SpheroRequest.py

# coding: utf-8
import struct
import SpheroResponse


class Request(object):
    SOP1 = 0xFF
    SOP2 = 0xFF
    did = 0x00
    cid = 0x00
    fmt = None

    def __init__(self, seq=0x00, *data):
        self.seq = seq
        self.data = data
        if not self.fmt:
            self.fmt = '%sB' % len(self.data)

    def __str__(self):
        return self.bytes

    def checksum(self):
        body = self.packet_header() + self.packet_body()
        body = struct.unpack('%sB' % len(body), body)
        return struct.pack('B', ~(sum(body[2:]) % 256) & 0xFF)

    @property
    def bytes(self):
        return self.packet_header() + self.packet_body() + self.checksum()

    def packet_header(self):
        return struct.pack('6B', *self.header())

    def packet_body(self):
        if not self.data:
            return ''    
        return struct.pack(self.fmt, *self.data)

    @property
    def dlen(self):
        return struct.calcsize(self.fmt) + 1

    def header(self):
        return [self.SOP1, self.SOP2, self.did, self.cid, self.seq, self.dlen]

    def response(self, header, body):
        name = self.__class__.__name__.split('.')[-1]
        klass = getattr(SpheroResponse, name, SpheroResponse.Response)
        return klass(header, body)


class Core(Request):
    did = 0x00



class Ping(Core):
    cid = 0x01

class GetVersion(Core):
    cid = 0x02

class SetDeviceName(Core):
    cid = 0x10

class GetBluetoothInfo(Core):
    cid = 0x11

class GetAutoReconnect(Core):
    cid = 0x12

class SetAutoReconnect(Core):
    cid = 0x13

class GetPowerState(Core):
    cid = 0x20

class SetPowerNotification(Core):
    cid = 0x21

class Sleep(Core):
    cid = 0x22

class GetVoltageTripPoints(Core):
    cid = 0x23

class SetVoltageTripPoints(Core):
    cid = 0x24

class SetInactivityTimeout(Core):
    cid = 0x25

class JumpToBootloader(Core):
    cid = 0x30

class PerformLevel1Diagnostics(Core):
    cid = 0x40

class PerformLevel2Diagnostics(Core):
    cid = 0x41

class ClearCounters(Core):
    cid = 0x42

class SetTimeValue(Core):
    cid = 0x50

class PollPacketTimes(Core):
    cid = 0x51


#Sphero Commands

class Sphero(Request):
    did = 0x02

class SetHeading(Sphero):
    cid = 0x01
    fmt = '!H'

class SetStabilization(Sphero):
    cid = 0x02

class SetRotationRate(Sphero):
    cid = 0x03

class SetApplicationConfigurationBlock(Sphero):
    cid = 0x04

class GetApplicationConfigurationBlock(Sphero):
    cid = 0x05

class ReenableDemoMode(Sphero):
    cid = 0x06

class GetChassisId(Sphero):
    cid = 0x07

class SetChassisId(Sphero):
    cid = 0x08

class SelfLevel(Sphero):
    cid = 0x09

class SetVDL(Sphero):
    cid = 0x0A

class SetDataStreaming(Sphero):
    cid = 0x11

class ConfigureCollisionDetection(Sphero):
    cid = 0x12

class Locator(Sphero):
    cid = 0x13

class SetAccelerometer(Sphero):
    cid = 0x14

class ReadLocator(Sphero):
    cid=0x15

class SetRGB(Sphero):
    cid = 0x20

class SetBackLEDOutput(Sphero):
    cid = 0x21

class GetRGB(Sphero):
    cid = 0x22

class Roll(Sphero):
    fmt = '!BHB' #Speed, heading, state
    cid = 0x30

class SetBoostWithTime(Sphero):
    cid = 0x31

class SetRawMotorValues(Sphero):
    cid = 0x33

class SetMotionTimeout(Sphero):
    cid = 0x34

class SetOptionFlags(Sphero):
    cid = 0x35

class GetOptionFlags(Sphero):
    cid = 0x36

class GetConfigurationBlock(Sphero):
    cid = 0x40

class GetDeviceMode(Sphero):
    cid = 0x42

class RunMacro(Sphero):
    cid = 0x50

class SaveTemporaryMacro(Sphero):
    cid = 0x51

class ReinitMacro(Sphero):
    cid = 0x54

class AbortMacro(Sphero):
    cid = 0x55

class GetMacroStatus(Sphero):
    cid = 0x56

class SetMacroParameter(Sphero):
    cid = 0x57

class AppendMacroChunk(Sphero):
    cid = 0x58

class EraseOrbbasicStorage(Sphero):
    cid = 0x60

class AppendOrbbasicFragment(Sphero):
    cid = 0x61

class RunOrbbasicProgram(Sphero):
    cid = 0x62

class AbortOrbbasicProgram(Sphero):
    cid = 0x63

class AnswerInput(Sphero):
    cid = 0x64