def play_sound_file(self, loop, name):
"""Play a sound file on the brick.
:param bool loop: Loop mode, play continuously.
:param str name: Sound file name.
"""
tgram = Telegram(Opcode.DIRECT_PLAY_SOUND_FILE, reply_req=False)
tgram.add_bool(loop)
tgram.add_filename(name)
self._cmd(tgram)
def reset_motor_position(self, port, relative):
"""Reset block or program motor position for a brick output port.
:param nxt.motor.Port port: Output port identifier.
:param bool relative: If ``True``, reset block position, if ``False``, reset
program position.
.. warning:: This is a low level function, prefer to use
:meth:`nxt.motor.Motor`, you can get one from :meth:`get_motor`.
"""
tgram = Telegram(Opcode.DIRECT_RESET_POSITION)
tgram.add_u8(port.value)
tgram.add_bool(relative)
self._cmd(tgram)
def message_read(self, remote_inbox, local_inbox, remove):
"""Read a message from a brick mailbox.
:param int remote_inbox: Mailbox number (0 to 19).
:param int local_inbox: Local mailbox, not used by brick.
:param bool remove: Whether to remove the message from the mailbox.
:return: The read message.
:rtype: bytes
:raises nxt.error.DirectProtocolError: When mailbox is empty.
"""
tgram = Telegram(Opcode.DIRECT_MESSAGE_READ)
tgram.add_u8(remote_inbox)
tgram.add_u8(local_inbox)
tgram.add_bool(remove)
tgram = self._cmd(tgram)
local_inbox = tgram.parse_u8()
size = tgram.parse_u8()
message = tgram.parse_bytes(size)
return local_inbox, message