## ############################################################################## # # @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()