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#!/usr/bin/env python2
# -*- coding: utf-8 -*-
from __future__ import absolute_import, division, print_function
import struct
import logging
import sys
import os
from threading import Thread
from Queue import Queue, Empty
from .ratpfs import RatpFSServer
from .messages import *
from .ratp import RatpError
try:
from time import monotonic
except:
from .missing import monotonic
def unpack(data):
p_type, = struct.unpack("!H", data[:2])
logging.debug("unpack: %r data=%r", p_type, repr(data))
if p_type == BBType.command:
logging.debug("received: command")
return BBPacketCommand(raw=data)
elif p_type == BBType.command_return:
logging.debug("received: command_return")
return BBPacketCommandReturn(raw=data)
elif p_type == BBType.consolemsg:
logging.debug("received: consolemsg")
return BBPacketConsoleMsg(raw=data)
elif p_type == BBType.ping:
logging.debug("received: ping")
return BBPacketPing(raw=data)
elif p_type == BBType.pong:
logging.debug("received: pong")
return BBPacketPong(raw=data)
elif p_type == BBType.getenv_return:
logging.debug("received: getenv_return")
return BBPacketGetenvReturn(raw=data)
elif p_type == BBType.fs:
logging.debug("received: fs")
return BBPacketFS(raw=data)
elif p_type == BBType.fs_return:
logging.debug("received: fs_return")
return BBPacketFSReturn(raw=data)
elif p_type == BBType.md:
logging.debug("received: md")
return BBPacketMd(raw=data)
elif p_type == BBType.md_return:
logging.debug("received: md_return")
return BBPacketMdReturn(raw=data)
elif p_type == BBType.mw:
logging.debug("received: mw")
return BBPacketMw(raw=data)
elif p_type == BBType.mw_return:
logging.debug("received: mw_return")
return BBPacketMwReturn(raw=data)
elif p_type == BBType.reset:
logging.debug("received: reset")
return BBPacketReset(raw=data)
elif p_type == BBType.i2c_read:
logging.debug("received: i2c_read")
return BBPacketI2cRead(raw=data)
elif p_type == BBType.i2c_read_return:
logging.debug("received: i2c_read_return")
return BBPacketI2cReadReturn(raw=data)
elif p_type == BBType.i2c_write:
logging.debug("received: i2c_write")
return BBPacketI2cWrite(raw=data)
elif p_type == BBType.i2c_write_return:
logging.debug("received: i2c_write_return")
return BBPacketI2cWriteReturn(raw=data)
elif p_type == BBType.gpio_get_value:
logging.debug("received: gpio_get_value")
return BBPacketGpioGetValue(raw=data)
elif p_type == BBType.gpio_get_value_return:
logging.debug("received: gpio_get_value_return")
return BBPacketGpioGetValueReturn(raw=data)
elif p_type == BBType.gpio_set_value:
logging.debug("received: gpio_set_value")
return BBPacketGpioSetValue(raw=data)
elif p_type == BBType.gpio_set_value_return:
logging.debug("received: gpio_set_value_return")
return BBPacketGpioSetValueReturn(raw=data)
elif p_type == BBType.gpio_set_direction:
logging.debug("received: gpio_set_direction")
return BBPacketGpioSetDirection(raw=data)
elif p_type == BBType.gpio_set_direction_return:
logging.debug("received: gpio_set_direction_return")
return BBPacketGpioSetDirectionReturn(raw=data)
else:
logging.debug("received: UNKNOWN")
return BBPacket(raw=data)
class Controller(Thread):
def __init__(self, conn):
Thread.__init__(self)
self.daemon = True
self.conn = conn
self.fsserver = None
self.rxq = None
self.conn.connect(timeout=5.0)
self._txq = Queue()
self._stop = False
self.fsserver = RatpFSServer()
def _send(self, bbpkt):
self.conn.send(bbpkt.pack())
def _handle(self, bbpkt):
if isinstance(bbpkt, BBPacketConsoleMsg):
os.write(sys.stdout.fileno(), bbpkt.text)
elif isinstance(bbpkt, BBPacketPong):
print("pong",)
elif isinstance(bbpkt, BBPacketFS):
if self.fsserver != None:
self._send(self.fsserver.handle(bbpkt))
def _expect(self, bbtype, timeout=1.0):
if timeout is not None:
limit = monotonic()+timeout
while timeout is None or limit > monotonic():
pkt = self.conn.recv(0.1)
if not pkt:
continue
bbpkt = unpack(pkt)
if isinstance(bbpkt, bbtype):
return bbpkt
else:
self._handle(bbpkt)
def export(self, path):
self.fsserver = RatpFSServer(path)
def ping(self):
self._send(BBPacketPing())
r = self._expect(BBPacketPong)
logging.info("Ping: %r", r)
if not r:
return 1
else:
print("pong")
return 0
def command(self, cmd):
self._send(BBPacketCommand(cmd=cmd))
r = self._expect(BBPacketCommandReturn, timeout=None)
logging.info("Command: %r", r)
return r.exit_code
def getenv(self, varname):
self._send(BBPacketGetenv(varname=varname))
r = self._expect(BBPacketGetenvReturn)
return r.text
def md(self, path, addr, size):
self._send(BBPacketMd(path=path, addr=addr, size=size))
r = self._expect(BBPacketMdReturn)
logging.info("Md return: %r", r)
return (r.exit_code,r.data)
def mw(self, path, addr, data):
self._send(BBPacketMw(path=path, addr=addr, data=data))
r = self._expect(BBPacketMwReturn)
logging.info("Mw return: %r", r)
return (r.exit_code,r.written)
def i2c_read(self, bus, addr, reg, flags, size):
self._send(BBPacketI2cRead(bus=bus, addr=addr, reg=reg, flags=flags, size=size))
r = self._expect(BBPacketI2cReadReturn)
logging.info("i2c read return: %r", r)
return (r.exit_code,r.data)
def i2c_write(self, bus, addr, reg, flags, data):
self._send(BBPacketI2cWrite(bus=bus, addr=addr, reg=reg, flags=flags, data=data))
r = self._expect(BBPacketI2cWriteReturn)
logging.info("i2c write return: %r", r)
return (r.exit_code,r.written)
def gpio_get_value(self, gpio):
self._send(BBPacketGpioGetValue(gpio=gpio))
r = self._expect(BBPacketGpioGetValueReturn)
logging.info("gpio get value return: %r", r)
return r.value
def gpio_set_value(self, gpio, value):
self._send(BBPacketGpioSetValue(gpio=gpio, value=value))
r = self._expect(BBPacketGpioSetValueReturn)
logging.info("gpio set value return: %r", r)
return 0
def gpio_set_direction(self, gpio, direction, value):
self._send(BBPacketGpioSetDirection(gpio=gpio, direction=direction, value=value))
r = self._expect(BBPacketGpioSetDirectionReturn)
logging.info("gpio set direction return: %r", r)
return r.exit_code
def reset(self, force):
self._send(BBPacketReset(force=force))
def close(self):
self.conn.close()
def run(self):
assert self.rxq is not None
try:
while not self._stop:
# receive
pkt = self.conn.recv()
if pkt:
bbpkt = unpack(pkt)
if isinstance(bbpkt, BBPacketConsoleMsg):
self.rxq.put((self, bbpkt.text))
else:
self._handle(bbpkt)
# send
try:
pkt = self._txq.get(block=False)
except Empty:
pkt = None
if pkt:
self._send(pkt)
except RatpError as detail:
print("Ratp error:", detail, file=sys.stderr);
self.rxq.put((self, None))
return
def start(self, queue):
assert self.rxq is None
self.rxq = queue
Thread.start(self)
def stop(self):
self._stop = True
self.join()
self._stop = False
self.rxq = None
def send_async(self, pkt):
self._txq.put(pkt)
def send_async_console(self, text):
self._txq.put(BBPacketConsoleMsg(text=text))
def send_async_ping(self):
self._txq.put(BBPacketPing())
def main():
import serial
from .ratp import SerialRatpConnection
url = "rfc2217://192.168.23.176:3002"
port = serial.serial_for_url(url, 115200)
conn = SerialRatpConnection(port)
ctrl = Controller(conn)
return ctrl
if __name__ == "__main__":
C = main()
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