def __init__(self, address, use_wifi=False):
"""
Initialize with its BLE address - if you don't know the address, call findMambo
and that will discover it for you.
You can also connect to the wifi on the FPV camera. Do not use this if the camera is not connected. Also,
ensure you have connected your machine to the wifi on the camera before attempting this or it will not work.
:param address: unique address for this mambo
:param use_wifi: set to True to connect with wifi as well as the BLE
"""
self.address = address
self.use_wifi = use_wifi
if (use_wifi):
self.drone_connection = WifiConnection(self, drone_type="Mambo")
else:
if (BLEAvailable):
self.drone_connection = BLEConnection(address, self)
else:
self.drone_connection = None
color_print(
"ERROR: you are trying to use a BLE connection on a system that doesn't have BLE installed.",
"ERROR")
return
# intialize the command parser
self.command_parser = DroneCommandParser()
# initialize the sensors and the parser
self.sensors = MamboSensors()
self.sensor_parser = DroneSensorParser(drone_type="Mambo")
def update_sensors(self, data_type, buffer_id, sequence_number, raw_data,
ack):
"""
Update the sensors (called via the wifi or ble connection)
:param data: raw data packet that needs to be parsed
:param ack: True if this packet needs to be ack'd and False otherwise
"""
#print("data type is %d buffer id is %d sequence number is %d " % (data_type, buffer_id, sequence_number))
sensor_list = self.sensor_parser.extract_sensor_values(raw_data)
if (sensor_list is not None):
for sensor in sensor_list:
(sensor_name, sensor_value, sensor_enum, header_tuple) = sensor
if (sensor_name is not None):
self.sensors.update(sensor_name, sensor_value, sensor_enum)
#print(self.sensors)
else:
color_print(
"data type %d buffer id %d sequence number %d" %
(data_type, buffer_id, sequence_number), "WARN")
color_print(
"This sensor is missing (likely because we don't need it)",
"WARN")
if (ack):
self.drone_connection.ack_packet(buffer_id, sequence_number)
def handle_frame(self, packet_type, buffer_id, packet_seq_id, recv_data):
if (buffer_id == self.buffer_ids['PING']):
#color_print("this is a ping! need to pong", "INFO")
self._send_pong(recv_data)
if (self.data_types_by_number[packet_type] == 'ACK'):
#print("setting command received to true")
ack_seq = int(struct.unpack("<B", recv_data)[0])
self._set_command_received('SEND_WITH_ACK', True, ack_seq)
self.ack_packet(buffer_id, ack_seq)
elif (self.data_types_by_number[packet_type] == 'DATA_NO_ACK'):
#print("DATA NO ACK")
if (buffer_id in self.data_buffers):
self.drone.update_sensors(packet_type,
buffer_id,
packet_seq_id,
recv_data,
ack=False)
elif (self.data_types_by_number[packet_type] == 'LOW_LATENCY_DATA'):
print("Need to handle Low latency data")
elif (self.data_types_by_number[packet_type] == 'DATA_WITH_ACK'):
#print("DATA WITH ACK")
if (buffer_id in self.data_buffers):
self.drone.update_sensors(packet_type,
buffer_id,
packet_seq_id,
recv_data,
ack=True)
else:
color_print("HELP ME", "ERROR")
print("got a different type of data - help")
def handleNotification(self, cHandle, data):
#print "handling notificiation from channel %d" % cHandle
#print "handle map is %s " % self.handle_map[cHandle]
#print "channel map is %s " % self.mambo.characteristic_receive_uuids[self.handle_map[cHandle]]
#print "data is %s " % data
channel = self.ble_connection.characteristic_receive_uuids[self.handle_map[cHandle]]
(packet_type, packet_seq_num) = struct.unpack('<BB', data[0:2])
raw_data = data[2:]
if channel == 'ACK_DRONE_DATA':
# data received from drone (needs to be ack on 1e)
#color_print("calling update sensors ack true", "WARN")
self.mambo.update_sensors(packet_type, None, packet_seq_num, raw_data, ack=True)
elif channel == 'NO_ACK_DRONE_DATA':
# data from drone (including battery and others), no ack
#color_print("drone data - no ack needed")
self.mambo.update_sensors(packet_type, None, packet_seq_num, raw_data, ack=False)
elif channel == 'ACK_COMMAND_SENT':
# ack 0b channel, SEND_WITH_ACK
#color_print("Ack! command received!")
