Merge branch 'master' of github.com:undera/pylgbst

.gitignore

@@ -4,3 +4,4 @@
 build
 *.avi
 test_real.py
+.vscode/settings.json

.travis.yml

@@ -8,7 +8,7 @@ matrix:
     - os: linux
       python: 2.7
     - os: linux
-      python: 3.4
+      python: 3.5
 
 addons:
   apt:
@@ -27,7 +27,9 @@ addons:
       - python3-dbus
       - python3-gi
 install:
-  - pip install codecov nose-exclude gattlib pygatt gatt pexpect bluepy
+  - wget https://github.com/labapart/gattlib/releases/download/dev/gattlib_dbus_0.2-dev_x86_64.deb
+  - sudo dpkg -i gattlib_dbus_0.2-dev_x86_64.deb
+  - pip install codecov nose-exclude pygatt gatt pexpect bluepy
 
 
 script: coverage run --source=. -m nose tests -v --exclude-dir=examples

README.md

@@ -35,7 +35,7 @@ _Please note that this library requires one of Bluetooth backend libraries to be
 
 Install library like this: 
 ```bash
-pip install https://github.com/undera/pylgbst/archive/1.0.tar.gz
+pip install https://github.com/undera/pylgbst/archive/1.0.1.tar.gz
 ```
 
 Then instantiate MoveHub object and start invoking its methods. Following is example to just print peripherals detected on Hub:  

examples/demo.py

@@ -13,7 +13,7 @@ log = logging.getLogger("demo")
 def demo_led_colors(movehub):
     # LED colors demo
     log.info("LED colors demo")
-    movehub.color_distance_sensor.subscribe(lambda x, y: None)
+    movehub.led.subscribe(lambda x, y: None)
     for color in list(COLORS.keys())[1:] + [COLOR_BLACK]:
         log.info("Setting LED color to: %s", COLORS[color])
         movehub.led.set_color(color)
@@ -111,11 +111,11 @@ def demo_color_sensor(movehub):
         demo_color_sensor.cnt += 1
         log.info("#%s/%s: Color %s, distance %s", demo_color_sensor.cnt, limit, COLORS[color], distance)
 
-    movehub.color_distance_sensor.subscribe(callback)
+    movehub.vision_sensor.subscribe(callback)
     while demo_color_sensor.cnt < limit:
         time.sleep(1)
 
-    movehub.color_distance_sensor.unsubscribe(callback)
+    movehub.vision_sensor.unsubscribe(callback)
 
 
 def demo_motor_sensors(movehub):

pylgbst/comms/cpygatt.py

@@ -33,10 +33,11 @@ class GattoolConnection(Connection):
             for dev in devices:
                 address = dev['address']
                 name = dev['name']
-                if (not hub_mac and name == LEGO_MOVE_HUB) or hub_mac == address:
+                if address != "00:00:00:00:00:00":
-                    logging.info("Found %s at %s", name, address)
+                  if (not hub_mac and name == LEGO_MOVE_HUB) or hub_mac == address:
-                    self._conn_hnd = adapter.connect(address)
+                      logging.info("Found %s at %s", name, address)
-                    break
+                      self._conn_hnd = adapter.connect(address)
+                      break
 
             if self._conn_hnd:
                 break

pylgbst/hub.py

@@ -61,19 +61,21 @@ class Hub(object):
         :rtype: pylgbst.messages.UpstreamMsg
         """
         log.debug("Send message: %r", msg)
-        self.connection.write(self.HUB_HARDWARE_HANDLE, msg.bytes())
+        msgbytes = msg.bytes()
         if msg.needs_reply:
             with self._sync_lock:
                 assert not self._sync_request, "Pending request %r while trying to put %r" % (self._sync_request, msg)
                 self._sync_request = msg
                 log.debug("Waiting for sync reply to %r...", msg)
 
+            self.connection.write(self.HUB_HARDWARE_HANDLE, msgbytes)
             resp = self._sync_replies.get()
             log.debug("Fetched sync reply: %r", resp)
             if isinstance(resp, MsgGenericError):
                 raise RuntimeError(resp.message())
             return resp
         else:
+            self.connection.write(self.HUB_HARDWARE_HANDLE, msgbytes)
             return None
 
     def _notify(self, handle, data):
@@ -183,12 +185,12 @@ class MoveHub(Hub):
     """
 
