def inquiry_target(cdb):
write_log("INQUIRY","STARTED")
fileNo = int(cdb["LUN"][0])
fp = open("sense.dat","w")
resp=None
write_log("INQUIRY","WORKING ON LUN "+ str(fileNo))
if(fileNo > 5): # 5- no of files(LU) on target
fp.write("INQUIRY FAIL 11")
resp = "INVALID LUN"
else:
evpd = int(cdb["EVPD"][0])
pageCode = int(cdb["pageCode"][0])
if(evpd == 1):
fp.write("INQUIRY FAIL 5")
write_log("INQUIRY","FAILED")
resp = "EVPD=1 NOT SUPPORTED"
elif(evpd == 0 and pageCode != 0):
fp.write("INQUIRY FAIL 5")
write_log("INQUIRY","FAILED")
resp = "INVALID PAGE CODE"
else:
resp = create_inq_res_cdb()
write_log("INQUIRY","SUCCESSFUL")
fp.close()
return resp
def create_request_sense(self):
write_log("REQUEST SENSE","STARTED")
self.send_cdb["operationCode"]=[0x03,0,7,8]
self.send_cdb["reserved_1"]=["reserved",1,7,7]
self.send_cdb["desc"]=[str(self.ui.lineEdit.text()),1,0,1]
self.send_cdb["reserved_2"]=["reserved",2,7,16]
self.send_cdb["alllength"]=[18,4,7,8]
self.send_cdb["control"]=["control",5,7,8]
self.close()
def target_response(cdb):
fs = open("sense.dat","w")
if int(cdb["pmi"][0]) > 1:
fs.write("READ_CAPACITY FAIL 11")
fs.close()
write_log("READ_CAPACITY","FAILED")
return "INVALID PMI"
elif int(cdb["pmi"][0]) == 0 and int(cdb["LBA"][0]) == 0:
read_cap_res={}
read_cap_res["returnedLBA"]=["400",0,7,32]
read_cap_res["block_length"]=["100",4,7,32]
write_log("READ CAPACITY","SUCCESSFUL")
return read_cap_res;
elif int(cdb["pmi"][0]) == 0 and int(cdb["LBA"][0]) != 0:
fs.write("READ_CAPACITY FAIL 5")
fs.close()
write_log("READ_CAPACITY","FAILED")
return "INVALID LBA"
elif int(cdb["pmi"][0]) == 1:
read_cap_res={}
read_cap_res["returnedLBA"]=["400",0,7,32]
read_cap_res["block_length"]=["100",4,7,32]
write_log("READ CAPACITY","SUCCESSFUL")
return read_cap_res;
def main_work():
y.reset_home()
y.calibrate_grippers()
y.open_grippers()
while (True):
choose_speed() # 3
choose_object() # 3
choose_catching_direction() # 3
choose_giving_position() # 2
write_log()
catch()
give()
y.reset_home()
y.open_grippers()
def receive_mode_select(s):
write_log("MODE SELECT","STARTED")
st='Mode Select successful'
if(s["lun"][0]=='1' or s["lun"][0]=='2' or s["lun"][0]=='3' or s["lun"][0]=='4' or s["lun"][0]=='5'):
myfile="lun"+s["lun"][0]+".dat"
fo=open(myfile,"w+")
else:
fs = open("sense.dat","w")
fs.write("MODE_SELECT FAIL 11")
fs.close()
st='UNSUCCESSFUL: Invalid lun number'
write_log("MODE SELECT",st)
return st
if(s["pf"][0]=='0'):
fo.write("The page format is vendor specific\n");
elif(s["pf"][0]=='1'):
fo.write("The header and block descriptors are set by standard\n");
else:
fs = open("sense.dat","w")
fs.write("MODE_SELECT FAIL 5")
fs.close()
st='UNSUCCESSFUL:Invalid pf bit value'
write_log("MODE SELECT",st)
return st
fo.write("Parameter List Length:"+str(s["paramlength"][0])+"\n");
if(s["sp"][0]=='0'):
print 'The mode page shall not be saved.The command terminated with CHECK CONDITION status'
fo.write("Termination status:Check Condition\nSense Key:Illegal Request\nAdditional Sense Code:Invalid");
elif(s["sp"][0]=='1') :
fp=open("controlModePage.dat","r")
ps=fp.read(1);
fp.close()
if(ps=='1'):
print 'The mode page shall be saveable'
else:
fo.write("Termination status:Check Condition\nSense Key:Illegal Request\nAdditional Sense Code:Invalid");
else:
fs = open("sense.dat","w")
fs.write("MODE_SELECT FAIL 5")
fs.close()
