*
This commit is contained in:
@@ -0,0 +1,16 @@
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# Python Distribution / packaging
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.Python
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/dist/
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/*.egg-info/
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/MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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@@ -0,0 +1,5 @@
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from .discovery import find_any, find_all
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from .utils import Event, Logger, TimeoutError
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from .protocol import ChannelBrokenException, ChannelDamagedException
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from .shell import launch_shell
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@@ -0,0 +1,179 @@
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"""
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Provides functions for the discovery of Fibre nodes
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"""
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import sys
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import json
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import time
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import threading
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import traceback
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import struct
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import fibre.protocol
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import fibre.utils
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import fibre.remote_object
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from fibre.utils import Event, Logger
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from fibre.protocol import ChannelBrokenException, TimeoutError
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import appdirs
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import os
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# Load all installed transport layers
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channel_types = {}
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try:
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import fibre.usbbulk_transport
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channel_types['usb'] = fibre.usbbulk_transport.discover_channels
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except ImportError:
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pass
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try:
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import fibre.serial_transport
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channel_types['serial'] = fibre.serial_transport.discover_channels
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except ImportError:
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pass
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try:
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import fibre.tcp_transport
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channel_types['tcp'] = fibre.tcp_transport.discover_channels
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except ImportError:
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pass
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try:
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import fibre.udp_transport
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channel_types['udp'] = fibre.udp_transport.discover_channels
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except ImportError:
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pass
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def noprint(text):
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pass
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def find_all(path, serial_number,
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did_discover_object_callback,
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search_cancellation_token,
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channel_termination_token,
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logger):
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"""
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Starts scanning for Fibre nodes that match the specified path spec and calls
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the callback for each Fibre node that is found.
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This function is non-blocking.
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"""
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def did_discover_channel(channel):
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"""
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Inits an object from a given channel and then calls did_discover_object_callback
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with the created object
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This queries the endpoint 0 on that channel to gain information
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about the interface, which is then used to init the corresponding object.
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"""
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try:
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logger.debug("Connecting to device on " + channel._name)
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cache_dir = appdirs.user_cache_dir("odrivetool")
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cache_path = None
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# Fetch the json version tag to check cache (only supported on firmware v0.5 or later)
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try:
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json_version_tag = channel.remote_endpoint_operation(0, struct.pack("<I", 0xffffffff), True, 4)
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json_version_tag = struct.unpack("<I", json_version_tag)[0]
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logger.debug("Device reported JSON version ID: {:08d}".format(json_version_tag))
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cache_path = os.path.join(cache_dir, 'fibre_schema_cache_{:08d}'.format(json_version_tag))
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except:
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logger.debug("Failed to get JSON checksum")
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# Check cache
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json_data = None
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try:
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if not cache_path is None:
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with open(cache_path, 'rb') as fp:
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, fp.read())
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fp.seek(0)
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json_data = json.load(fp)
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except:
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logger.debug("Failed load JSON cache file {}".format(cache_path))
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# Fallback to loading JSON from device
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if json_data is None:
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# Downloading json data
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logger.info("Downloading json data from ODrive... (this might take a while)")
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json_bytes = channel.remote_endpoint_read_buffer(0)
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try:
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json_string = json_bytes.decode("ascii")
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except UnicodeDecodeError:
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logger.debug("Device responded on endpoint 0 with something that is not ASCII")
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raise UnicodeDecodeError
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json_crc16 = fibre.protocol.calc_crc16(fibre.protocol.PROTOCOL_VERSION, json_bytes)
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json_data = json.loads(json_string)
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# Save JSON to cache
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if not cache_path is None:
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logger.debug("Creating new JSON cache file {}".format(cache_path))
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os.makedirs(cache_dir, exist_ok=True)
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with open(cache_path, 'w+') as json_cache:
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json_cache.write(json_string)
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logger.debug("Saved JSON to cache file {}".format(cache_path))
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channel._interface_definition_crc = json_crc16
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logger.debug("JSON: " + str(json_data).replace("{'name'", "\n{'name'"))
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json_data = {"name": "fibre_node", "members": json_data}
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obj = fibre.remote_object.RemoteObject(json_data, None, channel, logger)
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obj.__dict__['_json_data'] = json_data['members']
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obj.__dict__['_json_crc'] = json_crc16
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device_serial_number = fibre.utils.get_serial_number_str(obj)
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if serial_number != None and device_serial_number != serial_number:
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logger.debug("Ignoring device with serial number {}".format(device_serial_number))
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return
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did_discover_object_callback(obj)
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except Exception:
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logger.debug("Unexpected exception after discovering channel: " + traceback.format_exc())
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# For each connection type, kick off an appropriate discovery loop
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for search_spec in path.split(','):
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prefix = search_spec.split(':')[0]
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the_rest = ':'.join(search_spec.split(':')[1:])
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if prefix in channel_types:
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t = threading.Thread(target=channel_types[prefix],
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args=(the_rest, serial_number, did_discover_channel, search_cancellation_token, channel_termination_token, logger))
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t.daemon = True
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t.start()
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else:
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raise Exception("Invalid path spec \"{}\"".format(search_spec))
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def find_any(path="usb", serial_number=None,
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search_cancellation_token=None, channel_termination_token=None,
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timeout=None, logger=Logger(verbose=False), find_multiple=False):
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"""
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Blocks until the first matching Fibre node is connected and then returns that node
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"""
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result = []
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done_signal = Event(search_cancellation_token)
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def did_discover_object(obj):
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result.append(obj)
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if find_multiple:
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if len(result) >= int(find_multiple):
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done_signal.set()
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else:
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done_signal.set()
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find_all(path, serial_number, did_discover_object, done_signal, channel_termination_token, logger)
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try:
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done_signal.wait(timeout=timeout)
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except TimeoutError:
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if not find_multiple:
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return None
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finally:
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done_signal.set() # terminate find_all
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if find_multiple:
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return result
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else:
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return result[0]
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@@ -0,0 +1,359 @@
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# See protocol.hpp for an overview of the protocol
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import time
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import struct
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import sys
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import threading
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import traceback
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#import fibre.utils
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from fibre.utils import Event, wait_any, TimeoutError
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import abc
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if sys.version_info >= (3, 4):
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ABC = abc.ABC
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else:
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ABC = abc.ABCMeta('ABC', (), {})
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if sys.version_info < (3, 3):
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from monotonic import monotonic
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time.monotonic = monotonic
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SYNC_BYTE = 0xAA
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CRC8_INIT = 0x42
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CRC16_INIT = 0x1337
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PROTOCOL_VERSION = 1
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CRC8_DEFAULT = 0x37 # this must match the polynomial in the C++ implementation
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CRC16_DEFAULT = 0x3d65 # this must match the polynomial in the C++ implementation
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MAX_PACKET_SIZE = 128
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# For more information on the CRC algorithm refer to protocol.md
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def calc_crc(remainder, value, polynomial, bitwidth):
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topbit = (1 << (bitwidth - 1))
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# Bring the next byte into the remainder.
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remainder ^= (value << (bitwidth - 8))
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for bitnumber in range(0,8):
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if (remainder & topbit):
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remainder = (remainder << 1) ^ polynomial
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else:
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remainder = (remainder << 1)
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return remainder & ((1 << bitwidth) - 1)
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def calc_crc8(remainder, value):
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if isinstance(value, bytearray) or isinstance(value, bytes) or isinstance(value, list):
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for byte in value:
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if not isinstance(byte,int):
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byte = ord(byte)
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remainder = calc_crc(remainder, byte, CRC8_DEFAULT, 8)
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else:
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remainder = calc_crc(remainder, byte, CRC8_DEFAULT, 8)
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return remainder
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def calc_crc16(remainder, value):
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if isinstance(value, bytearray) or isinstance(value, bytes) or isinstance(value, list):
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for byte in value:
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if not isinstance(byte, int):
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byte = ord(byte)
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remainder = calc_crc(remainder, byte, CRC16_DEFAULT, 16)
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else:
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remainder = calc_crc(remainder, value, CRC16_DEFAULT, 16)
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return remainder
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class DeviceInitException(Exception):
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pass
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class ChannelDamagedException(Exception):
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"""
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Raised when the channel is temporarily broken and a
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resend of the message might be successful
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"""
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pass
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class ChannelBrokenException(Exception):
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"""
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Raised when the channel is permanently broken
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"""
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pass
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class StreamSource(ABC):
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@abc.abstractmethod
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def get_bytes(self, n_bytes, deadline):
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pass
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class StreamSink(ABC):
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@abc.abstractmethod
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def process_bytes(self, bytes):
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pass
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class PacketSource(ABC):
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@abc.abstractmethod
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def get_packet(self, deadline):
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pass
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class PacketSink(ABC):
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@abc.abstractmethod
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def process_packet(self, packet):
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pass
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class StreamToPacketSegmenter(StreamSink):
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def __init__(self, output):
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self._header = []
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self._packet = []
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self._packet_length = 0
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self._output = output
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def process_bytes(self, bytes):
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"""
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Processes an arbitrary number of bytes. If one or more full packets are
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are received, they are sent to this instance's output PacketSink.
