[PATCH 6/8] host side for barebox remote control

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From: Jan Luebbe <jlu@xxxxxxxxxxxxxx>

This contains the host tool for barebox remote control. It is written in
Phython with its own implementation of the RATP protocol. Currently this
is a very simple tool which needs more work, but the code can also be
used as a library.

Example output:

console: '.      '
console: '..     '
console: 'dev    '
console: 'env    '
console: 'mnt    '
console: '\n'
Result: BBPacketCommandReturn(exit_code=0)

Signed-off-by: Jan Lübbe <j.luebbe@xxxxxxxxxxxxxx>
Signed-off-by: Sascha Hauer <s.hauer@xxxxxxxxxxxxxx>
---
 scripts/bbremote              |   3 +
 scripts/remote/controller.py  | 173 ++++++++++
 scripts/remote/main.py        | 169 +++++++++
 scripts/remote/messages.py    | 154 +++++++++
 scripts/remote/missing.py     |  28 ++
 scripts/remote/ratp.py        | 773 ++++++++++++++++++++++++++++++++++++++++++
 scripts/remote/ratpfs.py      | 189 +++++++++++
 scripts/remote/threadstdio.py |  47 +++
 8 files changed, 1536 insertions(+)
 create mode 100755 scripts/bbremote
 create mode 100644 scripts/remote/controller.py
 create mode 100644 scripts/remote/main.py
 create mode 100644 scripts/remote/messages.py
 create mode 100644 scripts/remote/missing.py
 create mode 100644 scripts/remote/ratp.py
 create mode 100644 scripts/remote/ratpfs.py
 create mode 100644 scripts/remote/threadstdio.py

diff --git a/scripts/bbremote b/scripts/bbremote
new file mode 100755
index 0000000..bc5351d
--- /dev/null
+++ b/scripts/bbremote
@@ -0,0 +1,3 @@
+#!/usr/bin/env python2
+
+import remote.main
diff --git a/scripts/remote/controller.py b/scripts/remote/controller.py
new file mode 100644
index 0000000..a7257ec
--- /dev/null
+++ b/scripts/remote/controller.py
@@ -0,0 +1,173 @@
+#!/usr/bin/env python2
+# -*- coding: utf-8 -*-
+
+from __future__ import absolute_import, division, print_function
+
+import struct
+import logging
+import sys
+import os
+from threading import Thread
+from Queue import Queue, Empty
+from .ratpfs import RatpFSServer
+from .messages import *
+from .ratp import RatpError
+
+try:
+    from time import monotonic
+except:
+    from .missing import monotonic
+
+
+def unpack(data):
+    p_type, = struct.unpack("!H", data[:2])
+    logging.debug("unpack: %r data=%r", p_type, repr(data))
+    if p_type == BBType.command:
+        logging.debug("received: command")
+        return BBPacketCommand(raw=data)
+    elif p_type == BBType.command_return:
+        logging.debug("received: command_return")
+        return BBPacketCommandReturn(raw=data)
+    elif p_type == BBType.consolemsg:
+        logging.debug("received: consolemsg")
+        return BBPacketConsoleMsg(raw=data)
+    elif p_type == BBType.ping:
+        logging.debug("received: ping")
+        return BBPacketPing(raw=data)
+    elif p_type == BBType.pong:
+        logging.debug("received: pong")
+        return BBPacketPong(raw=data)
+    elif p_type == BBType.getenv_return:
+        logging.debug("received: getenv_return")
+        return BBPacketGetenvReturn(raw=data)
+    elif p_type == BBType.fs:
+        logging.debug("received: fs")
+        return BBPacketFS(raw=data)
+    elif p_type == BBType.fs_return:
+        logging.debug("received: fs_return")
+        return BBPacketFSReturn(raw=data)
+    else:
+        logging.debug("received: UNKNOWN")
+        return BBPacket(raw=data)
+
+
+class Controller(Thread):
+    def __init__(self, conn):
+        Thread.__init__(self)
+        self.daemon = True
+        self.conn = conn
+        self.fsserver = None
+        self.rxq = None
+        self.conn.connect(timeout=5.0)
+        self._txq = Queue()
+        self._stop = False
+        self.fsserver = RatpFSServer()
+
+    def _send(self, bbpkt):
+        self.conn.send(bbpkt.pack())
+
+    def _handle(self, bbpkt):
+        if isinstance(bbpkt, BBPacketConsoleMsg):
+            os.write(sys.stdout.fileno(), bbpkt.text)
+        elif isinstance(bbpkt, BBPacketPong):
+            print("pong",)
+        elif isinstance(bbpkt, BBPacketFS):
+            if self.fsserver != None:
+                self._send(self.fsserver.handle(bbpkt))
+
+    def _expect(self, bbtype, timeout=1.0):
+        if timeout is not None:
+            limit = monotonic()+timeout
+        while timeout is None or limit > monotonic():
+            pkt = self.conn.recv(0.1)
+            if not pkt:
+                continue
+            bbpkt = unpack(pkt)
+            if isinstance(bbpkt, bbtype):
+                return bbpkt
+            else:
+                self._handle(bbpkt)
+
+    def export(self, path):
+        self.fsserver = RatpFSServer(path)
+
+    def ping(self):
+        self._send(BBPacketPing())
+        r = self._expect(BBPacketPong)
+        logging.info("Ping: %r", r)
+        if not r:
+            return 1
+        else:
+            print("pong")
+            return 0
+
+    def command(self, cmd):
+        self._send(BBPacketCommand(cmd=cmd))
+        r = self._expect(BBPacketCommandReturn, timeout=None)
+        logging.info("Command: %r", r)
+        return r.exit_code
+
+    def getenv(self, varname):
+        self._send(BBPacketGetenv(varname=varname))
+        r = self._expect(BBPacketGetenvReturn)
+        return r.text
+
+    def close(self):
+        self.conn.close()
+
+    def run(self):
+        assert self.rxq is not None
+        try:
+            while not self._stop:
+                # receive
+                pkt = self.conn.recv()
+                if pkt:
+                    bbpkt = unpack(pkt)
+                    if isinstance(bbpkt, BBPacketConsoleMsg):
+                        self.rxq.put((self, bbpkt.text))
+                    else:
+                        self._handle(bbpkt)
+                # send
+                try:
+                    pkt = self._txq.get(block=False)
