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Copy pathdji_daemon.py
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1520 lines (1348 loc) · 63.7 KB
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#!/usr/bin/env python3
import argparse
import asyncio
import hmac
import json
import logging
import os
import re
import secrets
import signal
import struct
import subprocess
import time
import urllib.request
try:
from bleak import BleakClient, BleakScanner
except ImportError:
BleakClient = BleakScanner = None
import dji
import controllers
import phone_battery
LISTEN_HOST, LISTEN_PORT = "127.0.0.1", 9101
RTMP_PORT = 1935
RTMP_APP = "publish"
STAT_URL = "http://127.0.0.1:1936/"
ONBOARD_USB_ID = "13d3:3572"
log = logging.getLogger("pipbox-dji")
def _bleak_major():
try:
from importlib.metadata import version
return int(version("bleak").split(".")[0])
except Exception:
return 0
BLEAK_MAJOR = _bleak_major()
FIRST_BYTE = 0x55
VERSION = 0x04
def crc_generic(data, width, poly, init, ref_in=True, ref_out=True, xor=0):
mask = (1 << width) - 1
top = 1 << (width - 1)
crc = init
if ref_in:
rpoly = int("{:0{w}b}".format(poly, w=width)[::-1], 2)
rinit = int("{:0{w}b}".format(init, w=width)[::-1], 2)
crc = rinit
for b in data:
crc ^= b
for _ in range(8):
crc = (crc >> 1) ^ rpoly if crc & 1 else crc >> 1
if not ref_out:
crc = int("{:0{w}b}".format(crc, w=width)[::-1], 2)
return (crc ^ xor) & mask
for b in data:
crc ^= b << (width - 8)
for _ in range(8):
crc = ((crc << 1) ^ poly) & mask if crc & top else (crc << 1) & mask
if ref_out:
crc = int("{:0{w}b}".format(crc, w=width)[::-1], 2)
return (crc ^ xor) & mask
def crc8(data):
return crc_generic(data, 8, 0x31, 0xEE, True, True, 0x00)
def crc16(data):
return crc_generic(data, 16, 0x1021, 0x496C, True, True, 0x0000)
def pack_string(value):
b = value.encode("utf-8")
return bytes([len(b) & 0xFF]) + b
def pack_url(url):
b = url.encode("utf-8")
return bytes([len(b) & 0xFF, 0]) + b
class Message:
def __init__(self, target, mid, mtype, payload=b""):
self.target = target
self.id = mid
self.type = mtype
self.payload = bytes(payload)
def encode(self):
out = bytearray([FIRST_BYTE, (13 + len(self.payload)) & 0xFF, VERSION])
out.append(crc8(bytes(out)))
out += self.target.to_bytes(2, "little")
out += self.id.to_bytes(2, "little")
out += self.type.to_bytes(3, "little")
out += self.payload
out += crc16(bytes(out)).to_bytes(2, "little")
return bytes(out)
@staticmethod
def decode(data):
data = bytes(data)
if len(data) < 13 or data[0] != FIRST_BYTE:
raise ValueError("falsches erstes Byte oder zu kurz")
if data[1] != len(data):
raise ValueError("falsche Länge")
if data[2] != VERSION:
raise ValueError("falsche Version")
if data[3] != crc8(data[0:3]):
raise ValueError("Kopf-Prüfsumme falsch")
if int.from_bytes(data[-2:], "little") != crc16(data[:-2]):
raise ValueError("Prüfsumme falsch")
return Message(int.from_bytes(data[4:6], "little"),
int.from_bytes(data[6:8], "little"),
int.from_bytes(data[8:11], "little"),
data[11:-2])
def __repr__(self):
return "Message(target=0x%04x id=0x%04x type=0x%06x payload=%s)" % (
self.target, self.id, self.type, self.payload.hex())
ID_PAIR, ID_STOP, ID_PREPARE, ID_WIFI, ID_START, ID_CONFIGURE = 0x8092, 0xEAC8, 0x8C12, 0x8C19, 0x8C2C, 0x8C2D
T_PAIR, T_STOP, T_PREPARE, T_WIFI, T_CONFIGURE, T_START = 0x0702, 0x0802, 0x0802, 0x0702, 0x0102, 0x0802
TY_PAIR, TY_STOP, TY_PREPARE, TY_WIFI, TY_CONFIGURE, TY_START, TY_STATUS = \
0x450740, 0x8E0240, 0xE10240, 0x470740, 0x8E0240, 0x780840, 0x020D00
PAIR_PAYLOAD = bytes([0x20]) + b"284ae5b8d76b3375a04a6417ad71bea3"
PAIR_PIN = "mbln"
STOP_PAYLOAD = bytes([0x01, 0x01, 0x1A, 0x00, 0x01, 0x02])
CONFIRM_PAYLOAD = bytes([0x01, 0x01, 0x1A, 0x00, 0x01, 0x01])
MODELS = {
0x0010: ("Osmo Action 2", "action23"),
0x0012: ("Osmo Action 3", "action23"),
0x0014: ("Osmo Action 4", "action4"),
0x0015: ("Osmo Action 5 Pro", "action5"),