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Incomplete packets are buffered between subsequent calls to this function.
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"""
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for byte in bytes:
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if (len(self._header) < 3):
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# Process header byte
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self._header.append(byte)
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if (len(self._header) == 1) and (self._header[0] != SYNC_BYTE):
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self._header = []
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elif (len(self._header) == 2) and (self._header[1] & 0x80):
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self._header = [] # TODO: support packets larger than 128 bytes
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elif (len(self._header) == 3) and calc_crc8(CRC8_INIT, self._header):
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self._header = []
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elif (len(self._header) == 3):
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self._packet_length = self._header[1] + 2
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else:
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# Process payload byte
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self._packet.append(byte)
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# If both header and packet are fully received, hand it on to the packet processor
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if (len(self._header) == 3) and (len(self._packet) == self._packet_length):
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if calc_crc16(CRC16_INIT, self._packet) == 0:
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self._output.process_packet(self._packet[:-2])
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self._header = []
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self._packet = []
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self._packet_length = 0
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class StreamBasedPacketSink(PacketSink):
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def __init__(self, output):
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self._output = output
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def process_packet(self, packet):
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if (len(packet) >= MAX_PACKET_SIZE):
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raise NotImplementedError("packet larger than 127 currently not supported")
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header = bytearray()
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header.append(SYNC_BYTE)
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header.append(len(packet))
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header.append(calc_crc8(CRC8_INIT, header))
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self._output.process_bytes(header)
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self._output.process_bytes(packet)
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# append CRC in big endian
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crc16 = calc_crc16(CRC16_INIT, packet)
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self._output.process_bytes(struct.pack('>H', crc16))
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|
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class PacketFromStreamConverter(PacketSource):
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def __init__(self, input):
|
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self._input = input
|
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|
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def get_packet(self, deadline):
|
||||
"""
|
||||
Requests bytes from the underlying input stream until a full packet is
|
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received or the deadline is reached, in which case None is returned. A
|
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deadline before the current time corresponds to non-blocking mode.
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||||
"""
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while True:
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header = bytes()
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|
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# TODO: sometimes this call hangs, even though the device apparently sent something
|
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header = header + self._input.get_bytes_or_fail(1, deadline)
|
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if (header[0] != SYNC_BYTE):
|
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#print("sync byte mismatch")
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continue
|
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|
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header = header + self._input.get_bytes_or_fail(1, deadline)
|
||||
if (header[1] & 0x80):
|
||||
#print("packet too large")
|
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continue # TODO: support packets larger than 128 bytes
|
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|
||||
header = header + self._input.get_bytes_or_fail(1, deadline)
|
||||
if calc_crc8(CRC8_INIT, header) != 0:
|
||||
#print("crc8 mismatch")
|
||||
continue
|
||||
|
||||
packet_length = header[1] + 2
|
||||
#print("wait for {} bytes".format(packet_length))
|
||||
packet = self._input.get_bytes_or_fail(packet_length, deadline)
|
||||
if calc_crc16(CRC16_INIT, packet) != 0:
|
||||
#print("crc16 mismatch")
|
||||
continue
|
||||
return packet[:-2]
|
||||
|
||||
|
||||
class Channel(PacketSink):
|
||||
# Choose these parameters to be sensible for a specific transport layer
|
||||
_resend_timeout = 5.0 # [s]
|
||||
_send_attempts = 5
|
||||
|
||||
def __init__(self, name, input, output, cancellation_token, logger):
|
||||
"""
|
||||
Params:
|
||||
input: A PacketSource where this channel will source packets from on
|
||||
demand. Alternatively packets can be provided to this channel
|
||||
directly by calling process_packet on this instance.
|
||||
output: A PacketSink where this channel will put outgoing packets.
|
||||
"""
|
||||
self._name = name
|
||||
self._input = input
|
||||
self._output = output
|
||||
self._logger = logger
|
||||
self._outbound_seq_no = 0
|
||||
self._interface_definition_crc = 0
|
||||
self._expected_acks = {}
|
||||
self._responses = {}
|
||||
self._my_lock = threading.Lock()
|
||||
self._channel_broken = Event(cancellation_token)
|
||||
self.start_receiver_thread(Event(self._channel_broken))
|
||||
|
||||
def start_receiver_thread(self, cancellation_token):
|
||||
"""
|
||||
Starts the receiver thread that processes incoming messages.
|
||||
The thread quits as soon as the channel enters a broken state.
|
||||
"""
|
||||
def receiver_thread():
|
||||
error_ctr = 0
|
||||
try:
|
||||
while (not cancellation_token.is_set() and not self._channel_broken.is_set()
|
||||
and error_ctr < 10):
|
||||
# Set an arbitrary deadline because the get_packet function
|
||||
# currently doesn't support a cancellation_token
|
||||
deadline = time.monotonic() + 1.0
|
||||
try:
|
||||
response = self._input.get_packet(deadline)
|
||||
except TimeoutError:
|
||||
continue # try again
|
||||
except ChannelDamagedException:
|
||||
error_ctr += 1
|
||||
continue # try again
|
||||
if (error_ctr > 0):
|
||||
error_ctr -= 1
|
||||
# Process response
|
||||
# This should not throw an exception, otherwise the channel breaks
|
||||
self.process_packet(response)
|
||||
#print("receiver thread is exiting")
|
||||
except Exception:
|
||||
self._logger.debug("receiver thread is exiting: " + traceback.format_exc())
|
||||
finally:
|
||||
self._channel_broken.set()
|
||||
t = threading.Thread(target=receiver_thread)
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
def remote_endpoint_operation(self, endpoint_id, input, expect_ack, output_length):
|
||||
if input is None:
|
||||
input = bytearray(0)
|
||||
if (len(input) >= 128):
|
||||
raise Exception("packet larger than 127 currently not supported")
|
||||
|
||||
if (expect_ack):
|
||||
endpoint_id |= 0x8000
|
||||
|
||||
self._my_lock.acquire()
|
||||
try:
|
||||
self._outbound_seq_no = ((self._outbound_seq_no + 1) & 0x7fff)
|
||||
seq_no = self._outbound_seq_no
|
||||
finally:
|
||||
self._my_lock.release()
|
||||
seq_no |= 0x80 # FIXME: we hardwire one bit of the seq-no to 1 to avoid conflicts with the ascii protocol
|
||||
packet = struct.pack('<HHH', seq_no, endpoint_id, output_length)
|
||||
packet = packet + input
|
||||
|
||||
crc16 = calc_crc16(CRC16_INIT, packet)
|
||||
if (endpoint_id & 0x7fff == 0):
|
||||
trailer = PROTOCOL_VERSION
|
||||
else:
|
||||
trailer = self._interface_definition_crc
|
||||
#print("append trailer " + trailer)
|
||||
packet = packet + struct.pack('<H', trailer)
|
||||
|
||||
if (expect_ack):
|
||||
ack_event = Event()
|
||||
self._expected_acks[seq_no] = ack_event
|
||||
try:
|
||||
attempt = 0
|
||||
while (attempt < self._send_attempts):
|
||||
self._my_lock.acquire()
|
||||
try:
|
||||
self._output.process_packet(packet)
|
||||
except ChannelDamagedException:
|
||||
attempt += 1
|
||||
continue # resend
|
||||
except TimeoutError:
|
||||
attempt += 1
|
||||
continue # resend
|
||||
finally:
|
||||
self._my_lock.release()
|
||||
# Wait for ACK until the resend timeout is exceeded
|
||||
try:
|
||||
if wait_any(self._resend_timeout, ack_event, self._channel_broken) != 0:
|
||||
raise ChannelBrokenException()
|
||||
except TimeoutError:
|
||||
attempt += 1
|
||||
continue # resend
|
||||
return self._responses.pop(seq_no)
