freeze: Branched the v2 code to create a new trunk.

CHANGELOG

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+Wed, 18 Nov 2009 19:05:49 +0100 by rhn:
+* Created this changelog
+* Changed set_input_mode behaviour to take parameters. TODO: Make it remember last mode for analog sensors
+* Made get_input_values() return RawReading, and added get_reading() returning named values.
+* Changed the way digital sensors work, partially getting rid of metaclasses and breaking everything in the process (no access to hardware)

MANIFEST.in

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+include docs/*.html *.url *.css *.txt
+include README LICENSE
+include examples/*.py

README

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+NXT-Python is a package for controlling a LEGO NXT robot using the Python
+programming language. It can communicate using either USB or Bluetooth. It is
+available under the Free Software Foundation's GPL license. It is based on
+NXT_Python, where releases halted in May 2007.
+
+This version is part of the 2.x series of releases. Programs designed for
+NXT_Python or for the 1.x series will not work with this version. If you are
+trying to get an old program to work, it most likely needs a 1.x series release,
+which can be downloaded from the nxt-python googlecode downloads page.
+
+Once your installation is working, I would really appreciate it if you could run
+the nxt_sensor_report script and follow the instructions there to help improve
+the digital sensor type checking system. It takes maybe 5-10 minutes and is a
+way to really help out even if you have no technical skill or don't want to mess
+with the code. Thanks!
+
+For support, you can ask the friendly mailing list at:
+http://groups.google.com/group/nxt-python
+You can report bugs or suggest new features using the bug tracker here:
+http://code.google.com/p/nxt-python/issues/list
+
+Note: NXT-Python has not been tested and may not work with custom nxt firmware
+versions (if you don't know what that means, you don't need to worry about it).
+However, if the custom firmware uses the standard communcations protocol,
+everything should more or less work. NXT-Python was primarily developed with
+bricks using firmware version 1.5 and is compatible with bricks using protocol
+version 1.124.
+
+Requirements:
+
+	* Python 2.6 (http://www.python.org)
+	* PyBluez (Bluetooth library) (http://org.csail.mit.edu/pybluez/)
+		and / or
+	* PyUSB (USB library) (http://sourceforge.net/projects/pyusb/)
+
+Installation:
+
+	* Untar/unzip source package
+	* In package directory, run "python setup.py install" (as root), or if
+		under windows, double-click install.bat.
+	* For USB on Linux, at a root terminal type:
+		groupadd lego
+		usermod -a -G lego [username]
+		echo 'BUS=="usb", SYSFS{idVendor}=="0694", GROUP="lego", MODE="0660"' > \
+			/etc/udev/rules.d/70-lego.rules
+
+Contact:
+	NXT-Python's Head Developer:
+		Marcus Wanner ([email protected])

build_dists.bat

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+@call setup.py sdist
+@call setup.py bdist_wininst --bitmap=nxt-python.bmp
+@call setup.py bdist_wininst --bitmap=nxt-python.bmp --plat-name=win-amd64

docs/seealso.url

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+[InternetShortcut]
+URL=http://code.google.com/p/nxt-python/w/list
+WorkingDirectory=C:\WINDOWS\
+ShowCommand=7
+IconIndex=1
+IconFile=http://code.google.com/favicon.ico
+Modified=20F06BA06D07BD014D
+HotKey=1601
+IDList=
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,2
+[DEFAULT]
+BASEURL=http://code.google.com/p/nxt-python/w/list

examples/latency.py

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+#!/usr/bin/env python
+
+import time
+import nxt.locator
+from nxt.sensor import *
+
+b = nxt.locator.find_one_brick()
+
+#Touch sensor latency test
+touch = Touch(b, PORT_1)
+start = time.time()
+for i in range(100):
+    touch.get_sample()
+stop = time.time()
+print 'touch latency: %s ms' % (1000 * (stop - start) / 100.0)
+
+#Ultrasonic sensor latency test
+ultrasonic = Ultrasonic(b, PORT_4)
+start = time.time()
+for i in range(100):
+    ultrasonic.get_sample()
+stop = time.time()
+print 'ultrasonic latency: %s ms' % (1000 * (stop - start) / 100.0)

