Source code for toio.cube.api.sensor
# -*- coding: utf-8 -*-
# ************************************************************
#
# sensor.py
#
# Copyright 2022 Sony Interactive Entertainment Inc.
#
# ************************************************************
import pprint
import struct
from enum import IntEnum
from typing import Optional, TypeAlias, Union
from toio.cube.api.base_class import CubeCharacteristic, CubeCommand, CubeResponse
from toio.device_interface import CubeInterface, GattReadData
from toio.logger import get_toio_logger
from toio.toio_uuid import TOIO_UUID_SENSOR_INFO
logger = get_toio_logger(__name__)
[docs]class RequestMotionDetection(CubeCommand):
"""
Motion information request command
References:
https://toio.github.io/toio-spec/en/docs/ble_sensor#requesting-motion-detection-information
"""
_payload_id = 0x81
[docs] def __init__(self):
pass
[docs] def __bytes__(self) -> bytes:
return bytes((self._payload_id,))
[docs]class PostureDataType(IntEnum):
Euler = 0x01
Quaternions = 0x02
[docs]class RequestPostureAngleDetection(CubeCommand):
"""
Posture angle information request command
References:
https://toio.github.io/toio-spec/en/docs/ble_high_precision_tilt_sensor#requesting-posture-angle-detection
"""
_payload_id = 0x83
[docs] def __init__(self, data_type: PostureDataType):
self.data_type = data_type
[docs] def __bytes__(self) -> bytes:
return bytes((self._payload_id, self.data_type))
[docs]class RequestMagneticSensor(CubeCommand):
"""
Magnetic sensor information request command
References:
https://toio.github.io/toio-spec/en/docs/ble_magnetic_sensor#requests-for-magnetic-sensor-information
"""
_payload_id = 0x82
[docs] def __init__(self):
pass
[docs] def __bytes__(self) -> bytes:
return bytes((self._payload_id,))
[docs]class Posture(IntEnum):
"""Posture
Orientation of the cube.
Reference:
https://toio.github.io/toio-spec/en/docs/ble_sensor/#posture-detection
"""
Unknown = 0
Top = 1
Bottom = 2
Rear = 3
Front = 4
Right = 5
Left = 6
[docs]class MotionDetectionData(CubeResponse):
"""MotionDetectionData
Information on the cube's motion detection.
Attributes:
horizontal (bool): Horizontal detection
collision (bool): Collision detection
double_tap (bool): Double-tap detection
posture (Posture): Posture detection
shake (int): Shake detection (0:no shake, 1:Level1 - 10:Level10)
Reference:
https://toio.github.io/toio-spec/en/docs/ble_sensor/#obtaining-motion-detection-information
"""
_payload_id = 0x01
_converter = struct.Struct("<BBBBBB")
[docs] @staticmethod
def is_myself(payload: GattReadData) -> bool:
return payload[0] == MotionDetectionData._payload_id
[docs] def __init__(self, payload: GattReadData):
if MotionDetectionData.is_myself(payload):
(
_,
horizontal,
collision,
double_tap,
posture,
shake,
) = self._converter.unpack_from(payload)
self.horizontal = horizontal != 0
self.collision = collision != 0
self.double_tap = double_tap != 0
self.posture = Posture(posture)
self.shake = shake
else:
raise TypeError("wrong payload")
[docs] def __str__(self) -> str:
return pprint.pformat(vars(self))
[docs]class PostureAngleEulerData(CubeResponse):
"""PostureAngleEulerData
Information of posture angle (Euler angle)
Attributes:
roll (int): Roll (X axis)
pitch (int): Pitch (Y axis)
yaw (nt): Yaw (Z axis)
References:
https://toio.github.io/toio-spec/en/docs/ble_high_precision_tilt_sensor#obtaining-posture-angle-information-notifications-in-euler-angles
"""
_payload_id = 0x03
_converter = struct.Struct("<BBhhh")
[docs] @staticmethod
def is_myself(payload: GattReadData) -> bool:
return (
payload[0] == PostureAngleEulerData._payload_id
