mirror of
https://github.com/DJ2LS/FreeDATA
synced 2024-05-14 08:04:33 +00:00
improved data frame processing
This commit is contained in:
parent
b9f2f1874f
commit
6f770d1d69
3 changed files with 165 additions and 112 deletions
183
arq.py
183
arq.py
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@ -14,6 +14,7 @@ from random import randrange
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import static
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import modem
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import helpers
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import main
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modem = modem.RF()
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@ -26,21 +27,47 @@ def arq_ack_timeout():
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def data_received(data_in):
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static.ARQ_N_FRAME = int.from_bytes(bytes(data_in[:1]), "big") - 10 #get number of frame
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static.ARQ_N_RX_FRAMES_PER_BURSTS = int.from_bytes(bytes(data_in[1:2]), "big") #get number of bursts from received frame
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# get total number of arq frames from data frame header
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if data_in[8:10] == static.FRAME_BOF:
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static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME = int.from_bytes(bytes(data_in[4:6]), "big")
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# arqframe = frame_type + \ # 1 [:1] # frame type and current number of arq frame of (current) burst
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# bytes([static.ARQ_TX_N_FRAMES_PER_BURST]) + \ # 1 [1:2] # total number of arq frames per (current) burst
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# static.ARQ_N_CURRENT_ARQ_FRAME + \ # 2 [2:4] # current arq frame number
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# static.ARQ_N_TOTAL_ARQ_FRAMES + \ # 2 [4:6] # total number arq frames
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# static.ARQ_BURST_PAYLOAD_CRC + \ # 2 [6:8] # arq crc
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# payload_data # N [8:N] # payload data
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static.ARQ_N_FRAME = int.from_bytes(bytes(data_in[:1]), "big") - 10 #get number of burst frame
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static.ARQ_N_RX_FRAMES_PER_BURSTS = int.from_bytes(bytes(data_in[1:2]), "big") #get number of bursts from received frame
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static.ARQ_RX_N_CURRENT_ARQ_FRAME = int.from_bytes(bytes(data_in[2:4]), "big") #get current number of total frames
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static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME = int.from_bytes(bytes(data_in[4:6]), "big") # get get total number of frames
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static.ARQ_BURST_PAYLOAD_CRC = data_in[6:8]
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print("----------------------------------------------------------------")
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logging.info("ARQ | RX | INCOMMING DATA FRAME ----- ARQ FRAMES: " + str(static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME))
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logging.info("ARQ_N_FRAME: " + str(static.ARQ_N_FRAME))
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logging.info("ARQ_N_RX_FRAMES_PER_BURSTS: " + str(static.ARQ_N_RX_FRAMES_PER_BURSTS))
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logging.info("ARQ_RX_N_CURRENT_ARQ_FRAME: " + str(static.ARQ_RX_N_CURRENT_ARQ_FRAME))
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logging.info("ARQ_N_ARQ_FRAMES_PER_DATA_FRAME: " + str(static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME))
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logging.info("static.ARQ_BURST_PAYLOAD_CRC: " + str(static.ARQ_BURST_PAYLOAD_CRC))
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print("----------------------------------------------------------------")
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arq_percent_burst = int((static.ARQ_N_FRAME / static.ARQ_N_RX_FRAMES_PER_BURSTS)*100)
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arq_percent_frame = int(((static.ARQ_N_RX_ARQ_FRAMES + static.ARQ_N_FRAME)/static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME)*100)
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logging.info("ARQ | RX | ARQ FRAME [" + str(static.ARQ_N_FRAME) + "/" + str(static.ARQ_N_RX_FRAMES_PER_BURSTS) + "] [" + str(arq_percent_burst).zfill(3) + "%] --- TOTAL [" + str(static.ARQ_N_RX_ARQ_FRAMES + static.ARQ_N_FRAME) + "/" + str(static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME) + "] [" + str(arq_percent_frame).zfill(3) + "%]" )
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arq_percent_frame = int(((static.ARQ_RX_N_CURRENT_ARQ_FRAME)/static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME)*100)
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logging.info("ARQ | RX | ARQ FRAME [" + str(static.ARQ_N_FRAME) + "/" + str(static.ARQ_N_RX_FRAMES_PER_BURSTS) + "] [" + str(arq_percent_burst).zfill(3) + "%] --- TOTAL [" + str(static.ARQ_RX_N_CURRENT_ARQ_FRAME) + "/" + str(static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME) + "] [" + str(arq_percent_frame).zfill(3) + "%]" )
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#allocate ARQ_RX_FRAME_BUFFER as a list with "None" if not already done. This should be done only once per burst!
