reorg, rename, refactor

pybuddylib.py

@@ -0,0 +1,246 @@
+#!/usr/bin/env python
+#
+# pybuddylib.py: simple library to control iBuddy USB device
+#  by ewall <e@ewall.org>, Sept 2010
+#
+# borrows code from http://code.google.com/p/pybuddy
+#  by Jose.Carlos.Luna@gmail.com and luis.peralta@gmail.com
+# who got most of the code from http://cuntography.com/blog/?p=17
+# which is based on http://scott.weston.id.au/software/pymissile/
+
+import logging
+from time import sleep
+import usb
+
+### Global Configuration
+DEBUG = True
+
+### Prepare Logging
+log = logging.getLogger("pybuddy")
+log.setLevel(logging.DEBUG)
+console_handler = logging.StreamHandler()
+if DEBUG:
+  console_handler.setLevel(logging.DEBUG)
+else:
+  console_handler.setLevel(logging.ERROR)
+log.addHandler(console_handler)
+
+### iBuddy Device Class
+class iBuddyDevice:
+  USB_VENDOR  = 0x1130
+  USB_PRODUCT = int(0001)
+  BATTERY     = 0
+  SETUP       = (0x22, 0x09, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00)
+  MESS        = (0x55, 0x53, 0x42, 0x43, 0x00, 0x40, 0x02)
+
+  WAITTIME = 0.1
+  
+  LEFT  = 0
+  RIGHT = 1
+  UP    = 0
+  DOWN  = 1
+  OFF   = 0
+  ON    = 1
+
+  CLEAR   = 0xFF
+  command = CLEAR
+
+  # the following items deal with setup and control
+
+  def __init__(self):
+    try:
+      self.dev=UsbDevice(self.USB_VENDOR, self.USB_PRODUCT, self.BATTERY)
+      self.dev.open()
+      self.dev.handle.reset()
+      self.resetCmd()
+      self.doCmd()
+    except NoBuddyException, e:
+      raise NoBuddyException()
+
+  def __send(self, inp):
+    """ send your command to the device """
+    try:
+      self.dev.handle.controlMsg(0x21, 0x09, self.SETUP, 0x02, 0x01)
+      self.dev.handle.controlMsg(0x21, 0x09, self.MESS+(inp,), 0x02, 0x01)
+    except usb.USBError:
+        if DEBUG:
+          raise
+        else:
+          self.__init__()
+
+  def doCmd(self, seconds=WAITTIME):
+    """ send the command specified by the current command """
+    self.__send(self.command)
+    sleep(seconds)
+
+  # the following items operate on the command to be sent next
+
+  def resetCmd(self):
+    """ reset command to default (must pump to take effect) """
+    self.command = self.CLEAR
+      
+  def setReverseBitValue(self,num,value):
+    """ commands are sent as disabled bits """
+    if (value==1):
+        temp = 0xFF - (1<<num)
+        self.command = self.command & temp
+    elif (value==0):
+        temp = 1 << num
+        self.command = self.command | temp
+
+  def getReverseBitValue(self,num):
+    """ what was that bit set to again? """
+    temp = self.command
+    temp = temp >> num
+    res = not(temp&1)
+    return res
+
+  def setHeadColors(self, red, green, blue):
+    """ colors as (red, green, blue) can be on (1) or off (0) """
+    self.setReverseBitValue(4,red)
+    self.setReverseBitValue(5,green)
+    self.setReverseBitValue(6,blue)
+    self.setReverseBitValue(2,1)
+
+  def getHeadColors (self):
+    """ 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)
+
+  def setHeart(self, status):
+    """ heart-light can be on (1) or off (0) """
+    self.setReverseBitValue(7,status)
+
+  def getHeart(self):
+    """ returns heart-light status of on (1) or off (0) """
+    return self.getReverseBitValue(7)
+
+  def setWing(self, direction):
+    """ move the wings iBuddyDevice.UP (0) or iBuddyDevice.DOWN (1) """
+    if (direction == self.UP):
+       self.setReverseBitValue(3,1)
