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ble.lwp3: add port output commands
1 parent 1caaeb5 commit fc7e5a7

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3 files changed

+390
-8
lines changed

3 files changed

+390
-8
lines changed

‎pybricksdev/ble/lwp3/bytecodes.py‎

Lines changed: 37 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1000,3 +1000,40 @@ class DataFormat(IntEnum):
10001000
class VirtualPortSetupCommand(IntEnum):
10011001
DISCONNECT = 0x00
10021002
CONNECT = 0x01
1003+
1004+
1005+
class PortOutputCommand(IntEnum):
1006+
START_POWER = 0x01
1007+
START_POWER_2 = 0x02
1008+
SET_ACC_TIME = 0x05
1009+
SET_DEC_TIME = 0x06
1010+
START_SPEED = 0x07
1011+
START_SPEED_2 = 0x08
1012+
START_SPEED_FOR_TIME = 0x09
1013+
START_SPEED_FOR_TIME_2 = 0x0A
1014+
START_SPEED_FOR_DEGREES = 0x0B
1015+
START_SPEED_FOR_DEGREES_2 = 0x0C
1016+
GOTO_ABS_POS = 0x0D
1017+
GOTO_ABS_POS_2 = 0x0E
1018+
PRESET_ENCODER = 0x13
1019+
PRESET_ENCODER_2 = 0x14
1020+
WRITE_DIRECT = 0x50
1021+
WRITE_DIRECT_MODE_DATA = 0x51
1022+
1023+
1024+
class StartInfo(IntEnum):
1025+
BUFFER = 0x00
1026+
IMMEDIATE = 0x10
1027+
1028+
1029+
class EndInfo(IntEnum):
1030+
NO_ACTION = 0x00
1031+
FEEDBACK = 0x01
1032+
1033+
1034+
class Feedback(IntFlag):
1035+
BUFFER_EMPTY_IN_PROGRESS = 1 << 0
1036+
BUFFER_EMPTY_COMPLETED = 1 << 1
1037+
DISCARDED = 1 << 2
1038+
IDLE = 1 << 3
1039+
BUSY = 1 << 4

‎pybricksdev/ble/lwp3/messages.py‎

Lines changed: 209 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -11,17 +11,20 @@
1111
"""
1212

1313
import abc
14-
from enum import IntEnum
1514
import struct
16-
from typing import Any, Dict, List, NamedTuple, Optional, Tuple, Type, Union
15+
from enum import IntEnum
16+
from typing import Any, Dict, List, NamedTuple, Optional, Tuple, Type, Union, overload
1717

1818
from .bytecodes import (
19+
Feedback,
20+
MAX_NAME_SIZE,
1921
AlertKind,
2022
AlertOperation,
2123
AlertStatus,
2224
BatteryKind,
2325
BluetoothAddress,
2426
DataFormat,
27+
EndInfo,
2528
ErrorCode,
2629
HubAction,
2730
HubKind,
@@ -31,22 +34,24 @@
3134
HwNetExtFamily,
3235
HwNetFamily,
3336
HwNetSubfamily,
37+
InfoKind,
3438
IODeviceCapabilities,
3539
IODeviceKind,
3640
IODeviceMapping,
3741
IOEvent,
38-
InfoKind,
39-
LWPVersion,
4042
LastNetwork,
41-
MAX_NAME_SIZE,
43+
LWPVersion,
4244
MessageKind,
4345
ModeCapabilities,
4446
ModeInfoKind,
4547
PortID,
4648
PortInfoFormatSetupCommand,
49+
PortOutputCommand,
50+
StartInfo,
4751
Version,
4852
VirtualPortSetupCommand,
4953
)
54+
from ...tools.checksum import xor_bytes
5055

5156

5257
class AbstractMessage(abc.ABC):
@@ -747,7 +752,7 @@ def __init__(self) -> None:
747752
@property
748753
def key(self) -> bytes:
749754
"""Safety string."""
750-
return self._data[3:]
755+
return bytes(self._data[3:])
751756

