def __init__(self):
self.available_boards = register.BOARDS
self.board_serial_port = Port()
self.board = None
self.is_connected = False
self.last_percentage_print = 0
self.is_windows = os.name == 'nt'
self.config_dir = os.path.expanduser('~') + '/.gogoreal'
if not os.path.isdir(self.config_dir):
os.mkdir(self.config_dir)
class GoGoRealInterface(object):
def __init__(self):
self.available_boards = register.BOARDS
self.board_serial_port = Port()
self.board = None
self.is_connected = False
self.last_percentage_print = 0
self.is_windows = os.name == 'nt'
self.config_dir = os.path.expanduser('~') + '/.gogoreal'
if not os.path.isdir(self.config_dir):
os.mkdir(self.config_dir)
def available_boards_names(self):
return self.available_boards.keys()
def connect(self, port=None, board_name=None):
if port is None and board_name is None:
for port in self.board_serial_port.port_list():
if self.board_serial_port.open(port):
for board in self.available_boards.values():
self.board = board()
if self.board.connect(self.board_serial_port):
self.is_connected = True
self.motors_groups = [(chr(x+ord('A')), False) for x in range(self.board.number_of_motors)]
return self.is_connected
self.board_serial_port.close()
else:
if board_name is None:
if self.board_serial_port.open(port):
for board in self.available_boards.values():
self.board = board()
if self.board.connect(self.board_serial_port):
self.is_connected = True
self.motors_groups = [(chr(x+ord('A')), False) for x in range(self.board.number_of_motors)]
return self.is_connected
elif port is None:
for port in self.board_serial_port.port_list():
if self.board_serial_port.open(port):
self.board = self.available_boards[board_name]()
if self.board.connect(self.board_serial_port):
self.is_connected = True
self.motors_groups = [(chr(x+ord('A')), False) for x in range(self.board.number_of_motors)]
return self.is_connected
self.board_serial_port.close()
if self.board_serial_port.open(port):
self.board = self.available_boards[board_name]()
if self.board.connect(self.board_serial_port):
self.is_connected = True
self.motors_groups = [(chr(x+ord('A')), False) for x in range(self.board.number_of_motors)]
return self.is_connected
self.board_serial_port.close()
return False
def set_group_motor(self, group, motors):
if self.is_connected:
self.motors_groups[group] = (motors, self.motors_groups[group][1])
def beep(self):
if self.is_connected:
self.board.beep()
def run_logo_code(self):
if self.is_connected:
self.board.run_logo_code()
def run_logo_code_at_turn_on(self, enable):
if self.is_connected:
self.board.run_logo_code_at_turn_on(enable)
def led_on(self):
if self.is_connected:
self.board.led_on()
def led_off(self):
if self.is_connected:
self.board.led_off()
def read_sensor(self, sensor):
if self.is_connected:
sensor_value = self.board.read_sensor(sensor)
if sensor_value > 0:
return sensor_value
else:
return 0
def disconnect(self):
if self.is_connected:
self.board_serial_port.close()
def available_ports(self):
return self.board_serial_port.port_list()
def current_board_name(self):
if self.is_connected:
return self.board.name_and_version()
def set_motors_on(self, group):
if self.is_connected:
self.motors_groups[group] = (self.motors_groups[group][0], True)
self.board.set_motors_on(self.motors_groups[group][0])
def set_motors_off(self, group):
if self.is_connected:
self.motors_groups[group] = (self.motors_groups[group][0], False)
self.board.set_motors_off(self.motors_groups[group][0])
def set_motors_power(self, group, power, not_wait_motor_on=False):
if self.is_connected and (not_wait_motor_on or self.motors_groups[group][1]):
self.board.set_motors_power(self.motors_groups[group][0], power)
def set_motors_direction(self, group, way, not_wait_motor_on=False):
if self.is_connected and (not_wait_motor_on or self.motors_groups[group][1]):
self.board.set_motors_direction(self.motors_groups[group][0], way)
def set_motors_servo(self, group, not_wait_motor_on=False):
if self.is_connected and (not_wait_motor_on or self.motors_groups[group][1]):
self.board.set_motors_servo(self.motors_groups[group][0])
def set_motors_angle(self, group, angle, not_wait_motor_on=False):
if self.is_connected and (not_wait_motor_on or self.motors_groups[group][1]):
self.board.set_motors_angle(self.motors_groups[group][0], angle)
def motors_power_max_min(self):
return self.board.motors_power_max_min()
def write_logo_code(self, logo_code):
if self.is_connected:
compiled_logo_code = compiler.analisarCodigo(logo_code, self.config_dir)
self.board.write_logo_code(compiled_logo_code)
def update_firmware(self, board, port, firmware_path, update_progress):
if self.is_windows:
try:
port = int(port[-1]) - 1
except ValueError:
print 'Error!! Invalid Port.'
if not os.path.isfile(firmware_path):
print 'Error!! Invalid Hex File.'
elif not self.board_serial_port.open(port):
print 'Error!! Could not open port.'
else:
board = self.available_boards[board]()
board.update_firmware(self.board_serial_port, firmware_path, update_progress)
self.board_serial_port.close()
def print_update_progress(self, percentage):
if percentage == 100:
sys.stdout.write(u'\nConcluído.\n')
sys.stdout.flush()
return
if percentage - self.last_percentage_print < 1.0:
return
self.last_percentage_print = percentage
sys.stdout.write('\r'+'Fazendo update do Firmware: ' + str(int(percentage)) + '%')
sys.stdout.flush()
def parse_args(self):
new_epilog = 'List of avalible boards:\n'
for each in self.available_boards:
new_epilog += '"'+each+'"\n'
new_epilog += '\nList of avalible ports:\n'
for port in self.board_serial_port.port_list():
if self.is_windows:
port = 'Com'+str(port+1)
new_epilog += '"'+port+'"\n'
epilog = new_epilog + '\n\n' + commands_examples
parser = argparse.ArgumentParser(description='GoGo Real - Robotics for Kids',
epilog=epilog,
formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument('-u', nargs=3, metavar=('port', 'board', 'firmware'), type=str, help='Update Firmware')
return parser.parse_args()
def process_command_line(self):
args = self.parse_args()
if args.u is not None:
self.update_firmware(args.u[0], args.u[1], args.u[2], self.print_update_progress)
def reserved_words(self):
return compiler.reserved.keys()
