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1156 lines
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1156 lines
51 KiB
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<main>
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<article id="content">
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<header>
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<h1 class="title">Package <code>meshtastic</code></h1>
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</header>
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<section id="section-intro">
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<h1 id="an-api-for-meshtastic-devices">an API for Meshtastic devices</h1>
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<p>Primary class: StreamInterface
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Install with pip: "<a href="https://pypi.org/project/meshtastic/">pip3 install meshtastic</a>"
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Source code on <a href="https://github.com/meshtastic/Meshtastic-python">github</a></p>
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<p>properties of StreamInterface:</p>
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<ul>
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<li>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.</li>
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<li>nodes - The database of received nodes.
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Includes always up-to-date location and username information for each
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node in the mesh.
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This is a read-only datastructure.</li>
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<li>myNodeInfo - Contains read-only information about the local radio device (software version, hardware version, etc)</li>
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</ul>
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<h1 id="published-pubsub-topics">Published PubSub topics</h1>
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<p>We use a <a href="https://pypubsub.readthedocs.io/en/v4.0.3/">publish-subscribe</a> model to communicate asynchronous events.
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Available
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topics:</p>
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<ul>
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<li>meshtastic.connection.established - published once we've successfully connected to the radio and downloaded the node DB</li>
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<li>meshtastic.connection.lost - published once we've lost our link to the radio</li>
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<li>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.
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If you want to see all packets, simply subscribe to "meshtastic.receive".</li>
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<li>meshtastic.receive.user(packet)</li>
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<li>meshtastic.receive.data(packet)</li>
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<li>meshtastic.node.updated(node = NodeInfo) - published when a node in the DB changes (appears, location changed, username changed, etc…)</li>
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</ul>
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<h1 id="example-usage">Example Usage</h1>
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<pre><code>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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</code></pre>
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<details class="source">
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<summary>
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<span>Expand source code</span>
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</summary>
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<pre><code class="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 time
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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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# if using 8 bit nodenums this will be shortend on the target
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BROADCAST_NUM = 0xffffffff
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MY_CONFIG_ID = 42
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"""The numeric buildnumber (shared with android apps) specifying the level of device code we are guaranteed to understand"""
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OUR_APP_VERSION = 172
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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, noProto=False):
