466 lines
15 KiB
Python
466 lines
15 KiB
Python
from bleak import BleakClient
|
|
from bleak import BleakScanner
|
|
from bleak import BleakGATTCharacteristic
|
|
from bleak.backends.device import BLEDevice
|
|
from bleak.backends.scanner import AdvertisementData
|
|
from typing import Any, Awaitable, Callable
|
|
from typing import MutableMapping
|
|
from typing import Optional
|
|
from typing import Tuple
|
|
from typing import Union
|
|
from inspect import signature
|
|
import asyncio
|
|
import logging
|
|
import struct
|
|
import sys
|
|
|
|
|
|
_UUID_HEIGHT: str = "99fa0021-338a-1024-8a49-009c0215f78a"
|
|
_UUID_COMMAND: str = "99fa0002-338a-1024-8a49-009c0215f78a"
|
|
_UUID_REFERENCE_INPUT: str = "99fa0031-338a-1024-8a49-009c0215f78a"
|
|
_UUID_ADV_SVC: str = "99fa0001-338a-1024-8a49-009c0215f78a"
|
|
_UUID_DPG: str = "99fa0011-338a-1024-8a49-009c0215f78a"
|
|
|
|
_COMMAND_REFERENCE_INPUT_STOP: bytearray = bytearray([0x01, 0x80])
|
|
_COMMAND_UP: bytearray = bytearray([0x47, 0x00])
|
|
_COMMAND_DOWN: bytearray = bytearray([0x46, 0x00])
|
|
_COMMAND_STOP: bytearray = bytearray([0xFF, 0x00])
|
|
_COMMAND_WAKEUP: bytearray = bytearray([0xFE, 0x00])
|
|
|
|
|
|
# height calculation offset in meters, assumed to be the same for all desks
|
|
def _bytes_to_meters_and_speed(raw: bytearray) -> Tuple[float, float]:
|
|
"""Converts a value read from the desk in bytes to height in meters and speed."""
|
|
raw_len = len(raw)
|
|
expected_len = 4
|
|
assert (
|
|
raw_len == expected_len
|
|
), f"Expected raw value to be {expected_len} bytes long, got {raw_len} bytes"
|
|
|
|
int_raw, speed_raw = struct.unpack("<Hh", raw)
|
|
meters = float(int(int_raw) / 10000) + IdasenDesk.MIN_HEIGHT
|
|
speed = float(int(speed_raw) / 10000)
|
|
|
|
return meters, speed
|
|
|
|
|
|
def _meters_to_bytes(meters: float) -> bytearray:
|
|
"""Converts meters to bytes for setting the position on the desk"""
|
|
int_raw: int = int((meters - IdasenDesk.MIN_HEIGHT) * 10000)
|
|
return bytearray(struct.pack("<H", int_raw))
|
|
|
|
|
|
def _is_desk(device: BLEDevice, adv: AdvertisementData) -> bool:
|
|
return _UUID_ADV_SVC in adv.service_uuids
|
|
|
|
|
|
class _DeskLoggingAdapter(logging.LoggerAdapter):
|
|
"""Prepends logging messages with the desk MAC address."""
|
|
|
|
def process(
|
|
self, msg: str, kwargs: MutableMapping[str, Any]
|
|
) -> Tuple[str, MutableMapping[str, Any]]:
|
|
return f"[{self.extra['mac']}] {msg}", kwargs # type: ignore
|
|
|
|
|
|
class IdasenDesk:
|
|
"""
|
|
Idasen desk.
|
|
|
|
Args:
|
|
mac: Bluetooth MAC address of the desk, or an instance of a BLEDevice.
|
|
exit_on_fail: If set to True, failing to connect will call ``sys.exit(1)``,
|
|
otherwise the exception will be raised.
|
|
disconnected_callback:
|
|
Callback that will be scheduled in the event loop when the client is
|
|
disconnected. The callable must take one argument, which will be
|
|
this client object.
|
|
|
|
Note:
|
|
There is no locking to prevent you from running multiple movement
|
|
coroutines simultaneously.
|
|
|
|
Example:
|
|
Basic Usage::
|
|
|
|
from idasen import IdasenDesk
|
|
|
|
|
|
async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
# call methods here...
|
|
"""
|
|
|
|
#: Minimum desk height in meters.
