问题描述
我正在尝试使用csr 4.0加密狗将两个Arduino设备连接到树莓派。我尝试了python3和bluepy，但总是其中之一无法连接！我也尝试同时使用bluetoothctl连接到他们，但是我明白了：
Failed to connect: org.bluez.Error.Failed
由于BLE协议，应该可以连接多个设备！ csr 4.0加密狗和HC-08都是BLE设备！为什么我不断收到此错误？！
按照@ukBaz所说的调试添加日志
对于蓝牙版本：
pi@raspBerrypi:~ $ bluetoothctl
[bluetooth]# version
Version 5.43
关于服务蓝牙状态：
● bluetooth.service - Bluetooth service
Loaded: loaded (/lib/systemd/system/bluetooth.service; enabled; vendor preset: enabled)
Active: active (running) since Mon 2020-09-14 18:49:08 +0430; 14h ago
Docs: man:bluetoothd(8)
Process: 269 ExecStartPost=/usr/bin/sdptool add SP (code=exited,status=0/SUCCESS)
Main PID: 264 (bluetoothd)
Status: "Running"
Memory: 3.2M
cpu: 832ms
CGroup: /system.slice/bluetooth.service
└─264 /usr/lib/bluetooth/bluetoothd -C
Sep 14 18:49:08 raspBerrypi bluetoothd[264]: Bluetooth management interface 1.14 initialized
Sep 14 18:49:08 raspBerrypi bluetoothd[264]: Failed to obtain handles for "Service Changed" characteristic
Sep 14 18:49:08 raspBerrypi bluetoothd[264]: Sap driver initialization Failed.
Sep 14 18:49:08 raspBerrypi bluetoothd[264]: sap-server: Operation not permitted (1)
Sep 14 18:49:08 raspBerrypi sdptool[269]: Serial Port service registered
Sep 14 18:49:08 raspBerrypi systemd[1]: Started Bluetooth service.
Sep 14 19:08:24 raspBerrypi bluetoothd[264]: Unable pair since another pairing is in progress
Sep 14 19:09:43 raspBerrypi bluetoothd[264]: No cache for 00:15:87:10:9A:4E
Sep 14 19:16:59 raspBerrypi bluetoothd[264]: No cache for 00:15:87:10:9A:4E
Sep 14 19:17:31 raspBerrypi bluetoothd[264]: No cache for 00:15:87:10:9A:4E
对于sudo btmon -t：
Bluetooth monitor ver 5.43
= Note: Linux version 4.19.66+ (armv6l) 09:25:32.554465
= Note: Bluetooth subsystem version 2.22 09:25:32.554485
= New Index: 00:1A:7D:DA:71:10 (Primary,USB,hci0) [hci0] 09:25:32.554491
= Open Index: 00:1A:7D:DA:71:10 [hci0] 09:25:32.554495
= Index Info: 00:1A:7D:DA:71:10 (Cambridge Silicon Radio) [hci0] 09:25:32.554502
@ MGMT Open: bluetoothd (privileged) version 1.14 {0x0001} 09:25:32.554510
@ MGMT Open: btmon (privileged) version 1.14 {0x0002} 09:25:32.554755
< HCI Command: LE Add Device To White List (0x08|0x0011) plen 7 [hci0] 09:26:08.930803
Address type: Public (0x00)
Address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:08.934471
LE Add Device To White List (0x08|0x0011) ncmd 1
Status: Success (0x00)
< HCI Command: LE Set Scan Parameters (0x08|0x000b) plen 7 [hci0] 09:26:08.934746
Type: Passive (0x00)
Interval: 60.000 msec (0x0060)
Window: 30.000 msec (0x0030)
Own address type: Public (0x00)
Filter policy: Ignore not in white list (0x01)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:08.936466
LE Set Scan Parameters (0x08|0x000b) ncmd 1
Status: Success (0x00)
< HCI Command: LE Set Scan Enable (0x08|0x000c) plen 2 [hci0] 09:26:08.937163
Scanning: Enabled (0x01)
Filter duplicates: Enabled (0x01)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:08.944467
LE Set Scan Enable (0x08|0x000c) ncmd 1
Status: Success (0x00)
> HCI Event: LE Meta Event (0x3e) plen 43 [hci0] 09:26:09.007422
LE Advertising Report (0x02)
Num reports: 1
Event type: Connectable undirected - ADV_IND (0x00)
Address type: Public (0x00)
Address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
Data length: 31
Flags: 0x06
LE General discoverable Mode
BR/EDR Not Supported
16-bit Service UUIDs (partial): 1 entry
UnkNown (0xfff0)
Company: not assigned (17224)
Data: 2d30380000000000000000000000000000000000
RSSI: 0 dBm (0x00)
< HCI Command: LE Set Scan Enable (0x08|0x000c) plen 2 [hci0] 09:26:09.007649
Scanning: disabled (0x00)
Filter duplicates: disabled (0x00)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:09.010459
