class VLANIDMessage(MessageStructure):
value = Payload()
def get_conf(payload):
if payload == None or len(payload) == 0:
return None
vlanid = struct.unpack('!H', payload[0:2])[0]
pp = ord(payload[2])
ports = []
for p in range(0, 8):
if pp & (1 << (7 - p)):
ports.append(p + 1)
return (vlanid, ports)
def set_conf(conf):
if conf == None or conf[0] == None:
return '\x00\x00\x00'
vlanid = conf[0]
ports = conf[1]
pp = 0
for p in range(0, 8):
if p + 1 in ports:
pp = pp | (1 << (7 - p))
return struct.pack('!HB', vlanid, pp)
config = FieldProperty(value, onget=get_conf, onset=set_conf)
class PortMirrorMessage(MessageStructure):
value = Payload()
def get_conf(payload):
if len(payload) == 0:
return None
sp = ord(payload[2])
source_ports = []
for p in range(0, 8):
if sp & (1 << (7 - p)):
source_ports.append(p + 1)
return (ord(payload[0]), source_ports)
def set_conf(conf):
if conf == None or conf[0] == None:
return '\x00\x00\x00'
destination_port = conf[0]
source_ports = conf[1]
sp = 0
for p in range(0, 8):
if p + 1 in source_ports:
sp = sp + (1 << (7 - p))
return chr(destination_port) + '\x00' + chr(sp)
config = FieldProperty(value, onget=get_conf, onset=set_conf)
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 IGMPSnoopingStatusMessage(MessageStructure):
value = Payload()
vlanid = FieldProperty(value,
onget=lambda v: None
if len(v) == 0 else struct.unpack('!H', v[2:4])[0]
if v[0:2] == '\x00\x01' else 0,
onset=lambda v: struct.pack('!HH', 1
if v > 0 else 0, v))
class BoxedGreedy(Structure):
sof = Magic(b'\xAA')
a = LengthField(UBInt8())
b = UBInt8()
payload = Payload()
c = UBInt16()
d = VariableRawPayload(a)
eof = Magic(b'\xbb')
class TestCableResultMessage(MessageStructure):
value = Payload()
port_result_meters = FieldProperty(
value,
onget=lambda v: None if len(v) == 0 else (ord(v[0]), None, None)
if len(v) == 1 else struct.unpack('!BII', v),
onset=lambda v: chr(v[0])
if v[1] == None or v[2] == None else struct.pack(
'!BII', v[0], v[1], v[2]))
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 BroadcastBandwidthMessage(MessageStructure):
value = Payload()
def get_conf(payload):
if payload == None or len(payload) != 5:
return None
return struct.unpack('!BI', payload)
def set_conf(conf):
port = conf[0]
bandwidth = conf[1]
return struct.pack('!BI', port, bandwidth)
config = FieldProperty(value, onget=get_conf, onset=set_conf)
class VLANID802Message(MessageStructure):
value = Payload()
def get_conf(payload):
if payload == None or len(payload) == 0:
return None
vlanid = struct.unpack('!H', payload[0:2])[0]
if len(payload) == 2:
return (vlanid, None)
mp = ord(payload[2]) & (~ord(payload[3]))
untag_ports = []
for p in range(0, 8):
if mp & (1 << (7 - p)):
untag_ports.append(p + 1)
mp = ord(payload[3])
tag_ports = []
for p in range(0, 8):
if mp & (1 << (7 - p)):
tag_ports.append(p + 1)
return (vlanid, tag_ports, untag_ports)
def set_conf(conf):
if conf == None or conf[0] == None:
return '\x00\x00\x00\x00' # TODO
vlanid = conf[0]
tag_ports = conf[1]
untag_ports = conf[2]
if tag_ports == None or untag_ports == None:
return struct.pack('!H', vlanid)
tp = 0
for p in range(0, 8):
if p + 1 in tag_ports:
tp = tp | (1 << (7 - p))
up = tp
for p in range(0, 8):
if p + 1 in untag_ports:
up = up | (1 << (7 - p))
return struct.pack('!HBB', vlanid, up, tp)
config = FieldProperty(value, onget=get_conf, onset=set_conf)
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 TypeFieldWrongSize(Structure):
type = TypeField(UBInt8(), size_mapping)
greedy = Payload(type)
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 ConditionalArrayGreedyAfter(Structure):
length = LengthField(UBInt8())
array = FieldArray(ConditionalArrayElement, length)
greedy = Payload()
class PortbasedQOSMessage(MessageStructure):
value = Payload()
config = FieldProperty(value,
onget=lambda v: None
if len(v) == 0 else struct.unpack('!BB', v),
onset=lambda v: struct.pack('!BB', v[0], v[1]))
class MyPayloadMessage(Structure):
payload = Payload()
class PascalString16(Structure):
length = LengthField(UBInt16())
value = Payload(length)
class NameStructureGreedyAfter(Structure):
first = SubstructureField(PascalString16)
last = SubstructureField(PascalString16)
greedy = Payload()
class NumberOfPortsMessage(MessageStructure):
value = Payload()
ports = FieldProperty(value,
onget=lambda v: None if len(v) == 0 else ord(v[0]),
onset=lambda v: chr(v))
class LoopDetectionMessage(MessageStructure):
value = Payload()
enabled = FieldProperty(value,
onget=lambda v: v == '\x01',
onset=lambda v: '\x01' if v else '\x00')
class QOSMessage(MessageStructure):
value = Payload()
type = FieldProperty(value,
onget=lambda v: None if len(v) == 0 else ord(v),
onset=lambda v: chr(v))
class BasicGreedy(Structure):
a = UBInt8()
b = UBInt8()
payload = Payload()
class CRCGreedyTail(Structure):
payload = Payload()
magic = Magic(b'~~')
crc = CRCField(UBInt32(), crc32, 0, -1) # all (checksum zeroed)
class UnknownMessage0017(MessageStructure):
value = Payload()
class BroadcastFilteringMessage(MessageStructure):
value = Payload()
enabled = FieldProperty(value,
onget=lambda v: v == '\x03',
onset=lambda v: '\x03' if v else '\x00')
class IGMPHeaderValidationMessage(MessageStructure):
value = Payload()
enabled = FieldProperty(value,
onget=lambda v: v == '\x01',
onset=lambda v: '\x01' if v else '\x00')
class BlockUnknownMulticastsMessage(MessageStructure):
value = Payload()
enabled = FieldProperty(value,
onget=lambda v: v == '\x01',
onset=lambda v: '\x01' if v else '\x00')
class UnknownMessage9400(MessageStructure):
value = Payload()
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 EchoProtocolFrame(Structure):
frame_type = UBInt8()
payload_length = LengthField(UBInt16())
payload = Payload(payload_length)
class Zero(Structure):
body = Payload()
