def setcolor(self, port, color):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
port_aux = NXT_SENSOR_PORTS[port]
if color == WHITE:
color = Type.COLORFULL
elif color == CONSTANTS['red']:
color = Type.COLORRED
elif color == CONSTANTS['green']:
color = Type.COLORGREEN
elif color == CONSTANTS['blue']:
color = Type.COLORBLUE
else:
color = Type.COLORNONE
try:
Color20(self._bricks[self.active_nxt], port_aux).set_light_color(color)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def prim_translate(self, text):
url = TRANSLATE_APIURL + "translate/text"
values = {'public_key': TRANSLATE_PUBLIC,
'secret_key': TRANSLATE_SECRET,
'source_content': text,
'source_language': self.from_lang,
'target_language': self.to_lang}
data = urllib.urlencode(values)
headers = {'X-Mashape-Key': MASHAPE_KEY}
error = _('error trying to translate:') + '"%s", (%s to %s)' % (
text, self.from_lang, self.to_lang)
try:
request = urllib2.Request(url, data, headers)
data = json.loads(urllib2.urlopen(request).read())
except:
raise logoerror(error)
if data['status']['msg'] != 'ok' or 'error' in data:
raise logoerror(error)
else:
return data['results']['TranslatedText']
def digitalRead(self, pin):
self._check_init()
try:
pin = int(pin)
except:
raise logoerror(ERROR_PIN_TYPE)
try:
a = self._arduinos[self.active_arduino]
mode = a.digital[pin]._get_mode()
except:
raise logoerror(ERROR)
if mode != MODE[_('INPUT')]:
raise logoerror(ERROR_PIN_CONFIGURED)
res = -1
try:
a = self._arduinos[self.active_arduino]
a.digital[pin].enable_reporting()
a.pass_time(0.05) # wait for the iterator to start receiving data
if a.digital[pin].read() is None:
# if the library returns None it is actually False not being updated
res = False
else:
res = a.digital[pin].read()
a.digital[pin].disable_reporting()
except:
pass
return res
def setcolor(self, port, color):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
port_aux = NXT_SENSOR_PORTS[port]
if color == WHITE:
color = Type.COLORFULL
elif color == CONSTANTS['red']:
color = Type.COLORRED
elif color == CONSTANTS['green']:
color = Type.COLORGREEN
elif color == CONSTANTS['blue']:
color = Type.COLORBLUE
else:
color = Type.COLORNONE
try:
Color20(self._bricks[self.active_nxt], port_aux).set_light_color(color)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def digitalRead(self, pin):
self._check_init()
try:
pin = int(pin)
except:
raise logoerror(ERROR_PIN_TYPE)
try:
a = self._arduinos[self.active_arduino]
mode = a.digital[pin]._get_mode()
except:
raise logoerror(ERROR)
if mode != MODE[_('INPUT')]:
raise logoerror(ERROR_PIN_CONFIGURED)
res = -1
try:
a = self._arduinos[self.active_arduino]
a.digital[pin].enable_reporting()
a.pass_time(0.05) # wait for the iterator to start receiving data
if a.digital[pin].read() is None:
# if the library returns None it is actually False not being updated
res = False
else:
res = a.digital[pin].read()
a.digital[pin].disable_reporting()
except:
pass
return res
def battery(self):
if self._bricks:
try:
return self._bricks[self.active_nxt].get_battery_level()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_BRICK)
def playtone(self, freq, time):
if self._bricks:
try:
self._bricks[self.active_nxt].play_tone(freq, time)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_BRICK)
def playtone(self, freq, time):
if self._bricks:
try:
self._bricks[self.active_nxt].play_tone(freq, time)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_BRICK)
def battery(self):
if self._bricks:
try:
