def fill(self, byte):
"""
fill: byte -> None
Adds the given raw byte to this APIFrame. If this APIFrame is marked
as escaped and this byte is an escape byte, the next byte in a call
to fill() will be unescaped.
"""
if self._unescape_next_byte:
byte = intToByte(byteToInt(byte) ^ 0x20)
self._unescape_next_byte = False
elif self.escaped and byte == APIFrame.ESCAPE_BYTE:
self._unescape_next_byte = True
return
self.raw_data += intToByte(byteToInt(byte))
def escape(data):
"""
escape: byte string -> byte string
When a 'special' byte is encountered in the given data string,
it is preceded by an escape byte and XORed with 0x20.
"""
escaped_data = b""
for byte in data:
if intToByte(byteToInt(byte)) in APIFrame.ESCAPE_BYTES:
escaped_data += APIFrame.ESCAPE_BYTE
escaped_data += intToByte(0x20 ^ byteToInt(byte))
else:
escaped_data += intToByte(byteToInt(byte))
return escaped_data
def _parse_samples_header(self, io_bytes):
"""
_parse_samples_header: binary data in XBee ZB IO data format ->
(int, [int ...], [int ...], int, int)
_parse_samples_header will read the first three bytes of the
binary data given and will return the number of samples which
follow, a list of enabled digital inputs, a list of enabled
analog inputs, the dio_mask, and the size of the header in bytes
_parse_samples_header is overloaded here to support the additional
IO lines offered by the XBee ZB
"""
header_size = 4
# number of samples (always 1?) is the first byte
sample_count = byteToInt(io_bytes[0])
# bytes 1 and 2 are the DIO mask; bits 9 and 8 aren't used
dio_mask = (byteToInt(io_bytes[1]) << 8
| byteToInt(io_bytes[2])) & 0x0E7F
# byte 3 is the AIO mask
aio_mask = byteToInt(io_bytes[3])
# sorted lists of enabled channels; value is position of bit in mask
dio_chans = []
aio_chans = []
for i in range(0, 13):
if dio_mask & (1 << i):
dio_chans.append(i)
dio_chans.sort()
for i in range(0, 8):
if aio_mask & (1 << i):
aio_chans.append(i)
aio_chans.sort()
return (sample_count, dio_chans, aio_chans, dio_mask, header_size)
def _parse_samples_header(self, io_bytes):
"""
_parse_samples_header: binary data in XBee ZB IO data format ->
(int, [int ...], [int ...], int, int)
_parse_samples_header will read the first three bytes of the
binary data given and will return the number of samples which
follow, a list of enabled digital inputs, a list of enabled
analog inputs, the dio_mask, and the size of the header in bytes
_parse_samples_header is overloaded here to support the additional
IO lines offered by the XBee ZB
"""
header_size = 4
# number of samples (always 1?) is the first byte
sample_count = byteToInt(io_bytes[0])
# bytes 1 and 2 are the DIO mask; bits 9 and 8 aren't used
dio_mask = (byteToInt(io_bytes[1]) << 8 | byteToInt(io_bytes[2])) & 0x0E7F
# byte 3 is the AIO mask
aio_mask = byteToInt(io_bytes[3])
# sorted lists of enabled channels; value is position of bit in mask
dio_chans = []
aio_chans = []
for i in range(0, 13):
if dio_mask & (1 << i):
dio_chans.append(i)
dio_chans.sort()
for i in range(0, 8):
if aio_mask & (1 << i):
aio_chans.append(i)
aio_chans.sort()
return (sample_count, dio_chans, aio_chans, dio_mask, header_size)
def _parse_samples_header(self, io_bytes):
"""
_parse_samples_header: binary data in XBee IO data format ->
(int, [int ...], [int ...], int, int)
_parse_samples_header will read the first three bytes of the
binary data given and will return the number of samples which
follow, a list of enabled digital inputs, a list of enabled
analog inputs, the dio_mask, and the size of the header in bytes
"""
header_size = 3
# number of samples (always 1?) is the first byte
sample_count = byteToInt(io_bytes[0])
# part of byte 1 and byte 2 are the DIO mask ( 9 bits )
dio_mask = (byteToInt(io_bytes[1]) << 8
| byteToInt(io_bytes[2])) & 0x01FF
# upper 7 bits of byte 1 is the AIO mask
aio_mask = (byteToInt(io_bytes[1]) & 0xFE) >> 1
# sorted lists of enabled channels; value is position of bit in mask
dio_chans = []
aio_chans = []
for i in range(0, 9):
if dio_mask & (1 << i):
dio_chans.append(i)
dio_chans.sort()
for i in range(0, 7):
if aio_mask & (1 << i):
aio_chans.append(i)
aio_chans.sort()
return (sample_count, dio_chans, aio_chans, dio_mask, header_size)
def verify(self, chksum):
"""
verify: 1 byte -> boolean
verify checksums the frame, adds the expected checksum, and
determines whether the result is correct. The result should
be 0xFF.
