# SPDX-FileCopyrightText: 2022-present Inria
# SPDX-FileCopyrightText: 2022-present Alexandre Abadie <alexandre.abadie@inria.fr>
# SPDX-FileCopyrightText: 2023-present Filip Maksimovic <filip.maksimovic@inria.fr>
# SPDX-FileCopyrightText: 2024-present Diego Badillo <diego.badillo@sansano.usm.cl>
#
# SPDX-License-Identifier: BSD-3-Clause
"""Interface of the Dotbot controller."""
import asyncio
import base64
import json
import math
import time
import uuid
import webbrowser
from binascii import hexlify
from dataclasses import dataclass
from typing import Dict, List, Optional
import serial
import uvicorn
import websockets
from fastapi import WebSocket
from gmqtt import Client as MQTTClient
from haversine import Unit, haversine
from pydantic import ValidationError
from pydantic.tools import parse_obj_as
from qrkey import QrkeyController, SubscriptionModel, qrkey_settings
from dotbot import (
CONTROLLER_PORT_DEFAULT,
DOTBOT_ADDRESS_DEFAULT,
GATEWAY_ADDRESS_DEFAULT,
)
from dotbot.dotbot_simulator import DotBotSimulatorSerialInterface
from dotbot.hdlc import HDLCHandler, HDLCState, hdlc_encode
from dotbot.lighthouse2 import LighthouseManager, LighthouseManagerState
from dotbot.logger import LOGGER
from dotbot.models import (
MAX_POSITION_HISTORY_SIZE,
DotBotCalibrationIndexModel,
DotBotGPSPosition,
DotBotLH2Position,
DotBotModel,
DotBotMoveRawCommandModel,
DotBotNotificationCommand,
DotBotNotificationModel,
DotBotNotificationUpdate,
DotBotQueryModel,
DotBotReplyModel,
DotBotRequestModel,
DotBotRequestType,
DotBotRgbLedCommandModel,
DotBotStatus,
DotBotWaypoints,
DotBotXGOActionCommandModel,
)
from dotbot.protocol import (
PROTOCOL_VERSION,
ApplicationType,
Frame,
Header,
PayloadCommandMoveRaw,
PayloadCommandRgbLed,
PayloadCommandXgoAction,
PayloadGPSPosition,
PayloadGPSWaypoints,
PayloadLH2Location,
PayloadLH2Waypoints,
PayloadType,
ProtocolPayloadParserException,
)
from dotbot.sailbot_simulator import SailBotSimulatorSerialInterface
from dotbot.serial_interface import SerialInterface, SerialInterfaceException
from dotbot.server import api
# from dotbot.models import (
# DotBotModel,
# DotBotGPSPosition,
# DotBotLH2Position,
# DotBotRgbLedCommandModel,
# )
CONTROLLERS = {}
LOST_DELAY = 5 # seconds
DEAD_DELAY = 60 # seconds
LH2_POSITION_DISTANCE_THRESHOLD = 0.01
GPS_POSITION_DISTANCE_THRESHOLD = 5 # meters
[docs]
class ControllerException(Exception):
"""Exception raised by Dotbot controllers."""
[docs]
@dataclass
class ControllerSettings:
"""Data class that holds controller settings."""
port: str
baudrate: int
dotbot_address: str
gw_address: str
swarm_id: str
controller_port: int = CONTROLLER_PORT_DEFAULT
webbrowser: bool = False
handshake: bool = False
edge: bool = False
verbose: bool = False
[docs]
def lh2_distance(last: DotBotLH2Position, new: DotBotLH2Position) -> float:
"""Helper function that computes the distance between 2 LH2 positions."""
return math.sqrt(((new.x - last.x) ** 2) + ((new.y - last.y) ** 2))
[docs]
def gps_distance(last: DotBotGPSPosition, new: DotBotGPSPosition) -> float:
"""Helper function that computes the distance between 2 GPS positions in m."""
return haversine(
(last.latitude, last.longitude), (new.latitude, new.longitude), unit=Unit.METERS
)
[docs]
class Controller:
"""Abstract base class of specific implementations of Dotbot controllers."""
