def main():
# logging.basicConfig()
monitor = Monitor()
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel.on_broadcast_data = monitor.on_data_heartrate
channel.on_burst_data = monitor.on_data_heartrate
channel.set_period(8070)
channel.set_search_timeout(12)
channel.set_rf_freq(57)
channel.set_id(0, 120, 0)
channel_cadence_speed = node.new_channel(
Channel.Type.BIDIRECTIONAL_RECEIVE)
channel_cadence_speed.on_broadcast_data = monitor.on_data_cadence_speed
channel_cadence_speed.on_burst_data = monitor.on_data_cadence_speed
channel_cadence_speed.set_period(8085)
channel_cadence_speed.set_search_timeout(30)
channel_cadence_speed.set_rf_freq(57)
channel_cadence_speed.set_id(0, 121, 0)
try:
channel.open()
channel_cadence_speed.open()
node.start()
finally:
node.stop()
def main():
print("ANT+ Open Rx Scan Mode Demo")
logging.basicConfig(filename="example.log", level=logging.DEBUG)
TimeProgramStart = time.time() # get start time
node = Node()
node.set_network_key(0x00, NETWORK_KEY) # 1. Set Network Key
# CHANNEL CONFIGURATION
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE, 0x00,
0x00) # 2. Assign channel
channel.on_broadcast_data = on_data_scan
channel.on_burst_data = on_data_scan
channel.on_acknowledge = on_data_scan
channel.on_acknowledge_data = on_data_ack_scan # von mir
channel.set_id(0, 0, 0) # 3. Set Channel ID
channel.set_period(0) # 4. Set Channel Period
channel.set_rf_freq(57) # 5. Set RadioFrequenzy
channel.enable_extended_messages(
1) # 6. Enable Extended Messages, needed for OpenRxScanMode
try:
channel.open_rx_scan_mode() # 7. OpenRxScanMode
node.start()
except KeyboardInterrupt:
print("Closing ANT+ Channel")
channel.close()
node.stop()
finally:
node.stop()
logging.shutdown() # Shutdown Logger
def main():
fan.gearOff()
logging.info("Setting:")
i = 0
while i < len(fan.pinlist):
info = "* gear " + str(i + 1) + " if heartrate greater " + str(
myHeartrateLevel[i])
i += 1
logging.info(info)
# ant device
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
# define the callback
channel.on_broadcast_data = on_data
channel.on_burst_data = on_data
#
channel.set_period(8070)
channel.set_search_timeout(12)
channel.set_rf_freq(57)
channel.set_id(0, 120, 0)
try:
channel.open()
node.start()
finally:
fan.gearOff()
node.stop()
GPIO.cleanup()
def __init__(self):
self.count = 0
logging.basicConfig(filename="example.log", level=logging.DEBUG)
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
# Master channel configuration for Generic Control Device
self.channel = node.new_channel(Channel.Type.BIDIRECTIONAL_TRANSMIT)
self.channel.set_id(1, 16, 5)
self.channel.set_period(8192)
self.channel.set_rf_freq(57)
# Callbacks
self.channel.on_broadcast_tx_data = self.on_tx_data
self.channel.on_acknowledge_data = self.on_acknowledge_data
self.channel.on_broadcast_data = self.on_broadcast_data
try:
print("Opening ANT+ Channel ...")
self.channel.open()
node.start()
except KeyboardInterrupt:
print("Closing ANT+ Channel ...")
self.channel.close()
node.stop()
finally:
logging.shutdown()
def main():
#logging.basicConfig(filename='example.log',level=logging.DEBUG)
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel_scan = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE,0x00,0x01)
channel_scan.on_broadcast_data = scan_data
channel_scan.on_burst_data = scan_data
channel_scan.on_acknowledge = scan_data
channel_scan.set_id(0, 120, 0)
channel_scan.enable_extended_messages(1)
channel_scan.set_search_timeout(0xFF)
channel_scan.set_period(8070)
channel_scan.set_rf_freq(57)
channel_hrm = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel_hrm.on_broadcast_data = hrm_data
channel_hrm.on_burst_data = hrm_data
channel_hrm.on_acknowledge = hrm_data
channel_hrm.set_id(49024, 120, 0)
channel_hrm.enable_extended_messages(1)
channel_hrm.set_search_timeout(0xFF)
channel_hrm.set_period(32280)
channel_hrm.set_rf_freq(57)
channel_hrm2 = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel_hrm2.on_broadcast_data = hrm_data
channel_hrm2.on_burst_data = hrm_data
channel_hrm2.on_acknowledge = hrm_data
channel_hrm2.set_id(25170, 120, 0)
channel_hrm2.enable_extended_messages(1)
channel_hrm2.set_search_timeout(0xFF)
channel_hrm2.set_period(32280)
channel_hrm2.set_rf_freq(57)
try:
channel_scan.open()
time.sleep(10)
channel_scan.close()
channel_scan._unassign()
channel_hrm.open()
channel_hrm2.open()
#channel_scan.open()
node.start()
finally:
channel_hrm.close()
channel_hrm._unassign()
channel_hrm2.close()
channel_hrm2._unassign()
node.stop()
class AntEasyTests(unittest.TestCase):
@unittest.skipUnless("ANT_TEST_USB_STICK" in os.environ,
"Testing with USB stick not enabled")
def test_search(self):
try:
logger = logging.getLogger("ant")
logger.setLevel(logging.DEBUG)
handler = logging.StreamHandler()
handler.setFormatter(
logging.Formatter(
fmt="%(asctime)s %(name)-15s %(levelname)-8s %(message)s"
))
logger.addHandler(handler)
self.node = Node()
print("Request basic information...")
m = self.node.request_message(Message.ID.RESPONSE_ANT_VERSION)
print(" ANT version: ", struct.unpack("<10sx", m[2])[0])
m = self.node.request_message(Message.ID.RESPONSE_CAPABILITIES)
print(" Capabilities: ", m[2])
m = self.node.request_message(Message.ID.RESPONSE_SERIAL_NUMBER)
print(" Serial number:", struct.unpack("<I", m[2])[0])
print("Starting system...")
NETWORK_KEY = [0xA8, 0xA4, 0x23, 0xB9, 0xF5, 0x5E, 0x63, 0xC1]
# self.node.reset_system()
self.node.set_network_key(0x00, NETWORK_KEY)
c = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
c.set_period(4096)
c.set_search_timeout(255)
c.set_rf_freq(50)
c.set_search_waveform([0x53, 0x00])
c.set_id(0, 0x01, 0)
print("Open channel...")
c.open()
c.request_message(Message.ID.RESPONSE_CHANNEL_STATUS)
print("Searching...")
self.node.start()
print("Done")
except KeyboardInterrupt:
print("Interrupted")
self.node.stop()
sys.exit(1)
def stop(self):
self.node.stop()
class AntEasyTests(unittest.TestCase):
@unittest.skipUnless("ANT_TEST_USB_STICK" in os.environ, "Testing with USB stick not enabled")
def test_search(self):
try:
logger = logging.getLogger("ant")
logger.setLevel(logging.DEBUG)
handler = logging.StreamHandler()
handler.setFormatter(logging.Formatter(fmt='%(asctime)s %(name)-15s %(levelname)-8s %(message)s'))
logger.addHandler(handler)
self.node = Node()
print("Request basic information...")
m = self.node.request_message(Message.ID.RESPONSE_ANT_VERSION)
print(" ANT version: ", struct.unpack("<10sx", m[2])[0])
m = self.node.request_message(Message.ID.RESPONSE_CAPABILITIES)
print(" Capabilities: ", m[2])
m = self.node.request_message(Message.ID.RESPONSE_SERIAL_NUMBER)
print(" Serial number:", struct.unpack("<I", m[2])[0])
print("Starting system...")