0x0017: ("Osmo 360", "action5"),
0x0018: ("Osmo Action 6", "action6"),
0x0020: ("Osmo Pocket 3", "pocket3"),
0x0021: ("Osmo Pocket 4", "pocket4"),
}
POCKET4_PRO = ("Osmo Pocket 4 Pro", "pocket4")
POCKET4_PRO_TYPE = b"\xda\x00"
NEW_PROTOCOL = ("action5", "action6", "pocket4")
CONFIGURE_KINDS = {"action4": 0x08, "action6": 0x08, "action5": 0x1A}
ACTION2_NAME = "Osmo Action 2"
POWER_FROM_CURRENT = {"action4": (5, -100), "action5": (5, -100), "action6": (5, -100), "pocket3": (5, -100)}
POWER_NOT_KNOWN_MODELS = ("360",)
def power_spec(cfg):
if any(m in str(cfg.get("model", "")) for m in POWER_NOT_KNOWN_MODELS):
return None
return POWER_FROM_CURRENT.get(cfg_kind(cfg))
RESOLUTIONS = {"480p": 0x47, "720p": 0x04, "1080p": 0x0A}
FPS = {25: 2, 30: 3}
STABILIZATION = {"off": 0, "rocksteady": 1, "horizonsteady": 2, "rocksteadyplus": 3, "horizonbalancing": 4}
DJI_COMPANY_IDS = (0x08AA, 0xF7AA)
def model_from_manufacturer_data(manufacturer_data):
for cid, payload in manufacturer_data.items():
if cid in DJI_COMPANY_IDS:
mid = int.from_bytes(payload[0:2], "little") if len(payload) >= 2 else -1
if mid == 0 and len(payload) >= 12 and bytes(payload[10:12]) == POCKET4_PRO_TYPE:
return (mid,) + POCKET4_PRO
name, kind = MODELS.get(mid, ("DJI-Gerät (unbekanntes Modell)", "unknown"))
return mid, name, kind
return None
def build_start_payload(kind, rtmp_url, resolution, bitrate_kbps, fps):
res = RESOLUTIONS[resolution]
fpsb = FPS.get(fps, 3)
if kind in ("action6", "pocket4"):
header, middle = ((b"\x01\x9c\x00", b"\xfe\x00") if kind == "action6"
else (b"\x01\xb5\x00", b"\x02\x01"))
js = ('{"codec":"AVC","EnhancedRTMP":false,"supportStopLive":false,"watermark":0,'
'"rtmpAddress":%s,"orientation":"landscape"}' % json.dumps(rtmp_url).replace("/", "\\/")).encode()
return (header + bytes([res]) + (bitrate_kbps & 0xFFFF).to_bytes(2, "little") + middle +
bytes([fpsb]) + b"\x00\x00\x00" + len(js).to_bytes(2, "little") + js)
oa5 = 0x2A if kind in NEW_PROTOCOL else 0x2E
return (b"\x00" + bytes([oa5]) + b"\x00" + bytes([res]) +
(bitrate_kbps & 0xFFFF).to_bytes(2, "little") + b"\x02\x00" + bytes([fpsb]) +
b"\x00\x00\x00" + pack_url(rtmp_url))
def camera_rtmp_url(kind, rtmp_url):
return rtmp_url + "?c=6" if kind == "action6" and "?" not in rtmp_url else rtmp_url
def build_configure_payload(kind, stabilization):
return b"\x01\x01" + bytes([CONFIGURE_KINDS[kind]]) + b"\x00\x01" + bytes([STABILIZATION.get(stabilization, 0)])
def run(cmd):
try:
return subprocess.run(cmd, capture_output=True, text=True, timeout=10).stdout.strip()
except Exception:
return ""
SYSFS_NET = "/sys/class/net"
IFNAME_RE = re.compile(r"^[A-Za-z0-9_.@-]{1,15}$")
def iface_mac(name, root=None):
if not isinstance(name, str) or not IFNAME_RE.match(name):
return ""
try:
with open(os.path.join(root or SYSFS_NET, name, "address")) as f:
mac = f.read().strip().lower()
except OSError:
return ""
return mac if re.fullmatch(r"([0-9a-f]{2}:){5}[0-9a-f]{2}", mac) and mac != "00:00:00:00:00:00" else ""
def iface_by_mac(mac, root=None):
if not mac:
return None
try:
names = sorted(os.listdir(root or SYSFS_NET))
except OSError:
return None
for n in names:
if iface_mac(n, root) == mac:
return n
return None
def other_connections(skip):
found = []
for line in run(["ip", "-4", "-o", "addr", "show"]).splitlines():
parts = line.split()
if len(parts) < 4:
continue
ifname, ip = parts[1], parts[3].split("/")[0]
if ifname in skip or ifname == "lo" or re.match(r"(tailscale|docker|veth|br-|p2p-|virbr)", ifname):
continue
if ip.startswith("169.254."):
continue
found.append({"ifname": ifname, "ssid": "", "password": "", "ip": ip, "type": "other"})
return found
HOTSPOT_FILE = "/var/lib/pipbox/hotspot.json"
def hotspot_password(ifname, ssid):
try:
with open(HOTSPOT_FILE) as f:
h = json.load(f).get(ifname)
except (OSError, ValueError, AttributeError):
return ""
if isinstance(h, dict) and h.get("ssid") == ssid and isinstance(h.get("password"), str):
