File musical chairs

ev3dev/__init__.py

@@ -0,0 +1,311 @@
+# -----------------------------------------------------------------------------
+# Copyright (c) 2015 Ralph Hempel <rhempel@hempeldesigngroup.com>
+# Copyright (c) 2015 Anton Vanhoucke <antonvh@gmail.com>
+# Copyright (c) 2015 Denis Demidov <dennis.demidov@gmail.com>
+# Copyright (c) 2015 Eric Pascual <eric@pobot.org>
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+# -----------------------------------------------------------------------------
+
+import sys
+
+if sys.version_info < (3,4):
+    raise SystemError('Must be using Python 3.4 or higher')
+
+import os
+import io
+import fnmatch
+import re
+import stat
+import errno
+from os.path import abspath
+
+INPUT_AUTO = ''
+OUTPUT_AUTO = ''
+
+
+def get_current_platform():
+    """
+    Look in /sys/class/board-info/ to determine the platform type.
+
+    This can return 'ev3', 'evb', 'pistorms', 'brickpi' or 'brickpi3'.
+    """
+    board_info_dir = '/sys/class/board-info/'
+
+    for board in os.listdir(board_info_dir):
+        uevent_filename = os.path.join(board_info_dir, board, 'uevent')
+
+        if os.path.exists(uevent_filename):
+            with open(uevent_filename, 'r') as fh:
+                for line in fh.readlines():
+                    (key, value) = line.strip().split('=')
+
+                    if key == 'BOARD_INFO_MODEL':
+
+                        if value == 'LEGO MINDSTORMS EV3':
+                            return 'ev3'
+
+                        elif value in ('FatcatLab EVB', 'QuestCape'):
+                            return 'evb'
+
+                        elif value == 'PiStorms':
+                            return 'pistorms'
+
+                        # This is the same for both BrickPi and BrickPi+.
+                        # There is not a way to tell the difference.
+                        elif value == 'Dexter Industries BrickPi':
+                            return 'brickpi'
+
+                        elif value == 'Dexter Industries BrickPi3':
+                            return 'brickpi3'
+    return None
+
+
+# -----------------------------------------------------------------------------
+def list_device_names(class_path, name_pattern, **kwargs):
+    """
+    This is a generator function that lists names of all devices matching the
+    provided parameters.
+
+    Parameters:
+        class_path: class path of the device, a subdirectory of /sys/class.
+            For example, '/sys/class/tacho-motor'.
+        name_pattern: pattern that device name should match.
+            For example, 'sensor*' or 'motor*'. Default value: '*'.
+        keyword arguments: used for matching the corresponding device
+            attributes. For example, address='outA', or
+            driver_name=['lego-ev3-us', 'lego-nxt-us']. When argument value
+            is a list, then a match against any entry of the list is
+            enough.
+    """
+
+    if not os.path.isdir(class_path):
+        return
+
+    def matches(attribute, pattern):
+        try:
+            with io.FileIO(attribute) as f:
+                value = f.read().strip().decode()
+        except:
+            return False
+
+        if isinstance(pattern, list):
+            return any([value.find(p) >= 0 for p in pattern])
+        else:
+            return value.find(pattern) >= 0
+
+    for f in os.listdir(class_path):
+        if fnmatch.fnmatch(f, name_pattern):
+            path = class_path + '/' + f
+            if all([matches(path + '/' + k, kwargs[k]) for k in kwargs]):
+                yield f
+
+
+# -----------------------------------------------------------------------------
+# Define the base class from which all other ev3dev classes are defined.
+
+class Device(object):
+    """The ev3dev device base class"""
+
+    __slots__ = ['_path', 'connected', '_device_index', 'kwargs']
+
+    DEVICE_ROOT_PATH = '/sys/class'
+
+    _DEVICE_INDEX = re.compile(r'^.*(\d+)$')
+
+    def __init__(self, class_name, name_pattern='*', name_exact=False, **kwargs):
+        """Spin through the Linux sysfs class for the device type and find
+        a device that matches the provided name pattern and attributes (if any).
+
+        Parameters:
+            class_name: class name of the device, a subdirectory of /sys/class.
+                For example, 'tacho-motor'.
+            name_pattern: pattern that device name should match.
+                For example, 'sensor*' or 'motor*'. Default value: '*'.
+            name_exact: when True, assume that the name_pattern provided is the
+                exact device name and use it directly.
+            keyword arguments: used for matching the corresponding device
+                attributes. For example, address='outA', or
+                driver_name=['lego-ev3-us', 'lego-nxt-us']. When argument value
+                is a list, then a match against any entry of the list is
+                enough.
+
+        Example::
+
+            d = ev3dev.Device('tacho-motor', address='outA')
+            s = ev3dev.Device('lego-sensor', driver_name=['lego-ev3-us', 'lego-nxt-us'])
+
+        When connected succesfully, the `connected` attribute is set to True.
+        """
+
+        classpath = abspath(Device.DEVICE_ROOT_PATH + '/' + class_name)
+        self.kwargs = kwargs
+
+        def get_index(file):
+            match = Device._DEVICE_INDEX.match(file)
+            if match:
+                return int(match.group(1))
+            else:
+                return None
+
+        if name_exact:
+            self._path = classpath + '/' + name_pattern
+            self._device_index = get_index(name_pattern)
+            self.connected = True