+                except Empty:
+                    pkt = None
+                if pkt:
+                    self._send(pkt)
+        except RatpError as detail:
+            print("Ratp error:", detail, file=sys.stderr);
+            self.rxq.put((self, None))
+            return
+
+    def start(self, queue):
+        assert self.rxq is None
+        self.rxq = queue
+        Thread.start(self)
+
+    def stop(self):
+        self._stop = True
+        self.join()
+        self._stop = False
+        self.rxq = None
+
+    def send_async(self, pkt):
+        self._txq.put(pkt)
+
+    def send_async_console(self, text):
+        self._txq.put(BBPacketConsoleMsg(text=text))
+
+    def send_async_ping(self):
+        self._txq.put(BBPacketPing())
+
+
+def main():
+    import serial
+    from .ratp import SerialRatpConnection
+    url = "rfc2217://192.168.23.176:3002"
+    port = serial.serial_for_url(url, 115200)
+    conn = SerialRatpConnection(port)
+    ctrl = Controller(conn)
+    return ctrl
+
+if __name__ == "__main__":
+    C = main()
diff --git a/scripts/remote/main.py b/scripts/remote/main.py
new file mode 100644
index 0000000..9350151
--- /dev/null
+++ b/scripts/remote/main.py
@@ -0,0 +1,169 @@
+#!/usr/bin/env python2
+
+from __future__ import absolute_import, division, print_function
+
+import sys
+import os
+import argparse
+import logging
+from Queue import Queue
+from .ratp import RatpError
+
+try:
+    import serial
+except:
+    print("error: No python-serial package found", file=sys.stderr)
+    exit(2)
+
+
+def versiontuple(v):
+    return tuple(map(int, (v.split("."))))
+
+if versiontuple(serial.VERSION) < (2, 7):
+    print("warning: python-serial package is buggy in RFC2217 mode,",
+          "consider updating to at least 2.7", file=sys.stderr)
+
+from .ratp import SerialRatpConnection
+from .controller import Controller
+from .threadstdio import ConsoleInput
+
+
+def get_controller(args):
+    port = serial.serial_for_url(args.port, args.baudrate)
+    conn = SerialRatpConnection(port)
+
+    while True:
+        try:
+            ctrl = Controller(conn)
+            break
+        except (RatpError):
+            if args.wait == True:
+                pass
+            else:
+                raise
+
+    return ctrl
+
+
+def handle_run(args):
+    ctrl = get_controller(args)
+    ctrl.export(args.export)
+    res = ctrl.command(' '.join(args.arg))
+    if res:
+        res = 1
+    ctrl.close()
+    return res
+
+
+def handle_ping(args):
+    ctrl = get_controller(args)
+    res = ctrl.ping()
+    if res:
+        res = 1
+    ctrl.close()
+    return res
+
+
+def handle_getenv(args):
+    ctrl = get_controller(args)
+    value = ctrl.getenv(' '.join(args.arg))
+    if not value:
+        res = 1
+    else:
+        print(value)
+        res = 0
+    ctrl.close()
+    return res
+
+
+def handle_listen(args):
+    port = serial.serial_for_url(args.port, args.baudrate)
+    conn = SerialRatpConnection(port)
+    conn.listen()
+    while True:
+        conn.wait(None)
+    conn.close()
+
+
+def handle_console(args):
+    queue = Queue()
+    ctrl = get_controller(args)
+    ctrl.export(args.export)
+    ctrl.start(queue)
+    ctrl.send_async_console('\r')
+    cons = ConsoleInput(queue, exit='\x14')  # CTRL-T
+    cons.start()
+    try:
+        while True:
+            event = queue.get(block=True)
+            src, data = event
+            if src == cons:
+                if data is None:  # shutdown
+                    cons.join()
+                    break
+                elif data == '\x10':  # CTRL-P
+                    ctrl.send_async_ping()
+                else:
+                    ctrl.send_async_console(data)
+            elif src == ctrl:
+                if data is None:  # shutdown
+                    sys.exit(1)
+                    break
+                else:
+                    os.write(sys.stdout.fileno(), data)
+        ctrl.stop()
+        ctrl.close()
+    finally:
+        print()
+        print("total retransmits=%i crc-errors=%i" % (
+            ctrl.conn.total_retransmits,
+            ctrl.conn.total_crc_errors))
+
+VERBOSITY = {
+    0: logging.WARN,
+    1: logging.INFO,
+    2: logging.DEBUG,
+    }
+
+parser = argparse.ArgumentParser(prog='bbremote')
+parser.add_argument('-v', '--verbose', action='count', default=0)
+parser.add_argument('--port', type=str, default=os.environ.get('BBREMOTE_PORT', None))
+parser.add_argument('--baudrate', type=int, default=os.environ.get('BBREMOTE_BAUDRATE', 115200))
+parser.add_argument('--export', type=str, default=os.environ.get('BBREMOTE_EXPORT', None))
+parser.add_argument('-w', '--wait', action='count', default=0)
+subparsers = parser.add_subparsers(help='sub-command help')
+
+parser_run = subparsers.add_parser('run', help="run a barebox command")
+parser_run.add_argument('arg', nargs='+', help="barebox command to run")
+parser_run.set_defaults(func=handle_run)
+
+parser_ping = subparsers.add_parser('ping', help="test connection")
+parser_ping.set_defaults(func=handle_ping)
+
+parser_ping = subparsers.add_parser('getenv', help="get a barebox environment variable")
+parser_ping.add_argument('arg', nargs='+', help="variable name")
+parser_ping.set_defaults(func=handle_getenv)
+
+parser_run = subparsers.add_parser('listen', help="listen for an incoming connection")
+parser_run.set_defaults(func=handle_listen)
+
+parser_run = subparsers.add_parser('console', help="connect to the console")
+parser_run.set_defaults(func=handle_console)
+
+args = parser.parse_args()
+logging.basicConfig(level=VERBOSITY[args.verbose],
+                    format='%(levelname)-8s %(module)-8s %(funcName)-16s %(message)s')
+try:
+    res = args.func(args)
+    exit(res)
+except RatpError as detail:
+    print("Ratp error:", detail, file=sys.stderr);
+    exit(127)
