Fix UT

Sometimes the data returnes is not byte/bytes, but native objective-c class _NSInlineData.
Seems to be a bleak bug, just convert it to bytes as workaround for now.

Co-authored-by: Dmitry Fink <finik@dishero.com>

.travis.yml

@@ -1,14 +1,8 @@
 sudo: false
 language: python
-virtualenv:
-  system_site_packages: true
-
-matrix:
-  include:
-    - os: linux
-      python: 2.7
-    - os: linux
-      python: 3.5
+python:
+  - 3.6
+  - 3.8
 
 addons:
   apt:
@@ -21,19 +15,23 @@ addons:
       - libdbus-1-dev
       - libdbus-glib-1-dev
       - libgirepository-1.0-1
+      - libgirepository1.0-dev
 
-      - python-dbus
-      - python-gi
-      - python3-dbus
-      - python3-gi
+      - bluez
 install:
   - wget https://github.com/labapart/gattlib/releases/download/dev/gattlib_dbus_0.2-dev_x86_64.deb
   - sudo dpkg -i gattlib_dbus_0.2-dev_x86_64.deb
-  - pip install codecov nose-exclude pygatt gatt pexpect bluepy
+  - pip install codecov codacy-coverage pytest pygatt gatt pexpect bluepy bleak packaging dbus-python pygobject
+  - pip install --upgrade attrs
 
+env:
+  - READTHEDOCS=True
 
-script: coverage run --omit="examples/*" --source=. -m nose tests -v --exclude-dir=examples
+script:
+  - coverage run --omit="examples/*" --source=. -m pytest -v --ignore=examples --log-level=INFO tests
 
 after_success:
   - coverage report -m
+  - coverage xml
   - codecov
+  - python-codacy-coverage -r coverage.xml

README.md

@@ -1,10 +1,10 @@
-# Python library to interact with Move Hub
+# Python library to interact with Move Hub / PoweredUp Hubs
 
 _Move Hub is central controller block of [LEGO® Boost Robotics Set](https://www.lego.com/themes/boost)._
 
-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.
+In fact, Move Hub is just a Bluetooth hardware piece, and all manipulations with it are made by commands passed through Bluetooth Low Energy (BLE) wireless protocol. One of the ways to issue these commands is to write Python program using this library.
 
-Best way to start is to look into [`demo.py`](examples/demo.py) file, and run it (assuming you have installed library).
+The best way to start is to look into [`demo.py`](examples/demo.py) file, and run it (assuming you have installed library).
 
 If you have Vernie assembled, you might run scripts from [`examples/vernie`](examples/vernie) directory.
 
@@ -55,12 +55,13 @@ Each peripheral kind has own methods to do actions and/or get sensor data. See [
 
 ## Bluetooth Backend Prerequisites
 
-You have following options to install as Bluetooth backend:
+You have following options to install as Bluetooth backend (some of them might require `sudo` on Linux):
 
 - `pip install pygatt` - [pygatt](https://github.com/peplin/pygatt) lib, works on both Windows and Linux  
 - `pip install gatt` - [gatt](https://github.com/getsenic/gatt-python) lib, supports Linux, does not work on Windows
 - `pip install gattlib` - [gattlib](https://bitbucket.org/OscarAcena/pygattlib) - supports Linux, does not work on Windows, requires `sudo`
 - `pip install bluepy` - [bluepy](https://github.com/IanHarvey/bluepy) lib, supports Linux, including Raspbian, which allows connection to the hub from the Raspberry PI
+- `pip install bleak` - [bleak](https://github.com/hbldh/bleak) lib, supports Linux/Windows/MacOS
 
 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.
 
@@ -69,26 +70,25 @@ _Please let author know if you have discovered any compatibility/preprequisite d
 Depending on backend type, you might need Linux `sudo` to be used when running Python.
 
 ### Bluetooth Connection Options
-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:
+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:
 
-- use `pylgbst.get_connection_auto()` to attempt backend auto-choice, autodetect uses 
-- use `BlueGigaConnection()` - if you use BlueGiga Adapter (`pygatt` library prerequisite)
-- use `GattConnection()` - if you use Gatt Backend on Linux (`gatt` library prerequisite)
-- use `GattoolConnection()` - if you use GattTool Backend on Linux (`pygatt` library prerequisite)
-- use `GattLibConnection()` - if you use GattLib Backend on Linux (`gattlib` library prerequisite)
-- use `BluepyConnection()` - if you use Bluepy backend on Linux/Raspbian (`bluepy` library prerequisite)
+- use `get_connection_auto()` to attempt backend auto-detection 
+- use `get_connection_bluegiga()` - if you use BlueGiga Adapter (`pygatt` library prerequisite)
+- use `get_connection_gatt()` - if you use Gatt Backend on Linux (`gatt` library prerequisite)
+- use `get_connection_gattool()` - if you use GattTool Backend on Linux (`pygatt` library prerequisite)
+- use `get_connection_gattlib()` - if you use GattLib Backend on Linux (`gattlib` library prerequisite)
+- use `get_connection_bluepy()` - if you use Bluepy backend on Linux/Raspbian (`bluepy` library prerequisite)
+- use `get_connection_bleak()` - if you use Bleak backend (`bleak` library prerequisite)
 - pass instance of `DebugServerConnection` if you are using [Debug Server](#debug-server) (more details below).
 
-All the functions above have optional arguments to specify adapter name and MoveHub mac address. Please look function source code for details.
+All the functions above have optional arguments to specify adapter name and Hub name (or mac address). Please take a look at functions source code for details.
 
