# HG changeset patch
# User etisserant
# Date 1231086634 -3600
# Node ID 5b3083695c8c8f06c360246ae5d1d659028459a5
# Parent a2a8a52b0d4ff91f70268acf0f89b51690235bfc
The must-have test : using wiimote sensors !
diff -r a2a8a52b0d4f -r 5b3083695c8c tests/linux/python_cwiid/beremiz.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/linux/python_cwiid/beremiz.xml Sun Jan 04 17:30:34 2009 +0100
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BeremizRoot URI_location="PYRO://127.0.0.1:3000">
+ <TargetType>
+ <Linux CFLAGS="-g" LDFLAGS="-g"/>
+ </TargetType>
+</BeremizRoot>
diff -r a2a8a52b0d4f -r 5b3083695c8c tests/linux/python_cwiid/plc.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/linux/python_cwiid/plc.xml Sun Jan 04 17:30:34 2009 +0100
@@ -0,0 +1,571 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xmlns="http://www.plcopen.org/xml/tc6.xsd"
+ xmlns:xhtml="http://www.w3.org/1999/xhtml"
+ xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
+ <fileHeader companyName="LOLITECH"
+ productName="Beremiz"
+ productVersion="0.0"
+ creationDateTime="2008-12-14T16:21:19"/>
+ <contentHeader name="Beremiz Python Support Tests"
+ modificationDateTime="2009-01-04T11:25:39">
+ <coordinateInfo>
+ <pageSize x="1024" y="1024"/>
+ <fbd>
+ <scaling x="5" y="5"/>
+ </fbd>
+ <ld>
+ <scaling x="5" y="5"/>
+ </ld>
+ <sfc>
+ <scaling x="5" y="5"/>
+ </sfc>
+ </coordinateInfo>
+ </contentHeader>
+ <types>
+ <dataTypes/>
+ <pous>
+ <pou name="main_pytest" pouType="program">
+ <interface>
+ <localVars>
+ <variable name="pytest_var1">
+ <type>
+ <string/>
+ </type>
+ </variable>
+ <variable name="pytest_var2">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="py2">
+ <type>
+ <derived name="python_eval"/>
+ </type>
+ </variable>
+ <variable name="py3">
+ <type>
+ <derived name="python_eval"/>
+ </type>
+ </variable>
+ <variable name="py1">
+ <type>
+ <derived name="python_eval"/>
+ </type>
+ </variable>
+ <variable name="pytest_var3">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="Block1">
+ <type>
+ <derived name="python_eval"/>
+ </type>
+ </variable>
+ <variable name="ltch">
+ <type>
+ <derived name="RS"/>
+ </type>
+ </variable>
+ </localVars>
+ </interface>
+ <body>
+ <FBD>
+ <inVariable localId="4" height="30" width="160">
+ <position x="70" y="600"/>
+ <connectionPointOut>
+ <relPosition x="160" y="15"/>
+ </connectionPointOut>
+ <expression>'last_point[0]'</expression>
+ </inVariable>
+ <block localId="5" width="125" height="80" typeName="python_eval" instanceName="py2">
+ <position x="260" y="550"/>
+ <inputVariables>
+ <variable formalParameter="TRIG">
+ <connectionPointIn>
+ <relPosition x="0" y="35"/>
+ <connection refLocalId="25" formalParameter="OUT">
+ <position x="260" y="585"/>
+ <position x="245" y="585"/>
+ <position x="245" y="520"/>
+ <position x="920" y="520"/>
+ <position x="920" y="470"/>
+ <position x="870" y="470"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="CODE">
+ <connectionPointIn>
+ <relPosition x="0" y="65"/>
+ <connection refLocalId="4">
+ <position x="260" y="615"/>
+ <position x="230" y="615"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="125" y="35"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="RESULT">
+ <connectionPointOut>
+ <relPosition x="125" y="65"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="8" width="125" height="80" typeName="python_eval" instanceName="py3">
+ <position x="260" y="660"/>
+ <inputVariables>
+ <variable formalParameter="TRIG">
+ <connectionPointIn>
+ <relPosition x="0" y="35"/>
+ <connection refLocalId="25" formalParameter="OUT">
+ <position x="260" y="695"/>
+ <position x="245" y="695"/>
+ <position x="245" y="520"/>
+ <position x="920" y="520"/>
+ <position x="920" y="470"/>
+ <position x="870" y="470"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="CODE">
+ <connectionPointIn>
+ <relPosition x="0" y="65"/>
+ <connection refLocalId="9">
+ <position x="260" y="725"/>
