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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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"""Hub processes for the Boost Move and PoweredUp hubs |
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""" |
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import uuid |
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from curio import sleep, UniversalQueue, CancelledError |
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from .process import Process |
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from .peripheral import Peripheral # for type check |
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from .const import USE_BLEAK |
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# noinspection SpellCheckingInspection |
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class Hub(Process): |
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"""Base class for all Lego hubs |
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Arguments: |
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name (str) : Human-readable name for this hub (for logging) |
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query_port_info (bool) : Set to True if you want to query all the port information on a Hub (very communication intensive) |
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ble_id (str) : BluetoothLE network(MAC) adddress to connect to (None if you want to connect to the first matching hub) |
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Attributes: |
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hubs (list [`Hub`]) : Class attr to keep track of all Hub (and subclasses) instances |
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message_queue (`curio.Queue`) : Outgoing message queue to :class:`bricknil.ble_queue.BLEventQ` |
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peripheral_queue (`curio.UniversalQueue`) : Incoming messages from :class:`bricknil.ble_queue.BLEventQ` |
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uart_uuid (`uuid.UUID`) : UUID broadcast by LEGO UARTs |
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char_uuid (`uuid.UUID`) : Lego uses only one service characteristic for communicating with the UART services |
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tx : Service characteristic for tx/rx messages that's set by :func:`bricknil.ble_queue.BLEventQ.connect` |
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peripherals (dict) : Peripheral name => `bricknil.Peripheral` |
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""" |
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hubs = [] |
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# noinspection SpellCheckingInspection,SpellCheckingInspection,SpellCheckingInspection,SpellCheckingInspection |
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def __init__(self, name, query_port_info=False, ble_id=None): |
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super().__init__(name) |
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self.ble_id = ble_id |
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self.query_port_info = query_port_info |
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self.message_queue = None |
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self.uart_uuid = uuid.UUID('00001623-1212-efde-1623-785feabcd123') |
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self.char_uuid = uuid.UUID('00001624-1212-efde-1623-785feabcd123') |
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self.tx = None |
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self.peripherals = {} # attach_sensor method will add sensors to this |
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self.peripheral_queue = UniversalQueue() # Incoming messages from peripherals |
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# Keep track of port info as we get messages from the hub ('update_port' messages) |
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self.port_info = {} |
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# Register this hub |
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Hub.hubs.append(self) |
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async def send_message(self, msg_name, msg_bytes): |
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"""Insert a message to the hub into the queue(:func:`bricknil.hub.Hub.message_queue`) connected to our BLE |
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interface |
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""" |
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while not self.tx: # Need to make sure we have a handle to the uart |
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await sleep(1) |
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await self.message_queue.put((msg_name, self, msg_bytes)) |
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async def peripheral_message_loop(self): |
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"""The main loop that receives messages from the :class:`bricknil.messages.Message` parser. |
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Waits for messages on a UniversalQueue and dispatches to the appropriate peripheral handler. |
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""" |
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try: |
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self.message_debug(f'starting peripheral message loop') |
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# Check if we have any hub button peripherals attached |
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# - If so, we need to manually call peripheral.activate_updates() |
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# - and then register the proper handler inside the message parser |
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while True: |
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msg = await self.peripheral_queue.get() |
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peripheral, msg = msg |
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await self.peripheral_queue.task_done() |
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if msg == 'value_change': |
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self.message_debug(f'peripheral msg: {peripheral} {msg}') |
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handler_name = f'{peripheral.name}_change' |
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handler = getattr(self, handler_name) |
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await handler() |
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elif msg == 'attach': |
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self.message_debug(f'peripheral msg: {peripheral} {msg}') |
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peripheral.message_handler = self.send_message |
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peripheral.enabled = True |
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await peripheral.activate_updates() |
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elif msg == 'update_port': |
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port, info = peripheral |
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self.port_info[port] = info |
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elif msg.startswith('port'): |
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if self.query_port_info: |
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await self._get_port_info(peripheral, msg) |
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except CancelledError: |
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self.message(f'Terminating peripheral') |
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def attach_sensor(self, sensor: Peripheral): |
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"""Add instance variable for this decorated sensor |
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Called by the class decorator :class:`bricknil.bricknil.attach` when decorating the sensor |
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""" |
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# Check that we don't already have a sensor with the same name attached |
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assert sensor.name not in self.peripherals, f'Duplicate {sensor.name} found!' |
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self.peripherals[sensor.name] = sensor |
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# Put this sensor as an attribute |
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setattr(self, sensor.name, sensor) |
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async def _get_port_info(self, port, msg): |
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"""Utility function to query information on available ports and modes from a hub. |
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""" |
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if msg == 'port_detected': |
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# Request mode info |
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b = [0x00, 0x21, port, 0x01] |
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await self.send_message(f'req mode info on {port}', b) |
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elif msg == 'port_info_received': |
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# At this point we know all the available modes for this port |
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# let's get the name and value format |
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modes = self.port_info[port]['modes'] |
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if self.port_info[port].get('combinable', False): |
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# Get combination info on port |
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b = [0x00, 0x21, port, 0x02] |
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await self.send_message(f'req mode combination info on {port}', b) |
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for mode in modes.keys(): |
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info_types = { 'NAME': 0, 'VALUE FORMAT':0x80, 'RAW Range':0x01, |
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'PCT Range': 0x02, 'SI Range':0x03, 'Symbol':0x04, |
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'MAPPING': 0x05, |
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} |
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# Send a message to requeust each type of info |
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for k,v in info_types.items(): |
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b = [0x00, 0x22, port, mode, v] |
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await self.send_message(f'req info({k}) on mode {mode} {port}', b) |
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class PoweredUpHub(Hub): |
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"""PoweredUp Hub class |
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""" |
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def __init__(self, name, query_port_info=False, ble_id=None): |
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super().__init__(name, query_port_info, ble_id) |
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self.ble_name = 'HUB NO.4' |
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class PoweredUpRemote(Hub): |
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"""PoweredUp Remote class |
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""" |
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def __init__(self, name, query_port_info=False, ble_id=None): |
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super().__init__(name, query_port_info, ble_id) |
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self.ble_name = 'Handset' |
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class BoostHub(Hub): |
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"""Boost Move Hub |
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""" |
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def __init__(self, name, query_port_info=False, ble_id=None): |
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super().__init__(name, query_port_info, ble_id) |
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self.ble_name = 'LEGO Move Hub' |
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class DuploTrainHub(Hub): |
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"""Duplo Steam train and Cargo Train |
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This is hub is found in Lego sets 10874 and 10875 |
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""" |
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def __init__(self, name, query_port_info=False, ble_id=None): |
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super().__init__(name, query_port_info, ble_id) |
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self.ble_name = 'Train Base' |
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virantha /
bricknil
