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Code Issues Releases Wiki Activity

New LEGO-Boost Firmware 2.0.00.0017 breaks pylgbst... (#33)

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* - Updated Port-Numbers (New Firmware 2.0.00.0017)
- Skipping Device without Mac-Address
(Seems to occur randomly after Firmware-Update,
referring to https://github.com/LLK/scratch-vm/issues/2230 )
- Fixed racecondition in Hub.send()
(Reply could come before entering _sync_lock)

* - fixed Unit-Tests (Changed Port-Numbers)
- moved the write-call in hub.send() outside the lock
This commit is contained in:
Ingo Jache 2019-08-12 09:38:04 +02:00 committed by Andrey Pokhilko
parent b1c8667f63
commit 990ccdb268
5 changed files with 55 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
.gitignore vendored
View File

@ -3,4 +3,5 @@
*.pyc *.pyc
build build
*.avi *.avi
test_real.py test_real.py
.vscode/settings.json

9
pylgbst/comms/cpygatt.py
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@ -33,10 +33,11 @@ class GattoolConnection(Connection):
for dev in devices: for dev in devices:
address = dev['address'] address = dev['address']
name = dev['name'] 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: if self._conn_hnd:
break break

14
pylgbst/hub.py
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@ -61,19 +61,21 @@ class Hub(object):
:rtype: pylgbst.messages.UpstreamMsg :rtype: pylgbst.messages.UpstreamMsg
""" """
log.debug("Send message: %r", msg) log.debug("Send message: %r", msg)
self.connection.write(self.HUB_HARDWARE_HANDLE, msg.bytes()) msgbytes = msg.bytes()
if msg.needs_reply: if msg.needs_reply:
with self._sync_lock: with self._sync_lock:
assert not self._sync_request, "Pending request %r while trying to put %r" % (self._sync_request, msg) assert not self._sync_request, "Pending request %r while trying to put %r" % (self._sync_request, msg)
self._sync_request = msg self._sync_request = msg
log.debug("Waiting for sync reply to %r...", msg) log.debug("Waiting for sync reply to %r...", msg)
self.connection.write(self.HUB_HARDWARE_HANDLE, msgbytes)
resp = self._sync_replies.get() resp = self._sync_replies.get()
log.debug("Fetched sync reply: %r", resp) log.debug("Fetched sync reply: %r", resp)
if isinstance(resp, MsgGenericError): if isinstance(resp, MsgGenericError):
raise RuntimeError(resp.message()) raise RuntimeError(resp.message())
return resp return resp
else: else:
self.connection.write(self.HUB_HARDWARE_HANDLE, msgbytes)
return None return None
def _notify(self, handle, data): def _notify(self, handle, data):
@ -183,12 +185,12 @@ class MoveHub(Hub):
""" """
# PORTS # 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_LED = 0x32
PORT_A = 0x37
PORT_B = 0x38
PORT_AB = 0x39
PORT_TILT_SENSOR = 0x3A PORT_TILT_SENSOR = 0x3A
PORT_CURRENT = 0x3B PORT_CURRENT = 0x3B
PORT_VOLTAGE = 0x3C PORT_VOLTAGE = 0x3C

18
tests/test_hub.py
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@ -122,20 +122,20 @@ class HubTest(unittest.TestCase):
class MoveHubTest(unittest.TestCase): class MoveHubTest(unittest.TestCase):
def test_capabilities(self): def test_capabilities(self):
conn = ConnectionMock() 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 32 0117000100000001000000')
conn.notifications.append('0f00 04 3a 0128000000000100000001') conn.notifications.append('0f00 04 3a 0128000000000100000001')
conn.notifications.append('0f00 04 3b 0115000200000002000000') conn.notifications.append('0f00 04 3b 0115000200000002000000')
conn.notifications.append('0f00 04 3c 0114000200000002000000') 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()) MoveHub(conn.connect())
time.sleep(1) time.sleep(1)
conn.wait_notifications_handled() conn.wait_notifications_handled()

62
tests/test_peripherals.py
View File

@ -148,49 +148,49 @@ class PeripheralsTest(unittest.TestCase):
motor = EncodedMotor(hub, MoveHub.PORT_D) motor = EncodedMotor(hub, MoveHub.PORT_D)
hub.peripherals[MoveHub.PORT_D] = motor 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) 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() 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) 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) 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) 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() motor.stop()
self.assertEqual(b"090081021107006403", hub.writes.pop(1)[1]) self.assertEqual(b"090081031107006403", hub.writes.pop(1)[1])
logging.debug("\n\n") 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) 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) 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) 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) 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() hub.connection.wait_notifications_handled()
@ -204,15 +204,15 @@ class PeripheralsTest(unittest.TestCase):
def callback(*args): def callback(*args):
vals.append(args) vals.append(args)
hub.connection.notification_delayed('0a004701020100000001', 0.1) hub.connection.notification_delayed('0a004702020100000001', 0.1)
motor.subscribe(callback) 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) time.sleep(0.4)
hub.connection.notification_delayed('0a004701020000000000', 0.1) hub.connection.notification_delayed('0a004702020000000000', 0.1)
motor.unsubscribe(callback) motor.unsubscribe(callback)
hub.connection.wait_notifications_handled() hub.connection.wait_notifications_handled()
@ -228,13 +228,13 @@ class PeripheralsTest(unittest.TestCase):
def callback(*args): def callback(*args):
vals.append(args) vals.append(args)
hub.connection.notification_delayed('0a00 4701080100000001', 0.1) hub.connection.notification_delayed('0a00 4702080100000001', 0.1)
cds.subscribe(callback) cds.subscribe(callback)
hub.connection.notification_delayed("08004501ff0aff00", 0.1) hub.connection.notification_delayed("08004502ff0aff00", 0.1)
time.sleep(0.2) time.sleep(0.2)
hub.connection.notification_delayed('0a00 4701090100000001', 0.1) hub.connection.notification_delayed('0a00 4702090100000001', 0.1)
cds.unsubscribe(callback) cds.unsubscribe(callback)
hub.connection.wait_notifications_handled() hub.connection.wait_notifications_handled()