     # PORTS
-    PORT_C = 0x01
+    PORT_A = 0x00
-    PORT_D = 0x02
+    PORT_B = 0x01
+    PORT_C = 0x02
+    PORT_D = 0x03
+    PORT_AB = 0x10
     PORT_LED = 0x32
-    PORT_A = 0x37
-    PORT_B = 0x38
-    PORT_AB = 0x39
     PORT_TILT_SENSOR = 0x3A
     PORT_CURRENT = 0x3B
     PORT_VOLTAGE = 0x3C

pylgbst/messages.py

@@ -58,7 +58,7 @@ class UpstreamMsg(Message):
         assert hub_id == 0
         msg_type = msg._byte()
         assert cls.TYPE == msg_type, "Message type does not match: %x!=%x" % (cls.TYPE, msg_type)
-        assert isinstance(msg.payload, bytes)
+        assert isinstance(msg.payload, (bytes, bytearray))
         return msg
 
     def __shift(self, vtype, vlen):

pylgbst/utilities.py

@@ -30,7 +30,7 @@ def usint(seq, index):
 def str2hex(data):  # we need it for python 2+3 compatibility
     # if sys.version_info[0] == 3:
     # data = bytes(data, 'ascii')
-    if not isinstance(data, bytes):
+    if not isinstance(data, (bytes, bytearray)):
         data = bytes(data, 'ascii')
     hexed = binascii.hexlify(data)
     return hexed

setup.py

@@ -2,7 +2,7 @@ from distutils.core import setup
 
 setup(name='pylgbst',
       description='Python library to interact with LEGO Move Hub (from Lego BOOST set)',
-      version='1.0',
+      version='1.0.1',
       author='Andrey Pokhilko',
       author_email='apc4@ya.ru',
       packages=['pylgbst', "pylgbst.comms"],

tests/test_hub.py

@@ -122,20 +122,20 @@ class HubTest(unittest.TestCase):
 class MoveHubTest(unittest.TestCase):
     def test_capabilities(self):
         conn = ConnectionMock()
-        conn.notifications.append('0f00 04 01 0125000000001000000010')
+        conn.notifications.append('0f00 04 02 0125000000001000000010')
-        conn.notifications.append('0f00 04 02 0126000000001000000010')
+        conn.notifications.append('0f00 04 03 0126000000001000000010')
-        conn.notifications.append('0f00 04 37 0127000100000001000000')
+        conn.notifications.append('0f00 04 00 0127000100000001000000')
-        conn.notifications.append('0f00 04 38 0127000100000001000000')
+        conn.notifications.append('0f00 04 01 0127000100000001000000')
-        conn.notifications.append('0900 04 39 0227003738')
+        conn.notifications.append('0900 04 10 0227003738')
         conn.notifications.append('0f00 04 32 0117000100000001000000')
         conn.notifications.append('0f00 04 3a 0128000000000100000001')
         conn.notifications.append('0f00 04 3b 0115000200000002000000')
         conn.notifications.append('0f00 04 3c 0114000200000002000000')
 
-        conn.notification_delayed('12000101064c45474f204d6f766520487562', 0.1)
+        conn.notification_delayed('12000101064c45474f204d6f766520487562', 1.1)
-        conn.notification_delayed('0b00010d06001653a0d1d4', 0.3)
+        conn.notification_delayed('0b00010d06001653a0d1d4', 1.3)
-        conn.notification_delayed('060001060600', 0.5)
+        conn.notification_delayed('060001060600', 1.5)
-        conn.notification_delayed('0600030104ff', 0.7)
+        conn.notification_delayed('0600030104ff', 1.7)
         MoveHub(conn.connect())
         time.sleep(1)
         conn.wait_notifications_handled()

tests/test_peripherals.py

@@ -148,49 +148,49 @@ class PeripheralsTest(unittest.TestCase):
         motor = EncodedMotor(hub, MoveHub.PORT_D)
         hub.peripherals[MoveHub.PORT_D] = motor
 
