Merge branch 'master' into nxtfilemgr1

.gitignore

@@ -0,0 +1,2 @@
+build/
+

README.md

@@ -12,8 +12,6 @@ NXT-Python is a package for controlling a LEGO NXT robot using the Python progra
   * Mac: [LightBlue](http://lightblue.sourceforge.net/)
 * USB Communications:
   * [PyUSB](https://walac.github.io/pyusb/)
-Fantom Communications:
-  * [Pyfantom](http://pyfantom.ni.fr.eu.org/)
 
 ## Installation
 1. Go and grab the latest version from the [releases](https://github.com/Eelviny/nxt-python/releases) page - **the master branch is too unstable to use**

nxt/.gitignore

@@ -0,0 +1,2 @@
+__pycache__
+*.pyc

nxt/bluesock.py

@@ -64,13 +64,13 @@ def send(self, data):
 
     def recv(self):
         data = self.sock.recv(2)
-        l0 = ord(data[0])
-        l1 = ord(data[1])
+        l0 = data[0]
+        l1 = data[1]
         plen = l0 + (l1 << 8)
         data = self.sock.recv(plen)
         if self.debug:
             print('Recv:', end=' ')
-            print(':'.join('%02x' % ord(c) for c in data))
+            print(':'.join('%02x' % c for c in data))
         return data
 
 def _check_brick(arg, value):

nxt/devsock.py

@@ -31,13 +31,13 @@ def close(self):
     def send(self, data):
         l0 = len(data) & 0xFF
         l1 = (len(data) >> 8) & 0xFF
-        d = chr(l0) + chr(l1) + data
+        d = bytes((l0, l1)) + data
         self._device.write(d)
 
     def recv(self):
         data = self._device.read(2)
-        l0 = ord(data[0])
-        l1 = ord(data[1])
+        l0 = data[0]
+        l1 = data[1]
         plen = l0 + (l1 << 8)
         return self._device.read(plen)
 

nxt/direct.py

@@ -156,7 +156,7 @@ def ls_write(opcode, port, tx_data, rx_bytes):
     tgram.add_u8(port)
     tgram.add_u8(len(tx_data))
     tgram.add_u8(rx_bytes)
-    tgram.add_string(len(tx_data), tx_data)
+    tgram.add_bytes(tx_data)
     return tgram
 
 def ls_read(opcode, port):

nxt/locator.py

@@ -2,6 +2,7 @@
 # Copyright (C) 2006, 2007  Douglas P Lau
 # Copyright (C) 2009  Marcus Wanner
 # Copyright (C) 2013  Dave Churchill, Marcus Wanner
+# Copyright (C) 2015, 2016, 2017, 2018 Multiple Authors
 #
 # 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
@@ -18,9 +19,11 @@
 class BrickNotFoundError(Exception):
     pass
 
+
 class NoBackendError(Exception):
     pass
 
+
 class Method():
     """Used to indicate which comm backends should be tried by find_bricks/
 find_one_brick. Any or all can be selected."""
@@ -30,6 +33,7 @@ def __init__(self, usb=True, bluetooth=True, device=False):
         self.bluetooth = bluetooth
         self.device = device
 
+
 def find_bricks(host=None, name=None, silent=False, method=Method()):
     """Used by find_one_brick to look for bricks ***ADVANCED USERS ONLY***"""
     methods_available = 0
@@ -87,52 +91,69 @@ def find_one_brick(host=None, name=None, silent=False, strict=None, debug=False,
 information will be read from if no brick location directives (host,
 name, strict, or method) are provided."""
     if debug and silent:
-        silent=False
+        silent = False
         print("silent and debug can't both be set; giving debug priority")
 
     conf = read_config(confpath, debug)
     if not (host or name or strict or method):
         host	= conf.get('Brick', 'host')
         name	= conf.get('Brick', 'name')
         strict	= bool(int(conf.get('Brick', 'strict')))
-        method	= eval('Method(%s)' % conf.get('Brick', 'method'))
+        method_value = conf.get('Brick', 'method')
+        if method_value:
+            methods = map(lambda x: x.strip().split('='),
+                          method_value.split(','))
+            method = Method(**{k: v == 'True' for k, v in methods
+                               if k in ('bluetooth', 'usb', 'device')})
     if not strict: strict = True
     if not method: method = Method()
+
     if debug:
         print("Host: %s Name: %s Strict: %s" % (host, name, str(strict)))
         print("USB: {} BT: {}".format(method.usb, method.bluetooth))
 
