Revision 221
merged in manualtron fixes
| tooltron.py | ||
|---|---|---|
| 76 | 76 |
|
| 77 | 77 |
|
| 78 | 78 |
TT_GET_KEY = 'k' |
| 79 |
TT_SEND_KEY = 's' |
|
| 79 | 80 |
TT_ACK = 'a' |
| 80 | 81 |
TT_NACK = 'n' |
| 81 | 82 |
TT_TO = 'f' |
| ... | ... | |
| 243 | 244 |
print "seding ACK to",toolNum |
| 244 | 245 |
sendMessage(toolNum, TT_NACK, "") |
| 245 | 246 |
|
| 246 |
#returns key if the key_send packet is recived from tool ID 2 |
|
| 247 |
# otherwise returns 0 |
|
| 248 |
def readKey(): |
|
| 249 |
startDelim = bus.read(1) |
|
| 250 |
if startDelim == '^': |
|
| 247 |
# This function eats the rest of the packet where data is what we have so far |
|
| 248 |
def flushPacket(data): |
|
| 249 |
while len(data) < 6: |
|
| 250 |
data += bus.read(1) |
|
| 251 |
|
|
| 252 |
plen = data[4] |
|
| 253 |
if plen > 0: |
|
| 254 |
bus.read(ord(plen)) |
|
| 255 |
|
|
| 256 |
|
|
| 257 |
# Returns [src, dest, cmd, data] |
|
| 258 |
def readMessage(): |
|
| 259 |
if bus.read(1) == '^': |
|
| 251 | 260 |
src = bus.read(1) |
| 252 |
if src == 0: |
|
| 253 |
return 0 |
|
| 261 |
if src == chr(1): #reflection |
|
| 262 |
print "(reflection)" |
|
| 263 |
flushPacket('^' + src)
|
|
| 264 |
return readMessage() |
|
| 265 |
|
|
| 254 | 266 |
dest = bus.read(1) |
| 255 |
if dest == 0: |
|
| 256 |
return 0 |
|
| 257 |
packetType = bus.read(1) |
|
| 258 |
if packetType == 0: |
|
| 259 |
return 0 |
|
| 260 |
payloadLen = bus.read(1) |
|
| 261 |
if payloadLen != 1: |
|
| 262 |
print "ERROR: payload length wrong! Should be 1, was",payloadLen |
|
| 263 |
return 0 |
|
| 264 |
key = bus.read(1) |
|
| 265 |
if key == 0: |
|
| 266 |
return 0 |
|
| 267 |
crc = bus.read(1) |
|
| 267 |
cmd = bus.read(1) |
|
| 268 |
plen = bus.read(1) |
|
| 269 |
data = bus.read(ord(plen)) |
|
| 270 |
x = bus.read(1) |
|
| 268 | 271 |
|
| 269 | 272 |
print "got packet" |
| 270 |
if src != 2 or dest != 1 or packetType != TT_KEY_SEND: |
|
| 271 |
print "Bad packet! ^",src,dest,packetType,key,crc |
|
| 273 |
#printMsg('^' + src + dest + cmd + plen + data + x)
|
|
| 272 | 274 |
|
| 273 |
if chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key)) == crc: |
|
| 274 |
return key |
|
| 275 |
crc = ord(src) ^ ord(dest) ^ ord(cmd) ^ ord(plen) |
|
| 276 |
for d in data: |
|
| 277 |
crc ^= ord(d) |
|
| 278 |
|
|
| 279 |
if crc == ord(x): |
|
| 280 |
return [src, dest, cmd, data] |
|
| 275 | 281 |
else: |
| 276 |
print "xor fail. got", crc, "should have been got",(chr(ord(src) ^ ord(dest) ^ ord(packetType) ^ ord(key))) |
|
| 282 |
print "xor fail. got", str(ord(x)), "should have been got",crc |
|
| 283 |
return None |
|
| 277 | 284 |
|
| 285 |
def readKey(): |
|
| 286 |
m = readMessage() |
|
| 287 |
if m == None: |
|
| 278 | 288 |
return 0 |
| 279 |
|
|
| 289 |
[src, dest, cmd, data] = m |
|
| 290 |
if cmd == TT_SEND_KEY: |
|
| 291 |
return data[0] |
|
| 280 | 292 |
else: |
| 281 |
print "did not get start delim!: ", ord(startDelim) |
|
| 282 | 293 |
return 0 |
| 283 |
|
|
| 294 |
|
|
| 284 | 295 |
#returns [src, dest, command] or [] on error |
| 296 |
# because of reflection, this will quietly ignore packets send by the server |
|
| 285 | 297 |
def readTool(): |
| 286 |
ret = [0,0,0] |
|
| 298 |
m = readMessage() |
|
| 299 |
if m == None: |
|
| 300 |
return [] |
|
| 301 |
print m |
|
| 302 |
[src, dest, cmd, data] = m |
|
| 303 |
return [src, dest, cmd] |
|
| 287 | 304 |
|
| 288 |
if bus.read(1) == '^': |
|
| 289 |
ret[0] = bus.read(1) |
|
| 290 |
ret[1] = bus.read(1) |
|
| 291 |
ret[2] = bus.read(1) |
|
| 292 |
plen = bus.read(1) |
|
| 293 |
if plen != chr(0): |
|
| 294 |
print "ERROR: tool responded with payload len",str(ord(plen)) |
|
| 295 |
bus.flushInput() |
|
| 296 |
x = bus.read(1) |
|
| 297 |
|
|
| 298 |
print "got packet",ret |
|
| 299 |
|
|
| 300 |
if chr(ord(ret[0]) ^ ord(ret[1]) ^ ord(ret[2])) == x: |
|
| 301 |
return ret |
|
| 302 |
else: |
|
| 303 |
print "xor fail. got", x, "should have been got",(ord(ret[0]) ^ ord(ret[1]) ^ ord(ret[2])) |
|
| 304 |
|
|
| 305 |
return [] |
|
| 306 |
|
|
| 307 | 305 |
def checkAck(t): |
| 308 | 306 |
tn = keypad2toolID(t) |
| 309 | 307 |
m = readTool() |
Also available in: Unified diff