--- /dev/null
+# Copyright (c) 2008 Johns Hopkins University.
+# All rights reserved.
+#
+# Permission to use, copy, modify, and distribute this software and its
+# documentation for any purpose, without fee, and without written
+# agreement is hereby granted, provided that the above copyright
+# notice, the (updated) modification history and the author appear in
+# all copies of this source code.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS `AS IS'
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS
+# BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, LOSS OF USE, DATA,
+# OR PROFITS) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
+# THE POSSIBILITY OF SUCH DAMAGE.
+
+# @author Razvan Musaloiu-E. <razvanm@cs.jhu.edu>
+
+"""A library that implements the T2 serial communication.
+
+This library has two parts: one that deals with sending and receiving
+packets using the serial format from T2 (TEP113) and a second one that
+tries to simplifies the work with arbitrary packets.
+
+"""
+
+import sys, struct, time, serial, socket, operator, thread
+from Queue import Queue
+from threading import Lock, Condition
+
+__version__ = "$Id$"
+
+__all__ = ['Serial', 'AM',
+ 'Packet', 'RawPacket',
+ 'AckFrame', 'DataFrame', 'NoAckDataFrame',
+ 'ActiveMessage']
+
+ACK_WAIT = 0.2 # Maximum amount of time to wait for an ack
+ACK_WARN = 0.2 # Warn if acks take longer than this to arrive
+
+def list2hex(v):
+ return " ".join(["%02x" % p for p in v])
+
+
+class Error(Exception):
+ """Base error class for this module"""
+ pass
+
+
+class TimeoutError(Error):
+ """Thrown when a serial operation times out"""
+ pass
+
+
+class ReadError(Error):
+ """Base class for read error exceptions"""
+ pass
+
+
+class WriteError(Error):
+ """Base class for write error exceptions"""
+ pass
+
+
+class ReadTimeoutError(TimeoutError, ReadError):
+ """Thrown when a serial read operation times out"""
+ pass
+
+
+class ReadCRCError(ReadError):
+ """Thrown when a read packet fails a CRC check"""
+ pass
+
+
+class BadAckSeqnoError(ReadError):
+ """Thrown if an ack packet has an unexpected sequenc number"""
+ pass
+
+
+class WriteTimeoutError(TimeoutError, WriteError):
+ """Thrown when a serial write operation times out"""
+ pass
+
+
+class SimpleSerial:
+ """
+ A SimpleSerial object offers a way to send and data using a HDLC-like
+ formating.
+
+ Use SimpleSerial objects for basic low-level serial communications. Use
+ Serial objects for higher level logic (retry sends, log printfs, etc).
+ """
+
+ 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
+
+ def __init__(self, port, baudrate, flush=False, debug=False, qsize=10,
+ timeout=None):
+ self._debug = debug
+ self._in_queue = []
+ self._qsize = qsize
+ self._ack = None
+ self._write_counter = 0
+ self._write_counter_failures = 0
+ self._read_counter = 0
+ self._ts = None
+ self.timeout = timeout # Public attribute
+ self._received_packet_filters = [] # filter functions for received packets
+
+ # Remember sent (and unacknowledged) seqno numbers for 15 seconds:
+ self._unacked_seqnos = SeqTracker(15.0)
+
+ self._s = serial.Serial(port, baudrate, rtscts=0, timeout=0.5)
+ self._s.flushInput()
+ if flush:
+ print >>sys.stdout, "Flushing the serial port",
+ endtime = time.time() + 1
+ while time.time() < endtime:
+ try:
+ self._read()
+ except ReadError:
+ pass
+ sys.stdout.write(".")
+ if not self._debug:
+ sys.stdout.write("\n")
+ self._s.close()
+ self._s = serial.Serial(port, baudrate, rtscts=0, timeout=timeout)
+
+ # Add a filter for received 'write ack' packets
+ self.add_received_packet_filter(self._write_ack_filter)
+
+ # Returns the next incoming serial packet
+ def _read(self, timeout=None):
+ """Wait for a packet and return it as a RawPacket.
+
+ Throws:
+ - ReadCRCError if a CRC check fails
+ - ReadTimeoutError if the timeout expires.
+
+ """
+
+ # Developer notes:
+ #
+ # Packet data read from Serial is in this format:
+ # [HDLC_FLAG_BYTE][Escaped data][HDLC_FLAG_BYTE]
+ #
+ # [Escaped data] is encoded so that [HDLC_FLAG_BYTE] byte
+ # values cannot occur within it. When [Escaped data] has been
+ # unescaped, the last 2 bytes are a 16-bit CRC of the earlier
+ # part of the packet (excluding the initial HDLC_FLAG_BYTE
+ # byte)
+ #
+ # It's also possible that the serial device was half-way
+ # through transmitting a packet when this function was called
+ # (app was just started). So we also neeed to handle this case:
+ #
+ # [Incomplete escaped data][HDLC_FLAG_BYTE][HDLC_FLAG_BYTE][Escaped data][HDLC_FLAG_BYTE]
+ #
+ # In this case we skip over the first (incomplete) packet.
