- added support for TCP connection through Ev3Server

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@340 b431acfa-c32f-4a4a-93f1-934dc6c82436

ev3/ev3.py

@@ -42,7 +42,10 @@ Prerequisites:
 """
 
 
+import sys
 import serial
+import socket
+import array
 
 import message
 import system_command
@@ -66,22 +69,24 @@ class EV3Error(Exception):
 	pass
 
 
-class EV3(object):
-    """"""
-    DEFAULT_RFCOMM_PORT = '/dev/rfcomm0'
+class Port(object):
 	RFCOMM_BAUDRATE = 115200
 
-
-    def __init__(self, port_str=DEFAULT_RFCOMM_PORT):
-        """Creates a new object but doesn't open the port."""
+	def __init__(self, port_str):
 		self._port_str = port_str
-        self._port = None
+		self.sock = None
+		self.mode = 'Unknown'
+		if (self.sock is None):
+			try:
+				addr = self._port_str.split(':')
+				_ = socket.inet_aton(addr[0])
+				self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+				self.sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
+				self.sock.connect((addr[0], int(addr[1])))
+				self.mode = "TCP"
 				
-
-    def open(self):
-        """Opens the object's serial port."""
-        if (self._port is None):
-            self._port = serial.Serial(port=self._port_str,
+			except Exception as e:
+				self.sock = serial.Serial(port=self._port_str,
 											baudrate=self.RFCOMM_BAUDRATE,
 											bytesize=serial.EIGHTBITS,
 											parity=serial.PARITY_NONE,
@@ -93,10 +98,45 @@ class EV3(object):
 											dsrdtr=False,
 											interCharTimeout=None)
 
+				self.mode = 'Serial'
+
+	def read(self, size, timeout=1.0):
+		if self.mode == 'Serial':
+			return self.sock.read(size)
+		elif self.mode == 'TCP':
+			return self.sock.recv(size)
+	
+	def write(self, data):
+		if self.mode == 'Serial':
+			return self.sock.write(data)
+		elif self.mode == 'TCP':
+			byte = array.array('B', data).tostring()
+			return self.sock.send(byte)
+
+	def __del__(self):
+		if (self.sock is not None):
+			self.sock.close()
+			self.sock = None
+
+class EV3(object):
+	""""""
+	DEFAULT_RFCOMM_PORT = '/dev/rfcomm0'
+
+	def __init__(self, port_str=DEFAULT_RFCOMM_PORT):
+		"""Creates a new object but doesn't open the port."""
+		self._port_str = port_str
+		self._port = None
+
+
+	def open(self):
+		"""Opens the object's serial port."""
+		if (self._port is None):
+			self._port = Port(self._port_str)
+
 	def close(self):
 		"""Closes the object's serial port."""
 		if (self._port is not None):
-            self._port.close()
+			del self._port
 			self._port = None
 
 

ev3/message.py

@@ -159,7 +159,7 @@ def append_str(byte_list, str_value):
 
 
 def _read_bytes(port, num_bytes):
-    return [ord(i) for i in port.read(num_bytes)]
+    return port.read(num_bytes)
 
 
 def _write_bytes(port, byte_seq):