def __init__(self, settings: ControllerSettings):
self.dotbots: Dict[str, DotBotModel] = {}
# self.dotbots: Dict[str, DotBotModel] = {
# "0000000000000001": DotBotModel(
# address="0000000000000001",
# last_seen=time.time(),
# lh2_position=DotBotLH2Position(x=0.5, y=0.5, z=0),
# rgb_led=DotBotRgbLedCommandModel(red=255, green=0, blue=0),
# ),
# "0000000000000002": DotBotModel(
# address="0000000000000002",
# last_seen=time.time(),
# lh2_position=DotBotLH2Position(x=0.2, y=0.2, z=0),
# rgb_led=DotBotRgbLedCommandModel(red=0, green=255, blue=0),
# ),
# "0000000000000003": DotBotModel(
# address="0000000000000003",
# last_seen=time.time(),
# ),
# "0000000000000004": DotBotModel(
# address="0000000000000004",
# application=ApplicationType.SailBot,
# last_seen=time.time(),
# wind_angle=135,
# rotation=49,
# gps_position=DotBotGPSPosition(latitude=48.832313766146896, longitude=2.4126897594949184),
# ),
# }
self.logger = LOGGER.bind(context=__name__)
self.header = Header(
destination=int(DOTBOT_ADDRESS_DEFAULT, 16),
source=int(settings.gw_address, 16),
)
self.settings = settings
self.hdlc_handler = HDLCHandler()
self.serial = None
self.websockets = []
self.lh2_manager = LighthouseManager()
self.api = api
api.controller = self
self.mqtt_client = None
self.qrkey = None
self.subscriptions = [
SubscriptionModel(
topic="/command/+/+/+/move_raw", callback=self.on_command_move_raw
),
SubscriptionModel(
topic="/command/+/+/+/rgb_led", callback=self.on_command_rgb_led
),
SubscriptionModel(
topic="/command/+/+/+/xgo_action", callback=self.on_command_xgo_action
),
SubscriptionModel(
topic="/command/+/+/+/waypoints", callback=self.on_command_waypoints
),
SubscriptionModel(
topic="/command/+/+/+/clear_position_history",
callback=self.on_command_clear_position_history,
),
SubscriptionModel(topic="/lh2/add", callback=self.on_lh2_add),
SubscriptionModel(topic="/lh2/start", callback=self.on_lh2_start),
]
[docs]
def on_command_move_raw(self, topic, payload):
"""Called when a move raw command is received."""
logger = self.logger.bind(command="move_raw", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "move_raw":
logger.warning("Invalid move_raw command topic")
return
swarm_id, address, application, _ = topic_split
try:
command = DotBotMoveRawCommandModel(**payload)
except ValidationError as exc:
self.logger.warning(f"Invalid move raw command: {exc.errors()}")
return
logger.bind(
address=address,
application=ApplicationType(int(application)).name,
**command.model_dump(),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
logger.info("Sending command")
header = Header(
destination=int(address, 16),
source=int(self.settings.gw_address, 16),
)
payload = PayloadCommandMoveRaw(
left_x=command.left_x,
left_y=command.left_y,
right_x=command.right_x,
right_y=command.right_y,
)
frame = Frame(header=header, payload=payload)
self.send_payload(frame)
self.dotbots[address].move_raw = command
[docs]
def on_command_rgb_led(self, topic, payload):
"""Called when an rgb led command is received."""
logger = self.logger.bind(command="rgb_led", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "rgb_led":
logger.warning("Invalid rgb_led command topic")
return
swarm_id, address, application, _ = topic_split
try:
command = DotBotRgbLedCommandModel(**payload)
except ValidationError as exc:
LOGGER.warning(f"Invalid rgb led command: {exc.errors()}")
return
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
**command.model_dump(),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
logger.info("Sending command")
header = Header(
destination=int(address, 16),
source=int(self.settings.gw_address, 16),
)
payload = PayloadCommandRgbLed(
red=command.red, green=command.green, blue=command.blue
)
frame = Frame(header=header, payload=payload)
self.send_payload(frame)
self.dotbots[address].rgb_led = command
self.qrkey.publish(
"/notify",
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD).model_dump(
exclude_none=True
),
)
[docs]
def on_command_xgo_action(self, topic, payload):
"""Called when an rgb led command is received."""
