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update test code, indent code and move away from legacy commands

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Rik Veenboer
2016-08-20 11:55:25 +01:00
parent fac1d8c9eb
commit d080fa9ecd
2 changed files with 180 additions and 178 deletions
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340
ibuddy.py
View File

@@ -1,207 +1,207 @@
import usb #!/usr/bin/python
import usb.core
import usb.util
from time import sleep from time import sleep
class DeviceNotFoundException(Exception): pass class DeviceNotFoundException(Exception):
pass
class ibuddy: class ibuddy:
USB_VENDOR = 0x1130 USB_VENDOR = 0x1130
USB_PRODUCT = 0x0001 USB_PRODUCT = 1
SETUP = (0x22, 0x09, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00) SETUP = (0x22, 0x09, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00)
MESS = (0x55, 0x53, 0x42, 0x43, 0x00, 0x40, 0x02) MESS = (0x55, 0x53, 0x42, 0x43, 0x00, 0x40, 0x02)
WAITTIME = 0.1 WAITTIME = 0.1
LEFT = 0
RIGHT = 1
UP = 0
DOWN = 1
OFF = 0
ON = 1
BLUE = (0,0,1) LEFT = 0
GREEN = (0,1,0) RIGHT = 1
LTBLUE = (0,1,1) UP = 0
PURPLE = (1,0,1) DOWN = 1
RED = (1,0,0) Off = 0
WHITE = (1,1,1) ON = 1
YELLOW = (1,1,0)
CLEAR = 0xFF BLUE = (0, 0, 1)
finalMess = CLEAR GREEN = (0, 1, 0)
command = CLEAR LTBLUE = (0, 1, 1)
PURPLE = (1, 0, 1)
RED = (1, 0, 0)
WHITE = (1, 1, 1)
YELLOW = (1, 1, 0)
CLEAR = 0xff
finalMess = CLEAR
command = CLEAR
def __init__(self, product=None): def __init__(self, product=None):
if product is None: dev = usb.core.find(idVendor = self.USB_VENDOR, idProduct = self.USB_PRODUCT)
product = self.USB_PRODUCT if dev is None:
busses = usb.busses() raise DeviceNotFoundException()
for bus in busses: self.dev = dev
for dev in bus.devices:
if dev.idVendor == self.USB_VENDOR and dev.idProduct == product:
self.dev = dev
if not hasattr(self, 'dev'):
raise DeviceNotFoundException()
self.handle = self.dev.open()
def __send(self, inp): def __send(self, inp):
""" send your command to the device """ """ send your command to the device """
try: try:
self.handle.controlMsg(0x21, 0x09, self.SETUP, 0x02, 0x01) self.dev.ctrl_transfer(0x21, 0x09, 0x02, 1, self.SETUP)
self.handle.controlMsg(0x21, 0x09, self.MESS+(inp,), 0x02, 0x01) self.dev.ctrl_transfer(0x21, 0x09, 0x02, 1, self.MESS + (inp, ))
except usb.USBError: except usb.USBError as e:
self.__init__() print(e)
self.__init__()
def pumpMessage(self): def pumpMessage(self):
self.send(self.finalMess) self.send(self.finalMess)
def resetMessage(self): def resetMessage(self):
self.finalMess = self.CLEAR self.finalMess = self.CLEAR
def doCmd(self, seconds=WAITTIME): def doCmd(self, seconds=WAITTIME):
""" send the command specified by the current command """ """ send the command specified by the current command """
self.__send(self.command) self.__send(self.command)
sleep(seconds) sleep(seconds)
def resetCmd(self): def resetCmd(self):
""" reset command to default (must pump to take effect) """ """ reset command to default (must pump to take effect) """
self.command = self.CLEAR self.command = self.CLEAR
def setReverseBitValue(self,num,value): def setReverseBitValue(self, num, value):
""" commands are sent as disabled bits """ """ commands are sent as disabled bits """
if (value==1): if value == 1:
temp = 0xFF - (1<<num) temp = 0xff - (1 << num)
self.command = self.command & temp self.command = self.command & temp
elif (value==0): elif value == 0:
temp = 1 << num temp = 1 << num
self.command = self.command | temp self.command = self.command | temp
def getReverseBitValue(self,num): def getReverseBitValue(self, num):
""" what was that bit set to again? """ """ what was that bit set to again? """
temp = self.command temp = self.command
temp = temp >> num temp = temp >> num
res = not(temp&1) res = not temp & 1
return res return res
def setHeart(self, status): def setHeart(self, status):
""" heart-light can be on (1) or off (0) """ """ heart-light can be on (1) or off (0) """
self.setReverseBitValue(7, status) self.setReverseBitValue(7, status)
def flick(self, direction): def flick(self, direction):
