mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
Allow finding hub by name (#68)
* Cosmetics * Add hub name parameter * Fix tests * Fix test * Fix conn priority
This commit is contained in:
Andrey Pokhilko
GitHub
parent
3c2f0b493b
commit
94db2840f4
@ -21,14 +21,14 @@ addons:
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install:
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- wget https://github.com/labapart/gattlib/releases/download/dev/gattlib_dbus_0.2-dev_x86_64.deb
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- sudo dpkg -i gattlib_dbus_0.2-dev_x86_64.deb
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- pip install codecov codacy-coverage nose-exclude pygatt gatt pexpect bluepy bleak packaging dbus-python pygobject
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- pip install codecov codacy-coverage pytest pygatt gatt pexpect bluepy bleak packaging dbus-python pygobject
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- pip install --upgrade attrs
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env:
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- READTHEDOCS=True
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script:
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- coverage run --omit="examples/*" --source=. -m nose tests -v --exclude-dir=examples
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- coverage run --omit="examples/*" --source=. -m pytest -v --ignore=examples --log-level=INFO tests
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after_success:
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- coverage report -m
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10
README.md
10
README.md
@ -2,9 +2,9 @@
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_Move Hub is central controller block of [LEGO® Boost Robotics Set](https://www.lego.com/themes/boost)._
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In fact, Move Hub is just Bluetooth hardware, all manipulations are done with commands passed through Bluetooth Low Energy (BLE) wireless protocol. One of ways to issue these commands is to write Python program using this library.
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In fact, Move Hub is just Bluetooth hardware, all manipulations are made with commands passed through Bluetooth Low Energy (BLE) wireless protocol. One of ways to issue these commands is to write Python program using this library.
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Best way to start is to look into [`demo.py`](examples/demo.py) file, and run it (assuming you have installed library).
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The best way to start is to look into [`demo.py`](examples/demo.py) file, and run it (assuming you have installed library).
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If you have Vernie assembled, you might run scripts from [`examples/vernie`](examples/vernie) directory.
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@ -55,12 +55,13 @@ Each peripheral kind has own methods to do actions and/or get sensor data. See [
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## Bluetooth Backend Prerequisites
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You have following options to install as Bluetooth backend:
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You have following options to install as Bluetooth backend (some of them might require `sudo` on Linux):
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- `pip install pygatt` - [pygatt](https://github.com/peplin/pygatt) lib, works on both Windows and Linux
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- `pip install gatt` - [gatt](https://github.com/getsenic/gatt-python) lib, supports Linux, does not work on Windows
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- `pip install gattlib` - [gattlib](https://bitbucket.org/OscarAcena/pygattlib) - supports Linux, does not work on Windows, requires `sudo`
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- `pip install bluepy` - [bluepy](https://github.com/IanHarvey/bluepy) lib, supports Linux, including Raspbian, which allows connection to the hub from the Raspberry PI
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- `pip install bleak` - [bleak](https://github.com/hbldh/bleak) lib, supports Linux/Windows/MacOS
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Running on Windows requires [Bluegiga BLED112 Bluetooth Smart Dongle](https://www.silabs.com/products/wireless/bluetooth/bluetooth-low-energy-modules/bled112-bluetooth-smart-dongle) hardware piece, because no other hardware currently works on Windows with Python+BLE.
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@ -69,7 +70,7 @@ _Please let author know if you have discovered any compatibility/preprequisite d
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Depending on backend type, you might need Linux `sudo` to be used when running Python.
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### Bluetooth Connection Options
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There is optional parameter for `MoveHub` class constructor, accepting instance of `Connection` object. By default, it will try to use whatever `get_connection_auto()` returns. You have several options to manually control that:
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There is an optional parameter for `MoveHub` class constructor, accepting instance of `Connection` object. By default, it will try to use whatever `get_connection_auto()` returns. You have several options to manually control that:
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- use `pylgbst.get_connection_auto()` to attempt backend auto-choice, autodetect uses
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- use `BlueGigaConnection()` - if you use BlueGiga Adapter (`pygatt` library prerequisite)
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@ -77,6 +78,7 @@ There is optional parameter for `MoveHub` class constructor, accepting instance
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- use `GattoolConnection()` - if you use GattTool Backend on Linux (`pygatt` library prerequisite)
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- use `GattLibConnection()` - if you use GattLib Backend on Linux (`gattlib` library prerequisite)
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- use `BluepyConnection()` - if you use Bluepy backend on Linux/Raspbian (`bluepy` library prerequisite)
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- use `BleakConnection()` - if you use Bleak backend (`bleak` library prerequisite)
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- pass instance of `DebugServerConnection` if you are using [Debug Server](#debug-server) (more details below).