logger = self.logger.bind(command="xgo_action", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "xgo_action":
logger.warning("Invalid xgo_action command topic")
return
swarm_id, address, application, _ = topic_split
try:
command = DotBotXGOActionCommandModel(**payload)
except ValidationError as exc:
LOGGER.warning(f"Invalid rgb led command: {exc.errors()}")
return
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
**command.model_dump(),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
logger.info("Sending command")
header = Header(
destination=int(address, 16),
source=int(self.settings.gw_address, 16),
)
payload = PayloadCommandXgoAction(action=command.action)
frame = Frame(header=header, payload=payload)
self.send_payload(frame)
[docs]
def on_command_waypoints(self, topic, payload):
"""Called when a list of waypoints is received."""
logger = self.logger.bind(command="waypoints", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "waypoints":
logger.warning("Invalid waypoints command topic")
return
swarm_id, address, application, _ = topic_split
command = parse_obj_as(DotBotWaypoints, payload)
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
threshold=command.threshold,
length=len(command.waypoints),
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
logger.info("Sending command")
header = Header(
destination=int(address, 16),
source=int(self.settings.gw_address, 16),
)
waypoints_list = command.waypoints
if ApplicationType(int(application)) == ApplicationType.SailBot:
if self.dotbots[address].gps_position is not None:
waypoints_list = [
self.dotbots[address].gps_position
] + command.waypoints
payload = PayloadGPSWaypoints(
threshold=command.threshold,
count=len(command.waypoints),
waypoints=[
PayloadGPSPosition(
latitude=int(waypoint.latitude * 1e6),
longitude=int(waypoint.longitude * 1e6),
)
for waypoint in command.waypoints
],
)
else: # DotBot application
if self.dotbots[address].lh2_position is not None:
waypoints_list = [
self.dotbots[address].lh2_position
] + command.waypoints
payload = PayloadLH2Waypoints(
threshold=command.threshold,
count=len(command.waypoints),
waypoints=[
PayloadLH2Location(
pos_x=int(waypoint.x * 1e6),
pos_y=int(waypoint.y * 1e6),
pos_z=int(waypoint.z * 1e6),
)
for waypoint in command.waypoints
],
)
frame = Frame(header=header, payload=payload)
self.send_payload(frame)
self.dotbots[address].waypoints = waypoints_list
self.dotbots[address].waypoints_threshold = command.threshold
self.qrkey.publish(
"/notify",
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD).model_dump(
exclude_none=True
),
)
[docs]
def on_command_clear_position_history(self, topic, _):
"""Called when a clear position history command is received."""
logger = self.logger.bind(command="clear_position_history", topic=topic)
topic_split = topic.split("/")[2:]
if len(topic_split) != 4 or topic_split[-1] != "clear_position_history":
logger.warning("Invalid clear_position_history command topic")
return
_, address, application, _ = topic_split
logger = logger.bind(
address=address,
application=ApplicationType(int(application)).name,
)
if address not in self.dotbots:
logger.warning("DotBot not found")
return
logger.info("Sending command")
self.dotbots[address].position_history = []
self.qrkey.publish(
"/notify",
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD).model_dump(
exclude_none=True
),
)
[docs]
def on_lh2_add(self, topic, payload):
"""Called when an lh2 calibration point is added."""
logger = self.logger.bind(lh2="add", topic=topic)
topic_split = topic.split("/")[1:]
if len(topic_split) != 2 or topic_split[-1] != "add":
logger.warning("Invalid lh2 add topic")
return
try:
payload = DotBotCalibrationIndexModel(**payload)
except ValidationError as exc:
self.logger.warning(f"Invalid calibration index payload: {exc.errors()}")
return
logger = self.logger.bind(**payload.model_dump())
logger.info("Add calibration point")
self.lh2_manager.add_calibration_point(payload.index)
[docs]
def on_lh2_start(self, topic, _):
"""Called to start the lh2 calibration."""
logger = self.logger.bind(lh2="start", topic=topic)
topic_split = topic.split("/")[1:]
if len(topic_split) != 2 or topic_split[-1] != "start":
logger.warning("Invalid lh2 start topic")
return
logger.info("Start calibration")
self.lh2_manager.compute_calibration()
[docs]
def on_request(self, payload):
logger = LOGGER.bind(topic="/request")
logger.info("Request received")
try:
request = DotBotRequestModel(**payload)
except ValidationError as exc:
logger.warning(f"Invalid request: {exc.errors()}")
return
reply_topic = f"/reply/{request.reply}"
if request.request == DotBotRequestType.DOTBOTS:
logger.info("Publish dotbots")
data = [
dotbot.model_dump(exclude_none=True)
for dotbot in self.get_dotbots(DotBotQueryModel())
]
message = DotBotReplyModel(
request=DotBotRequestType.DOTBOTS,
data=data,
).model_dump(exclude_none=True)
self.qrkey.publish(reply_topic, message)
elif request.request == DotBotRequestType.LH2_CALIBRATION_STATE:
logger.info("Publish LH2 state")
message = DotBotReplyModel(
request=DotBotRequestType.LH2_CALIBRATION_STATE,
data=self.lh2_manager.state_model.model_dump(),
).model_dump(exclude_none=True)
self.qrkey.publish(reply_topic, message)
else:
logger.warning("Unsupported request command")
async def _start_serial(self):
"""Starts the serial listener thread in a coroutine."""
