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Merge pull request #11 from CerebusOSS/hitl_testing_dev
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Hitl testing dev
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@cboulay
cboulay authored Oct 20, 2024
2 parents ba4ba22 + f2014ea commit e1c72e9
Showing 1 changed file with 153 additions and 52 deletions.
205 changes: 153 additions & 52 deletions src/pycbsdk/cbhw/device/nsp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@
cbNUM_SERIAL_CHANS = 1
cbNUM_DIGOUT_CHANS = 4
# endregion
GET_CONFIG_TIMEOUT = 2.0


# region Enums
Expand Down Expand Up @@ -133,6 +134,7 @@ class CBAnaInpOpts(IntEnum):
refelec_rawstream = 0x00000040
refelec_offsetcorrect = 0x00000100


class CBAOutOpts(IntEnum):
AUDIO = 0x00000001
SCALE = 0x00000002
Expand Down Expand Up @@ -228,6 +230,7 @@ class CBAInpSpk(IntFlag):
PCASORT = PCAMANSORT | PCAAUTOSORT # All PCA sorting algorithms
ALLSORT = AUTOSORT | HOOPSORT | PCASORT # All sorting algorithms


class LNCRate:
lnc_rates = {
0: 0,
Expand All @@ -236,6 +239,7 @@ class LNCRate:
30: 30000,
60: 60000,
}

@staticmethod
def GetLNCRate(key) -> int:
try:
Expand Down Expand Up @@ -299,6 +303,7 @@ def __init__(self, params: Params, **kwargs):
"global_lnc": self._set_lnc_global_config,
"dc_offset": self._configure_channel_dcoffset,
"spkfilter": self._configure_channel_spkfilter,
"spkthrlevel": self._configure_spk_threshold,
}

# Receives broadcast UDP (or unicast targeting the adapter at client_addr).
Expand Down Expand Up @@ -335,8 +340,12 @@ def _register_basic_callbacks(self):
self.register_config_callback(CBPacketType.CHANREPAOUT, self._handle_chaninfo)
self.register_config_callback(CBPacketType.CHANREPSCALE, self._handle_chaninfo)
self.register_config_callback(CBPacketType.CHANREPDINP, self._handle_chaninfo)
self.register_config_callback(CBPacketType.CHANREPDOUT, self._handle_chaninfo)
self.register_config_callback(CBPacketType.CHANREPLABEL, self._handle_chaninfo)

self.register_config_callback(CBPacketType.CHANREPAINP, self._handle_chaninfo)
self.register_config_callback(CBPacketType.CHANREPSPKTHR, self._handle_chaninfo)

self.register_config_callback(CBPacketType.GROUPREP, self._handle_groupinfo)
self.register_config_callback(CBPacketType.PROCREP, self._handle_procinfo)
self.register_config_callback(CBPacketType.NPLAYREP, self._handle_nplay)
Expand Down Expand Up @@ -409,6 +418,7 @@ def _handle_chaninfo(self, pkt):
self._config["channel_infos"][pkt.chan].smpgroup = pkt.smpgroup
elif pkt.header.type == CBPacketType.CHANREPSPKHPS:
self._config["channel_infos"][pkt.chan].spkhoops = pkt.spkhoops
# TODO: .unitmapping[n].bValid = pkt.spkhoops[n][0].valid ??
elif pkt.header.type == CBPacketType.CHANREPAOUT:
self._config["channel_infos"][pkt.chan].aoutopts = pkt.aoutopts
# self._config["channel_infos"][pkt.chan].union.a.moninst = pkt.moninst
Expand All @@ -420,17 +430,21 @@ def _handle_chaninfo(self, pkt):
# TODO: NOTE: Need extra check if this is for serial or digital?
self._config["channel_infos"][pkt.chan].dinpopts = pkt.dinpopts
self._config["channel_infos"][pkt.chan].eopchar = pkt.eopchar
elif pkt.header.type == CBPacketType.CHANREPDOUT:
self._config["channel_infos"][pkt.chan].doutopts = pkt.doutopts
self._config["channel_infos"][pkt.chan].doutcaps = pkt.doutcaps
# TODO: .moninst, .monchan, .outvalue, more..., from union?
elif pkt.header.type == CBPacketType.CHANREPLABEL:
self._config["channel_infos"][pkt.chan].label = pkt.label
self._config["channel_infos"][pkt.chan].userflags = pkt.userflags
elif pkt.header.type == CBPacketType.CHANSETSPKTHR:
# TODO: from CHANREPSPKTHR, .spkthrlevel
self._config["channel_infos"][pkt.chan].spkthrlevel = pkt.spkthrlevel

