bricknil.sensor.sensor.RemoteButtons.__init__() - Code Metrics - Inspection of "Committing everything for release 0.9" - virantha/bricknil - Measure and Improve Code Quality continuously with Scrutinizer

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Push — master ( a3394c...b99246 )

by Virantha

created 2019-04-15 17:39 UTC

bricknil.sensor.sensor.RemoteButtons.init() A

↳ Parent: bricknil.sensor.sensor

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# Copyright 2019 Virantha N. Ekanayake 
# 
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# 
# http://www.apache.org/licenses/LICENSE-2.0
# 
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""Actual sensor and motor peripheral definitions from Boost and PoweredUp
"""
from curio import sleep, current_task, spawn  # Needed for motor speed ramp

from enum import Enum, IntEnum
from struct import pack

from ..const import Color
from .peripheral import Peripheral

class VisionSensor(Peripheral):
    """ Access the Boost Vision/Distance Sensor

        Only the sensing capabilities of this sensor is supported right now.

        - *sense_color*: Returns one of the 10 predefined colors
        - *sense_distance*: Distance from 0-7 in roughly inches
        - *sense_count*: Running count of waving your hand/item over the sensor (32-bit)
        - *sense_reflectivity*: Under distances of one inch, the inverse of the distance
        - *sense_ambient*: Distance under one inch (so inverse of the preceeding)
        - *sense_rgb*: R, G, B values (3 sets of uint16)

        Any combination of sense_color, sense_distance, sense_count, sense_reflectivity, 
        and sense_rgb is supported.

        Examples::

            # Basic distance sensor
            @attach(VisionSensor, name='vision', capabilities=['sense_color'])
            # Or use the capability Enum
            @attach(VisionSensor, name='vision', capabilities=[VisionSensor.capability.sense_color])

            # Distance and color sensor
            @attach(VisionSensor, name='vision', capabilities=['sense_color', 'sense_distance'])

            # Distance and rgb sensor with different thresholds to trigger updates
            @attach(VisionSensor, name='vision', capabilities=[('sense_color', 1), ('sense_rgb', 5)])

        The values returned by the sensor will always be available in the instance variable
        `self.value`.  For example, when the `sense_color` and `sense_rgb` capabilities are 
        enabled, the following values will be stored and updated::

            self.value = { VisionSensor.capability.sense_color:  uint8,
                           VisionSensor.capability.sense_rgb: 
                                            [ uint16, uint16, uint16 ]
                         }

        Notes:
            The actual modes supported by the sensor are as follows:

            -  0 = color (0-10)
            -  1 = IR proximity (0-7)
            -  2 = count (32-bit int)
            -  3 = Reflt   (inverse of distance when closer than 1")
            -  4 = Amb  (distance when closer than 1")
            -  5 = COL (output) ?
            -  6 = RGB I
            -  7 = IR tx (output) ?
            -  8 = combined:  Color byte, Distance byte, 0xFF, Reflected light

    """

    _sensor_id = 0x0025
    capability = Enum("capability", 
                      [('sense_color', 0),
                       ('sense_distance', 1),
                       ('sense_count', 2),
                       ('sense_reflectivity', 3),
                       ('sense_ambient', 4),
                       ('sense_rgb', 6),
                       ])

    datasets = { capability.sense_color: (1, 1),
                 capability.sense_distance: (1, 1),
                 capability.sense_count: (1, 4),  # 4-bytes (32-bit)
                 capability.sense_reflectivity: (1, 1),
                 capability.sense_ambient: (1, 1),
                 capability.sense_rgb: (3, 2)   # 3 16-bit values
                }

    allowed_combo = [ capability.sense_color,
                      capability.sense_distance,
                      capability.sense_count,
                      capability.sense_reflectivity,
                      capability.sense_rgb,
                    ]

class InternalTiltSensor(Peripheral):
    """
        Access the internal tilt sensor in the Boost Move Hub.
        
        The various modes are:

        - **sense_angle** - X, Y angles.  Both are 0 if hub is lying flat with button up
        - **sense_tilt** - value from 0-9 if hub is tilted around any of its axis. Seems to be
          a rough mesaure of how much the hub is tilted away from lying flat.
          There is no update for just a translation along an axis
        - **sense_orientation** - returns one of the nine orientations below (0-9)
            - `InternalTiltSensor.orientation`.up = flat with button on top
            - `InternalTiltSensor.orientation`.right - standing up on side closest to button
            - `InternalTiltSensor.orientation`.left - standing up on side furthest from button
            - `InternalTiltSensor.orientation`.far_side - on long face facing away
            - `InternalTiltSensor.orientation`.near_side -  on long face facing you
            - `InternalTiltSensor.orientation`.down - upside down
        - **sense_impact** - 32-bit count of impacts to sensor
        - **sense_acceleration_3_axis** - 3 bytes of raw accelerometer data.