self.ble_connection._set_command_received('SEND_WITH_ACK', True)
elif channel == 'ACK_HIGH_PRIORITY':
# ack 0c channel, SEND_HIGH_PRIORITY
#color_print("Ack! high priority received")
self.ble_connection._set_command_received('SEND_HIGH_PRIORITY', True)
else:
color_print("unknown channel %s sending data " % channel, "ERROR")
color_print(cHandle)
def _listen_socket(self):
"""
Listens to the socket and sleeps in between receives.
Runs forever (until disconnect is called)
"""
print("starting listening at ")
lasttime = time.time()
data = None
while (self.is_listening):
lasttime = time.time()
try:
(data, address) = self.udp_receive_sock.recvfrom(66000)
except socket.timeout:
print("timeout - trying again")
except:
pass
self.handle_data(data)
color_print("disconnecting", "INFO")
self.disconnect()
def send_enum_command_packet_ack(self,
command_tuple,
enum_value,
usb_id=None):
"""
Send a command on the ack channel with enum parameters as well (most likely a flip).
All commandsandsensors except PCMD go on the ack channel per
http://forum.developer.parrot.com/t/ble-characteristics-of-minidrones/5912/2
the id of the last command sent (for use in ack) is the send counter (which is incremented before sending)
:param command_tuple: 3 tuple of the command bytes. 0 padded for 4th byte
:param enum_value: the enum index
:return: nothing
"""
self.characteristic_send_counter['SEND_WITH_ACK'] = (
self.characteristic_send_counter['SEND_WITH_ACK'] + 1) % 256
if (usb_id is None):
packet = struct.pack(
"<BBBBBBI", self.data_types['DATA_WITH_ACK'],
self.characteristic_send_counter['SEND_WITH_ACK'],
command_tuple[0], command_tuple[1], command_tuple[2], 0,
enum_value)
else:
color_print((self.data_types['DATA_WITH_ACK'],
self.characteristic_send_counter['SEND_WITH_ACK'],
command_tuple[0], command_tuple[1], command_tuple[2],
0, usb_id, enum_value), 1)
packet = struct.pack(
"<BBBBHBI", self.data_types['DATA_WITH_ACK'],
self.characteristic_send_counter['SEND_WITH_ACK'],
command_tuple[0], command_tuple[1], command_tuple[2], usb_id,
enum_value)
return self.send_command_packet_ack(packet)
def send_command_packet_noack(self, packet):
"""
Sends the actual packet on the No-ack channel. Internal function only.
:param packet: packet constructed according to the command rules (variable size, constructed elsewhere)
:return: True if the command was sent and False otherwise
"""
try_num = 0
color_print("sending packet on try %d", try_num)
self.safe_send(packet)
def _perform_handshake(self):
"""
Magic handshake
Need to register for notifications and write 0100 to the right handles
This is sort of magic (not in the docs!) but it shows up on the forum here
http://forum.developer.parrot.com/t/minimal-ble-commandsandsensors-to-send-for-take-off/1686/2
:return: nothing
"""
color_print("magic handshake to make the drone listen to our commandsandsensors")
# Note this code snippet below more or less came from the python example posted to that forum (I adapted it to my interface)
for c in self.handshake_characteristics.values():
# for some reason bluepy characteristic handle is two lower than what I need...
# Need to write 0x0100 to the characteristics value handle (which is 2 higher)
self.drone_connection.writeCharacteristic(c.handle + 2, struct.pack("<BB", 1, 0))
def send_command_packet_ack(self, packet, seq_id):
"""
Sends the actual packet on the ack channel. Internal function only.
