Наработки за 5 лет

2019-08-27 14:47:10 +05:00
commit f5582d88c3
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+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot utility module                 #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+# I2C bus
+I2C_BUS_NUMBER = 2
+EXT_COM = 0xAA
+XOR_SEQ = 0xFF
+
+# VAR
+REFLEX_ADDRESS = 0x04
+REFLEX_RESPONSE_DELAY = 0.1  # Delay to get response after send command, sec
+REFLEX_ERROR_LIMIT = 5
+REFLEX_MOVE_TIMEOUT = 60
+
+# COMMANDS
+# Util
+COM_PING = 0x01
+COM_GET_TEMP = 0x02
+COM_GET_DISTANCE = 0x03
+
+# Stop
+STOP = 0x0F
+# Move
+MOVE_FLAG = 0x04
+MOVE_FLOAT = 0x10
+MOVE_FWD1 = 0x11
+MOVE_FWD2 = 0x12
+MOVE_FWD3 = 0x13
+MOVE_FWD4 = 0x14
+MOVE_FWD5 = 0x15
+MOVE_FWD6 = 0x16
+MOVE_FWD7 = 0x17
+MOVE_BREAK = 0x18
+MOVE_REV7 = 0x19
+MOVE_REV6 = 0x1A
+MOVE_REV5 = 0x1B
+MOVE_REV4 = 0x1C
+MOVE_REV3 = 0x1D
+MOVE_REV2 = 0x1E
+MOVE_REV1 = 0x1F
+
+# Steering
+STEER_FLAG = 0x05
+STEER_CENTER = 0x20
+STEER_LEFT1 = 0x21
+STEER_LEFT2 = 0x22
+STEER_LEFT3 = 0x23
+STEER_LEFT4 = 0x24
+STEER_LEFT5 = 0x25
+STEER_LEFT6 = 0x26
+STEER_LEFT7 = 0x27
+STEER_FIX_CENTER = 0x28
+STEER_RIGHT7 = 0x29
+STEER_RIGHT6 = 0x2A
+STEER_RIGHT5 = 0x2B
+STEER_RIGHT4 = 0x2C
+STEER_RIGHT3 = 0x2D
+STEER_RIGHT2 = 0x2E
+STEER_RIGHT1 = 0x2F
+
+# Head
+HEAD_H_FLAG = 0x30
+HEAD_V_FLAG = 0x31
+HEAD_H_R_RANGE = 83
+HEAD_H_L_RANGE = 94
+HEAD_V_UP_RANGE = 90
+HEAD_V_DOWN_RANGE = 25
+HEAD_H_CENTER = 83
+HEAD_V_CENTER = 150
+
+# CONTROL SOURCE
+CONTROL_SRC_NONE = 0x00
+CONTROL_SRC_JOYSTICK = 0x01
+CONTROL_SRC_IRREMOTE = 0x02
+CONTROL_SRC_SERVER = 0x03
+CONTROL_SRC_DB = 0x04
+CONTROL_SRC_SUB1 = 0x11
+CONTROL_SRC_SUB2 = 0x12
+CONTROL_SRC_SUB3 = 0x13
+CONTROL_SRC_SUB4 = 0x14
+CONTROL_SRC_SUB5 = 0x15
+
+CONTROL_SRC_DEFAULT = CONTROL_SRC_JOYSTICK
+
+# MOVE STATES
+MOVE_STATE_STOP = 0x00
+MOVE_STATE_MOVE = 0x01
+
+# STATUS
+STATUS_INIT = 0x00
+STATUS_READY = 0x01
+STATUS_RUNNING = 0x02
+STATUS_STOP = 0x03
+STATUS_EXIT = 0x04
+
+# STATUS STATES
+#STATUS_STATE_OK = 0x00
+#STATUS_STATE_WARNING = 0x01
+#STATUS_STATE_ERROR = 0x02
+#STATUS_STATE_LOWBAT1 = 0x03
+#STATUS_STATE_LOWBAT2 = 0x04
+
+# JOYSTICK
+JOYSTICK_PATH = '/dev/input/js0'
+JOYSTICK_READY_TIMEOUT = 60
+
+# These constants were borrowed from linux/input.h
+JOYSTICK_AXIS_NAMES = {
+    0x00: 'x',
+    0x01: 'y',
+    0x02: 'z',
+    0x03: 'rx',
+    0x04: 'ry',
+    0x05: 'rz',
+    0x06: 'trottle',
+    0x07: 'rudder',
+    0x08: 'wheel',
+    0x09: 'gas',
+    0x0a: 'brake',
+    0x10: 'hat0x',
+    0x11: 'hat0y',
+    0x12: 'hat1x',
+    0x13: 'hat1y',
+    0x14: 'hat2x',
+    0x15: 'hat2y',
+    0x16: 'hat3x',
+    0x17: 'hat3y',
+    0x18: 'pressure',
+    0x19: 'distance',
+    0x1a: 'tilt_x',
+    0x1b: 'tilt_y',
+    0x1c: 'tool_width',
+    0x20: 'volume',
+    0x28: 'misc',
+}
+
+JOYSTICK_BUTTON_NAMES = {
+    0x120: 'trigger',
+    0x121: 'thumb',
+    0x122: 'thumb2',
+    0x123: 'top',
+    0x124: 'top2',
+    0x125: 'pinkie',
+    0x126: 'base',
+    0x127: 'base2',
+    0x128: 'base3',
+    0x129: 'base4',
+    0x12a: 'base5',
+    0x12b: 'base6',
+    0x12f: 'dead',
+    0x130: 'a',
+    0x131: 'b',
+    0x132: 'c',
+    0x133: 'x',
+    0x134: 'y',
+    0x135: 'z',
+    0x136: 'tl',
+    0x137: 'tr',
+    0x138: 'tl2',
+    0x139: 'tr2',
+    0x13a: 'select',
+    0x13b: 'start',
+    0x13c: 'mode',
+    0x13d: 'thumbl',
+    0x13e: 'thumbr',
+
+    0x220: 'dpad_up',
+    0x221: 'dpad_down',
+    0x222: 'dpad_left',
+    0x223: 'dpad_right',
+
+    # XBox 360 controller uses these codes.
+    0x2c0: 'dpad_left',
+    0x2c1: 'dpad_right',
+    0x2c2: 'dpad_up',
+    0x2c3: 'dpad_down',
+}
+
+# JOYSTICK BINDS
+JOYSTICK_MOVE_AXIS = 'y'
+JOYSTICK_STEER_AXIS = 'x'
+JOYSTICK_HEAD_V_AXIS = 'rz'
+JOYSTICK_HEAD_H_AXIS = 'z'
+JOYSTICK_START_BTN_1 = 'tl2'
+JOYSTICK_START_BTN_2 = 'tr2'
+
+# HXpower
+POWER_ADDRESS = 0x05
+POWER_RESPONSE_DELAY = 0.05  # Delay to get response after send command, sec
+POWER_DELAY = 0.3
+POWER_ERROR_LIMIT = 3
+POWER_MV_TIMEOUT = 60
+
+# Commands
+# VOLTMETERS
+COM_GET_VIN = 0x01
+COM_GET_VDC = 0x02
+COM_GET_VBT = 0x03
+COM_GET_VBA = 0x04
+COM_GET_VPF = 0x05
+COM_GET_VZU = 0x06
+COM_GET_VCC = 0x07
+
+# AMPERMETERS
+COM_GET_ABT = 0x21
+COM_GET_ABA = 0x22
+COM_GET_AIN = 0x23
+COM_GET_AHX = 0x24
+
+# STATUS
+COM_GET_STAT1 = 0x08
+# 0x01 - vcc_ok
+# 0x02 - vin_ok
+# 0x04 - vdc_ok
+# 0x08 - vbt_ok
+# 0x10 - vba_ok
+# 0x20 - bt_enabled
+# 0x40 - ba_enabled
+# 0x80 - in_plugged
+
+COM_GET_STAT2 = 0x09
+# 0x01 - bt_blocked
+# 0x02 - ba_blocked
+# 0x04 - bt_full
+# 0x08 - ba_full
+# 0x10 - vpf_ok
+# 0x20 - vzu_ok
+# 0x40 - mv_enabled
+# 0x80 - us_enabled
+
+COM_GET_STAT3 = 0x20
+# 0x01 - abt_ok
+# 0x02 - aba_ok
+# 0x04 - ain_ok
+# 0x08 - ahx_ok
+
+# TEMP
+COM_GET_POWER_TEMP = 0x10
+
+VIN_MIN = 10.0
+VIN_MAX = 14.0
+VIN_LOW = 11.0
+VIN_HIGH = 13.0
+
+VDC_MIN = 5.0
+VDC_MAX = 5.7
+VDC_LOW = 5.1
+VDC_HIGH = 5.5
+
+VBT_MIN = 3.65
+VBT_MAX = 4.25
+VBT_LOW = 3.68
+VBT_FULL = 4.1
+
+VBA_MIN = 9.0
+VBA_MAX = 12.8
+VBA_LOW = 10.0
+VBA_FULL = 12.4
+
+VPF_MIN = 7.2
+VPF_MAX = 10.0
+VPF_LOW = 8.0
+VPF_HIGH = 9.6
+
+VZU_MIN = 5.0
+VZU_MAX = 6.3
+VZU_LOW = 5.2
+VZU_HIGH = 6.2
+
+VCC_MIN = 4.5
+VCC_MAX = 5.3
+VCC_LOW = 4.7
+VCC_HIGH = 5.1
+
+ABT_MIN = 0.3
+ABT_MAX = 2.0
+ABT_LOW = 0.4
+ABT_HIGH = 1.2
+
+ABA_MIN = 0.05
+ABA_MAX = 2.0
+ABA_LOW = 0.5
+ABA_HIGH = 1.5
+
+AIN_MIN = 0.05
+AIN_MAX = 2.0
+AIN_LOW = 0.1
+AIN_HIGH = 1.5
+
+AHX_MIN = 0.05
+AHX_MAX = 3.0
+AHX_LOW = 0.1
+AHX_HIGH = 1.5
+
+# RELAYS
+COM_ENABLE_BA = 0x11  # 17
+COM_ENABLE_MV = 0x12  # 18
+COM_ENABLE_BT = 0x13  # 19
+COM_ENABLE_US = 0x14  # 20
+
+COM_DISABLE_BA = 0x15  # 21
+COM_DISABLE_MV = 0x16  # 22
+COM_DISABLE_BT = 0x17  # 23
+COM_DISABLE_US = 0x18  # 24
+
+COM_RUN = 0x1B  # 27
+COM_STOP = 0x1C  # 28
+COM_RESET_US = 0x1D  # 29
+
+# HXserver
+SRV_PORT = 50306
+SRV_HOST = ''
+SRV_CMD_GET_ALL = 0x01
+SRV_TIMEOUT = 1
+SRV_MAX_ERR_COUNT = 3
+
+# RETURN CODES
+# Universal return codes
+OK_RSP = 0x00
+NO_RSP = 0xFF
+ERR_RSP = 0x01
+BLK_RSP = 0x02
+CSE_RSP = 0x03
+IOE_RSP = 0x04
+TMO_RSP = 0x05
+
+# HXbot modul flags
+I2C_BUS_ERR = 0x0001
+HXPOWER_ERR = 0x0002
+REFLEX_ERR = 0x0004
+SERVER_ERR = 0x0008
+
+JOYSTICK_WRN = 0x0010
+HXCAMERA_WRN = 0x0020
+HXLCD_WRN = 0x0040
+HXDB_WRN = 0x0080
+HXLIGHT_WRN = 0x0100
+HXSOUND_WRN = 0x0200
+HXLOG_WRN = 0x0400
+
+# HXlcd
+LCD_ADDRESS = 0x06
+LCD_ERROR_LIMIT = 5
+LCD_DELAY = 1
+LCD_RESPONSE_DELAY = 0.05
+
+# HXcam
+CAM_MAX_WRN_COUNT = 3
+CAM_DELAY = 1.0
+
+CAM_STATE_STP = 0
+CAM_STATE_RUN = 1
+CAM_STATE_WRN = 2
+CAM_STATE_ERR = 3
+
+# HXdb
+DB_DELAY = 10.0
+
+DB_HOST = 'localhost'
+DB_NAME = 'hxdb'
+DB_USER = 'hxdb'
+DB_PASS = 'hxdbP@S$'
@@ -0,0 +1,711 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot main program                   #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import HX
+import REflex
+import HXjoystick
+import HXpower
+import HXserver
+import HXcam
+import HXlcd
+import HXdb
+import time
+import smbus
+import sys
+import threading
+import RPi.GPIO as GPIO
+
+
+# MAIN CLASS
+class HXbotClass():
+
+    def __init__(self):
+        super(HXbotClass, self).__init__()
+
+        self.i2c_bus = None
+        self.hxpower = None
+        self.reflex = None
+        self.server = None
+
+        self.joystick = None
+        self.hxcam = None
+        self.hxlcd = None
+        self.hxdb = None
+        self.light = None
+        self.sound = None
+        self.log = None
+
+        self.status = HX.STATUS_INIT
+
+        self.hxpower_lock = threading.Lock()
+        self.reflex_lock = threading.Lock()
+        self.hxlcd_lock = threading.Lock()
