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BlueZ bluetooth backend implementation
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‎README.md‎

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@@ -38,6 +38,7 @@ var serviceProvider = new ServiceCollection()
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.AddLogging()
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.AddPoweredUp()
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.AddWinRTBluetooth() // using WinRT Bluetooth on Windows
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//.AddBlueZBluetooth() // using BlueZ Bluetooth on Linux
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.BuildServiceProvider();
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var host = serviceProvider.GetService<PoweredUpHost>();
@@ -155,6 +156,7 @@ var serviceProvider = new ServiceCollection()
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.AddLogging()
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.AddPoweredUp()
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.AddWinRTBluetooth() // using WinRT Bluetooth on Windows
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//.AddBlueZBluetooth() // using BlueZ Bluetooth on Linux
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.BuildServiceProvider();
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using (var scope = serviceProvider.CreateScope()) // create a scoped DI container per intented active connection/protocol. If disposed, disposes all disposable artifacts.
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- [X] .NET Core 3.1 (on Windows 10 using WinRT)
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- Library uses `Span<T>` / C# 8.0 and is therefore not supported in .NET Framework 1.0 - 4.8 and UWP Apps until arrival of .NET 5 (WinForms and WPF work in .NET Core 3.1)
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- Library uses WinRT for communication therefore only Windows 10
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- [X] .NET Core 3.1 / .NET 5 on Linux using BlueZ
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- Requires `bluez` to be installed and configured.
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- [ ] Xamarin (on iOS / Android using ?)
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- [ ] Blazor (on Browser using WebBluetooth)
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- Hub Model

‎examples/SharpBrick.PoweredUp.Examples/BaseExample.cs‎

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@@ -84,9 +84,10 @@ public void InitHost(bool enableTrace)
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if (enableTrace)
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{
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builder.AddFilter("SharpBrick.PoweredUp.Bluetooth.BluetoothKernel", LogLevel.Debug);
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builder.AddFilter("SharpBrick.PoweredUp.BlueZ.BlueZPoweredUpBluetoothAdapter", LogLevel.Debug);
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}
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})
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.AddWinRTBluetooth()
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.AddBlueZBluetooth()
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;
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Configure(serviceCollection);

‎examples/SharpBrick.PoweredUp.Examples/Program.cs‎

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@@ -18,7 +18,7 @@ static async Task Main(string[] args)
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//example = new Example.ExampleMotorVirtualPort();
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//example = new Example.ExampleHubActions();
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//example = new Example.ExampleTechnicMediumHubAccelerometer();
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//example = new Example.ExampleTechnicMediumHubGyroSensor();
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example = new Example.ExampleTechnicMediumHubGyroSensor();
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//example = new Example.ExampleVoltage();
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//example = new Example.ExampleTechnicMediumTemperatureSensor();
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//example = new Example.ExampleMotorInputCombinedMode();
@@ -33,7 +33,7 @@ static async Task Main(string[] args)
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//example = new Example.ExampleHubPropertyObserving();
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//example = new Example.ExampleDiscoverByType();
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//example = new Example.ExampleCalibrationSteering();
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example = new Example.ExampleTechnicMediumHubGestSensor();
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//example = new Example.ExampleTechnicMediumHubGestSensor();
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// NOTE: Examples are programmed object oriented style. Base class implements methods Configure, DiscoverAsync and ExecuteAsync to be overwriten on demand.
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await example.InitHostAndDiscoverAsync(enableTrace);

‎examples/SharpBrick.PoweredUp.Examples/SharpBrick.PoweredUp.Examples.csproj‎

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@@ -9,6 +9,7 @@
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<ItemGroup>
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<ProjectReference Include="..\..\src\SharpBrick.PoweredUp\SharpBrick.PoweredUp.csproj" />
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<ProjectReference Include="..\..\src\SharpBrick.PoweredUp.WinRT\SharpBrick.PoweredUp.WinRT.csproj" />
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<ProjectReference Include="..\..\src\SharpBrick.PoweredUp.BlueZ\SharpBrick.PoweredUp.BlueZ.csproj" />
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</ItemGroup>
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<ItemGroup>

‎src/SharpBrick.PoweredUp.BlueZ/BlueZConstants.cs‎

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namespace SharpBrick.PoweredUp.BlueZ
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{
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internal class BlueZConstants
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{
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public const string BlueZDBusServiceName = "org.bluez";
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}
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}
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‎src/SharpBrick.PoweredUp.BlueZ/BlueZPoweredUpBluetoothAdapter.cs‎

