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scripts/libraries: Format RPC/RTSP libraries.
This commit is contained in:
parent
f0a54eb930
commit
64ba08e7ae
@ -7,8 +7,8 @@
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import gc, network, omv, pyb, select, socket, stm, struct
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class rpc:
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class rpc:
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_COMMAND_HEADER_PACKET_MAGIC = 0x1209
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_COMMAND_DATA_PACKET_MAGIC = 0xABD1
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_RESULT_HEADER_PACKET_MAGIC = 0x9021
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@ -20,7 +20,8 @@ class rpc:
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crc = 0xFFFF
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for i in range(size):
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crc ^= d[i] << 8
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for j in range(8): crc = (crc << 1) ^ (0x1021 if crc & 0x8000 else 0)
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for j in range(8):
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crc = (crc << 1) ^ (0x1021 if crc & 0x8000 else 0)
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return crc & 0xFFFF
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@micropython.viper
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@ -35,16 +36,19 @@ class rpc:
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@micropython.viper
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def _zero(self, buff, size: int): # private
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d = ptr8(buff)
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for i in range(size): d[i] = 0
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for i in range(size):
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d[i] = 0
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@micropython.viper
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def _same(self, data, size: int) -> bool: # private
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if not size: return False
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if not size:
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return False
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d = ptr8(data)
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old = d[0]
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for i in range(1, size):
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new = d[i]
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if new != old: return False
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if new != old:
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return False
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old = new
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return True
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@ -99,43 +103,63 @@ class rpc:
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pass
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def stream_reader(self, call_back, queue_depth=1, read_timeout_ms=5000): # public
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try: self._stream_put_bytes(self._set_packet(0xEDF6, struct.pack("<I", queue_depth)), 1000)
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except OSError: return
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try:
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self._stream_put_bytes(self._set_packet(0xEDF6, struct.pack("<I", queue_depth)), 1000)
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except OSError:
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return
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tx_lfsr = 255
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while True:
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packet = self._stream_get_bytes(bytearray(8), 1000)
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if packet is None: return
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if packet is None:
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return
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magic = packet[0] | (packet[1] << 8)
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crc = packet[-2] | (packet[-1] << 8)
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if magic != 0x542E and crc != self.__crc_16(packet, len(packet) - 2): return
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data = self._stream_get_bytes(bytearray(struct.unpack("<I", packet[2:-2])[0]), read_timeout_ms)
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if data is None: return
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if magic != 0x542E and crc != self.__crc_16(packet, len(packet) - 2):
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return
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data = self._stream_get_bytes(
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bytearray(struct.unpack("<I", packet[2:-2])[0]), read_timeout_ms
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)
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if data is None:
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return
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call_back(data)
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try: self._stream_put_bytes(struct.pack("<B", tx_lfsr), 1000)
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except OSError: return
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try:
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self._stream_put_bytes(struct.pack("<B", tx_lfsr), 1000)
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except OSError:
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return
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tx_lfsr = (tx_lfsr >> 1) ^ (0xB8 if tx_lfsr & 1 else 0x00)
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def stream_writer(self, call_back, write_timeout_ms=5000): # public
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packet = self._stream_get_bytes(bytearray(8), 1000)
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if packet is None: return
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if packet is None:
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return
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magic = packet[0] | (packet[1] << 8)
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crc = packet[-2] | (packet[-1] << 8)
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if magic != 0xEDF6 and crc != self.__crc_16(packet, len(packet) - 2): return
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queue_depth = max(min(struct.unpack("<I", packet[2:-2])[0], self._stream_writer_queue_depth_max), 1)
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if magic != 0xEDF6 and crc != self.__crc_16(packet, len(packet) - 2):
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return
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queue_depth = max(
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min(struct.unpack("<I", packet[2:-2])[0], self._stream_writer_queue_depth_max), 1
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)
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rx_lfsr = 255
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credits = queue_depth
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while True:
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if credits <= (queue_depth // 2):
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data = self._stream_get_bytes(bytearray(1), 1000)
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if data is None or data[0] != rx_lfsr: return
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if data is None or data[0] != rx_lfsr:
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return
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rx_lfsr = (rx_lfsr >> 1) ^ (0xB8 if rx_lfsr & 1 else 0x00)
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credits += 1
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if credits > 0:
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data = call_back()
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try: self._stream_put_bytes(self._set_packet(0x542E, struct.pack("<I", len(data))), 1000)
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except OSError: return
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try: self._stream_put_bytes(data, write_timeout_ms)
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except OSError: return
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try:
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self._stream_put_bytes(
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self._set_packet(0x542E, struct.pack("<I", len(data))), 1000
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)
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except OSError:
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return
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try:
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self._stream_put_bytes(data, write_timeout_ms)
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except OSError:
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return
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credits -= 1
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def _stream_get_bytes(self, buff, timeout_ms): # protected
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@ -144,8 +168,8 @@ class rpc:
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def _stream_put_bytes(self, data, timeout_ms): # protected
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self.put_bytes(data, timeout_ms)
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class rpc_master(rpc):
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class rpc_master(rpc):
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def __init__(self): # private
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rpc.__init__(self)
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self.__in_command_header_buf = self._get_packet_pre_alloc()
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@ -161,7 +185,9 @@ class rpc_master(rpc):
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def __put_command(self, command, data, timeout): # private
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self._put_short_timeout = self._put_short_timeout_reset
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self._get_short_timeout = self._get_short_timeout_reset
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out_header = self._set_packet(self._COMMAND_HEADER_PACKET_MAGIC, struct.pack("<II", command, len(data)))
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out_header = self._set_packet(
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self._COMMAND_HEADER_PACKET_MAGIC, struct.pack("<II", command, len(data))
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)
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out_data = self._set_packet(self._COMMAND_DATA_PACKET_MAGIC, data)
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start = pyb.millis()
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while pyb.elapsed_millis(start) < timeout:
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@ -170,9 +196,23 @@ class rpc_master(rpc):
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self._zero(self.__in_command_data_buf[0], len(self.__in_command_data_buf[0]))
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self._flush()
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self.put_bytes(out_header, self._put_short_timeout)
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if self._get_packet(self._COMMAND_HEADER_PACKET_MAGIC, self.__in_command_header_buf, self._get_short_timeout) is not None:
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if (
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self._get_packet(
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self._COMMAND_HEADER_PACKET_MAGIC,
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self.__in_command_header_buf,
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self._get_short_timeout,
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)
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is not None
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):
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self.put_bytes(out_data, self._put_long_timeout)
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if self._get_packet(self._COMMAND_DATA_PACKET_MAGIC, self.__in_command_data_buf, self._get_short_timeout) is not None:
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if (
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self._get_packet(
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self._COMMAND_DATA_PACKET_MAGIC,
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self.__in_command_data_buf,
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self._get_short_timeout,
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)
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is not None
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):
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return True
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# Avoid timeout livelocking.