+ #
+
+ if self._s.timeout != timeout and timeout != None:
+ if self._debug:
+ print "Set the timeout to %s, previous one was %s" % (timeout, self._s.timeout)
+ self._s.timeout = timeout
+
+ try:
+ # Read bytes until we get to a HDLC_FLAG_BYTE value
+ # (either the end of a packet, or the start of a new one)
+ d = self._get_byte(timeout)
+ ts = time.time()
+ if self._debug and d != self.HDLC_FLAG_BYTE:
+ print "Skipping incomplete packet"
+ while d != self.HDLC_FLAG_BYTE:
+ d = self._get_byte(timeout)
+ ts = time.time()
+
+ # Store HDLC_FLAG_BYTE at the start of the retrieved packet
+ # data:
+ packet = [d]
+
+ # Is the next byte also HDLC_FLAG_BYTE?
+ d = self._get_byte(timeout)
+ if d == self.HDLC_FLAG_BYTE:
+ # Yes. This means that the previous byte was for
+ # the end of the previous packet, and this byte is for
+ # the start of the next packet.
+
+ # Get the 2nd byte of the new packet:
+ d = self._get_byte(timeout)
+ ts = time.time()
+
+ # We are now on the 2nd byte of the packet. Add it to
+ # our retrieved packet data:
+ packet.append(d)
+
+ # Read bytes from serial until we read another
+ # HDLC_FLAG_BYTE value (end of the current packet):
+ while d != self.HDLC_FLAG_BYTE:
+ d = self._get_byte(timeout)
+ packet.append(d)
+
+ # Done reading a whole packet from serial
+ if self._debug:
+ print "SimpleSerial:_read: unescaped", packet
+
+ # Decode the packet, and check CRC:
+ packet = self._unescape(packet)
+
+ crc = self._crc16(0, packet[1:-3])
+ packet_crc = self._decode(packet[-3:-1])
+
+ if crc != packet_crc:
+ print "Warning: wrong CRC! %x != %x %s" % (crc, packet_crc, ["%2x" % i for i in packet])
+ raise ReadCRCError
+ if self._debug:
+ if self._ts == None:
+ self._ts = ts
+ else:
+ print "Serial:_read: %.4f (%.4f) Recv:" % (ts, ts - self._ts), self._format_packet(packet[1:-3])
+ self._ts = ts
+
+ # Packet was successfully retrieved, so return it in a
+ # RawPacket wrapper object (but leave out the
+ # HDLC_FLAG_BYTE and CRC bytes)
+ return RawPacket(ts, packet[1:-3])
+ except socket.timeout:
+ raise ReadTimeoutError
+
+ def _write_ack_filter(self, packet):
+ """Filter for recieved write acknowledgement packets"""
+ ack = AckFrame(packet.data)
+ if ack.protocol == self.SERIAL_PROTO_ACK:
+ if self._debug:
+ print "_filter_read: got an ack:", ack
+ self._ack = ack
+ packet = None # No further processing of received ack packet
+ return packet
+
+ def _filter_read(self, timeout=None):
+ """Read a packet from the serial device, perform filtering, and return
+ the packet if it hasn't been processed yet.
+
+ """
+ p = self._read(timeout)
+ self._read_counter += 1
+ if self._debug:
+ print "_filter_read: got a packet(%d): %s" % (self._read_counter, p)
+
+ # Pass the received packet through the filter functions:
+ if p is not None:
+ for filter_func in self._received_packet_filters:
+ p = filter_func(p)
+ # Stop now if the packet doesn't need further processing:
+ if p is None:
+ break
+
+ # Return the packet (if there was no timeout and it wasn't filtered)
+ return p
+
+ def _get_ack(self, timeout, expected_seqno):
+ """Get the next ack packet
+
+ Read packets from the serial device until we get the next ack (which
+ then gets stored in self._ack), or the timeout expires. non-ack packets
+ are buffered.
+
+ Throws:
+ - ReadTimeoutError if the timeout expires.
+ - BadAckSeqnoError if an ack with a bad sequence number is received
+
+ """
+ endtime = time.time() + timeout
+ while time.time() < endtime:
+ # Read the a packet over serial
+ self._ack = None
+ remaining = endtime - time.time()
+ p = self._filter_read(timeout)
+
+ # Was the packet filtered?
+ if p:
+ # Got an unfiltered packet
+ if len(self._in_queue) >= self._qsize:
+ print "Warning: Buffer overflow"
+ self._in_queue.pop(0)
+ self._in_queue.append(p)
+ else:
+ # Packet was filtered. Was it an ack?
+ if self._ack is not None:
+ # The packet was an ack, so remove it from our
+ # 'unacknowledged seqnos' list (or raise a BadAckSeqnoError
+ # error if it isn't in the list)
+ self._unacked_seqnos.seqno_acked(self._ack.seqno)
+
+ # Stop reading packets if it's the ack we are waiting for:
+ if self._ack.seqno == expected_seqno:
+ return
+
+ # Timed out
+ raise ReadTimeoutError
+
+ def close(self):
+ """Close the serial device"""
+ self._s.close()
+
+ def read(self, timeout=None):
+ """Read a packet, either from the input buffer or from the serial
+ device.