queue = asyncio.Queue()
event_loop = asyncio.get_event_loop()
def on_byte_received(byte):
"""Callback called on byte received."""
event_loop.call_soon_threadsafe(queue.put_nowait, byte)
async def _wait_for_handshake(queue):
"""Waits for handshake reply and checks it."""
try:
byte = await queue.get()
except asyncio.exceptions.CancelledError as exc:
raise SerialInterfaceException("Handshake timeout") from exc
if int.from_bytes(byte, byteorder="little") != PROTOCOL_VERSION:
raise SerialInterfaceException("Handshake failed")
if self.settings.port == "sailbot-simulator":
self.serial = SailBotSimulatorSerialInterface(on_byte_received)
elif self.settings.port == "dotbot-simulator":
self.serial = DotBotSimulatorSerialInterface(on_byte_received)
else:
self.serial = SerialInterface(
self.settings.port, self.settings.baudrate, on_byte_received
)
await asyncio.sleep(1)
self.serial.write(hdlc_encode(b"\x01\xff"))
while 1:
byte = await queue.get()
self.handle_byte(byte)
async def _open_webbrowser(self):
"""Wait until the server is ready before opening a web browser."""
while 1:
try:
_, writer = await asyncio.open_connection(
"127.0.0.1", self.settings.controller_port
)
except ConnectionRefusedError:
await asyncio.sleep(0.1)
else:
writer.close()
break
url = (
f"http://localhost:{self.settings.controller_port}/PyDotBot?"
f"pin={self.qrkey.pin_code}&"
f"mqtt_host={qrkey_settings.mqtt_host}&"
f"mqtt_port={qrkey_settings.mqtt_ws_port}&"
f"mqtt_version={qrkey_settings.mqtt_version}&"
f"mqtt_use_ssl={qrkey_settings.mqtt_use_ssl}"
)
if qrkey_settings.mqtt_username is not None:
url += f"&mqtt_username={qrkey_settings.mqtt_username}"
if qrkey_settings.mqtt_password is not None:
url += f"&mqtt_password={qrkey_settings.mqtt_password}"
self.logger.debug("Using frontend URL", url=url)
if self.settings.webbrowser is True:
self.logger.info("Opening webbrowser", url=url)
webbrowser.open(url)
async def _dotbots_status_refresh(self):
"""Coroutine that periodically updates the status of known dotbot."""
while 1:
needs_refresh = [False] * len(self.dotbots)
for idx, dotbot in enumerate(self.dotbots.values()):
previous_status = dotbot.status
if dotbot.last_seen + DEAD_DELAY < time.time():
dotbot.status = DotBotStatus.DEAD
elif dotbot.last_seen + LOST_DELAY < time.time():
dotbot.status = DotBotStatus.LOST
else:
dotbot.status = DotBotStatus.ALIVE
logger = self.logger.bind(
source=dotbot.address,
application=dotbot.application.name,
)
if len(needs_refresh) > idx:
needs_refresh[idx] = bool(previous_status != dotbot.status)
if needs_refresh[idx]:
logger.info(
"Dotbot status changed",
previous_status=previous_status.name,
status=dotbot.status.name,
)
if any(needs_refresh) is True:
await self.notify_clients(
DotBotNotificationModel(cmd=DotBotNotificationCommand.RELOAD)
)
await asyncio.sleep(1)
def _compute_lh2_position(self, frame: Frame) -> Optional[DotBotLH2Position]:
if frame.payload_type not in (
PayloadType.LH2_RAW_DATA,
PayloadType.DOTBOT_DATA,
):
return None
self.lh2_manager.last_raw_data = frame.payload
if self.lh2_manager.state != LighthouseManagerState.Calibrated:
return None
return self.lh2_manager.compute_position(frame.payload)
[docs]
def handle_byte(self, byte):
"""Called on each byte received over UART."""
