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[nxtlisp-cvs] Is Israel a Democracy? -- The problem with intellectually insecure whites -- Should Christians Support Israeli Terrorism in Gaza?
by Lawrence Auster 23 Jan '09

23 Jan '09

The Jewish State of Israel has no constitution, nor does it name its borders. Israel's hidden constitution is Judaism. Israel's undeclared borders range from the Nile to the Euphrates rivers. Israel's desired jurisdiction extends over the entire Earth. It could not be more clear that the Jewish State follows a foreign policy which obeys Jewish Law as iterated in the Hebrew Bible, the Talmud, Maimonedes, the Cabalah, and the many commentaries and refinements of same. The Jews are genociding the native inhabitants of Palestine, just as their religion advises, and because their religion teaches them to do so. They treat non-Jews as if non-humans, just as their religion requires them to do. They make perpetual war on every nation on Earth, just as their genocidal Jewish God has instructed. The Jews of Israel are simply being Jews. Jews are an existential threat to the human race. Israel contains one third of the Jews of the World. It is not some aberration of the Jewish spirit, but the condensation and concentration of the perverse Jewish mentality, which malady also pervades the remaining two thirds of Jewry, who almost unanimously support the Jewish State, and who certainly do unanimously support the Jewish People and its consistent and constant crimes against the human race. Israel is Jewry and the danger of Israel is the danger of the Jewish People to all others, as the Jews have demonstrated each and every day of their existence. The Jews, the entire Jewish People of 15 million, will not relent until they have wiped out all non-Jews in "Greater Israel". They will not stop destroying all other cultures, nations, religions, ethnicities, races, competition, etc. until they are either stopped, or succeed in their ancient quest to destroy the human race. What Israel is doing is not some reaction to outside forces, nor was the formation of Israel a response to the Holocaust. Israel is simply following the plan laid out in the Jews' religious texts. The Jews have openly planned to take Palestine and genocide the native population of Palestine for some 2,500 years before the Holocaust. The Jews have openly complained that "anti-Semitism" is a threat that gives them the right to genocide the Palestinians, not merely since the advent of Nazism, but for some 2,500 years. The Jewish religion is the Constitution of the Jewish State of Israel, and, to a greater or lesser extent, the constitution of the nature of every Jew alive. The borders of Israel are the range the Jew roams over the entire World. The perverse Jewish mentality is inbred by a Jew's exposure to his parents and to his community. Judaism passes in the spit and slobber of Jewish mother telling her Jewish child that he is a "Jew", as much as Judaism passes in the poison and pain of a Talmudic tractate. The secular Jews did not suddenly come to life after the Enlightenment and the Jewish Reformation a body of vampires that appeared ex nihilo, in vacuo, mostly atheistical and undetached from formally practiced Judaism. Judaism is the Jew. It is a mindset that transcends and supercedes religion. It is a belief set, a way of life, a perception of one's self and one's relation to the World that makes a Jew, a Jew, and a danger to all of humanity. In fact, the religious shell of Judaism is like the stretched and infected skin of a lycanthropic pustule. When you lance it to cure the infection, the virus only becomes more contagious and spills directly on the non-Jew. The secular Jew is a deliberate product of the hyper-religious Jew, a monster created out of the hewed corpses of the fanatically religious Jew, a Golem which is conjured up to enter the World of the non-Jew and poison its blood, and boil its brain with a rabid lunacy that bites and spreads, until the infected community feeds on itself and fills the fields with rotting bloating bodies, where once human beings tilled the soil and tended to their families. The religious Jew created the secular Jew as an army of Esthers who seduce with open thighs, broad smiles, and a Siren call that lures in the non-Jew to cast his skull upon the jagged rocks and color the seas with his blood, sickened and blinded by the venereal disease of Judaism in secular form. Israel is not a secular democracy. It is a religious mockery. It is a rabid bat flying to the ends of the Earth, to end the Earth. No one will be free nor safe until the disease is quarantined and dies out. Source: http://www.ziopedia.org/articles/israel/how_can_israel_claim_to_be_a_%27dem… -------------------- The problem with intellectually insecure whites By Kevin MacDonald January 19, 2009 America will soon have a white minority. This is a much desired state of affairs for the hostile elites who hold political power and shape public opinion. But it certainly creates some management issues � at least in the long run. After all, it�s difficult to come up with an historical example of a nation with a solid ethnic majority (90% white in 1950) that has voluntarily decided to cede political and cultural power. Such transformations are typically accomplished by military invasions, great battles, and untold suffering. And it�s not as if everyone is doing it. Only Western nations view their own demographic and cultural eclipse as a moral imperative. Indeed, as I have noted previously, it is striking that racial nationalism has triumphed in Israel at the same time that the Jewish intellectual and political movements and the organized Jewish community have been the most active and effective force for a non-white America. Indeed, a poll in 2008 found that Avigdor Lieberman was the second most popular politician in Israel. Lieberman has advocated expulsion of Arabs from Israel and has declared himself a follower of Vladimir Jabotinsky, the leading pioneer of racial Zionism. The most popular politician in the poll was Benjamin Netanyahu � another admirer of Jabotinsky. Prime Minister Ehud Olmert and Foreign Minister Tzipi Livni are also Jabotinskyists. The racial Zionists are now carrying out yet another orgy of mass murder after a starvation-inducing blockade and the usual triggering assault designed to provoke Palestinian retaliation � which then becomes the cover for claims that Israel is merely defending itself against terrorism. This monstrosity was approved by overwhelming majorities of both Houses of Congress. The craven Bush administration did its part by abstaining from a UN resolution designed by the US Secretary of State as a result of a personal appeal by the Israeli Prime Minister. This is yet another accomplishment of the Israel Lobby, but one they would rather not have discussed in public. People might get the impression that the Lobby really does dictate US foreign policy in the Mideast. Obviously, such thoughts are only entertained by anti-Semites. But I digress. In managing the eclipse of white America, one strategy of the mainstream media is to simply ignore the issue. Christopher Donovan (�For the media, the less whites think about their coming minority status, the better�) has noted that the media, and in particular, the New York Times, are quite uninterested in doing stories that discuss what white people think about this state of affairs. It�s not surprising that the New York Times � the Jewish-owned flagship of anti-white, pro-multicultural media � ignores the issue. The issue is also missing from so-called conservative media even though one would think that conservatives would find the eclipse of white America to be an important issue. Certainly, their audiences would find it interesting. Now we have an article �The End of White America� written by Hua Hsu, an Assistant Professor of English at Vassar College. The article is a rather depressing display of what passes for intellectual discourse on the most important question confronting white people in America. Hsu begins by quoting a passage in F. Scott Fitzgerald�s The Great Gatsby in which a character, Tom Buchanan, states: �Have you read The Rise of the Colored Empires by this man Goddard?� � Well, it�s a fine book, and everybody ought to read it. The idea is if we don�t look out the white race will be�will be utterly submerged. It�s all scientific stuff; it�s been proved.� Buchanan�s comment is a thinly veiled reference to Lothrop Stoddard�s The Rising Tide of Color which Hsu describes as �rationalized hatred� presented in a scholarly, gentlemanly, and scientific tone. (This wording that will certainly help him when he comes up for tenure.) As Hsu notes, Stoddard had a doctorate from Harvard and was a member of many academic associations. His book was published by a major publisher. It was therefore �precisely the kind of book that a 1920s man of Buchanan�s profile � wealthy, Ivy League�educated, at once pretentious and intellectually insecure � might have been expected to bring up in casual conversation.� Let�s ponder that a bit. The simple reality is that in the year 2009 an Ivy League-educated person, "at once pretentious and intellectually insecure," would just as glibly assert the same sort of nonsense as Hsu. To wit: The coming white minority does not mean that the racial hierarchy of American culture will suddenly become inverted, as in 1995�s White Man�s Burden, an awful thought experiment of a film, starring John Travolta, that envisions an upside-down world in which whites are subjugated to their high-class black oppressors. There will be dislocations and resentments along the way, but the demographic shifts of the next 40 years are likely to reduce the power of racial hierarchies over everyone�s lives, producing a culture that�s more likely than any before to treat its inhabitants as individuals, rather than members of a caste or identity group. The fact is that no one can say for certain what multicultural America without a white majority will be like. There is no scientific or historical basis for claims like �the demographic shifts of the next 40 years are likely to reduce the power of racial hierarchies over everyone�s lives, producing a culture that�s more likely than any before to treat its inhabitants as individuals, rather than members of a caste or identity group.� Indeed, there is no evidence at all that we are proceeding to a color blind future. The election results continue to show that white people are coalescing in the Republican Party, while the Democrats are increasingly the party of a non-white soon-to-be majority. Is it so hard to believe that when this coalition achieves a majority that it will further compromise the interests of whites far beyond contemporary concerns such as immigration policy and affirmative action? Hsu anticipates a colorblind world, but affirmative action means that blacks and other minorities are certainly not treated as individuals. And it means that whites � especially white males � are losing out on opportunities they would have had without these policies and without the massive non-white immigration of the last few decades. Given the intractability of changing intelligence and other traits required for success in the contemporary economy, it is unlikely that 40 more years of affirmative action will attain the outcomes desired by the minority lobbies. Indeed, in Obama's America, blacks are rioting in Oakland over perceived racial injustices, and from 2002 �2007, black juvenile homicide victims increased 31%, while black juvenile homicide perpetrators increased 43%. Hence, the reasonable outlook is for a continuing need for affirmative action and for racial activism in these groups, even after whites become a minority. Whites will also lose out because of large-scale importation of relatively talented immigrants from East Asia. Indeed, as I noted over a decade ago, "The United States is well on the road to being dominated by an Asian technocratic elite and a Jewish business, professional, and media elite." Hsu shows that there already is considerable anxiety among whites about the future. An advertizing executive says, �I think white people feel like they�re under siege right now � like it�s not okay to be white right now, especially if you�re a white male. ... People are stressed out about it. �We used to be in control! We�re losing control�� Another says, "There�s a lot of fear and a lot of resentment." It's hard to see why these feelings won't increase in the future. A huge problem for white people is lack of intellectual and cultural confidence. Hsu quotes Christian (Stuff White People Like) Lander saying, "I get it: as a straight white male, I�m the worst thing on Earth." A professor comments that for his students "to be white is to be culturally broke. The classic thing white students say when you ask them to talk about who they are is, �I don�t have a culture.