class SingleConnectionInstrumentDriver(InstrumentDriver):
"""
Base class for instrument drivers with a single device connection.
Provides connenction state logic for single connection drivers. This is
the base class for the majority of driver implementation classes.
"""
def __init__(self, event_callback):
"""
Constructor for singly connected instrument drivers.
@param event_callback Callback to the driver process to send asynchronous
driver events back to the agent.
"""
InstrumentDriver.__init__(self, event_callback)
# The only and only instrument connection.
# Exists in the connected state.
self._connection = None
# The one and only instrument protocol.
self._protocol = None
# Build connection state machine.
self._connection_fsm = InstrumentFSM(DriverConnectionState,
DriverEvent, DriverEvent.ENTER,
DriverEvent.EXIT)
# Add handlers for all events.
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED,
DriverEvent.ENTER,
self._handler_unconfigured_enter)
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED,
DriverEvent.EXIT,
self._handler_unconfigured_exit)
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED,
DriverEvent.INITIALIZE,
self._handler_unconfigured_initialize)
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED,
DriverEvent.CONFIGURE,
self._handler_unconfigured_configure)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED,
DriverEvent.ENTER,
self._handler_disconnected_enter)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED,
DriverEvent.EXIT,
self._handler_disconnected_exit)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED,
DriverEvent.INITIALIZE,
self._handler_disconnected_initialize)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED,
DriverEvent.CONFIGURE,
self._handler_disconnected_configure)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED,
DriverEvent.CONNECT,
self._handler_disconnected_connect)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED,
DriverEvent.ENTER,
self._handler_connected_enter)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED,
DriverEvent.EXIT,
self._handler_connected_exit)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED,
DriverEvent.DISCONNECT,
self._handler_connected_disconnect)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.CONNECTION_LOST,
self._handler_connected_connection_lost)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.DISCOVER,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.GET,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.SET,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.ACQUIRE_SAMPLE,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.START_AUTOSAMPLE,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.STOP_AUTOSAMPLE,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.TEST,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.CALIBRATE,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.EXECUTE_DIRECT,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.START_DIRECT,
self._handler_connected_protocol_event)
self._connection_fsm.add_handler(
DriverConnectionState.CONNECTED, DriverEvent.STOP_DIRECT,
self._handler_connected_protocol_event)
# Start state machine.
self._connection_fsm.start(DriverConnectionState.UNCONFIGURED)
#############################################################
# Device connection interface.
#############################################################
def initialize(self, *args, **kwargs):
"""
Initialize driver connection, bringing communications parameters
into unconfigured state (no connection object).
@raises InstrumentStateException if command not allowed in current state
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.INITIALIZE, *args,
**kwargs)
def configure(self, *args, **kwargs):
"""
Configure the driver for communications with the device via
port agent / logger (valid but unconnected connection object).
@param arg[0] comms config dict.
@raises InstrumentStateException if command not allowed in current state
@throws InstrumentParameterException if missing comms or invalid config dict.
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.CONFIGURE, *args,
**kwargs)
def connect(self, *args, **kwargs):
"""
Establish communications with the device via port agent / logger
(connected connection object).
@raises InstrumentStateException if command not allowed in current state
@throws InstrumentConnectionException if the connection failed.
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.CONNECT, *args,
**kwargs)
def disconnect(self, *args, **kwargs):
"""
Disconnect from device via port agent / logger.
@raises InstrumentStateException if command not allowed in current state
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.DISCONNECT, *args,
**kwargs)
#############################################################
# Commande and control interface.
#############################################################
def discover(self, *args, **kwargs):
"""
Determine initial state upon establishing communications.
@param timeout=timeout Optional command timeout.
@retval Current device state.
@raises InstrumentTimeoutException if could not wake device.
@raises InstrumentStateException if command not allowed in current state or if
device state not recognized.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.DISCOVER,
DriverEvent.DISCOVER, *args,
**kwargs)
def get(self, *args, **kwargs):
"""
Retrieve device parameters.
@param args[0] DriverParameter.ALL or a list of parameters to retrive.
@retval parameter : value dict.
@raises InstrumentParameterException if missing or invalid get parameters.
@raises InstrumentStateException if command not allowed in current state
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.GET, DriverEvent.GET,
*args, **kwargs)
def set(self, *args, **kwargs):
"""
Set device parameters.
@param args[0] parameter : value dict of parameters to set.
@param timeout=timeout Optional command timeout.
@raises InstrumentParameterException if missing or invalid set parameters.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if set command not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.SET, DriverEvent.SET,
*args, **kwargs)
def execute_acquire_sample(self, *args, **kwargs):
"""
Poll for a sample.
@param timeout=timeout Optional command timeout.
@ retval Device sample dict.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if acquire command not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.ACQUIRE_SAMPLE,
DriverEvent.ACQUIRE_SAMPLE, *args,
**kwargs)
def execute_start_autosample(self, *args, **kwargs):
"""
Switch to autosample mode.
@param timeout=timeout Optional command timeout.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.START_AUTOSAMPLE,
DriverEvent.START_AUTOSAMPLE,
*args, **kwargs)
def execute_stop_autosample(self, *args, **kwargs):
"""
Leave autosample mode.
@param timeout=timeout Optional command timeout.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if stop command not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.STOP_AUTOSAMPLE,
DriverEvent.STOP_AUTOSAMPLE,
*args, **kwargs)
def execute_test(self, *args, **kwargs):
"""
Execute device tests.
@param timeout=timeout Optional command timeout (for wakeup only --
device specific timeouts for internal test commands).
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if test commands not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.TEST,
DriverEvent.TEST, *args, **kwargs)
def execute_calibrate(self, *args, **kwargs):
"""
Execute device calibration.
@param timeout=timeout Optional command timeout (for wakeup only --
device specific timeouts for internal calibration commands).
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if test commands not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.CALIBRATE,
DriverEvent.CALIBRATE, *args,
**kwargs)
########################################################################
# Resource query interface.
########################################################################
def get_current_state(self):
"""
Return current device state. For single connection devices, return
a single connection state if not connected, and protocol state if connected.
"""
connection_state = self._connection_fsm.get_current_state()
if connection_state == DriverConnectionState.CONNECTED:
return self._protocol.get_current_state()
else:
return connection_state
########################################################################
# Unconfigured handlers.
########################################################################
def _handler_unconfigured_enter(self, *args, **kwargs):
"""
Enter unconfigured state.
"""
# Send state change event to agent.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_unconfigured_exit(self, *args, **kwargs):
"""
Exit unconfigured state.
"""
pass
def _handler_unconfigured_initialize(self, *args, **kwargs):
"""
Initialize handler. We are already in unconfigured state, do nothing.
@retval (next_state, result) tuple, (None, None).
"""
next_state = None
result = None
return (next_state, result)
def _handler_unconfigured_configure(self, *args, **kwargs):
"""
Configure driver for device comms.
@param args[0] Communiations config dictionary.
@retval (next_state, result) tuple, (DriverConnectionState.DISCONNECTED,
None) if successful, (None, None) otherwise.
@raises InstrumentParameterException if missing or invalid param dict.
"""
next_state = None
result = None
# Get the required param dict.
try:
config = args[0]
except IndexError:
raise InstrumentParameterException(
'Missing comms config parameter.')
# Verify dict and construct connection client.
try:
addr = config['addr']
port = config['port']
if isinstance(addr, str) and isinstance(port,
int) and len(addr) > 0:
self._connection = LoggerClient(addr, port)
next_state = DriverConnectionState.DISCONNECTED
else:
raise InstrumentParameterException(
'Invalid comms config dict.')
except (TypeError, KeyError):
raise InstrumentParameterException('Invalid comms config dict.')
return (next_state, result)
########################################################################
# Disconnected handlers.
########################################################################
def _handler_disconnected_enter(self, *args, **kwargs):
"""
Enter disconnected state.
"""
# Send state change event to agent.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_disconnected_exit(self, *args, **kwargs):
"""
Exit disconnected state.
"""
pass
def _handler_disconnected_initialize(self, *args, **kwargs):
"""
Initialize device communications. Causes the connection parameters to
be reset.
@retval (next_state, result) tuple, (DriverConnectionState.UNCONFIGURED,
None).
"""
next_state = None
result = None
self._connection = None
next_state = DriverConnectionState.UNCONFIGURED
return (next_state, result)
def _handler_disconnected_configure(self, *args, **kwargs):
"""
Configure driver for device comms.
@param args[0] Communiations config dictionary.
@retval (next_state, result) tuple, (None, None).
@raises InstrumentParameterException if missing or invalid param dict.