"""
total = 0
# Add together all bytes
for byte in self.data:
total += byteToInt(byte)
# Add checksum too
total += byteToInt(chksum)
# Only keep low bits
total &= 0xFF
# Check result
return total == 0xFF
def _parse_samples_header(self, io_bytes):
"""
_parse_samples_header: binary data in XBee IO data format ->
(int, [int ...], [int ...], int, int)
_parse_samples_header will read the first three bytes of the
binary data given and will return the number of samples which
follow, a list of enabled digital inputs, a list of enabled
analog inputs, the dio_mask, and the size of the header in bytes
"""
header_size = 3
# number of samples (always 1?) is the first byte
sample_count = byteToInt(io_bytes[0])
# part of byte 1 and byte 2 are the DIO mask ( 9 bits )
dio_mask = (byteToInt(io_bytes[1]) << 8 | byteToInt(io_bytes[2])) & 0x01FF
# upper 7 bits of byte 1 is the AIO mask
aio_mask = (byteToInt(io_bytes[1]) & 0xFE) >> 1
# sorted lists of enabled channels; value is position of bit in mask
dio_chans = []
aio_chans = []
for i in range(0,9):
if dio_mask & (1 << i):
dio_chans.append(i)
dio_chans.sort()
for i in range(0,7):
if aio_mask & (1 << i):
aio_chans.append(i)
aio_chans.sort()
return (sample_count, dio_chans, aio_chans, dio_mask, header_size)
def checksum(self):
"""
checksum: None -> single checksum byte
checksum adds all bytes of the binary, unescaped data in the
frame, saves the last byte of the result, and subtracts it from
0xFF. The final result is the checksum
"""
total = 0
# Add together all bytes
for byte in self.data:
total += byteToInt(byte)
# Only keep the last byte
total = total & 0xFF
return intToByte(0xFF - total)
def _parse_samples(self, io_bytes):
"""
_parse_samples: binary data in XBee IO data format ->
[ {"dio-0":True,
"dio-1":False,
"adc-0":100"}, ...]
_parse_samples reads binary data from an XBee device in the IO
data format specified by the API. It will then return a
dictionary indicating the status of each enabled IO port.
"""
sample_count, dio_chans, aio_chans, dio_mask, header_size = \
self._parse_samples_header(io_bytes)
samples = []
# split the sample data into a list, so it can be pop()'d
sample_bytes = [byteToInt(c) for c in io_bytes[header_size:]]
# repeat for every sample provided
for sample_ind in range(0, sample_count):
tmp_samples = {}
if dio_chans:
# we have digital data
digital_data_set = (sample_bytes.pop(0) << 8
| sample_bytes.pop(0))
digital_values = dio_mask & digital_data_set
for i in dio_chans:
tmp_samples['dio-{0}'.format(
i)] = True if (digital_values >> i) & 1 else False
for i in aio_chans:
analog_sample = (sample_bytes.pop(0) << 8
| sample_bytes.pop(0))
tmp_samples['adc-{0}'.format(i)] = analog_sample
samples.append(tmp_samples)
return samples
def _parse_samples(self, io_bytes):
"""
_parse_samples: binary data in XBee IO data format ->
[ {"dio-0":True,
"dio-1":False,
"adc-0":100"}, ...]
_parse_samples reads binary data from an XBee device in the IO
data format specified by the API. It will then return a
dictionary indicating the status of each enabled IO port.
"""
sample_count, dio_chans, aio_chans, dio_mask, header_size = \
self._parse_samples_header(io_bytes)
samples = []
# split the sample data into a list, so it can be pop()'d
sample_bytes = [byteToInt(c) for c in io_bytes[header_size:]]
# repeat for every sample provided
for sample_ind in range(0, sample_count):
tmp_samples = {}
if dio_chans:
# we have digital data
digital_data_set = (sample_bytes.pop(0) << 8 | sample_bytes.pop(0))
digital_values = dio_mask & digital_data_set
for i in dio_chans:
tmp_samples['dio-{0}'.format(i)] = True if (digital_values >> i) & 1 else False
for i in aio_chans:
analog_sample = (sample_bytes.pop(0) << 8 | sample_bytes.pop(0))
tmp_samples['adc-{0}'.format(i)] = analog_sample
samples.append(tmp_samples)
return samples
