Revision 219
some fixed to manualtron, NEED TO PORT TO TOOLTRON
| manualtron.py | ||
|---|---|---|
| 31 | 31 |
keypadTimeout = 11 #in seconds |
| 32 | 32 |
|
| 33 | 33 |
TT_GET_KEY = 'k' |
| 34 |
TT_SEND_KEY = 's' ############ put this in tooltron.py |
|
| 34 | 35 |
TT_ACK = 'a' |
| 35 | 36 |
TT_NACK = 'n' |
| 36 | 37 |
TT_TO = 'f' |
| ... | ... | |
| 102 | 103 |
def sendNack(toolNum): |
| 103 | 104 |
print "seding ACK to",toolNum |
| 104 | 105 |
sendMessage(toolNum, TT_NACK, "") |
| 106 |
|
|
| 107 |
# This function eats the rest of the packet where data is what we have so far |
|
| 108 |
def flushPacket(data): |
|
| 109 |
while len(data) < 6: |
|
| 110 |
data += bus.read(1) |
|
| 105 | 111 |
|
| 106 |
#returns key if the key_send packet is recived from tool ID 2 |
|
| 107 |
# otherwise returns 0 |
|
| 108 |
def readKey(): |
|
| 109 |
startDelim = bus.read(1) |
|
| 110 |
if startDelim == '^': |
|
| 112 |
plen = data[4] |
|
| 113 |
if plen > 0: |
|
| 114 |
bus.read(ord(plen)) |
|
| 115 |
|
|
| 116 |
|
|
| 117 |
# Returns [src, dest, cmd, data] |
|
| 118 |
def readMessage(): |
|
| 119 |
if bus.read(1) == '^': |
|
| 111 | 120 |
src = bus.read(1) |
| 112 |
if src == 0: |
|
| 113 |
return 0 |
|
| 121 |
if src == chr(1): #reflection |
|
| 122 |
print "(reflection)" |
|
| 123 |
flushPacket('^' + src)
|
|
| 124 |
return readMessage() |
|
| 125 |
|
|
| 114 | 126 |
dest = bus.read(1) |
| 115 |
if dest == 0: |
|
| 116 |
return 0 |
|
| 117 |
packetType = bus.read(1) |
|
| 118 |
if packetType == 0: |
|
| 119 |
return 0 |
|
| 120 |
payloadLen = bus.read(1) |
|
| 121 |
if payloadLen != 1: |
|
| 122 |
print "ERROR: payload length wrong! Should be 1, was",payloadLen |
|
| 123 |
return 0 |
|
| 124 |
key = bus.read(1) |
|
| 125 |
if key == 0: |
|
| 126 |
return 0 |
|
| 127 |
crc = bus.read(1) |
|
| 127 |
cmd = bus.read(1) |
|
| 128 |
plen = bus.read(1) |
|
| 129 |
data = bus.read(ord(plen)) |
|
| 130 |
x = bus.read(1) |
|
| 128 | 131 |
|
| 129 | 132 |
print "got packet" |
| 130 |
if src != 2 or dest != 1 or packetType != TT_KEY_SEND: |
|
| 131 |
print "Bad packet! ^",src,dest,packetType,key,crc |
|
| 133 |
printMsg('^' + src + dest + cmd + plen + data + x)
|
|
| 132 | 134 |
|
| 133 |
if chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key)) == crc: |
|
| 134 |
return key |
|
| 135 |
crc = ord(src) ^ ord(dest) ^ ord(cmd) ^ ord(plen) |
|
| 136 |
for d in data: |
|
| 137 |
crc ^= ord(d) |
|
| 138 |
|
|
| 139 |
if crc == ord(x): |
|
| 140 |
return [src, dest, cmd, data] |
|
| 135 | 141 |
else: |
| 136 |
print "xor fail. got", crc, "should have been got",(chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key))) |
|
| 142 |
print "xor fail. got", str(ord(x)), "should have been got",crc |
|
| 143 |
return 0 #TODO: error |
|
| 137 | 144 |
|
| 145 |
def readKey(): |
|
| 146 |
m = readMessage() |
|
| 147 |
if m == 0: |
|
| 138 | 148 |
return 0 |
| 139 |
|
|
| 149 |
[src, dest, cmd, data] = m |
|
| 150 |
if cmd == TT_SEND_KEY: |
|
| 151 |
return data[0] |
|
| 140 | 152 |
else: |
| 141 |
print "did not get start delim!: ", ord(startDelim) |
|
| 142 | 153 |
return 0 |
| 143 |
|
|
| 154 |
|
|
| 144 | 155 |
#returns [src, dest, command] or [] on error |
| 156 |
# because of reflection, this will quietly ignore packets send by the server |
|
| 145 | 157 |
def readTool(): |
| 146 |
ret = [0,0,0] |
|
| 158 |
m = readMessage() |
|
| 159 |
if m == 0: |
|
| 160 |
return [] |
|
| 161 |
[src, dest, cmd, data] = m |
|
| 162 |
return [src, dest, cmd] |
|
| 147 | 163 |
|
| 148 |
if bus.read(1) == '^': |
|
| 149 |
ret[0] = bus.read(1) |
|
| 150 |
ret[1] = bus.read(1) |
|
| 151 |
ret[2] = bus.read(1) |
|
| 152 |
plen = bus.read(1) |
|
| 153 |
if plen != chr(0): |
|
| 154 |
print "ERROR: tool responded with payload len",str(ord(plen)) |
|
| 155 |
bus.flushInput() |
|
| 156 |
x = bus.read(1) |
|
| 157 |
|
|
| 158 |
print "got packet",ret |
|
| 159 |
|
|
| 160 |
if chr(ord(ret[0]) ^ ord(ret[1]) ^ ord(ret[2])) == x: |
|
| 161 |
return ret |
|
| 162 |
else: |
|
| 163 |
print "xor fail. got", x, "should have been got",(ord(ret[0]) ^ ord(ret[1]) ^ ord(ret[2])) |
|
| 164 |
|
|
| 165 |
return [] |
|
| 166 |
|
|
| 167 | 164 |
def checkAck(t): |
| 168 | 165 |
tn = t |
| 169 | 166 |
m = readTool() |
| ... | ... | |
| 173 | 170 |
|
| 174 | 171 |
|
| 175 | 172 |
return m[0] == chr(tn) and m[1] == chr(1) and m[2] == TT_ACK |
| 173 |
|
|
| 174 |
def key(): |
|
| 175 |
sendMessage(2,TT_GET_KEY,"") |
|
| 176 |
print readKey() |
|
| 177 |
|
|
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