:param packet: packet constructed according to the command rules (variable size, constructed elsewhere)
:return: True if the command was sent and False otherwise
"""
try_num = 0
self._set_command_received('SEND_WITH_ACK', False, seq_id)
while (try_num < self.max_packet_retries and not self._is_command_received('SEND_WITH_ACK', seq_id)):
color_print("sending packet on try %d", try_num)
self.safe_send(packet)
try_num += 1
self.smart_sleep(0.5)
return self._is_command_received('SEND_WITH_ACK', seq_id)
def safe_land(self, timeout):
"""
Ensure the mambo lands by sending the command until it shows landed on sensors
"""
start_time = time.time()
while (self.sensors.flying_state not in ("landing", "landed") and (time.time() - start_time < timeout)):
if (self.sensors.flying_state == "emergency"):
return
color_print("trying to land", "INFO")
success = self.land()
self.smart_sleep(1)
while (self.sensors.flying_state != "landed" and (time.time() - start_time < timeout)):
if (self.sensors.flying_state == "emergency"):
return
self.smart_sleep(1)
def smart_sleep(self, timeout):
"""
Sleeps the requested number of seconds but wakes up for notifications
Note: NEVER use regular time.sleep! It is a blocking sleep and it will likely
cause the BLE to disconnect due to dropped notifications. Always use smart_sleep instead!
:param timeout: number of seconds to sleep
:return:
"""
start_time = time.time()
while (time.time() - start_time < timeout):
try:
notify = self.drone_connection.waitForNotifications(0.1)
except:
color_print("reconnecting to wait", "WARN")
self._reconnect(3)
def _safe_ble_write(self, characteristic, packet):
"""
Write to the specified BLE characteristic but first ensure the connection is valid
:param characteristic:
:param packet:
:return:
"""
success = False
while (not success):
try:
characteristic.write(packet)
success = True
except BTLEException:
color_print("reconnecting to send packet", "WARN")
self._reconnect(3)
def send_command_packet_ack(self, packet):
"""
Sends the actual packet on the ack channel. Internal function only.
:param packet: packet constructed according to the command rules (variable size, constructed elsewhere)
:return: True if the command was sent and False otherwise
"""
try_num = 0
self._set_command_received('SEND_WITH_ACK', False)
while (try_num < self.max_packet_retries and not self.command_received['SEND_WITH_ACK']):
color_print("sending command packet on try %d" % try_num, 2)
self._safe_ble_write(characteristic=self.send_characteristics['SEND_WITH_ACK'], packet=packet)
#self.send_characteristics['SEND_WITH_ACK'].write(packet)
try_num += 1
color_print("sleeping for a notification", 2)
#notify = self.drone.waitForNotifications(1.0)
self.smart_sleep(0.5)
#color_print("awake %s " % notify, 2)
return self.command_received['SEND_WITH_ACK']
def connect(self, num_retries):
"""
Connects to the drone
:param num_retries: maximum number of retries
:return: True if the connection succeeded and False otherwise
"""
#zeroconf = Zeroconf()
#listener = mDNSListener(self)
#browser = ServiceBrowser(zeroconf, self.mdns_address , listener)
# basically have to sleep until the info comes through on the listener
#num_tries = 0
#while (num_tries < num_retries and not self.is_connected):
# time.sleep(1)
# num_tries += 1
# if we didn't hear the listener, return False
#if (not self.is_connected):
# color_print("connection failed: did you remember to connect your machine to the Drone's wifi network?", "ERROR")
# return False
#else:
# browser.cancel()
# perform the handshake and get the UDP info
handshake = self._handshake(num_retries)
if (handshake):
self._create_udp_connection()
self.listener_thread = threading.Thread(target=self._listen_socket)
self.listener_thread.start()
