diff --git a/examples/ble.go b/examples/ble.go new file mode 100644 index 00000000..076b672e --- /dev/null +++ b/examples/ble.go @@ -0,0 +1,34 @@ +package main + +import ( + "fmt" + "time" + + "github.com/hybridgroup/gobot" + "github.com/hybridgroup/gobot/platforms/ble" +) + +func main() { + gbot := gobot.NewGobot() + + bleAdaptor := ble.NewBLEAdaptor("ble", "20:73:77:65:43:21") + battery := ble.NewBLEBatteryDriver(bleAdaptor, "battery") + + work := func() { + fmt.Println("Working...") + + gobot.After(3*time.Second, func() { + fmt.Println(battery.GetBatteryLevel()) + }) + } + + robot := gobot.NewRobot("bleBot", + []gobot.Connection{bleAdaptor}, + []gobot.Device{battery}, + work, + ) + + gbot.AddRobot(robot) + + gbot.Start() +} diff --git a/examples/gatt_explorer.go b/examples/gatt_explorer.go new file mode 100644 index 00000000..3861cd92 --- /dev/null +++ b/examples/gatt_explorer.go @@ -0,0 +1,146 @@ +// +build + +package main + +import ( + "flag" + "fmt" + "log" + "os" + "strings" + + "github.com/paypal/gatt" + "github.com/paypal/gatt/examples/option" +) + +var done = make(chan struct{}) + +func onStateChanged(d gatt.Device, s gatt.State) { + fmt.Println("State:", s) + switch s { + case gatt.StatePoweredOn: + fmt.Println("Scanning...") + d.Scan([]gatt.UUID{}, false) + return + default: + d.StopScanning() + } +} + +func onPeriphDiscovered(p gatt.Peripheral, a *gatt.Advertisement, rssi int) { + id := strings.ToUpper(flag.Args()[0]) + if strings.ToUpper(p.ID()) != id { + return + } + + // Stop scanning once we've got the peripheral we're looking for. + p.Device().StopScanning() + + fmt.Printf("\nPeripheral ID:%s, NAME:(%s)\n", p.ID(), p.Name()) + fmt.Println(" Local Name =", a.LocalName) + fmt.Println(" TX Power Level =", a.TxPowerLevel) + fmt.Println(" Manufacturer Data =", a.ManufacturerData) + fmt.Println(" Service Data =", a.ServiceData) + fmt.Println("") + + p.Device().Connect(p) +} + +func onPeriphConnected(p gatt.Peripheral, err error) { + fmt.Println("Connected") + defer p.Device().CancelConnection(p) + + // Discovery services + ss, err := p.DiscoverServices(nil) + if err != nil { + fmt.Printf("Failed to discover services, err: %s\n", err) + return + } + + for _, s := range ss { + msg := "Service: " + s.UUID().String() + if len(s.Name()) > 0 { + msg += " (" + s.Name() + ")" + } + fmt.Println(msg) + + // Discovery characteristics + cs, err := p.DiscoverCharacteristics(nil, s) + if err != nil { + fmt.Printf("Failed to discover characteristics, err: %s\n", err) + continue + } + + for _, c := range cs { + msg := " Characteristic " + c.UUID().String() + if len(c.Name()) > 0 { + msg += " (" + c.Name() + ")" + } + msg += "\n properties " + c.Properties().String() + fmt.Println(msg) + + // Read the characteristic, if possible. + if (c.Properties() & gatt.CharRead) != 0 { + b, err := p.ReadCharacteristic(c) + if err != nil { + fmt.Printf("Failed to read characteristic, err: %s\n", err) + continue + } + fmt.Printf(" value %x | %q\n", b, b) + } + + // Discovery descriptors + ds, err := p.DiscoverDescriptors(nil, c) + if err != nil { + fmt.Printf("Failed to discover descriptors, err: %s\n", err) + continue + } + + for _, d := range ds { + msg := " Descriptor " + d.UUID().String() + if len(d.Name()) > 0 { + msg += " (" + d.Name() + ")" + } + fmt.Println(msg) + + // Read descriptor (could fail, if it's not readable) + b, err := p.ReadDescriptor(d) + if err != nil { + fmt.Printf("Failed to read