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530 | class protocol_packet_handler(object):
def __init__(self, portHandler, protocol_end):
#self.scs_setend(protocol_end)# SCServo bit end(STS/SMS=0, SCS=1)
self.portHandler = portHandler
self.scs_end = protocol_end
def scs_getend(self):
return self.scs_end
def scs_setend(self, e):
self.scs_end = e
def scs_tohost(self, a, b):
if (a & (1<<b)):
return -(a & ~(1<<b))
else:
return a
def scs_toscs(self, a, b):
if (a<0):
return (-a | (1<<b))
else:
return a
def scs_makeword(self, a, b):
if self.scs_end==0:
return (a & 0xFF) | ((b & 0xFF) << 8)
else:
return (b & 0xFF) | ((a & 0xFF) << 8)
def scs_makedword(self, a, b):
return (a & 0xFFFF) | (b & 0xFFFF) << 16
def scs_loword(self, l):
return l & 0xFFFF
def scs_hiword(self, h):
return (h >> 16) & 0xFFFF
def scs_lobyte(self, w):
if self.scs_end==0:
return w & 0xFF
else:
return (w >> 8) & 0xFF
def scs_hibyte(self, w):
if self.scs_end==0:
return (w >> 8) & 0xFF
else:
return w & 0xFF
def getProtocolVersion(self):
return 1.0
def getTxRxResult(self, result):
if result == COMM_SUCCESS:
return "[TxRxResult] Communication success!"
elif result == COMM_PORT_BUSY:
return "[TxRxResult] Port is in use!"
elif result == COMM_TX_FAIL:
return "[TxRxResult] Failed transmit instruction packet!"
elif result == COMM_RX_FAIL:
return "[TxRxResult] Failed get status packet from device!"
elif result == COMM_TX_ERROR:
return "[TxRxResult] Incorrect instruction packet!"
elif result == COMM_RX_WAITING:
return "[TxRxResult] Now receiving status packet!"
elif result == COMM_RX_TIMEOUT:
return "[TxRxResult] There is no status packet!"
elif result == COMM_RX_CORRUPT:
return "[TxRxResult] Incorrect status packet!"
elif result == COMM_NOT_AVAILABLE:
return "[TxRxResult] Protocol does not support this function!"
else:
return ""
def getRxPacketError(self, error):
if error & ERRBIT_VOLTAGE:
return "[ServoStatus] Input voltage error!"
if error & ERRBIT_ANGLE:
return "[ServoStatus] Angle sen error!"
if error & ERRBIT_OVERHEAT:
return "[ServoStatus] Overheat error!"
if error & ERRBIT_OVERELE:
return "[ServoStatus] OverEle error!"
if error & ERRBIT_OVERLOAD:
return "[ServoStatus] Overload error!"
return ""
def txPacket(self, txpacket):
checksum = 0
total_packet_length = txpacket[PKT_LENGTH] + 4 # 4: HEADER0 HEADER1 ID LENGTH
if self.portHandler.is_using:
return COMM_PORT_BUSY
self.portHandler.is_using = True
# check max packet length
if total_packet_length > TXPACKET_MAX_LEN:
self.portHandler.is_using = False
return COMM_TX_ERROR
# make packet header
txpacket[PKT_HEADER0] = 0xFF
txpacket[PKT_HEADER1] = 0xFF
# add a checksum to the packet
for idx in range(2, total_packet_length - 1): # except header, checksum
checksum += txpacket[idx]
txpacket[total_packet_length - 1] = ~checksum & 0xFF
#print "[TxPacket] %r" % txpacket
# tx packet
self.portHandler.clearPort()
written_packet_length = self.portHandler.writePort(txpacket)
if total_packet_length != written_packet_length:
self.portHandler.is_using = False
return COMM_TX_FAIL
return COMM_SUCCESS
def rxPacket(self):
rxpacket = []
result = COMM_TX_FAIL
checksum = 0
rx_length = 0
wait_length = 6 # minimum length (HEADER0 HEADER1 ID LENGTH ERROR CHKSUM)
while True:
rxpacket.extend(self.portHandler.readPort(wait_length - rx_length))
rx_length = len(rxpacket)
