the ID you just got.
+
+ In order to get the ID's of more than one disconnected tux, you have
+ to issue this command multiple times until you don't get any new ID.
+ """
+ ack_frame = self.tux_connection(TUX_CONNECTION_ID_LOOKUP)
+ if ack_frame and ord(ack_frame[5]) == TUX_CONNECTION_ACK:
+ return (ord(ack_frame[6])*256) + ord(ack_frame[7])
+
+ return False
+
+ #--------------------------------------------------------------------------
+ # Changes the ID of a disconnected tux
+ #--------------------------------------------------------------------------
+ def change_id(self, id):
+ """Changes the ID of a disconnected tux
+
+ You have to push on the head button of tux for XXX seconds while
+ sending this command in order to validate the ID change request, this
+ in order to avoid stealing a tux too easily.
+ """
+ assert 0 < id < 0xFFFF
+ id_msb = id >> 8
+ id_lsb = id % 256
+ ack_frame = self.tux_connection(TUX_CONNECTION_CHANGE_ID,
+ [id_msb, id_lsb])
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+ #--------------------------------------------------------------------------
+ # Set tux in sleep mode
+ #--------------------------------------------------------------------------
+ def sleep(self):
+ """Set tux in sleep mode
+ """
+ ack_frame = self.tux_connection(TUX_CONNECTION_SLEEP)
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+ #--------------------------------------------------------------------------
+ # Wake-up a tux if it's in sleep mode.
+ #--------------------------------------------------------------------------
+ def wakeup(self, id):
+ """Wake-up a tux if it's in sleep mode.
+ """
+ assert 0 < id < 0xFFFF
+ id_msb = id >> 8
+ id_lsb = id % 256
+ ack_frame = self.tux_connection(TUX_CONNECTION_WAKEUP,
+ [id_msb, id_lsb])
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+ #--------------------------------------------------------------------------
+ # Configure the RF module to avoid a given wifi channel
+ #--------------------------------------------------------------------------
+ def avoid_wifi(self, channel):
+ """Configure the RF module to avoid a given wifi channel
+
+ Channels from 1 to 14 are valid wifi channels. Set the wifi channel to
+ 0 to disable channel avoidance and use the complete range of
+ frequencies.
+ """
+ ack_frame = self.tux_connection(TUX_CONNECTION_WIRELESS_CHANNEL,
+ [channel])
+ if not ack_frame or ord(ack_frame[5]) != TUX_CONNECTION_ACK:
+ return False
+
+ return True
+
+
#==============================================================================
# TUXTCPCommunicator - sys - class
#==============================================================================
@@ -2273,7 +2449,7 @@
#--------------------------------------------------------------------------
# wait a specified response status
#--------------------------------------------------------------------------
- def rsp_status(self,DATA_STATUS):
+ def rsp_status(self, DATA_STATUS, timeout=2):
"""
Not a user function
"""
@@ -2292,7 +2468,7 @@
self.parent._insert_lock_in_list(data_to_match_list,cond_lock_mutex,returned_data)
# wait the lock has unblocked. With a time-out
cond_lock_mutex.acquire()
- cond_lock_mutex.wait(2)
+ cond_lock_mutex.wait(timeout)
cond_lock_mutex.release()
# returns
if len(returned_data) == 0:
Modified: api/python/trunk/tuxapi_const.py
===================================================================
--- api/python/trunk/tuxapi_const.py 2007-06-11 16:07:01 UTC (rev 367)
+++ api/python/trunk/tuxapi_const.py 2007-06-11 16:27:12 UTC (rev 368)
@@ -157,6 +157,22 @@
DATAS_STATUS_SOUND_COUNT = 0x23
DATAS_STATUS_PONG = 0x24
+# Tux connection commands
+TUX_CONNECTION_DISCONNECT = 1
+TUX_CONNECTION_CONNECT = 2
+TUX_CONNECTION_RANDOM = 3
+TUX_CONNECTION_ID_REQUEST = 4
+TUX_CONNECTION_ID_LOOKUP = 5
+TUX_CONNECTION_CHANGE_ID = 6
+TUX_CONNECTION_SLEEP = 7
+TUX_CONNECTION_WAKEUP = 8
+TUX_CONNECTION_WIRELESS_CHANNEL = 9
+
+# Tux connection command ack
+TUX_CONNECTION_NACK = 0
+TUX_CONNECTION_ACK = 1
+TUX_CONNECTION_NOTFOUND = 2
+
# Datas TuxDroid
DATAS_STATUS_DONGLE = 0x00
DATAS_STATUS_RF = 0x01
@@ -189,6 +205,7 @@
DATA_TP_RSP = 0x03
DATA_TP_ACK_CMD = 0x04
DATA_TP_ACK_DP = 0x05
+USB_CONNECTION_CMD = 0x06
# Sub data types
SUBDATA_TP_RAW = 0x01
SUBDATA_TP_STRUCT = 0x02
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