|
|
MIN_HEIGHT: float = 0.62
|
|
|
|
#: Maximum desk height in meters.
|
|
MAX_HEIGHT: float = 1.27
|
|
|
|
#: Number of times to retry upon failure to connect.
|
|
RETRY_COUNT: int = 3
|
|
|
|
def __init__(
|
|
self,
|
|
mac: Union[BLEDevice, str],
|
|
exit_on_fail: bool = False,
|
|
disconnected_callback: Optional[Callable[[BleakClient], None]] = None,
|
|
):
|
|
self._exit_on_fail = exit_on_fail
|
|
self._client = BleakClient(
|
|
address_or_ble_device=mac,
|
|
disconnected_callback=disconnected_callback,
|
|
)
|
|
self._mac = mac.address if isinstance(mac, BLEDevice) else mac
|
|
self._logger = _DeskLoggingAdapter(
|
|
logger=logging.getLogger(__name__), extra={"mac": self.mac}
|
|
)
|
|
self._moving = False
|
|
self._move_task: Optional[asyncio.Task] = None
|
|
|
|
async def __aenter__(self):
|
|
await self.connect()
|
|
return self
|
|
|
|
async def __aexit__(self, *args, **kwargs):
|
|
await self.disconnect()
|
|
|
|
async def pair(self):
|
|
"""
|
|
Pair with the desk.
|
|
|
|
This method is not available on macOS. Instead of manually initiating
|
|
paring, the user will be prompted to pair automatically as soon as it
|
|
is required.
|
|
|
|
See :py:meth:`bleak.BleakClient.pair` for more information.
|
|
"""
|
|
await self._client.pair()
|
|
|
|
async def connect(self):
|
|
"""
|
|
Connect to the desk.
|
|
|
|
This method is an alternative to the context manager.
|
|
When possible the context manager is preferred.
|
|
|
|
>>> async def example() -> bool:
|
|
... desk = IdasenDesk(mac="AA:AA:AA:AA:AA:AA")
|
|
... await desk.connect() # don't forget to call disconnect later!
|
|
... return desk.is_connected
|
|
>>> asyncio.run(example())
|
|
True
|
|
"""
|
|
i = 0
|
|
while True:
|
|
try:
|
|
await self._client.connect()
|
|
await self.wakeup()
|
|
return
|
|
except Exception:
|
|
if i >= self.RETRY_COUNT:
|
|
self._logger.critical("Connection failed")
|
|
if self._exit_on_fail:
|
|
sys.exit(1)
|
|
raise
|
|
i += 1
|
|
self._logger.warning(
|
|
f"Failed to connect, retrying ({i}/{self.RETRY_COUNT})..."
|
|
)
|
|
await asyncio.sleep(0.3 * i)
|
|
|
|
async def disconnect(self):
|
|
"""
|
|
Disconnect from the desk.
|
|
|
|
This method is an alternative to the context manager.
|
|
When possible the context manager is preferred.
|
|
|
|
>>> async def example() -> bool:
|
|
... desk = IdasenDesk(mac="AA:AA:AA:AA:AA:AA")
|
|
... await desk.connect()
|
|
... await desk.disconnect()
|
|
... return desk.is_connected
|
|
>>> asyncio.run(example())
|
|
False
|
|
"""
|
|
await self._client.disconnect()
|
|
|
|
async def monitor(self, callback: Callable[..., Awaitable[None]]):
|
|
output_service_uuid = "99fa0020-338a-1024-8a49-009c0215f78a"
|
|
output_char_uuid = "99fa0021-338a-1024-8a49-009c0215f78a"
|
|
|
|
# Determine the amount of callback parameters
|
|
# 1st one is height, optional 2nd one is speed, more is not supported
|
|
callback_param_count = len(signature(callback).parameters)
|
|
if callback_param_count != 1 and callback_param_count != 2:
|
|
raise ValueError(
|
|
"Invalid callback provided, only 1 or 2 parameters are supported"
|
|
)
|
|
|
|
return_speed_value = callback_param_count == 2
|
|
previous_height = 0.0
|
|
previous_speed = 0.0
|
|
|
|
async def output_listener(char: BleakGATTCharacteristic, data: bytearray):
|
|
height, speed = _bytes_to_meters_and_speed(data)
|
|
self._logger.debug(f"Got data: {height}m {speed}m/s")
|
|
|
|
nonlocal previous_height
|
|
nonlocal previous_speed
|
|
if abs(height - previous_height) < 0.001 and (
|
|
not return_speed_value or abs(speed - previous_speed) < 0.001
|
|
):
|
|
return
|
|
previous_height = height
|
|
previous_speed = speed
|
|
|
|
if return_speed_value:
|
|
await callback(height, speed)
|
|
else:
|
|
await callback(height)
|
|
|
|
for service in self._client.services:
|
|
if service.uuid != output_service_uuid:
|
|
continue
|
|
|
|
chr_output = service.get_characteristic(output_char_uuid)
|
|
if chr_output is None:
|
|
self._logger.error("No output characteristic found")
|
|
return
|
|
|
|
self._logger.debug("Starting notify")
|
|
await self._client.start_notify(chr_output, output_listener)
|
|
return
|
|
|
|
self._logger.error("Output service not found")
|
|
|
|
@property
|
|
def is_connected(self) -> bool:
|
|
"""
|
|
``True`` if the desk is connected.
