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    Calling a function in a class? RE: USB Missile Launcher


    Im working on a project which i plan on opening up completly once im done - its basically merges motion, a lighttpd web server, and a USB Missile launcher (Marks and Spencers type).

    The question ive got isnt really complicated (i would imagine), but I dont know python, so this is confusing me way too much!

    Basically, can someone provide me, and more importantly explain to me, how to send a RIGHT command. From what I understand it involved calling something like this:
    Code:
    dangerous_device = MissileDevice(some_battery)
    dangerous_device.move(dangerous_device.RIGHT)
    But I really dont understand python and im getting errors with everything i do...any help will be more than appreciated.

    Below is the full original code by Scott Weston is here, its only a relatively short script, I would link, but the forum prevents it...

    Code:
    #!/usr/bin/env python
    #
    #  Written by: Scott Weston <scott@weston.id.au>
    #
    # - Version --------------------------------------------------------------
    #
    #  $Id: missile.py,v 1.13 2006/07/25 17:01:24 scott Exp $
    #
    # - License --------------------------------------------------------------
    #
    # Copyright (c) 2006, Scott Weston
    # All rights reserved.
    # 
    # Redistribution and use in source and binary forms, with or without
    # modification, are permitted provided that the following conditions are
    # met:
    # 
    # * Redistributions of source code must retain the above copyright notice,
    #   this list of conditions and the following disclaimer.
    # * Redistributions in binary form must reproduce the above copyright
    #   notice, this list of conditions and the following disclaimer in the
    #   documentation and/or other materials provided with the distribution.
    # * The name of the contributors may not be used to endorse or promote
    #   products derived from this software without specific prior written
    #   permission.
    #
    # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
    # PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
    # OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
    # EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
    # PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
    # PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
    # LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
    # NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    #
    # - Change Log -----------------------------------------------------------
    #
    #  $Log: missile.py,v $
    #  Revision 1.13  2006/07/25 17:01:24  scott
    #  Bug fix (no default execution, missing usage text)
    #  as reported by: Petter Reinholdtsen
    #
    #  Revision 1.12  2006/07/07 18:23:20  scott
    #  comment out the noisey bits and leave it to users to enable if they so fit
    #
    #  Revision 1.11  2006/07/07 18:19:22  scott
    #  fix rcs history
    #
    #  Revision 1.10  2006/07/07 18:17:48  scott
    #  some fixes for better network control
    #
    #  Revision 1.9  2006/06/07 17:19:15  scott
    #  oops, forgot the -n in the usage
    #
    #  Revision 1.8  2006/06/07 17:17:36  scott
    #  added support for a -n network mode
    #  allows for control by simple udp packets
    #
    #  Revision 1.7  2006/05/29 13:27:54  scott
    #  added support for multiple missiles
    #
    #  Revision 1.6  2006/04/17 18:25:02  scott
    #  changed warning message for more comedic value
    #
    #  Revision 1.5  2006/03/17 15:39:21  scott
    #  added bsd license
    #
    #  Revision 1.4  2006/01/26 16:28:09  scott
    #  better exception handling
    #
    #  Revision 1.3  2006/01/26 15:03:01  scott
    #  added command line arguments (ready for more)
    #  cleaned up display class
    #
    #  Revision 1.2  2006/01/26 14:27:55  scott
    #  added more useful RCS tags
    #
    #
    import usb
    import exceptions
    import urwid
    import urwid.curses_display
    import sys
    import getopt
    import random
    import re
    import os
    from time import sleep, time
    from socket import *
    
    class MissileDevice:
      INITA     = (85, 83, 66, 67,  0,  0,  4,  0)
      INITB     = (85, 83, 66, 67,  0, 64,  2,  0)
      CMDFILL   = ( 8,  8,
                    0,  0,  0,  0,  0,  0,  0,  0,
                    0,  0,  0,  0,  0,  0,  0,  0,
                    0,  0,  0,  0,  0,  0,  0,  0,
                    0,  0,  0,  0,  0,  0,  0,  0,
                    0,  0,  0,  0,  0,  0,  0,  0,
                    0,  0,  0,  0,  0,  0,  0,  0,
                    0,  0,  0,  0,  0,  0,  0,  0)
      STOP      = ( 0,  0,  0,  0,  0,  0)
      LEFT      = ( 0,  1,  0,  0,  0,  0)
      RIGHT     = ( 0,  0,  1,  0,  0,  0)
      UP        = ( 0,  0,  0,  1,  0,  0)
      DOWN      = ( 0,  0,  0,  0,  1,  0)
      LEFTUP    = ( 0,  1,  0,  1,  0,  0)
      RIGHTUP   = ( 0,  0,  1,  1,  0,  0)
      LEFTDOWN  = ( 0,  1,  0,  0,  1,  0)
      RIGHTDOWN = ( 0,  0,  1,  0,  1,  0)
      FIRE      = ( 0,  0,  0,  0,  0,  1)
    