return h["password"]
return ""
def nm_wifi_options():
options = []
for line in run(["nmcli", "-t", "-f", "DEVICE,TYPE,STATE,CONNECTION", "dev"]).splitlines():
parts = line.replace("\\:", "\x00").split(":")
if len(parts) < 4 or parts[1] != "wifi" or parts[2] != "connected":
continue
ifname, conn = parts[0], parts[3].replace("\x00", ":")
ssid = run(["nmcli", "-g", "802-11-wireless.ssid", "connection", "show", conn])
mode = run(["nmcli", "-g", "802-11-wireless.mode", "connection", "show", conn])
psk = run(["nmcli", "-s", "-g", "802-11-wireless-security.psk", "connection", "show", conn])
secured = bool(run(["nmcli", "-g", "802-11-wireless-security.key-mgmt", "connection", "show", conn]))
if mode == "ap" and secured and not psk and conn.startswith("pipbox-hotspot-"):
psk = hotspot_password(ifname, ssid)
ip = run(["nmcli", "-g", "IP4.ADDRESS", "dev", "show", ifname]).split("/")[0].split("\n")[0]
if not ssid or not ip:
continue
options.append({"ifname": ifname, "ssid": ssid, "password": psk, "ip": ip,
"type": "hotspot" if mode == "ap" else "client",
"secret_missing": bool(secured and not psk)})
options += other_connections({o["ifname"] for o in options})
return options
def public_option(o):
return {k: o[k] for k in ("ifname", "ssid", "ip", "type") if k in o} | {"secret_missing": bool(o.get("secret_missing"))}
def rtmp_publishing(key, stat_url=None):
try:
with urllib.request.urlopen(stat_url or STAT_URL, timeout=2) as r:
body = r.read().decode("utf-8", "replace")
except Exception:
return None
m = re.search(r"<stream>\s*<name>\s*%s\s*</name>[\s\S]*?</stream>" % re.escape(key), body)
return bool(m and "<publishing/>" in m.group(0))
def rtmp_video_kbps(key, stat_url=None):
try:
with urllib.request.urlopen(stat_url or STAT_URL, timeout=2) as r:
body = r.read().decode("utf-8", "replace")
except Exception:
return None
m = re.search(r"<stream>\s*<name>\s*%s\s*</name>[\s\S]*?</stream>" % re.escape(key), body)
v = re.search(r"<bw_video>(\d+)</bw_video>", m.group(0)) if m else None
return int(v.group(1)) // 1000 if v else None
def preferred_adapter():
try:
names = [n for n in os.listdir(dji.SYSFS_BT) if re.fullmatch(r"hci\d+", n)]
except OSError:
return None
if not names:
return None
names.sort(key=lambda n: (dji.usb_id_for_hci(n) == ONBOARD_USB_ID, int(n[3:])))
return names[0]
def adapter_address(hci):
if not hci:
return None
try:
with open(os.path.join(dji.SYSFS_BT, hci, "address")) as f:
a = f.read().strip().upper()
return a if MAC_RE.match(a) else None
except OSError:
return None
async def bluez_cleanup(addr, remove=True):
for args in ((["disconnect", addr], ["remove", addr]) if remove else (["disconnect", addr],)):
try:
p = await asyncio.create_subprocess_exec("bluetoothctl", *args,
stdout=asyncio.subprocess.DEVNULL,
stderr=asyncio.subprocess.DEVNULL)
await asyncio.wait_for(p.wait(), 8)
except Exception:
pass
def make_ble_device(state, addr):
from bleak.backends.device import BLEDevice
details = {"path": state["path"], "props": {"Address": addr, "Name": state.get("name", "")}}
try:
return BLEDevice(addr, state.get("name") or None, details)
except TypeError:
return BLEDevice(addr, state.get("name") or None, details, -60)
def cfg_kind(cfg):
return cfg.get("kind", "unknown")
def friendly_error(e):
text = str(e).lower()
if isinstance(e, (asyncio.TimeoutError, TimeoutError)) and not text:
return "Die Kamera hat auf den Bluetooth-Verbindungsaufbau nicht geantwortet (Zeitüberschreitung)"
if "not found" in text and ("device" in text or "dev_" in text):
return "Die Kamera ist für Bluetooth nicht mehr sichtbar (aus, im Ruhemodus oder mit dem Handy verbunden?)"
if "failed to discover services" in text or "device disconnected" in text:
return "Die Kamera hat die Bluetooth-Verbindung beim Einrichten beendet"
if "le-connection-abort-by-local" in text:
return "Der Bluetooth-Verbindungsaufbau wurde abgebrochen (Funk gestört?)"
