#!/usr/bin/env python #Copyright (c) 2011, Sam Gambrell #Licensed under the Simplified BSD License.

#NOTE: This code has not been thoroughly tested and may not function as advertis ed. # Please report and findings to the author so that they may be addressed in a stable release. #ToDo: change print statments to proper errors import csafe_dic def __int2bytes(numbytes, integer): if not(0 <= integer <= 2 ** (8 * numbytes)): print "Integer is outside t he allowable range" byte = [] for k in range(numbytes): calcbyte = (integer >> (8 * k)) & 0xFF byte.append(calcbyte) return byte def __bytes2int(bytes): numbytes = len(bytes) integer = 0 for k in range(numbytes): integer = (bytes[k] << (8 * k)) | integer return integer def __bytes2ascii(bytes): word = "" for letter in bytes: word += chr(letter) return word #for sending def Write(arguments): #priming variables i=0 message = [] wrapper = 0 wrapped = [] maxresponse = 3 #start & stop flag & status #loop through all arguments while i < len(arguments): arg = arguments[i] cmdprop = csafe_dic.cmds[arg] command = [] #load variables if command is a Long Command if len(cmdprop[1]) != 0: for varbytes in cmdprop[1]: i += 1 intvalue = arguments[i]

value = __int2bytes(varbytes, intvalue) command.extend(value) #data byte count cmdbytes = len(command) command.insert(0, cmdbytes) #add command id command.insert(0,cmdprop[0]) #closes wrapper if required if len(wrapped) > 0 and (len(cmdprop) < 3 or cmdprop[2] != wrapp er): wrapped.insert(0, len(wrapped)) #data byte count for wra pper wrapped.insert(0, wrapper) #wrapper command id message.extend(wrapped) #adds wrapper to message wrapped = [] wrapper = 0 #create or extend wrapper if len(cmdprop) == 3: #checks if command needs a wrapper if wrapper == cmdprop[2]: #checks if currently in the sa me wrapper wrapped.extend(command) else: #creating a new wrapper wrapped = command wrapper = cmdprop[2] maxresponse += 2 command = [] #clear command to prevent it from getting i nto message #max message length cmdid = cmdprop[0] | (wrapper << 8) maxresponse += abs(sum(csafe_dic.resp[cmdid][1])) * 2 + 1 #doubl e return to account for stuffing #add completed command to final message message.extend(command) i += 1 #closes wrapper if message ended on it if len(wrapped) > 0: wrapped.insert(0, len(wrapped)) #data byte count for wrapper wrapped.insert(0, wrapper) #wrapper command id message.extend(wrapped) #adds wrapper to message #prime variables checksum = 0x0 j = 0 #checksum and byte stuffing while j < len(message): #calculate checksum checksum = checksum ^ message[j] #byte stuffing if 0xF0 <= message[j] <= 0xF3:

message.insert(j,csafe_dic.Byte_Stuffing_Flag) j += 1 message[j] = message[j] & 0x3 j += 1 #add checksum to end of message message.append(checksum) #start & stop frames message.insert(0,csafe_dic.Standard_Frame_Start_Flag) message.append(csafe_dic.Stop_Frame_Flag) #check for frame size (96 bytes) if len(message) > 96: print "Message is too long: " + len(message) #report IDs maxmessage = max(len(message) + 1, maxresponse) if maxmessage <= 21: message.insert(0, 0x01) message += [0] * (21 - len(message)) elif maxmessage <= 63: message.insert(0, 0x04) message += [0] * (63 - len(message)) elif (len(message) + 1) <=121: message.insert(0, 0x02) message += [0] * (121 - len(message)) if maxresponse > 121: print "Response may be too long to recieve. Max possibl e length " + str(maxresponse) else: print "Message too long. Message length " + str(len(message)) message = [] return message def __checkMessage(message): #prime variables i = 0 checksum = 0 #checksum and unstuff while i < len(message): #byte unstuffing if message[i] == csafe_dic.Byte_Stuffing_Flag: stuffvalue = message.pop(i + 1) message[i] = 0xF0 | stuffvalue #calculate checksum checksum = checksum ^ message[i] i = i + 1 #checks checksum if checksum != 0: print "Checksum error" return []

#remove checksum from end of message del message[-1] return message #for recieving!! def Read(transmission): #prime variables message = [] stopfound = False reportid = transmission[0] startflag = transmission[1] if startflag == csafe_dic.Extended_Frame_Start_Flag: destination = transmission[2] source = transmission[3] j = 4 elif startflag == csafe_dic.Standard_Frame_Start_Flag: j = 2 else: print "No Start Flag found." return [] while j < len(transmission): if transmission[j] == csafe_dic.Stop_Frame_Flag: stopfound = True break message.append(transmission[j]) j += 1 if not(stopfound): print "No Stop Flag found." return [] message = __checkMessage(message) status = message.pop(0) #prime variables response = {'CSAFE_GETSTATUS_CMD' : [status,] } k = 0 wrapend = -1 wrapper = 0x0 #loop through complete frames while k < len(message): result = [] #get command name msgcmd = message[k] if(k <= wrapend): msgcmd = wrapper | msgcmd #check if still in w rapper msgprop = csafe_dic.resp[msgcmd] k = k + 1 #get data byte count bytecount = message[k] k = k + 1

#if wrapper command then gets command in wrapper if(msgprop[0] == 'CSAFE_SETUSERCFG1_CMD'): wrapper = message[k - 2] << 8 wrapend = k + bytecount - 1 if bytecount: #If wrapper length != 0 msgcmd = wrapper | message[k] msgprop = csafe_dic.resp[msgcmd] k = k + 1 bytecount = message[k] k = k + 1 #special case for capability code, response lengths differ based off capability code if(msgprop[0] == 'CSAFE_GETCAPS_CMD'): msgprop[1] = [1,] * bytecount #special case for get id, response length is variable if(msgprop[0] == 'CSAFE_GETID_CMD'): msgprop[1] = [(-bytecount),] #checking that the recieved data byte is the expected length, sa nity check if abs(sum(msgprop[1])) != 0 and bytecount != abs(sum(msgprop[1] )): print "Warning: bytecount is an unexpected length" #extract values for numbytes in msgprop[1]: bytes = message[k:k + abs(numbytes)] value = (__bytes2int(bytes) if numbytes >= 0 else __byte s2ascii(bytes)) result.append(value) k = k + abs(numbytes) response[msgprop[0]] = result return response