� They might be privileged, they might be loaded socioeconomically, but they feel bankrupt when it comes to culture � They feel disadvantaged, and they feel marginalized." This lack of cultural confidence is no accident. For nearly 100 years whites have been subjected to a culture of critique emanating from the most prestigious academic and media institutions. And, as Hsu points out, the most vibrant and influential aspect of American popular culture is hip-hop�a product of the African American urban culture. The only significant group of white people with any cultural confidence centers itself around country music, NASCAR, and the small town values of traditional white America. For this group of whites � and only this group � there is "a racial pride that dares not speak its name, and that defines itself through cultural cues instead�a suspicion of intellectual elites and city dwellers, a preference for folksiness and plainness of speech (whether real or feigned), and the association of a working-class white minority with 'the real America.'� This is what I term implicit whiteness � implicit because explicit assertions of white identity have been banned by the anti-white elites that dominate our politics and culture. It is a culture that, as Hsu notes, "cannot speak its name." But that implies that the submerged white identity of the white working class and the lack of cultural confidence exhibited by the rest of white America are imposed from outside. Although there may well be characteristics of whites that facilitate this process, this suppression of white identity and interests is certainly not the natural outcome of modernization or any other force internal to whites as a people. In my opinion, it is the result of the successful erection of a culture of critique in the West dominated by Jewish intellectual and political movements. The result is that educated, intellectually insecure white people these days are far more likely to believe in the utopian future described by Hsu than in hard and cautious thinking about what the future might have in store for them. It's worth dwelling a bit on the intellectual insecurity of the whites who mindlessly utter the mantras of multiculturalism that they have soaked up from the school system and from the media. Most people do not have much confidence in their intellectual ability and look to elite opinion to shape their beliefs. As I noted elsewhere, A critical component of the success of the culture of critique is that it achieved control of the most prestigious and influential institutions of the West, and it became a consensus among the elites, Jewish and non-Jewish alike. Once this happened, it is not surprising that this culture became widely accepted among people of very different levels of education and among people of different social classes. Most people are quite insecure about their intellectual ability. But they know that the professors at Harvard, and the editorial page of the New York Times and the Washington Post, and even conservative commentators like Rush Limbaugh and Sean Hannity are all on page when it comes to racial and ethnic issues. This is a formidable array, to the point that you almost have to be a crank to dissent from this consensus. I think one of the greatest triumphs of the left has been to get people to believe that people who assert white identity and interests or who make unflattering portrayals of organized Jewish movements are morally degenerate, stupid, and perhaps psychiatrically disturbed. Obviously, all of these adjectives designate low status. The reality is that the multicultural emperor has no clothes and, because of its support for racial Zionism and the racialism of ethnic minorities in America, it is massively hypocritical to boot. The New York Times, the academic left, and the faux conservatives that dominate elite discourse on race and ethnicity are intellectually bankrupt and can only remain in power by ruthlessly suppressing or ignoring the scientific findings. This is particularly a problem for college-educated whites. Like Fitzgerald's Tom Buchanan, such people have a strong need to feel that their ideas are respectable and part of the mainstream. But the respectable mainstream gives them absolutely nothing with which to validate themselves except perhaps the idea that the world will be a better place when people like them no longer have power. Hsu quotes the pathetic Christian Lander: "�Like, I�m aware of all the horrible crimes that my demographic has done in the world. ... And there�s a bunch of white people who are desperate � desperate � to say, �You know what? My skin�s white, but I�m not one of the white people who�s destroying the world.�� As a zombie leftist during the 1960s and 1970s, I know what that feeling of desperation is like � what it's like to be a self-hating white. We must get to the point where college-educated whites proudly and confidently say they are white and that they do not want to become a minority in America. This reminds me of the recent docudrama Milk, which depicts the life of gay activist Harvey Milk. Milk is sure be nominated for an Oscar as Best Picture because it lovingly illustrates a triumph of the cultural left. But is has an important message that should resonate with the millions of whites who have been deprived of their confidence and their culture: Be explicit. Just as Harvey Milk advocated being openly gay even in the face of dire consequences, whites need to tell their family and their friends that they have an identity as a white person and believe that whites have legitimate interests as white people. They must accept the consequences when they are harassed, fired from their jobs, or put in prison for such beliefs. They must run for political office as openly pro-white. Milk shows that homosexuals were fired from their jobs and arrested for congregating in public. Now it's the Southern Poverty Law Center and the rest of the leftist intellectual and political establishment that harasses and attempts to get people fired. But it's the same situation with the roles reversed. No revolution was ever accomplished without some martyrs. The revolution that restores the legitimacy of white identity and the legitimacy of white interests will be no exception. But it is a revolution that is absolutely necessary. The white majority is foolish indeed to entrust its future to a utopian hope that racial and ethnic identifications will disappear and that they won�t continue to influence public policy in ways that compromise the interests of whites. It does not take an overactive imagination to see that coalitions of minority groups could compromise the interests of formerly dominant whites. We already see numerous examples in which coalitions of minority groups attempt to influence public policy, including immigration policy, against the interests of the whites. Placing ourselves in a position of vulnerability would be extremely risky, given the deep sense of historical grievance fostered by many ethnic activists and organized ethnic lobbies. This is especially the case with Jews. Jewish organisations have been unanimous in condemning Western societies, Western traditions, and Christianity, for past crimes against Jews. Similar sentiments are typical of a great many African Americans and Latinos, and especially among the ethnic activists from these groups. The �God damn America� sermon by President Obama's pastor comes to mind as a recent notorious example. The precedent of the early decades of the Soviet Union should give pause to anyone who believes that surrendering ethnic hegemony does not carry risks. The Bolshevik revolution had a pronounced ethnic angle: To a very great extent, Jews and other non-Russians ruled over the Russian people, with disastrous consequences for the Russians and other ethnic groups that were not able to become part of the power structure. Jews formed a hostile elite within this power structure � as they will in the future white-minority America; Jews were �Stalin�s willing executioners.� Two passages from my review of Yuri Slezkine's The Jewish Century seem particularly appropriate here. The first passage reminds me of the many American Jews who adopt a veneer of support for leftist versions of social justice and racial tolerance while nevertheless managing to support racial Zionism and the mass murder, torture, and incarceration of the Palestinian people in one of the largest prison systems the world has ever seen. Such people may be very different when they become a hostile elite in a white-minority America. Many of the commentators on Jewish Bolsheviks noted the �transformation� of Jews [after the Bolshevik Revolution]. In the words of [a] Jewish commentator, G. A. Landau, �cruelty, sadism, and violence had seemed alien to a nation so far removed from physical activity.� And another Jewish commentator, Ia. A. Bromberg, noted that: the formerly oppressed lover of liberty had turned into a tyrant of �unheard-of-despotic arbitrariness��. The convinced and unconditional opponent of the death penalty not just for political crimes but for the most heinous offenses, who could not, as it were, watch a chicken being killed, has been transformed outwardly into a leather-clad person with a revolver and, in fact, lost all human likeness. ... After the Revolution, ... there was active suppression of any remnants of the older order and their descendants. ... The mass murder of peasants and nationalists was combined with the systematic exclusion of the previously existing non-Jewish middle class. The wife of a Leningrad University professor noted, �in all the institutions, only workers and Israelites are admitted; the life of the intelligentsia is very hard� (p. 243). Even at the end of the 1930s, prior to the Russification that accompanied World War II, �the Russian Federation�was still doing penance for its imperial past while also serving as an example of an ethnicity-free society� (p. 276). While all other nationalities, including Jews, were allowed and encouraged to keep their ethnic identities, the revolution remained an anti-majoritarian movement. The difference from the Soviet Union may well be that in white-minority America it will not be workers and Israelites who are favored, but non-whites and Israelites. Whites may dream that they are entering the post-racial utopia imagined by their erstwhile intellectual superiors. But it is quite possible that they are entering into a racial dystopia of unimaginable cruelty in which whites will be systematically excluded in favor of the new elites recruited from the soon-to-be majority. It's happened before. Kevin MacDonald is a professor of psychology at California State University�Long Beach. Permanent URL with hyperlinks: http://www.theoccidentalobserver.net/articles/MacDonald-Hsu.html ----------- Should Christians Support Israeli Terrorism in Gaza? A timely discussion between Rev. Ted Pike and Dr. David Duke, one especially important for the Christians in our audience http://www.davidduke.com/mp3/dukeradio090122DukeandPikeonGaza.mp3 In this vital discussion, Rev. Pike and Dr. Duke explore the Pro-Israel attitude of some Christian evangelical organizations, and why their position not only goes directly against Christian morality and decency, but actually is directly opposite of that expressed by Christian Scriptures. Today, Many Christians are instructed that Jews and today�s Israel has a special covenant� with God. In fact, the New Testament in the clearest of language states that the Jews �continued not in my covenant, and I considered them not, saith the Lord.