-        for s in find_bricks(host, name, silent, method):
-            try:
-                if host and 'host' in dir(s) and s.host != host:
-                    if debug:
-                        print("Warning: the brick found does not match the host provided (s.host).")
-                    if strict: continue
-                b = s.connect()
-                info = b.get_device_info()
-                print(info)
-                strict = False
-                if host and info[1] != host:
-                    if debug:
-                        print("Warning: the brick found does not match the host provided (get_device_info).")
-                    if strict:
-                        s.close()
-                        continue
-                info = list(info)
-                info[0] = str(info[0])
-                info[0] = info[0][2:(len(info[0])-1)]
-                info[0] = info[0].strip('\\x00')
-                if info[0] != name:
-                    if debug:
-                        print("Warning; the brick found does not match the name provided.")
-                    if strict:
-                        s.close()
-                        continue
-                return b
-            except:
+    for s in find_bricks(host, name, silent, method):
+        try:
+            if host and 'host' in dir(s) and s.host != host:
                 if debug:
-                    traceback.print_exc()
-                    print("Failed to connect to possible brick")
+                    print("Warning: the brick found does not match the host provided (s.host).")
+                if strict: continue
+            b = s.connect()
+            info = b.get_device_info()
+            if debug:
+                print("info: " + str(info))
+
+            strict = False
+
+            if host and info[1] != host:
+                if debug:
+                    print("Warning: the brick found does not match the host provided (get_device_info).")
+                    print("  host:" + str(host))
+                    print("  info[1]:" + info[1])
+                if strict:
+                    s.close()
+                    continue
+
+            info = list(info)
+            info[0] = str(info[0])
+            info[0] = info[0][2:(len(info[0])-1)]
+            info[0] = info[0].strip('\\x00')
+
+            if info[0] != name:
+                if debug:
+                    print("Warning; the brick found does not match the name provided.")
+                    print("  host:" + str(host))
+                    print("  info[0]:" + info[0])
+                    print("  name:" + str(name))
+                if strict:
+                    s.close()
+                    continue
+
+            return b
+        except:
+            if debug:
+                traceback.print_exc()
+                print("Failed to connect to possible brick")
 
     print("""No brick was found.
     Is the brick turned on?
@@ -146,6 +167,7 @@ def server_brick(host, port = 2727):
     sock = ipsock.IpSock(host, port)
     return sock.connect()
 
+
 def device_brick(filename):
     from . import devsock
     sock = devsock.find_bricks(filename=filename)
@@ -161,6 +183,7 @@ def read_config(confpath=None, debug=False):
         conf.add_section('Brick')
     return conf
 
+
 def make_config(confpath=None):
     conf = configparser.RawConfigParser()
     if not confpath: confpath = os.path.expanduser('~/.nxt-python')

nxt/sensor/__init__.py

@@ -16,7 +16,7 @@
 from .common import *
 from .analog import BaseAnalogSensor
 from .digital import BaseDigitalSensor, find_class
-from .generic import Touch, Light, Sound, Ultrasonic, Color20
+from .generic import Touch, Light, Sound, Ultrasonic, Color20, Temperature
 from . import mindsensors
 MSSumoEyes = mindsensors.SumoEyes
 MSCompassv2 = mindsensors.Compassv2