NETWORK_KEY = [0xa8, 0xa4, 0x23, 0xb9, 0xf5, 0x5e, 0x63, 0xc1]
# self.node.reset_system()
self.node.set_network_key(0x00, NETWORK_KEY)
c = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
c.set_period(4096)
c.set_search_timeout(255)
c.set_rf_freq(50)
c.set_search_waveform([0x53, 0x00])
c.set_id(0, 0x01, 0)
print("Open channel...")
c.open()
c.request_message(Message.ID.RESPONSE_CHANNEL_STATUS)
print("Searching...")
self.node.start()
print("Done")
except KeyboardInterrupt:
print("Interrupted")
self.node.stop()
sys.exit(1)
def stop(self):
self.node.stop()
def main():
def on_data(data):
heartrate = data[7]
string = "Heartrate: " + str(heartrate) + " [BPM]"
sys.stdout.write(string)
sys.stdout.flush()
sys.stdout.write("\b" * len(string))
if len(data) > 8:
print(data)
deviceNumberLSB = data[9]
deviceNumberMSB = data[10]
deviceNumber = "{}".format(deviceNumberLSB + (deviceNumberMSB << 8))
deviceType = "{}".format(data[11])
print("New Device Found: %s of type %s" % (deviceNumber, deviceType))
result.append(deviceNumber)
logging.basicConfig(filename="example.log", level=logging.DEBUG)
result = []
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
print(node.ant._driver._out)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE, 0x00, 0x01)
channel.on_broadcast_data = on_data
channel.on_burst_data = on_data
channel.on_acknowledge = on_data
channel.set_id(0, 120, 0)
channel.enable_extended_messages(1)
channel.set_search_timeout(0xFF)
channel.set_period(8070)
channel.set_rf_freq(57)
try:
node.start()
channel.open()
time.sleep(10)
channel.close()
time.sleep(0.5) #just to give the event handler to treat incoming message before unassigning it
channel._unassign()
result = list(set(result))
result.sort()
print("New Devices Found: \n %s " % (result))
finally:
node.stop()
def main():
# logging.basicConfig()
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel.on_broadcast_data = on_data
channel.on_burst_data = on_data
channel.set_period(8070)
channel.set_search_timeout(12)
channel.set_rf_freq(57)
channel.set_id(0, 120, 0)
try:
channel.open()
node.start()
finally:
node.stop()
def main():
# logging.basicConfig()
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel.on_broadcast_data = on_data
channel.on_burst_data = on_data
channel.set_period(8070)
channel.set_search_timeout(12)
channel.set_rf_freq(57)
channel.set_id(0, 120, 0)
try:
channel.open()
node.start()
finally:
node.stop()
def main():
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel.on_broadcast_data = on_data
channel.on_burst_data = on_data
channel.set_period(8070)
channel.set_search_timeout(12)
channel.set_rf_freq(57)
channel.set_id(0, 120, 0)
try:
channel.open()
node.start()
finally:
node.stop()
GPIO.cleanup()
colorWipe(strip, Color(0, 0, 0), 10)
def main():
logging.basicConfig(filename='example.log', level=logging.DEBUG)
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
channel = node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE, 0x00, 0x01)
channel.on_broadcast_data = on_data
channel.on_burst_data = on_data
channel.on_acknowledge = on_data
channel.set_id(0, 120, 0)
channel.enable_extended_messages(1)
channel.set_search_timeout(0xFF)
channel.set_period(8070)
channel.set_rf_freq(57)
try:
channel.open()
node.start()
finally:
node.stop()
class Application:
_serial_number = 1337
_frequency = 19 # 0 to 124, x - 2400 (in MHz)
def __init__(self):
self._queue = Queue.Queue()
self._beacons = Queue.Queue()
self._node = Node(0x0fcf, 0x1008)
print "Request basic information..."
m = self._node.request_message(Message.ID.RESPONSE_VERSION)
print " ANT version: ", struct.unpack("<10sx", m[2])[0]
m = self._node.request_message(Message.ID.RESPONSE_CAPABILITIES)
print " Capabilities: ", m[2]
m = self._node.request_message(Message.ID.RESPONSE_SERIAL_NUMBER)
print " Serial number:", struct.unpack("<I", m[2])[0]
print "Starting system..."
NETWORK_KEY = [0xa8, 0xa4, 0x23, 0xb9, 0xf5, 0x5e, 0x63, 0xc1]
self._node.reset_system()
self._node.set_network_key(0x00, NETWORK_KEY)
self._channel = self._node.new_channel(
Channel.Type.BIDIRECTIONAL_RECEIVE)
self._channel.on_broadcast_data = self._on_data
self._channel.on_burst_data = self._on_data
self.setup_channel(self._channel)
self._worker_thread = threading.Thread(target=self._worker,
name="ant.fs")
self._worker_thread.start()
def _worker(self):
self._node.start()
def _main(self):
try:
_logger.debug("Link level")
beacon = self._get_beacon()
if self.on_link(beacon):
for i in range(0, 5):
beacon = self._get_beacon()
if beacon.get_client_device_state(
) == Beacon.ClientDeviceState.AUTHENTICATION:
_logger.debug("Auth layer")
if self.on_authentication(beacon):
_logger.debug("Authenticated")
beacon = self._get_beacon()
self.on_transport(beacon)
self.disconnect()
break
except Exception as e:
print e
for line in traceback.format_exc().splitlines():
_logger.error("%r", line)
finally:
_logger.debug("Run 5")
self.stop()
def _on_beacon(self, data):
b = Beacon.parse(data)
self._beacons.put(b)
def _on_command(self, data):
c = ant.fs.command.parse(data)
self._queue.put(c)
def _on_data(self, data):
#print "_on_data", data, len(data)
if data[0] == 0x43:
self._on_beacon(data[:8])
if len(data[8:]) > 0:
self._on_command(data[8:])
elif data[0] == 0x44:
self._on_command(data)
def _get_beacon(self):
b = self._beacons.get()
self._beacons.task_done()
return b
def _get_command(self, timeout=3.0):
_logger.debug("Get command, t%d, s%d", timeout, self._queue.qsize())
c = self._queue.get(True, timeout)
self._queue.task_done()
return c
def _send_command(self, c):
data = c.get()
if len(data) == 8:
self._channel.send_acknowledged_data(data)
else:
self._channel.send_burst_transfer(data)
# Application actions are defined from here
# =======================================================================
# These should be overloaded:
def setup_channel(self, channel):
pass
def on_link(self, beacon):
pass
def on_authentication(self, beacon):
pass
def on_transport(self, beacon):
pass
# Shouldn't have to touch these:
def start(self):
self._main()
def stop(self):
self._node.stop()
def erase(self, index):
pass
def upload(self, index, data):
pass
def download(self, index, callback=None):
offset = 0
initial = True
crc = 0
data = array.array('B')
while True:
_logger.debug("Download %d, o%d, c%d", index, offset, crc)
self._send_command(DownloadRequest(index, offset, True, crc))
_logger.debug("Wait for response...")
try:
response = self._get_command()
if response._get_argument(
"response") == DownloadResponse.Response.OK:
remaining = response._get_argument("remaining")
offset = response._get_argument("offset")
total = offset + remaining
data[offset:total] = response._get_argument(
"data")[:remaining]
#print "rem", remaining, "offset", offset, "total", total, "size", response._get_argument("size")
if callback != None:
callback(
float(total) /
float(response._get_argument("size")))
if total == response._get_argument("size"):
return data
crc = response._get_argument("crc")
offset = total
else:
raise AntFSDownloadException(
response._get_argument("response"))
except Queue.Empty:
_logger.debug("Download %d timeout", index)
#print "recover from download failure"
def download_directory(self, callback=None):
data = self.download(0, callback)
return Directory.parse(data)
def link(self):
self._channel.request_message(Message.ID.RESPONSE_CHANNEL_ID)
self._send_command(LinkCommand(self._frequency, 4,
self._serial_number))
# New period, search timeout
self._channel.set_period(4096)
self._channel.set_search_timeout(3)
self._channel.set_rf_freq(self._frequency)
def authentication_serial(self):
self._send_command(
AuthenticateCommand(AuthenticateCommand.Request.SERIAL,
self._serial_number))
response = self._get_command()
return (response.get_serial(), response.get_data_string())
def authentication_passkey(self, passkey):
self._send_command(
AuthenticateCommand(AuthenticateCommand.Request.PASSKEY_EXCHANGE,
self._serial_number, passkey))
response = self._get_command()
if response._get_argument(
"type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException(response._get_argument("type"))
def authentication_pair(self, friendly_name):
data = array.array('B', map(ord, list(friendly_name)))
self._send_command(
AuthenticateCommand(AuthenticateCommand.Request.PAIRING,
self._serial_number, data))
response = self._get_command(30)
if response._get_argument(
"type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException(response._get_argument("type"))
def disconnect(self):
d = DisconnectCommand(DisconnectCommand.Type.RETURN_LINK, 0, 0)
self._send_command(d)
class AntPlusNode:
def __init__(self, network_key):
self.node = Node()
self.node.set_network_key(0x00, network_key)
self.ant_device_id = 1
def attach_hrm(self, device_number=0, transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
hrm = AntPlusHRM(channel,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return hrm
def attach_power_meter(self, device_number=0, transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
pwr_meter = AntPlusPowerMeter(channel,
device_number=device_number,
transfer_type=transfer_type)
pwr_meter._ant_device_id = self.check_id_of_power_meter(
) #id checked once at creation of pwr_meter
channel.open()
return pwr_meter
def attach_speed_sensor(self,
wheel_circumference_meters,
device_number=0,
transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusSpeedSensor(
channel,
wheel_circumference_meters=wheel_circumference_meters,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return sensor
def attach_cadence_sensor(self, device_number=0, transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusCadenceSensor(channel,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return sensor
def attach_speed_and_cadence_sensor(self,
wheel_circumference_meters,
device_number=0,
transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusSpeedAndCadenceSensor(
channel,
wheel_circumference_meters=wheel_circumference_meters,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return sensor
def attach_combined_speed_and_cadence_sensor(self,
wheel_circumference_meters,
speed_device_number=0,
speed_transfer_type=0,
cadence_device_number=0,
cadence_transfer_type=0):
channel1 = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel2 = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusCombinedSpeedAndCadenceSensors(
channel1,
channel2,
wheel_circumference_meters=wheel_circumference_meters,
speed_device_number=speed_device_number,
speed_transfer_type=speed_transfer_type,
cadence_device_number=cadence_device_number,
cadence_transfer_type=cadence_transfer_type)
channel1.open()
channel2.open()
return sensor
def check_id_of_power_meter(self, device_number=0, transfer_type=0):
meter_id = self.node.request_message(Message.ID.RESPONSE_CHANNEL_ID)
return meter_id
def start(self):
self.node.start()
def stop(self):
self.node.stop()
class Application:
_serial_number = 1337
_frequency = 19 # 0 to 124, x - 2400 (in MHz)
def __init__(self):
self._queue = Queue.Queue()
self._beacons = Queue.Queue()
self._node = Node()
try:
NETWORK_KEY= [0xa8, 0xa4, 0x23, 0xb9, 0xf5, 0x5e, 0x63, 0xc1]
self._node.set_network_key(0x00, NETWORK_KEY)
print "Request basic information..."
