def __init__(self, tty_port):
self.arduino = Arduino()
self.port = self.arduino.getPort()
self.serial = self.arduino.connect(self.port)
self.ser = serial.Serial(port=tty_port, baudrate=9600, timeout=3, dsrdtr=1)
self.buffer = []
self.listeners = []
class BLE(object):
# Initializes Arduino object
def __init__(self, tty_port):
self.arduino = Arduino()
self.port = self.arduino.getPort()
self.serial = self.arduino.connect(self.port)
self.ser = serial.Serial(port=tty_port, baudrate=9600, timeout=3, dsrdtr=1)
self.buffer = []
self.listeners = []
# Recieves Packet
def receive_packet(self, timeout=None):
start_time = time.time()
self.ser.timeout = None
while timeout is None or time.time() < start_time + timeout:
if timeout is not None: self.ser.timeout = start_time + timeout - time.time()
x = self.ser.read()
if not x:
print("no pose found")
return None
packet = self.process_byte(ord(x))
if packet:
if packet.data_type == 0x80:
self.notify_event_arduino(packet)
return packet
# Processes byte
def process_byte(self, x):
if not self.buffer:
if x in [0x00, 0x80, 0x08, 0x88]:
self.buffer.append(x)
return None
elif len(self.buffer) == 1:
self.buffer.append(x)
self.packet_length = 4 + (self.buffer[0] & 0x07) + self.buffer[1]
return None
else:
self.buffer.append(x)
if self.packet_length and len(self.buffer) == self.packet_length:
packet = Packet(self.buffer)
self.buffer = []
return packet
return None
def notify_event(self, p):
for listener in self.listeners:
if listener.__class__.__name__ == 'function':
listener(p)
else:
listener.handle_data(p)
# Handle Arduino update
def notify_event_arduino(self, p):
for listener in self.listeners:
if listener.__class__.__name__ == 'function':
listener(p)
else:
listener.handle_data_arduino(p, self.arduino)
# Add listener
def add_listener(self, listener):
self.listeners.append(listener)
# Remove listener
def remove_listener(self, listener):
try: self.listeners.remove(listener)
except ValueError: pass
# Handle lapses packet
def wait_event(self, cls, command):
response = [None]
def valid_packet(packet):
if packet.cls == cls and packet.command == command:
response[0] = packet
self.add_listener(valid_packet)
while response[0] is None:
self.receive_packet()
self.remove_listener(valid_packet)
return response[0]
def connect(self, address):
return self.send_command(6, 3, pack('6sBHHHH', multichr(address), 0, 6, 6, 64, 0))
def start_scan(self):
return self.send_command(6, 2, b'\x01')
def end_scan(self):
return self.send_command(6, 4)
def read_attribute(self, connection, attribute):
self.send_command(4, 4, pack('BH', connection, attribute))
return self.wait_event(4, 5)
def write_attribute(self, connection, attribute, value):
self.send_command(4, 5, pack('BHB', connection, attribute, len(value)) + value)
return self.wait_event(4, 1)
def send_command(self, cls, cmd, payload=b''):
package = pack('4B', 0, len(payload), cls, cmd) + payload
self.ser.write(package)
while True:
packet = self.receive_packet()
if packet.data_type == 0:
return packet
self.notify_event(packet)
def disconnect(self, h):
return self.send_command(3, 0, pack('B', h))