FPS.py

'''
Created on 21/03/2014

@author: Jean Machuca <correojean@gmail.com> @jeanmachuca
'''

import os
import serial
from serial.tools import list_ports
import time
import binascii

def delay(seconds):
    '''
    wait a number of secons 
    '''
    time.sleep(seconds)

def serial_ports():
    '''
    Returns a generator for all available serial ports
    '''
    if os.name == 'nt':
        # windows
        _comports = [port for port in list_ports.comports()]
        if _comports.__len__()>0:
            _serial_ports = [p for p in _comports[0]]
        else:
            _serial_ports = []
    else:
        # unix
        _serial_ports = [port[0] for port in list_ports.comports()]
    return _serial_ports
           
def devices(index=None):
    '''
    device's list
    :param index if this param is not None, then returns the device name of the index in the list
    '''
    portList = [portName for portName in serial_ports()]
    return portList if index is None else portList[index]

if os.name == 'nt':
    DEVICE_NAME = 'COM3'
else:
    DEVICE_NAME = '/dev/cu.usbserial-A601EQ14'  #default device to use

def isFingerPrintConnected(is_com=True):
    '''
        Detect if the fingerprint device is present in the device list, only for com ports
    '''
    return True if (not is_com) or devices().__contains__(DEVICE_NAME) else False


class Packet:
    '''
        Generic Internal Packet Class
    '''
    COMMAND_START_CODE_1 = 0x55;    # Static byte to mark the beginning of a command packet    -    never changes
    COMMAND_START_CODE_2 = 0xAA;    # Static byte to mark the beginning of a command packet    -    never changes
    COMMAND_DEVICE_ID_1  = 0x01;    # Device ID Byte 1 (lesser byte)                            -    theoretically never changes
    COMMAND_DEVICE_ID_2  = 0x00;    # Device ID Byte 2 (greater byte)                            -    theoretically never changes
    
    def GetHighByte(self, w):
        '''
        Returns the high byte from a word
        '''
        return (w>>8)&0x00FF
    
    def GetLowByte(self, w):
        '''
        Returns the low byte from a word        
        '''
        return w&0x00FF
    
    def CalculateCheckSum(self,bytearr):
        return sum(map(ord,bytes(bytearr)))
    
    def serializeToSend(self,bytearr):
        return ' '.join(binascii.hexlify(ch) for ch in bytes(bytearr))
    

class Command_Packet(Packet):
    '''
        Command Packet Class
        Used to build the serial message
    '''
    
    command = bytearray(2)
    cmd = ''
    commands = {
                    'NotSet'                  : 0x00,        # Default value for enum. Scanner will return error if sent this.
                    'Open'                    : 0x01,        # Open Initialization
                    'Close'                   : 0x02,        # Close Termination
                    'UsbInternalCheck'        : 0x03,        # UsbInternalCheck Check if the connected USB device is valid
                    'ChangeBaudrate'          : 0x04,        # ChangeBaudrate Change UART baud rate
                    'SetIAPMode'              : 0x05,        # SetIAPMode Enter IAP Mode In this mode, FW Upgrade is available
                    'CmosLed'                 : 0x12,        # CmosLed Control CMOS LED
                    'GetEnrollCount'          : 0x20,        # Get enrolled fingerprint count
                    'CheckEnrolled'           : 0x21,        # Check whether the specified ID is already enrolled
                    'EnrollStart'             : 0x22,        # Start an enrollment
                    'Enroll1'                 : 0x23,        # Make 1st template for an enrollment
                    'Enroll2'                 : 0x24,        # Make 2nd template for an enrollment
                    'Enroll3'                 : 0x25,        # Make 3rd template for an enrollment, merge three templates into one template, save merged template to the database
                    'IsPressFinger'           : 0x26,        # Check if a finger is placed on the sensor
                    'DeleteID'                : 0x40,        # Delete the fingerprint with the specified ID
                    'DeleteAll'               : 0x41,        # Delete all fingerprints from the database
                    'Verify1_1'               : 0x50,        # Verification of the capture fingerprint image with the specified ID
                    'Identify1_N'             : 0x51,        # Identification of the capture fingerprint image with the database
                    'VerifyTemplate1_1'       : 0x52,        # Verification of a fingerprint template with the specified ID
                    'IdentifyTemplate1_N'     : 0x53,        # Identification of a fingerprint template with the database
                    'CaptureFinger'           : 0x60,        # Capture a fingerprint image(256x256) from the sensor
                    'MakeTemplate'            : 0x61,        # Make template for transmission
                    'GetImage'                : 0x62,        # Download the captured fingerprint image(256x256)
                    'GetRawImage'             : 0x63,        # Capture & Download raw fingerprint image(320x240)
                    'GetTemplate'             : 0x70,        # Download the template of the specified ID
                    'SetTemplate'             : 0x71,        # Upload the template of the specified ID
                    'GetDatabaseStart'        : 0x72,        # Start database download, obsolete
                    'GetDatabaseEnd'          : 0x73,        # End database download, obsolete
                    'UpgradeFirmware'         : 0x80,        # Not supported
                    'UpgradeISOCDImage'       : 0x81,        # Not supported
                    'Ack'                     : 0x30,        # Acknowledge.
                    'Nack'                    : 0x31         # Non-acknowledge
                }
    

