class BuildPacket(object):
synchronization = 'FA'
adress = 'AF'
typeConvertor = typeConvertor.TypeConvertor()
crcCalculator = crc.CrcCalculator()
def __init__(self, comand, parameters=None):
# print command
# print parameters
self.comand = self.typeConvertor.IntToHex(comand)
self.parameters = self.GetParametersInHexForm(comand, parameters)
self.packetLenght = self.typeConvertor.IntToHex(6 +
len(self.parameters) /
2)
self.crc = self.CalculateCrc()
self.bytearray = self.GetBytePacket()
def CalculateCrc(self):
concatinatedString = self.synchronization + self.adress + self.packetLenght + self.comand + self.parameters
byteString = bytearray.fromhex(concatinatedString)
return self.crcCalculator.GetTwoBytesFromCrc32(byteString)
def GetBytePacket(self):
concatinatedString = self.synchronization + self.adress + self.packetLenght + self.comand + self.parameters + self.crc
return bytearray.fromhex(concatinatedString)
def GetParametersInHexForm(self, comand, parameters):
if comand == CommandsList.echo:
return self.GetByteStringFormString(parameters)
elif comand == CommandsList.setCoordinates or comand == CommandsList.setCorectCoordinates:
return self.GetByteStringFromFloatList(parameters)
elif comand == CommandsList.dutyCycle:
return self.typeConvertor.IntToHex(
parameters[0]) + self.typeConvertor.FloatToHex(parameters[1])
elif comand == CommandsList.setDirectionBit or comand == CommandsList.removeDirectionBit:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.setMotorVoltage:
return self.typeConvertor.IntToHex(
parameters[0]) + self.typeConvertor.FloatToHex(parameters[1])
elif comand == CommandsList.setPidParameters:
return self.GetByteStringFromFloatList(parameters)
elif comand == CommandsList.setRotatoinSpeed:
return self.GetByteStringFromFloatList(parameters)
elif comand == CommandsList.setMovementSpeed:
return self.typeConvertor.FloatToHex(
parameters[0]) + self.typeConvertor.FloatToHex(
parameters[1]) + self.typeConvertor.FloatToHex(
parameters[2])
elif comand == CommandsList.addPointToStack:
return self.typeConvertor.FloatToHex(
parameters[0]) + self.typeConvertor.FloatToHex(
parameters[1]) + self.typeConvertor.FloatToHex(
parameters[2]) + self.typeConvertor.IntToHex(
parameters[3])
elif comand == CommandsList.setMovementParameters:
return self.typeConvertor.FloatToHex(
parameters[0]) + self.typeConvertor.FloatToHex(
parameters[1]) + self.typeConvertor.FloatToHex(
parameters[2]) + self.typeConvertor.FloatToHex(
parameters[3]) + self.typeConvertor.FloatToHex(
parameters[4])
elif comand == CommandsList.setADCPinMode:
return self.typeConvertor.IntToHex(
parameters[0]) + self.typeConvertor.IntToHex(parameters[1])
elif comand == CommandsList.getADCPinState:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.getDigitalPinState:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.setOutputState:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.getPinMode:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.setPinModeExit:
return self.typeConvertor.IntToHex(
parameters[0]) + self.typeConvertor.IntToHex(parameters[1])
elif comand == CommandsList.getDiscretePinState:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.setDiscreteOutputState:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.determineCurrentPinMode:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.set12VState:
return self.typeConvertor.IntToHex(parameters)
elif comand == CommandsList.stopAllMotors:
return self.typeConvertor.FloatToHex(
parameters[0]) + self.typeConvertor.FloatToHex(
parameters[1]) + self.typeConvertor.FloatToHex(
parameters[2]) + self.typeConvertor.IntToHex(
parameters[3])
elif comand == CommandsList.moveWithCorrection:
return self.typeConvertor.FloatToHex(
parameters[0]) + self.typeConvertor.FloatToHex(
parameters[1]) + self.typeConvertor.FloatToHex(
parameters[2]) + self.typeConvertor.FloatToHex(
parameters[3]) + self.typeConvertor.FloatToHex(
parameters[4]) + self.typeConvertor.FloatToHex(
parameters[5]
) + self.typeConvertor.IntToHex(parameters[6])
return ""
def GetByteStringFormString(self, parameters):
outputString = ""
for symbol in parameters:
outputString = outputString + self.typeConvertor.IntToHex(
ord(symbol))
return outputString
def GetByteStringFromIntList(self, parameters):
outputString = ""
for parameter in parameters:
if type(parameter) is not int:
raise Exception('Parameter should be integer number.')
outputString = outputString + self.typeConvertor.IntToHex(
parameter)
return outputString
def GetByteStringFromFloatList(self, parameters):
outputString = ""
for parameter in parameters:
outputString = outputString + self.typeConvertor.FloatToHex(
parameter)
return outputString
class ParsePacket(object):
synchronization = 'FA'
adress = 'FA'
typeConvertor = typeConvertor.TypeConvertor()
crcCalculator = crc.CrcCalculator()
listOfComands = packetBuilder.CommandsList()
def __init__(self, byteString):
self.string = byteString
self.byteArray = self.GetByteArrayFromRecievedString()
self.recievedSynchronizationByte = self.byteArray[0]
self.recievedAdress = self.byteArray[1]
self.packetLenght = self.byteArray[2]
self.command = self.byteArray[3]
self.reply = self.GetReply()
self.recievedcrc = self.typeConvertor.IntToHex(
self.byteArray[len(self.byteArray) -
2]) + self.typeConvertor.IntToHex(
self.byteArray[len(self.byteArray) - 1])
self.CheckCrc()
def GetReply(self):
if self.listOfComands.getCurentCoordinates == self.command or self.listOfComands.getCurrentSpeed == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
coordinatesList = []
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[16:24]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[8:16]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[0:8]))
return coordinatesList
if self.listOfComands.getDataIKSensors == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
coordinatesList = []
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[24:32]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[16:24]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[8:16]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[0:8]))
return coordinatesList
if self.listOfComands.getDataUSSensors == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
coordinatesList = []
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[32:40]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[24:32]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[16:24]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[8:16]))
coordinatesList.append(
self.typeConvertor.HexToFloat(invertedParametersString[0:8]))
return coordinatesList
if self.listOfComands.closeCubeCollector == self.command or self.listOfComands.getADCPinState == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
# check int 16 or int 8
return int(invertedParametersString, 16)
if self.listOfComands.isPointWasReached == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
return int(invertedParametersString, 16)
if self.listOfComands.getManipulatorAngle == self.command:
recievedPametersString = binascii.hexlify(
self.byteArray[4:len(self.byteArray) - 2])
invertedParametersString = self.typeConvertor.InvertStringArray(
recievedPametersString)
return self.typeConvertor.HexToFloat(invertedParametersString)
return self.byteArray[4:len(self.byteArray) - 2][:-1]
def CheckCrc(self):
calculatedCrc = self.crcCalculator.GetTwoBytesFromCrc32(
self.byteArray[0:len(self.byteArray) - 2])
if calculatedCrc != self.recievedcrc:
raise Exception('Expected crc: ' + self.recievedcrc +
', but calculated: ' + calculatedCrc)
def GetByteArrayFromRecievedString(self):
byteString = ""
for index in range(0, len(self.string)):
hexSymbol = self.typeConvertor.IntToHex(
ord(str(self.string[index])))
#print str(index) + ': ' + hexSymbol
byteString = byteString + hexSymbol
byteString = bytearray.fromhex(byteString)
#print 'end'
return byteString