 If you want to specify name for Bluetooth interface to use on local computer, you can pass that to class or function of getting a connection. Then pass connection object to `MoveHub` constructor. Like this:
 ```python
 from pylgbst.hub import MoveHub
-from pylgbst.comms.cgatt import GattConnection
-
-conn = GattConnection("hci1")
-conn.connect()  # you can pass Hub mac address as parameter here, like 'AA:BB:CC:DD:EE:FF'
+from pylgbst import get_connection_gatt
 
+conn = get_connection_gatt(hub_mac='AA:BB:CC:DD:EE:FF')
 hub = MoveHub(conn)
 ```
 
@@ -119,4 +119,4 @@ Then push green button on MoveHub, so permanent BLE connection will be establish
 - https://github.com/JorgePe/BOOSTreveng - initial source of protocol knowledge
 - https://github.com/nathankellenicki/node-poweredup - JavaScript version of library
 - https://github.com/spezifisch/sphero-python/blob/master/BB8joyDrive.py - example with another approach to bluetooth libs
-
+- https://github.com/virantha/bricknil - for the lovers of async Python, alternative implementation of library to control PoweredUp Hubs

examples/advancedbutton/README.md

@@ -0,0 +1,40 @@
+### Advanced button
+
+This example shows how you can add additional functionallity to the move hub button. 
+
+It adds three new actions which you can use instead of the standard subscription to a button press:
+
+- Click - a single quick up/down press
+- Double click - a double up/down press, second click must occur within .5 secs of first one 
+- Long press - a press and hold on the button for > .7 secs 
+
+```python
+from pylgbst.hub import MoveHub
+from advancedbutton import AdvancedButton
+import time
+
+
+hub = MoveHub()
+b = AdvancedButton(hub)
+
+
+def clicked():
+    print("button clicked")
+
+
+def pressed():
+    print("button pressed")
+
+
+def doubleclicked():
+    print("button double clicked")
+
+
+b.click.subscribe(clicked)
+b.double_click.subscribe(doubleclicked)
+b.long_press.subscribe(pressed)
+
+time.sleep(120)
+```
+
+You can alter the timings using the two constants `DOUBLE_CLICK_TIME` and `LONG_PRESS_TIME`

examples/advancedbutton/advancedbutton.py

@@ -0,0 +1,73 @@
+import time
+import threading
+
+DOUBLE_CLICK_TIME = 0.5
+LONG_PRESS_TIME = 0.7
+
+
+class AdvancedButton:
+    def __init__(self, hub):
+        self.state = 0
+        self.last_pressed = 0
+        self.press_time = None
+        self.hub = hub
+        self.hub.button.subscribe(self.pressed)
+        self.click = ButtonAction()
+        self.double_click = ButtonAction()
+        self.long_press = ButtonAction()
+
+    def pressed(self, state):
+        if state == 2:
+            return
+
+        press_time = time.time()
+
+        if state == 1:
+            self.state = 1
+            self.press_time = press_time
+            return
+
+        if state == 0 and self.state == 1:
+            self.state = 0
+            press_duration = press_time - self.press_time
+        else:
+            return
+
+        if press_duration > LONG_PRESS_TIME:
+            # long press
+            self.long_press.notify()
+            return
+
+        if (press_time - self.last_pressed) < DOUBLE_CLICK_TIME:
+            # double click
+            self.last_pressed = 0
+            self.double_click.notify()
+            return
+
+        # could be first of a double click, could be single click
+        self.last_pressed = press_time
+
+        def timeout():
+            time.sleep(DOUBLE_CLICK_TIME)
+            if self.last_pressed == press_time:
+                # not clicked while sleeping
+                # single click
+                self.click.notify()
+
+        threading.Thread(target=timeout).start()
+
+
+class ButtonAction:
+    def __init__(self):
+        self.subscribers = set()
+
+    def subscribe(self, callback):
+        self.subscribers.add(callback)
+
+    def unsubscribe(self, callback=None):
+        if callback in self.subscribers:
+            self.subscribers.remove(callback)
+
+    def notify(self):
+        for subscriber in self.subscribers.copy():
+            subscriber()

examples/demo.py

@@ -14,7 +14,7 @@ def demo_led_colors(movehub):
     log.info("LED colors demo")
 
     # We get a response with payload and port, not x and y here...
-    def colour_callback(**named):
+    def colour_callback(named):
         log.info("LED Color callback: %s", named)
 
     movehub.led.subscribe(colour_callback)
@@ -152,7 +152,6 @@ def demo_motor_sensors(movehub):
     movehub.motor_B.unsubscribe(callback_b)
 
     if movehub.motor_external is not None:
-        demo_motor_sensors.states[movehub.motor_external] = None
         movehub.motor_external.unsubscribe(callback_e)
 
 
@@ -174,15 +173,15 @@ def demo_voltage(movehub):
 
 
 def demo_all(movehub):
-    demo_voltage(movehub)
-    demo_led_colors(movehub)
     demo_motors_timed(movehub)
     demo_motors_angled(movehub)
     demo_port_cd_motor(movehub)
+    demo_led_colors(movehub)
     demo_tilt_sensor_simple(movehub)
     demo_tilt_sensor_precise(movehub)
     demo_color_sensor(movehub)
     demo_motor_sensors(movehub)
+    demo_voltage(movehub)
 
