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 `get_connection_auto()` to attempt backend auto-detection 
+- use `pylgbst.get_connection_auto()` to attempt backend auto-choice, autodetect uses 
-- use `get_connection_bluegiga()` - if you use BlueGiga Adapter (`pygatt` library prerequisite)
+- use `BlueGigaConnection()` - if you use BlueGiga Adapter (`pygatt` library prerequisite)
-- use `get_connection_gatt()` - if you use Gatt Backend on Linux (`gatt` library prerequisite)
+- use `GattConnection()` - 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 `GattoolConnection()` - 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 `GattLibConnection()` - 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 `BluepyConnection()` - if you use Bluepy backend on Linux/Raspbian (`bluepy` library prerequisite)
-- use `get_connection_bleak()` - if you use Bleak backend (`bleak` library prerequisite)
+- use `BleakConnection()` - 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.
@@ -86,9 +86,11 @@ 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 import get_connection_gatt
+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'
 
-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, format='%(relativeCreated)d\t%(levelname)s\t%(name)s\t%(message)s')
+    logging.basicConfig(level=logging.INFO)
     parser = get_options()
     options = parser.parse_args()
     parameters = {}
     try:
-        connection = connection_from_url(options.connection)  # get_connection_bleak(hub_name=MoveHub.DEFAULT_NAME)
+        connection = connection_from_url(options.connection)
         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], bytes(msg[1]))
+                self._handler(msg[0], msg[1])
 
             time.sleep(0.01)
         logging.info("Processing thread has exited")
@@ -139,9 +139,9 @@ class BleakConnection(Connection):
         :return: None
         """
         log.info("Discovering devices... Press green button on Hub")
-        for i in range(0, 30):
+        devices = await discover(timeout=10)
-            devices = await discover(timeout=1)
         log.debug("Devices: %s", devices)
+
         for dev in devices:
             log.debug(dev)
             address = dev.address
@@ -151,10 +151,6 @@ class BleakConnection(Connection):
                 self._device = dev
                 break
         else:
-                continue
-
-            break
-        else:
             raise ConnectionError('Device not found.')
 
         self._client = BleakClient(self._device.address, self.loop)

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 %x on port %x", dev_type, port)
+            log.warning("Have not dedicated class for peripheral type 0x%x on port 0x%x", dev_type, port)
             self.peripherals[port] = Peripheral(self, port)
 
         log.info("Attached peripheral: %s", self.peripherals[msg.port])
@@ -184,8 +184,6 @@ class MoveHub(Hub):
     :type motor_external: EncodedMotor
     """
 
-    DEFAULT_NAME = "LEGO Move Hub"
-
     # PORTS
     PORT_A = 0x00
     PORT_B = 0x01
@@ -199,9 +197,8 @@ 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)
+            connection = get_connection_auto(hub_name="LEGO Move Hub")
 
         super(MoveHub, self).__init__(connection)
         self.info = {}
@@ -253,7 +250,6 @@ class MoveHub(Hub):
 
     # noinspection PyTypeChecker
     def _handle_device_change(self, msg):
-        with self._comm_lock:
         super(MoveHub, self)._handle_device_change(msg)
         if isinstance(msg, MsgHubAttachedIO) and msg.event != MsgHubAttachedIO.EVENT_DETACHED:
             port = msg.port
@@ -278,15 +274,12 @@ class MoveHub(Hub):
 
             if type(self.peripherals[port]) == VisionSensor:
                 self.vision_sensor = self.peripherals[port]
-                elif type(self.peripherals[port]) == EncodedMotor \
+            elif type(self.peripherals[port]) == EncodedMotor and port not in (self.PORT_A, self.PORT_B, self.PORT_AB):
-                        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)
+            connection = get_connection_auto(hub_name='TrainHub')
         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(bytes(data), last_response[1], 'Verifying response data')
+        self.assertEqual(data, last_response[1], 'Verifying response data')
 
         driver.disconnect()
         time.sleep(0.5)  # processing time