class Robot2DriverStationPacket(Structure):
control_byte = BitField(8,
reset=BitBool(),
not_estop=BitBool(),
enabled=BitBool(),
autonmous=BitBool(),
fms_attacted=BitBool(),
resync=BitBool(),
test=BitBool(),
fpga_checksum=BitBool())
battery_voltage = UBInt16()
ds_digital_in = UBInt8()
unknown_1 = UBInt32()
team_number = UBInt16()
crio_mac_address = UBInt48()
version = UBInt64()
unknown_2b = UBInt40()
reported_state = UBInt8()
packet_index = UBInt16()
unknown_4 = Payload(988)
crc_checksum = CRCField(UBInt32(), crc32, 0, 1024)
def reported_state_str(self):
if self.reported_state == 0:
return c.NO_CODE
elif self.reported_state == 1:
return c.DISABLED
elif self.reported_state == 4:
return c.TELEOP
else:
return "Unknown: " + str(self.reported_state)
class BoxedGreedy(Structure):
sof = Magic(b'\xAA')
a = LengthField(UBInt8())
b = UBInt8()
payload = Payload()
c = UBInt16()
d = VariableRawPayload(a)
eof = Magic(b'\xbb')
class ConditionalDispatch(Structure):
f1 = DispatchField(UBInt8())
f2 = UBInt8() # separate from f1
length = LengthField(UBInt8())
f3 = ConditionalField(DispatchTarget(length, f1, {
0: EmptyStructure,
1: BasicMessage
}),
condition=lambda m: m.f2 == 255)
class BGAPIFrame(Structure):
head = LengthField(BitField(16,
is_event=BitBool(),
technology_type=BitNum(4),
length=BitNum(11)),
get_length=lambda f: f.length,
set_length=lambda f, l: setattr(f, 'length', l))
class_id = UBInt8()
command_id = UBInt8()
payload = Payload(head)
class UserInfo(Structure):
"""Player data.
This structure has the following format:
+---------+---------------------------------------+
| Byte | Description |
+=========+=======================================+
| 0-7 | Version. Same for all players. |
+---------+---------------------------------------+
| 8-15 | xuid. Some sort of unique ID. |
+---------+---------------------------------------+
| 15-142 | Player name. |
+---------+---------------------------------------+
| 143-146 | Local server user ID. |
+---------+---------------------------------------+
| 147-179 | GUID |
+---------+---------------------------------------+
| 180-183 | Friend's ID. |
+---------+---------------------------------------+
| 184-312 | Friend's Name. |
+---------+---------------------------------------+
| 313 | Is player a bot? |
+---------+---------------------------------------+
| 314 | Is player an HLTV proxy? |
+---------+---------------------------------------+
| 314-329 | Custom files CRC. |
+---------+---------------------------------------+
| 330 | Numbre of files downloaded by server. |
+---------+---------------------------------------+
| 331-335 | Entity index. |
+---------+---------------------------------------+
| 336-340 | No idea. |
+---------+---------------------------------------+
"""
version = UBInt64()
xuid = UBInt64()
name = FixedLengthString(consts.MAX_PLAYER_NAME_LENGTH)
user_id = UBInt32()
guid = FixedLengthString(consts.SIGNED_GUID_LEN)
friends_id = UBInt32()
friends_name = FixedLengthString(consts.MAX_PLAYER_NAME_LENGTH)
fake_player = UBInt8()
is_hltv = UBInt8()
custom_files = UBInt32Sequence(consts.MAX_CUSTOM_FILES)
files_downloaded = UBInt8()
entity_id = UBInt32()
tbd = UBInt32()
class MyDynamicLengthDispatchMessage(Structure):