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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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if not noProto:
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self._startConfig()
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def sendText(self, text, destinationId=BROADCAST_ADDR, wantAck=False, wantResponse=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, wantResponse=wantResponse)
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def sendData(self, byteData, destinationId=BROADCAST_ADDR, dataType=mesh_pb2.Data.OPAQUE, wantAck=False, wantResponse=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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meshPacket.decoded.want_response = wantResponse
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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 = BROADCAST_NUM
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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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if self.myInfo.min_app_version > OUR_APP_VERSION:
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raise Exception(
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"This device needs a newer python client, please \"pip install --upgrade meshtastic\"")
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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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try:
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self._fixupPosition(node["position"])
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except:
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logging.debug("Node without 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):
|
|
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, devPath=None, debugOut=None, noProto=False):
|
|
"""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 = 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].device}")
|
|
else:
|
|
devPath = ports[0]
|
|
|
|
logging.debug(f"Connecting to {devPath}")
|
|
self.devPath = 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=())
|
|
|
|
# Send some bogus UART characters to force a sleeping device to wake
|
|
self.stream.write(bytes([START1, START1, START1, START1]))
|
|
self.stream.flush()
|
|
time.sleep(0.1) # wait 100ms to give device time to start running
|
|
|
|
MeshInterface.__init__(self, debugOut=debugOut, noProto=noProto)
|
|
|
|
# Start the reader thread after superclass constructor completes init
|
|
self._rxThread.start()
|
|
|
|
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
|
|
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()
|
|
|
|
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.error(
|
|
f"Error handling FromRadio, possibly corrupted? {ex}")
|
|
traceback.print_exc()
|
|
self._rxBuf = empty
|
|
else:
|
|
# logging.debug(f"timeout on {self.devPath}")
|
|
pass
|
|
logging.debug("reader is exiting")
|
|
self.stream.close()
|
|
self._disconnected()</code></pre>
|
|
</details>
|
|
</section>
|
|
<section>
|
|
<h2 class="section-title" id="header-submodules">Sub-modules</h2>
|
|
<dl>
|
|
<dt><code class="name"><a title="meshtastic.ble" href="ble.html">meshtastic.ble</a></code></dt>
|
|
<dd>
|
|
<div class="desc"></div>
|
|
</dd>
|
|
<dt><code class="name"><a title="meshtastic.mesh_pb2" href="mesh_pb2.html">meshtastic.mesh_pb2</a></code></dt>
|
|
<dd>
|
|
<div class="desc"></div>
|
|
</dd>
|
|
<dt><code class="name"><a title="meshtastic.test" href="test.html">meshtastic.test</a></code></dt>
|
|
<dd>
|
|
<div class="desc"></div>
|
|
</dd>
|
|
<dt><code class="name"><a title="meshtastic.util" href="util.html">meshtastic.util</a></code></dt>
|
|
<dd>
|
|
<div class="desc"></div>
|
|
</dd>
|
|
</dl>
|
|
</section>
|
|
<section>
|
|
<h2 class="section-title" id="header-variables">Global variables</h2>
|
|
<dl>
|
|
<dt id="meshtastic.MY_CONFIG_ID"><code class="name">var <span class="ident">MY_CONFIG_ID</span></code></dt>
|
|
<dd>
|
|
<div class="desc"><p>The numeric buildnumber (shared with android apps) specifying the level of device code we are guaranteed to understand</p></div>
|
|
</dd>
|
|
</dl>
|
|
</section>
|
|
<section>
|
|
</section>
|
|
<section>
|
|
<h2 class="section-title" id="header-classes">Classes</h2>
|
|
<dl>
|
|
<dt id="meshtastic.BLEInterface"><code class="flex name class">
|
|
<span>class <span class="ident">BLEInterface</span></span>
|
|
<span>(</span><span>address, debugOut=None)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>A not quite ready - FIXME - BLE interface to devices</p>
|
|
<p>Constructor</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">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 _sendToRadio(self, toRadio):
|
|
