Marlin 2.0 for Flying Bear 4S/5
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#
# MarlinBinaryProtocol.py
# Supporting Firmware upload via USB/Serial, saving to the attached media.
#
import serial
import math
import time
from collections import deque
import threading
import sys
import datetime
import random
try:
import heatshrink
heatshrink_exists = True
except ImportError:
heatshrink_exists = False
def millis():
return time.perf_counter() * 1000
class TimeOut(object):
def __init__(self, milliseconds):
self.duration = milliseconds
self.reset()
def reset(self):
self.endtime = millis() + self.duration
def timedout(self):
return millis() > self.endtime
class ReadTimeout(Exception):
pass
class FatalError(Exception):
pass
class SycronisationError(Exception):
pass
class PayloadOverflow(Exception):
pass
class ConnectionLost(Exception):
pass
class Protocol(object):
device = None
baud = None
max_block_size = 0
port = None
block_size = 0
packet_transit = None
packet_status = None
packet_ping = None
errors = 0
packet_buffer = None
simulate_errors = 0
sync = 0
connected = False
syncronised = False
worker_thread = None
response_timeout = 1000
applications = []
responses = deque()
def __init__(self, device, baud, bsize, simerr, timeout):
print("pySerial Version:", serial.VERSION)
self.port = serial.Serial(device, baudrate = baud, write_timeout = 0, timeout = 1)
self.device = device
self.baud = baud
self.block_size = int(bsize)
self.simulate_errors = max(min(simerr, 1.0), 0.0);
self.connected = True
self.response_timeout = timeout
self.register(['ok', 'rs', 'ss', 'fe'], self.process_input)
self.worker_thread = threading.Thread(target=Protocol.receive_worker, args=(self,))
self.worker_thread.start()
def receive_worker(self):
while self.port.in_waiting:
self.port.reset_input_buffer()
def dispatch(data):
for tokens, callback in self.applications:
for token in tokens:
if token == data[:len(token)]:
callback((token, data[len(token):]))
return
def reconnect():
print("Reconnecting..")
self.port.close()
for x in range(10):
try:
if self.connected:
self.port = serial.Serial(self.device, baudrate = self.baud, write_timeout = 0, timeout = 1)
return
else:
print("Connection closed")
return
except:
time.sleep(1)
raise ConnectionLost()
while self.connected:
try:
data = self.port.readline().decode('utf8').rstrip()
if len(data):
#print(data)
dispatch(data)
except OSError:
reconnect()
except UnicodeDecodeError:
# dodgy client output or datastream corruption
self.port.reset_input_buffer()
def shutdown(self):
self.connected = False
self.worker_thread.join()
self.port.close()
def process_input(self, data):
#print(data)
self.responses.append(data)
def register(self, tokens, callback):
self.applications.append((tokens, callback))
def send(self, protocol, packet_type, data = bytearray()):
self.packet_transit = self.build_packet(protocol, packet_type, data)
self.packet_status = 0
self.transmit_attempt = 0
timeout = TimeOut(self.response_timeout * 20)
while self.packet_status == 0:
try:
if timeout.timedout():
raise ConnectionLost()
self.transmit_packet(self.packet_transit)
self.await_response()
except ReadTimeout:
self.errors += 1
#print("Packetloss detected..")
self.packet_transit = None
def await_response(self):
timeout = TimeOut(self.response_timeout)
while not len(self.responses):
time.sleep(0.00001)
if timeout.timedout():
raise ReadTimeout()
while len(self.responses):
token, data = self.responses.popleft()
switch = {'ok' : self.response_ok, 'rs': self.response_resend, 'ss' : self.response_stream_sync, 'fe' : self.response_fatal_error}
switch[token](data)
def send_ascii(self, data, send_and_forget = False):
self.packet_transit = bytearray(data, "utf8") + b'\n'
self.packet_status = 0
self.transmit_attempt = 0
timeout = TimeOut(self.response_timeout * 20)
while self.packet_status == 0:
try:
if timeout.timedout():
return
self.port.write(self.packet_transit)
if send_and_forget:
self.packet_status = 1
else:
self.await_response_ascii()
except ReadTimeout:
self.errors += 1
#print("Packetloss detected..")
