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tos.py
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tos.py
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# Copyright (c) 2008 Johns Hopkins University.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# - Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# - Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the
# distribution.
# - Neither the name of the copyright holders nor the names of
# its contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# 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 HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
# INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# 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>
# @author David Purdy <david@radioretail.co.za>
"""
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, socket, operator, os
import traceback
try:
import serial
except ImportError, e:
print "Please install PySerial first."
sys.exit(1)
__version__ = "$Id: tos.py,v 1.12 2010-06-29 22:07:42 scipio Exp $"
__all__ = ['Serial', 'AM',
'Packet', 'RawPacket',
'AckFrame', 'DataFrame', 'NoAckDataFrame',
'ActiveMessage']
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 list2hex(v):
return " ".join(["%02x" % p for p in v])
class Timeout(Exception):
pass
def getSource(comm):
source = comm.split('@')
params = source[1].split(':')
debug = '--debug' in sys.argv
if source[0] == 'serial':
try:
return Serial(params[0], int(params[1]), flush=True, debug=debug)
except:
print "ERROR: Unable to initialize a serial connection to", comm
raise Exception
elif source[0] == 'network':
try:
return SerialMIB600(params[0], int(params[1]), debug=debug)
except:
print "ERROR: Unable to initialize a network connection to", comm
print "ERROR:", traceback.format_exc()
raise Exception
raise Exception
class Serial:
def __init__(self, port, baudrate, flush=False, debug=False, readTimeout=None, ackTimeout=0.02):
self.debug = debug
self.readTimeout = readTimeout
self.ackTimeout = ackTimeout
self._ts = None
if port.startswith('COM') or port.startswith('com'):
port = int(port[3:]) - 1
elif port.isdigit():
port = int(port) - 1
self._s = serial.Serial(port, int(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:
self._s.read()
sys.stdout.write(".")
if not self.debug:
sys.stdout.write("\n")
self._s.close()
self._s = serial.Serial(port, baudrate, rtscts=0, timeout=readTimeout)
def getByte(self):
c = self._s.read()
if c == '':
raise Timeout
#print 'Serial:getByte: 0x%02x' % ord(c)
return ord(c)
def putBytes(self, data):
#print "DEBUG: putBytes:", data
for b in data:
self._s.write(struct.pack('B', b))
time.sleep(0.000001)
def getTimeout(self):
return self._s.timeout
def setTimeout(self, timeout):
self._s.timeout = timeout
class SerialMIB600:
def __init__(self, host, port=10002, debug=False, readTimeout=None, ackTimeout=0.5):
self.debug = debug
self.readTimeout = readTimeout
self.ackTimeout = ackTimeout
self._ts = None
self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._s.connect((host, port))
print "Connected"
def getByte(self):
try:
c = self._s.recv(1)
except socket.timeout:
c = ''
if c == '':
raise Timeout
#print 'Serial:getByte: 0x%02x' % ord(c)
return ord(c)
def putBytes(self, data):
#print "DEBUG: putBytes:", data
for b in data:
self._s.send(struct.pack('B', b))
def getTimeout(self):
return self._s.gettimeout()
def setTimeout(self, timeout):
self._s.settimeout(timeout)
class HDLC:
"""
An HDLC object offers a way to send and receive data on a byte
source using a HDLC-like formating.
"""
def __init__(self, source):
self._s = source
# Returns the next incoming serial packet
def read(self, timeout=None):
"""Wait for a packet and return it as a RawPacket."""
