mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 09:37:25 +00:00
Laurens Valk
bd7806d2d4
Also activate auto formatting. Bump flake8 and mark black disagreements in setup.cfg.
75 lines
1.9 KiB
Python
75 lines
1.9 KiB
Python
from uctypes import addressof, sizeof, struct
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from usocket import socket, SOCK_STREAM
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from _thread import start_new_thread
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from pybricks.bluetooth import str2ba, sockaddr_rc, AF_BLUETOOTH, BTPROTO_RFCOMM
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from pybricks.tools import wait, StopWatch
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def get_bluetooth_rfcomm_socket(address, channel):
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addr_data = bytearray(sizeof(sockaddr_rc))
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addr = struct(addressof(addr_data), sockaddr_rc)
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addr.rc_family = AF_BLUETOOTH
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str2ba(address, addr.rc_bdaddr)
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addr.rc_channel = channel
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sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM)
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sock.connect(addr_data)
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return sock
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class SpikePrimeStreamReader:
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def __init__(self, address):
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try:
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self.sock = get_bluetooth_rfcomm_socket(address, 1)
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except OSError as e:
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print("Turn on Bluetooth on the EV3 and on SPIKE.")
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raise e
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self._values = None
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start_new_thread(self.reader, ())
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watch = StopWatch()
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while watch.time() < 2000:
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if self.values() is not None:
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return
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wait(100)
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raise IOError("No data received")
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def disconnect(self):
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self.sock.close()
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def reader(self):
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while True:
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try:
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raw = self.sock.recv(1024)
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except OSError:
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break
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try:
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data = eval(raw)
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if data["m"] == 0:
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self._values = data["p"]
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except (SyntaxError, KeyError):
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pass
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def values(self):
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return self._values
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def device(self, port):
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if "A" <= port <= "F":
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return self.values()[ord(port) - ord("A")][1]
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else:
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raise ValueError
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def acceleration(self):
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return self.values()[6]
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def gyro(self):
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return self.values()[7]
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def orientation(self):
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return self.values()[8]
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