import usb
import time
import sys

################
#Configuration
################
tsleep = 0.1
usbproduct = 0001

################
# IBUDDY class
################

class BuddyDevice:
  SETUP   = (0x22, 0x09, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00)
  MESS    = (0x55, 0x53, 0x42, 0x43, 0x00, 0x40, 0x02)
  
  LEFT = 0
  RIGHT = 1

  UP = 0
  DOWN = 1

  finalMess = 0xFF
  battery = 0
  product = 0


  def __init__(self, battery, buddy_product):
    try:
      self.dev=UsbDevice(0x1130, buddy_product, battery)
      self.dev.open()
      self.dev.handle.reset()
      self.resetMessage()
      self.pumpMessage()
      self.battery=battery
      self.product=buddy_product
    except NoBuddyException, e:
      raise NoBuddyException()
      
# Commands are sent as disabled bits
  def setReverseBitValue(self,num,value):
     if (value==1):
         temp = 0xFF - (1<<num)
         self.finalMess = self.finalMess & temp
     elif (value==0):
         temp = 1 << num
         self.finalMess = self.finalMess | temp

  def getReverseBitValue(self,num):
     temp = self.finalMess
     temp = temp >> num
     res = not(temp&1)
     return res

  def setHeadColor(self, red, green, blue):
    self.setReverseBitValue(4,red)
    self.setReverseBitValue(5,green)
    self.setReverseBitValue(6,blue)

  def setHeart(self, status):
    self.setReverseBitValue(7,status)

  def pumpMessage(self):
     self.send(self.finalMess)

  def resetMessage(self):
     self.finalMess = 0xFF

  def flick(self, direction):
     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 wing(self, direction):
     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 getColors (self):
     return self.getReverseBitValue(4), self.getReverseBitValue(5), self.getReverseBitValue(6)

  def getHeart(self):
     return self.getReverseBitValue(7)

  def getWing(self):
     return self.getReverseBitValue(2)

  def getDirection(self):
     return self.getReverseBitValue(1)

  def send(self, inp):
    """
    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:
        print "USB error!"
        self.__init__(self.battery,buddy_product)
    """
    #self.dev.handle.controlMsg(0x21, 0x09, self.SETUP, 0x02, 0x01)
    #self.dev.handle.controlMsg(0x22, 0x09, self.SETUP, 0x02, 0x01)
    self.dev.handle.controlMsg(0x21, 0x09, self.MESS+(inp,), 0x02, 0x01)

#####################
# USB 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:
            print "iBuddy 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)
              print "(found endpoint)"
            return
          else:
            count=count+1
    raise NoBuddyException()

  def open(self):
    if self.handle:
      self.handle = None
    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)

class NoBuddyException(Exception): pass

#######################################
# MAIN program
#######################################

#Initialize device
print "Starting search..."
try:
    buddy=BuddyDevice(0, int(usbproduct))
except NoBuddyException, e:
    print "No iBuddy device found!"
    sys.exit(1)

buddy.resetMessage()
buddy.pumpMessage()
buddy.setHeart(1)
buddy.pumpMessage()