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self._put_short_timeout = min((self._put_short_timeout * 4) // 3, timeout)
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@ -188,11 +228,17 @@ class rpc_master(rpc):
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self._zero(self.__in_result_header_buf[0], len(self.__in_result_header_buf[0]))
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self._flush()
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self.put_bytes(self.__out_result_header_ack, self._put_short_timeout)
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packet = self._get_packet(self._RESULT_HEADER_PACKET_MAGIC, self.__in_result_header_buf, self._get_short_timeout)
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packet = self._get_packet(
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self._RESULT_HEADER_PACKET_MAGIC,
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self.__in_result_header_buf,
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self._get_short_timeout,
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)
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if packet is not None:
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in_result_data_buf = self._get_packet_pre_alloc(struct.unpack("<I", packet)[0])
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self.put_bytes(self.__out_result_data_ack, self._put_short_timeout)
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dat_packet = self._get_packet(self._RESULT_DATA_PACKET_MAGIC, in_result_data_buf, self._get_long_timeout)
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dat_packet = self._get_packet(
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self._RESULT_DATA_PACKET_MAGIC, in_result_data_buf, self._get_long_timeout
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)
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if dat_packet is not None:
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return dat_packet
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# Avoid timeout livelocking.
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@ -201,10 +247,14 @@ class rpc_master(rpc):
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return None
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def call(self, name, data=bytes(), send_timeout=1000, recv_timeout=1000): # public
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return self.__get_result(recv_timeout) if self.__put_command(self._hash(name, len(name)), data, send_timeout) else None
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return (
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self.__get_result(recv_timeout)
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if self.__put_command(self._hash(name, len(name)), data, send_timeout)
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else None
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)
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class rpc_slave(rpc):
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def __init__(self): # private
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self.__dict = {}
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self.__schedule_cb = None
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@ -228,12 +278,18 @@ class rpc_slave(rpc):
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gc.collect() # Avoid collection during the transfer.
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self._zero(self.__in_command_header_buf[0], len(self.__in_command_header_buf[0]))
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self._flush()
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packet = self._get_packet(self._COMMAND_HEADER_PACKET_MAGIC, self.__in_command_header_buf, self._get_short_timeout)
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packet = self._get_packet(
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self._COMMAND_HEADER_PACKET_MAGIC,
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self.__in_command_header_buf,
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self._get_short_timeout,
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)
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if packet is not None:
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command, datalen = struct.unpack("<II", packet)
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in_command_data_buf = self._get_packet_pre_alloc(datalen)
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self.put_bytes(self.__out_command_header_ack, self._put_short_timeout)
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dat_packet = self._get_packet(self._COMMAND_DATA_PACKET_MAGIC, in_command_data_buf, self._get_long_timeout)
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dat_packet = self._get_packet(
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self._COMMAND_DATA_PACKET_MAGIC, in_command_data_buf, self._get_long_timeout
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)
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if dat_packet is not None:
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self.put_bytes(self.__out_command_data_ack, self._put_short_timeout)
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return (command, dat_packet)
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@ -245,7 +301,9 @@ class rpc_slave(rpc):
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def __put_result(self, data, timeout): # private
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self._put_short_timeout = self._put_short_timeout_reset
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self._get_short_timeout = self._get_short_timeout_reset
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out_header = self._set_packet(self._RESULT_HEADER_PACKET_MAGIC, struct.pack("<I", len(data)))
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out_header = self._set_packet(
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self._RESULT_HEADER_PACKET_MAGIC, struct.pack("<I", len(data))
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)
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out_data = self._set_packet(self._RESULT_DATA_PACKET_MAGIC, data)
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start = pyb.millis()
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while pyb.elapsed_millis(start) < timeout:
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@ -253,9 +311,23 @@ class rpc_slave(rpc):
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self._zero(self.__in_response_header_buf[0], len(self.__in_response_header_buf[0]))
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self._zero(self.__in_response_data_buf[0], len(self.__in_response_data_buf[0]))
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self._flush()
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if self._get_packet(self._RESULT_HEADER_PACKET_MAGIC, self.__in_response_header_buf, self._get_short_timeout) is not None:
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if (
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self._get_packet(
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self._RESULT_HEADER_PACKET_MAGIC,
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self.__in_response_header_buf,
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self._get_short_timeout,
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)
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is not None
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):
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self.put_bytes(out_header, self._put_short_timeout)
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if self._get_packet(self._RESULT_DATA_PACKET_MAGIC, self.__in_response_data_buf, self._get_short_timeout) is not None:
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if (
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self._get_packet(
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self._RESULT_DATA_PACKET_MAGIC,
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self.__in_response_data_buf,
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self._get_short_timeout,
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)
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is not None
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):
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self.put_bytes(out_data, self._put_long_timeout)
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return True
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# Avoid timeout livelocking.