+        self.hxdb_lock = threading.Lock()
+
+    def get_ready(self):
+        result = HX.OK_RSP
+
+        # Init I2C bus
+        try:
+            self.i2c_bus = smbus.SMBus(HX.I2C_BUS_NUMBER)
+        except IOError:
+            self.stop()
+            return result | HX.I2C_BUS_ERR
+
+        # Init hxpower
+        try:
+            self.hxpower = HXpower.HXpowerClass(self.i2c_bus, self.hxpower_lock)
+        except IOError:
+            self.stop()
+            return result | HX.HXPOWER_ERR
+
+        # Init reflex
+        try:
+            self.reflex = REflex.REflexClass(self)
+        except IOError:
+            self.stop()
+            return result | HX.REFLEX_ERR
+
+        # Init server
+        try:
+            self.server = HXserver.HXserverClass(self)
+        except OSError:
+            self.stop()
+            return result | HX.SERVER_ERR
+
+        # Init joystick
+        try:
+            self.joystick = HXjoystick.HXjoystickClass()
+        except OSError:
+            #self.joystick.stop()
+            #self.joystick = None
+            result |= HX.JOYSTICK_WRN
+
+        # Init hxcam
+        try:
+            self.hxcam = HXcam.HXcamClass()
+        except OSError:
+            self.hxcam.stop()
+            self.hxcam = None
+            result |= HX.HXCAMERA_WRN
+
+        # Init hxlcd
+        try:
+            self.hxlcd = HXlcd.HXlcdClass(self.i2c_bus, self.hxlcd_lock)
+        except OSError:
+            self.hxlcd.stop()
+            self.hxlcd = None
+            result |= HX.HXLCD_WRN
+
+        # Init hxdb
+        try:
+            self.hxdb = HXdb.HXdbClass(self)
+        except Exception:
+            #self.hxdb.stop()
+            self.hxdb = None
+            result |= HX.HXDB_WRN
+
+        # Init GPIO
+        GPIO.setmode(GPIO.BOARD)
+        #GPIO.setup(25, GPIO.OUT)
+
+        # Set status
+        self.status = True
+
+        return result
+
+    def start(self):
+        if self.status != HX.STATUS_READY:
+            return HX.BLK_RSP
+
+        # Start hxpower
+        self.hxpower.start()
+
+        # Start reflex
+        self.reflex.start()
+
+        # Start server
+        self.server.start()
+
+        # Start joystick
+        if self.joystick is not None:
+            self.joystick.start()
+
+        # Start camera
+        if self.hxcam is not None:
+            self.hxcam.start()
+
+        # Start lcd
+        if self.hxlcd is not None:
+            self.hxlcd.start()
+
+        # Start db
+        if self.hxdb is not None:
+            self.hxdb.start()
+
+        self.status = HX.STATUS_RUNNING
+
+        return HX.OK_RSP
+
+    def stop(self):
+        # Disable MV
+        self.hxpower.disable_mv()
+
+        # Disable camera
+        if self.hxcam:
+            # Stop process
+            if self.hxcam.is_running:
+                self.hxcam.stop()
+            # Clear property
+            self.hxcam = None
+
+        # Stop reflex
+        if self.reflex:
+            # Stop process
+            if self.reflex.is_running:
+                self.reflex.stop()
+            # Clear property
+            self.reflex = None
+
+        # Stop joystick
+        if self.joystick:
+            # Stop process
+            if self.joystick.is_running:
+                self.joystick.stop()
+            # Clear property
+            self.joystick = None
+
+        # Stop server
+        if self.server:
+            # Stop process
+            if self.server.is_running:
+                self.server.stop()
+            # Clear property
+            self.server = None
+
+        # Stop hxpower
+        if self.hxpower:
+            # Stop process
+            if self.hxpower.is_running:
+                self.hxpower.stop()
+            # Clear property
+            self.hxpower = None
+
+        # Stop hxlcd
+        if self.hxlcd:
+            # Stop process
+            if self.hxlcd.is_running:
+                self.hxlcd.stop()
+            # Clear property
+            self.hxlcd = None
+
+        # Stop hxdb
+        if self.hxdb:
+            # Stop process
+            if self.hxdb.is_running:
+                self.hxdb.stop()
+            # Clear property
+            self.hxdb = None
+
+        # Close I2C bus
+        if self.i2c_bus:
+            self.i2c_bus.close()
+            # Clear property
+            self.i2c_bus = None
+
+        # Set status
+        self.status = HX.STATUS_STOP
+
+        GPIO.cleanup()
+
+        return HX.OK_RSP
+
+    def get_temp(self):
+        try:
+            F = open("/sys/class/thermal/thermal_zone0/temp", "r")
+            T = float(F.read())
+        except IOError:
+            return -999
+        finally:
+            F.close()
+
+        return T / 1000
+
+
+# MAIN PROGRAM
+def main():
+    # INIT
+    print("Hi! I'am HXbot. Let's fun!'")
+    print("Type command or \"help\"")
+
+    # Create HXbot instance
+    hxbot = HXbotClass()
+
+    # Run
+    start(hxbot)
+
+    # MAIN LOOP
+    while True:
+        # Set command line view
+        if hxbot.status == HX.STATUS_INIT:
+            command_view = "INIT>"
+        elif hxbot.status == HX.STATUS_READY:
+            command_view = "READY>"
+        elif hxbot.status == HX.STATUS_RUNNING:
+            command_view = "RUNNING>"
+        elif hxbot.status == HX.STATUS_STOP:
+            command_view = "STOP>"
+        elif hxbot.status == HX.STATUS_EXIT:
+            command_view = "EXIT>"
+
+        command = input(command_view)
+
+        # COMMANDS
+        # Help
+        if command.lower() == "help":
+            print_help()
+
+        # Exit / Quit
+        elif command.lower() == "exit" or \
+             command.lower() == "quit":
+            stop(hxbot)
+            hxbot.status = HX.STATUS_EXIT
+            print("Exit...")
+            sys.exit()
+
+        # Status
+        elif command.lower() == "status":
+            print_status(hxbot)
+        # REflex control
+        elif command.lower() == "reflex":
+            reflex_control(hxbot)
+        # HXpower control
+        elif command.lower() == "hxpower":
+            hxpower_control(hxbot)
+        # HXcam control
+        elif command.lower() == "hxcam":
+            hxcam_control(hxbot)
+
+        # Get ready
+        elif command.lower() == "ready":
+            ready(hxbot)
+        # Start
+        elif command.lower() == "start":
+            start(hxbot)
+        # Stop
+        elif command.lower() == "stop":
+            stop(hxbot)
+        # Restart
+        elif command.lower() == "restart":
+            restart(hxbot)
+
+        # Test
+        elif command.lower() == "t":
+            t1 = time.clock()
+            print("t1:", t1)
+            time.sleep(5)
+            t2 = time.clock()
+            print("t2:", t2)
+            dt = t2 - t1
+            print("dt:", dt)
+
+        # WAT?
+        else:
+            print("WRONG COMMAND")
+            print("Try again or type \"help\"")
+
+    # EXIT
+    sys.exit()
+
+
+# FUNCTIONS
+def ready(hxbot):
+    if hxbot.status != HX.STATUS_READY:
+        print("Get ready...")
+        result = hxbot.get_ready()
+        print_result(result)
+    else:
+        print("HXbot already ready")
+
+
+def start(hxbot):
+    if hxbot.status != HX.STATUS_RUNNING:
+        if hxbot.status != HX.STATUS_READY:
+            ready(hxbot)
+
+        print("Start...")
+        result = hxbot.start()
+        print_result(result)
+    else:
+        print("HXbot already running")
+
+
+def stop(hxbot):
+    if hxbot.status != HX.STATUS_STOP:
+        print("Stop...")
