Source Code for Module nxt.bluesock

 1  # nxt.bluesock module -- Bluetooth socket communication with LEGO Minstorms NXT 
 2  # Copyright (C) 2006-2007  Douglas P Lau 
 3  # Copyright (C) 2009  Marcus Wanner 
 4  # 
 5  # This program is free software: you can redistribute it and/or modify 
 6  # it under the terms of the GNU General Public License as published by 
 7  # the Free Software Foundation, either version 3 of the License, or 
 8  # (at your option) any later version. 
 9  # 
10  # This program is distributed in the hope that it will be useful, 
11  # but WITHOUT ANY WARRANTY; without even the implied warranty of 
12  # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
13  # GNU General Public License for more details. 
14   
15  import bluetooth 
16  import os 
17  from nxt.brick import Brick 
18   
19 -class BlueSock(object): 
20   
21          bsize = 118     # Bluetooth socket block size 
22          PORT = 1        # Standard NXT rfcomm port 
23   
24 -        def __init__(self, host): 
25                  self.host = host 
26                  self.sock = None 
27                  self.debug = False 
28   
29 -        def __str__(self): 
30                  return 'Bluetooth (%s)' % self.host 
31   
32 -        def connect(self): 
33                  if self.debug: 
34                          print 'Connecting via Bluetooth...' 
35                  sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM) 
36                  sock.connect((self.host, BlueSock.PORT)) 
37                  self.sock = sock 
38                  if self.debug: 
39                          print 'Connected.' 
40                  return Brick(self) 
41   
42 -        def close(self): 
43                  if self.debug: 
44                          print 'Closing Bluetooth connection...' 
45                  self.sock.close() 
46                  if self.debug: 
47                          print 'Bluetooth connection closed.' 
48   
49 -        def send(self, data): 
50                  if self.debug: 
51                          print 'Send:', 
52                          print ':'.join('%02x' % ord(c) for c in data) 
53                  l0 = len(data) & 0xFF 
54                  l1 = (len(data) >> 8) & 0xFF 
55                  d = chr(l0) + chr(l1) + data 
56                  self.sock.send(d) 
57   
58 -        def recv(self): 
59                  data = self.sock.recv(2) 
60                  l0 = ord(data[0]) 
61                  l1 = ord(data[1]) 
62                  plen = l0 + (l1 << 8) 
63                  data = self.sock.recv(plen) 
64                  if self.debug: 
65                          print 'Recv:', 
66                          print ':'.join('%02x' % ord(c) for c in data) 
67                  return data 
68   
69 -def _check_brick(arg, value): 
70          return arg is None or arg == value 
71   
72 -def find_bricks(host=None, name=None): 
73          for h, n in bluetooth.discover_devices(lookup_names=True): 
74                  if _check_brick(host, h) and _check_brick(name, n): 
75                          yield BlueSock(h) 
76