"""Send a ToRadio protobuf to the device"""
|
|
logging.debug(f"Sending: {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)</code></pre>
|
|
</details>
|
|
<h3>Ancestors</h3>
|
|
<ul class="hlist">
|
|
<li><a title="meshtastic.MeshInterface" href="#meshtastic.MeshInterface">MeshInterface</a></li>
|
|
</ul>
|
|
<h3>Methods</h3>
|
|
<dl>
|
|
<dt id="meshtastic.BLEInterface.close"><code class="name flex">
|
|
<span>def <span class="ident">close</span></span>(<span>self)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">def close(self):
|
|
self.adapter.stop()</code></pre>
|
|
</details>
|
|
</dd>
|
|
</dl>
|
|
<h3>Inherited members</h3>
|
|
<ul class="hlist">
|
|
<li><code><b><a title="meshtastic.MeshInterface" href="#meshtastic.MeshInterface">MeshInterface</a></b></code>:
|
|
<ul class="hlist">
|
|
<li><code><a title="meshtastic.MeshInterface.sendData" href="#meshtastic.MeshInterface.sendData">sendData</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.sendPacket" href="#meshtastic.MeshInterface.sendPacket">sendPacket</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.sendText" href="#meshtastic.MeshInterface.sendText">sendText</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.writeConfig" href="#meshtastic.MeshInterface.writeConfig">writeConfig</a></code></li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
</dd>
|
|
<dt id="meshtastic.MeshInterface"><code class="flex name class">
|
|
<span>class <span class="ident">MeshInterface</span></span>
|
|
<span>(</span><span>debugOut=None, noProto=False)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Interface class for meshtastic devices</p>
|
|
<p>Properties:</p>
|
|
<p>isConnected
|
|
nodes
|
|
debugOut</p>
|
|
<p>Constructor</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">class MeshInterface:
|
|
"""Interface class for meshtastic devices
|
|
|
|
Properties:
|
|
|
|
isConnected
|
|
nodes
|
|
debugOut
|
|
"""
|
|
|
|
def __init__(self, debugOut=None, noProto=False):
|
|
"""Constructor"""
|
|
self.debugOut = debugOut
|
|
self.nodes = None # FIXME
|
|
self.isConnected = False
|
|
if not noProto:
|
|
self._startConfig()
|
|
|
|
def sendText(self, text, destinationId=BROADCAST_ADDR, wantAck=False, wantResponse=False):
|
|
"""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})
|
|
"""
|
|
self.sendData(text.encode("utf-8"), destinationId,
|
|
dataType=mesh_pb2.Data.CLEAR_TEXT, wantAck=wantAck, wantResponse=wantResponse)
|
|
|
|
def sendData(self, byteData, destinationId=BROADCAST_ADDR, dataType=mesh_pb2.Data.OPAQUE, wantAck=False, wantResponse=False):
|
|
"""Send a data packet to some other node"""
|
|
meshPacket = mesh_pb2.MeshPacket()
|
|
meshPacket.decoded.data.payload = byteData
|
|
meshPacket.decoded.data.typ = dataType
|
|
meshPacket.decoded.want_response = wantResponse
|
|
self.sendPacket(meshPacket, destinationId, wantAck=wantAck)
|
|
|
|
def sendPacket(self, meshPacket, destinationId=BROADCAST_ADDR, wantAck=False):
|
|
"""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
|
|
|
|
if isinstance(destinationId, int):
|
|
nodeNum = destinationId
|
|
elif destinationId == BROADCAST_ADDR:
|
|
nodeNum = BROADCAST_NUM
|
|
else:
|
|
nodeNum = self.nodes[destinationId].num
|
|
|
|
meshPacket.to = nodeNum
|
|
meshPacket.want_ack = wantAck
|
|
toRadio.packet.CopyFrom(meshPacket)
|
|
self._sendToRadio(toRadio)
|
|
|
|
def writeConfig(self):
|
|
"""Write the current (edited) radioConfig to the device"""
|
|
if self.radioConfig == None:
|
|
raise Exception("No RadioConfig has been read")
|
|
|
|
t = mesh_pb2.ToRadio()
|
|
t.set_radio.CopyFrom(self.radioConfig)
|
|
self._sendToRadio(t)
|
|
|
|
def _disconnected(self):
|
|
"""Called by subclasses to tell clients this interface has disconnected"""
|
|
self.isConnected = False
|
|
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
|
|
"""
|
|
self.isConnected = True
|
|
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
|
|
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)
|
|
asDict = google.protobuf.json_format.MessageToDict(fromRadio)
|
|
logging.debug(f"Received: {asDict}")
|
|
if fromRadio.HasField("my_info"):
|
|
self.myInfo = fromRadio.my_info
|
|
if self.myInfo.min_app_version > OUR_APP_VERSION:
|
|
raise Exception(
|
|
"This device needs a newer python client, please \"pip install --upgrade meshtastic\"")
|
|
elif fromRadio.HasField("radio"):
|
|
self.radioConfig = fromRadio.radio
|
|
elif fromRadio.HasField("node_info"):
|
|
node = asDict["nodeInfo"]
|
|
try:
|
|
self._fixupPosition(node["position"])
|
|
except:
|
|
logging.debug("Node without position")
|
|
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
|
|
self._connected()
|
|
elif fromRadio.HasField("packet"):
|
|
self._handlePacketFromRadio(fromRadio.packet)
|
|
elif fromRadio.rebooted:
|
|
self._disconnected()
|
|
self._startConfig() # redownload the node db etc...