type = DispatchField(UBInt8())
body = DispatchTarget(None, type, {
0x1F: MySimpleFixedPayload,
0xCC: MyPayloadMessage,
})
eof = Magic(b'EOF')
class IPV4Frame(Structure):
options = BitField(64,
version=BitNum(4),
internet_header_length=BitNum(4),
differentiated_services_code_point=BitNum(6),
explicit_congestion_notification=BitNum(2),
total_length=BitNum(16),
identification=BitNum(16),
flags=BitNum(3),
fragment_offset=BitNum(13),
)
time_to_live = UBInt8()
protocol = DispatchField(UBInt8())
header_checksum = UBInt16()
source_ip_address = UBInt32()
destination_ip_address = UBInt32()
class ConditionalArrayElement(Structure):
options = BitField(8,
cond8_present=BitBool(),
cond16_present=BitBool(),
unused=BitNum(6))
cond8 = ConditionalField(UBInt8(), lambda m: m.options.cond8_present)
cond16 = ConditionalField(UBInt16(), lambda m: m.options.cond16_present)
class PortTrafficStatistics(Structure):
port = UBInt8()
bytes_received = UBInt64()
bytes_sent = UBInt64()
unknown_0 = Magic('\x00\x00\x00\x00\x00\x00\x00\x00')
unknown_1 = Magic('\x00\x00\x00\x00\x00\x00\x00\x00')
unknown_2 = Magic('\x00\x00\x00\x00\x00\x00\x00\x00')
crc_error_packets = UBInt64()
class MyBasicDispatchMessage(Structure):
type = DispatchField(UBInt8())
length = LengthField(UBInt16())
body = DispatchTarget(
length, type, {
0x00: MyTargetMessage,
0x01: MyOtherTargetMessage,
None: MyDefaultTargetMessage
})
class Frame(Structure):
version = UBInt8()
operation = UBInt8()
result = UBInt16()
reserved_0 = Magic('\x00\x00\x00\x00')
_host_mac = UBInt8Sequence(6)
host_mac = FieldProperty(_host_mac,
onget=lambda v: unpack_mac(''.join(map(chr, v))),
onset=lambda v: tuple(map(ord, pack_mac(v))))
_device_mac = UBInt8Sequence(6)
device_mac = FieldProperty(
_device_mac,
onget=lambda v: unpack_mac(''.join(map(chr, v))),
onset=lambda v: tuple(map(ord, pack_mac(v))))
reserved_1 = Magic('\x00\x00')
sequence = UBInt16()
signature = Magic('NSDP')
reserved_2 = Magic('\x00\x00\x00\x00')
messages = FieldArray(Message)
class SuperMessage(Structure):
magic = Magic(b'\xAA\xAA')
# bitfield
options = BitField(8, b1=BitBool(), b2=BitBool(), rest=BitNum(6))
# unsigned big endian
ubint8 = UBInt8()
ubint16 = UBInt16()
ubint24 = UBInt24()
ubint32 = UBInt32()
ubint64 = UBInt64()
# signed big endian
sbint8 = SBInt8()
sbint16 = SBInt16()
sbint32 = SBInt32()
sbint64 = SBInt64()
# unsigned little endian
ulint8 = ULInt8()
ulint16 = ULInt16()
ulint32 = ULInt32()
ulint64 = ULInt64()
# signed little endian
slint8 = SLInt8()
slint16 = SLInt16()
slint32 = SLInt32()
slint64 = SLInt64()
# optional
optional_one = ConditionalField(UBInt8(), lambda m: m.options.b1)
optional_two = ConditionalField(UBInt8(), lambda m: m.options.b2)
# sequences with variable lengths
ubseql = LengthField(UBInt8())
ubseq = UBInt8Sequence(ubseql)
sbseql = LengthField(UBInt8())
sbseq = SBInt8Sequence(sbseql)
# sequences with fixed lengths
ubseqf = UBInt8Sequence(5)
sbseqf = SBInt8Sequence(5)
# don't change anything... for test coverage
ulint16_value = FieldProperty(ulint16)
ulint16_byte_string = FieldProperty(
ulint16,
onget=lambda v: str(v),
onset=lambda v: struct.unpack(">H", v)[0])
message_type = DispatchField(UBInt8())
submessage_length = LengthField(UBInt16())