752757

753758
###############################################################################
@@ -1365,6 +1370,197 @@ def __repr__(self) -> str:
13651370
return f"{self.__class__.__name__}({repr(self.port_a)}, {repr(self.port_b)})"
13661371

13671372

1373+
###############################################################################
1374+
# Port output messages
1375+
###############################################################################
1376+
1377+
1378+
class AbstractPortOutputCommandMessage(AbstractMessage):
1379+
@abc.abstractmethod
1380+
def __init__(
1381+
self,
1382+
length: int,
1383+
port: PortID,
1384+
start: StartInfo,
1385+
end: EndInfo,
1386+
command: PortOutputCommand,
1387+
) -> None:
1388+
super().__init__(length, MessageKind.PORT_OUTPUT_CMD)
1389+
1390+
self._data[3] = port
1391+
self._data[4] = start | end
1392+
self._data[5] = command
1393+
1394+
@property
1395+
def port(self) -> PortID:
1396+
return PortID(self._data[3])
1397+
1398+
@property
1399+
def start(self) -> StartInfo:
1400+
return StartInfo(self._data[4] & 0xF0)
1401+
1402+
@property
1403+
def end(self) -> EndInfo:
1404+
return EndInfo(self._data[4] & 0x0F)
1405+
1406+
@property
1407+
def command(self) -> PortOutputCommand:
1408+
return PortOutputCommand(self._data[5])
1409+
1410+
@abc.abstractmethod
1411+
def __repr__(self, extra: str) -> str:
1412+
return f"{self.__class__.__name__}({repr(self.port)}, {repr(self.start)}, {repr(self.end)}, {extra})"
1413+
1414+
1415+
class PortOutputCommandWriteDirectMessage(AbstractPortOutputCommandMessage):
1416+
def __init__(
1417+
self, port: PortID, start: StartInfo, end: EndInfo, payload: bytes
1418+
) -> None:
1419+
super().__init__(
1420+
6 + len(payload), port, start, end, PortOutputCommand.WRITE_DIRECT
1421+
)
1422+
1423+
if xor_bytes(payload) != 0x00:
1424+
raise ValueError("payload has invalid checksum")
1425+
1426+
self._data[6:] = payload
1427+
1428+
@property
1429+
def payload(self) -> bytes:
1430+
return bytes(self._data[6:])
1431+
1432+
def __repr__(self) -> str:
1433+
return super().__repr__(repr(self.payload))
1434+
1435+
1436+
class PortOutputCommandWriteDirectModeDataMessage(AbstractPortOutputCommandMessage):
1437+
def __init__(
1438+
self,
1439+
port: PortID,
1440+
start: StartInfo,
1441+
end: EndInfo,
1442+
mode: int,
1443+
fmt: str,
1444+
*values: Union[int, float],
1445+
) -> None:
1446+
super().__init__(
1447+
7 + struct.calcsize(fmt),
1448+
port,
1449+
start,
1450+
end,
1451+
PortOutputCommand.WRITE_DIRECT_MODE_DATA,
1452+
)
1453+
1454+
self._data[6] = mode
1455+
struct.pack_into(fmt, self._data, 7, *values)
1456+
1457+
@property
1458+
def mode(self) -> int:
1459+
return self._data[6]
1460+
1461+
def unpack(self, fmt: str) -> Tuple[Union[int, float], ...]:
1462+
return struct.unpack_from(fmt, self._data, 7)
1463+
1464+
def __repr__(self) -> str:
1465+
fmt = f"<{len(self._data) - 7}b"
1466+
values = ", ".join(repr(d) for d in self.unpack(fmt))
1467+
return super().__repr__(f"{repr(self.mode)}, {repr(fmt)}, {values}")
1468+
1469+
1470+
class PortOutputCommandFeedbackMessage(AbstractMessage):
1471+
@overload
1472+
def __init__(self, port: PortID, feedback: Feedback) -> None:
1473+
...
1474+
1475+
@overload
1476+
def __init__(
1477+
self, port1: PortID, feedback1: Feedback, port2: PortID, feedback2: Feedback
1478+
) -> None:
1479+
...
1480+
1481+
@overload
1482+
def __init__(
1483+
self,
1484+
port1: PortID,
1485+
feedback1: Feedback,
1486+
port2: PortID,
1487+
feedback2: Feedback,
1488+
port3: PortID,
1489+
feedback3: Feedback,
1490+
) -> None:
1491+
...
1492+
1493+
def __init__(
1494+
self,
1495+
port1: PortID,
1496+
feedback1: Feedback,
1497+
port2: Optional[PortID] = None,
1498+
feedback2: Optional[Feedback] = None,
1499+
port3: Optional[PortID] = None,
1500+
feedback3: Optional[Feedback] = None,
1501+
) -> None:
1502+
1503+
length = 5
1504+
1505+
if port2 is not None:
1506+
length += 2
1507+
1508+
if port3 is not None:
1509+
length += 2
1510+
1511+
super().__init__(length, MessageKind.PORT_OUTPUT_CMD_FEEDBACK)
1512+
1513+
self._data[3] = port1
1514+
self._data[4] = feedback1
1515+
1516+
if port2 is not None:
1517+
self._data[5] = port2
1518+
self._data[6] = feedback2
1519+
1520+
if port3 is not None:
1521+
self._data[7] = port3
1522+
self._data[8] = feedback3
1523+
1524+
@property
1525+
def port1(self) -> PortID:
1526+
return PortID(self._data[3])
1527+
1528+
@property
1529+
def feedback1(self) -> Feedback:
1530+
return Feedback(self._data[4])
1531+
1532+
@property
1533+
def port2(self) -> PortID:
1534+
try:
1535+
return PortID(self._data[5])
1536+
except IndexError:
1537+
return None
1538+
1539+
@property
1540+
def feedback2(self) -> Feedback:
1541+
try:
1542+
return Feedback(self._data[6])
1543+
except IndexError:
1544+
return None
1545+
1546+
@property
1547+
def port3(self) -> PortID:
1548+
try:
1549+
return PortID(self._data[7])
1550+
except IndexError:
1551+
return None
1552+
1553+
@property
1554+
def feedback3(self) -> Feedback:
1555+
try:
1556+
return Feedback(self._data[8])
1557+
except IndexError:
1558+
return None
1559+
1560+
def __repr__(self) -> str:
1561+
return f"{self.__class__.__name__}({repr(self.port1)}, {repr(self.feedback1)}, {repr(self.port2)}, {repr(self.feedback2)}, {repr(self.port3)}, {repr(self.feedback3)})"
1562+
1563+
13681564
###############################################################################
13691565
# Message parsing
13701566
###############################################################################
@@ -1455,6 +1651,11 @@ class _Lookup(NamedTuple):
14551651
VirtualPortSetupCommand.CONNECT: VirtualPortSetupConnectMessage,
14561652
}
14571653

