diff --git a/README.md b/README.md
index 9e9cfdf05..4ec6d85b4 100644
--- a/README.md
+++ b/README.md
@@ -1,13 +1,35 @@
-### OpenMV (Open-Source Machine Vision)
+## OpenMV (Open-Source Machine Vision)
-
+
-The OpenMV project aims at making machine vision more accessible to beginners by developing a user-friendly, open-source, low-cost machine vision platform.
+The OpenMV project aims at making machine vision more accessible to beginners by developing a user-friendly, open-source, low-cost machine vision platform.
-OpenMV cameras are programmable in Python3 and come with an extensive set of image processing functions such as face detection, keypoints descriptors, color tracking, QR and Bar codes decoding, AprilTags, GIF and MJPEG recording and more. Additionally, OpenMV includes a cross-platform IDE (based on Qt Creator) designed specifically to support programmable cameras. The IDE allows viewing the camera's frame buffer, accessing sensor controls, uploading scripts to the camera via serial over USB (or WiFi/BLE if available) and includes a set of image processing tools to generate tags, thresholds, keypoints etc...
+OpenMV cameras are programmable in Python3 and come with an extensive set of image processing functions such as face detection, keypoints descriptors, color tracking, QR and Bar code decoding, AprilTags, GIF and MJPEG recording, and more. Additionally, the OpenMV Cam comes with a cross-platform IDE (based on Qt Creator) designed specifically to support programmable cameras. The IDE allows viewing the camera's frame buffer, accessing sensor controls, uploading scripts to the camera via serial over USB (or WiFi/BLE if available) and includes a set of image processing tools to generate tags, thresholds, keypoints, and etc...
-The first generation of OpenMV cameras is based on STM32F ARM Cortex-M Digital Signal Controllers (DSCs) and Omnivision sensors. The board has built-in RGB and IR LEDs, USB FS for programming and video streaming, uSD socket and I/O headers breaking out PWM, UARTs, SPI and I2C. Additionally, OpenMV supports extension modules (shields) using the I/O headers such as WiFi, BLE, Thermal (FIR) and LCD shields.
+The first generation of OpenMV cameras is based on STM32 ARM Cortex-M Digital Signal Processors (DSPs) and OmniVision sensors. The boards have built-in RGB and IR LEDs, USB FS support for programming and video streaming, a uSD socket, and I/O headers breaking out PWM, UARTs, SPI, I2C, CAN, and more. Additionally, the OpenMV Cam supports extension modules (shields) using the I/O headers for adding a WiFi adapter, a LCD Display, a Thermal Vision Sensor, a Motor Driver, and more.
The OpenMV project was successfully funded via Kickstarter back in 2015 and has come a long way since then. For more information, please visit [https://openmv.io](https://openmv.io)
+
+## Interface Library
+
+The OpenMV Cam comes built-in with an RPC (Remote Python/Procedure Call) library which makes it easy to connect the OpenMV Cam to your computer, a SBC (single board computer) like the RaspberryPi or Beaglebone, or a microcontroller like the Arduino or ESP8266/32. The RPC Interface Library works over:
+
+* Async Serial (UART) - at up **7.5 Mb/s** on the OpenMV Cam H7.
+* I2C Bus - at up to **1 Mb/s** on the OpenMV Cam H7.
+ * Using 1K pull up resistors.
+* SPI Bus - at up to **20 Mb/s** on the OpenMV Cam H7.
+ * Up to **80 Mb/s** or **40 Mb/s** is achievable with short enough wires.
+* CAN Bus - at up to **1 Mb/s** on the OpenMV Cam H7.
+* USB Virtual COM Port (VCP) - at up to **12 Mb/s** on the OpenMV Cam M4/M7/H7.
+* WiFi using the [WiFi Shield](https://openmv.io/collections/shields/products/wifi-shield-1) - at up to **12 Mb/s** on the OpenMV Cam M4/M7/H7.
+
+With the RPC Library you can easily get image processing results, stream RAW or JPG image data, or have the OpenMV Cam control another Microcontroller for lower-level hardware control like driving motors.
+
+You can find examples that run on the OpenMV Cam under `File->Examples->Remote Control` in OpenMV IDE and online [here](scripts/examples/34-Remote-Control). Finally, OpenMV provides the following libraries for interfacing your OpenMV Cam to other systems below:
+
+* [Generic Python Interface Library for USB and WiFi Comms](tools/rpc/README.md)
+ * Provides Python code for connecting your OpenMV Cam to a Windows, Mac, or Linux computer (or RaspberryPi/Beaglebone, etc.) with python programmatically over USB VCP or Ethernet/WiFi (i.e. with sockets).
+* Arduino Interface Library for I2C, SPI, UART Comms - comming soon!
+* RaspberryPi Interface Library for I2C, SPI, UART Comms - comming soon!
diff --git a/scripts/examples/34-Remote-Control/image_transfer_jpg_as_the_remote_device_for_your_computer.py b/scripts/examples/34-Remote-Control/image_transfer_jpg_as_the_remote_device_for_your_computer.py
new file mode 100644
index 000000000..cf6baa5d1
--- /dev/null
+++ b/scripts/examples/34-Remote-Control/image_transfer_jpg_as_the_remote_device_for_your_computer.py
@@ -0,0 +1,87 @@
+# Image Transfer - As The Remote Device
+#
+# This script is meant to talk to the "image_transfer_jpg_as_the_controller_device.py" on your computer.
+#
+# This script shows off how to transfer the frame buffer to your computer as a jpeg image.
+
+import image, network, omv, rpc, sensor, struct
+
+sensor.reset()
+sensor.set_pixformat(sensor.RGB565)
+sensor.set_framesize(sensor.QVGA)
+sensor.skip_frames(time = 2000)
+
+# Turn off the frame buffer connection to the IDE from the OpenMV Cam side.
+#
+# This needs to be done when manually compressing jpeg images at higher quality
+# so that the OpenMV Cam does not try to stream them to the IDE using a fall back
+# mechanism if the JPEG image is too large to fit in the IDE JPEG frame buffer on the OpenMV Cam.
+
+omv.disable_fb(True)
+
+# The RPC library above is installed on your OpenMV Cam and provides mutliple classes for
+# allowing your OpenMV Cam to be controlled over USB or WIFI.
+
+################################################################
+# Choose the interface you wish to control your OpenMV Cam over.
