From 5f846852870a2829a1fe0df774d7e5a26592e8ea Mon Sep 17 00:00:00 2001 From: Mark Qvist Date: Fri, 22 Jun 2018 10:19:53 +0200 Subject: [PATCH] Added Python library --- Libraries/RNodeInterface.py | 472 ++++++++++++++++++++++++++++++++++++ README.md | 22 ++ 2 files changed, 494 insertions(+) create mode 100644 Libraries/RNodeInterface.py diff --git a/Libraries/RNodeInterface.py b/Libraries/RNodeInterface.py new file mode 100644 index 0000000..72f227b --- /dev/null +++ b/Libraries/RNodeInterface.py @@ -0,0 +1,472 @@ +from __future__ import print_function +from Interface import Interface +from time import sleep +import sys +import serial +import threading +import time +import math +import RNS + +class KISS(): + FEND = chr(0xC0) + FESC = chr(0xDB) + TFEND = chr(0xDC) + TFESC = chr(0xDD) + + CMD_UNKNOWN = chr(0xFE) + CMD_DATA = chr(0x00) + CMD_FREQUENCY = chr(0x01) + CMD_BANDWIDTH = chr(0x02) + CMD_TXPOWER = chr(0x03) + CMD_SF = chr(0x04) + CMD_CR = chr(0x05) + CMD_RADIO_STATE = chr(0x06) + CMD_RADIO_LOCK = chr(0x07) + CMD_DETECT = chr(0x08) + CMD_PROMISC = chr(0x0E) + CMD_READY = chr(0x0F) + CMD_STAT_RX = chr(0x21) + CMD_STAT_TX = chr(0x22) + CMD_STAT_RSSI = chr(0x23) + CMD_BLINK = chr(0x30) + CMD_RANDOM = chr(0x40) + CMD_FW_VERSION = chr(0x50) + CMD_ROM_READ = chr(0x51) + + DETECT_REQ = chr(0x73) + DETECT_RESP = chr(0x46) + + RADIO_STATE_OFF = chr(0x00) + RADIO_STATE_ON = chr(0x01) + RADIO_STATE_ASK = chr(0xFF) + + CMD_ERROR = chr(0x90) + ERROR_INITRADIO = chr(0x01) + ERROR_TXFAILED = chr(0x02) + ERROR_EEPROM_LOCKED = chr(0x03) + + @staticmethod + def escape(data): + data = data.replace(chr(0xdb), chr(0xdb)+chr(0xdd)) + data = data.replace(chr(0xc0), chr(0xdb)+chr(0xdc)) + return data + + +class RNodeInterface(): + MAX_CHUNK = 32768 + FREQ_MIN = 137000000 + FREQ_MAX = 1020000000 + + LOG_CRITICAL = 0 + LOG_ERROR = 1 + LOG_WARNING = 2 + LOG_NOTICE = 3 + LOG_INFO = 4 + LOG_VERBOSE = 5 + LOG_DEBUG = 6 + LOG_EXTREME = 7 + + def __init__(self, callback, name, port, frequency = None, bandwidth = None, txpower = None, sf = None, cr = None, loglevel = -1, flow_control = True): + self.serial = None + self.loglevel = loglevel + self.callback = callback + self.name = name + self.port = port + self.speed = 115200 + self.databits = 8 + self.parity = serial.PARITY_NONE + self.stopbits = 1 + self.timeout = 100 + self.online = False + + self.frequency = frequency + self.bandwidth = bandwidth + self.txpower = txpower + self.sf = sf + self.cr = cr + self.state = KISS.RADIO_STATE_OFF + self.bitrate = 0 + + self.r_frequency = None + self.r_bandwidth = None + self.r_txpower = None + self.r_sf = None + self.r_cr = None + self.r_state = None + self.r_lock = None + self.r_stat_rx = None + self.r_stat_tx = None + self.r_stat_rssi = None + self.r_random = None + + self.packet_queue = [] + self.flow_control = flow_control + self.interface_ready = False + + self.validcfg = True + if (self.frequency < RNodeInterface.FREQ_MIN or self.frequency > RNodeInterface.FREQ_MAX): + self.log("Invalid frequency configured for "+str(self), RNodeInterface.LOG_ERROR) + self.validcfg = False + + if (self.txpower < 0 or self.txpower > 17): + self.log("Invalid TX power configured for "+str(self), RNodeInterface.LOG_ERROR) + self.validcfg = False + + if (self.bandwidth < 7800 or self.bandwidth > 500000): + self.log("Invalid bandwidth configured for "+str(self), RNodeInterface.LOG_ERROR) + self.validcfg = False + + if (self.sf < 7 or self.sf > 12): + self.log("Invalid spreading factor configured for "+str(self), RNodeInterface.LOG_ERROR) + self.validcfg = False + + if (not self.validcfg): + raise ValueError("The configuration for "+str(self)+" contains errors, interface is offline") + + try: + self.log("Opening serial port "+self.port+"...") + self.serial = serial.Serial( + port = self.port, + baudrate = self.speed, + bytesize = self.databits, + parity = self.parity, + stopbits = self.stopbits, + xonxoff = False, + rtscts = False, + timeout = 0, + inter_byte_timeout = None, + write_timeout = None, + dsrdtr = False, + ) + except Exception as e: + self.log("Could not open serial port for interface "+str(self), RNodeInterface.LOG_ERROR) + raise e + + if self.serial.is_open: + sleep(2.0) + thread = threading.Thread(target=self.readLoop) + thread.setDaemon(True) + thread.start() + self.online = True + self.log("Serial port "+self.port+" is now open") + self.log("Configuring RNode interface...", RNodeInterface.LOG_VERBOSE) + self.initRadio() + if (self.validateRadioState()): + self.interface_ready = True + self.log(str(self)+" is configured and powered up") + sleep(1.0) + else: + self.log("After configuring "+str(self)+", the actual radio parameters did not match your configuration.", RNodeInterface.LOG_ERROR) + self.log("Make sure that your hardware actually supports the parameters specified in the configuration", RNodeInterface.LOG_ERROR) + self.log("Aborting RNode startup", RNodeInterface.LOG_ERROR) + self.serial.close() + raise IOError("RNode interface did not pass validation") + else: + raise IOError("Could not open serial port") + + def log(self, message, level): + pass + + def initRadio(self): + self.setFrequency() + self.setBandwidth() + self.setTXPower() + self.setSpreadingFactor() + self.setRadioState(KISS.RADIO_STATE_ON) + + def setFrequency(self): + c1 = self.frequency >> 24 + c2 = self.frequency >> 16 & 0xFF + c3 = self.frequency >> 8 & 0xFF + c4 = self.frequency & 0xFF + data = KISS.escape(chr(c1)+chr(c2)+chr(c3)+chr(c4)) + + kiss_command = KISS.FEND+KISS.CMD_FREQUENCY+data+KISS.FEND + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring frequency for "+self(str)) + + def setBandwidth(self): + c1 = self.bandwidth >> 24 + c2 = self.bandwidth >> 16 & 0xFF + c3 = self.bandwidth >> 8 & 0xFF + c4 = self.bandwidth & 0xFF + data = KISS.escape(chr(c1)+chr(c2)+chr(c3)+chr(c4)) + + kiss_command = KISS.FEND+KISS.CMD_BANDWIDTH+data+KISS.FEND + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring bandwidth for "+self(str)) + + def setTXPower(self): + txp = chr(self.txpower) + kiss_command = KISS.FEND+KISS.CMD_TXPOWER+txp+KISS.FEND + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring TX power for "+self(str)) + + def setSpreadingFactor(self): + sf = chr(self.sf) + kiss_command = KISS.FEND+KISS.CMD_SF+sf+KISS.FEND + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring spreading factor for "+self(str)) + + def setCodingRate(self): + cr = chr(self.cr) + kiss_command = KISS.FEND+KISS.CMD_CR+cr+KISS.FEND + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring coding rate for "+self(str)) + + def setRadioState(self, state): + kiss_command = KISS.FEND+KISS.CMD_RADIO_STATE+state+KISS.FEND + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring radio state for "+self(str)) + + def validateRadioState(self): + self.log("Validating radio configuration for "+str(self)+"...", RNodeInterface.LOG_VERBOSE) + sleep(0.25); + if (self.frequency != self.r_frequency): + self.log("Frequency mismatch", RNodeInterface.LOG_ERROR) + self.validcfg = False + if (self.bandwidth != self.r_bandwidth): + self.log("Bandwidth mismatch", RNodeInterface.LOG_ERROR) + self.validcfg = False + if (self.txpower != self.r_txpower): + self.log("TX power mismatch", RNodeInterface.LOG_ERROR) + self.validcfg = False + if (self.sf != self.r_sf): + self.log("Spreading factor mismatch", RNodeInterface.LOG_ERROR) + self.validcfg = False + + if (self.validcfg): + return True + else: + return False + + def setPromiscuousMode(self, state): + if state == True + kiss_command = KISS.FEND+KISS.CMD_PROMISC+chr(0x01)+KISS.FEND + else: + kiss_command = KISS.FEND+KISS.CMD_PROMISC+chr(0x00)+KISS.FEND + + written = self.serial.write(kiss_command) + if written != len(kiss_command): + raise IOError("An IO error occurred while configuring promiscuous mode for "+self(str)) + + + def updateBitrate(self): + try: + self.bitrate = self.r_sf * ( (4.0/self.cr) / (math.pow(2,self.r_sf)/(self.r_bandwidth/1000)) ) * 1000 + self.bitrate_kbps = round(self.bitrate/1000.0, 2) + self.log(str(self)+" On-air bitrate is now "+str(self.bitrate_kbps)+ " kbps", RNodeInterface.LOG_DEBUG) + except: + self.bitrate = 0 + + def processIncoming(self, data): + self.callback(data, self) + + def send(self, data): + processOutgoing(data) + + def processOutgoing(self,data): + if self.online: + if self.interface_ready: + if self.flow_control: + self.interface_ready = False + + data = KISS.escape(data) + frame = chr(0xc0)+chr(0x00)+data+chr(0xc0) + written = self.serial.write(frame) + if written != len(frame): + raise IOError("Serial interface only wrote "+str(written)+" bytes of "+str(len(data))) + else: + self.queue(data) + + def queue(self, data): + self.packet_queue.append(data) + + def process_queue(self): + if len(self.packet_queue) > 0: + data = self.packet_queue.pop(0) + self.interface_ready = True + self.processOutgoing(data) + elif len(self.packet_queue) == 0: + self.interface_ready = True + + def readLoop(self): + try: + in_frame = False + escape = False + command = KISS.CMD_UNKNOWN + data_buffer = "" + command_buffer = "" + last_read_ms = int(time.time()*1000) + + while self.serial.is_open: + if self.serial.in_waiting: + byte = self.serial.read(1) + last_read_ms = int(time.time()*1000) + + if (in_frame and byte == KISS.FEND and command == KISS.CMD_DATA): + in_frame = False + self.processIncoming(data_buffer) + data_buffer = "" + command_buffer = "" + elif (byte == KISS.FEND): + in_frame = True + command = KISS.CMD_UNKNOWN + data_buffer = "" + command_buffer = "" + elif (in_frame and len(data_buffer) < RNS.Reticulum.MTU): + if (len(data_buffer) == 0 and command == KISS.CMD_UNKNOWN): + command = byte + elif (command == KISS.CMD_DATA): + if (byte == KISS.FESC): + escape = True + else: + if (escape): + if (byte == KISS.TFEND): + byte = KISS.FEND + if (byte == KISS.TFESC): + byte = KISS.FESC + escape = False + data_buffer = data_buffer+byte + elif (command == KISS.CMD_FREQUENCY): + if (byte == KISS.FESC): + escape = True + else: + if (escape): + if (byte == KISS.TFEND): + byte = KISS.FEND + if (byte == KISS.TFESC): + byte = KISS.FESC + escape = False + command_buffer = command_buffer+byte + if (len(command_buffer) == 4): + self.r_frequency = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) + self.log(str(self)+" Radio reporting frequency is "+str(self.r_frequency/1000000.0)+" MHz", RNodeInterface.LOG_DEBUG) + self.updateBitrate() + + elif (command == KISS.CMD_BANDWIDTH): + if (byte == KISS.FESC): + escape = True + else: + if (escape): + if (byte == KISS.TFEND): + byte = KISS.FEND + if (byte == KISS.TFESC): + byte = KISS.FESC + escape = False + command_buffer = command_buffer+byte + if (len(command_buffer) == 4): + self.r_bandwidth = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) + self.log(str(self)+" Radio reporting bandwidth is "+str(self.r_bandwidth/1000.0)+" KHz", RNodeInterface.LOG_DEBUG) + self.updateBitrate() + + elif (command == KISS.CMD_TXPOWER): + self.r_txpower = ord(byte) + self.log(str(self)+" Radio reporting TX power is "+str(self.r_txpower)+" dBm", RNodeInterface.LOG_DEBUG) + elif (command == KISS.CMD_SF): + self.r_sf = ord(byte) + self.log(str(self)+" Radio reporting spreading factor is "+str(self.r_sf), RNodeInterface.LOG_DEBUG) + self.updateBitrate() + elif (command == KISS.CMD_CR): + self.r_cr = ord(byte) + self.log(str(self)+" Radio reporting coding rate