# nxt.system module -- LEGO Mindstorms NXT system telegrams # Copyright (C) 2006 Douglas P Lau # Copyright (C) 2009 Marcus Wanner # # This program is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation, either version 3 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. 'Use for communications regarding the NXT filesystem and such ***ADVANCED USERS ONLY***' def _create(opcode): 'Create a simple system telegram' from telegram import Telegram return Telegram(False, opcode) def _create_with_file(opcode, fname): tgram = _create(opcode) tgram.add_filename(fname) return tgram def _create_with_handle(opcode, handle): tgram = _create(opcode) tgram.add_u8(handle) return tgram def open_read(opcode, fname): return _create_with_file(opcode, fname) def _parse_open_read(tgram): tgram.check_status() handle = tgram.parse_u8() n_bytes = tgram.parse_u32() return (handle, n_bytes) def open_write(opcode, fname, n_bytes): tgram = _create_with_file(opcode, fname) tgram.add_u32(n_bytes) return tgram def _parse_open_write(tgram): tgram.check_status() handle = tgram.parse_u8() return handle def read(opcode, handle, n_bytes): tgram = _create_with_handle(opcode, handle) tgram.add_u16(n_bytes) return tgram def _parse_read(tgram): tgram.check_status() handle = tgram.parse_u8() n_bytes = tgram.parse_u16() data = tgram.parse_string() return (handle, n_bytes, data) def write(opcode, handle, data): tgram = _create_with_handle(opcode, handle) tgram.add_string(len(data), data) return tgram def _parse_write(tgram): tgram.check_status() handle = tgram.parse_u8() n_bytes = tgram.parse_u16() return (handle, n_bytes) def close(opcode, handle): return _create_with_handle(opcode, handle) def _parse_close(tgram): tgram.check_status() handle = tgram.parse_u8() return handle def delete(opcode, fname): return _create_with_file(opcode, fname) def _parse_delete(tgram): tgram.check_status() handle = tgram.parse_u8() fname = tgram.parse_string() return (handle, fname) def find_first(opcode, fname): return _create_with_file(opcode, fname) def _parse_find(tgram): tgram.check_status() handle = tgram.parse_u8() fname = tgram.parse_string(20) n_bytes = tgram.parse_u32() return (handle, fname, n_bytes) def find_next(opcode, handle): return _create_with_handle(opcode, handle) def get_firmware_version(opcode): return _create(opcode) def _parse_get_firmware_version(tgram): tgram.check_status() prot_minor = tgram.parse_u8() prot_major = tgram.parse_u8() prot_version = (prot_major, prot_minor) fw_minor = tgram.parse_u8() fw_major = tgram.parse_u8() fw_version = (fw_major, fw_minor) return (prot_version, fw_version) def open_write_linear(opcode, fname, n_bytes): tgram = _create_with_file(opcode, fname) tgram.add_u32(n_bytes) return tgram def open_read_linear(opcode, fname): return _create_with_file(opcode, fname) def _parse_open_read_linear(tgram): tgram.check_status() n_bytes = tgram.parse_u32() return n_bytes def open_write_data(opcode, fname, n_bytes): tgram = _create_with_file(opcode, fname) tgram.add_u32(n_bytes) return tgram def open_append_data(opcode, fname): return _create_with_file(opcode, fname) def _parse_open_append_data(tgram): tgram.check_status() handle = tgram.parse_u8() n_bytes = tgram.parse_u32() return (handle, n_bytes) def request_first_module(opcode, mname): return _create_with_file(opcode, mname) def _parse_request_module(tgram): tgram.check_status() handle = tgram.parse_u8() mname = tgram.parse_string(20) mod_id = tgram.parse_u32() mod_size = tgram.parse_u32() mod_iomap_size = tgram.parse_u16() return (handle, mname, mod_id, mod_size, mod_iomap_size) def request_next_module(opcode, handle): return _create_with_handle(opcode, handle) def close_module_handle(opcode, handle): return _create_with_handle(opcode, handle) def