# Developer notes:
#
# Packet data read 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.getTimeout() != timeout and timeout != None:
self.log("Set the timeout to %s, previous one was %s" % (timeout, self._s.getTimeout()))
self._s.setTimeout(timeout)
# +--- FLAG -----+
# | | ___________
# v | / |
# >(1)-- !FLAG -->(2)<-- !FLAG --+
# |
# FLAG
# | ___________
# v / |
# (3)<-- FLAG ---+
# |
# !FLAG
# | ___________
# v / |
# (4)<-- !FLAG --+
# |
# FLAG
# |
# v
# (5)
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._s.getByte()
ts = time.time()
if d != HDLC_FLAG_BYTE:
self.log("Skipping byte %d" % d)
while d != HDLC_FLAG_BYTE:
d = self._s.getByte()
self.log("Skipping byte %d" % d)
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._s.getByte()
while d == HDLC_FLAG_BYTE:
d = self._s.getByte()
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 != HDLC_FLAG_BYTE:
d = self._s.getByte()
packet.append(d)
# Done reading a whole packet from serial
self.log("SimpleSerial:_read: unescaped %s" % 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])
if not self._s._ts:
self._s._ts = ts
self.log("Serial:_read: %.4f (%.4f) Recv: %s" % (ts, ts - self._s._ts, self._format(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 Timeout:
return None
def write(self, payload, seqno):
"""
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 isinstance(payload, Packet):
payload = payload.payload()
packet = DataFrame();
# We need to always request for acks
packet.protocol = 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 = [HDLC_FLAG_BYTE] + self._escape(packet) + [HDLC_FLAG_BYTE]
self.log("Serial: write %s" % packet)
self._s.putBytes(packet)
def _format(self, payload):
f = NoAckDataFrame(payload)
if f.protocol == 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 _unescape(self, packet):
r = []
esc = False
for b in packet:
if esc:
r.append(b ^ 0x20)
esc = False
elif b == HDLC_CTLESC_BYTE:
esc = True
else:
r.append(b)
return r
def _escape(self, packet):
r = []
for b in packet:
if b == HDLC_FLAG_BYTE or b == HDLC_CTLESC_BYTE:
r.append(HDLC_CTLESC_BYTE)
r.append(b ^ 0x20)
else:
r.append(b)
return r
def log(self, s):
if self._s.debug:
print s
class SimpleAM(object):
def __init__(self, source, oobHook=None):
self._source = source
self._hdlc = HDLC(source)
self.seqno = 0
self.oobHook = oobHook
def read(self, timeout=None):
f = self._hdlc.read(timeout)
if f:
return ActiveMessage(NoAckDataFrame(f))
return None
def write(self, packet, amId, timeout=5, blocking=True, inc=1):
self.seqno = (self.seqno + inc) % 256
prevTimeout = self._source.getTimeout()
ack = None
end = None
if timeout: end = time.time() + timeout
while not end or time.time() < end:
self._hdlc.write(ActiveMessage(packet, amId=amId), seqno=self.seqno)
if not blocking:
return True
start = time.time()
f = self._hdlc.read(self._source.ackTimeout)
if f == None:
#print "Ack Timeout!"
continue
ack = AckFrame(f)
while ack.protocol != SERIAL_PROTO_ACK and (not end or time.time() < end):
if self.oobHook:
self.oobHook(ActiveMessage(NoAckDataFrame(f)))
else:
print 'SimpleAM:write: skip', ack, f
f = self._hdlc.read(self._source.ackTimeout)
if f == None:
#print "Ack Timeout!"
break
ack = AckFrame(f)
if f != None:
break
self._source.setTimeout(prevTimeout)
#print 'SimpleAM:write: got an ack:', ack, ack.seqno == self.seqno
return (ack != None and ack.seqno == self.seqno)
def setOobHook(self, oobHook):
self.oobHook = oobHook
def printfHook(packet):
if packet == None:
return
if packet.type == 100:
s = "".join([chr(i) for i in packet.data]).strip('\0')
lines = s.split('\n')
for line in lines:
if line: print "PRINTF:", line
#packet = None # No further processing for the printf packet
return packet
class AM(SimpleAM):
def __init__(self, s=None, oobHook=None):
if s == None:
try:
s = getSource(sys.argv[1])
except:
try:
for (i, j) in zip(sys.argv[1::2], sys.argv[2::2]):
if i == '-comm':
s = getSource(j)
if s == None:
raise Exception
except:
try:
s = getSource(os.environ['MOTECOM'])
except:
print "ERROR: Please indicate a way to connect to the mote"
sys.exit(-1)
if oobHook == None:
oobHook = printfHook
super(AM, self).__init__(s, oobHook)
def read(self, timeout=None):
return self.oobHook(super(AM, self).read(timeout))
def write(self, packet, amId, timeout=None, blocking=True):
r = super(AM, self).write(packet, amId, timeout, blocking)
while not r:
r = super(AM, self).write(packet, amId, timeout, blocking, inc=0)
if timeout and not r:
raise Timeout
return True
# 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 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 _sign(self, val, dim):
if val > (1 << (dim * 8 - 1)):
return val - (1 << (dim * 8))
return val
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 == 'sint':
self._values.append(self._sign(self._decode(packet[offset:offset + s]), 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
# 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
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;
# 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._values
# Custom functions
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):
if isinstance(payload, Packet):
if isinstance(payload, RawPacket):
payload = payload.data
else:
payload = payload.payload()
Packet.__init__(self,
[('protocol', 'int', 1),
('seqno', 'int', 1)],
payload)
class DataFrame(Packet):
def __init__(self, payload = None):
if isinstance(payload, Packet):
if isinstance(payload, RawPacket):
payload = payload.data
else:
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 isinstance(payload, Packet):
if isinstance(payload, RawPacket):
payload = payload.data
else:
payload = payload.payload()
Packet.__init__(self,
[('protocol', 'int', 1),
('dispatch', 'int', 1),
('data', 'blob', None)],
payload)
class ActiveMessage(Packet):
def __init__(self, packet = None, amId = 0x00, dest = 0xFFFF):
payload = None
if type(packet) == type([]):
payload = packet
elif isinstance(packet, NoAckDataFrame):
payload = packet.data
packet = 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 isinstance(packet, Packet):
self.data = packet.payload()
self.length = len(self.data)