68 lines
2.4 KiB
Python
68 lines
2.4 KiB
Python
# The MIT License (MIT)
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#
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# Copyright (c) 2019 Dan Halbert for Adafruit Industries
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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"""
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`adafruit_bluefruit_connect.quaternion_packet`
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====================================================
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Bluefruit Connect App Quaternion data packet.
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* Author(s): Dan Halbert for Adafruit Industries
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"""
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import struct
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from ._xyz_packet import _XYZPacket
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class QuaternionPacket(_XYZPacket):
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"""A packet of x, y, z float values. Used for several different Bluefruit controller packets."""
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# Use _XYZPacket to handle x, y, z, and add w.
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_FMT_PARSE = "<xxffffx"
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PACKET_LENGTH = struct.calcsize(_FMT_PARSE)
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# _FMT_CONSTRUCT doesn't include the trailing checksum byte.
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_FMT_CONSTRUCT = "<2sffff"
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_TYPE_HEADER = b"!Q"
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def __init__(self, x, y, z, w):
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"""Construct a QuaternionPacket from the given x, y, z, and w float values."""
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super().__init__(x, y, z)
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self._w = w
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def to_bytes(self):
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"""Return the bytes needed to send this packet.
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"""
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partial_packet = struct.pack(
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self._FMT_CONSTRUCT, self._TYPE_HEADER, self._x, self._y, self._z, self._w
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)
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return partial_packet + self.checksum(partial_packet)
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@property
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def w(self):
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"""The w value."""
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return self._w
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# Register this class with the superclass. This allows the user to import only what is needed.
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QuaternionPacket.register_packet_type()
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