Mercurial > ~darius > hgwebdir.cgi > ZigBee
annotate zb.py @ 16:ce3712110055
Remove superfluous debugging.
| author | darius@Inchoate |
|---|---|
| date | Sat, 17 Jan 2009 21:44:17 +1030 |
| parents | 729f2393f296 |
| children | c6ee9eae9e49 |
| rev | line source |
|---|---|
| 11 | 1 # |
| 2 # Code to talk to MaxStream ZigBee modules in API (no escaped | |
| 3 # characters) | |
| 4 # | |
| 5 # Copyright (c) 2009 | |
| 6 # Daniel O'Connor <darius@dons.net.au>. All rights reserved. | |
| 7 # | |
| 8 # Redistribution and use in source and binary forms, with or without | |
| 9 # modification, are permitted provided that the following conditions | |
| 10 # are met: | |
| 11 # 1. Redistributions of source code must retain the above copyright | |
| 12 # notice, this list of conditions and the following disclaimer. | |
| 13 # 2. Redistributions in binary form must reproduce the above copyright | |
| 14 # notice, this list of conditions and the following disclaimer in the | |
| 15 # documentation and/or other materials provided with the distribution. | |
| 16 # | |
| 17 # THIS SOFTWARE IS PROVIDED BY AUTHOR AND CONTRIBUTORS ``AS IS'' AND | |
| 18 # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| 19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| 20 # ARE DISCLAIMED. IN NO EVENT SHALL AUTHOR OR CONTRIBUTORS BE LIABLE | |
| 21 # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | |
| 22 # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS | |
| 23 # OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) | |
| 24 # HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | |
| 25 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY | |
| 26 # OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | |
| 27 # SUCH DAMAGE. | |
| 28 # | |
| 29 """MaxStream ZigBee module API interface | |
| 30 | |
| 31 This code expects the module to be in API mode 1 (no escape | |
| 32 characters), ie you have done something like.. | |
| 33 +++ | |
| 34 ATAP=1 | |
| 35 ATWR | |
| 36 ATCN | |
| 37 | |
| 38 See here for details | |
| 39 http://www.digi.com/products/wireless/point-multipoint/xbee-series1-moduledocs.jsp | |
| 40 """ | |
| 41 | |
| 42 import inspect | |
| 1 | 43 |
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44 def easyord(i): |
| 11 | 45 """Helper function to return the ordinal of a string, or just the |
| 46 passed in value""" | |
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47 if (type(i) != type(str())): |
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48 return i |
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49 else: |
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50 return ord(i) |
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51 |
| 1 | 52 class PktBase(object): |
| 11 | 53 """Base class for all packet types""" |
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54 PKT_MAXLEN = 2 ** 16 |
| 11 | 55 PKT_TYPE = None |
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56 |
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57 def __init__(self): |
| 11 | 58 #print "Constructing " + self.__class__.__name__ |
| 59 pass | |
| 60 | |
| 61 def Encapsulate(self): | |
| 62 """Encapsulate the packet""" | |
| 63 return Packets.Encapsulate([self.PKT_TYPE] + self.data) | |
| 1 | 64 |
| 11 | 65 def Pack(self): |
| 66 """Return string version of encapsulated packet""" | |
| 67 return reduce(lambda x, y: str(x) + str(y), self.Encapsulate()) | |
| 1 | 68 |
| 4 | 69 def resize(self, dlen): |
| 70 """Ensure the data list can hold at least len elements (0 fill)""" | |
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71 if (len(self._data) < dlen): |
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72 self._data = (self._data + [0] * dlen)[0:dlen] |
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73 |
| 11 | 74 @staticmethod |
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75 def _checklist(list, min = 0, max = 255, maxlen = None): |
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76 if (maxlen != None and len(list) > maxlen): |
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77 raise ValueError("must have %d elements" % (maxlen)) |
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78 |
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79 for i in xrange(len(list)): |
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80 if (easyord(list[i]) < min or easyord(list[i]) > max): |
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81 raise ValueError("element %d (= %d) out of range must be between %d and %d inclusive" % |
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82 (i, ord(list[i]), min, max)) |