        Any combination of the above modes are allowed.

        Examples::

            # Basic tilt sensor
            @attach(InternalTiltSensor, name='tilt', capabilities=['sense_tilt'])
            # Or use the capability Enum
            @attach(InternalTiltSensor, name='tilt', capabilities=[InternalTiltSensor.sense_tilt])

            # Tilt and orientation sensor
            @attach(InternalTiltSensor, name='tilt', capabilities=['sense_tilt, sense_orientation'])

        The values returned by the sensor will always be available in the
        instance variable `self.value`.  For example, when the `sense_angle`
        and `sense_orientation` capabilities are enabled, the following values
        will be stored and updated::

            self.value = { InternalTiltSensor.capability.sense_angle:  [uint8, uint8],
                           InternalTiltSensor.capability.sense_orientation: 
                                            Enum(InternalTiltSensor.orientation)
                         }
    """
    _sensor_id = 0x0028
    capability = Enum("capability", 
                      [('sense_angle', 0),
                       ('sense_tilt', 1),
                       ('sense_orientation', 2),
                       ('sense_impact', 3),
                       ('sense_acceleration_3_axis', 4),
                       ])

    datasets = { capability.sense_angle: (2, 1),
                 capability.sense_tilt: (1, 1),
                 capability.sense_orientation: (1, 1),  
                 capability.sense_impact: (1, 4),
                 capability.sense_acceleration_3_axis: (3, 1),
                }

    allowed_combo = [ capability.sense_angle,
                      capability.sense_tilt,
                      capability.sense_orientation,
                      capability.sense_impact,
                      capability.sense_acceleration_3_axis,
                    ]

    orientation = Enum('orientation', 
                        {   'up': 0,
                            'right': 1, 
                            'left': 2, 
                            'far_side':3,
                            'near_side':4,
                            'down':5,
                        })


    async def update_value(self, msg_bytes):
        """If sense_orientation, then substitute the `IntenalTiltSensor.orientation`
           enumeration value into the self.value dict.  Otherwise, don't do anything
           special to the self.value dict.
        """
        await super().update_value(msg_bytes)
        so = self.capability.sense_orientation
        if so in self.value:
            self.value[so] = self.orientation(self.value[so])



class ExternalMotionSensor(Peripheral):
    """Access the external motion sensor (IR) provided in the Wedo sets

       Measures distance to object, or if an object is moving (distance varying). 

       - **sense_distance** - distance in inches from 0-10
       - **sense_count**  - Increments every time it detects motion (32-bit value)

       These are mutually exclusive (non-combinable)

       Examples::

            # Distance measurement
            @attach(ExternalMotionSensor, name='motion_sensor', capabilities=['sense_distance'])


            # Motion detection
            @attach(ExternalMotionSensor, name='motion_sensor', capabilities=['sense_count'])
    """
    _sensor_id = 0x0023
    capability = Enum("capability", 
                      [('sense_distance', 0),
                       ('sense_count', 1),
                       ])

    datasets = { capability.sense_distance: (1, 1),  
                 capability.sense_count: (1, 4),
                }
    allowed_combo = [ ]

class ExternalTiltSensor(Peripheral):
    """Access the External tilt sensor provided in the Wedo sets

       Three modes are supported (non-combinable):

       - **sense_angle** - X (around long axis), Y (around short axis) angles.  -45 to 45 degrees
       - **sense_orientation** - returns one of the orientations below (wrt looking at the sensor from the side opposite the wiring harness)
            - `ExternalTiltSensor.orientation`.up = flat with studs on top
            - `ExternalTiltSensor.orientation`.right = studs facing rigth
            - `ExternalTiltSensor.orientation`.left = studs facing left
            - `ExternalTiltSensor.orientation`.far_side = studs facing away from you
            - `ExternalTiltSensor.orientation`.near_side = studs facing towards you
       - **sense_impact** - Keeps a count of impacts, but sends three bytes (direction of hit?)

       These are mutually exclusive (non-combinable).

    """
    _sensor_id = 0x0022
    capability = Enum("capability", 
                      [('sense_angle', 0),
                       ('sense_orientation', 1),
                       ('sense_impact', 2),
                       ])

    datasets = { capability.sense_angle: (2, 1),  
                 capability.sense_orientation: (1, 1),
                 capability.sense_impact: (3, 1),
                }
    allowed_combo = [ ]

    orientation = Enum('orientation', 
                        {   'up': 0,
                            'right': 7, 
                            'left': 5, 
                            'far_side':3,
                            'near_side':9,
                        })

    async def update_value(self, msg_bytes):
        """If angle, convert the bytes being returned to twos complement ints
           If orientation, then convert to the `orientation` enumeration.