m = self._node.request_message(Message.ID.RESPONSE_CAPABILITIES)
print " Capabilities: ", m[2]
#m = self._node.request_message(Message.ID.RESPONSE_VERSION)
#print " ANT version: ", struct.unpack("<10sx", m[2])[0]
#m = self._node.request_message(Message.ID.RESPONSE_SERIAL_NUMBER)
#print " Serial number:", struct.unpack("<I", m[2])[0]
print "Starting system..."
#NETWORK_KEY= [0xa8, 0xa4, 0x23, 0xb9, 0xf5, 0x5e, 0x63, 0xc1]
#self._node.set_network_key(0x00, NETWORK_KEY)
print "Key done..."
self._channel = self._node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
self._channel.on_broadcast_data = self._on_data
self._channel.on_burst_data = self._on_data
self.setup_channel(self._channel)
self._worker_thread =threading.Thread(target=self._worker, name="ant.fs")
self._worker_thread.start()
except Exception as e:
self.stop()
raise e
def _worker(self):
self._node.start()
def _main(self):
try:
_logger.debug("Link level")
beacon = self._get_beacon()
if self.on_link(beacon):
for i in range(0, 5):
beacon = self._get_beacon()
if beacon.get_client_device_state() == Beacon.ClientDeviceState.AUTHENTICATION:
_logger.debug("Auth layer")
if self.on_authentication(beacon):
_logger.debug("Authenticated")
beacon = self._get_beacon()
self.on_transport(beacon)
self.disconnect()
break
#except Exception as e:
# print e
# traceback.print_exc()
# for line in traceback.format_exc().splitlines():
# _logger.error("%r", line)
finally:
_logger.debug("Run 5")
self.stop()
def _on_beacon(self, data):
b = Beacon.parse(data)
self._beacons.put(b)
def _on_command(self, data):
c = ant.fs.command.parse(data)
self._queue.put(c)
def _on_data(self, data):
#print "_on_data", data, len(data)
if data[0] == 0x43:
self._on_beacon(data[:8])
if len(data[8:]) > 0:
self._on_command(data[8:])
elif data[0] == 0x44:
self._on_command(data)
def _get_beacon(self):
b = self._beacons.get()
self._beacons.task_done()
return b
def _get_command(self, timeout=3.0):
_logger.debug("Get command, t%d, s%d", timeout, self._queue.qsize())
c = self._queue.get(True, timeout)
self._queue.task_done()
return c
def _send_command(self, c):
data = c.get()
if len(data) == 8:
self._channel.send_acknowledged_data(data)
else:
self._channel.send_burst_transfer(data)
# Application actions are defined from here
# =======================================================================
# These should be overloaded:
def setup_channel(self, channel):
pass
def on_link(self, beacon):
pass
def on_authentication(self, beacon):
pass
def on_transport(self, beacon):
pass
# Shouldn't have to touch these:
def start(self):
self._main()
def stop(self):
self._node.stop()
def erase(self, index):
pass
def _send_commandpipe(self, data):
#print "send commandpipe", data
self.upload(0xfffe, data)
def _get_commandpipe(self):
#print "get commandpipe"
return ant.fs.commandpipe.parse(self.download(0xfffe))
def create(self, typ, data, callback=None):
#print "create", typ
request = CreateFile(len(data), 0x80, [typ, 0x00, 0x00], [0x00, 0xff, 0xff])
self._send_commandpipe(request.get())
result = self._get_commandpipe()
#result._debug()
if result.get_response() != Response.Response.OK:
raise AntFSCreateFileException("Could not create file",
result.get_response())
#print "create result", result, result.get_index(), result.get_data_type(), result.get_identifier()
#d = self.download_directory()
self.upload(result.get_index(), data, callback)
return result.get_index()
def upload(self, index, data, callback=None):
#print "upload", index, len(data)
iteration = 0
while True:
# Request Upload
# Continue using Last Data Offset (special MAX_ULONG value)
request_offset = 0 if iteration == 0 else 0xffffffff
self._send_command(UploadRequest(index, len(data), request_offset))
upload_response = self._get_command()
#upload_response._debug()
if upload_response._get_argument("response") != UploadResponse.Response.OK:
raise AntFSUploadException("Upload request failed",
upload_response._get_argument("response"))
# Upload data
offset = upload_response._get_argument("last_data_offset")
max_block = upload_response._get_argument("maximum_block_size")
#print " uploading", offset, "to", offset + max_block
data_packet = data[offset:offset + max_block]
crc_seed = upload_response._get_argument("crc")
crc_val = crc(data_packet, upload_response._get_argument("crc"))
# Pad with 0 to even 8 bytes
missing_bytes = 8 - (len(data_packet) % 8)
if missing_bytes != 8:
data_packet.extend(array.array('B', [0] * missing_bytes))
#print " adding", str(missing_bytes), "padding"
#print " packet", len(data_packet)
#print " crc ", crc_val, "from seed", crc_seed
self._send_command(UploadDataCommand(crc_seed, offset, data_packet, crc_val))
upload_data_response = self._get_command()
#upload_data_response._debug()
if upload_data_response._get_argument("response") != UploadDataResponse.Response.OK:
raise AntFSUploadException("Upload data failed",
upload_data_response._get_argument("response"))
if callback != None and len(data) != 0:
callback(float(offset) / float(len(data)))
if offset + len(data_packet) >= len(data):
#print " done"
break
#print " one more"
iteration += 1
def download(self, index, callback=None):
offset = 0
initial = True
crc = 0
data = array.array('B')
while True:
_logger.debug("Download %d, o%d, c%d", index, offset, crc)
self._send_command(DownloadRequest(index, offset, True, crc))
_logger.debug("Wait for response...")