if rx_length >= wait_length:
# find packet header
for idx in range(0, (rx_length - 1)):
if (rxpacket[idx] == 0xFF) and (rxpacket[idx + 1] == 0xFF):
break
if idx == 0: # found at the beginning of the packet
if (rxpacket[PKT_ID] > 0xFD) or (rxpacket[PKT_LENGTH] > RXPACKET_MAX_LEN) or (
rxpacket[PKT_ERROR] > 0x7F):
# unavailable ID or unavailable Length or unavailable Error
# remove the first byte in the packet
del rxpacket[0]
rx_length -= 1
continue
# re-calculate the exact length of the rx packet
if wait_length != (rxpacket[PKT_LENGTH] + PKT_LENGTH + 1):
wait_length = rxpacket[PKT_LENGTH] + PKT_LENGTH + 1
continue
if rx_length < wait_length:
# check timeout
if self.portHandler.isPacketTimeout():
if rx_length == 0:
result = COMM_RX_TIMEOUT
else:
result = COMM_RX_CORRUPT
break
else:
continue
# calculate checksum
for i in range(2, wait_length - 1): # except header, checksum
checksum += rxpacket[i]
checksum = ~checksum & 0xFF
# verify checksum
if rxpacket[wait_length - 1] == checksum:
result = COMM_SUCCESS
else:
result = COMM_RX_CORRUPT
break
else:
# remove unnecessary packets
del rxpacket[0: idx]
rx_length -= idx
else:
# check timeout
if self.portHandler.isPacketTimeout():
if rx_length == 0:
result = COMM_RX_TIMEOUT
else:
result = COMM_RX_CORRUPT
break
self.portHandler.is_using = False
return rxpacket, result
def txRxPacket(self, txpacket):
rxpacket = None
error = 0
# tx packet
result = self.txPacket(txpacket)
if result != COMM_SUCCESS:
return rxpacket, result, error
# (ID == Broadcast ID) == no need to wait for status packet or not available
if (txpacket[PKT_ID] == BROADCAST_ID):
self.portHandler.is_using = False
return rxpacket, result, error
# set packet timeout
if txpacket[PKT_INSTRUCTION] == INST_READ:
self.portHandler.setPacketTimeout(txpacket[PKT_PARAMETER0 + 1] + 6)
else:
self.portHandler.setPacketTimeout(6) # HEADER0 HEADER1 ID LENGTH ERROR CHECKSUM
# rx packet
while True:
rxpacket, result = self.rxPacket()
if result != COMM_SUCCESS or txpacket[PKT_ID] == rxpacket[PKT_ID]:
break
if result == COMM_SUCCESS and txpacket[PKT_ID] == rxpacket[PKT_ID]:
error = rxpacket[PKT_ERROR]
return rxpacket, result, error
def ping(self, scs_id):
model_number = 0
error = 0
txpacket = [0] * 6
if scs_id >= BROADCAST_ID:
return model_number, COMM_NOT_AVAILABLE, error
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = 2
txpacket[PKT_INSTRUCTION] = INST_PING
rxpacket, result, error = self.txRxPacket(txpacket)
if result == COMM_SUCCESS:
data_read, result, error = self.readTxRx(scs_id, 3, 2) # Address 3 : Model Number
if result == COMM_SUCCESS:
model_number = self.scs_makeword(data_read[0], data_read[1])
return model_number, result, error
def action(self, scs_id):
txpacket = [0] * 6
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = 2
txpacket[PKT_INSTRUCTION] = INST_ACTION
_, result, _ = self.txRxPacket(txpacket)
return result
def readTx(self, scs_id, address, length):
txpacket = [0] * 8
if scs_id >= BROADCAST_ID:
return COMM_NOT_AVAILABLE
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = 4
txpacket[PKT_INSTRUCTION] = INST_READ
txpacket[PKT_PARAMETER0 + 0] = address
txpacket[PKT_PARAMETER0 + 1] = length
result = self.txPacket(txpacket)
# set packet timeout
if result == COMM_SUCCESS:
self.portHandler.setPacketTimeout(length + 6)
return result
def readRx(self, scs_id, length):