        """
        await super().update_value(msg_bytes)
        # No combinations possible, so only one capability with len(self.capabilities[])==1
        if self.capabilities[0] == self.capability.sense_angle:
            sa = self.capability.sense_angle
            sx, sy = self.value[sa]
            if sx & 128:  # negative sign bit
                sx = -(256-sx)
            if sy & 128:
                sy = -(256-sy)
            self.value[sa] = [sx, sy]
        elif self.capabilities[0] == self.capability.sense_orientation:
            so = self.capability.sense_orientation
            self.value[so] = self.orientation(self.value[so])




class RemoteButtons(Peripheral):
    """Represents one set of '+', '-', 'red' buttons on the PoweredHub Remote

       Each remote has two sets of buttons, on the left and right side.  Pick the one
       your want to attach to by using the port argument with either Port.L or Port.R.

       There are actually a few different modes that the hardware supports, but we are
       only going to use one of them called 'KEYSD' (see the notes in the documentation on the
       raw values reported by the hub).  This mode makes the remote send three values back
       in a list.  To access each button state, there are three helper methods provided 
       (see below)

       Examples::

            # Basic connection to the left buttons
            @attach(RemoteButtons, name='left_buttons', port=RemoteButtons.Port.L)

            # Getting values back in the handler
            async def left_buttons_change(self):

                is_plus_pressed = self.left_buttons.plus_pressed()
                is_minus_pressed = self.left_buttons.minus_pressed()
                is_red_pressed = self.left_buttons.red_pressed()

    """

    _sensor_id = 0x0037
    Port = Enum('Port', 'L R', start=0)
    Button = IntEnum('Button', 'PLUS RED MINUS', start=0)
    """The button index in the value list returned by the sensor"""

    capability = Enum('capability', {'sense_press':4},)

    datasets = { capability.sense_press: (3,1) }
    allowed_combo = []

    def __init__(self, name, port=None, capabilities=[]):
        """Maps the port names `L`, `R`"""
        if port:
            port = port.value
        super().__init__(name, port, capabilities)

    def plus_pressed(self):
        """Return whether `value` reflects that the PLUS button is pressed"""
        button_list = self.value[self.capability.sense_press]
        return button_list[self.Button.PLUS] == 1
    def minus_pressed(self):
        """Return whether `value` reflects that the MINUS button is pressed"""
        button_list = self.value[self.capability.sense_press]
        return button_list[self.Button.MINUS] == 1
    def red_pressed(self):
        """Return whether `value` reflects that the RED button is pressed"""
        button_list = self.value[self.capability.sense_press]
        return button_list[self.Button.RED] == 1

class Button(Peripheral):
    """ Register to be notified of button presses on the Hub (Boost or PoweredUp)

        This is actually a slight hack, since the Hub button is not a peripheral that is 
        attached like other sensors in the Lego protocol.  Instead, the buttons are accessed
        through Hub property messages.  We abstract away these special messages to make the
        button appear to be like any other peripheral sensor.

        Examples::

            @attach(Button, name='hub_btn')

        Notes:
            Since there is no attach I/O message from the hub to trigger the
            :func:`activate_updates` method, we instead insert a fake
            "attaach" message from this fake sensor on port 255 in the
            `BLEventQ.get_messages` method that is used to register for updates
            from a given sensor.

    """
    _sensor_id = 0x0005
    """Piggy back the hub button off the normal peripheral button id 0x0005.
       Might need to change this in the future"""

    capability = Enum('capability', {'sense_press':0})

    datasets = { capability.sense_press: (1,1)
               }
    allowed_combo = [capability.sense_press]

    def __init__(self, name, port=None, capabilities=[]):
        """Call super-class with port set to 255 """
        super().__init__(name, 255, capabilities)

    async def activate_updates(self):
        """Use a special Hub Properties button message updates activation message"""
        self.value = {}
        for cap in self.capabilities:
            self.value[cap] = [None]*self.datasets[cap][0]

        b = [0x00, 0x01, 0x02, 0x02]  # Button reports from "Hub Properties Message Type"
        await self.send_message(f'Activate button reports: port {self.port}', b) 


class DuploVisionSensor(Peripheral):
    """ Access the Duplo Vision/Distance Sensor

        - *sense_color*: Returns one of the 10 predefined colors
        - *sense_ctag*: Returns one of the 10 predefined tags
        - *sense_reflectivity*: Under distances of one inch, the inverse of the distance
        - *sense_rgb*: R, G, B values (3 sets of uint16)

        Any combination of sense_color, sense_ctag, sense_reflectivity, 
        and sense_rgb is supported.