+       self.setReverseBitValue(2,0)
+    elif(direction == self.DOWN):
+       self.setReverseBitValue(3,0)
+
+  def getWing(self):
+    """ returns wing status of iBuddyDevice.UP (0) or iBuddyDevice.DOWN (1) """
+    return self.getReverseBitValue(2)
+
+  def setSwivel(self, direction):
+    """ swivel the body iBuddyDevice.LEFT (0) or iBuddyDevice.RIGHT (1) """
+    if (direction == self.RIGHT):
+       self.setReverseBitValue(1,1)
+       self.setReverseBitValue(0,0)
+    elif(direction == self.LEFT):
+       self.setReverseBitValue(1,0)
+       self.setReverseBitValue(0,1)
+
+  def getSwivel(self):
+    """ returns current swivel direction as iBuddyDevice.LEFT (0) or iBuddyDevice.RIGHT (1) """
+    return self.getReverseBitValue(1)
+
+  # the following items are macros for specific behaviors
+
+  def doReset(self, seconds=WAITTIME):
+    self.resetCmd()
+    self.doCmd(seconds)
+
+  def doFlap(self, times=3, seconds=WAITTIME):
+    for i in range(times):
+      self.setWing(self.UP)
+      self.doCmd(seconds)
+      self.setWing(self.DOWN)
+      self.doCmd(seconds)
+
+  def doWiggle(self, times=2, seconds=WAITTIME):
+    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=WAITTIME):
+    for i in range(times):
+      self.setHeart(self.ON)
+      self.doCmd(seconds)
+      self.setHeart(self.OFF)
+      self.doCmd(seconds)
+
+  # TODO: macros for specific colors
+
+
+### General USB Device Class
+class UsbDevice:
+  # TODO: improve on this device search
+  def __init__(self, vendor_id, product_id, skip):
+    busses = usb.busses()
+    self.handle = None
+    count = 0
+    for bus in busses:
+      devices = bus.devices
+      for dev in devices:
+
+        if dev.idVendor==vendor_id and dev.idProduct==product_id:
+          if count==skip:
+            log.info("iBuddy device found (vend: %s, prod: %s)." % (dev.idVendor, dev.idProduct))
+            self.dev = dev
+            
+            self.conf = self.dev.configurations[0]
+            self.intf = self.conf.interfaces[0][0]
+            self.endpoints = []
+            for endpoint in self.intf.endpoints:
+              self.endpoints.append(endpoint)
+              log.info("Endpoint found.")
+            return
+          else:
+            count=count+1
+    raise NoBuddyException()
+
+  def open(self):
+    # TODO: should the HID driver detachment be optional?
+    self.handle = self.dev.open()
+
+    # we need to detach HID interface
+    try:
+        self.handle.detachKernelDriver(0)
+        self.handle.detachKernelDriver(1)
+    except:
+        pass
+
+    self.handle.setConfiguration(self.conf)
+    self.handle.claimInterface(self.intf)
+    self.handle.setAltInterface(self.intf)
+
+## Custom Exceptions
+class NoBuddyException(usb.USBError):
+  """ indicates errors communicating with iBuddy USB device """
+  #def __init__(self, *args):
+  #  Exception._ _init_ _(self, *args)
+  #  self.wrapped_exc = sys.exc_info()
+  pass
+
+
+### Main Program
+if __name__ == '__main__':
+  
+  log.info("Starting search...")
+  try:
+      buddy = iBuddyDevice()
+  except NoBuddyException, e:
+      log.exception("No iBuddy device found!")
+      sys.exit(1)
+
+  # sample commands and macros
+  buddy.setHeadColors(1,0,0)
+  buddy.doCmd(1)
+  buddy.setHeadColors(0,1,0)
+  buddy.doCmd(1)
+  buddy.setHeadColors(0,0,1)
+  buddy.doCmd(1)
+  buddy.doFlap()
+  sleep(1)
+  buddy.doWiggle()
+  sleep(1)
+  buddy.doHeartbeat()
+  sleep(1)
+  buddy.doReset()