435 lines
15 KiB
Python
435 lines
15 KiB
Python
#
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# MarlinBinaryProtocol.py
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# Supporting Firmware upload via USB/Serial, saving to the attached media.
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#
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import serial
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import math
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import time
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from collections import deque
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import threading
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import sys
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import datetime
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import random
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try:
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import heatshrink
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heatshrink_exists = True
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except ImportError:
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heatshrink_exists = False
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def millis():
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return time.perf_counter() * 1000
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class TimeOut(object):
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def __init__(self, milliseconds):
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self.duration = milliseconds
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self.reset()
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def reset(self):
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self.endtime = millis() + self.duration
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def timedout(self):
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return millis() > self.endtime
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class ReadTimeout(Exception):
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pass
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class FatalError(Exception):
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pass
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class SycronisationError(Exception):
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pass
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class PayloadOverflow(Exception):
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pass
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class ConnectionLost(Exception):
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pass
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class Protocol(object):
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device = None
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baud = None
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max_block_size = 0
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port = None
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block_size = 0
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packet_transit = None
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packet_status = None
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packet_ping = None
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errors = 0
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packet_buffer = None
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simulate_errors = 0
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sync = 0
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connected = False
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syncronised = False
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worker_thread = None
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response_timeout = 1000
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applications = []
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responses = deque()
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def __init__(self, device, baud, bsize, simerr, timeout):
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print("pySerial Version:", serial.VERSION)
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self.port = serial.Serial(device, baudrate = baud, write_timeout = 0, timeout = 1)
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self.device = device
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self.baud = baud
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self.block_size = int(bsize)
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self.simulate_errors = max(min(simerr, 1.0), 0.0);
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self.connected = True
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self.response_timeout = timeout
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self.register(['ok', 'rs', 'ss', 'fe'], self.process_input)
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self.worker_thread = threading.Thread(target=Protocol.receive_worker, args=(self,))
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self.worker_thread.start()
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def receive_worker(self):
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while self.port.in_waiting:
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self.port.reset_input_buffer()
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def dispatch(data):
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for tokens, callback in self.applications:
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for token in tokens:
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if token == data[:len(token)]:
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callback((token, data[len(token):]))
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return
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def reconnect():
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print("Reconnecting..")
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self.port.close()
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for x in range(10):
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try:
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if self.connected:
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self.port = serial.Serial(self.device, baudrate = self.baud, write_timeout = 0, timeout = 1)
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return
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else:
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print("Connection closed")
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return
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except:
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time.sleep(1)
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raise ConnectionLost()
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while self.connected:
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try:
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data = self.port.readline().decode('utf8').rstrip()
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if len(data):
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#print(data)
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dispatch(data)
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except OSError:
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reconnect()
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except UnicodeDecodeError:
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# dodgy client output or datastream corruption
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self.port.reset_input_buffer()
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def shutdown(self):
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self.connected = False
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self.worker_thread.join()
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self.port.close()
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def process_input(self, data):
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#print(data)
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self.responses.append(data)
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def register(self, tokens, callback):
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self.applications.append((tokens, callback))
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def send(self, protocol, packet_type, data = bytearray()):
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self.packet_transit = self.build_packet(protocol, packet_type, data)
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self.packet_status = 0
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self.transmit_attempt = 0
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timeout = TimeOut(self.response_timeout * 20)
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while self.packet_status == 0:
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try:
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if timeout.timedout():
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raise ConnectionLost()
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self.transmit_packet(self.packet_transit)
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self.await_response()
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except ReadTimeout:
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self.errors += 1
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#print("Packetloss detected..")
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self.packet_transit = None
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def await_response(self):
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timeout = TimeOut(self.response_timeout)
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while not len(self.responses):
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time.sleep(0.00001)
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if timeout.timedout():
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raise ReadTimeout()
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while len(self.responses):
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token, data = self.responses.popleft()
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switch = {'ok' : self.response_ok, 'rs': self.response_resend, 'ss' : self.response_stream_sync, 'fe' : self.response_fatal_error}
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switch[token](data)
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def send_ascii(self, data, send_and_forget = False):
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self.packet_transit = bytearray(data, "utf8") + b'\n'
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self.packet_status = 0
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self.transmit_attempt = 0
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timeout = TimeOut(self.response_timeout * 20)
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while self.packet_status == 0:
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try:
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if timeout.timedout():
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return
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self.port.write(self.packet_transit)
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if send_and_forget:
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self.packet_status = 1
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else:
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self.await_response_ascii()
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except ReadTimeout:
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self.errors += 1
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#print("Packetloss detected..")