color_print("Success in setting up the wifi network to the drone!",
"SUCCESS")
return True
else:
color_print("Error: TCP handshake failed.", "ERROR")
return False
def _reconnect(self, num_retries):
"""
Reconnect to the drone (assumed the BLE crashed)
:param: num_retries is the number of times to retry
:return: True if it succeeds and False otherwise
"""
try_num = 1
success = False
while (try_num < num_retries and not success):
try:
color_print("trying to re-connect to the mambo at address %s" % self.address, "WARN")
self.drone_connection.connect(self.address, "random")
color_print("connected! Asking for services and characteristics", "SUCCESS")
success = True
except BTLEException:
color_print("retrying connections", "WARN")
try_num += 1
if (success):
# do the magic handshake
self._perform_handshake()
return success
def extract_sensor_values(self, data):
"""
Extract the sensor values from the data in the BLE packet
:param data: BLE packet of sensor data
:return: a list of tuples of (sensor name, sensor value, sensor enum, header_tuple)
"""
sensor_list = []
#print("updating sensors with ")
try:
header_tuple = struct.unpack_from("<BBH", data)
except:
color_print("Error: tried to parse a bad sensor packet", "ERROR")
return None
#print(header_tuple)
(names, data_sizes) = self._parse_sensor_tuple(header_tuple)
#print("name of sensor is %s" % names)
#print("data size is %s" % data_sizes)
packet_offset = 4
if names is not None:
for idx, name in enumerate(names):
data_size = data_sizes[idx]
try:
# figure out how to parse the data
(format_string, new_offset) = get_data_format_and_size(data[packet_offset:], data_size)
if (new_offset == 0):
# this is usually a boolean flag stating that values have changed so set the value to True
# and let it return the name
sensor_data = True
else:
# real data, parse it
sensor_data = struct.unpack_from(format_string, data, offset=packet_offset)
sensor_data = sensor_data[0]
if (data_size == "string"):
packet_offset += len(sensor_data)
else:
packet_offset += new_offset
except Exception as e:
sensor_data = None
#print(header_tuple)
color_print("Error parsing data for sensor", "ERROR")
print(e)
print("name of sensor is %s" % names)
print("data size is %s" % data_sizes)
print(len(data))
print(4*(idx+1))
#print("%s %s %s" % (name,idx,sensor_data))
#color_print("updating the sensor!", "NONE")
sensor_list.append([name, sensor_data, self.sensor_tuple_cache, header_tuple])
return sensor_list
else:
color_print("Could not find sensor in list - ignoring for now. Packet info below.", "ERROR")
print(header_tuple)
#print(names)
return None
def connect(self, num_retries):
"""
Connects to the drone and re-tries in case of failure the specified number of times
:param: num_retries is the number of times to retry
:return: True if it succeeds and False otherwise
"""
# first try to connect to the wifi
try_num = 1
connected = False
while (try_num < num_retries and not connected):
try:
self._connect()
connected = True
except BTLEException:
color_print("retrying connections", "INFO")
try_num += 1
# fall through, return False as something failed
return connected
def _connect(self):
"""
Connect to the mambo to prepare for flying - includes getting the services and characteristics
for communication
:return: throws an error if the drone connection failed. Returns void if nothing failed.
"""
color_print("trying to connect to the mambo at address %s" % self.address, "INFO")
self.drone_connection.connect(self.address, "random")
color_print("connected! Asking for services and characteristics", "SUCCESS")
# re-try until all services have been found
allServicesFound = False
# used for notifications
handle_map = dict()
while not allServicesFound:
# get the services
self.services = self.drone_connection.getServices()
