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 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 BoxedGreedy(Structure):
sof = Magic(b'\xAA')
a = LengthField(UBInt8())
b = UBInt8()
payload = Payload()
c = UBInt16()
d = VariableRawPayload(a)
eof = Magic(b'\xbb')
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 DNSMessage(Structure):
identification = UBInt16()
fields = BitField(
16,
is_reply=BitBool(), # QR
opcode=BitNum(4),
truncated=BitBool(),
recursion_desired=BitBool(),
ra=BitBool(),
z=BitBool(),
non_authenticated_data_acceptable=BitBool(),
cd=BitBool(),
rcode=BitNum(4),
)
total_questions = UBInt16()
total_answers_rrs = UBInt16()
total_authority_rrs = UBInt16()
total_additional_rrs = UBInt16()
data = Payload() # greedy
class EthernetFrame(Structure):
preamble_sof = Magic('\xAA' * 8) # 8 bytes of 10101010
mac_dest = UBInt8Sequence(6)
mac_source = UBInt8Sequence(6)
ethertype = DispatchField(UBInt16())
payload = DispatchTarget(None, ethertype, {
0x0800: IPV4Frame,
# 0x85DD: IPV6Message,
# 0x0806: ARPMessage,
})
checksum = UBInt32()
class TCPFrameHeader(Structure):
source_address = UBInt16()
destination_address = UBInt16()
sequence_number = UBInt32()
acknowledgement_number = UBInt32()
options = BitField(16,
data_offset=BitNum(4),
reserved=BitNum(3),
NS=BitBool(),
CWR=BitBool(),
ECE=BitBool(),
URG=BitBool(),
ACK=BitBool(),
PSH=BitBool(),
RST=BitBool(),
SYN=BitBool(),
FIN=BitBool()
)
window_size = UBInt16()
checksum = UBInt16()
urgent_pointer = UBInt16()
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 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 MyLengthyMessage(Structure):
length = LengthField(UBInt16())
payload = VariableRawPayload(length)
class Structure16(Structure):
value = UBInt16()
class PascalString16(Structure):
length = LengthField(UBInt16())
value = Payload(length)
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 UDPFrame(Structure):
source_port = UBInt16()
destination_port = UBInt16()
length = LengthField(UBInt16())
checksum = UBInt16()
data = VariableRawPayload(length)
class One(Structure):
first = UBInt8()
second = UBInt16()
class EchoProtocolFrame(Structure):
frame_type = UBInt8()
payload_length = LengthField(UBInt16())
payload = Payload(payload_length)
class Message(Structure):
tag = DispatchField(UBInt16())
length = LengthField(UBInt16())
message = DispatchTarget(length, tag, MESSAGE_DISPATCH_MAPPING)