mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
286 lines
8.5 KiB
Python
286 lines
8.5 KiB
Python
"""
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This package holds communication aspects
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"""
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import json
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import logging
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import socket
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import sys
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import time
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import traceback
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from abc import abstractmethod
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from binascii import unhexlify
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from gattlib import DiscoveryService, GATTRequester
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from threading import Thread
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import binascii
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from pylgbst.constants import LEGO_MOVE_HUB, MSG_DEVICE_SHUTDOWN
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log = logging.getLogger('transport')
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def str2hex(data): # TODO: eliminate it
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return binascii.hexlify(data).decode("utf8")
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if sys.version_info[0] == 2:
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def get_byte(seq, index):
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return ord(seq[index])
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else:
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def get_byte(seq, index):
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return seq[index]
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# noinspection PyMethodOverriding
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class Requester(GATTRequester):
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"""
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Wrapper to access `on_notification` capability of GATT
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Set "notification_sink" field to a callable that will handle incoming data
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"""
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def __init__(self, p_object, *args, **kwargs):
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super(Requester, self).__init__(p_object, *args, **kwargs)
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self.notification_sink = None
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def on_notification(self, handle, data):
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# log.debug("requester notified, sink: %s", self.notification_sink)
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if self.notification_sink:
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self.notification_sink(handle, data)
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def on_indication(self, handle, data):
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log.debug("Indication on handle %s: %s", handle, str2hex(data))
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class Connection(object):
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@abstractmethod
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def read(self, handle):
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pass
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@abstractmethod
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def write(self, handle, data):
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pass
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@abstractmethod
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def set_notify_handler(self, handler):
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pass
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class BLEConnection(Connection):
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"""
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Main transport class, uses real Bluetooth LE connection.
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Loops with timeout of 1 seconds to find device named "Lego MOVE Hub"
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:type requester: Requester
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"""
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def __init__(self):
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super(BLEConnection, self).__init__()
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self.requester = None
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def connect(self, bt_iface_name='hci0'):
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service = DiscoveryService(bt_iface_name)
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while not self.requester:
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log.info("Discovering devices using %s...", bt_iface_name)
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devices = service.discover(1)
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log.debug("Devices: %s", devices)
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for address, name in devices.items():
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if name == LEGO_MOVE_HUB:
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logging.info("Found %s at %s", name, address)
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self._get_requester(address, bt_iface_name)
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break
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return self
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def _get_requester(self, address, bt_iface_name):
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self.requester = Requester(address, True, bt_iface_name)
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def set_notify_handler(self, handler):
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if self.requester:
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log.debug("Setting notification handler: %s", handler)
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self.requester.notification_sink = handler
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else:
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raise RuntimeError("No requester available")
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def read(self, handle):
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# FIXME: repeating reads hangs it...
