48 lines
1.1 KiB
Python
48 lines
1.1 KiB
Python
"""Ninebot packet transport"""
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from struct import pack, unpack
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from .base import checksum, BaseTransport as BT
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from .packet import BasePacket
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class NinebotTransport(BT):
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def __init__(self, link, device=BT.HOST):
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super(NinebotTransport, self).__init__(link)
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self.device = device
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def _wait_pre(self):
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while True:
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while True:
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c = self.link.read(1)
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if c=="\x5A":
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break
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while True:
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c = self.link.read(1)
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if c=="\xA5":
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return True
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if c!="\x5A":
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break # start waiting 5A again, else - this is 5A, so wait for A5
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def recv(self):
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self._wait_pre()
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pkt = self.link.read(1)
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l = ord(pkt)+6
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for i in range(l):
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pkt += self.link.read(1)
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ck_calc = checksum(pkt[0:-2])
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ck_pkt = unpack("<H", pkt[-2:])[0]
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if ck_pkt!=ck_calc:
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print("Checksum mismatch !")
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return None
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return BasePacket(ord(pkt[1]), ord(pkt[2]), ord(pkt[3]), ord(pkt[4]), pkt[5:-2]) # sa, da, cmd, arg, data
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def send(self, packet):
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pkt = pack("<BBBBB", len(packet.data), packet.src, packet.dst, packet.cmd, packet.arg)+packet.data
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pkt = "\x5A\xA5" + pkt + pack("<H", checksum(pkt))
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self.link.write(pkt)
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__all__ = ["NinebotTransport"]
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