return None
STATUS_ONLY_KEY = "hdmi"
def camera_key(addr, taken=()):
hexa = re.sub(r"[^0-9a-f]", "", addr.lower())
for n in (6, 8, 10, 12):
key = "dji-" + hexa[-n:]
if key not in taken:
return key
return "dji-" + hexa
class CameraError(Exception):
pass
class Camera:
AFTER_LINK_SECONDS = 90
OLD_STREAM_WAIT_S = 25
RETRY_SCHEDULE = (8, 8, 15, 30)
SEARCH_SECONDS = 15
STREAM_CHECK_SECONDS = 5
STREAM_LOST_SECONDS = 30
NO_VIDEO_SECONDS = 25
CONNECT_SETTLE = 1.0
@property
def manual_off(self):
return bool(self.cfg.get("manual_off"))
@manual_off.setter
def manual_off(self, value):
if value:
self.cfg["manual_off"] = True
else:
self.cfg.pop("manual_off", None)
def __init__(self, daemon, addr, cfg):
self.daemon = daemon
self.addr = addr
self.cfg = cfg
self.state = "idle"
self.detail = ""
self.battery = None
self.battery_at = 0.0
self.charging = None
self._status_prev = None
self._status_flips = {}
self.task = None
self.stop_requested = False
self.last_seen = 0
self.last_rx = 0
self.fail_count = 0
self.retry_at = 0
self.wake = asyncio.Event()
self.switch_until = 0.0
self.publishing = False
self.force_cleanup = False
self.typed_network = True
self._scanner = None
self._search_started = 0.0
self._client = None
self.link_ended = 0.0
self._reusing = False
self.reuse_failed = False
self._resume_sig = None
self.leaving = False
def locked(self):
return self.state not in ("idle", "error", "searching", "connecting") or self.publishing
def mode_locked(self):
return self.state not in ("idle", "error") or self.publishing
def switch_wait(self):
left = self.switch_until - time.monotonic()
return 0 if left <= 0 or self.state == "error" else int(left) + 1
def set_state(self, state, detail=""):
if state != self.state or detail != self.detail:
log.info("%s: %s %s", self.addr, state, detail)
self.state, self.detail = state, detail
if state == "streaming":
key = self.cfg.get("rtmp_key")
if key:
self.daemon.feed_hold(key, 0)
def public(self):
c = dict(self.cfg)
c.pop("password", None)
mac = c.pop("wifi_mac", "")
if mac and iface_by_mac(mac):
c["wifi_ifname"] = iface_by_mac(mac)
c["saved"] = [n["ssid"] for n in self.cfg.get("saved", [])]
retry_in = max(0, int(self.retry_at - time.time())) if self.retry_at else 0
c.update({"addr": self.addr, "state": self.state, "detail": self.detail,
"battery": self.battery, "charging": self.charging,
"battery_age": int(time.time() - self.battery_at) if self.battery_at else None,
"in_range": time.time() - self.last_seen < 30, "manual_off": bool(self.manual_off),
"retry_in": retry_in, "publishing": self.publishing, "locked": self.locked(), "mode_locked": self.mode_locked(),
"switch_wait": self.switch_wait()})
return c
def network_for_unreadable(self, o):
cfg, ifname, want = self.cfg, o["ifname"], o["ssid"]
typed = cfg.get("ssid") and cfg.get("password")
if typed and cfg["ssid"] == want:
cfg["ssid_if"] = ifname
return cfg["ssid"], cfg["password"]
if typed and cfg.get("ssid_if") == ifname:
return cfg["ssid"], cfg["password"]
cands = [n for n in cfg.get("saved", []) if isinstance(n, dict) and n.get("ssid") == want and n.get("password")]
m = self.daemon.by_conn.get(ifname)
if not cands and isinstance(m, dict) and m.get("ssid") == want and m.get("password"):
cands = [m]
if cands:
cfg["ssid"], cfg["password"], cfg["ssid_if"] = cands[-1]["ssid"], cands[-1]["password"], ifname
return cfg["ssid"], cfg["password"]
if typed and not cfg.get("ssid_if"):
return cfg["ssid"], cfg["password"]
raise CameraError('Die Box ist über %s im WLAN "%s", dessen Passwort sich nicht aus NetworkManager lesen lässt. Die Kamera muss diesem Netz beitreten: '
'Bitte in der DJI-Karte WLAN-Name und Passwort von Hand eintragen (oder ein gespeichertes Netz wählen).' % (ifname, want))
def resolve_target(self):
cfg = self.cfg
self.typed_network = True
ifname = cfg.get("wifi_ifname")
mac = cfg.get("wifi_mac")
if mac and ifname != "manual":
found = iface_by_mac(mac)
if not found:
raise CameraError("Die gewählte Verbindung (Router) ist nicht da. Router prüfen: eingeschaltet, per Kabel oder USB verbunden, "
"im USB-Modus? Die Kamera bleibt bei dieser Verbindung und wechselt nicht ins Heimnetz.")
