async def protocol_handler(bot):
await asyncio.sleep(3) # wait for bot start
while True:
try:
data, source = sock_proto.recvfrom(1024)
packet = Protocol.decode(data)
if packet.code == Protocol.CODE_IFALIVE:
status_info = _handle_status(
True,
datetime.datetime.now().timestamp())
if status_info:
await bot.send_message(LOG_ID,
'[INFO] Device is running now')
if packet.code == Protocol.CODE_STARTTIME:
startup_time = datetime.datetime.fromisoformat(packet.payload)
time = startup_time.__format__('%H:%M:%S')
date = startup_time.__format__('%d %h %Y')
up_time = str(datetime.datetime.now() - startup_time)
for i, s in enumerate(up_time[::-1]):
if s == '.':
up_time = up_time[:-i - 1]
break
await bot.send_message(
packet.cid,
f'System uptime: {up_time}\nStartup time: {time} - {date}'
)
except socket.timeout:
await asyncio.sleep(0.01)
except Exception as err:
log.error(f'[protocol_handler] {err}')
await bot.send_message(LOG_ID, f'[ERROR:protocol_handler] {err}')
class Speed(ChassisDev):
TYPE = 0x02
# 12 bytes data package format in struct
pack_pmt = "3f"
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "Speed",
pub_topic = "/speed_wheel",
pub_msg_class = Float32MultiArray,
pub_rate = 20)
self.speeds = Float32MultiArray()
self.speeds.data = [0,0,0]
ChassisDev.pub_data_update(self, self.speeds)
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
wheel0, wheel1, wheel2 = \
self.protocol.decode(bin_data_pack)
self.speeds.data = [wheel0, wheel1, wheel2]
ChassisDev.pub_data_update(self, self.speeds)
class Odom(ChassisDev):
TYPE = 0x01
# 12 bytes data package format in struct
pack_pmt = "3i"
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "Chassis",
pub_topic = "/encoder_cnts",
pub_msg_class = Float32MultiArray,
pub_rate = 20)
self.counters = Float32MultiArray()
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
counter0, counter1, counter2 = \
self.protocol.decode(bin_data_pack)
self.counters.data = [counter0, counter1, counter2]
ChassisDev.pub_data_update(self, self.counters)
class Battery(ChassisDev):
TYPE = 0x03
# 12 bytes data package format in struct
pack_pmt = "2f2H"
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "smart_battery",
pub_topic = "smart_battery",
pub_msg_class = SmartBatteryStatus)
self.battery_status = SmartBatteryStatus()
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
try:
voltage, rate, _,_ = \
self.protocol.decode(bin_data_pack)
except e:
print e
return
self.battery_status.voltage = voltage
self.battery_status.rate = rate
self.battery_status.charge_state = 0
if voltage > 2000:
self.battery_status.percentage = 100 - (2520 - voltage)/4
else:
self.battery_status.percentage = 100 - (1260 - voltage)/1.6
ChassisDev.pub_data_update(self, self.battery_status)
class Speed(ChassisDev):
TYPE = 0x02
# 12 bytes data package format in struct
pack_pmt = "3f"
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"Speed",
pub_topic="/speed_wheel",
pub_msg_class=Float32MultiArray,
pub_rate=20)
self.speeds = Float32MultiArray()
self.speeds.data = [0, 0, 0]
ChassisDev.pub_data_update(self, self.speeds)
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
wheel0, wheel1, wheel2 = \
self.protocol.decode(bin_data_pack)
self.speeds.data = [wheel0, wheel1, wheel2]
ChassisDev.pub_data_update(self, self.speeds)
class Odom(ChassisDev):
TYPE = 0x01
# 12 bytes data package format in struct
pack_pmt = "3i"
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"Chassis",
pub_topic="/encoder_cnts",
pub_msg_class=Float32MultiArray,
pub_rate=20)
self.counters = Float32MultiArray()
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
counter0, counter1, counter2 = \
self.protocol.decode(bin_data_pack)
self.counters.data = [counter0, counter1, counter2]
ChassisDev.pub_data_update(self, self.counters)
def listen(self):
active = True
while active:
try:
r = self.client.conn.recv(3)
if r != b'':
headerType, size = HeaderParser.decode(r)
data = Protocol.decode(self.client.conn.recv(size))
if headerType == Header.SES:
self.client.session = data['session']
self.ses_signal.emit()