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@ -277,21 +349,37 @@ class rpc_slave(rpc):
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command, data = self.__get_command(recv_timeout)
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if command is not None:
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cb = self.__dict.get(command)
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if self.__put_result(cb(data) if cb is not None else bytes(), send_timeout) and self.__schedule_cb is not None:
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if (
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self.__put_result(cb(data) if cb is not None else bytes(), send_timeout)
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and self.__schedule_cb is not None
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):
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self.__schedule_cb()
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self.__schedule_cb = None
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if self.__loop_cb is not None: self.__loop_cb()
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if self.__loop_cb is not None:
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self.__loop_cb()
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class rpc_can_master(rpc_master):
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def __init__(self, message_id=0x7FF, bit_rate=250000, sample_point=75, can_bus=2):
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self.__message_id = message_id
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self.__can = pyb.CAN(can_bus, pyb.CAN.NORMAL, baudrate=bit_rate, sample_point=sample_point, auto_restart=True)
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self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id])
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self.__can = pyb.CAN(
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can_bus,
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pyb.CAN.NORMAL,
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baudrate=bit_rate,
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sample_point=sample_point,
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auto_restart=True,
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)
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self.__can.setfilter(
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0,
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pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32,
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0,
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[message_id, message_id],
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)
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rpc_master.__init__(self)
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def _flush(self): # private
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while self.__can.any(0): self.__can.recv(0)
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while self.__can.any(0):
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self.__can.recv(0)
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def get_bytes(self, buff, timeout_ms): # protected
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msg = bytearray(8)
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@ -301,7 +389,8 @@ class rpc_can_master(rpc_master):
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expected = min(l - i, 8)
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try:
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id, rtr, fmi, data = self.__can.recv(0, lst, timeout=timeout_ms)
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if id == self.__message_id and rtr == 0 and fmi == 0 and len(data) == expected: buff[i:i+8] = data
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if id == self.__message_id and rtr == 0 and fmi == 0 and len(data) == expected:
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buff[i : i + 8] = data
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else:
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pyb.delay(self._get_short_timeout)
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return None
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@ -313,19 +402,33 @@ class rpc_can_master(rpc_master):
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def put_bytes(self, data, timeout_ms): # protected
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view = memoryview(data)
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for i in range(0, len(view), 8):
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try: self.__can.send(view[i:i+8], self.__message_id, timeout=timeout_ms)
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except OSError: break
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try:
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self.__can.send(view[i : i + 8], self.__message_id, timeout=timeout_ms)
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except OSError:
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break
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class rpc_can_slave(rpc_slave):
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def __init__(self, message_id=0x7FF, bit_rate=250000, sample_point=75, can_bus=2):
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self.__message_id = message_id
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self.__can = pyb.CAN(can_bus, pyb.CAN.NORMAL, baudrate=bit_rate, sample_point=sample_point, auto_restart=True)
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self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id])
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self.__can = pyb.CAN(
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can_bus,
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pyb.CAN.NORMAL,
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baudrate=bit_rate,
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sample_point=sample_point,
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auto_restart=True,
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)
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self.__can.setfilter(
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0,
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pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32,
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0,
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[message_id, message_id],
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)
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rpc_slave.__init__(self)
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def _flush(self): # private
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while self.__can.any(0): self.__can.recv(0)
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while self.__can.any(0):
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self.__can.recv(0)
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def get_bytes(self, buff, timeout_ms): # protected
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msg = bytearray(8)
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@ -335,19 +438,24 @@ class rpc_can_slave(rpc_slave):
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expected = min(l - i, 8)
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try:
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id, rtr, fmi, data = self.__can.recv(0, lst, timeout=timeout_ms)
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if id == self.__message_id and rtr == 0 and fmi == 0 and len(data) == expected: buff[i:i+8] = data
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else: return None
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except OSError: return None
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if id == self.__message_id and rtr == 0 and fmi == 0 and len(data) == expected:
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buff[i : i + 8] = data
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else:
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return None
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except OSError:
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return None
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return buff
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def put_bytes(self, data, timeout_ms): # protected
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view = memoryview(data)
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for i in range(0, len(view), 8):
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try: self.__can.send(view[i:i+8], self.__message_id, timeout=timeout_ms)
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except OSError: break
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try:
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self.__can.send(view[i : i + 8], self.__message_id, timeout=timeout_ms)
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except OSError:
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break
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class rpc_i2c_master(rpc_master):
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def __init__(self, slave_addr=0x12, rate=100000, i2c_bus=2): # private
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self.__addr = slave_addr
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self.__freq = rate
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@ -360,11 +468,15 @@ class rpc_i2c_master(rpc_master):
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for i in range(0, len(view), 65535):
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pyb.udelay(100) # Give slave time to get ready.