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# here we will save the N frame of a data frame to N list position so we can explicit search for it
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if static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME != len(static.ARQ_RX_FRAME_BUFFER) and static.ARQ_RX_N_CURRENT_ARQ_FRAME == 1:
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for i in range(0,static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME+1):
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static.ARQ_RX_FRAME_BUFFER.insert(i,None)
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#allocate ARQ_RX_BURST_BUFFER as a list with "None" if not already done. This should be done only once per burst!
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@ -48,109 +75,119 @@ def data_received(data_in):
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if static.ARQ_N_RX_FRAMES_PER_BURSTS != len(static.ARQ_RX_BURST_BUFFER) and static.ARQ_N_FRAME == 1:
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for i in range(0,static.ARQ_N_RX_FRAMES_PER_BURSTS+1):
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static.ARQ_RX_BURST_BUFFER.insert(i,None)
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#print(len(static.ARQ_RX_BURST_BUFFER))
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# now we add the incoming data to the specified position in our list
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# now we add the incoming data to the specified position in our lists
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static.ARQ_RX_BURST_BUFFER[static.ARQ_N_FRAME] = bytes(data_in)
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static.ARQ_RX_FRAME_BUFFER[static.ARQ_RX_N_CURRENT_ARQ_FRAME] = bytes(data_in)
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# -------------------------- ARQ BURST CHECKER
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# run only if we recieved all ARQ FRAMES per ARQ BURST
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burst_total_payload = bytearray()
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if static.ARQ_N_FRAME == static.ARQ_N_RX_FRAMES_PER_BURSTS: #if received bursts are equal to burst number in frame
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#print("len ARQ_RX_BURST_BUFFER: " + str(len(static.ARQ_RX_BURST_BUFFER)-1))
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#print("static.ARQ_N_FRAME: " + str(static.ARQ_N_FRAME))
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#print("static.ARQ_N_RX_FRAMES_PER_BURSTS: " + str(static.ARQ_N_RX_FRAMES_PER_BURSTS))
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#for l in range(0,len(static.ARQ_RX_BURST_BUFFER)):
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# print(static.ARQ_RX_BURST_BUFFER[l])
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#here we get the total payload for the frame
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#here we get the total payload for the frame to calculate the crc
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for n_raw_frame in range(1,len(static.ARQ_RX_BURST_BUFFER)):
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# we need to check if we have a None or received data in list
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if static.ARQ_RX_BURST_BUFFER[n_raw_frame] != None:
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burst_frame = static.ARQ_RX_BURST_BUFFER[n_raw_frame] #get burst frame
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burst_payload = burst_frame[4:] #remove frame type and burst CRC
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burst_payload = burst_frame[8:] #remove frame type and burst CRC #4
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burst_total_payload = burst_total_payload + burst_payload #stick bursts together
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# ------------------ calculate CRC of BURST
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burst_payload_crc = helpers.get_crc_16(burst_total_payload)
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# IF BURST CRC IS CORRECT, APPEND BURST TO BUFFER AND SEND ACK FRAME
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if burst_payload_crc == data_in[2:4]:
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if burst_payload_crc == data_in[6:8]:
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#update received frames counter
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static.ARQ_N_RX_ARQ_FRAMES = static.ARQ_N_RX_ARQ_FRAMES + static.ARQ_N_RX_FRAMES_PER_BURSTS
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#logging.info("ARQ BURST CRC ARE EQUAL!")
