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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 552 | fredericg | 1 | #! /usr/bin/env python |
| 2 | |||
| 3 | # |
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| 4 | # Mikrokopter Serial protocol |
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| 5 | # |
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| 6 | # Author: FredericG |
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| 7 | # |
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| 8 | |||
| 9 | import os |
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| 10 | import glob |
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| 11 | import serial |
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| 12 | import time |
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| 13 | import traceback |
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| 14 | |||
| 15 | class MkException(Exception): |
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| 16 | pass |
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| 17 | |||
| 18 | class InvalidMsg(MkException): |
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| 19 | def __str__(self): |
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| 20 | return "Invalid message" |
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| 21 | |||
| 22 | class CrcError(MkException): |
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| 23 | def __str__(self): |
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| 24 | return "CRC error" |
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| 25 | |||
| 26 | class InvalidArguments(MkException): |
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| 27 | def __str__(self): |
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| 28 | return "Invalid Arguments" |
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| 29 | |||
| 30 | class InvalidMsgType(MkException): |
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| 31 | def __str__(self): |
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| 32 | return "Invalid Message type" |
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| 33 | |||
| 34 | class NoResponse(MkException): |
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| 35 | def __init__(self, cmd): |
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| 36 | self.cmd = cmd |
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| 37 | |||
| 38 | def __str__(self): |
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| 39 | return "No Reponse. Waiting for \"%s\" message" % self.cmd |
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| 40 | |||
| 41 | pass |
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| 42 | |||
| 43 | def calcCrcBytes(str): |
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| 44 | crc = 0 |
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| 45 | for c in str: |
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| 46 | crc += ord(c) |
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| 47 | crc &= 0xfff |
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| 48 | return (chr(crc/64+ord('=')), chr(crc%64+ord('='))) |
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| 49 | |||
| 50 | |||
| 51 | class MkMsg: |
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| 52 | def __init__(self, msg=None, address=None, cmd=None, data=None): |
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| 53 | if (msg != None): |
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| 54 | # Create instance based on received message |
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| 55 | self.parse(msg) |
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| 56 | elif (address != None and cmd != None and data != None): |
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| 57 | # Create instance based on address, command and data |
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| 58 | self.address = address |
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| 59 | self.cmd = cmd |
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| 60 | self.data = data |
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| 61 | else: |
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| 62 | # Cannot create instance |
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| 63 | raise InvalidArguments |
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| 64 | |||
| 65 | def generateMsg(self): |
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| 66 | msg = "" |
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| 67 | |||
| 68 | # make header |
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| 69 | msg += '#' |
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| 70 | msg += chr(self.address+ord('a')) |
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| 71 | msg += self.cmd |
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| 72 | |||
| 73 | # add data |
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| 74 | done = False |
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| 75 | i = 0 |
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| 76 | while (i<len(self.data)) and not done: |
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| 77 | a = 0 |
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| 78 | b = 0 |
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| 79 | c = 0 |
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| 80 | try: |
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| 81 | a = self.data[i] |
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| 82 | b = self.data[i+1] |
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| 83 | c = self.data[i+2] |
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| 84 | i = i + 3 |
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| 85 | except IndexError: |
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| 86 | done = True |
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| 87 | msg += chr(ord('=') + (a >> 2)) |
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| 88 | msg += chr(ord('=') + (((a & 0x03) << 4) | ((b & 0xf0) >> 4))) |
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| 89 | msg += chr(ord('=') + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6))) |
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| 90 | msg += chr(ord('=') + ( c & 0x3f)) |
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| 91 | |||
| 92 | # add crc and NL |
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| 93 | crc1,crc2 = calcCrcBytes(msg) |
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| 94 | msg += crc1 + crc2 |
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| 95 | msg += '\r' |
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| 96 | return msg |
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| 97 | |||
| 98 | |||
| 99 | def parse(self, msg): |
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| 100 | if len(msg)<6: |
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| 101 | raise InvalidMsg() |
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| 102 | if (msg[0] != '#'): |
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| 103 | raise InvalidMsg() |
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| 104 | if (msg[-1] != '\r'): |
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| 105 | raise InvalidMsg() |
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| 106 | |||
| 107 | self.address = ord(msg[1]) |
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| 108 | self.cmd = msg[2] |
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| 109 | |||
| 110 | data64 = map(ord, msg[3:-3]) # last 3 bytes are CRC and \n |
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| 111 | |||
| 112 | done = False |
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| 113 | i = 0 |
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| 114 | self.data = [] |
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| 115 | while (i<len(data64)) and not done: |
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| 116 | a = 0 |
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| 117 | b = 0 |
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| 118 | c = 0 |
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| 119 | d = 0 |
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| 120 | try: |
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| 121 | a = data64[i] - ord('=') |
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| 122 | b = data64[i+1] - ord('=') |
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| 123 | c = data64[i+2] - ord('=') |
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| 124 | d = data64[i+3] - ord('=') |
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| 125 | i = i + 4 |
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| 126 | except IndexError: |
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| 127 | done = True |
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| 128 | |||
| 129 | self.data.append((a << 2)&0xFF | (b >> 4)) |
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| 130 | self.data.append(((b & 0x0f) << 4)&0xFF | (c >> 2)); |
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| 131 | self.data.append(((c & 0x03) << 6)&0xFF | d); |
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| 132 | |||
| 133 | crc1,crc2 = calcCrcBytes(msg[:-3]) |
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| 134 | if (crc1 != msg[-3] or crc2 != msg[-2]): |
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| 135 | #print msg |
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| 136 | raise CrcError |
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| 137 | |||
| 138 | #print "crc= %x %x %x %x" % ( crc1, crc2, (ord(msg[-3])-ord('=')), (ord(msg[-2])-ord('='))) |
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| 139 | |||
| 140 | |||
| 141 | def data2SignedInt(self, index): |
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| 142 | int = self.data[index]+self.data[index+1]*256 |
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| 143 | if (int > 0xFFFF/2): |
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| 144 | int -= 0xFFFF |
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| 145 | return int |
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| 146 | |||
| 147 | |||
| 148 | class DebugDataMsg: |
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| 149 | IDX_ANALOG_ACCNICK = 2+2*2 |
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| 150 | IDX_ANALOG_ACCROLL = 2+2*3 |
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| 151 | IDX_ANALOG_COMPASS = 2+2*3 |
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| 152 | IDX_ANALOG_VOLTAGE = 2+2*9 |
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| 153 | |||
| 154 | def __init__(self, msg): |
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| 155 | if (msg.cmd != 'D'): |
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| 156 | raise InvalidMsgType |
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| 157 | self.msg = msg |
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| 158 | |||
| 159 | def getAccNick(self): |
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| 160 | return self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_ACCNICK); |
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| 161 | |||
| 162 | def getAccRoll(self): |
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| 163 | return self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_ACCROLL); |
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| 164 | |||
| 165 | def getCompassHeading(self): |
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| 166 | return self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_COMPASS); |
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| 167 | |||
| 168 | def getVoltage(self): |
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| 169 | return float(self.msg.data2SignedInt(DebugDataMsg.IDX_ANALOG_VOLTAGE))/10; |
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| 170 | |||
| 171 | class VibrationDataMsg: |
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| 172 | def __init__(self, msg): |
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| 173 | if (msg.cmd != 'F'): |
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| 174 | raise InvalidMsgType |
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| 175 | self.msg = msg |
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| 176 | |||
| 177 | def getData(self): |
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| 178 | data = [] |
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| 563 | FredericG | 179 | for i in range(0,50): |
| 552 | fredericg | 180 | data.append(self.msg.data2SignedInt(2*i)) |
| 181 | return data |
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| 182 | |||
| 183 | class VersionMsg: |
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| 184 | def __init__(self, msg): |
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| 185 | if (msg.cmd != 'V'): |
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| 186 | raise InvalidMsgType |
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| 187 | self.msg = msg |
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| 188 | |||
| 189 | def getVersion(self): |
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| 190 | return (self.msg.data[0], self.msg.data[1]) |
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| 191 | |||
| 192 | class MkComm: |
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| 653 | FredericG | 193 | ADDRESS_ALL = 0 |
| 194 | ADDRESS_FC = 1 |
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| 195 | ADDRESS_NC = 2 |
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| 196 | ADDRESS_MK3MAG = 3 |
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| 197 | |||
| 552 | fredericg | 198 | def __init__(self, printDebugMsg=False): |
| 199 | #self.logfile = open('mklog.txt', "rbU") |
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| 200 | |||
| 201 | self.serPort = None |
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| 202 | self.printDebugMsg = printDebugMsg |
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| 203 | |||
| 204 | msg = MkMsg(address=0, cmd='v', data=[]) |
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| 205 | self.getVersionMsgLn = msg.generateMsg() |
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| 206 | msg = MkMsg(address=0, cmd='d', data=[500]) |
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| 207 | self.getDebugMsgLn = msg.generateMsg() |
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| 208 | |||
| 209 | |||
| 210 | def open(self, comPort): |
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| 211 | self.serPort = serial.Serial(comPort, 57600, timeout=0.5) |
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| 212 | if not self.serPort.isOpen(): |
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| 213 | raise IOError("Failed to open serial port") |
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| 214 | |||
| 563 | FredericG | 215 | def close(self): |
| 216 | self.serPort.close() |
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| 217 | |||
| 552 | fredericg | 218 | def isOpen(self): |
| 219 | return self.serPort != None |
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| 220 | |||
| 221 | def sendLn(self, ln): |
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| 222 | self.serPort.write(ln) |
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| 223 | |||
| 224 | def waitForLn(self): |
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| 225 | return self.serPort.readline(eol='\r') |
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| 226 | |||
| 227 | def waitForMsg(self, cmd2wait4): |
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| 228 | msg = None |
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| 229 | done = False |
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| 230 | while (not done): |
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| 231 | line = self.waitForLn() |
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| 232 | if len(line) == 0: |
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| 233 | raise NoResponse(cmd2wait4) |
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| 234 | try: |
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| 235 | msg = MkMsg(msg=line) |
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| 236 | if (msg.cmd == cmd2wait4): |
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| 237 | done = True |
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| 238 | except InvalidMsg: |
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| 239 | if self.printDebugMsg: |
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| 240 | print "DebugMsg: \"%s\"" % line[:-1] |
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| 241 | pass |
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| 242 | return msg |
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| 243 | |||
| 653 | FredericG | 244 | def sendNCRedirectUartFromFC(self): |
| 245 | self.serPort.flushInput() |
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| 246 | msg = MkMsg(address=MkComm.ADDRESS_NC, cmd='u', data=[0]) |
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| 247 | self.sendLn(msg.generateMsg()) |
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| 248 | time.sleep(.5) |
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| 249 | # No reply expected... |
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| 250 | |||
| 552 | fredericg | 251 | def getDebugMsg(self): |
| 252 | self.serPort.flushInput() |
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| 253 | self.sendLn(self.getDebugMsgLn) |
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| 254 | msg = self.waitForMsg('D') |
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| 255 | msg = DebugDataMsg(msg) |
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| 256 | return msg |
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| 257 | |||
| 258 | def getVersionMsg(self): |
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| 259 | self.sendLn(self.getVersionMsgLn) |
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| 260 | msg = self.waitForMsg('V') |
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| 261 | msg = VersionMsg(msg) |
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| 262 | return msg |
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| 263 | |||
| 264 | def setMotorTest(self, motorSpeeds): |
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| 653 | FredericG | 265 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='t', data=motorSpeeds) |
| 552 | fredericg | 266 | self.sendLn(msg.generateMsg()) |
| 267 | |||
| 613 | FredericG | 268 | def doVibrationTest(self, nbSamples, channel): |
| 552 | fredericg | 269 | data = [] |
| 563 | FredericG | 270 | for i in range(0,(min(nbSamples,1000)/50)): |
| 653 | FredericG | 271 | msg = MkMsg(address=MkComm.ADDRESS_FC, cmd='f', data=[channel, i]) |
| 552 | fredericg | 272 | self.sendLn(msg.generateMsg()) |
| 273 | msg = self.waitForMsg('F') |
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| 274 | msg = VibrationDataMsg(msg) |
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| 275 | data += msg.getData() |
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| 276 | |||
| 618 | FredericG | 277 | # FIXE: should be fixed in the FC code |
| 278 | data[0]=data[1] |
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| 552 | fredericg | 279 | return data |
| 280 | |||
| 281 | |||
| 282 | |||
| 283 | |||
| 284 | |||
| 285 | |||
| 286 | if __name__ == '__main__': |
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| 287 | try: |
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| 288 | |||
| 289 | ## file = open('mklog.txt', "rbU") |
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| 290 | ## |
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| 291 | ## for line in file: |
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| 292 | ## try: |
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| 293 | ## msg = MkMsg(msg=line) |
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| 294 | ## #print "Rec Addr:%02d cmd:%c data:" % (msg.address, msg.cmd), msg.data |
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| 295 | ## if (msg.cmd == 'D'): |
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| 296 | ## #print len(msg.data) |
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| 297 | ## msg = DebugDataMsg(msg) |
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| 298 | ## |
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| 299 | ## #print "%d %d" % (msg.getAccNick(), msg.getAccRoll()) |
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| 300 | ## |
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| 301 | ## #val = abs(msg.getAccNick()) |
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| 302 | ## #print "*************************************************************"[:val/10] |
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| 303 | ## |
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| 304 | ## print msg.getCompassHeading() |
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| 305 | ## |
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| 306 | ## except InvalidMsg: |
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| 307 | ## pass |
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| 308 | ## |
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| 309 | ## file.close() |
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| 310 | ## print "OK" |
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| 311 | |||
| 312 | ## msg = MkMsg(address=1, cmd='a', data=[255, 254, 10, 11, 12]) |
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| 313 | ## print msg.generateMsg() |
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| 314 | ## msg2 = MkMsg(msg.generateMsg()) |
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| 315 | ## print msg2.address, msg2.cmd, msg2.data |
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| 316 | |||
| 317 | comm = MkComm() |
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| 318 | comm.open(comPort="COM5") |
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| 319 | |||
| 320 | msg = comm.getVersionMsg() |
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| 321 | print "Version: %d.%d" % msg.getVersion() |
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| 322 | |||
| 323 | comm.doVibrationTest() |
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| 324 | |||
| 325 | # msg = comm.getVersionMsg() |
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| 326 | # print "Version: %d.%d" % msg.getVersion() |
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| 327 | # |
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| 328 | # comm.setMotorTest([0,0,80,0]) |
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| 329 | # time.sleep(10) |
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| 330 | # |
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| 331 | # minN = 0 |
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| 332 | # maxN = 0 |
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| 333 | # minR = 0 |
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| 334 | # maxR = 0 |
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| 335 | # |
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| 336 | # time.clock() |
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| 337 | # for i in range(0,1000): |
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| 338 | # try: |
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| 339 | # msg = comm.getDebugMsg() |
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| 340 | # n = msg.getAccNick() |
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| 341 | # r = msg.getAccRoll() |
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| 342 | # print "%d,%d" % (n, r) |
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| 343 | # minN = min(minN, n) |
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| 344 | # maxN = max(maxN, n) |
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| 345 | # minR = min(minR, r) |
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| 346 | # maxR = max(maxR, r) |
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| 347 | # except Exception: |
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| 348 | # pass |
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| 349 | # |
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| 350 | # comm.setMotorTest([0,0,0,0]) |
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| 351 | # print time.clock() |
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| 352 | # print maxN-minN,maxR-minR |
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| 353 | |||
| 354 | |||
| 355 | |||
| 356 | |||
| 357 | except Exception,e: |
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| 358 | print |
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| 359 | print "An error occured: ", e |
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| 360 | print |
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| 361 | traceback.print_exc() |
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| 362 | raw_input("Press ENTER, the application will close") |