def message_write(self, inbox, message):
"""Send a message to a brick mailbox.
:param int inbox: Mailbox number (0 to 19).
:param bytes message: Message to send (58 bytes maximum).
"""
if len(message) > 58:
raise ValueError("message too long")
tgram = Telegram(Opcode.DIRECT_MESSAGE_WRITE)
tgram.add_u8(inbox)
tgram.add_u8(len(message) + 1)
tgram.add_bytes(message)
tgram.add_u8(0)
self._cmd(tgram)
def file_write(self, handle, data):
"""Write data to open file.
:param int handle: Open file handle.
:param bytes data: Data to write.
:return: The file handle and the number of bytes written.
:rtype: (int, int)
.. warning:: This is a low level function, prefer to use :meth:`open_file`.
"""
tgram = Telegram(Opcode.SYSTEM_WRITE)
tgram.add_u8(handle)
tgram.add_bytes(data)
tgram = self._cmd(tgram)
handle = tgram.parse_u8()
size = tgram.parse_u16()
return handle, size
def ls_write(self, port, tx_data, rx_bytes):
"""Write data to a brick input port using low speed transaction.
:param nxt.sensor.Port port: Input port identifier.
:param bytes tx_data: Data to send.
:param int rx_bytes: Number of bytes to receive.
Function returns immediately. Transaction status can be retrieved using
:meth:`ls_get_status` and result must be read using :meth:`ls_read`.
.. warning:: This is a low level function, prefer to use a :mod:`nxt.sensor`
class.
"""
tgram = Telegram(Opcode.DIRECT_LS_WRITE)
tgram.add_u8(port.value)
tgram.add_u8(len(tx_data))
tgram.add_u8(rx_bytes)
tgram.add_bytes(tx_data)
self._cmd(tgram)
def write_io_map(self, mod_id, offset, data):
"""Write module IO map on the brick.
:param int mod_id: Module identifier.
:param int offset: Offset in IO map.
:param bytes data: Data to write.
:return: Module identifier and written size.
:rtype: (int, int)
Module identifier can be found using :meth:`find_modules`. You need to know the
structure of the module IO map. You can find it by reading the firmware source
code.
"""
tgram = Telegram(Opcode.SYSTEM_IOMAPWRITE)
tgram.add_u32(mod_id)
tgram.add_u16(offset)
tgram.add_u16(len(data))
tgram.add_bytes(data)
tgram = self._cmd(tgram)
mod_id = tgram.parse_u32()
size = tgram.parse_u16()
return mod_id, size
def boot(self, *, sure=False):
"""Erase NXT brick firmware and go to SAM-BA boot mode.
:param bool sure: Set to ``True`` if you are really sure. Must be a keyword
parameter.
:return: Brick response, should be ``"Yes\0"``.
:rtype: bytes
This only works on USB connection.
.. danger:: This **erases the firmware** of the brick, you need to send a new
firmware to use it. Sending a firmware is not supported by NXT-Python. You
can use the original LEGO software or `libnxt`_ for example. Be sure to know
what you are doing.
.. _libnxt: https://git.ni.fr.eu.org/libnxt.git/
"""
if not sure:
raise ValueError("this is dangerous, please read documentation")
tgram = Telegram(Opcode.SYSTEM_BOOTCMD)
tgram.add_bytes(b"Let's dance: SAMBA\0")
tgram = self._cmd(tgram)
resp = tgram.parse_bytes()
return resp
