PTCS Update 2

.github/workflows/ptcs-ci.yml

@@ -4,9 +4,9 @@ on:
   pull_request:
     paths:
       - '.github/workflows/ptcs-ci.yml'
+      - 'ptcs/ptcs_bridge/**'
       - 'ptcs/ptcs_control/**'
       - 'ptcs/ptcs_server/**'
-      - 'ptcs/usb_bt_bridge/**'
       - 'ptcs/.flake8'
       - 'ptcs/poetry.lock'
       - 'ptcs/poetry.toml'
@@ -45,13 +45,13 @@ jobs:
 
       - name: Sort imports
         run: |
-          poetry run isort ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=isort
+          poetry run isort ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=isort
         env:
           REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Format
         run: |
-          poetry run black ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=black
+          poetry run black ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=black
         env:
           REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
@@ -62,12 +62,12 @@ jobs:
 
       - name: Lint
         run: |
-          poetry run flake8 ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=flake8
+          poetry run flake8 ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=flake8
         env:
           REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Typecheck
         run: |
-          poetry run mypy ptcs_control ptcs_server usb_bt_bridge 2>&1 | reviewdog -reporter=github-pr-review -f=mypy
+          poetry run mypy ptcs_bridge ptcs_control ptcs_server 2>&1 | reviewdog -reporter=github-pr-review -f=mypy
         env:
           REVIEWDOG_GITHUB_API_TOKEN: ${{ secrets.GITHUB_TOKEN }}

ptcs/ptcs_bridge/__init__.py

@@ -0,0 +1,7 @@
+import logging
+
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.INFO)
+handler = logging.StreamHandler()
+handler.setFormatter(logging.Formatter("[%(levelname)-8s]  %(message)s"))
+logger.addHandler(handler)

ptcs/ptcs_bridge/bridge2.py

@@ -0,0 +1,20 @@
+import asyncio
+
+from .train_base import TrainBase
+
+
+class Bridge2:
+    trains: dict[str, TrainBase]
+
+    def __init__(self) -> None:
+        self.trains = {}
+
+    def add_train(self, train: TrainBase) -> None:
+        assert train.id not in self.trains
+        self.trains[train.id] = train
+
+    async def connect_all(self) -> None:
+        await asyncio.gather(*(train.connect() for train in self.trains.values()))
+
+    async def disconnect_all(self) -> None:
+        await asyncio.gather(*(train.disconnect() for train in self.trains.values()))

ptcs/ptcs_bridge/train_base.py

@@ -0,0 +1,23 @@
+from typing import Callable
+
+NotifyPositionIdCallback = Callable[["TrainBase", int], None]
+NotifyRotationCallback = Callable[["TrainBase", int], None]
+
+
+class TrainBase:
+    id: str
+
+    async def connect(self) -> None:
+        raise NotImplementedError()
+
+    async def disconnect(self) -> None:
+        raise NotImplementedError()
+
+    async def send_speed(self, speed: int) -> None:
+        raise NotImplementedError()
+
+    async def start_notify_position_id(self, callback: NotifyPositionIdCallback) -> None:
+        raise NotImplementedError()
+
+    async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None:
+        raise NotImplementedError()

ptcs/ptcs_bridge/train_client.py

@@ -0,0 +1,82 @@
+import logging
+from uuid import UUID
+
+from bleak import BleakClient
+from bleak.backends.characteristic import BleakGATTCharacteristic
+from bleak.backends.service import BleakGATTService
+
+from .train_base import NotifyPositionIdCallback, NotifyRotationCallback, TrainBase
+
+SERVICE_UUID = UUID("63cb613b-6562-4aa5-b602-030f103834a4")
+CHARACTERISTIC_MOTOR_INPUT_UUID = UUID("88c9d9ae-bd53-4ab3-9f42-b3547575a743")
+CHARACTERISTIC_POSITION_ID_UUID = UUID("8bcd68d5-78ca-c1c3-d1ba-96d527ce8968")
+CHARACTERISTIC_ROTATION_UUID = UUID("aab17457-2755-8b50-caa1-432ff553d533")
+
+
+logger = logging.getLogger(__name__)
+
+
+class TrainClient(TrainBase):
+    id: str
+    _client: BleakClient
+
+    def __init__(self, id: str, address: str) -> None:
+        self.id = id
+        self._client = BleakClient(address)
+
+    def __str__(self) -> str:
+        return f"TrainClient({self.id}, {self._client.address})"
+
+    async def connect(self) -> None:
+        await self._client.connect()
+        logger.info("%s connected", self)
+
+    async def disconnect(self) -> None:
+        await self._client.disconnect()
+        logger.info("%s disconnected", self)
+
+    def _get_service(self) -> BleakGATTService:
+        service = self._client.services.get_service(SERVICE_UUID)
+        assert service is not None
+        return service
+
+    def _get_characteristic(self, uuid: UUID) -> BleakGATTCharacteristic:
+        service = self._get_service()
+        characteristic = service.get_characteristic(uuid)
+        assert characteristic is not None
+        return characteristic
+
+    def _get_characteristic_motor_input(self) -> BleakGATTCharacteristic:
+        return self._get_characteristic(CHARACTERISTIC_MOTOR_INPUT_UUID)
+
+    def _get_characteristic_position_id(self) -> BleakGATTCharacteristic:
+        return self._get_characteristic(CHARACTERISTIC_POSITION_ID_UUID)
+
+    def _get_characteristic_rotation(self) -> BleakGATTCharacteristic:
+        return self._get_characteristic(CHARACTERISTIC_ROTATION_UUID)
+
+    async def send_speed(self, speed: int) -> None:
+        assert 0 <= speed <= 255
+        characteristic_speed = self._get_characteristic_motor_input()
+        await self._client.write_gatt_char(characteristic_speed, bytes([speed]))
+        logger.info("%s send speed %s", self, speed)
+
+    async def start_notify_position_id(self, callback: NotifyPositionIdCallback) -> None:
+        def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
+            assert len(data) == 1
+            position_id = data[0]
+            logger.info("%s notify position id %s", self, position_id)
+            callback(self, position_id)
+
+        characteristic_position_id = self._get_characteristic_position_id()
+        await self._client.start_notify(characteristic_position_id, wrapped_callback)
+
+    async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None:
+        def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
+            assert len(data) == 1
+            assert data[0] == 1
+            logger.info("%s notify rotation %s", self, 1)
+            callback(self, 1)
+
+        characteristic_rotation = self._get_characteristic_rotation()
+        await self._client.start_notify(characteristic_rotation, wrapped_callback)