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>

README.md

@@ -72,13 +72,13 @@ Depending on backend type, you might need Linux `sudo` to be used when running P
 ### Bluetooth Connection Options
 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 `BleakConnection()` - if you use Bleak backend (`bleak` 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 Hub name (or mac address). Please take a look at functions source code for details.
@@ -86,11 +86,9 @@ All the functions above have optional arguments to specify adapter name and Hub
 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)
 ```
 

examples/demo.py

@@ -246,12 +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])

pylgbst/comms/cbleak.py

@@ -78,7 +78,7 @@ class BleakDriver(object):
         while not self._abort:
             if resp_queue.qsize() != 0:
                 msg = resp_queue.get()
-                self._handler(msg[0], msg[1])
+                self._handler(msg[0], bytes(msg[1]))
 
             time.sleep(0.01)
         logging.info("Processing thread has exited")
@@ -139,17 +139,21 @@ class BleakConnection(Connection):
         :return: None
         """
         log.info("Discovering devices... Press green button on Hub")
-        devices = await discover(timeout=10)
-        log.debug("Devices: %s", devices)
+        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
 
-        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
+            break
         else:
             raise ConnectionError('Device not found.')
 

pylgbst/hub.py

@@ -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
@@ -197,8 +199,9 @@ 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="LEGO Move Hub")
+            connection = get_connection_auto(hub_name=self.DEFAULT_NAME)
 
         super(MoveHub, self).__init__(connection)
         self.info = {}
@@ -250,36 +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='TrainHub')
+            connection = get_connection_auto(hub_name=self.DEFAULT_NAME)
         super(TrainHub, self).__init__(connection)

tests/test_cbleak.py

@@ -45,7 +45,7 @@ class BleakDriverTest(unittest.TestCase):
         driver.write(handle, data)
         time.sleep(0.5)  # processing time
         self.assertEqual(handle, last_response[0], 'Verifying response handle')
-        self.assertEqual(data, last_response[1], 'Verifying response data')
+        self.assertEqual(bytes(data), last_response[1], 'Verifying response data')
 
         driver.disconnect()
         time.sleep(0.5)  # processing time