Merge pull request #5 from Eelviny/master

Merge from upstream

.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

@@ -25,10 +25,10 @@ class BlueSock(object):
 
     type = 'bluetooth'
 
-    def __init__(self, host):
+    def __init__(self, host, debug=False):
         self.host = host
         self.sock = None
-        self.debug = False
+        self.debug = debug
 
     def __str__(self):
         return 'Bluetooth (%s)' % self.host
@@ -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

@@ -73,7 +73,7 @@ def __init__(self, brick, port, check_compatible=True):
             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) + '. ' + """
+                          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

nxt/sensor/generic.py

@@ -151,3 +151,34 @@ def get_color(self):
         return self.get_input_values().scaled_value
 
     get_sample = get_color
+
+
+class Temperature(BaseDigitalSensor):
+    """Object for LEGO MINDSTORMS NXT Temperature sensors"""
+    # This is actually a TI TMP275 chip: http://www.ti.com/product/tmp275
+    I2C_DEV = 0x98
+    I2C_ADDRESS = {'raw_value': (0x00, '>h')}
+
+    def __init__(self, brick, port):
+        # This sensor does not follow the convention of having version/vendor/
+        # product at I2C registers 0x00/0x08/0x10, so check_compatible is
+        # always False
+        super(Temperature, self).__init__(brick, port, False)
+
+    def _get_raw_value(self):
+        """Returns raw unscaled value"""
+        # this is a 12-bit value
+        return self.read_value('raw_value')[0] >> 4
+
+    def get_deg_c(self):
+        """Returns the temperature in degrees C"""
+        v = self._get_raw_value()
+        # technically, 16 should be 0x7ff/128 but 16 is close enough
+        return round(v / 16, 1)
+
+    def get_deg_f(self):
+        v = self._get_raw_value()
+        # technically, 16 should be 0x7ff/128 but 16 is close enough
+        return round(9 / 5 * v / 16 + 32, 1)
+
+    get_sample = get_deg_c

nxt/system.py

@@ -217,7 +217,7 @@ def get_device_info(opcode):
 
 def _parse_get_device_info(tgram):
     tgram.check_status()
-    name = tgram.parse_string(15)
+    name = tgram.parse_string(15).decode('utf-8').split('\0')[0]
     a0 = tgram.parse_u8()
     a1 = tgram.parse_u8()
     a2 = tgram.parse_u8()

nxt/telegram.py

@@ -64,11 +64,15 @@ def bytes(self):
     def is_reply(self):
         return self.typ == Telegram.TYPE_REPLY
 
+    def add_bytes(self, b):
+        self.pkt.write(pack('%ds' % len(b), b))
+
     def add_string(self, n_bytes, v):
         self.pkt.write(pack('%ds' % n_bytes, v.encode('windows-1252')))
 
     def add_filename(self, fname):
-        self.pkt.write(pack('20s', fname))
+      self.pkt.write(pack('20s', fname.encode('windows-1252')))
+
 
     def add_s8(self, v):
         self.pkt.write(pack('<b', v))

scripts/nxt_test

@@ -17,11 +17,13 @@ import nxt.locator
 import nxt.brick
 
 debug = False
-if '--verbose' in sys.argv:
+if '--verbose' in sys.argv or '--debug' in sys.argv:
     debug = True
+    print('debug = True')
 
 b = None
 try:
+    print('Find brick...', flush=True)
     b = nxt.locator.find_one_brick(debug=debug)
     name, host, signal_strength, user_flash = b.get_device_info()
     print('NXT brick name: %s' % name)
@@ -33,6 +35,12 @@ try:
     print('Firmware version %s.%s' % fw_version)
     millivolts = b.get_battery_level()
     print('Battery level %s mV' % millivolts)
+    print('Play test sound...', end='', flush=True)
+    b.play_tone_and_wait(300, 50)
+    b.play_tone_and_wait(400, 50)
+    b.play_tone_and_wait(500, 50)
+    b.play_tone_and_wait(600, 50)
+    print('done')
     b.sock.close()
 except:
     print("Error while running test:")