Merge pull request #205 from mutesplash/patch-5

Add Mode 7 IR transmission to ColorDistanceSensor

Author: grega

buildhat/colordistance.py

@@ -25,6 +25,9 @@ def __init__(self, port):
         self.mode(6)
         self.avg_reads = 4
         self._old_color = None
+        self._ir_channel = 0x0
+        self._ir_address = 0x0
+        self._ir_toggle = 0x0
 
     def segment_color(self, r, g, b):
         """Return the color name from HSV
@@ -197,6 +200,337 @@ def wait_for_new_color(self):
         self.callback(None)
         return self._old_color
 
+    @property
+    def ir_channel(self):
+        """Get the IR channel for message transmission"""
+        return self._ir_channel
+
+    @ir_channel.setter
+    def ir_channel(self, channel=1):
+        """
+        Set the IR channel for RC Tx
+
+        :param channel: 1-4 indicating the selected IR channel on the reciever
+        """
+        check_chan = channel
+        if check_chan > 4:
+            check_chan = 4
+        elif check_chan < 1:
+            check_chan = 1
+        # Internally: 0-3
+        self._ir_channel = int(check_chan) - 1
+
+    @property
+    def ir_address(self):
+        """IR Address space of 0x0 for default PoweredUp or 0x1 for extra space"""
+        return self._ir_address
+
+    def toggle_ir_toggle(self):
+        """Toggle the IR toggle bit"""
+        # IYKYK, because the RC documents are not clear
+        if self._ir_toggle:
+            self._ir_toggle = 0x0
+        else:
+            self._ir_toggle = 0x1
+        return self._ir_toggle
+
+    def send_ir_sop(self, port, mode):
+        """
+        Send an IR message via Power Functions RC Protocol in Single Output PWM mode
+
+        PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm
+
+        Port B is blue
+
+        Valid values for mode are:
+        0x0: Float output
+        0x1: Forward/Clockwise at speed 1
+        0x2: Forward/Clockwise at speed 2
+        0x3: Forward/Clockwise at speed 3
+        0x4: Forward/Clockwise at speed 4
+        0x5: Forward/Clockwise at speed 5
+        0x6: Forward/Clockwise at speed 6
+        0x7: Forward/Clockwise at speed 7
+        0x8: Brake (then float v1.20)
+        0x9: Backwards/Counterclockwise at speed 7
+        0xA: Backwards/Counterclockwise at speed 6
+        0xB: Backwards/Counterclockwise at speed 5
+        0xC: Backwards/Counterclockwise at speed 4
+        0xD: Backwards/Counterclockwise at speed 3
+        0xE: Backwards/Counterclockwise at speed 2
+        0xF: Backwards/Counterclockwise at speed 1
+
+        :param port: 'A' or 'B'
+        :param mode: 0-15 indicating the port's mode to set
+        """
+        escape_modeselect = 0x0
+        escape = escape_modeselect
+
+        ir_mode_single_output = 0x4
+        ir_mode = ir_mode_single_output
+
+        so_mode_pwm = 0x0
+        so_mode = so_mode_pwm
+
+        output_port_a = 0x0
+        output_port_b = 0x1
+
+        output_port = None
+        if port == 'A' or port == 'a':
+            output_port = output_port_a
+        elif port == 'B' or port == 'b':
+            output_port = output_port_b
+        else:
+            return False
+
+        ir_mode = ir_mode | (so_mode << 1) | output_port
+
+        nibble1 = (self._ir_toggle << 3) | (escape << 2) | self._ir_channel
+        nibble2 = (self._ir_address << 3) | ir_mode
+
+        # Mode range checked here
+        return self._send_ir_nibbles(nibble1, nibble2, mode)
+
+    def send_ir_socstid(self, port, mode):
+        """
+        Send an IR message via Power Functions RC Protocol in Single Output Clear/Set/Toggle/Increment/Decrement mode
+
+        PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm
+
+        Valid values for mode are:
+        0x0: Toggle full Clockwise/Forward (Stop to Clockwise, Clockwise to Stop, Counterclockwise to Clockwise)
+        0x1: Toggle direction
+        0x2: Increment numerical PWM
+        0x3: Decrement numerical PWM
+        0x4: Increment PWM
+        0x5: Decrement PWM
+        0x6: Full Clockwise/Forward
+        0x7: Full Counterclockwise/Backward
+        0x8: Toggle full (defaults to Forward, first)
+        0x9: Clear C1 (C1 to High)
+        0xA: Set C1 (C1 to Low)
+        0xB: Toggle C1
+        0xC: Clear C2 (C2 to High)
+        0xD: Set C2 (C2 to Low)
+        0xE: Toggle C2
+        0xF: Toggle full Counterclockwise/Backward (Stop to Clockwise, Counterclockwise to Stop, Clockwise to Counterclockwise)
+
+        :param port: 'A' or 'B'
+        :param mode: 0-15 indicating the port's mode to set
+        """
+        escape_modeselect = 0x0
+        escape = escape_modeselect
+
+        ir_mode_single_output = 0x4
+        ir_mode = ir_mode_single_output
+
+        so_mode_cstid = 0x1
+        so_mode = so_mode_cstid
+
+        output_port_a = 0x0
+        output_port_b = 0x1
+
+        output_port = None
+        if port == 'A' or port == 'a':
+            output_port = output_port_a
+        elif port == 'B' or port == 'b':
+            output_port = output_port_b
+        else:
+            return False
+
+        ir_mode = ir_mode | (so_mode << 1) | output_port
+
+        nibble1 = (self._ir_toggle << 3) | (escape << 2) | self._ir_channel
+        nibble2 = (self._ir_address << 3) | ir_mode
+
+        # Mode range checked here
+        return self._send_ir_nibbles(nibble1, nibble2, mode)
+
+    def send_ir_combo_pwm(self, port_b_mode, port_a_mode):
+        """
+        Send an IR message via Power Functions RC Protocol in Combo PWM mode
+
+        PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm
+
+        Valid values for the modes are:
+        0x0 Float
+        0x1 PWM Forward step 1
+        0x2 PWM Forward step 2
+        0x3 PWM Forward step 3
+        0x4 PWM Forward step 4
+        0x5 PWM Forward step 5
+        0x6 PWM Forward step 6
+        0x7 PWM Forward step 7
+        0x8 Brake (then float v1.20)
+        0x9 PWM Backward step 7
+        0xA PWM Backward step 6
+        0xB PWM Backward step 5
+        0xC PWM Backward step 4
+        0xD PWM Backward step 3
+        0xE PWM Backward step 2
+        0xF PWM Backward step 1
+
+        :param port_b_mode: 0-15 indicating the command to send to port B
+        :param port_a_mode: 0-15 indicating the command to send to port A
+        """
+        escape_combo_pwm = 0x1
+        escape = escape_combo_pwm
+
+        nibble1 = (self._ir_toggle << 3) | (escape << 2) | self._ir_channel
+
+        # Port modes are range checked here
+        return self._send_ir_nibbles(nibble1, port_b_mode, port_a_mode)
+
+    def send_ir_combo_direct(self, port_b_output, port_a_output):
+        """
+        Send an IR message via Power Functions RC Protocol in Combo Direct mode
+
+        PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm
+
+        Valid values for the output variables are:
+        0x0: Float output
+        0x1: Clockwise/Forward
+        0x2: Counterclockwise/Backwards
+        0x3: Brake then float
+
+        :param port_b_output: 0-3 indicating the output to send to port B
+        :param port_a_output: 0-3 indicating the output to send to port A
+        """
+        escape_modeselect = 0x0
+        escape = escape_modeselect
+
+        ir_mode_combo_direct = 0x1
+        ir_mode = ir_mode_combo_direct
+
+        nibble1 = (self._ir_toggle << 3) | (escape << 2) | self._ir_channel
+        nibble2 = (self._ir_address << 3) | ir_mode
+
+        if port_b_output > 0x3 or port_a_output > 0x3:
+            return False
+        if port_b_output < 0x0 or port_a_output < 0x0:
+            return False