+        result = hxbot.stop()
+        print_result(result)
+    else:
+        print("HXbot already stopped")
+
+
+def restart(hxbot):
+    stop(hxbot)
+    ready(hxbot)
+    start(hxbot)
+
+
+def print_help():
+    print("This is HXbot main program. You can type this commands:")
+    print("help   - this help")
+    print("exit |")
+    print("quit    - stop HXbot and exit")
+    print("status  - get status")
+    print("start   - start HXbot")
+    print("stop    - stop HXbot")
+    print("restart - stop HXbot")
+    print("reflex  - control REflex")
+    print("hxpower - control HXpower")
+
+
+def hxpower_help():
+    print("This is HXpower control program. You can type this commands:")
+    print("help  - this help")
+    print("exit  - main menu")
+    print("bt    - switch BT")
+    print("ba    - switch BA")
+    print("mv    - enable/disable moving")
+    print("us    - enable/disable USB")
+    print("0-255 - send raw command")
+
+
+def hxcam_help():
+    print("This is HXcam control program. You can type this commands:")
+    print("help  - this help")
+    print("exit  - main menu")
+    print("start - start HXcam")
+    print("stop  - stop HXcam")
+    print("restart - restart HXcam")
+
+
+def reflex_help():
+    print("This is REflex control program. You can type this commands:")
+    print("help  - this help")
+    print("exit  - main menu")
+    print("0-255 - send raw command")
+
+
+def print_result(result):
+    # Universal return codes
+    if result == HX.OK_RSP:
+        print("OK")
+    elif result == HX.NO_RSP:
+        print("WARNING: No response")
+    elif result == HX.ERR_RSP:
+        print("ERROR")
+    elif result == HX.BLK_RSP:
+        print("ERROR: Blocked")
+    elif result == HX.CSE_RSP:
+        print("ERROR: Wrong control sum")
+    elif result == HX.BLK_RSP:
+        print("ERROR: ")
+    elif result == HX.IOE_RSP:
+        print("ERROR: Input/output error")
+    elif result == HX.TMO_RSP:
+        print("ERROR: Timeout")
+
+    # HXbot extended return codes
+    elif result == HX.I2C_BUS_ERR:
+        print("ERROR: I2C bus not ready")
+    elif result == HX.HXPOWER_ERR:
+        print("ERROR: HXpower not ready")
+    elif result == HX.JOYSTICK_WRN:
+        print("WARNING: Joystick not found")
+    elif result == HX.REFLEX_ERR:
+        print("ERROR: REflex not ready")
+    elif result == HX.SERVER_ERR:
+        print("ERROR: Server not ready")
+    elif result == HX.HXCAMERA_WRN:
+        print("WARNING: Camera not ready")
+    elif result == HX.HXLCD_WRN:
+        print("WARNING: LCD module not ready")
+    elif result == HX.HXDB_WRN:
+        print("WARNING: DB module not ready")
+
+    # Unknown return code
+    else:
+        print("WARNING: Unknown return code received")
+
+
+def print_status(hxbot):
+    if (hxbot.status != HX.STATUS_READY and
+        hxbot.status != HX.STATUS_RUNNING):
+        print("HXbot is not in ready or running state!")
+        return
+
+    # Print voltages
+    print("Vcc =", hxbot.hxpower.vcc)
+    print("Vin =", hxbot.hxpower.vin)
+    print("Vdc =", hxbot.hxpower.vdc)
+    print("Vbt =", hxbot.hxpower.vbt)
+    print("Vba =", hxbot.hxpower.vba)
+    print("Vpf =", hxbot.hxpower.vpf)
+    print("Vzu =", hxbot.hxpower.vzu)
+
+    # Print currents
+    print("Abt =", hxbot.hxpower.abt)
+    print("Aba =", hxbot.hxpower.aba)
+    print("Ain =", hxbot.hxpower.ain)
+    print("Ahx =", hxbot.hxpower.ahx)
+
+    # Print temperature
+    print("CPU Temp:", hxbot.get_temp())
+    print("REflex Temp:", hxbot.reflex.get_temp())
+    #print("HXPower Temp:", )
+
+    # Print status
+    if hxbot.hxpower.vcc_ok:
+        print("Vcc - OK")
+    else:
+        print("Vcc - FAIL")
+    if hxbot.hxpower.vin_ok:
+        print("Vin - OK")
+    else:
+        print("Vin - FAIL")
+    if hxbot.hxpower.vdc_ok:
+        print("Vdc - OK")
+    else:
+        print("Vdc - FAIL")
+    if hxbot.hxpower.vbt_ok:
+        print("Vbt - OK")
+    else:
+        print("Vbt - FAIL")
+    if hxbot.hxpower.vba_ok:
+        print("Vba - OK")
+    else:
+        print("Vba - FAIL")
+    if hxbot.hxpower.vpf_ok:
+        print("Vpf - OK")
+    else:
+        print("Vpf - FAIL")
+    if hxbot.hxpower.vzu_ok:
+        print("Vzu - OK")
+    else:
+        print("Vzu - FAIL")
+
+    if hxbot.hxpower.abt_ok:
+        print("Abt - OK")
+    else:
+        print("Abt - FAIL")
+    if hxbot.hxpower.aba_ok:
+        print("Aba - OK")
+    else:
+        print("Aba - FAIL")
+    if hxbot.hxpower.ain_ok:
+        print("Ain - OK")
+    else:
+        print("Ain - FAIL")
+    if hxbot.hxpower.ahx_ok:
+        print("Ahx - OK")
+    else:
+        print("Ahx - FAIL")
+
+    if hxbot.hxpower.bt_enabled:
+        print("BT enabled")
+    else:
+        print("BT disabled")
+    if hxbot.hxpower.ba_enabled:
+        print("BA enabled")
+    else:
+        print("BA disabled")
+    if hxbot.hxpower.mv_enabled:
+        print("mv enabled")
+    else:
+        print("PF disabled")
+    if hxbot.hxpower.us_enabled:
+        print("USB power enabled")
+    else:
+        print("USB power disabled")
+    if hxbot.hxpower.bt_blocked:
+        print("BT blocked")
+    else:
+        print("BT unblocked")
+    if hxbot.hxpower.ba_blocked:
+        print("BA blocked")
+    else:
+        print("BA unblocked")
+
+    if hxbot.hxpower.in_plugged:
+        print("IN plugged")
+    else:
+        print("IN unplugged")
+
+    if hxbot.hxpower.bt_full:
+        print("BT charge complete")
+    if hxbot.hxpower.ba_full:
+        print("BA charge complete")
+
+    print()
+
+
+def reflex_control(hxbot):
+    if (hxbot.status != HX.STATUS_READY and
+        hxbot.status != HX.STATUS_RUNNING):
+        print("HXbot is not in ready or running state!")
+        return
+
+    rawCommand = 0x00
+    rawResponse = 0x00
+
+    print("Reflex control program. Type command or \"help\"")
+    print("Type \"exit\" to previous menu")
+    command_view = "REflex control>"
+
+    while True:
+        command = input(command_view)
+        if command.lower() == "exit":
+            break
+        elif command.lower() == "help":
+            reflex_help()
+        else:
+            # Try to send RAW command to REflex
+            try:
+                rawCommand = int(command)
+            except:
+                rawCommand = 0x00
+
+            if not rawCommand:
+                continue
+
+            with hxbot.reflex_lock:
+                hxbot.i2c_bus.write_byte(HX.REFLEX_ADDRESS, rawCommand)
+                print("Sent: ", rawCommand)
+                time.sleep(HX.REFLEX_RESPONSE_DELAY)
+                rawResponse = hxbot.i2c_bus.read_byte(HX.REFLEX_ADDRESS)
+                print("Received: ", rawResponse)
+
+
+def hxpower_control(hxbot):
+    if (hxbot.status != HX.STATUS_READY and
+        hxbot.status != HX.STATUS_RUNNING):
+        print("HXbot is not in ready or running state!")
+        return
+
+    rawCommand = 0x00
+    rawResponse = 0x00
+
+    print("HXpower control program. Type command or \"help\"")
+    print("Type \"exit\" to previous menu")
+    command_view = "HXpower control>"
+
+    while True:
+        command = input(command_view)
+        if command.lower() == "exit":
+            break
+        elif command.lower() == "help":
+            hxpower_help()
+        elif command.lower() == "bt":
+            if hxbot.hxpower.bt_enabled:
+                print("Disable BT...")
+                result = hxbot.hxpower.disable_bt()
+            else:
+                print("Enable BT...")
+                result = hxbot.hxpower.enable_bt()
+            print_result(result)
+        elif command.lower() == "ba":
+            if hxbot.hxpower.ba_enabled:
+                print("Disable BA...")
+                result = hxbot.hxpower.disable_ba()
+            else:
+                print("Enable BA...")
+                result = hxbot.hxpower.enable_ba()
+            print_result(result)
+        elif command.lower() == "mv":
+            if hxbot.hxpower.mv_enabled:
+                print("Disable MV...")
+                result = hxbot.hxpower.disable_mv()
+            else:
+                print("Enable MV...")
+                result = hxbot.hxpower.enable_mv()
+            print_result(result)
+        elif command.lower() == "us":
+            if hxbot.hxpower.us_enabled:
+                print("Disable USB power...")
+                result = hxbot.hxpower.disable_us()
+            else:
+                print("Enable USB power...")
+                result = hxbot.hxpower.enable_us()
+            print_result(result)
+        elif command.lower() == "reset":
+            GPIO.output(25, 0)
+            time.sleep(5)
+            GPIO.output(25, 1)
+        else:
+            # Try to send RAW command to HXpower
+            try:
+                rawCommand = int(command)
+            except:
+                rawCommand = 0x00
+                print("Wrong command!")
+
+            if not rawCommand:
+                continue
+
+            rawCommand = (rawCommand << 8) | (rawCommand ^ HX.XOR_SEQ)
+            try:
+                with hxbot.hxpower_lock:
+                    hxbot.i2c_bus.write_word_data(HX.POWER_ADDRESS,
+                        HX.EXT_COM, rawCommand)
+                    print("Sent:", rawCommand, "(", rawCommand, ")")
+                    time.sleep(HX.POWER_RESPONSE_DELAY)
+                    rawResponse = hxbot.i2c_bus.read_byte(HX.POWER_ADDRESS)
+                    print("Received:", rawResponse)
+            except IOError as E:
+                print(E)
+
+
+def hxcam_control(hxbot):
+    if (hxbot.status != HX.STATUS_READY and
+        hxbot.status != HX.STATUS_RUNNING):
+        print("HXbot is not in ready or running state!")