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self.__i2c.init(pyb.I2C.MASTER, baudrate=self.__freq, dma=True)
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try: self.__i2c.recv(view[i:i+65535], self.__addr, timeout=timeout_ms)
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except OSError: view = None
|
||||
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)
|
||||
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
|
||||
@ -372,13 +484,16 @@ class rpc_i2c_master(rpc_master):
|
||||
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
|
||||
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
|
||||
if view is None:
|
||||
break
|
||||
|
||||
|
||||
class rpc_i2c_slave(rpc_slave):
|
||||
|
||||
def __init__(self, slave_addr=0x12, i2c_bus=2): # private
|
||||
self.__addr = slave_addr
|
||||
self.__i2c = pyb.I2C(i2c_bus)
|
||||
@ -389,24 +504,32 @@ class rpc_i2c_slave(rpc_slave):
|
||||
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
|
||||
try:
|
||||
self.__i2c.recv(view[i : i + 65535], timeout=timeout_ms)
|
||||
except OSError:
|
||||
view = None
|
||||
self.__i2c.deinit()
|
||||
if view is None: break
|
||||
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
|
||||
try:
|
||||
self.__i2c.send(view[i : i + 65535], timeout=timeout_ms)
|
||||
except OSError:
|
||||
view = None
|
||||
self.__i2c.deinit()
|
||||
if view is None: break
|
||||
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, spi_bus=2): # private
|
||||
def __init__(
|
||||
self, cs_pin="P3", freq=1000000, clk_polarity=1, clk_phase=0, spi_bus=2
|
||||
): # private
|
||||
self.__pin = pyb.Pin(cs_pin, pyb.Pin.OUT_PP)
|
||||
self.__freq = freq
|
||||
self.__polarity = clk_polarity
|
||||
@ -418,25 +541,34 @@ class rpc_spi_master(rpc_master):
|
||||
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.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)
|
||||
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.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):
|
||||
|
||||
class rpc_spi_slave(rpc_slave):
|
||||
def __init__(self, cs_pin="P3", clk_polarity=1, clk_phase=0, spi_bus=2): # private
|
||||
self.__pin = pyb.Pin(cs_pin, pyb.Pin.IN)
|
||||
self.__polarity = clk_polarity
|
||||
@ -447,25 +579,31 @@ class rpc_spi_slave(rpc_slave):
|
||||
|
||||
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
|
||||
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
|
||||
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
|
||||
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
|
||||
try:
|
||||
self.__spi.send(data, timeout=timeout_ms)
|
||||
except OSError:
|
||||
pass
|
||||
self.__spi.deinit()
|
||||
|
||||
class rpc_uart_master(rpc_master):
|
||||
|
||||
class rpc_uart_master(rpc_master):
|
||||
def __init__(self, baudrate=9600, uart_port=3): # private
|
||||
self.__uart = pyb.UART(uart_port, baudrate, timeout=2, timeout_char=2)
|
||||
rpc_master.__init__(self)
|
||||
@ -488,8 +626,8 @@ class rpc_uart_master(rpc_master):
|
||||
p.poll(1000)
|
||||
return self.get_bytes(buff, timeout_ms)
|
||||
|
||||
class rpc_uart_slave(rpc_slave):
|
||||
|
||||
class rpc_uart_slave(rpc_slave):
|
||||
def __init__(self, baudrate=9600, uart_port=3): # private
|
||||
self.__uart = pyb.UART(uart_port, baudrate, timeout=2, timeout_char=2)
|
||||
rpc_slave.__init__(self)
|
||||
@ -498,7 +636,8 @@ class rpc_uart_slave(rpc_slave):
|
||||
self.__uart.read(self.__uart.any())
|
||||
|
||||
def get_bytes(self, buff, timeout_ms): # protected
|
||||
if self.__uart.readinto(buff) is None: return None
|
||||
if self.__uart.readinto(buff) is None:
|
||||
return None
|
||||
return buff
|
||||
|
||||
def put_bytes(self, data, timeout_ms): # protected
|
||||
@ -510,11 +649,12 @@ class rpc_uart_slave(rpc_slave):
|
||||
p.poll(1000)
|
||||
return self.get_bytes(buff, timeout_ms)
|
||||
|
||||
class rpc_usb_vcp_master(rpc_master):
|
||||
|
||||
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!")
|
||||
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)
|
||||
|
||||
@ -522,17 +662,19 @@ class rpc_usb_vcp_master(rpc_master):
|
||||
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
|
||||
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):
|
||||
|
||||
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!")
