def _tryQueryMbService(self, uuid):
conn = GATTRequester(uuid, False, self.devName)
try:
conn.connect(False, "random")
max_time = time.time() + 5
while not conn.is_connected():
if time.time() > max_time:
return False
time.sleep(0.5)
DEV_NAME_SERVICE_UUID = "00002a00-0000-1000-8000-00805f9b34fb" # 2A00, device name
try:
value = "".join(conn.read_by_uuid(DEV_NAME_SERVICE_UUID))
except RuntimeError as err:
msg = err.message.lower()
if "no attribute found":
return False
else:
raise
value = value.lower()
return ("mibp" in value or "mib-push" in value)
finally:
if conn.is_connected():
conn.disconnect()
while conn.is_connected():
time.sleep(0.5)
class Cloudpets(object):
def __init__(self, address):
self._requester = GATTRequester(address, False)
self.led = Led(self)
self.speaker = Speaker(self)
self.microphone = Microphone(self)
self.state = None
self.name = None
self.setup_datetime = None
def connect(self):
self._requester.connect(True)
self._retrieve_config()
def disconnect(self):
self._requester.disconnect()
def _read_value(self, handle):
return self._requester.read_by_handle(handle)
def _send_command(self, handle, cmd):
self._requester.write_by_handle(handle, str(bytearray(cmd)))
def _retrieve_config(self):
response = self._read_value(HANDLES['config'])[0]
self.name = MODELS[int(response[:2])]
self.setup_datetime = datetime.strptime(response[2:], "%m_%d_%H_%M_%S")
class Driver(object):
handle = 0x16
commands = {
'press': '\x57\x01\x00',
'on': '\x57\x01\x01',
'off': '\x57\x01\x02',
}
def __init__(self, device, timeout_secs=None):
self.device = device
self.timeout_secs = timeout_secs if timeout_secs else 5
self.req = None
def _connect(self):
self.req = GATTRequester(self.device, False)
self.req.connect(True, 'random')
connect_start_time = time.time()
while not self.req.is_connected():
if time.time() - connect_start_time >= self.timeout_secs:
raise RuntimeError(
'Connection to {} timed out after {} seconds'.format(
self.device, self.timeout_secs))
def __enter__(self):
self._connect()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.req.disconnect()
def run_command(self, command):
return self.req.write_by_handle(self.handle, self.commands[command])
class Toio(object):
HANDLER = {'motor': "TBU"}
DIRECTION = {'fwd': 1, 'bck': 2}
MOTOR = {'1st': 1, '2nd': 2}
SPEED_MAX = 100
def __init__(self, addr):
self.req = ""
if not addr:
return
self.req = GATTRequester(addr, False)
print("Connecting...: {}".format(addr))
self.req.connect(wait=True, channel_type="random")
print("Connected: {}".format(addr))
def request_data(self, uuid):
return self.req.read_by_uuid(uuid)[0]
def write_data(self, handler, data):
self.req.write_by_handle(handler, data)
def disconnect(self):
self.req.disconnect()
def is_connected(self):
if not self.req:
return False
return self.req.is_connected()
def _move(self, motor_1st_dir, motor_1st_speed, motor_2nd_dir, motor_2nd_speed, duration_sec):
self.write_data(self.HANDLER['motor'], str(
bytearray([2, self.MOTOR['1st'], motor_1st_dir, motor_1st_speed, self.MOTOR['2nd'], motor_2nd_dir, motor_2nd_speed, int(duration_sec * 100)])))
import time
time.sleep(duration_sec)
def straight(self):
self._move(self.DIRECTION['fwd'], self.SPEED_MAX, self.DIRECTION['fwd'], self.SPEED_MAX, 1)
def turn_left(self):
self._move(self.DIRECTION['fwd'], self.SPEED_MAX / 2, self.DIRECTION['fwd'], self.SPEED_MAX, 1)
