class GetName (object):
handle = GATT.Name
sleep_interval = 0.150
def __init__ (self, link):
self.link = link
self.resp = GATTResponse( )
# super(GATTResponse, self).__init__(self)
def done (self):
return self.resp.received( ) or False
def sleep (self):
time.sleep(self.sleep_interval)
def step (self):
self.sleep( )
def prolog (self):
self.received = self.resp.received( )
self.on_response(self.resp.received( )[0])
def operate (self):
self.link.requestor.read_by_uuid_async(self.handle, self.resp)
while not self.done( ):
self.step( )
self.prolog( )
def on_response (self, name):
print "name is ", name
self.link.setName(name)
class GetName(object):
handle = GATT.Name
sleep_interval = 0.150
def __init__(self, link):
self.link = link
self.resp = GATTResponse()
# super(GATTResponse, self).__init__(self)
def done(self):
return self.resp.received() or False
def sleep(self):
time.sleep(self.sleep_interval)
def step(self):
self.sleep()
def prolog(self):
self.received = self.resp.received()
self.on_response(self.resp.received()[0])
def operate(self):
self.link.requestor.read_by_uuid_async(self.handle, self.resp)
while not self.done():
self.step()
self.prolog()
def on_response(self, name):
print "name is ", name
self.link.setName(name)
class AsyncReader(object):
def __init__(self, address):
self.requester = GATTRequester(address, False)
self.response = GATTResponse()
self.connect()
self.request_data()
self.wait_response()
def connect(self):
print("Connecting...", end=' ')
sys.stdout.flush()
self.requester.connect(True)
print("OK!")
def request_data(self):
self.requester.read_by_handle_async(0x1, self.response)
def wait_response(self):
while not self.response.received():
time.sleep(0.1)
data = self.response.received()[0]
print("bytes received:", end=' ')
for b in data:
print(hex(ord(b)), end=' ')
print("")
class AsyncReader(object):
def __init__(self, address):
self.requester = GATTRequester(address, False)
self.response = GATTResponse()
self.connect()
self.request_data()
self.wait_response()
def connect(self):
print("Connecting...", end=' ')
sys.stdout.flush()
self.requester.connect(True)
print("OK!")
def request_data(self):
self.requester.read_by_handle_async(0x1, self.response)
def wait_response(self):
while not self.response.received():
time.sleep(0.1)
data = self.response.received()[0]
print("bytes received:", end=' ')
for b in data:
print(hex(ord(b)), end=' ')
print("")
def read_async(self, handle):
response = GATTResponse()
self.req.read_by_handle_async(handle, response)
while not response.received():
time.sleep(0.1)
return response.received()[0]
def _get_np(self):
response = GATTResponse()
self.req.read_by_handle_async(self.ROBOROACH_NUM_PULSES_HANDLE, response)
while not response.received():
time.sleep(0.1)
num_pulses = response.received()[0]
