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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| import sys | ||
| import time | ||
| from typing import * | ||
| import os | ||
|
|
||
| import simplepyble | ||
|
|
||
| from pros.common import dont_send, logger | ||
| from pros.serial.ports.exceptions import (ConnectionRefusedException, | ||
| PortNotFoundException) | ||
|
|
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| from .base_port import BasePort, PortConnectionException | ||
|
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| MAX_PACKET_SIZE = 244 | ||
|
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|
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| class SuppressStdout: | ||
| def __enter__(self): | ||
| with open(os.devnull, 'w') as devnull: | ||
| self.orig_stdout_fno = os.dup(sys.stdout.fileno()) | ||
| os.dup2(devnull.fileno(), 1) | ||
|
|
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| def __exit__(self, *args): | ||
| os.dup2(self.orig_stdout_fno, 1) | ||
|
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|
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| class BluetoothPort(BasePort): | ||
|
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| def __init__(self, port_name: str, **kwargs): | ||
|
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| self.UUIDs = { | ||
| "SERVICE": "08590f7e-db05-467e-8757-72f6faeb13d5", | ||
| "DATA_TX": "08590f7e-db05-467e-8757-72f6faeb1306", | ||
| "DATA_RX": "08590f7e-db05-467e-8757-72f6faeb13f5", | ||
| "USER_TX": "08590f7e-db05-467e-8757-72f6faeb1316", | ||
| "USER_RX": "08590f7e-db05-467e-8757-72f6faeb1326", | ||
| "PAIRING": "08590f7e-db05-467e-8757-72f6faeb13e5", | ||
| } | ||
| self.devices = [] | ||
|
|
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| print("scanning for 5 seconds, please wait...") | ||
| adapters = simplepyble.Adapter.get_adapters() | ||
|
|
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| if len(adapters) == 0: | ||
| print("No adapters found") | ||
| exit() | ||
| adapter = adapters[0] | ||
|
|
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| adapter.set_callback_on_scan_found(self.scan_found_callback) | ||
|
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| # Scan for 5 seconds | ||
| # with SuppressStdout(): | ||
| adapter.scan_start() | ||
| print("Scanning...", end='') | ||
| while len(self.devices) == 0: | ||
| time.sleep(0.5) | ||
| print(".", end='', flush=True) | ||
| print("") | ||
| adapter.scan_stop() | ||
| peripherals = adapter.scan_get_results() | ||
|
|
||
| peripherals = [peripheral for peripheral in peripherals if "VEX_V5" in peripheral.identifier()] | ||
| peripherals = sorted(peripherals, key=lambda peripheral: peripheral.rssi()) | ||
|
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| self.peripheral = peripherals[0] | ||
|
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| self.peripheral.connect() | ||
|
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| magic = self.peripheral.read(self.UUIDs["SERVICE"], self.UUIDs["PAIRING"]) | ||
| if int.from_bytes(magic, "big") != 0xdeadface: | ||
| print("No V5 Devices Found") | ||
| exit() | ||
|
|
||
| self.peripheral.write_request(self.UUIDs["SERVICE"], self.UUIDs["PAIRING"], bytes([0xff, 0xff, 0xff, 0xff])) | ||
|
|
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| # Send pairing code | ||
| pairing_bytes = bytes(int(c) for c in "4600") | ||
|
|
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| self.peripheral.write_request(self.UUIDs["SERVICE"], self.UUIDs["PAIRING"], pairing_bytes) | ||
| print("Sent pairing code") | ||
|
|
||
| cresp = bytes([]) | ||
| while cresp != pairing_bytes: | ||
| cresp = self.peripheral.read(self.UUIDs["SERVICE"], self.UUIDs["PAIRING"]) | ||
|
|
||
| self.peripheral.notify(self.UUIDs["SERVICE"], self.UUIDs["DATA_TX"], self.handle_notification) | ||
|
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| self.buffer: bytearray = bytearray() | ||
|
|
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| def scan_found_callback(self, peripheral): | ||
| if "VEX_V5" in peripheral.identifier(): | ||
| self.devices.append(peripheral.identifier()) | ||
|
|
||
| def handle_notification(self, data): | ||
| # print("Notification received: ", data) | ||
| self.buffer.extend(data) | ||
|
|
||
| def read(self, n_bytes: int = 0) -> bytes: | ||
| if n_bytes <= 0: | ||
| msg = bytes(self.buffer) | ||
| self.buffer = bytearray() | ||
| return msg | ||
| else: | ||
| if len(self.buffer) < n_bytes: | ||
| msg = bytes(self.buffer) | ||
| self.buffer = bytearray() | ||
| else: | ||
| msg, self.buffer = bytes(self.buffer[:n_bytes]), self.buffer[n_bytes:] | ||
| return msg | ||
|
|
||
| def write(self, data: Union[str, bytes]): | ||
| # for line in traceback.format_stack(): | ||
| # print(line.strip()) | ||
| if isinstance(data, str): | ||
| data = data.encode(encoding='ascii') | ||
| else: | ||
| data = bytes(data) | ||
| for i in range(0, len(data), MAX_PACKET_SIZE): | ||
| # print(len(data[i:min(len(data), i+MAX_PACKET_SIZE)])) | ||
| self.peripheral.write_command(self.UUIDs["SERVICE"], self.UUIDs["DATA_RX"], | ||
| data[i:min(len(data), i + MAX_PACKET_SIZE)]) | ||
| # time.sleep(0.3) | ||
| # self.peripheral.write_command(self.UUIDs["SERVICE"], self.UUIDs["DATA_RX"], bytes([0x00])) | ||
|
|
||
| def destroy(self): | ||
| logger(__name__).debug(f'Destroying {self.__class__.__name__} to {self.serial.name}') | ||
| self.peripheral.disconnect() | ||
|
|
||
| @property | ||
| def name(self) -> str: | ||
| return self.serial.portstr | ||
|
|
||
| def __str__(self): | ||
| return str("Bluetooth Port") |