146 lines
4.9 KiB
Python
Executable File
146 lines
4.9 KiB
Python
Executable File
#! /usr/bin/env python3
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import asyncio
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import uuid
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import aioserial
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import aiomqtt
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import pyubx2
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import json
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from paho.mqtt.properties import Properties
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from paho.mqtt.packettypes import PacketTypes
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import paho.mqtt.client as mqtt
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from command import Command
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BAUD = 115200
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class SerialMQTTHandler:
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def __init__(
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self,
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handler_id: str,
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serial_port: str,
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mqtt_host: str = "127.0.0.1",
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mqtt_port: int = 1883,
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):
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self.handler_id = handler_id
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self.serial_port = serial_port
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self.mqtt_host = mqtt_host
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self.mqtt_port = mqtt_port
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# Serial
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self.ser = aioserial.AioSerial(
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port=serial_port,
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baudrate=BAUD,
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timeout=0.05, # 50 ms
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)
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# MQTT client
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self.client_id = f"{handler_id}-{uuid.uuid4()}"
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self.mqtt_client = aiomqtt.Client(
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mqtt_host, port=mqtt_port, identifier=self.client_id, protocol=mqtt.MQTTv5
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)
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# Topic base
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self.topic_base = f"asset/{handler_id}"
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self.command_topic = f"{self.topic_base}/command"
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# Add an arbitrary command
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self.commands = {}
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example_command = Command(
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"example-cmd", {"type": "number"}, description="An example command"
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)
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self.commands[example_command.name] = example_command
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async def parse_serial(self):
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buffer = bytearray()
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class StreamWrapper:
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def read(inner_self, n=1):
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if not buffer:
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raise BlockingIOError
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out = buffer[:n]
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del buffer[:n]
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return bytes(out)
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ubr = pyubx2.UBXReader(StreamWrapper(), parsing=True)
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while True:
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chunk = await self.ser.read_async(200)
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if chunk:
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buffer.extend(chunk)
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try:
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while True:
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raw, parsed = ubr.read()
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if raw is None:
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break
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yield raw, parsed
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except (pyubx2.UBXStreamError, BlockingIOError, Exception):
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pass
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else:
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await asyncio.sleep(0)
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async def serial_reader_task(self):
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async for raw, parsed in self.parse_serial():
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if isinstance(parsed, pyubx2.UBXMessage):
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for name, value in vars(parsed).items():
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if name.startswith("_"):
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continue
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topic = f"{self.topic_base}/{parsed.identity}/{name}"
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await self.mqtt_client.publish(topic, value, qos=1, retain=True)
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async def mqtt_command_writer_task(self):
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async for message in self.mqtt_client.messages:
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topic = str(message.topic)
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payload = message.payload.decode("utf-8")
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payload = json.loads(payload)
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if topic.startswith(self.command_topic):
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#await self.ser.write_async(message.payload)
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command_name = topic.removeprefix(f"{self.command_topic}/")
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command = self.commands.get(command_name)
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if command is not None:
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print(topic, payload, "valid:", command.validate(payload), message.properties)
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if message.properties is not None and message.properties.ResponseTopic is not None:
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await self.mqtt_client.publish(message.properties.ResponseTopic, message.payload, qos=1)
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else:
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print("Unknown command:", topic, message.payload)
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async def run(self):
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interval = 5
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while True:
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try:
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async with self.mqtt_client as client:
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await client.subscribe(f"{self.command_topic}/+")
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for command in self.commands.values():
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props = Properties(PacketTypes.PUBLISH)
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props.ResponseTopic = "asset/client/response"
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props.CorrelationData = b"req-42"
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await self.mqtt_client.publish(f"{self.command_topic}/{command.name}/schema", str(command.schema), qos=1, retain=True, properties=props)
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for k,v in command.additional_properties.items():
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await self.mqtt_client.publish(f"{self.command_topic}/{command.name}/{k}", str(v), qos=1, retain=True)
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await asyncio.gather(
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self.serial_reader_task(),
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self.mqtt_command_writer_task(),
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)
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except aiomqtt.MqttError as e:
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print(
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f"[{self.handler_id}] MQTT connection error: {e}. Reconnecting in {interval}s..."
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)
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await asyncio.sleep(interval)
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if __name__ == "__main__":
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async def main():
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handler = SerialMQTTHandler("example-gps", "/tmp/ttyV0")
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await handler.run()
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asyncio.run(main())
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