"""
next_state = None
result = None
# Get required config param dict.
try:
config = args[0]
except IndexError:
raise InstrumentParameterException(
'Missing comms config parameter.')
# Verify configuration dict, and update connection if possible.
try:
addr = config['addr']
port = config['port']
if isinstance(addr, str) and isinstance(port,
int) and len(addr) > 0:
self._connection = LoggerClient(addr, port)
else:
raise InstrumentParameterException(
'Invalid comms config dict.')
except (TypeError, KeyError):
raise InstrumentParameterException('Invalid comms config dict.')
return (next_state, result)
def _handler_disconnected_connect(self, *args, **kwargs):
"""
Establish communications with the device via port agent / logger and
construct and intialize a protocol FSM for device interaction.
@retval (next_state, result) tuple, (DriverConnectionState.CONNECTED,
None) if successful.
@raises InstrumentConnectionException if the attempt to connect failed.
"""
next_state = None
result = None
self._build_protocol()
self._connection.init_comms(self._protocol.got_data)
self._protocol._connection = self._connection
next_state = DriverConnectionState.CONNECTED
return (next_state, result)
########################################################################
# Connected handlers.
########################################################################
def _handler_connected_enter(self, *args, **kwargs):
"""
Enter connected state.
"""
# Send state change event to agent.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_connected_exit(self, *args, **kwargs):
"""
Exit connected state.
"""
pass
def _handler_connected_disconnect(self, *args, **kwargs):
"""
Disconnect to the device via port agent / logger and destroy the
protocol FSM.
@retval (next_state, result) tuple, (DriverConnectionState.DISCONNECTED,
None) if successful.
"""
next_state = None
result = None
self._connection.stop_comms()
self._protocol = None
next_state = DriverConnectionState.DISCONNECTED
return (next_state, result)
def _handler_connected_connection_lost(self, *args, **kwargs):
"""
The device connection was lost. Stop comms, destroy protocol FSM and
revert to disconnected state.
@retval (next_state, result) tuple, (DriverConnectionState.DISCONNECTED,
None).
"""
next_state = None
result = None
self._connection.stop_comms()
self._protocol = None
next_state = DriverConnectionState.DISCONNECTED
return (next_state, result)
def _handler_connected_protocol_event(self, event, *args, **kwargs):
"""
Forward a driver command event to the protocol FSM.
@param args positional arguments to pass on.
@param kwargs keyword arguments to pass on.
@retval (next_state, result) tuple, (None, protocol result).
"""
next_state = None
result = self._protocol._protocol_fsm.on_event(event, *args, **kwargs)
return (next_state, result)
########################################################################
# Helpers.
########################################################################
def _build_protocol(self):
"""
Construct device specific single connection protocol FSM.
Overridden in device specific subclasses.
"""
pass
class SBE37Protocol(CommandResponseInstrumentProtocol):
"""
Instrument protocol class for SBE37 driver.
Subclasses CommandResponseInstrumentProtocol
"""
def __init__(self, prompts, newline, driver_event):
"""
SBE37Protocol constructor.
@param prompts A BaseEnum class containing instrument prompts.
@param newline The SBE37 newline.
@param driver_event Driver process event callback.
"""
# Construct protocol superclass.
CommandResponseInstrumentProtocol.__init__(self, prompts, newline, driver_event)
# Build SBE37 protocol state machine.
self._protocol_fsm = InstrumentFSM(SBE37ProtocolState, SBE37ProtocolEvent,
SBE37ProtocolEvent.ENTER, SBE37ProtocolEvent.EXIT)
# Add event handlers for protocol state machine.
self._protocol_fsm.add_handler(SBE37ProtocolState.UNKNOWN, SBE37ProtocolEvent.ENTER, self._handler_unknown_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.UNKNOWN, SBE37ProtocolEvent.EXIT, self._handler_unknown_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.UNKNOWN, SBE37ProtocolEvent.DISCOVER, self._handler_unknown_discover)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.ENTER, self._handler_command_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.EXIT, self._handler_command_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.ACQUIRE_SAMPLE, self._handler_command_acquire_sample)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.START_AUTOSAMPLE, self._handler_command_start_autosample)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.GET, self._handler_command_autosample_test_get)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.SET, self._handler_command_set)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.TEST, self._handler_command_test)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.START_DIRECT, self._handler_command_start_direct)
self._protocol_fsm.add_handler(SBE37ProtocolState.AUTOSAMPLE, SBE37ProtocolEvent.ENTER, self._handler_autosample_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.AUTOSAMPLE, SBE37ProtocolEvent.EXIT, self._handler_autosample_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.AUTOSAMPLE, SBE37ProtocolEvent.GET, self._handler_command_autosample_test_get)
self._protocol_fsm.add_handler(SBE37ProtocolState.AUTOSAMPLE, SBE37ProtocolEvent.STOP_AUTOSAMPLE, self._handler_autosample_stop_autosample)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST, SBE37ProtocolEvent.ENTER, self._handler_test_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST, SBE37ProtocolEvent.EXIT, self._handler_test_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST, SBE37ProtocolEvent.RUN_TEST, self._handler_test_run_tests)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST, SBE37ProtocolEvent.GET, self._handler_command_autosample_test_get)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS, SBE37ProtocolEvent.ENTER, self._handler_direct_access_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS, SBE37ProtocolEvent.EXIT, self._handler_direct_access_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS, SBE37ProtocolEvent.EXECUTE_DIRECT, self._handler_direct_access_execute_direct)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS, SBE37ProtocolEvent.STOP_DIRECT, self._handler_direct_access_stop_direct)
# Construct the parameter dictionary containing device parameters,
# current parameter values, and set formatting functions.
self._build_param_dict()
# Add build handlers for device commands.
self._add_build_handler('ds', self._build_simple_command)
self._add_build_handler('dc', self._build_simple_command)
self._add_build_handler('ts', self._build_simple_command)
self._add_build_handler('startnow', self._build_simple_command)
self._add_build_handler('stop', self._build_simple_command)
self._add_build_handler('tc', self._build_simple_command)
self._add_build_handler('tt', self._build_simple_command)
self._add_build_handler('tp', self._build_simple_command)
self._add_build_handler('set', self._build_set_command)
# Add response handlers for device commands.
self._add_response_handler('ds', self._parse_dsdc_response)
self._add_response_handler('dc', self._parse_dsdc_response)
self._add_response_handler('ts', self._parse_ts_response)
self._add_response_handler('set', self._parse_set_response)
self._add_response_handler('tc', self._parse_test_response)
self._add_response_handler('tt', self._parse_test_response)
self._add_response_handler('tp', self._parse_test_response)
# Add sample handlers.
self._sample_pattern = r'^#? *(-?\d+\.\d+), *(-?\d+\.\d+), *(-?\d+\.\d+)'
self._sample_pattern += r'(, *(-?\d+\.\d+))?(, *(-?\d+\.\d+))?'
self._sample_pattern += r'(, *(\d+) +([a-zA-Z]+) +(\d+), *(\d+):(\d+):(\d+))?'
self._sample_pattern += r'(, *(\d+)-(\d+)-(\d+), *(\d+):(\d+):(\d+))?'
self._sample_regex = re.compile(self._sample_pattern)
# State state machine in UNKNOWN state.
self._protocol_fsm.start(SBE37ProtocolState.UNKNOWN)
# commands sent sent to device to be filtered in responses for telnet DA
self._sent_cmds = []
########################################################################
# Unknown handlers.
########################################################################
def _handler_unknown_enter(self, *args, **kwargs):
"""
Enter unknown state.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_unknown_exit(self, *args, **kwargs):
"""
Exit unknown state.
"""
pass
def _handler_unknown_discover(self, *args, **kwargs):
"""
Discover current state; can be COMMAND or AUTOSAMPLE.
@retval (next_state, result), (SBE37ProtocolState.COMMAND or
SBE37State.AUTOSAMPLE, None) if successful.
@throws InstrumentTimeoutException if the device cannot be woken.
@throws InstrumentStateException if the device response does not correspond to
an expected state.
"""
next_state = None
result = None
# Wakeup the device with timeout if passed.
timeout = kwargs.get('timeout', SBE37_TIMEOUT)
prompt = self._wakeup(timeout)
prompt = self._wakeup(timeout)
# Set the state to change.
# Raise if the prompt returned does not match command or autosample.
if prompt == SBE37Prompt.COMMAND:
next_state = SBE37ProtocolState.COMMAND
result = SBE37ProtocolState.COMMAND
elif prompt == SBE37Prompt.AUTOSAMPLE:
next_state = SBE37ProtocolState.AUTOSAMPLE
result = SBE37ProtocolState.AUTOSAMPLE
else:
raise InstrumentStateException('Unknown state.')
return (next_state, result)
########################################################################
# Command handlers.
########################################################################
def _handler_command_enter(self, *args, **kwargs):
"""
Enter command state.
