<commit_before>#!/usr/bin/env python
# -*- coding: utf-8 -*-

################################################################################
# Copyright 2017 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################

# Author: <NAME> (Leon)

from .robotis_def import *

TXPACKET_MAX_LEN = 4 * 1024
RXPACKET_MAX_LEN = 4 * 1024

# for Protocol 2.0 Packet
PKT_HEADER0 = 0
PKT_HEADER1 = 1
PKT_HEADER2 = 2
PKT_RESERVED = 3
PKT_ID = 4
PKT_LENGTH_L = 5
PKT_LENGTH_H = 6
PKT_INSTRUCTION = 7
PKT_ERROR = 8
PKT_PARAMETER0 = 8

# Protocol 2.0 Error bit
ERRNUM_RESULT_FAIL = 1  # Failed to process the instruction packet.
ERRNUM_INSTRUCTION = 2  # Instruction error
ERRNUM_CRC = 3  # CRC check error
ERRNUM_DATA_RANGE = 4  # Data range error
ERRNUM_DATA_LENGTH = 5  # Data length error
ERRNUM_DATA_LIMIT = 6  # Data limit error
ERRNUM_ACCESS = 7  # Access error

ERRBIT_ALERT = 128  # When the device has a problem, this bit is set to 1. Check "Device Status Check" value.


class Protocol2PacketHandler(object):
    def getProtocolVersion(self):
        return 2.0

    def getTxRxResult(self, result):
        if result == COMM_SUCCESS:
            return "[TxRxResult] Communication success!"
        elif result == COMM_PORT_BUSY:
            return "[TxRxResult] Port is in use!"
        elif result == COMM_TX_FAIL:
            return "[TxRxResult] Failed transmit instruction packet!"
        elif result == COMM_RX_FAIL:
            return "[TxRxResult] Failed get status packet from device!"
        elif result == COMM_TX_ERROR:
            return "[TxRxResult] Incorrect instruction packet!"
        elif result == COMM_RX_WAITING:
            return "[TxRxResult] Now receiving status packet!"
        elif result == COMM_RX_TIMEOUT:
            return "[TxRxResult] There is no status packet!"
        elif result == COMM_RX_CORRUPT:
            return "[TxRxResult] Incorrect status packet!"
        elif result == COMM_NOT_AVAILABLE:
            return "[TxRxResult] Protocol does not support this function!"
        else:
            return ""

    def getRxPacketError(self, error):
        if error & ERRBIT_ALERT:
            return "[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!"

        not_alert_error = error & ~ERRBIT_ALERT
        if not_alert_error == 0:
            return ""
        elif not_alert_error == ERRNUM_RESULT_FAIL:
            return "[RxPacketError] Failed to process the instruction packet!"

        elif not_alert_error == ERRNUM_INSTRUCTION:
            return "[RxPacketError] Undefined instruction or incorrect instruction!"

        elif not_alert_error == ERRNUM_CRC:
            return "[RxPacketError] CRC doesn't match!"

        elif not_alert_error == ERRNUM_DATA_RANGE:
            return "[RxPacketError] The data value is out of range!"

        elif not_alert_error == ERRNUM_DATA_LENGTH:
            return "[RxPacketError] The data length does not match as expected!"

        elif not_alert_error == ERRNUM_DATA_LIMIT:
            return "[RxPacketError] The data value exceeds the limit value!"

        elif not_alert_error == ERRNUM_ACCESS:
            return "[RxPacketError] Writing or Reading is not available to target address!"

        else:
            return "[RxPacketError] Unknown error code!"

    def updateCRC(self, crc_accum, data_blk_ptr, data_blk_size):
        crc_table = [0x0000,
                     0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
                     0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027,
                     0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
                     0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B,
                     0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
                     0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF,
                     0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5,
                     0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093,
                     0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
                     0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197,
                     0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE,
                     0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB,
                     0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9,
                     0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
                     0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176,
                     0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123,
                     0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
                     0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104,
                     0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D,
                     0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B,
                     0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A,
                     0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C,
                     0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5,
                     0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3,
                     0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
                     0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7,
                     0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E,
                     0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B,
                     0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9,
                     0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC,
                     0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5,
                     0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243,
                     0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
                     0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264,
                     0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E,
                     0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208,
                     0x820D, 0x8207, 0x0202]

        for j in range(0, data_blk_size):
            i = ((crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF
            crc_accum = ((crc_accum << 8) ^ crc_table[i]) & 0xFFFF

        return crc_accum

    def addStuffing(self, packet):
        packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H])
        packet_length_out = packet_length_in

        temp = [0] * TXPACKET_MAX_LEN

        # FF FF FD XX ID LEN_L LEN_H
        temp[PKT_HEADER0: PKT_HEADER0 + PKT_LENGTH_H + 1] = packet[PKT_HEADER0: PKT_HEADER0 + PKT_LENGTH_H + 1]

