""" ## an API for Meshtastic devices Primary class: StreamInterface Install with pip: "pip3 install meshtastic" Source code on [github](https://github.com/meshtastic/Meshtastic-python) properties of StreamInterface: - radioConfig - Current radio configuration and device settings, if you write to this the new settings will be applied to the device. - nodes - The database of received nodes. Includes always up-to-date location and username information for each node in the mesh. This is a read-only datastructure. - myNodeInfo - You probably don't want this. ## Published PubSub topics We use a [publish-subscribe](https://pypubsub.readthedocs.io/en/v4.0.3/) model to communicate asynchronous events. Available topics: - meshtastic.connection.established - published once we've successfully connected to the radio and downloaded the node DB - meshtastic.connection.lost - published once we've lost our link to the radio - meshtastic.receive.position(packet) - delivers a received packet as a dictionary, if you only care about a particular type of packet, you should subscribe to the full topic name. If you want to see all packets, simply subscribe to "meshtastic.receive". - meshtastic.receive.user(packet) - meshtastic.receive.data(packet) - meshtastic.node.updated(node = NodeInfo) - published when a node in the DB changes (appears, location changed, username changed, etc...) ## Example Usage ``` import meshtastic from pubsub import pub def onReceive(packet): # called when a packet arrives print(f"Received: {packet}") def onConnection(): # called when we (re)connect to the radio interface.sendData("hello world") # defaults to broadcast, specify a destination ID if you wish interface = meshtastic.StreamInterface() # By default will try to find a meshtastic device, otherwise provide a device path like /dev/ttyUSB0 pub.subscribe(onReceive, "meshtastic.receive") pub.subscribe(onConnection, "meshtastic.connection.established") ``` """ import google.protobuf.json_format import serial import serial.tools.list_ports import threading import logging import sys import traceback from . import mesh_pb2 from pubsub import pub START1 = 0x94 START2 = 0xc3 HEADER_LEN = 4 MAX_TO_FROM_RADIO_SIZE = 512 BROADCAST_ADDR = "all" # A special ID that means broadcast MY_CONFIG_ID = 42 class MeshInterface: """Interface class for meshtastic devices """ def __init__(self, debugOut=None): """Constructor""" self.debugOut = debugOut self.nodes = None # FIXME self._startConfig() def sendText(self, text, destinationId=BROADCAST_ADDR): """Send a utf8 string to some other node, if the node has a display it will also be shown on the device. Arguments: text {string} -- The text to send Keyword Arguments: destinationId {nodeId} -- where to send this message (default: {BROADCAST_ADDR}) """ self.sendData(text.encode("utf-8"), destinationId, dataType=mesh_pb2.Data.CLEAR_TEXT) def sendData(self, byteData, destinationId=BROADCAST_ADDR, dataType=mesh_pb2.Data.OPAQUE): """Send a data packet to some other node""" meshPacket = mesh_pb2.MeshPacket() meshPacket.payload.data.payload = byteData meshPacket.payload.data.typ = dataType self.sendPacket(meshPacket, destinationId) def sendPacket(self, meshPacket, destinationId=BROADCAST_ADDR): """Send a MeshPacket to the specified node (or if unspecified, broadcast). You probably don't want this - use sendData instead.""" toRadio = mesh_pb2.ToRadio() # FIXME add support for non broadcast addresses meshPacket.to = 255 toRadio.packet.CopyFrom(meshPacket) self._sendToRadio(toRadio) def _disconnected(self): """Called by subclasses to tell clients this interface has disconnected""" pub.sendMessage("meshtastic.connection.lost") def _startConfig(self): """Start device packets flowing""" self.myInfo = None self.nodes = {} # nodes keyed by ID self._nodesByNum = {} # nodes keyed by nodenum self.radioConfig = None startConfig = mesh_pb2.ToRadio() startConfig.want_config_id = MY_CONFIG_ID # we don't use this value self._sendToRadio(startConfig) def _sendToRadio(self, toRadio): """Send a ToRadio protobuf to the device""" logging.error(f"Subclass must provide toradio: {toRadio}") def _handleFromRadio(self, fromRadioBytes): """ Handle a packet that arrived from the radio(update model and publish events) Called by subclasses.""" fromRadio = mesh_pb2.FromRadio() fromRadio.ParseFromString(fromRadioBytes) json = google.protobuf.json_format.MessageToJson(fromRadio) logging.debug(f"Received: {json}") if fromRadio.HasField("my_info"): self.myInfo = fromRadio.my_info elif fromRadio.HasField("radio"): self.radioConfig = fromRadio.radio elif fromRadio.HasField("node_info"): node = fromRadio.node_info self._nodesByNum[node.num] = node self.nodes[node.user.id] = node elif fromRadio.config_complete_id == MY_CONFIG_ID: # we ignore the config_complete_id, it is unneeded for our stream API fromRadio.config_complete_id pub.sendMessage("meshtastic.connection.established") elif fromRadio.HasField("packet"): self._handlePacketFromRadio(fromRadio.packet) else: logging.warn("Unexpected FromRadio payload") def _handlePacketFromRadio(self, meshPacket): """Handle a MeshPacket that just arrived from the radio Will publish one of the following events: - meshtastic.receive.position(packet = MeshPacket dictionary) - meshtastic.receive.user(packet = MeshPacket dictionary) - meshtastic.receive.data(packet = MeshPacket dictionary) """ # FIXME, update node DB as needed json = google.protobuf.json_format.MessageToDict(meshPacket) if meshPacket.payload.HasField("position"): pub.sendMessage("meshtastic.receive.position", packet=json) if meshPacket.payload.HasField("user"): pub.sendMessage("meshtastic.receive.user", packet=json) if meshPacket.payload.HasField("data"): pub.sendMessage("meshtastic.receive.data", packet=json) class StreamInterface(MeshInterface): """Interface class for meshtastic devices over a stream link (serial, TCP, etc)""" def __init__(self, devPath=None, debugOut=None): """Constructor, opens a connection to a specified serial port, or if unspecified try to find one Meshtastic device by probing Keyword Arguments: devPath {string} -- A filepath to a device, i.e. /dev/ttyUSB0 (default: {None}) debugOut {stream} -- If a stream is provided, any debug serial output from the device will be emitted to that stream. (default: {None}) Raises: Exception: [description] Exception: [description] """ if devPath is None: ports = list(filter(lambda port: port.vid != None, serial.tools.list_ports.comports())) if len(ports) == 0: raise Exception("No Meshtastic devices detected") elif len(ports) > 1: raise Exception( f"Multiple ports detected, you must specify a device, such as {ports[0].device}") else: devPath = ports[0].device logging.debug(f"Connecting to {devPath}") self._rxBuf = bytes() # empty self._wantExit = False self.stream = serial.Serial( devPath, 921600, exclusive=True, timeout=0.5) self._rxThread = threading.Thread(target=self.__reader, args=()) self._rxThread.start() MeshInterface.__init__(self, debugOut=debugOut) def _sendToRadio(self, toRadio): """Send a ToRadio protobuf to the device""" logging.debug(f"Sending: {toRadio}") b = toRadio.SerializeToString() bufLen = len(b) header = bytes([START1, START2, (bufLen >> 8) & 0xff, bufLen & 0xff]) self.stream.write(header) self.stream.write(b) self.stream.flush() def close(self): """Close a connection to the device""" logging.debug("Closing serial stream") # pyserial cancel_read doesn't seem to work, therefore we ask the reader thread to close things for us self._wantExit = True def __reader(self): """The reader thread that reads bytes from our stream""" empty = bytes() while not self._wantExit: b = self.stream.read(1) if len(b) > 0: # logging.debug(f"read returned {b}") c = b[0] ptr = len(self._rxBuf) # Assume we want to append this byte, fixme use bytearray instead self._rxBuf = self._rxBuf + b if ptr == 0: # looking for START1 if c != START1: self._rxBuf = empty # failed to find start if self.debugOut != None: try: self.debugOut.write(b.decode("utf-8")) except: self.debugOut.write('?') elif ptr == 1: # looking for START2 if c != START2: self.rfBuf = empty # failed to find start2 elif ptr >= HEADER_LEN: # we've at least got a header # big endian length follos header packetlen = (self._rxBuf[2] << 8) + self._rxBuf[3] if ptr == HEADER_LEN: # we _just_ finished reading the header, validate length if packetlen > MAX_TO_FROM_RADIO_SIZE: self.rfBuf = empty # length ws out out bounds, restart if len(self._rxBuf) != 0 and ptr + 1 == packetlen + HEADER_LEN: try: self._handleFromRadio(self._rxBuf[HEADER_LEN:]) except Exception as ex: logging.warn( f"Error handling FromRadio, possibly corrupted? {ex}") traceback.print_exc() self._rxBuf = empty logging.debug("reader is exiting") self.stream.close() self._disconnected()