#!/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/
#
# TODO: - Why does libusb require sudo/root on Linux?
#       - Why does libusb-win32 error on Windoze?
#

import logging
from time import sleep
from sys import exit
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)

### General USB Device Class
class UsbDevice:
  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("USB 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("USB 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)

### iBuddy Device Class
class iBuddyDevice:
  USB_VENDOR  = 0x1130
  USB_PRODUCT = int(0x0001)
  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

  BLUE   = (0,0,1)
  GREEN  = (0,1,0)
  LTBLUE = (0,1,1)
  PURPLE = (1,0,1)
  RED    = (1,0,0)
  WHITE  = (1,1,1)
  YELLOW = (1,1,0)

  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:
          self.__init__()
          #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)
      self.setReverseBitValue(2,1)

  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):
    """ reset to default positions/off, run command immediately """
    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)

  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)

  def doColorName(self, rgb, seconds=WAITTIME):
    """ set head color with color name tuples, run command immediately """
    self.setHeadColors(*rgb)
    self.doCmd(seconds)

## 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__':

  # find iBuddy device 
  log.info("Starting search...")
  try:
      buddy = iBuddyDevice()
  except NoBuddyException, e:
      log.exception("No iBuddy device found!")
      exit(1)

  # demo command macros
  buddy.doColorName(iBuddyDevice.PURPLE, 0.5)
  buddy.doColorName(iBuddyDevice.BLUE, 0.5)
  buddy.doColorName(iBuddyDevice.LTBLUE, 0.5)
  buddy.doColorName(iBuddyDevice.YELLOW, 0.5)
  buddy.doColorName(iBuddyDevice.GREEN, 0.5)
  buddy.doColorName(iBuddyDevice.RED, 0.5)
  buddy.doColorName(iBuddyDevice.WHITE, 0.5)
  buddy.doFlap()
  sleep(1)
  buddy.doWiggle()
  sleep(1)
  buddy.doHeartbeat()
  sleep(1)
  buddy.doReset()