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406 lines
15 KiB
Python
406 lines
15 KiB
Python
"""
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# an API for Meshtastic devices
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Primary class: StreamInterface
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Install with pip: "[pip3 install meshtastic](https://pypi.org/project/meshtastic/)"
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Source code on [github](https://github.com/meshtastic/Meshtastic-python)
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properties of StreamInterface:
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- radioConfig - Current radio configuration and device settings, if you write to this the new settings will be applied to
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the device.
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- nodes - The database of received nodes. Includes always up-to-date location and username information for each
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node in the mesh. This is a read-only datastructure.
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- myNodeInfo - Contains read-only information about the local radio device (software version, hardware version, etc)
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# Published PubSub topics
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We use a [publish-subscribe](https://pypubsub.readthedocs.io/en/v4.0.3/) model to communicate asynchronous events. Available
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topics:
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- meshtastic.connection.established - published once we've successfully connected to the radio and downloaded the node DB
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- meshtastic.connection.lost - published once we've lost our link to the radio
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- meshtastic.receive.position(packet) - delivers a received packet as a dictionary, if you only care about a particular
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type of packet, you should subscribe to the full topic name. If you want to see all packets, simply subscribe to "meshtastic.receive".
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- meshtastic.receive.user(packet)
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- meshtastic.receive.data(packet)
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- meshtastic.node.updated(node = NodeInfo) - published when a node in the DB changes (appears, location changed, username changed, etc...)
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# Example Usage
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```
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import meshtastic
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from pubsub import pub
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def onReceive(packet): # called when a packet arrives
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print(f"Received: {packet}")
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def onConnection(): # called when we (re)connect to the radio
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# defaults to broadcast, specify a destination ID if you wish
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interface.sendText("hello mesh")
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pub.subscribe(onReceive, "meshtastic.receive")
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pub.subscribe(onConnection, "meshtastic.connection.established")
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# By default will try to find a meshtastic device, otherwise provide a device path like /dev/ttyUSB0
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interface = meshtastic.StreamInterface()
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```
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"""
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import pygatt
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import google.protobuf.json_format
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import serial
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import threading
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import logging
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import sys
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import traceback
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from . import mesh_pb2
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from . import util
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from pubsub import pub
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from dotmap import DotMap
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START1 = 0x94
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START2 = 0xc3
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HEADER_LEN = 4
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MAX_TO_FROM_RADIO_SIZE = 512
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BROADCAST_ADDR = "all" # A special ID that means broadcast
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BROADCAST_NUM = 255
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MY_CONFIG_ID = 42
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class MeshInterface:
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"""Interface class for meshtastic devices
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Properties:
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isConnected
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nodes
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debugOut
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"""
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def __init__(self, debugOut=None):
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"""Constructor"""
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self.debugOut = debugOut
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self.nodes = None # FIXME
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self.isConnected = False
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self._startConfig()
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def sendText(self, text, destinationId=BROADCAST_ADDR, wantAck=False):
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"""Send a utf8 string to some other node, if the node has a display it will also be shown on the device.
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Arguments:
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text {string} -- The text to send
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Keyword Arguments:
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destinationId {nodeId or nodeNum} -- where to send this message (default: {BROADCAST_ADDR})
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"""
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self.sendData(text.encode("utf-8"), destinationId,
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dataType=mesh_pb2.Data.CLEAR_TEXT, wantAck=wantAck)
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def sendData(self, byteData, destinationId=BROADCAST_ADDR, dataType=mesh_pb2.Data.OPAQUE, wantAck=False):
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"""Send a data packet to some other node"""
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meshPacket = mesh_pb2.MeshPacket()
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meshPacket.decoded.data.payload = byteData
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meshPacket.decoded.data.typ = dataType
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self.sendPacket(meshPacket, destinationId, wantAck=wantAck)
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def sendPacket(self, meshPacket, destinationId=BROADCAST_ADDR, wantAck=False):
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"""Send a MeshPacket to the specified node (or if unspecified, broadcast).
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You probably don't want this - use sendData instead."""