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except serial.serialutil.SerialException:
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return
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self.packet_transit = None
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def await_response_ascii(self):
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timeout = TimeOut(self.response_timeout)
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while not len(self.responses):
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time.sleep(0.00001)
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if timeout.timedout():
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raise ReadTimeout()
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token, data = self.responses.popleft()
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self.packet_status = 1
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def corrupt_array(self, data):
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rid = random.randint(0, len(data) - 1)
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data[rid] ^= 0xAA
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return data
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def transmit_packet(self, packet):
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packet = bytearray(packet)
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if(self.simulate_errors > 0 and random.random() > (1.0 - self.simulate_errors)):
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if random.random() > 0.9:
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#random data drop
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start = random.randint(0, len(packet))
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end = start + random.randint(1, 10)
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packet = packet[:start] + packet[end:]
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#print("Dropping {0} bytes".format(end - start))
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else:
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#random corruption
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packet = self.corrupt_array(packet)
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#print("Single byte corruption")
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self.port.write(packet)
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self.transmit_attempt += 1
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def build_packet(self, protocol, packet_type, data = bytearray()):
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PACKET_TOKEN = 0xB5AD
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if len(data) > self.max_block_size:
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raise PayloadOverflow()
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packet_buffer = bytearray()
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packet_buffer += self.pack_int8(self.sync) # 8bit sync id
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packet_buffer += self.pack_int4_2(protocol, packet_type) # 4 bit protocol id, 4 bit packet type
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packet_buffer += self.pack_int16(len(data)) # 16bit packet length
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packet_buffer += self.pack_int16(self.build_checksum(packet_buffer)) # 16bit header checksum
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if len(data):
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packet_buffer += data
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packet_buffer += self.pack_int16(self.build_checksum(packet_buffer))
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packet_buffer = self.pack_int16(PACKET_TOKEN) + packet_buffer # 16bit start token, not included in checksum
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return packet_buffer
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# checksum 16 fletchers
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def checksum(self, cs, value):
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cs_low = (((cs & 0xFF) + value) % 255);
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return ((((cs >> 8) + cs_low) % 255) << 8) | cs_low;
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def build_checksum(self, buffer):
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cs = 0
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for b in buffer:
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cs = self.checksum(cs, b)
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return cs
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def pack_int32(self, value):
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return value.to_bytes(4, byteorder='little')
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def pack_int16(self, value):
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return value.to_bytes(2, byteorder='little')
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def pack_int8(self, value):
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return value.to_bytes(1, byteorder='little')
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def pack_int4_2(self, vh, vl):
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value = ((vh & 0xF) << 4) | (vl & 0xF)
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return value.to_bytes(1, byteorder='little')
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def connect(self):
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print("Connecting: Switching Marlin to Binary Protocol...")
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self.send_ascii("M28B1")
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self.send(0, 1)
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def disconnect(self):
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self.send(0, 2)
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self.syncronised = False
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def response_ok(self, data):
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try:
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packet_id = int(data);
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except ValueError:
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return
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if packet_id != self.sync:
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raise SycronisationError()
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self.sync = (self.sync + 1) % 256
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self.packet_status = 1
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def response_resend(self, data):
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packet_id = int(data);
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self.errors += 1
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if not self.syncronised:
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print("Retrying syncronisation")
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elif packet_id != self.sync:
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raise SycronisationError()
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def response_stream_sync(self, data):
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sync, max_block_size, protocol_version = data.split(',')
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self.sync = int(sync)
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self.max_block_size = int(max_block_size)
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self.block_size = self.max_block_size if self.max_block_size < self.block_size else self.block_size
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self.protocol_version = protocol_version
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self.packet_status = 1
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self.syncronised = True
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print("Connection synced [{0}], binary protocol version {1}, {2} byte payload buffer".format(self.sync, self.protocol_version, self.max_block_size))
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def response_fatal_error(self, data):
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raise FatalError()
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class FileTransferProtocol(object):
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protocol_id = 1
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class Packet(object):
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QUERY = 0
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OPEN = 1
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CLOSE = 2
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WRITE = 3
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ABORT = 4
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responses = deque()
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def __init__(self, protocol, timeout = None):
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protocol.register(['PFT:success', 'PFT:version:', 'PFT:fail', 'PFT:busy', 'PFT:ioerror', 'PTF:invalid'], self.process_input)