try:
response = self._get_command()
resp = response._get_argument("response")
if resp == DownloadResponse.Response.OK:
remaining = response._get_argument("remaining")
offset = response._get_argument("offset")
total = offset + remaining
data[offset:total] = response._get_argument("data")[:remaining]
#print "rem", remaining, "offset", offset, "total", total, "size", response._get_argument("size")
# TODO: check CRC
if callback != None and response._get_argument("size") != 0:
callback(float(total) / float(response._get_argument("size")))
if total == response._get_argument("size"):
return data
crc = response._get_argument("crc")
offset = total
elif resp == DownloadResponse.Response.NOT_READABLE:
return data
else:
raise AntFSDownloadException("Download request failed: ",
response._get_argument("response"))
except Queue.Empty:
_logger.debug("Download %d timeout", index)
#print "recover from download failure"
def download_directory(self, callback=None):
data = self.download(0, callback)
return Directory.parse(data)
def link(self):
self._channel.request_message(Message.ID.RESPONSE_CHANNEL_ID)
self._send_command(LinkCommand(self._frequency, 4, self._serial_number))
# New period, search timeout
self._channel.set_period(4096)
self._channel.set_search_timeout(3)
self._channel.set_rf_freq(self._frequency)
def authentication_serial(self):
self._send_command(AuthenticateCommand(
AuthenticateCommand.Request.SERIAL,
self._serial_number))
response = self._get_command()
return (response.get_serial(), response.get_data_string())
def authentication_passkey(self, passkey):
self._send_command(AuthenticateCommand(
AuthenticateCommand.Request.PASSKEY_EXCHANGE,
self._serial_number, passkey))
response = self._get_command()
if response._get_argument("type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException("Passkey authentication failed",
response._get_argument("type"))
def authentication_pair(self, friendly_name):
data = array.array('B', map(ord, list(friendly_name)))
self._send_command(AuthenticateCommand(
AuthenticateCommand.Request.PAIRING,
self._serial_number, data))
response = self._get_command(30)
if response._get_argument("type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException("Pair authentication failed",
response._get_argument("type"))
def disconnect(self):
d = DisconnectCommand(DisconnectCommand.Type.RETURN_LINK, 0, 0)
self._send_command(d)
class SensorANT(Sensor):
#for openant
node = None
NETWORK_KEY = [0xb9, 0xa5, 0x21, 0xfb, 0xbd, 0x72, 0xc3, 0x45]
NETWORK_NUM = 0x00
CHANNEL = 0x00
DEVICE_ALL = 0
scanner = None
device = {}
def sensor_init(self):
if not self.config.G_ANT['STATUS']:
global _SENSOR_ANT
_SENSOR_ANT = False
if _SENSOR_ANT:
self.node = Node()
self.node.set_network_key(self.NETWORK_NUM, self.NETWORK_KEY)
#initialize scan channel (reserve ch0)
self.scanner = ANT_Device_MultiScan(self.node, self.config)
self.searcher = ANT_Device_Search(self.node, self.config, self.values)
self.scanner.setMainAntDevice(self.device)
#auto connect ANT+ sensor from setting.conf
if _SENSOR_ANT and not self.config.G_DUMMY_OUTPUT:
for key in ['HR', 'SPD', 'CDC', 'PWR']:
if self.config.G_ANT['USE'][key]:
antID = self.config.G_ANT['ID'][key]
antType = self.config.G_ANT['TYPE'][key]
self.connectAntSensor(key, antID, antType, False)
return
#otherwise, initialize
else:
for key in ['HR', 'SPD', 'CDC', 'PWR']:
self.config.G_ANT['USE'][key] = False
self.config.G_ANT['ID'][key] = 0
self.config.G_ANT['TYPE'][key] = 0
#for dummy output
if not _SENSOR_ANT and self.config.G_DUMMY_OUTPUT:
#need to set dummy ANT+ device id 0
self.config.G_ANT['USE'] = {
'HR': True,
'SPD': True,
'CDC': True, #same as SPD
'PWR': True,
}
self.config.G_ANT['ID_TYPE'] = {
'HR': struct.pack('<HB', 0, 0x78),
'SPD': struct.pack('<HB', 0, 0x79),
'CDC': struct.pack('<HB', 0, 0x79), #same as SPD
'PWR': struct.pack('<HB', 0, 0x0B),
}
self.config.G_ANT['TYPE'] = {
'HR': 0x78,
'SPD': 0x79,
'CDC': 0x79, #same as SPD
'PWR': 0x0B,
}
ac = self.config.G_ANT['ID_TYPE']
self.values[ac['HR']] = {}
self.values[ac['SPD']] = {'distance': 0}
self.values[ac['PWR']] = {}
for key in [0x10, 0x11, 0x12]:
self.values[ac['PWR']][key] = {'accumulated_power': 0}
def start(self):
if _SENSOR_ANT:
self.node.start()
def update(self):
if _SENSOR_ANT or not self.config.G_DUMMY_OUTPUT:
return
hr_value = random.randint(70, 130)
speed_value = random.randint(5, 30) / 3.6 #5 - 30km/h [unit:m/s]
cad_value = random.randint(0, 80)
power_value = random.randint(0, 250)
timestamp = datetime.datetime.now()
if 0 < timestamp.second % 60 < 10:
hr_value = speed_value = cad_value = power_value = self.config.G_ANT_NULLVALUE
if 8 < timestamp.second % 60 < 10:
speed_value = cad_value = power_value = 0
ac = self.config.G_ANT['ID_TYPE']
self.values[ac['HR']]['hr'] = hr_value
self.values[ac['SPD']]['speed'] = speed_value
self.values[ac['CDC']]['cadence'] = cad_value
self.values[ac['PWR']][0x10]['power'] = power_value
#TIMESTAMP
self.values[ac['HR']]['timestamp'] = timestamp
self.values[ac['SPD']]['timestamp'] = timestamp
self.values[ac['PWR']][0x10]['timestamp'] = timestamp
#DISTANCE, TOTAL_WORK
if self.config.G_MANUAL_STATUS == "START":
#DISTANCE: unit: m
if not np.isnan(self.values[ac['SPD']]['speed']):
self.values[ac['SPD']]['distance'] += \
self.values[ac['SPD']]['speed']*self.config.G_SENSOR_INTERVAL
#TOTAL_WORK: unit: j
if not np.isnan(self.values[ac['PWR']][0x10]['power']):
self.values[ac['PWR']][0x10]['accumulated_power'] += \
self.values[ac['PWR']][0x10]['power']*self.config.G_SENSOR_INTERVAL
def reset(self):
for dv in self.device.values():
dv.resetValue()
def quit(self):
if not _SENSOR_ANT:
return
self.node.ant.set_wait_action()
#stop scanner and searcher
if not self.scanner.stop():
for dv in self.device.values():
dv.disconnect(isCheck=True, isChange=False,
wait=0) #USE: True -> True
self.searcher.stopSearch(resetWait=False)
self.node.stop()
def connectAntSensor(self, antName, antID, antType, connectStatus):
if not _SENSOR_ANT:
return
self.config.G_ANT['ID'][antName] = antID
self.config.G_ANT['TYPE'][antName] = antType
self.config.G_ANT['ID_TYPE'][antName] = struct.pack(
'<HB', antID, antType)
antIDType = self.config.G_ANT['ID_TYPE'][antName]
self.searcher.stopSearch(resetWait=False)
self.config.G_ANT['USE'][antName] = True
#existing connection
if connectStatus:
self.node.ant.set_wait_period()
return
#recconect
if antIDType in self.device:
self.device[antIDType].connect(isCheck=False,
isChange=False) #USE: True -> True)
self.node.ant.set_wait_period()
return
#newly connect
self.values[antIDType] = {}
if antType is 0x78:
self.device[antIDType] \
= ANT_Device_HeartRate(self.node, self.config, self.values[antIDType], antName)
elif antType is 0x79:
self.device[antIDType] \
= ANT_Device_Speed_Cadence(self.node, self.config ,self.values[antIDType], antName)
elif antType is 0x7A:
self.device[antIDType] \
= ANT_Device_Cadence(self.node, self.config ,self.values[antIDType], antName)
elif antType is 0x7B:
self.device[antIDType] \
= ANT_Device_Speed(self.node, self.config ,self.values[antIDType], antName)
elif antType is 0x0B:
self.device[antIDType] \
= ANT_Device_Power(self.node, self.config ,self.values[antIDType], antName)
self.node.ant.set_wait_period()
def disconnectAntSensor(self, antName):
antIDType = self.config.G_ANT['ID_TYPE'][antName]
antNames = []
for k, v in self.config.G_ANT['USE'].items():
if v and k in self.config.G_ANT['ID_TYPE']:
if self.config.G_ANT['ID_TYPE'][k] == antIDType:
antNames.append(k)
for k in antNames:
#USE: True -> False
self.device[self.config.G_ANT['ID_TYPE'][k]].disconnect(
isCheck=True, isChange=True)
self.config.G_ANT['ID_TYPE'][k] = 0
self.config.G_ANT['ID'][k] = 0
self.config.G_ANT['TYPE'][k] = 0
self.config.G_ANT['USE'][k] = False
def continuousScan(self):
if not _SENSOR_ANT:
return
self.node.ant.set_wait_action()
for dv in self.device.values():
dv.disconnect(isCheck=True, isChange=False,
wait=0.5) #USE: True -> True
time.sleep(0.5)
self.scanner.scan()
self.node.ant.set_wait_scan()
def stopContinuousScan(self):
self.node.ant.set_wait_action()
self.scanner.stopScan()
antIDTypes = []
for k, v in self.config.G_ANT['USE'].items():
if v and not self.config.G_ANT['ID_TYPE'][k] in antIDTypes:
antIDTypes.append(self.config.G_ANT['ID_TYPE'][k])
for antIDType in antIDTypes:
self.device[antIDType].connect(isCheck=True,
isChange=False) #USE: True -> True
self.node.ant.set_wait_period()
class Application:
_serial_number = 1337
_frequency = 19 # 0 to 124, x - 2400 (in MHz)
def __init__(self):
self._queue = queue.Queue()
self._beacons = queue.Queue()
self._node = Node()
try:
NETWORK_KEY = [0xA8, 0xA4, 0x23, 0xB9, 0xF5, 0x5E, 0x63, 0xC1]
self._node.set_network_key(0x00, NETWORK_KEY)
print("Request basic information...")
m = self._node.request_message(Message.ID.RESPONSE_CAPABILITIES)
print(" Capabilities: ", m[2])
# m = self._node.request_message(Message.ID.RESPONSE_ANT_VERSION)
# print " ANT version: ", struct.unpack("<10sx", m[2])[0]
# m = self._node.request_message(Message.ID.RESPONSE_SERIAL_NUMBER)
# print " Serial number:", struct.unpack("<I", m[2])[0]
print("Starting system...")