return num_pulses.encode('hex')
def read_async_command(self, handle_id, length=1):
"""
1バイトリードのときはintで、
2バイト以上リードするときは配列で返します。
"""
response = GATTResponse()
handle = HANDLE[handle_id]
self.req.read_by_handle_async(handle, response)
while not response.received():
time.sleep(0.1)
ans = response.received()[0]
ans = map(lambda n: ord(n), ans)
if length == 1:
return ans[0]
else:
return ans
def draw(canvas):
global hit_1, hit_2
global paddle1_pos, paddle2_pos, ball_pos, ball_vel, l_score, r_score
global finish_flag
global req, req1, response, response1
global l_score_extra, r_score_extra
canvas.fill((255, 255, 0))
pygame.draw.line(canvas, WHITE, [WIDTH / 2, 0], [WIDTH / 2, HEIGHT], 1)
pygame.draw.line(canvas, WHITE, [PAD_WIDTH, 0], [PAD_WIDTH, HEIGHT], 1)
pygame.draw.line(canvas, WHITE, [WIDTH - PAD_WIDTH, 0],
[WIDTH - PAD_WIDTH, HEIGHT], 1)
pygame.draw.circle(canvas, WHITE, [WIDTH // 2, HEIGHT // 2], 70, 1)
#update ball
ball_pos[0] += int(ball_vel[0])
ball_pos[1] += int(ball_vel[1])
#draw paddles and ball
pygame.draw.circle(canvas, BLACK, ball_pos, 20, 0)
if int(ball_pos[0]) < WIDTH / 2:
if not req.is_connected():
try:
req1.disconnect()
except:
pass
req.connect(True)
response = GATTResponse()
l_score_extra = 0
req.read_by_handle_async(0x000e, response)
if response.received():
# print "1 works"
print "Reading data from 1 : " + str(
ord(response.received()[-1]))
hit_1 = ord(response.received()[-1])
if hit_1 == 1:
l_score_extra += (ball_pos[0] * 400) / WIDTH / float(WIDTH)
pygame.draw.polygon(window, RED,
[[
paddle1_pos[0] - HALF_PAD_WIDTH,
paddle1_pos[1] - HALF_PAD_HEIGHT
],
[
paddle1_pos[0] - HALF_PAD_WIDTH,
paddle1_pos[1] + HALF_PAD_HEIGHT
],
[
paddle1_pos[0] + HALF_PAD_WIDTH,
paddle1_pos[1] + HALF_PAD_HEIGHT
],
[
paddle1_pos[0] + HALF_PAD_WIDTH,
paddle1_pos[1] - HALF_PAD_HEIGHT
]], 0)
# top.update_idletasks()
else:
if not req1.is_connected():
try:
req.disconnect()
except:
pass
req1.connect(True)
response1 = GATTResponse()
r_score_extra = 0
req1.read_by_handle_async(0x000e, response1)
if response1.received():
# print "2 works"
print "Reading data from 2 :" + str(
ord(response1.received()[-1]))
hit_2 = ord(response1.received()[-1])
if hit_2 == 1:
r_score_extra += (
(WIDTH - ball_pos[0]) * 400) / WIDTH / float(WIDTH)
pygame.draw.polygon(window, RED,
[[
paddle2_pos[0] - HALF_PAD_WIDTH,
paddle2_pos[1] - HALF_PAD_HEIGHT
],
[
paddle2_pos[0] - HALF_PAD_WIDTH,
paddle2_pos[1] + HALF_PAD_HEIGHT
],
[
paddle2_pos[0] + HALF_PAD_WIDTH,
paddle2_pos[1] + HALF_PAD_HEIGHT
],
[
paddle2_pos[0] + HALF_PAD_WIDTH,
paddle2_pos[1] - HALF_PAD_HEIGHT
]], 0)
# draw(canvas)
#ball collision check on top and bottom walls
if int(ball_pos[1]) <= BALL_RADIUS:
ball_vel[1] = -ball_vel[1]
sounds["da-ding"].play()
# draw(canvas)
if int(ball_pos[1]) >= HEIGHT + 1 - BALL_RADIUS:
ball_vel[1] = -ball_vel[1]