elif headerType == Header.LIS:
self.lis_signal.emit(data['users'])
elif headerType == Header.ERR:
self.err_signal.emit(data['msg'])
elif headerType == Header.ACK:
self.ack_signal.emit(data['msg'])
elif headerType == Header.HIS:
self.his_signal.emit(data['history'])
elif headerType == Header.LOG:
self.client.salt = bytes.fromhex(data['password'])[:32]
MainWindow.client.login(None, None)
except socket.error as ex:
print(ex)
active = False
class MPU(ChassisDev):
TYPE = 0x04
# 12 bytes data package format in struct
pack_pmt = "3f"
TYPE_ACC = 0x00
TYPE_GYRO = 0x01
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self,
"chassis",
pub_topic="imu/data_raw",
pub_rate=10,
pub_msg_class=Imu)
self.imu = Imu()
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
if struct.unpack("20B", bin_data_pack)[2] == self.TYPE_GYRO:
try:
x, y, z = \
self.protocol.decode(bin_data_pack)
self.imu.angular_velocity.x = x
self.imu.angular_velocity.y = y
self.imu.angular_velocity.z = z
self.imu.header.frame_id = 'base_footprint'
self.imu.header.stamp = rospy.Time.now()
ChassisDev.pub_data_update(self, self.imu)
except Exception as e:
print e
return
else:
try:
x, y, z = \
self.protocol.decode(bin_data_pack)
self.imu.linear_acceleration.x = x
self.imu.linear_acceleration.y = y
self.imu.linear_acceleration.z = z
except e:
print e
return
def handle(self):
r = self.socket.recv(3)
if r != b'':
headerType, size = HeaderParser.decode(r)
data = Protocol.decode(self.socket.recv(size))
h, p = None, None
if headerType == Header.LOG:
r = requests.get(URL.local + 'users',
params={'username': data['login']})
j = r.json()
if r.status_code == 200 and j != {}:
u2 = bytes.fromhex(j['password'])
u1 = self.passwordHash(data['password'], u2[:32])
if u1[32:] == u2[32:]:
h, p = Protocol.encode(Header.SES, session=self.uuid)
self.transfer(h, p)
Logger.log('User logged in (' + str(data['login']) +
')')
return UserLogged(self, j['id'], j['username'])
h, p = Protocol.encode(Header.ERR, msg='Invalid login data')
Logger.log('User login invalid data ' + str(self.address))
elif headerType == Header.REG:
r = requests.post(URL.local + 'users',
json={
'username':
data['login'],
'password':
self.passwordHash(
data['password']).hex()
})
if r.status_code == 201:
h, p = Protocol.encode(Header.ACK, msg='Created Account')
Logger.log('User registered ')
elif r.status_code == 409:
h, p = Protocol.encode(Header.ERR,
msg='Account already exists')
msg = r.json()['Message']
Logger.log('User thats already exists creation try (' +
str(data['login']) + ')')
else:
h, p = Protocol.encode(Header.ERR,
msg='Invalid register data')
Logger.log('User register invalid data ')
elif headerType == Header.DIS:
raise socket.error(data['msg'])
if h != None and p != None:
self.transfer(h, p)
return None
def receive(self):
try:
data, addr = self.rs.recvfrom(1500)
data = Protocol.decode(data)
logger.debug('Receive Packet: ' + data.hex())
header, payload = Protocol.split(data)
header, payload = Protocol.interpret_header(
header), Protocol.interpret_payload(payload)
logger.debug('Received Header: ' + str(header))
logger.debug('Received Payload: ' + str(payload))
self.header['token_id'] = header['token_id']
return header, payload
except:
raise ConnectionProblem()
class MPU(ChassisDev):
TYPE = 0x04
# 12 bytes data package format in struct
pack_pmt = "3f"
TYPE_ACC = 0x00
TYPE_GYRO = 0x01
def __init__(self):
self.protocol = Protocol(self.TYPE, self.pack_pmt)
ChassisDev.__init__(self, "chassis", pub_topic="imu/data_raw", pub_rate=10, pub_msg_class=Imu)
self.imu = Imu()
ChassisDev.start_pub(self)
def data_handler(self, bin_data_pack):
if struct.unpack("20B", bin_data_pack)[2] == self.TYPE_GYRO:
try:
x, y, z = self.protocol.decode(bin_data_pack)
self.imu.angular_velocity.x = x
self.imu.angular_velocity.y = y
self.imu.angular_velocity.z = z
self.imu.header.frame_id = "base_footprint"
self.imu.header.stamp = rospy.Time.now()
ChassisDev.pub_data_update(self, self.imu)
except Exception as e:
print e
return
else:
try:
x, y, z = self.protocol.decode(bin_data_pack)
