class AioCube:
"""Asynchronous (async/await) mode of Cube
:param serial_or_ip: The IP address or serial number of the Rubik's Cube to be connected
:type serial_or_ip: str
"""
def __init__(self, serial_or_ip):
self._host ='rcute-cube-' + serial_or_ip +'.local' if len(serial_or_ip) == 4 else serial_or_ip
self._mode ='aio'
self._state ='moved'
self._connected = False
self._dir2color = {'+X':'red','-X':'green','+Y':'blue','-Y':'yellow','+Z':'white', '-Z':'orange'}
self.last_action = None
"""The last action of the Rubik's Cube"""
self.when_flipped = None
"""Callback function, called when the Rubik's Cube is flipped (with a direction parameter to indicate 90 degrees flip or 180 degrees), the default is `None` """
self.when_shaked = None
"""Callback function, called when the Rubik's Cube is shaken, the default is `None` """
self.when_rotated = None
"""Callback function, called when the cube is rotated horizontally (with a direction parameter indicating clockwise or counterclockwise), the default is `None` """
self.when_pushed = None
"""Callback function, called when the cube is translated (with a direction parameter to indicate the direction of movement), the default is `None` """
self.when_tilted = None
"""Callback function, called when the cube is tilted (with a direction parameter to indicate the direction of movement), the default is `None` """
self.when_tapped = None
"""Callback function, called when tapping the Rubik's Cube, the default is `None` """
self.when_fall = None
"""Callback function, called when the Rubik's Cube loses weight/free fall, the default is `None` """
self.when_moved = None
"""Callback function, called when the cube is moved (including the above actions), the default is `None` """
self.when_static = None
"""Callback function, called when the Rubik's Cube comes to rest, the default is `None` """
def _in_event_loop(self):
return True
async def connect(self):
"""Establish a connection with the Rubik's Cube"""
if not self._connected:
self._ws = await websockets.connect(f'ws://{self._host}:81')
if'-1' == await self._ws.recv():
raise RuntimeError("""Cannot connect to Rubik's Cube, please close other programs that are connecting Rubik's Cube""")
self._rpc = RPCClient(self._ws)
about = json.loads(await self._get('/about'))
self._ip = about['ip']
self._serial = about['serial']
self._firmware_version = about['version']
self._hostname = about['hostname']
self._mac = about['mac']
self._event_task = asyncio.create_task(self._get_event())
self._connected = True
async def _call_callback(self, cb, *args):
if cb:
if self._mode =='aio':
(await cb(*args)) if asyncio.iscoroutinefunction(cb) else cb(*args)
else:
self._lo.run_in_executor(None, cb, *args)
async def _get_event(self):
self._event_rpc = self._rpc.mpu_event()
async for event in self._event_rpc:
try:
arg = self._dir2color.get(event[1], event[1])
if event[0] in ('static','moved'):
self._state = event[0]
else:
self.last_action = event[0], arg
if event[0] in ('static','moved','fall','tapped','shaked'):
await self._call_callback(getattr(self,'when_'+event[0]))
else:
await self._call_callback(getattr(self,'when_'+event[0]), arg)
except Exception as e:
logger.exception(e)
@property
def connected(self):
"""Whether connected to the Rubik's Cube"""
return self._connected
async def disconnect(self):
"""Disconnect from Rubik's Cube"""
if self._connected:
self._event_rpc.cancel()
await asyncio.gather(self._event_task, return_exceptions=True)
await self._ws.close()
self._connected = False
async def __aenter__(self):
await self.connect()
return self
async def __aexit__(self, exc_type, exc, tb):
await self.disconnect()
@property
def ip(self):
"""Magic's Cube's IP Address"""
return self._ip
@property
def hostname(self):
"""The Cube's URL"""
return self._hostname
@property
def firmware_version(self):
"""The firmware version of the Rubik's Cube"""
return self._firmware_version
