def requestFilelist(self, filename=None, overwrite=False):
filelist = []
resp = self.request(u"\xda\x00\x04\x05")
if resp == None:
return filelist, False
num_files = RDLaser.toNumber(resp)
for i in range(0, num_files):
resp = self.request(u"\xe8\x01" + RDLaser.fromNumber(i + 1, 2))
if resp == None:
break
filename_ = resp[:-1].upper()
'''
fileno = RDLaser.toNumber(resp[:2], 2)
if i+1 != fileno:
raise ValueError("Reported filenumber does not match iterator")
'''
filelist.append(filename_)
if filename is not None and filename.upper() == filename_[:-1]:
while not daemon:
print "Duplicate Filename %s, overwrite?" % filename
inp = raw_input("[Y/N] ")
if inp.lower() == "y":
overwrite = True
break
elif inp.lower() == "n":
break
if overwrite:
self.send(u"\xe8\x00" + RDLaser.fromNumber(i + 1, 2) +
RDLaser.fromNumber(i + 1, 2))
return filelist, True
return filelist, False
if filename is not None:
self.send(u"\xe8\x02\xe7\x01" + filename + u"\x00")
return filelist, True
def __init__(self, filedir="./rdfiles/"):
RDLaser.getServer()
self.filedir = filedir
self.responses = {
"da00057e": u"\xda\x01\x05\x7e\x06\x28\x41\x4a\x10",
"da000b12": u"\xda\x01\x0b\x12\x0f\x11\x64\x00\x00",
}
pass
def send(self, data):
scr = RDLaser.checksum(RDLaser.scramblestr(data))
if self.debug:
print u"\x1B[42m> " + self.addr + ": " + (
scr.encode("hex")) + u"\x1B[0m - " + data.encode("HEX")
RDLaser.getClient().sendto(scr, (self.addr, RDLaser.SERVER_PORT))
data, server_addr = self.recv()
if (data != '\xc6'):
return False
return True
def send(self, addr, data):
scr = RDLaser.scramblestr(data)
if self.debug:
if data[:3] == u"\xe8\x01\x00":
uns = str(ord(data[3])) + " - " + data[4:-1]
else:
uns = data.encode("HEX")
print u"\x1B[32m> " + addr + ": " + (
scr.encode("hex")) + u"\x1B[0m - " + uns
RDLaser.getServer().sendto(scr, (addr, RDLaser.CLIENT_PORT))
def recv(self):
try:
data, server_addr = RDLaser.getClient().recvfrom(RDLaser.BUF_SIZE)
except socket.timeout:
if self.debug:
print u"\x1B[30;48;5;1m TIMEOUT REACHED \x1B[0m"
return (None, None)
if self.debug:
print u"\x1B[44m< " + server_addr[0] + ": " + data.encode(
"HEX") + u"\x1B[0m - " + RDLaser.descramblestr(data).encode(
"HEX")
return (data, server_addr)
def recv(self):
data, addr = RDLaser.getServer().recvfrom(RDLaser.BUF_SIZE)
if data[:2] != RDLaser.checksum(data[2:])[:2]:
print data[0:2].encode("HEX")
if self.debug:
print(u"\x1B[31mCHECKSUM MISMATCH\x1B[0m")
return ("", addr)
data = RDLaser.descramblestr(data[2:])
if self.debug:
print(u"\x1B[34m< " + addr[0] + ": " +
RDLaser.scramblestr(data).encode("HEX") + u"\x1B[0m - " +
data.encode("HEX"))
self.send(addr[0], '\xcc') #send ACK
return (data, addr)
def sendSystemInfo(self, addr, opt):
# 0x01 = TOTAL ON TIME (s)
# 0x02 = TOTAL PROCESSING TIME (s)
# 0x03 = TOTAL PROCESSING TIMES (#)
# 0x08 = PREVIOUS PROCESSING TIME (ms)
# 0x11 = TOTAL TRAVEL Y (m)
# 0x23 = TOTAL TRAVEL X (m)
self.send(addr, u"\xda\x01\x04" + chr(opt) + RDLaser.fromNumber(0))
def callback(self, addr, data):
