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"""Singleton interface to the Adafruit Bluetooth library""" |
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import Adafruit_BluefruitLE |
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from curio import Queue, sleep, CancelledError |
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import sys, functools |
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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 .messages import Message |
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from .const import USE_BLEAK |
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# Need a class to represent the bluetooth adapter provided |
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# by adafruit that receives messages |
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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. Also abstracts away the underlying bluetooth library |
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that depends on the OS (Adafruit_Bluefruit for Mac, and Bleak for Linux/Win10) |
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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, ble): |
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super().__init__('BLE Event Q') |
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self.ble = ble |
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self.q = Queue() |
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if USE_BLEAK: |
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self.message('using bleak') |
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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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else: |
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self.message('Clearing BLE cache data') |
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self.ble.clear_cached_data() |
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self.adapter = self.ble.get_default_adapter() |
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self.message(f'Found adapter {self.adapter.name}') |
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self.message(f'Powering up adapter {self.adapter.name}') |
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self.adapter.power_on() |
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self.hubs = {} |
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async def run(self): |
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try: |
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while True: |
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msg = await self.q.get() |
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msg_type, hub, msg_val = msg |
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await self.q.task_done() |
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self.message(f'Got msg: {msg_type} = {msg_val}') |
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await self.send_message(hub.tx, msg_val) |
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except CancelledError: |
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self.message(f'Terminating and disconnecxting') |
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if USE_BLEAK: |
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await self.ble.in_queue.put( 'quit' ) |
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else: |
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self.device.disconnect() |
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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 : An object from bluefruit, or if using Bleak, |
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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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if USE_BLEAK: |
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device, char_uuid = characteristic |
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await self.ble.in_queue.put( ('tx', (device, char_uuid, values)) ) |
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else: |
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characteristic.write_value(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 = Message(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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def received(data): |
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self.message_debug(f'Adafruit_Bluefruit 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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if USE_BLEAK: |
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device, char_uuid = hub.tx |
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await self.ble.in_queue.put( ('notify', (device, char_uuid, bleak_received) )) |
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else: |
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# Adafruit library does not callback with the sender, only the data |
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hub.tx.start_notify(received) |
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def _check_devices_for(self, devices, name, 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 device.name is the name we're looking for. |
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Then, if address is supplied, only return a device with a matching 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 device named {device.name} for {name}') |
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if 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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if USE_BLEAK: |
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ble_address = device.address |
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else: |
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ble_address = device.id |
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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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return None |
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async def _ble_connect(self, uart_uuid, ble_name, 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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if not USE_BLEAK: |
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self.adapter.start_scan() |
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try: |
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found = False |
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while not found and timeout > 0: |
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if USE_BLEAK: |
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await self.ble.in_queue.put('discover') # Tell bleak to start discovery |
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devices = await self.ble.out_queue.get() # Wait for discovered devices |
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await self.ble.out_queue.task_done() |
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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.uuids] |
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else: |
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devices = self.ble.find_devices(service_uuids=[uart_uuid]) |
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device = self._check_devices_for(devices, ble_name, 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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assert self.device.name == ble_name |
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except: |
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raise |
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finally: |
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if not USE_BLEAK: |
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self.adapter.stop_scan() |
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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.message_queue = self.q |
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self.message(f'Starting scan for UART {hub.uart_uuid}') |
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await self._ble_connect(hub.uart_uuid, hub.ble_name, hub.ble_id) |
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self.message(f"found device {self.device.name}") |
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if USE_BLEAK: |
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await self.ble.in_queue.put( ('connect', self.device.address) ) |
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device = await self.ble.out_queue.get() |
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await self.ble.out_queue.task_done() |
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hub.ble_id = self.device.address |
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self.message(f'Device advertised: {device.characteristics}') |
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hub.tx = (device, hub.char_uuid) # Need to store device because the char is not an object in Bleak, unlike Bluefruit library |
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else: |
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self.device.connect() |
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hub.ble_id = self.device.id |
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# discover services |
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self.device.discover([hub.uart_uuid], [hub.char_uuid]) |
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uart = self.device.find_service(hub.uart_uuid) |
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hub.tx = uart.find_characteristic(hub.char_uuid) # same for rx |
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self.message_info(f'Device advertised {self.device.advertised}') |
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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