if found != ifname:
log.info("%s: die gewählte Verbindung heißt jetzt %s (vorher %s)", self.addr, found, ifname)
cfg["wifi_ifname"] = ifname = found
if ifname and ifname != "manual":
for o in self.daemon.wifi_options():
if o["ifname"] == ifname:
if o["type"] == "other":
ssid, pw, ip = cfg.get("ssid") or o["ssid"], cfg.get("password", ""), o["ip"]
elif o.get("secret_missing"):
ssid, pw = self.network_for_unreadable(o)
ip = o["ip"]
else:
self.typed_network = False
ssid, pw, ip = o["ssid"], o["password"], o["ip"]
break
else:
raise CameraError("Die Verbindung %s ist nicht aktiv. Router prüfen: eingeschaltet, per USB verbunden, "
"im USB-Modus?" % ifname)
else:
ssid, pw, ip = cfg.get("ssid", ""), cfg.get("password", ""), cfg.get("ip", "")
if not ssid or not ip:
raise CameraError("Für die Kamera ist keine Verbindung gewählt (WLAN-Name oder Adresse der Box fehlt)")
key = cfg.get("rtmp_key") or "cam1"
return ssid, pw, "rtmp://%s:%d/%s/%s" % (ip, self.daemon.rtmp_port, self.daemon.rtmp_app, key)
async def find_device(self):
self._reusing = False
if not self.reuse_failed and not self.stop_requested:
try:
st = await asyncio.get_event_loop().run_in_executor(None, dji.bluez_device_state, self.addr)
except Exception:
st = None
if st and st.get("connected"):
log.info("%s: BlueZ hält die Kamera noch verbunden, die Verbindung wird weiterverwendet", self.addr)
self._reusing = True
self.force_cleanup = False
self._search_started = time.time()
return make_ble_device(st, self.addr)
if self.fail_count >= 2 or self.force_cleanup:
self.force_cleanup = False
await bluez_cleanup(self.addr)
self._search_started = time.time()
scanner = BleakScanner(**self.daemon.scan_kwargs())
try:
await scanner.start()
except Exception as e:
raise CameraError("Die Bluetooth-Suche konnte nicht gestartet werden: %s" % e)
self._scanner = scanner
end = time.time() + self.SEARCH_SECONDS
while time.time() < end and not self.stop_requested:
try:
for addr, (dev, _adv) in scanner.discovered_devices_and_advertisement_data.items():
if str(addr).upper() == self.addr.upper():
self.last_seen = time.time()
return dev
except Exception as e:
log.info("%s: Suchergebnis nicht lesbar: %s", self.addr, e)
await asyncio.sleep(0.2)
await self.stop_scan()
return None
async def stop_scan(self):
s, self._scanner = self._scanner, None
if s is not None:
try:
await s.stop()
except Exception as e:
log.info("%s: Suche beenden fehlgeschlagen: %s", self.addr, e)
async def session(self):
cfg = self.cfg
model_kind = cfg.get("kind", "unknown")
if BleakClient is None:
raise CameraError("Die Bluetooth-Bibliothek (bleak) ist nicht installiert. install.sh erneut ausführen.")
if cfg.get("model") == ACTION2_NAME:
raise CameraError("Osmo Action 2: Die Fernsteuerung funktioniert laut Moblin nicht.")
loop = asyncio.get_event_loop()
if cfg.get("status_only"):
ssid = password = rtmp_url = ""
else:
ssid, password, rtmp_url = await loop.run_in_executor(None, self.resolve_target)
key = cfg.get("rtmp_key") or "cam1"
if self.daemon.adapter_missing():
prob = dji.adapter_problems([], dji.usb_bluetooth_devices())
raise CameraError(prob[0]["hint"] if prob else "Kein Bluetooth-Adapter gefunden")
if self.daemon.conn_lock.locked():
self.set_state("connecting", "Wartet, bis eine andere Kamera fertig verbunden ist")
await self.daemon.conn_lock.acquire()
held = [True]
loop2 = asyncio.get_event_loop()
async def release():
await self.stop_scan()
if held[0]:
held[0] = False
loop2.call_later(self.CONNECT_SETTLE, self.daemon.conn_lock.release)
try:
await self._connect_and_stream(loop, ssid, password, rtmp_url, key, release)
finally:
if self._client is not None:
self.link_ended = time.time()
self._client = None
await release()
async def _connect_and_stream(self, loop, ssid, password, rtmp_url, key, release):
cfg = self.cfg
model_kind = cfg.get("kind", "unknown")
self.set_state("searching", "Kamera wird gesucht")
device = await self.find_device()
if device is None:
raise CameraError("Kamera nicht gefunden. Ist sie an, Bluetooth aktiv und nicht mit dem Handy verbunden?")
queue = asyncio.Queue()
disconnected = asyncio.Event()
def on_notify(_char, data):
try:
msg = Message.decode(data)
except ValueError as e:
log.debug("Nachricht verworfen %s: %s", bytes(data).hex(), e)
return
self.last_rx = time.time()
if msg.type == TY_STATUS and len(msg.payload) >= 21:
self.battery = msg.payload[20]
self.battery_at = time.time()
spec = power_spec(self.cfg)
if spec and len(msg.payload) >= spec[0] + 4:
self.charging = struct.unpack_from("<i", bytes(msg.payload), spec[0])[0] > spec[1]
cur = bytes(msg.payload)
if self._status_prev is None:
log.info("%s: Statusnachricht (%d Byte, Akku %d %%): %s", self.addr, len(cur), self.battery, cur.hex())
else:
changed = [i for i in range(min(len(cur), len(self._status_prev))) if i != 20 and cur[i] != self._status_prev[i]]
for i in changed:
self._status_flips[i] = self._status_flips.get(i, 0) + 1
if any(self._status_flips[i] <= 3 for i in changed):
log.info("%s: Statusnachricht (%d Byte, Akku %d %%): %s", self.addr, len(cur), self.battery, cur.hex())
self._status_prev = cur
return
queue.put_nowait(msg)
async def wait_for(mid, timeout=15):
end = time.time() + timeout
while True:
left = end - time.time()
if left <= 0:
raise CameraError("Keine Antwort der Kamera (0x%04x). Kamera ganz aus- und wieder einschalten, bei Bedarf ihr gespeichertes WLAN löschen." % mid)
try:
msg = await asyncio.wait_for(queue.get(), left)
except asyncio.TimeoutError:
raise CameraError("Keine Antwort der Kamera (0x%04x). Kamera ganz aus- und wieder einschalten, bei Bedarf ihr gespeichertes WLAN löschen." % mid)
if msg.id == mid:
return msg
self.set_state("connecting", "Verbinde per Bluetooth")
self.last_rx = time.time()
t_connect = time.time()
async with BleakClient(device, timeout=20, disconnected_callback=lambda c: disconnected.set()) as client:
self._client = client
t_connected = time.time()
write_char = None
for service in client.services:
for ch in service.characteristics:
if ch.uuid.startswith("0000fff5"):
write_char = ch
if "notify" in ch.properties or "indicate" in ch.properties:
try:
await client.start_notify(ch, on_notify)
except Exception as e:
log.debug("Benachrichtigung auf %s fehlgeschlagen: %s", ch.uuid, e)
if write_char is None:
raise CameraError("Kein DJI-Gerät (Schreib-Kanal FFF5 fehlt)")
log.info("%s: Zeiten: Verbinden und Dienste %.1f s, Benachrichtigungen %.1f s (Suche vorher %.1f s)", self.addr,
t_connected - t_connect, time.time() - t_connected, t_connect - self._search_started)
await release()
async def send(msg):
await client.write_gatt_char(write_char, msg.encode(), response=False)
self.set_state("pairing", "Falls die Kamera fragt, bitte dort bestätigen")
await send(Message(T_PAIR, ID_PAIR, TY_PAIR, PAIR_PAYLOAD + pack_string(PAIR_PIN)))
resp = await wait_for(ID_PAIR)
if resp.payload != bytes([0, 1]):
try:
await asyncio.wait_for(queue.get(), 60)
except asyncio.TimeoutError:
raise CameraError("Die Kopplung wurde an der Kamera nicht bestätigt")
if self.stop_requested:
return
if cfg.get("status_only"):
await self._status_only_loop(client, disconnected)
return
async def setup_stream():
nonlocal ssid, password, rtmp_url
self.set_state("preparing", "Stream wird vorbereitet")
await send(Message(T_STOP, ID_STOP, TY_STOP, STOP_PAYLOAD))
await wait_for(ID_STOP)
await send(Message(T_PREPARE, ID_PREPARE, TY_PREPARE, b"\x1a"))
await wait_for(ID_PREPARE)
if self.stop_requested:
return False
if not cfg.get("status_only"):
ssid, password, rtmp_url = await loop.run_in_executor(None, self.resolve_target)
self.set_state("wifi", ssid)
await send(Message(T_WIFI, ID_WIFI, TY_WIFI, pack_string(ssid) + pack_string(password)))
resp = await wait_for(ID_WIFI, 30)
if resp.payload != bytes([0, 0]):
log.info("%s: WLAN-Antwort der Kamera: %s", self.addr, resp.payload.hex())
raise CameraError('Die Kamera konnte dem WLAN "%s" nicht beitreten. Die Box hat Name und Passwort richtig gesendet. Gibt es ein Netz mit demselben Namen in Reichweite (zum Beispiel eine zweite Box)? Dann Kamera neu starten und ihr gespeichertes Netz löschen.' % ssid)
if self.typed_network and ssid:
self.daemon.remember_network(self, ssid, password)
if self.stop_requested:
return False
if model_kind in CONFIGURE_KINDS:
self.set_state("configuring", "Bildstabilisierung wird eingestellt")
await send(Message(T_CONFIGURE, ID_CONFIGURE, TY_CONFIGURE,
build_configure_payload(model_kind, cfg.get("stabilization", "off"))))
await wait_for(ID_CONFIGURE)
if self.stop_requested:
return
10BC8
False
end = time.monotonic() + self.OLD_STREAM_WAIT_S
while time.monotonic() < end and not self.stop_requested:
if (await loop.run_in_executor(None, rtmp_publishing, key, self.daemon.stat_url)) is not True:
break
self.set_state("starting", "Wartet, bis der alte Stream beendet ist")
await asyncio.sleep(1)
self.set_state("starting", "Stream wird gestartet")
send_url = camera_rtmp_url(model_kind, rtmp_url)
payload = build_start_payload(model_kind, send_url, cfg.get("resolution", "1080p"),
int(cfg.get("bitrate", 6000)), int(cfg.get("fps", 30)))
await send(Message(T_START, ID_START, TY_START, payload))
if model_kind in NEW_PROTOCOL:
await send(Message(T_STOP, ID_STOP, TY_STOP, CONFIRM_PAYLOAD))
await wait_for(ID_START, 30)
self.set_state("streaming", rtmp_url)
self.fail_count = 0
self.reuse_failed = False
return True
sig = (model_kind, rtmp_url, ssid, cfg.get("resolution", "1080p"), int(cfg.get("bitrate", 6000)), int(cfg.get("fps", 30)), cfg.get("stabilization", "off"))
resume = False
if self._resume_sig == sig:
resume = (await loop.run_in_executor(None, rtmp_publishing, key, self.daemon.stat_url)) is True
if resume:
log.info("%s: Der Stream der Kamera läuft noch: Einrichtung übersprungen, nur die Verbindung wird wieder aufgenommen", self.addr)
self.set_state("streaming", rtmp_url)
self.fail_count = 0
self.reuse_failed = False
else:
self._resume_sig = None
if not await setup_stream():
return
self._resume_sig = sig
last_ok = time.time()
last_check = 0
bt_lost = False
low_since = None
while not self.stop_requested:
if bt_lost:
await asyncio.sleep(1)
else:
try:
await asyncio.wait_for(disconnected.wait(), 1)
except asyncio.TimeoutError:
pass
while not queue.empty():
queue.get_nowait()
now = time.time()
if disconnected.is_set() and not bt_lost:
bt_lost = True
log.info("%s: Bluetooth-Verbindung getrennt, prüfe den Stream", self.addr)
if now - last_check >= self.STREAM_CHECK_SECONDS or (bt_lost and last_check == 0):
last_check = now
publishing = await loop.run_in_executor(None, rtmp_publishing, key, self.daemon.stat_url)
if publishing is None and bt_lost:
if now - last_ok > self.STREAM_LOST_SECONDS:
raise CameraError("Die Bluetooth-Verbindung ging verloren")
elif publishing is None or publishing:
last_ok = now
if publishing:
kb = await loop.run_in_executor(None, rtmp_video_kbps, key, self.daemon.stat_url)
if kb is not None and kb < max(300, int(cfg.get("bitrate", 6000)) // 10):
low_since = low_since or now
if now - low_since > self.NO_VIDEO_SECONDS:
self._resume_sig = None
raise CameraError("Der Stream liefert kein Bild (nur Ton)")
else:
low_since = None
if bt_lost:
if time.time() - self.last_rx < 20:
self.set_state("streaming", "Der Stream läuft; die Steuerung per Bluetooth ist beendet, Statusmeldungen (Akku) kommen weiter")
else:
self.set_state("streaming", "Der Stream läuft, die Bluetooth-Verbindung ist getrennt")
elif now - last_ok > self.STREAM_LOST_SECONDS:
raise CameraError("Der Stream ist ausgefallen (Kamera außer Reichweite des WLANs?)")
if not bt_lost and now - self.last_rx > 180 and (await loop.run_in_executor(None, rtmp_publishing, key, self.daemon.stat_url)) is False:
raise CameraError("Die Bluetooth-Verbindung ging verloren")
if self.stop_requested and client.is_connected and not bt_lost and not self.leaving:
self.set_state("stopping", "Stream wird beendet")
try:
await send(Message(T_STOP, ID_STOP, TY_STOP, STOP_PAYLOAD))
await wait_for(ID_STOP, 10)
except Exception:
pass
STATUS_SILENCE_SECONDS = 180
async def _status_only_loop(self, client, disconnected):
self.set_state("status", "Nur Akkustand per Bluetooth")
self.fail_count = 0
self.reuse_failed = False
self.last_rx = time.time()
while not self.stop_requested:
try:
await asyncio.wait_for(disconnected.wait(), 1)
except asyncio.TimeoutError:
pass
if disconnected.is_set() or not client.is_connected:
raise CameraError("Die Bluetooth-Verbindung ging verloren")
if time.time() - self.last_rx > self.STATUS_SILENCE_SECONDS:
raise CameraError("Die Kamera sendet keine Statusmeldungen mehr")
async def run_loop(self):
while True:
self.wake.clear()
try:
await self.session()
self.fail_count = 0
self._resume_sig = None
self.set_state("idle", "Getrennt")
except asyncio.CancelledError:
self._resume_sig = None
self.set_state("idle")
raise
except CameraError as e:
self.fail_count += 1
self._reuse_failed_now()
self.set_state("error", str(e))
except Exception as e:
self.fail_count += 1
self._reuse_failed_now()
msg = friendly_error(e)
if msg is None:
log.exception("Sitzung fehlgeschlagen")
msg = "%s: %s" % (type(e).__name__, e)
else:
log.info("%s: %s (%s)", self.addr, msg, type(e).__name__)
if self.recovering(e):
self.set_state("connecting", "Die Kamera meldet sich nach dem Trennen oft erst nach etwa einer Minute wieder. Der Dienst versucht es weiter.")