@throws InstrumentTimeoutException if the device cannot be woken.
@throws InstrumentProtocolException if the update commands and not recognized.
"""
# Command device to update parameters and send a config change event.
self._update_params()
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_command_exit(self, *args, **kwargs):
"""
Exit command state.
"""
pass
def _handler_command_set(self, *args, **kwargs):
"""
Perform a set command.
@param args[0] parameter : value dict.
@retval (next_state, result) tuple, (None, None).
@throws InstrumentParameterException if missing set parameters, if set parameters not ALL and
not a dict, or if paramter can't be properly formatted.
@throws InstrumentTimeoutException if device cannot be woken for set command.
@throws InstrumentProtocolException if set command could not be built or misunderstood.
"""
next_state = None
result = None
# Retrieve required parameter.
# Raise if no parameter provided, or not a dict.
try:
params = args[0]
except IndexError:
raise InstrumentParameterException('Set command requires a parameter dict.')
if not isinstance(params, dict):
raise InstrumentParameterException('Set parameters not a dict.')
# For each key, val in the dict, issue set command to device.
# Raise if the command not understood.
else:
for (key, val) in params.iteritems():
result = self._do_cmd_resp('set', key, val, **kwargs)
self._update_params()
return (next_state, result)
def _handler_command_acquire_sample(self, *args, **kwargs):
"""
Acquire sample from SBE37.
@retval (next_state, result) tuple, (None, sample dict).
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command could not be built or misunderstood.
@throws SampleException if a sample could not be extracted from result.
"""
next_state = None
result = None
result = self._do_cmd_resp('ts', *args, **kwargs)
return (next_state, result)
def _handler_command_start_autosample(self, *args, **kwargs):
"""
Switch into autosample mode.
@retval (next_state, result) tuple, (SBE37ProtocolState.AUTOSAMPLE,
None) if successful.
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command could not be built or misunderstood.
"""
next_state = None
result = None
# Assure the device is transmitting.
if not self._param_dict.get(SBE37Parameter.TXREALTIME):
self._do_cmd_resp('set', SBE37Parameter.TXREALTIME, True, **kwargs)
# Issue start command and switch to autosample if successful.
self._do_cmd_no_resp('startnow', *args, **kwargs)
next_state = SBE37ProtocolState.AUTOSAMPLE
return (next_state, result)
def _handler_command_test(self, *args, **kwargs):
"""
Switch to test state to perform instrument tests.
@retval (next_state, result) tuple, (SBE37ProtocolState.TEST, None).
"""
next_state = None
result = None
next_state = SBE37ProtocolState.TEST
return (next_state, result)
def _handler_command_start_direct(self):
"""
"""
next_state = None
result = None
next_state = SBE37ProtocolState.DIRECT_ACCESS
return (next_state, result)
########################################################################
# Autosample handlers.
########################################################################
def _handler_autosample_enter(self, *args, **kwargs):
"""
Enter autosample state.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_autosample_exit(self, *args, **kwargs):
"""
Exit autosample state.
"""
pass
def _handler_autosample_stop_autosample(self, *args, **kwargs):
"""
Stop autosample and switch back to command mode.
@retval (next_state, result) tuple, (SBE37ProtocolState.COMMAND,
None) if successful.
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command misunderstood or
incorrect prompt received.
"""
next_state = None
result = None
# Wake up the device, continuing until autosample prompt seen.
timeout = kwargs.get('timeout', SBE37_TIMEOUT)
self._wakeup_until(timeout, SBE37Prompt.AUTOSAMPLE)
# Issue the stop command.
self._do_cmd_resp('stop', *args, **kwargs)
# Prompt device until command prompt is seen.
self._wakeup_until(timeout, SBE37Prompt.COMMAND)
next_state = SBE37ProtocolState.COMMAND
return (next_state, result)
########################################################################
# Common handlers.
########################################################################
def _handler_command_autosample_test_get(self, *args, **kwargs):
"""
Get device parameters from the parameter dict.
@param args[0] list of parameters to retrieve, or DriverParameter.ALL.
@throws InstrumentParameterException if missing or invalid parameter.
"""
next_state = None
result = None
# Retrieve the required parameter, raise if not present.
try:
params = args[0]
except IndexError:
raise InstrumentParameterException('Get command requires a parameter list or tuple.')
# If all params requested, retrieve config.
if params == DriverParameter.ALL:
result = self._param_dict.get_config()
# If not all params, confirm a list or tuple of params to retrieve.
# Raise if not a list or tuple.
# Retireve each key in the list, raise if any are invalid.
else:
if not isinstance(params, (list, tuple)):
raise InstrumentParameterException('Get argument not a list or tuple.')
result = {}
for key in params:
try:
val = self._param_dict.get(key)
result[key] = val
except KeyError:
raise InstrumentParameterException(('%s is not a valid parameter.' % key))
return (next_state, result)
########################################################################
# Test handlers.
########################################################################
def _handler_test_enter(self, *args, **kwargs):
"""
Enter test state. Setup the secondary call to run the tests.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
# Forward the test event again to run the test handler and
# switch back to command mode afterward.
Timer(1, lambda: self._protocol_fsm.on_event(SBE37ProtocolEvent.RUN_TEST)).start()
def _handler_test_exit(self, *args, **kwargs):
"""
Exit test state.
"""
pass
def _handler_test_run_tests(self, *args, **kwargs):
"""
Run test routines and validate results.
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command misunderstood or
incorrect prompt received.
"""
next_state = None
result = None
tc_pass = False
tt_pass = False
tp_pass = False
tc_result = None
tt_result = None
tp_result = None
test_result = {}
try:
tc_pass, tc_result = self._do_cmd_resp('tc', timeout=200)
tt_pass, tt_result = self._do_cmd_resp('tt', timeout=200)
tp_pass, tp_result = self._do_cmd_resp('tp', timeout=200)
except Exception as e:
test_result['exception'] = e
test_result['message'] = 'Error running instrument tests.'
finally:
test_result['cond_test'] = 'Passed' if tc_pass else 'Failed'
test_result['cond_data'] = tc_result
test_result['temp_test'] = 'Passed' if tt_pass else 'Failed'
test_result['temp_data'] = tt_result
test_result['pres_test'] = 'Passed' if tp_pass else 'Failed'
test_result['pres_data'] = tp_result
test_result['success'] = 'Passed' if (tc_pass and tt_pass and tp_pass) else 'Failed'
self._driver_event(DriverAsyncEvent.TEST_RESULT, test_result)
next_state = SBE37ProtocolState.COMMAND
return (next_state, result)
########################################################################
# Direct access handlers.
########################################################################
def _handler_direct_access_enter(self, *args, **kwargs):
"""
Enter direct access state.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
self._sent_cmds = []
def _handler_direct_access_exit(self, *args, **kwargs):
"""
Exit direct access state.
"""
pass
def _handler_direct_access_execute_direct(self, data):
"""
"""
next_state = None
result = None
self._do_cmd_direct(data)
# add sent command to list for 'echo' filtering in callback
self._sent_cmds.append(data)
return (next_state, result)
def _handler_direct_access_stop_direct(self):
"""
@throw InstrumentProtocolException on invalid command
"""
next_state = None
result = None
next_state = SBE37ProtocolState.COMMAND
return (next_state, result)
########################################################################
# Private helpers.
########################################################################
def _send_wakeup(self):
"""
Send a newline to attempt to wake the SBE37 device.
"""
self._connection.send(SBE37_NEWLINE)
def _update_params(self, *args, **kwargs):
"""
Update the parameter dictionary. Wake the device then issue
display status and display calibration commands. The parameter
dict will match line output and udpate itself.
@throws InstrumentTimeoutException if device cannot be timely woken.
@throws InstrumentProtocolException if ds/dc misunderstood.
"""
# Get old param dict config.
old_config = self._param_dict.get_config()
# Issue display commands and parse results.
timeout = kwargs.get('timeout', SBE37_TIMEOUT)
self._do_cmd_resp('ds',timeout=timeout)
self._do_cmd_resp('dc',timeout=timeout)
# Get new param dict config. If it differs from the old config,
# tell driver superclass to publish a config change event.
new_config = self._param_dict.get_config()
if new_config != old_config:
self._driver_event(DriverAsyncEvent.CONFIG_CHANGE)
def _build_simple_command(self, cmd):
"""
Build handler for basic SBE37 commands.
@param cmd the simple sbe37 command to format.
@retval The command to be sent to the device.