    def __init__(self,*args,**kwargs):
        '''
            Command Packet Constructor
        '''
        commandName=args[0]
        kwargs.setdefault('UseSerialDebug', True)
        self.UseSerialDebug= kwargs['UseSerialDebug']
        if self.UseSerialDebug:
            print 'Command: %s' % commandName
        self.cmd = self.commands[commandName]
        
    UseSerialDebug = True
    Parameter = bytearray(4)
    
    
    
    def GetPacketBytes(self):
        '''
        returns the 12 bytes of the generated command packet
        remember to call delete on the returned array
        '''
        
        self.command[0] = self.GetLowByte(self.cmd)
        self.command[1] = self.GetHighByte(self.cmd)
        
        packetbytes= bytearray(12)
        packetbytes[0] = self.COMMAND_START_CODE_1
        packetbytes[1] = self.COMMAND_START_CODE_2
        packetbytes[2] = self.COMMAND_DEVICE_ID_1
        packetbytes[3] = self.COMMAND_DEVICE_ID_2
        packetbytes[4] = self.Parameter[0]
        packetbytes[5] = self.Parameter[1]
        packetbytes[6] = self.Parameter[2]
        packetbytes[7] = self.Parameter[3]
        packetbytes[8] = self.command[0]
        packetbytes[9] = self.command[1]
        chksum = self.CalculateCheckSum(packetbytes[0:9])
        packetbytes[10] = self.GetLowByte(chksum)
        packetbytes[11] = self.GetHighByte(chksum)

        return packetbytes;        
    
    def ParameterFromInt(self, i):
        '''
        Converts the int to bytes and puts them into the paramter array
        '''
        
        self.Parameter[0] = (i & 0x000000ff);
        self.Parameter[1] = (i & 0x0000ff00) >> 8;
        self.Parameter[2] = (i & 0x00ff0000) >> 16;
        self.Parameter[3] = (i & 0xff000000) >> 24;



class Response_Packet(Packet):
    '''
        Response Packet Class
    '''
    
    errors = {
                    'NO_ERROR'                      : 0x0000,    # Default value. no error
                    'NACK_TIMEOUT'                  : 0x1001,    # Obsolete, capture timeout
                    'NACK_INVALID_BAUDRATE'         : 0x1002,    # Obsolete, Invalid serial baud rate
                    'NACK_INVALID_POS'              : 0x1003,    # The specified ID is not between 0~199
                    'NACK_IS_NOT_USED'              : 0x1004,    # The specified ID is not used
                    'NACK_IS_ALREADY_USED'          : 0x1005,    # The specified ID is already used
                    'NACK_COMM_ERR'                 : 0x1006,    # Communication Error
                    'NACK_VERIFY_FAILED'            : 0x1007,    # 1:1 Verification Failure
                    'NACK_IDENTIFY_FAILED'          : 0x1008,    # 1:N Identification Failure
                    'NACK_DB_IS_FULL'               : 0x1009,    # The database is full
                    'NACK_DB_IS_EMPTY'              : 0x100A,    # The database is empty
                    'NACK_TURN_ERR'                 : 0x100B,    # Obsolete, Invalid order of the enrollment (The order was not as: EnrollStart -> Enroll1 -> Enroll2 -> Enroll3)
                    'NACK_BAD_FINGER'               : 0x100C,    # Too bad fingerprint
                    'NACK_ENROLL_FAILED'            : 0x100D,    # Enrollment Failure
                    'NACK_IS_NOT_SUPPORTED'         : 0x100E,    # The specified command is not supported
                    'NACK_DEV_ERR'                  : 0x100F,    # Device Error, especially if Crypto-Chip is trouble
                    'NACK_CAPTURE_CANCELED'         : 0x1010,    # Obsolete, The capturing is canceled
                    'NACK_INVALID_PARAM'            : 0x1011,    # Invalid parameter
                    'NACK_FINGER_IS_NOT_PRESSED'    : 0x1012,    # Finger is not pressed
                    'INVALID'                       : 0XFFFF     # Used when parsing fails          
              }
    
