1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
|
#!/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)
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 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()
|