 
 DEMO_CHOICES = {
@@ -247,12 +246,12 @@ def connection_from_url(url):
 
 
 if __name__ == '__main__':
-    logging.basicConfig(level=logging.INFO)
+    logging.basicConfig(level=logging.INFO, format='%(relativeCreated)d\t%(levelname)s\t%(name)s\t%(message)s')
     parser = get_options()
     options = parser.parse_args()
     parameters = {}
     try:
-        connection = connection_from_url(options.connection)
+        connection = connection_from_url(options.connection)  # get_connection_bleak(hub_name=MoveHub.DEFAULT_NAME)
         parameters['connection'] = connection
     except ValueError as err:
         parser.error(err.args[0])

examples/vernie/android_remote.py

@@ -85,7 +85,7 @@ try:
         sa = round(c + b / divider, 1)
         sb = round(c - b / divider, 1)
         logging.info("SpeedA=%s, SpeedB=%s", sa, sb)
-        robot.motor_AB.start_power(sa, sb)
+        robot.motor_AB.start_speed(sa, sb)
         # time.sleep(0.5)
 finally:
     robot.motor_AB.stop()

examples/vernie/go_towards_light.py

@@ -1,5 +1,7 @@
+import logging
+
+from examples.vernie import Vernie
 from pylgbst.peripherals import VisionSensor
-from . import *
 
 logging.basicConfig(level=logging.INFO)
 
@@ -10,7 +12,8 @@ criterion = min
 cur_luminosity = 0
 
 
-def on_change_lum(lumn):
+def on_change_lum(lumn, unknown):
+    del unknown
     global cur_luminosity
     cur_luminosity = lumn
 

examples/vernie/run_away_game.py

@@ -1,5 +1,5 @@
-from pylgbst.constants import COLOR_GREEN, COLOR_NONE
-from . import *
+from pylgbst.peripherals import COLOR_GREEN, COLOR_NONE
+from vernie import *
 
 robot = Vernie()
 running = True
@@ -11,7 +11,7 @@ def callback(color, distance):
     secs = (10 - distance + 1) / 10.0
     print("Distance is %.1f inches, I'm running back with %s%% speed!" % (distance, int(speed * 100)))
     if speed <= 1:
-        robot.motor_AB.timed(secs / 1, -speed, is_async=True)
+        robot.motor_AB.timed(secs / 1, -speed)
         robot.say("Ouch")
 
 
@@ -31,6 +31,3 @@ while running:
 
 robot.vision_sensor.unsubscribe(callback)
 robot.button.unsubscribe(on_btn)
-robot.led.set_color(COLOR_NONE)
-while robot.led.in_progress():
-    time.sleep(1)

pylgbst/__init__.py

@@ -6,42 +6,57 @@ from pylgbst.comms import DebugServer
 log = logging.getLogger('pylgbst')
 
 
-def get_connection_bluegiga(controller=None, hub_mac=None):
+def get_connection_bluegiga(controller=None, hub_mac=None, hub_name=None):
     del controller  # to prevent code analysis warning
     from pylgbst.comms.cpygatt import BlueGigaConnection
 
-    return BlueGigaConnection().connect(hub_mac)
+    return BlueGigaConnection().connect(hub_mac, hub_name)
 
 
-def get_connection_gattool(controller='hci0', hub_mac=None):
+def get_connection_gattool(controller='hci0', hub_mac=None, hub_name=None):
     from pylgbst.comms.cpygatt import GattoolConnection
 
-    return GattoolConnection(controller).connect(hub_mac)
+    return GattoolConnection(controller).connect(hub_mac, hub_name)
 
 
-def get_connection_gatt(controller='hci0', hub_mac=None):
+def get_connection_gatt(controller='hci0', hub_mac=None, hub_name=None):
     from pylgbst.comms.cgatt import GattConnection
 
-    return GattConnection(controller).connect(hub_mac)
+    return GattConnection(controller).connect(hub_mac, hub_name)
 
 
-def get_connection_gattlib(controller='hci0', hub_mac=None):
+def get_connection_gattlib(controller='hci0', hub_mac=None, hub_name=None):
     from pylgbst.comms.cgattlib import GattLibConnection
 
-    return GattLibConnection(controller).connect(hub_mac)
+    return GattLibConnection(controller).connect(hub_mac, hub_name)
 
 
-def get_connection_bluepy(controller='hci0', hub_mac=None):
+def get_connection_bluepy(controller='hci0', hub_mac=None, hub_name=None):
     from pylgbst.comms.cbluepy import BluepyConnection
 
-    return BluepyConnection(controller).connect(hub_mac)
+    return BluepyConnection(controller).connect(hub_mac, hub_name)
 
 
-def get_connection_auto(controller='hci0', hub_mac=None):
+def get_connection_bleak(controller='hci0', hub_mac=None, hub_name=None):
+    """
+    Return connection based with Bleak API as an endpoint.
+
+    :param controller: Not used, kept for compatibility with others.
+    :param hub_mac: Optional Lego HUB MAC to connect to.
+    :return: Driver object.
+    """
+    del controller  # to prevent code analysis warning
+    from pylgbst.comms.cbleak import BleakDriver
+
+    return BleakDriver(hub_mac, hub_name)
+
+
+def get_connection_auto(controller='hci0', hub_mac=None, hub_name=None):
     fns = [
         get_connection_bluepy,
         get_connection_bluegiga,
         get_connection_gatt,
+        get_connection_bleak,
         get_connection_gattool,
         get_connection_gattlib,
     ]
@@ -50,7 +65,7 @@ def get_connection_auto(controller='hci0', hub_mac=None):
     for fn in fns:
         try:
             logging.info("Trying %s", fn.__name__)
-            return fn(controller, hub_mac)
+            return fn(controller, hub_mac, hub_name)
         except KeyboardInterrupt:
             raise
         except BaseException:

pylgbst/comms/__init__.py

@@ -15,7 +15,6 @@ from pylgbst.utilities import str2hex
 
 log = logging.getLogger('comms')
 
