""" # an API for Meshtastic devices Primary class: SerialInterface Install with pip: "[pip3 install meshtastic](https://pypi.org/project/meshtastic/)" Source code on [github](https://github.com/meshtastic/Meshtastic-python) properties of SerialInterface: - 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. - nodesByNum - like "nodes" but keyed by nodeNum instead of nodeId - myInfo - Contains read-only information about the local radio device (software version, hardware version, etc) # 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.text(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.position(packet) - meshtastic.receive.user(packet) - meshtastic.receive.data.portnum(packet) (where portnum is an integer or well known PortNum enum) - meshtastic.node.updated(node = NodeInfo) - published when a node in the DB changes (appears, location changed, username changed, etc...) We receive position, user, or data packets from the mesh. You probably only care about meshtastic.receive.data. The first argument for that publish will be the packet. Text or binary data packets (from sendData or sendText) will both arrive this way. If you print packet you'll see the fields in the dictionary. decoded.data.payload will contain the raw bytes that were sent. If the packet was sent with sendText, decoded.data.text will **also** be populated with the decoded string. For ASCII these two strings will be the same, but for unicode scripts they can be different. # Example Usage ``` import meshtastic from pubsub import pub def onReceive(packet, interface): # called when a packet arrives print(f"Received: {packet}") def onConnection(interface, topic=pub.AUTO_TOPIC): # called when we (re)connect to the radio # defaults to broadcast, specify a destination ID if you wish interface.sendText("hello mesh") pub.subscribe(onReceive, "meshtastic.receive") pub.subscribe(onConnection, "meshtastic.connection.established") # By default will try to find a meshtastic device, otherwise provide a device path like /dev/ttyUSB0 interface = meshtastic.SerialInterface() ``` """ import pygatt import google.protobuf.json_format import serial import threading import logging import sys import random import traceback import time import base64 import platform import socket from . import mesh_pb2, portnums_pb2, apponly_pb2, admin_pb2, environmental_measurement_pb2, remote_hardware_pb2, channel_pb2, radioconfig_pb2, util from .util import fixme, catchAndIgnore, stripnl from pubsub import pub from dotmap import DotMap from typing import * from google.protobuf.json_format import MessageToJson START1 = 0x94 START2 = 0xc3 HEADER_LEN = 4 MAX_TO_FROM_RADIO_SIZE = 512 defaultHopLimit = 3 """A special ID that means broadcast""" BROADCAST_ADDR = "^all" """A special ID that means the local node""" LOCAL_ADDR = "^local" # if using 8 bit nodenums this will be shortend on the target BROADCAST_NUM = 0xffffffff """The numeric buildnumber (shared with android apps) specifying the level of device code we are guaranteed to understand format is Mmmss (where M is 1+the numeric major number. i.e. 20120 means 1.1.20 """ OUR_APP_VERSION = 20200 class ResponseHandler(NamedTuple): """A pending response callback, waiting for a response to one of our messages""" # requestId: int - used only as a key callback: Callable # FIXME, add timestamp and age out old requests class KnownProtocol(NamedTuple): """Used to automatically decode known protocol payloads""" name: str # portnum: int, now a key # If set, will be called to prase as a protocol buffer protobufFactory: Callable = None # If set, invoked as onReceive(interface, packet) onReceive: Callable = None def waitForSet(target, sleep=.1, maxsecs=20, attrs=()): """Block until the specified attributes are set. Returns True if config has been received.""" for _ in range(int(maxsecs/sleep)): if all(map(lambda a: getattr(target, a, None), attrs)): return True time.sleep(sleep) return False class Node: """A model of a (local or remote) node in the mesh Includes methods for radioConfig and channels """ def __init__(self, iface, nodeNum): """Constructor""" self.iface = iface self.nodeNum = nodeNum self.radioConfig = None self.channels = None def showInfo(self): """Show human readable description of our node""" print(self.radioConfig) print("Channels:") for