|
|
|
|
>>> async def example() -> bool:
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... return desk.is_connected
|
|
>>> asyncio.run(example())
|
|
True
|
|
"""
|
|
return self._client.is_connected
|
|
|
|
@property
|
|
def is_moving(self) -> bool:
|
|
"""
|
|
``True`` if the desk is currently being moved by this class.
|
|
"""
|
|
return self._moving
|
|
|
|
@property
|
|
def mac(self) -> str:
|
|
"""
|
|
Desk MAC address.
|
|
|
|
>>> async def example() -> str:
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... return desk.mac
|
|
>>> asyncio.run(example())
|
|
'AA:AA:AA:AA:AA:AA'
|
|
"""
|
|
return self._mac
|
|
|
|
async def wakeup(self):
|
|
"""
|
|
Wakeup the controller from sleep.
|
|
|
|
This exists for compatibility with the Linak DPG1C controller,
|
|
it is not necessary with the original idasen controller.
|
|
|
|
>>> async def example():
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.wakeup()
|
|
>>> asyncio.run(example())
|
|
"""
|
|
# https://github.com/rhyst/linak-controller/issues/32#issuecomment-1784055470
|
|
await self._client.write_gatt_char(_UUID_DPG, b"\x7F\x86\x00")
|
|
await self._client.write_gatt_char(
|
|
_UUID_DPG,
|
|
b"\x7F\x86\x80\x01\x02\x03\x04\x05\x06\x07\x08\x09\x0A\x0B\x0C\x0D"
|
|
b"\x0E\x0F\x10\x11",
|
|
)
|
|
await self._client.write_gatt_char(_UUID_COMMAND, _COMMAND_WAKEUP)
|
|
|
|
async def move_up(self):
|
|
"""
|
|
Move the desk upwards.
|
|
|
|
This command moves the desk upwards for a fixed duration
|
|
(approximately one second) as set by your desk controller.
|
|
|
|
>>> async def example():
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.move_up()
|
|
>>> asyncio.run(example())
|
|
"""
|
|
await self._client.write_gatt_char(_UUID_COMMAND, _COMMAND_UP, response=False)
|
|
|
|
async def move_down(self):
|
|
"""
|
|
Move the desk downwards.
|
|
|
|
This command moves the desk downwards for a fixed duration
|
|
(approximately one second) as set by your desk controller.
|
|
|
|
>>> async def example():
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.move_down()
|
|
>>> asyncio.run(example())
|
|
"""
|
|
await self._client.write_gatt_char(_UUID_COMMAND, _COMMAND_DOWN, response=False)
|
|
|
|
async def move_to_target(self, target: float):
|
|
"""
|
|
Move the desk to the target position.
|
|
|
|
Args:
|
|
target: Target position in meters.
|
|
|
|
Raises:
|
|
ValueError: Target exceeds maximum or minimum limits.
