import usb
import time
import sys
from time import sleep

## configuration
tsleep = 0.5
usbvendor = 0x1130
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(usbvendor, 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()
sleep(0.5)
buddy.setHeadColor(1,0,0)
buddy.pumpMessage()
sleep(0.5)
buddy.setHeadColor(0,1,0)
buddy.pumpMessage()
sleep(0.5)
buddy.setHeadColor(0,0,1)
buddy.pumpMessage()
sleep(0.5)
buddy.flick(BuddyDevice.LEFT)
buddy.pumpMessage()
sleep(0.5)
buddy.flick(BuddyDevice.RIGHT)
buddy.pumpMessage()
sleep(0.5)
buddy.flick(BuddyDevice.LEFT)
buddy.pumpMessage()
sleep(0.5)
buddy.flick(BuddyDevice.RIGHT)
buddy.pumpMessage()
sleep(0.1)
buddy.wing(BuddyDevice.UP)
buddy.pumpMessage()
sleep(0.1)
buddy.wing(BuddyDevice.DOWN)
buddy.pumpMessage()
sleep(0.1)
buddy.wing(BuddyDevice.UP)
buddy.pumpMessage()
sleep(0.1)
buddy.wing(BuddyDevice.DOWN)
buddy.pumpMessage()
sleep(0.1)
buddy.wing(BuddyDevice.UP)
buddy.pumpMessage()
sleep(0.1)
buddy.wing(BuddyDevice.DOWN)
buddy.pumpMessage()
buddy.setHeadColor(0,0,0)
buddy.pumpMessage()