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Reticulum/RNS/Interfaces/RNodeInterface.py

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# MIT License
#
# Copyright (c) 2016-2022 Mark Qvist / unsigned.io
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
from .Interface import Interface
from time import sleep
import sys
import threading
import time
import math
import RNS
class KISS():
FEND = 0xC0
FESC = 0xDB
TFEND = 0xDC
TFESC = 0xDD
CMD_UNKNOWN = 0xFE
CMD_DATA = 0x00
CMD_FREQUENCY = 0x01
CMD_BANDWIDTH = 0x02
CMD_TXPOWER = 0x03
CMD_SF = 0x04
CMD_CR = 0x05
CMD_RADIO_STATE = 0x06
CMD_RADIO_LOCK = 0x07
CMD_DETECT = 0x08
CMD_READY = 0x0F
CMD_STAT_RX = 0x21
CMD_STAT_TX = 0x22
CMD_STAT_RSSI = 0x23
CMD_STAT_SNR = 0x24
CMD_BLINK = 0x30
CMD_RANDOM = 0x40
CMD_PLATFORM = 0x48
CMD_MCU = 0x49
CMD_FW_VERSION = 0x50
CMD_ROM_READ = 0x51
CMD_RESET = 0x55
DETECT_REQ = 0x73
DETECT_RESP = 0x46
RADIO_STATE_OFF = 0x00
RADIO_STATE_ON = 0x01
RADIO_STATE_ASK = 0xFF
CMD_ERROR = 0x90
ERROR_INITRADIO = 0x01
ERROR_TXFAILED = 0x02
ERROR_EEPROM_LOCKED = 0x03
PLATFORM_AVR = 0x90
PLATFORM_ESP32 = 0x80
@staticmethod
def escape(data):
data = data.replace(bytes([0xdb]), bytes([0xdb, 0xdd]))
data = data.replace(bytes([0xc0]), bytes([0xdb, 0xdc]))
return data
class RNodeInterface(Interface):
MAX_CHUNK = 32768
owner = None
port = None
speed = None
databits = None
parity = None
stopbits = None
serial = None
FREQ_MIN = 137000000
FREQ_MAX = 1020000000
RSSI_OFFSET = 157
CALLSIGN_MAX_LEN = 32
REQUIRED_FW_VER_MAJ = 1
REQUIRED_FW_VER_MIN = 26
def __init__(self, owner, name, port, frequency = None, bandwidth = None, txpower = None, sf = None, cr = None, flow_control = False, id_interval = None, id_callsign = None):
import importlib
if importlib.util.find_spec('serial') != None:
import serial
else:
RNS.log("Using the RNode interface requires a serial communication module to be installed.", RNS.LOG_CRITICAL)
RNS.log("You can install one with the command: python3 -m pip install pyserial", RNS.LOG_CRITICAL)
RNS.panic()
self.rxb = 0
self.txb = 0
self.HW_MTU = 508
self.pyserial = serial
self.serial = None
self.owner = owner
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.platform = None
self.mcu = None
self.detected = False
self.firmware_ok = False
self.maj_version = 0
self.min_version = 0
self.last_id = 0
self.first_tx = None
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):
RNS.log("Invalid frequency configured for "+str(self), RNS.LOG_ERROR)
self.validcfg = False
if (self.txpower < 0 or self.txpower > 17):
RNS.log("Invalid TX power configured for "+str(self), RNS.LOG_ERROR)
self.validcfg = False
if (self.bandwidth < 7800 or self.bandwidth > 500000):
RNS.log("Invalid bandwidth configured for "+str(self), RNS.LOG_ERROR)
self.validcfg = False
if (self.sf < 7 or self.sf > 12):
RNS.log("Invalid spreading factor configured for "+str(self), RNS.LOG_ERROR)
self.validcfg = False
if (self.cr < 5 or self.cr > 8):
RNS.log("Invalid coding rate configured for "+str(self), RNS.LOG_ERROR)
self.validcfg = False
if id_interval != None and id_callsign != None:
if (len(id_callsign.encode("utf-8")) <= RNodeInterface.CALLSIGN_MAX_LEN):
self.should_id = True
self.id_callsign = id_callsign.encode("utf-8")
self.id_interval = id_interval
else:
RNS.log("The encoded ID callsign for "+str(self)+" exceeds the max length of "+str(RNodeInterface.CALLSIGN_MAX_LEN)+" bytes.", RNS.LOG_ERROR)
self.validcfg = False
else:
self.id_interval = None
self.id_callsign = None
if (not self.validcfg):
raise ValueError("The configuration for "+str(self)+" contains errors, interface is offline")
try:
self.open_port()
except Exception as e:
RNS.log("Could not open serial port for interface "+str(self), RNS.LOG_ERROR)
raise e
if self.serial.is_open:
self.configure_device()
else:
raise IOError("Could not open serial port")
def open_port(self):
RNS.log("Opening serial port "+self.port+"...")
self.serial = self.pyserial.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,
)
def configure_device(self):
sleep(2.0)
thread = threading.Thread(target=self.readLoop)
thread.setDaemon(True)
thread.start()
self.detect()
sleep(0.1)
if not self.detected:
raise IOError("Could not detect device")
else:
if self.platform == KISS.PLATFORM_ESP32:
RNS.log("Resetting ESP32-based device before configuration...", RNS.LOG_VERBOSE)
self.hard_reset()
self.online = True
RNS.log("Serial port "+self.port+" is now open")
RNS.log("Configuring RNode interface...", RNS.LOG_VERBOSE)
self.initRadio()
if (self.validateRadioState()):
self.interface_ready = True
RNS.log(str(self)+" is configured and powered up")
sleep(1.0)
else:
RNS.log("After configuring "+str(self)+", the reported radio parameters did not match your configuration.", RNS.LOG_ERROR)
RNS.log("Make sure that your hardware actually supports the parameters specified in the configuration", RNS.LOG_ERROR)
RNS.log("Aborting RNode startup", RNS.LOG_ERROR)
self.serial.close()
raise IOError("RNode interface did not pass configuration validation")
def initRadio(self):
self.setFrequency()
self.setBandwidth()
self.setTXPower()
self.setSpreadingFactor()
self.setCodingRate()
self.setRadioState(KISS.RADIO_STATE_ON)
def detect(self):
kiss_command = bytes([KISS.FEND, KISS.CMD_DETECT, KISS.DETECT_REQ, KISS.FEND, KISS.CMD_FW_VERSION, 0x00, KISS.FEND, KISS.CMD_PLATFORM, 0x00, KISS.FEND, KISS.CMD_MCU, 0x00, KISS.FEND])
written = self.serial.write(kiss_command)
if written != len(kiss_command):
raise IOError("An IO error occurred while detecting hardware for "+self(str))
def hard_reset(self):
kiss_command = bytes([KISS.FEND, KISS.CMD_RESET, 0xf8, KISS.FEND])
written = self.serial.write(kiss_command)
if written != len(kiss_command):
raise IOError("An IO error occurred while restarting device")
sleep(2.25);
def setFrequency(self):
c1 = self.frequency >> 24
c2 = self.frequency >> 16 & 0xFF
c3 = self.frequency >> 8 & 0xFF
c4 = self.frequency & 0xFF
data = KISS.escape(bytes([c1])+bytes([c2])+bytes([c3])+bytes([c4]))
kiss_command = bytes([KISS.FEND])+bytes([KISS.CMD_FREQUENCY])+data+bytes([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(bytes([c1])+bytes([c2])+bytes([c3])+bytes([c4]))
kiss_command = bytes([KISS.FEND])+bytes([KISS.CMD_BANDWIDTH])+data+bytes([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 = bytes([self.txpower])
kiss_command = bytes([KISS.FEND])+bytes([KISS.CMD_TXPOWER])+txp+bytes([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 = bytes([self.sf])
kiss_command = bytes([KISS.FEND])+bytes([KISS.CMD_SF])+sf+bytes([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 = bytes([self.cr])
kiss_command = bytes([KISS.FEND])+bytes([KISS.CMD_CR])+cr+bytes([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):
self.state = state
kiss_command = bytes([KISS.FEND])+bytes([KISS.CMD_RADIO_STATE])+bytes([state])+bytes([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 validate_firmware(self):
if (self.maj_version >= RNodeInterface.REQUIRED_FW_VER_MAJ):
if (self.min_version >= RNodeInterface.REQUIRED_FW_VER_MIN):
self.firmware_ok = True
if self.firmware_ok:
return
RNS.log("The firmware version of the connected RNode is "+str(self.maj_version)+"."+str(self.min_version), RNS.LOG_ERROR)
RNS.log("This version of Reticulum requires at least version "+str(RNodeInterface.REQUIRED_FW_VER_MAJ)+"."+str(RNodeInterface.REQUIRED_FW_VER_MIN), RNS.LOG_ERROR)