+        else:
+            try:
+                name = next(list_device_names(classpath, name_pattern, **kwargs))
+                self._path = classpath + '/' + name
+                self._device_index = get_index(name)
+                self.connected = True
+            except StopIteration:
+                self._path = None
+                self._device_index = None
+                self.connected = False
+
+    def __str__(self):
+        if 'address' in self.kwargs:
+            return "%s(%s)" % (self.__class__.__name__, self.kwargs.get('address'))
+        else:
+            return self.__class__.__name__
+
+    def _attribute_file_open(self, name):
+        path = os.path.join(self._path, name)
+        mode = stat.S_IMODE(os.stat(path)[stat.ST_MODE])
+        r_ok = mode & stat.S_IRGRP
+        w_ok = mode & stat.S_IWGRP
+
+        if r_ok and w_ok:
+            mode = 'r+'
+        elif w_ok:
+            mode = 'w'
+        else:
+            mode = 'r'
+
+        return io.FileIO(path, mode)
+
+    def _get_attribute(self, attribute, name):
+        """Device attribute getter"""
+        if self.connected:
+            if attribute is None:
+                attribute = self._attribute_file_open( name )
+            else:
+                attribute.seek(0)
+            return attribute, attribute.read().strip().decode()
+        else:
+            #log.info("%s: path %s, attribute %s" % (self, self._path, name))
+            raise Exception("%s is not connected" % self)
+
+    def _set_attribute(self, attribute, name, value):
+        """Device attribute setter"""
+        if self.connected:
+            try:
+                if attribute is None:
+                    attribute = self._attribute_file_open( name )
+                else:
+                    attribute.seek(0)
+
+                if isinstance(value, str):
+                    value = value.encode()
+                attribute.write(value)
+                attribute.flush()
+            except Exception as ex:
+                self._raise_friendly_access_error(ex, name)
+            return attribute
+        else:
+            #log.info("%s: path %s, attribute %s" % (self, self._path, name))
+            raise Exception("%s is not connected" % self)
+
+    def _raise_friendly_access_error(self, driver_error, attribute):
+        if not isinstance(driver_error, OSError):
+            raise driver_error
+
+        if driver_error.errno == errno.EINVAL:
+            if attribute == "speed_sp":
+                try:
+                    max_speed = self.max_speed
+                except (AttributeError, Exception):
+                    raise ValueError("The given speed value was out of range") from driver_error
+                else:
+                    raise ValueError("The given speed value was out of range. Max speed: +/-" + str(max_speed)) from driver_error
+            raise ValueError("One or more arguments were out of range or invalid") from driver_error
+        elif driver_error.errno == errno.ENODEV or driver_error.errno == errno.ENOENT:
+            # We will assume that a file-not-found error is the result of a disconnected device
+            # rather than a library error. If that isn't the case, at a minimum the underlying
+            # error info will be printed for debugging.
+            raise Exception("%s is no longer connected" % self) from driver_error
+        raise driver_error
+
+    def get_attr_int(self, attribute, name):
+        attribute, value = self._get_attribute(attribute, name)
+        return attribute, int(value)
+
+    def set_attr_int(self, attribute, name, value):
+        return self._set_attribute(attribute, name, str(int(value)))
+
+    def set_attr_raw(self, attribute, name, value):
+        return self._set_attribute(attribute, name, value)
+
+    def get_attr_string(self, attribute, name):
+        return self._get_attribute(attribute, name)
+
+    def set_attr_string(self, attribute, name, value):
+        return self._set_attribute(attribute, name, value)
+
+    def get_attr_line(self, attribute, name):
+        return self._get_attribute(attribute, name)
+
+    def get_attr_set(self, attribute, name):
+        attribute, value = self.get_attr_line(attribute, name)
+        return attribute, [v.strip('[]') for v in value.split()]
+
+    def get_attr_from_set(self, attribute, name):
+        attribute, value = self.get_attr_line(attribute, name)
+        for a in value.split():
+            v = a.strip('[]')
+            if v != a:
+                return v
+        return ""
+
+    @property
+    def device_index(self):
+        return self._device_index
+
+
+def list_devices(class_name, name_pattern, **kwargs):
+    """
+    This is a generator function that takes same arguments as `Device` class
+    and enumerates all devices present in the system that match the provided
+    arguments.
+
+    Parameters:
+        class_name: class name of the device, a subdirectory of /sys/class.
+            For example, 'tacho-motor'.
+        name_pattern: pattern that device name should match.
+            For example, 'sensor*' or 'motor*'. Default value: '*'.
+        keyword arguments: used for matching the corresponding device
+            attributes. For example, address='outA', or
+            driver_name=['lego-ev3-us', 'lego-nxt-us']. When argument value
+            is a list, then a match against any entry of the list is
+            enough.
+    """
+    classpath = abspath(Device.DEVICE_ROOT_PATH + '/' + class_name)
+
+    return (Device(class_name, name, name_exact=True)
+            for name in list_device_names(classpath, name_pattern, **kwargs))

