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https://github.com/undera/pylgbst.git
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Notification reading channel established
This commit is contained in:
Andrey Pohilko
parent
e22fea19c0
commit
5b81e86632
27
README.md
27
README.md
@ -1,21 +1,20 @@
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Best way to start is to look at [demo.py](demo.py) file, or maybe run it.
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# Features
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- auto-detect and connect for Bluetooth device
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- permanent Bluetooth connection server for faster debugging
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- angled and timed movement for motors
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- LED color change
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# Ideas
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Make a server that will listen to wire proto to speed up debug
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# Links
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https://github.com/JorgePe/BOOSTreveng
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https://github.com/hobbyquaker/node-movehub
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https://github.com/JorgePe/pyb00st
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https://github.com/RealTimeWeb/blockpy
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https://ru.wikipedia.org/wiki/App_Inventor
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https://en.wikipedia.org/wiki/Blockly
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- https://github.com/JorgePe/BOOSTreveng - source of protocol knowledge
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- https://github.com/RealTimeWeb/blockpy
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- https://ru.wikipedia.org/wiki/App_Inventor
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- https://en.wikipedia.org/wiki/Blockly
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27
demo.py
27
demo.py
@ -8,8 +8,7 @@ from pylegoboost.comms import DebugServerConnection, BLEConnection
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log = logging.getLogger("demo")
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def demo_all(conn):
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movehub = MoveHub(conn)
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def demo_all(movehub):
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demo_led_colors(movehub)
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demo_motors_timed(movehub)
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demo_motors_angled(movehub)
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@ -60,6 +59,20 @@ def demo_port_c_motor(movehub):
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sleep(1)
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def vernie_head(movehub):
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portd = EncodedMotor(movehub, PORT_D)
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while True:
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angle = 20
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portd.angled(angle, 0.2)
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sleep(2)
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portd.angled(angle, -0.2)
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sleep(2)
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portd.angled(angle, -0.2)
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sleep(2)
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portd.angled(angle, 0.2)
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sleep(2)
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if __name__ == '__main__':
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logging.basicConfig(level=logging.DEBUG)
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@ -69,4 +82,12 @@ if __name__ == '__main__':
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logging.warning("Failed to use debug server: %s", traceback.format_exc())
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connection = BLEConnection().connect()
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demo_all(connection)
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hub = MoveHub(connection)
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sleep(1)
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#hub.get_name()
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for x in range(1, 60):
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sleep(1)
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# demo_led_colors(hub)
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# demo_all(movehub)
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@ -14,6 +14,8 @@ class MoveHub(object):
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"""
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def __init__(self, connection):
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self.notified = False
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self.connection = connection
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self.led = LED(self)
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@ -21,15 +23,30 @@ class MoveHub(object):
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self.motor_B = EncodedMotor(self, PORT_B)
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self.motor_AB = EncodedMotor(self, PORT_AB)
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self.port_c = None
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self.port_d = None
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# self.button
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# self.tilt_sensor
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# transport.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
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# enables notifications reading
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self.connection.set_notify_handler(self._notify)
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self.connection.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
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# while not self.notified:
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# log.debug("Waiting to be notified")
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# time.sleep(1)
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# self.port_C = None
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# self.port_D = None
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# transport.write(MOVE_HUB_HARDWARE_HANDLE, b'\x0a\x00\x41\x01\x08\x01\x00\x00\x00\x01')
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def _notify(self, handle, data):
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# TODO
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log.debug("Notification on %s: %s", handle, data.encode("hex"))
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def get_name(self):
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# note: reading this too fast makes it hang
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self.connection.read(DEVICE_NAME)
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class Peripheral(object):
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"""
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@ -4,9 +4,11 @@ This package holds communication aspects
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import json
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import logging
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import socket
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import time
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import traceback
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from abc import abstractmethod
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from gattlib import DiscoveryService, GATTRequester
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from threading import Thread
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from pylegoboost.constants import DEVICE_NAME, LEGO_MOVE_HUB
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@ -25,6 +27,7 @@ class Requester(GATTRequester):
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self.notification_sink = None
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def on_notification(self, handle, data):
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# log.debug("requester notified, sink: %s", self.notification_sink)
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if self.notification_sink:
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self.notification_sink(handle, data)
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@ -42,7 +45,7 @@ class Connection(object):
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pass
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@abstractmethod
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def notify(self, handle, data):
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def set_notify_handler(self, handler):
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pass
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@ -51,10 +54,6 @@ class ConnectionMock(Connection):
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For unit testing purposes
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"""
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def notify(self, handle, data):
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# TODO
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pass
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def write(self, handle, data):
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log.debug("Writing to %s: %s", handle, data.encode("hex"))
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@ -66,13 +65,13 @@ class ConnectionMock(Connection):
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class BLEConnection(Connection):
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"""
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Main transport class, uses real Bluetooth LE connection.