    def __init__(self,_buffer=None,UseSerialDebug=False):
        '''
        creates and parses a response packet from the finger print scanner
        '''
        self.UseSerialDebug= UseSerialDebug
        
        if not (_buffer is None ):
            self.RawBytes = _buffer
            self._lastBuffer = bytes(_buffer)
            if self.UseSerialDebug:
                print 'readed: %s'% self.serializeToSend(_buffer)
            if _buffer.__len__()>=12:
                self.ACK = True if _buffer[8] == 0x30 else False
                self.ParameterBytes[0] = _buffer[4]
                self.ParameterBytes[1] = _buffer[5]
                self.ParameterBytes[2] = _buffer[6]
                self.ParameterBytes[3] = _buffer[7]
                self.ResponseBytes[0]  = _buffer[8]
                self.ResponseBytes[1]  = _buffer[9]
                self.Error = self.ParseFromBytes(self.GetHighByte(_buffer[5]),self.GetLowByte(_buffer[4]))
        
    _lastBuffer = bytes()
    RawBytes = bytearray(12)
    ParameterBytes=bytearray(4)
    ResponseBytes=bytearray(2)
    ACK = False
    Error = None
    UseSerialDebug = True
    
    
    def ParseFromBytes(self,high,low):
        '''
        parses bytes into one of the possible errors from the finger print scanner
        '''
        e  = 'INVALID'
        if high == 0x01:
            if low in self.errors.values():
                errorIndex = self.errors.values().index(low)
                e = self.errors.keys()[errorIndex]
        return e
    
    
    def IntFromParameter(self):
        retval = 0;
        retval = (retval << 8) + self.ParameterBytes[3];
        retval = (retval << 8) + self.ParameterBytes[2];
        retval = (retval << 8) + self.ParameterBytes[1];
        retval = (retval << 8) + self.ParameterBytes[0];
        return retval;


class SerialCommander:
    '''
        Serializes the args to hex to send to serial port
    '''
    def __serialize_args_hex__(self,*arg,**kwargs):
        return bytes(bytearray([v for v in kwargs.values()]))
    
    def serializeToSend(self,bytearr):
        return ' '.join(binascii.hexlify(ch) for ch in bytes(bytearr))
    
    def unserializeFromRead(self,char_readed,bytearr):
        bytearr.append(char_readed)
        return bytearr

def connect(device_name=None,baud=None,timeout=None,is_com=True):
    _ser = None
    if device_name is None:
        device_name = DEVICE_NAME
    else:
        DEVICE_NAME = device_name
    if baud is None:
        baud=9600
    if timeout is None:
        timeout = 10000
    if isFingerPrintConnected(is_com):
        try:
            _ser = serial.Serial(device_name,baudrate=baud,timeout=timeout)
            if not _ser.isOpen():
                _ser.open()
        except Exception,e:
            print '[Connect] No es posible conectar al dispositivo %s' % (str(e))
            pass
    return _ser

#BAUD = 115200
BAUD = 9600

class FPS_GT511C3(SerialCommander):
    _serial = None
    _lastResponse = None
    _device_name = None
    _baud = None
    _timeout= None
    
    '''
    # Enables verbose debug output using hardware Serial 
    '''
    UseSerialDebug = True
    
    def __init__(self,device_name=None,baud=None,timeout=None,is_com=True):
        '''
            Creates a new object to interface with the fingerprint scanner
        '''
        self._device_name = device_name
        self._baud=baud
        self._timeout = timeout
        self._serial = connect(device_name,baud,timeout,is_com=is_com)
        if not self._serial is None:
            delay(0.1)
            self.Open()
        elif self.UseSerialDebug:
            print '[FPS_GT511C3] No es posible conectar con el dispositivo %s' % self._device_name
            
     
    def Open(self):
        '''
            Initialises the device and gets ready for commands
        '''
        self.ChangeBaudRate(BAUD)
        delay(0.1)
        cp = Command_Packet('Open',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(1)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        del packetbytes
        return rp.ACK
        