|
|
else:
|
|
logging.warn("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.error("Node not found for fromId")
|
|
return None
|
|
|
|
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)
|
|
"""
|
|
|
|
asDict = google.protobuf.json_format.MessageToDict(meshPacket)
|
|
# /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
|
|
if meshPacket.decoded.HasField("position"):
|
|
topic = "meshtastic.receive.position"
|
|
p = asDict["decoded"]["position"]
|
|
self._fixupPosition(p)
|
|
# update node DB as needed
|
|
self._nodesByNum[asDict["from"]]["position"] = p
|
|
|
|
if meshPacket.decoded.HasField("user"):
|
|
topic = "meshtastic.receive.user"
|
|
u = asDict["decoded"]["user"]
|
|
# update node DB as needed
|
|
self._nodesByNum[asDict["from"]]["user"] = u
|
|
|
|
if meshPacket.decoded.HasField("data"):
|
|
topic = "meshtastic.receive.data"
|
|
# For text messages, we go ahead and decode the text to ascii for our users
|
|
if asDict["decoded"]["data"]["typ"] == "CLEAR_TEXT":
|
|
asDict["decoded"]["data"]["text"] = meshPacket.decoded.data.payload.decode(
|
|
"utf-8")
|
|
|
|
pub.sendMessage(topic, packet=asDict, interface=self)</code></pre>
|
|
</details>
|
|
<h3>Subclasses</h3>
|
|
<ul class="hlist">
|
|
<li><a title="meshtastic.BLEInterface" href="#meshtastic.BLEInterface">BLEInterface</a></li>
|
|
<li><a title="meshtastic.StreamInterface" href="#meshtastic.StreamInterface">StreamInterface</a></li>
|
|
</ul>
|
|
<h3>Methods</h3>
|
|
<dl>
|
|
<dt id="meshtastic.MeshInterface.sendData"><code class="name flex">
|
|
<span>def <span class="ident">sendData</span></span>(<span>self, byteData, destinationId='^all', dataType=0, wantAck=False, wantResponse=False)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Send a data packet to some other node</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">def sendData(self, byteData, destinationId=BROADCAST_ADDR, dataType=mesh_pb2.Data.OPAQUE, wantAck=False, wantResponse=False):
|
|
"""Send a data packet to some other node"""
|
|
meshPacket = mesh_pb2.MeshPacket()
|
|
meshPacket.decoded.data.payload = byteData
|
|
meshPacket.decoded.data.typ = dataType
|
|
meshPacket.decoded.want_response = wantResponse
|
|
self.sendPacket(meshPacket, destinationId, wantAck=wantAck)</code></pre>
|
|
</details>
|
|
</dd>
|
|
<dt id="meshtastic.MeshInterface.sendPacket"><code class="name flex">
|
|
<span>def <span class="ident">sendPacket</span></span>(<span>self, meshPacket, destinationId='^all', wantAck=False)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Send a MeshPacket to the specified node (or if unspecified, broadcast).
