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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
64 lines
1.8 KiB
Python
64 lines
1.8 KiB
Python
import logging
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import pygatt
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from pylgbst.comms import Connection, LEGO_MOVE_HUB, MOVE_HUB_HW_UUID_CHAR
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from pylgbst.utilities import str2hex
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log = logging.getLogger('comms-pygatt')
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class GattoolConnection(Connection):
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"""
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Used for connecting to
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:type _conn_hnd: pygatt.backends.bgapi.device.BGAPIBLEDevice
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"""
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def __init__(self, controller='hci0'):
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Connection.__init__(self)
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self.backend = lambda: pygatt.GATTToolBackend(hci_device=controller)
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self._conn_hnd = None
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def connect(self, hub_mac=None):
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log.debug("Trying to connect client to MoveHub with MAC: %s", hub_mac)
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adapter = self.backend()
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adapter.start()
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while not self._conn_hnd:
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log.info("Discovering devices...")
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devices = adapter.scan(1)
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log.debug("Devices: %s", devices)
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for dev in devices:
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address = dev['address']
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name = dev['name']
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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._conn_hnd = adapter.connect(address)
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break
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if self._conn_hnd:
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break
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return self
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def disconnect(self):
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self._conn_hnd.disconnect()
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def write(self, handle, data):
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log.debug("Writing to handle %s: %s", handle, str2hex(data))
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return self._conn_hnd.char_write_handle(handle, bytearray(data))
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def set_notify_handler(self, handler):
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self._conn_hnd.subscribe(MOVE_HUB_HW_UUID_CHAR, handler)
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def is_alive(self):
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return True
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class BlueGigaConnection(GattoolConnection):
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def __init__(self):
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super(BlueGigaConnection, self).__init__()
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self.backend = lambda: pygatt.BGAPIBackend()
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