self.hdlc_handler.handle_byte(byte)
if self.hdlc_handler.state == HDLCState.READY:
payload = self.hdlc_handler.payload
if payload:
try:
frame = Frame().from_bytes(payload)
except ProtocolPayloadParserException:
self.logger.warning("Cannot parse frame")
if self.settings.verbose is True:
print(frame)
return
self.handle_received_frame(frame)
[docs]
def handle_received_frame(
self, frame: Frame
): # pylint:disable=too-many-branches,too-many-statements
"""Handle a received frame."""
# Controller is not interested by command messages received
if frame.payload_type in [
PayloadType.CMD_MOVE_RAW,
PayloadType.CMD_RGB_LED,
]:
return
source = hexlify(int(frame.header.source).to_bytes(8, "big")).decode()
logger = self.logger.bind(
source=source,
payload_type=frame.payload_type.name,
)
if source == GATEWAY_ADDRESS_DEFAULT:
logger.warning("Invalid source in payload")
return
dotbot = DotBotModel(
address=source,
last_seen=time.time(),
)
notification_cmd = DotBotNotificationCommand.NONE
if (
source not in self.dotbots
and frame.payload_type != PayloadType.ADVERTISEMENT
):
logger.info("Ignoring non advertised dotbot")
return
if source in self.dotbots:
dotbot.application = self.dotbots[source].application
dotbot.mode = self.dotbots[source].mode
dotbot.status = self.dotbots[source].status
dotbot.direction = self.dotbots[source].direction
dotbot.wind_angle = self.dotbots[source].wind_angle
dotbot.rudder_angle = self.dotbots[source].rudder_angle
dotbot.sail_angle = self.dotbots[source].sail_angle
dotbot.rgb_led = self.dotbots[source].rgb_led
dotbot.lh2_position = self.dotbots[source].lh2_position
dotbot.gps_position = self.dotbots[source].gps_position
dotbot.waypoints = self.dotbots[source].waypoints
dotbot.waypoints_threshold = self.dotbots[source].waypoints_threshold
dotbot.position_history = self.dotbots[source].position_history
else:
# reload if a new dotbot comes in
logger.info("New dotbot")
notification_cmd = DotBotNotificationCommand.RELOAD
if frame.payload_type == PayloadType.ADVERTISEMENT:
logger = logger.bind(
application=ApplicationType(frame.payload.application).name
)
dotbot.application = ApplicationType(frame.payload.application)
if (
frame.payload_type in [PayloadType.DOTBOT_DATA, PayloadType.SAILBOT_DATA]
and -500 <= frame.payload.direction <= 500
):
dotbot.direction = frame.payload.direction
logger = logger.bind(direction=dotbot.direction)
if frame.payload_type in [PayloadType.SAILBOT_DATA]:
logger = logger.bind(
wind_angle=dotbot.wind_angle,
rudder_angle=dotbot.rudder_angle,
sail_angle=dotbot.sail_angle,
)
dotbot.lh2_position = self._compute_lh2_position(frame)
if (
dotbot.lh2_position is not None
and 0 <= dotbot.lh2_position.x <= 1
and 0 <= dotbot.lh2_position.y <= 1
):
new_position = DotBotLH2Position(
x=dotbot.lh2_position.x,
y=dotbot.lh2_position.y,
z=dotbot.lh2_position.z,
)
logger.info("lh2-raw", x=dotbot.lh2_position.x, y=dotbot.lh2_position.y)
if (
not dotbot.position_history
or lh2_distance(dotbot.position_history[-1], new_position)
>= LH2_POSITION_DISTANCE_THRESHOLD
):
dotbot.position_history.append(new_position)
notification_cmd = DotBotNotificationCommand.UPDATE
if len(dotbot.position_history) > MAX_POSITION_HISTORY_SIZE:
dotbot.position_history.pop(0)
# Send the computed position back to the dotbot
header = Header(
destination=int(source, 16),
source=int(self.settings.gw_address, 16),
)
payload = PayloadLH2Location(
pos_x=int(dotbot.lh2_position.x * 1e6),
pos_y=int(dotbot.lh2_position.y * 1e6),
pos_z=int(dotbot.lh2_position.z * 1e6),
)
self.send_payload(Frame(header=header, payload=payload))