ev3dev/brickpi.py → ev3dev/_platform/brickpi.py

@@ -26,8 +26,7 @@
 An assortment of classes modeling specific features of the BrickPi.
 """
 
-from .core import *
-
+from collections import OrderedDict
 
 OUTPUT_A = 'ttyAMA0:MA'
 OUTPUT_B = 'ttyAMA0:MB'
@@ -39,51 +38,17 @@
 INPUT_3 = 'ttyAMA0:S3'
 INPUT_4 = 'ttyAMA0:S4'
 
+BUTTONS_FILENAME = None
+EVDEV_DEVICE_NAME = None
 
-class Leds(object):
-    """
-    The BrickPi LEDs.
-    """
-    blue_led1 = Led(name_pattern='brickpi:led1:blue:ev3dev')
-    blue_led2 = Led(name_pattern='brickpi:led2:blue:ev3dev')
-
-    LED1 = ( blue_led1, )
-    LED2 = ( blue_led2, )
-
-    BLACK = ( 0, )
-    BLUE = ( 1, )
-
-    @staticmethod
-    def set_color(group, color, pct=1):
-        """
-        Sets brigthness of leds in the given group to the values specified in
-        color tuple. When percentage is specified, brightness of each led is
-        reduced proportionally.
-
-        Example::
-
-            Leds.set_color(LEFT, AMBER)
-        """
-        for l, v in zip(group, color):
-            l.brightness_pct = v * pct
-
-    @staticmethod
-    def set(group, **kwargs):
-        """
-        Set attributes for each led in group.
-
-        Example::
+LEDS = OrderedDict()
+LEDS['blue_led1'] = 'brickpi:led1:blue:ev3dev'
+LEDS['blue_led2'] = 'brickpi:led2:blue:ev3dev'
 
-            Leds.set(LEFT, brightness_pct=0.5, trigger='timer')
-        """
-        for led in group:
-            for k in kwargs:
-                setattr(led, k, kwargs[k])
+LED_GROUPS = OrderedDict()
+LED_GROUPS['LED1'] = ('blue_led1',)
+LED_GROUPS['LED2'] = ('blue_led2',)
 
-    @staticmethod
-    def all_off():
-        """
-        Turn all leds off
-        """
-        Leds.blue_led1.brightness = 0
-        Leds.blue_led2.brightness = 0
+LED_COLORS = OrderedDict()
+LED_COLORS['BLACK'] = (0,)
+LED_COLORS['BLUE'] = (1,)

ev3dev/_platform/brickpi3.py

@@ -0,0 +1,3 @@
+
+BUTTONS_FILENAME = None
+EVDEV_DEVICE_NAME = None