c in self.channels: if c.role != channel_pb2.Channel.Role.DISABLED: cStr = MessageToJson(c.settings).replace("\n", "") print(f" {channel_pb2.Channel.Role.Name(c.role)} {cStr}") print(f"\nChannel URL {self.channelURL}") def requestConfig(self): """ Send regular MeshPackets to ask for settings and channels """ self.radioConfig = None self.channels = None self.partialChannels = [] # We keep our channels in a temp array until finished self._requestSettings() self._requestChannel(0) def waitForConfig(self): """Block until radio config is received. Returns True if config has been received.""" return waitForSet(self, attrs=('radioConfig', 'channels')) def writeConfig(self): """Write the current (edited) radioConfig to the device""" if self.radioConfig == None: raise Exception("No RadioConfig has been read") p = admin_pb2.AdminMessage() p.set_radio.CopyFrom(self.radioConfig) self._sendAdmin(p) logging.debug("Wrote config") def writeChannel(self, channelIndex): """Write the current (edited) channel to the device""" p = admin_pb2.AdminMessage() p.set_channel.CopyFrom(self.channels[channelIndex]) self._sendAdmin(p) logging.debug("Wrote channel {channelIndex}") def setOwner(self, long_name, short_name=None): """Set device owner name""" nChars = 3 minChars = 2 if long_name is not None: long_name = long_name.strip() if short_name is None: words = long_name.split() if len(long_name) <= nChars: short_name = long_name elif len(words) >= minChars: short_name = ''.join(map(lambda word: word[0], words)) else: trans = str.maketrans(dict.fromkeys('aeiouAEIOU')) short_name = long_name[0] + long_name[1:].translate(trans) if len(short_name) < nChars: short_name = long_name[:nChars] p = admin_pb2.AdminMessage() if long_name is not None: p.set_owner.long_name = long_name if short_name is not None: short_name = short_name.strip() if len(short_name) > nChars: short_name = short_name[:nChars] p.set_owner.short_name = short_name return self._sendAdmin(p) @property def channelURL(self): """The sharable URL that describes the current channel """ # Only keep the primary/secondary channels, assume primary is first channelSet = apponly_pb2.ChannelSet() for c in self.channels: if c.role != channel_pb2.Channel.Role.DISABLED: channelSet.settings.append(c.settings) bytes = channelSet.SerializeToString() s = base64.urlsafe_b64encode(bytes).decode('ascii') return f"https://www.meshtastic.org/d/#{s}".replace("=", "") def setURL(self, url): """Set mesh network URL""" if self.radioConfig == None: raise Exception("No RadioConfig has been read") # URLs are of the form https://www.meshtastic.org/d/#{base64_channel_set} # Split on '/#' to find the base64 encoded channel settings splitURL = url.split("/#") b64 = splitURL[-1] # We normally strip padding to make for a shorter URL, but the python parser doesn't like # that. So add back any missing padding # per https://stackoverflow.com/a/9807138 missing_padding = len(b64) % 4 if missing_padding: b64 += '=' * (4 - missing_padding) decodedURL = base64.urlsafe_b64decode(b64) channelSet = apponly_pb2.ChannelSet() channelSet.ParseFromString(decodedURL) i = 0 for chs in channelSet.settings: ch = channel_pb2.Channel() ch.role = channel_pb2.Channel.Role.PRIMARY if i == 0 else channel_pb2.Channel.Role.SECONDARY ch.index = i ch.settings.CopyFrom(chs) self.channels[ch.index] = ch self.writeChannel(ch.index) i = i + 1 def _requestSettings(self): """ Done with initial config messages, now send regular MeshPackets to ask for settings """ p = admin_pb2.AdminMessage() p.get_radio_request = True def onResponse(p): """A closure to handle the response packet""" self.radioConfig = p["decoded"]["admin"]["raw"].get_radio_response return self._sendAdmin(p, wantResponse=True, onResponse=onResponse) def _requestChannel(self, channelNum: int): """ Done with initial config messages, now send regular MeshPackets to ask for settings """ p = admin_pb2.AdminMessage() p.get_channel_request = channelNum + 1 logging.debug(f"Requesting channel {channelNum}") def onResponse(p): """A closure to handle the response packet""" c = p["decoded"]["admin"]["raw"].get_channel_response self.partialChannels.append(c) logging.debug(f"Received channel {stripnl(c)}") index = c.index # for stress testing, we can always download all