read_io_map(opcode, mod_id, offset, n_bytes): tgram = _create(opcode) tgram.add_u32(mod_id) tgram.add_u16(offset) tgram.add_u16(n_bytes) return tgram def _parse_read_io_map(tgram): tgram.check_status() mod_id = tgram.parse_u32() n_bytes = tgram.parse_u16() contents = tgram.parse_string() return (mod_id, n_bytes, contents) def write_io_map(opcode, mod_id, offset, content): tgram = _create(opcode) tgram.add_u32(mod_id) tgram.add_u16(offset) tgram.add_u16(len(content)) tgram.add_string(len(content), content) return tgram def _parse_write_io_map(tgram): tgram.check_status() mod_id = tgram.parse_u32() n_bytes = tgram.parse_u16() return (mod_id, n_bytes) def boot(opcode): # Note: this command is USB only (no Bluetooth) tgram = _create(opcode) tgram.add_string(19, "Let's dance: SAMBA\0") return tgram def _parse_boot(tgram): tgram.check_status() resp = tgram.parse_string() # Resp should be 'Yes\0' return resp def set_brick_name(opcode, bname): tgram = _create(opcode) if len(bname) > 15: print "Warning! Brick name %s will be truncated to %s!" % (bname, bname[0:15]) bname = bname[0:15] elif len(bname) < 15: bname += '\x00' * (15-len(bname)) #fill the extra chars with nulls tgram.add_string(len(bname), bname) return tgram def _parse_set_brick_name(tgram): tgram.check_status() def get_device_info(opcode): return _create(opcode) def _parse_get_device_info(tgram): tgram.check_status() name = tgram.parse_string(15) a0 = tgram.parse_u8() a1 = tgram.parse_u8() a2 = tgram.parse_u8() a3 = tgram.parse_u8() a4 = tgram.parse_u8() a5 = tgram.parse_u8() a6 = tgram.parse_u8() # FIXME: what is a6 for? address = '%02X:%02X:%02X:%02X:%02X:%02X' % (a0, a1, a2, a3, a4, a5) signal_strength = tgram.parse_u32() user_flash = tgram.parse_u32() return (name, address, signal_strength, user_flash) def delete_user_flash(opcode): return _create(opcode) def _parse_delete_user_flash(tgram): tgram.check_status() def poll_command_length(opcode, buf_num): tgram = _create(opcode) tgram.add_u8(buf_num) return tgram def _parse_poll_command_length(tgram): buf_num = tgram.parse_u8() tgram.check_status() n_bytes = tgram.parse_u8() return (buf_num, n_bytes) def poll_command(opcode, buf_num, n_bytes): tgram = _create(opcode) tgram.add_u8(buf_num) tgram.add_u8(n_bytes) return tgram def _parse_poll_command(tgram): buf_num = tgram.parse_u8() tgram.check_status() n_bytes = tgram.parse_u8() command = tgram.parse_string() return (buf_num, n_bytes, command) def bluetooth_factory_reset(opcode): # Note: this command is USB only (no Bluetooth) return _create(opcode) def _parse_bluetooth_factory_reset(tgram): tgram.check_status() #TODO Add docstrings to all methods OPCODES = { 0x80: (open_read, _parse_open_read), 0x81: (open_write, _parse_open_write), 0x82: (read, _parse_read), 0x83: (write, _parse_write), 0x84: (close, _parse_close), 0x85: (delete, _parse_delete), 0x86: (find_first, _parse_find), 0x87: (find_next, _parse_find), 0x88: (get_firmware_version, _parse_get_firmware_version), 0x89: (open_write_linear, _parse_open_write), 0x8A: (open_read_linear, _parse_open_read_linear), 0x8B: (open_write_data, _parse_open_write), 0x8C: (open_append_data, _parse_open_append_data), 0x90: (request_first_module, _parse_request_module), 0x91: (request_next_module, _parse_request_module), 0x92: (close_module_handle, _parse_close), 0x94: (read_io_map, _parse_read_io_map), 0x95: (write_io_map, _parse_write_io_map), 0x97: (boot, _parse_boot), 0x98: (set_brick_name, _parse_set_brick_name), 0x9B: (get_device_info, _parse_get_device_info), 0xA0: (delete_user_flash, _parse_delete_user_flash), 0xA1: (poll_command_length, _parse_poll_command_length), 0xA2: (poll_command, _parse_poll_command), 0xA4: (bluetooth_factory_reset, _parse_bluetooth_factory_reset), }