        Examples::

            # Basic color sensor
            @attach(DuploVisionSensor, name='vision', capabilities=['sense_color'])
            # Or use the capability Enum
            @attach(DuploVisionSensor, name='vision', capabilities=[DuploVisionSensor.capability.sense_color])

            # Ctag and reflectivity sensor
            @attach(DuploVisionSensor, name='vision', capabilities=['sense_ctag', 'sense_reflectivity'])

            # Distance and rgb sensor with different thresholds to trigger updates
            @attach(DuploVisionSensor, name='vision', capabilities=[('sense_color', 1), ('sense_rgb', 5)])

        The values returned by the sensor will always be available in the instance variable
        `self.value`.  For example, when the `sense_color` and `sense_rgb` capabilities are 
        enabled, the following values will be stored and updated::

            self.value = { DuploVisionSensor.capability.sense_color:  uint8,
                           DuploVisionSensor.capability.sense_rgb: 
                                            [ uint16, uint16, uint16 ]
                         }

        Notes:
            The actual modes supported by the sensor are as follows:

            -  0 = color (0-10)
            -  1 = ctag (32-bit int)
            -  2 = Reflt   (inverse of distance when closer than 1")
            -  3 = RGB I
    """
    _sensor_id = 0x002B
    capability = Enum("capability", 
                      [('sense_color', 0),
                       ('sense_ctag', 1),
                       ('sense_reflectivity', 2),
                       ('sense_rgb', 3),
                       ])

    datasets = { capability.sense_color: (1, 1),
                 capability.sense_ctag: (1, 1),  # 4-bytes (32-bit)
                 capability.sense_reflectivity: (1, 1),
                 capability.sense_rgb: (3, 2)   # 3 16-bit values
                }

    allowed_combo = [ capability.sense_color,
                      capability.sense_ctag,
                      capability.sense_reflectivity,
                      capability.sense_rgb,
                    ]

class VoltageSensor(Peripheral):
    """Voltage sensor

       Returns the raw mV value (0-3893) which probably needs to be scaled to 0-9600.

       It contains two capabilities, although they both appear to do the same thing:
       * sense_l
       * sense_s

       Examples::

            @attach(VoltageSensor, name='volts', capabilities=['sense_l'])

    """
    _sensor_id = 0x14

    capability = Enum("capability", {'sense_s': 0, 'sense_l': 1})
    datasets = {capability.sense_s: (1, 2),   # 2-bytes (16-bit)
                capability.sense_l: (1, 2), 
               }
    allowed_combo = [ ]

class CurrentSensor(Peripheral):
    """Voltage sensor

       Returns the raw mA value (0-4095) which probably needs to be scaled to 0-2444.

       It contains two capabilities, although they both appear to do the same thing:
       * sense_l
       * sense_s

       Examples::

            @attach(CurrentSensor, name='cur', capabilities=['sense_l'])

    """
    _sensor_id = 0x15

    capability = Enum("capability", {'sense_s': 0, 'sense_l': 1})
    datasets = {capability.sense_s: (1, 2),   # 2-bytes (16-bit)
                capability.sense_l: (1, 2), 
               }
    allowed_combo = [ ]

class DuploSpeedSensor(Peripheral):
    """Speedometer on Duplo train base that measures front wheel speed.

       This can measure the following values:

       - *sense_speed*: Returns the speed of the front wheels
       - *sense_count*: Keeps count of the number of revolutions the front wheels have spun

       Either or both can be enabled for measurement. 

       Examples::

            # Report speed changes
            @attach(DuploSpeedSensor, name='speed_sensor', capabilities=['sense_speed'])

            # Report all
            @attach(DuploSpeedSensor, name='speed_sensor', capabilities=['sense_speed', 'sense_count'])

       The values returned by the sensor will be in `self.value`.  For the first example, get the
       current speed by::

            speed = self.speed_sensor.value
        
       For the second example, the two values will be in a dict::

            speed = self.speed_sensor.value[DuploSpeedSensor.sense_speed]
            revs  = self.speed_sensor.value[DuploSpeedSensor.sense_count]

    """
    _sensor_id = 0x002C
    capability = Enum("capability", 
                      [('sense_speed', 0),
                       ('sense_count', 1),
                       ])

    datasets = { capability.sense_speed: (1, 2),
                 capability.sense_count: (1, 4),
                }

    allowed_combo = [ capability.sense_speed,
                      capability.sense_count,
                    ]


