--- /dev/null
+import struct, time, serial
+
+class Serial:
+ HDLC_FLAG_BYTE = 0x7e
+ HDLC_CTLESC_BYTE = 0x7d
+
+ TOS_SERIAL_ACTIVE_MESSAGE_ID = 0
+ TOS_SERIAL_CC1000_ID = 1
+ TOS_SERIAL_802_15_4_ID = 2
+ TOS_SERIAL_UNKNOWN_ID = 255
+
+ SERIAL_PROTO_ACK = 67
+ SERIAL_PROTO_PACKET_ACK = 68
+ SERIAL_PROTO_PACKET_NOACK = 69
+ SERIAL_PROTO_PACKET_UNKNOWN = 255
+
+ __s = None; # An instance of serial.Serial object
+ __debug = True # Debug mode
+
+ def __init__(self, port, baudrate):
+ self.__s = serial.Serial(port, baudrate, rtscts=0)
+
+ def __format_packet(self, packet):
+ return " ".join(["%02x" % p for p in packet]) + " | " + \
+ " ".join(["%d" % p for p in packet])
+
+ def crc16(self, base_crc, frame_data):
+ crc = base_crc
+ for b in frame_data:
+ crc = crc ^ (b << 8)
+ for i in range(0, 8):
+ if crc & 0x8000 == 0x8000:
+ crc = (crc << 1) ^ 0x1021
+ else:
+ crc = crc << 1
+ crc = crc & 0xffff
+ return crc
+
+ def __encode(self, val, dim):
+ output = []
+ for i in range(dim):
+ output.append(val & 0xFF)
+ val = val >> 8
+ return output
+
+ def __decode(self, v):
+ r = long(0)
+ for i in v[::-1]:
+ r = (r << 8) + i
+ return r
+
+ def __get_byte(self):
+ r = struct.unpack("B", self.__s.read())[0]
+ return r
+
+ def __put_bytes(self, data):
+ for b in data:
+ self.__s.write(struct.pack('B', b))
+
+ def __unescape(self, packet):
+ r = []
+ esc = False
+ for b in packet:
+ if esc:
+ r.append(b ^ 0x20)
+ esc = False
+ elif b == self.HDLC_CTLESC_BYTE:
+ esc = True
+ else:
+ r.append(b)
+ return r
+
+ def __escape(self, packet):
+ r = []
+ for b in packet:
+ if b == self.HDLC_FLAG_BYTE or b == self.HDLC_CTLESC_BYTE:
+ r.append(self.HDLC_CTLESC_BYTE)
+ r.append(b ^ 0x20)
+ else:
+ r.append(b)
+ return r
+
+ def read_packet(self):
+ d = self.__get_byte()
+ ts = time.time()
+ while d != self.HDLC_FLAG_BYTE:
+ d = self.__get_byte()
+ ts = time.time()
+ packet = [d]
+ d = self.__get_byte()
+ if d == self.HDLC_FLAG_BYTE:
+ d = self.__get_byte()
+ ts = time.time()
+ else:
+ packet.append(d)
+ while d != self.HDLC_FLAG_BYTE:
+ d = self.__get_byte()
+ packet.append(d)
+ un_packet = self.__unescape(packet)
+ crc = self.crc16(0, un_packet[1:-3])
+ packet_crc = self.__decode(un_packet[-3:-1])
+ if crc != packet_crc:
+ print "Warning: wrong CRC!"
+ if self.__debug == True:
+ print "Recv:", self.__format_packet(un_packet)
+ return (ts, un_packet)
+
+ def write_packet(self, am_group, am_id, data):
+ # The first byte after SERIAL_PROTO_PACKET_ACK is a sequence
+ # number that will be send back by the mote to ack the receive of
+ # the data.
+ packet = [self.SERIAL_PROTO_PACKET_ACK, 0, self.TOS_SERIAL_ACTIVE_MESSAGE_ID,
+ 0xff, 0xff,
+ 0, 0,
+ len(data), am_group, am_id] + data;
+ crc = self.crc16(0, packet)
+ packet.append(crc & 0xff)
+ packet.append((crc >> 8) & 0xff)
+ packet = [self.HDLC_FLAG_BYTE] + self.__escape(packet) + [self.HDLC_FLAG_BYTE]
+ if self.__debug == True:
+ print "Send:", self.__format_packet(packet)
+ self.__put_bytes(packet)
+
+ # Waiting for ACK
+ packet = self.read_packet()
+ if len(packet) > 1 and len(packet[1]) > 1:
+ return ((packet[1])[1] == self.SERIAL_PROTO_ACK)
+ return False
+
+ def set_debug(self, debug):
+ self.__debug = debug
+
+class GenericPacket:
+ """ GenericPacket """
+
+ def __decode(self, v):
+ r = long(0)
+ for i in v:
+ r = (r << 8) + i
+ return r
+
+ def __encode(self, val, dim):
+ output = []
+ for i in range(dim):
+ output.append(int(val & 0xFF))
+ val = val >> 8
+ output.reverse()
+ return output
+
+ def __init__(self, desc, packet = None):
+ self.__dict__['_schema'] = [(t, s) for (n, t, s) in desc]
+ self.__dict__['_names'] = [n for (n, t, s) in desc]
+ self.__dict__['_values'] = []
+ offset = 10
+ if type(packet) == type([]):
+ for (t, s) in self._schema:
+ if t == 'int':
+ self._values.append(self.__decode(packet[offset:offset + s]))
+ offset += s
+ elif t == 'blob':
+ if s:
+ self._values.append(packet[offset:offset + s])
+ offset += s
+ else:
+ self._values.append(packet[offset:-3])
+ elif type(packet) == type(()):
+ for i in packet:
+ self._values.append(i)
+ else:
+ for v in self._schema:
+ self._values.append(None)
+
+ def __repr__(self):
+ return self._values.__repr__()
+
+ def __str__(self):
+ return self._values.__str__()
+
+ # Implement the map behavior
+ def __getitem__(self, key):
+ return self.__getattr__(key)
+
+ def __setitem__(self, key, value):
+ self.__setattr__(key, value)
+
+ def __len__(self):
+ return len(self._values)
+
+ def keys(self):
+ return self._names
+
+ def values(self):
+ return self._names
+
+ # Implement the struct behavior
+ def __getattr__(self, name):
+ if type(name) == type(0):
+ return self._names[name]
+ else:
+ return self._values[self._names.index(name)]
+
+ def __setattr__(self, name, value):
+ if type(name) == type(0):
+ self._values[name] = value
+ else:
+ self._values[self._names.index(name)] = value
+
+ # Custom
+ def names(self):
+ return self._names
+
+ def sizes(self):
+ return self._schema
+
+ def payload(self):
+ r = []
+ for i in range(len(self._schema)):
+ (t, s) = self._schema[i]
+ if t == 'int':
+ r += self.__encode(self._values[i], s)
+ else:
+ r += self._values[i]
+ return r
projects / tinyos-2.x.git / blobdiff