def packet_received(self, pkt):
"""Called when a valid packet has been received."""
if pkt.dev_id != self.dev_id() and pkt.dev_id != packet.Id.BROADCAST:
# Not a packet for us
return
if self.show & Bus.SHOW_COMMANDS:
log('Rcvd packet for ID: {} Cmd: {}'.format(
pkt.dev_id, packet.Command(pkt.cmd)))
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes, prefix=' R', show_ascii=False, log=log)
if pkt.cmd == packet.Command.PING:
self.command_ping(pkt)
elif pkt.cmd == packet.Command.READ:
self.command_read(pkt)
elif pkt.cmd == packet.Command.WRITE:
self.command_write(pkt)
elif pkt.cmd == packet.Command.REG_WRITE:
self.command_reg_write(pkt)
elif pkt.cmd == packet.Command.ACTION:
self.command_action(pkt)
elif pkt.cmd == packet.Command.RESET:
self.command_reset(pkt)
elif pkt.cmd == packet.Command.SYNC_WRITE:
self.command_sync_write(pkt)
else:
self.command_unknown(pkt)
def packet_received(self, pkt):
"""Called when a valid packet has been received."""
if pkt.dev_id != self.dev_id() and pkt.dev_id != packet.Id.BROADCAST:
# Not a packet for us
return
if self.show & Bus.SHOW_COMMANDS:
log('Rcvd packet for ID: {} Cmd: {}'.format(pkt.dev_id, packet.Command(pkt.cmd)))
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes, prefix=' R', show_ascii=False, log=log)
if pkt.cmd == packet.Command.PING:
self.command_ping(pkt)
elif pkt.cmd == packet.Command.READ:
self.command_read(pkt)
elif pkt.cmd == packet.Command.WRITE:
self.command_write(pkt)
elif pkt.cmd == packet.Command.REG_WRITE:
self.command_reg_write(pkt)
elif pkt.cmd == packet.Command.ACTION:
self.command_action(pkt)
elif pkt.cmd == packet.Command.RESET:
self.command_reset(pkt)
elif pkt.cmd == packet.Command.SYNC_WRITE:
self.command_sync_write(pkt)
else:
self.command_unknown(pkt)
def read_status_packet(self):
"""Reads a status packet and returns it.
Rasises a bioloid.bus.BusError if an error occurs.
"""
pkt = packet.Packet()
while True:
start = pyb.micros()
byte = self.serial_port.read_byte()
if byte is None:
raise BusError(packet.ErrorCode.TIMEOUT)
err = pkt.process_byte(byte)
if err != packet.ErrorCode.NOT_DONE:
break
if err != packet.ErrorCode.NONE:
raise BusError(err)
if self.show & Bus.SHOW_COMMANDS:
log('Rcvd Status: {}'.format(packet.ErrorCode(err)))
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes, prefix=' R', show_ascii=True, log=log)
err = pkt.error_code()
if err != packet.ErrorCode.NONE:
raise BusError(err)
return pkt
def send(self, obj):
"""Converts a python object into its json representation and then sends
it using the 'serial_port' passed in the constructor.
"""
j_str = json.dumps(obj).encode('ascii')
j_len = len(j_str)
j_lrc = lrc(j_str)
hdr = bytearray((SOH, j_len & 0xff, j_len >> 8, STX))
ftr = bytearray((ETX, j_lrc, EOT))
if self.show_packets:
data = hdr + j_str + ftr
dump_mem(data, 'Send')
self.serial_port.write(hdr)
self.serial_port.write(j_str)
self.serial_port.write(ftr)
def write_status_packet(self, status, params=None):
"""Allocates and fills a packet. param should be a bytearray of data
to include in the packet, or None if no data should be included.
"""
packet_len = 6
if not params is None:
packet_len += len(params)
pkt_bytes = bytearray(packet_len)
pkt_bytes[0] = 0xff
pkt_bytes[1] = 0xff
pkt_bytes[2] = self.dev_id()
pkt_bytes[3] = 2 # for len and status
pkt_bytes[4] = self.status | status
if not params is None:
pkt_bytes[3] += len(params)
pkt_bytes[5:packet_len - 1] = params
pkt_bytes[-1] = ~sum(pkt_bytes[2:-1]) & 0xff
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt_bytes, prefix=' W', show_ascii=False, log=log)
self.dev_port.write_packet(pkt_bytes)
def fill_and_write_packet(self, dev_id, cmd, data=None):
"""Allocates and fills a packet. data should be a bytearray of data
to include in the packet, or None if no data should be included.
"""
packet_len = 6
if not data is None:
packet_len += len(data)
pkt_bytes = bytearray(packet_len)
pkt_bytes[0] = 0xff
pkt_bytes[1] = 0xff
pkt_bytes[2] = dev_id
pkt_bytes[3] = 2 # for len and cmd
pkt_bytes[4] = cmd
if not data is None:
pkt_bytes[3] += len(data)
pkt_bytes[5:packet_len - 1] = data
pkt_bytes[-1] = ~sum(pkt_bytes[2:-1]) & 0xff
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt_bytes, prefix=' W', show_ascii=True, log=log)
self.serial_port.write_packet(pkt_bytes)
def write_status_packet(self, status, params=None):
"""Allocates and fills a packet. param should be a bytearray of data
to include in the packet, or None if no data should be included.