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All the functions above have optional arguments to specify adapter name and MoveHub mac address. Please look function source code for details.
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@ -14,7 +14,7 @@ def demo_led_colors(movehub):
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log.info("LED colors demo")
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# We get a response with payload and port, not x and y here...
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def colour_callback(**named):
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def colour_callback(named):
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log.info("LED Color callback: %s", named)
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movehub.led.subscribe(colour_callback)
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@ -173,15 +173,15 @@ def demo_voltage(movehub):
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def demo_all(movehub):
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demo_voltage(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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demo_port_cd_motor(movehub)
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demo_led_colors(movehub)
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demo_tilt_sensor_simple(movehub)
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demo_tilt_sensor_precise(movehub)
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demo_color_sensor(movehub)
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demo_motor_sensors(movehub)
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demo_voltage(movehub)
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DEMO_CHOICES = {
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@ -1,5 +1,7 @@
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import logging
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from examples.vernie import Vernie
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from pylgbst.peripherals import VisionSensor
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from . import *
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logging.basicConfig(level=logging.INFO)
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@ -6,38 +6,38 @@ from pylgbst.comms import DebugServer
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log = logging.getLogger('pylgbst')
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def get_connection_bluegiga(controller=None, hub_mac=None):
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def get_connection_bluegiga(controller=None, hub_mac=None, hub_name=None):
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del controller # to prevent code analysis warning
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from pylgbst.comms.cpygatt import BlueGigaConnection
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return BlueGigaConnection().connect(hub_mac)
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return BlueGigaConnection().connect(hub_mac, hub_name)
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def get_connection_gattool(controller='hci0', hub_mac=None):
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def get_connection_gattool(controller='hci0', hub_mac=None, hub_name=None):
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from pylgbst.comms.cpygatt import GattoolConnection
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return GattoolConnection(controller).connect(hub_mac)
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return GattoolConnection(controller).connect(hub_mac, hub_name)
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def get_connection_gatt(controller='hci0', hub_mac=None):
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def get_connection_gatt(controller='hci0', hub_mac=None, hub_name=None):
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from pylgbst.comms.cgatt import GattConnection
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return GattConnection(controller).connect(hub_mac)
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return GattConnection(controller).connect(hub_mac, hub_name)
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def get_connection_gattlib(controller='hci0', hub_mac=None):
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def get_connection_gattlib(controller='hci0', hub_mac=None, hub_name=None):
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from pylgbst.comms.cgattlib import GattLibConnection
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return GattLibConnection(controller).connect(hub_mac)
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return GattLibConnection(controller).connect(hub_mac, hub_name)
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def get_connection_bluepy(controller='hci0', hub_mac=None):
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def get_connection_bluepy(controller='hci0', hub_mac=None, hub_name=None):
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from pylgbst.comms.cbluepy import BluepyConnection
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return BluepyConnection(controller).connect(hub_mac)
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return BluepyConnection(controller).connect(hub_mac, hub_name)
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def get_connection_bleak(controller='hci0', hub_mac=None):
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def get_connection_bleak(controller='hci0', hub_mac=None, hub_name=None):
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"""
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Return connection based with Bleak API as an endpoint.