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83 |
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84 class TXPkts(PktBase): |
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85 """Base class for all packets that go to the module""" |
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86 |
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87 frameidcounter = 0 |
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88 |
| 11 | 89 def __init__(self): |
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90 self._frameid = self.getNextFrameId() |
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91 |
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92 @classmethod |
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93 def getNextFrameId(clss): |
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94 """Generate the next frame ID, skip 0 as it will cause the module to not send a response back""" |
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95 clss.frameidcounter = (clss.frameidcounter + 1) % 255 |
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96 |
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97 if clss.frameidcounter == 0: |
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98 clss.frameidcounter = 1 |
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99 |
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100 return clss.frameidcounter |
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101 |
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102 def setframeid(self, value): |
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103 if (value < 0 or value > 255): |
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104 raise ValueError("FrameID must be 0-255") |
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105 self._frameid = value |
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106 frameid = property(lambda s: s._frameid, setframeid) |
| 4 | 107 |
| 11 | 108 class AT_Cmd(TXPkts): |
| 109 """AT command packet""" | |
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110 |
| 1 | 111 PKT_TYPE = 0x08 |
| 112 PKT_DESC = "AT Command" | |
| 113 | |
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114 def __init__(self, cmd = None, cmdarg = None): |
| 11 | 115 self.frameid = 1 # XXX: why do I need to dupe this? |
| 116 self.cmdarg = [] | |
| 117 | |
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118 super(AT_Cmd, self).__init__() |
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119 if (cmd != None): |
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120 self.cmd = cmd |
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121 if (cmdarg != None): |
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122 self.cmdarg = cmdarg |
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123 |
| 4 | 124 def setcmd(self, value): |
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125 if (len(value) != 2): |
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126 raise ValueError("must have 2 elements") |
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127 self._checklist(value, ord('0'), ord('z')) |
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128 self._cmd = value |
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129 cmd = property(lambda s: s._cmd, setcmd) |
| 4 | 130 |
| 131 def setcmdarg(self, value): | |
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132 self._checklist(value, maxlen = self.PKT_MAXLEN - 3) |
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133 self._cmdarg = value |
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134 cmdarg = property(lambda s: s._cmdarg, setcmdarg) |
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135 |
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136 def getdata(self): |
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137 return([self.frameid] + map(ord, self.cmd) + map(easyord, self.cmdarg)) |
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138 data = property(getdata) |
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139 |
| 4 | 140 class AT_Cmd_Queue(AT_Cmd): |
| 11 | 141 """Queued AT command packet""" |
| 142 | |
| 1 | 143 PKT_TYPE = 0x09 |
| 144 PKT_DESC = "AT Command (queued)" | |
| 145 | |
| 146 class AT_Response(PktBase): | |
| 11 | 147 """Response from an AT command packet""" |
| 148 | |
| 1 | 149 PKT_TYPE = 0x88 |
| 150 PKT_DESC = "AT Command response" | |
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151 frameid = property(lambda s: s._data[0], None) |
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152 cmd = property(lambda s: chr(s._data[1]) + chr(s._data[2]), None) |