else:
self.set_state("error", msg)
if self.stop_requested or not self.cfg.get("autoconnect"):
self.retry_at = 0
return
delay = self.retry_delay()
self.retry_at = time.time() + delay
try:
await asyncio.wait_for(self.wake.wait(), delay)
except asyncio.TimeoutError:
pass
self.retry_at = 0
if self.stop_requested:
return
def recovering(self, exc):
connect_failure = isinstance(exc, (asyncio.TimeoutError, TimeoutError)) or "disconnected" in str(exc).lower() or "failed to discover" in str(exc).lower()
return connect_failure and 0 < time.time() - self.link_ended < self.AFTER_LINK_SECONDS
def _reuse_failed_now(self):
if self._reusing:
log.info("%s: Die weiterverwendete Verbindung hat nicht funktioniert, der nächste Versuch verbindet neu", self.addr)
self._reusing = False
self.reuse_failed = True
self.force_cleanup = True
def retry_delay(self):
return self.RETRY_SCHEDULE[min(max(self.fail_count, 1) - 1, len(self.RETRY_SCHEDULE) - 1)]
def running(self):
return self.task is not None and not self.task.done()
def start(self):
if self.running():
self.wake.set()
return
self.fail_count = 0
self.stop_requested = False
self.manual_off = False
self.force_cleanup = True
self.task = asyncio.ensure_future(self.run_loop())
async def release_link(self):
client = self._client
if client is not None:
try:
await asyncio.wait_for(client.disconnect(), 5)
except Exception as e:
log.info("%s: Trennen beim Beenden fehlgeschlagen: %s", self.addr, e)
async def release_feed(self):
key = self.cfg.get("rtmp_key")
if not key or not (self.publishing or self.state in ("starting", "configuring", "streaming")):
return
if self.daemon.feed_hold(key, FEED_HOLD_S):
await asyncio.sleep(FEED_HOLD_WAIT_S)
async def stop_session(self):
await self.release_feed()
self.stop_requested = True
self._resume_sig = None
self.wake.set()
if self.running():
try:
await asyncio.wait_for(asyncio.shield(self.task), 15)
except Exception:
self.task.cancel()
self.retry_at = 0
async def stop(self):
self.manual_off = True
await self.stop_session()
self.set_state("idle")
async def restart(self):
await self.stop_session()
self.set_state("idle")
self.start()
FEED_HOLD_FILE = "feed-hold.json"
FEED_HOLD_S = 45
SWITCH_LOCK_S = 120
FEED_HOLD_WAIT_S = 4.5
SETTINGS_ALLOWED = {"name": str, "wifi_ifname": str, "ssid": str, "password": str, "ip": str,
"resolution": str, "fps": int, "bitrate": int, "stabilization": str, "autoconnect": bool, "status_only": bool}
NETWORK_FIELDS = ("wifi_ifname", "ssid", "password", "ip")
LEGACY_MODEL_IDS = {"osmoAction2": 0x0010, "osmoAction3": 0x0012, "osmoAction4": 0x0014, "osmoAction5Pro": 0x0015,
"osmo360": 0x0017, "osmoAction6": 0x0018, "osmoPocket3": 0x0020, "osmoPocket4": 0x0021}
LEGACY_STAB = {"rockSteady": "rocksteady", "rockSteadyPlus": "rocksteadyplus",
"horizonBalancing": "horizonbalancing", "horizonSteady": "horizonsteady"}
MAC_RE = re.compile(r"^([0-9A-Fa-f]{2}:){5}[0-9A-Fa-f]{2}$")
DEFAULT_SETTINGS = {"resolution": "1080p", "fps": 30, "bitrate": 6000, "stabilization": "off"}
def _read_json(path):
try:
with open(path) as f:
d = json.load(f)
return d if isinstance(d, dict) else {}
except (OSError, ValueError):
return {}
def iface_ip(name):
import socket
import struct
try:
import fcntl
sk = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
return socket.inet_ntoa(fcntl.ioctl(sk.fileno(), 0x8915,
struct.pack("256s", name[:15].encode()))[20:24])
finally:
sk.close()
except (ImportError, OSError):
return None
def migrate_legacy(state_dir, wifi_options=None):
known = _read_json(os.path.join(state_dir, "dji-known.json"))
settings = _read_json(os.path.join(state_dir, "dji-settings.json"))
wifi = _read_json(os.path.join(state_dir, "dji-wifi.json"))
active = _read_json(os.path.join(state_dir, "dji-active.json"))
net = _read_json(os.path.join(state_dir, "camera-net.json")).get("iface")
names = {}
try:
with open(os.path.join(state_dir, "cameras.json")) as f: