Skip to content

Fix for Python3 #6

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
alexrudd2 wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Fix for Python3 #6

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
41 changes: 25 additions & 16 deletions library/python/goodrobotics.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,12 @@
import json
import hashlib
import hmac
import binascii
import sys

import Queue as waitqueue
try:
import queue as waitqueue
except ImportError: # python2
import Queue as waitqueue

class Nack(Exception):
def __init__(self, message): self.message = message
Expand All @@ -28,9 +31,15 @@ def __call__(self, angle): return float(angle) * self.coeff
def fromPos(self, pos): return float(pos) / self.coeff


def _ascii_encode_dict(data):
ascii_encode = lambda x: x.encode('ascii') if isinstance(x, unicode) else x
return dict(map(ascii_encode, pair) for pair in data.items())
if sys.version_info[0] == 2:
def _ascii_encode_dict(data):
ascii_encode = lambda x: x.encode('ascii') if isinstance(x, unicode) else x
return {key: ascii_encode(value) for key, value in data.items()}
else:
def _ascii_encode_dict(data):
ascii_encode = lambda x: x.encode('ascii') if isinstance(x, str) else x
return {key: ascii_encode(value) for key, value in data.items()}


class _ComCommon:
_L_MAGIC_1 = (0xAE)
Expand Down Expand Up @@ -78,7 +87,7 @@ class _ComCommon:
_OPCODE_LOADQUEUE = (0x33)
_OPCODE_ADDQUEUE = (0x34)
_OPCODE_COPYQUEUE = (0x35)

_OPCODE_GETQUEUE = (0x37)

_SUBCODE_NACK = (0x00)
Expand Down Expand Up @@ -153,7 +162,7 @@ def _rxworker(self):

elif p_type == self._TYPE_STD:
(h_opcode, h_subcode, h_target, h_queue, h_packetid, h_length) = struct.unpack(self._PACK_STD, self.sock.recv(struct.calcsize(self._PACK_STD)))
(d_remaining, d_data) = (h_length, '')
(d_remaining, d_data) = (h_length, b'')
while d_remaining > 0:
d_read = self.sock.recv(d_remaining)
d_data += d_read
Expand All @@ -163,7 +172,7 @@ def _rxworker(self):
elif p_type == self._TYPE_CRYPTO:
mac = self.sock.recv(32)
(h_opcode, h_subcode, h_target, h_queue, h_packetid, h_length) = struct.unpack(self._PACK_STD, self.sock.recv(struct.calcsize(self._PACK_STD)))
(d_remaining, d_data) = (h_length, '')
(d_remaining, d_data) = (h_length, b'')
while d_remaining > 0:
d_read = self.sock.recv(d_remaining)
d_data += d_read
Expand Down Expand Up @@ -251,11 +260,11 @@ def cmd_setconfig(self, target, queue, config):

def cmd_getconfig(self, target):
self._checkconnected()
return self._waitreply(self._send(self._OPCODE_GETCONFIG, self._SUBCODE_CMD, target, 0), self._SUBCODE_REPLY).rstrip('\x00')
return self._waitreply(self._send(self._OPCODE_GETCONFIG, self._SUBCODE_CMD, target, 0), self._SUBCODE_REPLY).rstrip(b'\x00')

def cmd_getstate(self, target):
self._checkconnected()
return self._waitreply(self._send(self._OPCODE_GETSTATE, self._SUBCODE_CMD, target, 0), self._SUBCODE_REPLY).rstrip('\x00')
return self._waitreply(self._send(self._OPCODE_GETSTATE, self._SUBCODE_CMD, target, 0), self._SUBCODE_REPLY).rstrip(b'\x00')

def cmd_stop(self, target, queue, hiz, soft):
self._checkconnected()
Expand Down Expand Up @@ -289,7 +298,7 @@ def cmd_gountil(self, target, queue, action, dir, stepss):
b_action = 0x01 if action else 0x00
b_dir = 0x01 if dir else 0x00
return self._waitreply(self._send(self._OPCODE_GOUNTIL, self._SUBCODE_CMD, target, queue, struct.pack('<BBf', b_action, b_dir, stepss)), self._SUBCODE_ACK)