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static.ARQ_RX_FRAME_BUFFER.append(burst_total_payload) # IF CRC TRUE APPEND burst_total_payload TO ARQ_RX_FRAME_BUFFER
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#BUILDING ACK FRAME -----------------------------------------------
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#BUILDING ACK FRAME FOR BURST -----------------------------------------------
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ack_payload = bytes(burst_payload_crc)
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ack_frame = b'<'+ bytes(burst_payload_crc) # < = 60
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ack_buffer = bytearray(static.ARQ_ACK_PAYLOAD_PER_FRAME)
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ack_buffer[:len(ack_frame)] = ack_frame # set buffersize to length of data which will be send
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#TRANSMIT ACK FRAME -----------------------------------------------
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logging.info("ARQ | TX | ARQ BURST ACK [" + str(data_in[1:3].hex()) +"]")
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#TRANSMIT ACK FRAME FOR BURST-----------------------------------------------
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logging.info("ARQ | TX | ARQ BURST ACK [" + str(data_in[6:8].hex()) +"]") #1:3
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modem.transmit_arq_ack(ack_buffer)
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# ----------------------------------------------------------------
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static.ARQ_RX_BURST_BUFFER = [] # CLEAR RX BURST BUFFER AFTER SENDING DATA
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else: #IF burst payload crc and input crc are NOT equal
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logging.info("ARQ BURST CRC NOT EQUAL! [" + str(data_in[2:4]) + "]")
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logging.info("ARQ BURST CRC NOT EQUAL! [" + str(data_in[6:8]) + "]")
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static.ARQ_RX_BURST_BUFFER = [] #erase ARQ RX Burst buffer
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#if nframes are unequal to expected frames per burst
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else:
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print("unequal")
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pass
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# LOOP THOUGH FRAME BUFFER AND STICK EVERYTHING TOGETHER
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# WE ALSO CHECK FOR FRAME HEADER AND LAST FRAME
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complete_frame = bytearray()
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#print(static.ARQ_RX_FRAME_BUFFER)
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for frame in range(len(static.ARQ_RX_FRAME_BUFFER)):
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complete_frame = complete_frame + static.ARQ_RX_FRAME_BUFFER[frame]
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# ---------------------------- FRAME MACHINE
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# -------- DETECT IF WE ALREADY RECEIVED A FRAME HEADER THEN SAVE DATA TO GLOBALS
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if complete_frame[4:6].startswith(static.FRAME_BOF) or burst_total_payload[4:6].startswith(static.FRAME_BOF): #5:7
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static.FRAME_CRC = complete_frame[2:4]
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# --------------- CHECK IF WE ARE MISSING FRAMES -------------------------------------------
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for frame in range(1,len(static.ARQ_RX_FRAME_BUFFER)):
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if static.ARQ_RX_FRAME_BUFFER[frame] == None:
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print("Missing frames:" + str(frame))
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# --------------- IF LIST NOT CONTAINS "None" stick everything together
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complete_data_frame = bytearray()
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if static.ARQ_RX_FRAME_BUFFER.count(None) == 1: ## 1 because position 0 of list will alaways be None in our case
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print("ALL DATA RECEIVED!")
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for frame in range(1,len(static.ARQ_RX_FRAME_BUFFER)):
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raw_arq_frame = static.ARQ_RX_FRAME_BUFFER[frame]
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arq_frame_payload = raw_arq_frame[8:]
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# -------- DETECT IF WE RECEIVED A FRAME HEADER THEN SAVE DATA TO GLOBALS
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if arq_frame_payload[2:4].startswith(static.FRAME_BOF):
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static.FRAME_CRC = arq_frame_payload[:2]
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static.ARQ_FRAME_BOF_RECEIVED = True
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# -------- DETECT IF WE HAVE ALREADY RECEIVED THE LAST FRAME
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if burst_total_payload.rstrip(b'\x00').endswith(static.FRAME_EOF):
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arq_frame_payload = arq_frame_payload.split(static.FRAME_BOF)
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arq_frame_payload = arq_frame_payload[1]
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# -------- DETECT IF WE RECEIVED A FRAME FOOTER THEN SAVE DATA TO GLOBALS
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if arq_frame_payload.rstrip(b'\x00').endswith(static.FRAME_EOF):
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static.ARQ_FRAME_EOF_RECEIVED = True
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arq_frame_payload = arq_frame_payload.split(static.FRAME_EOF)
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arq_frame_payload = arq_frame_payload[0]
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# --------- AFTER WE SEPARATED BOF AND EOF, STICK EVERYTHING TOGETHER
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complete_data_frame = complete_data_frame + arq_frame_payload
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#check if Begin of Frame BOF and End of Frame EOF are received, then start calculating CRC and sticking everything together
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if static.ARQ_FRAME_BOF_RECEIVED == True and static.ARQ_FRAME_EOF_RECEIVED == True:
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# NOW WE TRY TO SEPARATE THE FRAME CRC FOR A CRC CALCULATION
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frame_payload = complete_frame.rstrip(b'\x00') #REMOVE x00