sounds["da-ding"].play()
# draw(canvas)
#ball collison check on gutters or paddles
if int(ball_pos[0]) <= 200 and hit_1 == 0:
sounds["warn"].play()
# draw(canvas)
if int(ball_pos[0]) >= 1400 and hit_2 == 0:
sounds["warn"].play()
# draw(canvas)
if int(ball_pos[0]) <= BALL_RADIUS + PAD_WIDTH and int(
ball_pos[1]) in range(paddle1_pos[1] - HALF_PAD_HEIGHT,
paddle1_pos[1] + HALF_PAD_HEIGHT,
1) and hit_1 == 1:
ball_vel[0] = -ball_vel[0]
sounds["click"].play()
l_score -= int(l_score_extra)
l_score_extra = 0
# draw(canvas)
# sounds["ping"].play()
elif int(ball_pos[0]) <= BALL_RADIUS + PAD_WIDTH:
if not finish_flag:
l_score -= 10
l_score -= int(l_score_extra)
l_score_extra = 0
sounds["ping"].play()
time.sleep(2)
ball_init(True)
# draw(canvas)
if int(ball_pos[0]) >= WIDTH + 1 - BALL_RADIUS - PAD_WIDTH and int(
ball_pos[1]) in range(paddle2_pos[1] - HALF_PAD_HEIGHT,
paddle2_pos[1] + HALF_PAD_HEIGHT,
1) and hit_2 == 1:
ball_vel[0] = -ball_vel[0]
sounds["click"].play()
r_score -= int(r_score_extra)
r_score_extra = 0
# draw(canvas)
elif int(ball_pos[0]) >= WIDTH + 1 - BALL_RADIUS - PAD_WIDTH:
if not finish_flag:
r_score -= 10
r_score -= int(r_score_extra)
r_score_extra = 0
sounds["ping"].play()
time.sleep(2)
ball_init(False)
# draw(canvas)
#update scores
myfont1 = pygame.font.SysFont(None, 48)
myfont2 = pygame.font.SysFont(None, 48)
if l_score > 0 and r_score > 0:
myfont1.set_underline(1)
label1 = myfont1.render("PLAYER1", 1, (0, 0, 0))
myfont1.set_underline(0)
label5 = myfont1.render(str(l_score), 1, (0, 0, 0))
myfont2.set_underline(1)
label2 = myfont2.render("PLAYER2", 1, (0, 0, 0))
myfont2.set_underline(0)
label6 = myfont2.render(str(r_score), 1, (0, 0, 0))
canvas.blit(label1, (250, 20))
canvas.blit(label2, (1050, 20))
canvas.blit(label5, (290, 65))
canvas.blit(label6, (1090, 65))
# top.update_idletasks()
else:
finish_flag = 1
if l_score > r_score:
label1 = myfont1.render("WIN", 1, (0, 255, 0))
label2 = myfont2.render("LOST", 1, (255, 0, 0))
canvas.blit(label1, (250, 20))
canvas.blit(label2, (1050, 20))
elif r_score > l_score:
label1 = myfont1.render("LOST", 1, (255, 0, 0))
label2 = myfont2.render("WIN", 1, (0, 255, 0))
canvas.blit(label1, (250, 20))
canvas.blit(label2, (1050, 20))
else:
label3 = myfont1.render("MATCH DRAW", 1, (0, 0, 255))
canvas.blit(label3, (850, 20))
import time
import os
service = DiscoveryService("hci1")
devices = service.discover(2)
tag_address = "B0:B4:48:BF:C3:83"
for address, name in devices.items():
print("name: {}, address: {}".format(name, address))
if address == tag_address:
print "cilia found"
req = GATTRequester(tag_address, False, "hci1")
response = GATTResponse()
req.connect()
req.read_by_handle_async(0x3A, response)
while not response.received():
time.sleep(0.1)
steps = response.received()[0]
#print "steps..."