# NETWORK_KEY= [0xa8, 0xa4, 0x23, 0xb9, 0xf5, 0x5e, 0x63, 0xc1]
# self._node.set_network_key(0x00, NETWORK_KEY)
print("Key done...")
self._channel = self._node.new_channel(
Channel.Type.BIDIRECTIONAL_RECEIVE)
self._channel.on_broadcast_data = self._on_data
self._channel.on_burst_data = self._on_data
self.setup_channel(self._channel)
self._worker_thread = threading.Thread(target=self._worker,
name="ant.fs")
self._worker_thread.start()
except Exception as e:
self.stop()
raise e
def _worker(self):
self._node.start()
def _main(self):
try:
_logger.debug("Link level")
beacon = self._get_beacon()
if self.on_link(beacon):
for i in range(0, 5):
beacon = self._get_beacon()
if (beacon.get_client_device_state() ==
Beacon.ClientDeviceState.AUTHENTICATION):
_logger.debug("Auth layer")
if self.on_authentication(beacon):
_logger.debug("Authenticated")
beacon = self._get_beacon()
self.on_transport(beacon)
self.disconnect()
break
finally:
_logger.debug("Run 5")
self.stop()
def _on_beacon(self, data):
b = Beacon.parse(data)
self._beacons.put(b)
def _on_command(self, data):
c = ant.fs.command.parse(data)
self._queue.put(c)
def _on_data(self, data):
# print "_on_data", data, len(data)
if data[0] == 0x43:
self._on_beacon(data[:8])
if len(data[8:]) > 0:
self._on_command(data[8:])
elif data[0] == 0x44:
self._on_command(data)
def _get_beacon(self):
b = self._beacons.get()
self._beacons.task_done()
return b
def _get_command(self, timeout=15.0):
_logger.debug("Get command, t%d, s%d", timeout, self._queue.qsize())
c = self._queue.get(True, timeout)
self._queue.task_done()
return c
def _send_command(self, c):
data = c.get()
if len(data) == 8:
self._channel.send_acknowledged_data(data)
else:
self._channel.send_burst_transfer(data)
# Application actions are defined from here
# =======================================================================
# These should be overloaded:
def setup_channel(self, channel):
pass
def on_link(self, beacon):
pass
def on_authentication(self, beacon):
pass
def on_transport(self, beacon):
pass
# Shouldn't have to touch these:
def start(self):
self._main()
def stop(self):
self._node.stop()
def _send_commandpipe(self, data):
# print "send commandpipe", data
self.upload(0xFFFE, data)
def _get_commandpipe(self):
# print "get commandpipe"
return ant.fs.commandpipe.parse(self.download(0xFFFE))
def create(self, typ, data, callback=None):
# print "create", typ
request = CreateFile(len(data), 0x80, [typ, 0x00, 0x00],
[0x00, 0xFF, 0xFF])
self._send_commandpipe(request.get())
result = self._get_commandpipe()
# result._debug()
if result.get_response() != Response.Response.OK:
raise AntFSCreateFileException("Could not create file",
result.get_response())
# print "create result", result, result.get_index(), result.get_data_type(), result.get_identifier()
# d = self.download_directory()
# Inform the application that the upload request was successfully created
if callback is not None:
callback(0)
self.upload(result.get_index(), data, callback)
return result.get_index()
def upload(self, index, data, callback=None):
# print "upload", index, len(data)
iteration = 0
while True:
# Request Upload
# Continue using Last Data Offset (special MAX_ULONG value)
request_offset = 0 if iteration == 0 else 0xFFFFFFFF
self._send_command(UploadRequest(index, len(data), request_offset))
upload_response = self._get_command()
# upload_response._debug()
if upload_response._get_argument(
"response") != UploadResponse.Response.OK:
raise AntFSUploadException(
"Upload request failed",
upload_response._get_argument("response"))
# Upload data
offset = upload_response._get_argument("last_data_offset")
max_block = upload_response._get_argument("maximum_block_size")
# print " uploading", offset, "to", offset + max_block
data_packet = data[offset:offset + max_block]
crc_seed = upload_response._get_argument("crc")
crc_val = crc(data_packet, upload_response._get_argument("crc"))
# Pad with 0 to even 8 bytes
missing_bytes = 8 - (len(data_packet) % 8)
if missing_bytes != 8:
data_packet.extend(array.array("B", [0] * missing_bytes))
# print " adding", str(missing_bytes), "padding"
# print " packet", len(data_packet)
# print " crc ", crc_val, "from seed", crc_seed
self._send_command(
UploadDataCommand(crc_seed, offset, data_packet, crc_val))
upload_data_response = self._get_command()
# upload_data_response._debug()
if (upload_data_response._get_argument("response") !=
UploadDataResponse.Response.OK):
raise AntFSUploadException(
"Upload data failed",
upload_data_response._get_argument("response"))
if callback is not None and len(data) != 0:
callback((offset + len(data_packet)) / len(data))
if offset + len(data_packet) >= len(data):
# print " done"
break
# print " one more"
iteration += 1
def download(self, index, callback=None):
offset = 0
initial = True
crc = 0
data = array.array("B")
while True:
_logger.debug("Download %d, o%d, c%d", index, offset, crc)
self._send_command(DownloadRequest(index, offset, True, crc))
_logger.debug("Wait for response...")
try:
response = self._get_command()
if response._get_argument(
"response") == DownloadResponse.Response.OK:
remaining = response._get_argument("remaining")
offset = response._get_argument("offset")
total = offset + remaining
data[offset:total] = response._get_argument(
"data")[:remaining]
# print "rem", remaining, "offset", offset, "total", total, "size", response._get_argument("size")
# TODO: check CRC
if callback is not None and response._get_argument(
"size") != 0:
callback(total / response._get_argument("size"))
if total == response._get_argument("size"):
return data
crc = response._get_argument("crc")
offset = total
else:
raise AntFSDownloadException(
"Download request failed: ",
response._get_argument("response"))
except queue.Empty:
_logger.debug("Download %d timeout", index)
# print "recover from download failure"
def download_directory(self, callback=None):
data = self.download(0, callback)
return Directory.parse(data)
def set_time(self, time=datetime.datetime.utcnow()):
"""
:param time: datetime in UTC, or None to set to current time
"""
utc_tai_diff_seconds = 35
offset = time - datetime.datetime(1989, 12, 31, 0, 0, 0)
t = Time(
int(offset.total_seconds()) + utc_tai_diff_seconds, 0xFFFFFFFF, 0)
self._send_commandpipe(t.get())
result = self._get_commandpipe()
if result.get_response() != TimeResponse.Response.OK:
raise AntFSTimeException("Failed to set time",
result.get_response())
def erase(self, index):
self._send_command(EraseRequestCommand(index))
response = self._get_command()
if (response._get_argument("response") !=
EraseResponse.Response.ERASE_SUCCESSFUL):
raise AntFSDownloadException("Erase request failed: ",
response._get_argument("response"))
def link(self):
self._channel.request_message(Message.ID.RESPONSE_CHANNEL_ID)
self._send_command(LinkCommand(self._frequency, 4,
self._serial_number))
# New period, search timeout
self._channel.set_period(4096)
self._channel.set_search_timeout(10)
self._channel.set_rf_freq(self._frequency)
def authentication_serial(self):
self._send_command(
AuthenticateCommand(AuthenticateCommand.Request.SERIAL,
self._serial_number))
response = self._get_command()
return (response.get_serial(), response.get_data_string())
def authentication_passkey(self, passkey):
self._send_command(
AuthenticateCommand(
AuthenticateCommand.Request.PASSKEY_EXCHANGE,
self._serial_number,
passkey,
))
response = self._get_command()
if response._get_argument(
"type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException("Passkey authentication failed",
response._get_argument("type"))
def authentication_pair(self, friendly_name):
data = array.array("B", map(ord, list(friendly_name)))
self._send_command(
AuthenticateCommand(AuthenticateCommand.Request.PAIRING,
self._serial_number, data))
response = self._get_command(30)
if response._get_argument(
"type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException("Pair authentication failed",
response._get_argument("type"))
def disconnect(self):
d = DisconnectCommand(DisconnectCommand.Type.RETURN_LINK, 0, 0)
self._send_command(d)
class AntPlusNode:
def __init__(self, network_key):
self.node = Node()
self.node.set_network_key(0x00, network_key)
def attach_hrm(self, device_number=0, transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
hrm = AntPlusHRM(channel,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return hrm
def attach_power_meter(self, device_number=0, transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
pwr_meter = AntPlusPowerMeter(channel,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return pwr_meter
def attach_speed_sensor(self,
wheel_circumference_meters,
device_number=0,
transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusSpeedSensor(
channel,
wheel_circumference_meters=wheel_circumference_meters,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return sensor
def attach_cadence_sensor(self, device_number=0, transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusCadenceSensor(channel,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return sensor
def attach_speed_and_cadence_sensor(self,
wheel_circumference_meters,
device_number=0,
transfer_type=0):
channel = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusSpeedAndCadenceSensor(
channel,
wheel_circumference_meters=wheel_circumference_meters,
device_number=device_number,
transfer_type=transfer_type)
channel.open()
return sensor
def attach_combined_speed_and_cadence_sensor(self,
wheel_circumference_meters,
speed_device_number=0,
speed_transfer_type=0,
cadence_device_number=0,
cadence_transfer_type=0):
channel1 = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
channel2 = self.node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
sensor = AntPlusCombinedSpeedAndCadenceSensors(
channel1,
channel2,
wheel_circumference_meters=wheel_circumference_meters,
speed_device_number=speed_device_number,
speed_transfer_type=speed_transfer_type,
cadence_device_number=cadence_device_number,
cadence_transfer_type=cadence_transfer_type)
channel1.open()
channel2.open()
return sensor
def start(self):
self.node.start()
def stop(self):
self.node.stop()
class AntRower:
"""Ant+ FE Rower signal broadcaster class
Start an Ant+ FE channel to broadcast the status of the source "Rower".