|
||||
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)
|
||||
|
||||
@ -540,14 +682,15 @@ class rpc_usb_vcp_slave(rpc_slave):
|
||||
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
|
||||
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_network_master(rpc_master):
|
||||
|
||||
class rpc_network_master(rpc_master):
|
||||
def __valid_tcp_socket(self): # private
|
||||
if self.__tcp__socket is None:
|
||||
try:
|
||||
@ -557,7 +700,8 @@ class rpc_network_master(rpc_master):
|
||||
s.settimeout(1)
|
||||
self.__tcp__socket, addr = s.accept()
|
||||
s.close()
|
||||
except OSError: self.__tcp__socket = None
|
||||
except OSError:
|
||||
self.__tcp__socket = None
|
||||
return self.__tcp__socket is not None
|
||||
|
||||
def __close_tcp_socket(self): # private
|
||||
@ -569,7 +713,8 @@ class rpc_network_master(rpc_master):
|
||||
try:
|
||||
self.__udp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.__udp__socket.bind(self.__myaddr)
|
||||
except OSError: self.__udp__socket = None
|
||||
except OSError:
|
||||
self.__udp__socket = None
|
||||
return self.__udp__socket is not None
|
||||
|
||||
def __close_udp_socket(self): # private
|
||||
@ -592,17 +737,21 @@ class rpc_network_master(rpc_master):
|
||||
if self.__valid_udp_socket():
|
||||
try:
|
||||
self.__udp__socket.settimeout(0.001)
|
||||
while(True):
|
||||
while True:
|
||||
data, addr = self.__udp__socket.recvfrom(1400)
|
||||
if not len(data): break
|
||||
except OSError: self.__close_udp_socket()
|
||||
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):
|
||||
while True:
|
||||
data = self.__tcp__socket.recv(1400)
|
||||
if not len(data): break
|
||||
except OSError: self.__close_tcp_socket()
|
||||
if not len(data):
|
||||
break
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
|
||||
def get_bytes(self, buff, timeout_ms): # protected
|
||||
i = 0
|
||||
@ -610,28 +759,35 @@ class rpc_network_master(rpc_master):
|
||||
if l <= self._udp_limit:
|
||||
if self.__valid_udp_socket():
|
||||
try:
|
||||
self.__udp__socket.settimeout(self._get_short_timeout * 0.001 * self._timeout_scale)
|
||||
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
|
||||
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()
|
||||
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
|
||||
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()
|
||||
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
|
||||
@ -640,24 +796,34 @@ class rpc_network_master(rpc_master):
|
||||
if l <= self._udp_limit:
|
||||
if self.__valid_udp_socket():
|
||||
try:
|
||||
self.__udp__socket.settimeout(self._put_short_timeout * 0.001 * self._timeout_scale)
|
||||
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
|
||||
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()
|
||||
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
|
||||
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:
|
||||
self.__close_tcp_socket()
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
|
||||
def _stream_get_bytes(self, buff, timeout_ms): # protected
|
||||
i = 0
|
||||
@ -668,12 +834,15 @@ class rpc_network_master(rpc_master):
|
||||
while l:
|
||||
data = self.__tcp__socket.recv(min(l, 1400))
|
||||
data_len = len(data)
|
||||
if not data_len: break
|
||||
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()
|
||||
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
|
||||
@ -684,21 +853,26 @@ class rpc_network_master(rpc_master):
|
||||
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
|
||||
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.
|
||||
if l:
|
||||
self.__close_tcp_socket()
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
if l:
|
||||
raise OSError # Stop Stream.
|
||||
|
||||
|
||||
class rpc_network_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
|
||||
except OSError:
|
||||
self.__tcp__socket = None
|
||||
return self.__tcp__socket is not None
|
||||
|
||||
def __close_tcp_socket(self): # private
|
||||
@ -710,7 +884,8 @@ class rpc_network_slave(rpc_slave):
|
||||
try:
|
||||
self.__udp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.__udp__socket.bind(self.__myaddr)
|
||||
except OSError: self.__udp__socket = None
|
||||
except OSError:
|
||||
self.__udp__socket = None
|
||||
return self.__udp__socket is not None
|
||||
|
||||
def __close_udp_socket(self): # private
|
||||
@ -733,17 +908,21 @@ class rpc_network_slave(rpc_slave):
|
||||
if self.__valid_udp_socket():
|
||||
try:
|
||||
self.__udp__socket.settimeout(0.001)
|
||||
while(True):
|
||||
while True:
|
||||
data, addr = self.__udp__socket.recvfrom(1400)
|
||||
if not len(data): break
|
||||
except OSError: self.__close_udp_socket()
|
||||
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):
|
||||
while True:
|
||||
data = self.__tcp__socket.recv(1400)
|
||||
if not len(data): break
|
||||
except OSError: self.__close_tcp_socket()
|
||||
if not len(data):
|
||||
break
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
|
||||
def get_bytes(self, buff, timeout_ms): # protected
|
||||
i = 0
|
||||
@ -751,29 +930,36 @@ class rpc_network_slave(rpc_slave):
|
||||
if l <= self._udp_limit:
|
||||
if self.__valid_udp_socket():
|
||||
try:
|
||||
self.__udp__socket.settimeout(self._get_short_timeout * 0.001 * self._timeout_scale)
|
||||
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
|
||||
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()
|
||||
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
|
||||
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()
|
||||
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
|
||||
@ -782,24 +968,34 @@ class rpc_network_slave(rpc_slave):
|
||||
if l <= self._udp_limit:
|
||||
if self.__valid_udp_socket():
|
||||
try:
|
||||
self.__udp__socket.settimeout(self._put_short_timeout * 0.001 * self._timeout_scale)
|
||||
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
|
||||
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()
|
||||
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
|
||||
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:
|
||||
self.__close_tcp_socket()
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
|
||||
def _stream_get_bytes(self, buff, timeout_ms): # protected
|
||||
i = 0
|
||||
@ -810,12 +1006,15 @@ class rpc_network_slave(rpc_slave):
|
||||
while l:
|
||||
data = self.__tcp__socket.recv(min(l, 1400))
|
||||
data_len = len(data)
|
||||
if not data_len: break
|
||||
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()
|
||||
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
|
||||
@ -826,9 +1025,13 @@ class rpc_network_slave(rpc_slave):
|
||||
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
|
||||
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.