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frame_payload = frame_payload[6:-2] #THIS IS THE FRAME PAYLOAD
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frame_payload_crc = helpers.get_crc_16(frame_payload)
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frame_payload_crc = helpers.get_crc_16(complete_data_frame)
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#IF THE FRAME PAYLOAD CRC IS EQUAL TO THE FRAME CRC WHICH IS KNOWN FROM THE HEADER --> SUCCESS
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if frame_payload_crc == static.FRAME_CRC:
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logging.info("ARQ | RX | DATA FRAME SUCESSFULLY RECEIVED! - TIME TO PARTY")
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static.RX_BUFFER.append(frame_payload)
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static.RX_BUFFER.append(complete_data_frame)
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# clearing buffers and resetting counters
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static.ARQ_RX_BURST_BUFFER = []
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static.ARQ_RX_FRAME_BUFFER = []
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static.ARQ_FRAME_BOF_RECEIVED = False
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static.ARQ_FRAME_EOF_RECEIVED = False
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static.ARQ_N_RX_ARQ_FRAMES = 0
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#static.ARQ_N_RX_ARQ_FRAMES = 0
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static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME = 0
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print("----------------------------------------------------------------")
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print(static.RX_BUFFER[-1])
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print("----------------------------------------------------------------")
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# HERE: WE COULD SEND ACK FOR TOTAL FRAME
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else:
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logging.info("ARQ | RX | DATA FRAME NOT SUCESSFULLY RECEIVED!")
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#print("ARQ FRAME PAYLOAD CRC: " + str(frame_payload_crc))
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#print("ARQ FRAME PAYLOAD: " + str(frame_payload))
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#print("DATA FRAME: " + str(complete_frame))
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#static.ARQ_RX_FRAME_BUFFER = [] # ---> BUFFER ERST LÖSCHEN WENN MINDESTANZAHL AN BURSTS ERHALTEN WORDEN SIND
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def ack_received():
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@ -161,30 +198,24 @@ def ack_received():
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def transmit(data_out):
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static.ARQ_PAYLOAD_PER_FRAME = static.FREEDV_DATA_PAYLOAD_PER_FRAME - 4 #3 ohne ARQ_TX_N_FRAMES_PER_BURST
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frame_header_length = 8
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static.ARQ_PAYLOAD_PER_FRAME = static.FREEDV_DATA_PAYLOAD_PER_FRAME - 8 #3 ohne ARQ_TX_N_FRAMES_PER_BURST
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frame_header_length = 4
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n_arq_frames_per_data_frame = (len(data_out)+frame_header_length) // static.ARQ_PAYLOAD_PER_FRAME + ((len(data_out)+frame_header_length) % static.ARQ_PAYLOAD_PER_FRAME > 0) # aufrunden 3.2 = 4
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#print(static.FREEDV_DATA_PAYLOAD_PER_FRAME)
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#print(static.ARQ_PAYLOAD_PER_FRAME)
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#print(n_bursts_prediction)
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static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME = n_arq_frames_per_data_frame.to_bytes(2, byteorder='big') #65535
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####static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME = n_arq_frames_per_data_frame.to_bytes(2, byteorder='big') #65535
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frame_payload_crc = helpers.get_crc_16(data_out)
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#print(frame_payload_crc)
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# This is the total frame with frame header, which will be send
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data_out = static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME + frame_payload_crc + static.FRAME_BOF + data_out + static.FRAME_EOF
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# 2 2 2 N 2
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#print("ARQ_N_ARQ_FRAMES_PER_DATA_FRAME" + str(static.ARQ_N_ARQ_FRAMES_PER_DATA_FRAME))
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data_out = frame_payload_crc + static.FRAME_BOF + data_out + static.FRAME_EOF
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# 2 2 N 2
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#print(data_out)
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#print(len(data_out))
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#print(static.ARQ_PAYLOAD_PER_FRAME)
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# --------------------------------------------- LETS CREATE A BUFFER BY SPLITTING THE FILES INTO PEACES
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static.TX_BUFFER = [data_out[i:i+static.ARQ_PAYLOAD_PER_FRAME] for i in range(0, len(data_out), static.ARQ_PAYLOAD_PER_FRAME)]
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static.TX_BUFFER_SIZE = len(static.TX_BUFFER)
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burst_payload = bytearray(static.ARQ_PAYLOAD_PER_FRAME)
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burst_payload[:len(burst_raw_payload)] = burst_raw_payload # get frame from TX_BUFFER
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burst_total_payload = burst_total_payload + burst_payload # append single frame to total payload buffer
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#print(burst_total_payload)
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# ----------- GENERATE PAYLOAD CRC FOR ARQ_TX_N_FRAMES_PER_BURST
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static.ARQ_BURST_PAYLOAD_CRC = helpers.get_crc_16(burst_total_payload)
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logging.info("ARQ | RX | WAITING FOR ACK")
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static.ARQ_STATE = 'RECEIVING_ACK'
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timer = threading.Timer(static.ARQ_ACK_TIMEOUT_SECONDS, arq_ack_timeout)
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timer.start()
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# waiting the other way...
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#starttimer = time.time() + static.ARQ_ACK_TIMEOUT_SECONDS
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#while starttimer > time.time() and static.ARQ_ACK_RECEIVED == 0:
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# #print(str(starttimer - time.time()))
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# pass
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#else:
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# static.ARQ_ACK_TIMEOUT = 1
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#static.MODEM_RECEIVE = False
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# --------------------------- WHILE TIMEOUT NOT REACHED AND NO ACK RECEIVED --> LISTEN
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while static.ARQ_ACK_TIMEOUT == 0 and static.ARQ_ACK_RECEIVED == 0:
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time.sleep(0.01) # lets reduce CPU load a little bit
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#print(static.ARQ_STATE)
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#--------------- BREAK LOOP IF ACK HAS BEEN RECEIVED
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if static.ARQ_ACK_RECEIVED == 1:
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#-----------IF ACK RECEIVED, INCREMENT ITERATOR FOR MAIN LOOP TO PROCEED WITH NEXT FRAMES/BURST
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@ -315,6 +334,6 @@ def transmit(data_out):
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# BURST MACHINE TO DEFINE N BURSTS PER FRAME ---> LATER WE CAN USE CHANNEL MESSUREMENT TO SET FRAMES PER BURST
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def get_n_frames_per_burst():
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n_frames_per_burst = randrange(1,5)
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#n_frames_per_burst = 3
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n_frames_per_burst = randrange(1,15)
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#n_frames_per_burst = 1
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return n_frames_per_burst
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33
modem.py
33
modem.py
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@ -91,6 +91,7 @@ class RF():
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txbuffer += bytes(mod_out)
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txbuffer = txbuffer.rstrip(b'\x00')
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# -------------- transmit audio
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self.stream_tx.write(bytes(txbuffer))
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@ -127,9 +128,9 @@ class RF():
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txbuffer = txbuffer.rstrip(b'\x00') #lets remove unallocated memory because of wrong buffer :-/
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txbuffer += bytes(mod_out)
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txbuffer = txbuffer.rstrip(b'\x00') #lets remove unallocated memory because of wrong buffer :-/
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# -------------- transmit audio
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self.stream_tx.write(bytes(txbuffer))
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self.stream_tx.write(bytes(txbuffer))