+        return
+
+    print("HXcam control program. Type command or \"help\"")
+    print("Type \"exit\" to previous menu")
+    command_view = "HXcam control>"
+
+    while True:
+        command = input(command_view)
+        if command.lower() == "exit":
+            break
+        elif command.lower() == "help":
+            hxcam_help()
+        elif command.lower() == "start":
+            print("Start HXcam")
+            if hxbot.hxcam.is_running:
+                print("Allready running")
+            else:
+                hxbot.hxcam.start()
+        elif command.lower() == "stop":
+            print("Stop HXcam")
+            if not hxbot.hxcam.is_running:
+                print("Not running")
+            else:
+                hxbot.hxcam.stop()
+        elif command.lower() == "restart":
+            print("Restart HXcam")
+            if hxbot.hxcam.is_running:
+                print("Stop...")
+                hxbot.hxcam.stop()
+            if not hxbot.hxcam.is_running:
+                print("Start...")
+                hxbot.hxcam.start()
+
+# MAIN PROGRAM
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,257 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot camera control module          #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import subprocess
+import threading
+#import select
+import time
+import sys
+import os.path as path
+import HX
+
+
+class HXcamClass():
+
+    def __init__(self):
+        super(HXcamClass, self).__init__()
+
+        self.__e = None
+        self.__t = None
+
+        self.mcam = None
+        self.rcam = None
+        self.mmic = None
+        self.rvid = None
+
+        self.is_running = False
+
+        # Subprocess states
+        # 0 - Not running
+        # 1 - Running
+        # 2 - Error
+        # 3 - Device not found
+        self.mcam_state = HX.CAM_STATE_STP
+        self.rvid_state = HX.CAM_STATE_STP
+        self.rcam_state = HX.CAM_STATE_STP
+        self.mmic_state = HX.CAM_STATE_STP
+
+        self.mcam_wrn_count = 0
+        self.rcam_wrn_count = 0
+        self.mmic_wrn_count = 0
+
+    def start(self):
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.mcam_start()
+        #self.rcam_start()
+        self.mmic_start()
+
+        self.__t.start()
+
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.__e = None
+        self.__t = None
+
+        self.mcam_stop()
+        #self.rcam_stop()
+        self.mmic_stop()
+
+        self.is_running = False
+
+    def restart(self):
+        if self.is_running:
+            self.__stop()
+        self.__start()
+
+    def test(self):
+        #import time
+        #import sys
+        #import shlex
+        #string = ""
+        #args = shlex.split(string)
+        #print(args)
+        #sys.exit()
+        pass
+
+    def mcam_start(self):
+        # cvlc 'v4l2:///dev/video0:chroma=H264:width=1280:height=720:fps=15'
+        # --sout '#rtp{sdp=rtsp://:8554/video}' -v --live-caching 50
+        if path.exists('/dev/video0'):
+            arg = 'v4l2:///dev/video0:chroma=H264:width=1280:height=720:fps=15'
+        elif path.exists('/dev/video1'):
+            arg = 'v4l2:///dev/video1:chroma=H264:width=1280:height=720:fps=15'
+        else:
+            self.mcam_state = HX.CAM_STATE_ERR
+            return
+
+        self.mcam = subprocess.Popen(
+            args=['/usr/bin/cvlc',
+                  arg,
+                  '--sout', '#rtp{sdp=rtsp://:8554/video}',
+                  '--live-caching', '50', 'vlc://quit'],
+            stdout=subprocess.DEVNULL,
+            stderr=subprocess.DEVNULL)
+
+        self.mcam_state = HX.CAM_STATE_RUN
+
+    def mcam_stop(self):
+        if self.mcam_state != HX.CAM_STATE_ERR:
+            self.mcam.terminate()
+            self.mcam_state = HX.CAM_STATE_STP
+
+    def rcam_start(self):
+        # raspivid -t 0 -n -w 1280 -h 720 -fps 15 -o - |
+        # cvlc -v stream:///dev/stdin
+        # --sout '#rtp{sdp=rtsp://:8555/video}' :demux=h264
+        self.rvid = subprocess.Popen(
+            args=['raspivid', '-t', '0', '-n', '-w', '1280', '-h', '720',
+                  '-fps', '15', '-o', '-'],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.DEVNULL)
+
+        self.rcam = subprocess.Popen(
+            args=['cvlc', 'stream:///dev/stdin', '--sout',
+                  '#rtp{sdp=rtsp://:8555/video}', ':demux=h264',
+                  '--live-caching', '50', 'vlc://quit'],
+            stdin=self.rvid.stdout,
+            stdout=subprocess.DEVNULL,
+            stderr=subprocess.DEVNULL)
+
+        self.rcam_state = HX.CAM_STATE_RUN
+
+    def rcam_stop(self):
+        if self.rcam_state != HX.CAM_STATE_ERR:
+            self.rvid.terminate()
+            self.rcam.terminate()
+            self.rcam_state = HX.CAM_STATE_STP
+
+    def mmic_start(self):
+        # cvlc -v 'alsa://hw:1,0'
+        # --sout '#transcode{acodec=mpga,ab=128,channels=2,samplerate=44100}
+        # :rtp{sdp=rtsp://:8556/audio}'
+        self.mmic = subprocess.Popen(
+            args=['cvlc', 'alsa://hw:0,0', '--sout',
+                  '#transcode{acodec=mpga,ab=128,channels=2,samplerate=44100}' +
+                  ':rtp{sdp=rtsp://:8556/audio}',
+                  '--live-caching', '500', 'vlc://quit'],
+            stdout=subprocess.DEVNULL,
+            stderr=subprocess.DEVNULL)
+
+        self.mmic_state = HX.CAM_STATE_RUN
+
+    def mmic_stop(self):
+        if self.mmic_state != HX.CAM_STATE_ERR:
+            self.mmic.terminate()
+            self.mmic_state = HX.CAM_STATE_STP
+
+    def __process(self, stopRequest):
+        # Process loop
+        while not stopRequest.is_set():
+            # Main Camera
+            if self.mcam_state != HX.CAM_STATE_ERR:
+                if self.mcam.poll() is not None:
+                    self.mcam_start()
+
+                    if self.mcam_state != HX.CAM_STATE_WRN:
+                        self.mcam_wrn_count += 1
+
+                    if self.mcam_wrn_count >= HX.CAM_MAX_WRN_COUNT:
+                        self.mcam_state = HX.CAM_STATE_WRN
+
+            # Rear Camera
+            #if self.rcam_state != HX.CAM_STATE_ERR:
+                #if self.rcam.poll() is not None:
+                    #self.rcam_start()
+
+                    #if self.rcam_state != HX.CAM_STATE_WRN:
+                        #self.rcam_wrn_count += 1
+
+                    #if self.rcam_wrn_count >= HX.CAM_MAX_WRN_COUNT:
+                        #self.rcam_state = HX.CAM_STATE_WRN
+
+            # Main Microphone
+            if self.mmic_state != HX.CAM_STATE_ERR:
+                if self.mmic.poll() is not None:
+                    self.mmic_start()
+
+                    if self.mmic_state != HX.CAM_STATE_WRN:
+                        self.mmic_wrn_count += 1
+
+                    if self.mmic_wrn_count >= HX.CAM_MAX_WRN_COUNT:
+                        self.mmic_state = HX.CAM_STATE_WRN
+
+            time.sleep(HX.CAM_DELAY)
+
+            #if self.mcam_state == 1:
+                ## VLC-1
+                #r, w, e = select.select([self.mcam.stderr], [], [], 0.5)
+                #if self.mcam.stderr in r:
+                    #print("VLC-1 ERROR:")
+                    #print(self.mcam.stderr.readline())
+
+                #r, w, e = select.select([self.mcam.stdout], [], [], 0.5)
+                #if self.mcam.stdout in r:
+                    #print("VLC-1 OUT:")
+                    #print(self.mcam.stdout.readline())
+
+            #if self.rvid_state == 1:
+                ## VLC-2
+                #r, w, e = select.select([self.rvid.stderr], [], [], 0.5)
+                #if self.rvid.stderr in r:
+                    #print("RVID ERROR:")
+                    #print(self.rvid.stderr.readline())
+
+                #r, w, e = select.select([self.rcam.stderr], [], [], 0.5)
+                #if self.rcam.stderr in r:
+                    #print("VLC-2 ERROR:")
+                    #print(self.rcam.stderr.readline())
+
+                #r, w, e = select.select([self.rcam.stdout], [], [], 0.5)
+                #if self.rcam.stdout in r:
+                    #print("VLC-2 OUT:")
+                    #print(self.rcam.stdout.readline())
+
+            #if self.mmic_state == 1:
+                ## VLC-3
+                #r, w, e = select.select([self.mmic.stderr], [], [], 0)
+                #if self.mmic.stderr in r:
+                    #print("MMIC ERROR:")
+                    #print(self.mmic.stderr.readline())
+
+                #r, w, e = select.select([self.mmic.stdout], [], [], 0.5)
+                #if self.mmic.stdout in r:
+                    #print("MMIC OUT:")
+                    #print(self.mmic.stdout.readline())
+
+
+def main():
+    HXcam = HXcamClass()
+    HXcam.start()
+
+    print("Execution started")
+
+    command_view = '"Return" or CTRL+C to exit>'
+    try:
+        while True:
+            command = input(command_view)
+
+            if command == "":
+                HXcam.stop()
+                sys.exit()
+
+    except KeyboardInterrupt:
+        print("Terminate...")