      def __init__(self, battery):
        try:
          self.dev=UsbDevice(0x1130, 0x0202, battery)
          self.dev.open()
          self.dev.handle.reset()
        except NoMissilesError, e:
          raise NoMissilesError()
    
      def move(self, direction):
        self.dev.handle.controlMsg(0x21, 0x09, self.INITA, 0x02, 0x01)
        self.dev.handle.controlMsg(0x21, 0x09, self.INITB, 0x02, 0x01)
        self.dev.handle.controlMsg(0x21, 0x09, direction+self.CMDFILL, 0x02, 0x01)
    
    class NoMissilesError(Exception): pass
    
    class UsbDevice:
      def __init__(self, vendor_id, product_id, skip):
        busses = usb.busses()
        self.handle = None
        count = 0
        for bus in busses:
          devices = bus.devices
          for dev in devices:
            if dev.idVendor==vendor_id and dev.idProduct==product_id:
              if count==skip:
                self.dev = dev
                self.conf = self.dev.configurations[0]
                self.intf = self.conf.interfaces[0][0]
                self.endpoints = []
                for endpoint in self.intf.endpoints:
                  self.endpoints.append(endpoint)
                return
              else:
                count=count+1
        raise NoMissilesError()
    
      def open(self):
        if self.handle:
          self.handle = None
        self.handle = self.dev.open()
        self.handle.detachKernelDriver(0)
        self.handle.detachKernelDriver(1)
        self.handle.setConfiguration(self.conf)
        self.handle.claimInterface(self.intf)
        self.handle.setAltInterface(self.intf)
    
    class MissileDisplay:
      palette = [ ('body', 'black', 'dark cyan', 'standout'),
                  ('footer','light gray', 'dark blue'),
                  ('header', 'white', 'dark blue', 'underline'),
                  ('important','white', 'dark red', 'bold'),
                  ('key', 'light cyan', 'black', 'underline'),
                  ('title', 'white', 'black',), ]
    
      BLANK   = urwid.Text("")
      WARNING = urwid.Text([('important',"CAUTION: AIM AWAY FROM FACE")],
                           align='center')
      HEADER  = urwid.AttrWrap(urwid.Text("MISSILE COMMAND!", align='center'),
                               'header')
      FOOTER  = urwid.AttrWrap(urwid.Text("scott@weston.id.au", align='center'),
                               'footer')
      CONTENT = [ BLANK,
                  urwid.Text(["Use the following\n"
                              "keys  to move\n\n"
                              "Q   W   E \n"
                              "  \ | /   \n"
                              "A -(S)- D \n"
                              "  / | \   \n"
                              "Z   X   C \n\n"
                              "F to fire all guns once\n"
                              "R for rapid sequentual fire of all missiles\n"
                              "S to Stop\n"
                              "ESC to Exit\n\n",], align='center'),
                  WARNING,
                  BLANK, ]
    
      def __init__(self):
        self.listbox = urwid.ListBox(self.CONTENT)
        view = urwid.AttrWrap(self.listbox, 'body')
        self.view = urwid.Frame(view, header=self.HEADER, footer=self.FOOTER)
    
      def main(self):
        self.ui = urwid.curses_display.Screen()
        self.ui.register_palette(self.palette)
        self.ui.run_wrapper(self.run)
    
      def run(self):
        md = []
        for missiles in range(10):
          try:
            md.append(MissileDevice(missiles))
          except NoMissilesError, e:
            break
        if missiles==0:
          raise NoMissilesError
        size = self.ui.get_cols_rows()
        while 1:
          canvas = self.view.render(size, focus=1)
          self.ui.draw_screen(size, canvas)
          keys = None
          while not keys:
            keys = self.ui.get_input()
          for k in keys:
            if k == 'window resize':
              size = self.ui.get_cols_rows()
            elif k in ('w', 'up'):
              for m in md:
                m.move(MissileDevice.UP)
            elif k in ('x', 'down'):
              for m in md:
                m.move(MissileDevice.DOWN)
            elif k in ('a', 'left'):
              for m in md:
                m.move(MissileDevice.LEFT)
            elif k in ('d', 'right'):
              for m in md:
                m.move(MissileDevice.RIGHT)
            elif k in ('f', 'space'):
              for m in md:
                m.move(MissileDevice.FIRE)
            elif k in ('s'):
              for m in md:
                m.move(MissileDevice.STOP)
            elif k in ('q'):
              for m in md:
                m.move(MissileDevice.LEFTUP)
            elif k in ('e'):
              for m in md:
                m.move(MissileDevice.RIGHTUP)
            elif k in ('z'):
              for m in md:
                m.move(MissileDevice.LEFTDOWN)
            elif k in ('c'):
              for m in md:
                m.move(MissileDevice.RIGHTDOWN)
            elif k in ('r'):
              for n in range(3):
                for m in md:
                  m.move(MissileDevice.FIRE)
                  sleep(0.5)
            elif k in ('v'):
              for m in md:
                if  random.random() > 0.8:
                  m.move(MissileDevice.FIRE)
            elif k in ('esc'):
              return
            self.view.keypress(size, k)
    
