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# Copyright 2019 Virantha N. Ekanayake |
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# |
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# Licensed under the Apache License, Version 2.0 (the "License"); |
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# you may not use this file except in compliance with the License. |
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# You may obtain a copy of the License at |
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# |
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# http://www.apache.org/licenses/LICENSE-2.0 |
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# |
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# Unless required by applicable law or agreed to in writing, software |
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# distributed under the License is distributed on an "AS IS" BASIS, |
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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# See the License for the specific language governing permissions and |
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# limitations under the License. |
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from asyncio import Queue, sleep, CancelledError |
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import sys, functools, uuid, bleak |
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from .sensor import Button # Hack! only to get the button sensor_id for the fake attach message |
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from .process import Process |
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from .message_dispatch import MessageDispatch |
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# Need a class to represent the bluetooth adapter provided |
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class BLEventQ(Process): |
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"""All bluetooth comms go through this object |
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Provides interfaces to connect to a device/hub, send_messages to, |
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and receive_messages from. |
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All requests to send messages to the BLE device must be inserted into |
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the :class:`bricknil.BLEventQ.q` Queue object. |
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""" |
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def __init__(self): |
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super().__init__('BLE Event Q') |
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self.adapter = None |
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# User needs to make sure adapter is powered up and on |
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# sudo hciconfig hci0 up |
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self.hubs = {} |
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self.devices = [] |
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async def disconnect(self): |
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if len(self.devices) > 0: |
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self.message(f'Terminating and disconnecting') |
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for device in self.devices: |
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await device.disconnect() |
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self.devices = [] |
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async def send_message(self, characteristic, msg): |
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"""Prepends a byte with the length of the msg and writes it to |
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the characteristic |
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Arguments: |
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characteristic : A tuple (device, uuid : str) |
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msg (bytearray) : Message with header |
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""" |
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# Message needs to have length prepended |
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length = len(msg)+1 |
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values = bytearray([length]+msg) |
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device, char_uuid = characteristic |
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await device.write_gatt_char(char_uuid, values) |
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async def get_messages(self, hub): |
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"""Instance a Message object to parse incoming messages and setup |
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the callback from the characteristic to call Message.parse on the |
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incoming data bytes |
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""" |
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# Message instance to parse and handle messages from this hub |
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msg_parser = MessageDispatch(hub) |
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# Create a fake attach message on port 255, so that we can attach any instantiated Button listeners if present |
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msg_parser.parse(bytearray([15, 0x00, 0x04,255, 1, Button._sensor_id, 0x00, 0,0,0,0, 0,0,0,0])) |
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def bleak_received(sender, data): |
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self.message_debug(f'Bleak Raw data received: {data}') |
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msg = msg_parser.parse(data) |
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self.message_debug('{0} Received: {1}'.format(hub.name, msg)) |
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device, char_uuid = hub.tx |
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await device.start_notify(char_uuid, bleak_received) |
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def _check_devices_for(self, devices, name, manufacturer_id, address): |
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"""Check if any of the devices match what we're looking for |
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First, check to make sure the manufacturer_id matches. If the |
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manufacturer_id is not present in the BLE advertised data from the |
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device, then fall back to the name (although this is unreliable because |
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the name on the device can be changed by the user through the LEGO apps). |
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Then, if address is supplied, only return a device with a matching id/name |
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if it's BLE MAC address also agrees |
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Returns: |
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device : Matching device (None if no matches) |
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""" |
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for device in devices: |
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self.message(f'checking manufacturer ID for device named {device.name} for {name}') |
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# Get the device manufacturer id from the advertised data if present |
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if device.manufacturer_id == manufacturer_id or device.name == name: |
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if not address: |
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return device |
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else: |
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ble_address = device.address |
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if address == ble_address: |
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return device |
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else: |
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self.message(f'Address {ble_address} is not a match') |
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else: |
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self.message(f'No match for device with advertised data {device.manufacturer_id}') |
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return None |
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async def _ble_connect(self, uart_uuid, ble_name, ble_manufacturer_id, ble_id=None, timeout=60): |
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"""Connect to the underlying BLE device with the needed UART UUID |
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""" |
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# Set hub.ble_id to a specific hub id if you want it to connect to a |
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# particular hardware hub instance |
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if ble_id: |
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self.message_info(f'Looking for specific hub id {ble_id}') |
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else: |
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self.message_info(f'Looking for first matching hub') |
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# Start discovery |
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found = False |
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while not found and timeout > 0: |
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print('Awaiting on bleak discover') |
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devices = await bleak.discover(timeout=1) |
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print('Done Awaiting on bleak discover') |
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# Filter out no-matching uuid |
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devices = [d for d in devices if str(uart_uuid) in d.metadata['uuids']] |
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# Now, extract the manufacturer_id |
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for device in devices: |
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assert len(device.metadata['manufacturer_data']) == 1 |
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data = next(iter(device.metadata['manufacturer_data'].values())) # Get the one and only key |
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device.manufacturer_id = data[1] |
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device = self._check_devices_for(devices, ble_name, ble_manufacturer_id, ble_id) |
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if device: |
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self.device = device |
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found = True |
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else: |
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self.message(f'Rescanning for {uart_uuid} ({timeout} tries left)') |
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timeout -= 1 |
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self.device = None |
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await sleep(1) |
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if self.device is None: |
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raise RuntimeError('Failed to find UART device!') |
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async def connect(self, hub): |
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# Connect the messaging queue for communication between self and the hub |
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hub.ble_handler = self |
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self.message(f'Starting scan for UART {hub.uart_uuid}') |
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# HACK |
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try: |
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ble_id = uuid.UUID(hub.ble_id) if hub.ble_id else None |
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except ValueError: |
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# In case the user passed in a |
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self.message_info(f"ble_id {hub.ble_id} is not a parseable UUID, so assuming it's a BLE network addresss") |
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ble_id = hub.ble_id |
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await self._ble_connect(hub.uart_uuid, hub.ble_name, hub.manufacturer_id, ble_id) |
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self.message(f"found device {self.device.name}") |
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device = bleak.BleakClient(address=self.device.address) |
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self.devices.append(device) |
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await device.connect() |
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hub.ble_id = self.device.address |
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self.message_info(f'Device advertised: {device.services.characteristics}') |
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hub.tx = (device, hub.char_uuid) |
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# Hack to fix device name on Windows |
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if self.device.name == "Unknown" and hasattr(device._requester, 'Name'): |
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self.device.name = device._requester.Name |
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self.message_info(f"Connected to device {self.device.name}:{hub.ble_id}") |
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self.hubs[hub.ble_id] = hub |
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await self.get_messages(hub) |
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virantha /
bricknil
