refactoring

README.md

@@ -17,10 +17,11 @@ Best way to start is to look at [demo.py](demo.py) file, and run it.
 ```python
 from pylgbst import MoveHub
 
-hub=MoveHub()
+hub = MoveHub()
-print (hub.get_name())
+print(hub.get_name())
+
 for device in hub.devices:
-    print (device)
+    print(device)
 ```
 
 ## Roadmap

pylgbst/__init__.py

@@ -26,13 +26,14 @@ class MoveHub(object):
         self.motor_AB = None
         self.tilt_sensor = None
         self.color_distance_sensor = None
-        # self.button
+        self.external_motor = None
+        self.button = Button(self)
 
         # enables notifications reading
         self.connection.set_notify_handler(self._notify)
         self.connection.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
 
-        while len(self.devices):
+        while None in (self.led, self.motor_A, self.motor_B, self.motor_AB, self.tilt_sensor):
             log.debug("Waiting to be notified about devices...")
             time.sleep(0.1)
 
@@ -90,6 +91,7 @@ class MoveHub(object):
             self.devices[port] = EncodedMotor(self, port)
         elif dev_type == TYPE_IMOTOR:
             self.devices[port] = EncodedMotor(self, port)
+            self.external_motor = self.devices[port]
         elif dev_type == TYPE_DISTANCE_COLOR_SENSOR:
             self.devices[port] = ColorDistanceSensor(self, port)
             self.color_distance_sensor = self.devices[port]
@@ -99,6 +101,7 @@ class MoveHub(object):
             self.devices[port] = TiltSensor(self, port)
         else:
             log.warning("Unhandled peripheral type 0x%x on port 0x%x", dev_type, port)
+            self.devices[port] = Peripheral(self, port)
 
         if port == PORT_A:
             self.motor_A = self.devices[port]
@@ -116,18 +119,3 @@ class MoveHub(object):
             self.tilt_sensor = self.devices[port]
         else:
             log.warning("Unhandled port: %s", PORTS[port])
-
-
-LISTEN_COLOR_SENSOR_ON_C = b'\x0a\x00 \x41\x01 \x08\x01\x00\x00\x00\x01'
-LISTEN_COLOR_SENSOR_ON_D = b'\x0a\x00 \x41\x02 \x08\x01\x00\x00\x00\x01'
-
-LISTEN_DIST_SENSOR_ON_C = b'\x0a\x00 \x41\x01 \x08\x01\x00\x00\x00\x01'
-LISTEN_DIST_SENSOR_ON_D = b'\x0a\x00 \x41\x02 \x08\x01\x00\x00\x00\x01'
-
-LISTEN_ENCODER_ON_A = b'\x0a\x00 \x41\x37 \x02\x01\x00\x00\x00\x01'
-LISTEN_ENCODER_ON_B = b'\x0a\x00 \x41\x38 \x02\x01\x00\x00\x00\x01'
-LISTEN_ENCODER_ON_C = b'\x0a\x00 \x41\x01 \x02\x01\x00\x00\x00\x01'
-LISTEN_ENCODER_ON_D = b'\x0a\x00 \x41\x02 \x02\x01\x00\x00\x00\x01'
-
-LISTEN_TILT_BASIC = b'\x0a\x00 \x41\x3a \x02\x01\x00\x00\x00\x01'
-LISTEN_TILT_FULL = b'\x0a\x00 \x41\x3a \x00\x01\x00\x00\x00\x01'

pylgbst/comms.py

@@ -95,7 +95,6 @@ class BLEConnection(Connection):
                     self._get_requester(address, bt_iface_name)
                     break
 
-        log.info("Device declares itself as: %s", self.read(DEVICE_NAME))
         return self
 
     def _get_requester(self, address, bt_iface_name):
@@ -109,6 +108,7 @@ class BLEConnection(Connection):
             raise RuntimeError("No requester available")
 
     def read(self, handle):
+        # FIXME: repeating reads hang...
         log.debug("Reading from: %s", handle)
         data = self.requester.read_by_handle(handle)
         log.debug("Result: %s", data)

pylgbst/constants.py

@@ -7,6 +7,8 @@ MOVE_HUB_HARDWARE_UUID = '00001624-1212-efde-1623-785feabcd123'
 ENABLE_NOTIFICATIONS_HANDLE = 0x000f
 ENABLE_NOTIFICATIONS_VALUE = b'\x01\x00'
 
+PACKET_VER = b'\x01'
+
 # COLORS
 COLOR_OFF = 0x00
 COLOR_PINK = 0x01

pylgbst/peripherals.py

@@ -8,7 +8,6 @@ class Peripheral(object):
     """
     :type parent: MoveHub
     """
-    PACKET_VER = b'\x01'
 
     def __init__(self, parent, port):
         super(Peripheral, self).__init__()
@@ -17,7 +16,7 @@ class Peripheral(object):
         self.working = False
 
     def _set_port_val(self, value):
-        cmd = self.PACKET_VER + chr(MSG_SET_PORT_VAL) + chr(self.port)
+        cmd = PACKET_VER + chr(MSG_SET_PORT_VAL) + chr(self.port)
         cmd += value
 
         self.parent.connection.write(MOVE_HUB_HARDWARE_HANDLE, chr(len(cmd)) + cmd)  # should we +1 cmd len here?
@@ -29,7 +28,7 @@ class Peripheral(object):
         self.working = False
 
     def __repr__(self):
-        return "%s on port %s" % (self.__class__.__name__, PORTS[self.port])
+        return "%s on port %s" % (self.__class__.__name__, PORTS[self.port] if self.port in PORTS else 'N/A')
 
 
 class LED(Peripheral):
@@ -111,3 +110,24 @@ class ColorDistanceSensor(Peripheral):
 
 class TiltSensor(Peripheral):
     pass
+
+
+class Button(Peripheral):
+    def __init__(self, parent, port):
+        del port
+        super(Button, self).__init__(parent, None)
+
+
+LISTEN_COLOR_SENSOR_ON_C = b'   \x0a\x00 \x41\x01 \x08\x01\x00\x00\x00\x01'
+LISTEN_COLOR_SENSOR_ON_D = b'   \x0a\x00 \x41\x02 \x08\x01\x00\x00\x00\x01'
+
+LISTEN_DIST_SENSOR_ON_C = b'    \x0a\x00 \x41\x01 \x08\x01\x00\x00\x00\x01'
+LISTEN_DIST_SENSOR_ON_D = b'    \x0a\x00 \x41\x02 \x08\x01\x00\x00\x00\x01'
+
+LISTEN_ENCODER_ON_A = b'        \x0a\x00 \x41\x37 \x02\x01\x00\x00\x00\x01'
+LISTEN_ENCODER_ON_B = b'        \x0a\x00 \x41\x38 \x02\x01\x00\x00\x00\x01'
+LISTEN_ENCODER_ON_C = b'        \x0a\x00 \x41\x01 \x02\x01\x00\x00\x00\x01'
+LISTEN_ENCODER_ON_D = b'        \x0a\x00 \x41\x02 \x02\x01\x00\x00\x00\x01'
+
+LISTEN_TILT_BASIC = b'          \x0a\x00 \x41\x3a \x02\x01\x00\x00\x00\x01'
+LISTEN_TILT_FULL = b'           \x0a\x00 \x41\x3a \x00\x01\x00\x00\x00\x01'