@property
def mac(self):
"""Magic's Cube's MAC Address"""
return self._mac
@property
def serial(self):
"""Serial Number of Rubik's Cube"""
return self._serial
async def _get(self, sub_url):
async with aiohttp.ClientSession() as session:
async with session.get('http://' + self._host + sub_url) as resp:
return await resp.text()
@util.mode(property_type='setter')
async def color(self, *args):
"""BGR color of LED light"""
if args:
await self._rpc.rgb(*(util.bgr(args[0]) if args[0] is not None else (0,0,0))[::-1])
else:
return (await self._rpc.rgb())[::-1]
@util.mode(property_type='getter')
async def acc(self):
"""Acceleration loss, when the Rubik's Cube is stationary, the acceleration is equal to the acceleration of gravity (but in fact there is an error)"""
return await self._rpc.mpu_acc()
@util.mode(property_type='getter')
async def static(self):
"""Is it still"""
#return await self._rpc.mpu_static()
return self._state =='static'
@util.mode(property_type='getter')
async def top_face(self):
"""Which side is up, when the Rubik’s Cube is stationary, it returns to the color of the QR code on the upside, and returns to `None` """
if self._state !='static':
return None
acc = await self._rpc.mpu_acc()
comp, j = abs(acc[0]), 0
for i in range(1, 3):
if comp <abs(acc[i]):
comp, j = abs(acc[i]), i
return self._dir2color[('-' if acc[j]>0 else'+') + chr(88+j)]
class AioCube:
"""Asynchronous (async/await) mode of Cube
:param serial_or_ip: The IP address or serial number of the cube to be connected. Default to None, in which case the program will automatically detect the cube on connection if there's only one found.
:type serial_or_ip: str
"""
def __init__(self, serial_or_ip=None):
if serial_or_ip:
self._host = 'rcute-cube-' + serial_or_ip + '.local' if len(
serial_or_ip) == 4 else serial_or_ip
self._mode = 'aio'
self._state = 'moved'
self._connected = False
self.last_action = None
"""The last action of the cube"""
self.when_flipped = None
"""Callback function, called when the cube is flipped (with a parameter to indicate 90 degree flip or 180 degrees), the default is `None` """
self.when_shaken = None
"""Callback function, called when the cube is shaken, the default is `None` """
self.when_rotated = None
"""Callback function, called when the cube is rotated horizontally (with a parameter indicating clockwise or counterclockwise), the default is `None` """
self.when_pushed = None
"""Callback function, called when the cube is translated (with a parameter to indicate the direction of movement), the default is `None` """
self.when_tilted = None
"""Callback function, called when the cube is tilted (with a parameter to indicate the direction of movement), the default is `None` """
self.when_tapped = None
"""Callback function, called when the cube is tapped, the default is `None` """
self.when_fall = None
"""Callback function, called when the cube free fall, the default is `None` """
self.when_moved = None
"""Callback function, called when the cube is moved (including all the above actions), the default is `None` """
self.when_static = None
"""Callback function, called when the cube comes to rest, the default is `None` """
_directions = ['+x', '-x', '+y', '-y', '+z', '-z']
@staticmethod
def dir2num(dir):
"""Convert direction to number"""
return AioCube._directions.index(dir) + 1
@staticmethod
def num2dir(num):
"""Convert number to direction"""
return AioCube._directions[num - 1]
def _in_event_loop(self):
return self._event_thread == threading.current_thread()
async def connect(self):
""" """
if not self._connected:
self._lo = asyncio.get_event_loop()
if not hasattr(self, '_event_thread'):
self._event_thread = threading.current_thread()
if not hasattr(self, '_host'):
found = await util.find_service('rcute-cube-????',
'_ws._tcp.local.')
assert len(
found
) == 1, "More than one cube found." if found else "No cube found."
