mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-13 20:48:42 +01:00
312 lines
10 KiB
Python
312 lines
10 KiB
Python
|
##
|
||
|
|
##############################################################################
|
||
|
|
#
|
||
|
|
# @file uavtalk.py
|
||
|
|
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||
|
|
# @brief Base classes for python UAVObject
|
||
|
|
#
|
||
|
|
# @see The GNU Public License (GPL) Version 3
|
||
|
|
#
|
||
|
|
#############################################################################/
|
||
|
|
#
|
||
|
|
# This program is free software; you can redistribute it and/or modify
|
||
|
|
# it under the terms of the GNU General Public License as published by
|
||
|
|
# the Free Software Foundation; either version 3 of the License, or
|
||
|
|
# (at your option) any later version.
|
||
|
|
#
|
||
|
|
# This program is distributed in the hope that it will be useful, but
|
||
|
|
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||
|
|
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||
|
|
# for more details.
|
||
|
|
#
|
||
|
|
# You should have received a copy of the GNU General Public License along
|
||
|
|
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||
|
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
|
|
#
|
||
|
|
|
||
|
|
|
||
|
|
import time
|
||
|
|
import logging
|
||
|
|
import threading
|
||
|
|
|
||
|
|
SYNC = 0x3C
|
||
|
|
VERSION_MASK = 0xFC
|
||
|
|
VERSION = 0x20
|
||
|
|
TYPE_MASK = 0x03
|
||
|
|
TYPE_OBJ = 0x00
|
||
|
|
TYPE_OBJ_REQ = 0x01
|
||
|
|
TYPE_OBJ_ACK = 0x02
|
||
|
|
TYPE_ACK = 0x03
|
||
|
|
TYPE_NACK = 0x04
|
||
|
|
|
||
|
|
HEADER_LENGTH = 10 # sync(1), type (1), size(2), object ID (4), instance ID(2 )
|
||
|
|
|
||
|
|
MAX_PAYLOAD_LENGTH = 255
|
||
|
|
CHECKSUM_LENGTH = 1
|
||
|
|
MAX_PACKET_LENGTH = (HEADER_LENGTH + MAX_PAYLOAD_LENGTH + CHECKSUM_LENGTH)
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
class Crc(object):
|
||
|
|
|
||
|
|
crcTable = ( 0x00, 0x07, 0x0e, 0x09, 0x1c,
|
||
|
|
0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
|
||
|
|
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46,
|
||
|
|
0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb,
|
||
|
|
0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90,
|
||
|
|
0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
|
||
|
|
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5,
|
||
|
|
0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0,
|
||
|
|
0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93,
|
||
|
|
0x94, 0x9d, 0x9a, 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32,
|
||
|
|
0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59,
|
||
|
|
0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74,
|
||
|
|
0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1,
|
||
|
|
0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4, 0xf9, 0xfe, 0xf7, 0xf0,
|
||
|
|
0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3,
|
||
|
|
0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56,
|
||
|
|
0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05,
|
||
|
|
0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
|
||
|
|
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78,
|
||
|
|
0x7f, 0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25,
|
||
|
|
0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae,
|
||
|
|
0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f,
|
||
|
|
0x8a, 0x8d, 0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc,
|
||
|
|
0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 )
|
||
|
|
|
||
|
|
def __init__(self):
|
||
|
|
self.reset()
|
||
|
|
|
||
|
|
def reset(self, firstValue=None):
|
||
|
|
self.crc = 0
|
||
|
|
if firstValue != None:
|
||
|
|
self.add(firstValue)
|
||
|
|
|
||
|
|
def read(self):
|
||
|
|
return self.crc
|
||
|
|
|
||
|
|
def add(self, value):
|
||
|
|
try:
|
||
|
|
self.crc = Crc.crcTable[self.crc ^ (value & 0xff)]
|
||
|
|
except TypeError:
|
||
|
|
print "Likely End Of File"
|
||
|
|
raise SystemExit
|
||
|
|
|
||
|
|
def addList(self, values):
|
||
|
|
for v in values:
|
||
|
|
self.add(v)
|
||
|
|
|
||
|
|
|
||
|
|
class UavTalkRecThread(threading.Thread):
|
||
|
|
STATE_SYNC = 0
|
||
|
|
STATE_TYPE = 1
|
||
|
|
STATE_SIZE = 2
|
||
|
|
STATE_OBJID = 3
|
||
|
|
STATE_INSTID = 4
|
||
|
|
STATE_DATA = 5
|
||
|
|
STATE_CS = 6
|
||
|
|
|
||
|
|
def __init__(self, uavTalk):
|
||
|
|
threading.Thread.__init__(self)
|
||
|
|
self.uavTalk = uavTalk
|
||
|
|
self.rxState = self.STATE_SYNC
|
||
|
|
self.rxCrc = Crc()
|
||
|
|
self.stop = False
|
||
|
|
|
||
|
|
def run(self):
|
||
|
|
#self.uavTalk.serial.open()
|
||
|
|
self.stop = False
|
||
|
|
|
||
|
|
if self.uavTalk.logFile is not None:
|
||
|
|
file = open(self.uavTalk.logFile)
|
||
|
|
while not self.stop:
|
||
|
|
rx = file.read(1)
|
||
|
|
if len(rx) > 0:
|
||
|
|
rx = ord(rx)
|
||
|
|
self._consumeByte(rx)
|
||
|
|
elif self.uavTalk.serial is not None:
|
||
|
|
while not self.stop:
|
||
|
|
rx = self.uavTalk.serial.read(1)
|
||
|
|
if len(rx) > 0:
|
||
|
|
rx = ord(rx)
|
||
|
|
# if (rx == SYNC):
|
||
|
|
# print
|
||
|
|
# print hex(rx),
|
||
|
|
self._consumeByte(rx)
|
||
|
|
else:
|
||
|
|
print "Nothing to do!"