|
|
|
|
>>> async def example():
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.move_to_target(1.1)
|
|
>>> asyncio.run(example())
|
|
"""
|
|
if target > self.MAX_HEIGHT:
|
|
raise ValueError(
|
|
f"target position of {target:.3f} meters exceeds maximum of "
|
|
f"{self.MAX_HEIGHT:.3f}"
|
|
)
|
|
elif target < self.MIN_HEIGHT:
|
|
raise ValueError(
|
|
f"target position of {target:.3f} meters exceeds minimum of "
|
|
f"{self.MIN_HEIGHT:.3f}"
|
|
)
|
|
|
|
if self._moving:
|
|
self._logger.error("Already moving")
|
|
return
|
|
self._moving = True
|
|
|
|
async def do_move() -> None:
|
|
current_height = await self.get_height()
|
|
if current_height == target:
|
|
return
|
|
|
|
# Wakeup and stop commands are needed in order to
|
|
# start the reference input for setting the position
|
|
await self._client.write_gatt_char(_UUID_COMMAND, _COMMAND_WAKEUP)
|
|
await self._client.write_gatt_char(_UUID_COMMAND, _COMMAND_STOP)
|
|
|
|
data = _meters_to_bytes(target)
|
|
|
|
while self._moving:
|
|
await self._client.write_gatt_char(_UUID_REFERENCE_INPUT, data)
|
|
await asyncio.sleep(0.2)
|
|
|
|
# Stop as soon as the speed is 0,
|
|
# which means the desk has reached the target position
|
|
speed = await self.get_speed()
|
|
if speed == 0:
|
|
break
|
|
|
|
self._move_task = asyncio.create_task(do_move())
|
|
await self._move_task
|
|
self._moving = False
|
|
|
|
async def stop(self):
|
|
"""Stop desk movement."""
|
|
self._moving = False
|
|
if self._move_task:
|
|
self._logger.debug("Desk was moving, waiting for it to stop")
|
|
await self._move_task
|
|
|
|
await self._stop()
|
|
|
|
async def _stop(self):
|
|
"""Send stop commands"""
|
|
self._logger.debug("Sending stop commands")
|
|
await asyncio.gather(
|
|
self._client.write_gatt_char(_UUID_COMMAND, _COMMAND_STOP, response=False),
|
|
self._client.write_gatt_char(
|
|
_UUID_REFERENCE_INPUT, _COMMAND_REFERENCE_INPUT_STOP, response=False
|
|
),
|
|
)
|
|
|
|
async def get_height(self) -> float:
|
|
"""
|
|
Get the desk height in meters.
|
|
|
|
Returns:
|
|
Desk height in meters.
|
|
|
|
>>> async def example() -> float:
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.move_to_target(1.0)
|
|
... return await desk.get_height()
|
|
>>> asyncio.run(example())
|
|
1.0
|
|
"""
|
|
height, _ = await self.get_height_and_speed()
|
|
return height
|
|
|
|
async def get_speed(self) -> float:
|
|
"""
|
|
Get the desk speed in meters per second.
|
|
|
|
Returns:
|
|
Desk speed in meters per second.
|
|
|
|
>>> async def example() -> float:
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.move_to_target(1.0)
|
|
... return await desk.get_speed()
|
|
>>> asyncio.run(example())
|
|
0.0
|
|
"""
|
|
_, speed = await self.get_height_and_speed()
|
|
return speed
|
|
|
|
async def get_height_and_speed(self) -> Tuple[float, float]:
|
|
"""
|
|
Get the desk height in meters and speed in meters per second.
|
|
|
|
Returns:
|
|
Tuple of desk height in meters and speed in meters per second.
|
|
|
|
>>> async def example() -> [float, float]:
|
|
... async with IdasenDesk(mac="AA:AA:AA:AA:AA:AA") as desk:
|
|
... await desk.move_to_target(1.0)
|
|
... return await desk.get_height_and_speed()
|
|
>>> asyncio.run(example())
|
|
(1.0, 0.0)
|
|
"""
|
|
raw = await self._client.read_gatt_char(_UUID_HEIGHT)
|
|
return _bytes_to_meters_and_speed(raw)
|
|
|
|
@staticmethod
|
|
async def discover() -> Optional[str]:
|
|
"""
|
|
Try to find the desk's MAC address by discovering currently connected devices.
|
|
|
|
Returns:
|
|
MAC address if found, ``None`` if not found.
|
|
|
|
>>> asyncio.run(IdasenDesk.discover())
|
|
'AA:AA:AA:AA:AA:AA'
|
|
"""
|
|
try:
|
|
device = await BleakScanner.find_device_by_filter(_is_desk)
|
|
except Exception as e:
|
|
raise e
|
|
return None
|
|
|
|
if device is None:
|
|
return None
|
|
|
|
return device.address
|