Claude/fix ble stability df nxk

CHANGELOG.md

@@ -0,0 +1,6 @@
+- v0.32 Removed DBUS backend for LED, new MQTT backend and corresponding services
+- v0.31 Animations and prototyped mqtt linkage to hangboard
+- v0.30 simplified installation procedure, fix service logging and installtion collisions
+- v0.28 merged moonboard mini protocol
+- v0.27 merged bt fix test
+- v0.23 running in gz setup

README.md

@@ -44,7 +44,4 @@ Free standing foldaway version of moonboard. Moonboard with 150mm kicker and tot
 ## Tested setups
 - Raspi W Zero with iPhone 5, 8, X, 11 (iOS >= 14)
 
-# Versions
-- v0.28 merged moonboard mini protocol
-- v0.27 merged bt fix test
-- v0.23 running in gz setup
+

TODO.md

@@ -0,0 +1,6 @@
+# Minor stuff
+- uninstaller for services
+
+# Minor cleanups
+- Select python version from "env" for all scripts
+- FIXME in files

ble/Dockerfile

@@ -0,0 +1,13 @@
+FROM debian:latest
+
+RUN apt-get -y update && apt-get upgrade
+RUN apt-get -y install git vim python3-pip gcc make build-essential libatlas-base-dev python-dev swig scons 
+
+WORKDIR /ble 
+ADD . /ble/
+
+#https://georgik.rocks/how-to-start-d-bus-in-docker-container/
+#dbus-uuidgen > /var/lib/dbus/machine-id
+#mkdir -p /var/run/dbus
+#dbus-daemon --config-file=/usr/share/dbus-1/system.conf --print-address
+#python3 moonboard_BLE_service.py 

ble/ERROR-RECONNECT.md

@@ -0,0 +1,22 @@
+{"START": ["E4", "H3"], "MOVES": ["E8", "B13", "A16", "A11"], "TOP": ["D18"], "FLAGS": [""]}
+start adv
+< HCI Command: ogf 0x08, ocf 0x000a, plen 1
+  01 
+> HCI Event: 0x0e plen 4
+  01 0A 20 0C 
+New data 31352c5031302c45353423
+New data dec? 15,P10,E54#
+
+
+Traceback (most recent call last):
+  File "moon_ble_mqtt_proto.py", line 165, in <module>
+    mbble.main(logger,adapter='/org/bluez/hci0') # FIXME: use configured adapter
+  File "moon_ble_mqtt_proto.py", line 129, in main
+    self.monitor_btmon(logger,unstuffer)
+  File "moon_ble_mqtt_proto.py", line 116, in monitor_btmon
+    self.process_rx(unstuffer,logger,data)
+  File "moon_ble_mqtt_proto.py", line 93, in process_rx
+    new_problem_string= unstuffer.process_bytes(ba)
+  File "/home/pi/moonboard/ble/moonboard_app_protocol.py", line 54, in process_bytes
+    s = bytearray.fromhex(ba).decode()
+UnicodeDecodeError: 'utf-8' codec can't decode byte 0xff in position 2: invalid start byte

ble/Makefile

@@ -0,0 +1,22 @@
+#api-doc:
+#	docker run --rm -it -v $(PWD)/ble_api.yaml:/app/asyncapi.yml -v $(PWD)/api:/app/output asyncapi/generator  -o /app/output /app/asyncapi.yml @asyncapi/html-template --force-write
+
+install:
+	service="moonboard_ble.service"
+	echo "Install moonboard service for: moonboard_ble.service" 
+	sudo cp ./moonboard_ble.service /lib/systemd/system/
+	sudo chmod 644 /lib/systemd/system/moonboard_ble.service
+	sudo systemctl daemon-reload
+	sudo systemctl enable moonboard_ble.service
+	sudo systemctl restart moonboard_ble.service
+
+install-dbus:
+	service="com.moonboard.service"
+	echo "Install moonboard service for: com.moonboard.service" 
+	sudo cp ./com.moonboard.service /lib/systemd/system/
+	sudo chmod 644 /lib/systemd/system/com.moonboard.service
+	sudo cp com.moonboard.conf /etc/dbus-1/system.d/com.moonboard.conf
+	sudo systemctl daemon-reload
+	sudo systemctl enable com.moonboard.service
+	sudo systemctl restart com.moonboard.service
+	sudo systemctl restart dbus

ble/README.md

@@ -107,4 +107,11 @@ See Bluetooth specification 5.0 (Core_v5.0.pdf), 7.8.5 LE Set Advertising Parame
 ## Bluez DBUS 
 [Good introduction](http://smartspacestuff.blogspot.com/2016/02/i-got-figurin-out-dbus-bluez.html)
 
-[API](https://git.kernel.org/pub/scm/bluetooth/bluez.git/tree/doc)
+[API](https://git.kernel.org/pub/scm/bluetooth/bluez.git/tree/doc)
+
+
+# MQTT Interface
+## Debugging
++ Status of service `systemctl status moonboard_ble.service`
++ Check for received events `mosquitto_sub -h raspi-moonboard -t "moonboard/ble/problem"`
++ Status of DBUS backend: `sudo systemctl status  com.moonboard.service`

ble/com.moonboard.service

@@ -1,13 +1,16 @@
 [Unit]
-Description=Moonboard DBUS Service
-After=multi-user.target
-SystemdService=dbus-org.com.moonbooard.service
+Description=Moonboard BLE DBUS Service
+After=multi-user.target bluetooth.service dbus.service hciuart.service 
+SystemdService=dbus-org.com.moonbooard.service 
+# FIXME: SystemdService not known
 