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153 statusOK = property(lambda s: s._data[3] == 0, None) |
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154 payload = property(lambda s: s._data[4:], None) |
| 1 | 155 |
| 11 | 156 def __init__(self, data = []): |
| 157 super(AT_Response, self).__init__() | |
| 158 self._data = data | |
| 159 | |
| 1 | 160 class Modem_Status(PktBase): |
| 161 PKT_TYPE = 0x8a | |
| 162 PKT_DESC = "Modem Status" | |
| 163 | |
| 164 class RX_16_Bit(PktBase): | |
| 11 | 165 """RX packet from a remote module (16 bit)""" |
| 1 | 166 PKT_TYPE = 0x81 |
| 167 PKT_DESC = "RX Packet: 16 bit address" | |
| 4 | 168 ADDR_SIZE = 2 |
| 11 | 169 ADRBCASTMSK = 0x01 |
| 170 PANBCASTMSK = 0x02 | |
| 4 | 171 |
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172 def __init__(self, data = []): |
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173 super(RX_16_Bit, self).__init__() |
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174 self._data = data |
| 11 | 175 |
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176 def __str__(self): |
| 11 | 177 return "RX_%d_Bit 0x%0*x (%ddBm) -> %s" % (self.ADDR_SIZE * 8, self.ADDR_SIZE * 2, |
| 178 self.sender, self.rssi, self.payloadstr) | |
| 4 | 179 def getsender(self): |
| 180 value = 0 | |
| 11 | 181 # Done this way so we can reuse the code for the 64 bit version |
| 4 | 182 for i, j in zip(reversed(range(self.ADDR_SIZE)), range(0, self.ADDR_SIZE * 8, 8)): |
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183 value |= self._data[i] << j |
| 4 | 184 return value |
| 11 | 185 #: Source module address |
| 5 | 186 sender = property(getsender, None) |
| 187 | |
| 11 | 188 def isAdrBcast(self): |
| 189 """Is this an address broadcast packet?""" | |
| 190 return self.flags & self.ADRBCASTMSK | |
| 191 | |
| 192 def isPanBcast(self): | |
| 193 """Is this an PAN broadcast packet?""" | |
| 194 return self.flags & self.PANBCASTMSK | |
| 195 | |
| 196 #: RX signal strength (dBm) | |
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197 rssi = property(lambda s: -1 * s._data[s.ADDR_SIZE], None) |
| 1 | 198 |
| 11 | 199 #: Return flag byte |
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200 flags = property(lambda s: s._data[s.ADDR_SIZE + 1], None) |
| 4 | 201 |
| 11 | 202 #: Payload (list of ords) |
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203 payload = property(lambda s: s._data[s.ADDR_SIZE + 2:], None) |
| 11 | 204 |
| 205 #: String version of payload | |
| 206 def payloadstr(self): | |
| 207 return reduce(lambda a, b: a + chr(b), self.payload, "") | |
| 208 payloadstr = property(payloadstr, None) | |
| 209 | |
| 210 | |
| 4 | 211 class RX_64_Bit(RX_16_Bit): |
| 212 PKT_TYPE = 0x80 | |
| 213 PKT_DESC = "RX Packet: 64 bit address" | |
| 214 ADDR_SIZE = 8 | |
| 215 | |
| 216 class RXIO_16_Bit(RX_16_Bit): | |
| 11 | 217 """RX I/O packet from remote module (16 bit). |
| 218 | |
| 219 This is sent when a remote module is configured to send data based on its IO or DAC pins | |
| 220 """ | |
| 1 | 221 PKT_TYPE = 0x83 |
| 222 PKT_DESC = "RXIO Packet: 16 bit address" | |
| 223 | |
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224 nsamples = property(lambda s: s._data[s.ADDR_SIZE + 2]) |
| 5 | 225 |
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226 mask = property(lambda s: s._data[s.ADDR_SIZE + 3] << 8 | s._data[s.ADDR_SIZE + 4]) |
| 4 | 227 |
| 1 | 228 def __str__(self): |
| 4 | 229 rtn = "0x%0*x (%ddBm) -> %d samples, mask 0x%04x" % (self.ADDR_SIZE * 2, self.sender, |
| 230 self.rssi, self.nsamples, self.mask) | |
| 1 | 231 # Any DIO lines enabled? |
| 4 | 232 if (self.mask | 0x01ff): |
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233 rtn = rtn + ", DIO - 0x%03x" % (self._data[self.ADDR_SIZE + 5] << 8 | |
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234 self._data[self.ADDR_SIZE + 6]) |
| 4 | 235 offs = self.ADDR_SIZE + 7 |
| 1 | 236 else: |
| 4 | 237 offs = self.ADDR_SIZE + 5 |
| 1 | 238 |
| 239 # Any ADC lines enabled? | |
| 4 | 240 if (self.mask | 0x7e00): |
| 1 | 241 for i in range(6): |
| 4 | 242 if (self.mask & 1 << (i + 9)): |
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243 rtn = rtn + ", ADC%d - 0x%02x" % (i, self._data[offs] << 8 | |
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244 self._data[offs + 1]) |
| 1 | 245 offs = offs + 2 |
| 246 return rtn | |
| 247 | |
| 5 | 248 class RXIO_64_Bit(RXIO_16_Bit): |
| 4 | 249 PKT_TYPE = 0x82 |
| 250 PKT_DESC = "RXIO Packet: 64 bit address" | |
| 251 ADDR_SIZE = 8 | |
| 252 | |
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253 class TX_16_Bit(TXPkts): |