self.imu.linear_acceleration.x = x
self.imu.linear_acceleration.y = y
self.imu.linear_acceleration.z = z
except e:
print e
return
def main():
with open("tp_analyse.txt") as f:
first = True
ret = []
for l in f:
try:
adr = int(l[:4], 16)
except ValueError:
continue
if adr == 0:
if not first:
ret.append(data)
first = False
data = bytearray()
if adr % 16 == 0:
#print(adr, bytearray.fromhex(l[6:53].split(" ")))
data += bytearray.fromhex(l[6:53])
ret.append(data)
for s in ret:
data = Protocol.decode(s)
# print(data.hex(" "))
print(Protocol.analyze(data)[1])
def handle(self):
r = self.socket.recv(3)
if r != b'':
headerType, size = HeaderParser.decode(r)
data = Protocol.decode(self.socket.recv(size))
h, p = None, None
if headerType == Header.DIS:
raise socket.error('Disconnect')
elif headerType == Header.ALI:
r = requests.get(URL.local + 'quizzes-categories')
if r.status_code == 200:
j = r.json()
l = []
for x in j:
l.append(x['category_name'])
h, p = Protocol.encode(Header.LIS, quizes=l)
Logger.log('Category request')
else:
h, p = Protocol.encode(Header.ERR,
msg='Cant get categories')
Logger.log('Category request failed')
elif headerType == Header.STR:
if data['category'] == []:
r = requests.get(URL.local + 'quizzes-categories')
r2 = requests.get(URL.local + 'stats',
params={'userid': self.dbID})
if r.status_code == 200 and r2.status_code == 200:
cat = r.json()
stat = r2.json()
ret = []
for x in stat:
for y in cat:
if x['quizid'] == y['id']:
print('abc')
ret.append({
'category': y['category_name'],
'score': x['score']
})
break
if ret != []:
h, p = Protocol.encode(Header.STA, stats=ret)
else:
h, p = Protocol.encode(Header.ERR, msg='empty')
Logger.log('Stats request ' + str(self.dbID))
else:
Logger.log('Stats request failed' + str(self.dbID))
else:
r = requests.get(URL.local + 'top-stats',
params={'category': data['category']})
if r.status_code == 200:
stat = r.json()
if stat != []:
h, p = Protocol.encode(Header.STA, stats=stat)
else:
h, p = Protocol.encode(Header.ERR, msg='empty')
Logger.log('Stats request ' + str(self.dbID))
else:
Logger.log('Stats request failed' + str(self.dbID))
elif headerType == Header.QUI:
r = requests.get(URL.local + 'quizzes',
params={'category_name': data['category']})
if r.status_code == 200 and self.quiz == None:
j = r.json()
qq = []
for x in j:
q = x['Question']['question']
cor = None
a = x['Answers']
for y in a:
if y['id'] == x['Question']['correct_answer']:
cor = y['answer']
b = []
for i in range(4):
b.append(str(a[i]['answer']))
qq.append(Question(q, b, str(cor)))
self.quiz = Quiz(qq, j[0]['Question']['quizid'])
question = self.quiz.next()
h, p = Protocol.encode(Header.QUE,
question=question.question,
answers=question.answers,
correct=question.correct)
Logger.log('Quiz begin' + str(self.dbID))
else:
h, p = Protocol.encode(Header.ERR, msg='Cant begin quiz')
Logger.log('Quiz request fail ' + str(self.dbID))
elif headerType == Header.NXT:
if self.quiz != None:
question = self.quiz.next()
h, p = Protocol.encode(Header.QUE,
question=question.question,
answers=question.answers,
correct=question.correct)
Logger.log('next question ' + str(self.dbID))
else:
h, p = Protocol.encode(Header.ERR, msg='Invalid request')
Logger.log('next question fail ' + str(self.dbID))
elif headerType == Header.END:
if self.quiz != None:
r = requests.patch(URL.local + 'stats',
json={
'userid': self.dbID,
'quizid': self.quiz.quizid,
'score': data['score']
})
self.quiz = None
h, p = Protocol.encode(Header.ACK, msg='Quiz completed')
Logger.log('Quiz end ' + str(self.dbID))
else:
h, p = Protocol.encode(Header.ERR,
msg='Invalid end request')
Logger.log('Quiz end request fail ' + str(self.dbID))
if h != None and p != None:
self.transfer(h, p)
return None
def handle(self):
r = self.socket.recv(3)
if r != b'':
headerType, size = HeaderParser.decode(r)
data = Protocol.decode(self.socket.recv(size))
h, p = None, None
if headerType == Header.LOG:
r = requests.get(URL.local + 'users',
params={'username': data['login']})
j = r.json()
if r.status_code == 200 and j != {} and data['password'] != 'X':