� Here�s the quote that Christians aren�t supposed to notice.: 8:10 Not according to the covenant that I made with their fathers, in the day when I took them by the hand out of the land of Egypt; because they continued not in my covenant, and I regarded them not, saith the Lord. (Hebrews 8:10) They also don�t seem to notice that a 2000 year old Judaic war against Christianity that has been waged since time of Jesus Christ and still goes on today with the most powerful Jewish organizations attempting to destroy European and American traditions, that has even become a war on our Christmas traditions. Dr. Duke and Ted Pike also speak about how over a hundred thousand Christian Palestinians have suffered with their families from anti-Christian Israel! Christian support of Israel has resulted in the very birthplace of Jesus Christ, go from 90 percent Palestinian Christians to 35 percent today because of Israeli terror and occupation. They ask, �How could any Christian in good conscience support the anti-Christian state of Israel, bombing the homes, killing and maiming, torturing and oppressing fellow Christian men, women and children?� This is a vital show for every Christian reader and listener of DavidDuke.com. Next time, you hear someone say, �God tells us that we must support Israel� you will have the clear Christian answer that just the opposite is true! For documentation on this be sure to read some of the well-footnoted, sample chapters of Jewish Supremacism and My Awakening. Source : http://www.davidduke.com/general/should-christians-support-israeli-terroris… ------------------------------------- You or someone using your email adress is currently subscribed to the Lawrence Auster Newletter. If you wish to unsubscribe from our mailing list, please let us know by calling to 1 212 865 1284 Thanks, Lawrence Auster, 238 W 101 St Apt. 3B New York, NY 10025 Contact: lawrence.auster(a)att.net -------------------------------------

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[nxtlisp-cvs] r3 - nxtlisp
by mcermak＠common-lisp.net 20 Aug '07

20 Aug '07

Author: mcermak Date: Mon Aug 20 16:44:41 2007 New Revision: 3 Modified: nxtlisp/remote-commands.lisp Log: sensor function bugfixing and minor update Modified: nxtlisp/remote-commands.lisp ============================================================================== --- nxtlisp/remote-commands.lisp (original) +++ nxtlisp/remote-commands.lisp Mon Aug 20 16:44:41 2007 @@ -201,6 +201,8 @@ ;; TODO: should the type/mode handling be this way? rethink +;; document and add asserts to type and mode arguments +;; if type is temperature (defun sensor (port &optional (type :raw type-supplied-p) (mode :raw mode-supplied-p) (stream *standard-nxt-io*)) "Retrieves values from the sensor plugged in <port> port." @@ -209,10 +211,14 @@ ;; in last call to set-sensor-state (sensor-type (if type-supplied-p type - (extract-type port))) + (if (eql (extract-type port) nil) + :raw + (extract-type port)))) (sensor-mode (if mode-supplied-p mode - (extract-mode port)))) + (if (eql (extract-mode port) nil) + :raw + (extract-type port))))) ;; let's decode the packet according to type/mode (if (not (aref raw-packet 1)) (warn "sensor: Packet marked as not valid.")) @@ -225,6 +231,9 @@ :light-inactive) (extract-number (aref raw-packet 7) (aref raw-packet 8) :uword)) + (:temperature (extract-number (aref raw-packet 9) ; the same as :celsius/:fahrenheit + (aref raw-packet 10) + :sword)) (t (case sensor-mode ((or :boolean :transition-cnt :period-counter :celsius :fahrenheit) (extract-number (aref raw-packet 9)

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[nxtlisp-cvs] r2 - nxtlisp
by mcermak＠common-lisp.net 20 Aug '07

20 Aug '07

Author: mcermak Date: Mon Aug 20 16:05:17 2007 New Revision: 2 Modified: nxtlisp/remote-commands.lisp Log: set-sensor-state and sensor remote commands done but not tested yet Modified: nxtlisp/remote-commands.lisp ============================================================================== --- nxtlisp/remote-commands.lisp (original) +++ nxtlisp/remote-commands.lisp Mon Aug 20 16:05:17 2007 @@ -57,10 +57,10 @@ ;; change-nxt-id (a wrapper around set-brick-name-command) ;; set-sensor-state (uses set-input-mode direct command and ;; reset-input-scaled-value if clear flag is set) -;; sensor - done just partly, consult next steps with Dr.K +;; sensor (type and mode are possible &optional arguments, maybe not the +;; best solution) - ;; differences between RCX and NXT: ;; play-system-sound-file plays a sound file in NXT's memory, possibly in a loop ;; start-nxt-program takes and string as an program name; rcx requires a number @@ -74,6 +74,53 @@ (EXPORT '(var set-var message send-message sensor effector set-effector-state read-rcx-executable)) +(defvar *last-sensor-type* nil + "If sensor is called with no modifier arguments, *last-sensor-type* is checked +to obtain sensor type. It also maintains backward compatibility with RCXLisp.") + +(defvar *last-sensor-mode* nil + "If sensor is called with no modifier arguments, *last-sensor-mode* is checked +to obtain sensor mode. It also maintains backward compatibility with RCXLisp.") + +(defun update-last-sensor-type (port sensor-type) + "Updates the *last-sensor-type* variable according to last call of set-sensor-state." + (if (or (eql *last-sensor-type* nil) ; port has not been used yet (not in list) + (not (let ((used nil)) ; there's gotta be a better way... + (dolist (i *last-sensor-type*) + (if (eql (car i) port) + (setf used t))) + used))) + (push (list port sensor-type) *last-sensor-type*) + (loop for element in *last-sensor-type* ; port has been used, update + when (eql (car element) port) + return (setf (cdr element) sensor-type)))) + +(defun update-last-sensor-mode (port sensor-mode) + "Updates the *last-sensor-mode* variable according to last call of set-sensor-state." + (if (or (eql *last-sensor-mode* nil) ; port has not been used yet (not in list) + (not (let ((used nil)) + (dolist (i *last-sensor-mode*) + (if (eql (car i) port) + (setf used t))) + used))) + (push (list port sensor-mode) *last-sensor-mode*) + (loop for element in *last-sensor-mode* ; port has been used, update + when (eql (car element) port) + return (setf (cdr element) sensor-mode)))) + +(defun extract-type (port) + "Returns the last set type of sensor on port." + (loop for element in *last-sensor-type* + when (eql (car element) port) + return (cdr element))) + +(defun extract-mode (port) + "Returns the last set mode of sensor on port." + (loop for element in *last-sensor-mode* + when (eql (car element) port) + return (cdr element))) + + (defun play-tone (frequency duration &optional (stream *standard-nxt-io*)) "Plays a tone on the NXT. Frequency is in Hz (200-14000), duration in ms." (direct-play-tone frequency duration :stream stream)) @@ -147,12 +194,45 @@ (:slope-mask #x1F) (:mode-mask #xE0)))) ; has the same value as :angle-steps in docs (?) (set-input-mode port sensor-type sensor-mode :stream stream) - (if clear (reset-input-scaled-value port)))) ; if the clear flag is set, reset the counter + (if clear (reset-input-scaled-value port)) ; if the clear flag is set, reset the counter + ;; see the manual or documentation in the source code for description + (update-last-sensor-type port sensor-type) + (update-last-sensor-mode port sensor-mode))) + -(defun sensor (port &optional (stream *standard-nxt-io*)) +;; TODO: should the type/mode handling be this way? rethink +(defun sensor (port &optional (type :raw type-supplied-p) + (mode :raw mode-supplied-p) (stream *standard-nxt-io*)) "Retrieves values from the sensor plugged in <port> port." - ;; TODO: handle the return value (consult with Dr. K) - (get-input-values port)) + (let ((raw-packet (get-input-values port)) + ;; if type or mode was not supplied, use values set + ;; in last call to set-sensor-state + (sensor-type (if type-supplied-p + type + (extract-type port))) + (sensor-mode (if mode-supplied-p + mode + (extract-mode port)))) + ;; let's decode the packet according to type/mode + (if (not (aref raw-packet 1)) + (warn "sensor: Packet marked as not valid.")) + ;; sensor-type has higher priority to sensor-mode + (case sensor-type + (:angle (extract-number (aref raw-packet 9) + (aref raw-packet 10) + :sword)) + ((or :light-active + :light-inactive) (extract-number (aref raw-packet 7) + (aref raw-packet 8) + :uword)) + (t (case sensor-mode + ((or :boolean :transition-cnt :period-counter + :celsius :fahrenheit) (extract-number (aref raw-packet 9) + (aref raw-packet 10) + :sword)) + (t (extract-number (aref raw-packet 5) + (aref raw-packet 6) + :uword))))))) (defun effector (effector feature &optional (stream *standard-nxt-io*)) "Returns the current value of <feature> for <effector>." @@ -163,3 +243,10 @@ (defun set-effector-state (effector feature value &optional (stream *standard-nxt-io*)) "TODO: document") +(defun extract-number (byte-1 byte-2 mode) + "Return a number constructed from 2 bytes, either a signed word or unsigned word." + (case mode + (:uword (+ byte-1 (* byte-2 256))) + (:sword (if (< byte-2 127) ; possitive? + (+ byte-1 (* byte-2 256)) + (1+ (lognot (+ byte-1 (* byte-2 256)))))))) \ No newline at end of file

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[nxtlisp-cvs] r1 - libbtnxtlisp nxtlisp
by mcermak＠common-lisp.net 15 Aug '07

15 Aug '07

Author: mcermak Date: Wed Aug 15 17:40:32 2007 New Revision: 1 Added: LICENSE TODO libbtnxtlisp/ libbtnxtlisp/Makefile libbtnxtlisp/bluetooth.c libbtnxtlisp/bluetooth.h nxtlisp/ nxtlisp/communication.lisp nxtlisp/nxt.lisp nxtlisp/nxtlisp.asd nxtlisp/protocol-commands.lisp nxtlisp/remote-commands.lisp Log: NXTLisp 0.0.1 The first commit to the repository. NXTLisp is an Open Source project distributed under the Apache License 2.0 (see LICENSE file for more info) written in Common Lisp. Its aim is to provide a Common Lisp library for the Lego Mindstorms NXT robotic platform. It is heavily inspired by RCXLisp by Frank Klassner. libbtnxtlisp contains the C library developed from scratch and used to provide low-level access to OS BT stack. It currently supports Linux (tested) and Win XP with SP2 (not tested). OS X support may come in the future (help with porting the library is welcomed). nxtlisp directory contains the CL source files (nxt.lisp, remote-commands.lisp, protocol-commands.lisp, communication.lisp and nxtlisp.asd). There's not much functionality available right now, but stay tuned. Also, there is no documentation yet. However if you will play around and run into any bugs, please write to the mailing list: http://common-lisp.net/cgi-bin/mailman/listinfo/nxtlisp-devel Added: LICENSE ============================================================================== --- (empty file) +++ LICENSE Wed Aug 15 17:40:32 2007 @@ -0,0 +1,166 @@ +NXTLisp is free software licensed under the Apache License 2.0: + +Apache License, Version 2.0 + +Apache License +Version 2.0, January 2004 +http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. 