descriptor, err: %s\n", err) + continue + } + fmt.Printf(" value %x | %q\n", b, b) + } + } + fmt.Println() + } +} + +func onPeriphDisconnected(p gatt.Peripheral, err error) { + fmt.Println("Disconnected") + close(done) +} + +func main() { + flag.Parse() + if len(flag.Args()) != 1 { + log.Fatalf("usage: %s [options] peripheral-id\n", os.Args[0]) + } + + d, err := gatt.NewDevice(option.DefaultClientOptions...) + if err != nil { + log.Fatalf("Failed to open device, err: %s\n", err) + return + } + + // Register handlers. + d.Handle( + gatt.PeripheralDiscovered(onPeriphDiscovered), + gatt.PeripheralConnected(onPeriphConnected), + gatt.PeripheralDisconnected(onPeriphDisconnected), + ) + + d.Init(onStateChanged) + <-done + fmt.Println("Done") +} diff --git a/platforms/ble/LICENSE b/platforms/ble/LICENSE new file mode 100644 index 00000000..c43e8d30 --- /dev/null +++ b/platforms/ble/LICENSE @@ -0,0 +1,13 @@ +Copyright (c) 2015 The Hybrid Group + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. diff --git a/platforms/ble/README.md b/platforms/ble/README.md new file mode 100644 index 00000000..47b0c05f --- /dev/null +++ b/platforms/ble/README.md @@ -0,0 +1,34 @@ +# Bluetooth LE + +The gobot-ble adaptor makes it easy to interact with Bluetooth LE using Go. + +It is written using the [gatt](https://github.com/paypal/gatt) package from [Paypal](https://github.com/paypal). Thank you! + +Learn more about Bluetooth LE [here](http://en.wikipedia.org/wiki/Bluetooth_low_energy). + +## How to Install +``` +go get github.com/hybridgroup/gobot && go install github.com/hybridgroup/gobot/platforms/ble +``` + +## How To Connect + +### OSX + +Info here... + +### Ubuntu + +Info here... + +### Windows + +Info here... + +## How to Use + +Example of a simple program... + +```go +... +``` diff --git a/platforms/ble/battery.go b/platforms/ble/battery.go new file mode 100644 index 00000000..e72fd69f --- /dev/null +++ b/platforms/ble/battery.go @@ -0,0 +1,61 @@ +package ble + +import ( + "bytes" + + "github.com/hybridgroup/gobot" +) + +var _ gobot.Driver = (*BLEBatteryDriver)(nil) + + +type BLEBatteryDriver struct { + name string + connection gobot.Connection + gobot.Eventer +} + + +// NewBLEBatteryDriver creates a BLEBatteryDriver by name +func NewBLEBatteryDriver(a *BLEAdaptor, name string) *BLEBatteryDriver { + n := &BLEBatteryDriver{ + name: name, + connection: a, + Eventer: gobot.NewEventer(), + } + + // n.AddEvent("extended") + // n.AddEvent("signal") + // n.AddEvent("attention") + // n.AddEvent("meditation") + // n.AddEvent("blink") + // n.AddEvent("wave") + // n.AddEvent("eeg") + // n.AddEvent("error") + + return n +} +func (b *BLEBatteryDriver) Connection() gobot.Connection { return b.connection } +func (b *BLEBatteryDriver) Name() string { return b.name } + +// adaptor returns BLE adaptor +func (b *BLEBatteryDriver) adaptor() *BLEAdaptor { + return b.Connection().(*BLEAdaptor) +} + +// Start tells driver to get ready to do work +func (b *BLEBatteryDriver) Start() (errs []error) { + return +} + +// Halt stops battery driver (void) +func (b *BLEBatteryDriver) Halt() (errs []error) { return } + +func (b *BLEBatteryDriver) GetBatteryLevel() (level uint8) { + var l uint8 + c, _ := b.adaptor().ReadCharacteristic("180f", "2a19") + buf := bytes.NewBuffer(<-c) + val, _ := buf.ReadByte() + l = uint8(val) + return l +} diff --git a/platforms/ble/ble_adaptor.go b/platforms/ble/ble_adaptor.go new file mode 100644 