|
||||
# TODO: record channel statistics
|
||||
raise ChannelBrokenException() # Too many resend attempts
|
||||
finally:
|
||||
self._expected_acks.pop(seq_no)
|
||||
self._responses.pop(seq_no, None)
|
||||
else:
|
||||
# fire and forget
|
||||
self._output.process_packet(packet)
|
||||
return None
|
||||
|
||||
def remote_endpoint_read_buffer(self, endpoint_id):
|
||||
"""
|
||||
Handles reads from long endpoints
|
||||
"""
|
||||
# TODO: handle device that could (maliciously) send infinite stream
|
||||
buffer = bytes()
|
||||
while True:
|
||||
chunk_length = 512
|
||||
chunk = self.remote_endpoint_operation(endpoint_id, struct.pack("<I", len(buffer)), True, chunk_length)
|
||||
if (len(chunk) == 0):
|
||||
break
|
||||
buffer += chunk
|
||||
return buffer
|
||||
|
||||
def process_packet(self, packet):
|
||||
#print("process packet")
|
||||
packet = bytes(packet)
|
||||
if (len(packet) < 2):
|
||||
raise Exception("packet too short")
|
||||
|
||||
seq_no = struct.unpack('<H', packet[0:2])[0]
|
||||
|
||||
if (seq_no & 0x8000):
|
||||
seq_no &= 0x7fff
|
||||
ack_signal = self._expected_acks.get(seq_no, None)
|
||||
if (ack_signal):
|
||||
self._responses[seq_no] = packet[2:]
|
||||
ack_signal.set()
|
||||
#print("received ack for packet " + str(seq_no))
|
||||
else:
|
||||
print("received unexpected ACK: " + str(seq_no))
|
||||
|
||||
else:
|
||||
#if (calc_crc16(CRC16_INIT, struct.pack('<HBB', PROTOCOL_VERSION, packet[-2], packet[-1]))):
|
||||
# raise Exception("CRC16 mismatch")
|
||||
print("endpoint requested")
|
||||
# TODO: handle local endpoint operation
|
||||
@@ -0,0 +1,264 @@
|
||||
"""
|
||||
Provides functions for the discovery of Fibre nodes
|
||||
"""
|
||||
|
||||
import sys
|
||||
import json
|
||||
import struct
|
||||
import threading
|
||||
import fibre.protocol
|
||||
|
||||
class ObjectDefinitionError(Exception):
|
||||
pass
|
||||
|
||||
codecs = {}
|
||||
|
||||
class StructCodec():
|
||||
"""
|
||||
Generic serializer/deserializer based on struct pack
|
||||
"""
|
||||
def __init__(self, struct_format, target_type):
|
||||
self._struct_format = struct_format
|
||||
self._target_type = target_type
|
||||
def get_length(self):
|
||||
return struct.calcsize(self._struct_format)
|
||||
def serialize(self, value):
|
||||
value = self._target_type(value)
|
||||
return struct.pack(self._struct_format, value)
|
||||
def deserialize(self, buffer):
|
||||
value = struct.unpack(self._struct_format, buffer)
|
||||
value = value[0] if len(value) == 1 else value
|
||||
return self._target_type(value)
|
||||
|
||||
class RemoteProperty():
|
||||
"""
|
||||
Used internally by dynamically created objects to translate
|
||||
property assignments and fetches into endpoint operations on the
|
||||
object's associated channel
|
||||
"""
|
||||
def __init__(self, json_data, parent):
|
||||
self._parent = parent
|
||||
self.__channel__ = parent.__channel__
|
||||
id_str = json_data.get("id", None)
|
||||
if id_str is None:
|
||||
raise ObjectDefinitionError("unspecified endpoint ID")
|
||||
self._id = int(id_str)
|
||||
|
||||
self._name = json_data.get("name", None)
|
||||
if self._name is None:
|
||||
self._name = "[anonymous]"
|
||||
|
||||
type_str = json_data.get("type", None)
|
||||
if type_str is None:
|
||||
raise ObjectDefinitionError("unspecified type")
|
||||
|
||||
# Find all codecs that match the type_str and build a dictionary
|
||||
# of the form {type1: codec1, type2: codec2}
|
||||
eligible_types = {k: v[type_str] for (k,v) in codecs.items() if type_str in v}
|
||||
|
||||
if not eligible_types:
|
||||
raise ObjectDefinitionError("unsupported codec {}".format(type_str))
|
||||
|
||||
# TODO: better heuristics to select a matching type (i.e. prefer non lossless)
|
||||
eligible_types = list(eligible_types.items())
|
||||
self._property_type = eligible_types[0][0]
|
||||
self._codec = eligible_types[0][1]
|
||||
|
||||
access_mode = json_data.get("access", "r")
|
||||
self._can_read = 'r' in access_mode
|
||||
self._can_write = 'w' in access_mode
|
||||
|
||||
def get_value(self):
|
||||
buffer = self._parent.__channel__.remote_endpoint_operation(self._id, None, True, self._codec.get_length())
|
||||
return self._codec.deserialize(buffer)
|
||||
|
||||
def set_value(self, value):
|
||||
buffer = self._codec.serialize(value)
|
||||
# TODO: Currenly we wait for an ack here. Settle on the default guarantee.
|
||||
self._parent.__channel__.remote_endpoint_operation(self._id, buffer, True, 0)
|
||||
|
||||
def _dump(self):
|
||||
if self._name == "serial_number":
|
||||
# special case: serial number should be displayed in hex (TODO: generalize)
|
||||
val_str = "{:012X}".format(self.get_value())
|
||||
elif self._name == "error":
|
||||
# special case: errors should be displayed in hex (TODO: generalize)
|
||||
val_str = "0x{:04X}".format(self.get_value())
|
||||
else:
|
||||
val_str = str(self.get_value())
|
||||
return "{} = {} ({})".format(self._name, val_str, self._property_type.__name__)
|
||||
|
||||
class EndpointRefCodec():
|
||||
"""
|
||||
Serializer/deserializer for an endpoint reference
|
||||
"""
|
||||
def get_length(self):
|
||||
return struct.calcsize("<HH")
|
||||
def serialize(self, value):
|
||||
if value is None:
|
||||
(ep_id, ep_crc) = (0, 0)
|
||||
elif isinstance(value, RemoteProperty):
|
||||
(ep_id, ep_crc) = (value._id, value.__channel__._interface_definition_crc)
|
||||
else:
|
||||
raise TypeError("Expected value of type RemoteProperty or None but got '{}'. En example for a RemoteProperty is this expression: odrv0.axis0.controller._remote_attributes['pos_setpoint']".format(type(value).__name__))
|
||||
return struct.pack("<HH", ep_id, ep_crc)
|
||||
def deserialize(self, buffer):
|
||||
return struct.unpack("<HH", buffer)
|
||||
|
||||
codecs[int] = {
|
||||
'int8': StructCodec("<b", int),
|
||||
'uint8': StructCodec("<B", int),
|
||||
'int16': StructCodec("<h", int),
|
||||
'uint16': StructCodec("<H", int),
|
||||
'int32': StructCodec("<i", int),
|
||||
'uint32': StructCodec("<I", int),
|
||||
'int64': StructCodec("<q", int),
|
||||
'uint64': StructCodec("<Q", int)
|
||||
}
|
||||
|
||||
codecs[bool] = {
|
||||
'bool': StructCodec("<?", bool)
|
||||
}
|
||||
|
||||
codecs[float] = {
|
||||
'float': StructCodec("<f", float)
|
||||
}
|
||||
|
||||
codecs[RemoteProperty] = {
|
||||
'endpoint_ref': EndpointRefCodec()
|
||||
}
|
||||
|
||||
|
||||
class RemoteFunction(object):
|
||||
"""
|
||||
Represents a callable function that maps to a function call on a remote object
|
||||
"""
|
||||
def __init__(self, json_data, parent):
|
||||
self._parent = parent
|
||||
id_str = json_data.get("id", None)
|
||||
if id_str is None:
|
||||
raise ObjectDefinitionError("unspecified endpoint ID")
|
||||
self._trigger_id = int(id_str)
|
||||
|
||||
self._name = json_data.get("name", None)
|
||||
if self._name is None:
|
||||
self._name = "[anonymous]"
|
||||
|
||||
self._inputs = []
|
||||
for param_json in json_data.get("arguments", []) + json_data.get("inputs", []): # TODO: deprecate "arguments" keyword
|
||||
param_json["mode"] = "r"
|
||||
self._inputs.append(RemoteProperty(param_json, parent))
|
||||
|
||||
self._outputs = []
|
||||
for param_json in json_data.get("outputs", []): # TODO: deprecate "arguments" keyword
|
||||
param_json["mode"] = "r"
|
||||
self._outputs.append(RemoteProperty(param_json, parent))
|
||||
|
||||
def __call__(self, *args):
|
||||
if (len(self._inputs) != len(args)):
|
||||
raise TypeError("expected {} arguments but have {}".format(len(self._inputs), len(args)))
|
||||
for i in range(len(args)):
|
||||
self._inputs[i].set_value(args[i])
|
||||
self._parent.__channel__.remote_endpoint_operation(self._trigger_id, None, True, 0)
|
||||
if len(self._outputs) > 0:
|
||||
return self._outputs[0].get_value()
|
||||
|
||||
def _dump(self):
|
||||
return "{}({})".format(self._name, ", ".join("{}: {}".format(x._name, x._property_type.__name__) for x in self._inputs))
|
||||
|
||||
class RemoteObject(object):
|
||||
"""
|
||||
Object with functions and properties that map to remote endpoints
|
||||
"""
|
||||
def __init__(self, json_data, parent, channel, logger):
|
||||
"""
|
||||
Creates an object that implements the specified JSON type description by
|
||||
communicating over the provided channel
|
||||
"""
|
||||
# Directly write to __dict__ to avoid calling __setattr__ too early
|
||||
object.__getattribute__(self, "__dict__")["_remote_attributes"] = {}
|
||||
object.__getattribute__(self, "__dict__")["__sealed__"] = False
|
||||
# Assign once more to make linter happy
|
||||
self._remote_attributes = {}
|
||||
self.__sealed__ = False
|
||||
|
||||
self.__channel__ = channel
|
||||
self.__parent__ = parent
|
||||
|
||||
# Build attribute list from JSON
|
||||
for member_json in json_data.get("members", []):
|
||||
member_name = member_json.get("name", None)
|
||||
if member_name is None:
|
||||
logger.debug("ignoring unnamed attribute")
|
||||
continue
|
||||
|
||||
try:
|
||||
type_str = member_json.get("type", None)
|
||||
if type_str == "object":
|
||||
attribute = RemoteObject(member_json, self, channel, logger)
|
||||
elif type_str == "function":
|
||||
attribute = RemoteFunction(member_json, self)
|
||||
elif type_str != None:
|
||||
attribute = RemoteProperty(member_json, self)
|
||||
else:
|
||||
raise ObjectDefinitionError("no type information")
|
||||
except ObjectDefinitionError as ex:
|
||||
logger.debug("malformed member {}: {}".format(member_name, str(ex)))
|
||||
continue
|
||||
|
||||
self._remote_attributes[member_name] = attribute
|
||||
self.__dict__[member_name] = attribute
|
||||
|
||||
# Ensure that from here on out assignments to undefined attributes
|
||||
# raise an exception
|
||||
self.__sealed__ = True
|
||||
channel._channel_broken.subscribe(self._tear_down)
|
||||
|
||||
def _dump(self, indent, depth):
|
||||
if depth <= 0:
|
||||
return "..."
