from __future__ import print_function
from pprint import pformat
import json
import logging
import socket
import six
import ssl
import sys
try:
import configparser
except:
from six.moves import configparser
if sys.version_info[0] < 3: #fix more python 3 incompatibilities
input = raw_input
log = logging.getLogger(__name__)
class Password(object):
'''
Get Roomba blid and password - only V2 firmware supported
if IP is not supplied, class will attempt to discover the Roomba IP first.
Results are written to a config file, default ".\config.ini"
V 1.2.3 NW 9/10/2018 added support for Roomba i7
V 1.2.5 NW 7/10/2019 changed PROTOCOL_TLSv1 to PROTOCOL_TLS to fix i7 software connection problem
V 1.2.6 NW 12/11/2019 add cipher to ssl to avoid dh_key_too_small issue
'''
VERSION = __version__ = "1.2.6"
def __init__(self, address='255.255.255.255', file=".\config.ini"):
self.address = address
self.file = file
#self.log = logging.getLogger(__name__+'.Roomba_getpassword')
if __name__ == "password":
self.log = logging.getLogger("__main__") #another logging fix NW 3/2/2018
else:
self.log = logging.getLogger("roomba.__main__")
#self.log.info("__name__ is %s" % __name__)
self.log.info("Using Password version %s" % self.VERSION)
self.get_password()
def receive_udp(self):
#set up UDP socket to receive data from robot
port = 5678
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.settimeout(10)
if self.address == '255.255.255.255':
s.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
s.bind(("", port)) #bind all intefaces to port
print("waiting on port: %d for data" % port)
message = 'irobotmcs'
s.sendto(message.encode(), (self.address, port))
roomba_dict = {}
while True:
try:
udp_data, addr = s.recvfrom(1024) #wait for udp data
#print('Received: Robot addr: %s Data: %s ' % (addr, udp_data))
if len(udp_data) > 0:
if udp_data != message:
try:
if self.address != addr[0]:
self.log.warn(
"supplied address %s does not match "
"discovered address %s, using discovered "
"address..." % (self.address, addr[0]))
if udp_data.decode() != message:
parsedMsg = json.loads(udp_data.decode()) #1.2.3 added .decode() to avoid python 3 bytes error
roomba_dict[addr]=parsedMsg
except Exception as e:
print("json decode error: %s" % e)
print('RECEIVED: %s', pformat(udp_data))
# print('Robot Data: %s '
# % json.dumps(parsedMsg, indent=2))
else:
break
except socket.timeout:
break
s.close()
return roomba_dict
def get_password(self):
import struct
#get roomba info
blid=None
roombas = self.receive_udp()
if len(roombas) == 0:
print("No Roombas found, try again...")
return False
else:
print("found %d Roomba(s)" % len(roombas))
for address,parsedMsg in six.iteritems(roombas):
addr = address[0]
if int(parsedMsg["ver"]) < 2:
print("Roombas at address: %s does not have the correct "
"firmware version. Your version info is: %s"
% (addr,json.dumps(parsedMsg, indent=2)))
continue
print("Make sure your robot (%s) at IP %s is on the Home Base and "
"powered on (green lights on). Then press and hold the HOME "
"button on your robot until it plays a series of tones "
"(about 2 seconds). Release the button and your robot will "
"flash WIFI light."
% (parsedMsg["robotname"],addr))
input("Press Enter to continue...")
print("Received: %s" % json.dumps(parsedMsg, indent=2))
print("\r\rRoomba (%s) IP address is: %s"
% (parsedMsg["robotname"],addr))
hostname = parsedMsg["hostname"].split('-')
if hostname[0] == 'Roomba' or hostname[0] == 'iRobot': #for i7 robot name is now iRobot
blid = hostname[1]
if hasattr(str, 'decode'):
# this is 0xf0 (mqtt reserved) 0x05(data length)
# 0xefcc3b2900 (data)
packet = 'f005efcc3b2900'.decode("hex")
else:
#this is 0xf0 (mqtt reserved) 0x05(data length)
# 0xefcc3b2900 (data)
packet = bytes.fromhex('f005efcc3b2900')
#send socket
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.settimeout(10)
#ssl wrap
wrappedSocket = ssl.wrap_socket(
sock, ssl_version=ssl.PROTOCOL_TLS, ciphers='DEFAULT@SECLEVEL=1') #ciphers='HIGH:!DH:!aNULL' may work as well
#connect and send packet
try:
wrappedSocket.connect((addr, 8883))
except Exception as e:
print("Connection Error %s" % e)
wrappedSocket.send(packet)
data = b''
data_len = 35
while True:
try:
# NOTE data is 0xf0 (mqtt RESERVED) length (0x23 = 35),
# 0xefcc3b2900 (magic packet), 0xXXXX... (30 bytes of
# password). so 7 bytes, followed by 30 bytes of password
# (total of 37)
if len(data) >= data_len+2:
break
data_received = wrappedSocket.recv(1024)
except socket.error as e:
print("Socket Error: %s" % e)
break
if len(data_received) == 0:
print("socket closed")
break
else:
data += data_received
if len(data) >= 2:
data_len = struct.unpack("B", data[1:2])[0]
#close socket
wrappedSocket.close()
# if len(data) > 0:
# import binascii
# print("received data: hex: %s, length: %d"
# % (binascii.hexlify(data), len(data)))
if len(data) <= 7:
print('Error getting password, receive %d bytes. Follow the '
'instructions and try again.' % len(data))
return False
else:
# Convert password to str
#password = str(data[7:].decode()) #old version
password = str(data[7:].decode().rstrip('\x00')) #for i7 - has null termination
print("blid is: %s" % blid)
print('Password=> %s <= Yes, all this string.' % password)
print('Use these credentials in roomba.py')
Config = configparser.ConfigParser()
Config.add_section(addr)
Config.set(addr,'blid', blid)
Config.set(addr,'password', password)
Config.set(addr,'data', pformat(parsedMsg))
# write config file
with open(self.file, 'w') as cfgfile:
Config.write(cfgfile)
return True
