Your Name
124 lines
2.6 KiB
Python
124 lines
2.6 KiB
Python
#!/usr/bin/env python3
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import serial
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import struct
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import threading
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import time
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PORT = "/dev/ttyACM0"
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BAUDRATE = 115200
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COMMAND_PREFIX = 0x69
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COMMAND_ACK = 0
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COMMAND_NACK = 1
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LED = 2
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DEVICE_ID = 0
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def calculate_crc(msg: bytes) -> int:
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s = sum(msg) & 0xFF
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return (-s) & 0xFF
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def make_packet(command: int, data: bytes = b"") -> bytes:
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length = len(data)
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pkt = bytearray()
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pkt.append(COMMAND_PREFIX)
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pkt.append(length)
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pkt.append(DEVICE_ID)
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pkt.append(command)
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pkt.append(0) # CRC placeholder
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pkt.extend(data)
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pkt[4] = calculate_crc(pkt[:4] + pkt[5:])
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return bytes(pkt)
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def verify_crc(packet: bytes) -> bool:
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crc = packet[4]
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calc = calculate_crc(packet[:4] + packet[5:])
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return crc == calc
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def packet_size(buf: bytes):
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if len(buf) < 2:
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return None
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return 5 + buf[1]
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def reader(ser):
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rx = bytearray()
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while True:
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data = ser.read(64)
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if not data:
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continue
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rx.extend(data)
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while rx:
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# Binary packet?
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if rx[0] == COMMAND_PREFIX:
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size = packet_size(rx)
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if size is None or len(rx) < size:
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break
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pkt = bytes(rx[:size])
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del rx[:size]
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if not verify_crc(pkt):
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print("RX: Bad CRC:", pkt.hex())
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continue
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length = pkt[1]
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dev_id = pkt[2]
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cmd = pkt[3]
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if cmd == COMMAND_ACK:
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print(f"<-- ACK (device={dev_id})")
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elif cmd == COMMAND_NACK:
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print(f"<-- NACK (device={dev_id})")
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elif cmd == COMMAND_ERROR:
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print(f"<-- ERROR (device={dev_id})")
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else:
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print(f"<-- Command {cmd} len={length}")
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else:
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# ASCII log output
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idx = rx.find(b'\n')
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if idx == -1:
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break
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line = rx[:idx + 1]
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del rx[:idx + 1]
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try:
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print("[LOG]", line.decode().rstrip())
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except UnicodeDecodeError:
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print("[RAW]", line.hex())
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def main():
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ser = serial.Serial(PORT, BAUDRATE, timeout=0.05)
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threading.Thread(target=reader, args=(ser,), daemon=True).start()
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for i in range(10):
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print(f"--> Sending LED command {i + 1}")
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ser.write(make_packet(LED))
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time.sleep(0.5)
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print("Done.")
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time.sleep(2)
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if __name__ == "__main__":
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main()
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