+################################################################
+
+# Uncomment the below line to setup your OpenMV Cam for control over a USB VCP.
+#
+interface = rpc.rpc_usb_vcp_slave()
+
+# Uncomment the below line to setup your OpenMV Cam for control over WiFi.
+#
+# * ssid - WiFi network to connect to.
+# * ssid_key - WiFi network password.
+# * ssid_security - WiFi security.
+# * port - Port to route traffic to.
+# * mode - Regular or access-point mode.
+# * static_ip - If not None then a tuple of the (IP Address, Subnet Mask, Gateway, DNS Address)
+#
+# interface = rpc.rpc_wifi_slave(ssid="",
+# ssid_key="",
+# ssid_security=network.WINC.WPA_PSK,
+# port=0x1DBA,
+# mode=network.WINC.MODE_STA,
+# static_ip=None)
+
+################################################################
+# Call Backs
+################################################################
+
+# When called sets the pixformat and framesize, takes a snapshot
+# and then returns the frame buffer jpg size to store the image in.
+#
+# data is a pixformat string and framesize string.
+def jpeg_image_snapshot(data):
+ pixformat, framesize = bytes(data).decode().split(",")
+ sensor.set_pixformat(eval(pixformat))
+ sensor.set_framesize(eval(framesize))
+ img = sensor.snapshot().compress(quality=90)
+ return struct.pack("
+# Copyright (c) 2013-2020 Kwabena W. Agyeman
+#
+# This work is licensed under the MIT license, see the file LICENSE for details.
+
+import gc, network, omv, pyb, select, socket, stm, struct
+
+class rpc:
+
+ _COMMAND_HEADER_PACKET_MAGIC = 0x1209
+ _COMMAND_DATA_PACKET_MAGIC = 0xABD1
+ _RESULT_HEADER_PACKET_MAGIC = 0x9021
+ _RESULT_DATA_PACKET_MAGIC = 0x1DBA
+
+ @micropython.viper
+ def __def_crc_16(self, data, size : int) -> int: # private
+ d = ptr8(data)
+ crc = 0xFFFF
+ for i in range(size):
+ crc ^= d[i] << 8
+ for j in range(8): crc = (crc << 1) ^ (0x1021 if crc & 0x8000 else 0)
+ return crc & 0xFFFF
+
+ @micropython.viper
+ def __stm_crc_16(self, data, size : int) -> int: # private
+ ptr32(stm.CRC + stm.CRC_CR)[0] = (1 << 3) | 1
+ crc8 = ptr8(stm.CRC + stm.CRC_DR)
+ d = ptr8(data)
+ for i in range(size):
+ crc8[0] = d[i]
+ return ptr32(stm.CRC + stm.CRC_DR)[0]
+
+ @micropython.viper
+ def _zero(self, buff, size : int): # private
+ d = ptr8(buff)
+ for i in range(size): d[i] = 0
+
+ @micropython.viper
+ def _same(self, data, size : int) -> bool: # private
+ if not size: return False
+ d = ptr8(data)
+ old = d[0]
+ for i in range(1, size):
+ new = d[i]
+ if new != old: return False
+ old = new
+ return True
+
+ # djb2 algorithm; see http://www.cse.yorku.ca/~oz/hash.html
+ @micropython.viper
+ def _hash(self, data, size : int) -> uint: # private
+ h = 5381
+ d = ptr8(data)
+ for i in range(size):
+ h = ((h << 5) + h) ^ d[i]
+ return uint(h)
+
+ def __init__(self): # private
+ self.__crc_16 = self.__def_crc_16
+ if omv.board_type() == "H7":
+ stm.mem32[stm.RCC + stm.RCC_AHB4ENR] = stm.mem32[stm.RCC + stm.RCC_AHB4ENR] | (1 << 19)
+ stm.mem32[stm.CRC + stm.CRC_POL] = 0x1021
+ self.__crc_16 = self.__stm_crc_16
+ elif omv.board_type() == "F7":
+ stm.mem32[stm.RCC + stm.RCC_AHB1ENR] = stm.mem32[stm.RCC + stm.RCC_AHB1ENR] | (1 << 12)
+ stm.mem32[stm.CRC + stm.CRC_POL] = 0x1021
+ self.__crc_16 = self.__stm_crc_16
+ self._stream_writer_queue_depth_max = 255
+
+ def _get_packet_pre_alloc(self, payload_len=0):
+ buff = bytearray(payload_len + 4)
+ return (buff, memoryview(buff)[2:-2])
+
+ def _get_packet(self, magic_value, payload_buf_tuple, timeout): # private
+ packet = self.get_bytes(payload_buf_tuple[0], timeout)
+ if packet is not None:
+ magic = packet[0] | (packet[1] << 8)
+ crc = packet[-2] | (packet[-1] << 8)
+ if magic == magic_value and crc == self.__crc_16(packet, len(packet) - 2):
+ return payload_buf_tuple[1]
+ return None
+
+ def _set_packet(self, magic_value, payload=bytes()): # private
+ new_payload = bytearray(len(payload) + 4)
+ new_payload[:2] = struct.pack("> 1) ^ (0xB8 if tx_lfsr & 1 else 0x00)
+
+ def stream_writer(self, call_back, write_timeout_ms=5000): # public
+ packet = self._stream_get_bytes(bytearray(8), 1000)
+ if packet is None: return
+ magic = packet[0] | (packet[1] << 8)
+ crc = packet[-2] | (packet[-1] << 8)
+ if magic != 0xEDF6 and crc != self.__crc_16(packet, len(packet) - 2): return
+ queue_depth = max(min(struct.unpack("> 1) ^ (0xB8 if rx_lfsr & 1 else 0x00)
+ credits += 1
+ if credits > 0:
+ data = call_back()
+ try: self._stream_put_bytes(self._set_packet(0x542E, struct.pack("> prescaler) // (1 + bs1 + bs2)) and (sampling_point * 10) == (((1 + bs1) * 1000) // (1 + bs1 + bs2)):
+ return (1 << prescaler, bs1, bs2)
+ raise ValueError("Invalid bit_rate and/or sampling_point!")