        index = PKT_INSTRUCTION

        for i in range(0, packet_length_in - 2):  # except CRC
            temp[index] = packet[i + PKT_INSTRUCTION]
            index = index + 1
            if packet[i + PKT_INSTRUCTION] == 0xFD \
                    and packet[i + PKT_INSTRUCTION - 1] == 0xFF \
                    and packet[i + PKT_INSTRUCTION - 2] == 0xFF:
                # FF FF FD
                temp[index] = 0xFD
                index = index + 1
                packet_length_out = packet_length_out + 1

        temp[index] = packet[PKT_INSTRUCTION + packet_length_in - 2]
        temp[index + 1] = packet[PKT_INSTRUCTION + packet_length_in - 1]
        index = index + 2

        if packet_length_in != packet_length_out:
            packet = [0] * index

        packet[0: index] = temp[0: index]

        packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out)
        packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out)

        return packet

    def removeStuffing(self, packet):
        packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H])
        packet_length_out = packet_length_in

        index = PKT_INSTRUCTION
        for i in range(0, (packet_length_in - 2)):  # except CRC
            if (packet[i + PKT_INSTRUCTION] == 0xFD) and (packet[i + PKT_INSTRUCTION + 1] == 0xFD) and (
                    packet[i + PKT_INSTRUCTION - 1] == 0xFF) and (packet[i + PKT_INSTRUCTION - 2] == 0xFF):
                # FF FF FD FD
                packet_length_out = packet_length_out - 1
                i += 1

            packet[index] = packet[i + PKT_INSTRUCTION]
            index += 1

        packet[index] = packet[PKT_INSTRUCTION + packet_length_in - 2]
        packet[index + 1] = packet[PKT_INSTRUCTION + packet_length_in - 1]

        packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out)
        packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out)

        return packet

    def txPacket(self, port, txpacket):
        if port.is_using:
            return COMM_PORT_BUSY
        port.is_using = True

        # byte stuffing for header<commit_msg>fixed bug removeStuffing<commit_after>#!/usr/bin/env python
# -*- coding: utf-8 -*-

################################################################################
# Copyright 2017 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################

# Author: <NAME> (Leon)

from .robotis_def import *

TXPACKET_MAX_LEN = 4 * 1024
RXPACKET_MAX_LEN = 4 * 1024

# for Protocol 2.0 Packet
PKT_HEADER0 = 0
PKT_HEADER1 = 1
PKT_HEADER2 = 2
PKT_RESERVED = 3
PKT_ID = 4
PKT_LENGTH_L = 5
PKT_LENGTH_H = 6
PKT_INSTRUCTION = 7
PKT_ERROR = 8
PKT_PARAMETER0 = 8

# Protocol 2.0 Error bit
ERRNUM_RESULT_FAIL = 1  # Failed to process the instruction packet.
ERRNUM_INSTRUCTION = 2  # Instruction error
ERRNUM_CRC = 3  # CRC check error
ERRNUM_DATA_RANGE = 4  # Data range error
ERRNUM_DATA_LENGTH = 5  # Data length error
ERRNUM_DATA_LIMIT = 6  # Data limit error
ERRNUM_ACCESS = 7  # Access error

ERRBIT_ALERT = 128  # When the device has a problem, this bit is set to 1. Check "Device Status Check" value.


class Protocol2PacketHandler(object):
    def getProtocolVersion(self):
        return 2.0

    def getTxRxResult(self, result):
        if result == COMM_SUCCESS:
            return "[TxRxResult] Communication success!"
        elif result == COMM_PORT_BUSY:
            return "[TxRxResult] Port is in use!"
        elif result == COMM_TX_FAIL:
            return "[TxRxResult] Failed transmit instruction packet!"
        elif result == COMM_RX_FAIL:
            return "[TxRxResult] Failed get status packet from device!"
        elif result == COMM_TX_ERROR:
            return "[TxRxResult] Incorrect instruction packet!"
        elif result == COMM_RX_WAITING:
            return "[TxRxResult] Now receiving status packet!"
        elif result == COMM_RX_TIMEOUT:
            return "[TxRxResult] There is no status packet!"
        elif result == COMM_RX_CORRUPT:
            return "[TxRxResult] Incorrect status packet!"
        elif result == COMM_NOT_AVAILABLE:
            return "[TxRxResult] Protocol does not support this function!"
        else:
            return ""

    def getRxPacketError(self, error):
        if error & ERRBIT_ALERT:
            return "[RxPacketError] Hardware error occurred. Check the error at Control Table (Hardware Error Status)!"

        not_alert_error = error & ~ERRBIT_ALERT
        if not_alert_error == 0:
            return ""
        elif not_alert_error == ERRNUM_RESULT_FAIL:
            return "[RxPacketError] Failed to process the instruction packet!"

        elif not_alert_error == ERRNUM_INSTRUCTION:
            return "[RxPacketError] Undefined instruction or incorrect instruction!"