    
    def Close(self):
        '''
             Does not actually do anything (according to the datasheet)
             I implemented open, so had to do closed too... lol
        '''
        cp = Command_Packet('Close',UseSerialDebug=self.UseSerialDebug)
        cp.Parameter[0] = 0x00;
        cp.Parameter[1] = 0x00;
        cp.Parameter[2] = 0x00;
        cp.Parameter[3] = 0x00;
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        if not self._serial is None:
            self._serial.close()
        del packetbytes
        return rp.ACK
    
    def SetLED(self,on=True):
        '''
             Turns on or off the LED backlight
             LED must be on to see fingerprints
             Parameter: true turns on the backlight, false turns it off
             Returns: True if successful, false if not
        '''
        cp = Command_Packet('CmosLed',UseSerialDebug=self.UseSerialDebug)
        cp.Parameter[0] = 0x01 if on else 0x00;
        cp.Parameter[1] = 0x00;
        cp.Parameter[2] = 0x00;
        cp.Parameter[3] = 0x00;
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.ACK
        del rp
        del packetbytes
        return retval
    
    def ChangeBaudRate(self,baud):
        '''
             Changes the baud rate of the connection
             Parameter: 9600 - 115200
             Returns: True if success, false if invalid baud
             NOTE: Untested (don't have a logic level changer and a voltage divider is too slow)
        '''
        retval = False
        if baud <> self._serial.getBaudrate():
            cp = Command_Packet('ChangeBaudrate',UseSerialDebug=self.UseSerialDebug)
            cp.ParameterFromInt(baud)
            packetbytes = cp.GetPacketBytes()
            self.SendCommand(packetbytes, 12)
            delay(0.5)
            rp = self.GetResponse()
            delay(0.5)
            retval = rp.ACK
            if retval:
                if self.UseSerialDebug:
                    print 'Changing port baudrate'
                self._serial.close()
                BAUD = baud
                self._serial = connect(self._device_name,self._baud,self._timeout)
            del rp
            del packetbytes
        return retval
    
    def GetEnrollCount(self):
        '''
             Gets the number of enrolled fingerprints
             Return: The total number of enrolled fingerprints
        '''
        cp = Command_Packet('GetEnrollCount',UseSerialDebug=self.UseSerialDebug)
        cp.Parameter[0] = 0x00
        cp.Parameter[1] = 0x00
        cp.Parameter[2] = 0x00
        cp.Parameter[3] = 0x00
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.IntFromParameter()
        del rp
        del packetbytes
        return retval
    
    def CheckEnrolled(self,ID):
        '''
             checks to see if the ID number is in use or not
             Parameter: 0-199
             Return: True if the ID number is enrolled, false if not
        '''
        cp = Command_Packet('CheckEnrolled',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(ID)
        packetbytes = cp.GetPacketBytes()
        del cp
        self.SendCommand(packetbytes, 12)
        del packetbytes
        rp = self.GetResponse()
        retval = rp.ACK
        del rp
        return retval
    
    def EnrollStart(self,ID):
        '''
             Starts the Enrollment Process
             Parameter: 0-199
             Return:
                0 - ACK
                1 - Database is full
                2 - Invalid Position
                3 - Position(ID) is already used
        '''
        cp = Command_Packet('EnrollStart',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(ID)
        packetbytes = cp.GetPacketBytes()
        del cp
        self.SendCommand(packetbytes, 12)
        del packetbytes
        rp = self.GetResponse()
        retval = 0
        if not rp.ACK:
            if rp.Error == rp.errors['NACK_DB_IS_FULL']:
                retval = 1
            elif rp.Error == rp.errors['NACK_INVALID_POS']:
                retval = 2
            elif rp.Error == rp.errors['NACK_IS_ALREADY_USED']:
                retval = 3
        del rp
        return retval


    def Enroll1(self):
        '''
             Gets the first scan of an enrollment
             Return: 
                0 - ACK
                1 - Enroll Failed
                2 - Bad finger
                3 - ID in use
        '''
        cp = Command_Packet('Enroll1',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        del cp
        self.SendCommand(packetbytes, 12)
        del packetbytes
        rp = self.GetResponse()
        retval = rp.IntFromParameter()
        retval = 3 if retval < 200 else 0
        if not rp.ACK:
            if rp.Error == rp.errors['NACK_ENROLL_FAILED']:
                retval = 1
            elif rp.Error == rp.errors['NACK_BAD_FINGER']:
                retval = 2
        return 0 if rp.ACK else retval
    