examples/mary.py

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+#!/usr/bin/env python
+#
+# Converted from mary.rb found in ruby_nxt package
+# Plays "Mary Had A Little Lamb"
+# Author: Christopher Continanza <[email protected]>
+
+from time import sleep
+import nxt.locator
+
+FREQ_C = 523
+FREQ_D = 587
+FREQ_E = 659
+FREQ_G = 784
+
+b = nxt.locator.find_one_brick()
+
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_C, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+sleep(0.5)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+sleep(0.5)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_G, 500)
+b.play_tone_and_wait(FREQ_G, 500)
+sleep(0.5)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_C, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_E, 500)
+b.play_tone_and_wait(FREQ_D, 500)
+b.play_tone_and_wait(FREQ_C, 750)

examples/message_test.py

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+#!/usr/bin/env python
+
+#During this test you need to run any program on the brick
+#which doesn't use the messaging system. Most programs fit
+#this requirement.
+
+import nxt.locator
+
+b = nxt.locator.find_one_brick()
+for box in range(10):
+    b.message_write(box, 'message test %d' % box)
+for box in range(10):
+    local_box, message = b.message_read(box, box, True)
+    print local_box, message
+print 'Test succeeded!'

examples/spin.py

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+#!/usr/bin/env python
+
+import nxt.locator
+from nxt.motor import *
+
+def spin_around(b):
+    m_left = Motor(b, PORT_B)
+    m_left.turn(100, 360)
+    m_right = Motor(b, PORT_C)
+    m_right.turn(-100, 360)
+
+b = nxt.locator.find_one_brick()
+spin_around(b)
+

examples/test_sensors.py

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+#!/usr/bin/env python
+
+import nxt.locator
+from nxt.sensor import *
+
+b = nxt.locator.find_one_brick()
+
+print 'Touch:', Touch(b, PORT_1).get_sample()
+print 'Sound:', Sound(b, PORT_2).get_sample()
+print 'Light:', Light(b, PORT_3).get_sample()
+print 'Ultrasonic:', Ultrasonic(b, PORT_4).get_sample()

install.bat

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+@echo off
+@call setup.py install
+if errorlevel 1 goto error
+goto end
+:error
+echo -=-=-=-=-=-=-=-=-=-=-
+echo There was an error during the installation. Please check the above text
+echo for more information before you
+pause
+:end
+@echo on

nxt/__init__.py

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+# nxt.__init__ module -- LEGO Mindstorms NXT python package
+# 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.

nxt/bluesock.py

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+# nxt.bluesock module -- Bluetooth socket communication with LEGO Minstorms NXT
+# Copyright (C) 2006, 2007  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.
+
+try:
+    import bluetooth
+except ImportError:
+    import lightblueglue as bluetooth
+import os
+from .brick import Brick
+
+class BlueSock(object):
+
+    bsize = 118  # Bluetooth socket block size
+    PORT = 1     # Standard NXT rfcomm port
+
+    def __init__(self, host):
+        self.host = host
+        self.sock = None
+        self.debug = False
+
+    def __str__(self):
+        return 'Bluetooth (%s)' % self.host
+
+    def connect(self):
+        if self.debug:
+            print 'Connecting via Bluetooth...'
+        sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
+        sock.connect((self.host, BlueSock.PORT))
+        self.sock = sock
+        if self.debug:
+            print 'Connected.'
+        return Brick(self)
+
+    def close(self):
+        if self.debug:
+            print 'Closing Bluetooth connection...'
+        self.sock.close()
+        if self.debug:
+            print 'Bluetooth connection closed.'
+
+    def send(self, data):
+        if self.debug:
+            print 'Send:',
+            print ':'.join('%02x' % ord(c) for c in data)
+        l0 = len(data) & 0xFF
+        l1 = (len(data) >> 8) & 0xFF
+        d = chr(l0) + chr(l1) + data
+        self.sock.send(d)
+
+    def recv(self):
+        data = self.sock.recv(2)
+        l0 = ord(data[0])
+        l1 = ord(data[1])
+        plen = l0 + (l1 << 8)
+        data = self.sock.recv(plen)
+        if self.debug:
+            print 'Recv:',
+            print ':'.join('%02x' % ord(c) for c in data)
+        return data
+
+def _check_brick(arg, value):
+    return arg is None or arg == value
+
+def find_bricks(host=None, name=None):
+    for h, n in bluetooth.discover_devices(lookup_names=True):
+        if _check_brick(host, h) and _check_brick(name, n):
+            yield BlueSock(h)