result = COMM_TX_FAIL
error = 0
rxpacket = None
data = []
while True:
rxpacket, result = self.rxPacket()
if result != COMM_SUCCESS or rxpacket[PKT_ID] == scs_id:
break
if result == COMM_SUCCESS and rxpacket[PKT_ID] == scs_id:
error = rxpacket[PKT_ERROR]
data.extend(rxpacket[PKT_PARAMETER0 : PKT_PARAMETER0+length])
return data, result, error
def readTxRx(self, scs_id, address, length):
txpacket = [0] * 8
data = []
if scs_id >= BROADCAST_ID:
return data, COMM_NOT_AVAILABLE, 0
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = 4
txpacket[PKT_INSTRUCTION] = INST_READ
txpacket[PKT_PARAMETER0 + 0] = address
txpacket[PKT_PARAMETER0 + 1] = length
rxpacket, result, error = self.txRxPacket(txpacket)
if result == COMM_SUCCESS:
error = rxpacket[PKT_ERROR]
data.extend(rxpacket[PKT_PARAMETER0 : PKT_PARAMETER0+length])
return data, result, error
def read1ByteTx(self, scs_id, address):
return self.readTx(scs_id, address, 1)
def read1ByteRx(self, scs_id):
data, result, error = self.readRx(scs_id, 1)
data_read = data[0] if (result == COMM_SUCCESS) else 0
return data_read, result, error
def read1ByteTxRx(self, scs_id, address):
data, result, error = self.readTxRx(scs_id, address, 1)
data_read = data[0] if (result == COMM_SUCCESS) else 0
return data_read, result, error
def read2ByteTx(self, scs_id, address):
return self.readTx(scs_id, address, 2)
def read2ByteRx(self, scs_id):
data, result, error = self.readRx(scs_id, 2)
data_read = self.scs_makeword(data[0], data[1]) if (result == COMM_SUCCESS) else 0
return data_read, result, error
def read2ByteTxRx(self, scs_id, address):
data, result, error = self.readTxRx(scs_id, address, 2)
data_read = self.scs_makeword(data[0], data[1]) if (result == COMM_SUCCESS) else 0
return data_read, result, error
def read4ByteTx(self, scs_id, address):
return self.readTx(scs_id, address, 4)
def read4ByteRx(self, scs_id):
data, result, error = self.readRx(scs_id, 4)
data_read = self.scs_makedword(self.scs_makeword(data[0], data[1]),
self.scs_makeword(data[2], data[3])) if (result == COMM_SUCCESS) else 0
return data_read, result, error
def read4ByteTxRx(self, scs_id, address):
data, result, error = self.readTxRx(scs_id, address, 4)
data_read = self.scs_makedword(self.scs_makeword(data[0], data[1]),
self.scs_makeword(data[2], data[3])) if (result == COMM_SUCCESS) else 0
return data_read, result, error
def writeTxOnly(self, scs_id, address, length, data):
txpacket = [0] * (length + 7)
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = length + 3
txpacket[PKT_INSTRUCTION] = INST_WRITE
txpacket[PKT_PARAMETER0] = address
txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
result = self.txPacket(txpacket)
self.portHandler.is_using = False
return result
def writeTxRx(self, scs_id, address, length, data):
txpacket = [0] * (length + 7)
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = length + 3
txpacket[PKT_INSTRUCTION] = INST_WRITE
txpacket[PKT_PARAMETER0] = address
txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
rxpacket, result, error = self.txRxPacket(txpacket)
return result, error
def write1ByteTxOnly(self, scs_id, address, data):
data_write = [data]
return self.writeTxOnly(scs_id, address, 1, data_write)
def write1ByteTxRx(self, scs_id, address, data):
data_write = [data]
return self.writeTxRx(scs_id, address, 1, data_write)