    def Enroll2(self):
        '''
             Gets the Second scan of an enrollment
             Return: 
                0 - ACK
                1 - Enroll Failed
                2 - Bad finger
                3 - ID in use
        '''
        cp = Command_Packet('Enroll2',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        del cp
        self.SendCommand(packetbytes, 12)
        del packetbytes
        rp = self.GetResponse()
        retval = rp.IntFromParameter()
        retval = 3 if retval < 200 else 0
        if not rp.ACK:
            if rp.Error == rp.errors['NACK_ENROLL_FAILED']:
                retval = 1
            elif rp.Error == rp.errors['NACK_BAD_FINGER']:
                retval = 2
        return 0 if rp.ACK else retval
        
    
    def Enroll3(self):
        '''
             Gets the Third scan of an enrollment
             Finishes Enrollment
             Return: 
                0 - ACK
                1 - Enroll Failed
                2 - Bad finger
                3 - ID in use
        '''
        cp = Command_Packet('Enroll3',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        del cp
        self.SendCommand(packetbytes, 12)
        del packetbytes
        rp = self.GetResponse()
        retval = rp.IntFromParameter()
        retval = 3 if retval < 200 else 0
        if not rp.ACK:
            if rp.Error == rp.errors['NACK_ENROLL_FAILED']:
                retval = 1
            elif rp.Error == rp.errors['NACK_BAD_FINGER']:
                retval = 2
        return 0 if rp.ACK else retval
    
    
    def IsPressFinger(self):
        '''
             Checks to see if a finger is pressed on the FPS
             Return: true if finger pressed, false if not
        '''
        cp = Command_Packet('IsPressFinger',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        pval = rp.ParameterBytes[0]
        pval += rp.ParameterBytes[1]
        pval += rp.ParameterBytes[2]
        pval += rp.ParameterBytes[3]
        retval = True if pval == 0 else False
        del rp
        del packetbytes
        del cp
        return retval
    
    def DeleteID(self,ID):
        '''
             Deletes the specified ID (enrollment) from the database
             Returns: true if successful, false if position invalid
        '''
        cp = Command_Packet('DeleteID',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(ID)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.ACK
        del rp
        del packetbytes
        del cp
        return retval
    
    def DeleteAll(self):
        '''
             Deletes all IDs (enrollments) from the database
             Returns: true if successful, false if db is empty
        '''
        cp = Command_Packet('DeleteAll',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.ACK
        del rp
        del packetbytes
        del cp
        return retval
    
    def Verify1_1(self,ID):
        '''
             Checks the currently pressed finger against a specific ID
             Parameter: 0-199 (id number to be checked)
             Returns:
                0 - Verified OK (the correct finger)
                1 - Invalid Position
                2 - ID is not in use
                3 - Verified FALSE (not the correct finger)
        '''
        cp = Command_Packet('Verify1_1',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(ID)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = 0
        if not rp.ACK:
            if rp.Error == rp.errors['NACK_INVALID_POS']:
                retval = 1
            elif rp.Error == rp.errors['NACK_IS_NOT_USED']:
                retval = 2
            elif rp.Error == rp.errors['NACK_VERIFY_FAILED']:
                retval = 3
        del rp
        del packetbytes
        del cp
        return retval
    
    def Identify1_N(self):
        '''
             Checks the currently pressed finger against all enrolled fingerprints
             Returns:
                0-199: Verified against the specified ID (found, and here is the ID number)
                200: Failed to find the fingerprint in the database
        '''
        cp = Command_Packet('Identify1_N',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.IntFromParameter()
        if retval > 200:
            retval = 200
        del rp
        del packetbytes
        del cp
        return retval
    
    
    def CaptureFinger(self,highquality=True):
        '''
             Captures the currently pressed finger into onboard ram
             Parameter: true for high quality image(slower), false for low quality image (faster)
             Generally, use high quality for enrollment, and low quality for verification/identification
             Returns: True if ok, false if no finger pressed
        '''
        cp = Command_Packet('CaptureFinger',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(1 if highquality else 0)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.ACK
        del rp
        del packetbytes
        del cp
        return retval
    
    def GetImage(self):
        '''
             Gets an image that is 258x202 (52116 bytes) and returns it in 407 Data_Packets
             Use StartDataDownload, and then GetNextDataPacket until done
             Returns: True (device confirming download starting)
        '''
        cp = Command_Packet('GetImage',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.ACK
        return retval