channels fastChannelDownload = True # Once we see a response that has NO settings, assume we are at the end of channels and stop fetching quitEarly = ( c.role == channel_pb2.Channel.Role.DISABLED) and fastChannelDownload if quitEarly or index >= self.iface.myInfo.max_channels - 1: self.channels = self.partialChannels # FIXME, the following should only be called after we have settings and channels self.iface._connected() # Tell everone else we are ready to go else: self._requestChannel(index + 1) return self._sendAdmin(p, wantResponse=True, onResponse=onResponse) def _sendAdmin(self, p: admin_pb2.AdminMessage, wantResponse=False, onResponse=None): """Send an admin message to the specified node (or the local node if destNodeNum is zero)""" return self.iface.sendData(p, self.nodeNum, portNum=portnums_pb2.PortNum.ADMIN_APP, wantAck=True, wantResponse=wantResponse, onResponse=onResponse) class MeshInterface: """Interface class for meshtastic devices Properties: isConnected nodes debugOut """ def __init__(self, debugOut=None, noProto=False): """Constructor Keyword Arguments: noProto -- If True, don't try to run our protocol on the link - just be a dumb serial client. """ self.debugOut = debugOut self.nodes = None # FIXME self.isConnected = threading.Event() self.noProto = noProto self.localNode = Node(self, -1) # We fixup nodenum later self.myInfo = None # We don't have device info yet self.responseHandlers = {} # A map from request ID to the handler self.failure = None # If we've encountered a fatal exception it will be kept here random.seed() # FIXME, we should not clobber the random seedval here, instead tell user they must call it self.currentPacketId = random.randint(0, 0xffffffff) self._startConfig() def __enter__(self): return self def __exit__(self, exc_type, exc_value, traceback): if exc_type is not None and exc_value is not None: logging.error( f'An exception of type {exc_type} with value {exc_value} has occurred') if traceback is not None: logging.error(f'Traceback: {traceback}') self.close() def showInfo(self): """Show human readable summary about this object""" print(self.myInfo) print("Nodes in mesh:") for n in self.nodes.values(): print(stripnl(n)) def getNode(self, nodeId): """Return a node object which contains device settings and channel info""" if nodeId == LOCAL_ADDR: return self.localNode else: n = Node(self, nodeId) n.requestConfig() n.waitForConfig() return n def sendText(self, text: AnyStr, destinationId=BROADCAST_ADDR, wantAck=False, wantResponse=False, hopLimit=defaultHopLimit, onResponse=None): """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 or nodeNum} -- where to send this message (default: {BROADCAST_ADDR}) portNum -- the application portnum (similar to IP port numbers) of the destination, see portnums.proto for a list wantAck -- True if you want the message sent in a reliable manner (with retries and ack/nak provided for delivery) wantResponse -- True if you want the service on the other side to send an application layer response Returns the sent packet. The id field will be populated in this packet and can be used to track future message acks/naks. """ return self.sendData(text.encode("utf-8"), destinationId, portNum=portnums_pb2.PortNum.TEXT_MESSAGE_APP, wantAck=wantAck, wantResponse=wantResponse, hopLimit=hopLimit, onResponse=onResponse) def sendData(self, data, destinationId=BROADCAST_ADDR, portNum=portnums_pb2.PortNum.PRIVATE_APP, wantAck=False, wantResponse=False, hopLimit=defaultHopLimit, onResponse=None): """Send a data packet to some other node Keyword Arguments: data -- the data to send, either as an array of bytes or as a protobuf (which will be automatically serialized to bytes) destinationId {nodeId or nodeNum} -- where to send this message (default: {BROADCAST_ADDR}) portNum -- the application portnum (similar to IP port numbers) of the destination, see portnums.proto for a list wantAck -- True if you want the message sent in a reliable manner (with retries and ack/nak provided for delivery) wantResponse -- True if you want the service on the other side to send an application layer response onResponse -- A closure of the form funct(packet), that will be called when a response packet arrives (or the transaction is NAKed due to non receipt) Returns the sent