8seg/driver_fw/tools/usb_test.py

#!/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()