 [Service]
 Type=dbus
 BusName=com.moonboard
-ExecStart=/usr/bin/python3 /home/pi/moonboard/ble/moonboard_BLE_service.py
+ExecStart=/usr/bin/python3 /home/pi/moonboard/ble/moonboard_ble_dbus_service.py 
 User=root
+StandardOutput=file:/var/log/moonboard_ble_stdout.log
+StandardError=file:/var/log/moonboard_ble_stderr.log
 
 [Install]
 WantedBy=multi-user.target

ble/moonboard_app_protocol.py

@@ -23,7 +23,7 @@ def decode_problem_string(s, flags):
         t,p = h[0],position_trans(int(h[1:]), num_rows)
         if t=='S':
             holds['START'].append(p)
-        if t=='P':
+        if t=='P' or t == 'R' or t == 'L' or t == 'M' or t =='F':
             holds['MOVES'].append(p)
         if t=='E':
             holds['TOP'].append(p)
@@ -51,7 +51,7 @@ def process_bytes(self, ba):
         handle some error due to multiple connected devices sending simoultaneously.
         """
 
-        s = bytearray.fromhex(ba).decode()
+        s = bytearray.fromhex(ba).decode(errors="ignore")
         self.logger.debug("incoming bytes:"+str(s))
 
         if s[0] == '~' and s[-1] == '*':

ble/moonboard_ble.service

@@ -0,0 +1,16 @@
+[Unit]
+Description=Moonboard BLE Service
+After=multi-user.target bluetooth.service hciuart.service mosquitto.service
+
+[Service]
+WorkingDirectory=/home/pi/moonboard/ble/
+ExecStart=/usr/bin/python3 /home/pi/moonboard/ble/moonboard_ble_service.py 
+Type=idle
+User=root
+Restart=on-failure
+RestartSec=5s
+StandardOutput=file:/var/log/moonboard_ble_stdout.log
+StandardError=file:/var/log/moonboard_ble_stderr.log
+
+[Install]
+WantedBy=multi-user.target

ble/moonboard_BLE_service.py → ble/moonboard_ble_dbus_service.py

@@ -10,6 +10,8 @@
 from moonboard_app_protocol import UnstuffSequence, decode_problem_string
 
 import os
+import errno
+import time
 import threading
 import pty
 
@@ -82,24 +84,82 @@ def __init__(self, bus, socket,logger):
         dbus.service.Object.__init__(self, bus, self.path)
         self.add_service(UartService(bus,self.get_path(), 0, self.process_rx)) 
 
-        monitor_thread = threading.Thread(target=self.monitor_btmon)  
+        monitor_thread = threading.Thread(target=self.monitor_btmon, daemon=True)
         monitor_thread.start()
 
-    def monitor_btmon(self): 
-        out_r, out_w = pty.openpty()
-        cmd = ["sudo","btmon"]
-        process = subprocess.Popen(cmd, stdout=out_w)
-        f = OutStream(out_r)
+    def _restart_advertising(self):
+        """Re-setup and start BLE advertising after a disconnect."""
+        self.logger.info('Client disconnected, restarting advertising...')
+        try:
+            setup_adv(self.logger)
+            start_adv(self.logger)
+            self.logger.info('Advertising restarted successfully')
+        except Exception as e:
+            self.logger.error('Failed to restart advertising: ' + str(e))
+
+    def monitor_btmon(self):
+        restart_delay = 2
+        max_restart_delay = 30
+
         while True:
-            lines, readable = f.read_lines()
-            if not readable: break
-            for line in lines:                
-                if line != '':
-                    line = line.decode()
-                    if 'Data:' in line:
-                        data = line.replace(' ','').replace('\x1b','').replace('[0m','').replace('Data:','')
-                        self.process_rx(data)
-                        self.logger.info('New data '+ data)
+            out_r, out_w = pty.openpty()
+            cmd = ["sudo", "btmon"]
+            try:
+                process = subprocess.Popen(cmd, stdout=out_w)
+                self.logger.info('btmon started (pid %d)', process.pid)
+            except Exception as e:
+                self.logger.error('Failed to start btmon: ' + str(e))
+                os.close(out_r)
+                os.close(out_w)
+                time.sleep(restart_delay)
+                restart_delay = min(restart_delay * 2, max_restart_delay)
+                continue
+
+            f = OutStream(out_r)
+            restart_delay = 2  # reset backoff on successful start
+
+            try:
+                while True:
+                    lines, readable = f.read_lines()
+                    if not readable:
+                        break
+                    for line in lines:
+                        if line != b'':
+                            try:
+                                line = line.decode(errors='ignore')
+                            except Exception:
+                                continue
+                            if 'Disconnect Complete' in line:
+                                self._restart_advertising()
+                            elif 'Data:' in line:
+                                data = line.replace(' ','').replace('\x1b','').replace('[0m','').replace('Data:','')
+                                self.process_rx(data)
+                                self.logger.info('New data '+ data)
+            except Exception as e:
+                self.logger.error('btmon monitoring error: ' + str(e))
+
+            # Cleanup
+            try:
+                process.terminate()
+                process.wait(timeout=5)
+            except Exception:
+                try:
+                    process.kill()
+                    process.wait(timeout=5)
+                except Exception:
+                    pass
+            try:
+                os.close(out_r)
+            except OSError:
+                pass
+            try:
+                os.close(out_w)
+            except OSError:
+                pass
+
+            self.logger.warning('btmon exited, restarting in %ds...', restart_delay)
+            time.sleep(restart_delay)
+            restart_delay = min(restart_delay * 2, max_restart_delay)
 
     def process_rx(self,ba):
         new_problem_string= self.unstuffer.process_bytes(ba)