"""
return cmd+SBE37_NEWLINE
def _build_set_command(self, cmd, param, val):
"""
Build handler for set commands. param=val followed by newline.
String val constructed by param dict formatting function.
@param param the parameter key to set.
@param val the parameter value to set.
@ retval The set command to be sent to the device.
@throws InstrumentProtocolException if the parameter is not valid or
if the formatting function could not accept the value passed.
"""
try:
str_val = self._param_dict.format(param, val)
set_cmd = '%s=%s' % (param, str_val)
set_cmd = set_cmd + SBE37_NEWLINE
except KeyError:
raise InstrumentParameterException('Unknown driver parameter %s' % param)
return set_cmd
def _parse_set_response(self, response, prompt):
"""
Parse handler for set command.
@param response command response string.
@param prompt prompt following command response.
@throws InstrumentProtocolException if set command misunderstood.
"""
if prompt != SBE37Prompt.COMMAND:
raise InstrumentProtocolException('Set command not recognized: %s' % response)
def _parse_dsdc_response(self, response, prompt):
"""
Parse handler for dsdc commands.
@param response command response string.
@param prompt prompt following command response.
@throws InstrumentProtocolException if dsdc command misunderstood.
"""
if prompt != SBE37Prompt.COMMAND:
raise InstrumentProtocolException('dsdc command not recognized: %s.' % response)
for line in response.split(SBE37_NEWLINE):
self._param_dict.update(line)
def _parse_ts_response(self, response, prompt):
"""
Response handler for ts command.
@param response command response string.
@param prompt prompt following command response.
@retval sample dictionary containig c, t, d values.
@throws InstrumentProtocolException if ts command misunderstood.
@throws InstrumentSampleException if response did not contain a sample
"""
if prompt != SBE37Prompt.COMMAND:
raise InstrumentProtocolException('ts command not recognized: %s', response)
sample = None
for line in response.split(SBE37_NEWLINE):
sample = self._extract_sample(line, True)
if sample:
break
if not sample:
raise SampleException('Response did not contain sample: %s' % repr(response))
return sample
def _parse_test_response(self, response, prompt):
"""
Do minimal checking of test outputs.
@param response command response string.
@param promnpt prompt following command response.
@retval tuple of pass/fail boolean followed by response
"""
success = False
lines = response.split()
if len(lines)>2:
data = lines[1:-1]
bad_count = 0
for item in data:
try:
float(item)
except ValueError:
bad_count += 1
if bad_count == 0:
success = True
return (success, response)
def got_data(self, data):
"""
Callback for receiving new data from the device.
"""
if self.get_current_state() == SBE37ProtocolState.DIRECT_ACCESS:
# direct access mode
if len(data) > 0:
mi_logger.debug("SBE37Protocol._got_data(): <" + data + ">")
if self._driver_event:
self._driver_event(DriverAsyncEvent.DIRECT_ACCESS, data)
# TODO: what about logging this as an event?
return
if len(data)>0:
# Call the superclass to update line and prompt buffers.
CommandResponseInstrumentProtocol.got_data(self, data)
# If in streaming mode, process the buffer for samples to publish.
cur_state = self.get_current_state()
if cur_state == SBE37ProtocolState.AUTOSAMPLE:
if SBE37_NEWLINE in self._linebuf:
lines = self._linebuf.split(SBE37_NEWLINE)
self._linebuf = lines[-1]
for line in lines:
self._extract_sample(line)
def _extract_sample(self, line, publish=True):
"""
Extract sample from a response line if present and publish to agent.
@param line string to match for sample.
@param publsih boolean to publish sample (default True).
@retval Sample dictionary if present or None.
"""
sample = None
match = self._sample_regex.match(line)
if match:
sample = {}
sample['t'] = [float(match.group(1))]
sample['c'] = [float(match.group(2))]
sample['p'] = [float(match.group(3))]
# Driver timestamp.
sample['time'] = [time.time()]
sample['stream_name'] = 'ctd_parsed'
if self._driver_event:
self._driver_event(DriverAsyncEvent.SAMPLE, sample)
return sample
def _build_param_dict(self):
"""
Populate the parameter dictionary with SBE37 parameters.
For each parameter key, add match stirng, match lambda function,
and value formatting function for set commands.
"""
# Add parameter handlers to parameter dict.
self._param_dict.add(SBE37Parameter.OUTPUTSAL,
r'(do not )?output salinity with each sample',
lambda match : False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(SBE37Parameter.OUTPUTSV,
r'(do not )?output sound velocity with each sample',
lambda match : False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(SBE37Parameter.NAVG,
r'number of samples to average = (\d+)',
lambda match : int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.SAMPLENUM,
r'samplenumber = (\d+), free = \d+',
lambda match : int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.INTERVAL,
r'sample interval = (\d+) seconds',
lambda match : int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.STORETIME,
r'(do not )?store time with each sample',
lambda match : False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(SBE37Parameter.TXREALTIME,
r'(do not )?transmit real-time data',
lambda match : False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(SBE37Parameter.SYNCMODE,
r'serial sync mode (enabled|disabled)',
lambda match : False if (match.group(1)=='disabled') else True,
self._true_false_to_string)
self._param_dict.add(SBE37Parameter.SYNCWAIT,
r'wait time after serial sync sampling = (\d+) seconds',
lambda match : int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.TCALDATE,
r'temperature: +((\d+)-([a-zA-Z]+)-(\d+))',
lambda match : self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.TA0,
r' +TA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.TA1,
r' +TA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.TA2,
r' +TA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.TA3,
r' +TA3 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CCALDATE,
r'conductivity: +((\d+)-([a-zA-Z]+)-(\d+))',
lambda match : self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.CG,
r' +G = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CH,
r' +H = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CI,
r' +I = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CJ,
r' +J = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.WBOTC,
r' +WBOTC = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CTCOR,
r' +CTCOR = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CPCOR,
r' +CPCOR = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PCALDATE,
r'pressure .+ ((\d+)-([a-zA-Z]+)-(\d+))',
lambda match : self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.PA0,
r' +PA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PA1,
r' +PA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PA2,
r' +PA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCA0,
r' +PTCA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCA1,
r' +PTCA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCA2,
r' +PTCA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCB0,
r' +PTCSB0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCB1,
r' +PTCSB1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCB2,
r' +PTCSB2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.POFFSET,
r' +POFFSET = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.RCALDATE,
r'rtc: +((\d+)-([a-zA-Z]+)-(\d+))',
lambda match : self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.RTCA0,
r' +RTCA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.RTCA1,
r' +RTCA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.RTCA2,
r' +RTCA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match : float(match.group(1)),
self._float_to_string)
########################################################################
# Static helpers to format set commands.
########################################################################
@staticmethod
def _true_false_to_string(v):
"""
Write a boolean value to string formatted for sbe37 set operations.
@param v a boolean value.
@retval A yes/no string formatted for sbe37 set operations.
@throws InstrumentParameterException if value not a bool.
"""
if not isinstance(v,bool):
raise InstrumentParameterException('Value %s is not a bool.' % str(v))
if v:
return 'y'
else:
return 'n'
@staticmethod
def _int_to_string(v):
"""
Write an int value to string formatted for sbe37 set operations.
@param v An int val.
@retval an int string formatted for sbe37 set operations.
@throws InstrumentParameterException if value not an int.
"""
if not isinstance(v,int):
raise InstrumentParameterException('Value %s is not an int.' % str(v))
else:
return '%i' % v
@staticmethod
def _float_to_string(v):
"""
Write a float value to string formatted for sbe37 set operations.
@param v A float val.
@retval a float string formatted for sbe37 set operations.
@throws InstrumentParameterException if value is not a float.
"""
if not isinstance(v,float):
raise InstrumentParameterException('Value %s is not a float.' % v)
else:
return '%e' % v
@staticmethod
def _date_to_string(v):
"""
Write a date tuple to string formatted for sbe37 set operations.
@param v a date tuple: (day,month,year).
@retval A date string formatted for sbe37 set operations.
@throws InstrumentParameterException if date tuple is not valid.
"""
if not isinstance(v,(list,tuple)):
raise InstrumentParameterException('Value %s is not a list, tuple.' % str(v))
if not len(v)==3:
raise InstrumentParameterException('Value %s is not length 3.' % str(v))
months = ['Jan','Feb','Mar','Apr','May','Jun','Jul','Aug','Sep',
'Oct','Nov','Dec']
day = v[0]
month = v[1]
year = v[2]
if len(str(year)) > 2:
year = int(str(year)[-2:])
if not isinstance(day,int) or day < 1 or day > 31:
raise InstrumentParameterException('Value %s is not a day of month.' % str(day))
if not isinstance(month,int) or month < 1 or month > 12:
raise InstrumentParameterException('Value %s is not a month.' % str(month))
if not isinstance(year,int) or year < 0 or year > 99:
raise InstrumentParameterException('Value %s is not a 0-99 year.' % str(year))
return '%02i-%s-%02i' % (day,months[month-1],year)
@staticmethod
def _string_to_date(datestr,fmt):
"""
Extract a date tuple from an sbe37 date string.