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You are solely responsible for determining the +appropriateness of using or redistributing the Work and assume any risks +associated with Your exercise of permissions under this License. + +8. Limitation of Liability. In no event and under no legal theory, whether in +tort (including negligence), contract, or otherwise, unless required by +applicable law (such as deliberate and grossly negligent acts) or agreed to in +writing, shall any Contributor be liable to You for damages, including any +direct, indirect, special, incidental, or consequential damages of any +character arising as a result of this License or out of the use or inability to +use the Work (including but not limited to damages for loss of goodwill, work +stoppage, computer failure or malfunction, or any and all other commercial +damages or losses), even if such Contributor has been advised of the possibility +of such damages. + +9. Accepting Warranty or Additional Liability. While redistributing the Work +or Derivative Works thereof, You may choose to offer, and charge a fee for, +acceptance of support, warranty, indemnity, or other liability obligations +and/or rights consistent with this License. However, in accepting such +obligations, You may act only on Your own behalf and on Your sole +responsibility, not on behalf of any other Contributor, and only if You agree +to indemnify, defend, and hold each Contributor harmless for any liability +incurred by, or claims asserted against, such Contributor by reason of your +accepting any such warranty or additional liability. + +END OF TERMS AND CONDITIONS Added: TODO ============================================================================== --- (empty file) +++ TODO Wed Aug 15 17:40:32 2007 @@ -0,0 +1,19 @@ +NXTLisp TODO file + +* near future: + - unite documentation (in .lisp) + - add a find_all_BT_devices function (with apropriate CL bindings) + - update web + +* far future: + - check if every numerical calulation respects little-endianess + - make it asdf-installable (halfway there, probably) + - asdf can compile and load C functions, try it + - test on multiple CL implementations + - write a manual + - create example algorithms/programs + - check all files for TODO (constant task) + - add README/BUGS/... files (?) + + + Added: libbtnxtlisp/Makefile ============================================================================== --- (empty file) +++ libbtnxtlisp/Makefile Wed Aug 15 17:40:32 2007 @@ -0,0 +1,46 @@ +# +# Contributors: Milan Cermak, milan.cermak(a)gmail.com +# +# Description: Makefile for libbtnxtlisp (Linux) +# + +# variables + +RM = rm -f +MV = mv +CC = gcc +CFLAGS = -std=c99 -Wall -pedantic + +LIBS = -lbluetooth +LIBDIR = /usr/lib/ + +SOURCES = bluetooth.c bluetooth.h +OBJ = bluetooth.o +TARGETS = libbtnxtlisp.so libbtnxtlisp.a +ARCH = libbtnxtlisp.tgz + +# targets + +all: $(TARGETS) win + +libbtnxtlisp.a: $(OBJ) + ar rc $@ $? + +libbtnxtlisp.so: $(OBJ) + $(CC) $(LIBS) -shared -o $@ $? + +$(OBJ): $(SOURCES) + $(CC) $(CFLAGS) -c -fPIC $< + + + +.PHONY: clean install pack + +clean: + $(RM) $(TARGETS) $(OBJ) + +install: + $(MV) $(TARGETS) $(LIBDIR) + +pack: + tar czf $(ARCH) $(SOURCES) Makefile \ No newline at end of file Added: libbtnxtlisp/bluetooth.c ============================================================================== --- (empty file) +++ libbtnxtlisp/bluetooth.c Wed Aug 15 17:40:32 2007 @@ -0,0 +1,545 @@ +/* + File: bluetooth.win.c + + Contributors: Milan Cermak; milan.cermak(a)gmail.com + + Description: libbtnxlisp source file for Linux and Windows XP SP2 + All functions are called from Common Lisp + + */ + +/* + TODO: there's probably no need for the channel argument in some + related functions - when talking to the NXT through BT, it + has to be in slave mode -> we have to be connected on the + first channel (slot 0 on NXT's display) + + +/* * * * * * * * * * * * * + + for Win compilation, #define NXT_WIN_XP + Win XP with Servise Pack 2 is a prerequisite + + * * * * * * * * * * * * */ + +#ifdef NXT_WIN_XP + +#include <Winsock2.h> +#include <Ws2bth.h> +#include <Bthsdpdef.h> +#include <BluetoothAPIs.h> + +#else + +#include <unistd.h> +#include <sys/socket.h> +#include <bluetooth/bluetooth.h> +#include <bluetooth/rfcomm.h> +#include <bluetooth/hci.h> +//#include <bluetooth/hci_lib.h> + +#endif + +#include <errno.h> +#include "bluetooth.h" + + +#ifdef NXT_WIN_XP +// a Windows specific function to initialise the BT stack (or something) +int win_init(void) { + WORD version; + WSADATA wsa; + int error; + + version = MAKEWORD(2,2); + error = WSAStartup(version, &wsa); + + if (error != 0) + return -1; + if ((LOBYTE(wsa.wVersion) != 2) || + (HIBYTE(wsa.wVersion) != 2)) { + WSACleanup(); + return -1; + } + + return 0; + +} // win_init() +#endif + +/* + Functions connects to an NXT brick specified by the nxt_address + argument on the requested channel (port in BT terminology). If + channel is out of range (valid values are 1-30 inclusive), it uses + the first available channel. + Function returns a socket descriptor on success or -1 otherwise. + + */ +int open_nxt_stream(char *nxt_address, int *channel) { +#ifdef NXT_WIN_XP + + int nxt_socket, chan = *channel; + struct SOCKADDR_BTH nxt; + + int err = win_init(); + if (err < 0) + return -1; + + nxt_socket = socket(AF_BTH, SOCK_STREAM, BTHPROTO_RFCOMM); + if (nxt_socket < 0) + return -1; + + nxt.addressFamily = AF_BTH; + nxt.btAddr = 0; + +#else + + int nxt_socket, chan = *channel; + struct sockaddr_rc nxt = { 0 }; + + nxt_socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM); + + if (nxt_socket < 0) + return -1; + + nxt.rc_family = AF_BLUETOOTH; + str2ba(nxt_address, &nxt.rc_bdaddr); + +#endif + /* is this really necessary? I have a feeling the only possible way + to connect to the NXT is through channel 1; investigate! + */ + if ((chan < 1) || (chan > 30)) { + // use first available channel if illegal requested + int i, status; + for (i = 1; i <= 30; i++) { + nxt.port = i; + status = connect(nxt_socket, (struct sockaddr*) &nxt, sizeof(nxt)); + if ((status < 0) && (i < 30)) + continue; // try the next one + else if ((status < 0) && (i == 30)) + return -1; // no available channel + else { + *channel = i; // connected + break; + } + } + } + else { + // user specified a legal channel + nxt.port = chan; + int status; + status = connect(nxt_socket, (struct sockaddr*) &nxt, sizeof(nxt)); + if (status < 0) + return -1; + } + + return nxt_socket; + +} // open_nxt_stream() + +/* + If nxt_socket == 0, we're debugging packets in CL. This functions + serves as a wrapper and to keep things simpler and consistent higher. +*/ +int close_nxt_stream(int nxt_socket) { + + return (nxt_socket == 0) ? 0 : close(nxt_socket); + +} // close_nxt_stream() + +/* + Function for sending data to an NXT. It tries to send() the + the whole package. Package has to be correctly constructed in CL. + It takes three argument - nxt_socket is the descriptor of the + socket, msg is a pointer to the packet buffer and length is the + length of the packet (msg). + It returns 0 on success and -1 on failure, in which case length + carries the total bytes sent. + TODO: update comment +*/ +int send_msg(int nxt_socket, unsigned char *msg, int length, + int block, int timeout, + int retries, int retries_interval) { +#ifdef NXT_WIN_XP + int sent = 0; // already sent bytes + int remaining = length; // bytes not sent yet + int b; // bytes sent in one send() + + /* + handle additional connection-specifying data + semantics is described in the user's manual + */ + + int retries_done, send_flag; + int do_retries = 0, do_timeout = 0; + + /* this handles all 4 possible settings: + - both retries and timeout are zero + - retries is set, timeout is zero + - retries is zero, timeout is set + - both retries and timeout are set (handled by 2nd if) + */ + if ((retries == 0) && (timeout == 0)) + // in linux, it works this way: send_flag = (block == 0) ? 0 : + // MSG_DONTWAIT; + send flag = 0; + else if (retries != 0) { + // priority: retries > timeout + send_flag = 0; + do_retries = 1; + retries_done = 0; + } + else if (timeout != 0) { + send_flag = 0; + do_timeout = 1; + } + + // act accordingly + if (!do_retries && !do_timeout) { + // no retries, no timeout + b = (int) send(nxt_socket, msg, remaining, send_flag); + if (b != -1) + sent = b; + } + else if (do_retries) { + // send with retries + while ((retries_done <= retries) || + (sent < length)) { + if (retries_done != 0) + sleep(retries_interval); + b = (int) send(nxt_socket, msg+sent, remaining, send_flag); + if (b != -1) { + sent += b; + remaining -= b; + } + retries_done++; + } + } + else if (do_timeout) { + // send with timeout (implemented as a pseudo-timeout) + b = (int) send(nxt_socket, msg, remaining, send_flag); + if (b != -1) { + sent += b; + remaining -= b; + } + if (b < length) { + // didn't send the whole package + sleep(timeout); + b = (int) send(nxt_socket, msg+sent, remaining, send_flag); + if (b != -1) { + sent += b; + remaining -= b; + } + } + } + +#else + + int sent = 0; // already sent bytes + int remaining = length; // bytes not sent yet + int b; // bytes sent in one send() + + /* + handle additional connection-specifying data + semantics is described in the user's manual + */ + + int retries_done, send_flag = MSG_DONTWAIT; + int do_retries = 0, do_timeout = 0; + + /* this handles all 4 possible settings: + - both retries and timeout are zero + - retries is set, timeout is zero + - retries is zero, timeout is set + - both retries and timeout are set (handled by 2nd if) + */ + if ((retries == 0) && (timeout == 0)) + send_flag = (block == 0) ? 0 : MSG_DONTWAIT; + else if (retries != 0) { + // priority: retries > timeout + send_flag = MSG_DONTWAIT; + do_retries = 1; + retries_done = 0; + } + else if (timeout != 0) { + send_flag = MSG_DONTWAIT; + do_timeout = 1; + } + + // act accordingly + if (!do_retries && !do_timeout) { + // no retries, no timeout + b = (int) send(nxt_socket, msg, remaining, send_flag); + if (b != -1) + sent = b; + } + else if (do_retries) { + // send with retries + while ((retries_done <= retries) || + (sent < length)) { + if (retries_done != 0) + sleep(retries_interval); + b = (int) send(nxt_socket, msg+sent, remaining, send_flag); + if (b != -1) { + sent += b; + remaining -= b; + } + retries_done++; + } + } + else if (do_timeout) { + // send with timeout (implemented as a pseudo-timeout) + b = (int) send(nxt_socket, msg, remaining, send_flag); + if (b != -1) { + sent += b; + remaining -= b; + } + if (b < length) { + // didn't send the whole package + sleep(timeout); + b = (int) send(nxt_socket, msg+sent, remaining, send_flag); + if (b != -1) { + sent += b; + remaining -= b; + } + } + } + +#endif + return sent; +} // send_msg() + + +/* + Function for receiving data from an NXT. It tries to recv() + the whole packet. + It takes three arguments - nxt_socket is the descriptor of the + socket, msg is a pointer to a buffer in which the packet will + be stored and length represents how many bytes to receive (should + be the length of msg). + The operation is non-blocking - if the user demands receiving more + bytes than there are available, the function ends, returning number + of bytes successfully read until that point. + Function returns number of bytes received on success and -1 on failure, + in which case length holds total received bytes. + TODO: update comment +*/ +int recv_msg(int nxt_socket, unsigned char *msg, int length, + int block, int timeout, + int retries, int retries_interval) { +#ifdef NXT_WIN_XP + int received = 0; // already received bytes + int remaining = length; // bytes yet to be received + int b; + + /* + handle additional connection-specifying data + semantics is described in the user's manual + */ + + int retries_done, recv_flag; + int do_retries = 0, do_timeout = 0; + + /* this handles all 4 possible settings: + - both retries and timeout are zero + - retries is set, timeout is zero + - retries is zero, timeout is set + - both retries and timeout are set (handled by 2nd if) + */ + if ((retries == 0) && (timeout == 0)) + // recv_flag = (block == 0) ? 