class MasterMAC(MAC):
"""
Master MAC implementation.
"""
@prepend_method_doc(MAC)
def __init__(self, radio, timerMux, schedule, frameHandler=None):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param frameHandler: Handler function to call at the end of each frame.
The packets received in that frame will be passed as a list.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.frameHandler = frameHandler
self.frameTimer = VirtualTimer(timerMux, self._frameTimerHandler)
self.packets = []
self.frameTimer.start(self.schedule.framePeriod, repeat=True)
def _frameTimerHandler(self):
if self.frameHandler is not None:
self.frameHandler(self.packets)
self.packets = []
self.radio.transmit(SyncPacket())
def queuePacket(self, packet):
raise NotImplementedError
def handleIncomingPacket(self, packet):
if isinstance(packet, DataPacket):
self.packets.append(packet)
class MasterMAC(MAC):
"""
Master MAC implementation.
"""
@prepend_method_doc(MAC)
def __init__(self, radio, timerMux, schedule, frameHandler=None):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param frameHandler: Handler function to call at the end of each frame.
The packets received in that frame will be passed as a list.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.frameHandler = frameHandler
self.frameTimer = VirtualTimer(timerMux, self._frameTimerHandler)
self.packets = []
self.frameTimer.start(self.schedule.framePeriod, repeat=True)
def _frameTimerHandler(self):
if self.frameHandler is not None:
self.frameHandler(self.packets)
self.packets = []
self.radio.transmit(SyncPacket())
def queuePacket(self, packet):
raise NotImplementedError
def handleIncomingPacket(self, packet):
if isinstance(packet, DataPacket):
self.packets.append(packet)
class InterSlaveMAC(SlaveMAC):
"""
Slave MAC implementation with support for slave-slave packets.
"""
@prepend_method_doc(SlaveMAC)
def __init__(self, radio, timerMux, schedule, id, packetHandler=None):
"""
@param packetHandler: Handler to call on reception of a slave-slave
packet. The packet will be passed as an argument.
"""
SlaveMAC.__init__(self, radio, timerMux, schedule, id)
self.auxTxSlots = self.schedule.slaveAuxTxSlots(self.id)
self.auxRxSlots = self.schedule.slaveAuxRxSlots(self.id)
self.auxSlotTimer = VirtualTimer(timerMux, self._auxSlotTimerHandler)
self.auxPackets = {}
self.packetHandler = packetHandler
self.radio.channel = schedule.dataChannel
def _slotTimerHandler(self):
SlaveMAC._slotTimerHandler(self)
if self.slot == 0:
self.auxSlot = 0
else:
self.auxSlot += 1
if self.slot < self.schedule.dataSlots:
self.auxSlotTimer.start(self.schedule.dataSlotTime/2)
if self.auxSlot in self.auxTxSlots + self.auxRxSlots:
self.radio.channel = self.schedule.auxChannel
def _auxSlotTimerHandler(self):
if self.auxSlot in self.auxTxSlots:
packet = self.auxPackets.pop(self.auxSlot, None)
if packet is not None:
self.radio.transmit(packet)
if self.slot + 1 in (self.dataTxSlot, len(self.schedule.dataSlots)):
self.radio.channel = self.schedule.dataChannel
def queueAuxPacket(self, packet):
"""
Queue a packet for transmission to another slave.
@param packet: L{RadioPacket} to transmit.
"""
if isinstance(packet, AuxPacket):
slot = self.schedule.auxSlot(packet.source, packet.dest)
self.auxPackets[slot] = packet
else:
raise ValueError
def handleIncomingPacket(self, packet):
SlaveMAC.handleIncomingPacket(self, packet)
if isinstance(packet, AuxPacket) and packet.dest == self.id:
if self.packetHandler is not None:
self.packetHandler(packet)
class InterSlaveMAC(SlaveMAC):
"""
Slave MAC implementation with support for slave-slave packets.
"""
@prepend_method_doc(SlaveMAC)
def __init__(self, radio, timerMux, schedule, id, packetHandler=None):
"""
@param packetHandler: Handler to call on reception of a slave-slave
packet. The packet will be passed as an argument.
