def scan_toys(timeout=5.0):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((host, port))
try:
s.sendall(RequestOp.SCAN + struct.pack('!f', timeout))
code = recvall(s, 1)
if code == ResponseOp.ERROR:
size = to_int(recvall(s, 2))
data = recvall(s, size)
raise Exception(data.decode('utf_8'))
elif code != ResponseOp.OK:
raise SystemError(f'Unexpected response op code {code}')
num_devices = to_int(recvall(s, 2))
devices = []
for _ in range(num_devices):
name_size = to_int(recvall(s, 2))
name = recvall(s, name_size).decode('utf_8')
address_size = to_int(recvall(s, 2))
addr = recvall(s, address_size).decode('ascii')
devices.append(MockDevice(name, addr))
return devices
finally:
s.sendall(RequestOp.END)
s.close()
def __recv(self):
while True:
try:
code = recvall(self.__socket, 1)
except:
break
if code == ResponseOp.OK:
self.__sequence_wait.pop(recvall(self.__socket,
1)[0]).set_result(None)
continue
size = to_int(recvall(self.__socket, 2))
data = recvall(self.__socket, size)
if code == ResponseOp.ON_DATA:
uuid = data.decode('ascii').lower()
size = recvall(self.__socket, 1)[0]
data = recvall(self.__socket, size)
for f in self.__callbacks.get(uuid, []):
f(uuid, data)
elif code == ResponseOp.ERROR:
err = Exception(data.decode('utf_8'))
self.__sequence_wait.pop(recvall(self.__socket,
1)[0]).set_exception(err)
def get_core_up_time_in_milliseconds(toy, proc=None):
return to_int(toy._execute(SystemInfo._encode(toy, 57, proc)).data)
def get_factory_mode_challenge(toy, proc=None):
return to_int(toy._execute(FactoryTest._encode(toy, 19, proc)).data)
def get_chassis_id(toy, proc=None):
return to_int(toy._execute(FactoryTest._encode(toy, 39, proc)).data)
async def process_connection(reader: asyncio.streams.StreamReader, writer: asyncio.streams.StreamWriter):
peer = writer.get_extra_info('peername')
def callback(char, d):
if writer.is_closing():
return
char = char.encode('ascii')
writer.write(ResponseOp.ON_DATA + to_bytes(len(char), 2) + char + to_bytes(len(d), 1) + d)
asyncio.ensure_future(writer.drain())
print('Incoming connection from %s:%d' % peer)
adapter: Optional[bleak.BleakClient] = None
try:
while True:
cmd = await reader.readexactly(1)
if cmd == RequestOp.SCAN:
timeout = struct.unpack('!f', await reader.readexactly(4))[0]
try:
toys = await bleak.discover(timeout)
except BaseException as e:
err = str(e)[:0xffff].encode('utf_8')
writer.write(ResponseOp.ERROR + to_bytes(len(err), 2) + err)
await writer.drain()
continue
writer.write(ResponseOp.OK + to_bytes(len(toys), 2))
await writer.drain()
for toy in toys:
name = toy.name.encode('utf_8')
addr = toy.address.encode('ascii')
writer.write(to_bytes(len(name), 2) + name + to_bytes(len(addr), 2) + addr)
await writer.drain()
elif cmd == RequestOp.END:
break
else:
seq_size = await reader.readexactly(3)
seq, size = seq_size[0], to_int(seq_size[1:])
data = (await reader.readexactly(size)).decode('ascii')
try:
if cmd == RequestOp.INIT:
adapter = bleak.BleakClient(data, timeout=5.0)
await adapter.connect()
elif cmd == RequestOp.SET_CALLBACK:
await adapter.start_notify(data, callback)
elif cmd == RequestOp.WRITE:
size = to_int(await reader.readexactly(2))
payload = bytearray(await reader.readexactly(size))
await adapter.write_gatt_char(data, payload, True)
except EOFError:
raise
except BaseException as e:
err = str(e)[:0xffff].encode('utf_8')
writer.write(ResponseOp.ERROR + to_bytes(len(err), 2) + err + bytes([seq]))
await writer.drain()
continue
writer.write(ResponseOp.OK + bytes([seq]))
await writer.drain()
finally:
writer.close()
if adapter and await adapter.is_connected():
await adapter.disconnect()
await writer.wait_closed()
print('Disconnected from %s:%d' % peer)
def save_compressed_frame_player16_bit_frame(toy, i, i2, i3, i4, i5, proc=None): # unknown names
return to_int(toy._execute(IO._encode(toy, 77, proc, struct.pack('>5H', i, i2, i3, i4, i5))).data)
def get_battery_voltage(toy, proc=None):
return to_int(toy._execute(Power._encode(toy, 3, proc)).data) / 100
def get_pending_update_flags(toy, proc=None):
return PendingUpdateFlags(to_int(toy._execute(Firmware._encode(toy, 13, proc)).data))
def get_factory_config_block_crc(toy, proc=None):
return to_int(toy._execute(Core._encode(toy, 39, proc)).data)
def get_chassis_id(toy, proc=None):
return to_int(toy._execute(Sphero._encode(toy, 7, proc)).data)
def get_temporary_options(toy, proc=None):
data = to_int(toy._execute(Sphero._encode(toy, 56, proc)).data)
return Options(bool(data & 1), bool(data & 2), bool(data & 4),
bool(data & 8), bool(data & 16), bool(data & 256),
bool(data & 1024))
def get_persistent_options(toy, proc=None):
data = to_int(toy._execute(Sphero._encode(toy, 54, proc)).data)
return Options(bool(data & 1), bool(data & 2), bool(data & 4),
bool(data & 8), bool(data & 16), bool(data & 256),
bool(data & 1024))