elif frame.payload_type == PayloadType.DOTBOT_DATA:
logger.warning("lh2: invalid position")
if frame.payload_type == PayloadType.LH2_PROCESSED_DATA:
logger.info(
"lh2-processed",
poly=frame.payload.polynomial_index,
lfsr_index=frame.payload.lfsr_index,
db_time=frame.payload.timestamp_us,
)
if frame.payload_type == PayloadType.DOTBOT_SIMULATOR_DATA:
dotbot.direction = frame.payload.theta
new_position = DotBotLH2Position(
x=frame.payload.pos_x / 1e6,
y=frame.payload.pos_y / 1e6,
z=0,
)
dotbot.lh2_position = new_position
dotbot.position_history.append(new_position)
notification_cmd = DotBotNotificationCommand.UPDATE
if frame.payload_type in [PayloadType.GPS_POSITION, PayloadType.SAILBOT_DATA]:
new_position = DotBotGPSPosition(
latitude=float(frame.payload.latitude) / 1e6,
longitude=float(frame.payload.longitude) / 1e6,
)
dotbot.gps_position = new_position
# Read wind sensor measurements
dotbot.wind_angle = frame.payload.wind_angle
dotbot.rudder_angle = frame.payload.rudder_angle
dotbot.sail_angle = frame.payload.sail_angle
logger.info(
"gps",
lat=new_position.latitude,
long=new_position.longitude,
wind_angle=dotbot.wind_angle,
rudder_angle=dotbot.rudder_angle,
sail_angle=dotbot.sail_angle,
)
if (
not dotbot.position_history
or gps_distance(dotbot.position_history[-1], new_position)
>= GPS_POSITION_DISTANCE_THRESHOLD
):
dotbot.position_history.append(new_position)
if len(dotbot.position_history) > MAX_POSITION_HISTORY_SIZE:
dotbot.position_history.pop(0)
notification_cmd = DotBotNotificationCommand.UPDATE
if notification_cmd == DotBotNotificationCommand.UPDATE:
notification = DotBotNotificationModel(
cmd=notification_cmd.value,
data=DotBotNotificationUpdate(
address=dotbot.address,
direction=dotbot.direction,
wind_angle=dotbot.wind_angle,
rudder_angle=dotbot.rudder_angle,
sail_angle=dotbot.sail_angle,
lh2_position=dotbot.lh2_position,
gps_position=dotbot.gps_position,
),
)
else:
notification = DotBotNotificationModel(cmd=notification_cmd.value)
if self.settings.verbose is True:
print(frame)
self.dotbots.update({dotbot.address: dotbot})
if notification_cmd != DotBotNotificationCommand.NONE:
asyncio.create_task(self.notify_clients(notification))
async def _ws_send_safe(self, websocket: WebSocket, msg: str):
"""Safely send a message to a websocket client."""
try:
await websocket.send_text(msg)
except websockets.exceptions.ConnectionClosedError:
await asyncio.sleep(0.1)
[docs]
async def notify_clients(self, notification):
"""Send a message to all clients connected."""
self.logger.debug("notify", cmd=notification.cmd.name)
await asyncio.gather(
*[
self._ws_send_safe(
websocket, json.dumps(notification.model_dump(exclude_none=True))
)
for websocket in self.websockets
]
)
self.qrkey.publish("/notify", notification.model_dump(exclude_none=True))
[docs]
def send_payload(self, frame: Frame):
"""Sends a command in an HDLC frame over serial."""
destination = hexlify(int(frame.header.destination).to_bytes(8, "big")).decode()
if destination not in self.dotbots:
return
if self.mqtt_client is not None and self.settings.edge is True:
self.mqtt_client.publish(
"/pydotbot/controller_to_edge",
base64.b64encode(frame.to_bytes()),
)
elif self.serial is not None:
self.serial.write(hdlc_encode(frame.to_bytes()))
self.logger.debug(
"Payload sent",
application=self.dotbots[destination].application.name,
destination=destination,
payload_type=frame.payload_type.name,
)
[docs]
def get_dotbots(self, query: DotBotQueryModel) -> List[DotBotModel]:
"""Returns the list of dotbots matching the query."""