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self.protocol = protocol
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self.response_timeout = timeout or protocol.response_timeout
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def process_input(self, data):
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#print(data)
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self.responses.append(data)
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def await_response(self, timeout = None):
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timeout = TimeOut(timeout or self.response_timeout)
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while not len(self.responses):
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time.sleep(0.0001)
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if timeout.timedout():
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raise ReadTimeout()
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return self.responses.popleft()
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def connect(self):
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self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.QUERY);
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token, data = self.await_response()
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if token != 'PFT:version:':
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return False
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self.version, _, compression = data.split(':')
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if compression != 'none':
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algorithm, window, lookahead = compression.split(',')
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self.compression = {'algorithm': algorithm, 'window': int(window), 'lookahead': int(lookahead)}
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else:
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self.compression = {'algorithm': 'none'}
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print("File Transfer version: {0}, compression: {1}".format(self.version, self.compression['algorithm']))
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def open(self, filename, compression, dummy):
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payload = b'\1' if dummy else b'\0' # dummy transfer
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payload += b'\1' if compression else b'\0' # payload compression
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payload += bytearray(filename, 'utf8') + b'\0'# target filename + null terminator
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timeout = TimeOut(5000)
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token = None
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self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.OPEN, payload);
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while token != 'PFT:success' and not timeout.timedout():
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try:
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token, data = self.await_response(1000)
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if token == 'PFT:success':
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print(filename,"opened")
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return
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elif token == 'PFT:busy':
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print("Broken transfer detected, purging")
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self.abort()
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time.sleep(0.1)
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self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.OPEN, payload);
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timeout.reset()
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elif token == 'PFT:fail':
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raise Exception("Can not open file on client")
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except ReadTimeout:
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pass
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raise ReadTimeout()
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def write(self, data):
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self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.WRITE, data);
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def close(self):
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self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.CLOSE);
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token, data = self.await_response(1000)
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if token == 'PFT:success':
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print("File closed")
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return
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elif token == 'PFT:ioerror':
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print("Client storage device IO error")
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elif token == 'PFT:invalid':
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print("No open file")
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def abort(self):
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self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.ABORT);
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token, data = self.await_response()
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if token == 'PFT:success':
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print("Transfer Aborted")
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def copy(self, filename, dest_filename, compression, dummy):
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self.connect()
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compression_support = heatshrink_exists and self.compression['algorithm'] == 'heatshrink' and compression
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if compression and (not heatshrink_exists or not self.compression['algorithm'] == 'heatshrink'):
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print("Compression not supported by client")
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#compression_support = False
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data = open(filename, "rb").read()
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filesize = len(data)
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self.open(dest_filename, compression_support, dummy)
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block_size = self.protocol.block_size
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if compression_support:
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data = heatshrink.encode(data, window_sz2=self.compression['window'], lookahead_sz2=self.compression['lookahead'])
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cratio = filesize / len(data)
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blocks = math.floor((len(data) + block_size - 1) / block_size)
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kibs = 0
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dump_pctg = 0
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start_time = millis()
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for i in range(blocks):
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start = block_size * i
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end = start + block_size
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self.write(data[start:end])
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kibs = (( (i+1) * block_size) / 1024) / (millis() + 1 - start_time) * 1000
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if (i / blocks) >= dump_pctg:
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print("\r{0:2.2f}% {1:4.2f}KiB/s {2} Errors: {3}".format((i / blocks) * 100, kibs, "[{0:4.2f}KiB/s]".format(kibs * cratio) if compression_support else "", self.protocol.errors), end='')
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dump_pctg += 0.1
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print("\r{0:2.2f}% {1:4.2f}KiB/s {2} Errors: {3}".format(100, kibs, "[{0:4.2f}KiB/s]".format(kibs * cratio) if compression_support else "", self.protocol.errors)) # no one likes transfers finishing at 99.8%
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self.close()
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print("Transfer complete")
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class EchoProtocol(object):
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def __init__(self, protocol):
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protocol.register(['echo:'], self.process_input)
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self.protocol = protocol
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def process_input(self, data):
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print(data)
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