is "+str(self.r_cr), RNodeInterface.LOG_DEBUG) + self.updateBitrate() + elif (command == KISS.CMD_RADIO_STATE): + self.r_state = ord(byte) + elif (command == KISS.CMD_RADIO_LOCK): + self.r_lock = ord(byte) + elif (command == KISS.CMD_STAT_RX): + if (byte == KISS.FESC): + escape = True + else: + if (escape): + if (byte == KISS.TFEND): + byte = KISS.FEND + if (byte == KISS.TFESC): + byte = KISS.FESC + escape = False + command_buffer = command_buffer+byte + if (len(command_buffer) == 4): + self.r_stat_rx = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) + + elif (command == KISS.CMD_STAT_TX): + if (byte == KISS.FESC): + escape = True + else: + if (escape): + if (byte == KISS.TFEND): + byte = KISS.FEND + if (byte == KISS.TFESC): + byte = KISS.FESC + escape = False + command_buffer = command_buffer+byte + if (len(command_buffer) == 4): + self.r_stat_tx = ord(command_buffer[0]) << 24 | ord(command_buffer[1]) << 16 | ord(command_buffer[2]) << 8 | ord(command_buffer[3]) + + elif (command == KISS.CMD_STAT_RSSI): + self.r_stat_rssi = ord(byte) + elif (command == KISS.CMD_RANDOM): + self.r_random = ord(byte) + elif (command == KISS.CMD_ERROR): + if (byte == KISS.ERROR_INITRADIO): + self.log(str(self)+" hardware initialisation error (code "+RNS.hexrep(byte)+")", RNodeInterface.LOG_ERROR) + elif (byte == KISS.ERROR_INITRADIO): + self.log(str(self)+" hardware TX error (code "+RNS.hexrep(byte)+")", RNodeInterface.LOG_ERROR) + else: + self.log(str(self)+" hardware error (code "+RNS.hexrep(byte)+")", RNodeInterface.LOG_ERROR) + elif (command == KISS.CMD_READY): + # TODO: add timeout and reset if ready + # command never arrives + self.process_queue() + + else: + time_since_last = int(time.time()*1000) - last_read_ms + if len(data_buffer) > 0 and time_since_last > self.timeout: + self.log(str(self)+" serial read timeout", RNodeInterface.LOG_DEBUG) + data_buffer = "" + in_frame = False + command = KISS.CMD_UNKNOWN + escape = False + sleep(0.08) + + except Exception as e: + self.online = False + self.log("A serial port error occurred, the contained exception was: "+str(e), RNodeInterface.LOG_ERROR) + self.log("The interface "+str(self.name)+" is now offline.", RNodeInterface.LOG_ERROR) + + def log(msg, level=3): + if self.loglevel >= level: + timestamp = time.time() + logstring = "["+time.strftime(logtimefmt)+"] ["+self.loglevelname(level)+"] "+msg + + if (logdest == LOG_STDOUT): + print(logstring) + + def loglevelname(level): + if (level == RNodeInterface.LOG_CRITICAL): + return "Critical" + if (level == RNodeInterface.LOG_ERROR): + return "Error" + if (level == RNodeInterface.LOG_WARNING): + return "Warning" + if (level == RNodeInterface.LOG_NOTICE): + return "Notice" + if (level == RNodeInterface.LOG_INFO): + return "Info" + if (level == RNodeInterface.LOG_VERBOSE): + return "Verbose" + if (level == RNodeInterface.LOG_DEBUG): + return "Debug" + if (level == RNodeInterface.LOG_EXTREME): + return "Extra" + + def __str__(self): + return "RNodeInterface["+self.name+"]" + diff --git a/README.md b/README.md index 980fca8..c9a22f6 100644 --- a/README.md +++ b/README.md @@ -56,3 +56,25 @@ All communications to and from the board uses [KISS framing](https://en.wikipedi | ROM Erase | 0x59 | Completely erases EEPROM | Error | 0x90 | Indicates an error +## Programming API +Have a look in the "Libraries" folder for libraries to let you easily use RNode in your own software. Here's a Python example: + +```python +import RNodeInterface + +def gotPacket(data, rnode): + print "Received a packet: "+data + +rnode = RNodeInterface( + callback = gotPacket, + name = "My RNode", + port = "/dev/ttyUSB0", + frequency = 868000000, + bandwidth = 125000, + txpower = 2, + sf = 7, + cr = 5, + loglevel = *RnodeInterface.LOG_DEBUG) + +rnode.send("Hello World!") +```