sphero.py 文件源码

def connect(self):
        """
        Connects the sphero with the address given in the constructor
        """
        self._device = bluepy.btle.Peripheral(self._addr, addrType=bluepy.btle.ADDR_TYPE_RANDOM)
        self._notifier = DelegateObj(self, self._notification_lock)
        #set notifier to be notified
        self._device.withDelegate(self._notifier)

        self._devModeOn()
        self._connected = True #Might need to change to be a callback format
        #get the command service
        cmd_service = self._device.getServiceByUUID(RobotControlService)
        self._cmd_characteristics = {}
        characteristic_list = cmd_service.getCharacteristics()
        for characteristic in characteristic_list:
            uuid_str = binascii.b2a_hex(characteristic.uuid.binVal).decode('utf-8')
            self._cmd_characteristics[uuid_str] = characteristic

        self._listening_flag = True
        self._listening_thread = threading.Thread(target=self._listening_loop)
        self._listening_thread.start()