Get rid of six as dependency

pylgbst/comms.py

@@ -5,31 +5,16 @@ import binascii
 import json
 import logging
 import socket
-import sys
 import traceback
 from abc import abstractmethod
 from binascii import unhexlify
+from gattlib import DiscoveryService, GATTRequester
 from threading import Thread
 
-from gattlib import DiscoveryService, GATTRequester
-from six.moves import queue
-
-from pylgbst.constants import MSG_DEVICE_SHUTDOWN
+from pylgbst.constants import MSG_DEVICE_SHUTDOWN, queue, str2hex
 
 log = logging.getLogger('comms')
 
-
-def str2hex(data):  # TODO: eliminate it
-    return binascii.hexlify(data).decode("utf8")
-
-
-if sys.version_info[0] == 2:
-    def get_byte(seq, index):
-        return ord(seq[index])
-else:
-    def get_byte(seq, index):
-        return seq[index]
-
 LEGO_MOVE_HUB = "LEGO Move Hub"
 
 
@@ -44,7 +29,6 @@ class Requester(GATTRequester):
         super(Requester, self).__init__(p_object, *args, **kwargs)
         self.notification_sink = None
 
-        # noinspection PyUnresolvedReferences
         self._notify_queue = queue.Queue()  # this queue is to minimize time spent in gattlib C code
         thr = Thread(target=self._dispatch_notifications)
         thr.setDaemon(True)

pylgbst/constants.py

@@ -1,3 +1,23 @@
+import binascii
+import struct
+import sys
+
+if sys.version_info[0] == 2:
+    import Queue as queue
+else:
+    import queue as queue
+
+queue = queue  # just to use it
+
+
+def str2hex(data):  # TODO: eliminate it
+    return binascii.hexlify(data).decode("utf8")
+
+
+def get_byte(seq, index):
+    return struct.unpack("<B", seq[index:index + 1])[0]
+
+
 # GENERAL
 MOVE_HUB_HARDWARE_HANDLE = 0x0E
 MOVE_HUB_HARDWARE_UUID = '00001624-1212-efde-1623-785feabcd123'

pylgbst/movehub.py

@@ -2,7 +2,7 @@ import logging
 import time
 from struct import pack
 
-from pylgbst.comms import BLEConnection, str2hex, get_byte
+from pylgbst.comms import BLEConnection
 from pylgbst.constants import *
 from pylgbst.peripherals import Button, EncodedMotor, ColorDistanceSensor, LED, TiltSensor, Voltage, Peripheral, \
     Amperage
@@ -31,6 +31,10 @@ class MoveHub(object):
     :type motor_external: EncodedMotor
     """
 
+    DEV_STATUS_DETACHED = 0x00
+    DEV_STATUS_DEVICE = 0x01
+    DEV_STATUS_GROUP = 0x02
+
     def __init__(self, connection=None):
         if not connection:
             connection = BLEConnection()
@@ -132,12 +136,26 @@ class MoveHub(object):
 
     def _handle_port_info(self, data):
         port = get_byte(data, 3)
-        dev_type = get_byte(data, 5)
+        status = get_byte(data, 4)
 
-        if port in PORTS and dev_type in DEVICE_TYPES:
-            log.debug("Device %s at port %s", DEVICE_TYPES[dev_type], PORTS[port])
+        if status == self.DEV_STATUS_DETACHED:
+            log.info("Detached %s", self.devices[port])
+            self.devices[port] = None
+        elif status == self.DEV_STATUS_DEVICE or status == self.DEV_STATUS_GROUP:
+            dev_type = get_byte(data, 5)
+            self._attach_device(dev_type, port)
         else:
-            log.warning("Device 0x%x at port 0x%x", dev_type, port)
+            raise ValueError("Unhandled device status: %s", status)
+
+        self._update_field(port)
+        if self.devices[port] is None:
+            del self.devices[port]
+
+    def _attach_device(self, dev_type, port):
+        if port in PORTS and dev_type in DEVICE_TYPES:
+            log.info("Attached %s at port %s", DEVICE_TYPES[dev_type], PORTS[port])
+        else:
+            log.warning("Attached device 0x%x at port 0x%x", dev_type, port)
 
         if dev_type == DEV_MOTOR:
             self.devices[port] = EncodedMotor(self, port)
@@ -156,9 +174,10 @@ class MoveHub(object):
         elif dev_type == DEV_VOLTAGE:
             self.devices[port] = Voltage(self, port)
         else:
-            log.debug("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
+            log.warning("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
             self.devices[port] = Peripheral(self, port)
 
+    def _update_field(self, port):
         if port == PORT_A:
             self.motor_A = self.devices[port]
         elif port == PORT_B:
@@ -178,7 +197,7 @@ class MoveHub(object):
         elif port == PORT_VOLTAGE:
             self.voltage = self.devices[port]
         else:
-            log.debug("Unhandled port: %s", PORTS[port])
+            log.warning("Unhandled port: %s", PORTS[port])
 
     def shutdown(self):
         cmd = pack("<B", PACKET_VER) + pack("<B", MSG_DEVICE_SHUTDOWN)

pylgbst/peripherals.py

@@ -4,9 +4,6 @@ import traceback
 from struct import pack, unpack
 from threading import Thread
 
-from six.moves import queue
-
-from pylgbst.comms import str2hex
 from pylgbst.constants import *
 
 log = logging.getLogger('peripherals')
@@ -29,7 +26,6 @@ class Peripheral(object):
         self._working = False
         self._subscribers = set()
         self._port_subscription_mode = None
-        # noinspection PyUnresolvedReferences
         self._incoming_port_data = queue.Queue()
         thr = Thread(target=self._queue_reader)
         thr.setDaemon(True)

setup.py

@@ -6,5 +6,5 @@ setup(name='pylgbst',
       author='Andrey Pokhilko',
       author_email='apc4@ya.ru',
       packages=['pylgbst'],
-      requires=['six', 'gattlib']
+      requires=['gattlib']
       )