st='UNSUCCESSFUL:Invalid sp bit value'
write_log("MODE SELECT",st)
return st
fo.close()
write_log("MODE SELECT","SUCCESSFUL")
return st
def mode_sense_server(mode_sense):
write_log("MODE SENSE","STARTED")
fp = open("sense.dat","w")
PC=mode_sense["PC"][0]
if not(PC=="00b"or PC=="01b" or PC=="10b" or PC=="11b"):
fp.write("MODE_SENSE FAIL 5")
return "invalid Page Control"
LUN=mode_sense["LUN"][0]
if not(int(LUN)>=1 and int(LUN)<6):
fp.write("MODE_SENSE FAIL 11")
return "LUN not present"
sub=mode_sense["subPage"][0]
if (int(sub)<0):
fp.write("MODE_SENSE FAIL 11")
return "SubPage not present"
AL=mode_sense["AL"][0]
pageCode=mode_sense['pageCode'][0]
if not(pageCode=="00h" or pageCode=="0Ah"):
fp.write("MODE_SENSE FAIL 11")
return "PAGES NOT IMPLEMENTED"
cdb={}
if(mode_sense["pageCode"][0]=='00h'):
#print "Vendor Specific Page"
create_header(cdb,False)
if(mode_sense["DBD"][0]==0):
create_discript(cdb)
else:
#print "Control Mode Page"
create_header(cdb,True)
create_page(cdb)
if(mode_sense["DBD"][0]==0):
create_discript(cdb)
if(int(AL)>int(cdb["MODE DATA LENGTH"][0], 16)):
write_log("MODE SENSE","SUCCESSFUL")
return str(cdb)
else:
fp.write("MODE_SENSE FAIL 11")
return "SIZE OF BUFFER INSUFFICIENT"
def reportLunsServer(cdb):
write_log("REPORT LUNS","STARTED")
rep_luns = {}
rep_luns["reserved"] = ["reserved", 4, 7,32]
rep_luns["lun1"] = []
i, count = 0, 0
update_inventory()
luns = read_inventory()
for lun in luns:
i += 1
rep_luns["lun" + str(i)] = [int(lun), 8+count, 7, 16]
count += 2
if rep_luns["lun1"] == []:
rep_luns["lun1"] = ["empty", 8, 7, 8]
rep_luns["length"] = [i*8,0 ,7 ,32]
write_log("REPORT LUNS","SUCCESSFUL")
return rep_luns
def logsense_response(logsense_cdb):
write_log("LOGSENSE","STARTED")
savelogs = logsense_cdb["sp"][0]
pcode = logsense_cdb["pageCode"][0]
valid = 1
data = ""
resp = {}
if pcode!=0x31:
valid = 0
resp["pageCodeValidity"] = valid
else:
lfile = open("log.dat","r")
data = lfile.read()
resp["saveLogs"] = savelogs
resp["logData"] = data
resp["pageCodeValidity"] = valid
write_log("LOGSENSE","SUCCESSFUL")
return str(resp)
def format_unit_function(cdb):
# since we are having 5 files
write_log("FORMAT_UNIT","STARTED")
luns = [1,2,3,4,5]
filenames = []
lba_size = 100
no_of_lbas = 5
for i in range(0,5):
filename = "file"+str(luns[i])+".txt"
filenames.append(filename)
for eachFilename in filenames:
fileHandler = open(eachFilename,'w')
fileHandler.write(lba_size*no_of_lbas*'\0')
fileHandler.close()
format_unit_summary = "no of lbas formatted is: " + str(no_of_lbas) + " lba size: " + str(lba_size)
write_log("FORMAT_UNIT","SUCCESSFUL")
return format_unit_summary
def TurServer(cdb):
write_log("TEST_UNIT_READY","STARTED")
if(cdb["LUN"][0]>5):
fs = open("sense.dat","w")
fs.write("TEST_UNIT_READY FAIL 5")
fs.close()
write_log("TEST_UNIT_READY","FAILED")
return "Check Unit. LUN does not exist"
no=(random.randrange(1,10000))
if (no%2!=0):
write_log("TEST_UNIT_READY","SUCCESSFUL")
return "SUCCESSFUL : UNIT IS RUNNING"
else:
fs = open("sense.dat","w")
fs.write("TEST_UNIT_READY FAIL 5")
fs.close()
write_log("TEST_UNIT_READY","FAILED")
return "Check Unit. LUN is not functional"
def startStop(startStop):
write_log("START/STOP", "STARTED")
lunNumber = int(startStop["LUN"][0])
write_log("START/STOP", "WORKING ON LUN " + str(lunNumber))
start = int(startStop["start"][0])
loej = int(startStop["LOEJ"][0])