@param str a string containing date information in sbe37 format.
@retval a date tuple.
@throws InstrumentParameterException if datestr cannot be formatted to
a date.
"""
if not isinstance(datestr,str):
raise InstrumentParameterException('Value %s is not a string.' % str(datestr))
try:
date_time = time.strptime(datestr,fmt)
date = (date_time[2],date_time[1],date_time[0])
except ValueError:
raise InstrumentParameterException('Value %s could not be formatted to a date.' % str(datestr))
return date
class SingleConnectionInstrumentDriver(InstrumentDriver):
"""
Base class for instrument drivers with a single device connection.
Provides connenction state logic for single connection drivers. This is
the base class for the majority of driver implementation classes.
"""
def __init__(self, event_callback):
"""
Constructor for singly connected instrument drivers.
@param event_callback Callback to the driver process to send asynchronous
driver events back to the agent.
"""
InstrumentDriver.__init__(self, event_callback)
# The only and only instrument connection.
# Exists in the connected state.
self._connection = None
# The one and only instrument protocol.
self._protocol = None
# Build connection state machine.
self._connection_fsm = InstrumentFSM(DriverConnectionState,
DriverEvent,
DriverEvent.ENTER,
DriverEvent.EXIT)
# Add handlers for all events.
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED, DriverEvent.ENTER, self._handler_unconfigured_enter)
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED, DriverEvent.EXIT, self._handler_unconfigured_exit)
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED, DriverEvent.INITIALIZE, self._handler_unconfigured_initialize)
self._connection_fsm.add_handler(DriverConnectionState.UNCONFIGURED, DriverEvent.CONFIGURE, self._handler_unconfigured_configure)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED, DriverEvent.ENTER, self._handler_disconnected_enter)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED, DriverEvent.EXIT, self._handler_disconnected_exit)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED, DriverEvent.INITIALIZE, self._handler_disconnected_initialize)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED, DriverEvent.CONFIGURE, self._handler_disconnected_configure)
self._connection_fsm.add_handler(DriverConnectionState.DISCONNECTED, DriverEvent.CONNECT, self._handler_disconnected_connect)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.ENTER, self._handler_connected_enter)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.EXIT, self._handler_connected_exit)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.DISCONNECT, self._handler_connected_disconnect)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.CONNECTION_LOST, self._handler_connected_connection_lost)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.DISCOVER, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.GET, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.SET, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.ACQUIRE_SAMPLE, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.START_AUTOSAMPLE, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.STOP_AUTOSAMPLE, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.TEST, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.CALIBRATE, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.EXECUTE_DIRECT, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.START_DIRECT, self._handler_connected_protocol_event)
self._connection_fsm.add_handler(DriverConnectionState.CONNECTED, DriverEvent.STOP_DIRECT, self._handler_connected_protocol_event)
# Start state machine.
self._connection_fsm.start(DriverConnectionState.UNCONFIGURED)
#############################################################
# Device connection interface.
#############################################################
def initialize(self, *args, **kwargs):
"""
Initialize driver connection, bringing communications parameters
into unconfigured state (no connection object).
@raises InstrumentStateException if command not allowed in current state
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.INITIALIZE, *args, **kwargs)
def configure(self, *args, **kwargs):
"""
Configure the driver for communications with the device via
port agent / logger (valid but unconnected connection object).
@param arg[0] comms config dict.
@raises InstrumentStateException if command not allowed in current state
@throws InstrumentParameterException if missing comms or invalid config dict.
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.CONFIGURE, *args, **kwargs)
def connect(self, *args, **kwargs):
"""
Establish communications with the device via port agent / logger
(connected connection object).
@raises InstrumentStateException if command not allowed in current state
@throws InstrumentConnectionException if the connection failed.
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.CONNECT, *args, **kwargs)
def disconnect(self, *args, **kwargs):
"""
Disconnect from device via port agent / logger.
@raises InstrumentStateException if command not allowed in current state
"""
# Forward event and argument to the connection FSM.
return self._connection_fsm.on_event(DriverEvent.DISCONNECT, *args, **kwargs)
#############################################################
# Commande and control interface.
#############################################################
def discover(self, *args, **kwargs):
"""
Determine initial state upon establishing communications.
@param timeout=timeout Optional command timeout.
@retval Current device state.
@raises InstrumentTimeoutException if could not wake device.
@raises InstrumentStateException if command not allowed in current state or if
device state not recognized.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.DISCOVER, DriverEvent.DISCOVER, *args, **kwargs)
def get(self, *args, **kwargs):
"""
Retrieve device parameters.
@param args[0] DriverParameter.ALL or a list of parameters to retrive.
@retval parameter : value dict.
@raises InstrumentParameterException if missing or invalid get parameters.
@raises InstrumentStateException if command not allowed in current state
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.GET, DriverEvent.GET, *args, **kwargs)
def set(self, *args, **kwargs):
"""
Set device parameters.
@param args[0] parameter : value dict of parameters to set.
@param timeout=timeout Optional command timeout.
@raises InstrumentParameterException if missing or invalid set parameters.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if set command not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.SET, DriverEvent.SET, *args, **kwargs)
def execute_acquire_sample(self, *args, **kwargs):
"""
Poll for a sample.
@param timeout=timeout Optional command timeout.
@ retval Device sample dict.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if acquire command not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.ACQUIRE_SAMPLE, DriverEvent.ACQUIRE_SAMPLE, *args, **kwargs)
def execute_start_autosample(self, *args, **kwargs):
"""
Switch to autosample mode.
@param timeout=timeout Optional command timeout.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.START_AUTOSAMPLE, DriverEvent.START_AUTOSAMPLE, *args, **kwargs)
def execute_stop_autosample(self, *args, **kwargs):
"""
Leave autosample mode.
@param timeout=timeout Optional command timeout.
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if stop command not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.STOP_AUTOSAMPLE, DriverEvent.STOP_AUTOSAMPLE, *args, **kwargs)
def execute_test(self, *args, **kwargs):
"""
Execute device tests.
@param timeout=timeout Optional command timeout (for wakeup only --
device specific timeouts for internal test commands).
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if test commands not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.TEST, DriverEvent.TEST, *args, **kwargs)
def execute_calibrate(self, *args, **kwargs):
"""
Execute device calibration.
@param timeout=timeout Optional command timeout (for wakeup only --
device specific timeouts for internal calibration commands).
@raises InstrumentTimeoutException if could not wake device or no response.
@raises InstrumentProtocolException if test commands not recognized.
@raises InstrumentStateException if command not allowed in current state.
@raises NotImplementedException if not implemented by subclass.
"""
# Forward event and argument to the protocol FSM.
return self._connection_fsm.on_event(DriverEvent.CALIBRATE, DriverEvent.CALIBRATE, *args, **kwargs)
########################################################################
# Resource query interface.
########################################################################
def get_current_state(self):
"""
Return current device state. For single connection devices, return
a single connection state if not connected, and protocol state if connected.
"""
connection_state = self._connection_fsm.get_current_state()
if connection_state == DriverConnectionState.CONNECTED:
return self._protocol.get_current_state()
else:
return connection_state
########################################################################
# Unconfigured handlers.
########################################################################
def _handler_unconfigured_enter(self, *args, **kwargs):
"""
Enter unconfigured state.
"""
# Send state change event to agent.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_unconfigured_exit(self, *args, **kwargs):
"""
Exit unconfigured state.
"""
pass
def _handler_unconfigured_initialize(self, *args, **kwargs):
"""
Initialize handler. We are already in unconfigured state, do nothing.
@retval (next_state, result) tuple, (None, None).
"""
next_state = None
result = None
return (next_state, result)
def _handler_unconfigured_configure(self, *args, **kwargs):
"""
Configure driver for device comms.
@param args[0] Communiations config dictionary.
@retval (next_state, result) tuple, (DriverConnectionState.DISCONNECTED,
None) if successful, (None, None) otherwise.
@raises InstrumentParameterException if missing or invalid param dict.
"""
next_state = None
result = None
# Get the required param dict.
try:
config = args[0]
except IndexError:
raise InstrumentParameterException('Missing comms config parameter.')