submessage = DispatchTarget(submessage_length, message_type,
{0xEF: SuperChild})
# checksum starts after beginning magic, ends before
# the checksum
crc = CRCField(UBInt16(), crc16_ccitt, 2, -3)
eof = Magic(b'~')
class BasicGreedy(Structure):
a = UBInt8()
b = UBInt8()
payload = Payload()
class MyVarSeqMessage(Structure):
type = UBInt8()
length = LengthField(UBInt8())
seq = UBInt8Sequence(length)
class ErrorCaseSchema(Structure):
type = DispatchField(UBInt8())
length = LengthField(UBInt8())
body = DispatchTarget(length, type, {
0x00: MagicSchema
})
class MyMuiltipliedLengthMessage(Structure):
length = LengthField(UBInt8(), multiplier=8)
payload = VariableRawPayload(length)
class MySeqMessage(Structure):
type = UBInt8()
byte_values = UBInt8Sequence(16)
class TypeFieldWrongSize(Structure):
type = TypeField(UBInt8(), size_mapping)
greedy = Payload(type)
class BasicMessage(Structure):
b1 = UBInt8()
b2 = UBInt8()
class TypedArrayElement(Structure):
type = TypeField(UBInt8(), size_mapping)
value = DispatchTarget(type, type, dispatch_mapping)
class TypeFieldNoLengthProvider(Structure):
type = TypeField(UBInt8(), size_mapping)
class DriverStation2RobotPacket(Structure):
packet_index = UBInt16()
control_byte = BitField(8,
reset=BitBool(),
not_estop=BitBool(),
enabled=BitBool(),
autonmous=BitBool(),
fms_attached=BitBool(),
resync=BitBool(),
test=BitBool(),
fpga_checksum=BitBool())
digital_input = BitField(
8,
input_8=BitBool(),
input_7=BitBool(),
input_6=BitBool(),
input_5=BitBool(),
input_4=BitBool(),
input_3=BitBool(),
input_2=BitBool(),
input_1=BitBool(),
)
team_number = UBInt16()
alliance = UBInt8() #ASCII of B or R
position = UBInt8() #ASCII of 1,2,3
joystick_1_axis_1 = SBInt8()
joystick_1_axis_2 = SBInt8()
joystick_1_axis_3 = SBInt8()
joystick_1_axis_4 = SBInt8()
joystick_1_axis_5 = SBInt8()
joystick_1_axis_6 = SBInt8()
joystick_1_buttons = BitField(16,
button_1=BitBool(),
button_2=BitBool(),
button_3=BitBool(),
button_4=BitBool(),
button_5=BitBool(),
button_6=BitBool(),
button_7=BitBool(),
button_8=BitBool(),
button_9=BitBool(),
button_10=BitBool(),
button_11=BitBool(),
button_12=BitBool(),
button_13=BitBool(),
button_14=BitBool(),
button_15=BitBool(),
button_16=BitBool())
joystick_2_axis_1 = SBInt8()
joystick_2_axis_2 = SBInt8()
joystick_2_axis_3 = SBInt8()
joystick_2_axis_4 = SBInt8()
joystick_2_axis_5 = SBInt8()
joystick_2_axis_6 = SBInt8()
joystick_2_buttons = BitField(16,
button_1=BitBool(),
button_2=BitBool(),
button_3=BitBool(),
button_4=BitBool(),
button_5=BitBool(),
button_6=BitBool(),
button_7=BitBool(),
button_8=BitBool(),
button_9=BitBool(),
button_10=BitBool(),
button_11=BitBool(),
button_12=BitBool(),
button_13=BitBool(),
button_14=BitBool(),
button_15=BitBool(),
button_16=BitBool())
joystick_3_axis_1 = SBInt8()
joystick_3_axis_2 = SBInt8()
joystick_3_axis_3 = SBInt8()
joystick_3_axis_4 = SBInt8()
joystick_3_axis_5 = SBInt8()
joystick_3_axis_6 = SBInt8()
joystick_3_buttons = BitField(16,
button_1=BitBool(),
button_2=BitBool(),
button_3=BitBool(),
button_4=BitBool(),
button_5=BitBool(),
button_6=BitBool(),
button_7=BitBool(),
button_8=BitBool(),
button_9=BitBool(),
button_10=BitBool(),
button_11=BitBool(),
button_12=BitBool(),
button_13=BitBool(),
button_14=BitBool(),