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toRadio = mesh_pb2.ToRadio()
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# FIXME add support for non broadcast addresses
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if isinstance(destinationId, int):
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nodeNum = destinationId
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elif destinationId == BROADCAST_ADDR:
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nodeNum = 255
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else:
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nodeNum = self.nodes[destinationId].num
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meshPacket.to = nodeNum
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meshPacket.want_ack = wantAck
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toRadio.packet.CopyFrom(meshPacket)
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self._sendToRadio(toRadio)
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def writeConfig(self):
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"""Write the current (edited) radioConfig to the device"""
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if self.radioConfig == None:
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raise Exception("No RadioConfig has been read")
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t = mesh_pb2.ToRadio()
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t.set_radio.CopyFrom(self.radioConfig)
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self._sendToRadio(t)
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def _disconnected(self):
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"""Called by subclasses to tell clients this interface has disconnected"""
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self.isConnected = False
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pub.sendMessage("meshtastic.connection.lost", interface=self)
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def _connected(self):
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"""Called by this class to tell clients we are now fully connected to a node
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"""
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self.isConnected = True
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pub.sendMessage("meshtastic.connection.established", interface=self)
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def _startConfig(self):
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"""Start device packets flowing"""
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self.myInfo = None
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self.nodes = {} # nodes keyed by ID
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self._nodesByNum = {} # nodes keyed by nodenum
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self.radioConfig = None
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startConfig = mesh_pb2.ToRadio()
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startConfig.want_config_id = MY_CONFIG_ID # we don't use this value
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self._sendToRadio(startConfig)
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def _sendToRadio(self, toRadio):
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"""Send a ToRadio protobuf to the device"""
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logging.error(f"Subclass must provide toradio: {toRadio}")
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def _handleFromRadio(self, fromRadioBytes):
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"""
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Handle a packet that arrived from the radio(update model and publish events)
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Called by subclasses."""
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fromRadio = mesh_pb2.FromRadio()
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fromRadio.ParseFromString(fromRadioBytes)
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asDict = google.protobuf.json_format.MessageToDict(fromRadio)
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logging.debug(f"Received: {asDict}")
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if fromRadio.HasField("my_info"):
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self.myInfo = fromRadio.my_info
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elif fromRadio.HasField("radio"):
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self.radioConfig = fromRadio.radio
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elif fromRadio.HasField("node_info"):
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node = asDict["nodeInfo"]
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self._fixupPosition(node["position"])
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self._nodesByNum[node["num"]] = node
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self.nodes[node["user"]["id"]] = node
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elif fromRadio.config_complete_id == MY_CONFIG_ID:
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# we ignore the config_complete_id, it is unneeded for our stream API fromRadio.config_complete_id
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self._connected()
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elif fromRadio.HasField("packet"):
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self._handlePacketFromRadio(fromRadio.packet)
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elif fromRadio.rebooted:
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self._disconnected()
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self._startConfig() # redownload the node db etc...
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else:
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logging.warn("Unexpected FromRadio payload")
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def _fixupPosition(self, position):
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"""Convert integer lat/lon into floats
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Arguments:
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position {Position dictionary} -- object ot fix up
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"""
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if "latitudeI" in position:
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position["latitude"] = position["latitudeI"] * 1e-7
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if "longitudeI" in position:
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position["longitude"] = position["longitudeI"] * 1e-7
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def _nodeNumToId(self, num):
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"""Map a node node number to a node ID
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Arguments:
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num {int} -- Node number
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Returns:
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string -- Node ID
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"""
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if num == BROADCAST_NUM:
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return BROADCAST_ADDR
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try:
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return self._nodesByNum[num]["user"]["id"]
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except:
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logging.error("Node not found for fromId")
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return None
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def _handlePacketFromRadio(self, meshPacket):
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"""Handle a MeshPacket that just arrived from the radio
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Will publish one of the following events:
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- meshtastic.receive.position(packet = MeshPacket dictionary)
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- meshtastic.receive.user(packet = MeshPacket dictionary)
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- meshtastic.receive.data(packet = MeshPacket dictionary)
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"""
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asDict = google.protobuf.json_format.MessageToDict(meshPacket)
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# /add fromId and toId fields based on the node ID
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asDict["fromId"] = self._nodeNumToId(asDict["from"])
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asDict["toId"] = self._nodeNumToId(asDict["to"])
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# We could provide our objects as DotMaps - which work with . notation or as dictionaries
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# asObj = DotMap(asDict)
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topic = "meshtastic.receive" # Generic unknown packet type
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if meshPacket.decoded.HasField("position"):
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topic = "meshtastic.receive.position"
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p = asDict["decoded"]["position"]
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self._fixupPosition(p)
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# update node DB as needed
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self._nodesByNum[asDict["from"]]["position"] = p
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if meshPacket.decoded.HasField("user"):
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topic = "meshtastic.receive.user"
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u = asDict["decoded"]["user"]
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# update node DB as needed
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self._nodesByNum[asDict["from"]]["user"] = u
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if meshPacket.decoded.HasField("data"):
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topic = "meshtastic.receive.data"
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# For text messages, we go ahead and decode the text to ascii for our users
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if asDict["decoded"]["data"]["typ"] == "CLEAR_TEXT":
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asDict["decoded"]["data"]["text"] = meshPacket.decoded.data.payload.decode(
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"utf-8")
