Source Code for Module raspibrick

  1  # raspibrick.py 
  2   
  3  ''' 
  4   This software is part of the raspibrick module. 
  5   It is Open Source Free Software, so you may 
  6   - run the code for any purpose 
  7   - study how the code works and adapt it to your needs 
  8   - integrate all or parts of the code in your own programs 
  9   - redistribute copies of the code 
 10   - improve the code and release your improvements to the public 
 11   However the use of the code is entirely your responsibility. 
 12   ''' 
 13   
 14  import SharedConstants 
 15  from RobotInstance import RobotInstance 
 16  from Robot import Robot 
 17  from Robot import MyRobot 
 18  from Motor import Motor 
 19  from ServoMotor import ServoMotor 
 20  from Gear import Gear 
 21  from Led import Led 
 22  from InfraredSensor import InfraredSensor 
 23  from UltrasonicSensor import UltrasonicSensor 
 24  from LightSensor import LightSensor 
 25  from RobotContext import RobotContext 
 26  from Beeper import Beeper 
 27  from soundplayer import SoundPlayer 
 28  from OLED1306 import OLED1306 
 29  from Obstacle import Obstacle 
 30  from Target import Target 
 31  from Torch import Torch 
 32  from Shadow import Shadow 
 33  from Display import Display 
 34  from DgTell import DgTell 
 35  from DgTell1 import DgTell1 
 36  from Disp4tronix import Disp4tronix 
 37  from tcpcom import * 
 38  from Camera import Camera 
 39  from PCF8591 import ADC 
 40  from Tools import * 
 41  import tty 
 42  import termios 
 43  import sys 
 44   
 45  # globals 
 46  MOTOR_LEFT = SharedConstants.MOTOR_LEFT 
 47  MOTOR_RIGHT = SharedConstants.MOTOR_RIGHT 
 48  IR_CENTER = SharedConstants.IR_CENTER 
 49  IR_LEFT = SharedConstants.IR_LEFT 
 50  IR_RIGHT = SharedConstants.IR_RIGHT 
 51  IR_LINE_LEFT = SharedConstants.IR_LINE_LEFT 
 52  IR_LINE_RIGHT = SharedConstants.IR_LINE_RIGHT 
 53  LED_FRONT = SharedConstants.LED_FRONT 
 54  LED_LEFT = SharedConstants.LED_LEFT 
 55  LED_REAR = SharedConstants.LED_REAR 
 56  LED_RIGHT = SharedConstants.LED_RIGHT 
 57  LS_FRONT_LEFT = SharedConstants.LS_FRONT_LEFT 
 58  LS_FRONT_RIGHT = SharedConstants.LS_FRONT_RIGHT 
 59  LS_REAR_LEFT = SharedConstants.LS_REAR_LEFT 
 60  LS_REAR_RIGHT = SharedConstants.LS_REAR_RIGHT 
 61  BUTTON_LONGPRESSED = SharedConstants.BUTTON_LONGPRESSED 
 62  BUTTON_PRESSED = SharedConstants.BUTTON_PRESSED 
 63  BUTTON_RELEASED = SharedConstants.BUTTON_RELEASED 
 64  BUTTON_CLICKED = SharedConstants.BUTTON_CLICKED 
 65  BUTTON_DOUBLECLICKED = SharedConstants.BUTTON_DOUBLECLICKED 
 66   
 67   
 68 -def getKey(): 
 69      ''' 
 70      Waits for a key stroke. 
 71      A key stroke may generate 1, 2, 3 or 4 characters, 
 72      e.g. cursor up: x,y,z with ord(x) = 27, ord(y) = 91, ord(z) = 65 
 73      @return: one character (string) of key sequence 
 74      ''' 
 75      fd = sys.stdin.fileno() 
 76      old_settings = termios.tcgetattr(fd) 
 77      try: 
 78          tty.setraw(sys.stdin.fileno()) 
 79          ch = sys.stdin.read(1) 
 80      finally: 
 81          termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) 
 82      if ord(ch) == 0x03:  # Ctrl-C 
 83          raise KeyboardInterrupt 
 84      return ch 
 85   
 86 -def readKey(): 
 87      ''' 
 88      Single character input. Read cursor keys. 
 89      @return: one character (string) for normal keys, special value for cursor keys: 
 90       # 16:Up, 17:Down, 18:Right, 19:Left 
 91      ''' 
 92      ch1 = getKey() 
 93      if ord(ch1) == 126:  # ~ used for special key, ignore 
 94          return readKey() 
 95      if ord(ch1) != 0x1B:  # not special key 
 96          return ch1 
 97      ch2 = getKey() 
 98      if ord(ch2) != 0x5B:  # not [ 
 99          return ch1 
100      ch3 = getKey() 
101      if ord(ch3) != 0x31: 
102          print "third", ord(ch3) 
103          return chr(0x10 + ord(ch3) - 65) 
104   
105   
106 -def isButtonHit(): 
107      robot = RobotInstance.getRobot() 
108      if robot != None: 
109         return robot.isButtonHit() 
110      return False 
111   
112 -def isEnterHit(): 
113      robot = RobotInstance.getRobot() 
114      if robot != None: 
115         return robot.isEnterHit() 
116      return False 
117   
118 -def isEscapeHit(): 
119      robot = RobotInstance.getRobot() 
120      if robot != None: 
121         return robot.isEscapeHit() 
122      return False 
123   
124 -def isUpHit(): 
125      robot = RobotInstance.getRobot() 
126      if robot != None: 
127         return robot.isUpHit() 
128      return False 
129   
130 -def isDownHit(): 
131      robot = RobotInstance.getRobot() 
132      if robot != None: 
133         return robot.isDownHit() 
134      return False 
135   
136 -def isLeftHit(): 
137      robot = RobotInstance.getRobot() 
138      if robot != None: 
139         return robot.isLeftHit() 
140      return False 
141   
142 -def isRightHit(): 
143      robot = RobotInstance.getRobot() 
144      if robot != None: 
145         return robot.isRightHit() 
146      return False 
147