if (direction == self.RIGHT): if direction == self.RIGHT:
self.setReverseBitValue(1,1) self.setReverseBitValue(1, 1)
self.setReverseBitValue(0,0) self.setReverseBitValue(0, 0)
elif(direction == self.LEFT): elif direction == self.LEFT:
self.setReverseBitValue(1,0) self.setReverseBitValue(1, 0)
self.setReverseBitValue(0,1) self.setReverseBitValue(0, 1)
def wing(self, direction): def wing(self, direction):
if (direction == self.UP): if direction == self.UP:
self.setReverseBitValue(3,1) self.setReverseBitValue(3, 1)
self.setReverseBitValue(2,0) self.setReverseBitValue(0x02, 0)
elif(direction == self.DOWN): elif direction == self.DOWN:
self.setReverseBitValue(3,0) self.setReverseBitValue(3, 0)
self.setReverseBitValue(2,1) self.setReverseBitValue(0x02, 1)
def getColors (self): def getColors(self):
return self.getReverseBitValue(4), self.getReverseBitValue(5), self.getReverseBitValue(6) return (self.getReverseBitValue(4), self.getReverseBitValue(5),
self.getReverseBitValue(6))
def getHeart(self): def getHeart(self):
""" returns heart-light status of on (1) or off (0) """ """ returns heart-light status of on (1) or off (0) """
return self.getReverseBitValue(7) return self.getReverseBitValue(7)
def getWing(self): def getWing(self):
""" returns wing status of BuddyDevice.UP (0) or BuddyDevice.DOWN (1) """ """ returns wing status of BuddyDevice.UP (0) or BuddyDevice.DOWN (1) """
return self.getReverseBitValue(2) return self.getReverseBitValue(0x02)
def getDirection(self): def getDirection(self):
return self.getReverseBitValue(1) return self.getReverseBitValue(1)
def send(self, inp): def send(self, inp):
try: try:
self.dev.handle.controlMsg(0x21, 0x09, self.SETUP, 0x02, 0x01) self.dev.ctrl_transfer(0x21, 0x09, 0x02, 1, self.SETUP)
self.dev.handle.controlMsg(0x21, 0x09, self.MESS+(inp,), 0x02, 0x01) self.dev.handle.controlMsg(0x21, 0x09, 0x02, 1, self.MESS + inp)
except usb.USBError: except usb.USBError:
self.__init__(self.battery, self.product) self.__init__(self.battery, self.product)
def setHeadColors(self, red, green, blue): def setHeadColors(self, red, green, blue):
""" colors as (red, green, blue) can be on (1) or off (0) """ """ colors as (red, green, blue) can be on (1) or off (0) """
self.setReverseBitValue(4, red) self.setReverseBitValue(4, red)
self.setReverseBitValue(5, green) self.setReverseBitValue(5, green)
self.setReverseBitValue(6, blue) self.setReverseBitValue(6, blue)
def getHeadColors(self): def getHeadColors(self):
""" returns color status as tuple representing (red, green, blue) as on (1) or off (0) """ """ returns color status as tuple representing (red, green, blue) as on (1) or off (0) """
return self.getReverseBitValue(4), self.getReverseBitValue(5), self.getReverseBitValue(6) return (self.getReverseBitValue(4), self.getReverseBitValue(5),
self.getReverseBitValue(6))
def setHeart(self, status): def setHeart(self, status):
""" heart-light can be on (1) or off (0) """ """ heart-light can be on (1) or off (0) """
self.setReverseBitValue(7,status) self.setReverseBitValue(7, status)
def getHeart(self): def getHeart(self):
""" returns heart-light status of on (1) or off (0) """ """ returns heart-light status of on (1) or off (0) """
return self.getReverseBitValue(7) return self.getReverseBitValue(7)
def setWing(self, direction): def setWing(self, direction):
""" move the wings BuddyDevice.UP (0) or BuddyDevice.DOWN (1) """ """ move the wings BuddyDevice.UP (0) or BuddyDevice.DOWN (1) """
if (direction == self.UP): if direction == self.UP:
self.setReverseBitValue(3,1) self.setReverseBitValue(3, 1)
self.setReverseBitValue(2,0) self.setReverseBitValue(0x02, 0)
elif(direction == self.DOWN): elif direction == self.DOWN:
self.setReverseBitValue(3,0) self.setReverseBitValue(3, 0)
self.setReverseBitValue(2,1) self.setReverseBitValue(0x02, 1)
def getWing(self): def getWing(self):
""" returns wing status of BuddyDevice.UP (0) or BuddyDevice.DOWN (1) """ """ returns wing status of BuddyDevice.UP (0) or BuddyDevice.DOWN (1) """
return self.getReverseBitValue(2) return self.getReverseBitValue(0x02)
def setSwivel(self, direction): def setSwivel(self, direction):