# Verify dict and construct connection client.
try:
addr = config['addr']
port = config['port']
if isinstance(addr, str) and isinstance(port, int) and len(addr)>0:
self._connection = LoggerClient(addr, port)
next_state = DriverConnectionState.DISCONNECTED
else:
raise InstrumentParameterException('Invalid comms config dict.')
except (TypeError, KeyError):
raise InstrumentParameterException('Invalid comms config dict.')
return (next_state, result)
########################################################################
# Disconnected handlers.
########################################################################
def _handler_disconnected_enter(self, *args, **kwargs):
"""
Enter disconnected state.
"""
# Send state change event to agent.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_disconnected_exit(self, *args, **kwargs):
"""
Exit disconnected state.
"""
pass
def _handler_disconnected_initialize(self, *args, **kwargs):
"""
Initialize device communications. Causes the connection parameters to
be reset.
@retval (next_state, result) tuple, (DriverConnectionState.UNCONFIGURED,
None).
"""
next_state = None
result = None
self._connection = None
next_state = DriverConnectionState.UNCONFIGURED
return (next_state, result)
def _handler_disconnected_configure(self, *args, **kwargs):
"""
Configure driver for device comms.
@param args[0] Communiations config dictionary.
@retval (next_state, result) tuple, (None, None).
@raises InstrumentParameterException if missing or invalid param dict.
"""
next_state = None
result = None
# Get required config param dict.
try:
config = args[0]
except IndexError:
raise InstrumentParameterException('Missing comms config parameter.')
# Verify configuration dict, and update connection if possible.
try:
addr = config['addr']
port = config['port']
if isinstance(addr, str) and isinstance(port, int) and len(addr)>0:
self._connection = LoggerClient(addr, port)
else:
raise InstrumentParameterException('Invalid comms config dict.')
except (TypeError, KeyError):
raise InstrumentParameterException('Invalid comms config dict.')
return (next_state, result)
def _handler_disconnected_connect(self, *args, **kwargs):
"""
Establish communications with the device via port agent / logger and
construct and intialize a protocol FSM for device interaction.
@retval (next_state, result) tuple, (DriverConnectionState.CONNECTED,
None) if successful.
@raises InstrumentConnectionException if the attempt to connect failed.
"""
next_state = None
result = None
self._build_protocol()
self._connection.init_comms(self._protocol.got_data)
self._protocol._connection = self._connection
next_state = DriverConnectionState.CONNECTED
return (next_state, result)
########################################################################
# Connected handlers.
########################################################################
def _handler_connected_enter(self, *args, **kwargs):
"""
Enter connected state.
"""
# Send state change event to agent.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_connected_exit(self, *args, **kwargs):
"""
Exit connected state.
"""
pass
def _handler_connected_disconnect(self, *args, **kwargs):
"""
Disconnect to the device via port agent / logger and destroy the
protocol FSM.
@retval (next_state, result) tuple, (DriverConnectionState.DISCONNECTED,
None) if successful.
"""
next_state = None
result = None
self._connection.stop_comms()
self._protocol = None
next_state = DriverConnectionState.DISCONNECTED
return (next_state, result)
def _handler_connected_connection_lost(self, *args, **kwargs):
"""
The device connection was lost. Stop comms, destroy protocol FSM and
revert to disconnected state.
@retval (next_state, result) tuple, (DriverConnectionState.DISCONNECTED,
None).
"""
next_state = None
result = None
self._connection.stop_comms()
self._protocol = None
next_state = DriverConnectionState.DISCONNECTED
return (next_state, result)
def _handler_connected_protocol_event(self, event, *args, **kwargs):
"""
Forward a driver command event to the protocol FSM.
@param args positional arguments to pass on.
@param kwargs keyword arguments to pass on.
@retval (next_state, result) tuple, (None, protocol result).
"""
next_state = None
result = self._protocol._protocol_fsm.on_event(event, *args, **kwargs)
return (next_state, result)
########################################################################
# Helpers.
########################################################################
def _build_protocol(self):
"""
Construct device specific single connection protocol FSM.
Overridden in device specific subclasses.
"""
pass
class SBE37Protocol(CommandResponseInstrumentProtocol):
"""
Instrument protocol class for SBE37 driver.
Subclasses CommandResponseInstrumentProtocol
"""
def __init__(self, prompts, newline, driver_event):
"""
SBE37Protocol constructor.
@param prompts A BaseEnum class containing instrument prompts.
@param newline The SBE37 newline.
@param driver_event Driver process event callback.
"""
# Construct protocol superclass.
CommandResponseInstrumentProtocol.__init__(self, prompts, newline,
driver_event)
# Build SBE37 protocol state machine.
self._protocol_fsm = InstrumentFSM(SBE37ProtocolState,
SBE37ProtocolEvent,
SBE37ProtocolEvent.ENTER,
SBE37ProtocolEvent.EXIT)
# Add event handlers for protocol state machine.
self._protocol_fsm.add_handler(SBE37ProtocolState.UNKNOWN,
SBE37ProtocolEvent.ENTER,
self._handler_unknown_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.UNKNOWN,
SBE37ProtocolEvent.EXIT,
self._handler_unknown_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.UNKNOWN,
SBE37ProtocolEvent.DISCOVER,
self._handler_unknown_discover)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.ENTER,
self._handler_command_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.EXIT,
self._handler_command_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.ACQUIRE_SAMPLE,
self._handler_command_acquire_sample)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.START_AUTOSAMPLE,
self._handler_command_start_autosample)
self._protocol_fsm.add_handler(
SBE37ProtocolState.COMMAND, SBE37ProtocolEvent.GET,
self._handler_command_autosample_test_get)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.SET,
self._handler_command_set)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.TEST,
self._handler_command_test)
self._protocol_fsm.add_handler(SBE37ProtocolState.COMMAND,
SBE37ProtocolEvent.START_DIRECT,
self._handler_command_start_direct)
self._protocol_fsm.add_handler(SBE37ProtocolState.AUTOSAMPLE,
SBE37ProtocolEvent.ENTER,
self._handler_autosample_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.AUTOSAMPLE,
SBE37ProtocolEvent.EXIT,
self._handler_autosample_exit)
self._protocol_fsm.add_handler(
SBE37ProtocolState.AUTOSAMPLE, SBE37ProtocolEvent.GET,
self._handler_command_autosample_test_get)
self._protocol_fsm.add_handler(
SBE37ProtocolState.AUTOSAMPLE, SBE37ProtocolEvent.STOP_AUTOSAMPLE,
self._handler_autosample_stop_autosample)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST,
SBE37ProtocolEvent.ENTER,
self._handler_test_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST,
SBE37ProtocolEvent.EXIT,
self._handler_test_exit)
self._protocol_fsm.add_handler(SBE37ProtocolState.TEST,
SBE37ProtocolEvent.RUN_TEST,
self._handler_test_run_tests)
self._protocol_fsm.add_handler(
SBE37ProtocolState.TEST, SBE37ProtocolEvent.GET,
self._handler_command_autosample_test_get)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS,
SBE37ProtocolEvent.ENTER,
self._handler_direct_access_enter)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS,
SBE37ProtocolEvent.EXIT,
self._handler_direct_access_exit)
self._protocol_fsm.add_handler(
SBE37ProtocolState.DIRECT_ACCESS,
SBE37ProtocolEvent.EXECUTE_DIRECT,
self._handler_direct_access_execute_direct)
self._protocol_fsm.add_handler(SBE37ProtocolState.DIRECT_ACCESS,
SBE37ProtocolEvent.STOP_DIRECT,
self._handler_direct_access_stop_direct)
# Construct the parameter dictionary containing device parameters,
# current parameter values, and set formatting functions.
self._build_param_dict()
# Add build handlers for device commands.
self._add_build_handler('ds', self._build_simple_command)
self._add_build_handler('dc', self._build_simple_command)
self._add_build_handler('ts', self._build_simple_command)
self._add_build_handler('startnow', self._build_simple_command)
self._add_build_handler('stop', self._build_simple_command)
self._add_build_handler('tc', self._build_simple_command)
self._add_build_handler('tt', self._build_simple_command)
self._add_build_handler('tp', self._build_simple_command)
self._add_build_handler('set', self._build_set_command)
# Add response handlers for device commands.
self._add_response_handler('ds', self._parse_dsdc_response)
self._add_response_handler('dc', self._parse_dsdc_response)
self._add_response_handler('ts', self._parse_ts_response)
self._add_response_handler('set', self._parse_set_response)
self._add_response_handler('tc', self._parse_test_response)
self._add_response_handler('tt', self._parse_test_response)
self._add_response_handler('tp', self._parse_test_response)
# Add sample handlers.
self._sample_pattern = r'^#? *(-?\d+\.\d+), *(-?\d+\.\d+), *(-?\d+\.\d+)'
self._sample_pattern += r'(, *(-?\d+\.\d+))?(, *(-?\d+\.\d+))?'
self._sample_pattern += r'(, *(\d+) +([a-zA-Z]+) +(\d+), *(\d+):(\d+):(\d+))?'
self._sample_pattern += r'(, *(\d+)-(\d+)-(\d+), *(\d+):(\d+):(\d+))?'
self._sample_regex = re.compile(self._sample_pattern)
# State state machine in UNKNOWN state.
self._protocol_fsm.start(SBE37ProtocolState.UNKNOWN)
# commands sent sent to device to be filtered in responses for telnet DA
self._sent_cmds = []
########################################################################
# Unknown handlers.
########################################################################
def _handler_unknown_enter(self, *args, **kwargs):
"""
Enter unknown state.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_unknown_exit(self, *args, **kwargs):
"""
Exit unknown state.