-LEGO_MOVE_HUB = "LEGO Move Hub"
 MOVE_HUB_HW_UUID_SERV = '00001623-1212-efde-1623-785feabcd123'
 MOVE_HUB_HW_UUID_CHAR = '00001624-1212-efde-1623-785feabcd123'
 ENABLE_NOTIFICATIONS_HANDLE = 0x000f
@@ -46,13 +45,21 @@ class Connection(object):
     def enable_notifications(self):
         self.write(ENABLE_NOTIFICATIONS_HANDLE, ENABLE_NOTIFICATIONS_VALUE)
 
-    def _is_device_matched(self, address, name, hub_mac):
-        log.debug("Checking device name: %s, MAC: %s", name, address)
+    def _is_device_matched(self, address, dev_name, hub_mac, find_name):
+        assert hub_mac or find_name, 'You have to provide either hub_mac or hub_name in connection options'
+        log.debug("Checking device: %s, MAC: %s", dev_name, address)
+        matched = False
         if address != "00:00:00:00:00:00":
-            if (not hub_mac and name == LEGO_MOVE_HUB) or hub_mac.lower() == address.lower():
-                log.info("Found %s at %s", name, address)
-                return True
-        return False
+            if hub_mac:
+                if hub_mac.lower() == address.lower():
+                    matched = True
+            elif dev_name == find_name:
+                matched = True
+
+            if matched:
+                log.info("Found %s at %s", dev_name, address)
+
+        return matched
 
 
 class DebugServer(object):

pylgbst/comms/cbleak.py

@@ -0,0 +1,216 @@
+import asyncio
+import logging
+import queue
+import threading
+import time
+
+from bleak import BleakClient, discover
+
+from pylgbst.comms import Connection, MOVE_HUB_HW_UUID_CHAR
+
+log = logging.getLogger('comms-bleak')
+
+# Queues to handle request / responses. Acts as a buffer between API and async BLE driver
+resp_queue = queue.Queue()
+req_queue = queue.Queue()
+
+
+class BleakDriver(object):
+    """Driver that provides interface between API and Bleak."""
+
+    def __init__(self, hub_mac=None, hub_name=None):
+        """
+        Initialize new object of Bleak Driver class.
+
+        :param hub_mac: Optional Lego HUB MAC to connect to.
+        """
+        self.hub_mac = hub_mac
+        self.hub_name = hub_name
+        self._handler = None
+        self._abort = False
+        self._connection_thread = None
+        self._processing_thread = None
+
+    def set_notify_handler(self, handler):
+        """
+        Set handler function used to communicate with an API.
+
+        :param handler: Handler function called by driver when received data
+        :return: None
+        """
+        self._handler = handler
+
+    def enable_notifications(self):
+        """
+        Enable notifications, in our cases starts communication threads.
+
+        We cannot do this earlier, because API need to fist set notification handler.
+        :return: None
+        """
+        self._connection_thread = threading.Thread(target=lambda: asyncio.run(self._bleak_thread()))
+        self._connection_thread.daemon = True
+        self._connection_thread.start()
+
+        self._processing_thread = threading.Thread(target=self._processing)
+        self._processing_thread.daemon = True
+        self._processing_thread.start()
+
+    async def _bleak_thread(self):
+        bleak = BleakConnection()
+        await bleak.connect(self.hub_mac, self.hub_name)
+        await bleak.set_notify_handler(self._safe_handler)
+        # After connecting, need to send any data or hub will drop the connection,
+        # below command is Advertising name request update
+        await bleak.write_char(MOVE_HUB_HW_UUID_CHAR, bytearray([0x05, 0x00, 0x01, 0x01, 0x05]))
+        while not self._abort:
+            await asyncio.sleep(0.1)
+            if req_queue.qsize() != 0:
+                data = req_queue.get()
+                await bleak.write(data[0], data[1])
+
+        logging.info("Communications thread has exited")
+
+    @staticmethod
+    def _safe_handler(handler, data):
+        resp_queue.put((handler, data))
+
+    def _processing(self):
+        while not self._abort:
+            if resp_queue.qsize() != 0:
+                msg = resp_queue.get()
+                self._handler(msg[0], bytes(msg[1]))
+
+            time.sleep(0.01)
+        logging.info("Processing thread has exited")
+
+    def write(self, handle, data):
+        """
+        Send data to given handle number.
+
+        :param handle: Handle number that will be translated into characteristic uuid
+        :param data: data to send
+        :raises ConnectionError" When internal threads are not working
+        :return: None
+        """
+        if not self._connection_thread.is_alive() or not self._processing_thread.is_alive():
+            raise ConnectionError('Something went wrong, communication threads not functioning.')
+
+        req_queue.put((handle, data))
+
+    def disconnect(self):
+        """
+        Disconnect and stops communication threads.
+
+        :return: None
+        """
+        self._abort = True
+
+    def is_alive(self):
+        """
+        Indicate whether driver is functioning or not.
+
+        :return: True if driver is functioning; False otherwise.
+        """
+        if self._connection_thread is not None and self._processing_thread is not None:
+            return self._connection_thread.is_alive() and self._processing_thread.is_alive()
+        else:
+            return False
+
+
+class BleakConnection(Connection):
+    """Bleak driver for communicating with BLE device."""
+
+    def __init__(self):
+        """Initialize new instance of BleakConnection class."""
+        Connection.__init__(self)
+        self.loop = asyncio.get_event_loop()
+
+        self._device = None
+        self._client = None
+        logging.getLogger('bleak.backends.dotnet.client').setLevel(logging.WARNING)
+        logging.getLogger('bleak.backends.bluezdbus.client').setLevel(logging.WARNING)
+
+    async def connect(self, hub_mac=None, hub_name=None):
+        """
+        Connect to device.
+
+        :param hub_mac: Optional Lego HUB MAC to connect to.
+        :raises ConnectionError: When cannot connect to given MAC or name matching fails.
+        :return: None
+        """
+        log.info("Discovering devices... Press green button on Hub")
+        for i in range(0, 30):
+            devices = await discover(timeout=1)
+            log.debug("Devices: %s", devices)
+            for dev in devices:
+                log.debug(dev)
+                address = dev.address
+                name = dev.name
+                if self._is_device_matched(address, name, hub_mac, hub_name):
+                    log.info('Device matched: %r', dev)
+                    self._device = dev
+                    break
+            else:
+                continue
+
+            break
+        else:
+            raise ConnectionError('Device not found.')
+
+        self._client = BleakClient(self._device.address, self.loop)
+        status = await self._client.connect()
+        log.debug('Connection status: {status}'.format(status=status))
+
+    async def write(self, handle, data):
+        """
+        Send data to given handle number.
+
+        If handle cannot be found in service description, hardcoded LEGO uuid will be used.
+        :param handle: Handle number that will be translated into characteristic uuid
+        :param data: data to send
+        :return: None
+        """
+        log.debug('Request: {handle} {payload}'.format(handle=handle, payload=[hex(x) for x in data]))
+        desc = self._client.services.get_descriptor(handle)
+
+        if not isinstance(data, bytearray):
+            data = bytearray(data)
+
+        if desc is None:
+            # dedicated handle not found, try to send by using LEGO Move Hub default characteristic
+            await self._client.write_gatt_char(MOVE_HUB_HW_UUID_CHAR, data)
+        else:
+            await self._client.write_gatt_char(desc.characteristic_uuid, data)
+
+    async def write_char(self, characteristic_uuid, data):
+        """
+        Send data to given handle number.
+
+        :param characteristic_uuid: Characteristic uuid used to send data
+        :param data: data to send
+        :return: None
+        """
+        await self._client.write_gatt_char(characteristic_uuid, data)
+
+    async def set_notify_handler(self, handler):
+        """
+        Set notification handler.
+
+        :param handler: Handle function to be called when receive any data.
+        :return: None
+        """
+
+        def c(handle, data):
+            log.debug('Response: {handle} {payload}'.format(handle=handle, payload=[hex(x) for x in data]))
+            handler(handle, data)
+
+        await self._client.start_notify(MOVE_HUB_HW_UUID_CHAR, c)
+
+    def is_alive(self):
+        """
+        To keep compatibility with the driver interface.
+
+        This method does nothing.
+        :return: None.
+        """
+        pass

