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# ReachView code is placed under the GPL license. | |
# Written by Egor Fedorov (egor.fedorov@emlid.com) | |
# Copyright (c) 2015, Emlid Limited | |
# All rights reserved. | |
# If you are interested in using ReachView code as a part of a | |
# closed source project, please contact Emlid Limited (info@emlid.com). | |
# This file is part of ReachView. | |
# ReachView is free software: you can redistribute it and/or modify | |
# it under the terms of the GNU General Public License as published by | |
# the Free Software Foundation, either version 3 of the License, or | |
# (at your option) any later version. | |
# ReachView is distributed in the hope that it will be useful, | |
# but WITHOUT ANY WARRANTY; without even the implied warranty of | |
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
# GNU General Public License for more details. | |
# You should have received a copy of the GNU General Public License | |
# along with ReachView. If not, see <http://www.gnu.org/licenses/>. | |
import time | |
import pexpect | |
import subprocess | |
import sys | |
class BluetoothctlError(Exception): | |
"""This exception is raised, when bluetoothctl fails to start.""" | |
pass | |
class Bluetoothctl: | |
"""A wrapper for bluetoothctl utility.""" | |
def __init__(self): | |
out = subprocess.check_output("rfkill unblock bluetooth", shell = True) | |
self.child = pexpect.spawn("bluetoothctl", echo = False) | |
def get_output(self, command, pause = 0): | |
"""Run a command in bluetoothctl prompt, return output as a list of lines.""" | |
self.child.send(command + "\n") | |
time.sleep(pause) | |
start_failed = self.child.expect(["bluetooth", pexpect.EOF]) | |
if start_failed: | |
raise BluetoothctlError("Bluetoothctl failed after running " + command) | |
return self.child.before.split("\r\n") | |
def start_scan(self): | |
"""Start bluetooth scanning process.""" | |
try: | |
out = self.get_output("scan on") | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
def make_discoverable(self): | |
"""Make device discoverable.""" | |
try: | |
out = self.get_output("discoverable on") | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
def parse_device_info(self, info_string): | |
"""Parse a string corresponding to a device.""" | |
device = {} | |
block_list = ["[\x1b[0;", "removed"] | |
string_valid = not any(keyword in info_string for keyword in block_list) | |
if string_valid: | |
try: | |
device_position = info_string.index("Device") | |
except ValueError: | |
pass | |
else: | |
if device_position > -1: | |
attribute_list = info_string[device_position:].split(" ", 2) | |
device = { | |
"mac_address": attribute_list[1], | |
"name": attribute_list[2] | |
} | |
return device | |
def get_available_devices(self): | |
"""Return a list of tuples of paired and discoverable devices.""" | |
try: | |
out = self.get_output("devices") | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
available_devices = [] | |
for line in out: | |
device = self.parse_device_info(line) | |
if device: | |
available_devices.append(device) | |
return available_devices | |
def get_paired_devices(self): | |
"""Return a list of tuples of paired devices.""" | |
try: | |
out = self.get_output("paired-devices") | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
paired_devices = [] | |
for line in out: | |
device = self.parse_device_info(line) | |
if device: | |
paired_devices.append(device) | |
return paired_devices | |
def get_discoverable_devices(self): | |
"""Filter paired devices out of available.""" | |
available = self.get_available_devices() | |
paired = self.get_paired_devices() | |
return [d for d in available if d not in paired] | |
def get_device_info(self, mac_address): | |
"""Get device info by mac address.""" | |
try: | |
out = self.get_output("info " + mac_address) | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
return out | |
def pair(self, mac_address): | |
"""Try to pair with a device by mac address.""" | |
try: | |
out = self.get_output("pair " + mac_address, 4) | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
res = self.child.expect(["Failed to pair", "Pairing successful", pexpect.EOF]) | |
success = True if res == 1 else False | |
return success | |
def remove(self, mac_address): | |
"""Remove paired device by mac address, return success of the operation.""" | |
try: | |
out = self.get_output("remove " + mac_address, 3) | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
res = self.child.expect(["not available", "Device has been removed", pexpect.EOF]) | |
success = True if res == 1 else False | |
return success | |
def connect(self, mac_address): | |
"""Try to connect to a device by mac address.""" | |
try: | |
out = self.get_output("connect " + mac_address, 2) | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
res = self.child.expect(["Failed to connect", "Connection successful", pexpect.EOF]) | |
success = True if res == 1 else False | |
return success | |
def disconnect(self, mac_address): | |
"""Try to disconnect to a device by mac address.""" | |
try: | |
out = self.get_output("disconnect " + mac_address, 2) | |
except BluetoothctlError, e: | |
print(e) | |
return None | |
else: | |
res = self.child.expect(["Failed to disconnect", "Successful disconnected", pexpect.EOF]) | |
success = True if res == 1 else False | |
return success | |
if __name__ == "__main__": | |
print("Init bluetooth...") | |
bl = Bluetoothctl() | |
print("Ready!") | |
bl.start_scan() | |
print("Scanning for 10 seconds...") | |
for i in range(0, 10): | |
print(i) | |
time.sleep(1) | |
print(bl.get_discoverable_devices()) | |
I appreciate for sharing :).
I am unable to figure out to pair end device which has pin-code and no GUI. If you can give any suggestion it would be helpful.
For error: CalledProcessError: Command 'rfkill unblock bluetooth' returned non-zero exit status 1
change line 42:
out = subprocess.check_output("PATH=/usr/sbin:$PATH; rfkill unblock bluetooth", shell = True)
@taufeeq25 typically such a device has a hardcoded default pin, e.g. 0000, 1234 etc. then once paired some devices accept a command to set a custom one, if desired.
How to stop the scan. I copied the function of start scan and modified it for the "scan off" command but it does not work and throws an exception.
def stop_scan(self):
"""Stop bluetooth scanning process."""
try:
out = self.get_output("scan off")
except Exception, e:
print(e)
return None
Hello thanks for the code,
but when i run agent on , there is a pairing code that will be sent to the phone and then how can i confrim the pairing code from the raspberry pi ?
any suggestions would be appreciated !!
Hi @egor,
Is there any chance you could enable RSSI as JSON field as well? so it will be like:
{"name":"Example","mac_address":"00:00:00:00:00","RSSI":"100"} ? that would help for distance determination.
Thanks in Advance.
Thanks alot. It saves my time.
... thank you, it's very helpful :)