+        HXcam.stop()
+
+
+if __name__ == '__main__':
+    main()
@@ -0,0 +1,132 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot database module                #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import HX
+import threading
+import time
+import mysql.connector
+from mysql.connector import errorcode
+
+
+class HXdbClass():
+
+    def __init__(self, hxbot):
+        super(HXdbClass, self).__init__()
+
+        self.hxbot = hxbot
+
+        self.hxpower = None
+        self.reflex = None
+        self.joystick = None
+        self.hxlcd = None
+        self.hxcam = None
+
+        self.__e = None
+        self.__t = None
+
+        self.is_running = False
+
+        try:
+            self.cnx = mysql.connector.connect(user=HX.DB_USER,
+                                               password=HX.DB_PASS,
+                                               host=HX.DB_HOST,
+                                               database=HX.DB_NAME)
+        except mysql.connector.Error as err:
+            if err.errno == errorcode.ER_ACCESS_DENIED_ERROR:
+                print("Something is wrong with your user name or password")
+            elif err.errno == errorcode.ER_BAD_DB_ERROR:
+                print("Database does not exist")
+            else:
+                print(err)
+            self.cnx = None
+
+            raise
+
+    def start(self):
+        self.hxpower = self.hxbot.hxpower
+        self.reflex = self.hxbot.reflex
+        self.joystick = self.hxbot.joystick
+        self.hxlcd = self.hxbot.hxlcd
+        self.hxcam = self.hxbot.hxcam
+
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.__t.start()
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.is_running = False
+
+        if self.cnx is not None:
+            self.cnx.close()
+
+        self.hxpower = None
+        self.reflex = None
+        self.joystick = None
+        self.hxlcd = None
+        self.hxcam = None
+
+        self.__e = None
+        self.__t = None
+
+    def __process(self, stopRequest):
+        cursor = self.cnx.cursor()
+        pw = self.hxpower
+
+        insert_state = ("INSERT INTO states "
+                        "(vcc, vin, vdc, vbt, vba, vis, vzu, "
+                        "ahx, aba, ain, adc, "
+                        "vcc_ok, vin_ok, vdc_ok, vbt_ok, vba_ok, "
+                        "vis_ok, vzu_ok, "
+                        "ahx_ok, aba_ok, ain_ok, adc_ok, "
+                        "lr_enabled, ba_enabled, ba_blocked, "
+                        "vcc_low, vcc_high, vin_low, vin_high, "
+                        "vdc_low, vdc_high, vbt_low, vbt_full, "
+                        "vba_low, vba_full, vis_low, vis_high, "
+                        "vzu_low, vzu_high, "
+                        "ahx_low, ahx_high, aba_low, aba_high, "
+                        "ain_low, ain_high, adc_low, adc_high, "
+                        "pf_enabled, bl_enabled, bl_powered, "
+                        "bl_error, ba_full, ba_charge) "
+                        "VALUES ("
+                        "%s, %s, %s, %s, %s, %s, %s, %s, %s, %s, "
+                        "%s, %s, %s, %s, %s, %s, %s, %s, %s, %s, "
+                        "%s, %s, %s, %s, %s, %s, %s, %s, %s, %s, "
+                        "%s, %s, %s, %s, %s, %s, %s, %s, %s, %s, "
+                        "%s, %s, %s, %s, %s, %s, %s, %s, %s, %s, "
+                        "%s, %s, %s)")
+
+        while not stopRequest.is_set():
+            # Get Data
+            state = (pw.vcc, pw.vin, pw.vdc, pw.vbt, pw.vba, pw.vis,
+                     pw.vzu, pw.ahx, pw.aba, pw.ain, pw.adc, pw.vcc_ok,
+                     pw.vin_ok, pw.vdc_ok, pw.vbt_ok, pw.vba_ok,
+                     pw.vis_ok, pw.vzu_ok,
+                     pw.ahx_ok, pw.aba_ok, pw.ain_ok, pw.adc_ok,
+                     pw.lr_enabled, pw.ba_enabled, pw.ba_blocked,
+                     pw.vcc_low, pw.vcc_high, pw.vin_low, pw.vin_high,
+                     pw.vdc_low, pw.vdc_high, pw.vbt_low, pw.vbt_full,
+                     pw.vba_low, pw.vba_full, pw.vis_low, pw.vis_high,
+                     pw.vzu_low, pw.vzu_high, pw.ahx_low, pw.ahx_high,
+                     pw.aba_low, pw.aba_high, pw.ain_low, pw.ain_high,
+                     pw.adc_low, pw.adc_high,
+                     pw.pf_enabled, pw.bl_enabled,
+                     pw.bl_powered, pw.bl_error,
+                     pw.ba_full, pw.ba_charge)
+
+            # Insert Data
+            if pw.online:
+                cursor.execute(insert_state, state)
+                self.cnx.commit()
+
+            # Delay
+            time.sleep(HX.DB_DELAY)
+
+        cursor.close()
@@ -0,0 +1,234 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot controller module              #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import HX
+import threading
+import array
+import struct
+import select
+import time
+from fcntl import ioctl
+
+
+class HXjoystickClass():
+
+    def __init__(self):
+        super(HXjoystickClass, self).__init__()
+
+        self.__e = None
+        self.__t = None
+        self.ready = False
+
+        self.device = open(HX.JOYSTICK_PATH, 'rb')
+
+        self.name = ""
+        self.axis_states = {}
+        self.button_states = {}
+        self.axis_map = []
+        self.button_map = []
+        self.axis_names = HX.JOYSTICK_AXIS_NAMES
+        self.button_names = HX.JOYSTICK_BUTTON_NAMES
+
+        self.online = False
+        self.is_running = False
+        self.last_command_time = 0.0
+
+        # Get the device name.
+        buf = array.array('B', [0] * 64)
+        # JSIOCGNAME(len)
+        ioctl(self.device, 0x80006a13 + (0x10000 * len(buf)), buf)
+        self.name = buf.tostring()
+        #print('Device name: %s' % js_name)
+
+        # Get number of axes and buttons.
+        buf = array.array('B', [0])
+        ioctl(self.device, 0x80016a11, buf)  # JSIOCGAXES
+        num_axes = buf[0]
+
+        buf = array.array('B', [0])
+        ioctl(self.device, 0x80016a12, buf)  # JSIOCGBUTTONS
+        num_buttons = buf[0]
+
+        # Get the axis map.
+        buf = array.array('B', [0] * 0x40)
+        ioctl(self.device, 0x80406a32, buf)  # JSIOCGAXMAP
+
+        for axis in buf[:num_axes]:
+            axis_name = self.axis_names.get(axis, 'unknown(0x%02x)' % axis)
+            self.axis_map.append(axis_name)
+            self.axis_states[axis_name] = 0.0
+
+        # Get the button map.
+        buf = array.array('H', [0] * 200)
+        ioctl(self.device, 0x80406a34, buf)  # JSIOCGBTNMAP
+
+        for btn in buf[:num_buttons]:
+            btn_name = self.button_names.get(btn, 'unknown(0x%03x)' % btn)
+            self.button_map.append(btn_name)
+            self.button_states[btn_name] = 0
+
+        #print('%d axes found: %s' % (num_axes, ', '.join(self.axis_map)))
+        #print('%d btns found: %s' % (num_buttons, ', '.join(self.button_map)))
+
+    def start(self):
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.__t.start()
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.is_running = False
+
+        self.__e = None
+        self.__t = None
+
+    def __process(self, stopRequest):
+        while not stopRequest.is_set():
+            r, w, e = select.select([self.device], [], [], 0.8)
+            if self.device in r:
+                try:
+                    evbuf = self.device.read(8)
+                    self.online = True
+                except OSError:
+                    self.online = False
+                    self.ready = False
+                    continue
+
+                if evbuf:
+                    time_, value, type, number = struct.unpack('IhBB', evbuf)
+
+                    # Save last command time
+                    self.last_command_time = time.clock()
+
+                    #if type & 0x80:
+                        #print("(initial)")
+
+                    if type & 0x01:
+                        button = self.button_map[number]
+                        if button:
+                            self.button_states[button] = value
+                            #if value:
+                                #print("%s pressed" % (button))
+                            #else:
+                                #print("%s released" % (button))
+
+                    if type & 0x02:
+                        axis = self.axis_map[number]
+                        if axis:
+                            fvalue = value / 32767.0
+                            self.axis_states[axis] = fvalue
+                            #print("%s: %.3f" % (axis, fvalue))
+
+                # Switch ready property
+                if (self.button_states[HX.JOYSTICK_START_BTN_1] and
+                    self.button_states[HX.JOYSTICK_START_BTN_2]):
+                    if self.ready:
+                        self.ready = False
+                    else:
+                        self.ready = True
+
+            # Timeout? Relax...