+
+ Returns a RawPacket object, otherwise None if the packet was filtered
+ (by eg: Serial's printf-filtering function)
+
+ Does not retry reads if the first one fails. Use Serial.read() for
+ that.
+
+ """
+ if self._in_queue:
+ return self._in_queue.pop(0)
+ else:
+ return self._filter_read(timeout)
+
+ def write(self, payload, seqno, timeout=0.2):
+ """
+ Write a packet. If the payload argument is a list, it is
+ assumed to be exactly the payload. Otherwise the payload is
+ assume to be a Packet and the real payload is obtain by
+ calling the .payload().
+
+ Only attempts to write once, and times out if an ack packet is not
+ received within [timeout] seconds. Use Serial.write() if you want
+ automatic write retries.
+
+ seqno should be an integer between 0 and 99 which changes each time you
+ send a new packet. The value should remain the same when you are
+ retrying a packet write that just failed.
+
+ Raises WriteTimeoutError if the write times out (ack packet doesn't
+ arrive within [timeout] seconds).
+
+ """
+ if type(payload) != type([]):
+ # Assume this will be derived from Packet
+ payload = payload.payload()
+ packet = DataFrame();
+ packet.protocol = self.SERIAL_PROTO_PACKET_ACK
+ packet.seqno = seqno
+ packet.dispatch = 0
+ packet.data = payload
+ packet = packet.payload()
+ 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]
+
+ # Write the packet:
+ self._unacked_seqnos.seqno_sent(seqno) # Keep track of sent seqno's
+ self._put_bytes(packet)
+ self._write_counter += 1
+
+ # Wait for an ack packet:
+ if self._debug:
+ print "Send(%d/%d): %s" % (self._write_counter, self._write_counter_failures, packet)
+ print "Wait for ack %d ..." % (seqno)
+
+ try:
+ self._get_ack(timeout, seqno)
+ except ReadTimeoutError:
+ # Re-raise read timeouts (of ack packets) as write timeouts (of
+ # the write operation)
+ self._write_counter_failures += 1
+ raise WriteTimeoutError
+
+ # Received an ack packet, with the expected sequence number
+ if self._debug:
+ print "Wait for ack %d done. Latest ack:" % (seqno), self._ack
+ print "The packet was acked."
+ print "Returning from SimpleSerial.write..."
+
+ def add_received_packet_filter(self, filter_func):
+ """Register a received packet-filtering callback function
+
+ _filter_read() calls all of the registered filter functions for each
+ packet received over serial. Registered filter functions are called in
+ the order they were registered.
+
+ Filter functions are called like this: filter_func(packet)
+
+ When a filter function recognises and handles a received packet it
+ should return a None value to indicate that no further processing
+ is required for the packet.
+
+ When a filter function skips a packet (or for some reason you want
+ further processing to happen on a packet you've just processed), the
+ function should return the packet that was passed to it as an argument.
+
+ """
+ self._received_packet_filters.append(filter_func)
+
+ def remove_received_packet_filter(self, filter_func):
+ """Remove a filter function added with add_received_packet_filter()"""
+ self._received_packet_filters.remove(filter_func)
+
+ def _format_packet(self, payload):
+ f = NoAckDataFrame(payload)
+ if f.protocol == self.SERIAL_PROTO_ACK:
+ rpacket = AckFrame(payload)
+ return "Ack seqno: %d" % (rpacket.seqno)
+ else:
+ rpacket = ActiveMessage(f.data)
+ return "D: %04x S: %04x L: %02x G: %02x T: %02x | %s" % \
+ (rpacket.destination, rpacket.source,
+ rpacket.length, rpacket.group, rpacket.type,
+ list2hex(rpacket.data))
+
+ 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, timeout=None):
+# old_timeout = self._s.timeout
+# if timeout is not None:
+# self._s.timeout = timeout
+ try:
+ r = struct.unpack("B", self._s.read())[0]
+ return r
+ except struct.error:
+ # Serial port read timeout
+ raise socket.timeout
+# finally:
+# self._s.timeout = old_timeout
+
+ def _put_bytes(self, data):
+ #print "DEBUG: _put_bytes:", 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 debug(self, debug):
+ self._debug = debug
+
+
+class SeqTracker:
+ """Class for keeping track of unacknowledged packet sequence numbers.
+
+ SeqTracker is used by SimpleSerial to keep track of sequence numbers which
+ have been sent with write packets, but not yet acknowledged by received
+ write ack packets.
+
+ """
+ def __init__(self, keep_for):
+ """Initialise a SeqTracker object.
+
+ args:
+
+ - keep_for is the length of time for which unacknowledged sequence
+ numbers should be remembered. After this period has elapsed, the
+ sequence numbers should be forgotten. If the sequence number is
+ acknowledged later, it will be treated as unkown
+
+ """
+ self._keep_for = keep_for
+ self._queue = []
+
+ def seqno_sent(self, seqno):
+ """Register that a packet with the specified sequence number was just
+ sent."""
+ self._gc()
+ self._queue.append((seqno, time.time()))
+
+ def seqno_acked(self, seqno):
+ """Register that a sequence number was just acknowledged.
+
+ Find the oldest-known occurance of seqno in the queue and remove it. If
+ not found then raise a BadAckSeqnoError to inform applications that
+ the sequence number is not known.
+
+ """
+ self._gc()
+ for item in self._queue:
+ if item[0] == seqno:
+ # Found seqno
+ self._queue.remove(item)
+ return
+ # seqno not found!
+ raise BadAckSeqnoError
+
+ def get_seqno_sent_times(self, seqno):
+ """Return the times when packets with the given sequence number were
+ sent."""
+ self._gc()
+ return [item[1] for item in self._queue if item[0] == seqno]
+
+ def __contains__(self, seqno):
+ """Return True if the seqno was sent recently (and not acknowledged
+ yet)"""
+ self._gc()
+ for item in self._queue:
+ if item[0] == seqno:
+ return True
+ return False
+
+ def _gc(self):
+ """Remove old items from the queue"""
+ remove_before = time.time() - self._keep_for
+ for item in self._queue:
+ # Time for the sequence to be removed?
+ if item[1] < remove_before:
+ # Sequence data is old, so remove it
+ self._queue.remove(item)
+ else:
+ # Sequence number was added recently, so don't remove it. Also
+ # stop processing the queue because all later items will be
+ # newer
+ break
+
+
+class Serial:
+ """
+ Wraps a SimpleSerial object, and provides some higher-level functionality
+ like retrying writes and logging printf packets.
+ """
+ def __init__(self, port, baudrate, flush=False, debug=False, qsize=10,
+ timeout=None):
+ """Initialise a Serial object"""
+ self._debug = debug
+ self.timeout = timeout # Public attribute
+ self._seqno = 0
+ self._simple_serial = SimpleSerial(port, baudrate, flush, debug, qsize,
+ timeout)
+
+ # Setup automatic logging of received printf packets:
+ self._printf_msg = ""
+ self._simple_serial.add_received_packet_filter(self._printf_filter)
+
+ def close(self):
+ """Close the serial device"""
+ self._simple_serial.close()
+
+ def read(self, timeout=None):
+ """Read a packet from the serial port.
+
+ Retries packet reads until the timeout expires.
+
+ Throws ReadTimeoutError if a a packet can't be read within the timeout.
+
+ """
+ if timeout is None:
+ timeout = self.timeout
+ endtime = None
+
+ if timeout is not None:
+ endtime = time.time() + timeout
+
+ while endtime is None or time.time() < endtime:
+ remaining = None
+ if endtime is not None:
+ remaining = endtime - time.time()
+ try:
+ p = self._simple_serial.read(remaining)
+ except ReadError:
+ if self._debug:
+ print "Packet read failed. Try again."
+ else:
+ # Was the packet filtered?
+ if p is not None:
+ # Not filtered, so return it.
+ # In the current TinyOS the packets from the mote are
+ # always NoAckDataFrame
+ return NoAckDataFrame(p.data)
+
+ # Read timeout expired
+ raise ReadTimeoutError
+
+ def write(self, payload, timeout=None):
+ """Write a packet to the serial port
+
+ Keeps retrying endlessly, unless a timeout is set. If the timeout
+ expires then WriteTimeoutError is thrown.
+
+ """
+ if timeout is None:
+ timeout = self.timeout
+
+ endtime = None
+ if timeout is not None:
+ endtime = time.time() + timeout
+
+ # Generate the next sequence number:
+ self._seqno = (self._seqno + 1) % 100
+
+ while endtime is None or time.time() < endtime:
+ try:
+ ackwait = ACK_WAIT
+ if endtime is not None:
+ remaining = endtime - time.time()
+ ackwait = min(ACK_WAIT, remaining)
+
+ before = time.time()
+ self._simple_serial.write(payload, self._seqno, ackwait)
+ length = time.time() - before
+
+ if length >= ACK_WARN:
+ print "Warning: Packet write took %.3fs!" % (length)
+ return True
+ except Error:
+ if self._debug:
+ print "The packet was not acked. Try again."
+
+ # Write operation timed out
+ raise WriteTimeoutError
+
+ def _printf_filter(self, packet):
+ """Filter for recieved printf packets"""
+ ampkt = ActiveMessage(NoAckDataFrame(packet.data).data)
+ if ampkt.type == 100:
+ self._printf_msg += "".join([chr(i) for i in ampkt.data]).strip('\0')
+ # Split printf data on newline character:
+ # (last string in the split list doesn't have a newline after
+ # it, so we keep it until next time)
+ lines = self._printf_msg.split('\n')
+ for line in lines[:-1]:
+ print "PRINTF:", line
+ self._printf_msg = lines[-1]
+ packet = None # No further processing for the printf packet
+ return packet
+
+class SFClient:
+ def __init__(self, host, port, qsize=10):
+ self._in_queue = Queue(qsize)
+ self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self._s.connect((host, port))
+ data = self._s.recv(2)
+ if data != 'U ':
+ print "Wrong handshake"
+ self._s.send("U ")
+ print "Connected"
+ thread.start_new_thread(self.run, ())
+
+ def run(self):
+ while True:
+ length = ord(self._s.recv(1))
+ data = self._s.recv(length)
+ data = [ord(c) for c in data][1:]
+ #print "Recv %d bytes" % (length), ActiveMessage(data)
+ if self._in_queue.full():
+ print "Warning: Buffer overflow"
+ self._in_queue.get()
+ p = RawPacket()
+ p.data = data
+ self._in_queue.put(p, block=False)
+
+ def read(self, timeout=0):
+ return self._in_queue.get()
+
+ def write(self, payload):
+ print "SFClient: write:", payload
+ if type(payload) != type([]):
+ # Assume this will be derived from Packet
+ payload = payload.payload()
+ payload = [0] + payload
+ self._s.send(chr(len(payload)))
+ self._s.send(''.join([chr(c) for c in payload]))
+ return True
+
+class AM:
+ def __init__(self, s):
+ self._s = s
+
+ def read(self, timeout=None):
+ return ActiveMessage(self._s.read(timeout).data)
+
+ def write(self, packet, amid, timeout=None):
+ return self._s.write(ActiveMessage(packet, amid=amid), timeout=timeout)
+
+
+class SimpleSerialAM(SimpleSerial):
+ """A derived class of SimpleSerial so that apps can read and write using
+ higher-level packet structures.
+
+ Serves a simalar purpose to the AM class, but for SimpleSerial objects
+ instead instead of Serial.
+
+ """
+
+ def read_am(self, timeout=None):
+ """Read a RawPacket object (or None), convert it to ActiveMessage
+ (or None), and return to the caller"""
+
+ # Get a tos.Rawpacket (or None, if filtered) object
+ p = self.read(timeout)
+ if p is not None:
+ assert isinstance(p, RawPacket)
+ # Convert tos.RawPacket object into an ActiveMessage:
+ p = NoAckDataFrame(p.data)
+ p = ActiveMessage(p.data)
+
+ # Return the ActiveMessage (or None) packet:
+ return p
+
+ def write_am(self, packet, amid, seqno, timeout=2.0):
+ """Convert app packet format to ActiveMessage, and write the
+ ActiveMessage packet to serial"""
+
+ # Convert from app-specific packet to ActiveMessage:
+ p = ActiveMessage(packet, amid=amid)
+
+ # Write to the serial device
+ self.write(p, seqno, timeout)
+
+
+class Packet:
+ """
+ The Packet class offers a handy way to build pack and unpack
+ binary data based on a given pattern.
+ """
+
+ 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):
+ offset = 0
+ boffset = 0
+ sum = 0
+ for i in range(len(desc)-1, -1, -1):
+ (n, t, s) = desc[i]
+ if s == None:
+ if sum > 0:
+ desc[i] = (n, t, -sum)
+ break
+ sum += s
+ self.__dict__['_schema'] = [(t, s) for (n, t, s) in desc]
+ self.__dict__['_names'] = [n for (n, t, s) in desc]
+ self.__dict__['_values'] = []
+ 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 == 'bint':
+ doffset = 8 - (boffset + s)
+ self._values.append((packet[offset] >> doffset) & ((1<<s) - 1))
+ boffset += s
+ if boffset == 8:
+ offset += 1
+ boffset = 0
+ elif t == 'string':
+ self._values.append(''.join([chr(i) for i in packet[offset:offset + s]]))
+ offset += s
+ elif t == 'blob':
+ if s:
+ if s > 0:
+ self._values.append(packet[offset:offset + s])
+ offset += s
+ else:
+ self._values.append(packet[offset:s])
+ offset = len(packet) + s
+ else:
+ self._values.append(packet[offset:])
+ 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):
+ r = ""
+ for i in range(len(self._names)):
+ r += "%s: %s " % (self._names[i], self._values[i])
+ for i in range(len(self._names), len(self._values)):
+ r += "%s" % self._values[i]
+ return r
+# 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):
+ #print "DEBUG: __getattr__", 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
+
+ def __ne__(self, other):
+ if other.__class__ == self.__class__:
+ return self._values != other._values
+ else:
+ return True
+
+ def __eq__(self, other):
+ if other.__class__ == self.__class__:
+ return self._values == other._values
+ else:
+ return False
+
+ def __nonzero__(self):
+ return True;
+
+ # Custom
+ def names(self):
+ return self._names
+
+ def sizes(self):
+ return self._schema
+
+ def payload(self):
+ r = []
+ boffset = 0
+ for i in range(len(self._schema)):
+ (t, s) = self._schema[i]
+ if t == 'int':
+ r += self._encode(self._values[i], s)
+ boffset = 0
+ elif t == 'bint':
+ doffset = 8 - (boffset + s)
+ if boffset == 0:
+ r += [self._values[i] << doffset]
+ else:
+ r[-1] |= self._values[i] << doffset
+ boffset += s
+ if boffset == 8:
+ boffset = 0
+ elif self._values[i] != []:
+ r += self._values[i]
+ for i in self._values[len(self._schema):]:
+ r += i
+ return r
+
+
+class RawPacket(Packet):
+ def __init__(self, ts = None, data = None):
+ Packet.__init__(self,
+ [('ts' , 'int', 4),
+ ('data', 'blob', None)],
+ None)
+ self.ts = ts;
+ self.data = data
+
+class AckFrame(Packet):
+ def __init__(self, payload = None):
+ Packet.__init__(self,
+ [('protocol', 'int', 1),
+ ('seqno', 'int', 1)],
+ payload)
+
+class DataFrame(Packet):
+ def __init__(self, payload = None):
+ if payload != None and type(payload) != type([]):
+ # Assume is a Packet
+ payload = payload.payload()
+ Packet.__init__(self,
+ [('protocol', 'int', 1),
+ ('seqno', 'int', 1),
+ ('dispatch', 'int', 1),
+ ('data', 'blob', None)],
+ payload)
+
+class NoAckDataFrame(Packet):
+ def __init__(self, payload = None):
+ if payload != None and type(payload) != type([]):
+ # Assume is a Packet
+ payload = payload.payload()
+ Packet.__init__(self,
+ [('protocol', 'int', 1),
+ ('dispatch', 'int', 1),
+ ('data', 'blob', None)],
+ payload)
+
+class ActiveMessage(Packet):
+ def __init__(self, gpacket = None, amid = 0x00, dest = 0xFFFF):
+ if type(gpacket) == type([]):
+ payload = gpacket
+ else:
+ # Assume this will be derived from Packet
+ payload = None
+ Packet.__init__(self,
+ [('destination', 'int', 2),
+ ('source', 'int', 2),
+ ('length', 'int', 1),
+ ('group', 'int', 1),
+ ('type', 'int', 1),
+ ('data', 'blob', None)],
+ payload)
+ if payload == None:
+ self.destination = dest
+ self.source = 0x0000
+ self.group = 0x00
+ self.type = amid
+ self.data = []
+ if gpacket:
+ self.data = gpacket.payload()
+ self.length = len(self.data)
+
+++ /dev/null
-# Copyright (c) 2008 Johns Hopkins University.
-# All rights reserved.
-#
-# Permission to use, copy, modify, and distribute this software and its
-# documentation for any purpose, without fee, and without written
-# agreement is hereby granted, provided that the above copyright
-# notice, the (updated) modification history and the author appear in
-# all copies of this source code.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS `AS IS'
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS
-# BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, LOSS OF USE, DATA,
-# OR PROFITS) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
-# THE POSSIBILITY OF SUCH DAMAGE.
-
-# @author Razvan Musaloiu-E. <razvanm@cs.jhu.edu>
-
-"""A library that implements the T2 serial communication.
-
-This library has two parts: one that deals with sending and receiving
-packets using the serial format from T2 (TEP113) and a second one that
-tries to simplifies the work with arbitrary packets.
-
-"""
-
-import sys, struct, time, serial, socket, operator, thread
-from Queue import Queue
-from threading import Lock, Condition
-
-__version__ = "$Id$"
-
-__all__ = ['Serial', 'AM',
- 'Packet', 'RawPacket',
- 'AckFrame', 'DataFrame', 'NoAckDataFrame',
- 'ActiveMessage']
-
-def list2hex(v):
- return " ".join(["%02x" % p for p in v])
-
-class Serial:
- """
- A Serial object offers a way to send and data using a HDLC-like
- formating.
- """
-
- 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
-
- def __init__(self, port, baudrate, flush=False, debug=False, qsize=10):
- self._debug = debug
- self._in_queue = Queue(qsize)
- self._out_lock = Lock()
- self._out_ack = Condition()
- self._seqno = 0
- self._ack = None
- self._write_counter = 0
- self._write_counter_failures = 0
- self._read_counter = 0
- self._ts = None
-
- self._s = serial.Serial(port, baudrate, rtscts=0, timeout=0.5)
- self._s.flushInput()
- start = time.time();
- if flush:
- print >>sys.stdout, "Flushing the serial port",
- while time.time() - start < 1:
- p = self._read()
- sys.stdout.write(".")