|
||||
lines = []
|
||||
for key, val in self._remote_attributes.items():
|
||||
if isinstance(val, RemoteObject):
|
||||
val_str = indent + key + (": " if depth == 1 else ":\n") + val._dump(indent + " ", depth - 1)
|
||||
else:
|
||||
val_str = indent + val._dump()
|
||||
lines.append(val_str)
|
||||
return "\n".join(lines)
|
||||
|
||||
def __str__(self):
|
||||
return self._dump("", depth=2)
|
||||
|
||||
def __repr__(self):
|
||||
return self.__str__()
|
||||
|
||||
def __getattribute__(self, name):
|
||||
attr = object.__getattribute__(self, "_remote_attributes").get(name, None)
|
||||
if isinstance(attr, RemoteProperty):
|
||||
if attr._can_read:
|
||||
return attr.get_value()
|
||||
else:
|
||||
raise Exception("Cannot read from property {}".format(name))
|
||||
elif attr != None:
|
||||
return attr
|
||||
else:
|
||||
return object.__getattribute__(self, name)
|
||||
#raise AttributeError("Attribute {} not found".format(name))
|
||||
|
||||
def __setattr__(self, name, value):
|
||||
attr = object.__getattribute__(self, "_remote_attributes").get(name, None)
|
||||
if isinstance(attr, RemoteProperty):
|
||||
if attr._can_write:
|
||||
attr.set_value(value)
|
||||
else:
|
||||
raise Exception("Cannot write to property {}".format(name))
|
||||
elif not object.__getattribute__(self, "__sealed__") or name in object.__getattribute__(self, "__dict__"):
|
||||
object.__getattribute__(self, "__dict__")[name] = value
|
||||
else:
|
||||
raise AttributeError("Attribute {} not found".format(name))
|
||||
|
||||
def _tear_down(self):
|
||||
# Clear all remote members
|
||||
for k in self._remote_attributes.keys():
|
||||
self.__dict__.pop(k)
|
||||
self._remote_attributes = {}
|
||||
@@ -0,0 +1,108 @@
|
||||
"""
|
||||
Provides classes that implement the StreamSource/StreamSink and
|
||||
PacketSource/PacketSink interfaces for serial ports.
|
||||
"""
|
||||
|
||||
import os
|
||||
import re
|
||||
import time
|
||||
import traceback
|
||||
import serial
|
||||
import serial.tools.list_ports
|
||||
import fibre
|
||||
from fibre.utils import TimeoutError
|
||||
|
||||
# TODO: make this customizable
|
||||
DEFAULT_BAUDRATE = 115200
|
||||
|
||||
class SerialStreamTransport(fibre.protocol.StreamSource, fibre.protocol.StreamSink):
|
||||
def __init__(self, port, baud):
|
||||
self._timeout = 1
|
||||
self._dev = serial.Serial(port, baud, timeout=self._timeout)
|
||||
|
||||
def process_bytes(self, bytes):
|
||||
self._dev.write(bytes)
|
||||
|
||||
def get_bytes(self, n_bytes, deadline):
|
||||
"""
|
||||
Returns n bytes unless the deadline is reached, in which case the bytes
|
||||
that were read up to that point are returned. If deadline is None the
|
||||
function blocks forever. A deadline before the current time corresponds
|
||||
to non-blocking mode.
|
||||
"""
|
||||
# Only set new timeout value if it is reasonably different from the old one (e.g. 20% as below)
|
||||
# Otherwise it adds significant overhead (at least under Win10) as the port is reset with every reconfiguration
|
||||
if deadline is None and self._timeout is not None:
|
||||
self._timeout = None
|
||||
self._dev.timeout = None
|
||||
elif deadline is not None:
|
||||
new_timeout = max(deadline - time.monotonic(), 0)
|
||||
if abs(new_timeout - self._timeout) > self._timeout * 0.2:
|
||||
self._timeout = new_timeout
|
||||
self._dev.timeout = new_timeout
|
||||
return self._dev.read(n_bytes)
|
||||
|
||||
def get_bytes_or_fail(self, n_bytes, deadline):
|
||||
result = self.get_bytes(n_bytes, deadline)
|
||||
if len(result) < n_bytes:
|
||||
raise TimeoutError("expected {} bytes but got only {}", n_bytes, len(result))
|
||||
return result
|
||||
|
||||
def close(self):
|
||||
self._dev.close()
|
||||
|
||||
|
||||
def find_dev_serial_ports():
|
||||
try:
|
||||
return ['/dev/' + x for x in os.listdir('/dev')]
|
||||
except FileNotFoundError:
|
||||
return []
|
||||
|
||||
def find_pyserial_ports():
|
||||
return [x.device for x in serial.tools.list_ports.comports()]
|
||||
|
||||
|
||||
def discover_channels(path, serial_number, callback, cancellation_token, channel_termination_token, logger):
|
||||
"""
|
||||
Scans for serial ports that match the path spec.
|
||||
This function blocks until cancellation_token is set.
|
||||
Channels spawned by this function run until channel_termination_token is set.
|
||||
"""
|
||||
if path == None:
|
||||
# This regex should match all desired port names on macOS,
|
||||
# Linux and Windows but might match some incorrect port names.
|
||||
regex = r'^(/dev/tty\.usbmodem.*|/dev/ttyACM.*|COM[0-9]+)$'
|
||||
else:
|
||||
regex = "^" + path + "$"
|
||||
|
||||
known_devices = []
|
||||
def device_matcher(port_name):
|
||||
if port_name in known_devices:
|
||||
return False
|
||||
return bool(re.match(regex, port_name))
|
||||
|
||||
def did_disconnect(port_name, device):
|
||||
device.close()
|
||||
# TODO: yes there is a race condition here in case you wonder.
|
||||
known_devices.pop(known_devices.index(port_name))
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
all_ports = find_pyserial_ports() + find_dev_serial_ports()
|
||||
new_ports = filter(device_matcher, all_ports)
|
||||
for port_name in new_ports:
|
||||
try:
|
||||
serial_device = SerialStreamTransport(port_name, DEFAULT_BAUDRATE)
|
||||
input_stream = fibre.protocol.PacketFromStreamConverter(serial_device)
|
||||
output_stream = fibre.protocol.StreamBasedPacketSink(serial_device)
|
||||
channel = fibre.protocol.Channel(
|
||||
"serial port {}@{}".format(port_name, DEFAULT_BAUDRATE),
|
||||
input_stream, output_stream, channel_termination_token, logger)
|
||||
channel.serial_device = serial_device
|
||||
except serial.serialutil.SerialException:
|
||||
logger.debug("Serial device init failed. Ignoring this port. More info: " + traceback.format_exc())
|
||||
known_devices.append(port_name)
|
||||
else:
|
||||
known_devices.append(port_name)
|
||||
channel._channel_broken.subscribe(lambda: did_disconnect(port_name, serial_device))
|
||||
callback(channel)
|
||||
time.sleep(1)
|
||||
@@ -0,0 +1,128 @@
|
||||
|
||||
import sys
|
||||
import platform
|
||||
import threading
|
||||
import fibre
|
||||
|
||||
def did_discover_device(device,
|
||||
interactive_variables, discovered_devices,
|
||||
branding_short, branding_long,
|
||||
logger, app_shutdown_token):
|
||||
"""
|
||||
Handles the discovery of new devices by displaying a
|
||||
message and making the device available to the interactive
|
||||
console
|
||||
"""
|
||||
serial_number = '{:012X}'.format(device.serial_number) if hasattr(device, 'serial_number') else "[unknown serial number]"
|
||||
if serial_number in discovered_devices:
|
||||
verb = "Reconnected"
|
||||
index = discovered_devices.index(serial_number)
|
||||
else:
|
||||
verb = "Connected"
|
||||
discovered_devices.append(serial_number)
|
||||
index = len(discovered_devices) - 1
|
||||
interactive_name = branding_short + str(index)
|
||||
|
||||
# Publish new device to interactive console
|
||||
interactive_variables[interactive_name] = device
|
||||
globals()[interactive_name] = device # Add to globals so tab complete works
|
||||
logger.notify("{} to {} {} as {}".format(verb, branding_long, serial_number, interactive_name))
|
||||
|
||||
# Subscribe to disappearance of the device
|
||||
device.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
|
||||
|
||||
def did_lose_device(interactive_name, logger, app_shutdown_token):
|
||||
"""
|
||||
Handles the disappearance of a device by displaying
|
||||
a message.
|
||||
"""
|
||||
if not app_shutdown_token.is_set():
|
||||
logger.warn("Oh no {} disappeared".format(interactive_name))
|
||||
|
||||
def launch_shell(args,
|
||||
interactive_variables,
|
||||
print_banner, print_help,
|
||||
logger, app_shutdown_token,
|
||||
branding_short="dev", branding_long="device"):
|
||||
"""
|
||||
Launches an interactive python or IPython command line
|
||||
interface.
|
||||
As devices are connected they are made available as
|
||||
"dev0", "dev1", ...
|
||||
The names of the variables can be customized by setting branding_short.
|
||||
"""
|
||||
|
||||
discovered_devices = []
|
||||
globals().update(interactive_variables)
|
||||
|
||||
# Connect to device
|
||||
logger.debug("Waiting for {}...".format(branding_long))
|
||||
fibre.find_all(args.path, args.serial_number,
|
||||
lambda dev: did_discover_device(dev, interactive_variables, discovered_devices, branding_short, branding_long, logger, app_shutdown_token),
|
||||
app_shutdown_token,
|
||||
app_shutdown_token,
|
||||
logger=logger)
|
||||
|
||||
# Check if IPython is installed
|
||||
if args.no_ipython:
|
||||
use_ipython = False
|
||||
else:
|
||||
try:
|
||||
import IPython
|
||||
use_ipython = True
|
||||
except:
|
||||
print("Warning: you don't have IPython installed.")
|
||||
print("If you want to have an improved interactive console with pretty colors,")
|
||||
print("you should install IPython\n")
|
||||
use_ipython = False
|
||||
|
||||
interactive_variables["help"] = lambda: print_help(args, len(discovered_devices) > 0)
|
||||
|
||||
# If IPython is installed, embed IPython shell, otherwise embed regular shell
|
||||
if use_ipython:
|
||||
# Override help function # pylint: disable=W0612
|
||||
help = lambda: print_help(args, len(discovered_devices) > 0)
|
||||
# to fix broken "%run -i script.py"
|
||||
locals()['__name__'] = globals()['__name__']
|
||||
console = IPython.terminal.embed.InteractiveShellEmbed(banner1='')
|
||||
|
||||
# hack to make IPython look like the regular console
|
||||
console.runcode = console.run_cell
|
||||
interact = console
|
||||
|
||||
# Catch ChannelBrokenException (since disconnect is not always an error)
|
||||
default_exception_hook = console._showtraceback
|
||||
def filtered_exception_hook(ex_class, ex, trace):
|
||||
if(ex_class.__module__+'.'+ex_class.__name__ != 'fibre.protocol.ChannelBrokenException'):
|
||||
default_exception_hook(ex_class,ex,trace)
|
||||
|
||||
console._showtraceback = filtered_exception_hook
|
||||
else:
|
||||
# Enable tab complete if possible
|
||||
try:
|
||||
import readline # Works only on Unix
|
||||
readline.parse_and_bind("tab: complete")
|
||||
except:
|
||||
sudo_prefix = "" if platform.system() == "Windows" else "sudo "
|
||||
print("Warning: could not enable tab-complete. User experience will suffer.\n"
|
||||
"Run `{}pip install readline` and then restart this script to fix this."
|
||||
.format(sudo_prefix))
|
||||
|
||||
import code
|
||||
console = code.InteractiveConsole(locals=interactive_variables)
|
||||
interact = lambda: console.interact(banner='')
|
||||
|
||||
# Catch ChannelBrokenException (since disconnect is not alway an error)
|
||||
console.runcode("import sys")
|
||||
console.runcode("default_exception_hook = sys.excepthook")
|
||||
console.runcode("def filtered_exception_hook(ex_class, ex, trace):\n"
|
||||
" if ex_class.__module__ + '.' + ex_class.__name__ != 'fibre.protocol.ChannelBrokenException':\n"
|
||||
" default_exception_hook(ex_class,ex,trace)")
|
||||
console.runcode("sys.excepthook=filtered_exception_hook")
|
||||
|
||||
|
||||
# Launch shell
|
||||
print_banner()
|
||||
logger._skip_bottom_line = True
|
||||
interact()
|
||||
app_shutdown_token.set()
|
||||
@@ -0,0 +1,85 @@
|
||||
|
||||
import sys
|
||||
import socket
|
||||
import time
|
||||
import traceback
|
||||
import fibre.protocol
|
||||
from fibre.utils import wait_any, TimeoutError
|
||||
|
||||
def noprint(x):
|
||||
pass
|
||||
|
||||
class TCPTransport(fibre.protocol.StreamSource, fibre.protocol.StreamSink):
|
||||
def __init__(self, dest_addr, dest_port, logger):
|
||||
# TODO: FIXME: use IPv6
|
||||
# Problem: getaddrinfo fails if the resolver returns an
|
||||
# IPv4 address, but we are using AF_INET6
|
||||
#family = socket.AF_INET6 if socket.has_ipv6 else socket.AF_INET
|
||||
family = socket.AF_INET
|
||||
self.sock = socket.socket(family, socket.SOCK_STREAM)
|
||||
# TODO: Determine the right address to use from the list
|
||||
self.target = socket.getaddrinfo(dest_addr, dest_port, family)[0][4]
|
||||
# TODO: this blocks until a connection is established, or the system cancels it
|
||||
self.sock.connect(self.target)
|
||||
|
||||
def process_bytes(self, buffer):
|
||||
self.sock.send(buffer)
|
||||
|
||||
def get_bytes(self, n_bytes, deadline):
|
||||
"""
|
||||
Returns n bytes unless the deadline is reached, in which case the bytes
|
||||
that were read up to that point are returned. If deadline is None the
|
||||
function blocks forever. A deadline before the current time corresponds
|
||||
to non-blocking mode.
|
||||
"""
|
||||
# convert deadline to seconds (floating point)
|
||||
deadline = None if deadline is None else max(deadline - time.monotonic(), 0)
|
||||
self.sock.settimeout(deadline)
|
||||
try:
|
||||
data = self.sock.recv(n_bytes, socket.MSG_WAITALL) # receive n_bytes
|
||||
return data
|
||||
except socket.timeout:
|
||||
# if we got a timeout data will still be none, so we call recv again
|
||||
# this time in non blocking state and see if we can get some data
|
||||
try:
|
||||
return self.sock.recv(n_bytes, socket.MSG_DONTWAIT)
|
||||
except socket.timeout:
|
||||
raise TimeoutError
|
||||
|
||||
def get_bytes_or_fail(self, n_bytes, deadline):
|
||||
result = self.get_bytes(n_bytes, deadline)
|
||||
if len(result) < n_bytes:
|
||||
raise TimeoutError("expected {} bytes but got only {}".format(n_bytes, len(result)))
|
||||
return result
|
||||
|
||||
|
||||
|
||||
def discover_channels(path, serial_number, callback, cancellation_token, channel_termination_token, logger):
|
||||
"""
|
||||
Tries to connect to a TCP server based on the path spec.
|
||||
This function blocks until cancellation_token is set.
|
||||
Channels spawned by this function run until channel_termination_token is set.
|
||||
"""
|
||||
try:
|
||||
dest_addr = ':'.join(path.split(":")[:-1])
|
||||
dest_port = int(path.split(":")[-1])
|
||||
except (ValueError, IndexError):
|
||||
raise Exception('"{}" is not a valid TCP destination. The format should be something like "localhost:1234".'