+            elif time.clock() - self.last_command_time >= \
+                HX.JOYSTICK_READY_TIMEOUT / 100:
+                self.ready = False
+
+    def get_m(self):
+        axis_move = self.axis_states[HX.JOYSTICK_MOVE_AXIS]
+        axis_steer = self.axis_states[HX.JOYSTICK_STEER_AXIS]
+
+        axis_head_v = self.axis_states[HX.JOYSTICK_HEAD_V_AXIS]
+        axis_head_h = self.axis_states[HX.JOYSTICK_HEAD_H_AXIS]
+
+        # STOP (FLOAT)
+        if (axis_move >= -1 / 8) and (axis_move <= 1 / 8):
+            move = HX.MOVE_FLOAT
+
+        # MOVE FORWARD
+        elif (axis_move >= -2 / 8) and (axis_move < -1 / 8):
+            move = HX.MOVE_FWD1
+        elif (axis_move >= -3 / 8) and (axis_move < -2 / 8):
+            move = HX.MOVE_FWD2
+        elif (axis_move >= -4 / 8) and (axis_move < -3 / 8):
+            move = HX.MOVE_FWD3
+        elif (axis_move >= -5 / 8) and (axis_move < -4 / 8):
+            move = HX.MOVE_FWD4
+        elif (axis_move >= -6 / 8) and (axis_move < -5 / 8):
+            move = HX.MOVE_FWD5
+        elif (axis_move >= -7 / 8) and (axis_move < -6 / 8):
+            move = HX.MOVE_FWD6
+        elif (axis_move >= -1) and (axis_move < -7 / 8):
+            move = HX.MOVE_FWD7
+
+        # MOVE BACKWARD
+        elif (axis_move > 1 / 8) and (axis_move <= 2 / 8):
+            move = HX.MOVE_REV1
+        elif (axis_move > 2 / 8) and (axis_move <= 3 / 8):
+            move = HX.MOVE_REV2
+        elif (axis_move > 3 / 8) and (axis_move <= 4 / 8):
+            move = HX.MOVE_REV3
+        elif (axis_move > 4 / 8) and (axis_move <= 5 / 8):
+            move = HX.MOVE_REV4
+        elif (axis_move > 5 / 8) and (axis_move <= 6 / 8):
+            move = HX.MOVE_REV5
+        elif (axis_move > 6 / 8) and (axis_move <= 7 / 8):
+            move = HX.MOVE_REV6
+        elif (axis_move > 7 / 8) and (axis_move <= 1):
+            move = HX.MOVE_REV7
+
+        # CENTER (FLOAT)
+        if (axis_steer >= -1 / 8) and (axis_steer <= 1 / 8):
+            steer = HX.STEER_CENTER
+
+        # STEER LEFT
+        elif (axis_steer >= -2 / 8) and (axis_steer < -1 / 8):
+            steer = HX.STEER_LEFT1
+        elif (axis_steer >= -3 / 8) and (axis_steer < -2 / 8):
+            steer = HX.STEER_LEFT2
+        elif (axis_steer >= -4 / 8) and (axis_steer < -3 / 8):
+            steer = HX.STEER_LEFT3
+        elif (axis_steer >= -5 / 8) and (axis_steer < -4 / 8):
+            steer = HX.STEER_LEFT4
+        elif (axis_steer >= -6 / 8) and (axis_steer < -5 / 8):
+            steer = HX.STEER_LEFT5
+        elif (axis_steer >= -7 / 8) and (axis_steer < -6 / 8):
+            steer = HX.STEER_LEFT6
+        elif (axis_steer >= -1) and (axis_steer < -7 / 8):
+            steer = HX.STEER_LEFT7
+
+        # STEER RIGHT
+        elif (axis_steer > 1 / 8) and (axis_steer <= 2 / 8):
+            steer = HX.STEER_RIGHT1
+        elif (axis_steer > 2 / 8) and (axis_steer <= 3 / 8):
+            steer = HX.STEER_RIGHT2
+        elif (axis_steer > 3 / 8) and (axis_steer <= 4 / 8):
+            steer = HX.STEER_RIGHT3
+        elif (axis_steer > 4 / 8) and (axis_steer <= 5 / 8):
+            steer = HX.STEER_RIGHT4
+        elif (axis_steer > 5 / 8) and (axis_steer <= 6 / 8):
+            steer = HX.STEER_RIGHT5
+        elif (axis_steer > 6 / 8) and (axis_steer <= 7 / 8):
+            steer = HX.STEER_RIGHT6
+        elif (axis_steer > 7 / 8) and (axis_steer <= 1):
+            steer = HX.STEER_RIGHT7
+
+        # Head V
+        if axis_head_v > 0:
+            head_v = int(HX.HEAD_V_CENTER - HX.HEAD_V_UP_RANGE * axis_head_v)
+        else:
+            head_v = int(HX.HEAD_V_CENTER - HX.HEAD_V_DOWN_RANGE * axis_head_v)
+
+        # Head H
+        if axis_head_h > 0:
+            head_h = int(HX.HEAD_H_CENTER - HX.HEAD_H_R_RANGE * axis_head_h)
+        else:
+            head_h = int(HX.HEAD_H_CENTER - HX.HEAD_H_L_RANGE * axis_head_h)
+
+        # Return
+        return (True, move, steer, head_v, head_h)
@@ -0,0 +1,149 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot LCD module                     #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import HX
+import threading
+import time
+import array
+import struct
+
+
+class HXlcdClass():
+
+    def __init__(self, i2c_bus, lock):
+        super(HXlcdClass, self).__init__()
+
+        self.i2c_bus = i2c_bus
+        self.__e = None
+        self.__t = None
+
+        self.lock = lock
+        self.online = False
+        self.is_running = False
+        self.error_count = 0
+
+    def start(self):
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.__t.start()
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.is_running = False
+
+        self.__e = None
+        self.__t = None
+
+    def __process(self, stopRequest):
+        while not stopRequest.is_set():
+            try:
+                self.__send_command(HX.COM_PING)
+
+                self.online = True
+
+            except IOError:
+                if self.online:
+                    self.error_count += 1
+
+            # Too many errors
+            if self.error_count >= HX.LCD_ERROR_LIMIT:
+                self.online = False
+
+            # Delay
+            time.sleep(HX.LCD_DELAY)
+
+    def __sum_check(self, val, sum_):
+        tmp = 0x00
+        for b in val:
+            tmp ^= b
+        tmp ^= HX.XOR_SEQ
+        if tmp == sum_:
+            return True
+        else:
+            return False
+
+    def __read_float(self, cmd):
+        # Byte array
+        data = array.array('B', [0, 0, 0, 0])
+        with self.lock:
+            # Send command
+            self.__write_byte(cmd)
+            time.sleep(HX.LCD_RESPONSE_DELAY)
+
+            # Get bytes
+            data[0] = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+            data[1] = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+            data[2] = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+            data[3] = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+
+            # Get check sum
+            sum_ = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+
+        # Check and return value
+        if self.__sum_check(data, sum_):
+            return struct.unpack('f', data)[0]
+        else:
+            return None
+
+    def __read_byte(self, cmd):
+        with self.lock:
+            # Send command
+            self.__write_byte(cmd)
+            time.sleep(HX.LCD_RESPONSE_DELAY)
+
+            # Get byte
+            data = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+
+            # Get check sum
+            sum_ = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+
+        # Check and return value
+        if data ^ HX.XOR_SEQ == sum_:
+            return data
+        else:
+            return None
+
+    def __write_byte(self, cmd):
+        cmd = (cmd << 8) | (cmd ^ HX.XOR_SEQ)
+        self.i2c_bus.write_word_data(HX.LCD_ADDRESS, HX.EXT_COM, cmd)
+
+    def send_cmd(self, cmd):
+        try:
+            with self.lock:
+                # Send command
+                self.__write_byte(cmd)
+                time.sleep(HX.LCD_RESPONSE_DELAY)
+
+                # Get response
+                response = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+
+                # Return
+                return response
+        except IOError:
+            return HX.IOE_RSP
+
+    def __send_command(self, command):
+        try:
+            with self.lock:
+                self.i2c_bus.write_word_data(HX.LCD_ADDRESS, command, 0)
+                time.sleep(HX.LCD_RESPONSE_DELAY)
+                response = self.i2c_bus.read_byte(HX.LCD_ADDRESS)
+        except IOError:
+            if self.online:
+                self.error_count += 1
+            if self.error_count >= HX.LCD_ERROR_LIMIT:
+                self.online = False
+            return HX.IOE_RSP
+        else:
+            self.error_count = 0
+            self.online = True
+            return response
+
+        return HX.NO_RSP
@@ -0,0 +1 @@
+# -*- coding: utf-8 -*-
@@ -0,0 +1 @@
+# -*- coding: utf-8 -*-
@@ -0,0 +1,587 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot power control module           #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import HX
+import threading
+import time
+import array
+import struct
+
+
+class HXpowerClass():
+
+    def __init__(self, i2c_bus, lock):
+        super(HXpowerClass, self).__init__()
+
+        self.i2c_bus = i2c_bus
+        self.__e = None
+        self.__t = None
+        self.lock = lock
+
+        # MV
+        self.__mv_enable_time = 0.0
+        self.mv_blocked = True
+
+        # HXpower data
+        self.online = False
+        self.is_running = False
+        self.error_count = 0
+
+        self.status = 0x000000
+        self.vcc = 0.0
+        self.vin = 0.0
+        self.vdc = 0.0
+        self.vbt = 0.0
+        self.vba = 0.0
+        self.vpf = 0.0
+        self.vzu = 0.0
+        self.abt = 0.0
+        self.aba = 0.0
+        self.ain = 0.0
+        self.ahx = 0.0
+        self.vcc_ok = False
+        self.vin_ok = False
+        self.vdc_ok = False
+        self.vbt_ok = False
+        self.vba_ok = False
+        self.vpf_ok = False
+        self.vzu_ok = False
+        self.abt_ok = False
+        self.aba_ok = False
+        self.ain_ok = False
+        self.ahx_ok = False
+        self.bt_enabled = False
+        self.ba_enabled = False
+        self.bt_blocked = False
+        self.ba_blocked = False
+        self.vcc_low = False
+        self.vcc_high = False
+        self.vin_low = False
+        self.vin_high = False
+        self.vdc_low = False
+        self.vdc_high = False
+        self.vbt_low = False
+        self.vbt_full = False
+        self.vba_low = False
+        self.vba_full = False
+        self.vpf_low = False
+        self.vpf_high = False
+        self.vzu_low = False
+        self.vzu_high = False
+        self.abt_low = False
+        self.abt_high = False
+        self.aba_low = False
+        self.aba_high = False
+        self.ain_low = False
+        self.ain_high = False
+        self.ahx_low = False
+        self.ahx_high = False
+
+        self.mv_enabled = False
+        self.us_enabled = False
+
+        self.in_plugged = False
+        self.ba_full = False
+        self.bt_full = False
+
+    def start(self):
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.__t.start()
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.is_running = False
+
+        self.__e = None
+        self.__t = None
+
+    def __process(self, stopRequest):
+        stat1 = 0x00
+        stat2 = 0x00
+        stat3 = 0x00
+
+        # Process loop
+        while not stopRequest.is_set():
+            try:
+                self.status = 0x0000
+
+                # Get status 1
+                tmp = self.__read_byte(HX.COM_GET_STAT1)
+                if tmp is not None:
+                    stat1 = tmp << 8
+                else:
+                    if self.online:
+                        self.error_count += 1
+
+                # Get status 2
+                tmp = self.__read_byte(HX.COM_GET_STAT2)
+                if tmp is not None:
+                    stat2 = tmp
+                else:
+                    if self.online:
+                        self.error_count += 1
+
+                # Get status 3
+                tmp = self.__read_byte(HX.COM_GET_STAT3)
+                if tmp is not None:
+                    stat3 = tmp << 16
+                else:
+                    if self.online:
+                        self.error_count += 1
+
+                self.status |= stat1
+                self.status |= stat2
+                self.status |= stat3
+
+                # Get Voltages
+                tmp = self.__read_float(HX.COM_GET_VCC)
+                if tmp is not None:
+                    self.vcc = tmp
+
+                tmp = self.__read_float(HX.COM_GET_VIN)
+                if tmp is not None:
+                    self.vin = tmp
+