0 : MSG_DONTWAIT; + recv_flag = 0; + else if (retries != 0) { + // priority: retries > timeout + recv_flag = 0; + do_retries = 1; + retries_done = 0; + } + else if (timeout != 0) { + recv_flag = 0; + do_timeout = 1; + } + + + // act accordingly + if (!do_retries && !do_timeout) { + // no retries, no timeout + b = (int) recv(nxt_socket, msg, remaining, recv_flag); + if (b != -1) + received = b; + } + else if (do_retries) { + // receive with retries + while ((retries_done <= retries) || + (received < length)) { + if (retries_done != 0) + sleep(retries_interval); + b = (int) recv(nxt_socket, msg+received, remaining, recv_flag); + if (b == 0) + break; + else if (b != -1) { + received += b; + remaining -= b; + } + retries_done++; + } + } + else if (do_timeout) { + // receive with timeout (implemented as a pseudo-timeout) + b = (int) recv(nxt_socket, msg, remaining, recv_flag); + if (b != -1) { + received += b; + remaining -= b; + } + if (b < length) { + // didn't receive the whole package + sleep(timeout); + b = (int) recv(nxt_socket, msg+received, remaining, recv_flag); + if (b != -1) { + received += b; + remaining -= b; + } + } + } + +#else + + int received = 0; // already received bytes + int remaining = length; // bytes yet to be received + int b; + + /* + handle additional connection-specifying data + semantics is described in the user's manual + */ + + int retries_done, recv_flag = MSG_DONTWAIT; + int do_retries = 0, do_timeout = 0; + + /* this handles all 4 possible settings: + - both retries and timeout are zero + - retries is set, timeout is zero + - retries is zero, timeout is set + - both retries and timeout are set (handled by 2nd if) + */ + if ((retries == 0) && (timeout == 0)) + recv_flag = (block == 0) ? 0 : MSG_DONTWAIT; + else if (retries != 0) { + // priority: retries > timeout + recv_flag = MSG_DONTWAIT; + do_retries = 1; + retries_done = 0; + } + else if (timeout != 0) { + recv_flag = MSG_DONTWAIT; + do_timeout = 1; + } + + + // act accordingly + if (!do_retries && !do_timeout) { + // no retries, no timeout + b = (int) recv(nxt_socket, msg, remaining, recv_flag); + if (b != -1) + received = b; + } + else if (do_retries) { + // receive with retries + while ((retries_done <= retries) || + (received < length)) { + if (retries_done != 0) + sleep(retries_interval); + b = (int) recv(nxt_socket, msg+received, remaining, recv_flag); + if (b == 0) + break; + else if (b != -1) { + received += b; + remaining -= b; + } + retries_done++; + } + } + else if (do_timeout) { + // receive with timeout (implemented as a pseudo-timeout) + b = (int) recv(nxt_socket, msg, remaining, recv_flag); + if (b != -1) { + received += b; + remaining -= b; + } + if (b < length) { + // didn't receive the whole package + sleep(timeout); + b = (int) recv(nxt_socket, msg+received, remaining, recv_flag); + if (b != -1) { + received += b; + remaining -= b; + } + } + } + +#endif + return received; + +} // recv_msg() + + +/* + A helper function; plays a tone (who would have guessed it?) +*/ +void greeting_tone(int sock) { + + unsigned char comm[8]; + int len = 6; + int hz = 1200, duration = 800; + + // construct the packet + memcpy(&comm[0], &len, 2); + comm[2] = 0x00; + comm[3] = 0x03; + memcpy(&comm[4], &hz, 2); + memcpy(&comm[6], &duration, 2); + + int i; + printf("message: \n"); + for (i = 0; i < 8; i++) + printf("0x%02X ", comm[i]); + printf("\n"); + + write(sock, &comm, sizeof(comm)); + return; + +} // greeting_tone() + + + + +//***************************************************************************** + +// for testing purposes +// TODO: delete main() and greeting_tone() when stable + +int main(void) { + + //TODO: if channel != 1, the NXT doesn't play a sound + int socket, channel = 1; + char *nxt_address = "00:16:53:01:5F:28"; + unsigned char buf[20] = { 0 }; + int ret, len = sizeof(buf); + + socket = open_nxt_stream(nxt_address, &channel); + greeting_tone(socket); + sleep(1); + ret = recv_msg(socket, buf, len, 1, 0, 0, 0); + + printf("received: %d\n", ret); + int i; + for (i = 0; i < ret; i++) + printf("0x%02X ", buf[i]); + printf("\n"); + close_nxt_stream(socket); + + + return 0; + +} Added: libbtnxtlisp/bluetooth.h ============================================================================== --- (empty file) +++ libbtnxtlisp/bluetooth.h Wed Aug 15 17:40:32 2007 @@ -0,0 +1,28 @@ +/* + File: bluetooth.h + + Contributors: Milan Cermak; milan.cermak(a)gmail.com + + Description: Header file for bluetooth.h + + */ + + +/* + Function prototypes; for detailed description, see the .c file +*/ + +int open_nxt_stream(char *nxt_address, int *channel); + +int close_nxt_stream(int nxt_socket); + +int send_msg(int nxt_socket, unsigned char *msg, int length, + int block, int timeout, + int retries, int retries_interval); + +int recv_msg(int nxt_socket, unsigned char *msg, int length, + int block, int timeout, + int retries, int retries_interval); + +// for testing +void greeting_tone(int tmp_socket); Added: nxtlisp/communication.lisp ============================================================================== --- (empty file) +++ nxtlisp/communication.lisp Wed Aug 15 17:40:32 2007 @@ -0,0 +1,194 @@ +;;;; +;;;; +;;;; File: communication.lisp +;;;; +;;;; License: Apache License 2.0 +;;;; +;;;; Contributors: Milan Cermak, milan.cermak(a)gmail.com +;;;; +;;;; Description: This file includes stuff relevant to communication +;;;; in the NXTLisp project. +;;;; +;;;; + + +#| + + Copyright 2007 Milan Cermak + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +|# + + +(in-package :nxt) + +;; define libbtnxtlisp CFFI wrappers + +(define-foreign-library libbtnxtlisp + (t (:default "libbtnxtlisp"))) + +;; ok, so what's the difference between load-foreign-library and use-foreign-library? +;; (load-foreign-library libbtnxtlisp) +(use-foreign-library libbtnxtlisp) + +(defcfun "open_nxt_stream" :int + (nxt-address :string) (channel :pointer)) + +(defcfun "close_nxt_stream" :int + (socket :int)) + +(defcfun "send_msg" :int + (socket :int) + (msg :string) + (length :int) + (blocking :int) + (timeout :int) + (retries :int) + (retries-interval :int)) + +(defcfun "recv_msg" :int + (socket :int) + (msg :string) + (length :int) + (blocking :int) + (timeout :int) + (retries :int) + (retries-interval :int)) + + + +(defun decode-reply (reply type) + "Decodes the received packet. Reply has to be an array." + (let ((decoded)) + (case type + (:simple (if (eql #X00 (aref reply 4)) ; check the status byte + (setf decoded t) + (setf decoded nil))) + (:raw (if (eql #X00 (aref reply 4)) + (progn + (loop for i from 5 to (1- fill-pointer reply) doing + (push (aref reply i) decoded)) + (setf decoded (reverse decoded))) + (setf decoded nil))) + (:ubyte (if (eql #X00 (aref reply 4)) + (setf decoded (aref reply 5)) + (setf decoded nil))) + (:uword (if (eql #X00 (aref reply 4)) + (setf decoded (+ (aref reply 5) (* (aref reply 6) 256))) ; little endian + (setf decoded nil))) + (:ulong (if (eql #X00 (aref reply 4)) + (setf decoded (+ (aref reply 5) (* (aref reply 6) 256) ; little endian + (* (aref reply 7) 65536) (* (aref reply 8) 16777216))) + (setf decoded nil))) + (:filename (if (eql #X00 (aref reply 4)) + (progn + (setf decoded (make-string 20 :initial-element #\0)) + (loop for ri from 5 to 24 + and si from 0 doing + (setf (aref decoded si) (code-char (aref reply ri))))) + (setf decoded nil))) + (otherwise (warn "decode-reply: unknown decode request"))) + decoded)) + +(defun send-packet (socket packet blocking timeout retries retries-interval) + "Function handles packet sending through calling a C function. +Socket must be a file descriptor of an opened socket. Packet must +be a well-formed BT packet in the form of an array with :fill-pointer. +Returns t on successful sending or nil otherwise." + (let ((length (fill-pointer packet))) + (if (eql socket nil) ; if debugging packets + packet ; show what would be sent + (with-foreign-string (msg packet) + (with-foreign-objects ((sd :int) (len :int) (blk :int) + (tout :int) (retr :int) (retr-i :int)) + ;; set the foreign variables to correct values + (setf (mem-ref sd :int) socket + (mem-ref len :int) length + (mem-ref blk :int) (if blocking 0 1) ; as implemented in libbtnxtlisp + (mem-ref tout :int) timeout + (mem-ref retr :int) retries + (mem-ref retr-i :int) retries-interval) + ;; send packet (by calling foreign function) and store return value + (send-msg (mem-ref sd :int) msg (mem-ref len :int) (mem-ref blk :int) + (mem-ref tout :int) (mem-ref retr :int) (mem-ref retr-i :int))))))) + +(defun recv-packet (socket length blocking timeout retries retries-interval) + "Function receives packet from the NXT, usually a reply to a command. It +returns an array of (unsigned-byte 8) representing the packet." + (let ((received 0) + (retval (make-array length :element-type '(unsigned-byte 8) :fill-pointer 0))) + (with-foreign-objects ((sd :int) (len :int) (blk :int) (tout :int) + (retr :int) (retr-i :int)) + ;; set foreign variables to correct values for the transmission + (setf (mem-ref sd :int) socket + (mem-ref len :int) length + (mem-ref blk :int) (if blocking 0 1) + (mem-ref tout :int) timeout + (mem-ref retr :int) retries + (mem-ref retr-i :int) retries-interval) + ;; msg serves as a buffer for the packet received from the NXT + (with-foreign-object (msg :uchar length) + (setf received (recv-msg (mem-ref sd :int) msg (mem-ref len :int) + (mem-ref blk :int) (mem-ref tout :int) + (mem-ref retr :int) (mem-ref retr-i :int))) + (if (eql received -1) + (error "recv-packet: packet couldn't be received")) + (dotimes (i received) + (vector-push (mem-aref msg :uchar i) retval)))) + retval)) + +(defmacro with-open-nxt-stream ((nxt-address port &rest keys) &body body) + `(call-with-open-nxt-stream ,nxt-address ,port (lambda () ,@body) ,@keys)) + +(defun call-with-open-nxt-stream (nxt-address port function &key + (blocking *blocking-default*) + (reply *reply-default*) + (timeout *timeout-default*) + (retries *retries-default*) + (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + (let ((*blocking-default* blocking) + (*reply-default* reply) + (*timeout-default* timeout) + (*retries-default* retries) + (*retries-interval-default* retries-interval) + (*default-answer-default* default-answer)) + (let ((*standard-nxt-io* (if (eql 0 nxt-address) + 0 + (call-open-nxt-stream nxt-address port)))) + (if (< *standard-nxt-io* 0) ; couldn't open socket + *default-answer-default* + (progn + (unwind-protect + ;; give the NXT time to recover from the fact, that we have + ;; just established a connection (0.5 is an empirical value) + (sleep 0.5) + (funcall function) + (call-close-nxt-stream *standard-nxt-io*))))))) + + +(defun call-open-nxt-stream (nxt-address channel) + "Calls foreign function open-nxt-stream." + (with-foreign-string (adr nxt-address) + (with-foreign-pointer (chan 1) + (setf (mem-ref chan :int) channel) + (open-nxt-stream adr chan)))) + +(defun call-close-nxt-stream (socket) + "Calls foreign function close-nxt-stream." + (with-foreign-object (sd :int) + (setf (mem-ref sd :int) socket) + (close-nxt-stream (mem-ref sd :int)))) + +;; EOF Added: nxtlisp/nxt.lisp ============================================================================== --- (empty file) +++ nxtlisp/nxt.lisp Wed Aug 15 17:40:32 2007 @@ -0,0 +1,69 @@ +;;;; +;;;; +;;;; File: nxt.lisp +;;;; +;;;; License: Apache License 2.0 +;;;; +;;;; Contributors: Milan Cermak, milan.cermak(a)gmail.com +;;;; +;;;; Description: A general purpose file. Includes global +;;;; variables, macros, .... +;;;; +;;;; + + + +#| + + Copyright 2007 Milan Cermak + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +|# + + +(in-package :nxt) + +(defvar *standard-nxt-io* 0 + "A file designator of a BT socket opened for communication with +a NXT brick. It is obtained by calling a function defined in the +libbtnxtlisp.") + +(defvar *blocking-default* nil + "Flag specifying, if sending/receiving should be blocking. +nil - don't block +t - block") + +(defvar *reply-default* nil + "Flag representing, if a command reply is requested. +nil - no reply requested +t - reply requested") + +(defvar *timeout-default* 0 + "How long will the program wait for the reply packet (in seconds).") + +(defvar *retries-default* 0 + "How many times should the program try to recieve the whole packet.") + +(defvar *retries-interval-default* 0 + "How long to pause between each retry (in seconds).") + +(defvar *default-answer-default* nil + "The default answer in case of an error.") + +(defconstant +zzz+ 0.5 + "Pause time between each command or sending and receving packets") + +(defmacro with-gensyms (vars &body body) + `(let ,(mapcar #'(lambda (v) `(,v (gensym))) vars) + ,@body)) Added: nxtlisp/nxtlisp.asd ============================================================================== --- (empty file) +++ nxtlisp/nxtlisp.asd Wed Aug 15 17:40:32 2007 @@ -0,0 +1,61 @@ +;;;; -*- Mode: Lisp; Syntax: ANSI-Common-Lisp; Base: 10 -*- +;;;; +;;;; File: nxtlisp.asd +;;;; +;;;; License: Apache License 2.0 +;;;; +;;;; Contributors: Milan Cermak, milan.cermak(a)gmail.com +;;;; +;;;; Description: NXTLisp's ASDF definition file. +;;;; +;;;; + + +#| + + Copyright 2007 Milan Cermak + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +|# + + +(in-package :cl-user) + +(defpackage :nxtlisp + (:use :cl :asdf :cffi) + (:nicknames :nxt)) + +(in-package :nxt) + +;; file order: +;; nxt.lisp +;; communication.lisp +;; protocol-commands.lisp +;; remote-commands.lisp + + +(defsystem nxtlisp + :name "NXTLisp" + :author "Milan Cermak <milan.cermak(a)gmail.com>" + :version "0.0.1" + :license "Apache License 2.0" + :long-description "Library for programming Lego Mindstorms NXT" + :depends-on (:cffi) + :serial t + :components ((:file "nxt") + (:file "communication") + (:file "protocol-commands") + (:file "remote-commands"))) + +;; EOF Added: nxtlisp/protocol-commands.lisp ============================================================================== --- (empty file) +++ nxtlisp/protocol-commands.lisp Wed Aug 15 17:40:32 2007 @@ -0,0 +1,1069 @@ +;;;; +;;;; +;;;; File: protocol-commands.lisp +;;;; +;;;; License: Apache License 2.0 +;;;; +;;;; Contributors: Milan Cermak, milan.cermak(a)gmail.com +;;;; +;;;; Description: All commands specified in the NXT Communications Protocol, +;;;; NXT Direct Commands and related code. +;;;; +;;;; + + +#| + + Copyright 2007 Milan Cermak + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +|# + + + + +(in-package :nxt) + + +;;; +;;; Communications protocol (normal commands) +;;; + +(defun open-read-command (filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command OPEN READ COMMANND. Argument description: +filename - an ASCIIZ [15.3 chars] + null termination string + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "open-read-command: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-system-packet 24 reply #X80))) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 10 blocking timeout retries retries-interval) + :raw))))))) + +(defun open-write-command (filename filesize &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command OPEN WRITE COMMAND. Argument description: +filename - an ASCIIZ [15.3 chars] + null termination string +filesize - file size; max 2^32-1 bytes + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "open-write-command: filename is not an array/string: ~A" filename) + (assert (and (numberp filesize) (<= 0 filesize 4294967295)) (filesize) + "open-write-command: filesize is not a number or has an invalid value [0 - 4294967295]: ~A" filesize) + (let ((msg (make-initial-system-packet 28 reply #X81))) + (push-string filename 20 msg) + (push-4bytes filesize msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 6 blocking timeout retries retries-interval) + :ubyte))))))) + +(defun read-command (handle bytes-to-read &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command READ COMMAND. Argumets description: +handle - the handle number +bytes-to-read - number of data to read (in bytes); max 65535 + +Reply should not be disabled for this command." + (assert (numberp handle) (handle) + "read-command: handle is not a number: ~A" handle) + (assert (and (numberp bytes-to-read) (<= 0 bytes-to-read 65535)) (bytes-to-read) + "read-command: bytes-to-read is not a number or has an invalid value [0 - 65535]: ~A" bytes-to-read) + (let ((msg (make-initial-system-packet 7 reply #X82))) + (vector-push handle msg) + (push-2bytes bytes-to-read msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream (+ bytes-to-read 8) blocking timeout + retries retries-interval) + :raw))))))) + +(defun write-command (handle data &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command WRITE COMMAND. Arguments description: +handle - the handle number +data - array of data to be written into FLASH" + (assert (numberp handle) (handle) + "write-command: handle is not a number: ~A" handle) + (assert (arrayp data) (data) + "write-command: data is not an array: ~A" data) + (let ((msg (make-initial-system-packet (+ (length data) 5) reply #X83))) + (vector-push handle msg) + (dotimes (c (length data)) + (vector-push (aref data c) msg)) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 8 blocking timeout retries retries-interval) + :raw))))))) + +(defun close-command (handle &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command CLOSE COMMAND. Argument description: +handle - the handle number." + (assert (numberp handle) (handle) + "close-command: handle is not a number: ~A" handle) + (let ((msg (make-initial-system-packet 5 reply #X84))) + (vector-push handle msg) + (create-packet) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 6 blocking timeout retries retries-interval) + :ubyte))))))) + +(defun delete-command (filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command DELETE COMMAND. Argument description: +filename - an ASCIIZ [15.3 chars] null terminated string" + (assert (arrayp filename) (filename) + "delete-command: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-system-packet 24 reply #X85))) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 25 blocking timeout retries retries-interval) + :filename))))))) + +(defun find-first (filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command FIND FIRST. Argument description: +filename - an ASCIIZ [15.3 chars] null terminated string with extensions (see Wildcard in +Lego Communication protocol) + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "find-first: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-system-packet 24 reply #X86))) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 30 blocking timeout retries retries-interval) + :raw))))))) + +(defun find-next (handle &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command FIND NEXT. Argument description: +handle - the handle number from a previous find file or from find-first command + +Reply should not be disabled for this command." + (assert (numberp handle) (handle) + "find-next: handle is not a number: ~A" handle) + (let ((msg (make-initial-system-packet 5 reply #X87))) + (vector-push handle msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 30 blocking timeout retries retries-interval) + :raw))))))) + +(defun get-firmware-version (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command GET FIRMWARE VERSION. + +Reply should not be disabled for this command." + (let ((msg (make-initial-system-packet 4 reply #X88))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 9 blocking timeout retries retries-interval) + :raw))))))) + +(defun open-write-linear-command (filename filesize &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command OPEN WRITE LINEAR COMMAND. Argument description: +filename - an ASCIIZ [15.3 chars] null terminated string +filesize - file size; max 2^32-1 bytes + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "open-write-linear-command: filename is not an array/string: ~A" filename) + (assert (and (numberp filesize) (<= 0 filesize 4294967295)) (filesize) + "open-write-linear-command: filesize is not a number or has an invalid value [0 - 4294967295]: ~A" filesize) + (let ((msg (make-initial-system-packet 28 reply #X89))) + (push-string filename 20 msg) + (push-4bytes filesize msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 6 blocking timeout retries retries-interval) + :ubyte))))))) + +(defun open-read-linear-command (filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command OPEN READ LINEAR COMMAND (internal command). Argument description: +filename - an ASCIIZ [15.3 chars] null terminated string + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "open-read-linear-command: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-system-packet 24 reply #X8A))) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 9 blocking timeout retries retries-interval) + :ulong))))))) + +(defun open-write-data-command (filename filesize &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command OPEN WRITE DATA COMMAND. Argument description: +filename - an ASCIIZ [15.3 chars] null terminated string +filesize - file size; max 2^32-1 bytes + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "open-write-data-command: filename is not an array/string: ~A" filename) + (assert (and (numberp filesize) (<= 0 filesize 4294967295)) (filesize) + "open-write-data-command: filesize is not a number or has an invalid value [0 - 4294967295]: ~A" filesize) + (let ((msg (make-initial-system-packet 28 reply #X8B))) + (push-string filename 20 msg) + (push-4bytes filesize msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 6 blocking timeout retries retries-interval) + :ubyte))))))) + +(defun open-append-data-command (filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command OPEN APPEND DATA COMMAND. Argument description: +filename - an ASCIIZ [15.3 chars] null terminated string + +Reply should not be disabled for this command." + (assert (arrayp filename) (filename) + "open-append-data-command: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-system-packet 24 reply #X8C))) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 10 blocking timeout retries retries-interval) + :raw))))))) + +(defun set-brick-name-command (name &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command SET BRICK NAME COMMAND. Argument description: +name - max 15 character string" + (assert (and (arrayp name) (<= (length name) 15)) (name) + "set-brick-name-command: name is not an array/string or too long [max 15]: ~A" name) + (let ((msg (make-initial-system-packet 20 reply #X98))) + (push-string name 15 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun get-device-info (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command GET DEVICE INFO. + +Reply should not be disabled for this command." + (let ((msg (make-initial-system-packet 4 reply #X9B))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 35 blocking timeout retries retries-interval) + :raw))))))) + +(defun delete-user-flash (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command DELETE USER FLASH. + +Reply should not be disabled for this command." + (let ((msg (make-initial-system-packet 4 reply #XA0))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun poll-command-length (buffer &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command POLL COMMAND LENGTH. Argument description: +buffer - can take two discreet values: + #X00 - poll buffer + #X01 - high speed buffer + +Reply should not be disabled for this command." + (assert (and (numberp buffer) (or (= buffer #X00) (= buffer #X01))) (buffer) + "poll-command-length: buffer is not a number or has an invalid value [#X00, #X01]: ~A" buffer) + (let ((msg (make-initial-system-packet 5 reply #XA1))) + (vector-push buffer msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + ;; no decode-reply here, third byte in the reply packet doesn't + ;; represent a status/error byte, complain at Lego + (t (recv-packet stream 7 blocking timeout retries retries-interval))))))) + +(defun poll-command (buffer length &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "System command POLL COMMAND. Argument description: +buffer - can take two discreet values: + #X00 - poll buffer + #X01 - high speed buffer + +length - command length + +Reply should not be disabled for this command." + (assert (and (numberp buffer) (or (= buffer #X00) (= buffer #X01))) (buffer) + "poll-command: buffer is not a number or has an invalid value [#X00, #X01]: ~A" buffer) + (assert (numberp length) (length) + "poll-command: length is not a number: ~A" length) + (let ((msg (make-initial-system-packet 6 reply #XA2))) + (vector-push buffer msg) + (vector-push length msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + ;; no decode-reply here, third byte in the reply packet doesn't + ;; represent a status/error byte, complain at Lego + (t (recv-packet stream 67 blocking timeout retries retries-interval))))))) + + +;;; +;;; Direct commands +;;; + +(defun