[tuxdroid-svn] r797 - in api/python/branches: . 0.2 0.2/trunk
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[tuxdroid-svn] r797 - in api/python/branches: . 0.2 0.2/trunk
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From: remi <c2m...@c2...> - 2007-12-14 13:34:46
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Author: remi Date: 2007-12-14 14:34:39 +0100 (Fri, 14 Dec 2007) New Revision: 797 Added: api/python/branches/0.2/ api/python/branches/0.2/branches/ api/python/branches/0.2/tags/ api/python/branches/0.2/trunk/ api/python/branches/0.2/trunk/AUTHORS api/python/branches/0.2/trunk/CHANGES api/python/branches/0.2/trunk/COPYING api/python/branches/0.2/trunk/README api/python/branches/0.2/trunk/TODO api/python/branches/0.2/trunk/tux.py api/python/branches/0.2/trunk/tuxapi_class.py api/python/branches/0.2/trunk/tuxapi_const.py api/python/branches/0.2/trunk/tuxapi_wav_merger.py Log: ADD: python api 0.2.X branche Added: api/python/branches/0.2/trunk/AUTHORS =================================================================== --- api/python/branches/0.2/trunk/AUTHORS (rev 0) +++ api/python/branches/0.2/trunk/AUTHORS 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,7 @@ +$Id: $ + +Tux python API was written by: + + R Jocaille <rem...@c2...> + +Contributors: Added: api/python/branches/0.2/trunk/CHANGES =================================================================== --- api/python/branches/0.2/trunk/CHANGES (rev 0) +++ api/python/branches/0.2/trunk/CHANGES 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,40 @@ +$Id: CHANGES 317 2007-05-12 11:57:43Z jaguarondi $ + +Approximate change log by version. + +(For more detailed changes, see svn log.) + +---------------------------------------------------------------------- +Current: + +Version 0.2.0: + + * The api was completely remade. I Kept the changes made by Neimad lately. + Sorry for this brutal update. + * I have implemented the 'join()' suggestion from Damien for the threads too. + Consequently, this api is not fully compatible with the last one. + * A documentation system based on the docstring has been implemented and you + can build this with the function 'tux.misc.build_documentation'. + See 'tux.misc.doc(tux.misc.build_documentation)'. + See 'tux.misc.doc(tux)' too + +Version 0.1.2: + + * Alsa tux card device name is now constructed by the api for example, + it is used for playing a sound with "aplay" + * Fixed a typo in api/python/trunk/tuxapi_class.py + * New boolean variable "print_warnings" has been added for print or not + of the warning messages. + * print_api_version() command has been moved. + +Version 0.1.1: + + * Added a limitation of the wav file to store the sounds in the local flash to 70 seconds. + * New functions and events are added. + * Minor modifications. + +Version 0.1.0: + + * Initial public release. + Most functions are implmeneted and should work with tuxdaemon 0.2.0 + Added: api/python/branches/0.2/trunk/COPYING =================================================================== --- api/python/branches/0.2/trunk/COPYING (rev 0) +++ api/python/branches/0.2/trunk/COPYING 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc. + 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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Added: api/python/branches/0.2/trunk/README =================================================================== --- api/python/branches/0.2/trunk/README (rev 0) +++ api/python/branches/0.2/trunk/README 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,19 @@ +$Id: README 118 2007-03-01 16:26:31Z jaguarondi $ + +Tux Droid Python API +This is the Python API that can be used to communicate with the Tux Droid +daemon. + +To install it, you only need to copy it to: + + /opt/tuxdroid/api/python/ + + Check this how-to for more information on the installation of the daemon and the API: + + http://www.tuxisalive.com/documentation/how-to/daemon-and-api-setup + +For all information about tuxdroid, please visit: + + http://www.tuxisalive.com + + Added: api/python/branches/0.2/trunk/TODO =================================================================== --- api/python/branches/0.2/trunk/TODO (rev 0) +++ api/python/branches/0.2/trunk/TODO 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,6 @@ +$Id: TODO 164 2007-03-14 14:36:16Z jaguarondi $ + +- Add documentation with Doxygen or something more adapted to python. + +- Create a regular python package/module out of this API. + Added: api/python/branches/0.2/trunk/tux.py =================================================================== --- api/python/branches/0.2/trunk/tux.py (rev 0) +++ api/python/branches/0.2/trunk/tux.py 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,41 @@ +#!/usr/bin/python +# -*- coding: latin-1 -*- + +import sys +from tuxapi_const import * +import tuxapi_class +import tuxapi_wav_merger +import signal +import atexit + +global tux + +# If run as main, print version banner. Otherwise, keep quiet. +if __name__ == "__main__": + misc = tuxapi_class.TUXmisc(None) + misc.print_api_version() + del misc + # Trick to detect whether python is in interactive mode + if not 'readline' in sys.modules: + print "For interactive use, run: python -i tux.py" + sys.exit(0) + +tux=tuxapi_class.TUXTCPCommunicator() +wavs=tuxapi_wav_merger.WavMerger(tux) +tux.daemon.connect() +tux.tts.connect() +tux.daemon.set_my_client_name("Py Client") +tux.print_warnings=True +tux.daemon.auto_connect(True) +tux.tts.auto_connect(True) + +def exit(signum,frame): + sys.exit(signum) + +def my_exitfunct(): + tux.destroy() + +signal.signal(signal.SIGTERM, exit) +signal.signal(signal.SIGINT, exit) +atexit.register(my_exitfunct) + Added: api/python/branches/0.2/trunk/tuxapi_class.py =================================================================== --- api/python/branches/0.2/trunk/tuxapi_class.py (rev 0) +++ api/python/branches/0.2/trunk/tuxapi_class.py 2007-12-14 13:34:39 UTC (rev 797) @@ -0,0 +1,5717 @@ +#!/usr/bin/python + +# ----------------------------------------------------------------------------- +# Tux Droid - API Class +# Copyright (C) 2007 C2ME Sa <rem...@c2...> +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2, or (at your option) +# any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA +# 02111-1307, USA. +# ----------------------------------------------------------------------------- +# $Id: tuxapi_class.py 192 2007-03-22 14:25:37Z remi $ +# ----------------------------------------------------------------------------- + +import sys +import os +import time +import socket +import thread +import threading +import string +import signal +import subprocess +import math +from tuxapi_const import * +from copy import deepcopy + +#============================================================================== +# Constants +#============================================================================== + +api_version ="0.2.3 (SVN/UNRELEASED)" +TCPIP_FRAME_LENGTH = 16 + +#============================================================================== +# EventControl - class +#============================================================================== +class EventControl(object): + + def __init__(self): + self.__funct_ptr_list = [] + self.__fifo_list = [] + self.__list_mutex = threading.Lock() + self.__threads_list = [] + + def destroy(self): + for my_thread in self.__threads_list: + if my_thread.isAlive(): + my_thread.join() + + def connect(self, funct_ptr): + self.__list_mutex.acquire() + idx = len(self.__funct_ptr_list) + self.__funct_ptr_list.append(funct_ptr) + self.__list_mutex.release() + return idx + + def push(self): + self.__list_mutex.acquire() + self.__fifo_list.append(self.__funct_ptr_list) + self.__list_mutex.release() + self.clear() + + def pop(self): + if len(self.__fifo_list) > 0: + self.__list_mutex.acquire() + self.