# loop through the services
for s in self.services:
hex_str = self._get_byte_str_from_uuid(s.uuid, 3, 4)
# store the characteristics for receive & send
if (self.service_uuids[hex_str] == 'ARCOMMAND_RECEIVING_SERVICE'):
# only store the ones used to receive data
for c in s.getCharacteristics():
hex_str = self._get_byte_str_from_uuid(c.uuid, 4, 4)
if hex_str in self.characteristic_receive_uuids:
self.receive_characteristics[self.characteristic_receive_uuids[hex_str]] = c
handle_map[c.getHandle()] = hex_str
elif (self.service_uuids[hex_str] == 'ARCOMMAND_SENDING_SERVICE'):
# only store the ones used to send data
for c in s.getCharacteristics():
hex_str = self._get_byte_str_from_uuid(c.uuid, 4, 4)
if hex_str in self.characteristic_send_uuids:
self.send_characteristics[self.characteristic_send_uuids[hex_str]] = c
elif (self.service_uuids[hex_str] == 'UPDATE_BLE_FTP'):
# store the FTP info
for c in s.getCharacteristics():
hex_str = self._get_byte_str_from_uuid(c.uuid, 4, 4)
if hex_str in self.characteristic_ftp_uuids:
self.ftp_characteristics[self.characteristic_ftp_uuids[hex_str]] = c
elif (self.service_uuids[hex_str] == 'NORMAL_BLE_FTP_SERVICE'):
# store the FTP info
for c in s.getCharacteristics():
hex_str = self._get_byte_str_from_uuid(c.uuid, 4, 4)
if hex_str in self.characteristic_ftp_uuids:
self.ftp_characteristics[self.characteristic_ftp_uuids[hex_str]] = c
# need to register for notifications and write 0100 to the right handles
# this is sort of magic (not in the docs!) but it shows up on the forum here
# http://forum.developer.parrot.com/t/minimal-ble-commands-to-send-for-take-off/1686/2
# Note this code snippet below more or less came from the python example posted to that forum (I adapted it to my interface)
for c in s.getCharacteristics():
if self._get_byte_str_from_uuid(c.uuid, 3, 4) in \
['fb0f', 'fb0e', 'fb1b', 'fb1c', 'fd22', 'fd23', 'fd24', 'fd52', 'fd53', 'fd54']:
self.handshake_characteristics[self._get_byte_str_from_uuid(c.uuid, 3, 4)] = c
# check to see if all 8 characteristics were found
allServicesFound = True
for r_id in self.characteristic_receive_uuids.values():
if r_id not in self.receive_characteristics:
color_print("setting to false in receive on %s" % r_id)
allServicesFound = False
for s_id in self.characteristic_send_uuids.values():
if s_id not in self.send_characteristics:
color_print("setting to false in send")
allServicesFound = False
for f_id in self.characteristic_ftp_uuids.values():
if f_id not in self.ftp_characteristics:
color_print("setting to false in ftp")
allServicesFound = False
# and ensure all handshake characteristics were found
if len(self.handshake_characteristics.keys()) != 10:
color_print("setting to false in len")
allServicesFound = False
# do the magic handshake
self._perform_handshake()
# initialize the delegate to handle notifications
self.drone_connection.setDelegate(MamboDelegate(handle_map, self.mambo, self))
def __init__(self, drone, drone_type="Bebop"):
"""
Can be a connection to a Bebop or a Mambo right now
:param type: type of drone to connect to
"""
self.is_connected = False
if (drone_type not in ("Bebop", "Mambo")):
color_print(
"Error: only type Bebop and Mambo are currently supported",
"ERROR")
return
self.drone = drone
self.drone_ip = '192.168.48.1'
self.drone_listen_port = 44444
self.drone_type = drone_type
self.udp_send_port = 0 # defined during the handshake
self.udp_receive_port = 43210
self.is_listening = True # for the UDP listener
self.listener_thread = None
if (drone_type == "Bebop"):
self.mdns_address = "_arsdk-090c._udp.local."
#Bebop video streaming
self.stream_port = 55004
self.stream_control_port = 55005
elif (drone_type == "Mambo"):
self.mdns_address = "_arsdk-090b._udp.local."