immed = int(startStop["IMMED"][0])
fp = open("sense.dat", "w")
if lunNumber > 5 or lunNumber < 1:
fp.write("START/STOP FAIL 11")
fp.close()
write_log("START/STOP", "FAILED")
return "LUN does not exist"
try:
i = activeLun.index(lunNumber)
except ValueError:
i = -1
if (activeLun == [] or i == -1) and start != 1:
fp.write("START/STOP FAIL 2")
fp.close()
write_log("START/STOP", "FAILED")
return "Lun not started" # lun not started error
if start == 0 and loej == 0:
activeLun.remove(lunNumber)
write_log("START/STOP", "stoping LUN")
if start == 1 and loej == 0:
activeLun.append(lunNumber)
write_log("START/STOP", "staring LUN")
if start == 0 and loej == 1:
write_log("START/STOP", "ejecting media")
if start == 1 and loej == 1:
write_log("START/STOP", "loading media")
if immed == 1:
write_log("START/STOP", "Before operation")
return "StartStopUnit Successful before operation" # success status
if immed == 0:
write_log("START/STOP", "After operation")
return "StartStopUnit Successful After operation" # success status
def receive_request_sense(s):
write_log("REQUEST SENSE","STARTED")
f=open("sense.dat","r")
line = f.readline()
line = line.strip()
line = line.split()
if(len(line) == 0):
return "ALL_CMDS_SUCCESSFUL"
command_name=line[0]
status=line[1]
sense_key=line[2]
desc=s["desc"][0]
if(desc=='0'):
send1={}
send1["valid"]=[1,0,7,1]
res_code=0x71 #current error , fixed format
send1["response_code"]=[res_code,0,6,7]
send1["reserved_1"]=["reserved",1,7,8] #segment number (obsolete)
send1["reserved_2"]=["reserved",2,7,2]
#ILI - incorrect length indicator - 1 = requested logical block length did not match the logical block length of the data on the medium
ili=0
send1["ili"]=[ili,2,5,1]
send1["reserved_3"]=["reserved",2,4,1]
# 2 5 11
asc=00
ascq=00
if(sense_key=='2'):
emsg = 'ERROR MESSAGE: NOT READY'
asc=04 #cause not reportable
ascq=00
elif(sense_key=='5'):
emsg = 'ERROR MESSAGE: ILLEGAL REQUEST'
asc=20 #invalid/unsupported command
ascq=00
elif(sense_key=='11'):
emsg = 'ERROR MESSAGE: ABORTED COMMAND'
asc=00 #no additional sense code
ascq=00
send1["sensekey"]=[sense_key,2,3,4]
send1["information"]=[status,3,7,32]
#additional sense length
send1["additional_sense_length"]=[0,7,7,8]
send1["command_sp_info"]=[command_name,8,7,32]
send1["asc"]=[asc,12,7,8]
send1["ascq"]=[ascq,13,7,8]
send1["field replaceable unit code"]=["unit_code",14,7,8] #optional
# 0 - sense key specific data are not SCSI compliant
# 1 - sense key specific data are SCSI compliant
send1["sksv"]=[1,15,7,1]
send1["sense key specific 1"]=[emsg,15,6,7]
send1["sense key specific 2"]=[emsg,16,7,16]
#additional sense bytes
send1["asb"]=["vendor specific",18,7,8]
write_log("REQUEST SENSE","SUCCESSFUL")
return str(send1)
elif(desc=='1'):
send2={}
send2["reserved"]=["reserved",0,7,1]
res_code=0x73 #current error , descriptor format
send2["response_code"]=[res_code,0,6,7]
send2["reserved1"]=["reserved",1,7,4]
asc=00
ascq=00
if(sense_key=='2'):
emsg = 'ERROR MESSAGE: NOT READY'
asc=04 #cause not reportable
ascq=00
elif(sense_key=='5'):
emsg = 'ERROR MESSAGE: ILLEGAL REQUEST'
asc=20 #invalid/unsupported command
ascq=00
elif(sense_key=='11'):
emsg = 'ERROR MESSAGE: ABORTED COMMAND'
asc=00 #no additional sense code
ascq=00
send2["sensekey"]=[sense_key,1,3,4]
send2["asc"]=[asc,2,7,8]
send2["ascq"]=[ascq,3,7,8]
send2["reserved2"]=["reserved",4,7,24]