- if not self._debug:
- sys.stdout.write("\n")
- self._s.close()
- self._s = serial.Serial(port, baudrate, rtscts=0, timeout=None)
-
- thread.start_new_thread(self.run, ())
-
- def run(self):
-
- while True:
- p = self._read()
- self._read_counter += 1
- if self._debug:
- print "Serial:run: got a packet(%d): %s" % (self._read_counter, p)
- ack = AckFrame(p.data)
- if ack.protocol == self.SERIAL_PROTO_ACK:
- if not self._ack:
- self._ack = ack
- if self._debug:
- print "Serial:run: got an ack:", ack
- self._ack = ack
- # Wake up the writer
- self._out_ack.acquire()
- self._out_ack.notify()
- self._out_ack.release()
- else:
- ampkt = ActiveMessage(NoAckDataFrame(p.data).data)
- if ampkt.type == 100:
- for t in "".join([chr(i) for i in ampkt.data]).strip('\n\0').split('\n'):
- print "PRINTF:", t.strip('\n')
- else:
- if self._in_queue.full():
- print "Warning: Buffer overflow"
- self._in_queue.get()
- self._in_queue.put(p, block=False)
-
-
- # Returns the next incoming serial packet
- def _read(self):
- """Wait for a packet and return it as a RawPacket."""
-
- try:
- 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)
- if self._debug == True:
- print "Serial:_read: unescaped", packet
- packet = self._unescape(packet)
-
- crc = self._crc16(0, packet[1:-3])
- packet_crc = self._decode(packet[-3:-1])
-
- if crc != packet_crc:
- print "Warning: wrong CRC! %x != %x %s" % (crc, packet_crc, ["%2x" % i for i in packet])
- if self._debug:
- if self._ts == None:
- self._ts = ts
- else:
- print "Serial:_read: %.4f (%.4f) Recv:" % (ts, ts - self._ts), self._format_packet(packet[1:-3])
- self._ts = ts
- return RawPacket(ts, packet[1:-3], crc == packet_crc)
- except socket.timeout:
- return None
-
-
- def read(self, timeout=0):
- start = time.time();
- done = False
- while not done:
- p = None
- while p == None:
- if timeout == 0 or time.time() - start < timeout:
- p = self._in_queue.get()
- else:
- return None
- if p.crc:
- done = True
- else:
- p = None
- # In the current TinyOS the packets from the mote are always NoAckDataFrame
- return NoAckDataFrame(p.data)
-
- def write(self, payload):
- """
- Write a packet. If the payload argument is a list, it is
- assumed to be exactly the payload. Otherwise the payload is
- assume to be a Packet and the real payload is obtain by
- calling the .payload().
- """
-
- if type(payload) != type([]):
- # Assume this will be derived from Packet
- payload = payload.payload()
- self._out_lock.acquire()
- self._seqno = (self._seqno + 1) % 100
- packet = DataFrame();
- packet.protocol = self.SERIAL_PROTO_PACKET_ACK
- packet.seqno = self._seqno
- packet.dispatch = 0
- packet.data = payload
- packet = packet.payload()
- 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]
-
- while True:
- self._put_bytes(packet)
- self._write_counter += 1
- if self._debug == True:
- print "Send(%d/%d): %s" % (self._write_counter, self._write_counter_failures, packet)
- print "Wait for ack %d ..." % (self._seqno)
- self._out_ack.acquire()
- self._out_ack.wait(0.2)
- if self._debug:
- print "Wait for ack %d done. Latest ack:" % (self._seqno), self._ack
- self._out_ack.release()
- if self._ack and self._ack.seqno == self._seqno:
- if self._debug:
- print "The packet was acked."
- self._out_lock.release()
- if self._debug:
- print "Returning from Serial.write..."
- return True
- else:
- self._write_counter_failures += 1
- if self._debug:
- print "The packet was not acked. Try again."
- # break # make only one sending attempt
- self._out_lock.release()
- return False
-
-
- def _format_packet(self, payload):
- f = NoAckDataFrame(payload)
- if f.protocol == self.SERIAL_PROTO_ACK:
- rpacket = AckFrame(payload)
- return "Ack seqno: %d" % (rpacket.seqno)
- else:
- rpacket = ActiveMessage(f.data)
- return "D: %04x S: %04x L: %02x G: %02x T: %02x | %s" % \
- (rpacket.destination, rpacket.source,
- rpacket.length, rpacket.group, rpacket.type,
- list2hex(rpacket.data))
-
- 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):
- try:
- r = struct.unpack("B", self._s.read())[0]
- return r
- except struct.error:
- # Serial port read timeout
- raise socket.timeout
-
- def _put_bytes(self, data):
- #print "DEBUG: _put_bytes:", 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 debug(self, debug):
- self._debug = debug
-
-
-class SFClient:
- def __init__(self, host, port, qsize=10):
- self._in_queue = Queue(qsize)
- self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- self._s.connect((host, port))
- data = self._s.recv(2)
- if data != 'U ':
- print "Wrong handshake"
- self._s.send("U ")
- print "Connected"
- thread.start_new_thread(self.run, ())
-
- def run(self):
- while True:
- length = ord(self._s.recv(1))
- data = self._s.recv(length)
- data = [ord(c) for c in data][1:]
- #print "Recv %d bytes" % (length), ActiveMessage(data)
- if self._in_queue.full():
- print "Warning: Buffer overflow"
- self._in_queue.get()
- p = RawPacket()
- p.crc = 1
- p.data = data
- self._in_queue.put(p, block=False)
-
- def read(self, timeout=0):
- return self._in_queue.get()
-
- def write(self, payload):
- print "SFClient: write:", payload
- if type(payload) != type([]):
- # Assume this will be derived from Packet
- payload = payload.payload()
- payload = [0] + payload
- self._s.send(chr(len(payload)))
- self._s.send(''.join([chr(c) for c in payload]))
- return True
-
-class AM:
- def __init__(self, s):
- self._s = s
-
- def read(self, timeout=0):
- return ActiveMessage(self._s.read().data)
-
- def write(self, packet, amid):
- return self._s.write(ActiveMessage(packet, amid=amid))
-
-
-class Packet:
- """
- The Packet class offers a handy way to build pack and unpack
- binary data based on a given pattern.