except serial.serialutil.SerialException:
return
self.packet_transit = None
def await_response_ascii(self):
timeout = TimeOut(self.response_timeout)
while not len(self.responses):
time.sleep(0.00001)
if timeout.timedout():
raise ReadTimeout()
token, data = self.responses.popleft()
self.packet_status = 1
def corrupt_array(self, data):
rid = random.randint(0, len(data) - 1)
data[rid] ^= 0xAA
return data
def transmit_packet(self, packet):
packet = bytearray(packet)
if(self.simulate_errors > 0 and random.random() > (1.0 - self.simulate_errors)):
if random.random() > 0.9:
#random data drop
start = random.randint(0, len(packet))
end = start + random.randint(1, 10)
packet = packet[:start] + packet[end:]
#print("Dropping {0} bytes".format(end - start))
else:
#random corruption
packet = self.corrupt_array(packet)
#print("Single byte corruption")
self.port.write(packet)
self.transmit_attempt += 1
def build_packet(self, protocol, packet_type, data = bytearray()):
PACKET_TOKEN = 0xB5AD
if len(data) > self.max_block_size:
raise PayloadOverflow()
packet_buffer = bytearray()
packet_buffer += self.pack_int8(self.sync) # 8bit sync id
packet_buffer += self.pack_int4_2(protocol, packet_type) # 4 bit protocol id, 4 bit packet type
packet_buffer += self.pack_int16(len(data)) # 16bit packet length
packet_buffer += self.pack_int16(self.build_checksum(packet_buffer)) # 16bit header checksum
if len(data):
packet_buffer += data
packet_buffer += self.pack_int16(self.build_checksum(packet_buffer))
packet_buffer = self.pack_int16(PACKET_TOKEN) + packet_buffer # 16bit start token, not included in checksum
return packet_buffer
# checksum 16 fletchers
def checksum(self, cs, value):
cs_low = (((cs & 0xFF) + value) % 255);
return ((((cs >> 8) + cs_low) % 255) << 8) | cs_low;
def build_checksum(self, buffer):
cs = 0
for b in buffer:
cs = self.checksum(cs, b)
return cs
def pack_int32(self, value):
return value.to_bytes(4, byteorder='little')
def pack_int16(self, value):
return value.to_bytes(2, byteorder='little')
def pack_int8(self, value):
return value.to_bytes(1, byteorder='little')
def pack_int4_2(self, vh, vl):
value = ((vh & 0xF) << 4) | (vl & 0xF)
return value.to_bytes(1, byteorder='little')
def connect(self):
print("Connecting: Switching Marlin to Binary Protocol...")