|
||||
if l:
|
||||
self.__close_tcp_socket()
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
if l:
|
||||
raise OSError # Stop Stream.
|
||||
|
||||
@ -7,8 +7,8 @@
|
||||
|
||||
import network, pyb, re, socket, struct
|
||||
|
||||
class rtsp_server:
|
||||
|
||||
class rtsp_server:
|
||||
def __valid_tcp_socket(self): # private
|
||||
if self.__tcp__socket is None:
|
||||
try:
|
||||
@ -18,7 +18,8 @@ class rtsp_server:
|
||||
s.settimeout(5)
|
||||
self.__tcp__socket, self.__client_addr = s.accept()
|
||||
s.close()
|
||||
except OSError: self.__tcp__socket = None
|
||||
except OSError:
|
||||
self.__tcp__socket = None
|
||||
return self.__tcp__socket is not None
|
||||
|
||||
def __close_tcp_socket(self): # private
|
||||
@ -30,7 +31,8 @@ class rtsp_server:
|
||||
try:
|
||||
self.__udp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
||||
self.__udp__socket.bind((self.__myip, self.__client_rtp_port))
|
||||
except OSError: self.__udp__socket = None
|
||||
except OSError:
|
||||
self.__udp__socket = None
|
||||
return self.__udp__socket is not None
|
||||
|
||||
def __close_udp_socket(self): # private
|
||||
@ -78,61 +80,103 @@ class rtsp_server:
|
||||
self.__send_rtsp_response_cseq(200, "OK", seq, extra)
|
||||
|
||||
def __parse_rtsp_request(self, data): # private
|
||||
if data[0] == 0x24: return # Interleaved RTCP Packet
|
||||
if data[0] >= 0x80: return # Ressambled TCP
|
||||
s = list(filter(lambda x: x and not x.startswith("User-Agent"), data.decode().splitlines()))
|
||||
if data[0] == 0x24:
|
||||
return # Interleaved RTCP Packet
|
||||
if data[0] >= 0x80:
|
||||
return # Ressambled TCP
|
||||
s = list(
|
||||
filter(lambda x: x and not x.startswith("User-Agent"), data.decode().splitlines())
|
||||
)
|
||||
if s and len(s) >= 2:
|
||||
line0 = s[0].split(' ')
|
||||
line0 = s[0].split(" ")
|
||||
request = line0[0]
|
||||
self.__pathname = re.sub("rtsp(u)?://[a-zA-Z0-9\-\.]+(:\d+)?(/)?", '/', line0[1])
|
||||
if self.__pathname != '/' and self.__pathname.endswith('/'):
|
||||
self.__pathname = re.sub("rtsp(u)?://[a-zA-Z0-9\-\.]+(:\d+)?(/)?", "/", line0[1])
|
||||
if self.__pathname != "/" and self.__pathname.endswith("/"):
|
||||
self.__pathname = self.__pathname[:-1]
|
||||
if line0[2] == "RTSP/1.0":
|
||||
if len(s) >= 3 and s[1].split(' ')[0] != "CSeq:":
|
||||
if len(s) >= 3 and s[1].split(" ")[0] != "CSeq:":
|
||||
for i in range(2, len(s)):
|
||||
if s[i].split(' ')[0] == "CSeq:":
|
||||
if s[i].split(" ")[0] == "CSeq:":
|
||||
temp = s[i]
|
||||
s[i] = s[1]
|
||||
s[1] = temp
|
||||
break
|
||||
line1 = s[1].split(' ')
|
||||
line1 = s[1].split(" ")
|
||||
if line1[0] == "CSeq:":
|
||||
seq = int(line1[1])
|
||||
if request == "OPTIONS":
|
||||
if len(s) >= 3:
|
||||
m = re.match("(Proxy-)?Require: (\S)+", s[2])
|
||||
if m:
|
||||
self.__send_rtsp_response_cseq(551, "Option not supported", seq, "Unsupported: %s\r\n" % m.group(2))
|
||||
self.__send_rtsp_response_cseq(
|
||||
551,
|
||||
"Option not supported",
|
||||
seq,
|
||||
"Unsupported: %s\r\n" % m.group(2),
|
||||
)
|
||||
return
|
||||
self.__send_rtsp_response_ok(seq, "Public: DESCRIBE, SETUP, PLAY, PAUSE, TEARDOWN\r\n")
|
||||
self.__send_rtsp_response_ok(
|
||||
seq, "Public: DESCRIBE, SETUP, PLAY, PAUSE, TEARDOWN\r\n"
|
||||
)
|
||||
return
|
||||
elif request == "DESCRIBE":
|
||||
payload = "v=0\r\no=- %d %d IN IP4 %s\r\ns=OpenMV Video\r\nt=0 0\r\nm=video 0 RTP/AVP 26" % (pyb.rng(), pyb.rng(), self.__myip)
|
||||
self.__send_rtsp_response_ok(seq, "Content-Type: application/sdp\r\nContent-Length: %d\r\n\r\n%s" % (len(payload) + 2, payload))
|
||||
payload = (
|
||||
"v=0\r\no=- %d %d IN IP4 %s\r\ns=OpenMV Video\r\nt=0 0\r\nm=video 0 RTP/AVP 26"
|
||||
% (pyb.rng(), pyb.rng(), self.__myip)
|
||||
)
|
||||
self.__send_rtsp_response_ok(
|
||||
seq,
|
||||
"Content-Type: application/sdp\r\nContent-Length: %d\r\n\r\n%s"
|
||||
% (len(payload) + 2, payload),
|
||||
)
|
||||