- """
-
- 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):
- offset = 0
- boffset = 0
- sum = 0
- for i in range(len(desc)-1, -1, -1):
- (n, t, s) = desc[i]
- if s == None:
- if sum > 0:
- desc[i] = (n, t, -sum)
- break
- sum += s
- self.__dict__['_schema'] = [(t, s) for (n, t, s) in desc]
- self.__dict__['_names'] = [n for (n, t, s) in desc]
- self.__dict__['_values'] = []
- 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 == 'bint':
- doffset = 8 - (boffset + s)
- self._values.append((packet[offset] >> doffset) & ((1<<s) - 1))
- boffset += s
- if boffset == 8:
- offset += 1
- boffset = 0
- elif t == 'string':
- self._values.append(''.join([chr(i) for i in packet[offset:offset + s]]))
- offset += s
- elif t == 'blob':
- if s:
- if s > 0:
- self._values.append(packet[offset:offset + s])
- offset += s
- else:
- self._values.append(packet[offset:s])
- offset = len(packet) + s
- else:
- self._values.append(packet[offset:])
- 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):
- r = ""
- for i in range(len(self._names)):
- r += "%s: %s " % (self._names[i], self._values[i])
- for i in range(len(self._names), len(self._values)):
- r += "%s" % self._values[i]
- return r
-# 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):
- #print "DEBUG: __getattr__", 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
-
- def __ne__(self, other):
- if other.__class__ == self.__class__:
- return self._values != other._values
- else:
- return True
-
- def __eq__(self, other):
- if other.__class__ == self.__class__:
- return self._values == other._values
- else:
- return False
-
- def __nonzero__(self):
- return True;
-
- # Custom
- def names(self):
- return self._names
-
- def sizes(self):
- return self._schema
-
- def payload(self):
- r = []
- boffset = 0
- for i in range(len(self._schema)):
- (t, s) = self._schema[i]
- if t == 'int':
- r += self._encode(self._values[i], s)
- boffset = 0
- elif t == 'bint':
- doffset = 8 - (boffset + s)
- if boffset == 0:
- r += [self._values[i] << doffset]
- else:
- r[-1] |= self._values[i] << doffset
- boffset += s
- if boffset == 8:
- boffset = 0
- elif self._values[i] != []:
- r += self._values[i]
- for i in self._values[len(self._schema):]:
- r += i
- return r
-
-
-class RawPacket(Packet):
- def __init__(self, ts = None, data = None, crc = None):
- Packet.__init__(self,
- [('ts' , 'int', 4),
- ('crc', 'int', 1),
- ('data', 'blob', None)],
- None)
- self.ts = ts;
- self.data = data
- self.crc = crc
-
-class AckFrame(Packet):
- def __init__(self, payload = None):
- Packet.__init__(self,
- [('protocol', 'int', 1),
- ('seqno', 'int', 1)],
- payload)
-
-class DataFrame(Packet):
- def __init__(self, payload = None):
- if payload != None and type(payload) != type([]):
- # Assume is a Packet
- payload = payload.payload()
- Packet.__init__(self,
- [('protocol', 'int', 1),
- ('seqno', 'int', 1),
- ('dispatch', 'int', 1),
- ('data', 'blob', None)],
- payload)
-
-class NoAckDataFrame(Packet):
- def __init__(self, payload = None):
- if payload != None and type(payload) != type([]):
- # Assume is a Packet
- payload = payload.payload()
- Packet.__init__(self,
- [('protocol', 'int', 1),
- ('dispatch', 'int', 1),
- ('data', 'blob', None)],
- payload)
-
-class ActiveMessage(Packet):
- def __init__(self, gpacket = None, amid = 0x00, dest = 0xFFFF):
- if type(gpacket) == type([]):
- payload = gpacket
- else:
- # Assume this will be derived from Packet
- payload = None
- Packet.__init__(self,
- [('destination', 'int', 2),
- ('source', 'int', 2),
- ('length', 'int', 1),
- ('group', 'int', 1),
- ('type', 'int', 1),
- ('data', 'blob', None)],
- payload)
- if payload == None:
- self.destination = dest
- self.source = 0x0000
- self.group = 0x00
- self.type = amid
- self.data = []
- if gpacket:
- self.data = gpacket.payload()
- self.length = len(self.data)
-
projects / tinyos-2.x.git / commitdiff