def cmd_releasesw(self, target, queue, action, dir):
self._checkconnected()
b_action = 0x01 if action else 0x00
Expand Down Expand Up @@ -362,7 +371,7 @@ class ComStandard(_ComCommon):
def __init__(self, host, port, error_callback, **kwargs):
_ComCommon.__init__(self, host, port, error_callback)

def _send(self, opcode, subcode, target, queue, data = ''):
def _send(self, opcode, subcode, target, queue, data = b''):
packetid = self._nextid()
self.sock.send(self._preamble(self._TYPE_STD) + self._header(opcode, subcode, target, queue, packetid, len(data)) + data)
return packetid
Expand All @@ -373,7 +382,7 @@ def _recv_hello(self, enabled_std, enabled_crypto, nonce, meta):
def _recv_std(self, opcode, subcode, target, queue, packetid, data):
if subcode in [self._SUBCODE_ACK, self._SUBCODE_NACK, self._SUBCODE_REPLY]:
if subcode == self._SUBCODE_ACK: (data,) = struct.unpack('<I', data)
if subcode == self._SUBCODE_NACK: data = data.rstrip('\x00')
if subcode == self._SUBCODE_NACK: data = data.rstrip(b'\x00')
if packetid in self.wait_dict:
try: self.wait_dict[packetid].put(self.Response(subcode, data), False)
except waitqueue.Full: pass
Expand All @@ -387,7 +396,7 @@ def __init__(self, host, port, key, error_callback, **kwargs):
_ComCommon.__init__(self, host, port, error_callback)
self.__key = hashlib.sha256(key).digest()

def _send(self, opcode, subcode, target, queue, data = ''):
def _send(self, opcode, subcode, target, queue, data = b''):
packetid = self._nextid()
payload = self._header(opcode, subcode, target, queue, packetid, len(data)) + data
calcmac = hmac.new(self.__key, struct.pack('<I', self.nonce) + payload, hashlib.sha256).digest()
Expand All @@ -399,7 +408,7 @@ def _recv_hello(self, enabled_std, enabled_crypto, nonce, meta):

def _recv_std(self, opcode, subcode, target, queue, packetid, data):
if subcode == self._SUBCODE_NACK:
data = data.rstrip('\x00')
data = data.rstrip(b'\x00')
if packetid in self.wait_dict:
try: self.wait_dict[packetid].put(self.Response(subcode, data), False)
except waitqueue.Full: pass
Expand All @@ -410,7 +419,7 @@ def _recv_crypto(self, mac, opcode, subcode, target, queue, packetid, data):

if subcode in [self._SUBCODE_ACK, self._SUBCODE_NACK, self._SUBCODE_REPLY]:
if subcode == self._SUBCODE_ACK: (data,) = struct.unpack('<I', data)
if subcode == self._SUBCODE_NACK: data = data.rstrip('\x00')
if subcode == self._SUBCODE_NACK: data = data.rstrip(b'\x00')
if packetid in self.wait_dict:
resp = self.Response(subcode, data)
if not verified: resp = self.Response(self._SUBCODE_NACK, "Bad hmac signature in response (Key error)")
Expand Down
7 changes: 2 additions & 5 deletions library/python/test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
import goodrobotics as gr
import time

s = gr.WifiStepper(host='wsx100.local')
s.connect()
Expand All @@ -11,8 +12,7 @@
s.stop()


import goodrobotics as gr
s = gr.WifiStepper(proto=gr.ComCrypto, host='wsx100.local', key="newpass1")
s = gr.WifiStepper(proto=gr.ComCrypto, host='wsx100.local', key=b"newpass1")
s.connect()


Expand All @@ -25,9 +25,6 @@
s.runqueue(2, queue=2)


import goodrobotics as gr
import time

s = gr.WifiStepper(host='wsx100.local')
s.connect()

Expand Down