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#!/usr/bin/env python
import time
from pprint import pprint
from enum import Enum
from functools import cache
from dataclasses import dataclass, fields, astuple
import struct
import binascii
import numpy as np
import click
import serial
from cobs import cobs
class CobsSerial:
def __init__(self, port, timeout):
self.ser = serial.Serial(port, timeout=timeout)
self.ser.flushOutput()
self.ser.flushInput()
self.ser.write(bytes([0])) # synchronize
self.ser.flushOutput()
def write_packet(self, data):
self.ser.write(cobs.encode(data))
self.ser.write(bytes([0]))
self.ser.flushOutput()
def read_packet(self):
data = b''
while (b := self.ser.read(1)):
if b[0] == 0:
break
data += b
if data:
return parse_packet(cobs.decode(data))
else:
return None
def command(self, command, args=b''):
self.write_packet(bytes([command.value]) + args)
return self.read_packet()
class SerializableEnum(Enum):
def __int__(self):
return self.value
class PacketType(SerializableEnum):
USBP_GET_STATUS = 0
USBP_GET_MEASUREMENTS = 1
USBP_SET_MOTOR = 2
class ErrorCode(Enum):
ERR_SUCCESS = 0
ERR_TIMEOUT = 1
ERR_PHYSICAL_LAYER = 2
ERR_FRAMING = 3
ERR_PROTOCOL = 4
ERR_DMA = 5
ERR_BUSY = 6
ERR_BUFFER_OVERFLOW = 7
ERR_RX_OVERRUN = 8
ERR_TX_OVERRUN = 9
class BoardConfig(Enum):
BCFG_UNCONFIGURED = 0
BCFG_DISPLAY = 1
BCFG_MOTOR = 2
BCFG_MEAS = 3
class Serialized:
@classmethod
def deserialize(kls, data):
fields = struct.unpack(kls._struct_format(), data)
mapped = [cast(val) for cast, val in zip(kls._struct_casts(), fields)]
return kls(*mapped)
def serialize(self):
mapped = [uncast(val) for uncast, val in zip(self._struct_uncasts(), astuple(self))]
return struct.pack(self._struct_format(), *mapped)
@classmethod
@cache
def _struct_format(kls):
return kls._parse_fields()[0]
@classmethod
@cache
def _struct_casts(kls):
return kls._parse_fields()[1]
@classmethod
@cache
def _struct_uncasts(kls):
return kls._parse_fields()[2]
@classmethod
def _parse_fields(kls):
fmt = '<'
casts = []
uncasts = []
for field in fields(kls):
if isinstance(field.type, tuple):
struct_type, cast, uncast, *_ = *field.type, int
else:
struct_type, cast, uncast = field.type, int, int
fmt += struct_type
casts.append(cast)
uncasts.append(uncast)
return fmt, casts, uncasts
def timestamp(value):
return float(value) / 1e6
@dataclass
class StatusPacket(Serialized):
packet_type: ('B', PacketType)
sys_time_us: ('Q', timestamp)
has_lcd: ('B', bool)
has_adc: ('B', bool)
board_config: ('B', BoardConfig)
bus_addr: 'B'
last_uart_error: ('B', ErrorCode)
last_uart_error_timestamp: ('Q', timestamp)
last_uart_rx: ('Q', timestamp)
last_uart_tx: ('Q', timestamp)
last_bus_error: ('B', ErrorCode)
last_bus_error_timestamp: ('Q', timestamp)
@dataclass
class MotorPacket(Serialized):
packet_type: ('B', PacketType)
speed_rpm: 'i'
def parse_packet(data):
packet_type = PacketType(data[0])
if packet_type == PacketType.USBP_GET_STATUS:
return StatusPacket.deserialize(data)
if packet_type == PacketType.USBP_GET_MEASUREMENTS:
return MeasurementPacket.deserialize(data)
else:
raise ValueError(f'Unsupported packet type {packet_type}')
@dataclass
class MeasurementPacket(Serialized):
packet_type: ('B', PacketType)
num_channels: 'B'
_num_samples_a: 'I'
_num_samples_b: 'I'
_measurements_raw: ('240s', bytes)
@property
def measurements(self):
return np.frombuffer(self._measurements_raw, np.dtype(np.int32).newbyteorder('<')).reshape([2, 2, -1])
@property
def num_samples(self):
return [self._num_samples_a, self._num_samples_b]
@click.group()
def cli():
pass
@cli.command()
@click.argument('port')
@click.option('--timeout', type=float, default=1)
def probe(port, timeout):
ser = CobsSerial(port, timeout)
pprint(ser.command(PacketType.USBP_GET_STATUS))
while True:
time.sleep(0.01)
packet = ser.command(PacketType.USBP_GET_MEASUREMENTS)
for i in range(packet.num_samples[1]):
print(packet.measurements[1,1,i], packet.num_samples[1])
@cli.command()
@click.argument('port')
@click.argument('speed_rpm', type=int, default=0)
@click.option('--timeout', type=float, default=1)
def motor(port, speed_rpm, timeout):
ser = CobsSerial(port, timeout)
packet = MotorPacket(PacketType.USBP_SET_MOTOR, speed_rpm)
ser.write_packet(packet.serialize())
if __name__ == '__main__':
cli()
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