|
||||
.format(path))
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
try:
|
||||
tcp_transport = fibre.tcp_transport.TCPTransport(dest_addr, dest_port, logger)
|
||||
stream2packet_input = fibre.protocol.PacketFromStreamConverter(tcp_transport)
|
||||
packet2stream_output = fibre.protocol.StreamBasedPacketSink(tcp_transport)
|
||||
channel = fibre.protocol.Channel(
|
||||
"TCP device {}:{}".format(dest_addr, dest_port),
|
||||
stream2packet_input, packet2stream_output,
|
||||
channel_termination_token, logger)
|
||||
except:
|
||||
#logger.debug("TCP channel init failed. More info: " + traceback.format_exc())
|
||||
pass
|
||||
else:
|
||||
callback(channel)
|
||||
wait_any(None, cancellation_token, channel._channel_broken)
|
||||
time.sleep(1)
|
||||
@@ -0,0 +1,57 @@
|
||||
|
||||
import sys
|
||||
import socket
|
||||
import time
|
||||
import traceback
|
||||
import fibre.protocol
|
||||
from fibre.utils import wait_any
|
||||
|
||||
def noprint(x):
|
||||
pass
|
||||
|
||||
class UDPTransport(fibre.protocol.PacketSource, fibre.protocol.PacketSink):
|
||||
def __init__(self, dest_addr, dest_port, logger):
|
||||
# TODO: FIXME: use IPv6
|
||||
# Problem: getaddrinfo fails if the resolver returns an
|
||||
# IPv4 address, but we are using AF_INET6
|
||||
#family = socket.AF_INET6 if socket.has_ipv6 else socket.AF_INET
|
||||
family = socket.AF_INET
|
||||
self.sock = socket.socket(family, socket.SOCK_DGRAM)
|
||||
# TODO: Determine the right address to use from the list
|
||||
self.target = socket.getaddrinfo(dest_addr,dest_port, family)[0][4]
|
||||
|
||||
def process_packet(self, buffer):
|
||||
self.sock.sendto(buffer, self.target)
|
||||
|
||||
def get_packet(self, deadline):
|
||||
# TODO: implement deadline
|
||||
data, _ = self.sock.recvfrom(1024)
|
||||
return data
|
||||
|
||||
def discover_channels(path, serial_number, callback, cancellation_token, channel_termination_token, logger):
|
||||
"""
|
||||
Tries to connect to a UDP server based on the path spec.
|
||||
This function blocks until cancellation_token is set.
|
||||
Channels spawned by this function run until channel_termination_token is set.
|
||||
"""
|
||||
try:
|
||||
dest_addr = ':'.join(path.split(":")[:-1])
|
||||
dest_port = int(path.split(":")[-1])
|
||||
except (ValueError, IndexError):
|
||||
raise Exception('"{}" is not a valid UDP destination. The format should be something like "localhost:1234".'
|
||||
.format(path))
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
try:
|
||||
udp_transport = fibre.udp_transport.UDPTransport(dest_addr, dest_port, logger)
|
||||
channel = fibre.protocol.Channel(
|
||||
"UDP device {}:{}".format(dest_addr, dest_port),
|
||||
udp_transport, udp_transport,
|
||||
channel_termination_token, logger)
|
||||
except:
|
||||
logger.debug("UDP channel init failed. More info: " + traceback.format_exc())
|
||||
pass
|
||||
else:
|
||||
callback(channel)
|
||||
wait_any(None, cancellation_token, channel._channel_broken)
|
||||
time.sleep(1)
|
||||
@@ -0,0 +1,216 @@
|
||||
# requires pyusb
|
||||
# pip install --pre pyusb
|
||||
|
||||
import usb.core
|
||||
import usb.util
|
||||
import sys
|
||||
import time
|
||||
import fibre.protocol
|
||||
import traceback
|
||||
import platform
|
||||
from fibre.utils import TimeoutError
|
||||
|
||||
# Currently we identify fibre-enabled devices by VID,PID
|
||||
# TODO: identify by USB descriptors
|
||||
WELL_KNOWN_VID_PID_PAIRS = [
|
||||
(0x1209, 0x0D31),
|
||||
(0x1209, 0x0D32),
|
||||
(0x1209, 0x0D33)
|
||||
]
|
||||
|
||||
class USBBulkTransport(fibre.protocol.PacketSource, fibre.protocol.PacketSink):
|
||||
def __init__(self, dev, logger):
|
||||
self._logger = logger
|
||||
self.dev = dev
|
||||
self.intf = None
|
||||
self._name = "USB device {}:{}".format(dev.idVendor, dev.idProduct)
|
||||
self._was_damaged = False
|
||||
|
||||
##
|
||||
# information about the connected device
|
||||
##
|
||||
def info(self):
|
||||
# loop through configurations
|
||||
string = ""
|
||||
for cfg in self.dev:
|
||||
string += "ConfigurationValue {0}\n".format(cfg.bConfigurationValue)
|
||||
for intf in cfg:
|
||||
string += "\tInterfaceNumber {0},{1}\n".format(intf.bInterfaceNumber, intf.bAlternateSetting)
|
||||
for ep in intf:
|
||||
string += "\t\tEndpointAddress {0}\n".format(ep.bEndpointAddress)
|
||||
return string
|
||||
|
||||
def init(self):
|
||||
# Under some conditions, the Linux USB/libusb stack ends up in a corrupt
|
||||
# state where there are a few packets in a receive queue but a call
|
||||
# to epr.read() does not return these packet until a new packet arrives.
|
||||
# This undesirable queue can be cleared by resetting the device.
|
||||
# On windows this would cause file-not-found errors in subsequent dev calls
|
||||
if platform.system() != 'Windows':
|
||||
self.dev.reset()
|
||||
|
||||
#self.dev.set_configuration() # no args: set first configuration
|
||||
|
||||
# Find the best interface
|
||||
self.cfg = self.dev.get_active_configuration()
|
||||
custom_interfaces = [i for i in self.cfg.interfaces() if i.bInterfaceClass == 0x00 and i.bInterfaceSubClass == 0x01]
|
||||
cdc_interfaces = [i for i in self.cfg.interfaces() if i.bInterfaceClass == 0x0a and i.bInterfaceSubClass == 0x00]
|
||||
all_compatible_interfaces = custom_interfaces + cdc_interfaces
|
||||
if len(all_compatible_interfaces) == 0:
|
||||
raise Exception("the device has no compatible interfaces")
|
||||
self.intf = all_compatible_interfaces[0]
|
||||
|
||||
# Try to detach kernel driver from interface
|
||||
try:
|
||||
if self.dev.is_kernel_driver_active(self.intf.bInterfaceNumber):
|
||||
self.dev.detach_kernel_driver(self.intf.bInterfaceNumber)
|
||||
self._logger.debug("Detached Kernel Driver")
|
||||
else:
|
||||
self._logger.debug("Kernel Driver was not attached")
|
||||
except NotImplementedError:
|
||||
pass #is_kernel_driver_active not implemented on Windows
|
||||
|
||||
# find write endpoint (first OUT endpoint)
|
||||
self.epw = usb.util.find_descriptor(self.intf,
|
||||
custom_match = \
|
||||
lambda e: \
|
||||
usb.util.endpoint_direction(e.bEndpointAddress) == \
|
||||
usb.util.ENDPOINT_OUT
|
||||
)
|
||||
assert self.epw is not None
|
||||
self._logger.debug("EndpointAddress for writing {}".format(self.epw.bEndpointAddress))
|
||||
# find read endpoint (first IN endpoint)
|
||||
self.epr = usb.util.find_descriptor(self.intf,
|
||||
custom_match = \
|
||||
lambda e: \
|
||||
usb.util.endpoint_direction(e.bEndpointAddress) == \
|
||||
usb.util.ENDPOINT_IN
|
||||
)
|
||||
assert self.epr is not None
|
||||
self._logger.debug("EndpointAddress for reading {}".format(self.epr.bEndpointAddress))
|
||||
|
||||
def deinit(self):
|
||||
if not self.intf is None:
|
||||
usb.util.release_interface(self.dev, self.intf)
|
||||
|
||||
def process_packet(self, usbBuffer):
|
||||
try:
|
||||
ret = self.epw.write(usbBuffer, 0)
|
||||
if self._was_damaged:
|
||||
self._logger.debug("Recovered from USB halt/stall condition")
|
||||
self._was_damaged = False
|
||||
return ret
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 19 or ex.errno == 32: # "no such device", "pipe error"
|
||||
raise fibre.protocol.ChannelBrokenException()
|
||||
elif ex.errno is None or ex.errno == 60 or ex.errno == 110: # timeout
|
||||
raise TimeoutError()
|
||||
else:
|
||||
self._logger.debug("error in usbbulk_transport.py, process_packet")
|
||||
self._logger.debug(traceback.format_exc())
|
||||
self._logger.debug("halt condition: {}".format(ex.errno))
|
||||
self._logger.debug(str(ex))
|
||||
# Try resetting halt/stall condition
|
||||
try:
|
||||
self.deinit()
|
||||
self.init()
|
||||
except usb.core.USBError:
|
||||
raise fibre.protocol.ChannelBrokenException()
|
||||
# Retry transfer
|
||||
self._was_damaged = True
|
||||
raise fibre.protocol.ChannelDamagedException()
|
||||
|
||||
def get_packet(self, deadline):
|
||||
try:
|
||||
bufferLen = self.epr.wMaxPacketSize
|
||||
timeout = max(int((deadline - time.monotonic()) * 1000), 0)
|
||||
ret = self.epr.read(bufferLen, timeout)
|
||||
if self._was_damaged:
|
||||
self._logger.debug("Recovered from USB halt/stall condition")
|
||||
self._was_damaged = False
|
||||
return bytearray(ret)
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 19 or ex.errno == 32: # "no such device", "pipe error"
|
||||
raise fibre.protocol.ChannelBrokenException()
|
||||
elif ex.errno is None or ex.errno == 60 or ex.errno == 110: # timeout
|
||||
raise TimeoutError()
|
||||
else:
|
||||
self._logger.debug("error in usbbulk_transport.py, process_packet")
|
||||
self._logger.debug(traceback.format_exc())
|
||||
self._logger.debug("halt condition: {}".format(ex.errno))
|
||||
self._logger.debug(str(ex))
|
||||
# Try resetting halt/stall condition
|
||||
try:
|
||||
self.deinit()
|
||||
self.init()
|
||||
except usb.core.USBError:
|
||||
raise fibre.protocol.ChannelBrokenException()
|
||||
# Retry transfer
|
||||
self._was_damaged = True
|
||||
raise fibre.protocol.ChannelDamagedException()
|
||||
|
||||
|
||||
def discover_channels(path, serial_number, callback, cancellation_token, channel_termination_token, logger):
|
||||
"""
|
||||
Scans for USB devices that match the path spec.