self._host = found[0].server
self._ws = await websockets.connect(f'ws://{self._host}:81')
if '-1' == await self._ws.recv():
raise RuntimeError(
"""Cannot connect to cube, please close other programs that are connecting cube"""
)
self._rpc = RPCClient(self._ws)
self._about = json.loads(await self._get('/about'))
self._event_task = asyncio.get_event_loop().create_task(
self._get_event())
self._connected = True
async def _call_callback(self, cb, *args):
if cb:
if self._mode == 'aio':
(await cb(*args)) if asyncio.iscoroutinefunction(cb) else cb(
*args)
else:
self._lo.run_in_executor(None, cb, *args)
async def _get_event(self):
self._event_rpc = self._rpc.mpu_event()
async for event in self._event_rpc:
try:
arg = event[1]
if event[0] in ('static', 'moved'):
self._state = event[0]
else:
self.last_action = event[0], arg
if event[0] in ('static', 'moved', 'fall', 'tapped', 'shaken'):
await self._call_callback(getattr(self,
'when_' + event[0]))
else:
await self._call_callback(
getattr(self, 'when_' + event[0]), arg)
except Exception as e:
logger.exception(e)
@property
def connected(self):
""" """
return self._connected
async def disconnect(self):
""" """
if self._connected:
self._event_rpc.cancel()
await asyncio.gather(self._event_task, return_exceptions=True)
await self._ws.close()
self._connected = False
async def __aenter__(self):
await self.connect()
return self
async def __aexit__(self, exc_type, exc, tb):
await self.disconnect()
@property
def ip(self):
"""cube's IP Address"""
return self._about['ip']
@property
def hostname(self):
"""The URL of the cube"""
return self._about['hostname']
@property
def firmware_version(self):
"""The firmware version of the cube"""
return self._about['version']
@property
def mac(self):
"""cube's MAC Address"""
return self._about['mac']
@property
def serial(self):
"""Serial Number of cube"""
return self._about['serial']
async def _get(self, sub_url):
async with aiohttp.ClientSession() as session:
async with session.get('http://' + self._host + sub_url) as resp:
return await resp.text()
@util.mode(property_type='setter')
async def led(self, *args):
"""BGR color of the builtin LED"""
if args:
await self._rpc.rgb(
*(util.bgr(args[0]) if args[0] is not None else (0, 0,
0))[::-1])
else:
return (await self._rpc.rgb())[::-1]
@util.mode(property_type='getter')
async def acc(self):
"""Acceleration, when the cube is stationary, the acceleration is equal to gravity (but in fact there is an error)"""
return await self._rpc.mpu_acc()
@util.mode(property_type='getter')
async def static(self):
"""Is it still"""
#return await self._rpc.mpu_static()
return self._state == 'static'
@util.mode(property_type='getter')
async def top_face(self):
"""Which side is on top, when the cube is stationary, it returns the direction of the top side, and `None` cube is moving """
return await self.guess_top_face() if self._state == 'static' else None
@util.mode()
async def guess_top_face(self):
acc = await self._rpc.mpu_acc()
comp, j = abs(acc[0]), 0
for i in range(1, 3):
if comp < abs(acc[i]):
comp, j = abs(acc[i]), i
return ('-' if acc[j] > 0 else '+') + chr(120 + j)
class AioCube:
"""魔方的异步 (async/await) 模式
:param serial_or_ip: 要连接的 魔方的 IP 地址或序列号
:type serial_or_ip: str
"""
def __init__(self, serial_or_ip):
self._host = 'rcute-cube-' + serial_or_ip + '.local' if len(
serial_or_ip) == 4 else serial_or_ip
self._mode = 'aio'
self._state = 'moved'
self._connected = False
self._dir2color = {
'+X': 'red',
'-X': 'green',
'+Y': 'blue',
'-Y': 'yellow',
'+Z': 'white',
'-Z': 'orange'
}
self.last_action = None
"""魔方的上一个动作"""