1			# Copyright 2019 Virantha N. Ekanayake
2			#
3			# Licensed under the Apache License, Version 2.0 (the "License");
4			# you may not use this file except in compliance with the License.
5			# You may obtain a copy of the License at
6			#
7			# http://www.apache.org/licenses/LICENSE-2.0
8			#
9			# Unless required by applicable law or agreed to in writing, software
10			# distributed under the License is distributed on an "AS IS" BASIS,
11			# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12			# See the License for the specific language governing permissions and
13			# limitations under the License.
14
15			"""Actual sensor and motor peripheral definitions from Boost and PoweredUp
16			"""
17			from curio import sleep, current_task, spawn # Needed for motor speed ramp
18
19			from enum import Enum, IntEnum
20			from struct import pack
21
22			from ..const import Color
23			from .peripheral import Peripheral
24
25			class VisionSensor(Peripheral):
26			""" Access the Boost Vision/Distance Sensor
27
28			Only the sensing capabilities of this sensor is supported right now.
29
30			- sense_color: Returns one of the 10 predefined colors
31			- sense_distance: Distance from 0-7 in roughly inches
32			- sense_count: Running count of waving your hand/item over the sensor (32-bit)
33			- sense_reflectivity: Under distances of one inch, the inverse of the distance
34			- sense_ambient: Distance under one inch (so inverse of the preceeding)
35			- sense_rgb: R, G, B values (3 sets of uint16)
36
37			Any combination of sense_color, sense_distance, sense_count, sense_reflectivity,
38			and sense_rgb is supported.
39
40			Examples::
41
42			# Basic distance sensor
43			@attach(VisionSensor, name='vision', capabilities=['sense_color'])
44			# Or use the capability Enum
45			@attach(VisionSensor, name='vision', capabilities=[VisionSensor.capability.sense_color])
46
47			# Distance and color sensor
48			@attach(VisionSensor, name='vision', capabilities=['sense_color', 'sense_distance'])
49
50			# Distance and rgb sensor with different thresholds to trigger updates
51			@attach(VisionSensor, name='vision', capabilities=[('sense_color', 1), ('sense_rgb', 5)])
52
53			The values returned by the sensor will always be available in the instance variable
54			`self.value`. For example, when the `sense_color` and `sense_rgb` capabilities are
55			enabled, the following values will be stored and updated::
56
57			self.value = { VisionSensor.capability.sense_color: uint8,
58			VisionSensor.capability.sense_rgb:
59			[ uint16, uint16, uint16 ]
60			}
61
62			Notes:
63			The actual modes supported by the sensor are as follows:
64
65			- 0 = color (0-10)
66			- 1 = IR proximity (0-7)
67			- 2 = count (32-bit int)
68			- 3 = Reflt (inverse of distance when closer than 1")
69			- 4 = Amb (distance when closer than 1")
70			- 5 = COL (output) ?
71			- 6 = RGB I
72			- 7 = IR tx (output) ?
73			- 8 = combined: Color byte, Distance byte, 0xFF, Reflected light
74
75			"""
76
77			_sensor_id = 0x0025
78			capability = Enum("capability",
79			[('sense_color', 0),
80			('sense_distance', 1),
81			('sense_count', 2),
82			('sense_reflectivity', 3),
83			('sense_ambient', 4),
84			('sense_rgb', 6),
85			])
86
87			datasets = { capability.sense_color: (1, 1),
88			capability.sense_distance: (1, 1),
89			capability.sense_count: (1, 4), # 4-bytes (32-bit)
90			capability.sense_reflectivity: (1, 1),
91			capability.sense_ambient: (1, 1),
92			capability.sense_rgb: (3, 2) # 3 16-bit values
93			}
94
95			allowed_combo = [ capability.sense_color,
96			capability.sense_distance,
97			capability.sense_count,
98			capability.sense_reflectivity,
99			capability.sense_rgb,
100			]
101
102			class InternalTiltSensor(Peripheral):
103			"""
104			Access the internal tilt sensor in the Boost Move Hub.
105
106			The various modes are:
107
108			- sense_angle - X, Y angles. Both are 0 if hub is lying flat with button up
109			- sense_tilt - value from 0-9 if hub is tilted around any of its axis. Seems to be
110			a rough mesaure of how much the hub is tilted away from lying flat.
111			There is no update for just a translation along an axis
112			- sense_orientation - returns one of the nine orientations below (0-9)
113			- `InternalTiltSensor.orientation`.up = flat with button on top
114			- `InternalTiltSensor.orientation`.right - standing up on side closest to button
115			- `InternalTiltSensor.orientation`.left - standing up on side furthest from button
116			- `InternalTiltSensor.orientation`.far_side - on long face facing away
117			- `InternalTiltSensor.orientation`.near_side - on long face facing you
118			- `InternalTiltSensor.orientation`.down - upside down
119			- sense_impact - 32-bit count of impacts to sensor