+except KeyboardInterrupt:
+    print("\nInterrupted", file=sys.stderr);
+    exit(1)
+#try:
+#    res = args.func(args)
+#except Exception as e:
+#    print("error: failed to establish connection: %s" % e, file=sys.stderr)
+#    exit(2)
diff --git a/scripts/remote/messages.py b/scripts/remote/messages.py
new file mode 100644
index 0000000..8e8495b
--- /dev/null
+++ b/scripts/remote/messages.py
@@ -0,0 +1,154 @@
+#!/usr/bin/env python2
+# -*- coding: utf-8 -*-
+
+from __future__ import absolute_import, division, print_function
+
+import struct
+
+
+class BBType(object):
+    command = 1
+    command_return = 2
+    consolemsg = 3
+    ping = 4
+    pong = 5
+    getenv = 6
+    getenv_return = 7
+    fs = 8
+    fs_return = 9
+
+
+class BBPacket(object):
+    def __init__(self, p_type=0, p_flags=0, payload="", raw=None):
+        self.p_type = p_type
+        self.p_flags = p_flags
+        if raw is not None:
+            self.unpack(raw)
+        else:
+            self.payload = payload
+
+    def __repr__(self):
+        return "BBPacket(%i, %i)" % (self.p_type, self.p_flags)
+
+    def _unpack_payload(self, data):
+        self.payload = data
+
+    def _pack_payload(self):
+        return self.payload
+
+    def unpack(self, data):
+        self.p_type, self.p_flags = struct.unpack("!HH", data[:4])
+        self._unpack_payload(data[4:])
+
+    def pack(self):
+        return struct.pack("!HH", self.p_type, self.p_flags) + \
+            self._pack_payload()
+
+
+class BBPacketCommand(BBPacket):
+    def __init__(self, raw=None, cmd=None):
+        self.cmd = cmd
+        super(BBPacketCommand, self).__init__(BBType.command, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketCommand(cmd=%r)" % self.cmd
+
+    def _unpack_payload(self, payload):
+        self.cmd = payload
+
+    def _pack_payload(self):
+        return self.cmd
+
+
+class BBPacketCommandReturn(BBPacket):
+    def __init__(self, raw=None, exit_code=None):
+        self.exit_code = exit_code
+        super(BBPacketCommandReturn, self).__init__(BBType.command_return,
+                                                    raw=raw)
+
+    def __repr__(self):
+        return "BBPacketCommandReturn(exit_code=%i)" % self.exit_code
+
+    def _unpack_payload(self, data):
+        self.exit_code, = struct.unpack("!L", data[:4])
+
+    def _pack_payload(self):
+        return struct.pack("!L", self.exit_code)
+
+
+class BBPacketConsoleMsg(BBPacket):
+    def __init__(self, raw=None, text=None):
+        self.text = text
+        super(BBPacketConsoleMsg, self).__init__(BBType.consolemsg, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketConsoleMsg(text=%r)" % self.text
+
+    def _unpack_payload(self, payload):
+        self.text = payload
+
+    def _pack_payload(self):
+        return self.text
+
+
+class BBPacketPing(BBPacket):
+    def __init__(self, raw=None):
+        super(BBPacketPing, self).__init__(BBType.ping, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketPing()"
+
+
+class BBPacketPong(BBPacket):
+    def __init__(self, raw=None):
+        super(BBPacketPong, self).__init__(BBType.pong, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketPong()"
+
+
+class BBPacketGetenv(BBPacket):
+    def __init__(self, raw=None, varname=None):
+        self.varname = varname
+        super(BBPacketGetenv, self).__init__(BBType.getenv, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketGetenv(varname=%r)" % self.varname
+
+    def _unpack_payload(self, payload):
+        self.varname = payload
+
+    def _pack_payload(self):
+        return self.varname
+
+
+class BBPacketGetenvReturn(BBPacket):
+    def __init__(self, raw=None, text=None):
+        self.text = text
+        super(BBPacketGetenvReturn, self).__init__(BBType.getenv_return,
+                                                   raw=raw)
+
+    def __repr__(self):
+        return "BBPacketGetenvReturn(varvalue=%s)" % self.text
+
+    def _unpack_payload(self, payload):
+        self.text = payload
+
+    def _pack_payload(self):
+        return self.text
+
+
+class BBPacketFS(BBPacket):
+    def __init__(self, raw=None, payload=None):
+        super(BBPacketFS, self).__init__(BBType.fs, payload=payload, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketFS(payload=%r)" % self.payload
+
+
+class BBPacketFSReturn(BBPacket):
+    def __init__(self, raw=None, payload=None):
+        super(BBPacketFSReturn, self).__init__(BBType.fs_return, payload=payload, raw=raw)
+
+    def __repr__(self):
+        return "BBPacketFSReturn(payload=%r)" % self.payload
diff --git a/scripts/remote/missing.py b/scripts/remote/missing.py
new file mode 100644
index 0000000..67c2dfa
--- /dev/null
+++ b/scripts/remote/missing.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import ctypes
+import os
+
+CLOCK_MONOTONIC_RAW = 4  # from <linux/time.h>
+
+
+class timespec(ctypes.Structure):
+    _fields_ = [
+        ('tv_sec', ctypes.c_long),
+        ('tv_nsec', ctypes.c_long)
+    ]
+
+librt = ctypes.CDLL('librt.so.1', use_errno=True)
+clock_gettime = librt.clock_gettime
+clock_gettime.argtypes = [ctypes.c_int, ctypes.POINTER(timespec)]
+
+
+def monotonic():
+    t = timespec()
+    if clock_gettime(CLOCK_MONOTONIC_RAW, ctypes.pointer(t)) != 0:
+        errno_ = ctypes.get_errno()
+        raise OSError(errno_, os.strerror(errno_))
+    return t.tv_sec + t.tv_nsec * 1e-9
+
+if __name__ == "__main__":
+    print monotonic()
diff --git a/scripts/remote/ratp.py b/scripts/remote/ratp.py
new file mode 100644
index 0000000..079fb87
--- /dev/null
+++ b/scripts/remote/ratp.py
@@ -0,0 +1,773 @@
+#!/usr/bin/env python2
+# -*- coding: utf-8 -*-
+
+from __future__ import absolute_import, division, print_function
+
+import crcmod
+import logging
+import struct
+from enum import Enum
+from time import sleep
+
+try:
+    from time import monotonic
+except:
+    from .missing import monotonic
+
+csum_func = crcmod.predefined.mkCrcFun('xmodem')
+
+
+class RatpState(Enum):
+    listen = "listen"  # 1
+    syn_sent = "syn-sent"  # 2
+    syn_received = "syn-received"  # 3
+    established = "established"  # 4
+    fin_wait = "fin-wait"  # 5
+    last_ack = "last-ack"  # 6
+    closing = "closing"  # 7
+    time_wait = "time-wait"  # 8
+    closed = "closed"  # 9
+
+
+class RatpInvalidHeader(ValueError):
+    pass
+
+
+class RatpInvalidPayload(ValueError):
+    pass
+
+
+class RatpError(ValueError):
+    pass
+
+
+class RatpPacket(object):
+
+    def __init__(self, data=None, flags=''):
+        self.payload = None
+        self.synch = 0x01
+        self._control = 0
+        self.length = 0
+        self.csum = 0
+        self.c_syn = False
+        self.c_ack = False
+        self.c_fin = False
+        self.c_rst = False
+        self.c_sn = 0
+        self.c_an = 0
+        self.c_eor = False
+        self.c_so = False
+        if data:
+            (self.synch, self._control, self.length, self.csum) = \
+                struct.unpack('!BBBB', data)
+            if self.synch != 0x01:
+                raise RatpInvalidHeader("invalid synch octet (%x != %x)" %
+                                        (self.synch, 0x01))
+            csum = (self._control + self.length + self.csum) & 0xff
+            if csum != 0xff:
+                raise RatpInvalidHeader("invalid csum octet (%x != %x)" %
+                                        (csum, 0xff))
+            self._unpack_control()
+        elif flags:
+            if 'S' in flags:
+                self.c_syn = True
+            if 'A' in flags:
+                self.c_ack = True
+            if 'F' in flags:
+                self.c_fin = True
+            if 'R' in flags:
+                self.c_rst = True
+            if 'E' in flags:
+                self.c_eor = True
+
+    def __repr__(self):
+        s = "RatpPacket("
+        if self.c_syn:
+            s += "SYN,"
+        if self.c_ack:
+            s += "ACK,"
+        if self.c_fin:
+            s += "FIN,"
+        if self.c_rst:
+            s += "RST,"
+        s += "SN=%i,AN=%i," % (self.c_sn, self.c_an)
+        if self.c_eor:
+            s += "EOR,"
+        if self.c_so:
+            s += "SO,DATA=%i)" % self.length
+        else:
+            s += "DATA=%i)" % self.length
+        return s
+
+    def _pack_control(self):
+        self._control = 0 | \
+            self.c_syn << 7 | \
+            self.c_ack << 6 | \
+            self.c_fin << 5 | \
+            self.c_rst << 4 | \
+            self.c_sn << 3 | \
+            self.c_an << 2 | \
+            self.c_eor << 1 | \
+            self.c_so << 0
+
+    def _unpack_control(self):
+        self.c_syn = bool(self._control & 1 << 7)
+        self.c_ack = bool(self._control & 1 << 6)
+        self.c_fin = bool(self._control & 1 << 5)
+        self.c_rst = bool(self._control & 1 << 4)
+        self.c_sn = bool(self._control & 1 << 3)
+        self.c_an = bool(self._control & 1 << 2)
+        self.c_eor = bool(self._control & 1 << 1)
+        self.c_so = bool(self._control & 1 << 0)
+
+    def pack(self):
+        self._pack_control()
+        self.csum = 0
+        self.csum = (self._control + self.length + self.csum)
+        self.csum = (self.csum & 0xff) ^ 0xff
+        return struct.pack('!BBBB', self.synch, self._control, self.length,
+                           self.csum)
+
+    def unpack_payload(self, payload):
+        (c_recv,) = struct.unpack('!H', payload[-2:])
+        c_calc = csum_func(payload[:-2])
+        if c_recv != c_calc:
+            raise RatpInvalidPayload("bad checksum (%04x != %04x)" %
+                                     (c_recv, c_calc))
+        self.payload = payload[:-2]
+
+    def pack_payload(self):
+        c_calc = csum_func(self.payload)
+        return self.payload+struct.pack('!H', c_calc)
+
+
+class RatpConnection(object):
+    def __init__(self):
+        self._state = RatpState.closed
+        self._passive = True
+        self._input = b''
+        self._s_sn = 0
+        self._r_sn = 0
+        self._retrans = None
+        self._retrans_counter = None
+        self._retrans_deadline = None
+        self._r_mdl = None
+        self._s_mdl = 0xff
+        self._rx_buf = [] # reassembly buffer
+        self._rx_queue = []
+        self._tx_queue = []
+        self._rtt_alpha = 0.8
+        self._rtt_beta = 2.0
+        self._srtt = 0.2
+        self._rto_min, self._rto_max = 0.2, 1
+        self._tx_timestamp = None
+        self.total_retransmits = 0
+        self.total_crc_errors = 0
+
+    def _update_srtt(self, rtt):
+        self._srtt = (self._rtt_alpha * self._srtt) + \
+                     ((1.0 - self._rtt_alpha) * rtt)
+        logging.info("SRTT: %r", self._srtt)
+
+    def _get_rto(self):
+        return min(self._rto_max,
+                   max(self._rto_min, self._rtt_beta * self._srtt))
+
+    def _write(self, pkt):
+
+        if pkt.payload or pkt.c_so or pkt.c_syn or pkt.c_rst or pkt.c_fin:
+            self._s_sn = pkt.c_sn
+            if not self._retrans:
+                self._retrans = pkt
+                self._retrans_counter = 0
+            else:
+                self.total_retransmits += 1
+                self._retrans_counter += 1
+                if self._retrans_counter > 10:
+                    raise RatpError("Maximum retransmit count exceeded")
+            self._retrans_deadline = monotonic()+self._get_rto()
+
+        logging.info("Write: %r", pkt)
+
+        self._write_raw(pkt.pack())
+        if pkt.payload:
+            self._write_raw(pkt.pack_payload())
+        self._tx_timestamp = monotonic()
+
+    def _check_rto(self):
+        if self._retrans is None:
+            return
+
+        if self._retrans_deadline < monotonic():
+            logging.debug("Retransmit...")
