def run(self, target_node_id):
"""Run the code on the Thymio.
"""
payload = Message.uint16array_to_bytes([
target_node_id,
])
msg = Message(Message.ID_RUN, self.host_node_id, payload)
self.send(msg)
def reset(self, target_node_id):
"""Reset the Thymio.
"""
payload = Message.uint16array_to_bytes([
target_node_id,
])
msg = Message(Message.ID_RESET, self.host_node_id, payload)
self.send(msg)
def get_node_description(self, target_node_id):
"""Send a GET_NODE_DESCRIPTION message.
"""
payload = Message.uint16array_to_bytes([
target_node_id,
Message.PROTOCOL_VERSION
])
msg = Message(Message.ID_GET_NODE_DESCRIPTION, self.host_node_id, payload)
self.send(msg)
def set_variables(self, target_node_id, chunk_offset, chunk):
"""Send a SET_VARIABLES message.
"""
payload = Message.uint16array_to_bytes([
target_node_id,
chunk_offset
] + chunk)
msg = Message(Message.ID_SET_VARIABLES, self.host_node_id, payload)
self.send(msg)
def get_node_description_fragment(self, target_node_id, fragment):
"""Send a ID_GET_NODE_DESCRIPTION_FRAGMENT message.
"""
payload = Message.uint16array_to_bytes([
target_node_id,
Message.PROTOCOL_VERSION,
fragment
])
msg = Message(Message.ID_GET_NODE_DESCRIPTION_FRAGMENT, self.host_node_id, payload)
self.send(msg)
def set_bytecode(self, target_node_id, bytecode, address=0):
"""Set the bytecode by sending one or more SET_BYTECODE messages.
"""
size = len(bytecode)
i = 0
while i < size:
size_chunk = min(size - i, 256)
payload = Message.uint16array_to_bytes([
target_node_id,
address + i
] + bytecode[i:i + size_chunk])
msg = Message(Message.ID_SET_BYTECODE, self.host_node_id, payload)
self.send(msg)
i += size_chunk
def get_variables(self, target_node_id, chunk_offset=0, chunk_length=None):
"""Send a GET_VARIABLES message.
"""
if target_node_id is not None:
if chunk_length is None:
chunk_length = (self.get_target_node_var_total_size(target_node_id)
- chunk_offset)
payload = Message.uint16array_to_bytes([
target_node_id,
chunk_offset,
chunk_length
])
msg = Message(Message.ID_GET_VARIABLES, self.host_node_id, payload)
self.remote_nodes[target_node_id].expected_var_end = chunk_offset + chunk_length
self.send(msg)
def get_device_info(self, target_node_id, info=None):
"""Request device info (all available by default).
"""
if info is None:
self.get_device_info(target_node_id,
Message.DEVICE_INFO_NAME)
self.get_device_info(target_node_id,
Message.DEVICE_INFO_THYMIO2_RF_SETTINGS)
self.get_device_info(target_node_id,
Message.DEVICE_INFO_UUID)
else:
payload = Message.uint16array_to_bytes([
target_node_id,
info
])
msg = Message(Message.ID_GET_DEVICE_INFO, self.host_node_id, payload)
self.send(msg)
def send(self, msg: Message) -> None:
"""Send a message.
"""
with self.output_lock:
if self.debug:
print(">", msg)
try:
self.io.write(msg.serialize())
except Exception as error:
self.comm_error = error
if self.on_comm_error:
self.on_comm_error("write: " + error)
raise error
def read_message(self) -> Message:
"""Read a complete message.
"""
try:
payload_len = self.read_uint16()
source_node = self.read_uint16()
id = self.read_uint16()
payload = self.io.read(payload_len)
msg = Message(id, source_node, payload)
return msg
except Exception as error:
self.comm_error = error
raise error
def list_nodes(self):
"""Send a LIST_NODES message.
"""
payload = Message.uint16array_to_bytes([Message.PROTOCOL_VERSION])
msg = Message(Message.ID_LIST_NODES, self.host_node_id, payload)
self.send(msg)