"""
pass
def _handler_unknown_discover(self, *args, **kwargs):
"""
Discover current state; can be COMMAND or AUTOSAMPLE.
@retval (next_state, result), (SBE37ProtocolState.COMMAND or
SBE37State.AUTOSAMPLE, None) if successful.
@throws InstrumentTimeoutException if the device cannot be woken.
@throws InstrumentStateException if the device response does not correspond to
an expected state.
"""
next_state = None
result = None
# Wakeup the device with timeout if passed.
timeout = kwargs.get('timeout', SBE37_TIMEOUT)
prompt = self._wakeup(timeout)
prompt = self._wakeup(timeout)
# Set the state to change.
# Raise if the prompt returned does not match command or autosample.
if prompt == SBE37Prompt.COMMAND:
next_state = SBE37ProtocolState.COMMAND
result = SBE37ProtocolState.COMMAND
elif prompt == SBE37Prompt.AUTOSAMPLE:
next_state = SBE37ProtocolState.AUTOSAMPLE
result = SBE37ProtocolState.AUTOSAMPLE
else:
raise InstrumentStateException('Unknown state.')
return (next_state, result)
########################################################################
# Command handlers.
########################################################################
def _handler_command_enter(self, *args, **kwargs):
"""
Enter command state.
@throws InstrumentTimeoutException if the device cannot be woken.
@throws InstrumentProtocolException if the update commands and not recognized.
"""
# Command device to update parameters and send a config change event.
self._update_params()
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_command_exit(self, *args, **kwargs):
"""
Exit command state.
"""
pass
def _handler_command_set(self, *args, **kwargs):
"""
Perform a set command.
@param args[0] parameter : value dict.
@retval (next_state, result) tuple, (None, None).
@throws InstrumentParameterException if missing set parameters, if set parameters not ALL and
not a dict, or if paramter can't be properly formatted.
@throws InstrumentTimeoutException if device cannot be woken for set command.
@throws InstrumentProtocolException if set command could not be built or misunderstood.
"""
next_state = None
result = None
# Retrieve required parameter.
# Raise if no parameter provided, or not a dict.
try:
params = args[0]
except IndexError:
raise InstrumentParameterException(
'Set command requires a parameter dict.')
if not isinstance(params, dict):
raise InstrumentParameterException('Set parameters not a dict.')
# For each key, val in the dict, issue set command to device.
# Raise if the command not understood.
else:
for (key, val) in params.iteritems():
result = self._do_cmd_resp('set', key, val, **kwargs)
self._update_params()
return (next_state, result)
def _handler_command_acquire_sample(self, *args, **kwargs):
"""
Acquire sample from SBE37.
@retval (next_state, result) tuple, (None, sample dict).
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command could not be built or misunderstood.
@throws SampleException if a sample could not be extracted from result.
"""
next_state = None
result = None
result = self._do_cmd_resp('ts', *args, **kwargs)
return (next_state, result)
def _handler_command_start_autosample(self, *args, **kwargs):
"""
Switch into autosample mode.
@retval (next_state, result) tuple, (SBE37ProtocolState.AUTOSAMPLE,
None) if successful.
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command could not be built or misunderstood.
"""
next_state = None
result = None
# Assure the device is transmitting.
if not self._param_dict.get(SBE37Parameter.TXREALTIME):
self._do_cmd_resp('set', SBE37Parameter.TXREALTIME, True, **kwargs)
# Issue start command and switch to autosample if successful.
self._do_cmd_no_resp('startnow', *args, **kwargs)
next_state = SBE37ProtocolState.AUTOSAMPLE
return (next_state, result)
def _handler_command_test(self, *args, **kwargs):
"""
Switch to test state to perform instrument tests.
@retval (next_state, result) tuple, (SBE37ProtocolState.TEST, None).
"""
next_state = None
result = None
next_state = SBE37ProtocolState.TEST
return (next_state, result)
def _handler_command_start_direct(self):
"""
"""
next_state = None
result = None
next_state = SBE37ProtocolState.DIRECT_ACCESS
return (next_state, result)
########################################################################
# Autosample handlers.
########################################################################
def _handler_autosample_enter(self, *args, **kwargs):
"""
Enter autosample state.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
def _handler_autosample_exit(self, *args, **kwargs):
"""
Exit autosample state.
"""
pass
def _handler_autosample_stop_autosample(self, *args, **kwargs):
"""
Stop autosample and switch back to command mode.
@retval (next_state, result) tuple, (SBE37ProtocolState.COMMAND,
None) if successful.
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command misunderstood or
incorrect prompt received.
"""
next_state = None
result = None
# Wake up the device, continuing until autosample prompt seen.
timeout = kwargs.get('timeout', SBE37_TIMEOUT)
self._wakeup_until(timeout, SBE37Prompt.AUTOSAMPLE)
# Issue the stop command.
self._do_cmd_resp('stop', *args, **kwargs)
# Prompt device until command prompt is seen.
self._wakeup_until(timeout, SBE37Prompt.COMMAND)
next_state = SBE37ProtocolState.COMMAND
return (next_state, result)
########################################################################
# Common handlers.
########################################################################
def _handler_command_autosample_test_get(self, *args, **kwargs):
"""
Get device parameters from the parameter dict.
@param args[0] list of parameters to retrieve, or DriverParameter.ALL.
@throws InstrumentParameterException if missing or invalid parameter.
"""
next_state = None
result = None
# Retrieve the required parameter, raise if not present.
try:
params = args[0]
except IndexError:
raise InstrumentParameterException(
'Get command requires a parameter list or tuple.')
# If all params requested, retrieve config.
if params == DriverParameter.ALL:
result = self._param_dict.get_config()
# If not all params, confirm a list or tuple of params to retrieve.
# Raise if not a list or tuple.
# Retireve each key in the list, raise if any are invalid.
else:
if not isinstance(params, (list, tuple)):
raise InstrumentParameterException(
'Get argument not a list or tuple.')
result = {}
for key in params:
try:
val = self._param_dict.get(key)
result[key] = val
except KeyError:
raise InstrumentParameterException(
('%s is not a valid parameter.' % key))
return (next_state, result)
########################################################################
# Test handlers.
########################################################################
def _handler_test_enter(self, *args, **kwargs):
"""
Enter test state. Setup the secondary call to run the tests.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
# Forward the test event again to run the test handler and
# switch back to command mode afterward.
Timer(1, lambda: self._protocol_fsm.on_event(SBE37ProtocolEvent.
RUN_TEST)).start()
def _handler_test_exit(self, *args, **kwargs):
"""
Exit test state.
"""
pass
def _handler_test_run_tests(self, *args, **kwargs):
"""
Run test routines and validate results.
@throws InstrumentTimeoutException if device cannot be woken for command.
@throws InstrumentProtocolException if command misunderstood or
incorrect prompt received.
"""
next_state = None
result = None
tc_pass = False
tt_pass = False
tp_pass = False
tc_result = None
tt_result = None
tp_result = None
test_result = {}
try:
tc_pass, tc_result = self._do_cmd_resp('tc', timeout=200)
tt_pass, tt_result = self._do_cmd_resp('tt', timeout=200)
tp_pass, tp_result = self._do_cmd_resp('tp', timeout=200)
except Exception as e:
test_result['exception'] = e
test_result['message'] = 'Error running instrument tests.'
finally:
test_result['cond_test'] = 'Passed' if tc_pass else 'Failed'
test_result['cond_data'] = tc_result
test_result['temp_test'] = 'Passed' if tt_pass else 'Failed'
test_result['temp_data'] = tt_result
test_result['pres_test'] = 'Passed' if tp_pass else 'Failed'
test_result['pres_data'] = tp_result
test_result['success'] = 'Passed' if (tc_pass and tt_pass
and tp_pass) else 'Failed'
self._driver_event(DriverAsyncEvent.TEST_RESULT, test_result)
next_state = SBE37ProtocolState.COMMAND
return (next_state, result)
########################################################################
# Direct access handlers.
########################################################################
def _handler_direct_access_enter(self, *args, **kwargs):
"""
Enter direct access state.