def write2ByteTxOnly(self, scs_id, address, data):
data_write = [self.scs_lobyte(data), self.scs_hibyte(data)]
return self.writeTxOnly(scs_id, address, 2, data_write)
def write2ByteTxRx(self, scs_id, address, data):
data_write = [self.scs_lobyte(data), self.scs_hibyte(data)]
return self.writeTxRx(scs_id, address, 2, data_write)
def write4ByteTxOnly(self, scs_id, address, data):
data_write = [self.scs_lobyte(self.scs_loword(data)),
self.scs_hibyte(self.scs_loword(data)),
self.scs_lobyte(self.scs_hiword(data)),
self.scs_hibyte(self.scs_hiword(data))]
return self.writeTxOnly(scs_id, address, 4, data_write)
def write4ByteTxRx(self, scs_id, address, data):
data_write = [self.scs_lobyte(self.scs_loword(data)),
self.scs_hibyte(self.scs_loword(data)),
self.scs_lobyte(self.scs_hiword(data)),
self.scs_hibyte(self.scs_hiword(data))]
return self.writeTxRx(scs_id, address, 4, data_write)
def regWriteTxOnly(self, scs_id, address, length, data):
txpacket = [0] * (length + 7)
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = length + 3
txpacket[PKT_INSTRUCTION] = INST_REG_WRITE
txpacket[PKT_PARAMETER0] = address
txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
result = self.txPacket(txpacket)
self.portHandler.is_using = False
return result
def regWriteTxRx(self, scs_id, address, length, data):
txpacket = [0] * (length + 7)
txpacket[PKT_ID] = scs_id
txpacket[PKT_LENGTH] = length + 3
txpacket[PKT_INSTRUCTION] = INST_REG_WRITE
txpacket[PKT_PARAMETER0] = address
txpacket[PKT_PARAMETER0 + 1: PKT_PARAMETER0 + 1 + length] = data[0: length]
_, result, error = self.txRxPacket(txpacket)
return result, error
def syncReadTx(self, start_address, data_length, param, param_length):
txpacket = [0] * (param_length + 8)
# 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN CHKSUM
txpacket[PKT_ID] = BROADCAST_ID
txpacket[PKT_LENGTH] = param_length + 4 # 7: INST START_ADDR DATA_LEN CHKSUM
txpacket[PKT_INSTRUCTION] = INST_SYNC_READ
txpacket[PKT_PARAMETER0 + 0] = start_address
txpacket[PKT_PARAMETER0 + 1] = data_length
txpacket[PKT_PARAMETER0 + 2: PKT_PARAMETER0 + 2 + param_length] = param[0: param_length]
# print(txpacket)
result = self.txPacket(txpacket)
return result
def syncReadRx(self, data_length, param_length):
wait_length = (6 + data_length) * param_length
self.portHandler.setPacketTimeout(wait_length)
rxpacket = []
rx_length = 0
while True:
rxpacket.extend(self.portHandler.readPort(wait_length - rx_length))
rx_length = len(rxpacket)
if rx_length >= wait_length:
result = COMM_SUCCESS
break
else:
# check timeout
if self.portHandler.isPacketTimeout():
if rx_length == 0:
result = COMM_RX_TIMEOUT
else:
result = COMM_RX_CORRUPT
break
self.portHandler.is_using = False
return result, rxpacket
def syncWriteTxOnly(self, start_address, data_length, param, param_length):
txpacket = [0] * (param_length + 8)
# 8: HEADER0 HEADER1 ID LEN INST START_ADDR DATA_LEN ... CHKSUM
txpacket[PKT_ID] = BROADCAST_ID
txpacket[PKT_LENGTH] = param_length + 4 # 4: INST START_ADDR DATA_LEN ... CHKSUM
txpacket[PKT_INSTRUCTION] = INST_SYNC_WRITE
txpacket[PKT_PARAMETER0 + 0] = start_address
txpacket[PKT_PARAMETER0 + 1] = data_length
txpacket[PKT_PARAMETER0 + 2: PKT_PARAMETER0 + 2 + param_length] = param[0: param_length]
_, result, _ = self.txRxPacket(txpacket)
return result
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