packet. The id field will be populated in this packet and can be used to track future message acks/naks. """ if getattr(data, "SerializeToString", None): logging.debug(f"Serializing protobuf as data: {stripnl(data)}") data = data.SerializeToString() if len(data) > mesh_pb2.Constants.DATA_PAYLOAD_LEN: raise Exception("Data payload too big") if portNum == portnums_pb2.PortNum.UNKNOWN_APP: # we are now more strict wrt port numbers raise Exception("A non-zero port number must be specified") meshPacket = mesh_pb2.MeshPacket() meshPacket.decoded.payload = data meshPacket.decoded.portnum = portNum meshPacket.decoded.want_response = wantResponse p = self._sendPacket(meshPacket, destinationId, wantAck=wantAck, hopLimit=hopLimit) if onResponse is not None: self._addResponseHandler(p.id, onResponse) return p def sendPosition(self, latitude=0.0, longitude=0.0, altitude=0, timeSec=0, destinationId=BROADCAST_ADDR, wantAck=False, wantResponse=False): """ Send a position packet to some other node (normally a broadcast) Also, the device software will notice this packet and use it to automatically set its notion of the local position. If timeSec is not specified (recommended), we will use the local machine time. Returns the sent packet. The id field will be populated in this packet and can be used to track future message acks/naks. """ p = mesh_pb2.Position() if(latitude != 0.0): p.latitude_i = int(latitude / 1e-7) if(longitude != 0.0): p.longitude_i = int(longitude / 1e-7) if(altitude != 0): p.altitude = int(altitude) if timeSec == 0: timeSec = time.time() # returns unix timestamp in seconds p.time = int(timeSec) return self.sendData(p, destinationId, portNum=portnums_pb2.PortNum.POSITION_APP, wantAck=wantAck, wantResponse=wantResponse) def _addResponseHandler(self, requestId, callback): self.responseHandlers[requestId] = ResponseHandler(callback) def _sendPacket(self, meshPacket, destinationId=BROADCAST_ADDR, wantAck=False, hopLimit=defaultHopLimit): """Send a MeshPacket to the specified node (or if unspecified, broadcast). You probably don't want this - use sendData instead. Returns the sent packet. The id field will be populated in this packet and can be used to track future message acks/naks. """ # We allow users to talk to the local node before we've completed the full connection flow... if(self.myInfo is not None and destinationId != self.myInfo.my_node_num): self._waitConnected() toRadio = mesh_pb2.ToRadio() if destinationId is None: raise Exception("destinationId must not be None") elif isinstance(destinationId, int): nodeNum = destinationId elif destinationId == BROADCAST_ADDR: nodeNum = BROADCAST_NUM elif destinationId == LOCAL_ADDR: nodeNum = self.myInfo.my_node_num else: nodeNum = self.nodes[destinationId]['num'] meshPacket.to = nodeNum meshPacket.want_ack = wantAck meshPacket.hop_limit = hopLimit # if the user hasn't set an ID for this packet (likely and recommended), we should pick a new unique ID # so the message can be tracked. if meshPacket.id == 0: meshPacket.id = self._generatePacketId() toRadio.packet.CopyFrom(meshPacket) #logging.debug(f"Sending packet: {stripnl(meshPacket)}") self._sendToRadio(toRadio) return meshPacket def waitForConfig(self): """Block until radio config is received. Returns True if config has been received.""" return self.localNode.waitForConfig() and waitForSet(self, attrs=('myInfo', 'nodes')) def getMyNodeInfo(self): if self.myInfo is None: return None return self.nodesByNum.get(self.myInfo.my_node_num) def getMyUser(self): nodeInfo = self.getMyNodeInfo() if nodeInfo is not None: return nodeInfo.get('user') return None def getLongName(self): user = self.getMyUser() if user is not None: return user.get('longName', None) return None def getShortName(self): user = self.getMyUser() if user is not None: return user.get('shortName', None) return None def _waitConnected(self): """Block until the initial node db download is complete, or timeout and raise an exception""" if not self.isConnected.wait(5.0): # timeout after 5 seconds raise Exception("Timed out waiting for connection completion") # If we failed while connecting, raise the connection to the client if self.failure: raise self.failure def _generatePacketId(self): """Get a new unique packet ID""" if self.currentPacketId is None: raise Exception("Not connected yet, can not generate packet") else: self.currentPacketId = (self.currentPacketId + 1) & 0xffffffff return self.currentPacketId def _disconnected(self): """Called by subclasses to tell clients this interface has disconnected""" self.isConnected.clear() catchAndIgnore("disconnection publish", lambda: pub.sendMessage( "meshtastic.connection.lost", interface=self)) def _connected(self): """Called by this class to tell clients we are now fully connected to a node """ # (because I'm lazy) _connected might be called when remote Node # objects complete their config reads, don't generate redundant isConnected # for the local interface if not self.isConnected.is_set(): self.isConnected.set() catchAndIgnore("connection publish", lambda: pub.sendMessage( "meshtastic.connection.established", interface=self)) def _startConfig(self): """Start device packets flowing""" self.myInfo = None self.nodes = {} # nodes keyed by ID self.nodesByNum = {} # nodes keyed by nodenum startConfig = mesh_pb2.ToRadio() self.configId = random.randint(0, 0xffffffff) startConfig.want_config_id = self.configId self._sendToRadio(startConfig) def _sendToRadio(self, toRadio): """Send a ToRadio protobuf to the device""" if self.noProto: logging.warn( f"Not sending packet because protocol use is disabled by noProto") else: #logging.debug(f"Sending toRadio: {stripnl(toRadio)}") self._sendToRadioImpl(toRadio) def _sendToRadioImpl(self, toRadio): """Send a ToRadio protobuf to the device""" logging.error(f"Subclass must provide toradio: {toRadio}") def _handleConfigComplete(self): """ Done with initial config messages, now send regular MeshPackets to ask for settings and channels """ self.localNode.requestConfig() 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) asDict = google.protobuf.json_format.MessageToDict(fromRadio) if fromRadio.HasField("my_info"): self.myInfo = fromRadio.my_info self.localNode.nodeNum = self.myInfo.my_node_num logging.debug(f"Received myinfo: {stripnl(fromRadio.my_info)}") failmsg = None # Check for app too old if self.myInfo.min_app_version > OUR_APP_VERSION: failmsg = "This device needs a newer python client, please \"pip install --upgrade meshtastic\". For more information see https://tinyurl.com/5bjsxu32" # check for firmware too old if self.myInfo.max_channels == 0: failmsg = "This version of meshtastic-python requires device firmware version 1.2 or later. For more information see https://tinyurl.com/5bjsxu32" if failmsg: self.failure = Exception(failmsg) self.isConnected.set() # let waitConnected return this exception self.close() elif fromRadio.HasField("node_info"): node = asDict["nodeInfo"] try: self._fixupPosition(node["position"]) except: logging.debug("Node without position") logging.debug(f"Received nodeinfo: {node}") self.nodesByNum[node["num"]] = node if "user" in node: # Some nodes might not have user/ids assigned yet self.nodes[node["user"]["id"]] = node pub.sendMessage("meshtastic.node.updated", node=node, interface=self) elif fromRadio.config_complete_id == self.configId: # we ignore the config_complete_id, it is unneeded for our stream API fromRadio.config_complete_id self._handleConfigComplete() elif fromRadio.HasField("packet"): self._handlePacketFromRadio(fromRadio.packet) elif fromRadio.rebooted: # Tell clients the device went away. Careful not to call the overridden subclass version that closes the serial port MeshInterface._disconnected(self) self._startConfig() # redownload the node db etc... else: logging.debug("Unexpected FromRadio payload") def _fixupPosition(self, position): """Convert integer lat/lon into floats Arguments: position {Position dictionary} -- object ot fix up """ if "latitudeI" in position: position["latitude"] = position["latitudeI"] * 1e-7 if "longitudeI" in position: position["longitude"] = position["longitudeI"] * 1e-7 def _nodeNumToId(self, num): """Map a node node number to a node ID Arguments: num {int} -- Node number Returns: string -- Node ID """ if num == BROADCAST_NUM: return BROADCAST_ADDR try: return self.nodesByNum[num]["user"]["id"] except: logging.warn("Node not found for fromId") return None def _getOrCreateByNum(self, nodeNum): """Given a nodenum find the NodeInfo in the DB (or create if necessary)""" if nodeNum == BROADCAST_NUM: raise Exception("Can not create/find nodenum by the broadcast num") if nodeNum in self.nodesByNum: return self.nodesByNum[nodeNum] else: n = {"num": nodeNum} # Create a minimial node db entry self.nodesByNum[nodeNum] = n return n def _handlePacketFromRadio(self, meshPacket): """Handle a MeshPacket that just arrived from the radio Will publish one of the following events: - meshtastic.receive.text(packet = MeshPacket dictionary) - meshtastic.receive.position(packet = MeshPacket dictionary) - meshtastic.receive.user(packet = MeshPacket dictionary) - meshtastic.receive.data(packet = MeshPacket dictionary) """ asDict = google.protobuf.json_format.MessageToDict(meshPacket) # We normally decompose the payload into a dictionary so that the client # doesn't need to understand protobufs. But advanced clients might # want the raw protobuf, so we provide it in "raw" asDict["raw"] = meshPacket # from might be missing if the nodenum was zero. if not "from" in asDict: asDict["from"] = 0 logging.error( f"Device returned a packet we sent, ignoring: {stripnl(asDict)}") return if not "to" in asDict: asDict["to"] = 0 # /add fromId and toId fields based on the node ID asDict["fromId"] = self._nodeNumToId(asDict["from"]) asDict["toId"] = self._nodeNumToId(asDict["to"]) # We could provide our objects as DotMaps - which work with . notation or as dictionaries # asObj = DotMap(asDict) topic = "meshtastic.receive" # Generic unknown packet type decoded = asDict["decoded"] # The default MessageToDict converts byte arrays into base64 strings. # We don't want that - it messes up data payload. So slam in the correct # byte array. decoded["payload"] = meshPacket.decoded.payload # UNKNOWN_APP is the default protobuf portnum value, and therefore if not set it will not be populated at all # to make API usage easier, set it to prevent confusion if not "portnum" in decoded: decoded["portnum"] = portnums_pb2.PortNum.Name( portnums_pb2.PortNum.UNKNOWN_APP) portnum = decoded["portnum"] topic = f"meshtastic.receive.data.{portnum}" # decode position protobufs and update nodedb, provide decoded version as "position" in the published msg # move the following into a 'decoders' API that clients could register? portNumInt = meshPacket.decoded.portnum # we want portnum as an int handler = protocols.get(portNumInt) # The decoded protobuf as a dictionary (if we understand this message) p = None if handler is not None: topic = f"meshtastic.receive.{handler.name}" # Convert to protobuf if possible if handler.protobufFactory is not None: pb = handler.protobufFactory() pb.ParseFromString(meshPacket.decoded.payload) p = google.protobuf.json_format.MessageToDict(pb) asDict["decoded"][handler.name] = p # Also provide the protobuf raw asDict["decoded"][handler.name]["raw"] = pb # Call specialized onReceive if necessary if handler.onReceive is not None: handler.onReceive(self, asDict) # Is this message in response to a request, if so, look for a handler requestId = decoded.get("requestId") if requestId is not None: # We ignore ACK packets, but send NAKs and data responses to the handlers routing = decoded.get("routing") isAck = routing is not None and ("errorReason" not in routing) if not isAck: # we keep the responseHandler in dict until we get a non ack handler = self.responseHandlers.pop(requestId, None) if handler is not None: handler.callback(asDict) logging.debug(f"Publishing {topic}: packet={stripnl(asDict)} ") catchAndIgnore(f"publishing {topic}", lambda: pub.sendMessage( topic, packet=asDict, interface=self)) # Our standard BLE characteristics TORADIO_UUID = "f75c76d2-129e-4dad-a1dd-7866124401e7" FROMRADIO_UUID = "8ba2bcc2-ee02-4a55-a531-c525c5e454d5" FROMNUM_UUID = "ed9da18c-a800-4f66-a670-aa7547e34453" class BLEInterface(MeshInterface): """A not quite ready - FIXME - BLE interface to devices""" def __init__(self, address, debugOut=None): self.address = address self.adapter = pygatt.GATTToolBackend() # BGAPIBackend() self.adapter.start() logging.debug(f"Connecting to {self.address}") self.device = self.adapter.connect(address) logging.debug("Connected to device") # fromradio = self.device.char_read(FROMRADIO_UUID) MeshInterface.