pylgbst/comms/cbluepy.py

@@ -87,7 +87,7 @@ class BluepyConnection(Connection):
         self._peripheral = None  # :type BluepyThreadedPeripheral
         self._controller = controller
 
-    def connect(self, hub_mac=None):
+    def connect(self, hub_mac=None, hub_name=None):
         log.debug("Trying to connect client to MoveHub with MAC: %s", hub_mac)
         scanner = btle.Scanner()
 
@@ -98,11 +98,11 @@ class BluepyConnection(Connection):
 
             for dev in devices:
                 address = dev.addr
-                addressType = dev.addrType
+                address_type = dev.addrType
                 name = dev.getValueText(COMPLETE_LOCAL_NAME_ADTYPE)
 
-                if self._is_device_matched(address, name, hub_mac):
-                    self._peripheral = BluepyThreadedPeripheral(address, addressType, self._controller)
+                if self._is_device_matched(address, name, hub_mac, hub_name):
+                    self._peripheral = BluepyThreadedPeripheral(address, address_type, self._controller)
                     break
 
         return self

pylgbst/comms/cgatt.py

@@ -88,7 +88,7 @@ class GattConnection(Connection):
         self._manager_thread.setDaemon(True)
         log.debug('Starting DeviceManager...')
 
-    def connect(self, hub_mac=None):
+    def connect(self, hub_mac=None, hub_name=None):
         self._manager_thread.start()
         self._manager.start_discovery()
 
@@ -100,7 +100,7 @@ class GattConnection(Connection):
             for dev in devices:
                 address = dev.mac_address
                 name = dev.alias()
-                if self._is_device_matched(address, name, hub_mac):
+                if self._is_device_matched(address, name, hub_mac, hub_name):
                     self._device = CustomDevice(address, self._manager)
                     break
 

pylgbst/comms/cgattlib.py

@@ -61,7 +61,7 @@ class GattLibConnection(Connection):
         self.requester = None
         self._iface = bt_iface_name
 
