def isRunning(self):
"""
Check if is running
:return: check if roboter is running
:rType: Integer [0,1]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
order = [self._robot.getRNumber(), 3, 209]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
logging.warn('NRF-transmission failed')
return 'fail'
i = i + 1
while int(response[0]) != self._robot.getRNumber():
response = self._communication.receive()()
if int(response[0]) == self._robot.getRNumber():
if response[2] != '110':
data_response = lMisc.fail(response[2])
else:
data_response = lMisc.to_bin(response[3], 1)
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getValues(self):
"""
Getter floor sensor
:return: floor sensor values
:rType: tuple 000
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 4, 3, 2]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
if int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '101':
print response
data_response = lMisc.fail(response[2])
else:
data_response = lMisc.to_bin(response[3], 3)
else:
data_response = lMisc.fail(55)
logging.debug(str(data_response))
return data_response
def getValues(self):
"""
Getter proximity sensor
:return: proximity sensor values
:rType: tuple [0, 0, 0, 0, 0, 0, 0, 0] all values in {0,1}
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 4, 3, 1]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '102':
data_response = lMisc.fail(response[2])
else:
data_response = lMisc.to_bin(response[3], 8)
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getValues(self):
"""
Getter battery
:return: battery status
:rType: Integer [0,1]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 204]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive()
if int(response[0]) == _rNumber:
if response[2] != '105':
data_response = lMisc.fail(response[2])
else:
data_response = lMisc.to_bin(response[3], 1)
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getSensitivity(self): # Get the threshold value for the distance sensors
"""
Getter proximity sensor sensitivity
:return: sensitivity
:rType: Integer [0,1023]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 207]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '108':
data_response = lMisc.fail(response[2])
else:
data_response = (int(response[4]) << 8) + int(response[3])
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getdestroy(self): # Check on what sensors a 'High' is simulated (ground and distance sensors)
"""
Getter destroy
:return: response
:rType:
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 208]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
data_response = []
if response[2] != '109':
data_response = lMisc.fail(response[2])
else:
data_response.append(lMisc.to_bin(response[3], 8))
data_response.append(lMisc.to_bin(response[4], 3))
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def isRunning(self):
"""
Check if is running
:return: check if roboter is running
:rType: Integer [0,1]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
order = [self._robot.getRNumber(), 3, 209]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
logging.warn('NRF-transmission failed')
return 'fail'
i = i + 1
while int(response[0]) != self._robot.getRNumber():
response = self._communication.receive()()
if int(response[0]) == self._robot.getRNumber():
if response[2] != '110':
data_response = lMisc.fail(response[2])
else:
data_response = lMisc.to_bin(response[3], 1)
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getRobotID(self): # has to be set previously
"""
Getter robotID
:return: robotID
:rType: Integer
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 4]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '103':
data_response = lMisc.fail(response[2])
else:
data_response = response[3]
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getValues(self):
"""
Getter battery
:return: battery status
:rType: Integer [0,1]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 204]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive()
if int(response[0]) == _rNumber:
if response[2] != '105':
data_response = lMisc.fail(response[2])
else:
data_response = lMisc.to_bin(response[3], 1)
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getRobotID(self): # has to be set previously
"""
Getter robotID
:return: robotID
:rType: Integer