+
+class rpc_can_master(rpc_master):
+
+ def __init__(self, message_id=0x7FF, bit_rate=250000, sampling_point=75):
+ self.__message_id = message_id
+ can_prescaler, can_bs1, can_bs2 = __get_can_settings(bit_rate, sampling_point)
+ self.__can = pyb.CAN(2, pyb.CAN.NORMAL, prescaler=can_prescaler, bs1=can_bs1, bs2=can_bs2, auto_restart=True)
+ self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id])
+ rpc_master.__init__(self)
+
+ def _flush(self): # private
+ while self.__can.any(0): self.__can.recv(0)
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ msg = bytearray(8)
+ lst = [0, 0, 0, memoryview(msg)]
+ l = len(buff)
+ for i in range(0, l, 8):
+ expected = min(l - i, 8)
+ try:
+ id, rtr, fmi, data = self.__can.recv(0, lst, timeout=timeout_ms)
+ if id == self.__message_id and rtr == 0 and fmi == 0 and len(data) == expected: buff[i:i+8] = data
+ else:
+ pyb.delay(self._get_short_timeout)
+ return None
+ except OSError:
+ pyb.delay(self._get_short_timeout)
+ return None
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ view = memoryview(data)
+ for i in range(0, len(view), 8):
+ try: self.__can.send(view[i:i+8], self.__message_id, timeout=timeout_ms)
+ except OSError: break
+
+class rpc_can_slave(rpc_slave):
+
+ def __init__(self, message_id=0x7FF, bit_rate=250000, sampling_point=75):
+ self.__message_id = message_id
+ can_prescaler, can_bs1, can_bs2 = __get_can_settings(bit_rate, sampling_point)
+ self.__can = pyb.CAN(2, pyb.CAN.NORMAL, prescaler=can_prescaler, bs1=can_bs1, bs2=can_bs2, auto_restart=True)
+ self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id])
+ rpc_slave.__init__(self)
+
+ def _flush(self): # private
+ while self.__can.any(0): self.__can.recv(0)
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ msg = bytearray(8)
+ lst = [0, 0, 0, memoryview(msg)]
+ l = len(buff)
+ for i in range(0, l, 8):
+ expected = min(l - i, 8)
+ try:
+ id, rtr, fmi, data = self.__can.recv(0, lst, timeout=timeout_ms)
+ if id == self.__message_id and rtr == 0 and fmi == 0 and len(data) == expected: buff[i:i+8] = data
+ else: return None
+ except OSError: return None
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ view = memoryview(data)
+ for i in range(0, len(view), 8):
+ try: self.__can.send(view[i:i+8], self.__message_id, timeout=timeout_ms)
+ except OSError: break
+
+class rpc_i2c_master(rpc_master):
+
+ def __init__(self, slave_addr=0x12, rate=100000): # private
+ self.__addr = slave_addr
+ self.__freq = rate
+ self.__i2c = pyb.I2C(2)
+ rpc_master.__init__(self)
+ self._stream_writer_queue_depth_max = 1
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ view = memoryview(buff)
+ for i in range(0, len(view), 65535):
+ pyb.udelay(100) # Give slave time to get ready.
+ self.__i2c.init(pyb.I2C.MASTER, baudrate=self.__freq, dma=True)
+ try: self.__i2c.recv(view[i:i+65535], self.__addr, timeout=timeout_ms)
+ except OSError: view = None
+ self.__i2c.deinit()
+ if view is None: break
+ if view is None or self._same(view, len(view)): pyb.delay(self._get_short_timeout)
+ return view
+
+ def put_bytes(self, data, timeout_ms): # protected
+ view = memoryview(data)
+ for i in range(0, len(view), 65535):
+ pyb.udelay(100) # Give slave time to get ready.
+ self.__i2c.init(pyb.I2C.MASTER, baudrate=self.__freq, dma=True)
+ try: self.__i2c.send(view[i:i+65535], self.__addr, timeout=timeout_ms)
+ except OSError: view = None
+ self.__i2c.deinit()
+ if view is None: break
+
+class rpc_i2c_slave(rpc_slave):
+
+ def __init__(self, slave_addr=0x12): # private
+ self.__addr = slave_addr
+ self.__i2c = pyb.I2C(2)
+ rpc_slave.__init__(self)
+ self._stream_writer_queue_depth_max = 1
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ view = memoryview(buff)
+ for i in range(0, len(view), 65535):
+ self.__i2c.init(pyb.I2C.SLAVE, addr=self.__addr, dma=True)
+ try: self.__i2c.recv(view[i:i+65535], timeout=timeout_ms)
+ except OSError: view = None
+ self.__i2c.deinit()
+ if view is None: break
+ return view
+
+ def put_bytes(self, data, timeout_ms): # protected
+ view = memoryview(data)
+ for i in range(0, len(view), 65535):
+ self.__i2c.init(pyb.I2C.SLAVE, addr=self.__addr, dma=True)
+ try: self.__i2c.send(view[i:i+65535], timeout=timeout_ms)
+ except OSError: view = None
+ self.__i2c.deinit()
+ if view is None: break
+
+class rpc_spi_master(rpc_master):
+
+ def __init__(self, cs_pin="P3", freq=1000000, clk_polarity=1, clk_phase=0): # private
+ self.__pin = pyb.Pin(cs_pin, pyb.Pin.OUT_PP)
+ self.__freq = freq
+ self.__polarity = clk_polarity
+ self.__clk_phase = clk_phase
+ self.__spi = pyb.SPI(2)
+ rpc_master.__init__(self)
+ self._stream_writer_queue_depth_max = 1
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ self.__pin.value(False)
+ pyb.udelay(100) # Give slave time to get ready.
+ self.__spi.init(pyb.SPI.MASTER, self.__freq, polarity=self.__polarity, phase=self.__clk_phase)
+ try: self.__spi.send_recv(buff, buff, timeout=timeout_ms) # SPI.recv() is broken.
+ except OSError: buff = None
+ self.__spi.deinit()
+ self.__pin.value(True)
+ if buff is None or self._same(buff, len(buff)): pyb.delay(self._get_short_timeout)
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ self.__pin.value(False)
+ pyb.udelay(100) # Give slave time to get ready.
