Protocol

Binary protocol message IDs.

Mirrors omnitiles/src/protocol/messages.rs — keep these in sync with the firmware. Packet format:

[START_BYTE] [msg_id] [payload…] [checksum]

checksum is the 8-bit sum of msg_id and all payload bytes.

class omnitiles.protocol.messages.MessageId(*values)[source]

Bases: IntEnum

Protocol message identifiers.

M1_EXTEND = 48

M1_RETRACT = 49

M1_BRAKE = 50

M1_SET_POSITION = 51

M2_EXTEND = 64

M2_RETRACT = 65

M2_BRAKE = 66

M2_SET_POSITION = 67

PING = 80

TELEMETRY = 96

BASE_VELOCITY = 112

BASE_BRAKE = 113

Packet encoding for outbound commands.

omnitiles.protocol.packet.checksum(msg_id, payload=b'')[source]

Return the 8-bit protocol checksum for a message.

The checksum is (msg_id + sum(payload)) & 0xFF.

Parameters:

msg_id (int)
payload (bytes)

Return type:

int

omnitiles.protocol.packet.encode(msg_id, payload=b'')[source]

Encode a command packet.

Parameters:

msg_id (int | MessageId) – Message identifier. Accepts MessageId or a raw int.
payload (bytes | Iterable[int]) – Zero or more payload bytes.

Return type:

bytes

Returns:

A bytes object [START_BYTE, msg_id, *payload, checksum] ready to be written to a transport.

Stateful parser for inbound telemetry frames.

class omnitiles.protocol.parser.StreamParser[source]

Bases: object

Feed BLE notification bytes in, get Telemetry frames out.

The parser maintains an internal byte buffer and hunts for 0xA5 0x60 packets. Because telemetry packets don’t carry an explicit length byte, the parser identifies variants by total length and validates the checksum. Invalid/corrupt frames are silently skipped.

feed(data)[source]

Append data to the internal buffer and return any frames completed by the new bytes.

Parameters:: data (bytes | bytearray)
Return type:: list[Telemetry]