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log.debug("Reading from: %s", handle)
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data = self.requester.read_by_handle(handle)
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log.debug("Result: %s", data)
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if isinstance(data, list):
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data = data[0]
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return data
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def write(self, handle, data):
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log.debug("Writing to %s: %s", handle, str2hex(data))
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return self.requester.write_by_handle(handle, data)
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class DebugServer(object):
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"""
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Starts TCP server to be used with DebugServerConnection to speed-up development process
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It holds BLE connection to Move Hub, so no need to re-start it every time
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Usage: DebugServer(BLEConnection().connect()).start()
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:type ble: BLEConnection
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"""
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def __init__(self, ble_trans):
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self._running = False
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self.sock = socket.socket()
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self.ble = ble_trans
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def start(self, port=9090):
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self.sock.bind(('', port))
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self.sock.listen(1)
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self._running = True
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while self._running:
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log.info("Accepting connections at %s", port)
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conn, addr = self.sock.accept()
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if not self._running:
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raise KeyboardInterrupt("Shutdown")
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self.ble.requester.notification_sink = lambda x, y: self._notify(conn, x, y)
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try:
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self._handle_conn(conn)
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except KeyboardInterrupt:
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raise
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except BaseException:
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log.error("Problem handling incoming connection: %s", traceback.format_exc())
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finally:
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self.ble.requester.notification_sink = self._notify_dummy
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conn.close()
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def __del__(self):
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self.sock.close()
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def _notify_dummy(self, handle, data):
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log.debug("Notification from handle %s: %s", handle, unhexlify(data))
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self._check_shutdown(data)
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def _notify(self, conn, handle, data):
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payload = {"type": "notification", "handle": handle, "data": str2hex(data)}
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log.debug("Send notification: %s", payload)
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try:
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conn.send(json.dumps(payload) + "\n")
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except KeyboardInterrupt:
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raise
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except BaseException:
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log.error("Problem sending notification: %s", traceback.format_exc())
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self._check_shutdown(data)
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def _check_shutdown(self, data):
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if get_byte(data, 5) == MSG_DEVICE_SHUTDOWN:
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log.warning("Device shutdown")
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self._running = False
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def _handle_conn(self, conn):
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"""
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:type conn: socket._socketobject
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"""
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buf = ""
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while True:
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data = conn.recv(1024)
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log.debug("Recv: %s", data.strip())
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if not data:
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break
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buf += data
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if "\n" in buf:
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line = buf[:buf.index("\n")]
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buf = buf[buf.index("\n") + 1:]
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if line:
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log.info("Cmd line: %s", line)
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try:
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self._handle_cmd(json.loads(line))
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except KeyboardInterrupt:
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raise
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except BaseException:
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log.error("Failed to handle cmd: %s", traceback.format_exc())
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def _handle_cmd(self, cmd):
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if cmd['type'] == 'write':
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self.ble.write(cmd['handle'], unhexlify(cmd['data']))
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elif cmd['type'] == 'read':
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data = self.ble.read(cmd['handle'])
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payload = {"type": "response", "data": str2hex(data)}
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log.debug("Send response: %s", payload)
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self.sock.send(json.dumps(payload) + "\n")
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else:
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raise ValueError("Unhandled cmd: %s", cmd)
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class DebugServerConnection(Connection):
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"""
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Connection type to be used with DebugServer, replaces BLEConnection
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"""
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def __init__(self, port=9090):
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super(DebugServerConnection, self).__init__()
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self.notify_handler = None
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self.buf = ""
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self.sock = socket.socket()
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self.sock.connect(('localhost', port))
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self.incoming = []
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self.reader = Thread(target=self._recv)
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self.reader.setDaemon(True)
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self.reader.start()
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def __del__(self):
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self.sock.close()
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def write(self, handle, data):
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payload = {
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"type": "write",
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"handle": handle,
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"data": str2hex(data)
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}
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self._send(payload)
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def read(self, handle):
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payload = {
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"type": "read",
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"handle": handle
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}
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self._send(payload)
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while True:
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for item in self.incoming:
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if item['type'] == 'response':
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self.incoming.remove(item)
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return unhexlify(item['data'])
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time.sleep(0.1)
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def _send(self, payload):
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log.debug("Sending to debug server: %s", payload)
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self.sock.send(json.dumps(payload) + "\n")
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def _recv(self):
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while True:
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data = self.sock.recv(1024)
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log.debug("Recv from debug server: %s", data.strip())
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if not data:
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break
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self.buf += data
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while "\n" in self.buf:
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line = self.buf[:self.buf.index("\n")]
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self.buf = self.buf[self.buf.index("\n") + 1:]
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if line:
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item = json.loads(line)
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if item['type'] == 'notification' and self.notify_handler:
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self.notify_handler(item['handle'], unhexlify(item['data']))
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elif item['type'] == 'response':
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self.incoming.append(item)
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else:
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log.warning("Dropped inbound: %s", item)
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def set_notify_handler(self, handler):
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self.notify_handler = handler
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