index 00000000..7261d7a4 --- /dev/null +++ b/platforms/ble/ble_adaptor.go @@ -0,0 +1,242 @@ +package ble + +import ( + "fmt" + "log" + "strings" + "github.com/hybridgroup/gobot" + "github.com/paypal/gatt" +) + +// TODO: handle other OS defaults besides Linux +var DefaultClientOptions = []gatt.Option{ + gatt.LnxMaxConnections(1), + gatt.LnxDeviceID(-1, false), +} + +var _ gobot.Adaptor = (*BLEAdaptor)(nil) + +// Represents a Connection to a BLE Peripheral +type BLEAdaptor struct { + name string + uuid string + device gatt.Device + peripheral gatt.Peripheral + //sp io.ReadWriteCloser + connected bool + //connect func(string) (io.ReadWriteCloser, error) +} + +// NewBLEAdaptor returns a new BLEAdaptor given a name and uuid +func NewBLEAdaptor(name string, uuid string) *BLEAdaptor { + return &BLEAdaptor{ + name: name, + uuid: uuid, + connected: false, + // connect: func(port string) (io.ReadWriteCloser, error) { + // return serial.OpenPort(&serial.Config{Name: port, Baud: 115200}) + // }, + } +} + +func (b *BLEAdaptor) Name() string { return b.name } +func (b *BLEAdaptor) UUID() string { return b.uuid } +func (b *BLEAdaptor) Peripheral() gatt.Peripheral { return b.peripheral } + +// Connect initiates a connection to the BLE peripheral. Returns true on successful connection. +func (b *BLEAdaptor) Connect() (errs []error) { + device, err := gatt.NewDevice(DefaultClientOptions...) + if err != nil { + log.Fatalf("Failed to open BLE device, err: %s\n", err) + return + } + + b.device = device + + // Register handlers. + device.Handle( + gatt.PeripheralDiscovered(b.onDiscovered), + //gatt.PeripheralConnected(b.onConnected), + gatt.PeripheralDisconnected(b.onDisconnected), + ) + + device.Init(b.onStateChanged) + + // TODO: make sure peripheral currently exists for this UUID before returning + return nil +} + +// Reconnect attempts to reconnect to the BLE peripheral. If it has an active connection +// it will first close that connection and then establish a new connection. +// Returns true on Successful reconnection +func (b *BLEAdaptor) Reconnect() (errs []error) { + if b.connected { + b.Disconnect() + } + return b.Connect() +} + +// Disconnect terminates the connection to the BLE peripheral. Returns true on successful disconnect. +func (b *BLEAdaptor) Disconnect() (errs []error) { + // if a.connected { + // if err := a.sp.Close(); err != nil { + // return []error{err} + // } + // a.connected = false + // } + return +} + +// Finalize finalizes the BLEAdaptor +func (b *BLEAdaptor) Finalize() (errs []error) { + return b.Disconnect() +} + +// ReadCharacteristic returns bytes from the BLE device for the +// requested service and characteristic +func (b *BLEAdaptor) ReadCharacteristic(sUUID string, cUUID string) (data chan []byte, err error) { + //defer b.peripheral.Device().CancelConnection(b.peripheral) + fmt.Println("ReadCharacteristic") + if !b.connected { + log.Fatalf("Cannot read from BLE device until connected") + return + } + + c := make(chan []byte) + f := func(p gatt.Peripheral, e error) { + b.performRead(c, sUUID, cUUID) + } + + b.device.Handle( + gatt.PeripheralConnected(f), + ) + + b.peripheral.Device().Connect(b.peripheral) + + return c, nil +} + +func (b *BLEAdaptor) performRead(c chan []byte, sUUID string, cUUID string) { + fmt.Println("performRead") + fmt.Printf("%x", b.Peripheral()) + s := b.getService(sUUID) + characteristic := b.getCharacteristic(s, cUUID) + + val, err := b.peripheral.ReadCharacteristic(characteristic) + if err != nil { + fmt.Printf("Failed to read characteristic, err: %s\n", err) + c <- []byte{} + } + + c <- val +} + +func (b *BLEAdaptor) getPeripheral() { + +} + +func (b *BLEAdaptor) getService(sUUID string) (service *gatt.Service) { + fmt.Println("getService") + ss, err := b.Peripheral().DiscoverServices(nil) + fmt.Println(ss) + fmt.Println("yo") + fmt.Println(err) + if err != nil { + fmt.Printf("Failed to discover services, err: %s\n", err) + return + } + + fmt.Println("service") + + for _, s := range ss { + msg := "Service: " + s.UUID().String() + if len(s.Name()) > 0 { + msg += " (" + s.Name() + ")" + } + fmt.Println(msg) + + id := strings.ToUpper(s.UUID().String()) + if strings.ToUpper(sUUID) != id { + continue + } + + msg = "Found Service: " + s.UUID().String() + if len(s.Name()) > 0 { + msg += " (" + s.Name() + ")" + } + fmt.Println(msg) + return s + } + + fmt.Println("getService: none found") + return +} + +func (b *BLEAdaptor) getCharacteristic(s *gatt.Service, cUUID string) (c *gatt.Characteristic) { + fmt.Println("getCharacteristic") + cs, err := b.Peripheral().DiscoverCharacteristics(nil, s) + if err != nil { + fmt.Printf("Failed to discover characteristics, err: %s\n", err) + return + } + + for _, char := range cs { + id := strings.ToUpper(char.UUID().String()) + if strings.ToUpper(cUUID) != id { + continue + } + + msg := " Found Characteristic " + char.UUID().String() + if len(char.Name()) > 0 { + msg += " (" + char.Name() + ")" + } + msg += "\n properties " + char.Properties().String() + fmt.Println(msg) + return char + } + + return nil +} + +func (b *BLEAdaptor) onStateChanged(d gatt.Device, s gatt.State) { + fmt.Println("State:", s) + switch s { + case gatt.StatePoweredOn: + fmt.Println("scanning...") + d.Scan([]gatt.UUID{}, false) + return + default: + d.StopScanning() + } +} + +func (b *BLEAdaptor) onDiscovered(p gatt.Peripheral, a *gatt.Advertisement, rssi int) { + fmt.Printf("\nPeripheral ID:%s, NAME:(%s)\n", p.ID(), p.Name()) + id := strings.ToUpper(b.UUID()) + if strings.ToUpper(p.ID()) != id { + return + } + + b.connected = true + b.peripheral = p + + // Stop scanning once we've got the peripheral we're looking for. + p.Device().StopScanning() + + fmt.Printf("\nPeripheral ID:%s, NAME:(%s)\n", p.ID(), p.Name()) + fmt.Println(" Local Name =", a.LocalName) + fmt.Println(" TX Power Level =", a.TxPowerLevel) + fmt.Println(" Manufacturer Data =", a.ManufacturerData) + fmt.Println(" Service Data =", a.ServiceData) + fmt.Println("") +} + +func (b *BLEAdaptor) onConnected(p gatt.Peripheral, err error) { + fmt.Println("Connected") + defer p.Device().CancelConnection(p) +} + +func (b *BLEAdaptor) onDisconnected(p gatt.Peripheral, err error) { + fmt.Println("Disconnected") +} + diff --git a/platforms/ble/ble_adaptor_test.go b/platforms/ble/ble_adaptor_test.go new file mode 100644 index 00000000..c852bc4b --- /dev/null +++ b/platforms/ble/ble_adaptor_test.go @@ -0,0 +1,21 @@ +package ble + +import ( + "testing" + + "github.com/hybridgroup/gobot" +) + +func initTestBLEAdaptor() *BLEAdaptor { + a := NewBLEAdaptor("bot", "D7:99:5A:26:EC:38") + // a.connect = func(n *BLEAdaptor) (io.ReadWriteCloser, error) { + // return &NullReadWriteCloser{}, nil + // } + return a +} + +func TestBLEAdaptor(t *testing.T) { + a := NewBLEAdaptor("bot", "D7:99:5A:26:EC:38") + gobot.Assert(t, a.Name(), "bot") + gobot.Assert(t, a.UUID(), "D7:99:5A:26:EC:38") +}