-        hub.connection.notification_delayed('050082020a', 0.1)
+        hub.connection.notification_delayed('050082030a', 0.1)
         motor.start_power(1.0)
-        self.assertEqual(b"0800810211510164", hub.writes.pop(1)[1])
+        self.assertEqual(b"0800810311510164", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('050082020a', 0.1)
+        hub.connection.notification_delayed('050082030a', 0.1)
         motor.stop()
-        self.assertEqual(b"090081021107006403", hub.writes.pop(1)[1])
+        self.assertEqual(b"090081031107006403", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('050082020a', 0.1)
+        hub.connection.notification_delayed('050082030a', 0.1)
         motor.set_acc_profile(1.0)
-        self.assertEqual(b"090081021105e80300", hub.writes.pop(1)[1])
+        self.assertEqual(b"090081031105e80300", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('050082020a', 0.1)
+        hub.connection.notification_delayed('050082030a', 0.1)
         motor.set_dec_profile(1.0)
-        self.assertEqual(b"090081021106e80300", hub.writes.pop(1)[1])
+        self.assertEqual(b"090081031106e80300", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('050082020a', 0.1)
+        hub.connection.notification_delayed('050082030a', 0.1)
         motor.start_speed(1.0)
-        self.assertEqual(b"090081021107646403", hub.writes.pop(1)[1])
+        self.assertEqual(b"090081031107646403", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('050082020a', 0.1)
+        hub.connection.notification_delayed('050082030a', 0.1)
         motor.stop()
-        self.assertEqual(b"090081021107006403", hub.writes.pop(1)[1])
+        self.assertEqual(b"090081031107006403", hub.writes.pop(1)[1])
 
         logging.debug("\n\n")
-        hub.connection.notification_delayed('0500820201', 0.1)
+        hub.connection.notification_delayed('0500820301', 0.1)
-        hub.connection.notification_delayed('050082020a', 0.2)
+        hub.connection.notification_delayed('050082030a', 0.2)
         motor.timed(1.0)
-        self.assertEqual(b"0c0081021109e80364647f03", hub.writes.pop(1)[1])
+        self.assertEqual(b"0c0081031109e80364647f03", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('0500820201', 0.1)
+        hub.connection.notification_delayed('0500820301', 0.1)
-        hub.connection.notification_delayed('050082020a', 0.2)
+        hub.connection.notification_delayed('050082030a', 0.2)
         motor.angled(180)
-        self.assertEqual(b"0e008102110bb400000064647f03", hub.writes.pop(1)[1])
+        self.assertEqual(b"0e008103110bb400000064647f03", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('050082020a', 0.2)
+        hub.connection.notification_delayed('050082030a', 0.2)
         motor.preset_encoder(-180)
-        self.assertEqual(b"0b0081021151024cffffff", hub.writes.pop(1)[1])
+        self.assertEqual(b"0b0081031151024cffffff", hub.writes.pop(1)[1])
 
-        hub.connection.notification_delayed('0500820201', 0.1)
+        hub.connection.notification_delayed('0500820301', 0.1)
-        hub.connection.notification_delayed('050082020a', 0.2)
+        hub.connection.notification_delayed('050082030a', 0.2)
         motor.goto_position(0)
-        self.assertEqual(b"0e008102110d00000000647f6403", hub.writes.pop(1)[1])
+        self.assertEqual(b"0e008103110d00000000647f6403", hub.writes.pop(1)[1])
 
         hub.connection.wait_notifications_handled()
 
@@ -204,15 +204,15 @@ class PeripheralsTest(unittest.TestCase):
         def callback(*args):
             vals.append(args)
 
-        hub.connection.notification_delayed('0a004701020100000001', 0.1)
+        hub.connection.notification_delayed('0a004702020100000001', 0.1)
         motor.subscribe(callback)
 
-        hub.connection.notification_delayed("0800450100000000", 0.1)
+        hub.connection.notification_delayed("0800450200000000", 0.1)
-        hub.connection.notification_delayed("08004501ffffffff", 0.2)
+        hub.connection.notification_delayed("08004502ffffffff", 0.2)
-        hub.connection.notification_delayed("08004501feffffff", 0.3)
+        hub.connection.notification_delayed("08004502feffffff", 0.3)
         time.sleep(0.4)
 
-        hub.connection.notification_delayed('0a004701020000000000', 0.1)
+        hub.connection.notification_delayed('0a004702020000000000', 0.1)
         motor.unsubscribe(callback)
         hub.connection.wait_notifications_handled()
 
@@ -228,13 +228,13 @@ class PeripheralsTest(unittest.TestCase):
         def callback(*args):
             vals.append(args)
 
-        hub.connection.notification_delayed('0a00 4701080100000001', 0.1)
+        hub.connection.notification_delayed('0a00 4702080100000001', 0.1)
         cds.subscribe(callback)
 
-        hub.connection.notification_delayed("08004501ff0aff00", 0.1)
+        hub.connection.notification_delayed("08004502ff0aff00", 0.1)
         time.sleep(0.2)
 
-        hub.connection.notification_delayed('0a00 4701090100000001', 0.1)
+        hub.connection.notification_delayed('0a00 4702090100000001', 0.1)
         cds.unsubscribe(callback)
         hub.connection.wait_notifications_handled()