nxt/sensor/digital.py

@@ -25,15 +25,15 @@ def __init__(self, version, product_id, sensor_type):
         self.version = version
         self.product_id = product_id
         self.sensor_type = sensor_type
-    
+
     def clarifybinary(self, instr, label):
         outstr = ''
         outstr += (label + ': `' + instr + '`\n')
         for char in instr:
             outstr += (hex(ord(char))+', ')
         outstr += ('\n')
         return outstr
-    
+
     def __str__(self):
         outstr = ''
         outstr += (self.clarifybinary(str(self.version), 'Version'))
@@ -55,7 +55,7 @@ class BaseDigitalSensor(Sensor):
         'factory_scale_factor': (0x12, 'B'),
         'factory_scale_divisor': (0x13, 'B'),
     }
-    
+
     def __init__(self, brick, port, check_compatible=True):
         """Creates a BaseDigitalSensor. If check_compatible is True, queries
         the sensor for its name, and if a wrong sensor class was used, prints
@@ -72,8 +72,8 @@ def __init__(self, brick, port, check_compatible=True):
         if check_compatible:
             sensor = self.get_sensor_info()
             if not sensor in self.compatible_sensors:
-                print(('WARNING: Wrong sensor class chosen for sensor ' + 
-                          str(sensor.product_id) + ' on port ' + str(port) + '. ' + """
+                print(('WARNING: Wrong sensor class chosen for sensor ' +
+                          str(sensor.product_id) + ' on port ' + str(port + 1) + '. ' + """
 You may be using the wrong type of sensor or may have connected the cable
 incorrectly. If you are sure you're using the correct sensor class for the
 sensor, this message is likely in error and you should disregard it and file a
@@ -95,7 +95,7 @@ def _i2c_command(self, address, value, format):
         a tuple of values corresponding to the given format.
         """
         value = struct.pack(format, *value)
-        msg = chr(self.I2C_DEV) + chr(address) + value
+        msg = bytes((self.I2C_DEV, address)) + value
         now = time()
         if self.last_poll+self.poll_delay > now:
             diff = now - self.last_poll
@@ -109,7 +109,7 @@ def _i2c_query(self, address, format):
         module. See http://docs.python.org/library/struct.html#format-strings
         """
         n_bytes = struct.calcsize(format)
-        msg = chr(self.I2C_DEV) + chr(address)
+        msg = bytes((self.I2C_DEV, address))
         now = time()
         if self.last_poll+self.poll_delay > now:
             diff = now - self.last_poll
@@ -125,7 +125,7 @@ def _i2c_query(self, address, format):
             raise I2CError('Read failure: Not enough bytes')
         data = struct.unpack(format, data[-n_bytes:])
         return data
-        
+
     def read_value(self, name):
         """Reads a value from the sensor. Name must be a string found in
         self.I2C_ADDRESS dictionary. Entries in self.I2C_ADDRESS are in the
@@ -150,13 +150,13 @@ def write_value(self, name, value):
         """
         address, fmt = self.I2C_ADDRESS[name]
         self._i2c_command(address, value, fmt)
-    
+
     def get_sensor_info(self):
         version = self.read_value('version')[0].decode('windows-1252').split('\0')[0]
         product_id = self.read_value('product_id')[0].decode('windows-1252').split('\0')[0]
         sensor_type = self.read_value('sensor_type')[0].decode('windows-1252').split('\0')[0]
         return SensorInfo(version, product_id, sensor_type)
-        
+
     @classmethod
     def add_compatible_sensor(cls, version, product_id, sensor_type):
         """Adds an entry in the compatibility table for the sensor. If version
@@ -171,8 +171,8 @@ def add_compatible_sensor(cls, version, product_id, sensor_type):
             cls.compatible_sensors.append(SCompatibility(version, product_id,
                                                                             sensor_type))
             add_mapping(cls, version, product_id, sensor_type)
-            
-            
+
+
 class SCompatibility(SensorInfo):
     """An object that helps manage the sensor mappings"""
     def __eq__(self, other):
@@ -194,7 +194,7 @@ def add_mapping(cls, version, product_id, sensor_type):
     if product_id not in sensor_mappings:
         sensor_mappings[product_id] = {}
     models = sensor_mappings[product_id]
-       
+
     if sensor_type is None:
         if sensor_type in models:
             raise ValueError('Already registered!')
@@ -204,7 +204,7 @@ def add_mapping(cls, version, product_id, sensor_type):
     if sensor_type not in models:
         models[sensor_type] = {}
     versions = models[sensor_type]
-    
+
     if version in versions:
         raise ValueError('Already registered!')
     else: