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Connect to a SerialForwarder with Python #282

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Connect to a SerialForwarder with Python #282

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198 changes: 149 additions & 49 deletions support/sdk/python/tos.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -68,12 +68,15 @@
SERIAL_PROTO_PACKET_NOACK = 69
SERIAL_PROTO_PACKET_UNKNOWN = 255


def list2hex(v):
return " ".join(["%02x" % p for p in v])


class Timeout(Exception):
pass


def getSource(comm):
source = comm.split('@')
params = source[1].split(':')
Expand All @@ -91,8 +94,16 @@ def getSource(comm):
print "ERROR: Unable to initialize a network connection to", comm
print "ERROR:", traceback.format_exc()
raise Exception
elif source[0] == 'sf':
try:
return SerialForwarder(params[0], int(params[1]), debug=debug)
except:
print "ERROR: Unable to initialize a network connection to", comm
print "ERROR:", traceback.format_exc()
raise Exception
raise Exception


class Serial:
def __init__(self, port, baudrate, flush=False, debug=False, readTimeout=None, ackTimeout=0.02):
self.debug = debug
Expand Down Expand Up @@ -122,11 +133,13 @@ def getByte(self):
c = self._s.read()
if c == '':
raise Timeout
#print 'Serial:getByte: 0x%02x' % ord(c)
if self.debug:
print 'Serial:getByte: 0x%02x' % ord(c)
return ord(c)

def putBytes(self, data):
#print "DEBUG: putBytes:", data
if self.debug:
print "DEBUG: putBytes:", data
for b in data:
self._s.write(struct.pack('B', b))
time.sleep(0.000001)
Expand All @@ -137,6 +150,7 @@ def getTimeout(self):
def setTimeout(self, timeout):
self._s.timeout = timeout


class SerialMIB600:
def __init__(self, host, port=10002, debug=False, readTimeout=None, ackTimeout=0.5):
self.debug = debug
Expand All @@ -154,11 +168,65 @@ def getByte(self):
c = ''
if c == '':
raise Timeout
#print 'Serial:getByte: 0x%02x' % ord(c)
if self.debug:
print 'Serial:getByte: 0x%02x' % ord(c)
return ord(c)

def putBytes(self, data):
if self.debug:
print "DEBUG: putBytes:", data
for b in data:
self._s.send(struct.pack('B', b))

def getTimeout(self):
return self._s.gettimeout()

def setTimeout(self, timeout):
self._s.settimeout(timeout)


class SerialForwarder:
"""
Connects to an instance of net.tinyos.sf.SerialForwarder.
For the protocol read net.tinyos.packet.SFProtocol
"""
def __init__(self, host='localhost', port=9002, debug=False, readTimeout=None, ackTimeout=0.5):
self.debug = debug
self.readTimeout = readTimeout
self.ackTimeout = ackTimeout
self._ts = None
self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self._s.connect((host, port))
data = self._s.recv(2)
if data != 'U ':
print "Wrong handshake"
self._s.send("U ")
print "Connected"

def getByte(self):
"""
Reads one single byte from the stream. The first read byte is the length of the payload.
"""
try:
c = self._s.recv(1)
except socket.timeout:
c = ''
if c == '':
raise Timeout
if self.debug:
print 'Serial:getByte: 0x%02x' % ord(c)
return ord(c)

def putBytes(self, data):
#print "DEBUG: putBytes:", data
"""
Writes one byte after the other on the stream until the list is exhausted.
data has to be iterable.
"""
# the java SerialForwarder expects the first byte to be the length of the following bytes
# followed by a zero byte [length_of_payload + 1, 0, payload]
data = [len(data) + 1, 0] + data
if self.debug:
print "DEBUG: putBytes:", data
for b in data:
self._s.send(struct.pack('B', b))

Expand All @@ -168,6 +236,7 @@ def getTimeout(self):
def setTimeout(self, timeout):
self._s.settimeout(timeout)


class HDLC:
"""
An HDLC object offers a way to send and receive data on a byte
Expand Down Expand Up @@ -370,6 +439,7 @@ def log(self, s):
if self._s.debug:
print s


class SimpleAM(object):
def __init__(self, source, oobHook=None):
self._source = source
Expand All @@ -395,7 +465,7 @@ def write(self, packet, amId, timeout=5, blocking=True, inc=1):
return True
start = time.time()
f = self._hdlc.read(self._source.ackTimeout)
if f == None:
if f is None:
#print "Ack Timeout!"
continue
ack = AckFrame(f)
Expand All @@ -405,7 +475,7 @@ def write(self, packet, amId, timeout=5, blocking=True, inc=1):
else:
print 'SimpleAM:write: skip', ack, f
f = self._hdlc.read(self._source.ackTimeout)
if f == None:
if f is None:
#print "Ack Timeout!"
break
ack = AckFrame(f)
Expand All @@ -418,8 +488,9 @@ def write(self, packet, amId, timeout=5, blocking=True, inc=1):
def setOobHook(self, oobHook):
self.oobHook = oobHook


def printfHook(packet):
if packet == None:
if packet is None:
return
if packet.type == 100:
s = "".join([chr(i) for i in packet.data]).strip('\0')
Expand All @@ -429,25 +500,26 @@ def printfHook(packet):
packet = None # No further processing for the printf packet
return packet


class AM(SimpleAM):
def __init__(self, s=None, oobHook=None):
if s == None:
if s is None:
try:
s = getSource(sys.argv[1])
except:
try:
for (i, j) in zip(sys.argv[1::2], sys.argv[2::2]):
if i == '-comm':
s = getSource(j)
if s == None:
if s is None:
raise Exception
except:
try:
s = getSource(os.environ['MOTECOM'])
except:
print "ERROR: Please indicate a way to connect to the mote"
sys.exit(-1)
if oobHook == None:
if oobHook is None:
oobHook = printfHook
super(AM, self).__init__(s, oobHook)

Expand All @@ -463,43 +535,67 @@ def write(self, packet, amId, timeout=None, blocking=True):
return True


# class SFClient:
# def __init__(self, host, port, qsize=10):
# self._in_queue = Queue(qsize)
# self._s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# self._s.connect((host, port))
# data = self._s.recv(2)
# if data != 'U ':
# print "Wrong handshake"
# self._s.send("U ")
# print "Connected"
# thread.start_new_thread(self.run, ())

# def run(self):
# while True:
# length = ord(self._s.recv(1))
# data = self._s.recv(length)
# data = [ord(c) for c in data][1:]
# #print "Recv %d bytes" % (length), ActiveMessage(data)
# if self._in_queue.full():
# print "Warning: Buffer overflow"
# self._in_queue.get()
# p = RawPacket()
# p.data = data
# self._in_queue.put(p, block=False)

# def read(self, timeout=0):
# return self._in_queue.get()

# def write(self, payload):
# print "SFClient: write:", payload
# if type(payload) != type([]):
# # Assume this will be derived from Packet
# payload = payload.payload()
# payload = [0] + payload
# self._s.send(chr(len(payload)))
# self._s.send(''.join([chr(c) for c in payload]))
# return True
class SFClient:
"""
SFClient uses SerialForwarder to connect to a Java SerialForwarder instance.
"""
# Note: can't use HDLC with SerialForwarder
def __init__(self, source=None, oobHook=None):
if source is None:
try:
self._source = getSource(sys.argv[1])
except:
print "ERROR: Please indicate a way to connect to the mote"
sys.exit(-1)
if oobHook is None:
self.oobHook = printfHook
else:
self.oobHook = oobHook

def read(self, timeout=None):
"""
Reads one complete packet from the stream.
timeout is currently not implemented and solely exists to be equivalent with the AM class.
"""
# read data and create a raw packet
length = self._source.getByte()

packet = []
for i in range(length):
packet.append(self._source.getByte())
rawPacket = RawPacket(time.time(), [length] + packet)

if rawPacket:
# create an ActiveMessage (to be compatible with SimpleAM)
return ActiveMessage(NoAckDataFrame(rawPacket))

return None

def _write(self, packet, amId, timeout=5, blocking=True, inc=1):
"""
_write is internally used to mimic the behaviour of the AM class.
"""
# TODO: implement blocking? implement sequence numbers? remove timeout?
endTime = None
if timeout:
endTime = time.time() + timeout

while not endTime or time.time() < endTime:
message = ActiveMessage(packet, amId)
message = message.payload()
self._source.putBytes(message)
return True

def write(self, packet, amId, timeout=5, blocking=True, inc=1):
"""
Writes one packet on the stream.
"""
r = self._write(packet, amId, timeout, blocking)
while not r:
r = self._write(packet, amId, timeout, blocking, inc=0)
if timeout and not r:
raise Timeout
return True


################################################################################
Expand Down Expand Up @@ -535,7 +631,7 @@ def __init__(self, desc, packet = None):
sum = 0
for i in range(len(desc)-1, -1, -1):
(n, t, s) = desc[i]
if s == None:
if s is None:
if sum > 0:
desc[i] = (n, t, -sum)
break
Expand Down Expand Up @@ -673,6 +769,7 @@ def __init__(self, ts = None, data = None):
self.ts = ts;
self.data = data


class AckFrame(Packet):
def __init__(self, payload = None):
if isinstance(payload, Packet):
Expand All @@ -685,6 +782,7 @@ def __init__(self, payload = None):
('seqno', 'int', 1)],
payload)


class DataFrame(Packet):
def __init__(self, payload = None):
if isinstance(payload, Packet):
Expand All @@ -699,6 +797,7 @@ def __init__(self, payload = None):
('data', 'blob', None)],
payload)


class NoAckDataFrame(Packet):
def __init__(self, payload = None):
if isinstance(payload, Packet):
Expand All @@ -712,6 +811,7 @@ def __init__(self, payload = None):
('data', 'blob', None)],
payload)


class ActiveMessage(Packet):
def __init__(self, packet = None, amId = 0x00, dest = 0xFFFF):
payload = None
Expand All @@ -729,7 +829,7 @@ def __init__(self, packet = None, amId = 0x00, dest = 0xFFFF):
('type', 'int', 1),
('data', 'blob', None)],
payload)
if payload == None:
if payload is None:
self.destination = dest
self.source = 0x0000
self.group = 0x00
Expand Down
7 changes: 5 additions & 2 deletions tools/tinyos/misc/tos-deluge.in
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -421,8 +421,11 @@ def checkImgNum():

# ======== MAIN ======== #
if len(sys.argv) >= 3:

am = tos.AM()
am = None
if sys.argv[1].startswith("sf"):
am = tos.SFClient()
else:
am = tos.AM()

try:
print "Checking if node is a Deluge T2 base station ..."
Expand Down