+
+        nibble3 = (port_b_output << 2) | port_a_output
+
+        return self._send_ir_nibbles(nibble1, nibble2, nibble3)
+
+    def send_ir_extended(self, mode):
+        """
+        Send an IR message via Power Functions RC Protocol in Extended mode
+
+        PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm
+
+        Valid values for the mode are:
+        0x0: Brake Port A (timeout)
+        0x1: Increment Speed on Port A
+        0x2: Decrement Speed on Port A
+
+        0x4: Toggle Forward/Clockwise/Float on Port B
+
+        0x6: Toggle Address bit
+        0x7: Align toggle bit
+
+        :param mode: 0-2,4,6-7
+        """
+        escape_modeselect = 0x0
+        escape = escape_modeselect
+
+        ir_mode_extended = 0x0
+        ir_mode = ir_mode_extended
+
+        nibble1 = (self._ir_toggle << 3) | (escape << 2) | self._ir_channel
+        nibble2 = (self._ir_address << 3) | ir_mode
+
+        if mode < 0x0 or mode == 0x3 or mode == 0x5 or mode > 0x7:
+            return False
+
+        return self._send_ir_nibbles(nibble1, nibble2, mode)
+
+    def send_ir_single_pin(self, port, pin, mode, timeout):
+        """
+        Send an IR message via Power Functions RC Protocol in Single Pin mode
+
+        PF IR RC Protocol documented at https://www.philohome.com/pf/pf.htm
+
+        Valid values for the mode are:
+        0x0: No-op
+        0x1: Clear
+        0x2: Set
+        0x3: Toggle
+
+        Note: The unlabeled IR receiver (vs the one labeled V2) has a "firmware bug in Single Pin mode"
+        https://www.philohome.com/pfrec/pfrec.htm
+
+        :param port: 'A' or 'B'
+        :param pin: 1 or 2
+        :param mode: 0-3 indicating the pin's mode to set
+        :param timeout: True or False
+        """
+        escape_mode = 0x0
+        escape = escape_mode
+
+        ir_mode_single_continuous = 0x2
+        ir_mode_single_timeout = 0x3
+        ir_mode = None
+        if timeout:
+            ir_mode = ir_mode_single_timeout
+        else:
+            ir_mode = ir_mode_single_continuous
+
+        output_port_a = 0x0
+        output_port_b = 0x1
+
+        output_port = None
+        if port == 'A' or port == 'a':
+            output_port = output_port_a
+        elif port == 'B' or port == 'b':
+            output_port = output_port_b
+        else:
+            return False
+
+        if pin != 1 and pin != 2:
+            return False
+        pin_value = pin - 1
+
+        if mode > 0x3 or mode < 0x0:
+            return False
+
+        nibble1 = (self._ir_toggle << 3) | (escape << 2) | self._ir_channel
+        nibble2 = (self._ir_address << 3) | ir_mode
+        nibble3 = (output_port << 3) | (pin_value << 3) | mode
+
+        return self._send_ir_nibbles(nibble1, nibble2, nibble3)
+
+    def _send_ir_nibbles(self, nibble1, nibble2, nibble3):
+
+        #  M7 IR Tx SI = N/A
+        #    format count=1 type=1 chars=5 dp=0
+        #    RAW: 00000000 0000FFFF    PCT: 00000000 00000064    SI: 00000000 0000FFFF
+
+        mode = 7
+        self.mode(mode)
+
+        # The upper bits of data[2] are ignored
+        if nibble1 > 0xF or nibble2 > 0xF or nibble3 > 0xF:
+            return False
+        if nibble1 < 0x0 or nibble2 < 0x0 or nibble3 < 0x0:
+            return False
+
+        byte_two = (nibble2 << 4) | nibble3
+
+        data = bytearray(3)
+        data[0] = (0xc << 4) | mode
+        data[1] = byte_two
+        data[2] = nibble1
+
+        # print(" ".join('{:04b}'.format(nibble1)))
+        # print(" ".join('{:04b}'.format(nibble2)))
+        # print(" ".join('{:04b}'.format(nibble3)))
+        # print(" ".join('{:08b}'.format(n) for n in data))
+
+        self._write1(data)
+        return True
+
     def on(self):
         """Turn on the sensor and LED"""
         self.reverse()