self.send_ascii("M28B1")
self.send(0, 1)
def disconnect(self):
self.send(0, 2)
self.syncronised = False
def response_ok(self, data):
try:
packet_id = int(data);
except ValueError:
return
if packet_id != self.sync:
raise SycronisationError()
self.sync = (self.sync + 1) % 256
self.packet_status = 1
def response_resend(self, data):
packet_id = int(data);
self.errors += 1
if not self.syncronised:
print("Retrying syncronisation")
elif packet_id != self.sync:
raise SycronisationError()
def response_stream_sync(self, data):
sync, max_block_size, protocol_version = data.split(',')
self.sync = int(sync)
self.max_block_size = int(max_block_size)
self.block_size = self.max_block_size if self.max_block_size < self.block_size else self.block_size
self.protocol_version = protocol_version
self.packet_status = 1
self.syncronised = True
print("Connection synced [{0}], binary protocol version {1}, {2} byte payload buffer".format(self.sync, self.protocol_version, self.max_block_size))
def response_fatal_error(self, data):
raise FatalError()
class FileTransferProtocol(object):
protocol_id = 1
class Packet(object):
QUERY = 0
OPEN = 1
CLOSE = 2
WRITE = 3
ABORT = 4
responses = deque()
def __init__(self, protocol, timeout = None):
protocol.register(['PFT:success', 'PFT:version:', 'PFT:fail', 'PFT:busy', 'PFT:ioerror', 'PTF:invalid'], self.process_input)
self.protocol = protocol
self.response_timeout = timeout or protocol.response_timeout
def process_input(self, data):
#print(data)
self.responses.append(data)
def await_response(self, timeout = None):
timeout = TimeOut(timeout or self.response_timeout)
while not len(self.responses):
time.sleep(0.0001)
if timeout.timedout():
raise ReadTimeout()
return self.responses.popleft()
def connect(self):
self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.QUERY);
token, data = self.await_response()
if token != 'PFT:version:':
return False
self.version, _, compression = data.split(':')
if compression != 'none':
algorithm, window, lookahead = compression.split(',')
self.compression = {'algorithm': algorithm, 'window': int(window), 'lookahead': int(lookahead)}
else:
self.compression = {'algorithm': 'none'}
print("File Transfer version: {0}, compression: {1}".format(self.version, self.compression['algorithm']))
def open(self, filename, compression, dummy):
payload = b'\1' if dummy else b'\0' # dummy transfer
payload += b'\1' if compression else b'\0' # payload compression
payload += bytearray(filename, 'utf8') + b'\0'# target filename + null terminator
timeout = TimeOut(5000)
token = None
self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.OPEN, payload);
while token != 'PFT:success' and not timeout.timedout():
try:
token, data = self.await_response(1000)
if token == 'PFT:success':
print(filename,"opened")
return
elif token == 'PFT:busy':
print("Broken transfer detected, purging")
self.abort()
time.sleep(0.1)
self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.OPEN, payload);
timeout.reset()
elif token == 'PFT:fail':
raise Exception("Can not open file on client")
except ReadTimeout:
pass
raise ReadTimeout()
def write(self, data):
self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.WRITE, data);
def close(self):
self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.CLOSE);
token, data = self.await_response(1000)
if token == 'PFT:success':
print("File closed")
return
elif token == 'PFT:ioerror':
print("Client storage device IO error")
elif token == 'PFT:invalid':
print("No open file")
def abort(self):
self.protocol.send(FileTransferProtocol.protocol_id, FileTransferProtocol.Packet.ABORT);
token, data = self.await_response()
if token == 'PFT:success':
print("Transfer Aborted")
def copy(self, filename, dest_filename, compression, dummy):
self.connect()
compression_support = heatshrink_exists and self.compression['algorithm'] == 'heatshrink' and compression
if compression and (not heatshrink_exists or not self.compression['algorithm'] == 'heatshrink'):
print("Compression not supported by client")
#compression_support = False
data = open(filename, "rb").read()
filesize = len(data)
self.open(dest_filename, compression_support, dummy)
block_size = self.protocol.block_size
if compression_support:
data = heatshrink.encode(data, window_sz2=self.compression['window'], lookahead_sz2=self.compression['lookahead'])
cratio = filesize / len(data)
blocks = math.floor((len(data) + block_size - 1) / block_size)
kibs = 0
dump_pctg = 0
start_time = millis()
for i in range(blocks):
start = block_size * i
end = start + block_size
self.write(data[start:end])
kibs = (( (i+1) * block_size) / 1024) / (millis() + 1 - start_time) * 1000
if (i / blocks) >= dump_pctg:
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='')
dump_pctg += 0.1
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%
self.close()
print("Transfer complete")
class EchoProtocol(object):
def __init__(self, protocol):
protocol.register(['echo:'], self.process_input)
self.protocol = protocol
def process_input(self, data):
print(data)