def turn_right(self):
self._move(self.DIRECTION['fwd'], self.SPEED_MAX, self.DIRECTION['fwd'], self.SPEED_MAX / 2, 1)
def back(self):
self._move(self.DIRECTION['bck'], self.SPEED_MAX, self.DIRECTION['bck'], self.SPEED_MAX, 1)
def spin_turn_180(self):
self._move(self.DIRECTION['bck'], self.SPEED_MAX, self.DIRECTION['fwd'], self.SPEED_MAX, 0.5)
def spin_turn_360(self):
self._move(self.DIRECTION['bck'], self.SPEED_MAX, self.DIRECTION['fwd'], self.SPEED_MAX, 1)
def get_serial(bluetooth_address_s):
global serial_map
if bluetooth_address_s in serial_map:
return serial_map[bluetooth_address_s]
macaddress = ':'.join([bluetooth_address_s[i: i+2] for i in range(0, len(bluetooth_address_s), 2)])
requester = GATTRequester(macaddress, False)
try:
requester.connect(True, channel_type="random")
data = requester.read_by_uuid("00002a25-0000-1000-8000-00805f9b34fb")
serial = data[0]
serial_map[bluetooth_address_s] = serial
requester.disconnect()
return serial
except:
import traceback
traceback.print_exc()
return None
def connect(device: str, bt_interface: str, timeout: float):
if bt_interface:
req = GATTRequester(device, False, bt_interface)
else:
req = GATTRequester(device, False)
req.connect(False, 'random')
connect_start_time = time.time()
while not req.is_connected():
if time.time() - connect_start_time >= timeout:
raise ConnectionError(
'Connection to {} timed out after {} seconds'.format(
device, timeout))
time.sleep(0.1)
yield req
if req.is_connected():
req.disconnect()
class BluezBleInterface(BleInterface):
def __init__(self, *args, **kwargs):
super(BluezBleInterface, self).__init__(*args, **kwargs)
self._addr = kwargs.get('addr')
self._log.info("Started interface {0}.".format(self))
def __del__(self):
self._disconnect()
def _connect(self, addr):
self._log.info("BLE %s connecting ..." % addr)
self.requester = GATTRequester(addr, False)
self.requester.connect(True)
chars = self.requester.discover_characteristics()
self.characteristic = {}
for char in chars:
self.characteristic[char['uuid']] = char['value_handle']
self._log.info("BLE %s connected OK" % self._addr)
def _disconnect(self):
self.requester.disconnect()
def _read_uuid(self, reg, type='float'):
value = self.requester.read_by_uuid(reg)[0]
if type == 'float':
return struct.unpack('H', value)[0] * 1.0
elif type == 'string':
try:
value = value.decode("utf-8")
except AttributeError:
pass
return value
else:
return value
def _write_uuid(self, reg, value, type='float'):
if type == 'string':
value = struct.pack('B', value)
self.requester.write_by_handle(self.characteristic[reg], value)
characteristics = grq.discover_characteristics()
#
# the UUID of the service on the BLE device.
#
sample_uuid = '59c889e0-5364-11e7-b114-b2f933d5fe66'
# find the handle for the characteristic.
vh_sample = None
for c12c in characteristics:
if c12c['uuid'] == sample_uuid:
vh_sample = c12c['value_handle']
print("Characteristic value handle is %d." % vh_sample)
break
assert (vh_sample is not None)
# use the handle to read the signal value, at a one-second interval
print("Press ctrl-c to stop.")
try:
while True:
data = grq.read_by_handle(vh_sample)[0]
print("bytes received:", )
for b in data:
print(hex(ord(b)), )
print("")
time.sleep(1)
except KeyboardInterrupt:
print("\nDisconnecting...")
grq.disconnect()
print("Done.")