else:
# TODO: from CHANREPNTRODEGROUP, .spkgroup
# TODO: from CHANREPSPKTHR, .spkthrlevel
# TODO: from CHANREPDISP, .smpdispmin, .smpdispmax, .spkdispmax, .lncdispmax
# TODO: from CHANREPLABEL, .label, .userflags
# TODO: from CHANREPUNITOVERRIDES, .unitmapping
# TODO: from CHANREPSPKHPS, .spkhoops, .unitmapping[n].bValid = pkt.spkhoops[n][0].valid
# TODO: from CHANREPDINP, .dinpopts; NOTE: Need extra check if this is for serial or digital
# TODO: from CHANREPDOUT, .doutopts = pkt.doutopts & .doutcaps, .moninst, .monchan, .outvalue, more...
# TODO: from CHANREPAOUT, ... complicated
# TODO: from CHANREPSCALE, .scalin, .scalout
pass
# print(f"handled chaninfo {pkt.chan} of type {hex(pkt.header.type)}")
self._config_events["chaninfo"].set()
Expand Down Expand Up @@ -561,12 +575,16 @@ def _toggle_channel_ainp_flag(
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if (pkt.ainpopts != self._config["channel_infos"][chid].ainpopts):
raise RuntimeError("Packet response contents do not match expected values.")
if pkt.ainpopts != self._config["channel_infos"][chid].ainpopts:
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_smpgroup(
self, chid: int, attr_value: int, timeout: float = 0
Expand All @@ -593,16 +611,18 @@ def _configure_channel_smpgroup(
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if (
pkt.smpgroup != self._config["channel_infos"][chid].smpgroup
) or (
pkt.smpfilter != self._config["channel_infos"][chid].smpfilter
):
raise RuntimeError("Packet response contents do not match expected values.")
if (pkt.smpgroup != self._config["channel_infos"][chid].smpgroup) or (
pkt.smpfilter != self._config["channel_infos"][chid].smpfilter
):
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_autothreshold(
self, chid: int, attr_value: int, timeout: float = 0.0
Expand Down Expand Up @@ -661,11 +681,21 @@ def _configure_channel_hoops(self, chid: int, attr_value: dict, timeout: float =
def _configure_channel_label(self, chid: int, attr_value: str, timeout: float = 0):
pkt = copy.copy(self._config["channel_infos"][chid])
pkt.header.type = CBPacketType.CHANSETLABEL
pkt.label = bytes(create_string_buffer(attr_value.encode('utf-8'), 16))
pkt.label = bytes(create_string_buffer(attr_value.encode("utf-8"), 16))
# TODO: pkt.userflags
# TODO: pkt.position
event = self._config_events["chaninfo"] if timeout > 0 else None
self._send_packet(pkt=pkt, event=event, timeout=timeout)
if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.label != self._config["channel_infos"][chid].label:
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_lnc(self, chid: int, attr_value: int, timeout: float = 0):
pkt = copy.copy(self._config["channel_infos"][chid])
Expand All @@ -677,14 +707,20 @@ def _configure_channel_lnc(self, chid: int, attr_value: int, timeout: float = 0)
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.ainpopts != self._config["channel_infos"][chid].ainpopts:
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_lnc_rate(self, chid: int, attr_value: int, timeout: float) -> None:
def _configure_channel_lnc_rate(
self, chid: int, attr_value: int, timeout: float
) -> None:
pkt = copy.copy(self._config["channel_infos"][chid])

pkt.lncrate = LNCRate.GetLNCRate(attr_value)
Expand All @@ -693,12 +729,16 @@ def _configure_channel_lnc_rate(self, chid: int, attr_value: int, timeout: float
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.lncrate != self._config["channel_infos"][chid].lncrate:
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _set_lnc_global_config(
self, chid: int, attr_value: int = 60, timeout: float = 0
Expand All @@ -716,21 +756,23 @@ def _set_lnc_global_config(
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if (
(pkt.lncFreq != self._config["channel_infos"][chid].lncFreq)
or (
pkt.lncRefChan != self._config["channel_infos"][chid].lncRefChan
)
or (pkt.lncRefChan != self._config["channel_infos"][chid].lncRefChan)
or (
pkt.lncGlobalMode
!= self._config["channel_infos"][chid].lncGlobalMode
)
):
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_dcoffset(
self, chid: int, attr_value: bool, timeout: float = 0.0
Expand All @@ -741,39 +783,68 @@ def _configure_channel_dcoffset(
enable=not not attr_value,
timeout=timeout,
)

def _configure_channel_spkfilter(
self, chid: int, attr_value: int, timeout: float = 0.0
self, chid: int, attr_value: int, timeout: float = 0.0
):
pkt = copy.copy(self._config["channel_infos"][chid])
pkt.spkfilter = attr_value
pkt.header.type = CBPacketType.CHANSETSPK
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.spkfilter != self._config["channel_infos"][chid].spkfilter:
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_spk_threshold(
self, chid: int, attr_value: int, timeout: float = 0.0
):
pkt = copy.copy(self._config["channel_infos"][chid])
pkt.spkthrlevel = attr_value
pkt.header.type = CBPacketType.CHANSETSPKTHR

event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.spkthrlevel != self._config["channel_infos"][chid].spkthrlevel:
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_analogout(
self, chid: int, attr_value: int, timeout: float = 0.0
self, chid: int, attr_value: int, timeout: float = 0.0
):
pkt = copy.copy(self._config["channel_infos"][chid])
pkt.aoutopts = attr_value
pkt.header.type = CBPacketType.CHANSETAOUT
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.aoutopts != self._config["channel_infos"][chid].aoutopts:
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")

raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_digital_input(
self, chid: int, attr_value: int, timeout: float = 0.0
):
Expand All @@ -783,12 +854,36 @@ def _configure_channel_digital_input(
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.dinpopts != self._config["channel_infos"][chid].dinpopts:
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_digital_output(
self, chid: int, attr_value: int, timeout: float = 0.0
):
pkt = copy.copy(self._config["channel_infos"][chid])
pkt.doutopts = attr_value
pkt.header.type = CBPacketType.CHANSETDOUT
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.doutopts != self._config["channel_infos"][chid].doutopts:
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_smpfilter(
self, chid: int, attr_value: int, timeout: float = 0.0
Expand All @@ -799,12 +894,16 @@ def _configure_channel_smpfilter(
event = self._config_events["chaninfo"] if timeout > 0 else None

if not self._send_packet(pkt=pkt, event=event, timeout=timeout):
self.get_config(timeout=2.0, force_refresh=True)
self.get_config(timeout=GET_CONFIG_TIMEOUT, force_refresh=True)

if pkt.smpfilter != self._config["channel_infos"][chid].smpfilter:
raise RuntimeError("Packet response contents do not match expected values.")
raise RuntimeError(
"Packet response contents do not match expected values."
)
else:
raise RuntimeError("Valid packet response NOT received, but packet contains expected values")
raise RuntimeError(
"Valid packet response NOT received, but packet contains expected values"
)

def _configure_channel_enable_spike(
self, chid: int, attr_value: bool, timeout: float = 0
Expand Down Expand Up @@ -843,7 +942,9 @@ def configure_channel(
# so let the user know, TODO: raise an exception?
print(f"{attr_name} is not a recognized name.")

def configure_all_channels(self, chtype: CBChannelType, attr_name: str, attr_value, timeout: float):
def configure_all_channels(
self, chtype: CBChannelType, attr_name: str, attr_value, timeout: float
):
for chid, ch_info in self._config["channel_infos"].items():
if self._config["channel_types"][chid] == chtype:
self.configure_channel(chid, attr_name, attr_value, timeout)
Expand Down Expand Up @@ -1106,7 +1207,7 @@ def _startup_sequence(self) -> CBError:
# We don't do that here.

logger.debug("Attempting to get_config")
_cfg = self.get_config(timeout=2.0)
_cfg = self.get_config(timeout=GET_CONFIG_TIMEOUT)

if self._config["runlevel"] != CBRunLevel.RUNNING:
# Central waits a full second between the reqconfigall and reset
Expand Down

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