and payload[1] == PostureDataType.Euler
)
[docs] def __init__(self, payload: GattReadData):
if PostureAngleEulerData.is_myself(payload):
_, _, self.roll, self.pitch, self.yaw = self._converter.unpack_from(payload)
else:
raise TypeError("wrong payload")
[docs] def __str__(self) -> str:
return pprint.pformat(vars(self))
[docs]class PostureAngleQuaternionsData(CubeResponse):
"""PostureAngleQuaternionData
Information of posture angle (Quaternion)
Attributes:
w (int):
x (int):
y (int):
z (int):
References:
https://toio.github.io/toio-spec/en/docs/ble_high_precision_tilt_sensor#obtaining-posture-angle-information-notifications-in-quaternions
"""
_payload_id = 0x03
_converter = struct.Struct("<BBhhhh")
[docs] @staticmethod
def is_myself(payload: GattReadData) -> bool:
return (
payload[0] == PostureAngleQuaternionsData._payload_id
and payload[1] == PostureDataType.Quaternions
)
[docs] def __init__(self, payload: GattReadData):
if PostureAngleQuaternionsData.is_myself(payload):
_, _, self.w, self.x, self.y, self.z = self._converter.unpack_from(payload)
else:
raise TypeError("wrong payload")
[docs] def __str__(self) -> str:
return pprint.pformat(vars(self))
[docs]class MagneticSensorData(CubeResponse):
"""MagneticSensorData
Information of magnetic sensor
Attributes:
state (int): Magnet state
strength (int): Magnetic force strength
x (int): Magnetic force direction (X axis)
y (int): Magnetic force direction (Y axis)
z (int): Magnetic force direction (Z axis)
References:
https://toio.github.io/toio-spec/en/docs/ble_magnetic_sensor/#obtaining-magnetic-sensor-information-
"""
_payload_id = 0x02
_converter = struct.Struct("<BBBbbb")
[docs] @staticmethod
def is_myself(payload: GattReadData) -> bool:
return payload[0] == MagneticSensorData._payload_id
[docs] def __init__(self, payload: GattReadData):
if MagneticSensorData.is_myself(payload):
(
_,
self.state,
self.strength,
self.x,
self.y,
self.z,
) = self._converter.unpack_from(payload)
else:
raise TypeError("wrong payload")
SensorResponseType: TypeAlias = Union[
MotionDetectionData,
PostureAngleEulerData,
PostureAngleQuaternionsData,
MagneticSensorData,
]
"""
Response types of Sensor characteristic
"""
[docs]class Sensor(CubeCharacteristic):
"""
Sensor information characteristic
References:
`Motion detection <https://toio.github.io/toio-spec/en/docs/ble_sensor>`_
`Posture angle detection <https://toio.github.io/toio-spec/en/docs/ble_high_precision_tilt_sensor>`_
`Magnetic sensor <https://toio.github.io/toio-spec/en/docs/ble_magnetic_sensor>`_
"""
[docs] @staticmethod
def is_my_data(payload: GattReadData) -> Optional[SensorResponseType]:
if MotionDetectionData.is_myself(payload):
return MotionDetectionData(payload)
elif PostureAngleEulerData.is_myself(payload):
return PostureAngleEulerData(payload)
elif PostureAngleQuaternionsData.is_myself(payload):
return PostureAngleQuaternionsData(payload)
elif MagneticSensorData.is_myself(payload):
return MagneticSensorData(payload)
else:
return None
[docs] def __init__(self, interface: CubeInterface):
self.interface = interface
super().__init__(interface, TOIO_UUID_SENSOR_INFO)
[docs] async def read(self) -> Optional[SensorResponseType]:
"""
Read sensor information response
Returns:
One of SensorInformationData or None
(None returns when read fails)
"""
payload = await self._read()
return self.is_my_data(payload)
[docs] async def request_posture_angle_information(
self, data_type: PostureDataType
) -> None:
"""
Send posture angle information request command
"""
request = RequestPostureAngleDetection(data_type)
await self._write(bytes(request))