LE Set Scan Enable (0x08|0x000c) ncmd 1
Status: Success (0x00)
< HCI Command: LE Create Connection (0x08|0x000d) plen 25 [hci0] 09:26:09.010832
Scan interval: 60.000 msec (0x0060)
Scan window: 60.000 msec (0x0060)
Filter policy: White list is not used (0x00)
Peer address type: Public (0x00)
Peer address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
Own address type: Public (0x00)
Min connection interval: 30.00 msec (0x0018)
Max connection interval: 50.00 msec (0x0028)
Connection latency: 0x0000
Supervision timeout: 420 msec (0x002a)
Min connection length: 0.000 msec (0x0000)
Max connection length: 0.000 msec (0x0000)
> HCI Event: Command Status (0x0f) plen 4 [hci0] 09:26:09.019534
LE Create Connection (0x08|0x000d) ncmd 1
Status: Success (0x00)
> HCI Event: LE Meta Event (0x3e) plen 19 [hci0] 09:26:09.221422
LE Connection Complete (0x01)
Status: Success (0x00)
Handle: 1
Role: Master (0x00)
Peer address type: Public (0x00)
Peer address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
Connection interval: 50.00 msec (0x0028)
Connection latency: 0.00 msec (0x0000)
Supervision timeout: 420 msec (0x002a)
Master clock accuracy: 0x00
@ MGMT Event: Device Connected (0x000b) plen 44 {0x0002} [hci0] 09:26:09.221713
LE Address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
Flags: 0x00000000
Data length: 31
Flags: 0x06
LE General discoverable Mode
BR/EDR Not Supported
16-bit Service UUIDs (partial): 1 entry
UnkNown (0xfff0)
Company: not assigned (17224)
Data: 2d30380000000000000000000000000000000000
@ MGMT Event: Device Connected (0x000b) plen 44 {0x0001} [hci0] 09:26:09.221713
LE Address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
Flags: 0x00000000
Data length: 31
Flags: 0x06
LE General discoverable Mode
BR/EDR Not Supported
16-bit Service UUIDs (partial): 1 entry
UnkNown (0xfff0)
Company: not assigned (17224)
Data: 2d30380000000000000000000000000000000000
< HCI Command: LE Read Remote Used Features (0x08|0x0016) plen 2 [hci0] 09:26:09.229846
Handle: 1
> HCI Event: Command Status (0x0f) plen 4 [hci0] 09:26:09.232463
LE Read Remote Used Features (0x08|0x0016) ncmd 1
Status: Success (0x00)
< HCI Command: LE Remove Device From White List (0x08|0x0012) plen 7 [hci0] 09:26:09.232668
Address type: Public (0x00)
Address: A8:E2:C1:76:6A:B8 (OUI A8-E2-C1)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:09.235453
LE Remove Device From White List (0x08|0x0012) ncmd 1
Status: Success (0x00)
< HCI Command: LE Set Scan Parameters (0x08|0x000b) plen 7 [hci0] 09:26:09.235831
Type: Passive (0x00)
Interval: 60.000 msec (0x0060)
Window: 30.000 msec (0x0030)
Own address type: Public (0x00)
Filter policy: Ignore not in white list (0x01)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:09.237589
LE Set Scan Parameters (0x08|0x000b) ncmd 1
Status: Success (0x00)
< HCI Command: LE Set Scan Enable (0x08|0x000c) plen 2 [hci0] 09:26:09.237989
Scanning: Enabled (0x01)
Filter duplicates: Enabled (0x01)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:09.240489
LE Set Scan Enable (0x08|0x000c) ncmd 1
Status: Command disallowed (0x0c)
> HCI Event: LE Meta Event (0x3e) plen 12 [hci0] 09:26:09.311465
LE Read Remote Used Features (0x04)
Status: Success (0x00)
Handle: 1
Features: 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00
LE Encryption
< ACL Data TX: Handle 1 flags 0x00 dlen 7 [hci0] 09:26:09.357158
ATT: Exchange MTU Request (0x02) len 2
Client RX MTU: 517
< HCI Command: LE Set Scan Parameters (0x08|0x000b) plen 7 [hci0] 09:26:09.374549
Type: Passive (0x00)
Interval: 60.000 msec (0x0060)
Window: 30.000 msec (0x0030)