__funct_ptr_list = self.__fifo_list.pop() + self.__list_mutex.release() + + def clear(self): + self.__list_mutex.acquire() + self.__funct_ptr_list = [] + self.__list_mutex.release() + + def disconnect(self, idx): + self.__list_mutex.acquire() + self.__funct_ptr_list[idx] = None + self.__list_mutex.release() + + def __refresh_threads_list(self): + nl = [] + for t in self.__threads_list: + if t.isAlive(): + nl.append(t) + self.__threads_list = nl + + def __run(self, funct_ptr, idx, fargs): + try: + funct_ptr(*fargs) + except: + self.__list_mutex.acquire() + self.__funct_ptr_list[idx] == None + self.__list_mutex.release() + + def notify(self, *fargs): + self.__list_mutex.acquire() + if len(self.__funct_ptr_list) == 0: + self.__list_mutex.release() + return + try: + funct_ptr_list = self.__funct_ptr_list + except: + self.__list_mutex.release() + return + self.__list_mutex.release() + for idx, funct_ptr in enumerate(funct_ptr_list): + if funct_ptr != None: + self.__refresh_threads_list() + t=threading.Thread(target=self.__run, args=(funct_ptr, idx, fargs)) + t.setName('EventControl') + t.start() + self.__threads_list.append(t) + +#============================================================================== +# TUXTCPCommunicator class +#============================================================================== +class TUXTCPCommunicator(object): + """ + Main class of tux object + + Sub class of this class: + "cmd" as class : Class which manages the tux commands + "connect" as class : Class which manages connection functions + "daemon" as class : Class which manages the daemon commands + "event" as class : Class which manages the events + "hw" as class : Class which manages the tux hardware + "micro" as class : Class which manages the microphone functions + "misc" as class : Class which manages the miscellaneous + functions + "monitoring" as class : Class which manages the monitoring + "status" as class : Class which manages the request of a + status + "sys" as class : Class which manages the system functions + "tts" as class : Class which manages the text to speech + "wav" as class : Class which manages the wav functions + + Global variables of this class: + "my_name" as string : Name of the api instance + "print_status" as boolean : Allow to print the raw statuses + "print_warnings" as boolean : Allow to print the warnings + + Comments: + Call the destroying function at the end of your script for closing + the api correctly. + >>> tux.destroy() + + "tts" class is compatible with "tuxttsd" v 0.3.0 or more recent + """ + #-------------------------------------------------------------------------- + # Constructor of class + #-------------------------------------------------------------------------- + def __init__(self,deprecated_p=5000,deprecated_a='localhost'): + """ + Constructor of class + + Example: + >>> tux=TUXTCPCommunicator() + """ + self.sock = None + self.main_thread_list=[] + self.exit_flag=False + self.tcp_mutex=threading.Lock() + self.print_warnings_mutex=threading.Lock() + self.my_name="Tux client" + self.print_status=False + self.print_warnings=True + self.print_debug_thread=False + self.lock_list = [] + self.lock_list_mutex = threading.Lock() + self.tcp_data_fifo_lock = [] + self.tcp_data_fifo_lock_mutex = threading.Lock() + self.tcp_data_fifo_event = [] + 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 + self.status=TUXStatus(self) + self.hw=TUXhw(self) + self.tts=TUXtts(self) + self.misc=TUXmisc(self) + self.monitoring = TUXmonitoring(self) + self.wav = TUXwav(self) + self.micro = TUXmicro(self) + self._switches = [] + self.api_version = api_version + + self.connected=False #deprecated + t=threading.Thread(target=self.daemon._loop_auto_connect) + t.setName('daemon._loop_auto_connect') + t.start() + self.main_thread_list.append(t) + t=threading.Thread(target=self.tts._loop_auto_connect) + t.setName('tts._loop_auto_connect') + t.start() + self.main_thread_list.append(t) + + #-------------------------------------------------------------------------- + # Destructor