        elif not_alert_error == ERRNUM_CRC:
            return "[RxPacketError] CRC doesn't match!"

        elif not_alert_error == ERRNUM_DATA_RANGE:
            return "[RxPacketError] The data value is out of range!"

        elif not_alert_error == ERRNUM_DATA_LENGTH:
            return "[RxPacketError] The data length does not match as expected!"

        elif not_alert_error == ERRNUM_DATA_LIMIT:
            return "[RxPacketError] The data value exceeds the limit value!"

        elif not_alert_error == ERRNUM_ACCESS:
            return "[RxPacketError] Writing or Reading is not available to target address!"

        else:
            return "[RxPacketError] Unknown error code!"

    def updateCRC(self, crc_accum, data_blk_ptr, data_blk_size):
        crc_table = [0x0000,
                     0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
                     0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027,
                     0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
                     0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B,
                     0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
                     0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF,
                     0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5,
                     0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093,
                     0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
                     0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197,
                     0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE,
                     0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB,
                     0x01FE, 0x01F4, 0x81F1, 0x81D3, 0x01D6, 0x01DC, 0x81D9,
                     0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
                     0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176,
                     0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123,
                     0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
                     0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104,
                     0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D,
                     0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B,
                     0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A,
                     0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356, 0x035C,
                     0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5,
                     0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1, 0x83F3,
                     0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
                     0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7,
                     0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E,
                     0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B,
                     0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9,
                     0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC,
                     0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5,
                     0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243,
                     0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
                     0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264,
                     0x8261, 0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E,
                     0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208,
                     0x820D, 0x8207, 0x0202]

        for j in range(0, data_blk_size):
            i = ((crc_accum >> 8) ^ data_blk_ptr[j]) & 0xFF
            crc_accum = ((crc_accum << 8) ^ crc_table[i]) & 0xFFFF

        return crc_accum

    def addStuffing(self, packet):
        packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H])
        packet_length_out = packet_length_in

        temp = [0] * TXPACKET_MAX_LEN

        # FF FF FD XX ID LEN_L LEN_H
        temp[PKT_HEADER0: PKT_HEADER0 + PKT_LENGTH_H + 1] = packet[PKT_HEADER0: PKT_HEADER0 + PKT_LENGTH_H + 1]

        index = PKT_INSTRUCTION

        for i in range(0, packet_length_in - 2):  # except CRC
            temp[index] = packet[i + PKT_INSTRUCTION]
            index = index + 1
            if packet[i + PKT_INSTRUCTION] == 0xFD \
                    and packet[i + PKT_INSTRUCTION - 1] == 0xFF \
                    and packet[i + PKT_INSTRUCTION - 2] == 0xFF:
                # FF FF FD
                temp[index] = 0xFD
                index = index + 1
                packet_length_out = packet_length_out + 1

        temp[index] = packet[PKT_INSTRUCTION + packet_length_in - 2]
        temp[index + 1] = packet[PKT_INSTRUCTION + packet_length_in - 1]
        index = index + 2

        if packet_length_in != packet_length_out:
            packet = [0] * index

        packet[0: index] = temp[0: index]

        packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out)
        packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out)

        return packet

    def removeStuffing(self, packet):
        packet_length_in = DXL_MAKEWORD(packet[PKT_LENGTH_L], packet[PKT_LENGTH_H])
        packet_length_out = packet_length_in

        index = PKT_INSTRUCTION
        for i in range(0, (packet_length_in - 2)):  # except CRC
            if (packet[i + PKT_INSTRUCTION] == 0xFD) and (packet[i + PKT_INSTRUCTION + 1] == 0xFD) and (
                    packet[i + PKT_INSTRUCTION - 1] == 0xFF) and (packet[i + PKT_INSTRUCTION - 2] == 0xFF):
                # FF FF FD FD
                packet_length_out = packet_length_out - 1
            else:
                packet[index] = packet[i + PKT_INSTRUCTION]
                index += 1

        packet[index] = packet[PKT_INSTRUCTION + packet_length_in - 2]
        packet[index + 1] = packet[PKT_INSTRUCTION + packet_length_in - 1]

        packet[PKT_LENGTH_L] = DXL_LOBYTE(packet_length_out)
        packet[PKT_LENGTH_H] = DXL_HIBYTE(packet_length_out)

        return packet

    def txPacket(self, port, txpacket):
        if port.is_using:
            return COMM_PORT_BUSY
        port.is_using = True

        # byte stuffing for header
{'fraction_non_alphanumeric': 0.09931886583240931, 'fraction_numerical': 0.12508580178467713, 'mean_word_length': 2.3100314575323315, 'pattern_counts': {'":': 0, '<': 9, '<?xml version=': 0, '>': 9, 'https://': 0, 'lorem ipsum': 0, 'www.': 2, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '3133914', 'n_tokens_mistral': 8420, 'n_tokens_neox': 6766, 'n_words': 1684}