1654+
_OUTPUT_CMD_CLASS_MAP = {
1655+
PortOutputCommand.WRITE_DIRECT: PortOutputCommandWriteDirectMessage,
1656+
PortOutputCommand.WRITE_DIRECT_MODE_DATA: PortOutputCommandWriteDirectModeDataMessage,
1657+
}
1658+
14581659
# base type descriminator for messages
14591660
_MESSAGE_CLASS_MAP = {
14601661
MessageKind.HUB_PROPERTY: _Lookup(4, _HUB_PROPERTY_OP_CLASS_MAP),
@@ -1477,6 +1678,8 @@ class _Lookup(NamedTuple):
14771678
MessageKind.PORT_INPUT_FMT: PortInputFormatMessage,
14781679
MessageKind.PORT_INPUT_FMT_COMBO: PortInputFormatComboMessage,
14791680
MessageKind.VIRTUAL_PORT_SETUP: _Lookup(3, _VIRTUAL_PORT_SETUP_CLASS_MAP),
1681+
MessageKind.PORT_OUTPUT_CMD: _Lookup(5, _OUTPUT_CMD_CLASS_MAP),
1682+
MessageKind.PORT_OUTPUT_CMD_FEEDBACK: PortOutputCommandFeedbackMessage,
14801683
}
14811684

14821685

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