return self._bricks[self.active_nxt].get_battery_level()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_BRICK)
def gTemp(self, idMotor):
idMotor = int(idMotor)
a = self.butia.readInfo(str(idMotor),43,2)
res = self.ajustarValor(a)
if (res == 65279):
raise logoerror(ERROR_NO_CONECTADO)
else:
if (res == 65535):
raise logoerror(ERROR_ID_NO_VALIDO)
return res
def setMotorB(self, speed):
try:
speed = int(speed)
except:
raise logoerror(ERROR_SPEED)
if speed > 100 or speed < -100:
raise logoerror(ERROR_SPEED)
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
wedo.motor_b = speed
def setMotorB(self, speed):
try:
speed = int(speed)
except:
raise logoerror(ERROR_SPEED)
if speed > 100 or speed < -100:
raise logoerror(ERROR_SPEED)
if self.WeDos:
wedo = self.WeDos[self.active_wedo]
wedo.motor_b = speed
def selectButia(self, i):
try:
i = int(i)
except:
raise logoerror(_('The device must be an integer'))
i = i - 1
if (i < self.butia_count) and (i >= 0):
self.active_butia = i
else:
raise logoerror(_('Not found Butia %s') % (i + 1))
def gPosition(self, idMotor):
idMotor = int(idMotor)
a = self.butia.readInfo(str(idMotor),36,2)
res = self.ajustarValor(a)
res = (res * 300 / 1023)
if (res == 19143):
raise logoerror(ERROR_NO_CONECTADO)
else:
if (res == 19218):
raise logoerror(ERROR_ID_NO_VALIDO)
return res
def _prim_arduinoname(self, i):
n = len(self._arduinos)
try:
i = int(i)
except:
logoerror(_('The device must be an integer'))
i = i - 1
if (i < n) and (i >= 0):
return self._arduinos_dev[i]
else:
raise logoerror(_('Not found Arduino %s') % (i + 1))
def _prim_arduinoselect(self, i):
n = len(self._arduinos)
try:
i = int(i)
except:
logoerror(_('The device must be an integer'))
i = i - 1
if (i < n) and (i >= 0):
self.active_arduino = i
else:
raise logoerror(_('Not found Arduino %s') % (i + 1))
def gVolt(self, idMotor):
idMotor = int(idMotor)
a = self.butia.readInfo(str(idMotor),42,2)
volt = self.ajustarValor(a)
res = (float(volt)/1000)
if (res == 65.279):
raise logoerror(ERROR_NO_CONECTADO)
else:
if (res == 65.535):
raise logoerror(ERROR_ID_NO_VALIDO)
return res
def select(self, i):
# The list index begin in 0
try:
i = int(i)
i = i - 1
except:
raise logoerror(ERROR_NO_NUMBER % str(i))
if (i < len(self._bricks)) and (i >= 0):
self.active_nxt = i
else:
raise logoerror(BRICK_INDEX_NOT_FOUND % int(i + 1))
def select(self, i):
# The list index begin in 0
try:
i = int(i)
i = i - 1
except:
raise logoerror(ERROR_NO_NUMBER % str(i))
if (i < len(self._bricks)) and (i >= 0):
self.active_nxt = i
else:
raise logoerror(BRICK_INDEX_NOT_FOUND % int(i + 1))
def select_Rodi(self, i):
n = len(self._rodis)
try:
i = int(i)
except:
raise logoerror(_('The device must be an integer'))
i = i - 1
if (i < n) and (i >= 0):
self.active_arduino = i
else:
raise logoerror(_('Not found Rodi %s') % (i + 1))
def getPin(self, pin):
try:
pin = int(pin)
except:
pin = ERROR
if (pin < 1) or (pin > 8):
raise logoerror(ERROR_PIN_NUMBER)
else:
if self.butia.getModeHack(pin, self.active_butia) == 0:
raise logoerror(_('ERROR: The pin %s must be in INPUT mode.') % pin)
else:
return self.butia.getHack(pin, self.active_butia)
def name_Rodi(self, i):
n = len(self._rodis)
try:
i = int(i)
except:
raise logoerror(_('The device must be an integer'))
i = i - 1
if (i < n) and (i >= 0):
a = self._arduinos[i]
return a.name
else:
raise logoerror(_('Not found Rodi %s') % (i + 1))
def select(self, i):
''' Select current device '''
if self.count() == 0:
raise logoerror(WEDO_NOT_FOUND)
try:
t = int(i)
t = t - 1
except:
raise logoerror(ERROR_NO_NUMBER % i)
if (t < self.count()) and (t >= 0):