+ self.__spi.init(pyb.SPI.MASTER, self.__freq, polarity=self.__polarity, phase=self.__clk_phase)
+ try: self.__spi.send(data, timeout=timeout_ms)
+ except OSError: pass
+ self.__spi.deinit()
+ self.__pin.value(True)
+
+class rpc_spi_slave(rpc_slave):
+
+ def __init__(self, cs_pin="P3", clk_polarity=1, clk_phase=0): # private
+ self.__pin = pyb.Pin(cs_pin, pyb.Pin.IN)
+ self.__polarity = clk_polarity
+ self.__clk_phase = clk_phase
+ self.__spi = pyb.SPI(2)
+ rpc_slave.__init__(self)
+ self._stream_writer_queue_depth_max = 1
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ start = pyb.millis()
+ while(self.__pin.value()):
+ if pyb.elapsed_millis(start) >= self._get_short_timeout: return None
+ self.__spi.init(pyb.SPI.SLAVE, polarity=self.__polarity, phase=self.__clk_phase)
+ try: self.__spi.send_recv(buff, buff, timeout=timeout_ms) # SPI.recv() is broken.
+ except OSError: buff = None
+ self.__spi.deinit()
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ start = pyb.millis()
+ while(self.__pin.value()):
+ if pyb.elapsed_millis(start) >= self._put_short_timeout: return
+ self.__spi.init(pyb.SPI.SLAVE, polarity=self.__polarity, phase=self.__clk_phase)
+ try: self.__spi.send(data, timeout=timeout_ms)
+ except OSError: pass
+ self.__spi.deinit()
+
+class rpc_uart_master(rpc_master):
+
+ def __init__(self, baudrate=9600): # private
+ self.__uart = pyb.UART(3, baudrate, timeout=2, timeout_char=2)
+ rpc_master.__init__(self)
+
+ def _flush(self): # protected
+ self.__uart.read(self.__uart.any())
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ if self.__uart.readinto(buff) is None:
+ pyb.delay(self._get_short_timeout)
+ return None
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ self.__uart.write(data)
+
+ def _stream_get_bytes(self, buff, timeout_ms): # protected
+ p = select.poll()
+ p.register(self.__uart, select.POLLIN)
+ p.poll(1000)
+ return self.get_bytes(buff, timeout_ms)
+
+class rpc_uart_slave(rpc_slave):
+
+ def __init__(self, baudrate=9600): # private
+ self.__uart = pyb.UART(3, baudrate, timeout=2, timeout_char=2)
+ rpc_slave.__init__(self)
+
+ def _flush(self): # protected
+ self.__uart.read(self.__uart.any())
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ if self.__uart.readinto(buff) is None: return None
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ self.__uart.write(data)
+
+ def _stream_get_bytes(self, buff, timeout_ms): # protected
+ p = select.poll()
+ p.register(self.__uart, select.POLLIN)
+ p.poll(1000)
+ return self.get_bytes(buff, timeout_ms)
+
+class rpc_usb_vcp_master(rpc_master):
+
+ def __init__(self): # private
+ self.__usb_vcp = pyb.USB_VCP()
+ if self.__usb_vcp.debug_mode_enabled(): raise OSError("You cannot use the USB VCP while the IDE is connected!")
+ self.__usb_vcp.setinterrupt(-1)
+ rpc_master.__init__(self)
+
+ def _flush(self): # protected
+ self.__usb_vcp.read()
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ if self.__usb_vcp.recv(buff, timeout=timeout_ms) != len(buff): return None
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ self.__usb_vcp.send(data, timeout=timeout_ms)
+
+class rpc_usb_vcp_slave(rpc_slave):
+
+ def __init__(self): # private
+ self.__usb_vcp = pyb.USB_VCP()
+ if self.__usb_vcp.debug_mode_enabled(): raise OSError("You cannot use the USB VCP while the IDE is connected!")
+ self.__usb_vcp.setinterrupt(-1)
+ rpc_slave.__init__(self)
+
+ def _flush(self): # protected
+ self.__usb_vcp.read()
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ if self.__usb_vcp.recv(buff, timeout=timeout_ms) != len(buff): return None
+ return buff
+
+ def put_bytes(self, data, timeout_ms): # protected
+ self.__usb_vcp.send(data, timeout=timeout_ms)
+
+class rpc_wifi_master(rpc_master):
+
+ def __valid_tcp_socket(self): # private
+ if self.__tcp__socket is None:
+ try:
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ s.bind(self.__myaddr)
+ s.listen(0)
+ s.settimeout(1)
+ self.__tcp__socket, addr = s.accept()
+ s.close()
+ except OSError: self.__tcp__socket = None
+ return self.__tcp__socket is not None
+
+ def __close_tcp_socket(self): # private
+ self.__tcp__socket.close()
+ self.__tcp__socket = None
+
+ def __valid_udp_socket(self): # private
+ if self.__udp__socket is None:
+ try:
+ self.__udp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ self.__udp__socket.bind(self.__myaddr)
+ except OSError: self.__udp__socket = None
+ return self.__udp__socket is not None
+
+ def __close_udp_socket(self): # private
+ self.__udp__socket.close()
+ self.__udp__socket = None
+
+ def __init__(self, ssid, ssid_key, ssid_security, ip, port=0x1DBA, mode=network.WINC.MODE_STA, static_ip=None): # private
+ self._udp_limit = 1400
+ self._timeout_scale = 10
+ self.__winc = network.WINC(mode=mode)
+ if mode == network.WINC.MODE_STA:
+ if static_ip is not None: self.__winc.ifconfig(static_ip)
+ self.__winc.connect(ssid, key=ssid_key, security=ssid_security)
+ if not self.__winc.isconnected(): raise OSError("Failed to connect to network!")
+ elif mode == network.WINC.MODE_AP: self.__winc.start_ap(ssid, key=ssid_key, security=ssid_security)
+ else: raise ValueError("Invalid mode")
+ self.__myip = self.__winc.ifconfig()[0]
+ self.__myaddr = (self.__myip, port)
+ self.__slave_addr = (ip, port)
+ self.__tcp__socket = None
+ self.__udp__socket = None
+ print("IP Address:Port %s:%d\nRunning..." % self.__myaddr)
+ rpc_master.__init__(self)
+
+ def _flush(self): # protected
+ if self.__valid_udp_socket():
+ try:
+ self.__udp__socket.settimeout(0.001)
+ while(True):
+ data, addr = self.__udp__socket.recvfrom(1400)
+ if not len(data): break
+ except OSError: self.__close_udp_socket()
+ if self.__tcp__socket is not None:
+ try:
+ self.__tcp__socket.settimeout(0.001)
+ while(True):
+ data = self.__tcp__socket.recv(1400)
+ if not len(data): break
+ except OSError: self.__close_tcp_socket()
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ i = 0
+ l = len(buff)
+ if l <= self._udp_limit:
+ if self.__valid_udp_socket():
+ try:
+ self.__udp__socket.settimeout(self._get_short_timeout * 0.001 * self._timeout_scale)
+ while l:
+ data, addr = self.__udp__socket.recvfrom(min(l, 1400))
+ data_len = len(data)
+ if not data_len: break
+ buff[i:i+data_len] = data
+ i += data_len
+ l -= data_len
+ # We don't need to close the socket on error since it's connectionless.
+ except OSError: self.__close_udp_socket()
+ elif self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data = self.__tcp__socket.recv(min(l, 1400))
+ data_len = len(data)
+ if not data_len: break
+ buff[i:i+data_len] = data
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+ return buff if not l else None
+
+ def put_bytes(self, data, timeout_ms): # protected
+ i = 0
+ l = len(data)
+ if l <= self._udp_limit:
+ if self.__valid_udp_socket():
+ try:
+ self.__udp__socket.settimeout(self._put_short_timeout * 0.001 * self._timeout_scale)
+ while l:
+ data_len = self.__udp__socket.sendto(data[i:i+min(l, 1400)], self.__slave_addr)
+ if not data_len: break
+ i += data_len
+ l -= data_len
+ if l: self.__close_udp_socket()
+ except OSError: self.__close_udp_socket()
+ elif self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data_len = self.__tcp__socket.send(data[i:i+min(l, 1400)])
+ if not data_len: break
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+
+ def _stream_get_bytes(self, buff, timeout_ms): # protected
+ i = 0
+ l = len(buff)
+ if self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data = self.__tcp__socket.recv(min(l, 1400))
+ data_len = len(data)
+ if not data_len: break
+ buff[i:i+data_len] = data
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+ return buff if not l else None
+
+ def _stream_put_bytes(self, data, timeout_ms): # protected
+ i = 0
+ l = len(data)
+ if self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data_len = self.__tcp__socket.send(data[i:i+min(l, 1400)])
+ if not data_len: break
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+ if l: raise OSError # Stop Stream.
+
+class rpc_wifi_slave(rpc_slave):
+
+ def __valid_tcp_socket(self): # private
+ if self.__tcp__socket is None:
+ try:
+ self.__tcp__socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self.__tcp__socket.connect(self.__master_addr)
+ except OSError: self.__tcp__socket = None
+ return self.__tcp__socket is not None
+
+ def __close_tcp_socket(self): # private
+ self.__tcp__socket.close()
+ self.__tcp__socket = None
+
+ def __valid_udp_socket(self): # private
+ if self.__udp__socket is None:
+ try:
+ self.__udp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ self.__udp__socket.bind(self.__myaddr)
+ except OSError: self.__udp__socket = None
+ return self.__udp__socket is not None
+
+ def __close_udp_socket(self): # private
+ self.__udp__socket.close()
+ self.__udp__socket = None
+
+ def __init__(self, ssid, ssid_key, ssid_security, port=0x1DBA, mode=network.WINC.MODE_STA, static_ip=None): # private
+ self._udp_limit = 1400
+ self._timeout_scale = 10
+ self.__winc = network.WINC(mode=mode)
+ if mode == network.WINC.MODE_STA:
+ if static_ip is not None: self.__winc.ifconfig(static_ip)
+ self.__winc.connect(ssid, key=ssid_key, security=ssid_security)
+ if not self.__winc.isconnected(): raise OSError("Failed to connect to network!")
+ elif mode == network.WINC.MODE_AP: self.__winc.start_ap(ssid, key=ssid_key, security=ssid_security)
+ else: raise ValueError("Invalid mode")
+ self.__myip = self.__winc.ifconfig()[0]
+ self.__myaddr = (self.__myip, port)
+ self.__master_addr = None
+ self.__tcp__socket = None
+ self.__udp__socket = None
+ print("IP Address:Port %s:%d\nRunning..." % self.__myaddr)
+ rpc_slave.__init__(self)
+
+ def _flush(self): # protected
+ if self.__valid_udp_socket():
+ try:
+ self.__udp__socket.settimeout(0.001)
+ while(True):
+ data, addr = self.__udp__socket.recvfrom(1400)
+ if not len(data): break
+ except OSError: self.__close_udp_socket()
+ if self.__tcp__socket is not None:
+ try:
+ self.__tcp__socket.settimeout(0.001)
+ while(True):
+ data = self.__tcp__socket.recv(1400)
+ if not len(data): break
+ except OSError: self.__close_tcp_socket()
+
+ def get_bytes(self, buff, timeout_ms): # protected
+ i = 0
+ l = len(buff)
+ if l <= self._udp_limit:
+ if self.__valid_udp_socket():
+ try:
+ self.__udp__socket.settimeout(self._get_short_timeout * 0.001 * self._timeout_scale)
+ while l:
+ data, addr = self.__udp__socket.recvfrom(min(l, 1400))
+ data_len = len(data)
+ if not data_len: break
+ buff[i:i+data_len] = data
+ self.__master_addr = addr
+ i += data_len
+ l -= data_len
+ # We don't need to close the socket on error since it's connectionless.
+ except OSError: self.__close_udp_socket()
+ elif self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data = self.__tcp__socket.recv(min(l, 1400))
+ data_len = len(data)
+ if not data_len: break
+ buff[i:i+data_len] = data
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+ return buff if not l else None
+
+ def put_bytes(self, data, timeout_ms): # protected
+ i = 0
+ l = len(data)
+ if l <= self._udp_limit:
+ if self.__valid_udp_socket():
+ try:
+ self.__udp__socket.settimeout(self._put_short_timeout * 0.001 * self._timeout_scale)
+ while l:
+ data_len = self.__udp__socket.sendto(data[i:i+min(l, 1400)], self.__master_addr)
+ if not data_len: break
+ i += data_len
+ l -= data_len
+ if l: self.__close_udp_socket()
+ except OSError: self.__close_udp_socket()
+ elif self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data_len = self.__tcp__socket.send(data[i:i+min(l, 1400)])
+ if not data_len: break
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+
+ def _stream_get_bytes(self, buff, timeout_ms): # protected
+ i = 0
+ l = len(buff)
+ if self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data = self.__tcp__socket.recv(min(l, 1400))
+ data_len = len(data)
+ if not data_len: break
+ buff[i:i+data_len] = data
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+ return buff if not l else None
+
+ def _stream_put_bytes(self, data, timeout_ms): # protected
+ i = 0
+ l = len(data)
+ if self.__valid_tcp_socket():
+ try:
+ self.__tcp__socket.settimeout(timeout_ms * 0.001)
+ while l:
+ data_len = self.__tcp__socket.send(data[i:i+min(l, 1400)])
+ if not data_len: break
+ i += data_len
+ l -= data_len
+ if l: self.__close_tcp_socket()
+ except OSError: self.__close_tcp_socket()
+ if l: raise OSError # Stop Stream.
diff --git a/tools/rpc/README.md b/tools/rpc/README.md
new file mode 100644
index 000000000..e62e1492d
--- /dev/null
+++ b/tools/rpc/README.md
@@ -0,0 +1,161 @@
+# OpenMV Remote Python Call Library
+
+The `rpc` module on the OpenMV Cam allows you to connect your OpenMV Cam to another microcontroller or computer and execute remote python (or procedure) calls on your OpenMV Cam. The `rpc` module also allows for the reverse too if you want your OpenMV Cam to be able to execute remote procedure (or python) calls on another microcontroller or computer.
+
+For computer control the [rpc](rpc.py) python module in this directory implements the OpenMV `rpc` protocol for control of an OpenMV Cam over USB VCP (i.e. a USB serial port) or over Ethernet/WiFi (i.e. over sockets).
+
+# Library Dependencies
+
+The OpenMV Cam `rpc` library on the computer only depends on [pyserial](https://pythonhosted.org/pyserial/). All other modules used by it come installed with python. To get `pyserial` just do:
+
+ pip install pyserial
+
+Because the interface library is implemented in pure python with no external dependencies it works on Windows, Mac, and Linux.
+
+# How to use the Library
+
+Please checkout the following scripts for how to control your OpenMV Cam from the comptuer:
+
+* [Slow but Synchronus JPG Image Transfer](rpc_image_transfer_jpg_as_the_controller_device.py)
+* [Fast JPG Image Streaming](rpc_image_transfer_jpg_streaming_as_the_controller_device.py)
+* [Face Detection, April Tag Detection, Color Tracking, and more](rpc_popular_features_as_the_controller_device_example.py)
+
+You will need to edit the example code above to choose which interface you want to use (USB versus Ethernet/WiFi) and to play with the settings the scripts use. When you run the scripts make sure to save them first after editing them and then run them with `python -u ` to make sure that script output to stdio is not buffered.
+
+In general, for the controller device to use the `rpc` library you will create an interface object using the `rpc` library. For example:
+
+ interface = rpc.rpc_usb_vcp_master("COM3")
+
+This create a USB VCP interface to talk to your OpenMV Cam over COM3. For Mac and Linux you would pass some type of `/dev/...` device instead.
+
+Once the interface is created you just need to do:
+
+ memory_view_object_result = interface.call("remote_function_or_method_name", bytes_object_argument)
+
+And the `rpc` library will try to execute that `"remote_function_or_method_name"` on your OpenMV Cam. The remote function or method will receive the `bytes_object_argument` which can be up to 2^32-1 bytes in size. Once the remote method finishes executing it will return a `memory_view_object_result` which can also be up to 2^32-1 bytes in size. Because the argument and response are both generic byte containers you can pass anything through the `rpc` library and receive any type of response. A simple way to pass arguments is to use `struct.pack()` to create the argument and `struct.unpack()` to receieve the argument on the OpenMV Cam side. For the response, the OpenMV Cam may send a string object or json string as the result which the computer can then interpret. Most objects or lists returned from method calls on the OpenMV Cam generate valid json strings when you call `str()` on them.
+
+As for errors, if you try to execute a non-existant function or method name on the OpenMV Cam the `call` method will return an empty `bytes()` object. If the `rpc` library failed to communicate with the OpenMV Cam the `rpc` library will return `None`.
+
+To keep things simple the `rpc` library doesn't maintain a connection between the master and slave devices. The `call` method encapsulates trying to connect to the OpenMV Cam, starting execution of the remote function or method, and getting the result.
+
+Now, on the OpenMV Cam side of things you have to create an `rpc` interface to communicate with the computer. This looks like:
+
+ interface = rpc.rpc_usb_vcp_slave()
+
+This will create the interface layer on the OpenMV Cam (this needs to be done on a script running on the OpenMV Cam - see the [Remote Control](../../scripts/examples/34-Remote-Control) example scripts).
+
+Once you create the slave interface you then need to register call backs that the master can call with the interface object.
+
+ def remote_function_or_method_name(memoryview_object_argument):
+
+ return bytes_object_result
+
+ interface.register_callback(remote_function_or_method_name)
+
+You may register as many callbacks as you like on the OpenMV Cam that the computer can call. Finally, once you are done registering callbacks you just need to execute:
+
+ interface.loop()
+
+On the OpenMV Cam to start the `rpc` library up and begin listening for the computer. Note that the `loop()` method does not return. Also, to make your OpenMV Cam more robust against errors you may want to wrap the `loop()` with `try:` and `except:` for whatever exceptions might be thrown by your callback methods. The `rpc` library will not generate any exceptions itself. Note: passing large data structures around (like jpeg images) can potentially exhaust the heap on the OpenMV Cam and generate `MemoryError` exceptions.
+
+And that is it! The `rpc` library is designed to be simple to use. It was designed to allow remote control of the OpenMV Cam by a computer or microcontroller so there are also interfaces for control of your OpenMV Cam over CAN, I2C, SPI, and UART.
+
+# API
+
+Please see the example scripts above for starting code on how to use the `rpc` library. The below API documents the public interface of the library.
+
+## class rpc():
+
+The `rpc` base class is reimplemented by the `rpc_master` and `rpc_slave` classes to create the master and slave interfaces. It is a pure virtual class and not meant to be used directly.
