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387 lines (301 loc) · 13.6 KB
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# -----------------------------------------------------------------------------
# Copyright (c) 2015 Ralph Hempel <[email protected]>
# Copyright (c) 2015 Anton Vanhoucke <[email protected]>
# Copyright (c) 2015 Denis Demidov <[email protected]>
# Copyright (c) 2015 Eric Pascual <[email protected]>
#
# 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
import os
import io
import fnmatch
import re
import stat
import errno
from os.path import abspath
try:
# if we are in a released build, there will be an auto-generated "version"
# module
from .version import __version__
except ImportError:
__version__ = "<unknown>"
if sys.version_info < (3, 4):
raise SystemError('Must be using Python 3.4 or higher')
def is_micropython():
return sys.implementation.name == "micropython"
def chain_exception(exception, cause):
if is_micropython():
raise exception
else:
raise exception from cause
def get_current_platform():
"""
Look in /sys/class/board-info/ to determine the platform type.
This can return 'ev3', 'evb', 'pistorms', 'brickpi', 'brickpi3' or 'fake'.
"""
board_info_dir = '/sys/class/board-info/'
if not os.path.exists(board_info_dir) or os.environ.get("FAKE_SYS"):
return 'fake'
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'
elif value == 'FAKE-SYS':
return 'fake'
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 Exception:
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
def library_load_warning_message(library_name, dependent_class):
return 'Import warning: Failed to import "{}". {} will be unusable!'.format(library_name, dependent_class)
class DeviceNotFound(Exception):
pass
class DeviceNotDefined(Exception):
pass
class ThreadNotRunning(Exception):
pass
# -----------------------------------------------------------------------------
# Define the base class from which all other ev3dev classes are defined.
class Device(object):
"""The ev3dev device base class"""
__slots__ = [
'_path',
'_device_index',
'_attr_cache',
'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'])
If there was no valid connected device, an error is thrown.
"""
classpath = abspath(Device.DEVICE_ROOT_PATH + '/' + class_name)
self.kwargs = kwargs
self._attr_cache = {}
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)
else:
try:
name = next(list_device_names(classpath, name_pattern, **kwargs))
self._path = classpath + '/' + name
self._device_index = get_index(name)
except StopIteration:
self._path = None
self._device_index = None
chain_exception(DeviceNotFound("%s is not connected." % self), None)
def __str__(self):
if 'address' in self.kwargs:
return "%s(%s)" % (self.__class__.__name__, self.kwargs.get('address'))
else:
return self.__class__.__name__
def __repr__(self):
return self.__str__()
# This allows us to sort lists of Device objects
def __lt__(self, other):
return str(self) < str(other)
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_str = 'r+'
elif w_ok:
mode_str = 'w'
else:
mode_str = 'r'
return io.FileIO(path, mode_str)
def _get_attribute(self, attribute, name):
"""Device attribute getter"""
try:
if attribute is None:
attribute = self._attribute_file_open(name)
else:
attribute.seek(0)
return attribute, attribute.read().strip().decode()
except Exception as ex:
self._raise_friendly_access_error(ex, name, None)
def _set_attribute(self, attribute, name, value):
"""Device attribute setter"""
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, value)
return attribute
def _raise_friendly_access_error(self, driver_error, attribute, value):
if not isinstance(driver_error, OSError):
raise driver_error
driver_errorno = driver_error.args[0] if is_micropython() else driver_error.errno
if driver_errorno == errno.EINVAL:
if attribute == "speed_sp":
try:
max_speed = self.max_speed
except (AttributeError, Exception):
chain_exception(ValueError("The given speed value {} was out of range".format(value)), driver_error)
else:
chain_exception(
ValueError("The given speed value {} was out of range. Max speed: +/-{}".format(
value, max_speed)), driver_error)
chain_exception(ValueError("One or more arguments were out of range or invalid, value {}".format(value)),
driver_error)
elif driver_errorno == errno.ENODEV or driver_errorno == 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.
chain_exception(DeviceNotFound("%s is no longer connected" % self), driver_error)
raise driver_error
def get_attr_int(self, attribute, name):
attribute, value = self._get_attribute(attribute, name)
return attribute, int(value)
def get_cached_attr_int(self, filehandle, keyword):
value = self._attr_cache.get(keyword)
if value is None:
(filehandle, value) = self.get_attr_int(filehandle, keyword)
self._attr_cache[keyword] = value
return (filehandle, 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 get_cached_attr_string(self, filehandle, keyword):
value = self._attr_cache.get(keyword)
if value is None:
(filehandle, value) = self.get_attr_string(filehandle, keyword)
self._attr_cache[keyword] = value
return (filehandle, value)
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_cached_attr_set(self, filehandle, keyword):
value = self._attr_cache.get(keyword)
if value is None:
(filehandle, value) = self.get_attr_set(filehandle, keyword)
self._attr_cache[keyword] = value
return (filehandle, value)
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))