|
||||
This function blocks until cancellation_token is set.
|
||||
Channels spawned by this function run until channel_termination_token is set.
|
||||
"""
|
||||
if path == None or path == "":
|
||||
bus = None
|
||||
address = None
|
||||
else:
|
||||
try:
|
||||
bus = int(path.split(":")[0])
|
||||
address = int(path.split(":")[1])
|
||||
except (ValueError, IndexError):
|
||||
raise Exception("{} is not a valid USB path specification. "
|
||||
"Expected a string of the format BUS:DEVICE where BUS "
|
||||
"and DEVICE are integers.".format(path))
|
||||
|
||||
known_devices = []
|
||||
def device_matcher(device):
|
||||
#print(" test {:04X}:{:04X}".format(device.idVendor, device.idProduct))
|
||||
try:
|
||||
if (device.bus, device.address) in known_devices:
|
||||
return False
|
||||
if bus != None and device.bus != bus:
|
||||
return False
|
||||
if address != None and device.address != address:
|
||||
return False
|
||||
if serial_number != None and device.serial_number != serial_number:
|
||||
return False
|
||||
if (device.idVendor, device.idProduct) not in WELL_KNOWN_VID_PID_PAIRS:
|
||||
return False
|
||||
except:
|
||||
return False
|
||||
return True
|
||||
|
||||
while not cancellation_token.is_set():
|
||||
# logger.debug("USB discover loop")
|
||||
devices = usb.core.find(find_all=True, custom_match=device_matcher)
|
||||
for usb_device in devices:
|
||||
try:
|
||||
bulk_device = USBBulkTransport(usb_device, logger)
|
||||
logger.debug(bulk_device.info())
|
||||
bulk_device.init()
|
||||
channel = fibre.protocol.Channel(
|
||||
"USB device bus {} device {}".format(usb_device.bus, usb_device.address),
|
||||
bulk_device, bulk_device, channel_termination_token, logger)
|
||||
channel.usb_device = usb_device # for debugging only
|
||||
except usb.core.USBError as ex:
|
||||
if ex.errno == 13:
|
||||
# TODO: this is an ODrive specific message and should live outside of the fibre library
|
||||
logger.warn("I found a USB device that looks like an ODrive (bus {}, device {}) but I can't access it. Try running `sudo odrivetool udev-setup`, then unplug and replug the device.".format(usb_device.bus, usb_device.address))
|
||||
known_devices.append((usb_device.bus, usb_device.address))
|
||||
elif ex.errno == 16:
|
||||
logger.debug("USB device busy. I'll reset it and try again.")
|
||||
usb_device.reset()
|
||||
continue
|
||||
else:
|
||||
logger.warn("USB device init failed (bus {}, device {}). Ignoring this device. More info: ".format(usb_device.bus, usb_device.address) + traceback.format_exc())
|
||||
known_devices.append((usb_device.bus, usb_device.address))
|
||||
else:
|
||||
known_devices.append((usb_device.bus, usb_device.address))
|
||||
callback(channel)
|
||||
time.sleep(1)
|
||||
@@ -0,0 +1,237 @@
|
||||
|
||||
import sys
|
||||
import time
|
||||
import threading
|
||||
import platform
|
||||
import subprocess
|
||||
import os
|
||||
|
||||
try:
|
||||
if platform.system() == 'Windows':
|
||||
import win32console
|
||||
# TODO: we should win32console anyway so we could just omit colorama
|
||||
import colorama
|
||||
colorama.init()
|
||||
except ImportError:
|
||||
print("Could not init terminal features.")
|
||||
sys.stdout.flush()
|
||||
pass
|
||||
|
||||
if sys.version_info < (3, 3):
|
||||
class TimeoutError(Exception):
|
||||
pass
|
||||
else:
|
||||
TimeoutError = TimeoutError
|
||||
|
||||
def get_serial_number_str(device):
|
||||
if hasattr(device, 'serial_number'):
|
||||
return format(device.serial_number, 'x').upper()
|
||||
else:
|
||||
return "[unknown serial number]"
|
||||
|
||||
## Threading utils ##
|
||||
class Event():
|
||||
"""
|
||||
Alternative to threading.Event(), enhanced by the subscribe() function
|
||||
that the original fails to provide.
|
||||
@param Trigger: if supplied, the newly created event will be triggered
|
||||
as soon as the trigger event becomes set
|
||||
"""
|
||||
def __init__(self, trigger=None):
|
||||
self._evt = threading.Event()
|
||||
self._subscribers = []
|
||||
self._mutex = threading.Lock()
|
||||
if not trigger is None:
|
||||
trigger.subscribe(lambda: self.set())
|
||||
|
||||
def is_set(self):
|
||||
return self._evt.is_set()
|
||||
|
||||
def set(self):
|
||||
"""
|
||||
Sets the event and invokes all subscribers if the event was
|
||||
not already set
|
||||
"""
|
||||
self._mutex.acquire()
|
||||
try:
|
||||
if not self._evt.is_set():
|
||||
self._evt.set()
|
||||
for s in self._subscribers:
|
||||
s()
|
||||
finally:
|
||||
self._mutex.release()
|
||||
|
||||
def subscribe(self, handler):
|
||||
"""
|
||||
Invokes the specified handler exactly once as soon as the
|
||||
specified event is set. If the event is already set, the
|
||||
handler is invoked immediately.
|
||||
Returns a function that can be invoked to unsubscribe.
|
||||
"""
|
||||
if handler is None:
|
||||
raise TypeError
|
||||
self._mutex.acquire()
|
||||
try:
|
||||
self._subscribers.append(handler)
|
||||
if self._evt.is_set():
|
||||
handler()
|
||||
finally:
|
||||
self._mutex.release()
|
||||
return handler
|
||||
|
||||
def unsubscribe(self, handler):
|
||||
self._mutex.acquire()
|
||||
try:
|
||||
self._subscribers.pop(self._subscribers.index(handler))
|
||||
finally:
|
||||
self._mutex.release()
|
||||
|
||||
def wait(self, timeout=None):
|
||||
if not self._evt.wait(timeout=timeout):
|
||||
raise TimeoutError()
|
||||
|
||||
def trigger_after(self, timeout):
|
||||
"""
|
||||
Triggers the event after the specified timeout.
|
||||
This function returns immediately.
|
||||
"""
|
||||
def delayed_trigger():
|
||||
if not self.wait(timeout=timeout):
|
||||
self.set()
|
||||
threading.Thread(target=delayed_trigger)
|
||||
t.daemon = True
|
||||
t.start()
|
||||
|
||||
|
||||
def wait_any(timeout=None, *events):
|
||||
"""
|
||||
Blocks until any of the specified events are triggered.