| 11 | 254 """Transmit to a 16 bit destination""" |
| 6 | 255 PKT_TYPE = 0x01 |
| 4 | 256 PKT_DESC = "TX Packet: 16 bit address" |
| 6 | 257 ADDR_SIZE = 2 |
| 11 | 258 #: Flag to disable ACK |
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259 FLG_DISABLE_ACK = 0x01 |
| 11 | 260 #: Send to broadcast PAN ID |
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261 FLG_BCAST_PANID = 0x04 |
| 11 | 262 #: Maximum size payload we can send |
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263 PKT_MAX_PAYLOAD = 100 |
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264 |
| 6 | 265 def __init__(self, *args): |
| 11 | 266 """Takes 0 to 2 arguments. First is the recipient, the second is the payload (string)""" |
| 267 self._flags = 0 | |
| 268 self.payload = [] | |
| 269 | |
| 270 if len(args) == 0: | |
| 271 pass | |
| 272 if len(args) == 1: | |
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273 super(TX_16_Bit, self).__init__() |
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274 self.recipient = args[0] |
| 11 | 275 elif len(args) == 2: |
| 276 super(TX_16_Bit, self).__init__() | |
| 6 | 277 self.recipient = args[0] |
| 278 self.payload = args[1] | |
| 279 else: | |
| 11 | 280 raise TypeError("incorrect number of arguments"); |
| 4 | 281 |
| 11 | 282 def __str__(self): |
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283 return "TX_%d_Bit ID: %d 0x%0*x <- %s" % (self.ADDR_SIZE * 8, self._frameid, self.ADDR_SIZE * 2, |
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284 self.recipient, self.payload) |
| 11 | 285 |
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286 def setrecipient(self, value): |
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287 if (value < 0 or value > 2 ** (self.ADDR_SIZE * 8)): |
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288 raise ValueError("value out of range must be between 0 and %d" % (2 ** self.ADDR_SIZE)) |
| 6 | 289 |
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290 self._recipient = value |
| 11 | 291 |
| 292 """Destination address of the packet""" | |
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293 recipient = property(lambda s: s._recipient, setrecipient) |
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294 |
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295 def setflags(self, value): |
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296 if (value < 0 or value > 255): |
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297 raise ValueError("Value must be between 0 and 255 inclusive") |
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298 |
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299 self._flags = value |
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300 flags = property(lambda s: s._flags, setflags) |
| 5 | 301 |
| 6 | 302 def setpayload(self, value): |
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303 self._checklist(value, maxlen = self.PKT_MAX_PAYLOAD) |
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304 self._payload = value |
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305 payload = property(lambda s: s._payload, setpayload) |
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306 |
| 11 | 307 def payloadstr(self): |
| 308 return reduce(lambda a, b: a + chr(b), self.payload, "") | |
| 309 payloadstr = property(payloadstr, None) | |
| 310 | |
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311 def getdata(self): |
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312 data = [self.frameid] |
| 11 | 313 for i, j in zip(reversed(range(self.ADDR_SIZE)), reversed(range(0, self.ADDR_SIZE * 8, 8))): |
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314 data.append((self.recipient & (0xff << j)) >> j) |
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315 data.append(self.flags) |
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316 data.extend(map(easyord, self.payload)) |
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317 return(data) |
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318 data = property(getdata) |
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319 |
| 6 | 320 class TX_64_Bit(TX_16_Bit): |
| 1 | 321 PKT_TYPE = 0x00 |
| 322 PKT_DESC = "TX Packet: 64 bit address" | |
| 6 | 323 ADDR_SIZE = 8 |
| 1 | 324 |
| 325 class TX_Status(PktBase): | |
| 326 PKT_TYPE = 0x89 | |
| 327 PKT_DESC = "TX Status" | |
| 6 | 328 statusTxt = ['OK', 'No Ack', 'CCA failure', 'Purged'] |
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329 frameid = property(lambda s: s._data[0], None) |