RNS.log("Please update your RNode firmware with rnodeconf (https://github.com/markqvist/rnodeconfigutil/)")
RNS.panic()
def validateRadioState(self):
RNS.log("Wating for radio configuration validation for "+str(self)+"...", RNS.LOG_VERBOSE)
sleep(0.25);
if (self.frequency != self.r_frequency):
RNS.log("Frequency mismatch", RNS.LOG_ERROR)
self.validcfg = False
if (self.bandwidth != self.r_bandwidth):
RNS.log("Bandwidth mismatch", RNS.LOG_ERROR)
self.validcfg = False
if (self.txpower != self.r_txpower):
RNS.log("TX power mismatch", RNS.LOG_ERROR)
self.validcfg = False
if (self.sf != self.r_sf):
RNS.log("Spreading factor mismatch", RNS.LOG_ERROR)
self.validcfg = False
if (self.state != self.r_state):
RNS.log("Radio state mismatch", RNS.LOG_ERROR)
self.validcfg = False
if (self.validcfg):
return True
else:
return False
def updateBitrate(self):
try:
self.bitrate = self.r_sf * ( (4.0/self.r_cr) / (math.pow(2,self.r_sf)/(self.r_bandwidth/1000)) ) * 1000
self.bitrate_kbps = round(self.bitrate/1000.0, 2)
RNS.log(str(self)+" On-air bitrate is now "+str(self.bitrate_kbps)+ " kbps", RNS.LOG_VERBOSE)
except:
self.bitrate = 0
def processIncoming(self, data):
self.rxb += len(data)
self.owner.inbound(data, self)
self.r_stat_rssi = None
self.r_stat_snr = None
def processOutgoing(self,data):
datalen = len(data)
if self.online:
if self.interface_ready:
if self.flow_control:
self.interface_ready = False
if data == self.id_callsign:
self.first_tx = None
else:
if self.first_tx == None:
self.first_tx = time.time()
data = KISS.escape(data)
frame = bytes([0xc0])+bytes([0x00])+data+bytes([0xc0])
written = self.serial.write(frame)
self.txb += datalen
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 = b""
command_buffer = b""
last_read_ms = int(time.time()*1000)
while self.serial.is_open:
if self.serial.in_waiting:
byte = ord(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 = b""
command_buffer = b""
elif (byte == KISS.FEND):
in_frame = True
command = KISS.CMD_UNKNOWN
data_buffer = b""
command_buffer = b""
elif (in_frame and len(data_buffer) < self.HW_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+bytes([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+bytes([byte])
if (len(command_buffer) == 4):
self.r_frequency = command_buffer[0] << 24 | command_buffer[1] << 16 | command_buffer[2] << 8 | command_buffer[3]
RNS.log(str(self)+" Radio reporting frequency is "+str(self.r_frequency/1000000.0)+" MHz", RNS.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+bytes([byte])
if (len(command_buffer) == 4):
self.r_bandwidth = command_buffer[0] << 24 | command_buffer[1] << 16 | command_buffer[2] << 8 | command_buffer[3]
RNS.log(str(self)+" Radio reporting bandwidth is "+str(self.r_bandwidth/1000.0)+" KHz", RNS.LOG_DEBUG)
self.updateBitrate()
elif (command == KISS.CMD_TXPOWER):
self.r_txpower = byte
RNS.log(str(self)+" Radio reporting TX power is "+str(self.r_txpower)+" dBm", RNS.LOG_DEBUG)
elif (command == KISS.CMD_SF):
self.r_sf = byte
RNS.log(str(self)+" Radio reporting spreading factor is "+str(self.r_sf), RNS.LOG_DEBUG)
self.updateBitrate()
elif (command == KISS.CMD_CR):
self.r_cr = byte
RNS.log(str(self)+" Radio reporting coding rate is "+str(self.r_cr), RNS.LOG_DEBUG)
self.updateBitrate()
elif (command == KISS.CMD_RADIO_STATE):
self.r_state = byte
if self.r_state:
pass
#RNS.log(str(self)+" Radio reporting state is online", RNS.LOG_DEBUG)
else:
RNS.log(str(self)+" Radio reporting state is offline", RNS.LOG_DEBUG)
elif (command == KISS.CMD_RADIO_LOCK):
self.r_lock = byte
elif (command == KISS.CMD_FW_VERSION):
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+bytes([byte])
if (len(command_buffer) == 2):
self.maj_version = int(command_buffer[0])
self.min_version = int(command_buffer[1])
self.validate_firmware()
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+bytes([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+bytes([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 = byte-RNodeInterface.RSSI_OFFSET
elif (command == KISS.CMD_STAT_SNR):
self.r_stat_snr = int.from_bytes(bytes([byte]), byteorder="big", signed=True) * 0.25
elif (command == KISS.CMD_RANDOM):
self.r_random = byte
elif (command == KISS.CMD_PLATFORM):
self.platform = byte
elif (command == KISS.CMD_MCU):
self.mcu = byte
elif (command == KISS.CMD_ERROR):
if (byte == KISS.ERROR_INITRADIO):
RNS.log(str(self)+" hardware initialisation error (code "+RNS.hexrep(byte)+")", RNS.LOG_ERROR)
raise IOError("Radio initialisation failure")
elif (byte == KISS.ERROR_INITRADIO):
RNS.log(str(self)+" hardware TX error (code "+RNS.hexrep(byte)+")", RNS.LOG_ERROR)
raise IOError("Hardware transmit failure")
else:
RNS.log(str(self)+" hardware error (code "+RNS.hexrep(byte)+")", RNS.LOG_ERROR)
raise IOError("Unknown hardware failure")
elif (command == KISS.CMD_RESET):
if (byte == 0xF8):
if self.platform == KISS.PLATFORM_ESP32:
if self.online:
RNS.log("Detected reset while device was online, reinitialising device...", RNS.LOG_ERROR)
raise IOError("ESP32 reset")
elif (command == KISS.CMD_READY):
self.process_queue()
elif (command == KISS.CMD_DETECT):
if byte == KISS.DETECT_RESP:
self.detected = True
else:
self.detected = False
else:
time_since_last = int(time.time()*1000) - last_read_ms
if len(data_buffer) > 0 and time_since_last > self.timeout:
RNS.log(str(self)+" serial read timeout", RNS.LOG_DEBUG)
data_buffer = b""
in_frame = False
command = KISS.CMD_UNKNOWN
escape = False
if self.id_interval != None and self.id_callsign != None:
if self.first_tx != None:
if time.time() > self.first_tx + self.id_interval:
RNS.log("Interface "+str(self)+" is transmitting beacon data: "+str(self.id_callsign.decode("utf-8")), RNS.LOG_DEBUG)
self.processOutgoing(self.id_callsign)
sleep(0.08)
except Exception as e:
self.online = False
RNS.log("A serial port error occurred, the contained exception was: "+str(e), RNS.LOG_ERROR)
RNS.log("The interface "+str(self)+" experienced an unrecoverable error and is now offline.", RNS.LOG_ERROR)
if RNS.Reticulum.panic_on_interface_error:
RNS.panic()
RNS.log("Reticulum will attempt to reconnect the interface periodically.", RNS.LOG_ERROR)
self.online = False
self.serial.close()
self.reconnect_port()
def reconnect_port(self):
while not self.online:
try:
time.sleep(3.5)
RNS.log("Attempting to reconnect serial port "+str(self.port)+" for "+str(self)+"...", RNS.LOG_VERBOSE)
self.open_port()
if self.serial.is_open:
self.configure_device()
except Exception as e:
RNS.log("Error while reconnecting port, the contained exception was: "+str(e), RNS.LOG_ERROR)
RNS.log("Reconnected serial port for "+str(self))
def __str__(self):
return "RNodeInterface["+str(self.name)+"]"
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