"""
def __init__(self, source: Rower, config: dict):
# only take one parameter, source.
# source is a object represents a rower, best to be an instance of Rower,
# it should have a method of get_current_frame(), which returns a K-V dict, containing the rower info.
# this method is called whenever the current rower data is needed, mostly, in a TX event to send out data.
self.source = source
# channel configurations
self.channel_type = Channel.Type.BIDIRECTIONAL_TRANSMIT # Master TX
self.network_key = [0xb9, 0xa5, 0x21, 0xfb, 0xbd, 0x72, 0xc3,
0x45] # Ant+ key
self.RF_frequency = 57 # Ant+ frequency.
self.transmission_type = 5 # MSN = 0x0, LSN = 0x5, detail see ant+ device profile document.
self.device_type = 17 # Ant+ FE
# if ant device ID not specified, use 1 as default.
self.device_number = config.get(
'ANT_DEVICE_ID', 1
) # Device number could be whatever between 1~65535. Change if you need.
self.channel_period = 8192 # 4hz, as device profile requires.
# openant radio objects.
self.node = None # later, when opened, node will be a instance of Node.
self.channel = None # later, when opened, will be the assigned channel object on the node.
# outbound message count
# used to implement specific transmission pattern, will be rollovered according to the specific pattern.
# transmission pattern is implemented in function _get_next_page(), for detail check there.
self.message_count = 1
# if transmission type does not specifed, use type b as default.
self.transmission_pattern = config.get(
'TRANSMISSION_TYPE', 'b'
) # 1=a, 2=b, 3=c, 4=d, see Ant+ FE device profile page 24 of 74.
self.transmission_pattern_func_dict = {
'a': self._get_next_page_transmission_pattern_a,
'b': self._get_next_page_transmission_pattern_b,
'c': self._get_next_page_transmission_pattern_c,
'd': self._get_next_page_transmission_pattern_d
}
self.transmission_pattern_d_internal_count = 1
# singleton, fixed data pages, 80 and 81
self.page_80 = DataPage80()
self.page_81 = DataPage81()
# thread handler
self.ant_thread = None
def on_tx_event(self, data):
"""Callback function for Ant+ (openant)
Upon each TX time slot, a TX event is generated, and this function is called.
When called, it should update the rower's data,
"""
# data = array.array('B', [1, 255, 133, 128, 8, 0, 128, 0])
page_to_send = self._get_next_page()
data_payload = page_to_send.to_payload(
) # get new data payload to sent at this TX event.
# call channel's send_broadcast_data to set the TX buffer to new data.
self.channel.send_broadcast_data(data_payload)
print("send TX")
def _open_and_start(self):
"""Open ant+ channel, if no error, start broadcast immediately"""
# todo: add the try, catch, maybe Node not available, or network key error, or channel can't acquire
# initialize the ant device, a node represent an ant USB device.
self.node = Node()
# set network key at net#0, only net#0 is used.
self.node.set_network_key(0x00, self.network_key)
# try get a new TX channel
self.channel = self.node.new_channel(
Channel.Type.BIDIRECTIONAL_TRANSMIT)
# set the callback function for TX tick, each TX tick, this function will be called.
self.channel.on_TX_event = self.on_tx_event
# set the channel configurations
self.channel.set_period(self.channel_period)
self.channel.set_rf_freq(self.RF_frequency)
# channel id is defined as <device num, device type, transmission type>
self.channel.set_id(self.device_number, self.device_type,
self.transmission_type)
# try open channel,
# once opened, the channel could be found by other devices, but No data sending yet.
try:
self.channel.open()
# start the message loop on the ant device.
# once started, the messages will be dispatched to callback functions of each channel.
self.node.start()
finally:
self.node.stop()
def start(self):
"""Start the broadcast event loop, from now on, each TX tick, send new broadcast"""
self.ant_thread = threading.Thread(target=self._open_and_start)
self.ant_thread.start()
# this ensures the function is returned immediately to main thread, not blocking other lines in caller.
def close(self):
# todo: cleaning things up.
pass
# Transmission pattern handling
def _get_next_page(self) -> BaseDataPage:
"""Implemented the suggested transmission patterns illustrated in Ant+ FE device profile.
This function will return the next new page which should be sent out,
it handles when and what here, according the message count and the specific pattern.
"""
assert 0 < self.message_count < 133
if self.message_count == 65 or self.message_count == 66:
# send page 80
next_page = self.page_80
elif self.message_count == 131 or self.message_count == 132:
# send page 81
next_page = self.page_81
else:
# send data page according to transmission type
# use dict in a way of switch statement, call different functions of different transmission type.
next_page = self.transmission_pattern_func_dict[
self.transmission_pattern]()
# roll-over to 1 if msg count reaches 132
if self.message_count == 132:
self.message_count = 1
assert self.message_count <= 132
else:
self.message_count += 1
return next_page
def _get_next_page_transmission_pattern_a(self):
"""Transmission pattern A
Only send page 16, the minimum requirement.
:return: data payload of page 16.
"""
# construct a data page 16 from current rower data of source Rower object.
return DataPage16(self.source.get_current_frame())
def _get_next_page_transmission_pattern_b(self):
"""Transmission pattern B
[16 16 X X ...(64)...] (65)80 (66)80 [(67)16 16 X X ....(130)] (131)81 (132)81
Mod left part directly, mode right part with minus 2.
"""
if self.message_count <= 64:
# left half
# 1-64, directly mod 4 will be fine, remainder is the sequence.
# 1 % 4 = 1, 2%4 = 2, 3%4 = 3, 4%4 =0, 5%4 = 1, ..., 8%4 = 0.
if self.message_count % 4 == 1 or self.message_count % 4 == 2:
return DataPage16(self.source.get_current_frame())
else:
# could only be 3, 0
return DataPage22(self.source.get_current_frame())
elif self.message_count >= 67:
# right half, -2 before mod.
if ((self.message_count - 2) % 4
== 1) or ((self.message_count - 2) % 4 == 2):
return DataPage16(self.source.get_current_frame())
else:
# could only be 3, 0
return DataPage22(self.source.get_current_frame())
def _get_next_page_transmission_pattern_c(self):
"""Transmission pattern C
Note that the illustrated pattern in the document is
first 64 message are 16 16 X 17 16 16 18 X
but second 64 messages are 16 16 17 X 16 16 X 18
Don't know why, but better follow.
simply look into message count, see which patter should used.
mod by 8 (right part -2 first), then know which page to go.
"""
if self.message_count <= 64:
# left half
# 1-64, directly mod 8 will be fine, remainder is the sequence.
msg_count_mod_8 = self.message_count % 8
assert 0 <= msg_count_mod_8 < 8
if msg_count_mod_8 == 1 or msg_count_mod_8 == 2:
return DataPage16(self.source.get_current_frame())
elif msg_count_mod_8 == 3:
return DataPage22(self.source.get_current_frame())
elif msg_count_mod_8 == 4:
return DataPage17(self.source.get_current_frame())
elif msg_count_mod_8 == 5 or msg_count_mod_8 == 6:
return DataPage16(self.source.get_current_frame())
elif msg_count_mod_8 == 7:
return DataPage18(self.source.get_current_frame())
else:
# could only be 0, so the 8th
return DataPage22(self.source.get_current_frame())
elif self.message_count >= 67:
# right half, -2 before mod.
msg_count_mod_8 = (self.message_count - 2) % 8
assert 0 <= msg_count_mod_8 < 8
if msg_count_mod_8 == 1 or msg_count_mod_8 == 2:
return DataPage16(self.source.get_current_frame())
elif msg_count_mod_8 == 3:
return DataPage17(self.source.get_current_frame())
elif msg_count_mod_8 == 4:
return DataPage22(self.source.get_current_frame())
elif msg_count_mod_8 == 5 or msg_count_mod_8 == 6:
return DataPage16(self.source.get_current_frame())
elif msg_count_mod_8 == 7:
return DataPage22(self.source.get_current_frame())
else:
# could only be 0, so the 8th
return DataPage18(self.source.get_current_frame())
def _get_next_page_transmission_pattern_d(self):
"""Transmission pattern D
This pattern is a little bit different from others, pattern repeat in 20 messages, ignore others.
