mirror of
https://github.com/UGA-Innovation-Factory/UR10-Sentry.git
synced 2026-02-09 02:17:01 +00:00
robot looks at you
This commit is contained in:
108
UnifiWebsockets/decode.py
Normal file
108
UnifiWebsockets/decode.py
Normal file
@@ -0,0 +1,108 @@
|
||||
import zlib
|
||||
import struct
|
||||
import json
|
||||
from typing import Tuple, Union
|
||||
|
||||
# Constants
|
||||
EVENT_PACKET_HEADER_SIZE = 8
|
||||
|
||||
# Packet Types
|
||||
HEADER = 1
|
||||
PAYLOAD = 2
|
||||
|
||||
# Payload Types
|
||||
JSON_TYPE = 1
|
||||
STRING_TYPE = 2
|
||||
BUFFER_TYPE = 3
|
||||
|
||||
def decode_packet(packet: bytes) -> Union[Tuple[dict, Union[dict, str, bytes]], None]:
|
||||
try:
|
||||
data_offset = struct.unpack('>I', packet[ProtectEventPacketHeader.PAYLOAD_SIZE:ProtectEventPacketHeader.PAYLOAD_SIZE + 4])[0] + EVENT_PACKET_HEADER_SIZE
|
||||
|
||||
if len(packet) != (data_offset + EVENT_PACKET_HEADER_SIZE + struct.unpack('>I', packet[data_offset + ProtectEventPacketHeader.PAYLOAD_SIZE:data_offset + ProtectEventPacketHeader.PAYLOAD_SIZE + 4])[0]):
|
||||
raise ValueError("Packet length doesn't match header information.")
|
||||
except Exception as error:
|
||||
print(f"Error decoding update packet: {error}")
|
||||
return None
|
||||
|
||||
header_frame = decode_frame(packet[:data_offset], HEADER)
|
||||
payload_frame = decode_frame(packet[data_offset:], PAYLOAD)
|
||||
|
||||
if not header_frame or not payload_frame:
|
||||
return None
|
||||
|
||||
return header_frame, payload_frame
|
||||
|
||||
def decode_frame(packet: bytes, packet_type: int) -> Union[dict, str, bytes, None]:
|
||||
frame_type = packet[ProtectEventPacketHeader.TYPE]
|
||||
|
||||
if packet_type != frame_type:
|
||||
return None
|
||||
|
||||
payload_format = packet[ProtectEventPacketHeader.PAYLOAD_FORMAT]
|
||||
is_deflated = packet[ProtectEventPacketHeader.DEFLATED]
|
||||
|
||||
if is_deflated:
|
||||
payload = zlib.decompress(packet[EVENT_PACKET_HEADER_SIZE:])
|
||||
else:
|
||||
payload = packet[EVENT_PACKET_HEADER_SIZE:]
|
||||
|
||||
if frame_type == HEADER:
|
||||
if payload_format == JSON_TYPE:
|
||||
return json.loads(payload.decode('utf-8'))
|
||||
else:
|
||||
return None
|
||||
|
||||
if payload_format == JSON_TYPE:
|
||||
return json.loads(payload.decode('utf-8'))
|
||||
elif payload_format == STRING_TYPE:
|
||||
return payload.decode('utf-8')
|
||||
elif payload_format == BUFFER_TYPE:
|
||||
return payload
|
||||
else:
|
||||
print(f"Unknown payload packet type received in the realtime events API: {payload_format}")
|
||||
return None
|
||||
|
||||
def decode_packet_from_mac(packet: bytes, mac: str) -> Union[Tuple[dict, Union[dict, str, bytes]], None]:
|
||||
try:
|
||||
data_offset = struct.unpack('>I', packet[ProtectEventPacketHeader.PAYLOAD_SIZE:ProtectEventPacketHeader.PAYLOAD_SIZE + 4])[0] + EVENT_PACKET_HEADER_SIZE
|
||||
|
||||
if len(packet) != (data_offset + EVENT_PACKET_HEADER_SIZE + struct.unpack('>I', packet[data_offset + ProtectEventPacketHeader.PAYLOAD_SIZE:data_offset + ProtectEventPacketHeader.PAYLOAD_SIZE + 4])[0]):
|
||||
raise ValueError("Packet length doesn't match header information.")
|
||||
except Exception as error:
|
||||
print(f"Error decoding update packet: {error}")
|
||||
return None
|
||||
|
||||
header_frame = decode_frame(packet[:data_offset], HEADER)
|
||||
|
||||
if not header_frame:
|
||||
return None
|
||||
|
||||
# Check if modelKey is 'camera' and mac matches
|
||||
if header_frame.get('modelKey') != 'camera' or header_frame.get('mac') != mac:
|
||||
return None
|
||||
|
||||
payload_frame = decode_frame(packet[data_offset:], PAYLOAD)
|
||||
|
||||
if not payload_frame:
|
||||
return None
|
||||
|
||||
return header_frame, payload_frame
|
||||
|
||||
class ProtectEventPacketHeader:
|
||||
TYPE = 0
|
||||
PAYLOAD_FORMAT = 1
|
||||
DEFLATED = 2
|
||||
UNKNOWN = 3
|
||||
PAYLOAD_SIZE = 4
|
||||
|
||||
# Example usage:
|
||||
# packet = b'...' # binary string from websocket
|
||||
# mac_address = 'XX:XX:XX:XX:XX:XX' # Replace with the desired MAC address
|
||||
# result = decode_packet_from_mac(packet, mac_address)
|
||||
# if result:
|
||||
# action_frame, data_frame = result
|
||||
# print("Action Frame:", action_frame)
|
||||
# print("Data Frame:", data_frame)
|
||||
# else:
|
||||
# print("No matching packet found.")
|
||||
Reference in New Issue
Block a user