"""
SlaveMAC.__init__(self, radio, timerMux, schedule, id)
self.auxTxSlots = self.schedule.slaveAuxTxSlots(self.id)
self.auxRxSlots = self.schedule.slaveAuxRxSlots(self.id)
self.auxSlotTimer = VirtualTimer(timerMux, self._auxSlotTimerHandler)
self.auxPackets = {}
self.packetHandler = packetHandler
self.radio.channel = schedule.dataChannel
def _slotTimerHandler(self):
SlaveMAC._slotTimerHandler(self)
if self.slot == 0:
self.auxSlot = 0
else:
self.auxSlot += 1
if self.slot < self.schedule.dataSlots:
self.auxSlotTimer.start(self.schedule.dataSlotTime / 2)
if self.auxSlot in self.auxTxSlots + self.auxRxSlots:
self.radio.channel = self.schedule.auxChannel
def _auxSlotTimerHandler(self):
if self.auxSlot in self.auxTxSlots:
packet = self.auxPackets.pop(self.auxSlot, None)
if packet is not None:
self.radio.transmit(packet)
if self.slot + 1 in (self.dataTxSlot, len(self.schedule.dataSlots)):
self.radio.channel = self.schedule.dataChannel
def queueAuxPacket(self, packet):
"""
Queue a packet for transmission to another slave.
@param packet: L{RadioPacket} to transmit.
"""
if isinstance(packet, AuxPacket):
slot = self.schedule.auxSlot(packet.source, packet.dest)
self.auxPackets[slot] = packet
else:
raise ValueError
def handleIncomingPacket(self, packet):
SlaveMAC.handleIncomingPacket(self, packet)
if isinstance(packet, AuxPacket) and packet.dest == self.id:
if self.packetHandler is not None:
self.packetHandler(packet)
def __init__(self, radio, timerMux, schedule, id, packetHandler=None):
"""
@param packetHandler: Handler to call on reception of a slave-slave
packet. The packet will be passed as an argument.
"""
SlaveMAC.__init__(self, radio, timerMux, schedule, id)
self.auxTxSlots = self.schedule.slaveAuxTxSlots(self.id)
self.auxRxSlots = self.schedule.slaveAuxRxSlots(self.id)
self.auxSlotTimer = VirtualTimer(timerMux, self._auxSlotTimerHandler)
self.auxPackets = {}
self.packetHandler = packetHandler
self.radio.channel = schedule.dataChannel
def __init__(self, radio, timerMux, schedule, id):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param id: The device ID of this node.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.id = id
self.dataTxSlot = self.schedule.dataTxSlot(self.id)
self.slotTimer = VirtualTimer(timerMux, self._slotTimerHandler)
self.slot = len(self.schedule.dataSlots)
self.txPacket = None
def __init__(self, radio, timerMux, schedule, frameHandler=None):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param frameHandler: Handler function to call at the end of each frame.
The packets received in that frame will be passed as a list.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.frameHandler = frameHandler
self.frameTimer = VirtualTimer(timerMux, self._frameTimerHandler)
self.packets = []
self.frameTimer.start(self.schedule.framePeriod, repeat=True)
def __init__(self, radio, timerMux, schedule, id, packetHandler=None):
"""
@param packetHandler: Handler to call on reception of a slave-slave
packet. The packet will be passed as an argument.
"""
SlaveMAC.__init__(self, radio, timerMux, schedule, id)
self.auxTxSlots = self.schedule.slaveAuxTxSlots(self.id)
self.auxRxSlots = self.schedule.slaveAuxRxSlots(self.id)
self.auxSlotTimer = VirtualTimer(timerMux, self._auxSlotTimerHandler)
self.auxPackets = {}
self.packetHandler = packetHandler
self.radio.channel = schedule.dataChannel
def __init__(self, radio, timerMux, schedule, id):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param id: The device ID of this node.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.id = id
self.dataTxSlot = self.schedule.dataTxSlot(self.id)
self.slotTimer = VirtualTimer(timerMux, self._slotTimerHandler)
self.slot = len(self.schedule.dataSlots)
self.txPacket = None
def __init__(self, radio, timerMux, schedule, frameHandler=None):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param frameHandler: Handler function to call at the end of each frame.
The packets received in that frame will be passed as a list.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.frameHandler = frameHandler
self.frameTimer = VirtualTimer(timerMux, self._frameTimerHandler)
self.packets = []
self.frameTimer.start(self.schedule.framePeriod, repeat=True)
class SlaveMAC(MAC):
"""
Slave MAC implementation.
"""
@prepend_method_doc(MAC)
def __init__(self, radio, timerMux, schedule, id):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param id: The device ID of this node.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.id = id
self.dataTxSlot = self.schedule.dataTxSlot(self.id)
self.slotTimer = VirtualTimer(timerMux, self._slotTimerHandler)
self.slot = len(self.schedule.dataSlots)
self.txPacket = None
def _slotTimerHandler(self):
if self.slot == len(self.schedule.dataSlots):
# End of sync slot, start of first data slot.
self.slot = 0
else:
self.slot += 1
if self.slot == len(self.schedule.dataSlots):
# Start of sync slot.
self.slotTimer.start(self.schedule.syncSlotTime)
else:
self.slotTimer.start(self.schedule.dataSlotTime)
if self.slot == self.dataTxSlot:
# Our transmit slot.
if self.txPacket is not None:
self.radio.transmit(self.txPacket)
self.txPacket = None
def queuePacket(self, packet):
if isinstance(packet, DataPacket):
self.txPacket = packet
else:
raise ValueError
def handleIncomingPacket(self, packet):
if isinstance(packet, SyncPacket):
self.slotTimer.start(self.schedule.syncSlotTime/2)
class SlaveMAC(MAC):
"""
Slave MAC implementation.
"""
@prepend_method_doc(MAC)
def __init__(self, radio, timerMux, schedule, id):
"""
@param schedule: L{Schedule} object giving transmission scheduling.
@param id: The device ID of this node.
"""
MAC.__init__(self, radio, timerMux)
self.schedule = schedule
self.id = id
self.dataTxSlot = self.schedule.dataTxSlot(self.id)
self.slotTimer = VirtualTimer(timerMux, self._slotTimerHandler)
self.slot = len(self.schedule.dataSlots)
self.txPacket = None
def _slotTimerHandler(self):
if self.slot == len(self.schedule.dataSlots):
# End of sync slot, start of first data slot.
self.slot = 0
else:
self.slot += 1
if self.slot == len(self.schedule.dataSlots):
# Start of sync slot.
self.slotTimer.start(self.schedule.syncSlotTime)
else:
self.slotTimer.start(self.schedule.dataSlotTime)
if self.slot == self.dataTxSlot:
# Our transmit slot.
if self.txPacket is not None:
self.radio.transmit(self.txPacket)
self.txPacket = None
def queuePacket(self, packet):
if isinstance(packet, DataPacket):
self.txPacket = packet
else:
raise ValueError
def handleIncomingPacket(self, packet):
if isinstance(packet, SyncPacket):
self.slotTimer.start(self.schedule.syncSlotTime / 2)
def __init__(self,
imu,
samplingPeriod,
calibration=None,
filter=None,
sampleCallback=None,
initialTime=0):
"""
Initialise IMU behaviour.
@param imu: L{IMU} on which the behaviour executes.
@param samplingPeriod: Interval at which to sample and process (float).
@param calibration: Mapping from IMU L{Sensor}s to
L{SensorCalibration}s (dict).
@param filter: L{OrientationFilter} to update with each set of samples.
@param sampleCallback: Function to call after each sample. The
behaviour object will be passed as a single argument.
@param initialTime: Initial time for local timekeeping.
"""
self.imu = imu
self.samplingPeriod = samplingPeriod
self.calibration = calibration
self.filter = filter
for sensor in imu.sensors:
sensor.rawMeasurements = TimeSeries()
if self.calibration is not None:
sensor.calibratedMeasurements = TimeSeries()
self.sampleCallback = sampleCallback
self.timerMux = TimerMultiplexer(imu.timer)
PeriodicSampler(imu.adc, imu.sensors, VirtualTimer(self.timerMux),
samplingPeriod, self._handleSample)
self._time = initialTime