start-program (filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command STARTPROGRAM; filename has to be an ASCIIZ string +with maximum size [15.3] char + null terminator." + (assert (arrayp filename) (filename) + "start-program: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-direct-packet 24 reply #X00))) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg ; debugging packets + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) ; sending failed + ((null reply) answer) ; no reply requested + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun stop-program (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command STOPPROGRAM." + (let ((msg (make-initial-direct-packet 4 reply #X01))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun direct-play-soundfile (loop? filename &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command PLAYSOUNDFILE; loop? has to be a boolean; filename has to be an +ASCIIZ string with maximum size [15.3] char + null terminator." + (assert (arrayp filename) (filename) + "play-soundfile: filename is not an array/string: ~A" filename) + (let ((msg (make-initial-direct-packet 25 reply #X02))) + (vector-push (if loop? #X01 #X00) msg) + (push-string filename 20 msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun direct-play-tone (frequency duration &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command PLAYTONE. Frequency (hz) +has to be in range 200 - 14000; duration (ms) isn't specified (probably max +65535)." + (assert (and (numberp frequency) (<= 200 frequency 14000)) (frequency) + "play-tone: frequency is not a number or out of range [200-14000]: ~A" frequency) + (assert (and (numberp duration) (<= 0 duration 65535)) (duration) + "play-tone: duration is not a number or out of range [200-14000]: ~A" duration) + (let ((msg (make-initial-direct-packet 8 reply #X03))) + (push-2bytes frequency msg) + (push-2bytes duration msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun set-output-state (output-port power mode regulation turn-ratio run-state tacho-limit + &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command SETOUTPUTSTATE. +Argument description: + +output-port has to be in range 0 to 2 inclusive or #XFF meaning 'all' + +power has to be in range -100 to 100 inclusive + +mode byte recognises 3 discreet values: + #X01 - turn on the specified motor + #X02 - use run/break instead of run/float in PWM + #X04 - turn on the regulation + +regulation byte recognises 3 discreet values: + #X00 - no regulation will be enabled + #X01 - power control will be enabled on specified output + #X02 - synchronisation will be enabled (needs enabled on two outputs) + +turn-ration has to be in range -100 to 100 inclusive + +run-state byte recognises 4 discreet values: + #X00 - output will be idle + #X10 - output will ramp-up + #X20 - output will be running + #X40 - output will ramp-down + +tacho-limit has to be in range 0 - 2^32-1 inclusive; 0 is a special value - run forever" + + (assert (and (numberp output-port) (or (<= 0 output-port 2) (= output-port #XFF))) + (output-port) + "set-output-state: output-port is not a number or has an invalid value [0-2; #XFF]: ~A" output-port) + (assert (and (numberp power) (<= -100 power 100)) + (power) + "set-output-state: power is not a number or has an invalid value [-100 - 100]: ~A" power) + (assert (and (numberp mode) (or (= mode #X01) (= mode #X02) (= mode #X04))) + (mode) + "set-output-state: mode is not a number or has an invalid value [#X01, #X02, #X04]: ~A" mode) + (assert (and (numberp regulation) (or (= regulation #X00) (= regulation #X01) (= regulation #X02))) + (regulation) + "set-output-state: regulation is not a number or has an invalid value [#X00, #X01, #X02]: ~A" regulation) + (assert (and (numberp turn-ratio) (<= -100 turn-ratio 100)) + (turn-ratio) + "set-output-state: turn-ration is not a number or has an invalid value [-100 - 100]: ~A" turn-ratio) + (assert (and (numberp run-state) (or (= run-state #X00) (= run-state #X10) (= run-state #X20) (= run-state #X40))) + (run-state) + "set-output-state: run-state is not a number or has an invalid value [#X00, #X10, #X20, #X40]: ~A" run-state) + (assert (and (numberp tacho-limit) (<= 0 tacho-limit 4294967295)) + (tacho-limit) + "set-output-state: tacho-limit is not a number or has an invalid value [0 - 4294967295]: ~A" tacho-limit) + (let ((msg (make-initial-direct-packet 15 reply #X04))) + (vector-push output-port msg) + (vector-push power msg) + (vector-push mode msg) + (vector-push regulation msg) + (vector-push turn-ratio msg) + (push-4bytes tacho-limit msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun set-input-mode (input-port sensor-type sensor-mode &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command SETINPUTMODE. +Argument description: + +input-port - has to be in range 0 to 3 inclusive + +sensor-type recognises following values: + #X00 - no sensor + #X01 - switch + #X02 - temperature + #X03 - reflection + #X04 - angle + #X05 - light active + #X06 - light inactive + #X07 - sound dB + #X08 - sound dBA + #X09 - custom + #X0A - lowspeed + #X0B - lowspeed 9V + #X0C - no of sensor types + +sensor-mode recognises following values: + #X00 - raw mode + #X20 - boolean mode + #X40 - transition cnt mode + #X60 - period counter mode + #X80 - pct full scale mode + #XA0 - celsius mode + #XC0 - fahrenheit mode + #XE0 - angle step mode + #X1F - slope mask + #XE0 - mode mask" + (assert (and (numberp input-port) (<= 0 input-port 3)) (input-port) + "set-input-mode: input-port is not a number or has an invalid value [0 - 3]: ~A" input-port) + (assert (and (numberp sensor-type) (or (= sensor-type #X00) (= sensor-type #X01) + (= sensor-type #X02) (= sensor-type #X03) + (= sensor-type #X04) (= sensor-type #X05) + (= sensor-type #X06) (= sensor-type #X07) + (= sensor-type #X08) (= sensor-type #X09) + (= sensor-type #X0A) (= sensor-type #X0B) + (= sensor-type #X0C))) + (sensor-type) + "set-input-mode: sensor-type is not a number or has an invalid value [#X00 - #X0C]: ~A" sensor-type) + (assert (and (numberp sensor-mode) (or (= sensor-mode #X00) (= sensor-mode #X20) + (= sensor-mode #X40) (= sensor-mode #X60) + (= sensor-mode #X80) (= sensor-mode #XA0) + (= sensor-mode #XC0) (= sensor-mode #XE0) + (= sensor-mode #X1F) (= sensor-mode #XE0))) + (sensor-mode) + "set-input-mode: sensor-mode is not a number or has an invalid value: ~A" sensor-mode) + (let ((msg (make-initial-direct-packet 7 reply #X05))) + (vector-push input-port msg) + (vector-push sensor-type msg) + (vector-push sensor-mode msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun get-output-state (output-port &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command GETOUTPUTSTATE. Argument description: +output-port - has to be in range 0 to 2 inclusive + +Function returns a list of bytes. First element of the list is the output port byte (Byte 3 in +Lego Direct commands protocol.) It is up to the user to handle the values correctly. For +additional information about byte values, see Lego Direct commands protocol." + (assert (and (numberp output-port) (<= 0 output-port 2)) (output-port) + "get-output-state: output-port is not a number or has an invalid value [0 - 2]: ~A" output-port) + (let ((msg (make-initial-direct-packet 5 reply #X06))) + (vector-push output-port msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 27 blocking timeout retries retries-interval) + :raw))))))) + +(defun get-input-values (input-port &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command GETINPUTVALUES. Argument description: +input-port - haf to be in range 0 - 3 inclusive + +Function returns a list of bytes. First element of the list is the input port byte (Byte 3 in +Lego Direct commands protocol.) It is up to the user to handle the values correctly. For +additional information about byte values, see Lego Direct commands protocol." + (assert (and (numberp input-port) (<= 0 input-port 3)) (input-port) + "get-input-values: input-port is not a number or has an invalid value [0 - 3]: ~A" input-port) + (let ((msg (make-initial-direct-packet 5 reply #X07))) + (vector-push input-port msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 18 blocking timeout retries retries-interval) + :raw))))))) + +(defun reset-input-scaled-value (input-port &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command RESETINPUTSCALEDVALUE. Argument description: +input-port - has to be in range 0 to 3 inclusive" + (let ((msg (make-initial-direct-packet 5 reply #X08))) + (vector-push input-port msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun message-write (inbox msg-len msg-data &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command MESSAGEWRITE. Arguments description: +inbox - the inbox number; has to be in range 0 to 9 +msg-len - message length including the terminating null; message can't be longer than 59 bytes +msg-data - message (of length msg-len); treated as a string, must be null terminated" + (assert (and (numberp inbox) (<= 0 inbox 9)) (inbox) + "message-write: inbox is not a nubmer or has an invalid value [0 - 9]: ~A" inbox) + (assert (and (numberp msg-len) (<= 0 msg-len 59)) (msg-len) + "message-write: msg-len is not a number or has an invalid value [0 - 59]: ~A" msg-len) + (assert (arrayp msg-data) (msg-data) + "message-write: msg-data is not a array/string") + (let ((msg (make-initial-direct-packet (+ msg-len 6) reply #X09))) + (vector-push inbox msg) + (vector-push msg-len msg) + (loop for i from 0 to (1- msg-len) doing (vector-push (aref msg-data i) msg)) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun reset-motor-position (output-port relative? &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command RESETMOTORPOSITION. Arguments description: +output-port - has to be in range 0 to 2 inclusive +relative? - boolean; TRUE: position relative to last movement, FALSE: absolute position" + (assert (and (numberp output-port) (<= 0 output-port 2)) (output-port) + "reset-motor-position: output-port is not a number or has an invalid value [0 - 2]: ~A" output-port) + (let ((msg (make-initial-direct-packet 6 reply #X0A))) + (vector-push output-port msg) + (vector-push (if relative? #X01 #X00) msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun get-battery-level (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command GETBATTERYLEVEL." + (let ((msg (make-initial-direct-packet 4 reply #X0B))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 7 blocking timeout retries retries-interval) + :uword))))))) + + +(defun stop-sound-playback (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command STOPSOUNDPLAYBACK." + (let ((msg (make-initial-direct-packet 4 reply #X0C))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun keep-alive (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command KEEPALIVE." + (let ((msg (make-initial-direct-packet 4 reply #X0D))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 9 blocking timeout retries retries-interval) + :ulong))))))) + +(defun ls-get-status (port &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command LSGETSTATUS. Argument description: +port - has to be in range 0 to 3 inclusive" + (assert (and (numberp port) (<= 0 port 3)) (port) + "ls-get-status: port is not a number or out of range [0 - 3]: ~A" port) + (let ((msg (make-initial-direct-packet 5 reply #X0E))) + (vector-push port msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 6 blocking timeout retries retries-interval) + :ubyte))))))) + +(defun ls-write (port tx-len rx-len data &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command LSWRITE. Arguments description: +port - has to be in range 0 to 3 inclusive +tx-len - tx data length (in bytes) +rx-len - rx data length (in bytes) +data - data; length is limited to 16 bytes per command" + (assert (and (numberp port) (<= 0 port 3)) (port) + "ls-write: port is not a number or has an invalid value [0 - 2]: ~A" port) + (assert (numberp tx-len) (tx-len) ; not sure about the limit so I don't test it + "ls-write: tx-len is not a number: ~A" tx-len) + (assert (numberp rx-len) (rx-len) + "ls-write: rx-len is not