16 X X X X 16 X X X 18 16 X X X X 16 X X X 17
1,6,11,16 is page 16
10, is page 18
20, page 17
others, page 22
this pattern it self repeats, whenever it in time slot for 64 pages of data, after 80 and 81 interrupts,
it resumes, it's independent from the 64-2-64-2 134 messages pattern.
So we use a function property to maintain its own pattern counts.
This property roll-over every 20 data messages.
"""
assert 0 < self.transmission_pattern_d_internal_count <= 20
if (self.transmission_pattern_d_internal_count == 1
or self.transmission_pattern_d_internal_count == 6
or self.transmission_pattern_d_internal_count == 11
or self.transmission_pattern_d_internal_count == 16):
return DataPage16(self.source.get_current_frame())
elif self.transmission_pattern_d_internal_count == 10:
return DataPage18(self.source.get_current_frame())
elif self.transmission_pattern_d_internal_count == 20:
# roll-over to 1
self.transmission_pattern_d_internal_count = 1
# return page 17 for current time
return DataPage17(self.source.get_current_frame())
else:
# should be all page 22.
return DataPage22(self.source.get_current_frame())
class AntSendDemo:
def __init__(self):
self.ANTMessageCount = 0
self.ANTMessagePayload = array.array("B", [0, 0, 0, 0, 0, 0, 0, 0])
# Init Variables, needed
self.LastStrideTime = 0
self.StridesDone = 0
self.DistanceAccu = 0
self.Speed_Last = 0
self.TimeRollover = 0
self.TimeProgramStart = time.time()
self.LastTimeEvent = time.time()
# Building up the Datapages
# This is just for demo purpose and can/will look diverent for every implementation
def Create_Next_DataPage(self):
# Define Variables
UpdateLatency_7 = 0
self.ANTMessageCount += 1
# Time Calculations
self.ElapsedSseconds = time.time() - self.LastTimeEvent
self.LastTimeEvent = time.time()
UpdateLatency_7 += self.ElapsedSseconds # 1Second / 32 = 0,03125
UL_7 = int(UpdateLatency_7 / 0.03125)
# Stride Count, Accumulated strides.
# This value is incremented once for every two footfalls.
StrideCountUpValue = 60.0 / (TreadmillCadence / 2.0
) # In our Example 0,75
while self.LastStrideTime > StrideCountUpValue:
self.StridesDone += 1
self.LastStrideTime -= StrideCountUpValue
self.LastStrideTime += self.ElapsedSseconds
if self.StridesDone > 255:
self.StridesDone -= 255
# DISTANCE
# Accumulated distance, in m-Meters, Rollover = 256
self.DistanceBetween = self.ElapsedSseconds * TreadmillSpeed
self.DistanceAccu += (
self.DistanceBetween
) # Add Distance beetween 2 ANT+ Ticks to Accumulated Distance
if self.DistanceAccu > 255:
self.DistanceAccu -= 255
self.distance_H = int(self.DistanceAccu) # just round it to INT
self.DistanceLow_HEX = int((self.DistanceAccu - self.distance_H) * 16)
# SPEED - Berechnung
self.var_speed_ms_H = int(TreadmillSpeed) # INT-Value
self.var_speed_ms_L = int(
TreadmillSpeed * 1000) - (self.var_speed_ms_H * 1000)
self.var_speed_ms_L_HEX = int(
(TreadmillSpeed - self.var_speed_ms_H) * 256)
# TIME (chnages to Distance or speed will effect if This byte needs to be calculated (<= check Specifikation)
if self.Speed_Last != TreadmillSpeed or self.Distance_Last != self.DistanceAccu:
self.TimeRollover += self.ElapsedSseconds
if self.TimeRollover > 255:
self.TimeRollover -= 255
self.TimeRollover_H = int(self.TimeRollover)
# only integer
if self.TimeRollover_H > 255:
self.TimeRollover_H = 255
self.TimeRollover_L_HEX = int(
(self.TimeRollover - self.TimeRollover_H) * 200)
if self.TimeRollover_L_HEX > 255:
self.TimeRollover_L_HEX -= 255
self.Speed_Last = TreadmillSpeed
self.Distance_Last = self.DistanceAccu
if self.ANTMessageCount < 3:
self.ANTMessagePayload[0] = 80 # DataPage 80
self.ANTMessagePayload[1] = 0xFF
self.ANTMessagePayload[2] = 0xFF # Reserved
self.ANTMessagePayload[3] = 1 # HW Revision
self.ANTMessagePayload[4] = 1
self.ANTMessagePayload[5] = 1 # Manufacturer ID
self.ANTMessagePayload[6] = 1
self.ANTMessagePayload[7] = 1 # Model Number
elif self.ANTMessageCount > 64 and self.ANTMessageCount < 67:
self.ANTMessagePayload[0] = 81 # DataPage 81
self.ANTMessagePayload[1] = 0xFF
self.ANTMessagePayload[2] = 0xFF # Reserved
self.ANTMessagePayload[3] = 1 # SW Revision
self.ANTMessagePayload[4] = 0xFF
self.ANTMessagePayload[5] = 0xFF # Serial Number
self.ANTMessagePayload[6] = 0xFF
self.ANTMessagePayload[7] = 0xFF # Serial Number
else:
self.ANTMessagePayload[0] = 0x01 # Data Page 1
self.ANTMessagePayload[1] = self.TimeRollover_L_HEX
self.ANTMessagePayload[2] = self.TimeRollover_H # Reserved
self.ANTMessagePayload[
3] = self.distance_H # Distance Accumulated INTEGER
# BYTE 4 - Speed-Integer & Distance-Fractional
self.ANTMessagePayload[4] = (self.DistanceLow_HEX * 16 +
self.var_speed_ms_H
) # Instaneus Speed, Note: INTEGER
self.ANTMessagePayload[
5] = self.var_speed_ms_L_HEX # Instaneus Speed, Fractional
self.ANTMessagePayload[6] = self.StridesDone # Stride Count
self.ANTMessagePayload[7] = UL_7 # Update Latency
# ANTMessageCount reset
if self.ANTMessageCount > 131:
self.ANTMessageCount = 0
return self.ANTMessagePayload
# TX Event
def on_event_tx(self, data):
ANTMessagePayload = self.Create_Next_DataPage()
self.ActualTime = time.time() - self.TimeProgramStart
# ANTMessagePayload = array.array('B', [1, 255, 133, 128, 8, 0, 128, 0]) # just for Debuggung pourpose
self.channel.send_broadcast_data(
self.ANTMessagePayload) # Final call for broadcasting data
print(
self.ActualTime,
"TX:",
Device_Number,
",",
Device_Type,
":",
format_list(ANTMessagePayload),
)
# Open Channel
def OpenChannel(self):
self.node = Node() # initialize the ANT+ device as node
# CHANNEL CONFIGURATION
self.node.set_network_key(0x00, NETWORK_KEY) # set network key
self.channel = self.node.new_channel(
Channel.Type.BIDIRECTIONAL_TRANSMIT, 0x00,
0x00) # Set Channel, Master TX
self.channel.set_id(
Device_Number, Device_Type, 5
) # set channel id as <Device Number, Device Type, Transmission Type>
self.channel.set_period(Channel_Period) # set Channel Period
self.channel.set_rf_freq(Channel_Frequency) # set Channel Frequency
# Callback function for each TX event
self.channel.on_broadcast_tx_data = self.on_event_tx
try:
self.channel.open(
) # Open the ANT-Channel with given configuration
self.node.start()
except KeyboardInterrupt:
print("Closing ANT+ Channel...")
self.channel.close()
self.node.stop()
finally:
print("Final checking...")