self.active_wedo = t
else:
raise logoerror(INDEX_NOT_FOUND % (t + 1))
def select(self, i):
''' Select current device '''
if self.count() == 0:
raise logoerror(WEDO_NOT_FOUND)
try:
t = int(i)
t = t - 1
except:
raise logoerror(ERROR_NO_NUMBER % i)
if (t < self.count()) and (t >= 0):
self.active_wedo = t
else:
raise logoerror(INDEX_NOT_FOUND % (t + 1))
def pinMode(self, pin, mode):
self._check_init()
try:
pin = int(pin)
except:
raise logoerror(_('The pin must be an integer'))
if (mode in MODE):
try:
a = self._arduinos[self.active_arduino]
a.digital[pin]._set_mode(MODE[mode])
except:
raise logoerror(ERROR)
else:
raise logoerror(ERROR_MODE)
def _prim_digital_read(self, pin):
self._check_init()
try:
pin = int(pin)
except:
logoerror(ERROR_PIN_TYPE)
res = -1
try:
a = self._arduinos[self.active_arduino]
res = a.digital_read(pin)
except:
pass
return res
def pinMode(self, pin, mode):
self._check_init()
try:
pin = int(pin)
except:
raise logoerror(_('The pin must be an integer'))
if (mode in MODE):
try:
a = self._arduinos[self.active_arduino]
a.digital[pin]._set_mode(MODE[mode])
except:
raise logoerror(ERROR)
else:
raise logoerror(ERROR_MODE)
def syncmotorsforever(self, power):
if self._bricks:
if not((power < -127) or (power > 127)):
try:
motorB = Motor(self._bricks[self.active_nxt], PORT_B)
motorC = Motor(self._bricks[self.active_nxt], PORT_C)
syncmotors = SynchronizedMotors(motorB, motorC, 0)
syncmotors.run(power)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_POWER)
else:
raise logoerror(ERROR_BRICK)
def syncmotorsforever(self, power):
if self._bricks:
if not((power < -127) or (power > 127)):
try:
motorB = Motor(self._bricks[self.active_nxt], PORT_B)
motorC = Motor(self._bricks[self.active_nxt], PORT_C)
syncmotors = SynchronizedMotors(motorB, motorC, 0)
syncmotors.run(power)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_POWER)
else:
raise logoerror(ERROR_BRICK)
def pinMode(self, pin, mode):
try:
pin = int(pin)
except:
pin = ERROR
if (pin < 1) or (pin > 8):
raise logoerror(ERROR_PIN_NUMBER)
else:
if mode == _('INPUT'):
self.butia.setModeHack(pin, 1, self.active_butia)
elif mode == _('OUTPUT'):
self.butia.setModeHack(pin, 0, self.active_butia)
else:
raise logoerror(ERROR_PIN_MODE)
def move_Rodi(self, left, right):
try:
left = int(left)
except:
left = 0
if (left < -MAX_SPEED) or (left > MAX_SPEED):
raise logoerror(ERROR_SPEED_ABS)
try:
right = int(right)
except:
right = 0
if (right < -MAX_SPEED) or (right > MAX_SPEED):
raise logoerror(ERROR_SPEED_ABS)
self.set_vels(left, right)
def _prim_pin_mode(self, pin, mode):
self._check_init()
try:
pin = int(pin)
except:
logoerror(_('The pin must be an integer'))
if (mode in MODE):
mode = MODE[mode]
try:
a = self._arduinos[self.active_arduino]
a.pin_mode(pin, mode)
except:
raise logoerror(ERROR)
else:
raise logoerror(ERROR_MODE)
def brake(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
m.brake()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def brake(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
m.brake()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def _check_init(self):
n = len(self._arduinos)
if (self.active_arduino < n) and (self.active_arduino >= 0):
a = self._arduinos[self.active_arduino]
a.parse()
else:
raise logoerror(_('Not found Arduino %s') % (self.active_arduino + 1))
def refresh(self):
#Close actual Arduinos
for dev in self._arduinos:
try:
dev.exit()
except:
pass
self._arduinos = []
self._arduinos_it = []
#Search for new Arduinos
status,output_usb = commands.getstatusoutput("ls /dev/ | grep ttyUSB")
