Tooltron

#!/usr/bin/python

import sys

import serial

TT_BOOT = 'b'

TT_PROGRAM_MODE = 'p'

TT_ACK = 'a'

TT_NACK = 'n'

TT_BAD = 0

TT_PROGD = 'd'

TT_RESET = 'r'

MAX_PROG_SIZE = 1024-32

DUMB_SERIAL = 0

BAUD_RATE = 9600

MAX_DATA_LEN = 32

if len(sys.argv) < 4:

    print "usage: netprog.py /path/to/bus/device toolnum binaryfile"

    exit(1)

#for testing, tool number 3 hardcoded

class dumbBus (serial.Serial):

    def __init__(self):

        self.step = 0

    def flushInput(self):

        pass

    def write(self, s):

        print '>',

    def read(self, n):

        if n == 5:

            if self.step == 0:

                #print ord('^'), 3,1,ord(TT_BOOT), (3 ^ 1 ^ ord(TT_BOOT))

                print '<',

                self.step += 1

                return '^' + chr(3) + chr(1) + TT_BOOT + chr(3 ^ 1 ^ ord(TT_BOOT))

            else:

                #print ord('^'), 3,1,ord(TT_ACK), (3 ^ 1 ^ ord(TT_ACK))

                print '<',

                return '^' + chr(3) + chr(1) + TT_ACK + chr(3 ^ 1 ^ ord(TT_ACK))

        else:

            return 0

if DUMB_SERIAL == 0:

    bus = serial.Serial(sys.argv[1], BAUD_RATE, timeout = 10) 

else:

    bus = dumbBus() 

bus.flushInput()

def printMsg(msg):

    if len(msg) < 5:

        print "ERROR: trying to print message thats too small!"

        return

    if msg[0] == '^':

        print '^',

    else:

        print str(ord(msg[0]))

    for c in msg[1:]:

        print str(ord(c)),

    print

def sendCommand(t, cmd):

    msg = '^' + chr(1) + chr(t) + cmd + chr(1 ^ t ^ ord(cmd))

    print "sending..."

    printMsg(msg)

    bus.write(msg)

def sendProgram(t, size):

    if size > 2**16:

        print "ERROR: program too big!!"

    def lsb(s): return s & 0xFF

    def msb(s): return (s>>8) & 0xFF

    body = chr(1) + chr(t) + TT_PROGRAM_MODE + chr(lsb(size)) + chr(msb(size))

    print 1,t,TT_PROGRAM_MODE,lsb(size),msb(size),

    xor = 0

    for c in body:

        xor = xor ^ ord(c)

    print xor

    msg = '^' + body + chr(xor)

    print "sending P"

    printMsg(msg)

    bus.write(msg)

dCount = 0

def sendData(t, data):

    body = chr(1) + chr(t) + TT_PROGD + data

    n = len(data)

    while n < MAX_DATA_LEN:

        body = body + chr(0)

        n = n + 1

    xor = 0

    for c in body:

        xor = xor ^ ord(c)

    msg = '^' + body + chr(xor)

    printMsg(msg)

    bus.write(msg)

    print '.',

    sys.stdout.flush()

def readPacket():

    msg = bus.read(5)

    if len(msg) < 5:

        print "message too short! len =",len(msg)

        if len(msg) == 0:

            print "probably a timeout"

        else:

            print "got:",

            for i in range(len(msg)):

                print (ord(msg[i]))," ",

            print 

        return TT_BAD

    if msg[0] != '^':

        print "did not get start delimeter! ",ord(msg[0])," packet size:",len(msg)

        return TT_BAD

    src = msg[1]

    #print "src: ", ord(src)

    if msg[2] != chr(1):

        print "packet dest not 1!"

        return TT_BAD

    cmd = msg[3]

    if msg[4] != chr(ord(src) ^ 1 ^ ord(msg[3])):

        print "checksum was wrong!"

        print ord(msg[0]), ord(msg[1]), ord(msg[2]), ord(msg[3]), ord(msg[4])

        print (ord(src) ^ 1 ^ ord(msg[3]))

        return TT_BAD

    return cmd

toolID = int(sys.argv[2])

print "sending file: ", sys.argv[3], " to tool ", toolID

fin = open(sys.argv[3], "r")

fin.seek(0,2)

flen = fin.tell()

fin.seek(0,0)

if flen > MAX_PROG_SIZE:

    print "Program too Large!"

    print "prog size:",flen

    print "max size:",MAX_PROG_SIZE

    exit(-1)

print "prog size:",flen

print "sending RESET"

sendCommand(toolID, TT_RESET)

print "waiting for boot packet..."

while readPacket() != TT_BOOT:

    print "Didn't get a boot packet, bailing out"

    exit(-4)

r = 0

while r != TT_ACK:

    sendProgram(toolID, flen)

    r = readPacket()

    if r == TT_NACK:

        print "WARNING: got NACK, trying again"

    elif r == TT_BOOT:

        print "ERROR: got stray boot packet"

        #TODO: restart the whole state machine after the boot packet

        exit(-2)

    elif r != TT_ACK:

        print "ERROR: got another packet:",r

        exit(-1)

print 'sending data',

sys.stdout.flush()

while True:

    data = fin.read(MAX_DATA_LEN)

    #print data

    #print '-------------------'

    if len(data) == 0:

        break

    r = 0

    while r != TT_ACK:

        sendData(toolID, data)

        r = readPacket()

        if r == TT_NACK:

            print "WARNING: got NACK, trying again"

        elif r == TT_BOOT:

            print "ERROR: got stray boot packet"

            #TODO: restart the whole state machine after the boot packet

            exit(-2)

        elif r != TT_ACK:

            print "ERROR: got another packet:",r

            exit(-1)

    if len(data) < MAX_DATA_LEN:

        break