def send(node: Node, mod: int, message: str, offset: float, dst: int):
if dst:
node.cmd('gloria tx -m {} -p "{}" -t {} -d {}'.format(
mod, message, int(offset * 8E6), dst))
else:
node.cmd('gloria tx -m {} -p "{}" -t {}'.format(
mod, message, int(offset * 8E6)))
def receive(node: Node, mod: int, message_len: int, offset: float,
ack: bool):
if ack:
node.cmd('gloria rx -m {} -s {} -t {} -a'.format(
mod, message_len, int(offset * 8E6)))
else:
node.cmd('gloria rx -m {} -s {} -t {}'.format(
mod, message_len, int(offset * 8E6)))
def connect_nodes(self):
self.nodes = [
Node(flocklab=True, id=id, test=False)
for id in FLOCKLAB_TARGET_ID_LIST
]
if self.local:
self.serial_nodes = Node.get_serial_all()
self.nodes.extend(self.serial_nodes)
for node in self.nodes:
node.interactive_mode(False) # Enable single-line JSON Output
def __init__(self, port):
try:
self.node = Node(port, test=False)
if self.node:
if not self.node.ser.is_open:
self.node.ser.open()
self.node.ser.write(b"system bootloader\r\n")
self.node.close()
time.sleep(0.2)
self.port = port
except serial.SerialException as e:
print(e)
raise ValueError("Port {} is NOT a valid COM Port.".format(port.device))
def connect_nodes(self):
if not self.local:
self.nodes: List[Node] = [
Node(flocklab=True, id=id, test=True)
for id in FLOCKLAB_TARGET_ID_LIST
]
else:
self.nodes: List[Node] = []
self.serial_nodes = Node.get_serial_all()
self.nodes.extend(self.serial_nodes)
for node in self.nodes:
node.cmd('config set uid {:d}'.format(node.id))
node.cmd('config set role 1')
node.cmd('config store')
node.cmd('system reset')
node.interactive_mode(False) # Enable single-line JSON Output
#node.flush()
time.sleep(0.2)
def __enter__(self, devkit_count=2):
devkits = []
for i in range(self.devkit_count):
devkit = Node(Node.get_serial_port(DEVKIT_PORTS[i]))
devkit.open()
devkit.reset()
devkit.cmd("led blink")
time.sleep(0.3)
devkits.append(devkit)
self.devkits = devkits
self.devkit_a = devkits[0]
self.devkit_b = devkits[1]
self.scope = Oscilloscope()
return self
class Bootloader:
def __init__(self, port):
try:
self.node = Node(port, test=False)
if self.node:
if not self.node.ser.is_open:
self.node.ser.open()
self.node.ser.write(b"system bootloader\r\n")
self.node.close()
time.sleep(0.2)
self.port = port
except serial.SerialException as e:
print(e)
raise ValueError("Port {} is NOT a valid COM Port.".format(port.device))
@staticmethod
def get_bootloader(port):
try:
bootloader = Bootloader(port)
return bootloader
except ValueError:
return None
@staticmethod
def get_all():
ports = [port for port in serial.tools.list_ports.comports() if port[2] != 'n/a']
if len(ports):
with Pool(len(ports)) as p:
bootloaders = [bootloader for bootloader in p.map(Bootloader.get_bootloader, ports) if
bootloader is not None]
if bootloaders:
print("Flora bootloaders detected: {}".format([bootloader.port.device for bootloader in bootloaders]))
else:
print("NO flora bootloaders detected!")
return bootloaders
else:
print("NO flora bootloaders detected!")
def sync(node: Node, tx: bool):
if tx:
node.cmd('gloria sync')
else:
node.cmd('gloria rx')
def receive(node: Node):
node.cmd('radio receive')
def configure_node(node: Node, tx: bool, modulation, power, preamble: int):
config = RadioConfiguration(modulation,
power=power,
tx=tx,
preamble=preamble)
node.cmd(config.cmd)