output_usb_parsed = output_usb.split('\n')
status,output_acm = commands.getstatusoutput("ls /dev/ | grep ttyACM")
output_acm_parsed = output_acm.split('\n')
output = output_usb_parsed
output.extend(output_acm_parsed)
for dev in output:
if not(dev == ''):
n = '/dev/%s' % dev
try:
board = pyfirmata.Arduino(n, baudrate=self._baud)
it = pyfirmata.util.Iterator(board)
it.start()
self._arduinos.append(board)
self._arduinos_it.append(it)
except Exception, err:
print err
raise logoerror(_('Error loading %s board') % n)
def get_turtle_heading(self, turtle_name):
#print 'taturtle.py: def get_turtle_heading'
if turtle_name not in self.dict:
debug_output('%s not found in turtle dictionary' % (turtle_name),
self.turtle_window.running_sugar)
raise logoerror("#syntaxerror")
return self.dict[turtle_name].get_heading()
def refresh(self):
#Close actual Arduinos
for dev in self._arduinos:
try:
dev.exit()
except:
pass
self._arduinos = []
self._arduinos_it = []
#Search for new Arduinos
status, output_usb = commands.getstatusoutput("ls /dev/ | grep ttyUSB")
output_usb_parsed = output_usb.split('\n')
status, output_acm = commands.getstatusoutput("ls /dev/ | grep ttyACM")
output_acm_parsed = output_acm.split('\n')
output = output_usb_parsed
output.extend(output_acm_parsed)
for dev in output:
if not (dev == ''):
n = '/dev/%s' % dev
try:
board = pyfirmata.Arduino(n, baudrate=self._baud)
it = pyfirmata.util.Iterator(board)
it.start()
self._arduinos.append(board)
self._arduinos_it.append(it)
except Exception, err:
print err
raise logoerror(_('Error loading %s board') % n)
def refresh_Rodi(self):
#Close actual Rodis
self.closeRodis()
#Search for new Rodis
#status,output_usb = commands.getstatusoutput("ls /dev/ | grep ttyUSB")
#output_usb_parsed = output_usb.split('\n')
#status,output_acm = commands.getstatusoutput("ls /dev/ | grep ttyACM")
#output_acm_parsed = output_acm.split('\n')
# add rfcomm to the list of rodis
status, output_rfc = commands.getstatusoutput("ls /dev/ | grep rfcomm")
output_rfc_parsed = output_rfc.split('\n')
#output = output_usb_parsed
#output.extend(output_acm_parsed)
output = output_rfc_parsed
for dev in output:
if not (dev == ''):
n = '/dev/%s' % dev
try:
r = pyfirmata.Arduino(n, baudrate=self._baud)
it = pyfirmata.util.Iterator(r)
it.start()
self._rodis.append(r)
self._rodis_it.append(it)
except:
raise logoerror(_('Error loading %s board') % n)
self.change_color_blocks()
def get_turtle_heading(self, turtle_name):
#print 'taturtle.py: def get_turtle_heading'
if turtle_name not in self.dict:
debug_output('%s not found in turtle dictionary' % (turtle_name),
self.turtle_window.running_sugar)
raise logoerror("#syntaxerror")
return self.dict[turtle_name].get_heading()
def _prim_nutriant(self, x, nutriant=0):
print x
print type(x)
if type(x) == Vector:
return x.vector[nutriant]
else:
raise logoerror("#syntaxerror")
def getLightColor(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
return sensor.get_lightness()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def speed(self, speed):
try:
speed = int(speed)
except:
speed = ERROR
if (speed < 0) or (speed > MAX_SPEED):
raise logoerror(ERROR_SPEED)
self.actualSpeed = [speed, speed]
def brickname(self, i):
# The list index begin in 0
try:
i = int(i)
i = i - 1
except:
raise logoerror(ERROR_NO_NUMBER % str(i))
if (i < len(self._bricks)) and (i >= 0):
try:
info = self._bricks[i].get_device_info()
name = info[0]
name = name.replace('\x00', '')
return name
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(BRICK_INDEX_NOT_FOUND % int(i + 1))