return
|
||||
elif request == "SETUP":
|
||||
if len(s) >= 3:
|
||||
m = re.match("Transport: RTP/AVP(/UDP)?;unicast;client_port=(\d+)-(\d+)", s[2])
|
||||
m = re.match(
|
||||
"Transport: RTP/AVP(/UDP)?;unicast;client_port=(\d+)-(\d+)", s[2]
|
||||
)
|
||||
if m:
|
||||
self.__transport_is_tcp = False
|
||||
self.__client_rtp_port = int(m.group(2))
|
||||
self.__client_rtcp_port = int(m.group(3))
|
||||
self.__client_rtp_addr = (self.__client_addr[0], self.__client_rtp_port)
|
||||
self.__client_rtcp_addr = (self.__client_addr[0], self.__client_rtcp_port)
|
||||
self.__client_rtp_addr = (
|
||||
self.__client_addr[0],
|
||||
self.__client_rtp_port,
|
||||
)
|
||||
self.__client_rtcp_addr = (
|
||||
self.__client_addr[0],
|
||||
self.__client_rtcp_port,
|
||||
)
|
||||
self.__session = pyb.rng()
|
||||
self.__ssrc = pyb.rng()
|
||||
self.__send_rtsp_response_ok(seq, "%s;server_port=%d-%d;ssrc=%d\r\nSession: %d\r\n" % (s[2], self.__client_rtp_port, self.__client_rtcp_port, self.__ssrc, self.__session))
|
||||
if self.__setup_cb: self.__setup_cb(self.__pathname, self.__session)
|
||||
self.__send_rtsp_response_ok(
|
||||
seq,
|
||||
"%s;server_port=%d-%d;ssrc=%d\r\nSession: %d\r\n"
|
||||
% (
|
||||
s[2],
|
||||
self.__client_rtp_port,
|
||||
self.__client_rtcp_port,
|
||||
self.__ssrc,
|
||||
self.__session,
|
||||
),
|
||||
)
|
||||
if self.__setup_cb:
|
||||
self.__setup_cb(self.__pathname, self.__session)
|
||||
return
|
||||
m = re.match("Transport: RTP/AVP/TCP;unicast;interleaved=(\d+)-(\d+)", s[2])
|
||||
m = re.match(
|
||||
"Transport: RTP/AVP/TCP;unicast;interleaved=(\d+)-(\d+)", s[2]
|
||||
)
|
||||
if m:
|
||||
self.__transport_is_tcp = True
|
||||
self.__client_rtp_channel = int(m.group(1))
|
||||
self.__client_rtcp_channel = int(m.group(2))
|
||||
self.__session = pyb.rng()
|
||||
self.__ssrc = pyb.rng()
|
||||
self.__send_rtsp_response_ok(seq, "%s\r\nSession: %d\r\n" % (s[2], self.__session))
|
||||
if self.__setup_cb: self.__setup_cb(self.__pathname, self.__session)
|
||||
self.__send_rtsp_response_ok(
|
||||
seq, "%s\r\nSession: %d\r\n" % (s[2], self.__session)
|
||||
)
|
||||
if self.__setup_cb:
|
||||
self.__setup_cb(self.__pathname, self.__session)
|
||||
return
|
||||
elif request == "PLAY":
|
||||
s = list(filter(lambda x: x and not x.startswith("Range"), s))
|
||||
@ -140,8 +184,13 @@ class rtsp_server:
|
||||
m = re.match("Session: (\d+)", s[2])
|
||||
if m:
|
||||
self.__playing = True
|
||||
self.__send_rtsp_response_ok(seq, "RTP-Info: url=%s;seq=%d\r\n" % (line0[1], self.__sequence_number))
|
||||
if self.__play_cb: self.__play_cb(self.__pathname, int(m.group(1)))
|
||||
self.__send_rtsp_response_ok(
|
||||
seq,
|
||||
"RTP-Info: url=%s;seq=%d\r\n"
|
||||
% (line0[1], self.__sequence_number),
|
||||
)
|
||||
if self.__play_cb:
|
||||
self.__play_cb(self.__pathname, int(m.group(1)))
|
||||
return
|
||||
elif request == "PAUSE":
|
||||
if len(s) >= 3:
|
||||
@ -149,7 +198,8 @@ class rtsp_server:
|
||||
if m:
|
||||
self.__playing = False
|
||||
self.__send_rtsp_response_ok(seq)
|
||||
if self.__pause_cb: self.__pause_cb(self.__pathname, int(m.group(1)))
|
||||
if self.__pause_cb:
|
||||
self.__pause_cb(self.__pathname, int(m.group(1)))
|
||||
return
|
||||
elif request == "TEARDOWN":
|
||||
if len(s) >= 3:
|
||||
@ -157,7 +207,8 @@ class rtsp_server:
|
||||
if m:
|
||||
self.__playing = False
|
||||
self.__send_rtsp_response_ok(seq)
|
||||
if self.__teardown_cb: self.__teardown_cb(self.__pathname, int(m.group(1)))
|
||||
if self.__teardown_cb:
|
||||
self.__teardown_cb(self.__pathname, int(m.group(1)))
|
||||
return
|
||||
else:
|
||||
self.__send_rtsp_response_cseq(501, "Not Implemented", seq)
|
||||
@ -165,49 +216,72 @@ class rtsp_server:
|
||||
self.__send_rtsp_response(400, "Bad Request")
|
||||
|
||||
def __valid_socket(self): # private
|
||||
if self.__transport_is_tcp: return self.__client_rtp_channel is not None
|
||||