a number: ~A" rx-len) + (assert (arrayp data) (data) + "ls-write: data has to be an array") + (let ((msg (make-initial-direct-packet (+ tx-len 7) reply #X0F))) + (vector-push port msg) + (vector-push tx-len msg) + (vector-push rx-len msg) + (dotimes (i tx-len) + (vector-push (aref data i) msg)) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 5 blocking timeout retries retries-interval) + :simple))))))) + +(defun ls-read (port &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command LSREAD. Argument description: +port - has to be in range 0 to 3 inclusive" + (assert (and (numberp port) (<= 0 port 3)) (port) + "ls-read: port is not a number or has an invalid value [0 - 3]: ~A" port) + (let ((msg (make-initial-direct-packet 5 reply #X0F))) + (vector-push port msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 22 blocking timeout retries retries-interval) + :raw))))))) + +(defun get-current-program-name (&key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command GETCURRENTPROGRAMNAME." + (let ((msg (make-initial-direct-packet 4 reply #X11))) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 25 blocking timeout retries retries-interval) + :filename))))))) + +(defun message-read (remote-inbox local-inbox remove? &key + (stream *standard-nxt-io*) (blocking *blocking-default*) + (reply *reply-default*) (timeout *timeout-default*) + (retries *retries-default*) (retries-interval *retries-interval-default*) + (default-answer *default-answer-default*)) + "Direct command MESSAGEREAD. Arguments description: +remote-inbox - has to be in range 0 to 19 inclusive +local-inbox - has to be in range 0 to 9 inclusive +remove - boolean; TRUE clears message from remote-inbox + +For additional information and semantics see the Lego Direct Commands protocol." + (assert (and (numberp remote-inbox) (<= 0 remote-inbox 19)) (remote-inbox) + "message-read: remote-inbox is not a number or has an invalid value [0 - 19]: ~A" remote-inbox) + (assert (and (numberp local-inbox) (<= 0 local-inbox 9)) (local-inbox) + "message-read: local-inbox is not a number or has an invalid value [0 - 9]: ~A" local-inbox) + (let ((msg (make-initial-direct-packet 7 reply #X13))) + (vector-push remote-inbox msg) + (vector-push local-inbox msg) + (vector-push (if remove? #X01 #X00) msg) + (create-packet msg) + (if (eql stream 0) + msg + (let ((answer (send-packet stream msg blocking timeout retries retries-interval))) + (cond + ((< answer 0) default-answer) + ((null reply) answer) + (t (decode-reply (recv-packet stream 66 blocking timeout retries retries-interval) + :raw))))))) + +;;; +;;; various helper functions +;;; + + +(defun push-string (string maxlength vector) + "Appends string to the tail of the vector. Lenght has to be the maximal possible +length of the string without null terminator. Empty slots are filled with #\0." + (dotimes (c (length string)) + (vector-push (char-code (aref string c)) vector)) + (dotimes (foo (- maxlength (length string))) ; zero padding + (vector-push #X00 vector)) + (vector-push #X00 vector)) ; null termination + +(defun push-2bytes (number vector) + (multiple-value-bind (lsb msb) (dec-to-2bytes number) + (vector-push lsb vector) + (vector-push msb vector))) + +(defun push-4bytes (number vector) + (multiple-value-bind (one two three four) (dec-to-4bytes number) + (vector-push one vector) + (vector-push two vector) + (vector-push three vector) + (vector-push four vector))) + +(defun dec-to-2bytes (number) + "Converts a decimal number (max 65535) to its representation in 2 bytes. +Returns multiple values - least significant byte and most significant byte." + (cond + ((< number 256) (values number 0)) + ((eql 0 (rem number 256)) (values 0 (truncate (/ number 256)))) + (t (values (rem number 256) (truncate (/ number 256)))))) + +(defun dec-to-4bytes (number) + "Converts a decimal number (max 4294967295) to its little-endian representation +in 4 bytes. Returns four multiple values (each byte as one)." + (cond + ((< number 256) (values number 0 0 0)) + ((eql 0 (rem number 16777216)) (values 0 0 0 (truncate (/ number 16777216)))) + ((eql 0 (rem number 65536)) (values 0 0 (truncate (/ number 65536)) 0)) + ((eql 0 (rem number 256)) (values 0 (truncate (/ number 256)) 0 0)) + ;; crazy! maybe there's a better way but I'm not in a thinking mood today + (t (let* ((one (rem number 256)) + (two (rem (/ (- number one) 256) 256)) + (three (rem (/ (- (/ (- number one) 256) two) 256) 256)) + (four (truncate (/ (- (/ (- (/ (- number one) 256) two) 256) three) 256)))) + (values one two three four))))) + +(defun make-initial-system-packet (size reply command) + "Creates a system command packet with correct initial contents (reply and command bytes)." + (let ((packet (make-array size :element-type '(unsigned-byte 8) + :initial-element 0 :fill-pointer 2))) + (vector-push (if reply #X01 #X81) packet) + (vector-push command packet) + packet)) + +(defun make-initial-direct-packet (size reply command) + "Creates a direct command packet of correct length and fills in reply and command bytes." + (let ((packet (make-array size :element-type '(unsigned-byte 8) + :initial-element 0 :fill-pointer 2))) + (vector-push (if reply #X00 #X80) packet) + (vector-push command packet) + packet)) + +(defun create-packet (vector) + "Forms a legal BT packet by inserting the length of the message +to the first two bytes of the packet. For additional information, +consult the Lego Communication protocol." + ;; len holds the length of the whole packet which will be transmited + ;; by Bluetooth, that is with 2 header bytes representing packet length + (let ((len (fill-pointer vector))) + (setf (fill-pointer vector) 0) + (push-2bytes (- len 2) vector) ; push header bytes + (setf (fill-pointer vector) len))) \ No newline at end of file Added: nxtlisp/remote-commands.lisp ============================================================================== --- (empty file) +++ nxtlisp/remote-commands.lisp Wed Aug 15 17:40:32 2007 @@ -0,0 +1,165 @@ +;;;; +;;;; +;;;; File: remote-commands.lisp +;;;; +;;;; License: Apache License 2.0 +;;;; +;;;; Contributors: Milan Cermak, milan.cermak(a)gmail.com +;;;; +;;;; Description: Commands for the "remote" NXTLisp. Inspired by the RCXLisp; +;;;; I tried to perserve backward compatibility. +;;;; +;;;; + + +#| + + Copyright 2007 Milan Cermak + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +|# + +;; TODO: add asserts to set-sensor-state (and possibly other functions); asserts are +;; now in protocol-commands.lisp, but functions here call them, so correct input +;; is provided, but users will (mostly) call remote functions -> asserts needed! +;; +;; check how are strings (filenames, IDs, ...) handled, if an argument has to be +;; an array of unsigned-bytes or a simple string will suffice +;; +;; what values should sensor return? according to the Lego specs, GETINPUTVALUES +;; returns a lot. I think, there should be a way for the user to select what return +;; value he wants. + +(in-package :nxt) + +;; notes: +;; +;; skipped: all clock related functions, *-rcx-thread, *current-program, *timer +;; +;; done: play-tone (a direct command) +;; play-system-sound-file (play-system-file in rcxlisp; a direct command wrapper) +;; battery-power (simplified get-battery-level direct command) +;; start-nxt-program (a wrapper around start-program direct command) +;; shutdown (a wrapper around stop-program direct command) +;; alivep (internaly uses get-battery-level direct command) +;; firmware (returns firmware and protocol versions) +;; change-nxt-id (a wrapper around set-brick-name-command) +;; set-sensor-state (uses set-input-mode direct command and +;; reset-input-scaled-value if clear flag is set) +;; sensor - done just partly, consult next steps with Dr.K + + + +;; differences between RCX and NXT: +;; play-system-sound-file plays a sound file in NXT's memory, possibly in a loop +;; start-nxt-program takes and string as an program name; rcx requires a number +;; shutdown does not take :infinity as a valid delay value +;; alivep uses a direct command (get-battery-level) as a helper to ping the NXT +;; firmware has no keystring argument; returns firmware and protocol major and minor versions +;; change-nxt-id takes a string as argument (not a number) +;; set-sensor-state has no slope argument + + +(EXPORT '(var set-var message send-message sensor effector set-effector-state + read-rcx-executable)) + +(defun play-tone (frequency duration &optional (stream *standard-nxt-io*)) + "Plays a tone on the NXT. Frequency is in Hz (200-14000), duration in ms." + (direct-play-tone frequency duration :stream stream)) + +(defun play-system-sound-file (loop? filename &optional stream) + "Plays a soundfile <filename> on the NXT. If loop? if t, soundfile is played in a loop." + (direct-play-soundfile (loop? filename :stream stream))) + +(defun battery-power (&optional (stream *standard-nxt-io*)) + "Return NXT's current battery voltage in mV." + (get-battery-level :stream stream)) + +(defun start-nxt-program (program &optional (stream *standard-nxt-io*)) + "Starts a program on the NXT brick. Argument must be a [15.3] filename with null +termination." + (start-program (program :stream stream))) + +(defun shutdown (&optional (delay 0) (stream *standard-nxt-io*)) + "Tells the NXT to stop execution of the current program after <delay> minutes." + (sleep (* 60 delay)) + (stop-program :stream stream)) + +(defun alivep (&optional (stream *standard-nxt-io*)) + "Pings the NXT to see if a reply comes back." + ;; get-battery-level is just a random function, in fact any could be used (altough + ;; this one makes the best sense); it is sent to the brick to see if a reply comes back + (get-battery-level :stream stream :reply t)) + +(defun firmware (&optional (stream *standard-nxt-io*)) + "Returns four distinct values: major and minor firmware number and +major and minor protocol version." + (let ((raw-reply (get-firmware-version :stream stream))) + (values (aref 8 raw-reply) ; major firmware version + (aref 7 raw-reply) ; minor firmware version + (aref 6 raw-reply) ; major protocol version + (aref 5 raw-reply)))); minor protocol version + +(defun change-nxt-id (id &optional (stream *standard-nxt-io*)) + "Changes the ID (name) of the NXT brick. The change is immediately visible +on the brick. ID has to be a string of max 15 characters." + (set-brick-name-command (id :stream stream))) + +(defun set-sensor-state (port &key (type :no-sensor)(mode :raw) + (clear nil) (stream *standard-nxt-io*)) + "Configures a sensor attached to port <port>. For description of valid values +for <type> and <mode> consult the NXTLisp manual or SETINPUTMODE direct command +specified in Lego Direct Commands communication protocol." + (let ((sensor-type (case type + (:no-sensor #x00) + (:switch #x01) + (:temperature #x02) + (:reflection #x03) + (:angle #x04) + (:light-active #x05) + (:light-inactive #x06) + (:sound-db #x07) + (:sound-dba #x08) + (:custom #x09) + (:lowspeed #x0A) + (:lowspeed-9V 0x0B) + (:no-of-sensor-types #x0C))) + (sensor-mode (case mode + (:raw #x00) + (:boolean #x20) + (:transition-cnt #x40) + (:period-counter #x60) + (:pct-full-scale #x80) + (:celsius #xA0) + (:fahrenheit #xC0) + (:angle-steps #xE0) + (:slope-mask #x1F) + (:mode-mask #xE0)))) ; has the same value as :angle-steps in docs (?) + (set-input-mode port sensor-type sensor-mode :stream stream) + (if clear (reset-input-scaled-value port)))) ; if the clear flag is set, reset the counter + +(defun sensor (port &optional (stream *standard-nxt-io*)) + "Retrieves values from the sensor plugged in <port> port." + ;; TODO: handle the return value (consult with Dr. K) + (get-input-values port)) + +(defun effector (effector feature &optional (stream *standard-nxt-io*)) + "Returns the current value of <feature> for <effector>." + ;; there probably will be a problem with backward compatibility + ;; I'm not sure what can be done with get-output-state direct command + ) + +(defun set-effector-state (effector feature value &optional (stream *standard-nxt-io*)) + "TODO: document") +

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