    
       
    def GetRawImage(self):
        '''
             Gets an image that is qvga 160x120 (19200 bytes) and returns it in 150 Data_Packets
             Use StartDataDownload, and then GetNextDataPacket until done
             Returns: True (device confirming download starting)
             Not implemented due to memory restrictions on the arduino
             may revisit this if I find a need for it
        '''
        cp = Command_Packet('GetRawImage',UseSerialDebug=self.UseSerialDebug)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = rp.ACK
        return retval
    
    def GetTemplate(self, ID):
        '''
    
             Gets a template from the fps (498 bytes) in 4 Data_Packets
             Use StartDataDownload, and then GetNextDataPacket until done
             Parameter: 0-199 ID number
             Returns: 
                0 - ACK Download starting
                1 - Invalid position
                2 - ID not used (no template to download
        '''
        cp = Command_Packet('GetTemplate',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(ID)
        packetbytes = cp.GetPacketBytes()
        self.SendCommand(packetbytes, 12)
        rp = self.GetResponse()
        retval = 0
        if not rp.ACK:
            if rp.Error == rp.errors['NACK_INVALID_POS']:
                retval = 1
            elif rp.Error == rp.errors['NACK_IS_NOT_USED']:
                retval = 2
        return retval
    
    '''
         Uploads a template to the fps 
         Parameter: the template (498 bytes)
         Parameter: the ID number to upload
         Parameter: Check for duplicate fingerprints already on fps
         Returns: 
            0-199 - ID duplicated
            200 - Uploaded ok (no duplicate if enabled)
            201 - Invalid position
            202 - Communications error
            203 - Device error
        int SetTemplate(byte* tmplt, int id, bool duplicateCheck);
    def SetTemplate(self,tmplt,ID,duplicateCheck):
        cp = Command_Packet('SetTemplate',UseSerialDebug=self.UseSerialDebug)
        cp.ParameterFromInt(ID)
        

         Commands that are not implemented (and why)
         VerifyTemplate1_1 - Couldn't find a good reason to implement this on an arduino
         IdentifyTemplate1_N - Couldn't find a good reason to implement this on an arduino
         MakeTemplate - Couldn't find a good reason to implement this on an arduino
         UsbInternalCheck - not implemented - Not valid config for arduino
         GetDatabaseStart - historical command, no longer supported
         GetDatabaseEnd - historical command, no longer supported
         UpgradeFirmware - Data Sheet says not supported
         UpgradeISOCDImage - Data Sheet says not supported
         SetIAPMode - for upgrading firmware (which is not supported)
         Ack and Nack    are listed as a commands for some unknown reason... not implemented
    '''

    def SendCommand(self, cmd,length):
        '''
             resets the Data_Packet class, and gets ready to download
             Not implemented due to memory restrictions on the arduino
             may revisit this if I find a need for it
            void StartDataDownload();
    
             Returns the next data packet 
             Not implemented due to memory restrictions on the arduino
             may revisit this if I find a need for it
            Data_Packet GetNextDataPacket();
        '''
        if not self._serial is None:
            self._serial.write(bytes(cmd))
            if self.UseSerialDebug:
                print self.serializeToSend(cmd)
                print bytes(cmd)
                print repr(bytes(cmd))[1:-1]
        else:
            if self.UseSerialDebug:
                print '[SendCommand] No es posible escribir en %s' % self._device_name
    
    def GetResponse(self):
        '''
        Gets the response to the command from the software serial channel (and waits for it)
        '''
        interval = 0.1
        delay(interval)
        if self._serial is None:
            rp = Response_Packet()
            print '[GetResponse] No es posible leer desde: %s' % self._device_name
        else:
            r = bytearray(self._serial.read(self._serial.inWaiting()))
            rp = Response_Packet(r,self.UseSerialDebug)
        
        if rp.ACK:
            delay(interval)
            r2 = bytearray(self._serial.read(self._serial.inWaiting()))
            rp2 = Response_Packet(r2,self.UseSerialDebug)
            while str(rp2._lastBuffer).__len__()>0:
                rp.RawBytes.extend(rp2.RawBytes)
                rp._lastBuffer += rp2._lastBuffer
                delay(interval)
                r2 = bytearray(self._serial.read(self._serial.inWaiting()))
                rp2 = Response_Packet(r2,self.UseSerialDebug)
        self._lastResponse = rp
        return rp