else: return self.__valid_udp_socket() and self.__client_rtp_addr is not None
|
||||
if self.__transport_is_tcp:
|
||||
return self.__client_rtp_channel is not None
|
||||
else:
|
||||
return self.__valid_udp_socket() and self.__client_rtp_addr is not None
|
||||
|
||||
def __settimeout(self, timeout): # private
|
||||
if self.__transport_is_tcp: self.__tcp__socket.settimeout(timeout)
|
||||
else: self.__udp__socket.settimeout(timeout)
|
||||
if self.__transport_is_tcp:
|
||||
self.__tcp__socket.settimeout(timeout)
|
||||
else:
|
||||
self.__udp__socket.settimeout(timeout)
|
||||
|
||||
def __send(self, data): # private
|
||||
if self.__transport_is_tcp: return self.__tcp__socket.send(struct.pack(">BBH", 0x24, self.__client_rtp_channel, len(data)) + data)
|
||||
else: return self.__udp__socket.sendto(data, self.__client_rtp_addr)
|
||||
if self.__transport_is_tcp:
|
||||
return self.__tcp__socket.send(
|
||||
struct.pack(">BBH", 0x24, self.__client_rtp_channel, len(data)) + data
|
||||
)
|
||||
else:
|
||||
return self.__udp__socket.sendto(data, self.__client_rtp_addr)
|
||||
|
||||
def __close_socket(self): # private
|
||||
if self.__transport_is_tcp: pass
|
||||
else: self.__close_udp_socket()
|
||||
if self.__transport_is_tcp:
|
||||
pass
|
||||
else:
|
||||
self.__close_udp_socket()
|
||||
|
||||
def __send_rtp(self, image_callback, quality): # private
|
||||
img = image_callback(self.__pathname, self.__session).compress(quality)
|
||||
if img.width() >= 2040: raise ValueError("Maximum width is 2040")
|
||||
if img.height() >= 2040: raise ValueError("Maximum height is 2040")
|
||||
if img.width() >= 2040:
|
||||
raise ValueError("Maximum width is 2040")
|
||||
if img.height() >= 2040:
|
||||
raise ValueError("Maximum height is 2040")
|
||||
i = 0
|
||||
l = img.size()
|
||||
rtp_header_size = 12
|
||||
jpeg_header_size = 8
|
||||
max_packet_size = 1400 - rtp_header_size - jpeg_header_size
|
||||
if self.__transport_is_tcp: max_packet_size -= 4
|
||||
if self.__transport_is_tcp:
|
||||
max_packet_size -= 4
|
||||
if self.__valid_socket():
|
||||
try:
|
||||
self.__settimeout(0.1)
|
||||
timestamp = (pyb.millis() * 90) & 0xFFFFFFFF
|
||||
while l:
|
||||
rtp_header = struct.pack(">BBHII",
|
||||
0x80, 0x9A if l <= max_packet_size else 0x1A,
|
||||
self.__sequence_number, timestamp, self.__ssrc)
|
||||
rtp_header = struct.pack(
|
||||
">BBHII",
|
||||
0x80,
|
||||
0x9A if l <= max_packet_size else 0x1A,
|
||||
self.__sequence_number,
|
||||
timestamp,
|
||||
self.__ssrc,
|
||||
)
|
||||
self.__sequence_number = (self.__sequence_number + 1) & 0xFFFF
|
||||
jpeg_header = struct.pack(">IBBBB", i, 0, quality, int(img.width() // 8), int(img.height() // 8))
|
||||
jpeg_header = struct.pack(
|
||||
">IBBBB", i, 0, quality, int(img.width() // 8), int(img.height() // 8)
|
||||
)
|
||||
img_data = img.bytearray()[i : i + min(l, max_packet_size)]
|
||||
img_data_len = len(img_data)
|
||||
data_len = self.__send(rtp_header + jpeg_header + img_data)
|
||||
if not data_len: break
|
||||
if not data_len:
|
||||
break
|
||||
i += img_data_len
|
||||
l -= img_data_len
|
||||
if l: self.__close_socket()
|
||||
except OSError: self.__close_socket()
|
||||
if l:
|
||||
self.__close_socket()
|
||||
except OSError:
|
||||
self.__close_socket()
|
||||
|
||||
def stream(self, image_callback, quality=90): # public
|
||||
while True:
|
||||
@ -216,6 +290,9 @@ class rtsp_server:
|
||||
self.__tcp__socket.settimeout(0.1)
|
||||
while True:
|
||||
data = self.__tcp__socket.recv(1400)
|
||||
if data and len(data): self.__parse_rtsp_request(data)
|
||||
if self.__playing: self.__send_rtp(image_callback, quality)
|
||||
except OSError: self.__close_tcp_socket()
|
||||
if data and len(data):
|
||||
self.__parse_rtsp_request(data)
|
||||
if self.__playing:
|
||||
self.__send_rtp(image_callback, quality)
|
||||
except OSError:
|
||||
self.__close_tcp_socket()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user