of class + #-------------------------------------------------------------------------- + def destroy(self): + if self.exit_flag: return + self.daemon.auto_connect(False) + self.tts.auto_connect(False) + self.daemon.disconnect() + self.tts.disconnect() + self.tts.destroy() + self.daemon._tcp_threads_join() + self.tts._tcp_threads_join() + self.micro.destroy() + self.wav.destroy() + self.exit_flag=True + for main_thread in self.main_thread_list: + if self.print_debug_thread: + print "'%s' has been released"%main_thread.getName() + if main_thread.isAlive(): + main_thread.join() + self=None + print "Tux object has been destroyed" + + #-------------------------------------------------------------------------- + # Send a frame to tuxd + #-------------------------------------------------------------------------- + def _sock_send_frame(self, frame): + try: + self.sock.send(frame) + except: + pass + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _loop_tux_tcp_msg(self): + """ + Not a user function + """ + while self.daemon.connected: + try: + tmp_tcp_data=self.sock.recv(16) + except socket.timeout: + time.sleep(0.01) + continue + except socket.error: + self.sock.close() + self.daemon.connected=False + time.sleep(0.01) + continue + if len(tmp_tcp_data)<16: + time.sleep(0.01) + continue + self.tcp_data_fifo_lock_mutex.acquire() + self.tcp_data_fifo_lock.append(tmp_tcp_data) + self.tcp_data_fifo_lock_mutex.release() + self.tcp_data_fifo_event_mutex.acquire() + self.tcp_data_fifo_event.append(tmp_tcp_data) + self.tcp_data_fifo_event_mutex.release() + if self.print_status: + struct_data = ["%.2x" % ord(datae) for datae in tmp_tcp_data] + print " ".join(struct_data) + time.sleep(0.01) + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _loop_lock_list(self): + """ + Not a user function + self.lock_list + self.lock_list_mutex + self.tcp_data_fifo_lock + self.tcp_data_fifo_lock_mutex + """ + while self.daemon.connected: + # get a private lock_list from the class lock_list + self.lock_list_mutex.acquire() + lock_list = self.lock_list + self.lock_list_mutex.release() + # get a private data_fifo from the class data_fifo + self.tcp_data_fifo_lock_mutex.acquire() + if len(self.tcp_data_fifo_lock) > 0: + data_fifo = self.tcp_data_fifo_lock.pop(0) + else: + data_fifo = (chr(99))*16 + self.tcp_data_fifo_lock_mutex.release() + # get the time now in seconds + now = self.sys.time() + # check the whole of the lock elements + # lock[0] : list of data to match + # lock[1] : condition mutex + # lock[2] : data returned + for i,lock in enumerate(lock_list): + # for the whole of the lock data + for lock_data in lock[0]: + # if the lock data is matched + if lock_data[0] in [ord(data_fifo[0]), 999]\ + and lock_data[1] in [ord(data_fifo[1]), 999]\ + and lock_data[2] in [ord(data_fifo[2]), 999]\ + and lock_data[3] in [ord(data_fifo[3]), 999]\ + and lock_data[4] in [ord(data_fifo[4]), 999]\ + and lock_data[5] in [ord(data_fifo[5]), 999]\ + and lock_data[6] in [ord(data_fifo[6]), 999]\ + and lock_data[7] in [ord(data_fifo[7]), 999]\ + and lock_data[8] in [ord(data_fifo[8]), 999]\ + and lock_data[9] in [ord(data_fifo[9]), 999]\ + and lock_data[10] in [ord(data_fifo[10]), 999]\ + and lock_data[11] in [ord(data_fifo[11]), 999]\ + and lock_data[12] in [ord(data_fifo[12]), 999]\ + and lock_data[13] in [ord(data_fifo[13]), 999]\ + and lock_data[14] in [ord(data_fifo[14]), 999]\ + and lock_data[15] in [ord(data_fifo[15]), 999]: + # return the data ones who have unblocked the lock + lock[2].append(data_fifo) + # unblock the lock + lock[1].acquire() + lock[1].notify() + lock[1].release() + lock_list.pop(i) + continue + time.sleep(0.01) + # kill the whole of the lock elements from the list + self._close_lock_list() + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _close_lock_list(self): + self.lock_list_mutex.acquire() + # unblock the whole of the lock elements + for i,lock in enumerate(self.lock_list): + lock[1].acquire() + lock[1].notify() + lock[1].release() + self.lock_list = [] + self.lock_list_mutex.release() + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _insert_lock_in_list(self,data_to_match_list,cond_lock_mutex, \ + returned_data): + # lock[0] : list of the possible frames to match + # lock[1] : condition mutex + # lock[2] : data returned + lock = [] + lock.append(data_to_match_list) + lock.append(cond_lock_mutex) + lock.append(returned_data) + self.lock_list_mutex.acquire() + self.lock_list.append(lock) + self.lock_list_mutex.release() + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _loop_tux_data_dispatching(self): + """ + Not a user function + """ + while self.daemon.connected: + data = () + self.tcp_data_fifo_event_mutex.acquire() + if len(self.tcp_data_fifo_event) > 0: + data = self.tcp_data_fifo_event.pop(0) + else: + self.tcp_data_fifo_event_mutex.release() + time.sleep(0.003) + continue + self.tcp_data_fifo_event_mutex.release() + self._dispatch_data_main(data) + time.sleep(0.003) + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _dispatch_data_main(self,data): + """ + Not a user function + """ + # from daemon + if ord(data[0])==SOURCE_SUB_DAEMON: + self._dispatch_data_from_daemon(data) + # from tux droid + if ord(data[0])==SOURCE_TUX: + self._dispatch_data_from_tux(data) + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _dispatch_data_from_daemon(self,data): + """ + Not a user function + """ + # data type command + if ord(data[2])==DATA_TP_CMD: + if ord(data[3])==SUBDATA_TP_STRUCT: + # daemon close + if ord(data[4])==SUB_D_CMD_STRUC_DISCONNECT_CLIENT: + self.daemon.disconnect() + + #-------------------------------------------------------------------------- + # SYSTEM function + #-------------------------------------------------------------------------- + def _dispatch_data_from_tux(self,data): + """ + Not a user function + """ + # data type response + if ord(data[2])==DATA_TP_RSP: + if ord(data[3])==SUBDATA_TP_STATUS: + #Head button + if ord(data[4])==DATAS_STATUS_HEAD_PUSH_SWITCH: + if ord(data[5])==1: + if self.event.on_head_bt_pushed!=None: + self.event.on_head_bt_pushed() + if self.event.on_bt_pushed!=None: + self.event.on_bt_pushed() + else: + if self.event.on_head_bt_released!=None: + self.event.on_head_bt_released() + if self.event.on_bt_released!=None: + self.event.on_bt_released() + #Left wing button + if ord(data[4])==DATAS_STATUS_LEFT_WING_PUSH: + if ord(data[5])==1: + if self.event.on_lwing_bt_pushed!=None: + self.event.on_lwing_bt_pushed() + if self.event.on_bt_pushed!=None: + self.event.on_bt_pushed() + else: + if self.event.on_lwing_bt_released!=None: + self.event.on_lwing_bt_released() + if self.event.on_bt_released!=None: + self.event.on_bt_released() + #Right wing button + if ord(data[4])==DATAS_STATUS_RIGHT_WING_PUSH: + if ord(data[5])==1: + if self.event.on_rwing_bt_pushed!=None: + self.event.on_rwing_bt_pushed() + if self.event.on_bt_pushed!=None: + self.event.on_bt_pushed() + else: + if self.event.on_rwing_bt_released!=None: + self.event.on_rwing_bt_released() + if self.event.on_bt_released!=None: + self.event.on_bt_released() + #Remote button + if ord(data[4])==DATAS_STATUS_IR_CODE: + if self.event.on_remote_bt[ord(data[5])]!=None: + thread.start_new_thread( \ + self.event.on_remote_bt[ord(data[5])], ()) + #self.event.on_remote_bt[ord(data[5])]() + if self.event.on_remote!=None: + thread.start_new_thread( \ + self.event.on_remote, (ord(data[5]),)) + #self.event.on_remote(ord(data[5])) + #Mouth open + if ord(data[4])==DATAS_STATUS_MOUTH_OPEN_POSITION: + if ord(data[5])==0: + if self.event.on_mouth_open!=None: + self.event.on_mouth_open() + #Mouth close + if ord(data[4])==DATAS_STATUS_MOUTH_CLOSED_POSITION: + if ord(data[5])==0: + if self.event.on_mouth_close!