mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
32eecac1a6
* It's HUB ID * Rename file * Working with official doc * Some progress * AttachedIO msg * device action impl * some better device alert impl * restructuring * Some port commands handled * Some command feedback waiting * Some more request-reply things * Some more request-reply things * Reworked msg classes * Getting back to UTs * Getting back to UTs * Facing sync lock problems * Facing sync lock problems * Testing it * Covering more with tests * handle actions * Hub class is almost covered * done coverage for Hub * done coverage for MoveHub * Button is tested * remove debug server from examples * Current and voltage tested * color sensor basic test * cover tilt sensor * motor sensor tested * constant motor * motor is tested * hold_speed impl for motor * motor commands recorded * some cleanup * some cleanup * some cleanup * debug * debug * FIX a bug * acc/dec profiles figured out * UT motor ops * UT motor ops * Get rid of weird piggyback * fix UT * Fix encoding? * fix test mb * More robust * Checked demo works * cosmetics * cosmetics * Maybe better test * fetching and decoding some device caps * describing devs * describing devs works * Applying modes we've learned * Simple and extensible dev attach * Reworking peripherals based on modes * Applying modes we've learned * implemented getting sensor data * fixed port subscribe * Added led out cmds on vision sensor * Worked on color-distance sensor * Introduce some locking for consistency * Improved it all * Travis flags * improve * improve * improve docs
129 lines
4.3 KiB
Python
129 lines
4.3 KiB
Python
import logging
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import re
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import threading
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from time import sleep
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import gatt
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from pylgbst.comms import Connection, LEGO_MOVE_HUB, MOVE_HUB_HW_UUID_SERV, MOVE_HUB_HW_UUID_CHAR, \
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MOVE_HUB_HARDWARE_HANDLE
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from pylgbst.utilities import str2hex
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log = logging.getLogger('comms-gatt')
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class CustomDevice(gatt.Device, object):
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def __init__(self, mac_address, manager):
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gatt.Device.__init__(self, mac_address=mac_address, manager=manager)
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self._notify_callback = lambda hnd, val: None
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self._handle = None
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def connect(self):
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gatt.Device.connect(self)
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log.info("Waiting for device connection...")
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while self._handle is None:
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log.debug("Sleeping...")
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sleep(1)
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if isinstance(self._handle, BaseException):
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exc = self._handle
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self._handle = None
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raise exc
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def write(self, data):
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log.debug("Writing to handle: %s", str2hex(data))
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return self._handle.write_value(data)
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def enable_notifications(self):
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log.debug('Enable Notifications...')
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self._handle.enable_notifications()
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def set_notific_handler(self, func_hnd):
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self._notify_callback = func_hnd
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def services_resolved(self):
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log.debug('Getting MoveHub services and characteristics...')
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gatt.Device.services_resolved(self)
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log.debug("[%s] Resolved services", self.mac_address)
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for service in self.services:
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log.debug("[%s] Service [%s]", self.mac_address, service.uuid)
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for characteristic in service.characteristics:
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log.debug("[%s] Characteristic [%s]", self.mac_address, characteristic.uuid)
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if service.uuid == MOVE_HUB_HW_UUID_SERV and characteristic.uuid == MOVE_HUB_HW_UUID_CHAR:
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log.debug('MoveHub characteristic found')
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self._handle = characteristic
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if self._handle is None:
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self.manager.stop()
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self._handle = RuntimeError("Failed to obtain MoveHub handle")
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def characteristic_value_updated(self, characteristic, value):
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value = self._fix_weird_bug(value)
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log.debug('Notification in GattDevice: %s', str2hex(value))
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self._notify_callback(MOVE_HUB_HARDWARE_HANDLE, value)
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def _fix_weird_bug(self, value):
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if isinstance(value, str) and "dbus.Array" in value: # weird bug from gatt on my Ubuntu 16.04!
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log.debug("Fixing broken notify string: %s", value)
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return ''.join([chr(int(x.group(1))) for x in re.finditer(r"dbus.Byte\((\d+)\)", value)])
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return value
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class GattConnection(Connection):
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"""
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:type _device: CustomDevice
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"""
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def __init__(self, bt_iface_name='hci0'):
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super(GattConnection, self).__init__()
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self._device = None
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self._iface = bt_iface_name
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try:
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self._manager = gatt.DeviceManager(adapter_name=self._iface)
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except TypeError:
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raise NotImplementedError("Gatt is not implemented for this platform")
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self._manager_thread = threading.Thread(target=self._manager.run)
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self._manager_thread.setDaemon(True)
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log.debug('Starting DeviceManager...')
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def connect(self, hub_mac=None):
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self._manager_thread.start()
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self._manager.start_discovery()
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while not self._device:
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log.info("Discovering devices...")
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devices = self._manager.devices()
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log.debug("Devices: %s", devices)
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for dev in devices:
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address = dev.mac_address
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name = dev.alias()
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if (not hub_mac and name == LEGO_MOVE_HUB) or hub_mac == address:
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logging.info("Found %s at %s", name, address)
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self._device = CustomDevice(address, self._manager)
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break
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if not self._device:
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sleep(1)
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self._device.connect()
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return self
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def disconnect(self):
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self._manager.stop()
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self._device.disconnect()
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def write(self, handle, data):
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self._device.write(data)
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def set_notify_handler(self, handler):
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self._device.set_notific_handler(handler)
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def enable_notifications(self):
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self._device.enable_notifications()
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def is_alive(self):
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return self._manager_thread.isAlive()
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