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pub.sendMessage(topic, packet=asDict, interface=self)
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# Our standard BLE characteristics
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TORADIO_UUID = "f75c76d2-129e-4dad-a1dd-7866124401e7"
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FROMRADIO_UUID = "8ba2bcc2-ee02-4a55-a531-c525c5e454d5"
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FROMNUM_UUID = "ed9da18c-a800-4f66-a670-aa7547e34453"
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class BLEInterface(MeshInterface):
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"""A not quite ready - FIXME - BLE interface to devices"""
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def __init__(self, address, debugOut=None):
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self.address = address
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self.adapter = pygatt.GATTToolBackend() # BGAPIBackend()
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self.adapter.start()
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logging.debug(f"Connecting to {self.address}")
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self.device = self.adapter.connect(address)
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logging.debug("Connected to device")
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# fromradio = self.device.char_read(FROMRADIO_UUID)
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MeshInterface.__init__(self, debugOut=debugOut)
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self._readFromRadio() # read the initial responses
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def handle_data(handle, data):
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self._handleFromRadio(data)
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self.device.subscribe(FROMNUM_UUID, callback=handle_data)
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def _sendToRadio(self, toRadio):
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"""Send a ToRadio protobuf to the device"""
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logging.debug(f"Sending: {toRadio}")
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b = toRadio.SerializeToString()
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self.device.char_write(TORADIO_UUID, b)
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def close(self):
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self.adapter.stop()
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def _readFromRadio(self):
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wasEmpty = False
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while not wasEmpty:
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b = self.device.char_read(FROMRADIO_UUID)
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wasEmpty = len(b) == 0
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if not wasEmpty:
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self._handleFromRadio(b)
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class StreamInterface(MeshInterface):
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"""Interface class for meshtastic devices over a stream link (serial, TCP, etc)"""
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def __init__(self, devPath=None, debugOut=None):
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"""Constructor, opens a connection to a specified serial port, or if unspecified try to
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find one Meshtastic device by probing
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Keyword Arguments:
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devPath {string} -- A filepath to a device, i.e. /dev/ttyUSB0 (default: {None})
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debugOut {stream} -- If a stream is provided, any debug serial output from the device will be emitted to that stream. (default: {None})
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Raises:
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Exception: [description]
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Exception: [description]
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"""
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if devPath is None:
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ports = util.findPorts()
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if len(ports) == 0:
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raise Exception("No Meshtastic devices detected")
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elif len(ports) > 1:
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raise Exception(
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f"Multiple ports detected, you must specify a device, such as {ports[0].device}")
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else:
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devPath = ports[0]
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logging.debug(f"Connecting to {devPath}")
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self.devPath = devPath
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self._rxBuf = bytes() # empty
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self._wantExit = False
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self.stream = serial.Serial(
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devPath, 921600, exclusive=True, timeout=0.5)
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self._rxThread = threading.Thread(target=self.__reader, args=())
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self._rxThread.start()
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MeshInterface.__init__(self, debugOut=debugOut)
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def _sendToRadio(self, toRadio):
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"""Send a ToRadio protobuf to the device"""
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logging.debug(f"Sending: {toRadio}")
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b = toRadio.SerializeToString()
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bufLen = len(b)
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header = bytes([START1, START2, (bufLen >> 8) & 0xff, bufLen & 0xff])
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self.stream.write(header)
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self.stream.write(b)
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self.stream.flush()
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def close(self):
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"""Close a connection to the device"""
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logging.debug("Closing serial stream")
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# pyserial cancel_read doesn't seem to work, therefore we ask the reader thread to close things for us
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self._wantExit = True
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if self._rxThread != threading.current_thread():
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self._rxThread.join() # wait for it to exit
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def __reader(self):
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"""The reader thread that reads bytes from our stream"""
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empty = bytes()
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while not self._wantExit:
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b = self.stream.read(1)
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if len(b) > 0:
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# logging.debug(f"read returned {b}")
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c = b[0]
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ptr = len(self._rxBuf)
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# Assume we want to append this byte, fixme use bytearray instead
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self._rxBuf = self._rxBuf + b
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if ptr == 0: # looking for START1
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if c != START1:
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self._rxBuf = empty # failed to find start
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if self.debugOut != None:
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try:
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self.debugOut.write(b.decode("utf-8"))
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except:
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self.debugOut.write('?')
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elif ptr == 1: # looking for START2
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if c != START2:
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self.rfBuf = empty # failed to find start2
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elif ptr >= HEADER_LEN: # we've at least got a header
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# big endian length follos header
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packetlen = (self._rxBuf[2] << 8) + self._rxBuf[3]
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if ptr == HEADER_LEN: # we _just_ finished reading the header, validate length
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if packetlen > MAX_TO_FROM_RADIO_SIZE:
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self.rfBuf = empty # length ws out out bounds, restart
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if len(self._rxBuf) != 0 and ptr + 1 == packetlen + HEADER_LEN:
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try:
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self._handleFromRadio(self._rxBuf[HEADER_LEN:])
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except Exception as ex:
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logging.error(
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f"Error handling FromRadio, possibly corrupted? {ex}")
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traceback.print_exc()
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self._rxBuf = empty
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else:
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# logging.debug(f"timeout on {self.devPath}")
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pass
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logging.debug("reader is exiting")
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self.stream.close()
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self._disconnected()
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