+ <position x="230" y="725"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="125" y="35"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="RESULT">
+ <connectionPointOut>
+ <relPosition x="125" y="65"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="9" height="30" width="160">
+ <position x="70" y="710"/>
+ <connectionPointOut>
+ <relPosition x="160" y="15"/>
+ </connectionPointOut>
+ <expression>'last_point[1]'</expression>
+ </inVariable>
+ <inVariable localId="11" height="30" width="100">
+ <position x="125" y="455"/>
+ <connectionPointOut>
+ <relPosition x="100" y="15"/>
+ </connectionPointOut>
+ <expression>'btA'</expression>
+ </inVariable>
+ <block localId="12" width="125" height="80" typeName="python_eval" instanceName="py1">
+ <position x="260" y="405"/>
+ <inputVariables>
+ <variable formalParameter="TRIG">
+ <connectionPointIn>
+ <relPosition x="0" y="35"/>
+ <connection refLocalId="37" formalParameter="OUT">
+ <position x="260" y="440"/>
+ <position x="250" y="440"/>
+ <position x="250" y="370"/>
+ <position x="470" y="370"/>
+ <position x="470" y="300"/>
+ <position x="460" y="300"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="CODE">
+ <connectionPointIn>
+ <relPosition x="0" y="65"/>
+ <connection refLocalId="11">
+ <position x="260" y="470"/>
+ <position x="225" y="470"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="125" y="35"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="RESULT">
+ <connectionPointOut>
+ <relPosition x="125" y="65"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <comment localId="16" height="90" width="680">
+ <position x="50" y="25"/>
+ <content>
+<![CDATA[This example test that, despite of 2T period clock stimulating TRIG pin of pyth_eval blocks, blocks keep executing one after the other, in respect of execution order.]]>
+ </content>
+ </comment>
+ <block localId="24" width="155" height="80" typeName="STRING_TO_UINT">
+ <position x="505" y="405"/>
+ <inputVariables>
+ <variable formalParameter="EN">
+ <connectionPointIn>
+ <relPosition x="0" y="35"/>
+ <connection refLocalId="12" formalParameter="ACK">
+ <position x="505" y="440"/>
+ <position x="385" y="440"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="65"/>
+ <connection refLocalId="12" formalParameter="RESULT">
+ <position x="505" y="470"/>
+ <position x="385" y="470"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ENO">
+ <connectionPointOut>
+ <relPosition x="155" y="35"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="155" y="65"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="25" width="135" height="45" typeName="UINT_TO_BOOL">
+ <position x="735" y="440"/>
+ <inputVariables>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="24" formalParameter="OUT">
+ <position x="735" y="470"/>
+ <position x="660" y="470"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="135" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="27" width="70" height="45" typeName="NOT">
+ <position x="170" y="295"/>
+ <inputVariables>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="26">
+ <position x="170" y="325"/>
+ <position x="140" y="325"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="70" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="31" height="30" width="160">
+ <position x="570" y="740"/>
+ <connectionPointOut>
+ <relPosition x="160" y="15"/>
+ </connectionPointOut>
+ <expression>'\n")'</expression>
+ </inVariable>
+ <block localId="32" width="125" height="85" typeName="python_eval" instanceName="Block1">
+ <position x="960" y="550"/>
+ <inputVariables>
+ <variable formalParameter="TRIG">
+ <connectionPointIn>
+ <relPosition x="0" y="35"/>
+ <connection refLocalId="34" formalParameter="ENO">
+ <position x="960" y="585"/>
+ <position x="920" y="585"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="CODE">
+ <connectionPointIn>
+ <relPosition x="0" y="70"/>
+ <connection refLocalId="34" formalParameter="OUT">
+ <position x="960" y="620"/>