120			- sense_acceleration_3_axis - 3 bytes of raw accelerometer data.
121
122			Any combination of the above modes are allowed.
123
124			Examples::
125
126			# Basic tilt sensor
127			@attach(InternalTiltSensor, name='tilt', capabilities=['sense_tilt'])
128			# Or use the capability Enum
129			@attach(InternalTiltSensor, name='tilt', capabilities=[InternalTiltSensor.sense_tilt])
130
131			# Tilt and orientation sensor
132			@attach(InternalTiltSensor, name='tilt', capabilities=['sense_tilt, sense_orientation'])
133
134			The values returned by the sensor will always be available in the
135			instance variable `self.value`. For example, when the `sense_angle`
136			and `sense_orientation` capabilities are enabled, the following values
137			will be stored and updated::
138
139			self.value = { InternalTiltSensor.capability.sense_angle: [uint8, uint8],
140			InternalTiltSensor.capability.sense_orientation:
141			Enum(InternalTiltSensor.orientation)
142			}
143			"""
144			_sensor_id = 0x0028
145			capability = Enum("capability",
146			[('sense_angle', 0),
147			('sense_tilt', 1),
148			('sense_orientation', 2),
149			('sense_impact', 3),
150			('sense_acceleration_3_axis', 4),
151			])
152
153			datasets = { capability.sense_angle: (2, 1),
154			capability.sense_tilt: (1, 1),
155			capability.sense_orientation: (1, 1),
156			capability.sense_impact: (1, 4),
157			capability.sense_acceleration_3_axis: (3, 1),
158			}
159
160			allowed_combo = [ capability.sense_angle,
161			capability.sense_tilt,
162			capability.sense_orientation,
163			capability.sense_impact,
164			capability.sense_acceleration_3_axis,
165			]
166
167			orientation = Enum('orientation',
168			{ 'up': 0,
169			'right': 1,
170			'left': 2,
171			'far_side':3,
172			'near_side':4,
173			'down':5,
174			})
175
176
177			async def update_value(self, msg_bytes):
178			"""If sense_orientation, then substitute the `IntenalTiltSensor.orientation`
179			enumeration value into the self.value dict. Otherwise, don't do anything
180			special to the self.value dict.
181			"""
182			await super().update_value(msg_bytes)
183			so = self.capability.sense_orientation
184			if so in self.value:
185			self.value[so] = self.orientation(self.value[so])
186
187
188
189			class ExternalMotionSensor(Peripheral):
190			"""Access the external motion sensor (IR) provided in the Wedo sets
191
192			Measures distance to object, or if an object is moving (distance varying).
193
194			- sense_distance - distance in inches from 0-10
195			- sense_count - Increments every time it detects motion (32-bit value)
196
197			These are mutually exclusive (non-combinable)
198
199			Examples::
200
201			# Distance measurement
202			@attach(ExternalMotionSensor, name='motion_sensor', capabilities=['sense_distance'])
203
204
205			# Motion detection
206			@attach(ExternalMotionSensor, name='motion_sensor', capabilities=['sense_count'])
207			"""
208			_sensor_id = 0x0023
209			capability = Enum("capability",
210			[('sense_distance', 0),
211			('sense_count', 1),
212			])
213
214			datasets = { capability.sense_distance: (1, 1),
215			capability.sense_count: (1, 4),
216			}
217			allowed_combo = [ ]
218
219			class ExternalTiltSensor(Peripheral):
220			"""Access the External tilt sensor provided in the Wedo sets
221
222			Three modes are supported (non-combinable):
223
224			- sense_angle - X (around long axis), Y (around short axis) angles. -45 to 45 degrees
225			- sense_orientation - returns one of the orientations below (wrt looking at the sensor from the side opposite the wiring harness)
226			- `ExternalTiltSensor.orientation`.up = flat with studs on top
227			- `ExternalTiltSensor.orientation`.right = studs facing rigth
228			- `ExternalTiltSensor.orientation`.left = studs facing left
229			- `ExternalTiltSensor.orientation`.far_side = studs facing away from you
230			- `ExternalTiltSensor.orientation`.near_side = studs facing towards you
231			- sense_impact - Keeps a count of impacts, but sends three bytes (direction of hit?)
232
233			These are mutually exclusive (non-combinable).
234
235			"""
236			_sensor_id = 0x0022
237			capability = Enum("capability",
238			[('sense_angle', 0),
239			('sense_orientation', 1),
240			('sense_impact', 2),
241			])
242
243			datasets = { capability.sense_angle: (2, 1),
244			capability.sense_orientation: (1, 1),
245			capability.sense_impact: (3, 1),
246			}
247			allowed_combo = [ ]
248
249			orientation = Enum('orientation',
250			{ 'up': 0,
251			'right': 7,
252			'left': 5,
253			'far_side':3,
254			'near_side':9,
255			})
256
257			async def update_value(self, msg_bytes):
258			"""If angle, convert the bytes being returned to twos complement ints
259			If orientation, then convert to the `orientation` enumeration.
