hexapod/software/raspberry pi/btserver.py

#!python
#
# Bluetooth server thread
# Monitor the Bluetooth connection and receive commands
#
# 2021 - PRESENT  Zhengyu Peng
# Website: https://zpeng.me
#
# `                      `
# -:.                  -#:
# -//:.              -###:
# -////:.          -#####:
# -/:.://:.      -###++##:
# ..   `://:-  -###+. :##:
#        `:/+####+.   :##:
# .::::::::/+###.     :##:
# .////-----+##:    `:###:
#  `-//:.   :##:  `:###/.
#    `-//:. :##:`:###/.
#      `-//:+######/.
#        `-/+####/.
#          `+##+.
#           :##:
#           :##:
#           :##:
#           :##:
#           :##:
#            .+:

import socket
from threading import Thread
import json

import os


class BluetoothServer(Thread):
    ERROR = -1
    LISTEN = 1
    CONNECTED = 2
    STOP = 3

    SIG_NORMAL = 0
    SIG_STOP = 1
    SIG_DISCONNECT = 2

    def __init__(self, out_cmd_queue):
        Thread.__init__(self)

        self.cmd_queue = out_cmd_queue

        with open('/home/pi/hexapod/software/raspberry pi/config.json', 'r') as read_file:
            self.config = json.load(read_file)

        stream = os.popen('hciconfig hci0')
        output = stream.read()
        device_id = "hci0"
        bt_mac = output.split("{}:".format(device_id))[1].split(
            "BD Address: ")[1].split(" ")[0].strip()

        self.mac = bt_mac
        self.port = 10
        self.bt_socket = socket.socket(
            socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)

        self.signal = self.SIG_NORMAL

    def run(self):
        try:
            self.bt_socket.bind((self.mac, self.port))
            self.bt_socket.listen(1)
            print('TCP listening')
        except OSError as err:
            # print('emit tcp server error')
            # self.status.emit(self.STOP, '')
            pass
        else:
            while True:
                self.cmd_queue.put('standby:')
                # Wait for a connection
                # print('wait for a connection')
                # self.status.emit(self.LISTEN, '')
                try:
                    self.connection, addr = self.bt_socket.accept()
                    # self.connection.setblocking(False)
                    # self.connection.settimeout(1)
                    print('New connection')
                except socket.timeout as t_out:
                    pass
                else:
                    while True:
                        # print('waiting for data')
                        # if self.signal == self.SIG_NORMAL:
                        try:
                            data = self.connection.recv(4096)
                        except socket.error as e:
                            print(e)
                            break
                        else:
                            if data:
                                print(data.decode())
                                self.cmd_queue.put(data.decode())
                            else:
                                break

        finally:
            self.bt_socket.close()
            self.cmd_queue.put('standby:')
            print('exit')