+
+#### get_bytes(buff, timeout_ms):
+
+This method is meant to be reimplemented by specific interface classes of `rpc_master` and `rpc_slave`. It should fill the `buff` argument which is either a `bytearray` or `memoryview` object of bytes from the interface equal to the length of the `buff` object in `timeout_ms` milliseconds. On timeout this method should return `None`. Note that for master and slave synchronization this method should try to always complete in at least `timeout_ms` milliseconds and not faster as the `rpc_master` and `rpc_slave` objects will automatically increase the `timeout_ms` to synchronize.
+
+#### put_bytes(data, timeout_ms):
+
+This method is meant to be reimplemented by specific interface classes of `rpc_master` and `rpc_slave`. It should send `data` bytes on the interface within `timeout_ms` milliseconds. If it completes faster than the timeout that is okay. No return value is expected.
+
+#### stream_reader(call_back, queue_depth=1, read_timeout_ms=5000):
+
+This method is meant to be called directly. After synchronization of the master and slave on return of a callback `stream_reader` may be called to receive data as fast as possible from the master or slave device. `call_back` will be called repeatedly with a `bytes_or_memory_view` argument that was sent by the `stream_writer`. `call_back` is not expected to return anything. `queue_depth` defines how many frames of data the `stream_writer` may generate before slowing down and waiting on the `stream_reader`. Higher `queue_depth` values lead to higher performance (up to a point) but require the `stream_reader` to be able to handle outstanding packets in its interface layer. Note that computers typically do not buffer much more than 4KB of data in device driver buffers. If you make the `queue_depth` larger than 1 then `call_back` should return very quickly and not block. Otherwise, you should implement a multi-thread architecture to process the received data so that `stream_reader` is always executing and moving data out of device driver buffers into larger user memory buffers. Finally, `read_timeout_ms` defines how many milliseconds to wait to receive the `bytes_or_memory_view` payload per `call_back`.
+
+On any errors `stream_reader` will return. The master and slave devices can try to setup the stream again afterwards to continue as demonstrated in [Fast JPG Image Streaming](rpc_image_transfer_jpg_streaming_as_the_controller_device.py).
+
+If you need to cancel the `stream_reader` just raise an exception in the `call_back` and catch it. The remote side will automatically timeout.
+
+#### stream_writer(call_back, write_timeout_ms=5000):
+
+This method is meant to be called directly. After synchronization of the master and slave on return of a callback `stream_writer` may be called to send data as fast as possible from the master or slave device. `call_back` will be called repeatedly and should return a `bytes_or_memory_view` object that will be sent to the `stream_reader`. `call_back` should not take any arguments. Finally, `write_timeout_ms` defines how many milliseconds to wait to send the `bytes_or_memory_view` object returned by `call_back`.
+
+On any errors `stream_writer` will return. The master and slave devices can try to setup the stream again afterwards to continue as demonstrated in [Fast JPG Image Streaming](rpc_image_transfer_jpg_streaming_as_the_controller_device.py).
+
+If you need to cancel the `stream_writer` just raise an exception in the `call_back` and catch it. The remote side will automatically timeout.
+
+## class rpc_master():
+
+The `rpc_master` master is a pure virtual class and not meant to be used directly. Specific interface classes should reimplement `rpc_master`.
+
+#### call(name, data=bytes(), send_timeout=1000, recv_timeout=1000):
+
+Executes a remote call on the slave device. `name` is a string name of the remote function or method to execute. `data` is the `bytes` like object that will be sent as the argument of the remote function or method to exeucte. `send_timeout` defines how many milliseconds to wait while trying to connect to the slave and get it to execute the remote function or method. Once the master starts sending the argument to the slave deivce `send_timeout` does not apply. The library will allow the argument to take up to 5 seconds to be sent. `recv_timeout` defines how many milliseconds to wait after the slave started executing the remote method to receive the repsonse. Note that once the master starts receiving the repsonse `recv_timeout` does not apply. The library will allow the response to take up to 5 seconds to be received.
+
+Note that a new packet that includes a copy of `data` will be created internally inside the `rpc` library. You may encounter memory issues on the OpenMV Cam if you try to pass very large data arguments.
+
+## class rpc_slave():
+
+The `rpc_slave` master is a pure virtual class and not meant to be used directly. Specific interface classes should reimplement `rpc_slave`.
+
+#### register_callback(cb):
+
+Registers a call back that can be executed by the master device. The call back should take one argument which will be a memoryview object and it should return a `bytes()` like object as the result. The call back should return in less than 1 second if possible.
+
+#### schedule_callback(cb):
+
+After you execute `loop()` it is not possible to execute long running operations outside of the `rpc` library. `schedule_callback` allows you to break out of the `rpc` library temporarily after completion of an call back. You should execute `schedule_callback` during the execution of an `rpc` call back method to register a new non-rpc call back that will be executed immediately after the successful completion of that call back you executed `schedule_callback` in. The function or method should not take any arguments. After the the call back that was registered returns it must be registered again in the next parent call back. On any error of the parent call back the registered call back will not be called and must be registered again. Here's how to use this:
+
+ def some_function_or_method_that_takes_a_long_time_to_execute():
+
+
+ def normal_rpc_call_back(data):
+
+ interface.schedule_callback(some_function_or_method_that_takes_a_long_time_to_execute)
+ return bytes(response)
+
+ interface.register_callback(normal_rpc_call_back)
+
+ interface.loop()
+
+`schedule_callback` in particular allows you to use the `get_bytes` and `put_bytes` methods for cut-through data transfer between one device and another without the cost of packetization which limits the size of the data removed inside the `rpc` library without running out of memory on the OpenMV Cam.
+
+#### setup_loop_callback(cb):
+
+The loop call back is called every loop iteration of `loop()`. Unlike the `schedule_callback()` call back this call back stays registered after being registered once. You can use the loop call back to blink an activity LED or something like that. You should not use the loop call back to execute any blocking code as this will get in the way of polling for communication from the master. Additionally, the loop call back will be called at a variable rate depending on when and what call backs the master is trying to execute. Given this, the loop call back is not suitable for any method that needs to be executed at a fixed frequency.
+
+On the OpenMV Cam, if you need to execute something at a fixed frequency, you should setup a timer before executing `loop()` and use a timer interrupt based callback to execute some function or method at a fixed frequency. Please see how to [Write Interrupt Handlers](http://docs.openmv.io/reference/isr_rules.html) for more information. Note: The `mutex` library is installed on your OpenMV Cam along with the `rpc` library.