260
261			"""
262			await super().update_value(msg_bytes)
263			# No combinations possible, so only one capability with len(self.capabilities[])==1
264			if self.capabilities[0] == self.capability.sense_angle:
265			sa = self.capability.sense_angle
266			sx, sy = self.value[sa]
267			if sx & 128: # negative sign bit
268			sx = -(256-sx)
269			if sy & 128:
270			sy = -(256-sy)
271			self.value[sa] = [sx, sy]
272			elif self.capabilities[0] == self.capability.sense_orientation:
273			so = self.capability.sense_orientation
274			self.value[so] = self.orientation(self.value[so])
275
276
277
278
279			class RemoteButtons(Peripheral):
280			"""Represents one set of '+', '-', 'red' buttons on the PoweredHub Remote
281
282			Each remote has two sets of buttons, on the left and right side. Pick the one
283			your want to attach to by using the port argument with either Port.L or Port.R.
284
285			There are actually a few different modes that the hardware supports, but we are
286			only going to use one of them called 'KEYSD' (see the notes in the documentation on the
287			raw values reported by the hub). This mode makes the remote send three values back
288			in a list. To access each button state, there are three helper methods provided
289			(see below)
290
291			Examples::
292
293			# Basic connection to the left buttons
294			@attach(RemoteButtons, name='left_buttons', port=RemoteButtons.Port.L)
295
296			# Getting values back in the handler
297			async def left_buttons_change(self):
298
299			is_plus_pressed = self.left_buttons.plus_pressed()
300			is_minus_pressed = self.left_buttons.minus_pressed()
301			is_red_pressed = self.left_buttons.red_pressed()
302
303			"""
304
305			_sensor_id = 0x0037
306			Port = Enum('Port', 'L R', start=0)
307			Button = IntEnum('Button', 'PLUS RED MINUS', start=0)
308			"""The button index in the value list returned by the sensor"""
309
310			capability = Enum('capability', {'sense_press':4},)
311
312			datasets = { capability.sense_press: (3,1) }
313			allowed_combo = []
314
315			def __init__(self, name, port=None, capabilities=[]):
316			"""Maps the port names `L`, `R`"""
317			if port:
318			port = port.value
319			super().__init__(name, port, capabilities)
320
321			def plus_pressed(self):
322			"""Return whether `value` reflects that the PLUS button is pressed"""
323			button_list = self.value[self.capability.sense_press]
324			return button_list[self.Button.PLUS] == 1
325			def minus_pressed(self):
326			"""Return whether `value` reflects that the MINUS button is pressed"""
327			button_list = self.value[self.capability.sense_press]
328			return button_list[self.Button.MINUS] == 1
329			def red_pressed(self):
330			"""Return whether `value` reflects that the RED button is pressed"""
331			button_list = self.value[self.capability.sense_press]
332			return button_list[self.Button.RED] == 1
333
334			class Button(Peripheral):
335			""" Register to be notified of button presses on the Hub (Boost or PoweredUp)
336
337			This is actually a slight hack, since the Hub button is not a peripheral that is
338			attached like other sensors in the Lego protocol. Instead, the buttons are accessed
339			through Hub property messages. We abstract away these special messages to make the
340			button appear to be like any other peripheral sensor.
341
342			Examples::
343
344			@attach(Button, name='hub_btn')
345
346			Notes:
347			Since there is no attach I/O message from the hub to trigger the
348			:func:`activate_updates` method, we instead insert a fake
349			"attaach" message from this fake sensor on port 255 in the
350			`BLEventQ.get_messages` method that is used to register for updates
351			from a given sensor.
352
353			"""
354			_sensor_id = 0x0005
355			"""Piggy back the hub button off the normal peripheral button id 0x0005.
356			Might need to change this in the future"""
357
358			capability = Enum('capability', {'sense_press':0})
359
360			datasets = { capability.sense_press: (1,1)
361			}
362			allowed_combo = [capability.sense_press]
363
364			def __init__(self, name, port=None, capabilities=[]):
365			"""Call super-class with port set to 255 """
366			super().__init__(name, 255, capabilities)
367
368			async def activate_updates(self):
369			"""Use a special Hub Properties button message updates activation message"""
370			self.value = {}
371			for cap in self.capabilities:
372			self.value[cap] = [None]*self.datasets[cap][0]
373
374			b = [0x00, 0x01, 0x02, 0x02] # Button reports from "Hub Properties Message Type"
375			await self.send_message(f'Activate button reports: port {self.port}', b)
376
377
378			class DuploVisionSensor(Peripheral):
379			""" Access the Duplo Vision/Distance Sensor
380