|
|
You probably don't want this - use sendData instead.</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">def sendPacket(self, meshPacket, destinationId=BROADCAST_ADDR, wantAck=False):
|
|
"""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
|
|
|
|
if isinstance(destinationId, int):
|
|
nodeNum = destinationId
|
|
elif destinationId == BROADCAST_ADDR:
|
|
nodeNum = BROADCAST_NUM
|
|
else:
|
|
nodeNum = self.nodes[destinationId].num
|
|
|
|
meshPacket.to = nodeNum
|
|
meshPacket.want_ack = wantAck
|
|
toRadio.packet.CopyFrom(meshPacket)
|
|
self._sendToRadio(toRadio)</code></pre>
|
|
</details>
|
|
</dd>
|
|
<dt id="meshtastic.MeshInterface.sendText"><code class="name flex">
|
|
<span>def <span class="ident">sendText</span></span>(<span>self, text, destinationId='^all', wantAck=False, wantResponse=False)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Send a utf8 string to some other node, if the node has a display it will also be shown on the device.</p>
|
|
<h2 id="arguments">Arguments</h2>
|
|
<p>text {string} – The text to send</p>
|
|
<p>Keyword Arguments:
|
|
destinationId {nodeId or nodeNum} – where to send this message (default: {BROADCAST_ADDR})</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">def sendText(self, text, destinationId=BROADCAST_ADDR, wantAck=False, wantResponse=False):
|
|
"""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})
|
|
"""
|
|
self.sendData(text.encode("utf-8"), destinationId,
|
|
dataType=mesh_pb2.Data.CLEAR_TEXT, wantAck=wantAck, wantResponse=wantResponse)</code></pre>
|
|
</details>
|
|
</dd>
|
|
<dt id="meshtastic.MeshInterface.writeConfig"><code class="name flex">
|
|
<span>def <span class="ident">writeConfig</span></span>(<span>self)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Write the current (edited) radioConfig to the device</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">def writeConfig(self):
|
|
"""Write the current (edited) radioConfig to the device"""
|
|
if self.radioConfig == None:
|
|
raise Exception("No RadioConfig has been read")
|
|
|
|
t = mesh_pb2.ToRadio()
|
|
t.set_radio.CopyFrom(self.radioConfig)
|
|
self._sendToRadio(t)</code></pre>
|
|
</details>
|
|
</dd>
|
|
</dl>
|
|
</dd>
|
|
<dt id="meshtastic.StreamInterface"><code class="flex name class">
|
|
<span>class <span class="ident">StreamInterface</span></span>
|
|
<span>(</span><span>devPath=None, debugOut=None, noProto=False)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Interface class for meshtastic devices over a stream link (serial, TCP, etc)</p>
|
|
<p>Constructor, opens a connection to a specified serial port, or if unspecified try to
|
|
find one Meshtastic device by probing</p>
|
|
<p>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})</p>
|
|
<h2 id="raises">Raises</h2>
|
|
<dl>
|
|
<dt><code>Exception</code></dt>
|
|
<dd>[description]</dd>
|
|
<dt><code>Exception</code></dt>
|
|
<dd>[description]</dd>
|
|
</dl></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">class StreamInterface(MeshInterface):
|
|
"""Interface class for meshtastic devices over a stream link (serial, TCP, etc)"""
|
|
|
|
def __init__(self, devPath=None, debugOut=None, noProto=False):
|
|
"""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 = 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].device}")
|
|
else:
|
|
devPath = ports[0]
|
|
|
|
logging.debug(f"Connecting to {devPath}")
|
|
self.devPath = 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=())
|
|
|
|
# Send some bogus UART characters to force a sleeping device to wake
|
|
self.stream.write(bytes([START1, START1, START1, START1]))
|
|
self.stream.flush()
|
|
time.sleep(0.1) # wait 100ms to give device time to start running
|
|
|
|
MeshInterface.__init__(self, debugOut=debugOut, noProto=noProto)
|
|
|
|
# Start the reader thread after superclass constructor completes init
|
|
self._rxThread.start()
|
|
|
|
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
|
|
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()
|
|
|
|
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.error(
|
|
f"Error handling FromRadio, possibly corrupted? {ex}")
|
|