+
+#### loop(recv_timeout=1000, send_timeout=1000):
+
+Starts execution of the `rpc` library on the slave to receive data. This method does not return (except via an exception from a call back). You should register all call backs first before executing this method. However, it is possible to register new call backs inside of a call back previously being registered that is executing.
+
+`recv_timeout` defines how long to wait to receive a command from the master device before trying again. `send_timeout` defines how long the slave will wait for the master to receive the call back response before going back to trying to receive. The loop call back will be executed before trying to receive again.
+
+## rpc_usb_vcp_master(port):
+
+Creates a master implementation of the `rpc` library to communicate over a USB VCP (virtual COM port). `port` is the string name of the serial port.
+
+Communication over USB is the most reliable and high speed way to connect an OpenMV Cam to a computer. However, as the OpenMV Cam has only one VCP port we recommend that you fully debug your script using the `rpc_usb_vcp_slave` on your OpenMV using another `rpc` interface if possible as you will not be able to get error messages off the OpenMV Cam easily. For example, connecting the `rpc_usb_vcp_master` to the `rpc_uart_slave` on your OpenMV Cam at 115200 BPS over a USB-to-Serial adapter when debugging will make your life far easier. Alternatively, use the Ethernet or WiFi interface when debugging.
+
+## rpc_usb_vcp_slave(port):
+
+Creates a slave implementation of the `rpc` library to communicate over a USB VCP (virtual COM port). `port` is the string name of the serial port.
+
+Communication over USB is the most reliable and high speed way to connect an OpenMV Cam to a computer. However, as the OpenMV Cam has only one VCP port we recommend that you fully debug your script using the `rpc_usb_vcp_master` on your OpenMV using another `rpc` interface if possible as you will not be able to get error messages off the OpenMV Cam easily. For example, connecting the `rpc_usb_vcp_slave` to the `rpc_uart_master` on your OpenMV Cam at 115200 BPS over a USB-to-Serial adapter when debugging will make your life far easier. Alternatively, use the Ethernet or WiFi interface when debugging.
+
+## rpc_wifi_or_ethernet_master(slave_ip, my_ip="", port=0x1DBA):
+
+Creates a master implementation of the `rpc` library to communicate over WiFi or Ethernet. `slave_ip` is the IPV4 address of the `rpc` slave device. `my_ip` can be `""` which binds the master to any interface adapter to communicate to the slave. If `my_ip` is not `""` then it should be an IP address on the same subnet as `slave_ip`. `port` is a free port to use for UDP and TCP traffic.
+
+## rpc_wifi_or_ethernet_slave(my_ip="", port=0x1DBA):
+
+Creates a slave implementation of the `rpc` library to communicate over WiFi or Ethernet. `my_ip` can be `""` which binds the slave to any interface adapter to communicate to the master. If `my_ip` is not `""` then it should be an IP address on the same subnet as the master. `port` is a free port to use for UDP and TCP traffic.
diff --git a/tools/rpc/rpc.py b/tools/rpc/rpc.py
new file mode 100644
index 000000000..9ab5d57a1
--- /dev/null
+++ b/tools/rpc/rpc.py
@@ -0,0 +1,619 @@
+# This file is part of the OpenMV project.
+#
+# Copyright (c) 2013-2020 Ibrahim Abdelkader
+# Copyright (c) 2013-2020 Kwabena W. Agyeman
+#
+# This work is licensed under the MIT license, see the file LICENSE for details.
+
+import gc, serial, socket, struct, time
+
+class rpc:
+
+ _COMMAND_HEADER_PACKET_MAGIC = 0x1209
+ _COMMAND_DATA_PACKET_MAGIC = 0xABD1
+ _RESULT_HEADER_PACKET_MAGIC = 0x9021
+ _RESULT_DATA_PACKET_MAGIC = 0x1DBA
+
+ def __def_crc_16(self, data, size): # private
+ crc = 0xFFFF
+ for i in range(size):
+ crc ^= data[i] << 8
+ for j in range(8): crc = (crc << 1) ^ (0x1021 if crc & 0x8000 else 0)
+ return crc & 0xFFFF
+
+ def _zero(self, buff, size): # private
+ for i in range(size): buff[i] = 0
+
+ def _same(self, data, size): # private
+ if not size: return False
+ old = data[0]
+ for i in range(1, size):
+ new = data[i]
+ if new != old: return False
+ old = new
+ return True
+
+ # djb2 algorithm; see http://www.cse.yorku.ca/~oz/hash.html
+ def _hash(self, data, size): # private
+ h = 5381
+ for i in range(size):
+ h = ((h << 5) + h) ^ ord(data[i])
+ return h & 0xFFFFFFFF
+
+ def __init__(self): # private
+ self.__crc_16 = self.__def_crc_16
+ self._stream_writer_queue_depth_max = 255
+
+ def _get_packet_pre_alloc(self, payload_len=0):
+ buff = bytearray(payload_len + 4)
+ return (buff, memoryview(buff)[2:-2])
+
+ def _get_packet(self, magic_value, payload_buf_tuple, timeout): # private
+ packet = self.get_bytes(payload_buf_tuple[0], timeout)
+ if packet is not None:
+ magic = packet[0] | (packet[1] << 8)
+ crc = packet[-2] | (packet[-1] << 8)
+ if magic == magic_value and crc == self.__crc_16(packet, len(packet) - 2):
+ return payload_buf_tuple[1]
+ return None
+
+ def _set_packet(self, magic_value, payload=bytes()): # private
+ new_payload = bytearray(len(payload) + 4)
+ new_payload[:2] = struct.pack("> 1) ^ (0xB8 if tx_lfsr & 1 else 0x00)
+
+ def stream_writer(self, call_back, write_timeout_ms=5000): # public
+ packet = self._stream_get_bytes(bytearray(8), 1000)
+ if packet is None: return
+ magic = packet[0] | (packet[1] << 8)
+ crc = packet[-2] | (packet[-1] << 8)
+ if magic != 0xEDF6 and crc != self.__crc_16(packet, len(packet) - 2): return
+ queue_depth = max(min(struct.unpack("> 1) ^ (0xB8 if rx_lfsr & 1 else 0x00)
+ credits += 1
+ if credits > 0:
+ data = call_back()
+ try: self._stream_put_bytes(self._set_packet(0x542E, struct.pack("