381			- sense_color: Returns one of the 10 predefined colors
382			- sense_ctag: Returns one of the 10 predefined tags
383			- sense_reflectivity: Under distances of one inch, the inverse of the distance
384			- sense_rgb: R, G, B values (3 sets of uint16)
385
386			Any combination of sense_color, sense_ctag, sense_reflectivity,
387			and sense_rgb is supported.
388
389			Examples::
390
391			# Basic color sensor
392			@attach(DuploVisionSensor, name='vision', capabilities=['sense_color'])
393			# Or use the capability Enum
394			@attach(DuploVisionSensor, name='vision', capabilities=[DuploVisionSensor.capability.sense_color])
395
396			# Ctag and reflectivity sensor
397			@attach(DuploVisionSensor, name='vision', capabilities=['sense_ctag', 'sense_reflectivity'])
398
399			# Distance and rgb sensor with different thresholds to trigger updates
400			@attach(DuploVisionSensor, name='vision', capabilities=[('sense_color', 1), ('sense_rgb', 5)])
401
402			The values returned by the sensor will always be available in the instance variable
403			`self.value`. For example, when the `sense_color` and `sense_rgb` capabilities are
404			enabled, the following values will be stored and updated::
405
406			self.value = { DuploVisionSensor.capability.sense_color: uint8,
407			DuploVisionSensor.capability.sense_rgb:
408			[ uint16, uint16, uint16 ]
409			}
410
411			Notes:
412			The actual modes supported by the sensor are as follows:
413
414			- 0 = color (0-10)
415			- 1 = ctag (32-bit int)
416			- 2 = Reflt (inverse of distance when closer than 1")
417			- 3 = RGB I
418			"""
419			_sensor_id = 0x002B
420			capability = Enum("capability",
421			[('sense_color', 0),
422			('sense_ctag', 1),
423			('sense_reflectivity', 2),
424			('sense_rgb', 3),
425			])
426
427			datasets = { capability.sense_color: (1, 1),
428			capability.sense_ctag: (1, 1), # 4-bytes (32-bit)
429			capability.sense_reflectivity: (1, 1),
430			capability.sense_rgb: (3, 2) # 3 16-bit values
431			}
432
433			allowed_combo = [ capability.sense_color,
434			capability.sense_ctag,
435			capability.sense_reflectivity,
436			capability.sense_rgb,
437			]
438
439			class VoltageSensor(Peripheral):
440			"""Voltage sensor
441
442			Returns the raw mV value (0-3893) which probably needs to be scaled to 0-9600.
443
444			It contains two capabilities, although they both appear to do the same thing:
445			* sense_l
446			* sense_s
447
448			Examples::
449
450			@attach(VoltageSensor, name='volts', capabilities=['sense_l'])
451
452			"""
453			_sensor_id = 0x14
454
455			capability = Enum("capability", {'sense_s': 0, 'sense_l': 1})
456			datasets = {capability.sense_s: (1, 2), # 2-bytes (16-bit)
457			capability.sense_l: (1, 2),
458			}
459			allowed_combo = [ ]
460
461			class CurrentSensor(Peripheral):
462			"""Voltage sensor
463
464			Returns the raw mA value (0-4095) which probably needs to be scaled to 0-2444.
465
466			It contains two capabilities, although they both appear to do the same thing:
467			* sense_l
468			* sense_s
469
470			Examples::
471
472			@attach(CurrentSensor, name='cur', capabilities=['sense_l'])
473
474			"""
475			_sensor_id = 0x15
476
477			capability = Enum("capability", {'sense_s': 0, 'sense_l': 1})
478			datasets = {capability.sense_s: (1, 2), # 2-bytes (16-bit)
479			capability.sense_l: (1, 2),
480			}
481			allowed_combo = [ ]
482
483			class DuploSpeedSensor(Peripheral):
484			"""Speedometer on Duplo train base that measures front wheel speed.
485
486			This can measure the following values:
487
488			- sense_speed: Returns the speed of the front wheels
489			- sense_count: Keeps count of the number of revolutions the front wheels have spun
490
491			Either or both can be enabled for measurement.
492
493			Examples::
494
495			# Report speed changes
496			@attach(DuploSpeedSensor, name='speed_sensor', capabilities=['sense_speed'])
497
498			# Report all
499			@attach(DuploSpeedSensor, name='speed_sensor', capabilities=['sense_speed', 'sense_count'])
500
501			The values returned by the sensor will be in `self.value`. For the first example, get the
502			current speed by::
503
504			speed = self.speed_sensor.value
505
506			For the second example, the two values will be in a dict::
507
508			speed = self.speed_sensor.value[DuploSpeedSensor.sense_speed]
509			revs = self.speed_sensor.value[DuploSpeedSensor.sense_count]
510
511			"""
512			_sensor_id = 0x002C
513			capability = Enum("capability",
514			[('sense_speed', 0),
515			('sense_count', 1),
516			])
517
518			datasets = { capability.sense_speed: (1, 2),
519			capability.sense_count: (1, 4),
520			}
521
522			allowed_combo = [ capability.sense_speed,
523			capability.sense_count,
524			]
525

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