    class MissileNetwork:
    
      def main(self):
        host = "localhost"
        port = 20000
        buf  = 1024
        addr = (host,port)
    
        md = []
        lt = 0
        mc = 0
        af = 0
        lpid = 1
    
        for missiles in range(10):
          try:
            md.append(MissileDevice(missiles))
          except NoMissilesError, e:
            break
        if missiles==0:
          raise NoMissilesError
    
        UDPSock = socket(AF_INET,SOCK_DGRAM)
        UDPSock.bind(addr)
    
        while 1:
          cmd,addr = UDPSock.recvfrom(buf)
          cmd = cmd.strip()
    
          spa = re.split(r':', cmd)
          k = spa[0]
          ppid = spa[1]
    
          if not k:
            continue
          else:
            if k == "s":
              if ppid != lpid:
                print "Received a STOP for order %s but last order was %s, ignored" % (ppid, lpid)
                continue
    
            if abs(time()-lt) < 60:
              mc = mc + 1
            else:
              mc = 0
              af = 0
    # you can make it noisey here if you wanted to
    #         os.system("aplay sounds/firstwarning.wav &")
    
            if mc > 60 and af == 0:
              k = "v"
    # you can make it noisey here if you wanted to
    #         os.system("aplay sounds/secondwarning.wav &")
    
            print "Received via network at %2.2f command %s/%s (move count: %d, %d)" % (time(), k, ppid, mc, af)
    
            lt = time()
            lpid = ppid
    
            if k in ('w', 'up'):
              for m in md:
                m.move(MissileDevice.UP)
            elif k in ('x', 'down'):
              for m in md:
                m.move(MissileDevice.DOWN)
            elif k in ('a', 'left'):
              for m in md:
                m.move(MissileDevice.LEFT)
            elif k in ('d', 'right'):
              for m in md:
                m.move(MissileDevice.RIGHT)
            elif k in ('f', 'space'):
              for m in md:
                m.move(MissileDevice.FIRE)
            elif k in ('s', 'S'):
              for m in md:
                m.move(MissileDevice.STOP)
            elif k in ('q'):
              for m in md:
                m.move(MissileDevice.LEFTUP)
            elif k in ('e'):
              for m in md:
                m.move(MissileDevice.RIGHTUP)
            elif k in ('z'):
              for m in md:
                m.move(MissileDevice.LEFTDOWN)
            elif k in ('c'):
              for m in md:
                m.move(MissileDevice.RIGHTDOWN)
            elif k in ('r'):
              for n in range(3):
                for m in md:
                  m.move(MissileDevice.FIRE)
                  sleep(0.5)
            elif k in ('v'):
              for m in md:
                if random.random() > 0.9:
                  m.move(MissileDevice.FIRE)
                  af = 1
            elif k in ('esc'):
              UDPSock.close()
              return
    
    def usage():
      print "Usage:"
      print "  -h | --help : this help"
      print "  -n | --network: simple network listener mode (Read the source Luke!)"
      print "  -v | --version: version"
      sys.exit(2)
    
    def version():
      print "$Id: missile.py,v 1.13 2006/07/25 17:01:24 scott Exp $"
      sys.exit(0)
    
    def main(argv):
      try:
        opts, args = getopt.getopt(argv, "hvn", ["help", "version", "network"])
      except getopt.GetoptError:
        print "Sorry, bad option."
        usage()
    
      if opts:
        for o, a in opts:
          if o in ("-h", "--help"):
            usage()
          elif o in ("-v", "--version"):
            version()
          elif o in ("-n", "--network"):
            try:
              MissileNetwork().main()
            except NoMissilesError, e:
              print "No WMDs found."
              return
          else:
            try:
              MissileDisplay().main()
            except NoMissilesError, e:
              print "No WMDs found."
              return
      else:
        try:
          MissileDisplay().main()
        except NoMissilesError, e:
          print "No WMDs found."
          return
    
    if __name__=="__main__":
      main(sys.argv[1:])
  2. #2
  3. Contributing User
    Devshed Demi-God (4500 - 4999 posts)

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    Unlike many other programming languages, white space indentation is part of python syntax. You know how to use code tags---please put the program in code tags.

    For anyone who thinks they might be able to answer the question, the source might be at this link.

    I'm too lazy to find the usb or urwid modules, or even to figure out if that's important.
    [code]Code tags[/code] are essential for python code and Makefiles!
  4. #3
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    Registered User
    Devshed Newbie (0 - 499 posts)

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    Sorry about that, I've fixed it for you.

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