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@ -48,24 +48,24 @@ def get_connection_bleak(controller='hci0', hub_mac=None):
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del controller # to prevent code analysis warning
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from pylgbst.comms.cbleak import BleakDriver
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return BleakDriver(hub_mac)
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return BleakDriver(hub_mac, hub_name)
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def get_connection_auto(controller='hci0', hub_mac=None):
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def get_connection_auto(controller='hci0', hub_mac=None, hub_name=None):
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fns = [
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get_connection_bluepy,
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get_connection_bluegiga,
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get_connection_gatt,
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get_connection_bleak,
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get_connection_gattool,
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get_connection_gattlib,
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get_connection_bleak,
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]
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conn = None
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for fn in fns:
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try:
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logging.info("Trying %s", fn.__name__)
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return fn(controller, hub_mac)
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return fn(controller, hub_mac, hub_name)
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except KeyboardInterrupt:
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raise
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except BaseException:
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@ -15,7 +15,6 @@ from pylgbst.utilities import str2hex
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log = logging.getLogger('comms')
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LEGO_MOVE_HUB = "LEGO Move Hub"
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MOVE_HUB_HW_UUID_SERV = '00001623-1212-efde-1623-785feabcd123'
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MOVE_HUB_HW_UUID_CHAR = '00001624-1212-efde-1623-785feabcd123'
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ENABLE_NOTIFICATIONS_HANDLE = 0x000f
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@ -46,18 +45,19 @@ class Connection(object):
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def enable_notifications(self):
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self.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
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def _is_device_matched(self, address, name, hub_mac):
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log.debug("Checking device name: %s, MAC: %s", name, address)
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def _is_device_matched(self, address, dev_name, hub_mac, find_name):
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assert hub_mac or find_name, 'You have to provide either hub_mac or hub_name in connection options'
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log.debug("Checking device: %s, MAC: %s", dev_name, address)
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matched = False
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if address != "00:00:00:00:00:00":
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if hub_mac:
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if hub_mac.lower() == address.lower():
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matched = True
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elif name == LEGO_MOVE_HUB:
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elif dev_name == find_name:
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matched = True
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if matched:
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log.info("Found %s at %s", name, address)
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log.info("Found %s at %s", dev_name, address)
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return matched
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@ -18,13 +18,14 @@ req_queue = queue.Queue()
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class BleakDriver(object):
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"""Driver that provides interface between API and Bleak."""
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def __init__(self, hub_mac=None):
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def __init__(self, hub_mac=None, hub_name=None):
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"""
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Initialize new object of Bleak Driver class.
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:param hub_mac: Optional Lego HUB MAC to connect to.
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"""
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self.hub_mac = hub_mac
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self.hub_name = hub_name
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self._handler = None
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self._abort = False
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self._connection_thread = None
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@ -56,7 +57,7 @@ class BleakDriver(object):
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async def _bleak_thread(self):
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bleak = BleakConnection()
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await bleak.connect(self.hub_mac)
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await bleak.connect(self.hub_mac, self.hub_name)
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await bleak.set_notify_handler(self._safe_handler)
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# After connecting, need to send any data or hub will drop the connection,
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# below command is Advertising name request update
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@ -67,6 +68,8 @@ class BleakDriver(object):
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data = req_queue.get()
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await bleak.write(data[0], data[1])
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logging.info("Communications thread has exited")
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@staticmethod
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def _safe_handler(handler, data):
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resp_queue.put((handler, data))
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@ -77,7 +80,8 @@ class BleakDriver(object):
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msg = resp_queue.get()
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self._handler(msg[0], msg[1])
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time.sleep(0.1)
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time.sleep(0.01)
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logging.info("Processing thread has exited")
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def write(self, handle, data):
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"""
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@ -123,9 +127,10 @@ class BleakConnection(Connection):
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self._device = None
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self._client = None
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logging.getLogger('bleak.backends.dotnet.client').setLevel(logging.getLogger().level)
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logging.getLogger('bleak.backends.dotnet.client').setLevel(logging.WARNING)
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logging.getLogger('bleak.backends.bluezdbus.client').setLevel(logging.WARNING)
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async def connect(self, hub_mac=None):
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async def connect(self, hub_mac=None, hub_name=None):
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"""
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Connect to device.
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@ -133,20 +138,19 @@ class BleakConnection(Connection):
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:raises ConnectionError: When cannot connect to given MAC or name matching fails.
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:return: None
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"""
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log.info("Discovering devices... Press Green button on lego MoveHub")
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devices = await discover()
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log.info("Discovering devices... Press green button on Hub")
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devices = await discover(timeout=10)
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log.debug("Devices: %s", devices)
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for dev in devices:
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log.debug(dev)
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address = dev.address
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name = dev.name
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if self._is_device_matched(address, name, hub_mac):
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log.info('Device matched')
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if self._is_device_matched(address, name, hub_mac, hub_name):
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log.info('Device matched: %r', dev)
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self._device = dev
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break
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if not self._device:
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else:
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raise ConnectionError('Device not found.')
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self._client = BleakClient(self._device.address, self.loop)
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@ -164,6 +168,10 @@ class BleakConnection(Connection):
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"""
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log.debug('Request: {handle} {payload}'.format(handle=handle, payload=[hex(x) for x in data]))
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desc = self._client.services.get_descriptor(handle)
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if not isinstance(data, bytearray):
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data = bytearray(data)
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if desc is None:
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# dedicated handle not found, try to send by using LEGO Move Hub default characteristic
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await self._client.write_gatt_char(MOVE_HUB_HW_UUID_CHAR, data)
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@ -87,7 +87,7 @@ class BluepyConnection(Connection):
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self._peripheral = None # :type BluepyThreadedPeripheral
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self._controller = controller
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def connect(self, hub_mac=None):
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def connect(self, hub_mac=None, hub_name=None):
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log.debug("Trying to connect client to MoveHub with MAC: %s", hub_mac)
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scanner = btle.Scanner()
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@ -98,11 +98,11 @@ class BluepyConnection(Connection):
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for dev in devices:
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address = dev.addr
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addressType = dev.addrType
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address_type = dev.addrType
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name = dev.getValueText(COMPLETE_LOCAL_NAME_ADTYPE)
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if self._is_device_matched(address, name, hub_mac):
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self._peripheral = BluepyThreadedPeripheral(address, addressType, self._controller)
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if self._is_device_matched(address, name, hub_mac, hub_name):
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self._peripheral = BluepyThreadedPeripheral(address, address_type, self._controller)
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break
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return self
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@ -88,7 +88,7 @@ class GattConnection(Connection):
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self._manager_thread.setDaemon(True)
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log.debug('Starting DeviceManager...')
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def connect(self, hub_mac=None):
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def connect(self, hub_mac=None, hub_name=None):
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self._manager_thread.start()
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self._manager.start_discovery()
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@ -100,7 +100,7 @@ class GattConnection(Connection):
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for dev in devices:
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address = dev.mac_address
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name = dev.alias()
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if self._is_device_matched(address, name, hub_mac):
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if self._is_device_matched(address, name, hub_mac, hub_name):
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self._device = CustomDevice(address, self._manager)
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break
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@ -61,7 +61,7 @@ class GattLibConnection(Connection):
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self.requester = None
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self._iface = bt_iface_name
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def connect(self, hub_mac=None):
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def connect(self, hub_mac=None, hub_name=None):
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service = DiscoveryService(self._iface)
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while not self.requester:
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@ -70,7 +70,7 @@ class GattLibConnection(Connection):
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log.debug("Devices: %s", devices)
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for address, name in devices.items():
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if self._is_device_matched(address, name, hub_mac):
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if self._is_device_matched(address, name, hub_mac, hub_name):
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self.requester = Requester(address, True, self._iface)
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break
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@ -2,7 +2,7 @@ import logging
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import pygatt
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from pylgbst.comms import Connection, LEGO_MOVE_HUB, MOVE_HUB_HW_UUID_CHAR
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from pylgbst.comms import Connection, MOVE_HUB_HW_UUID_CHAR
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from pylgbst.utilities import str2hex
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log = logging.getLogger('comms-pygatt')
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@ -20,20 +20,21 @@ class GattoolConnection(Connection):
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self.backend = lambda: pygatt.GATTToolBackend(hci_device=controller)
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self._conn_hnd = None
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def connect(self, hub_mac=None):
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def connect(self, hub_mac=None, hub_name=None):
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log.debug("Trying to connect client to MoveHub with MAC: %s", hub_mac)
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adapter = self.backend()
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adapter.start()
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adapter.start() # enable or disable restart? What's the best?
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while not self._conn_hnd:
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log.info("Discovering devices...")
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devices = adapter.scan(1)
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log.debug("Devices: %s", devices)
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# Pass each device found to _is_device_matched( ) to see if it the device we want
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for dev in devices:
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address = dev['address']
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name = dev['name']
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if self._is_device_matched(address, name, hub_mac):
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if self._is_device_matched(address, name, hub_mac, hub_name):
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self._conn_hnd = adapter.connect(address)
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break
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@ -4,8 +4,8 @@ import time
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from pylgbst import get_connection_auto
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from pylgbst.messages import *
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from pylgbst.peripherals import *
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from pylgbst.utilities import str2hex, usbyte, ushort
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from pylgbst.utilities import queue
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from pylgbst.utilities import str2hex, usbyte, ushort
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log = logging.getLogger('hub')
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@ -43,7 +43,7 @@ class Hub(object):
|
||||
self.add_message_handler(MsgHubAction, self._handle_action)
|
||||
|
||||
if not connection:
|
||||
connection = get_connection_auto()
|
||||
connection = get_connection_auto() # TODO: how to identify the hub?
|
||||
self.connection = connection
|
||||
self.connection.set_notify_handler(self._notify)
|
||||
self.connection.enable_notifications()
|
||||
@ -197,6 +197,9 @@ class MoveHub(Hub):
|
||||
|
||||
# noinspection PyTypeChecker
|
||||
def __init__(self, connection=None):
|
||||
if connection is None:
|
||||
connection = get_connection_auto(hub_name="LEGO Move Hub")
|
||||
|
||||
super(MoveHub, self).__init__(connection)
|
||||
self.info = {}
|
||||
|
||||
@ -273,3 +276,10 @@ class MoveHub(Hub):
|
||||
self.vision_sensor = self.peripherals[port]
|
||||
elif type(self.peripherals[port]) == EncodedMotor and port not in (self.PORT_A, self.PORT_B, self.PORT_AB):
|
||||
self.motor_external = self.peripherals[port]
|
||||
|
||||
|
||||
class TrainHub(Hub):
|
||||
def __init__(self, connection=None):
|
||||
if connection is None:
|
||||
connection = get_connection_auto(hub_name='TrainHub')
|
||||
super(TrainHub, self).__init__(connection)
|
||||
|
||||
@ -2,6 +2,7 @@ import unittest
|
||||
|
||||
from pylgbst.comms import *
|
||||
|
||||
|
||||
class ConnectionTestCase(unittest.TestCase):
|
||||
def test_is_device_matched(self):
|
||||
conn = Connection()
|
||||
@ -9,30 +10,31 @@ class ConnectionTestCase(unittest.TestCase):
|
||||
hub_address = '1a:2A:3A:4A:5A:6A'
|
||||
other_address = 'A1:a2:a3:a4:a5:a6'
|
||||
zero_address = '00:00:00:00:00:00'
|
||||
hub_name = LEGO_MOVE_HUB
|
||||
hub_name = 'LEGO Move Hub'
|
||||
other_name = 'HRM'
|
||||
|
||||
test_matrix = [
|
||||
# address, name, hub_mac, expected
|
||||
(hub_address, hub_name, hub_address, True),
|
||||
(hub_address, hub_name, None, True),
|
||||
(hub_address, None, hub_address, True),
|
||||
(hub_address, None, None, False),
|
||||
(hub_address, other_name, hub_address, True),
|
||||
(hub_address, other_name, None, False),
|
||||
(other_address, hub_name, hub_address, False),
|
||||
(other_address, hub_name, None, True),
|
||||
(other_address, None, hub_address, False),
|
||||
(other_address, None, None, False),
|
||||
(other_address, other_name, hub_address, False),
|
||||
(other_address, other_name, None, False),
|
||||
(zero_address, hub_name, hub_address, False),
|
||||
(zero_address, hub_name, None, False),
|
||||
(zero_address, None, hub_address, False),
|
||||
(zero_address, None, None, False),
|
||||
(zero_address, other_name, hub_address, False),
|
||||
(zero_address, other_name, None, False),
|
||||
(hub_address, hub_name, hub_address, None, True),
|
||||
(hub_address, hub_name, None, hub_name, True),
|
||||
(hub_address, None, hub_address, None, True),
|
||||
(hub_address, None, None, hub_name, False),
|
||||
(hub_address, other_name, hub_address, None, True),
|
||||
(hub_address, other_name, None, hub_name, False),
|
||||
(other_address, hub_name, hub_address, None, False),
|
||||
(other_address, hub_name, None, hub_name, True),
|
||||
(other_address, None, hub_address, None, False),
|
||||
(other_address, None, None, hub_name, False),
|
||||
(other_address, other_name, hub_address, None, False),
|
||||
(other_address, other_name, None, hub_name, False),
|
||||
(zero_address, hub_name, hub_address, None, False),
|
||||
(zero_address, hub_name, None, hub_name, False),
|
||||
(zero_address, None, hub_address, None, False),
|
||||
(zero_address, None, None, hub_name, False),
|
||||
(zero_address, other_name, hub_address, None, False),
|
||||
(zero_address, other_name, None, hub_name, False),
|
||||
]
|
||||
|
||||
for address, name, hub_mac, expected in test_matrix:
|
||||
self.assertEqual(conn._is_device_matched(address=address, name=name, hub_mac=hub_mac), expected)
|
||||
for address, name, hub_mac, fname, expected in test_matrix:
|
||||
matched = conn._is_device_matched(address=address, dev_name=name, hub_mac=hub_mac, find_name=fname)
|
||||
self.assertEqual(matched, expected)
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user