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330 status = property(lambda s: s._data[1], None) |
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331 statusMsg = property(lambda s: s.statusTxt[s._data[1]], None) |
| 11 | 332 |
| 333 def __init__(self, data = []): | |
| 334 super(TX_Status, self).__init__() | |
| 335 self._data = data | |
| 336 | |
| 1 | 337 class Packets(object): |
| 11 | 338 """Packet parsing class (misnamed)""" |
| 4 | 339 PKT_CLASSES = None |
| 11 | 340 |
| 341 @classmethod | |
| 4 | 342 def Build(self, data): |
| 11 | 343 """Build a packet from data""" |
| 4 | 344 if (self.PKT_CLASSES == None): |
| 345 m = inspect.getmodule(self) | |
| 346 # Generate list of objects from their names | |
| 347 mobjs = map(lambda n: m.__dict__[n], m.__dict__) | |
| 348 # Find all the classes | |
| 349 pktclasses = filter(inspect.isclass, mobjs) | |
| 350 # Find all subclasses of PktBase (but not PktBase itself) | |
| 351 pktclasses = filter(lambda s: issubclass(s, m.PktBase) and s != m.PktBase, pktclasses) | |
| 352 self.PKT_CLASSES = pktclasses | |
| 353 | |
| 354 for p in self.PKT_CLASSES: | |
| 1 | 355 if (p.PKT_TYPE == data[0]): |
| 11 | 356 #print "Matched " + str(p.PKT_TYPE) |
| 1 | 357 return(p(data[1:])) |
| 4 | 358 |
| 359 raise ValueError("Unknown packet type 0x%02x" % (data[0])) | |
| 1 | 360 |
| 11 | 361 @staticmethod |
| 1 | 362 def Encapsulate(data): |
| 11 | 363 """Encapsulate a packet so it can be sent to the module. Calculates checksum etc..""" |
| 1 | 364 pktsum = reduce(lambda x, y: x + y, data) & 0xff |
| 365 pkt = [0x7e] + [len(data) >> 8] + [len(data) & 0xff] + data + [0xff - pktsum] | |
| 366 return(map(chr, pkt)) | |
| 367 | |
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368 def __init__(self, s = None): |
| 11 | 369 """Init class, if s is passed in it is used for reading & writing data""" |
| 370 #print str(inspect.getmodule(self)) | |
| 1 | 371 self.buffer = [] |
| 372 self.state = 'init' | |
| 373 self.packets = [] | |
| 374 | |
| 375 self.bufmsb = 0 | |
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376 self._dataleft = 0 |
| 1 | 377 |
| 378 self.fr_err = 0 # Framing error | |
| 379 self.ck_err = 0 # Checksum error | |
| 380 self.rx_cnt = 0 # Packet count | |
| 381 | |
| 382 self.pktq = [] | |
| 11 | 383 self.s = s # Output handle for convenience methods |
| 6 | 384 |
| 385 def writedata(self, data): | |
| 11 | 386 """Convenience method to write data""" |
| 6 | 387 self.s.write("".join(map(str, data))) |
| 5 | 388 |
| 6 | 389 def getdata(self): |
| 11 | 390 """Read data until nothing is available (assumes non-blocking) and process it""" |
| 1 | 391 l = [] |
| 11 | 392 while 1: |
| 6 | 393 a = self.s.read() |
| 11 | 394 if a == '': |
| 1 | 395 break |
| 5 | 396 l.append(ord(a)) |
| 1 | 397 |
| 398 return self.process(l) | |
| 399 | |
| 11 | 400 def processstr(self, data): |
| 401 """Process a string of data""" | |
| 402 return self.process(map(ord, data)) | |
| 403 | |
| 1 | 404 def process(self, data): |
| 11 | 405 """Process (ordinal) data through the state machine. |
| 406 | |
| 407 Returns the number of packets in the queue when finished. Updates | |
| 408 various internal counters too. | |
| 409 """ | |
| 1 | 410 pktcount = 0 |
| 411 for d in data: | |
| 412 if (self.state == 'init'): | |
| 5 | 413 if (d != 0x7e): |
| 11 | 414 print "Framing error, got 0x%02x, expected 0x7e" % d |
| 4 | 415 self.fr_err += 1 |
| 1 | 416 continue |
| 417 | |
| 418 self.state = 'sizemsb' | |
| 419 elif (self.state == 'sizemsb'): | |
| 5 | 420 self.bufmsb = d |
| 1 | 421 self.state = 'sizelsb' |
| 422 elif (self.state == 'sizelsb'): | |
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423 self.dataleft = self.bufmsb << 8 | d |
| 1 | 424 self.state = 'data' |
| 425 elif (self.state == 'data'): | |
| 5 | 426 self.buffer.append(d) |
| 1 | 427 self.dataleft = self.dataleft - 1 |
| 428 if (self.dataleft == 0): | |
| 429 self.state = 'cksum' | |
| 430 elif (self.state == 'cksum'): | |
| 431 pktsum = reduce(lambda x, y: x + y, self.buffer) & 0xff | |
| 5 | 432 rxcksum = d |
| 1 | 433 self.state = 'init' |
| 434 if (pktsum + rxcksum != 0xff): | |
| 435 self.buffer = [] | |
| 4 | 436 self.ck_err += 1 |
| 1 | 437 print "Checksum error, got 0x%02x, expected 0x%02x" % \ |
| 438 (rxcksum, 0xff - pktsum) | |
| 439 else: | |
| 11 | 440 #print "Got a packet - " + str(self.buffer) |
| 1 | 441 p = Packets.Build(self.buffer) |
| 442 self.pktq.append(p) | |
| 443 self.buffer = [] | |
| 4 | 444 pktcount += 1 |
| 445 self.rx_cnt += 1 | |
| 1 | 446 else: |
| 447 print "Invalid state %s! Resetting" % (self.state) | |
| 448 self.state = 'init' | |
| 449 | |
| 450 return pktcount | |
| 451 |