__init__(self, debugOut=debugOut) self._readFromRadio() # read the initial responses def handle_data(handle, data): self._handleFromRadio(data) self.device.subscribe(FROMNUM_UUID, callback=handle_data) def _sendToRadioImpl(self, toRadio): """Send a ToRadio protobuf to the device""" # logging.debug(f"Sending: {stripnl(toRadio)}") b = toRadio.SerializeToString() self.device.char_write(TORADIO_UUID, b) def close(self): self.adapter.stop() def _readFromRadio(self): wasEmpty = False while not wasEmpty: b = self.device.char_read(FROMRADIO_UUID) wasEmpty = len(b) == 0 if not wasEmpty: self._handleFromRadio(b) class StreamInterface(MeshInterface): """Interface class for meshtastic devices over a stream link (serial, TCP, etc)""" def __init__(self, debugOut=None, noProto=False, connectNow=True): """Constructor, opens a connection to self.stream 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 not hasattr(self, 'stream'): raise Exception( "StreamInterface is now abstract (to update existing code create SerialInterface instead)") self._rxBuf = bytes() # empty self._wantExit = False # FIXME, figure out why daemon=True causes reader thread to exit too early self._rxThread = threading.Thread(target=self.__reader, args=()) MeshInterface.__init__(self, debugOut=debugOut, noProto=noProto) # Start the reader thread after superclass constructor completes init if connectNow: self.connect() self.waitForConfig() def connect(self): """Connect to our radio Normally this is called automatically by the constructor, but if you passed in connectNow=False you can manually start the reading thread later. """ # Send some bogus UART characters to force a sleeping device to wake self._writeBytes(bytes([START1, START1, START1, START1])) time.sleep(0.1) # wait 100ms to give device time to start running self._rxThread.start() if not self.noProto: # Wait for the db download if using the protocol self._waitConnected() def _disconnected(self): """We override the superclass implementation to close our port""" MeshInterface._disconnected(self) logging.debug("Closing our port") if not self.stream is None: self.stream.close() def _writeBytes(self, b): """Write an array of bytes to our stream and flush""" self.stream.write(b) self.stream.flush() def _readBytes(self, len): """Read an array of bytes from our stream""" return self.stream.read(len) def _sendToRadioImpl(self, toRadio): """Send a ToRadio protobuf to the device""" logging.debug(f"Sending: {stripnl(toRadio)}") b = toRadio.SerializeToString() bufLen = len(b) # We convert into a string, because the TCP code doesn't work with byte arrays header = bytes([START1, START2, (bufLen >> 8) & 0xff, bufLen & 0xff]) self._writeBytes(header + b) def close(self): """Close a connection to the device""" logging.debug("Closing stream") # pyserial cancel_read doesn't seem to work, therefore we ask the reader thread to close things for us self._wantExit = True if self._rxThread != threading.current_thread(): self._rxThread.join() # wait for it to exit def __reader(self): """The reader thread that reads bytes from our stream""" empty = bytes() try: while not self._wantExit: # logging.debug("reading character") b = self._readBytes(1) # logging.debug("In reader loop") 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._rxBuf = 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._rxBuf = 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.error( f"Error while handling message from radio {ex}") traceback.print_exc() self._rxBuf = empty else: # logging.debug(f"timeout") pass except serial.SerialException as ex: if not self._wantExit: # We might intentionally get an exception during shutdown logging.warn( f"Meshtastic serial port disconnected, disconnecting... {ex}") except OSError as ex: if not self._wantExit: # We might intentionally get an exception during shutdown logging.error( f"Unexpected OSError, terminating meshtastic reader... {ex}") except Exception as ex: logging.error( f"Unexpected exception, terminating meshtastic reader... {ex}") finally: logging.debug("reader is exiting") self._disconnected() class SerialInterface(StreamInterface): """Interface class for meshtastic devices over a serial link""" def __init__(self, devPath=None, debugOut=None, noProto=False, connectNow=True): """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}) """ if devPath is None: ports = util.findPorts() 