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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using Microsoft.Extensions.Logging;
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using SharpBrick.PoweredUp.Bluetooth;
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using SharpBrick.PoweredUp.BlueZ.Utilities;
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using Tmds.DBus;
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namespace SharpBrick.PoweredUp.BlueZ
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{
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public class BlueZPoweredUpBluetoothAdapter : IPoweredUpBluetoothAdapter
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{
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private readonly ILogger<BlueZPoweredUpBluetoothAdapter> _logger;
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private readonly string _adapterObjectPath;
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private readonly Dictionary<ulong, IPoweredUpBluetoothDevice> _devices = new Dictionary<ulong, IPoweredUpBluetoothDevice>();
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private IAdapter1 _adapter;
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public bool Discovering { get; set; } = false;
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public BlueZPoweredUpBluetoothAdapter(
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ILogger<BlueZPoweredUpBluetoothAdapter> logger,
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string adapterObjectPath = null) //"/org/bluez/hci0")
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{
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_logger = logger;
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_adapterObjectPath = adapterObjectPath;
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}
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private async Task<IAdapter1> GetAdapterAsync()
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{
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var adapter = !string.IsNullOrEmpty(_adapterObjectPath) ? Connection.System.CreateProxy<IAdapter1>(BlueZConstants.BlueZDBusServiceName, _adapterObjectPath) : await FindFirstAdapter();
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// validate the adapter
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await adapter.GetAliasAsync();
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// make sure it is powered on
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if (!await adapter.GetPoweredAsync())
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{
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await adapter.SetPoweredAsync(true);
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}
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await adapter.WatchPropertiesAsync(AdapterPropertyChangedHandler);
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return adapter;
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}
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private async Task<IAdapter1> FindFirstAdapter()
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{
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var adapters = await Connection.System.FindProxies<IAdapter1>();
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return adapters.FirstOrDefault();
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}
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private void AdapterPropertyChangedHandler(PropertyChanges changes)
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{
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_logger.LogDebug("Property changed {ChangedProperties}", changes.Changed);
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foreach (var propertyChanged in changes.Changed)
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{
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switch (propertyChanged.Key)
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{
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case "Discovering":
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Discovering = (bool)propertyChanged.Value;
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break;
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}
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}
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}
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private async Task<ICollection<IDevice1>> GetExistingDevicesAsync()
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=> await Connection.System.FindProxies<IDevice1>();
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private IDevice1 GetSpecificDeviceAsync(ObjectPath objectPath)
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=> Connection.System.CreateProxy<IDevice1>(BlueZConstants.BlueZDBusServiceName, objectPath);
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private async Task<bool> IsLegoWirelessProcotolDevice(IDevice1 device)
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=> (await device.GetUUIDsAsync()).NullToEmpty().Any(x => x.ToUpperInvariant() == PoweredUpBluetoothConstants.LegoHubService);
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public async void Discover(Func<PoweredUpBluetoothDeviceInfo, Task> discoveryHandler, CancellationToken cancellationToken = default)
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{
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_adapter ??= await GetAdapterAsync();
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var existingDevices = await GetExistingDevicesAsync();
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foreach (var device in existingDevices)
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{
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if (await IsLegoWirelessProcotolDevice(device))
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{
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var poweredUpDevice = new BlueZPoweredUpBluetoothDevice(device, discoveryHandler);
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await poweredUpDevice.Initialize();
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_devices.Add(poweredUpDevice.DeviceInfo.BluetoothAddress, poweredUpDevice);
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await poweredUpDevice.TryGetManufacturerDataAsync();
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}
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}
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await Connection.System.WatchInterfacesAdded(NewDeviceAddedHandler);
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await _adapter.SetDiscoveryFilterAsync(new Dictionary<string,object>()
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{
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{ "UUIDs", new string[] { PoweredUpBluetoothConstants.LegoHubService } }
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});
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cancellationToken.Register(async () =>
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{
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if (Discovering)
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{
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await _adapter.StopDiscoveryAsync();
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}
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});
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await _adapter.StartDiscoveryAsync();
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async void NewDeviceAddedHandler((ObjectPath objectPath, IDictionary<string, IDictionary<string, object>> interfaces) args)
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{
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if (!args.interfaces.ContainsKey("org.bluez.Device1"))
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{
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return;
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}
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var device = GetSpecificDeviceAsync(args.objectPath);
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var poweredUpDevice = new BlueZPoweredUpBluetoothDevice(device, discoveryHandler);
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await poweredUpDevice.Initialize();
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_devices.Add(poweredUpDevice.DeviceInfo.BluetoothAddress, poweredUpDevice);
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await poweredUpDevice.TryGetManufacturerDataAsync();
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}
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}
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public Task<IPoweredUpBluetoothDevice> GetDeviceAsync(ulong bluetoothAddress)
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{
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if (!_devices.ContainsKey(bluetoothAddress))
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{
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throw new ArgumentOutOfRangeException("Requested bluetooth device is not available from this adapter");
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}
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return Task.FromResult<IPoweredUpBluetoothDevice>(_devices[bluetoothAddress]);
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}
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}
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}

‎src/SharpBrick.PoweredUp.BlueZ/BlueZPoweredUpBluetoothCharacteristic.cs‎

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using System;
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using System.Collections.Generic;
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using System.Threading.Tasks;
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using Polly;
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using SharpBrick.PoweredUp.Bluetooth;
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using Tmds.DBus;
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namespace SharpBrick.PoweredUp.BlueZ
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{
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internal class BlueZPoweredUpBluetoothCharacteristic : IPoweredUpBluetoothCharacteristic
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{
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private IGattCharacteristic1 _characteristic;
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public BlueZPoweredUpBluetoothCharacteristic(IGattCharacteristic1 characteristic, Guid uuid)
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{
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Uuid = uuid;
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_characteristic = characteristic ?? throw new ArgumentNullException(nameof(characteristic));
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}
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public Guid Uuid { get; }
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public async Task<bool> NotifyValueChangeAsync(Func<byte[], Task> notificationHandler)
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{
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if (notificationHandler is null)
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{
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throw new ArgumentNullException(nameof(notificationHandler));
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}
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await _characteristic.WatchPropertiesAsync(PropertyChangedHandler);
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await _characteristic.StartNotifyAsync();
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return true;
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void PropertyChangedHandler(PropertyChanges propertyChanges)
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{
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foreach (var propertyChanged in propertyChanges.Changed)
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{
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if (propertyChanged.Key == "Value")
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{
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notificationHandler((byte[])propertyChanged.Value);
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}
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}
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}
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}
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public async Task<bool> WriteValueAsync(byte[] data)
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{
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if (data is null)
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{
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throw new ArgumentNullException(nameof(data));
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}
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await Policy
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.Handle<Tmds.DBus.DBusException>()
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.WaitAndRetryForeverAsync(_ => TimeSpan.FromMilliseconds(10))
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.ExecuteAsync(() => _characteristic.WriteValueAsync(data, new Dictionary<string, object>()));
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return true;
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}
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}
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}

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