# 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 __crc_16_table = [0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0] def __tab_crc_16(self, data, size): # private crc = 0xFFFF for i in range(size): crc = self.__crc_16_table[((crc >> 8) ^ data[i]) & 0xff] ^ (crc << 8) 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.__tab_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("