-    def connect(self, hub_mac=None):
+    def connect(self, hub_mac=None, hub_name=None):
         service = DiscoveryService(self._iface)
 
         while not self.requester:
@@ -70,7 +70,7 @@ class GattLibConnection(Connection):
             log.debug("Devices: %s", devices)
 
             for address, name in devices.items():
-                if self._is_device_matched(address, name, hub_mac):
+                if self._is_device_matched(address, name, hub_mac, hub_name):
                     self.requester = Requester(address, True, self._iface)
                     break
 

pylgbst/comms/cpygatt.py

@@ -2,7 +2,7 @@ import logging
 
 import pygatt
 
-from pylgbst.comms import Connection, LEGO_MOVE_HUB, MOVE_HUB_HW_UUID_CHAR
+from pylgbst.comms import Connection, MOVE_HUB_HW_UUID_CHAR
 from pylgbst.utilities import str2hex
 
 log = logging.getLogger('comms-pygatt')
@@ -20,20 +20,21 @@ class GattoolConnection(Connection):
         self.backend = lambda: pygatt.GATTToolBackend(hci_device=controller)
         self._conn_hnd = None
 
-    def connect(self, hub_mac=None):
+    def connect(self, hub_mac=None, hub_name=None):
         log.debug("Trying to connect client to MoveHub with MAC: %s", hub_mac)
         adapter = self.backend()
-        adapter.start()
+        adapter.start()  # enable or disable restart? What's the best?
 
         while not self._conn_hnd:
             log.info("Discovering devices...")
             devices = adapter.scan(1)
             log.debug("Devices: %s", devices)
 
+            # Pass each device found to _is_device_matched( ) to see if it the device we want
             for dev in devices:
                 address = dev['address']
                 name = dev['name']
-                if self._is_device_matched(address, name, hub_mac):
+                if self._is_device_matched(address, name, hub_mac, hub_name):
                     self._conn_hnd = adapter.connect(address)
                     break
 

pylgbst/hub.py

@@ -4,8 +4,8 @@ import time
 from pylgbst import get_connection_auto
 from pylgbst.messages import *
 from pylgbst.peripherals import *
-from pylgbst.utilities import str2hex, usbyte, ushort
 from pylgbst.utilities import queue
+from pylgbst.utilities import str2hex, usbyte, ushort
 
 log = logging.getLogger('hub')
 
@@ -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()
@@ -137,7 +137,7 @@ class Hub(object):
         if dev_type in PERIPHERAL_TYPES:
             self.peripherals[port] = PERIPHERAL_TYPES[dev_type](self, port)
         else:
-            log.warning("Have not dedicated class for peripheral type 0x%x on port 0x%x", dev_type, port)
+            log.warning("Have not dedicated class for peripheral type %x on port %x", dev_type, port)
             self.peripherals[port] = Peripheral(self, port)
 
         log.info("Attached peripheral: %s", self.peripherals[msg.port])
@@ -184,6 +184,8 @@ class MoveHub(Hub):
     :type motor_external: EncodedMotor
     """
 
+    DEFAULT_NAME = "LEGO Move Hub"
+
     # PORTS
     PORT_A = 0x00
     PORT_B = 0x01
@@ -197,6 +199,10 @@ class MoveHub(Hub):
 
     # noinspection PyTypeChecker
     def __init__(self, connection=None):
+        self._comm_lock = threading.RLock()
+        if connection is None:
+            connection = get_connection_auto(hub_name=self.DEFAULT_NAME)
+
         super(MoveHub, self).__init__(connection)
         self.info = {}
 
@@ -247,29 +253,40 @@ class MoveHub(Hub):
 
     # noinspection PyTypeChecker
     def _handle_device_change(self, msg):
-        super(MoveHub, self)._handle_device_change(msg)
-        if isinstance(msg, MsgHubAttachedIO) and msg.event != MsgHubAttachedIO.EVENT_DETACHED:
-            port = msg.port
-            if port == self.PORT_A:
-                self.motor_A = self.peripherals[port]
-            elif port == self.PORT_B:
-                self.motor_B = self.peripherals[port]
-            elif port == self.PORT_AB:
-                self.motor_AB = self.peripherals[port]
-            elif port == self.PORT_C:
-                self.port_C = self.peripherals[port]
-            elif port == self.PORT_D:
-                self.port_D = self.peripherals[port]
-            elif port == self.PORT_LED:
-                self.led = self.peripherals[port]
-            elif port == self.PORT_TILT_SENSOR:
-                self.tilt_sensor = self.peripherals[port]
-            elif port == self.PORT_CURRENT:
-                self.current = self.peripherals[port]
-            elif port == self.PORT_VOLTAGE:
-                self.voltage = self.peripherals[port]
+        with self._comm_lock:
+            super(MoveHub, self)._handle_device_change(msg)
+            if isinstance(msg, MsgHubAttachedIO) and msg.event != MsgHubAttachedIO.EVENT_DETACHED:
+                port = msg.port
+                if port == self.PORT_A:
+                    self.motor_A = self.peripherals[port]
+                elif port == self.PORT_B:
+                    self.motor_B = self.peripherals[port]
+                elif port == self.PORT_AB:
+                    self.motor_AB = self.peripherals[port]
+                elif port == self.PORT_C:
+                    self.port_C = self.peripherals[port]
+                elif port == self.PORT_D:
+                    self.port_D = self.peripherals[port]
+                elif port == self.PORT_LED:
+                    self.led = self.peripherals[port]
+                elif port == self.PORT_TILT_SENSOR:
+                    self.tilt_sensor = self.peripherals[port]
+                elif port == self.PORT_CURRENT:
+                    self.current = self.peripherals[port]
+                elif port == self.PORT_VOLTAGE:
+                    self.voltage = self.peripherals[port]
 