self.when_flipped = None
"""回调函数，当魔方被翻转时调用（带一个方向参数表示90度翻转或180度），默认为 `None` """
self.when_shaked = None
"""回调函数，当魔方被甩动时调用，默认为 `None` """
self.when_rotated = None
"""回调函数，当魔方被水平旋转时调用（带一个方向参数表示顺时针或逆时针），默认为 `None` """
self.when_pushed = None
"""回调函数，当魔方被平移时调用（带一个方向参数表示移动方向），默认为 `None` """
self.when_tilted = None
"""回调函数，当魔方被倾斜时调用（带一个方向参数表示移动方向），默认为 `None` """
self.when_tapped = None
"""回调函数，轻敲魔方时被调用，默认为 `None` """
self.when_fall = None
"""回调函数，当魔方失重/自由落体时调用，默认为 `None` """
self.when_moved = None
"""回调函数，当魔方被移动时调用（包括以上动作），默认为 `None` """
self.when_static = None
"""回调函数，当魔方恢复静止时调用，默认为 `None` """
def _in_event_loop(self):
return True
async def connect(self):
"""建立与魔方的连接"""
if not self._connected:
self._ws = await websockets.connect(f'ws://{self._host}:81')
if '-1' == await self._ws.recv():
raise RuntimeError('无法连接魔方, 请先关闭其他正在连接魔方的程序')
self._rpc = RPCClient(self._ws)
about = json.loads(await self._get('/about'))
self._ip = about['ip']
self._serial = about['serial']
self._firmware_version = about['version']
self._hostname = about['hostname']
self._mac = about['mac']
self._event_task = asyncio.create_task(self._get_event())
self._connected = True
async def _call_callback(self, cb, *args):
if cb:
if self._mode == 'aio':
(await cb(*args)) if asyncio.iscoroutinefunction(cb) else cb(
*args)
else:
self._lo.run_in_executor(None, cb, *args)
async def _get_event(self):
self._event_rpc = self._rpc.mpu_event()
async for event in self._event_rpc:
try:
arg = self._dir2color.get(event[1], event[1])
if event[0] in ('static', 'moved'):
self._state = event[0]
else:
self.last_action = event[0], arg
if event[0] in ('static', 'moved', 'fall', 'tapped', 'shaked'):
await self._call_callback(getattr(self,
'when_' + event[0]))
else:
await self._call_callback(
getattr(self, 'when_' + event[0]), arg)
except Exception as e:
logger.exception(e)
@property
def connected(self):
"""是否连接上了魔方"""
return self._connected
async def disconnect(self):
"""断开与魔方的连接"""
if self._connected:
self._event_rpc.cancel()
await asyncio.gather(self._event_task, return_exceptions=True)
await self._ws.close()
self._connected = False
async def __aenter__(self):
await self.connect()
return self
async def __aexit__(self, exc_type, exc, tb):
await self.disconnect()
@property
def ip(self):
"""魔方的 IP 地址"""
return self._ip
@property
def hostname(self):
"""魔方的网址"""
return self._hostname
@property
def firmware_version(self):
"""魔方的固件版本"""
return self._firmware_version
@property
def mac(self):
"""魔方的 MAC 地址"""
return self._mac
@property
def serial(self):
"""魔方的序列号"""
return self._serial
async def _get(self, sub_url):
async with aiohttp.ClientSession() as session:
async with session.get('http://' + self._host + sub_url) as resp:
return await resp.text()
@util.mode(property_type='setter')
async def color(self, *args):
"""LED 灯的 BGR 颜色"""
if args:
await self._rpc.rgb(
*(util.bgr(args[0]) if args[0] is not None else (0, 0,
0))[::-1])
else:
return (await self._rpc.rgb())[::-1]
@util.mode(property_type='getter')
async def acc(self):
"""加速度失量，当魔方静止时，加速度等于重力加速度（但实际上是有误差的）"""
return await self._rpc.mpu_acc()
@util.mode(property_type='getter')
async def static(self):
"""是否静止"""
#return await self._rpc.mpu_static()
return self._state == 'static'
@util.mode(property_type='getter')
async def top_face(self):
"""哪一面朝上，当魔方静止时返回朝上一面的二维码的颜色，非静止时返回 `None` """
if self._state != 'static':
return None
acc = await self._rpc.mpu_acc()
comp, j = abs(acc[0]), 0
for i in range(1, 3):
if comp < abs(acc[i]):
comp, j = abs(acc[i]), i
return self._dir2color[('-' if acc[j] > 0 else '+') + chr(88 + j)]