+            self._write(self._retrans)
+
+    def _check_time_wait(self):
+        if not self._state == RatpState.time_wait:
+            return
+
+        remaining = self._time_wait_deadline - monotonic()
+        if remaining < 0:
+            self._state = RatpState.closed
+        else:
+            logging.debug("Time-Wait: %.2f remaining" % remaining)
+            sleep(min(remaining, 0.1))
+
+    def _read(self):
+        if len(self._input) < 4:
+            self._input += self._read_raw(4-len(self._input))
+        if len(self._input) < 4:
+            return
+
+        try:
+            pkt = RatpPacket(data=self._input[:4])
+        except RatpInvalidHeader as e:
+            logging.info("%r", e)
+            self._input = self._input[1:]
+            return
+
+        self._input = self._input[4:]
+
+        logging.info("Read: %r", pkt)
+
+        if pkt.c_syn or pkt.c_rst or pkt.c_so or pkt.c_fin:
+            return pkt
+
+        if pkt.length == 0:
+            return pkt
+
+        while len(self._input) < pkt.length+2:
+            self._input += self._read_raw()
+
+        try:
+            pkt.unpack_payload(self._input[:pkt.length+2])
+        except RatpInvalidPayload as e:
+            self.total_crc_errors += 1
+            return
+        finally:
+            self._input = self._input[pkt.length+2:]
+
+        return pkt
+
+    def _close(self):
+        pass
+
+    def _a(self, r):
+        logging.info("A")
+
+        if r.c_rst:
+            return True
+
+        if r.c_ack:
+            s = RatpPacket(flags='R')
+            s.c_sn = r.c_an
+            self._write(s)
+            return False
+
+        if r.c_syn:
+            self._r_mdl = r.length
+
+            s = RatpPacket(flags='SA')
+            s.c_sn = 0
+            s.c_an = (r.c_sn + 1) % 2
+            s.length = self._s_mdl
+            self._write(s)
+            self._state = RatpState.syn_received
+            return False
+
+        return False
+
+    def _b(self, r):
+        logging.info("B")
+
+        if r.c_ack and r.c_an != (self._s_sn + 1) % 2:
+            if r.c_rst:
+                return False
+            else:
+                s = RatpPacket(flags='R')
+                s.c_sn = r.c_an
+                self._write(s)
+                return False
+
+        if r.c_rst:
+            if r.c_ack:
+                self._retrans = None
+                # FIXME: delete the TCB
+                self._state = RatpState.closed
+                return False
+            else:
+                return False
+
+        if r.c_syn:
+            if r.c_ack:
+                self._r_mdl = r.length
+                self._retrans = None
+                self._r_sn = r.c_sn
+                s = RatpPacket(flags='A')
+                s.c_sn = r.c_an
+                s.c_an = (r.c_sn + 1) % 2
+                self._write(s)
+                self._state = RatpState.established
+                return False
+            else:
+                self._retrans = None
+                s = RatpPacket(flags='SA')
+                s.c_sn = 0
+                s.c_an = (r.c_sn + 1) % 2
+                s.length = self._s_mdl
+                self._write(s)
+                self._state = RatpState.syn_received
+                return False
+
+        return False
+
+    def _c1(self, r):
+        logging.info("C1")
+
+        if r.c_sn != self._r_sn:
+            return True
+
+        if r.c_rst or r.c_fin:
+            return False
+
+        s = RatpPacket(flags='A')
+        s.c_sn = r.c_an
+        s.c_an = (r.c_sn + 1) % 2
+        self._write(s)
+        return False
+
+    def _c2(self, r):
+        logging.info("C2")
+
+        if r.length == 0 and r.c_so == 0:
+            return True
+
+        if r.c_sn != self._r_sn:
+            return True
+
+        if r.c_rst or r.c_fin:
+            return False
+
+        if r.c_syn:
+            s = RatpPacket(flags='RA')
+            s.c_sn = r.c_an
+            s.c_an = (r.c_sn + 1) % 2
+            self._write(s)
+            self._retrans = None
+            # FIXME: inform the user "Error: Connection reset"
+            self._state = RatpState.closed
+            return False
+
+        # FIXME: only ack duplicate data packages?
+        # This is not documented in RFC 916
+        if r.length or r.c_so:
+            logging.info("C2: duplicate data packet, dropping")
+            s = RatpPacket(flags='A')
+            s.c_sn = r.c_an
+            s.c_an = (r.c_sn + 1) % 2
+            self._write(s)
+
+        return False
+
+    def _d1(self, r):
+        logging.info("D1")
+
+        if not r.c_rst:
+            return True
+
+        if self._passive:
+            self._retrans = None
+            self._state = RatpState.listen
+            return False
+        else:
+            self._retrans = None
+
+            self._state = RatpState.closed
+            raise RatpError("Connection refused")
+
+    def _d2(self, r):
+        logging.info("D2")
+
+        if not r.c_rst:
+            return True
+
+        self._retrans = None
+
+        self._state = RatpState.closed
+
+        raise RatpError("Connection reset")
+
+    def _d3(self, r):
+        logging.info("C3")
+
+        if not r.c_rst:
+            return True
+
+        self._state = RatpState.closed
+        return False
+
+    def _e(self, r):
+        logging.info("E")
+
+        if not r.c_syn:
+            return True
+
+        self._retrans = None
+        s = RatpPacket(flags='R')
+        if r.c_ack:
+            s.c_sn = r.c_an
+        else:
+            s.c_sn = 0
+        self._write(s)
+        self._state = RatpState.closed
+        raise RatpError("Connection reset")
+
+    def _f1(self, r):
+        logging.info("F1")
+
+        if not r.c_ack:
+            return False
+
+        if r.c_an == (self._s_sn + 1) % 2:
+            return True
+
+        if self._passive:
+            self._retrans = None
+            s = RatpPacket(flags='R')
+            s.c_sn = r.c_an
+            self._write(s)
+            self._state = RatpState.listen
+            return False
+        else:
+            self._retrans = None
+            s = RatpPacket(flags='R')
+            s.c_sn = r.c_an
+            self._write(s)
+            self._state = RatpState.closed
+            raise RatpError("Connection refused")
+
+    def _f2(self, r):
+        logging.info("F2")
+
+        if not r.c_ack:
+            return False
+
+        if r.c_an == (self._s_sn + 1) % 2:
+            if self._retrans:
+                self._retrans = None
+                self._update_srtt(monotonic()-self._tx_timestamp)
+                # FIXME: inform the user with an "Ok" if a buffer has been
+                # entirely acknowledged.  Another packet containing data may
+                # now be sent.