-            if type(self.peripherals[port]) == VisionSensor:
-                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]
+                if type(self.peripherals[port]) == VisionSensor:
+                    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):
+    DEFAULT_NAME = 'TrainHub'
+
+    def __init__(self, connection=None):
+        if connection is None:
+            connection = get_connection_auto(hub_name=self.DEFAULT_NAME)
+        super(TrainHub, self).__init__(connection)

pylgbst/peripherals.py

@@ -232,10 +232,16 @@ class LEDRGB(Peripheral):
         msg = MsgPortOutput(self.port, MsgPortOutput.WRITE_DIRECT_MODE_DATA, payload)
         self._send_output(msg)
 
+    def _decode_port_data(self, msg):
+        if len(msg.payload) == 3:
+            return usbyte(msg.payload, 0), usbyte(msg.payload, 1), usbyte(msg.payload, 2),
+        else:
+            return usbyte(msg.payload, 0),
+
 
 class Motor(Peripheral):
     SUBCMD_START_POWER = 0x01
-    # SUBCMD_START_POWER = 0x02
+    SUBCMD_START_POWER_GROUPED = 0x02
     SUBCMD_SET_ACC_TIME = 0x05
     SUBCMD_SET_DEC_TIME = 0x06
     SUBCMD_START_SPEED = 0x07
@@ -248,10 +254,10 @@ class Motor(Peripheral):
     END_STATE_FLOAT = 0
 
     def _speed_abs(self, relative):
-        if relative is None:
+        if relative == Motor.END_STATE_BRAKE or relative == Motor.END_STATE_HOLD:
             # special value for BRAKE
             # https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#output-sub-command-startpower-power
-            return 127
+            return relative
 
         if relative < -1:
             log.warning("Speed cannot be less than -1")
@@ -265,9 +271,6 @@ class Motor(Peripheral):
         return int(absolute)
 
     def _write_direct_mode(self, subcmd, params):
-        if self.virtual_ports:
-            subcmd += 1  # de-facto rule
-
         params = pack("<B", subcmd) + params
         msg = MsgPortOutput(self.port, MsgPortOutput.WRITE_DIRECT_MODE_DATA, params)
         self._send_output(msg)
@@ -279,22 +282,27 @@ class Motor(Peripheral):
         msg = MsgPortOutput(self.port, subcmd, params)
         self._send_output(msg)
 
-    def start_power(self, speed_primary=1.0, speed_secondary=None):
+    def start_power(self, power_primary=1.0, power_secondary=None):
         """
         https://lego.github.io/lego-ble-wireless-protocol-docs/index.html#output-sub-command-startpower-power
         """
-        if speed_secondary is None:
-            speed_secondary = speed_primary
+        if power_secondary is None:
+            power_secondary = power_primary
+
+        if self.virtual_ports:
+            cmd = self.SUBCMD_START_POWER_GROUPED - 1  # because _send_cmd will do +1
+        else:
+            cmd = self.SUBCMD_START_POWER
 
         params = b""
-        params += pack("<b", self._speed_abs(speed_primary))
+        params += pack("<b", self._speed_abs(power_primary))
         if self.virtual_ports:
-            params += pack("<b", self._speed_abs(speed_secondary))
+            params += pack("<b", self._speed_abs(power_secondary))
 
-        self._write_direct_mode(self.SUBCMD_START_POWER, params)
+        self._send_cmd(cmd, params)
 
     def stop(self):
-        self.start_speed(0)
+        self.timed(0)
 
     def set_acc_profile(self, seconds, profile_no=0x00):
         """
@@ -409,8 +417,8 @@ class EncodedMotor(Motor):
 
         params += pack("<b", self._speed_abs(speed))
 
-        params += pack("<B", end_state)
         params += pack("<B", int(100 * max_power))
+        params += pack("<B", end_state)
         params += pack("<B", use_profile)
 
         self._send_cmd(self.SUBCMD_GOTO_ABSOLUTE_POSITION, params)
@@ -580,7 +588,7 @@ class VisionSensor(Peripheral):
         elif self._port_mode.mode == self.CALIBRATE:
             return [ushort(data, x * 2) for x in range(8)]
         else:
-            log.debug("Unhandled data in mode %s: %s", self._port_mode.mode, str2hex(data))
+            log.debug("Unhandled VisionSensor data in mode %s: %s", self._port_mode.mode, str2hex(data))
             return ()
 
     def set_color(self, color):

pylgbst/utilities.py

@@ -20,13 +20,8 @@ queue = queue  # just to use it
 def check_unpack(seq, index, pattern, size):
     """Check that we got size bytes, if so, unpack using pattern"""
     data = seq[index: index + size]
-    if len(data) == size:
-        return unpack(pattern, data)[0]
-    else:
-        log.warning(
-            "Unpacking of %s bytes failed, insufficient data: %r", size, seq[index:]
-        )
-        raise ValueError(data, "Expected %s bytes" % (size,))
+    assert len(data) == size, "Unexpected data len %d, expected %d" % (len(data), size)
+    return unpack(pattern, data)[0]
 
 
 def usbyte(seq, index):

setup.cfg

@@ -0,0 +1,2 @@
+[metadata]
+description-file = README.md

setup.py

@@ -2,12 +2,12 @@ from setuptools import setup
 
 setup(
     name="pylgbst",
-    version="1.1.2",
+    version="1.2.0",
 
     author="Andrey Pokhilko",
     author_email="apc4@ya.ru",
     license="MIT",
-    description="Python library to interact with LEGO Move Hub (from Lego BOOST set)",
+    description="Python library to interact with LEGO PoweredUp devices (Lego BOOST etc.)",
     url='https://github.com/undera/pylgbst',
     keywords=['LEGO', 'ROBOTICS', 'BLUETOOTH'],
 