dotbots: List[DotBotModel] = []
for dotbot in self.dotbots.values():
if (
query.application is not None
and dotbot.application != query.application
):
continue
if query.mode is not None and dotbot.mode != query.mode:
continue
if query.status is not None and dotbot.status != query.status:
continue
_dotbot = DotBotModel(**dotbot.model_dump())
_dotbot.position_history = _dotbot.position_history[: query.max_positions]
dotbots.append(_dotbot)
return sorted(dotbots, key=lambda dotbot: dotbot.address)
[docs]
async def web(self):
"""Starts the web server application."""
logger = LOGGER.bind(context=__name__)
config = uvicorn.Config(
api, port=self.settings.controller_port, log_level="critical"
)
server = uvicorn.Server(config)
try:
logger.info("Starting web server")
await server.serve()
except asyncio.exceptions.CancelledError:
logger.info("Web server cancelled")
else:
logger.info("Stopping web server")
raise SystemExit()
async def _connect_to_mqtt_broker(self):
"""Connect to the MQTT broker."""
self.logger.info("Connecting to MQTT broker")
self.mqtt_client: MQTTClient = MQTTClient(f"qrkey-{uuid.uuid4().hex}")
self.mqtt_client.set_config(qrkey_settings.model_dump(exclude_none=True))
self.mqtt_client.on_connect = self.on_connect
self.mqtt_client.on_message = self.on_message
self.mqtt_client.on_disconnect = self.on_disconnect
self.mqtt_client.on_subscribe = self.on_subscribe
await self.mqtt_client.connect(
host=qrkey_settings.mqtt_host,
port=qrkey_settings.mqtt_port,
ssl=qrkey_settings.mqtt_use_ssl,
keepalive=qrkey_settings.mqtt_keepalive,
version=qrkey_settings.mqtt_version,
)
[docs]
def on_connect(self, _, flags, rc, properties):
logger = self.logger.bind(
context=__name__,
rc=rc,
flags=flags,
**properties,
)
logger.info("Controller connected to broker")
self.mqtt_client.subscribe("/pydotbot/edge_to_controller")
[docs]
def on_message(self, _, topic, payload, qos, properties):
"""Called when a message is received from the controller."""
logger = self.logger.bind(
topic=topic,
qos=qos,
**properties,
)
logger.info("MQTT edge message received")
try:
self.handle_received_frame(Frame().from_bytes(base64.b64decode(payload)))
except ProtocolPayloadParserException as exc:
logger.warning(f"Cannot parse frame: {exc}")
[docs]
def on_disconnect(self, _, packet, exc=None):
logger = self.logger.bind(packet=packet, exc=exc)
logger.info("Disconnected")
[docs]
def on_subscribe(self, client, mid, qos, properties):
logger = self.logger.bind(qos=qos, **properties)
topic = (
client.get_subscriptions_by_mid(mid)[0].topic
if client.get_subscriptions_by_mid(mid)
else None
)
logger.info(f"Subscribed to {topic}")
[docs]
def publish(self, message: bytes):
if self.mqtt_client and self.mqtt_client.is_connected is False:
return
self.mqtt_client.publish(
"/pydotbot/edge_to_controller", base64.b64encode(message).decode()
)
[docs]
async def run(self):
"""Launch the controller."""
tasks = []
self.qrkey = QrkeyController(self.on_request, LOGGER, root_topic="/pydotbot")
try:
tasks = [
asyncio.create_task(
name="QrKey controller",
coro=self.qrkey.start(subscriptions=self.subscriptions),
),
asyncio.create_task(name="Web server", coro=self.web()),
asyncio.create_task(name="Web browser", coro=self._open_webbrowser()),
asyncio.create_task(
name="Dotbots status refresh", coro=self._dotbots_status_refresh()
),
]
if self.settings.edge is True:
tasks.append(
asyncio.create_task(
name="MQTT broker connection",
coro=self._connect_to_mqtt_broker(),
)
)
else:
tasks.append(
asyncio.create_task(name="Serial port", coro=self._start_serial())
)
await asyncio.gather(*tasks)
except (
SerialInterfaceException,
serial.serialutil.SerialException,
) as exc:
self.logger.error(f"Error: {exc}")
except SystemExit:
pass
finally:
self.logger.info("Stopping controller")
self.serial.write(hdlc_encode(b"\x01\xfe"))
for task in tasks:
self.logger.info(f"Cancelling task '{task.get_name()}'")
task.cancel()
self.logger.info("Controller stopped")