|
||||
Returns the index of the event that was triggerd or raises
|
||||
a TimeoutError
|
||||
Param timeout: A timeout in seconds
|
||||
"""
|
||||
or_event = threading.Event()
|
||||
subscriptions = []
|
||||
for event in events:
|
||||
subscriptions.append((event, event.subscribe(lambda: or_event.set())))
|
||||
or_event.wait(timeout=timeout)
|
||||
for event, sub in subscriptions:
|
||||
event.unsubscribe(sub)
|
||||
for i in range(len(events)):
|
||||
if events[i].is_set():
|
||||
return i
|
||||
raise TimeoutError()
|
||||
|
||||
|
||||
## Log utils ##
|
||||
|
||||
class Logger():
|
||||
"""
|
||||
Logs messages to stdout
|
||||
"""
|
||||
|
||||
COLOR_DEFAULT = 0
|
||||
COLOR_GREEN = 1
|
||||
COLOR_CYAN = 2
|
||||
COLOR_YELLOW = 3
|
||||
COLOR_RED = 4
|
||||
|
||||
_VT100Colors = {
|
||||
COLOR_GREEN: '\x1b[92;1m',
|
||||
COLOR_CYAN: '\x1b[96;1m',
|
||||
COLOR_YELLOW: '\x1b[93;1m',
|
||||
COLOR_RED: '\x1b[91;1m',
|
||||
COLOR_DEFAULT: '\x1b[0m'
|
||||
}
|
||||
|
||||
_Win32Colors = {
|
||||
COLOR_GREEN: 0x0A,
|
||||
COLOR_CYAN: 0x0B,
|
||||
COLOR_YELLOW: 0x0E,
|
||||
COLOR_RED: 0x0C,
|
||||
COLOR_DEFAULT: 0x07
|
||||
}
|
||||
|
||||
def __init__(self, verbose=True):
|
||||
self._prefix = ''
|
||||
self._skip_bottom_line = False # If true, messages are printed one line above the cursor
|
||||
self._verbose = verbose
|
||||
self._print_lock = threading.Lock()
|
||||
if platform.system() == 'Windows':
|
||||
self._stdout_buf = win32console.GetStdHandle(win32console.STD_OUTPUT_HANDLE)
|
||||
|
||||
def indent(self, prefix=' '):
|
||||
indented_logger = Logger()
|
||||
indented_logger._prefix = self._prefix + prefix
|
||||
return indented_logger
|
||||
|
||||
def print_on_second_last_line(self, text, color):
|
||||
"""
|
||||
Prints a text on the second last line.
|
||||
This can be used to print a message above the command
|
||||
prompt. If the command prompt spans multiple lines
|
||||
there will be glitches.
|
||||
If the printed text spans multiple lines there will also
|
||||
be glitches (though this could be fixed).
|
||||
"""
|
||||
|
||||
if platform.system() == 'Windows':
|
||||
# Windows <10 doesn't understand VT100 escape codes and the colorama
|
||||
# also doesn't support the specific escape codes we need so we use the
|
||||
# native Win32 API.
|
||||
info = self._stdout_buf.GetConsoleScreenBufferInfo()
|
||||
cursor_pos = info['CursorPosition']
|
||||
scroll_rect=win32console.PySMALL_RECTType(
|
||||
Left=0, Top=1,
|
||||
Right=info['Window'].Right,
|
||||
Bottom=cursor_pos.Y-1)
|
||||
scroll_dest = win32console.PyCOORDType(scroll_rect.Left, scroll_rect.Top-1)
|
||||
self._stdout_buf.ScrollConsoleScreenBuffer(
|
||||
scroll_rect, scroll_rect, scroll_dest, # clipping rect is same as scroll rect
|
||||
u' ', Logger._Win32Colors[color]) # fill with empty cells with the desired color attributes
|
||||
line_start = win32console.PyCOORDType(0, cursor_pos.Y-1)
|
||||
self._stdout_buf.WriteConsoleOutputCharacter(text, line_start)
|
||||
|
||||
else:
|
||||
# Assume we're in a terminal that interprets VT100 escape codes.
|
||||
# TODO: test on macOS
|
||||
|
||||
# Escape character sequence:
|
||||
# ESC 7: store cursor position
|
||||
# ESC 1A: move cursor up by one
|
||||
# ESC 1S: scroll entire viewport by one
|
||||
# ESC 1L: insert 1 line at cursor position
|
||||
# (print text)
|
||||
# ESC 8: restore old cursor position
|
||||
|
||||
self._print_lock.acquire()
|
||||
sys.stdout.write('\x1b7\x1b[1A\x1b[1S\x1b[1L')
|
||||
sys.stdout.write(Logger._VT100Colors[color] + text + Logger._VT100Colors[Logger.COLOR_DEFAULT])
|
||||
sys.stdout.write('\x1b8')
|
||||
sys.stdout.flush()
|
||||
self._print_lock.release()
|
||||
|
||||
def print_colored(self, text, color):
|
||||
if self._skip_bottom_line:
|
||||
self.print_on_second_last_line(text, color)
|
||||
else:
|
||||
# On Windows, colorama does the job of interpreting the VT100 escape sequences
|
||||
self._print_lock.acquire()
|
||||
sys.stdout.write(Logger._VT100Colors[color] + text + Logger._VT100Colors[Logger.COLOR_DEFAULT] + '\n')
|
||||
sys.stdout.flush()
|
||||
self._print_lock.release()
|
||||
|
||||
def debug(self, text):
|
||||
if self._verbose:
|
||||
self.print_colored(self._prefix + text, Logger.COLOR_DEFAULT)
|
||||
def success(self, text):
|
||||
self.print_colored(self._prefix + text, Logger.COLOR_GREEN)
|
||||
def info(self, text):
|
||||
self.print_colored(self._prefix + text, Logger.COLOR_DEFAULT)
|
||||
def notify(self, text):
|
||||
self.print_colored(self._prefix + text, Logger.COLOR_CYAN)
|
||||
def warn(self, text):
|
||||
self.print_colored(self._prefix + text, Logger.COLOR_YELLOW)
|
||||
def error(self, text):
|
||||
# TODO: write to stderr
|
||||
self.print_colored(self._prefix + text, Logger.COLOR_RED)
|
||||
@@ -0,0 +1,90 @@
|
||||
"""
|
||||
This script is used to deploy the Fibre python library to PyPi
|
||||
so that users can install them easily with
|
||||
"pip install fibre"
|
||||
|
||||
To install the package and its dependencies locally, run:
|
||||
sudo pip install -r requirements.txt
|
||||
|
||||
To build and package the python tools into a tar archive:
|
||||
python setup.py sdist
|
||||
|
||||
Warning: Before you proceed, be aware that you can upload a
|
||||
specific version only once ever. After that you need to increment
|
||||
the hotfix number. Deleting the release manually on the PyPi
|
||||
website does not help.
|
||||
|
||||
Use TestPyPi while developing.
|
||||
|
||||
To build, package and upload the python tools to TestPyPi, run:
|
||||
python setup.py sdist upload -r pypitest
|
||||
To make a real release ensure you're at the release commit
|
||||
and then run the above command without the "test" (so just "pypi").
|
||||
|
||||
To install a prerelease version from test index:
|
||||
sudo pip install --pre --index-url https://test.pypi.org/simple/ --no-cache-dir fibre
|
||||
|
||||
|
||||
PyPi access requires that you have set up ~/.pypirc with your
|
||||
PyPi credentials and that your account has the rights
|
||||
to publish packages with the name fibre.
|
||||
"""
|
||||
|
||||
# TODO: add additional y/n prompt to prevent from erroneous upload
|
||||
|
||||
from setuptools import setup
|
||||
import os
|
||||
import sys
|
||||
|
||||
# Change this if you already uploaded the current
|
||||
# version but need to release a hotfix
|
||||
hotfix = 0
|
||||
|
||||
#creating_package = "sdist" in sys.argv
|
||||
#
|
||||
## Load version from Git tag
|
||||
#import odrive.version
|
||||
#version = odrive.version.get_version_str(git_only=creating_package)
|
||||
#
|
||||
#if creating_package and (hotfix > 0 or not version[-1].isdigit()):
|
||||
# # Add this for hotfixes
|
||||
# version += "-" + str(hotfix)
|
||||
#
|
||||
#
|
||||
## If we're currently creating the package we need to autogenerate
|
||||
## a file that contains the version string
|
||||
#if creating_package:
|
||||
# version_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'odrive', 'version.txt')
|
||||
# with open(version_file_path, mode='w') as version_file:
|
||||
# version_file.write(version)
|
||||
#
|
||||
## TODO: find a better place for this
|
||||
#if not creating_package:
|
||||
# import platform
|
||||
# if platform.system() == 'Linux':
|
||||
# import odrive.utils
|
||||
# odrive.utils.setup_udev_rules(odrive.utils.Logger())
|
||||
|
||||
setup(
|
||||
name = 'fibre',
|
||||
packages = ['fibre'],
|
||||
#scripts = ['..fibre', 'odrivetool.bat', 'odrive_demo.py'],
|
||||
version = '0.0.1dev0',
|
||||
description = 'Abstraction layer for painlessly building object oriented distributed systems that just work',
|
||||
author = 'Samuel Sadok',
|
||||
author_email = 'samuel.sadok@bluewin.ch',
|
||||
license='MIT',
|
||||
url = 'https://github.com/samuelsadok/fibre',
|
||||
keywords = ['communication', 'transport-layer', 'rpc'],
|
||||
install_requires = [
|
||||
'appdirs', # Used to find caching directory
|
||||
],
|
||||
#package_data={'': ['version.txt']},
|
||||
classifiers = [],
|
||||
)
|
||||
|
||||
# TODO: include README
|
||||
|
||||
## clean up
|
||||
#if creating_package:
|
||||
# os.remove(version_file_path)
|
||||
Reference in New Issue
Block a user