def _initPackets(self):
#status
self.statusResponsePacket = packets.packet(template = [packets.pString('status', 1), #status is encoded as 'b' for bootloader, 'a' for app.
packets.pInteger('appValidity', 1)]) #app validity byte, gets set to 170 if app is valid
#bootloader command
self.bootCommandRequestPacket = packets.packet(template = [packets.pInteger('commandCode', 1)])
self.bootCommandResponsePacket = packets.packet(template = [ packets.pInteger('responseCode', 1),
packets.pInteger('pageNumber', 2)])
#bootloader write
self.bootWriteRequestPacket = packets.packet(template = [packets.pInteger('commandCode', 1),
packets.pInteger('pageNumber', 2),
packets.pList('writeData', self.bootPageSize)])
self.bootWriteResponsePacket = packets.packet(self.bootCommandResponsePacket)
#bootloader read
self.bootReadRequestPacket = packets.packet(template = [packets.pInteger('pageNumber', 2)])
self.bootReadResponsePacket = packets.packet(template = [packets.pList('readData', self.bootPageSize)])
#request URL
self.urlResponsePacket = packets.packet(template = [packets.pString('URL')])
#set IP address
self.setIPRequestPacket = packets.packet(template = [packets.pList('setAddress',2)])
self.setIPResponsePacket = packets.packet(self.urlResponsePacket)
def __call__(self, port, outboundFunction = None, outboundPacket = None, inboundFunction = None, inboundPacket = None):
newResponseFlag = threading.Event()
packetHolder = packets.packetHolder()
#---CREATE FUNCTION INSTANCES AND UPDATE ROUTE DICTIONARIES---
if outboundFunction != None:
if outboundPacket != None: packetSet = packets.packetSet(outboundPacket) #gives the outbound function a packetSet initialized with the provided packet as a template
else: packetSet = packets.packetSet(packets.packet(template=[])) #gives the outbound function a packetSet initialized with a blank packet as a template
if type(outboundFunction) == type: setattr(self.virtualNode, outboundFunction.__name__, outboundFunction(virtualNode = self.virtualNode, #create function instance
packetSet = packetSet, #define packet format
responseFlag = newResponseFlag, #creates a common response flag for outbound and inbound functions
packetHolder = packetHolder)) #creates a common packet holder for outbound and inbound functions
outboundFunction = getattr(self.virtualNode, outboundFunction.__name__) #update outboundFuncton pointer in event that new instance was created
self.outPorts.update({outboundFunction:port}) #bind port to outbound instance
if inboundFunction != None:
if inboundPacket != None: packetSet = packets.packetSet(inboundPacket) #gives the inbound function a packetSet initialized with the provided packet as a template
else: packetSet = packets.packetSet(packets.packet(template=[])) #gives the inbound function a packetSet initialized with a blank packet as a template
if type(inboundFunction) == type: setattr(self.virtualNode, inboundFunction.__name__, inboundFunction(virtualNode = self.virtualNode, #create function instance
packetSet = packetSet, #define packet format
responseFlag = newResponseFlag, #creates a common response flag for outbound and inbound functions
packetHolder = packetHolder)) #creates a common packet holder for outbound and inbound functions
inboundFunction = getattr(self.virtualNode, inboundFunction.__name__)
self.inPorts.update({port:inboundFunction}) #bind port to inbound instance
else: #create a default inbound function which will handle incoming packets.
if inboundPacket != None: packetSet = packets.packetSet(inboundPacket) #use provided inbound packet
else: packetSet = packets.packetSet(packets.packet(template=[])) #create default blank packet
inboundFunction = functions.serviceRoutine(virtualNode = self.virtualNode, packetSet = packetSet,
responseFlag = newResponseFlag, packetHolder = packetHolder)
self.inPorts.update({port:inboundFunction})
def initPackets(self):
self.additionRequestPacket = packets.packet(
template=[packets.pInteger('a', 2),
packets.pInteger('b', 2)])
self.additionResponsePacket = packets.packet(
template=[packets.pInteger('response', 2)])
pass
def initPackets(self):
self.getReferenceVoltageResponsePacket = packets.packet(template = [packets.pInteger('voltage',2)])
self.spinRequestPacket = packets.packet(template = [packets.pInteger('majorSteps',1),
packets.pInteger('directions',1),
packets.pInteger('steps', 1),
packets.pInteger('accel',1),
packets.pInteger('accelSteps',1),
packets.pInteger('decelSteps',1),
packets.pInteger('sync', 1)]) #if >0, indicates that move is synchronous
self.spinStatusPacket = packets.packet(template = [packets.pInteger('statusCode',1),
packets.pInteger('currentKey',1),
packets.pInteger('stepsRemaining',1),
packets.pInteger('readPosition',1),
packets.pInteger('writePosition',1)])
self.setVelocityPacket = packets.packet(template = [packets.pInteger('velocity',2)])
def initPackets(self):
self.getReferenceVoltageResponsePacket = packets.packet(
template=[packets.pInteger('voltage', 2)])
self.spinRequestPacket = packets.packet(template=[
packets.pInteger('majorSteps', 1),
packets.pInteger('directions', 1),
packets.pInteger('steps', 1),
packets.pInteger('accel', 1),
packets.pInteger('accelSteps', 1),
packets.pInteger('decelSteps', 1),
packets.pInteger('sync', 1)
]) #if >0, indicates that move is synchronous
self.spinStatusPacket = packets.packet(template=[
packets.pInteger('statusCode', 1),
packets.pInteger('currentKey', 1),
packets.pInteger('stepsRemaining', 1),
packets.pInteger('readPosition', 1),
packets.pInteger('writePosition', 1)
])
self.setVelocityPacket = packets.packet(
template=[packets.pInteger('velocity', 2)])
def __init__(self, name=None, interface=None, owner=None):
self.name = name #name becomes important for networked gestalt
self.owner = owner
self.interface = interfaceShell(
interface, self
) #uses the interfaceShell object for connecting to sub-interface
self.receiveQueue = Queue.Queue()
self.CRC = CRC()
self.nodeManager = self.nodeManager(
) #used to map network addresses (physical devices) to nodes
self.startInterfaceThreads(
) #this will start the receiver, packetRouter, channelPriority, and channelAccess threads.
#define standard gestalt packet
self.gestaltPacket = packets.packet(template=[
packets.pInteger('startByte', 1),
packets.pList('address', 2),
packets.pInteger('port', 1),
packets.pLength(),
packets.pList('payload')
])
def __init__(self, name=None, interface=None, owner=None):
self.name = name # name becomes important for networked gestalt
self.owner = owner
self.interface = interfaceShell(
interface, self
) # uses the interfaceShell object for connecting to sub-interface
self.receiveQueue = Queue.Queue()
self.CRC = CRC()
self.nodeManager = self.nodeManager() # used to map network addresses (physical devices) to nodes
self.startInterfaceThreads() # this will start the receiver, packetRouter, channelPriority, and channelAccess threads.
# define standard gestalt packet
self.gestaltPacket = packets.packet(
template=[
packets.pInteger("startByte", 1),
packets.pList("address", 2),
packets.pInteger("port", 1),
packets.pLength(),
packets.pList("payload"),
]
)
def initPackets(self):
self.additionRequestPacket = packets.packet(template = [packets.pInteger('a',2),
packets.pInteger('b',2)])
self.additionResponsePacket = packets.packet(template = [packets.pInteger('response',2)])
pass