""" swivel the body BuddyDevice.LEFT (0) or BuddyDevice.RIGHT (1) """ """ swivel the body BuddyDevice.LEFT (0) or BuddyDevice.RIGHT (1) """
if (direction == self.RIGHT): if direction == self.RIGHT:
self.setReverseBitValue(1,1) self.setReverseBitValue(1, 1)
self.setReverseBitValue(0,0) self.setReverseBitValue(0, 0)
elif(direction == self.LEFT): elif direction == self.LEFT:
self.setReverseBitValue(1,0) self.setReverseBitValue(1, 0)
self.setReverseBitValue(0,1) self.setReverseBitValue(0, 1)
def getSwivel(self): def getSwivel(self):
""" returns current swivel direction as BuddyDevice.LEFT (0) or BuddyDevice.RIGHT (1) """ """ returns current swivel direction as BuddyDevice.LEFT (0) or BuddyDevice.RIGHT (1) """
return self.getReverseBitValue(1) return self.getReverseBitValue(1)
def doReset(self, seconds=WAITTIME): def doReset(self, seconds=WAITTIME):
""" reset to default positions/off, run command immediately """ """ reset to default positions/off, run command immediately """
self.resetCmd() self.resetCmd()
self.doCmd(seconds)
def doFlap(self, times=3, seconds=0.2):
""" flap wings X times with Y seconds pause in between, run command immediately """
for i in range(times):
self.setWing(self.UP)
self.doCmd(seconds)
self.setWing(self.DOWN)
self.doCmd(seconds) self.doCmd(seconds)
def doWiggle(self, times=3, seconds=0.2): def doFlap(self, times=3, seconds=0.2):
""" wiggle back and forth X times with Y seconds pauses, run command immediately """ """ flap wings X times with Y seconds pause in between, run command immediately """
for i in range(times): for i in range(times):
self.setSwivel(self.LEFT) self.setWing(self.UP)
self.doCmd(seconds) self.doCmd(seconds)
self.setSwivel(self.RIGHT) self.setWing(self.DOWN)
self.doCmd(seconds)
def doWiggle(self, times=3, seconds=0.2):
""" wiggle back and forth X times with Y seconds pauses, run command immediately """
for i in range(times):
self.setSwivel(self.LEFT)
self.doCmd(seconds)
self.setSwivel(self.RIGHT)
self.doCmd(seconds)
def doHeartbeat(self, times=3, seconds=0.3):
""" blink heart X times with Y seconds' pause in betwee, run command immediately """
for i in range(times):
self.setHeart(self.ON)
self.doCmd(seconds)
self.setHeart(self.Off)
self.doCmd(seconds)
def doColorRGB(self, r, g, b, seconds=WAITTIME):
""" set head color by red/green/blue values 0 or 1, run command immediately """
self.setHeadColors(r, g, b)
self.doCmd(seconds) self.doCmd(seconds)
def doHeartbeat(self, times=3, seconds=0.3): def doColorName(self, rgb, seconds=WAITTIME):
""" blink heart X times with Y seconds' pause in betwee, run command immediately """ """ set head color with color name tuples, run command immediately """
for i in range(times): self.setHeadColors(*rgb)
self.setHeart(self.ON) self.doCmd(seconds)
self.doCmd(seconds)
self.setHeart(self.OFF)
self.doCmd(seconds)
def doColorRGB(self, r, g, b, seconds=WAITTIME):
""" set head color by red/green/blue values 0 or 1, run command immediately """
self.setHeadColors(r, g, b)
self.doCmd(seconds)
def doColorName(self, rgb, seconds=WAITTIME):
""" set head color with color name tuples, run command immediately """
self.setHeadColors(*rgb)
self.doCmd(seconds)

18
test.py
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@@ -17,14 +17,16 @@ if __name__ == '__main__':
print('No iBuddy device found!') print('No iBuddy device found!')
exit(1) exit(1)
ibuddy.doColorName(ibuddy.PURPLE, 0.5) for x in range(0, 10):
ibuddy.doColorName(ibuddy.BLUE, 0.5) ibuddy.doColorName(ibuddy.PURPLE, 0.1)
ibuddy.doColorName(ibuddy.LTBLUE, 0.5) ibuddy.doColorName(ibuddy.BLUE, 0.1)
ibuddy.doColorName(ibuddy.YELLOW, 0.5) ibuddy.doColorName(ibuddy.LTBLUE, 0.1)
ibuddy.doColorName(ibuddy.GREEN, 0.5) ibuddy.doColorName(ibuddy.YELLOW, 0.1)
ibuddy.doColorName(ibuddy.RED, 0.5) ibuddy.doColorName(ibuddy.GREEN, 0.1)
ibuddy.doColorName(ibuddy.WHITE, 0.5) ibuddy.doColorName(ibuddy.RED, 0.1)
ibuddy.doFlap() ibuddy.doColorName(ibuddy.WHITE, 0.1)
sleep(0.1)
ibuddy.doFlap() # does not work!
sleep(1) sleep(1)
ibuddy.doWiggle() # does not work! ibuddy.doWiggle() # does not work!
sleep(1) sleep(1)