button_15=BitBool(),
button_16=BitBool())
joystick_4_axis_1 = SBInt8()
joystick_4_axis_2 = SBInt8()
joystick_4_axis_3 = SBInt8()
joystick_4_axis_4 = SBInt8()
joystick_4_axis_5 = SBInt8()
joystick_4_axis_6 = SBInt8()
joystick_4_buttons = BitField(16,
button_1=BitBool(),
button_2=BitBool(),
button_3=BitBool(),
button_4=BitBool(),
button_5=BitBool(),
button_6=BitBool(),
button_7=BitBool(),
button_8=BitBool(),
button_9=BitBool(),
button_10=BitBool(),
button_11=BitBool(),
button_12=BitBool(),
button_13=BitBool(),
button_14=BitBool(),
button_15=BitBool(),
button_16=BitBool())
analog_value_1 = UBInt16()
analog_value_2 = UBInt16()
analog_value_3 = UBInt16()
analog_value_4 = UBInt16()
crio_checksum = UBInt64()
fpga_checksum_1 = UBInt32()
fpga_checksum_2 = UBInt32()
fpga_checksum_3 = UBInt32()
fpga_checksum_4 = UBInt32()
driver_station_version = UBInt64() #ASCII string such as '02121300'
unknown = Payload(939)
crc_checksum = CRCField(UBInt32(), crc32, 0, 1024)
@staticmethod
def make_packet(index, team_number):
"""
I Don't like this
"""
ret = DriverStation2RobotPacket()
ret.packet_index = index
ret.control_byte.reset = False
ret.control_byte.not_estop = True
ret.control_byte.enabled = False
ret.control_byte.autonmous = False
ret.control_byte.fms_attached = False
ret.control_byte.resync = False
ret.control_byte.fpga_checksum = False
ret.digital_input.input_8 = False
ret.digital_input.input_7 = False
ret.digital_input.input_6 = False
ret.digital_input.input_5 = False
ret.digital_input.input_4 = False
ret.digital_input.input_3 = False
ret.digital_input.input_2 = False
ret.digital_input.input_1 = False
ret.team_number = team_number
ret.alliance = ord('R')
ret.position = ord('1')
ret.joystick_1_axis_1 = 0
ret.joystick_1_axis_2 = 0
ret.joystick_1_axis_3 = 0
ret.joystick_1_axis_4 = 0
ret.joystick_1_axis_5 = 0
ret.joystick_1_axis_6 = 0
ret.joystick_1_buttons.button_1 = False
ret.joystick_1_buttons.button_2 = False
ret.joystick_1_buttons.button_3 = False
ret.joystick_1_buttons.button_4 = False
ret.joystick_1_buttons.button_5 = False
ret.joystick_1_buttons.button_6 = False
ret.joystick_1_buttons.button_7 = False
ret.joystick_1_buttons.button_8 = False
ret.joystick_1_buttons.button_9 = False
ret.joystick_1_buttons.button_10 = False
ret.joystick_1_buttons.button_11 = False
ret.joystick_1_buttons.button_12 = False
ret.joystick_1_buttons.button_13 = False
ret.joystick_1_buttons.button_14 = False
ret.joystick_1_buttons.button_15 = False
ret.joystick_1_buttons.button_16 = False
ret.joystick_2_axis_1 = 0
ret.joystick_2_axis_2 = 0
ret.joystick_2_axis_3 = 0
ret.joystick_2_axis_4 = 0
ret.joystick_2_axis_5 = 0
ret.joystick_2_axis_6 = 0
ret.joystick_2_buttons.button_1 = False
ret.joystick_2_buttons.button_2 = False
ret.joystick_2_buttons.button_3 = False
ret.joystick_2_buttons.button_4 = False
ret.joystick_2_buttons.button_5 = False
ret.joystick_2_buttons.button_6 = False
ret.joystick_2_buttons.button_7 = False
ret.joystick_2_buttons.button_8 = False
ret.joystick_2_buttons.button_9 = False
ret.joystick_2_buttons.button_10 = False
ret.joystick_2_buttons.button_11 = False
ret.joystick_2_buttons.button_12 = False
ret.joystick_2_buttons.button_13 = False
ret.joystick_2_buttons.button_14 = False