#print type(steps)
#print steps
#for b in steps:
# print hex(ord(b)),' '
req.write_by_handle(0x3C, str(bytearray([0xff, 0xff])))
req.write_by_handle(0x3E, str(bytearray([0x64])))
data = req.read_by_handle(0x3C)[0]
#for d in data:
# print hex(ord(d)),' '
#print("")
def draw(canvas):
global hit_1 ,hit_2
global paddle1_pos, paddle2_pos, ball_pos, ball_vel, l_score, r_score
global finish_flag
global req, req1, response, response1
global l_score_extra, r_score_extra
canvas.fill((255,255,0))
pygame.draw.line(canvas, WHITE, [WIDTH / 2, 0],[WIDTH / 2, HEIGHT], 1)
pygame.draw.line(canvas, WHITE, [PAD_WIDTH, 0],[PAD_WIDTH, HEIGHT], 1)
pygame.draw.line(canvas, WHITE, [WIDTH - PAD_WIDTH, 0],[WIDTH - PAD_WIDTH, HEIGHT], 1)
pygame.draw.circle(canvas, WHITE, [WIDTH//2, HEIGHT//2], 70, 1)
#update ball
ball_pos[0] += int(ball_vel[0])
ball_pos[1] += int(ball_vel[1])
#draw paddles and ball
pygame.draw.circle(canvas, BLACK, ball_pos, 20, 0)
if int(ball_pos[0]) < WIDTH/2 :
if not req.is_connected():
try:
req1.disconnect()
except:
pass
req.connect(True)
response = GATTResponse()
l_score_extra=0
req.read_by_handle_async(0x000e, response)
if response.received():
# print "1 works"
print "Reading data from 1 : " + str(ord(response.received()[-1]))
hit_1 = ord(response.received()[-1])
if hit_1 == 1:
l_score_extra += (ball_pos[0]*400)/WIDTH/float(WIDTH)
pygame.draw.polygon(window, RED, [[paddle1_pos[0] - HALF_PAD_WIDTH, paddle1_pos[1] - HALF_PAD_HEIGHT], [paddle1_pos[0] - HALF_PAD_WIDTH, paddle1_pos[1] + HALF_PAD_HEIGHT], [paddle1_pos[0] + HALF_PAD_WIDTH, paddle1_pos[1] + HALF_PAD_HEIGHT], [paddle1_pos[0] + HALF_PAD_WIDTH, paddle1_pos[1] - HALF_PAD_HEIGHT]], 0)
# top.update_idletasks()
else:
if not req1.is_connected():
try:
req.disconnect()
except:
pass
req1.connect(True)
response1 = GATTResponse()
r_score_extra=0
req1.read_by_handle_async(0x000e, response1)
if response1.received():
# print "2 works"
print "Reading data from 2 :" + str(ord(response1.received()[-1]))
hit_2 = ord(response1.received()[-1])
if hit_2 == 1:
r_score_extra += ((WIDTH-ball_pos[0])*400)/WIDTH/float(WIDTH)
pygame.draw.polygon(window, RED, [[paddle2_pos[0] - HALF_PAD_WIDTH, paddle2_pos[1] - HALF_PAD_HEIGHT], [paddle2_pos[0] - HALF_PAD_WIDTH, paddle2_pos[1] + HALF_PAD_HEIGHT], [paddle2_pos[0] + HALF_PAD_WIDTH, paddle2_pos[1] + HALF_PAD_HEIGHT], [paddle2_pos[0] + HALF_PAD_WIDTH, paddle2_pos[1] - HALF_PAD_HEIGHT]], 0)
# draw(canvas)
#ball collision check on top and bottom walls
if int(ball_pos[1]) <= BALL_RADIUS:
ball_vel[1] = - ball_vel[1]
sounds["da-ding"].play()
# draw(canvas)
if int(ball_pos[1]) >= HEIGHT + 1 - BALL_RADIUS:
ball_vel[1] = -ball_vel[1]
sounds["da-ding"].play()
# draw(canvas)
#ball collison check on gutters or paddles
if int(ball_pos[0])<=200 and hit_1==0:
sounds["warn"].play()
# draw(canvas)
if int(ball_pos[0])>=1400 and hit_2==0:
sounds["warn"].play()
# draw(canvas)
if int(ball_pos[0]) <= BALL_RADIUS + PAD_WIDTH and int(ball_pos[1]) in range(paddle1_pos[1] - HALF_PAD_HEIGHT,paddle1_pos[1] + HALF_PAD_HEIGHT,1) and hit_1==1:
ball_vel[0] = -ball_vel[0]
sounds["click"].play()
l_score -= int(l_score_extra)
