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Code Issues Releases Wiki Activity

Working on tilt sensors

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This commit is contained in:
Andrey Pohilko 2017-09-14 12:30:17 +03:00
parent 8c1e8f61c5
commit 1619868af7
6 changed files with 58 additions and 28 deletions
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10
demo.py
View File

@ -98,10 +98,12 @@ if __name__ == '__main__':
connection = BLEConnection().connect()
hub = MoveHub(connection)
demo_all(hub)
hub.tilt_sensor.subscribe(lambda: log.info("Tilt"))
sleep(60)
# demo_all(hub)
#sleep(1)
# sleep(1)
# hub.get_name()
#demo_port_cd_motor(hub)
# demo_port_cd_motor(hub)
# demo_led_colors(hub)
#sleep(1)
# sleep(1)

32
pylgbst/__init__.py
View File

@ -40,11 +40,11 @@ class MoveHub(object):
self.port_C = None
self.port_D = None
self.connection.set_notify_handler(self._notify)
self._wait_for_devices()
def _wait_for_devices(self):
# enables notifications reading
self.connection.set_notify_handler(self._notify)
self.connection.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
builtin_devices = ()
@ -66,19 +66,29 @@ class MoveHub(object):
Using https://github.com/JorgePe/BOOSTreveng/blob/master/Notifications.md
"""
orig = data
data = data[3:]
log.debug("Notification on %s: %s", handle, str2hex(orig))
msg_type = get_byte(data, 2)
if handle == MOVE_HUB_HARDWARE_HANDLE:
data = data[3:]
log.debug("Notification on %s: %s", handle, str2hex(orig))
if msg_type == MSG_PORT_INFO:
self._handle_port_info(data)
elif msg_type == MSG_PORT_STATUS:
self._handle_port_status(data)
msg_type = get_byte(data, 2)
if msg_type == MSG_PORT_INFO:
self._handle_port_info(data)
elif msg_type == MSG_PORT_STATUS:
self._handle_port_status(data)
elif msg_type == MSG_SENSOR_DATA:
self._handle_sensor_data(data)
else:
log.warning("Unhandled msg type 0x%x: %s", msg_type, str2hex(orig))
else:
log.warning("Unhandled msg type 0x%x: %s", msg_type, str2hex(orig))
log.warning("Unsupported notification handle: 0x%s", handle)
pass
def _handle_sensor_data(self, data):
port = get_byte(data, 3)
sensor = self.devices[port]
if isinstance(sensor, TiltSensor):
sensor.notify_subscribers()
def _handle_port_status(self, data):
port = get_byte(data, 3)

6
pylgbst/comms.py
View File

@ -151,6 +151,8 @@ class DebugServer(object):
self.ble.requester.notification_sink = lambda x, y: self._notify(conn, x, y)
try:
self._handle_conn(conn)
except KeyboardInterrupt:
raise
except BaseException:
log.error("Problem handling incoming connection: %s", traceback.format_exc())
finally:
@ -165,6 +167,8 @@ class DebugServer(object):
log.debug("Send notification: %s", payload)
try:
conn.send(json.dumps(payload) + "\n")
except KeyboardInterrupt:
raise
except BaseException:
log.error("Problem sending notification: %s", traceback.format_exc())
@ -189,6 +193,8 @@ class DebugServer(object):
log.info("Cmd line: %s", line)
try:
self._handle_cmd(json.loads(line))
except KeyboardInterrupt:
raise
except BaseException:
log.error("Failed to handle cmd: %s", traceback.format_exc())

5
pylgbst/constants.py
View File

@ -60,9 +60,10 @@ PORTS = {
# PACKET TYPES
MSG_PORT_INFO = 0x04
MSG_PORT_STATUS = 0x82
MSG_SET_PORT_VAL = 0x81
MSG_PORT_SUBSCRIBE = 0x41
MSG_PORT_STATUS = 0x82
MSG_SENSOR_SUBSCRIBE = 0x41
MSG_SENSOR_DATA = 0x45
# NOTIFICATIONS
TYPE_DISTANCE_COLOR_SENSOR = 0x25

10
pylgbst/peripherals.py
View File

@ -34,7 +34,7 @@ class Peripheral(object):
def _subscribe_on_port(self, params):
# FIXME: became obsolete
self._write_to_hub(MSG_PORT_SUBSCRIBE, params)
self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
def started(self):
self.working = True
@ -42,6 +42,10 @@ class Peripheral(object):
def finished(self):
self.working = False
def notify_subscribers(self, *args, **kwargs):
for subscriber in self._subscribers:
subscriber(*args, **kwargs)
class LED(Peripheral):
def set_color(self, color):
@ -122,8 +126,8 @@ class ColorDistanceSensor(Peripheral):
class TiltSensor(Peripheral):
def subscribe(self, callback):
params = b'\x00\x01\x00\x00\x00\x01' # full
# params = b'\x02\x01\x00\x00\x00\x01' # basic
#params = b'\x00\x01\x00\x00\x00\x01' # full
params = b'\x02\x01\x00\x00\x00\x01' # basic
self._subscribe_on_port(params)
self._subscribers.append(callback) # TODO: maybe join it into `_subscribe_on_port`

23
test.py → tests.py
View File

@ -5,8 +5,7 @@ from threading import Thread
from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB
from pylgbst.comms import Connection, str2hex, hex2str
from pylgbst.constants import PORT_LED, PORT_TILT_SENSOR
from pylgbst.peripherals import TiltSensor
from pylgbst.constants import PORT_LED
logging.basicConfig(level=logging.DEBUG)
@ -60,6 +59,13 @@ class HubMock(MoveHub):
class GeneralTest(unittest.TestCase):
def _wait_notifications_handled(self, hub):
hub.connection.running = False
for _ in range(1, 1000):
time.sleep(0.1)
if hub.connection.finished:
break
def test_led(self):
hub = HubMock()
led = LED(hub, PORT_LED)
@ -68,13 +74,17 @@ class GeneralTest(unittest.TestCase):
def test_tilt_sensor(self):
hub = HubMock()
hub.tilt_sensor = TiltSensor(hub, PORT_TILT_SENSOR)
hub.connection.notifications.append((14, '1b0e00 0f00 04 3a 0128000000000100000001'))
time.sleep(1)
def callback():
pass
log.debug("Tilt")
hub.tilt_sensor.subscribe(callback)
hub.connection.notifications.append((14, "1b0e000600453a04fe"))
time.sleep(10)
self.assertEquals("0a01413a000100000001", hub.connection.writes[0][1])
self._wait_notifications_handled(hub)
def test_motor(self):
conn = ConnectionMock()
@ -102,7 +112,4 @@ class GeneralTest(unittest.TestCase):
hub = MoveHub(conn)
# demo_all(hub)
conn.running = False
while not conn.finished:
time.sleep(0.1)
self._wait_notifications_handled(hub)