ret.joystick_2_buttons.button_15 = False
ret.joystick_2_buttons.button_16 = False
ret.joystick_3_axis_1 = 0
ret.joystick_3_axis_2 = 0
ret.joystick_3_axis_3 = 0
ret.joystick_3_axis_4 = 0
ret.joystick_3_axis_5 = 0
ret.joystick_3_axis_6 = 0
ret.joystick_3_buttons.button_1 = False
ret.joystick_3_buttons.button_2 = False
ret.joystick_3_buttons.button_3 = False
ret.joystick_3_buttons.button_4 = False
ret.joystick_3_buttons.button_5 = False
ret.joystick_3_buttons.button_6 = False
ret.joystick_3_buttons.button_7 = False
ret.joystick_3_buttons.button_8 = False
ret.joystick_3_buttons.button_9 = False
ret.joystick_3_buttons.button_10 = False
ret.joystick_3_buttons.button_11 = False
ret.joystick_3_buttons.button_12 = False
ret.joystick_3_buttons.button_13 = False
ret.joystick_3_buttons.button_14 = False
ret.joystick_3_buttons.button_15 = False
ret.joystick_3_buttons.button_16 = False
ret.joystick_4_axis_1 = 0
ret.joystick_4_axis_2 = 0
ret.joystick_4_axis_3 = 0
ret.joystick_4_axis_4 = 0
ret.joystick_4_axis_5 = 0
ret.joystick_4_axis_6 = 0
ret.joystick_4_buttons.button_1 = False
ret.joystick_4_buttons.button_2 = False
ret.joystick_4_buttons.button_3 = False
ret.joystick_4_buttons.button_4 = False
ret.joystick_4_buttons.button_5 = False
ret.joystick_4_buttons.button_6 = False
ret.joystick_4_buttons.button_7 = False
ret.joystick_4_buttons.button_8 = False
ret.joystick_4_buttons.button_9 = False
ret.joystick_4_buttons.button_10 = False
ret.joystick_4_buttons.button_11 = False
ret.joystick_4_buttons.button_12 = False
ret.joystick_4_buttons.button_13 = False
ret.joystick_4_buttons.button_14 = False
ret.joystick_4_buttons.button_15 = False
ret.joystick_4_buttons.button_16 = False
ret.analog_value_1 = 0
ret.analog_value_2 = 0
ret.analog_value_3 = 0
ret.analog_value_4 = 0
ret.crio_checksum = 0
ret.fpga_checksum_1 = 0
ret.fpga_checksum_2 = 0
ret.fpga_checksum_3 = 0
ret.fpga_checksum_4 = 0
# This was reported by the FRC 2016 DS in 2014 mode
ret.driver_station_version = 3546356223709687856
payload = ""
for i in xrange(0, 940):
payload += "\x00"
ret.unknown = payload
return ret
class BasicMessageArrayAfter(Structure):
count = LengthField(UBInt8(), multiplier=2)
array = FieldArray(BasicMessage, count)
after = UBInt8()
class BasicMessageArrayNumElements(Structure):
count = LengthField(UBInt8())
array = FieldArray(BasicMessage, num_elements_provider=count)
class ConditionalSubstructures(Structure):
f1 = UBInt8()
f2 = ConditionalField(SubstructureField(BasicMessage),
condition=lambda m: m.f1 < 10)
f3 = ConditionalField(SubstructureField(BasicMessage),
condition=lambda m: m.f1 < 20)
class ConditionalLength(Structure):
f1 = UBInt8()
f2 = ConditionalField(LengthField(UBInt8()), lambda m: m.f1 == 255)
f3 = ConditionalField(Payload(length_provider=f2), lambda m: m.f1 == 255)
class Conditional(Structure):
f1 = UBInt8()
f2 = ConditionalField(UBInt8(), lambda m: m.f1 == 255)
class ConditionalArrayGreedyAfter(Structure):
length = LengthField(UBInt8())
array = FieldArray(ConditionalArrayElement, length)
greedy = Payload()
class EchoProtocolFrame(Structure):
frame_type = UBInt8()
payload_length = LengthField(UBInt16())
payload = Payload(payload_length)
class Structure8(Structure):
value = UBInt8()