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static.ARQ_STATE = 'RECEIVING_DATA'
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#--------------------------------------------------------------------------------------------------------
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payload_data = bytes(static.TX_BUFFER[static.ARQ_N_SENT_FRAMES + n])
|
||||
|
||||
arqframe = frame_type + bytes([static.ARQ_TX_N_FRAMES_PER_BURST]) + static.ARQ_BURST_PAYLOAD_CRC + payload_data
|
||||
n_current_arq_frame = static.ARQ_N_SENT_FRAMES + n + 1
|
||||
static.ARQ_TX_N_CURRENT_ARQ_FRAME = n_current_arq_frame.to_bytes(2, byteorder='big')
|
||||
|
||||
n_total_arq_frame = len(static.TX_BUFFER)
|
||||
static.ARQ_TX_N_TOTAL_ARQ_FRAMES = n_total_arq_frame.to_bytes(2, byteorder='big')
|
||||
|
||||
|
||||
|
||||
# 1 # frame type and current number of arq frame of burst
|
||||
# 1 # total number of arq frames per (current) burst
|
||||
# 2 # current arq frame number
|
||||
# 2 # total number arq frames
|
||||
# 2 # arq crc
|
||||
# N # payload data
|
||||
|
||||
arqframe = frame_type + \
|
||||
bytes([static.ARQ_TX_N_FRAMES_PER_BURST]) + \
|
||||
static.ARQ_TX_N_CURRENT_ARQ_FRAME + \
|
||||
static.ARQ_TX_N_TOTAL_ARQ_FRAMES + \
|
||||
static.ARQ_BURST_PAYLOAD_CRC + \
|
||||
payload_data
|
||||
|
||||
print(arqframe)
|
||||
|
||||
buffer = bytearray(static.FREEDV_DATA_PAYLOAD_PER_FRAME) # create TX buffer
|
||||
buffer[:len(arqframe)] = arqframe # set buffersize to length of data which will be send
|
||||
|
@ -201,8 +224,8 @@ class RF():
|
|||
signalling_bytes_out = (ctypes.c_ubyte * static.FREEDV_SIGNALLING_BYTES_PER_FRAME)
|
||||
signalling_bytes_out = signalling_bytes_out() #get pointer from bytes_out
|
||||
|
||||
|
||||
while 1:
|
||||
# with this we can interrupt receiving
|
||||
while static.FREEDV_RECEIVE == True:
|
||||
time.sleep(0.01)
|
||||
|
||||
while static.ARQ_STATE == 'RECEIVING_DATA':
|
||||
|
@ -265,7 +288,7 @@ class RF():
|
|||
arq.ack_received()
|
||||
|
||||
rxstatus = self.c_lib.freedv_get_rx_status(freedv_signalling)
|
||||
#print(rxstatus)
|
||||
print(rxstatus)
|
||||
if nbytes == static.FREEDV_SIGNALLING_BYTES_PER_FRAME or rxstatus == 10:
|
||||
self.c_lib.freedv_set_sync(freedv_signalling, 0) #FORCE UNSYNC
|
||||
|
||||
|
|
13
static.py
13
static.py
|
@ -13,6 +13,7 @@ Created on Wed Dec 23 11:13:57 2020
|
|||
#AUDIO TIME: 14.750595331192017 #12 # 2 FRAME + PREAMBLE
|
||||
|
||||
# FreeDV Defaults
|
||||
FREEDV_RECEIVE = True
|
||||
|
||||
FREEDV_DATA_MODE = 12
|
||||
FREEDV_SIGNALLING_MODE = 14
|
||||
|
@ -56,8 +57,18 @@ ARQ_RX_BURST_BUFFER = []
|
|||
ARQ_RX_FRAME_BUFFER = []
|
||||
ARQ_RX_FRAME_N_BURSTS = 0
|
||||
|
||||
ARQ_N_RX_ARQ_FRAMES = 0 # total number of received frames
|
||||
## TX
|
||||
ARQ_TX_N_CURRENT_ARQ_FRAME = 0
|
||||
ARQ_TX_N_TOTAL_ARQ_FRAMES = 0
|
||||
##
|
||||
|
||||
## RX
|
||||
ARQ_N_ARQ_FRAMES_PER_DATA_FRAME = 0 #total number of arq frames per data frame
|
||||
ARQ_RX_N_CURRENT_ARQ_FRAME = 0
|
||||
##
|
||||
|
||||
ARQ_N_RX_ARQ_FRAMES = 0 # total number of received frames
|
||||
|
||||
ARQ_N_RX_FRAMES_PER_BURSTS = 0 # NUMBER OF FRAMES WE ARE WAITING FOR --> GOT DATA FROM RECEIVED FRAME
|
||||
ARQ_ACK_PAYLOAD_PER_FRAME = 0 # PAYLOAD per ACK frame
|
||||
ARQ_ACK_RECEIVED = 0 # set to 1 if ACK received
|
||||
|
|
Loading…
Reference in a new issue