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 4]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '103':
data_response = lMisc.fail(response[2])
else:
data_response = response[3]
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getID(self, robotNr): # Get the current infrared ID from robot
"""
Getter infrared id
:parameter: robotNr
:pType: Integer
:return: infrared id
:rType: Integer [0,7]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
order = [robotNr, 3, 9]
response = self._communication.send_receive(order)
i = 0
while response == 'misc.fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while (int(response[0]) != robotNr):
response = self._communication.receive()
if int(response[0]) == robotNr:
if response[2] != '47':
data_response = lMisc.fail(response[2])
else:
data_response = response[3]
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def analogreadbattery(self): # Get the current battery status as an analog value
"""
Getter analog battery
:return: response
:rType: Integer [volt with value/1000]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
order = [_rNumber, 3, 205]
response = self._communication.send_receive(order)
i = 0
while response == 'fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '106':
data_response = lMisc.fail(response[2])
else:
data_response = (int(response[4]) << 8) + int(response[3])
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def setSensitivity(self, robotNr, sens): # Set the threshold value for the distance sensors
"""
Setter infrared sensitivity
:parameter: robotNr
:pType: Integer
:parameter: sens
:pType: Integer [0,1023]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
if not 0 <= sens < 1023:
raise ValueError('ERROR: Invalid parameter for "sens"! (0 - 1023 expected)')
sens_tmp = struct.unpack('BB', struct.pack('H', sens))
sens_int1 = sens_tmp[0]
sens_int2 = sens_tmp[1]
order = [robotNr, 5, 13, sens_int1, sens_int2]
logging.debug(order)
response = self._communication.send(order)
i = 0
while response == 'misc.fail':
response = self._communication.send(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
def setdestroy(self, d1=0, d2=0, d3=0, d4=0, d5=0, d6=0, d7=0, d8=0, g1=0, g2=0, g3=0):
"""
Setter destroy
:parameter: d1 (default=0), d2 (default=0), d3 (default=0), d4 (default=0),
d5 (default=0), d6 (default=0), d7 (default=0), d8 (default=0),
g1 (default=0), g2 (default=0), g3 (default=0),
:pType: Integer
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
# Set certain sensors simulating a 'High' signal (ground and distance sensors)
data_to_send1 = d8
data_to_send1 = (int(data_to_send1) << 1) + int(d7)
data_to_send1 = (int(data_to_send1) << 1) + int(d6)
data_to_send1 = (int(data_to_send1) << 1) + int(d5)
data_to_send1 = (int(data_to_send1) << 1) + int(d4)
data_to_send1 = (int(data_to_send1) << 1) + int(d3)
data_to_send1 = (int(data_to_send1) << 1) + int(d2)
data_to_send1 = (int(data_to_send1) << 1) + int(d1)
data_to_send2 = g3
data_to_send2 = (int(data_to_send2) << 1) + int(g2)
data_to_send2 = (int(data_to_send2) << 1) + int(g1)
order = [self._robot.getRNumber(), 5, 202, data_to_send1, data_to_send2]
logging.debug(order)
i = 0
while self._communication.send(order) == 'fail':
if i > 4:
return lMisc.fail(20)
i = i + 1
def send(self, sender_rbn, receiver_id, data_byte): # Send IR package
"""
send infrared
:parameter: sender_rbn
:pType: Integer
:paramter: receiver_id
:pType: Integer [0,7]
:paramter: data_byte
:pType: Integer [0,255]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
if (receiver_id < 0) or (receiver_id > 7):
raise ValueError('ERROR: Invalid parameter for "receiver_id"! (0-7 expected)')
if (data_byte < 0) or (data_byte > 255):
raise ValueError('ERROR: Invalid parameter for "data_byte"! (0-255 expected)')
order = [sender_rbn, 5, 7, receiver_id, data_byte]
data_response = []
response = self._communication.send_receive(order)
i = 0
while response == 'misc.fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != sender_rbn:
response = self._communication.receive(order)
if int(response[0]) == sender_rbn:
if response[2] != '45':
data_response = lMisc.fail(response[2])
else:
data_response.append(int(response[3]))
data_response.append(int(response[4]))
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getSensorWord(self, robotNr, sensor): # Debug