traceback.print_exc()
|
|
self._rxBuf = empty
|
|
else:
|
|
# logging.debug(f"timeout on {self.devPath}")
|
|
pass
|
|
logging.debug("reader is exiting")
|
|
self.stream.close()
|
|
self._disconnected()</code></pre>
|
|
</details>
|
|
<h3>Ancestors</h3>
|
|
<ul class="hlist">
|
|
<li><a title="meshtastic.MeshInterface" href="#meshtastic.MeshInterface">MeshInterface</a></li>
|
|
</ul>
|
|
<h3>Methods</h3>
|
|
<dl>
|
|
<dt id="meshtastic.StreamInterface.close"><code class="name flex">
|
|
<span>def <span class="ident">close</span></span>(<span>self)</span>
|
|
</code></dt>
|
|
<dd>
|
|
<div class="desc"><p>Close a connection to the device</p></div>
|
|
<details class="source">
|
|
<summary>
|
|
<span>Expand source code</span>
|
|
</summary>
|
|
<pre><code class="python">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
|
|
if self._rxThread != threading.current_thread():
|
|
self._rxThread.join() # wait for it to exit</code></pre>
|
|
</details>
|
|
</dd>
|
|
</dl>
|
|
<h3>Inherited members</h3>
|
|
<ul class="hlist">
|
|
<li><code><b><a title="meshtastic.MeshInterface" href="#meshtastic.MeshInterface">MeshInterface</a></b></code>:
|
|
<ul class="hlist">
|
|
<li><code><a title="meshtastic.MeshInterface.sendData" href="#meshtastic.MeshInterface.sendData">sendData</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.sendPacket" href="#meshtastic.MeshInterface.sendPacket">sendPacket</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.sendText" href="#meshtastic.MeshInterface.sendText">sendText</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.writeConfig" href="#meshtastic.MeshInterface.writeConfig">writeConfig</a></code></li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
</dd>
|
|
</dl>
|
|
</section>
|
|
</article>
|
|
<nav id="sidebar">
|
|
<h1>Index</h1>
|
|
<div class="toc">
|
|
<ul>
|
|
<li><a href="#an-api-for-meshtastic-devices">an API for Meshtastic devices</a></li>
|
|
<li><a href="#published-pubsub-topics">Published PubSub topics</a></li>
|
|
<li><a href="#example-usage">Example Usage</a></li>
|
|
</ul>
|
|
</div>
|
|
<ul id="index">
|
|
<li><h3><a href="#header-submodules">Sub-modules</a></h3>
|
|
<ul>
|
|
<li><code><a title="meshtastic.ble" href="ble.html">meshtastic.ble</a></code></li>
|
|
<li><code><a title="meshtastic.mesh_pb2" href="mesh_pb2.html">meshtastic.mesh_pb2</a></code></li>
|
|
<li><code><a title="meshtastic.test" href="test.html">meshtastic.test</a></code></li>
|
|
<li><code><a title="meshtastic.util" href="util.html">meshtastic.util</a></code></li>
|
|
</ul>
|
|
</li>
|
|
<li><h3><a href="#header-variables">Global variables</a></h3>
|
|
<ul class="">
|
|
<li><code><a title="meshtastic.MY_CONFIG_ID" href="#meshtastic.MY_CONFIG_ID">MY_CONFIG_ID</a></code></li>
|
|
</ul>
|
|
</li>
|
|
<li><h3><a href="#header-classes">Classes</a></h3>
|
|
<ul>
|
|
<li>
|
|
<h4><code><a title="meshtastic.BLEInterface" href="#meshtastic.BLEInterface">BLEInterface</a></code></h4>
|
|
<ul class="">
|
|
<li><code><a title="meshtastic.BLEInterface.close" href="#meshtastic.BLEInterface.close">close</a></code></li>
|
|
</ul>
|
|
</li>
|
|
<li>
|
|
<h4><code><a title="meshtastic.MeshInterface" href="#meshtastic.MeshInterface">MeshInterface</a></code></h4>
|
|
<ul class="">
|
|
<li><code><a title="meshtastic.MeshInterface.sendData" href="#meshtastic.MeshInterface.sendData">sendData</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.sendPacket" href="#meshtastic.MeshInterface.sendPacket">sendPacket</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.sendText" href="#meshtastic.MeshInterface.sendText">sendText</a></code></li>
|
|
<li><code><a title="meshtastic.MeshInterface.writeConfig" href="#meshtastic.MeshInterface.writeConfig">writeConfig</a></code></li>
|
|
</ul>
|
|
</li>
|
|
<li>
|
|
<h4><code><a title="meshtastic.StreamInterface" href="#meshtastic.StreamInterface">StreamInterface</a></code></h4>
|
|
<ul class="">
|
|
<li><code><a title="meshtastic.StreamInterface.close" href="#meshtastic.StreamInterface.close">close</a></code></li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
</nav>
|
|
</main>
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