patlite.py
Go to the documentation of this file.
00001 #!/usr/bin/env python
00002 import sys
00003 import socket
00004 import binascii
00005 from contextlib import closing
00006 
00007 class PatliteState(object):
00008     """ This is a patlite state class """
00009 
00010     # target
00011     class Target(object):
00012         LIGHT_RED = 0
00013         LIGHT_YELLOW = 1
00014         LIGHT_GREEN = 2
00015         LIGHT_BLUE = 3
00016         LIGHT_WHITE = 4
00017         BUZZER = 5
00018         __slots__ = []
00019 
00020     # light state
00021     class LightState(object):
00022         OFF = '\x00'
00023         ON = '\x01'
00024         FLASH_1 = '\x02'
00025         FLASH_2 = '\x03'
00026         REMAIN = '\x09'
00027         __slots__ = []
00028 
00029     # buzzer state
00030     class BuzzerState(object):
00031         OFF = '\x00'
00032         ON_1 = '\x01'
00033         ON_2 = '\x02'
00034         ON_3 = '\x03'
00035         ON_4 = '\x04'
00036         REMAIN = '\x09'
00037         __slots__ = []
00038 
00039     def int2code(self, i):
00040         if i == 0: return '\x00'
00041         elif i == 1: return '\x01'
00042         elif i == 2: return '\x02'
00043         elif i == 3: return '\x03'
00044         elif i == 4: return '\x04'
00045         else: return '\x09'
00046 
00047     def code2int(self, c):
00048         if c == '\x00': return 0
00049         elif c == '\x01': return 1
00050         elif c == '\x02': return 2
00051         elif c == '\x03': return 3
00052         elif c == '\x04':return 4
00053         else: return 9
00054 
00055     def clear(self):
00056         self.state = \
00057             self.LightState.REMAIN + \
00058             self.LightState.REMAIN + \
00059             self.LightState.REMAIN + \
00060             self.LightState.REMAIN + \
00061             self.LightState.REMAIN + \
00062             self.BuzzerState.REMAIN
00063 
00064     def __init__(self, state=None):
00065         if state is None:
00066             self.clear()
00067         else:
00068             self.state = state
00069 
00070     def red(self, value):
00071         self.state = value + self.state[1:]
00072         return self.state
00073 
00074     def yellow(self, value):
00075         self.state = self.state[0] + value + self.state[2:]
00076         return self.state
00077 
00078     def green(self, value):
00079         self.state = self.state[:2] + value + self.state[3:]
00080         return self.state
00081 
00082     def blue(self, value):
00083         self.state = self.state[:3] + value + self.state[4:]
00084         return self.state
00085 
00086     def white(self, value):
00087         self.state = self.state[:4] + value + self.state[5:]
00088         return self.state
00089 
00090     def buzzer(self, value):
00091         self.state = self.state[:5] + value
00092         return self.state
00093 
00094     def set_from_int(self, target, state):
00095         if not self.is_valid(target, self.int2code(state)):
00096             raise
00097         self.state = self.state[:target] + self.int2code(state) + self.state[target+1:]
00098 
00099     def is_valid(self, target, state):
00100         # TODO to be implemented
00101         return True
00102 
00103     def __repr__(self):
00104         return "<PatliteState '%s'>" % (''.join(['%x ' % ord(s) for s in self.state]))
00105 
00106 
00107 
00108 class Patlite(object):
00109     """ This is a controller for a network patlite """
00110 
00111     # write command
00112     WRITE_HEADER = '\x58\x58\x53\x00\x00\x06'
00113     # write response
00114     ACK = '\x06'
00115     NAK = '\x15'
00116 
00117     # read command
00118     READ = '\x58\x58\x47\x00\x00\x00'
00119 
00120     # clear command
00121     CLEAR = '\x58\x58\x43\x00\x00\x00'
00122 
00123     def __init__(self, host, port=10000, timeout=1):
00124         self.host = host
00125         self.port = port
00126         self.timeout = timeout
00127         self.bufsize = 512
00128         self.sock = None
00129         self.state = PatliteState()
00130 
00131     def __enter__(self):
00132         self.open()
00133 
00134     def __exit__(self, exc_type, exc_value, traceback):
00135         self.close()
00136         return False
00137 
00138     def open(self):
00139         self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
00140         self.sock.settimeout(self.timeout)
00141         return self.sock.connect((self.host, self.port))
00142 
00143     def close(self):
00144         return self.sock.close()
00145 
00146     def write(self, state=None):
00147         ret = None
00148         if state is None:
00149             state = self.state
00150         try:
00151             self.sock.sendall(self.WRITE_HEADER + state.state)
00152             ret = self.sock.recv(self.bufsize)
00153         except socket.timeout:
00154             print "timeout"
00155         if (ret != self.ACK):
00156             return False
00157         return True
00158 
00159     def read(self):
00160         try:
00161             self.sock.sendall(self.READ)
00162             tmp_state = PatliteState(self.sock.recv(self.bufsize))
00163         except socket.timeout:
00164             print "timeout"
00165             return None
00166         return tmp_state
00167 
00168     def clear(self):
00169         ret = None
00170         try:
00171             self.sock.sendall(self.CLEAR)
00172             ret = self.sock.recv(self.bufsize)
00173         except socket.timeout:
00174             print "timeout"
00175             return False
00176         if (ret != self.ACK):
00177             return False
00178         return True
00179 
00180     def red(self, value):
00181         self.state.clear()
00182         self.state.red(value)
00183         return self.write()
00184 
00185     def yellow(self, value):
00186         self.state.clear()
00187         self.state.yellow(value)
00188         return self.write()
00189 
00190     def green(self, value):
00191         self.state.clear()
00192         self.state.green(value)
00193         return self.write()
00194 
00195     def blue(self, value):
00196         self.state.clear()
00197         self.state.blue(value)
00198         return self.write()
00199 
00200     def white(self, value):
00201         self.state.clear()
00202         self.state.white(value)
00203         return self.write()
00204 
00205     def buzzer(self, value):
00206         self.state.clear()
00207         self.state.buzzer(value)
00208         return self.write()
00209 
00210 
00211 def test():
00212     patlite = Patlite("10.68.0.10")
00213     with patlite:
00214         patlite.red(patlite.state.LightState.ON)
00215         patlite.yellow(patlite.state.LightState.ON)
00216         patlite.green(patlite.state.LightState.ON)
00217 
00218 if __name__ == '__main__':
00219     test()
00220 


rospatlite
Author(s): Takuya Nakaoka
autogenerated on Wed Jul 10 2019 03:24:14