"""
Getter sensor word
:parameter: sensor
:pType: Integer
:return: sensor word
:rType: tuple
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
if (sensor - 1 < 0) or (sensor - 1 > 7):
raise ValueError('ERROR: Invalid parameter for "sensor"! (1-8 expected)')
order = [robotNr, 4, 14, sensor]
data_response = []
response = self._communication.send_receive(order)
i = 0
while response == 'misc.fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != robotNr:
response = self._communication.receive()
if int(response[0]) == robotNr:
if response[2] != '60':
data_response = lMisc.fail(response[2])
else:
data_response.append(int(response[3]))
data_response.append(int(response[4]))
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def getLastValues(self, robotNr): # Get last IR values of robot
"""
Getter infrared values
:parameter: robotNr
:pType: Integer
:return: infrared values
:rType: tuple
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
order = [robotNr, 3, 11]
data_response = []
response = self._communication.send_receive(order)
i = 0
while response == 'misc.fail':
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != robotNr:
response = self._communication.receive()
if int(response[0]) == robotNr:
if response[2] != '49':
data_response = lMisc.fail(response[2])
else:
data_response.append(int(response[3]))
data_response.append(int(response[4]))
data_response.append(int(response[5]))
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def analogread(self, sensor): # Get the analog value of a specific sensor
"""
Analog read
:parameter: sensor
:pType: Integer
:return: response
:rType:
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
_rNumber = self._robot.getRNumber()
if (sensor <= 0) or (sensor >= 12):
raise ValueError('ERROR: Invalid parameter for "sensor"! (1-11 expected)')
order = [_rNumber, 4, 5, sensor]
response = self._communication.send_receive(order)
i = 0
while (response == 'fail'):
response = self._communication.send_receive(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
while int(response[0]) != _rNumber:
response = self._communication.receive(order)
if int(response[0]) == _rNumber:
if response[2] != '100':
data_response = lMisc.fail(response[2])
else:
data_response = (int(response[4]) << 8) + int(response[3])
else:
data_response = lMisc.fail(55)
logging.debug(data_response)
return data_response
def setRobotID(self, r_type):
"""
Setter robotID
:parameter: r_type
:pType: Integer
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
order = [self._robot.getRNumber(), 5, 203, r_type]
logging.debug(order)
i = 0
while self._communication.send(order) == 'fail':
if i > 4:
return lMisc.fail(20)
i = i + 1
def setRobotID(self, r_type):
"""
Setter robotID
:parameter: r_type
:pType: Integer
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
order = [self._robot.getRNumber(), 5, 203, r_type]
logging.debug(order)
i = 0
while self._communication.send(order) == 'fail':
if i > 4:
return lMisc.fail(20)
i = i + 1
def setID(self, robotNr, infra_id): # Set infrared ID of the robot
"""
Setter infrared id
:parameter: robotNr
:pType: Integer
:parameter: infra_id
:pType: Integer [0,7]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
if (infra_id < 0) or (infra_id > 7):
raise ValueError('ERROR: Invalid parameter for "receiver_id"! (0-7 expected)')
order = [robotNr, 4, 10, infra_id]
logging.debug(order)
response = self._communication.send(order)
i = 0
while response == 'misc.fail':
response = self._communication.send(order)
if i > 4:
return lMisc.fail(20)
i = i + 1
def setSensitivity(self, sens): # Set the threshold value for the ground sensors
"""
Setter floor sensor sensitivity
:parameter: sensitivity
:pType: Integer [0, 1023]
"""
if not self._robot.getConnectionStatus():
logging.exception('No connection available')
raise Exception, 'No connection available'
if not 0 <= sens < 1024:
logging.error('ERROR: Invalid parameter for "sens"! (0 - 1023 expected)')
raise ValueError('ERROR: Invalid parameter for "sens"! (0 - 1023 expected)')
sens_tmp = struct.unpack('BB', struct.pack('H', sens))
sens_int1 = sens_tmp[0]
sens_int2 = sens_tmp[1]
order = [self._robot.getRNumber(), 5, 200, sens_int1, sens_int2]
logging.debug(order)
i = 0
while self._communication.send(order) == 'fail':
if i > 4:
return lMisc.fail(20)
i = i + 1