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]}") else: devPath = ports[0] logging.debug(f"Connecting to {devPath}") # Note: we provide None for port here, because we will be opening it later self.stream = serial.Serial( None, 921600, exclusive=True, timeout=0.5) # rts=False Needed to prevent TBEAMs resetting on OSX, because rts is connected to reset self.stream.port = devPath # OS-X/Windows seems to have a bug in its serial driver. It ignores that we asked for no RTSCTS # control and will always drive RTS either high or low (rather than letting the CP102 leave # it as an open-collector floating pin). Since it is going to drive it anyways we want to make # sure it is driven low, so that the TBEAM won't reset # Linux does this properly, so don't apply this hack (because it makes the reset button not work) if platform.system() != 'Linux': self.stream.rts = False self.stream.open() StreamInterface.__init__( self, debugOut=debugOut, noProto=noProto, connectNow=connectNow) class TCPInterface(StreamInterface): """Interface class for meshtastic devices over a TCP link""" def __init__(self, hostname: AnyStr, debugOut=None, noProto=False, connectNow=True, portNumber=4403): """Constructor, opens a connection to a specified IP address/hostname Keyword Arguments: hostname {string} -- Hostname/IP address of the device to connect to """ logging.debug(f"Connecting to {hostname}") server_address = (hostname, portNumber) sock = socket.create_connection(server_address) # Instead of wrapping as a stream, we use the native socket API # self.stream = sock.makefile('rw') self.stream = None self.socket = sock StreamInterface.__init__( self, debugOut=debugOut, noProto=noProto, connectNow=connectNow) def close(self): """Close a connection to the device""" logging.debug("Closing TCP stream") # Sometimes the socket read might be blocked in the reader thread. Therefore we force the shutdown by closing # the socket here self._wantExit = True if not self.socket is None: self.socket.shutdown(socket.SHUT_RDWR) self.socket.close() StreamInterface.close(self) def _writeBytes(self, b): """Write an array of bytes to our stream and flush""" self.socket.send(b) def _readBytes(self, len): """Read an array of bytes from our stream""" return self.socket.recv(len) def _onTextReceive(iface, asDict): """Special text auto parsing for received messages""" # We don't throw if the utf8 is invalid in the text message. Instead we just don't populate # the decoded.data.text and we log an error message. This at least allows some delivery to # the app and the app can deal with the missing decoded representation. # # Usually btw this problem is caused by apps sending binary data but setting the payload type to # text. try: asBytes = asDict["decoded"]["payload"] asDict["decoded"]["text"] = asBytes.decode("utf-8") except Exception as ex: logging.error(f"Malformatted utf8 in text message: {ex}") def _onPositionReceive(iface, asDict): """Special auto parsing for received messages""" p = asDict["decoded"]["position"] iface._fixupPosition(p) # update node DB as needed iface._getOrCreateByNum(asDict["from"])["position"] = p def _onNodeInfoReceive(iface, asDict): """Special auto parsing for received messages""" p = asDict["decoded"]["user"] # decode user protobufs and update nodedb, provide decoded version as "position" in the published msg # update node DB as needed n = iface._getOrCreateByNum(asDict["from"]) n["user"] = p # We now have a node ID, make sure it is uptodate in that table iface.nodes[p["id"]] = n """Well known message payloads can register decoders for automatic protobuf parsing""" protocols = { portnums_pb2.PortNum.TEXT_MESSAGE_APP: KnownProtocol("text", onReceive=_onTextReceive), portnums_pb2.PortNum.POSITION_APP: KnownProtocol("position", mesh_pb2.Position, _onPositionReceive), portnums_pb2.PortNum.NODEINFO_APP: KnownProtocol("user", mesh_pb2.User, _onNodeInfoReceive), portnums_pb2.PortNum.ADMIN_APP: KnownProtocol("admin", admin_pb2.AdminMessage), portnums_pb2.PortNum.ROUTING_APP: KnownProtocol("routing", mesh_pb2.Routing), portnums_pb2.PortNum.ENVIRONMENTAL_MEASUREMENT_APP: KnownProtocol("environmental", environmental_measurement_pb2.EnvironmentalMeasurement), portnums_pb2.PortNum.REMOTE_HARDWARE_APP: KnownProtocol( "remotehw", remote_hardware_pb2.HardwareMessage) }