+            return True
+
+        return True
+
+    def _f3(self, r):
+        logging.info("F3")
+
+        if not r.c_ack:
+            return False
+
+        if r.c_an == (self._s_sn + 1) % 2:
+            return True
+
+        return True
+
+    def _g(self, r):
+        logging.info("G")
+
+        if not r.c_rst:
+            return False
+
+        self._retrans = None
+        if r.c_ack:
+            s = RatpPacket(flags='R')
+            s.c_sn = r.c_an
+            self._write(s)
+        else:
+            s = RatpPacket(flags='RA')
+            s.c_sn = r.c_an
+            s.c_an = (r.c_sn + 1) % 2
+            self._write(s)
+
+        return False
+
+    def _h1(self, r):
+        logging.info("H1")
+
+        # FIXME: initial data?
+        self._state = RatpState.established
+        self._r_sn = r.c_sn
+
+        return False
+
+    def _h2(self, r):
+        logging.info("H2")
+
+        if not r.c_fin:
+            return True
+
+        if self._retrans is not None:
+            # FIXME: inform the user "Warning: Data left unsent.", "Connection closing."
+            self._retrans = None
+        s = RatpPacket(flags='FA')
+        s.c_sn = r.c_an
+        s.c_an = (r.c_sn + 1) % 2
+        self._write(s)
+        self._state = RatpState.last_ack
+        raise RatpError("Connection closed by remote")
+
+    def _h3(self, r):
+        logging.info("H3")
+
+        if not r.c_fin:
+            # Our fin was lost, rely on retransmission
+            return False
+
+        if r.length or r.c_so:
+            self._retrans = None
+            s = RatpPacket(flags='RA')
+            s.c_sn = r.c_an
+            s.c_an = (r.c_sn + 1) % 2
+            self._write(s)
+            self._state = RatpState.closed
+            raise RatpError("Connection reset")
+
+        if r.c_an == (self._s_sn + 1) % 2:
+            self._retrans = None
+            s = RatpPacket(flags='A')
+            s.c_sn = r.c_an
+            s.c_an = (r.c_sn + 1) % 2
+            self._write(s)
+            self._time_wait_deadline = monotonic() + self._get_rto()
+            self._state = RatpState.time_wait
+            return False
+        else:
+            self._retrans = None
+            s = RatpPacket(flags='A')
+            s.c_sn = r.c_an
+            s.c_an = (r.c_sn + 1) % 2
+            self._write(s)
+            self._state = RatpState.closing
+            return False
+
+    def _h4(self, r):
+        logging.info("H4")
+
+        if r.c_an == (self._s_sn + 1) % 2:
+            self._retrans = None
+            self._time_wait_deadline = monotonic() + self._get_rto()
+            self._state = RatpState.time_wait
+            return False
+
+        return False
+
+    def _h5(self, r):
+        logging.info("H5")
+
+        if r.c_an == (self._s_sn + 1) % 2:
+            self._time_wait_deadline = monotonic() + self._get_rto()
+            self._state = RatpState.time_wait
+            return False
+
+        return False
+
+    def _h6(self, r):
+        logging.info("H6")
+
+        if not r.c_ack:
+            return False
+
+        if not r.c_fin:
+            return False
+
+        self._retrans = None
+        s = RatpPacket(flags='A')
+        s.c_sn = r.c_an
+        s.c_an = (r.c_sn + 1) % 2
+        self._write(s)
+        self._time_wait_deadline = monotonic() + self._get_rto()
+        return False
+
+    def _i1(self, r):
+        logging.info("I1")
+
+        if r.c_so:
+            self._r_sn = r.c_sn
+            self._rx_buf.append(chr(r.length))
+        elif r.length:
+            self._r_sn = r.c_sn
+            self._rx_buf.append(r.payload)
+        else:
+            return False
+
+        # reassemble
+        if r.c_eor:
+            logging.info("Reassembling %i frames", len(self._rx_buf))
+            self._rx_queue.append(''.join(self._rx_buf))
+            self._rx_buf = []
+
+        s = RatpPacket(flags='A')
+        s.c_sn = r.c_an
+        s.c_an = (r.c_sn + 1) % 2
+        self._write(s)
+        return False
+
+    def _machine(self, pkt):
+        logging.info("State: %r", self._state)
+        if self._state == RatpState.listen:
+            self._a(pkt)
+        elif self._state == RatpState.syn_sent:
+            self._b(pkt)
+        elif self._state == RatpState.syn_received:
+            self._c1(pkt) and \
+                self._d1(pkt) and \
+                self._e(pkt) and \
+                self._f1(pkt) and \
+                self._h1(pkt)
+        elif self._state == RatpState.established:
+            self._c2(pkt) and \
+                self._d2(pkt) and \
+                self._e(pkt) and \
+                self._f2(pkt) and \
+                self._h2(pkt) and \
+                self._i1(pkt)
+        elif self._state == RatpState.fin_wait:
+            self._c2(pkt) and \
+                self._d2(pkt) and \
+                self._e(pkt) and \
+                self._f3(pkt) and \
+                self._h3(pkt)
+        elif self._state == RatpState.last_ack:
+            self._c2(pkt) and \
+                self._d3(pkt) and \
+                self._e(pkt) and \
+                self._f3(pkt) and \
+                self._h4(pkt)
+        elif self._state == RatpState.closing:
+            self._c2(pkt) and \
+                self._d3(pkt) and \
+                self._e(pkt) and \
+                self._f3(pkt) and \
+                self._h5(pkt)
+        elif self._state == RatpState.time_wait:
+            self._d3(pkt) and \
+                self._e(pkt) and \
+                self._f3(pkt) and \
+                self._h6(pkt)
+        elif self._state == RatpState.closed:
+            self._g(pkt)
+