+ <position x="920" y="620"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="125" y="35"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="RESULT">
+ <connectionPointOut>
+ <relPosition x="125" y="70"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="33" width="80" height="65" typeName="AND">
+ <position x="455" y="555"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="5" formalParameter="ACK">
+ <position x="455" y="585"/>
+ <position x="385" y="585"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="55"/>
+ <connection refLocalId="8" formalParameter="ACK">
+ <position x="455" y="610"/>
+ <position x="435" y="610"/>
+ <position x="435" y="695"/>
+ <position x="385" y="695"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="80" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="34" width="80" height="225" typeName="CONCAT">
+ <position x="840" y="550"/>
+ <inputVariables>
+ <variable formalParameter="EN">
+ <connectionPointIn>
+ <relPosition x="0" y="35"/>
+ <connection refLocalId="33" formalParameter="OUT">
+ <position x="840" y="585"/>
+ <position x="535" y="585"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="70"/>
+ <connection refLocalId="35">
+ <position x="840" y="620"/>
+ <position x="800" y="620"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="105"/>
+ <connection refLocalId="5" formalParameter="RESULT">
+ <position x="840" y="655"/>
+ <position x="415" y="655"/>
+ <position x="415" y="615"/>
+ <position x="385" y="615"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN3">
+ <connectionPointIn>
+ <relPosition x="0" y="140"/>
+ <connection refLocalId="36">
+ <position x="840" y="690"/>
+ <position x="640" y="690"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN4">
+ <connectionPointIn>
+ <relPosition x="0" y="175"/>
+ <connection refLocalId="8" formalParameter="RESULT">
+ <position x="840" y="725"/>
+ <position x="385" y="725"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN5">
+ <connectionPointIn>
+ <relPosition x="0" y="205"/>
+ <connection refLocalId="31">
+ <position x="840" y="755"/>
+ <position x="730" y="755"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ENO">
+ <connectionPointOut>
+ <relPosition x="80" y="35"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="80" y="70"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="35" height="30" width="230">
+ <position x="570" y="605"/>
+ <connectionPointOut>
+ <relPosition x="230" y="15"/>
+ </connectionPointOut>
+ <expression>'sys.stdout.write("x:'</expression>
+ </inVariable>
+ <inVariable localId="36" height="30" width="70">
+ <position x="570" y="675"/>
+ <connectionPointOut>
+ <relPosition x="70" y="15"/>
+ </connectionPointOut>
+ <expression>', y:'</expression>
+ </inVariable>
+ <block localId="37" width="80" height="65" typeName="AND">
+ <position x="380" y="270"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="40" formalParameter="Q1">
+ <position x="380" y="300"/>
+ <position x="365" y="300"/>
+ <position x="365" y="245"/>
+ <position x="355" y="245"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="55"/>
+ <connection refLocalId="27" formalParameter="OUT">
+ <position x="380" y="325"/>
+ <position x="240" y="325"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="80" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="26" height="35" width="125">
+ <position x="15" y="310"/>
+ <connectionPointOut>
+ <relPosition x="125" y="15"/>
+ </connectionPointOut>
+ <expression>pytest_var2</expression>
+ </inVariable>
+ <outVariable localId="39" height="35" width="125">
+ <position x="515" y="285"/>
+ <connectionPointIn>
+ <relPosition x="0" y="15"/>
+ <connection refLocalId="37" formalParameter="OUT">
+ <position x="515" y="300"/>
+ <position x="460" y="300"/>
+ </connection>
+ </connectionPointIn>
+ <expression>pytest_var2</expression>
+ </outVariable>
+ <block localId="40" width="60" height="65" typeName="RS" instanceName="ltch">
+ <position x="295" y="215"/>
+ <inputVariables>
+ <variable formalParameter="S">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="25" formalParameter="OUT">