|
||
|
|
|
||
|
|
|
||
|
|
def _consumeByte(self, rx):
|
||
|
|
self.rxCrc.add(rx)
|
||
|
|
|
||
|
|
if self.rxState == UavTalkRecThread.STATE_SYNC:
|
||
|
|
if rx == SYNC:
|
||
|
|
self.rxCrc.reset(rx)
|
||
|
|
self.rxState += 1
|
||
|
|
# else:
|
||
|
|
# logging.warning("NoSync")
|
||
|
|
|
||
|
|
elif self.rxState == UavTalkRecThread.STATE_TYPE:
|
||
|
|
if (rx & VERSION_MASK != VERSION):
|
||
|
|
self.rxState == UavTalkRecThread.STATE_SYNC
|
||
|
|
else:
|
||
|
|
self.rxType = rx & TYPE_MASK
|
||
|
|
self.rxCount = 0
|
||
|
|
self.rxSize = 0
|
||
|
|
self.rxState += 1
|
||
|
|
|
||
|
|
elif self.rxState == UavTalkRecThread.STATE_SIZE:
|
||
|
|
self.rxSize >>= 8
|
||
|
|
self.rxSize |= (rx<<8)
|
||
|
|
self.rxCount += 1
|
||
|
|
|
||
|
|
if self.rxCount == 2:
|
||
|
|
# Received complete packet size, check for valid packet size
|
||
|
|
if (self.rxSize < HEADER_LENGTH) or (self.rxSize > HEADER_LENGTH + MAX_PAYLOAD_LENGTH):
|
||
|
|
logging.error("INVALID Packet Size")
|
||
|
|
self.rxState = UavTalkRecThread.STATE_SYNC
|
||
|
|
else:
|
||
|
|
self.rxCount = 0
|
||
|
|
self.rxObjId = 0
|
||
|
|
self.rxState = UavTalkRecThread.STATE_OBJID
|
||
|
|
|
||
|
|
elif self.rxState == UavTalkRecThread.STATE_OBJID:
|
||
|
|
self.rxObjId >>= 8
|
||
|
|
self.rxObjId |= (rx<<24)
|
||
|
|
self.rxCount += 1
|
||
|
|
|
||
|
|
if self.rxCount < 4:
|
||
|
|
return
|
||
|
|
|
||
|
|
self.rxCount = 0
|
||
|
|
self.rxInstId = 0
|
||
|
|
self.rxState += 1
|
||
|
|
|
||
|
|
elif self.rxState == UavTalkRecThread.STATE_INSTID:
|
||
|
|
self.rxCount += 1
|
||
|
|
|
||
|
|
if self.rxCount < 2:
|
||
|
|
return
|
||
|
|
|
||
|
|
self.rxCount = 0
|
||
|
|
|
||
|
|
# Received complete ObjID
|
||
|
|
self.obj = self.uavTalk.objMan.getObj(self.rxObjId)
|
||
|
|
if self.obj is not None:
|
||
|
|
self.rxDataSize = self.obj.getSerialisedSize()
|
||
|
|
|
||
|
|
if HEADER_LENGTH + self.obj.getSerialisedSize() != self.rxSize:
|
||
|
|
logging.error("packet Size MISMATCH")
|
||
|
|
self.rxState = UavTalkRecThread.STATE_SYNC
|
||
|
|
else:
|
||
|
|
# print "Object: %s" % self.obj
|
||
|
|
self.rxCount = 0
|
||
|
|
self.rxData = []
|
||
|
|
|
||
|
|
if self.rxType == TYPE_OBJ_REQ | self.rxType == TYPE_ACK | self.rxType == TYPE_NACK:
|
||
|
|
self.rxDataSize = 0
|
||
|
|
|
||
|
|
if self.rxDataSize > 0:
|
||
|
|
self.rxState = UavTalkRecThread.STATE_DATA
|
||
|
|
else:
|
||
|
|
self.rxState = UavTalkRecThread.STATE_DATA+1
|
||
|
|
else:
|
||
|
|
logging.warning("Rec UNKNOWN Obj %x", self.rxObjId)
|
||
|
|
self.rxState = self.STATE_SYNC
|
||
|
|
|
||
|
|
|
||
|
|
elif self.rxState == UavTalkRecThread.STATE_DATA:
|
||
|
|
self.rxData.append(rx)
|
||
|
|
self.rxCount += 1
|
||
|
|
if self.rxCount == self.rxDataSize:
|
||
|
|
self.rxState += 1
|
||
|
|
#else:
|
||
|
|
# logging.error("Obj %x INVALID SIZE", self.rxObjId)
|
||
|
|
|
||
|
|
elif self.rxState == UavTalkRecThread.STATE_CS:
|
||
|
|
# by now, the CS has been added to the CRC calc, so now the CRC calc should read 0
|
||
|
|
if self.rxCrc.read() != 0:
|
||
|
|
logging.error("CRC ERROR")
|
||
|
|
else:
|
||
|
|
self.uavTalk._onRecevedPacket(self.obj, self.rxType, self.rxData)
|
||
|
|
self.rxState = UavTalkRecThread.STATE_SYNC
|
||
|
|
|
||
|
|
else:
|
||
|
|
logging.error("INVALID STATE")
|
||
|
|
self.rxState = UavTalkRecThread.STATE_SYNC
|
||
|
|
|
||
|
|
|
||
|
|
class UavTalk(object):
|
||
|
|
|
||
|
|
def __init__(self, serial, logFile):
|
||
|
|
self.logFile = logFile
|
||
|
|
self.serial = serial
|
||
|
|
self.objMan = None
|
||
|
|
self.txLock = threading.Lock()
|
||
|
|
|
||
|
|
def setObjMan(self, objMan):
|
||
|
|
self.objMan = objMan
|
||
|
|
|
||
|
|
def start(self):
|
||
|
|
self.recThread = UavTalkRecThread(self)
|
||
|
|
self.recThread.start()
|
||
|
|
|
||
|
|
def stop(self):
|
||
|
|
self.recThread.stop = True;
|
||
|
|
self.recThread.join()
|
||
|
|
|
||
|
|
def _onRecevedPacket(self, obj, rxType, rxData):
|
||
|
|
logging.debug("REC Obj %20s type %x cnt %d", obj, rxType, obj.updateCnt+1)
|
||
|
|
# for i in rxData: print hex(i),
|
||
|
|
# print
|
||
|
|
|
||
|
|
if rxType == TYPE_OBJ_ACK:
|
||
|
|
logging.debug("Sending ACK for Obj %s", obj)
|
||
|
|
self.sendObjectAck(obj)
|
||
|
|
|
||
|
|
self.objMan.objUpdate(obj, rxData)
|
||
|
|
|
||
|
|
def sendObjReq(self, obj):
|
||
|
|
self._sendpacket(TYPE_OBJ_REQ, obj.objId)
|
||
|
|
|
||
|
|
def sendObjectAck(self, obj):
|
||
|
|
self._sendpacket(TYPE_ACK, obj.objId)
|
||
|
|
|
||
|
|
def sendObject(self, obj, reqAck=False):
|
||
|
|
if reqAck:
|
||
|
|
type = TYPE_OBJ_ACK
|
||
|
|
else:
|
||
|
|
type = TYPE_OBJ
|
||
|
|
self._sendpacket(type, obj.objId, obj.serialize())
|
||
|
|
|
||
|
|
def _sendpacket(self, type, objId, data=None):
|
||
|
|
|
||
|
|
self.txLock.acquire()
|
||
|
|
|
||
|
|
header = [SYNC, type | VERSION, 0, 0, 0, 0, 0, 0, 0, 0]
|
||
|
|
|
||
|
|
length = HEADER_LENGTH
|
||
|
|
if data is not None:
|
||
|
|
length += len(data)
|
||
|
|
header[2] = length & 0xFF
|
||
|
|
header[3] = (length >>8) & 0xFF
|
||
|
|
for i in xrange(4,8):
|
||
|
|
header[i] = objId & 0xff
|
||
|
|
objId >>= 8
|
||
|
|
|
||
|
|
crc = Crc()
|
||
|
|
crc.addList(header)
|
||
|
|
self.serial.write("".join(map(chr,header)))
|
||
|
|
|
||
|
|
if data is not None:
|
||
|
|
crc.addList(data)
|
||
|
|
self.serial.write("".join(map(chr,data)))
|
||
|
|
|
||
|
|
self.serial.write(chr(crc.read()))
|
||
|
|
|
||
|
|
self.txLock.release()
|
||
|
|
|
||
|
|
|