+    def wait(self, deadline):
+        while deadline is None or deadline > monotonic():
+            pkt = self._read()
+            if pkt:
+                self._machine(pkt)
+            else:
+                self._check_rto()
+                self._check_time_wait()
+            if not self._retrans or self._rx_queue:
+                return
+
+    def wait1(self, deadline):
+        while deadline is None or deadline > monotonic():
+            pkt = self._read()
+            if pkt:
+                self._machine(pkt)
+            else:
+                self._check_rto()
+                self._check_time_wait()
+            if not self._retrans:
+                return
+
+    def listen(self):
+        logging.info("LISTEN")
+        self._state = RatpState.listen
+
+    def connect(self, timeout=5.0):
+        deadline = monotonic() + timeout
+        logging.info("CONNECT")
+        self._retrans = None
+        syn = RatpPacket(flags='S')
+        syn.length = self._s_mdl
+        self._write(syn)
+        self._state = RatpState.syn_sent
+        self.wait(deadline)
+
+    def send_one(self, data, eor=True, timeout=1.0):
+        deadline = monotonic() + timeout
+        logging.info("SEND_ONE (len=%i, eor=%r)", len(data), eor)
+        assert self._state == RatpState.established
+        assert self._retrans is None
+        snd = RatpPacket(flags='A')
+        snd.c_eor = eor
+        snd.c_sn = (self._s_sn + 1) % 2
+        snd.c_an = (self._r_sn + 1) % 2
+        snd.length = len(data)
+        snd.payload = data
+        self._write(snd)
+        self.wait1(deadline=None)
+
+    def send(self, data, timeout=1.0):
+        logging.info("SEND (len=%i)", len(data))
+        while len(data) > 255:
+            self.send_one(data[:255], eor=False, timeout=timeout)
+            data = data[255:]
+        self.send_one(data, eor=True, timeout=timeout)
+
+    def recv(self, timeout=1.0):
+        deadline = monotonic() + timeout
+
+        assert self._state == RatpState.established
+        if self._rx_queue:
+            return self._rx_queue.pop(0)
+        self.wait(deadline)
+        if self._rx_queue:
+            return self._rx_queue.pop(0)
+
+    def close(self, timeout=1.0):
+        deadline = monotonic() + timeout
+        logging.info("CLOSE")
+        if self._state == RatpState.established:
+            fin = RatpPacket(flags='FA')  # FIXME: only F?
+            fin.c_sn = (self._s_sn + 1) % 2
+            fin.c_an = (self._r_sn + 1) % 2
+            self._write(fin)
+            self._state = RatpState.fin_wait
+        while deadline > monotonic() and not self._state == RatpState.time_wait:
+            self.wait(deadline)
+        while self._state == RatpState.time_wait:
+            self.wait(None)
+        if self._state == RatpState.closed:
+            logging.info("CLOSE: success")
+        else:
+            logging.info("CLOSE: failure")
+
+
+    def abort(self):
+        logging.info("ABORT")
+
+    def status(self):
+        logging.info("STATUS")
+        return self._state
+
+
+class SerialRatpConnection(RatpConnection):
+    def __init__(self, port):
+        super(SerialRatpConnection, self).__init__()
+        self.__port = port
+        self.__port.timeout = 0.01
+        self.__port.writeTimeout = None
+        self.__port.flushInput()
+
+    def _write_raw(self, data):
+        if data:
+            logging.debug("-> %r", bytearray(data))
+        return self.__port.write(data)
+
+    def _read_raw(self, size=1):
+        data = self.__port.read(size)
+        if data:
+            logging.debug("<- %r", bytearray(data))
+        return data
diff --git a/scripts/remote/ratpfs.py b/scripts/remote/ratpfs.py
new file mode 100644
index 0000000..0333bf7
--- /dev/null
+++ b/scripts/remote/ratpfs.py
@@ -0,0 +1,189 @@
+#!/usr/bin/env python2
+# -*- coding: utf-8 -*-
+
+from __future__ import absolute_import, division, print_function
+
+import logging
+import os
+import stat
+import struct
+from enum import IntEnum
+
+from .messages import BBPacketFS, BBPacketFSReturn
+
+class RatpFSType(IntEnum):
+    invalid = 0
+    mount_call = 1
+    mount_return = 2
+    readdir_call = 3
+    readdir_return = 4
+    stat_call = 5
+    stat_return = 6
+    open_call = 7
+    open_return = 8
+    read_call = 9
+    read_return = 10
+    write_call = 11
+    write_return = 12
+    close_call = 13
+    close_return = 14
+    truncate_call = 15
+    truncate_return = 16
+
+
+class RatpFSError(ValueError):
+    pass
+
+
+class RatpFSPacket(object):
+    def __init__(self, type=RatpFSType.invalid, payload="", raw=None):
+        if raw is not None:
+            type, = struct.unpack('!B', raw[:1])
+            self.type = RatpFSType(type)
+            self.payload = raw[1:]
+        else:
+            self.type = type
+            self.payload = payload
+
+    def __repr__(self):
+        s = "%s(" % self.__class__.__name__
+        s += "TYPE=%i," % self.type
+        s += "PAYLOAD=%s)" % repr(self.payload)
+        return s
+
+    def pack(self):
+        return struct.pack('!B', int(self.type))+self.payload
+
+
+class RatpFSServer(object):
+    def __init__(self, path=None):
+        self.path = path
+        if path:
+            self.path = os.path.abspath(path)
+        self.next_handle = 1  # 0 is invalid
+        self.files = {}
+        self.mounted = False
+        logging.info("exporting: %s", self.path)
+
+    def _alloc_handle(self):
+        handle = self.next_handle
+        self.next_handle += 1
+        return handle
+
+    def _resolve(self, path):
+        components = path.split('/')
+        components = [x for x in components if x and x != '..']