@@ -19,5 +19,6 @@ setup(
         "gattlib": ["gattlib"],
         "pygatt": ["pygatt", "pexpect"],
         "bluepy": ["bluepy"],
+        "bleak": ["bleak"],
     },
 )

tests/__init__.py

@@ -1,3 +1,4 @@
+import sys
 import time
 from binascii import unhexlify
 
@@ -5,7 +6,7 @@ from pylgbst.comms import Connection
 from pylgbst.hub import MoveHub, Hub
 from pylgbst.peripherals import *
 
-logging.basicConfig(level=logging.DEBUG)
+logging.basicConfig(level=logging.DEBUG if 'pydevd' in sys.modules else logging.INFO)
 
 log = logging.getLogger('test')
 

tests/test_cbleak.py

@@ -0,0 +1,61 @@
+import sys
+import time
+import unittest
+
+import bleak
+from packaging import version
+
+import pylgbst
+import pylgbst.comms.cbleak as cbleak
+
+bleak.BleakClient = object()
+bleak.discover = object()
+
+last_response = None
+lt37 = version.parse(sys.version.split(' ')[0]) < version.parse("3.7")
+
+
+class BleakDriverTest(unittest.TestCase):
+    def test_driver_creation(self):
+        connection = pylgbst.get_connection_bleak()
+        self.assertIsInstance(connection, cbleak.BleakDriver)
+        self.assertFalse(connection.is_alive(), 'Checking that factory returns not started driver')
+
+    @unittest.skipIf(lt37, "Python version is too low")
+    def test_communication(self):
+        driver = cbleak.BleakDriver()
+
+        async def fake_thread():
+            print('Fake thread initialized')
+            while not driver._abort:
+                time.sleep(0.1)
+                if cbleak.req_queue.qsize() != 0:
+                    print('Received data, sending back')
+                    data = cbleak.req_queue.get()
+                    cbleak.resp_queue.put(data)
+
+        driver._bleak_thread = fake_thread
+        driver.set_notify_handler(BleakDriverTest.validation_handler)
+        driver.enable_notifications()
+
+        time.sleep(0.5)  # time for driver initialization
+        self.assertTrue(driver.is_alive(), 'Checking that driver starts')
+        handle = 0x32
+        data = [0xD, 0xE, 0xA, 0xD, 0xB, 0xE, 0xE, 0xF]
+        driver.write(handle, data)
+        time.sleep(0.5)  # processing time
+        self.assertEqual(handle, last_response[0], 'Verifying response handle')
+        self.assertEqual(bytes(data), last_response[1], 'Verifying response data')
+
+        driver.disconnect()
+        time.sleep(0.5)  # processing time
+        self.assertFalse(driver.is_alive())
+
+    @staticmethod
+    def validation_handler(handle, data):
+        global last_response
+        last_response = (handle, data)
+
+
+if __name__ == '__main__':
+    unittest.main()

tests/test_comms.py

@@ -0,0 +1,40 @@
+import unittest
+
+from pylgbst.comms import *
+
+
+class ConnectionTestCase(unittest.TestCase):
+    def test_is_device_matched(self):
+        conn = Connection()
+
+        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'
+        other_name = 'HRM'
+
+        test_matrix = [
+            # address,      name,       hub_mac,        expected
+            (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, 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)

tests/test_peripherals.py

@@ -151,11 +151,11 @@ class PeripheralsTest(unittest.TestCase):
 
         hub.connection.notification_delayed('050082030a', 0.1)
         motor.start_power(1.0)
-        self.assertEqual(b"0800810311510164", hub.writes.pop(1)[1])
+        self.assertEqual(b"07008103110164", hub.writes.pop(1)[1])
 
         hub.connection.notification_delayed('050082030a', 0.1)
         motor.stop()
-        self.assertEqual(b"090081031107006403", hub.writes.pop(1)[1])
+        self.assertEqual(b"0c0081031109000064647f03", hub.writes.pop(1)[1])
 
         hub.connection.notification_delayed('050082030a', 0.1)
         motor.set_acc_profile(1.0)
@@ -171,7 +171,7 @@ class PeripheralsTest(unittest.TestCase):
 
         hub.connection.notification_delayed('050082030a', 0.1)
         motor.stop()
-        self.assertEqual(b"090081031107006403", hub.writes.pop(1)[1])
+        self.assertEqual(b"0c0081031109000064647f03", hub.writes.pop(1)[1])
 
         logging.debug("\n\n")
         hub.connection.notification_delayed('0500820301', 0.1)
@@ -191,7 +191,7 @@ class PeripheralsTest(unittest.TestCase):
         hub.connection.notification_delayed('0500820301', 0.1)
         hub.connection.notification_delayed('050082030a', 0.2)
         motor.goto_position(0)
-        self.assertEqual(b"0e008103110d00000000647f6403", hub.writes.pop(1)[1])
+        self.assertEqual(b"0e008103110d0000000064647f03", hub.writes.pop(1)[1])
 
         hub.connection.wait_notifications_handled()