l_score_extra = 0
# draw(canvas)
# sounds["ping"].play()
elif int(ball_pos[0]) <= BALL_RADIUS + PAD_WIDTH:
if not finish_flag:
l_score -= 10
l_score -= int(l_score_extra)
l_score_extra = 0
sounds["ping"].play()
time.sleep(2)
ball_init(True)
# draw(canvas)
if int(ball_pos[0]) >= WIDTH + 1 - BALL_RADIUS - PAD_WIDTH and int(ball_pos[1]) in range(paddle2_pos[1] - HALF_PAD_HEIGHT,paddle2_pos[1] + HALF_PAD_HEIGHT,1) and hit_2==1:
ball_vel[0] = -ball_vel[0]
sounds["click"].play()
r_score -= int(r_score_extra)
r_score_extra = 0
# draw(canvas)
elif int(ball_pos[0]) >= WIDTH + 1 - BALL_RADIUS - PAD_WIDTH:
if not finish_flag:
r_score -= 10
r_score -= int(r_score_extra)
r_score_extra = 0
sounds["ping"].play()
time.sleep(2)
ball_init(False)
# draw(canvas)
#update scores
myfont1 = pygame.font.SysFont(None,48)
myfont2 = pygame.font.SysFont(None,48)
if l_score>0 and r_score>0:
myfont1.set_underline(1)
label1 = myfont1.render("PLAYER1", 1, (0,0,0))
myfont1.set_underline(0)
label5 = myfont1.render(str(l_score), 1, (0,0,0))
myfont2.set_underline(1)
label2 = myfont2.render("PLAYER2", 1, (0,0,0))
myfont2.set_underline(0)
label6 = myfont2.render(str(r_score), 1, (0,0,0))
canvas.blit(label1, (250,20))
canvas.blit(label2, (1050, 20))
canvas.blit(label5, (290,65))
canvas.blit(label6, (1090,65))
# top.update_idletasks()
else:
finish_flag = 1
if l_score>r_score:
label1=myfont1.render("WIN", 1, (0,255,0))
label2=myfont2.render("LOST",1, (255,0,0))
canvas.blit(label1, (250,20))
canvas.blit(label2, (1050, 20))
elif r_score>l_score:
label1=myfont1.render("LOST",1, (255,0,0))
label2=myfont2.render("WIN" ,1, (0,255,0))
canvas.blit(label1, (250,20))
canvas.blit(label2, (1050, 20))
else:
label3=myfont1.render("MATCH DRAW",1, (0,0,255))
canvas.blit(label3, (850,20))
import time
import os
service = DiscoveryService("hci1")
devices = service.discover(2)
tag_address = "B0:B4:48:BF:C3:83"
for address, name in devices.items():
print("name: {}, address: {}".format(name, address))
if address == tag_address:
print "cilia found"
req = GATTRequester(tag_address, False, "hci1")
response = GATTResponse()
req.connect()
req.read_by_handle_async(0x3A, response)
while not response.received():
time.sleep(0.1)
steps = response.received()[0]
#print "steps..."
#print type(steps)
#print steps
#for b in steps:
# print hex(ord(b)),' '
req.write_by_handle(0x3C, str(bytearray([0xff, 0xff])))
req.write_by_handle(0x3E, str(bytearray([0x64])))
data = req.read_by_handle(0x3C)[0]
#for d in data:
# print hex(ord(d)),' '
#print("")
time.sleep(0.3)
continue
#forward/back
right = olddata["root_y"] - data["root_y"]
left = data["root_y"] - olddata["root_y"]
#turn
right = ((right + (olddata["root_x"] - data["root_x"])) / 20) + 90
left = ((left + (olddata["root_x"] - data["root_x"])) / 20) + 90
left = toStr(left)
right = toStr(right)
full = right + left
req.write_by_handle_async(0x002a, str(bytearray(full)), response)
while not response.received():
time.sleep(0.1)
++retry
if retry > 3:
req.disconnect()
req.connect(True, "random")
retry = 0
try:
req.is_connected()
except:
req.connect(True, "random")
olddata = data
time.sleep(0.3)