+        return os.path.join(self.path, *components)
+
+    def handle_stat(self, path):
+
+        try:
+            logging.info("path: %r", path)
+            path = self._resolve(path)
+            logging.info("path1: %r", path)
+            s = os.stat(path)
+        except OSError as e:
+            return struct.pack('!BI', 0, e.errno)
+        if stat.S_ISREG(s.st_mode):
+            return struct.pack('!BI', 1, s.st_size)
+        elif stat.S_ISDIR(s.st_mode):
+            return struct.pack('!BI', 2, s.st_size)
+        else:
+            return struct.pack('!BI', 0, 0)
+
+    def handle_open(self, params):
+        flags, = struct.unpack('!I', params[:4])
+        flags = flags & (os.O_RDONLY | os.O_WRONLY | os.O_RDWR | os.O_CREAT |
+                         os.O_TRUNC)
+        path = params[4:]
+        try:
+            f = os.open(self._resolve(path), flags, 0666)
+        except OSError as e:
+            return struct.pack('!II', 0, e.errno)
+        h = self._alloc_handle()
+        self.files[h] = f
+        size = os.lseek(f, 0, os.SEEK_END)
+        return struct.pack('!II', h, size)
+
+    def handle_read(self, params):
+        h, pos, size = struct.unpack('!III', params)
+        f = self.files[h]
+        os.lseek(f, pos, os.SEEK_SET)
+        size = min(size, 4096)
+        return os.read(f, size)
+
+    def handle_write(self, params):
+        h, pos = struct.unpack('!II', params[:8])
+        payload = params[8:]
+        f = self.files[h]
+        pos = os.lseek(f, pos, os.SEEK_SET)
+        assert os.write(f, payload) == len(payload)
+        return ""
+
+    def handle_readdir(self, path):
+        res = ""
+        for x in os.listdir(self._resolve(path)):
+            res += x+'\0'
+        return res
+
+    def handle_close(self, params):
+        h, = struct.unpack('!I', params[:4])
+        os.close(self.files.pop(h))
+        return ""
+
+    def handle_truncate(self, params):
+        h, size = struct.unpack('!II', params)
+        f = self.files[h]
+        os.ftruncate(f, size)
+        return ""
+
+    def handle(self, bbcall):
+        assert isinstance(bbcall, BBPacketFS)
+        logging.debug("bb-call: %s", bbcall)
+        fscall = RatpFSPacket(raw=bbcall.payload)
+        logging.info("fs-call: %s", fscall)
+
+        if not self.path:
+            logging.warning("no filesystem exported")
+            fsreturn = RatpFSPacket(type=RatpFSType.invalid)
+        elif fscall.type == RatpFSType.mount_call:
+            self.mounted = True
+            fsreturn = RatpFSPacket(type=RatpFSType.mount_return)
+        elif not self.mounted:
+            logging.warning("filesystem not mounted")
+            fsreturn = RatpFSPacket(type=RatpFSType.invalid)
+        elif fscall.type == RatpFSType.readdir_call:
+            payload = self.handle_readdir(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.readdir_return,
+                                    payload=payload)
+        elif fscall.type == RatpFSType.stat_call:
+            payload = self.handle_stat(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.stat_return,
+                                    payload=payload)
+        elif fscall.type == RatpFSType.open_call:
+            payload = self.handle_open(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.open_return,
+                                    payload=payload)
+        elif fscall.type == RatpFSType.read_call:
+            payload = self.handle_read(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.read_return,
+                                    payload=payload)
+        elif fscall.type == RatpFSType.write_call:
+            payload = self.handle_write(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.write_return,
+                                    payload=payload)
+        elif fscall.type == RatpFSType.close_call:
+            payload = self.handle_close(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.close_return,
+                                    payload=payload)
+        elif fscall.type == RatpFSType.truncate_call:
+            payload = self.handle_truncate(fscall.payload)
+            fsreturn = RatpFSPacket(type=RatpFSType.truncate_return,
+                                    payload=payload)
+        else:
+            raise RatpFSError()
+
+        logging.info("fs-return: %s", fsreturn)
+        bbreturn = BBPacketFSReturn(payload=fsreturn.pack())
+        logging.debug("bb-return: %s", bbreturn)
+        return bbreturn
diff --git a/scripts/remote/threadstdio.py b/scripts/remote/threadstdio.py
new file mode 100644
index 0000000..db24989
--- /dev/null
+++ b/scripts/remote/threadstdio.py
@@ -0,0 +1,47 @@
+#!/usr/bin/python2
+
+import os
+import sys
+import termios
+import atexit
+from threading import Thread
+from Queue import Queue, Empty
+
+class ConsoleInput(Thread):
+    def __init__(self, queue, exit='\x14'):
+        Thread.__init__(self)
+        self.daemon = True
+        self.q = queue
+        self._exit = exit
+        self.fd = sys.stdin.fileno()
+        old = termios.tcgetattr(self.fd)
+        new = termios.tcgetattr(self.fd)
+        new[3] = new[3] & ~termios.ICANON & ~termios.ECHO & ~termios.ISIG
+        new[6][termios.VMIN] = 1
+        new[6][termios.VTIME] = 0
+        termios.tcsetattr(self.fd, termios.TCSANOW, new)
+
+        def cleanup():
+            termios.tcsetattr(self.fd, termios.TCSAFLUSH, old)
+        atexit.register(cleanup)
+
+    def run(self):
+        while True:
+            c = os.read(self.fd, 1)
+            if c == self._exit:
+                self.q.put((self, None))
+                return
+            else:
+                self.q.put((self, c))
+
+if __name__ == "__main__":
+    q = Queue()
+    i = ConsoleInput(q)
+    i.start()
+    while True:
+        event = q.get(block=True)
+        src, c = event
+        if c == '\x04':
+            break
+        os.write(sys.stdout.fileno(), c.upper())
+
-- 
2.6.4


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