# HANDSHAKE, MODEL, STATE?
if data == self.HANDSHAKE:
self.send(addr, u"\xda\x01\x05\x7e\x06\x28\x41\x4a\x10")
#STATE
#elif data == u"\x02\x73\xd4\x89\x8d\x89":
# ssend(addr, "d4098d8989c98d810b".decode("HEX"))
elif data == u"\xda\x00\x00\x60":
self.respond(addr, data, 65535)
# Filelist request
elif data == u"\xda\x00\x04\x05":
self.sendFilelist(addr)
elif data[:2] == u"\xe8\x00":
self.deleteFile(RDLaser.toNumber(data[2:], 2))
#elif data[:2] == u"\xe8\x04":
# self.calculateTime(RDLaser.toNumber(data[2:], 2))
elif data[0] == u"\xe5":
self.sendFile(RDLaser.toNumber(data[1:], 2))
# System info request
elif data[2:-1] == u"\xda\x00\x04":
self.sendSystemInfo(addr, ord(data[-1]))
# Model number query
elif data == RDLaser.MAINBOARD_VERSION:
self.send(
addr, u"\xda\x01\x05\x7f" +
RDLaser.values[RDLaser.MAINBOARD_VERSION] + u"\x00")
# Specific codes (deprecated)
elif data.encode("hex") in self.responses:
self.send(addr, self.responses[data.encode("hex")])
# Generic answer
###
# Query is as following:
# 0x89 0xXX 0xDA 0x00 0xYY 0xZZ
# Answers are in following format:
# 0xDA 0x01 0xYY 0xZZ ...
# so each request [4:6] must match response [2:4]
# Rest of the answer (...) does not noticably change anything as far as tested
###
elif data[:2] == u"\xda\x00":
try:
self.respond(addr, data, RDLaser.values[data])
except:
self.respond(addr, data, 0)
def readSystemInfo(self, opt):
data = self.request(opt)
if data is None:
return None
else:
val = RDLaser.toNumber(data[-5:])
try:
RDLaser.values[opt] = val
except:
pass
return val
def request(self, data):
if not self.send(data):
return None
resp, server_addr = self.recv()
if resp == None:
return None
resp = RDLaser.descramblestr(resp)
if resp[2:4] == data[2:4]:
return resp[4:]
else:
if self.debug:
print u"\x1B[30;48;5;1m MESSAGE CODE MISMATCH %s / %s \x1B[0m" % (
resp[2:4].encode("HEX"), data[2:4].encode("HEX"))
return None
def sendFilelist(self, addr):
if self.debug:
print u"\x1B[31m# SEND FILELIST\x1B[0m"
files = next(os.walk(self.filedir))[2]
num_files = len(files)
i = 0
while i < num_files:
if "." in files[i] and files[i].rsplit('.', 1)[1].lower() == "rd":
i += 1
else:
del files[i]
num_files -= 1
fname = ""
self.send(addr, u"\xda\x01\x04\x05" + RDLaser.fromNumber(len(files)))
for i in range(0, len(files)):
data, sender_addr = self.recv()
if len(data) == 6 and ord(data[-1]) is i:
if self.debug:
print u"\x1B[5m\x1B[31m# DUPLICATE FILE, NO LONGER SEND FILELIST\x1B[0m\x1B[25m"
return
#request processing time
elif data[-2] == u"\x07":
self.callback(addr, data)
data, sender_addr = self.recv()
elif ord(data[-1]) is not i + 1:
if self.debug:
print u"\x1B[5m\x1B[31m# INVALID REQUEST, CANCELLED DOWNLOAD?\x1B[0m\x1B[25m"
self.callback(addr, data)
return
fname = files[i].split('.', 1)[0]
#Send filename, \0 terminated
self.send(
sender_addr[0], u"\xe8\x01" +
(RDLaser.fromNumber(i + 1, 2) + fname[:8].upper()) + u"\x00")
if self.debug:
print(u"\x1B[31m# FILELIST SENT\x1B[0m")
def respond(self, addr, data, n):
self.send(addr, u"\xda\x01" + data[2:4] + RDLaser.fromNumber(n))
def deleteFile(self, fileno):
self.init()
self.send(u"\xe8\x00" + RDLaser.fromNumber(fileno, 2) +
RDLaser.fromNumber(fileno, 2))
def calculateTime(self, fileno):
self.init()
return RDLaser.toNumber(
self.request(u"\xe8\x04" + RDLaser.fromNumber(fileno, 2)))
def getFile(self, fileno, file):
self.init()
self.send(u"\xe5" + RDLaser.fromNumber(fileno, 2))
while True:
self.request(u"\xe5\x01\x01" + RDLaser.fromNumber(i, 5))
file.close()
def moveAxis(self, axis, nm=10000, speed=100000):
self.send(u"\xc9\x02" + RDLaser.fromNumber(speed))
return self.send(u"\xd9" + chr(axis) + u"\x02" + RDLaser.toNumber(nm))
def __init__(self, addr="127.0.0.1"):
RDLaser.getClient()
self.addr = addr
pass