+                tmp = self.__read_float(HX.COM_GET_VDC)
+                if tmp is not None:
+                    self.vdc = tmp
+
+                tmp = self.__read_float(HX.COM_GET_VBT)
+                if tmp is not None:
+                    self.vbt = tmp
+
+                tmp = self.__read_float(HX.COM_GET_VBA)
+                if tmp is not None:
+                    self.vba = tmp
+
+                tmp = self.__read_float(HX.COM_GET_VPF)
+                if tmp is not None:
+                    self.vpf = tmp
+
+                tmp = self.__read_float(HX.COM_GET_VZU)
+                if tmp is not None:
+                    self.vzu = tmp
+
+                tmp = self.__read_float(HX.COM_GET_ABT)
+                if tmp is not None:
+                    self.abt = tmp
+
+                tmp = self.__read_float(HX.COM_GET_ABA)
+                if tmp is not None:
+                    self.aba = tmp
+
+                tmp = self.__read_float(HX.COM_GET_AIN)
+                if tmp is not None:
+                    self.ain = tmp
+
+                tmp = self.__read_float(HX.COM_GET_AHX)
+                if tmp is not None:
+                    self.ahx = tmp
+
+                self.online = True
+                self.error_count = 0
+            except IOError:
+                if self.online:
+                    self.error_count += 1
+
+            # Decode Status
+            if self.status & 0x0100:
+                self.vcc_ok = True
+            else:
+                self.vcc_ok = False
+
+            if self.status & 0x0200:
+                self.vin_ok = True
+            else:
+                self.vin_ok = False
+
+            if self.status & 0x0400:
+                self.vdc_ok = True
+            else:
+                self.vdc_ok = False
+
+            if self.status & 0x0800:
+                self.vbt_ok = True
+            else:
+                self.vbt_ok = False
+
+            if self.status & 0x1000:
+                self.vba_ok = True
+            else:
+                self.vba_ok = False
+
+            if self.status & 0x0010:
+                self.vpf_ok = True
+            else:
+                self.vpf_ok = False
+
+            if self.status & 0x0020:
+                self.vzu_ok = True
+            else:
+                self.vzu_ok = False
+
+            if self.status & 0x2000:
+                self.bt_enabled = True
+            else:
+                self.bt_enabled = False
+
+            if self.status & 0x4000:
+                self.ba_enabled = True
+            else:
+                self.ba_enabled = False
+
+            if self.status & 0x0040:
+                self.mv_enabled = True
+            else:
+                self.mv_enabled = False
+
+            if self.status & 0x0080:
+                self.us_enabled = True
+            else:
+                self.us_enabled = False
+
+            if self.status & 0x8000:
+                self.in_plugged = True
+            else:
+                self.in_plugged = False
+
+            if self.status & 0x0001:
+                self.bt_blocked = True
+            else:
+                self.bt_blocked = False
+
+            if self.status & 0x0002:
+                self.ba_blocked = True
+            else:
+                self.ba_blocked = False
+
+            if self.status & 0x0004:
+                self.bt_full = True
+            else:
+                self.bt_full = False
+
+            if self.status & 0x0008:
+                self.ba_full = True
+            else:
+                self.ba_full = False
+
+            if self.status & 0x010000:
+                self.abt_ok = True
+            else:
+                self.abt_ok = False
+
+            if self.status & 0x020000:
+                self.aba_ok = True
+            else:
+                self.aba_ok = False
+
+            if self.status & 0x040000:
+                self.ain_ok = True
+            else:
+                self.ain_ok = False
+
+            if self.status & 0x080000:
+                self.ahx_ok = True
+            else:
+                self.ahx_ok = False
+
+            # LOW | HIGH
+            if self.vcc < HX.VCC_LOW:
+                self.vcc_low = True
+            else:
+                self.vcc_low = False
+
+            if self.vcc > HX.VCC_HIGH:
+                self.vcc_high = True
+            else:
+                self.vcc_high = False
+
+            if self.vin < HX.VIN_LOW:
+                self.vin_low = True
+            else:
+                self.vin_low = False
+
+            if self.vin > HX.VIN_HIGH:
+                self.vin_high = True
+            else:
+                self.vin_high = False
+
+            if self.vdc < HX.VDC_LOW:
+                self.vdc_low = True
+            else:
+                self.vdc_low = False
+
+            if self.vdc > HX.VDC_HIGH:
+                self.vdc_high = True
+            else:
+                self.vdc_high = False
+
+            if self.vbt < HX.VBT_LOW:
+                self.vbt_low = True
+            else:
+                self.vbt_low = False
+
+            if self.vbt > HX.VBT_FULL:
+                self.vbt_full = True
+            else:
+                self.vbt_full = False
+
+            if self.vba < HX.VBA_LOW:
+                self.vba_low = True
+            else:
+                self.vba_low = False
+
+            if self.vba > HX.VBA_FULL:
+                self.vba_full = True
+            else:
+                self.vba_full = False
+
+            if self.vpf < HX.VPF_LOW:
+                self.vpf_low = True
+            else:
+                self.vpf_low = False
+
+            if self.vpf > HX.VPF_HIGH:
+                self.vpf_high = True
+            else:
+                self.vpf_high = False
+
+            if self.vzu < HX.VZU_LOW:
+                self.vzu_low = True
+            else:
+                self.vzu_low = False
+
+            if self.vzu > HX.VZU_HIGH:
+                self.vzu_high = True
+            else:
+                self.vzu_high = False
+
+            if self.abt < HX.ABT_LOW:
+                self.abt_low = True
+            else:
+                self.abt_low = False
+
+            if self.abt > HX.ABT_HIGH:
+                self.abt_high = True
+            else:
+                self.abt_high = False
+
+            if self.aba < HX.ABA_LOW:
+                self.aba_low = True
+            else:
+                self.aba_low = False
+
+            if self.aba > HX.ABA_HIGH:
+                self.aba_high = True
+            else:
+                self.aba_high = False
+
+            if self.ain < HX.AIN_LOW:
+                self.ain_low = True
+            else:
+                self.ain_low = False
+
+            if self.ain > HX.AIN_HIGH:
+                self.ain_high = True
+            else:
+                self.ain_high = False
+
+            if self.ahx < HX.AHX_LOW:
+                self.ahx_low = True
+            else:
+                self.ahx_low = False
+
+            if self.ahx > HX.AHX_HIGH:
+                self.ahx_high = True
+            else:
+                self.ahx_high = False
+
+            # Too many errors
+            if self.error_count >= HX.POWER_ERROR_LIMIT:
+                self.online = False
+
+            # Unblock PF
+            if (self.mv_enabled and time.clock() - self.__mv_enable_time >=
+                HX.POWER_MV_TIMEOUT / 100):
+                self.mv_blocked = False
+
+            # Delay
+            time.sleep(HX.POWER_DELAY)
+
+    def __sum_check(self, val, sum_):
+        tmp = 0x00
+        for b in val:
+            tmp ^= b
+        tmp ^= HX.XOR_SEQ
+        if tmp == sum_:
+            return True
+        else:
+            return False
+
+    def __read_float(self, cmd):
+        # Byte array
+        data = array.array('B', [0, 0, 0, 0])
+        with self.lock:
+            # Send command
+            self.__write_byte(cmd)
+            time.sleep(HX.POWER_RESPONSE_DELAY)
+
+            # Get bytes
+            data[0] = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+            data[1] = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+            data[2] = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+            data[3] = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+
+            # Get check sum
+            sum_ = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+
+        # Check and return value
+        if self.__sum_check(data, sum_):
+            return struct.unpack('f', data)[0]
+        else:
+            return None
+
+    def __read_byte(self, cmd):
+        with self.lock:
+            # Send command
+            self.__write_byte(cmd)
+            time.sleep(HX.POWER_RESPONSE_DELAY)
+
+            # Get byte
+            data = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+
+            # Get check sum
+            sum_ = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+
+        # Check and return value
+        if data ^ HX.XOR_SEQ == sum_:
+            return data
+        else:
+            return None
+
+    def __write_byte(self, cmd):
+        cmd = (cmd << 8) | (cmd ^ HX.XOR_SEQ)
+        self.i2c_bus.write_word_data(HX.POWER_ADDRESS, HX.EXT_COM, cmd)
+
+    def send_cmd(self, cmd):
+        try:
+            with self.lock:
+                # Send command
+                self.__write_byte(cmd)
+                time.sleep(HX.POWER_RESPONSE_DELAY)
+
+                # Get response
+                response = self.i2c_bus.read_byte(HX.POWER_ADDRESS)
+
+                # Return
+                return response
+        except IOError:
+            return HX.IOE_RSP
+
+    def enable_bt(self):
+        # Enable power from BT
+        if not self.bt_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_ENABLE_BT)
+
+            # Return
+            return result
+        else:
+            # Already enabled? OK!
+            return HX.OK_RSP
+
+    def disable_bt(self):
+        # Disable power from BT
+        if self.bt_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_DISABLE_BT)
+
+            # Return
+            return result
+        else:
+            # Already disabled? OK!
+            return HX.OK_RSP
+
+    def enable_us(self):
+        # Enable USB power
+        if not self.us_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_ENABLE_US)
+
+            # Return
+            return result
+        else:
+            # Already enabled? OK!
+            return HX.OK_RSP
+
+    def disable_us(self):
+        # Disable USB power
+        if self.us_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_DISABLE_US)
+
+            # Return
+            return result
+        else:
+            # Already disabled? OK!
+            return HX.OK_RSP
+
+    def enable_mv(self):
+        # Enable PowerFunctions and servos
+        if not self.mv_enabled:
+            # Save MV enable time
+            self.__mv_enable_time = time.clock()
+            self.mv_blocked = True
+
+            # Run command
+            result = self.send_cmd(HX.COM_ENABLE_MV)
+
+            # Return
+            return result
+        else:
+            # Already enabled? OK!
+            return HX.OK_RSP
+
+    def disable_mv(self):
+        # Disable PowerFunctions and servos
+        if self.mv_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_DISABLE_MV)
+
+            # Return
+            return result
+        else:
+            # Already disabled? OK!
+            return HX.OK_RSP
+
+    def enable_ba(self):
+        # Enable BA
+        if not self.ba_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_ENABLE_BA)
+
+            # Return
+            return result
+        else:
+            # Already enabled? OK!
+            return HX.OK_RSP
+
+    def disable_ba(self):
+        # Disable BA
+        if self.ba_enabled:
+            # Run command
+            result = self.send_cmd(HX.COM_DISABLE_BA)
+
+            # Return
+            return result
+        else:
+            # Already disabled? OK!
+            return HX.OK_RSP
@@ -0,0 +1,171 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# HXbot server module                  #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import HX
+import threading
+import socket
+import sys
+import struct
+
+
+class HXserverClass():
+
+    def __init__(self, hxbot):
+        super(HXserverClass, self).__init__()
+
+        try:
+            self.s = socket.socket(family=socket.AF_INET,
+                type=socket.SOCK_DGRAM)
+            self.s.bind((HX.SRV_HOST, HX.SRV_PORT))
+            self.s.settimeout(HX.SRV_TIMEOUT)
+        except OSError as E:
+            print(E)
+            sys.exit()
+
+        self.hxbot = hxbot
+
+        self.hxpower = None
+        self.reflex = None
+        self.joystick = None
+        self.hxlcd = None
+        self.hxcam = None
+
+        self.__e = None
+        self.__t = None
+
+        self.is_running = False
+
+    def start(self):
+        self.hxpower = self.hxbot.hxpower
+        self.reflex = self.hxbot.reflex
+        self.joystick = self.hxbot.joystick
+        self.hxlcd = self.hxbot.hxlcd
+        self.hxcam = self.hxbot.hxcam
+
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.__t.start()
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.is_running = False
+
+        self.hxpower = None
+        self.reflex = None
+        self.joystick = None
+        self.hxlcd = None
+        self.hxcam = None
+
+        self.__e = None
+        self.__t = None
+
+    def __process(self, stopRequest):
+        while not stopRequest.is_set():
+            try:
+                data = self.s.recvfrom(1024)
+            except socket.timeout:
+                continue
+
+            cmd = data[0][0]
+            client = data[1]
+
+            if cmd == HX.SRV_CMD_GET_ALL:
+                self.s.sendto(self.__pack_all(), client)
+            else:
+                pass
+
+        self.s.close()
+
+    def __pack_all(self):
+        # INIT
+        pw = self.hxpower
+        rf = self.reflex
+        lc = self.hxlcd
+
+        ca = self.hxcam
+        if ca is not None:
+            ca_mcam_state = ca.mcam_state
+            ca_rcam_state = ca.rcam_state
+            ca_mmic_state = ca.mmic_state
+        else:
+            ca_mcam_state = 2
+            ca_rcam_state = 2
+            ca_mmic_state = 2
+
+        js = self.joystick
+        if js is not None:
+            js_online = js.online
+        else:
+            js_online = False
+
+        result = struct.pack(
+            'fffffffffff??????????????????????????????????????????????BBB',
+            pw.vcc,
+            pw.vin,
+            pw.vdc,
+            pw.vbt,
+            pw.vba,
+            pw.vpf,
+            pw.vzu,
+            pw.abt,
+            pw.aba,
+            pw.ain,
+            pw.ahx,
+            pw.online,
+            pw.vcc_ok,
+            pw.vin_ok,
+            pw.vdc_ok,
+            pw.vbt_ok,
+            pw.vba_ok,
+            pw.vpf_ok,
+            pw.vzu_ok,
+            pw.abt_ok,
+            pw.aba_ok,
+            pw.ain_ok,
+            pw.ahx_ok,
+            pw.bt_enabled,
+            pw.ba_enabled,
+            pw.bt_blocked,
+            pw.ba_blocked,
+            pw.vcc_low,
+            pw.vcc_high,
+            pw.vin_low,
+            pw.vin_high,
+            pw.vdc_low,
+            pw.vdc_high,
+            pw.vbt_low,
+            pw.vbt_full,
+            pw.vba_low,
+            pw.vba_full,
+            pw.vpf_low,
+            pw.vpf_high,
+            pw.vzu_low,
+            pw.vzu_high,
+            pw.abt_low,
+            pw.abt_high,
+            pw.aba_low,
+            pw.aba_high,
+            pw.ain_low,
+            pw.ain_high,
+            pw.ahx_low,
+            pw.ahx_high,
+            pw.mv_enabled,
+            pw.us_enabled,
+            pw.in_plugged,
+            pw.ba_full,
+            pw.bt_full,
+            rf.online,
+            js_online,
+            lc.online,
+            ca_mcam_state,
+            ca_rcam_state,
+            ca_mmic_state)
+
+        return result
@@ -0,0 +1 @@
+# -*- coding: utf-8 -*-
@@ -0,0 +1,224 @@
+# -*- coding: utf-8 -*-
+
+########################################
+# REflex communication module          #
+# EoF 2016 EoF@itphx.ru                #
+########################################
+
+import threading
+import time
+import HX
+
+
+class REflexClass():
+
+    def __init__(self, hxbot):
+        self.i2c_bus = hxbot.i2c_bus
+        self.hxbot = hxbot
+
+        self.__e = None
+        self.__t = None
+        self.lock = hxbot.reflex_lock
+
+        self.joystick = None
+        self.hxpower = None
+        self.control = HX.CONTROL_SRC_DEFAULT
+
+        self.error_count = 0
+        self.online = False
+        self.is_running = False
+
+        self.ready_to_move = False
+        self.last_command_time = 0.0
+
+        self.__move_float = 0
+        self.__steer_center = 0
+
+        # Tuple of commands for execute
+        self.m = (
+            False,  # Check
+            HX.MOVE_FLOAT,  # Move
+            HX.STEER_CENTER,  # Steer
+            HX.HEAD_V_CENTER,  # Head vertical orientation
+            HX.HEAD_H_CENTER  # Head horizontal orientation
+            )
+
+        # Tuple with results of executions
+        self.s = (
+            HX.NO_RSP,
+            0,
+            0,
+            0,
+            0
+            )
+
+    def start(self):
+        self.joystick = self.hxbot.joystick
+        self.hxpower = self.hxbot.hxpower
+
+        self.__e = threading.Event()
+        self.__t = threading.Thread(target=self.__process, args=(self.__e, ))
+
+        self.__t.start()
+        self.is_running = True
+
+    def stop(self):
+        self.__e.set()
+        self.__t.join()
+        self.is_running = False
+
+        self.__e = None
+        self.__t = None
+
+        self.joystick = None
+        self.hxpower = None
+
+    def start_move(self):
+        result = HX.OK_RSP
+
+        # Enable moving
+        if not self.hxpower.mv_enabled:
+            result = self.hxpower.enable_mv()
+
+        if result != HX.OK_RSP:
+            return
+
+        self.ready_to_move = True
+
+    def stop_move(self, non_block=False):
+        result = HX.OK_RSP
+
+        # Disable moving
+        if self.hxpower.mv_blocked and not non_block:
+            return
+
+        if self.hxpower.mv_enabled:
+            result = self.hxpower.disable_mv()
+
+        if result != HX.OK_RSP:
+            return
+
+        self.ready_to_move = False
+
+    def get_temp(self):
+        return self.__send_command(HX.COM_GET_TEMP)
+
+    def __send_command(self, command):
+        try:
+            with self.lock:
+                self.i2c_bus.write_word_data(HX.REFLEX_ADDRESS, command, 0)
+                time.sleep(HX.REFLEX_RESPONSE_DELAY)
+                response = self.i2c_bus.read_byte(HX.REFLEX_ADDRESS)
+        except IOError:
+            if self.online:
+                self.error_count += 1
+            if self.error_count >= HX.REFLEX_ERROR_LIMIT:
+                self.online = False
+            return HX.IOE_RSP
+        else:
+            self.error_count = 0
+            self.online = True
+            return response
+
+        return HX.NO_RSP
+
+    def __send_ex_command(self, flag, command):
+        try:
+            with self.lock:
+                self.i2c_bus.write_word_data(HX.REFLEX_ADDRESS, HX.EXT_COM,
+                    flag << 8 | command)
+                time.sleep(HX.REFLEX_RESPONSE_DELAY)
+                response = self.i2c_bus.read_byte(HX.REFLEX_ADDRESS)
+        except IOError:
+            if self.online:
+                self.error_count += 1
+            if self.error_count >= HX.REFLEX_ERROR_LIMIT:
+                self.online = False
+            return HX.IOE_RSP
+        else:
+            self.error_count = 0
+            self.online = True
+            return response
+
+        return HX.NO_RSP
+
+    def __get_byte(self):
+        try:
+            with self.lock:
+                response = self.i2c_bus.read_byte(HX.REFLEX_ADDRESS)
+        except IOError:
+            if self.online:
+                self.error_count += 1
+            if self.error_count >= HX.REFLEX_ERROR_LIMIT:
+                self.online = False
+            return HX.IOE_RSP
+        else:
+            self.error_count = 0
+            self.online = True
+            return response
+
+    def __process(self, stopRequest):
+        # Process loop
+        while not stopRequest.is_set():
+            # Init cycle
+            have_commands = False
+
+            # Ping REflex
+            self.__send_command(HX.COM_PING)
+
+            # Joystick
+            if self.control == HX.CONTROL_SRC_JOYSTICK and self.joystick:
+                if self.joystick.ready:
+                    # Joystick ready! Let's go!
+                    if not self.ready_to_move:
+                        self.start_move()
+
+                    # Get m
+                    self.m = self.joystick.get_m()
+                    have_commands = self.m[0]
+                else:
+                    if self.ready_to_move:
+                        self.stop_move(True)
+                    time.sleep(0.5)
+
+            # Execute received commands
+            if have_commands:
+                self.s = self.execute(self.m)
+
+            # No commands? Stop move...
+            elif (time.clock() - self.last_command_time >=
+                HX.REFLEX_MOVE_TIMEOUT / 100):
+                self.stop_move()
+
+    def execute(self, m):
+        # Move
+        if m[1] != HX.MOVE_FLOAT:
+            move_rsp = self.__send_ex_command(HX.MOVE_FLAG, m[1])
+            self.__move_float = 0
+        elif self.__move_float < 3:
+            move_rsp = self.__send_ex_command(HX.MOVE_FLAG, m[1])
+            self.__move_float += 1
+        else:
+            move_rsp = HX.OK_RSP
+
+        # Steer
+        if m[2] != HX.STEER_CENTER:
+            steer_rsp = self.__send_ex_command(HX.STEER_FLAG, m[2])
+            self.__steer_center = 0
+        elif self.__steer_center < 3:
+            steer_rsp = self.__send_ex_command(HX.STEER_FLAG, m[2])
+            self.__steer_center += 1
+        else:
+            steer_rsp = HX.OK_RSP
+
+        # Head vertiacal orientation
+        head_v_rsp = self.__send_ex_command(HX.HEAD_V_FLAG, m[3])
+
+        # Head horizontal orientation
+        head_h_rsp = self.__send_ex_command(HX.HEAD_H_FLAG, m[4])
+
+        # Set last command time
+        self.last_command_time = time.clock()
+
+        # Return execution status
+        return (HX.OK_RSP, move_rsp, steer_rsp, head_v_rsp, head_h_rsp)
@@ -0,0 +1,29 @@
+{
+  "mainFile": "HXbot.py", 
+  "use-tabs": false, 
+  "venv": "", 
+  "relatedProjects": [], 
+  "name": "HXbot", 
+  "license": "GNU General Public License v3", 
+  "url": "", 
+  "pythonPath": "/usr/bin/python3", 
+  "preExecScript": "", 
+  "additional_builtins": [], 
+  "programParams": "", 
+  "indentation": 4, 
+  "PYTHONPATH": "", 
+  "supported-extensions": [
+    ".py", 
+    ".html", 
+    ".jpg", 
+    ".png", 
+    ".ui", 
+    ".css", 
+    ".json", 
+    ".js", 
+    ".ini"
+  ], 
+  "project-type": "Import from sources", 
+  "postExecScript": "", 
+  "description": "Main program of HXbot"
+}