u2 = bytes.fromhex(j['password'])
u1 = bytes.fromhex(data['password'])
if u1[32:] == u2[32:]:
h, p = Protocol.encode(Header.SES, session=self.uuid)
self.transfer(h, p)
Logger.log('User logged in (' + str(data['login']) +
')')
return UserLogged(self, j['id'], j['username'])
elif r.status_code == 200 and j != {} and data[
'password'] == 'X':
h, p = Protocol.encode(Header.LOG,
login=data['login'],
password=j['password'])
self.transfer(h, p)
return None
h, p = Protocol.encode(Header.ERR, msg='Invalid login data')
Logger.log('User login invalid data ' + str(self.address))
elif headerType == Header.REG:
r = requests.post(URL.local + 'users',
json={
'username': data['login'],
'email': data['email'],
'password': data['password']
})
if r.status_code == 201:
h, p = Protocol.encode(Header.ACK, msg='Created Account')
Logger.log('User registered ')
elif r.status_code == 409:
h, p = Protocol.encode(Header.ERR,
msg='Account already exists')
msg = r.json()['Message']
Logger.log('User thats already exists creation try (' +
str(data['login']) + ')')
else:
h, p = Protocol.encode(Header.ERR,
msg='Invalid register data')
Logger.log('User register invalid data ')
elif headerType == Header.FRP:
ru = requests.get(URL.local + 'users',
params={'username': data['login']})
j = ru.json()
if ru.status_code == 200:
if j != {}:
mail = j['email']
r = requests.post('https://molly.ovh:5050/token/' +
data['login'],
verify=False)
j2 = r.json()
token = j2['token']
threading.Thread(target=sendRecoveryMail,
args=(
mail,
token,
)).start()
Logger.log('FRP send')
h, p = Protocol.encode(Header.ACK,
msg='Send recovery mail')
Logger.log('FRP used')
else:
h, p = Protocol.encode(Header.ERR, msg='Error occured')
Logger.log('FRP error')
elif headerType == Header.DIS:
raise socket.error(data['msg'])
if h != None and p != None:
self.transfer(h, p)
return None
def handle(self):
r = self.socket.recv(3)
if r != b'':
headerType, size = HeaderParser.decode(r)
data = Protocol.decode(self.socket.recv(size))
h, p = None, None
if headerType == Header.DIS:
raise socket.error('Disconnect')
elif headerType == Header.MSG:
historyID = self.checkHistory(self.username, data['reciever'])
if historyID != None:
r = requests.post(URL.local + 'history-manager',
json={
'history_id': historyID,
'username': self.username,
'content': data['msg']
})
elif headerType == Header.DEL:
r = requests.delete(URL.local + 'users',
params={'username': self.username})
if r.status_code == 200:
h, p = Protocol.encode(Header.ACK,
msg='Deletion succesfull')
else:
h, p = Protocol.encode(Header.ERR, msg='Deletion failed')
elif headerType == Header.CHP:
r = requests.patch(URL.local + 'users',
json=({
'password': data['password']
}),
params={'username': self.username})
if r.status_code == 200:
h, p = Protocol.encode(Header.ACK,
msg='Change password succesfull')
else:
h, p = Protocol.encode(Header.ERR,
msg='Change password failed')
elif headerType == Header.CHM:
r = requests.patch(URL.local + 'users',
json=({
'email': data['email']
}),
params={'username': self.username})
if r.status_code == 200:
h, p = Protocol.encode(Header.ACK,
msg='Change mail succesfull')
else:
h, p = Protocol.encode(Header.ERR,
msg='Change mail failed')
elif headerType == Header.UPD:
self.reciever = data['reciever']
if self.reciever != None:
self.checkHistory(self.username, self.reciever)
if h != None and p != None:
self.transfer(h, p)
return None
headerType, size = HeaderParser.decode(conn.recv(3))
data = Protocol.decode(conn.recv(size))
if headerType == Header.ACK:
print(data['msg'])
elif headerType == Header.ERR:
print(data['msg'])
'''
session = None
_login = '******'
login(_login, '123')
headerType, size = HeaderParser.decode(conn.recv(3))
data = Protocol.decode(conn.recv(size))
if headerType == Header.SES:
session = data['session']
print(session)
#statsRequest()
beginQuiz('Sport')
headerType, size = HeaderParser.decode(conn.recv(3))
data = Protocol.decode(conn.recv(size))
print(data)
for x in range(9):
nextQueston()
headerType, size = HeaderParser.decode(conn.recv(3))