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Loops with timeout of 5 seconds to find device named "Lego MOVE Hub"
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Loops with timeout of 1 seconds to find device named "Lego MOVE Hub"
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:type requester: Requester
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"""
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def __init__(self):
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super(Connection, self).__init__()
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super(BLEConnection, self).__init__()
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self.requester = None
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def connect(self, bt_iface_name='hci0'):
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@ -80,7 +79,7 @@ class BLEConnection(Connection):
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while not self.requester:
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log.info("Discovering devices using %s...", bt_iface_name)
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devices = service.discover(5)
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devices = service.discover(1)
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log.debug("Devices: %s", devices)
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for address, name in devices.items():
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@ -94,7 +93,13 @@ class BLEConnection(Connection):
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def _get_requester(self, address, bt_iface_name):
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self.requester = Requester(address, True, bt_iface_name)
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self.requester.notification_sink = self.notify
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def set_notify_handler(self, handler):
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if self.requester:
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log.debug("Setting notification handler: %s", handler)
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self.requester.notification_sink = handler
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else:
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raise RuntimeError("No requester available")
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def read(self, handle):
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log.debug("Reading from: %s", handle)
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@ -108,10 +113,6 @@ class BLEConnection(Connection):
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log.debug("Writing to %s: %s", handle, data.encode("hex"))
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return self.requester.write_by_handle(handle, data)
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def notify(self, handle, data):
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# TODO
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log.debug("Notification on %s: %s", handle, data.encode("hex"))
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class DebugServer(object):
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"""
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@ -133,14 +134,26 @@ class DebugServer(object):
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while True:
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log.info("Accepting connections at %s", port)
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conn, addr = self.sock.accept()
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self.ble.requester.notification_sink = lambda x, y: self._notify(conn, x, y)
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try:
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self._handle_conn(conn)
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except BaseException:
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log.error("Problem handling incoming connection: %s", traceback.format_exc())
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finally:
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self.ble.requester.notification_sink = None
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conn.close()
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def __del__(self):
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self.sock.close()
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def _notify(self, conn, handle, data):
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payload = {"type": "notification", "handle": handle, "data": data.encode('hex')}
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log.debug("Send notification: %s", payload)
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try:
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conn.send(json.dumps(payload) + "\n")
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except BaseException:
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log.error("Problem sending notification: %s", traceback.format_exc())
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def _handle_conn(self, conn):
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"""
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:type conn: socket._socketobject
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@ -165,13 +178,14 @@ class DebugServer(object):
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except BaseException:
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log.error("Failed to handle cmd: %s", traceback.format_exc())
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# conn.send(data.upper())
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def _handle_cmd(self, cmd):
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if cmd['type'] == 'write':
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self.ble.write(cmd['handle'], cmd['data'].decode('hex'))
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elif cmd['type'] == 'read':
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self.sock.send(self.ble.read(cmd['handle']).encode('hex') + "\n")
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data = self.ble.read(cmd['handle'])
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payload = {"type": "response", "data": data.encode('hex')}
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log.debug("Send response: %s", payload)
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self.sock.send(json.dumps(payload) + "\n")
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else:
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raise ValueError("Unhandled cmd: %s", cmd)
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@ -181,18 +195,21 @@ class DebugServerConnection(Connection):
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Connection type to be used with DebugServer, replaces BLEConnection
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"""
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def __init__(self):
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def __init__(self, port=9090):
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super(DebugServerConnection, self).__init__()
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self.notify_handler = None
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self.buf = ""
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self.sock = socket.socket()
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self.sock.connect(('localhost', 9090))
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self.sock.connect(('localhost', port))
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self.incoming = []
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self.reader = Thread(target=self._recv)
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self.reader.setDaemon(True)
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self.reader.start()
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def __del__(self):
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self.sock.close()
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def notify(self, handle, data):
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# TODO
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pass
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def write(self, handle, data):
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payload = {
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"type": "write",
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@ -207,7 +224,13 @@ class DebugServerConnection(Connection):
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"handle": handle
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}
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self._send(payload)
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return self._recv()
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while True:
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for item in self.incoming:
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if item['type'] == 'response':
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self.incoming.remove(item)
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return item['data'].decode('hex')
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time.sleep(0.1)
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def _send(self, payload):
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log.debug("Sending to debug server: %s", payload)
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@ -222,10 +245,17 @@ class DebugServerConnection(Connection):
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self.buf += data
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if "\n" in self.buf:
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while "\n" in self.buf:
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line = self.buf[:self.buf.index("\n")]
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self.buf = self.buf[self.buf.index("\n") + 1:]
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if line:
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return line.decode("hex")
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break
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raise RuntimeError("No data read")
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item = json.loads(line)
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if item['type'] == 'notification' and self.notify_handler:
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self.notify_handler(item['handle'], item['data'].decode('hex'))
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elif item['type'] == 'response':
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self.incoming.append(item)
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else:
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log.warning("Dropped inbound: %s", item)
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def set_notify_handler(self, handler):
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self.notify_handler = handler
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