channel.set_period(8070)
channel.set_search_timeout(255)
channel.set_rf_freq(57)
channel.set_id(0, 120, 0)
return channel
def on_data(self, data):
self.write_file(data[7])
def write_file(self, heartrate):
f = file('/tmp/messages/heartrate', 'w')
f.write('Heartrate: ' + str(heartrate))
f.close()
logging.basicConfig()
logging.disable(logging.ERROR)
node = Node()
node.set_network_key(0x00, NETWORK_KEY)
heartrate = HeartRate()
channel_heart = heartrate.setup_channel(node)
try:
channel_heart.open()
node.start()
finally:
node.stop()
class AntServer():
def __init__(self, netkey, ant_devices, websocket_server):
self.ant_devices = ant_devices
self.channels = []
self.netkey = netkey
self.antnode = None
self.websocket_server = websocket_server
self.ant_modes = {
"speed_cad" : {
"device_id" : 121,
"period" : 8086,
"freq" : 57,
"ant_name" : "C:CAD",
"handler" : "_handle_speed_cad"
},
"hr" : {
"device_id" : 120,
"period" : 8070,
"freq" : 57,
"ant_name" : "C:HRM",
"handler" : "_handle_hr"
},
"power" : {
"device_id" : 11,
"period" : 8182,
"freq" : 57,
"ant_name" : "C:PWR",
"handler" : "_handle_power"
}
}
self.parsers = {
"hr" : antparsers.Hr(),
"power" : antparsers.Power(),
"speed_cad" : antparsers.SpeedCadence()
}
self._log_raw_data = False
self._log_decoded = True
@staticmethod
def setup_and_start(websocket_server, config):
NETKEY = [0xb9, 0xa5, 0x21, 0xfb, 0xbd, 0x72, 0xc3, 0x45]
antserver = None
for i in range(1, 3):
try:
antserver = AntServer(NETKEY, config["devices"], websocket_server)
antserver._log_raw_data = config["raw_logging"]
antserver._log_decoded = config["verbose"]
try:
antserver.start()
except KeyboardInterrupt:
pass
finally:
if antserver:
antserver.stop()
break
except AntException:
print("ERR: Failed to setup ant server. Retrying... %s" % i)
def start(self):
if not os.path.isdir("logs"):
os.mkdir("logs")
self.logfile = datetime.strftime(datetime.now(), "logs/%Y%m%d_%H%M.txt")
self.logfile_handle = open(self.logfile, "w")
self._setup_channels()
def stop(self):
if self.antnode:
self.antnode.stop()
def __enter__(self):
return self
def _setup_channels(self):
try:
self.antnode = Node()
except USBError:
self.antnode = None
print("""
Fatal error: Could not connect to ANT USB dongle
Please make sure no other application is using it, e.g. Garmin ANT Agent
""")
return
self.antnode.set_network_key(0x00, self.netkey)
for device in self.ant_devices:
print("Registering device : %s : %s" % (device, self.ant_modes[device]))
dev = self.ant_modes[device]
c = self.antnode.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
c.set_id(0, dev["device_id"], 0)
c.set_search_timeout(12)
c.set_period(dev["period"])
c.set_rf_freq(dev["freq"])
m = getattr(self, dev["handler"])
c.on_broadcast_data = m
c.on_burst_data = m
c.open()
self.channels.append(c)
self.antnode.start()
def _log_raw(self, event_type, msg):
if self._log_raw_data:
data = []
for m in msg:
data.append(m)
m = json.dumps({"raw" : "true",
"event_type" : event_type,
"time_millis" : int(time.time() * 1000),
"data" : data})
self.logfile_handle.write(m)
self.logfile_handle.write("\n")
self.logfile_handle.flush()
os.fsync(self.logfile_handle.fileno())
def _parse_and_send(self, event_type, data):
self._log_raw(event_type, data)
parser = self.parsers[event_type]
values = parser.parse(data)
if values:
for value in antparsers.Parser.to_json(values):
self.websocket_server.send_to_all(value)
if self._log_decoded:
print(value)
def _handle_hr(self, data):
self._parse_and_send("hr", data)
def _handle_speed_cad(self, data):
self._parse_and_send("speed_cad", data)
def _handle_power(self, data):
self._parse_and_send("power", data)
def __exit__(self, type_, value, traceback):
self.stop()
self.logfile_handle.close()
class Application:
_serial_number = 1337
_frequency = 19 # 0 to 124, x - 2400 (in MHz)
def __init__(self):
self._queue = Queue.Queue()
self._beacons = Queue.Queue()
self._node = Node(0x0fcf, 0x1008)
print "Request basic information..."
m = self._node.request_message(Message.ID.RESPONSE_VERSION)
print " ANT version: ", struct.unpack("<10sx", m[2])[0]
m = self._node.request_message(Message.ID.RESPONSE_CAPABILITIES)
print " Capabilities: ", m[2]
m = self._node.request_message(Message.ID.RESPONSE_SERIAL_NUMBER)
print " Serial number:", struct.unpack("<I", m[2])[0]
print "Starting system..."
NETWORK_KEY= [0xa8, 0xa4, 0x23, 0xb9, 0xf5, 0x5e, 0x63, 0xc1]
self._node.reset_system()
self._node.set_network_key(0x00, NETWORK_KEY)
self._channel = self._node.new_channel(Channel.Type.BIDIRECTIONAL_RECEIVE)
self._channel.on_broadcast_data = self._on_data
self._channel.on_burst_data = self._on_data
self.setup_channel(self._channel)
self._worker_thread =threading.Thread(target=self._worker, name="ant.fs")
self._worker_thread.start()
def _worker(self):
self._node.start()
def _main(self):
try:
_logger.debug("Link level")
beacon = self._get_beacon()
if self.on_link(beacon):
for i in range(0, 5):
beacon = self._get_beacon()
if beacon.get_client_device_state() == Beacon.ClientDeviceState.AUTHENTICATION:
_logger.debug("Auth layer")
if self.on_authentication(beacon):
_logger.debug("Authenticated")
beacon = self._get_beacon()
self.on_transport(beacon)
self.disconnect()
break
except Exception as e:
print e
for line in traceback.format_exc().splitlines():
_logger.error("%r", line)
finally:
_logger.debug("Run 5")
self.stop()
def _on_beacon(self, data):
b = Beacon.parse(data)
self._beacons.put(b)
def _on_command(self, data):
c = ant.fs.command.parse(data)
self._queue.put(c)
def _on_data(self, data):
#print "_on_data", data, len(data)
if data[0] == 0x43:
self._on_beacon(data[:8])
if len(data[8:]) > 0:
self._on_command(data[8:])
elif data[0] == 0x44:
self._on_command(data)
def _get_beacon(self):
b = self._beacons.get()
self._beacons.task_done()
return b
def _get_command(self, timeout=3.0):
_logger.debug("Get command, t%d, s%d", timeout, self._queue.qsize())
c = self._queue.get(True, timeout)
self._queue.task_done()
return c
def _send_command(self, c):
data = c.get()
if len(data) == 8:
self._channel.send_acknowledged_data(data)
else:
self._channel.send_burst_transfer(data)
# Application actions are defined from here
# =======================================================================
# These should be overloaded:
def setup_channel(self, channel):
pass
def on_link(self, beacon):
pass
def on_authentication(self, beacon):
pass
def on_transport(self, beacon):
pass
# Shouldn't have to touch these:
def start(self):
self._main()
def stop(self):
self._node.stop()
def erase(self, index):
pass
def upload(self, index, data):
pass
def download(self, index, callback=None):
offset = 0
initial = True
crc = 0
data = array.array('B')
while True:
_logger.debug("Download %d, o%d, c%d", index, offset, crc)
self._send_command(DownloadRequest(index, offset, True, crc))
_logger.debug("Wait for response...")
try:
response = self._get_command()
if response._get_argument("response") == DownloadResponse.Response.OK:
remaining = response._get_argument("remaining")
offset = response._get_argument("offset")
total = offset + remaining
data[offset:total] = response._get_argument("data")[:remaining]
#print "rem", remaining, "offset", offset, "total", total, "size", response._get_argument("size")
if callback != None:
callback(float(total) / float(response._get_argument("size")))
if total == response._get_argument("size"):
return data
crc = response._get_argument("crc")
offset = total
else:
raise AntFSDownloadException(response._get_argument("response"))
except Queue.Empty:
_logger.debug("Download %d timeout", index)
#print "recover from download failure"
def download_directory(self, callback=None):
data = self.download(0, callback)
return Directory.parse(data)
def link(self):
self._channel.request_message(Message.ID.RESPONSE_CHANNEL_ID)
self._send_command(LinkCommand(self._frequency, 4, self._serial_number))
# New period, search timeout
self._channel.set_period(4096)
self._channel.set_search_timeout(3)
self._channel.set_rf_freq(self._frequency)
def authentication_serial(self):
self._send_command(AuthenticateCommand(
AuthenticateCommand.Request.SERIAL,
self._serial_number))
response = self._get_command()
return (response.get_serial(), response.get_data_string())
def authentication_passkey(self, passkey):
self._send_command(AuthenticateCommand(
AuthenticateCommand.Request.PASSKEY_EXCHANGE,
self._serial_number, passkey))
response = self._get_command()
if response._get_argument("type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException(response._get_argument("type"))
def authentication_pair(self, friendly_name):
data = array.array('B', map(ord, list(friendly_name)))
self._send_command(AuthenticateCommand(
AuthenticateCommand.Request.PAIRING,
self._serial_number, data))
response = self._get_command(30)
if response._get_argument("type") == AuthenticateResponse.Response.ACCEPT:
return response.get_data_array()
else:
raise AntFSAuthenticationException(response._get_argument("type"))
def disconnect(self):
d = DisconnectCommand(DisconnectCommand.Type.RETURN_LINK, 0, 0)
self._send_command(d)