Own address type: Public (0x00)
Filter policy: Ignore not in white list (0x01)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:09.376446
LE Set Scan Parameters (0x08|0x000b) ncmd 1
Status: Success (0x00)
< HCI Command: LE Set Scan Enable (0x08|0x000c) plen 2 [hci0] 09:26:09.376660
Scanning: Enabled (0x01)
Filter duplicates: Enabled (0x01)
> HCI Event: Command Complete (0x0e) plen 4 [hci0] 09:26:09.378464
LE Set Scan Enable (0x08|0x000c) ncmd 1
Status: Command disallowed (0x0c)
@ MGMT Event: Connect Failed (0x000d) plen 8 {0x0002} [hci0] 09:26:09.379025
LE Address: 00:15:87:10:9A:4E (Takenaka Seisakusho Co.,Ltd)
Status: Busy (0x0a)
@ MGMT Event: Connect Failed (0x000d) plen 8 {0x0001} [hci0] 09:26:09.379025
LE Address: 00:15:87:10:9A:4E (Takenaka Seisakusho Co.,Ltd)
Status: Busy (0x0a)
< HCI Command: LE Set Scan Parameters (0x08|0x000b) plen 7
解决方法
应该可以同时将BLE设备连接到Raspberry Pi。您提到了CSR 4.0加密狗，因此您的设置可能与典型设置有所不同，因为您有两个适配器？
我怀疑如果您列出了Bluez服务，您将有hci0和hci1代表内置适配器和CSR加密狗。列表中还将列出您已配对的设备。您需要为要连接的设备使用正确的hci路径
pi@raspberrypi:~/stack_overflow $ busctl tree org.bluez
└─/org
└─/org/bluez
├─/org/bluez/hci0
├─/org/bluez/hci1
│ ├─/org/bluez/hci1/dev_DC_DB_16_6B_8C_5F
│ └─/org/bluez/hci1/dev_DE_82_35_E7_43_BE
└─/org/bluez/test
您可以通过以下命令查看适配器的更多详细信息：
pi@raspberrypi:~/stack_overflow $ busctl introspect org.bluez /org/bluez/hci1 org.bluez.Adapter1
NAME TYPE SIGNATURE RESULT/VALUE FLAGS
.ConnectDevice method a{sv} - -
.GetDiscoveryFilters method - as -
.RemoveDevice method o - -
.SetDiscoveryFilter method a{sv} - -
.StartDiscovery method - - -
.StopDiscovery method - - -
.Address property s "00:02:5B:03:44:07" emits-change
.AddressType property s "public" emits-change
.Alias property s "raspberrypi #2" emits-change writable
.Class property u 4718592 emits-change
.Discoverable property b false emits-change writable
.DiscoverableTimeout property u 180 emits-change writable
.Discovering property b false emits-change
.Modalias property s "usb:v1D6Bp0246d0532" emits-change
.Name property s "raspberrypi #2" emits-change
.Pairable property b true emits-change writable
.PairableTimeout property u 0 emits-change writable
.Powered property b true emits-change writable
.UUIDs property as 9 "00001112-0000-1000-8000-00805f9b34fb… emits-change
您可以在bluetootctl中列出适配器（而不是路径）：
pi@raspberrypi:~/stack_overflow $ bluetoothctl list
Controller 00:02:5B:03:44:07 raspberrypi #2 [default]
Controller B8:27:EB:22:57:E0 SeeMe
要从Python控制BlueZ，我使用pydbus库。假设您的设备在hci1上，那么以下代码应该可以工作（假设您已经与设备配对）。
如果您的设备位于hci0上，则需要修改设备路径。
from signal import pause
import pydbus
DEVICE_ADDR_1 = 'DE:82:35:E7:43:BE'
DEVICE_ADDR_2 = 'DC:DB:16:6B:8C:5F'
# DBus object paths
BLUEZ_SERVICE = 'org.bluez'
ADAPTER_PATH = '/org/bluez/hci1' # Is your CSR dongle this path?
dev1_path = f"{ADAPTER_PATH}/dev_{DEVICE_ADDR_1.replace(':','_')}"
dev2_path = f"{ADAPTER_PATH}/dev_{DEVICE_ADDR_2.replace(':','_')}"
# setup dbus
bus = pydbus.SystemBus()
adapter = bus.get(BLUEZ_SERVICE,ADAPTER_PATH)
device_1 = bus.get(BLUEZ_SERVICE,dev1_path)
device_2 = bus.get(BLUEZ_SERVICE,dev2_path)
try:
device_1.Connect()
device_2.Connect()
print('Connected...')
pause()
except KeyboardInterrupt:
print('Disconnecting...')
device_1.Disconnect()
device_2.Disconnect()
偶尔尝试连接时，有时会报告以下错误：
pi@raspberrypi:~/stack_overflow $ python3 multi_adapters.py
Traceback (most recent call last):
File "multi_adapters.py",line 20,in <module>
device_1.Connect()
File "/usr/local/lib/python3.7/dist-packages/pydbus/proxy_method.py",line 75,in __call__
0,timeout_to_glib(timeout),None).unpack()
gi.repository.GLib.Error: g-io-error-quark: GDBus.Error:org.bluez.Error.Failed: Input/output error (36)