=None: + self.event.on_mouth_close() + #Ledl + if ord(data[4])==DATAS_STATUS_LEFT_BLUE_LED: + if ord(data[5])==1: + if self.event.on_left_blue_led_on!=None: + self.event.on_left_blue_led_on() + else: + if self.event.on_left_blue_led_off!=None: + self.event.on_left_blue_led_off() + #Ledr + if ord(data[4])==DATAS_STATUS_RIGHT_BLUE_LED: + if ord(data[5])==1: + if self.event.on_right_blue_led_on!=None: + self.event.on_right_blue_led_on() + else: + if self.event.on_right_blue_led_off!=None: + self.event.on_right_blue_led_off() + #Eyes open/close + if ord(data[4])==DATAS_STATUS_EYES_CLOSED_POSITION_SWITCH: + if ord(data[5])==0: + if self.event.on_eyes_close!=None: + self.event.on_eyes_close() + else: + if self.event.on_eyes_open!=None: + self.event.on_eyes_open() + #Power plug switch + if ord(data[4])==DATAS_STATUS_POWER_PLUG_SWITCH: + if ord(data[5])==1: + if self.event.on_power_plugged!=None: + self.event.on_power_plugged() + else: + if self.event.on_power_unplugged!=None: + self.event.on_power_unplugged() + #RF status + if ord(data[4])==DATAS_STATUS_RF_CONNECTED: + if ord(data[5])==1: + self.status.rf_connected=True + if self.event.on_rf_connected!=None: + self.event.on_rf_connected() + else: + self.status.rf_connected=False + if self.event.on_rf_disconnected!=None: + self.event.on_rf_disconnected() + #PONG + if ord(data[4])==DATAS_STATUS_PONG: + if self.event.on_pong_received!=None: + rcv=ord(data[6]) + rem=ord(data[5]) + avg=int((100*rcv)/(200-rem)) + self.event.on_pong_received(rcv,rem,avg) + #mouth stop + if ord(data[4])==DATAS_STATUS_MOUTH_POSITION_COUNTER: + if ord(data[5])==0: + if self.event.on_mouth_stop!=None: + self.event.on_mouth_stop() + #eyes stop + if ord(data[4])==DATAS_STATUS_EYES_POSITION_COUNTER: + if ord(data[5])==0: + if self.event.on_eyes_stop!=None: + self.event.on_eyes_stop() + + #wings stop + if ord(data[4])==DATAS_STATUS_WINGS_POSITION_COUNTER: + if ord(data[5])==0: + if self.event.on_wings_stop!=None: + self.event.on_wings_stop() + #spin stop + if ord(data[4])==DATAS_STATUS_SPIN_POSITION_COUNTER: + if ord(data[5])==0: + if self.event.on_spin_stop!=None: + self.event.on_spin_stop() + #on status + if self.event.on_status!=None: + self.event.on_status(data) + #on monitoring + self.monitoring.check_events(data) + + for switch in self._switches: + try: + switch._notify(ord(data[4]), ord(data[5])) + except: + pass + + + #-------------------------------------------------------------------------- + # Deprecated functions + #-------------------------------------------------------------------------- + def explicit_status(self,frame): + """ + Deprecated : see 'tux.status.to_string' + """ + return self.status.to_string(frame) + + def connect_to_daemon(self): + """ + Deprecated : see 'tux.daemon.connect' + """ + return self.daemon.connect() + + def disconnect_from_daemon(self): + """ + Deprecated : see 'tux.daemon.disconnect' + """ + self.daemon.disconnect() + +#============================================================================== +# TUXTCPCommunicator - connect - class +#============================================================================== +class TUXconnect(object): + """ + Class which manages connection functions + + Functions list for the users: + tux.connect.disconnect_from_tux + tux.connect.connect_to_tux + tux.connect.random_connect_to_tux + tux.connect.id_request + tux.connect.id_lookup + tux.connect.change_id + tux.connect.sleep + tux.connect.wakeup + tux.connect.avoid_wifi + """ + + #-------------------------------------------------------------------------- + # 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=[]): + """ + Not a user function + """ + 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_frame("".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 + + Parameters: + "seconds" as float : Time to wait in seconds + + Example: + >>> tux.sys.wait(2.4) + """ + 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 + + Parameters: + "id" as uint16 : ID of the tux you want to connect to + 0 and 0xFFFF (65536) are not valid ID's + + Returns: + "True" if the command has been sent successfully, + "False" otherwise. + + Example: + >>> tux.connect.connect_to_tux(300) + """ + # 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. + + Returns: + "True" if the command has been sent successfully, + "False" otherwise. + + """ + 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 + + Returns: + "id" as uint16 (0 < id < 65536) if the command has been sent + successfully, + "False" otherwise. + """ + 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. + + Returns: + "id" as uint16 (0 < id < 65536) if the command has been sent + successfully, + "False" otherwise. + """ + 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. + + Parameters: + "id" as uint16 : new ID you want to set to your tux + 0 and 0xFFFF (65536) are not valid ID's + + Returns: + "True" if the command has been sent successfully, + "False" otherwise. + """ + 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 + + Returns: + "True" if the command has been sent successfully, + "False" otherwise. + """ + 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. + + Parameters: + "id" as uint16 : ID of the tux you want to wake-up + 0 and 0xFFFF (65536) are not valid ID's + + Returns: + "True" if the command has been sent successfully, + "False" otherwise. + """ + 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 + + + Parameters: + "channel" : wifi channel number that tux should avoid using + 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. + + Returns: + "True" if the command has been sent successfully, + "False" otherwise. + """ + 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 +#============================================================================== +class TUXsys(object): + """ + Class which manages the system functions + + Functions list for the users: + tux.sys.add_time_event + tux.sys.clear_time_events + tux.sys.delayed_function + tux.sys.delete_time_event + tux.sys.looped_function + tux.sys.shell + tux.sys.shell_free + tux.sys.time + tux.sys.wait + """ + + #-------------------------------------------------------------------------- + # Constructor of class + #-------------------------------------------------------------------------- + def __init__(self,parent): + """ + Constructor of class + """ + self.parent = parent + self.events_list = [[0,'NONE',9999,99,99,99,99,99]] + self.__time_event_mutex = threading.Lock() + + #-------------------------------------------------------------------------- + # Get the current time in seconds + #-------------------------------------------------------------------------- + def time(self): + """ + Get the current time in seconds + + Return an integer + + Example: + >>> var=tux.sys.time() + """ + return (time.localtime()[3]*3600)+(time.localtime()[4]*60)+ \ + time.localtime()[5] + + #-------------------------------------------------------------------------- + # Wait a time in seconds + #-------------------------------------------------------------------------- + def wait(self,seconds): + """ + Wait a time in seconds + + Parameters: + "seconds" as float : Time to wait in seconds + + Example: + >>> tux.sys.wait(2.4) + """ + time.sleep(seconds) + + #-------------------------------------------------------------------------- + # Execute a shell command + #-------------------------------------------------------------------------- + def shell(self,command): + """ + Execute a shell command + + Parameters: + "command" as string : Shell command + + Example: + >>> tux.sys.shell('ls -al') + """ + os.system(command) + + #-------------------------------------------------------------------------- + # Execute a shell command in free mode ... 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