mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
96 lines
3.3 KiB
Python
96 lines
3.3 KiB
Python
import asyncio
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import logging
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import sys
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import time
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import spheropy
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# noinspection PyProtectedMember
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from spheropy.spheropy import _ClientCommandPacket, _DEVICE_ID_CORE
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class BLEInterfaceGattool(spheropy.BleInterface):
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def _find_adapter(self):
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adapter = spheropy.pygatt.GATTToolBackend()
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adapter.start()
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adapter_type = spheropy.BleInterface.BleAdapterType.PYGATT
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self._adapter = adapter
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self._adapter_type = adapter_type
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return True
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class _SpheroImproved(spheropy.Sphero):
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async def connect(self, search_name=None, address=None, port=None, bluetooth_interface=None, use_ble=False,
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num_retry_attempts=1):
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gattool = BLEInterfaceGattool(search_name)
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return await super().connect(search_name, address, port, gattool, use_ble, num_retry_attempts)
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async def sleep(self, sleeptime, reset_inactivity_timeout=True, response_timeout_in_seconds=None):
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# port from https://github.com/jchadwhite/SpheroBB8-python/blob/master/BB8_driver.py#L394
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command = _ClientCommandPacket(device_id=_DEVICE_ID_CORE,
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command_id=0x22,
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sequence_number=self._get_and_increment_command_sequence_number(),
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data=[(sleeptime >> 8), (sleeptime & 0xff), 0],
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wait_for_response=True,
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reset_inactivity_timeout=reset_inactivity_timeout)
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return await self._send_command(command, response_timeout_in_seconds)
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class BB8(object):
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def __init__(self, name):
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# marry sync with async https://www.aeracode.org/2018/02/19/python-async-simplified/
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self._loop = asyncio.new_event_loop()
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asyncio.set_event_loop(self._loop)
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print("Started to wake up BB-8...")
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self._sphero = _SpheroImproved()
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self._loop.run_until_complete(self._sphero.connect(num_retry_attempts=3, use_ble=True, search_name=name))
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self._loop.run_until_complete(self._sphero.set_stabilization(True))
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self.stabilize()
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self.color(0, 0xFF, 0)
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print("BB-8 is ready for commands")
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def disconnect(self):
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self._loop.run_until_complete(self._sphero.sleep(0))
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self._sphero.disconnect()
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def color(self, red, green, blue):
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self._loop.run_until_complete(self._sphero.set_rgb_led(red, green, blue))
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def heading(self, heading):
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self._loop.run_until_complete(self._sphero.set_heading(heading))
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def roll(self, speed=1.0):
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speed = int(255 * speed)
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self._loop.run_until_complete(self._sphero.roll(speed, 0))
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def stop(self):
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self._loop.run_until_complete(self._sphero.roll(0, 0))
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def stabilize(self):
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self._loop.run_until_complete(self._sphero.self_level())
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if __name__ == "__main__":
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logging.basicConfig(level=logging.DEBUG if 'pydevd' in sys.modules else logging.WARNING)
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bb8 = BB8("BB-CC13")
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try:
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# bb8.color(0xFF, 0x00, 0xFF)
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bb8.color(0x00, 0x00, 0x00)
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bb8._loop.run_until_complete(bb8._sphero.set_back_led(254))
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time.sleep(3)
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for x in range(0, 359, 90):
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print(x)
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bb8.heading(x)
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bb8.roll(0.25)
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time.sleep(1)
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bb8.stop()
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bb8.stabilize()
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finally:
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bb8.disconnect()
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