Enforce little endian over native byte order

uf-mil · Mar 23, 2024 · 83f15e7 · 83f15e7
1 parent 7c2dff0
commit 83f15e7
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/packets.py b/SubjuGator/drivers/sub9_thrust_and_kill_board/sub9_thrust_and_kill_board/packets.py
@@ -42,7 +42,7 @@ class ThrusterId(IntEnum):
 
 
 @dataclass
-class ThrustSetPacket(Packet, msg_id=0x02, subclass_id=0x02, payload_format="=Bf"):
+class ThrustSetPacket(Packet, msg_id=0x02, subclass_id=0x02, payload_format="<Bf"):
     """
     Packet to set the speed of a specific thruster.
 
@@ -74,7 +74,7 @@ class KillStatus(IntEnum):
 
 
 @dataclass
-class KillSetPacket(Packet, msg_id=0x02, subclass_id=0x03, payload_format="=BB"):
+class KillSetPacket(Packet, msg_id=0x02, subclass_id=0x03, payload_format="<BB"):
     """
     Packet sent by the motherboard to set/unset the kill.
 
@@ -88,7 +88,7 @@ class KillSetPacket(Packet, msg_id=0x02, subclass_id=0x03, payload_format="=BB")
 
 
 @dataclass
-class KillReceivePacket(Packet, msg_id=0x02, subclass_id=0x04, payload_format="=BB"):
+class KillReceivePacket(Packet, msg_id=0x02, subclass_id=0x04, payload_format="<BB"):
     """
     Packet sent by the motherboard to set/unset the kill.
 

diff --git a/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py b/SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py
@@ -18,7 +18,7 @@ class ActuatorPacketId(IntEnum):
 
 
 @dataclass
-class ActuatorSetPacket(Packet, msg_id=0x03, subclass_id=0x00, payload_format="BB"):
+class ActuatorSetPacket(Packet, msg_id=0x03, subclass_id=0x00, payload_format="<BB"):
     """
     Packet used by the actuator board to set a specific valve.
 

diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py
@@ -117,7 +117,7 @@ def _calculate_checksum(cls, data: bytes) -> tuple[int, int]:
     def __bytes__(self):
         payload = struct.pack(self.payload_format, *self.__dict__.values())
         data = struct.pack(
-            f"=BBBBH{len(payload)}s",
+            f"<BBBBH{len(payload)}s",
             SYNC_CHAR_1,
             SYNC_CHAR_2,
             self.msg_id,
@@ -126,7 +126,7 @@ def __bytes__(self):
             payload,
         )
         checksum = self._calculate_checksum(data[2:])
-        return data + struct.pack("=BB", *checksum)
+        return data + struct.pack("<BB", *checksum)
 
     @classmethod
     def from_bytes(cls, packed: bytes) -> Packet:
@@ -141,12 +141,12 @@ def from_bytes(cls, packed: bytes) -> Packet:
         if msg_id in _packet_registry and subclass_id in _packet_registry[msg_id]:
             subclass = _packet_registry[msg_id][subclass_id]
             payload = packed[6:-2]
-            if struct.unpack("=BB", packed[-2:]) != cls._calculate_checksum(
+            if struct.unpack("<BB", packed[-2:]) != cls._calculate_checksum(
                 packed[2:-2],
             ):
                 raise ChecksumException(
                     subclass,
-                    struct.unpack("=BB", packed[-2:]),
+                    struct.unpack("<BB", packed[-2:]),
                     cls._calculate_checksum(packed[2:-2]),
                 )
             unpacked = struct.unpack(subclass.payload_format, payload)