# map of the data types by name (for outgoing packets)
self.data_types_by_name = {
'ACK': 1,
'DATA_NO_ACK': 2,
'LOW_LATENCY_DATA': 3,
'DATA_WITH_ACK': 4
}
# map of the incoming data types by number (to figure out if we need to ack etc)
self.data_types_by_number = {
1: 'ACK',
2: 'DATA_NO_ACK',
3: 'LOW_LATENCY_DATA',
4: 'DATA_WITH_ACK'
}
self.sequence_counter = {
'PONG': 0,
'SEND_NO_ACK': 0,
'SEND_WITH_ACK': 0,
'SEND_HIGH_PRIORITY': 0,
'VIDEO_ACK': 0,
'ACK_DRONE_DATA': 0,
'NO_ACK_DRONE_DATA': 0,
'VIDEO_DATA': 0,
}
self.buffer_ids = {
'PING': 0, # pings from device
'PONG': 1, # respond to pings
'SEND_NO_ACK':
10, # not-ack commandsandsensors (piloting and camera rotations)
'SEND_WITH_ACK':
11, # ack commandsandsensors (all piloting commandsandsensors)
'SEND_HIGH_PRIORITY': 12, # emergency commandsandsensors
'VIDEO_ACK': 13, # ack for video
'ACK_DRONE_DATA': 127, # drone data that needs an ack
'NO_ACK_DRONE_DATA':
126, # data from drone (including battery and others), no ack
'VIDEO_DATA': 125, # video data
'ACK_FROM_SEND_WITH_ACK':
139 # 128 + buffer id for 'SEND_WITH_ACK' is 139
}
self.data_buffers = (self.buffer_ids['ACK_DRONE_DATA'],
self.buffer_ids['NO_ACK_DRONE_DATA'])
# store whether a command was acked
self.command_received = {
'SEND_WITH_ACK': False,
'SEND_HIGH_PRIORITY': False,
'ACK_COMMAND': False
}
# maximum number of times to try a packet before assuming it failed
self.max_packet_retries = 1
# threading lock for waiting
self._lock = threading.Lock()
def extract_sensor_values(self, data):
"""
Extract the sensor values from the data in the BLE packet
:param data: BLE packet of sensor data
:return: a list of tuples of (sensor name, sensor value, sensor enum, header_tuple)
"""
sensor_list = []
#print("updating sensors with ")
try:
header_tuple = struct.unpack_from("<BBH", data)
except:
color_print("Error: tried to parse a bad sensor packet", "ERROR")
return None
#print(header_tuple)
(names, data_sizes) = self._parse_sensor_tuple(header_tuple)
#print("name of sensor is %s" % names)
#print("data size is %s" % data_sizes)
packet_offset = 4
if names is not None:
for idx, name in enumerate(names):
data_size = data_sizes[idx]
try:
if (data_size == "u8" or data_size == "enum"):
# unsigned 8 bit, single byte
sensor_data = struct.unpack_from("<B",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 1
elif (data_size == "i8"):
# signed 8 bit, single byte
sensor_data = struct.unpack_from("<b",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 1
elif (data_size == "u16"):
sensor_data = struct.unpack_from("<H",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 2
elif (data_size == "i16"):
sensor_data = struct.unpack_from("<h",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 2
elif (data_size == "u32"):
sensor_data = struct.unpack_from("<I",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 4
elif (data_size == "i32"):
sensor_data = struct.unpack_from("<i",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 4
elif (data_size == "u64"):
sensor_data = struct.unpack_from("<Q",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 8
elif (data_size == "i64"):
sensor_data = struct.unpack_from("<q",
data,
offset=packet_offset)
sensor_data = int(sensor_data[0])
packet_offset += 8
elif (data_size == "float"):
sensor_data = struct.unpack_from("<f",
data,
offset=packet_offset)
sensor_data = float(sensor_data[0])
packet_offset += 4
elif (data_size == "double"):
sensor_data = struct.unpack_from("<d",
data,
offset=packet_offset)
sensor_data = float(sensor_data[0])
packet_offset += 8
elif (data_size == "string"):
# string
sensor_data = struct.unpack_from("<s",
data,
offset=packet_offset)
sensor_data = sensor_data[0]
packet_offset += len(sensor_data)
else:
#color_print("Write the parser for this value", "ERROR")
#print("name of sensor is %s" % names)
#print("data size is %s" % data_sizes)
# this is usually a boolean flag stating that values have changed so set the value to True
# and let it return the name
sensor_data = True
except:
sensor_data = None
#print(header_tuple)
print("name of sensor is %s" % names)
print("data size is %s" % data_sizes)
print(len(data))
print(4 * (idx + 1))
color_print("Error parsing data for sensor", "ERROR")
#print("%s %s %s" % (name,idx,sensor_data))
#color_print("updating the sensor!", "NONE")
sensor_list.append(
[name, sensor_data, self.sensor_tuple_cache, header_tuple])
return sensor_list
else:
color_print("Error parsing sensor information!", "ERROR")
#print(header_tuple)
return None
def __init__(self, handle_map, mambo, ble_connection):
DefaultDelegate.__init__(self)
self.handle_map = handle_map
self.mambo = mambo
self.ble_connection = ble_connection
color_print("initializing notification delegate", "INFO")