class Blimp:
def __init__(self, mac="C4:C3:00:01:07:3F"):
# Check for empty arg and correct MAC address format
# Default MAC address is given otherwise
if not re.match("[0-9a-f]{2}([-:])[0-9a-f]{2}(\\1[0-9a-f]{2}){4}$", mac.lower()):
print("Using default MAC: C4:C3:00:01:07:3F")
self.mac = "C4:C3:00:01:07:3F"
else:
self.mac = mac
self.service = DiscoveryService()
self.devices = self.service.discover(2)
self.requester = GATTRequester(self.mac, False)
def find_blimp(self, blimp_name):
self.devices = self.service.discover(2)
for address, name in self.devices:
if name == blimp_name:
self.mac = address
print(blimp_name + " found with MAC Address " + address)
break
def connect(self):
try:
self.requester.connect(True)
except:
print("Failed to connect; Make sure target is turned on and correct MAC address is provided")
def disconnect(self):
try:
self.requester.disconnect(True)
except:
print("Failed to disconnect; try again")
def is_connected(self):
return self.requester.is_connected()
# Enter value between -32767 to 32767
# Negative value commands backward thrust, and vice versa with positive value, for left propeller
def left(self, value):
if self.is_connected():
if -32768 < value < 32768:
if value < 0:
command = '{:04x}'.format(-1*int(value))
else:
command = '{:04x}'.format(65535 - int(value))
self.requester.write_by_handle(34, command.decode('hex'))
else:
print("Command value is must be integer between -32767 & 32767")
else:
print("First connect to target before commanding thrust")
# Enter value between -32767 to 32767
# Negative value commands backward thrust, and vice versa with positive value, for right propeller
def right(self, value):
if self.is_connected():
if -32768 < value < 32768:
if value < 0:
command = '{:04x}'.format(-1*int(value))
else:
command = '{:04x}'.format(65535 - int(value))
self.requester.write_by_handle(36, command.decode('hex'))
else:
print("Command value is must be integer between -32767 & 32767")
else:
print("First connect to target before commanding thrust")
# Enter value between -32767 to 32767
# Negative value commands backward thrust, and vice versa with positive value, for down propeller
def down(self, value):
if self.is_connected():
if -32768 < value < 32768:
if value < 0:
command = '{:04x}'.format(-1*int(value))
else:
command = '{:04x}'.format(65535 - int(value))
self.requester.write_by_handle(38, command.decode('hex'))
else:
print("Command value is must be integer between -32767 & 32767")
else:
print("First connect to target before commanding thrust")
# Function to stop all actuators
def stop(self):
if self.is_connected():
command = '{:04x}'.format(65535)
self.requester.write_by_handle(34, command.decode('hex'))
self.requester.write_by_handle(36, command.decode('hex'))
self.requester.write_by_handle(38, command.decode('hex'))
else:
print("Command failed; not connected to target")
class Reader(object):
def __init__(self, address):
self.requester = GATTRequester(address, False)
self.connect()
t = threading.Thread(name=address,target=self.periodical_request)
t.daemon = True
t.start()
def connect(self):
self.requester.connect(True,"random","medium",0,32)
print ("Connected")
def request_uuid(self):
self.uuid = self.requester.read_by_uuid("D6F8BDCC-3885-11E6-AC61-9E71128CAE77")[0]
print("uuid read:", self.uuid)
if len(self.uuid) < 37:
self.uuid = self.uuid + self.requester.read_by_uuid("D6F8BDCC-3885-11E6-AC61-9E71128CAE77")[0]
print("complete uuid:", self.uuid[0:35])
def periodical_request(self):
tracked_devices.append(threading.current_thread().getName())
try:
self.request_uuid()
except RuntimeError:
tracked_devices.remove(threading.current_thread().getName())
return
count = 0
while True:
self.request_data()
count = count + 1
print("Count:",count)
time.sleep(1)
def request_data(self):
if not self.requester.is_connected():
print("Reconnecting")
self.requester.disconnect()
try:
self.requester.connect(True,"random","medium",0,32)
except RuntimeError:
# End the thread bc cannot reconnect
if threading.current_thread().getName() in tracked_devices:
# should be in the tracked devices list
# remove when thread is going to end
tracked_devices.remove(threading.current_thread().getName())
else :
print("Error: thread should be tracked")
print("Encountered error when reconnecting. Now exit thread.")
sys.exit()
print("Reconnected")
try:
start_time = current_milli_time()
data = self.requester.read_by_uuid(
"16864516-21E0-11E6-B67B-9E71128CAE77")[0]
except RuntimeError as e:
print("RuntimeError", e)
self.requester.disconnect()
return
try:
d = decode_string_to_double(data)
print ("Device name:",self.uuid,"Device motion:", d)
if socket_open:
socket_connect.sendMotionAndUUID(d,self.uuid)
motion_manager.process_data(self.uuid[0:35], self.uuid[36],d)
except AttributeError:
print ("Device name: " + data)
