gistfile1.py

import os
import sys
from time import sleep
from usb.core import find as usb_find, USBError


def call_usb(func):
  def wrapper(self, *args, **kwargs):
    try:
      func(self, *args, **kwargs)
    except USBError:
      self.init_usb()
      func(self, *args, **kwargs)
  return wrapper


class LaunchControl():
  x = None
  y = None

  MAX_WIDTH = 100
  MAX_HEIGHT = 100

  FULL_WIDTH = 5.6
  FULL_HEIGHT = 1.3

  def __init__(self):
    self.init_usb()

  def __repr__(self):
    return '<POSITON %s, %s>' % (self.x, self.y)

  def goto(self, x=None, y=None):
    """
    Go to a specific position.

    The argument `x` is a integer. Positive for left, negative for right.

    The argument `y` is a integer for the height. 0 for the bottom,
    MAX_HEIGHT for the top.
    """
    if x is not None and self.x is None:
      self.reset_x()
    if y is not None and self.y is None:
      self.reset_y()

    if x is not None:
      x_diff = x - self.x
      if x_diff:
        seconds = x_diff * self.FULL_WIDTH / self.MAX_WIDTH / 2
        if x_diff > 0:
          self.left(seconds)
        else:
          self.right(-seconds)
        self.x = x

    if y is not None:
      y_diff = y - self.y
      if y_diff:
        seconds = y_diff * self.FULL_HEIGHT / self.MAX_HEIGHT
        if y_diff > 0:
          self.up(seconds)
        else:
          self.down(-seconds)

        self.y = y

  def right(self, seconds):
    self.turretRight()
    sleep(seconds)
    self.turretStop()

  def left(self, seconds):
    self.turretLeft()
    sleep(seconds)
    self.turretStop()

  def up(self, seconds):
    self.turretUp()
    sleep(seconds)
    self.turretStop()

  def down(self, seconds):
    self.turretDown()
    sleep(seconds)
    self.turretStop()

  def reset(self):
    """
    Reset the coordinates by moving the launcher to one end.

    `seconds` are the seconds that are used.
    """
    self.reset_x()
    self.reset_y()

  def reset_x(self, wait=6, go_right=True):
    if go_right:
      self.turretRight()
    else:
      self.turretLeft()
    sleep(wait)
    self.x = self.MAX_WIDTH - 2 * go_right * self.MAX_WIDTH

  def reset_y(self, wait=1.3, go_up=True):
    if go_up:
      self.turretUp()
    else:
      self.turretDown()
    sleep(wait)
    self.turretStop()
    self.y = MAX_HEIGHT * go_up

  def init_usb(self):
    self.dev = usb_find(idVendor=0x2123, idProduct=0x1010)
    if self.dev is None:
      raise ValueError('Launcher not found.')
    if self.dev.is_kernel_driver_active(0) is True:
      self.dev.detach_kernel_driver(0)
    self.dev.set_configuration()

  @call_usb
  def turretUp(self):
    try:
      self.dev.ctrl_transfer(0x21, 0x09, 0, 0, [0x02, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])
    except USBError:
      self.init_usb()

  @call_usb
  def turretDown(self):
    try:
      self.dev.ctrl_transfer(0x21, 0x09, 0, 0, [0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])
    except USBError:
      self.init_usb()

  @call_usb
  def turretLeft(self):
      self.dev.ctrl_transfer(0x21, 0x09, 0, 0, [0x02, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])

  @call_usb
  def turretRight(self):
    self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x08,0x00,0x00,0x00,0x00,0x00,0x00])

  @call_usb
  def turretStop(self):
    self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x20,0x00,0x00,0x00,0x00,0x00,0x00])

  @call_usb
  def turretFire(self):
    self.dev.ctrl_transfer(0x21,0x09,0,0,[0x02,0x10,0x00,0x00,0x00,0x00,0x00,0x00])


if __name__ == '__main__':
  l = LaunchControl()
  l.reset_x(1)