def motorposition(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
previous = self._motor_pos[port_up][self.active_nxt]
return (t.tacho_count - previous)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def motorposition(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
previous = self._motor_pos[port_up][self.active_nxt]
return (t.tacho_count - previous)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def motorreset(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
self._motor_pos[port_up][self.active_nxt] = t.tacho_count
m.idle()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def getSound(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Sound(self._bricks[self.active_nxt], port_aux)
return sensor.get_sample()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getLightColor(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Light(self._bricks[self.active_nxt], port_aux)
return sensor.get_lightness()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getSound(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = Sound(self._bricks[self.active_nxt], port_aux)
return sensor.get_sample()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def getDistance(self, port):
if self._bricks:
try:
port = int(port)
except:
pass
if (port in NXT_SENSOR_PORTS):
try:
port_aux = NXT_SENSOR_PORTS[port]
sensor = HTCompass(self._bricks[self.active_nxt], port_aux)
return sensor.get_heading()
except:
return ERROR
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def syncmotors(self, power, turns):
if self._bricks:
if not((power < -127) or (power > 127)):
if turns < 0:
turns = abs(turns)
power = -1 * power
try:
motorB = Motor(self._bricks[self.active_nxt], PORT_B)
motorC = Motor(self._bricks[self.active_nxt], PORT_C)
syncmotors = SynchronizedMotors(motorB, motorC, 0)
syncmotors.turn(power, int(turns*360))
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_POWER)
else:
raise logoerror(ERROR_BRICK)
def brickname(self, i):
# The list index begin in 0
try:
i = int(i)
i = i - 1
except:
raise logoerror(ERROR_NO_NUMBER % str(i))
if (i < len(self._bricks)) and (i >= 0):
try:
info = self._bricks[i].get_device_info()
name = info[0]
name = name.replace('\x00', '')
return name
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(BRICK_INDEX_NOT_FOUND % int(i + 1))
def motorreset(self, port):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
try:
m = Motor(self._bricks[self.active_nxt], port)
t = m.get_tacho()
self._motor_pos[port_up][self.active_nxt] = t.tacho_count
m.idle()
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def getButton(self, port):
if self._fischers:
try:
port = int(port)
except:
pass
if (port in FT_SENSOR_PORTS):
res = ERROR
try:
f = self._fischers[self.active_fischer]
res = f.getSensor(port-1)
except:
pass
return res
else:
raise logoerror(ERROR_PORT_S % port)
else:
raise logoerror(ERROR_BRICK)
def startmotor(self, port, power):
if self._bricks:
port = str(port)
port_up = port.upper()
if (port_up in NXT_MOTOR_PORTS):
port = NXT_MOTOR_PORTS[port_up]
if not((power < -127) or (power > 127)):
try:
m = Motor(self._bricks[self.active_nxt], port)
m.weak_turn(power, 0)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_POWER)
else:
raise logoerror(ERROR_PORT_M % port)
else:
raise logoerror(ERROR_BRICK)
def refresh_Rodi(self):
try:
r = rodi.RoDI()
self._rodis.append(r)
if r.see() is not None:
self.change_color_blocks()
else:
del self._rodis[-1]
except:
raise logoerror(_('Error connecting to RoDI'))