"""
packet_len = 6
if not params is None:
packet_len += len(params)
pkt_bytes = bytearray(packet_len)
pkt_bytes[0] = 0xff
pkt_bytes[1] = 0xff
pkt_bytes[2] = self.dev_id()
pkt_bytes[3] = 2 # for len and status
pkt_bytes[4] = self.status | status
if not params is None:
pkt_bytes[3] += len(params)
pkt_bytes[5:packet_len - 1] = params
pkt_bytes[-1] = ~sum(pkt_bytes[2:-1]) & 0xff
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt_bytes, prefix=' W', show_ascii=False, log=log)
self.dev_port.write_packet(pkt_bytes)
def send(self, obj):
"""Convert a Python object into its string representation and then send
it using the 'serial_port' passed in the constructor.
Parameters
----------
obj : list, string or int
object that is send via 'serial_port'
"""
data_type = type(obj)
payload_str = None
payload_len = None
payload_lrc = None
if data_type is list:
payload_str = tsv.dumps(obj).encode('ascii')
payload_len = len(payload_str)
payload_lrc = lrc(payload_str) #longitudinal redundancy check
hdr = bytearray(
(SOH, payload_len & 0xff, payload_len >> 8, SEQ, STX)
) #header & 0xff masks the lower eight bits(FF is 255) >>8 means shift to the right by 8 bits
elif data_type is str:
payload_str = obj.encode('ascii')
payload_len = len(payload_str)
payload_lrc = lrc(payload_str)
hdr = bytearray(
(SOH, payload_len & 0xff, payload_len >> 8, MSG, STX))
elif data_type is int:
payload_str = str(obj).encode('ascii')
payload_len = len(payload_str)
payload_lrc = lrc(payload_str)
hdr = bytearray(
(SOH, payload_len & 0xff, payload_len >> 8, INS, STX))
else:
raise TypeError("Type cannot be send using Packet.")
ftr = bytearray((ETX, payload_lrc, EOT)) #footer
if self.show_packets:
data = hdr + payload_str + ftr
dump_mem(data, 'Send')
self.serial_port.write(hdr)
self.serial_port.write(payload_str)
self.serial_port.write(ftr)
log('Control-C - Quit')
log('s - Scan Bus')
log('d - Debug - Show Packets')
show = Bus.SHOW_NONE
while True:
heartbeat.process()
activity.process()
byte = host_uart.read_byte()
if byte is not None:
rc = pkt.process_byte(byte)
if rc != packet.ErrorCode.NOT_DONE:
activity.kick()
device_uart.write_packet(pkt.pkt_bytes)
if show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes,
prefix=' H->D',
show_ascii=False,
log=log)
if device_uart.any():
byte = device_uart.read_byte()
rc = rsp.process_byte(byte)
if rc != packet.ErrorCode.NOT_DONE:
activity.kick()
host_uart.write_packet(rsp.pkt_bytes)
if show & Bus.SHOW_PACKETS:
dump_mem(rsp.pkt_bytes,
prefix=' D->H',
show_ascii=False,
log=log)
if repl_uart.any():
heartbeat = HeartBeat(RED_LED)
activity = Activity(GREEN_LED)
while True:
heartbeat.process()
activity.process()
byte = host_uart.read_byte()
if byte is not None:
if dev.process_byte(byte) == packet.ErrorCode.NONE:
# We've received a packet. See if it should be forwarded along
pkt = dev.pkt
if pkt.dev_id != dev.dev_id() or pkt.cmd == packet.Command.SYNC_WRITE:
activity.kick()
device_uart.write_packet(pkt.pkt_bytes)
if show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes, prefix=' H->D', show_ascii=False, log=log)
if device_uart.any():
byte = device_uart.read_byte()
if rsp.process_byte(byte) == packet.ErrorCode.NONE:
activity.kick()
host_uart.write_packet(rsp.pkt_bytes)
if show & Bus.SHOW_PACKETS:
dump_mem(rsp.pkt_bytes, prefix=' D->H', show_ascii=False, log=log)
if repl_uart.any():
byte = repl_uart.readchar()
if byte == 3: # Control-C
log('Control-C')
raise KeyboardInterrupt
if byte == ord('d'):
#!/usr/bin/python3
from dump_mem import dump_mem
PREFIX = ' Prefix'
print('Empty Buffer')
dump_mem(b'', prefix=PREFIX)
print
print('Less than line')
dump_mem(b'0123', prefix=PREFIX)
print
print('Exactly one line')
dump_mem(b'0123456789ABCDEF', prefix=PREFIX)
print
print('A bit more than a line')
dump_mem(b'0123456789ABCDEFGHI', prefix=PREFIX)
print
print('Set a prefix')
dump_mem(b'0123', prefix=' Something')
print
print('Set an address and a line_width')
dump_mem(b'0123456789ABCDEFGHI', address=0x2000, line_width=8,
prefix=PREFIX)
DATA = bytearray([0x30, 0x31, 0x32, 0x33, 0, 0x80, 0xFF])
print
#!/usr/bin/python3
from dump_mem import dump_mem
PREFIX = ' Prefix'
print('Empty Buffer')
dump_mem(b'', prefix=PREFIX)
print
print('Less than line')
dump_mem(b'0123', prefix=PREFIX)
print
print('Exactly one line')
dump_mem(b'0123456789ABCDEF', prefix=PREFIX)
print
print('A bit more than a line')
dump_mem(b'0123456789ABCDEFGHI', prefix=PREFIX)
print
print('Set a prefix')
dump_mem(b'0123', prefix=' Something')
print
print('Set an address and a line_width')
dump_mem(b'0123456789ABCDEFGHI', address=0x2000, line_width=8, prefix=PREFIX)
DATA = bytearray([0x30, 0x31, 0x32, 0x33, 0, 0x80, 0xFF])
print
print('Check out some non-printable characters')