+ <position x="295" y="245"/>
+ <position x="270" y="245"/>
+ <position x="270" y="195"/>
+ <position x="880" y="195"/>
+ <position x="880" y="470"/>
+ <position x="870" y="470"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="R1">
+ <connectionPointIn>
+ <relPosition x="0" y="55"/>
+ <connection refLocalId="32" formalParameter="ACK">
+ <position x="295" y="270"/>
+ <position x="250" y="270"/>
+ <position x="250" y="180"/>
+ <position x="1095" y="180"/>
+ <position x="1095" y="585"/>
+ <position x="1085" y="585"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Q1" negated="true">
+ <connectionPointOut>
+ <relPosition x="60" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ </FBD>
+ </body>
+ </pou>
+ </pous>
+ </types>
+ <instances>
+ <configurations>
+ <configuration name="conf_pytest">
+ <resource name="res_pytest">
+ <task name="pytest_task" interval="00:00:00.100000" priority="0"/>
+ <pouInstance name="pytest_instance" type="main_pytest"/>
+ </resource>
+ </configuration>
+ </configurations>
+ </instances>
+</project>
diff -r a2a8a52b0d4f -r 5b3083695c8c tests/linux/python_cwiid/runtime.py
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/linux/python_cwiid/runtime.py Sun Jan 04 17:30:34 2009 +0100
@@ -0,0 +1,90 @@
+#!/usr/bin/env python
+################################################################################
+# #
+# This program is free software: you can redistribute it and/or modify #
+# it under the terms of the GNU General Public License as published by #
+# the Free Software Foundation, either version 3 of the License, or #
+# (at your option) any later version. #
+# #
+# This program is distributed in the hope that it will be useful, #
+# but WITHOUT ANY WARRANTY; without even the implied warranty of #
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
+# GNU General Public License for more details. #
+# #
+# You should have received a copy of the GNU General Public License #
+# along with this program. If not, see <http://www.gnu.org/licenses/>. #
+# #
+################################################################################
+
+import cwiid
+
+## Configuration
+wiimote_hwaddr = '' # Use your address to speed up the connection proccess
+#wiimote_hwaddr = '00:19:1D:5D:5D:DC'
+
+last_point = (0,0)
+btA = 0
+btB = 0
+
+def cback(messages):
+ '''Wiimote callback managing method
+ Recieves a message list, each element is different, see the libcwiid docs'''
+ global btA, btB, last_point
+ #print "wiimote callback"
+ for msg in messages:
+ if msg[0] == cwiid.MESG_IR:
+ # msg is of the form (cwiid.MESG_IR, (((x, y), size) or None * 4))
+ for p in msg[1]:
+ if p:
+ pos = p['pos'][0], p['pos'][1] # point is mirrored
+ #s = max(p['size'], 1)
+
+ last_point = tuple(pos)
+ #print "last_point",last_point
+ elif msg[0] == cwiid.MESG_BTN:
+ # msg is of the form (cwiid.MESG_BTN, cwiid.BTN_*)
+ if msg[1] & cwiid.BTN_A:
+ btA = 1
+ #print "btA = 1"
+ else:
+ btA = 0
+ #print "btA = 0"
+
+ if msg[1] & cwiid.BTN_B:
+ btB = 1
+ #print "btB = 1"
+ else:
+ btB = 0
+ #print "btB = 0"
+ #elif msg[0] == cwiid.MESG_STATUS:
+ # # msg is of the form (cwiid.MESG_BTN, { 'status' : value, ... })
+ # print msg[1]
+
+try:
+#if False:
+ wm = cwiid.Wiimote(wiimote_hwaddr)
+ if wm is not None:
+ # each message will contain info about ir and buttons
+ wm.rpt_mode = cwiid.RPT_IR | cwiid.RPT_BTN # | cwiid.RPT_STATUS
+ # tell cwiid to use the callback interface and allways send button events
+ wm.enable(cwiid.FLAG_MESG_IFC
+ #| cwiid.FLAG_NONBLOCK
+ | cwiid.FLAG_REPEAT_BTN)
+
+ # specify wich function will manage messages AFTER the other settings
+ wm.mesg_callback = cback
+
+ # quick check on the wiimote
+ print "Got Wiimote!"
+ st = wm.state
+ for e in st:
+ print str(e).ljust(8), ">", st[e]
+except:
+#else:
+ print "Error with wiimote " + str(wiimote_hwaddr)
+
+def _runtime_cleanup():
+ print "_runtime_cleanup() Called"
+ runing = 0
+ if wm is not None:
+ wm.close()