send2["additional_sense_length"]=[0,7,7,8]
send2["sense_data_descriptor"]=[emsg,8,7,8]#not sure
write_log("REQUEST SENSE","SUCCESSFUL")
return str(send2)
'''
Create PVT data as a csv file from cyclic motion
'''
import numpy as np
import write_log
# configs
DURATION = 20 #[sec]
FREQ = 240 #[Hz]
AMP = 1 #[rad]
PERIOD = np.array([2,2,2]) #[sec]
PHASE = np.array([2*np.pi/3, 0, -2*np.pi/3])
# create log file
filename = './pvt_data/rotation_inverse.csv'
header = ['time', 'pos_0', 'pos_1', 'pos_2', 'vel_0', 'vel_1', 'vel_2']
write_log = write_log.WriteLog(filename, header)
time = 0
for i in range(DURATION*FREQ):
target_pos = AMP*np.sin(2*np.pi*time/PERIOD+ PHASE)
target_vel = AMP*np.cos(2*np.pi*time/PERIOD+ PHASE)
log_data = np.concatenate((np.array([time]), target_pos, target_vel))
write_log(log_data)
time += 1/FREQ
def sendDiag_server(cdb):
write_log("SEND_DIAGNOSTIC","STARTED")
fp = open("sense.dat","w")
print cdb["Self Test Code"][0]
no=(random.randrange(1,10000))
write_log("SEND_DIAGNOSTIC","TEST_CODE "+str(cdb["Self Test Code"][0]))
if (cdb["Self Test"][0]==0):
if (cdb["Self Test Code"][0]==1):
write_log("SEND_DIAGNOSTIC","Background short self-test performed")
SelfTest = "Background short self-test"
elif (cdb["Self Test Code"][0]==2):
write_log("SEND_DIAGNOSTIC","Background extended self-test performed")
SelfTest = "Background extended self-test"
elif (cdb["Self Test Code"][0]==3):
write_log("SEND_DIAGNOSTIC","Reserved test performed")
SelfTest = "Reserved Test"
elif (cdb["Self Test Code"][0]==4):
write_log("SEND_DIAGNOSTIC","Abort background self-test performed")
SelfTest = "Abort background self-test"
elif (cdb["Self Test Code"][0]==5):
write_log("SEND_DIAGNOSTIC","Foreground short self-test performed")
SelfTest = "Foreground short self-test"
elif (cdb["Self Test Code"][0]==6):
write_log("SEND_DIAGNOSTIC","Foreground extended self-test performed")
SelfTest = "Foreground extended self-test"
elif (cdb["Self Test Code"][0]==7):
write_log("SEND_DIAGNOSTIC","Reserved test performed")
SelfTest = "Reserved Test"
else:
fp.write("SEND_DIAGNOSTIC FAIL 11\n")
SelfTest = "Invalid Self Test Code"
elif(cdb["Self Test"][0]==1):
if(cdb["Self Test Code"][0]==0):
SelfTest= "Default Self Test"
else:
SelfTest = "Invalid Self Test Code"
if (cdb["DevOffl"][0]!=0 and cdb["DevOffl"][0]!=1):
fp.write("SEND_DIAGNOSTIC FAIL 11\n")
fp.close()
SelfTest = "Invalid Device offline bit value. Enter 0 or 1. "
return SelfTest + "Please execute the command again !"
if (cdb["UnitOffl"][0]!=0 and cdb["UnitOffl"][0]!=1):
fp.write("SEND_DIAGNOSTIC FAIL 11\n")
fp.close()
SelfTest = "Invalid Unit offline bit value. Enter 0 or 1. "
return SelfTest + "Please execute the command again !"
if (no%2!=0):
if (SelfTest!="Invalid Self Test Code"):
write_log("SEND_DIAGNOSTIC","SUCCESSFUL")
return SelfTest + " Successful"
else:
fp.write("SEND_DIAGNOSTIC FAIL 11")
fp.close()
write_log("SEND_DIAGNOSTIC","FAILED")
return SelfTest + ".Please execute the command again !"
else:
if (SelfTest!="Invalid Self Test Code"):
fp.write("SEND_DIAGNOSTIC FAIL 11")
write_log("SEND_DIAGNOSTIC","FAILED")
fp.close()
return SelfTest + " Failed." + "Please execute the command again till success !"
else:
fp.write("SEND_DIAGNOSTIC FAIL 11")
fp.close()
write_log("SEND_DIAGNOSTIC","FAILED")
return SelfTest + ".Please execute the command again !"