"""
# Tell driver superclass to send a state change event.
# Superclass will query the state.
self._driver_event(DriverAsyncEvent.STATE_CHANGE)
self._sent_cmds = []
def _handler_direct_access_exit(self, *args, **kwargs):
"""
Exit direct access state.
"""
pass
def _handler_direct_access_execute_direct(self, data):
"""
"""
next_state = None
result = None
self._do_cmd_direct(data)
# add sent command to list for 'echo' filtering in callback
self._sent_cmds.append(data)
return (next_state, result)
def _handler_direct_access_stop_direct(self):
"""
@throw InstrumentProtocolException on invalid command
"""
next_state = None
result = None
next_state = SBE37ProtocolState.COMMAND
return (next_state, result)
########################################################################
# Private helpers.
########################################################################
def _send_wakeup(self):
"""
Send a newline to attempt to wake the SBE37 device.
"""
self._connection.send(SBE37_NEWLINE)
def _update_params(self, *args, **kwargs):
"""
Update the parameter dictionary. Wake the device then issue
display status and display calibration commands. The parameter
dict will match line output and udpate itself.
@throws InstrumentTimeoutException if device cannot be timely woken.
@throws InstrumentProtocolException if ds/dc misunderstood.
"""
# Get old param dict config.
old_config = self._param_dict.get_config()
# Issue display commands and parse results.
timeout = kwargs.get('timeout', SBE37_TIMEOUT)
self._do_cmd_resp('ds', timeout=timeout)
self._do_cmd_resp('dc', timeout=timeout)
# Get new param dict config. If it differs from the old config,
# tell driver superclass to publish a config change event.
new_config = self._param_dict.get_config()
if new_config != old_config:
self._driver_event(DriverAsyncEvent.CONFIG_CHANGE)
def _build_simple_command(self, cmd):
"""
Build handler for basic SBE37 commands.
@param cmd the simple sbe37 command to format.
@retval The command to be sent to the device.
"""
return cmd + SBE37_NEWLINE
def _build_set_command(self, cmd, param, val):
"""
Build handler for set commands. param=val followed by newline.
String val constructed by param dict formatting function.
@param param the parameter key to set.
@param val the parameter value to set.
@ retval The set command to be sent to the device.
@throws InstrumentProtocolException if the parameter is not valid or
if the formatting function could not accept the value passed.
"""
try:
str_val = self._param_dict.format(param, val)
set_cmd = '%s=%s' % (param, str_val)
set_cmd = set_cmd + SBE37_NEWLINE
except KeyError:
raise InstrumentParameterException('Unknown driver parameter %s' %
param)
return set_cmd
def _parse_set_response(self, response, prompt):
"""
Parse handler for set command.
@param response command response string.
@param prompt prompt following command response.
@throws InstrumentProtocolException if set command misunderstood.
"""
if prompt != SBE37Prompt.COMMAND:
raise InstrumentProtocolException(
'Set command not recognized: %s' % response)
def _parse_dsdc_response(self, response, prompt):
"""
Parse handler for dsdc commands.
@param response command response string.
@param prompt prompt following command response.
@throws InstrumentProtocolException if dsdc command misunderstood.
"""
if prompt != SBE37Prompt.COMMAND:
raise InstrumentProtocolException(
'dsdc command not recognized: %s.' % response)
for line in response.split(SBE37_NEWLINE):
self._param_dict.update(line)
def _parse_ts_response(self, response, prompt):
"""
Response handler for ts command.
@param response command response string.
@param prompt prompt following command response.
@retval sample dictionary containig c, t, d values.
@throws InstrumentProtocolException if ts command misunderstood.
@throws InstrumentSampleException if response did not contain a sample
"""
if prompt != SBE37Prompt.COMMAND:
raise InstrumentProtocolException('ts command not recognized: %s',
response)
sample = None
for line in response.split(SBE37_NEWLINE):
sample = self._extract_sample(line, True)
if sample:
break
if not sample:
raise SampleException('Response did not contain sample: %s' %
repr(response))
return sample
def _parse_test_response(self, response, prompt):
"""
Do minimal checking of test outputs.
@param response command response string.
@param promnpt prompt following command response.
@retval tuple of pass/fail boolean followed by response
"""
success = False
lines = response.split()
if len(lines) > 2:
data = lines[1:-1]
bad_count = 0
for item in data:
try:
float(item)
except ValueError:
bad_count += 1
if bad_count == 0:
success = True
return (success, response)
def got_data(self, data):
"""
Callback for receiving new data from the device.
"""
if self.get_current_state() == SBE37ProtocolState.DIRECT_ACCESS:
# direct access mode
if len(data) > 0:
mi_logger.debug("SBE37Protocol._got_data(): <" + data + ">")
if self._driver_event:
self._driver_event(DriverAsyncEvent.DIRECT_ACCESS, data)
# TODO: what about logging this as an event?
return
if len(data) > 0:
# Call the superclass to update line and prompt buffers.
CommandResponseInstrumentProtocol.got_data(self, data)
# If in streaming mode, process the buffer for samples to publish.
cur_state = self.get_current_state()
if cur_state == SBE37ProtocolState.AUTOSAMPLE:
if SBE37_NEWLINE in self._linebuf:
lines = self._linebuf.split(SBE37_NEWLINE)
self._linebuf = lines[-1]
for line in lines:
self._extract_sample(line)
def _extract_sample(self, line, publish=True):
"""
Extract sample from a response line if present and publish to agent.
@param line string to match for sample.
@param publsih boolean to publish sample (default True).
@retval Sample dictionary if present or None.
"""
sample = None
match = self._sample_regex.match(line)
if match:
sample = {}
sample['t'] = [float(match.group(1))]
sample['c'] = [float(match.group(2))]
sample['p'] = [float(match.group(3))]
# Driver timestamp.
sample['time'] = [time.time()]
sample['stream_name'] = 'ctd_parsed'
if self._driver_event:
self._driver_event(DriverAsyncEvent.SAMPLE, sample)
return sample
def _build_param_dict(self):
"""
Populate the parameter dictionary with SBE37 parameters.
For each parameter key, add match stirng, match lambda function,
and value formatting function for set commands.
"""
# Add parameter handlers to parameter dict.
self._param_dict.add(SBE37Parameter.OUTPUTSAL,
r'(do not )?output salinity with each sample',
lambda match: False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(
SBE37Parameter.OUTPUTSV,
r'(do not )?output sound velocity with each sample',
lambda match: False
if match.group(1) else True, self._true_false_to_string)
self._param_dict.add(SBE37Parameter.NAVG,
r'number of samples to average = (\d+)',
lambda match: int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.SAMPLENUM,
r'samplenumber = (\d+), free = \d+',
lambda match: int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.INTERVAL,
r'sample interval = (\d+) seconds',
lambda match: int(match.group(1)),
self._int_to_string)
self._param_dict.add(SBE37Parameter.STORETIME,
r'(do not )?store time with each sample',
lambda match: False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(SBE37Parameter.TXREALTIME,
r'(do not )?transmit real-time data',
lambda match: False if match.group(1) else True,
self._true_false_to_string)
self._param_dict.add(
SBE37Parameter.SYNCMODE, r'serial sync mode (enabled|disabled)',
lambda match: False if (match.group(1) == 'disabled') else True,
self._true_false_to_string)
self._param_dict.add(
SBE37Parameter.SYNCWAIT,
r'wait time after serial sync sampling = (\d+) seconds',
lambda match: int(match.group(1)), self._int_to_string)
self._param_dict.add(
SBE37Parameter.TCALDATE,
r'temperature: +((\d+)-([a-zA-Z]+)-(\d+))',
lambda match: self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.TA0,
r' +TA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.TA1,
r' +TA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.TA2,
r' +TA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.TA3,
r' +TA3 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(
SBE37Parameter.CCALDATE,
r'conductivity: +((\d+)-([a-zA-Z]+)-(\d+))',
lambda match: self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.CG,
r' +G = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CH,
r' +H = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CI,
r' +I = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CJ,
r' +J = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.WBOTC,
r' +WBOTC = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CTCOR,
r' +CTCOR = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.CPCOR,
r' +CPCOR = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(
SBE37Parameter.PCALDATE, r'pressure .+ ((\d+)-([a-zA-Z]+)-(\d+))',
lambda match: self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.PA0,
r' +PA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PA1,
r' +PA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PA2,
r' +PA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCA0,
r' +PTCA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCA1,
r' +PTCA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCA2,
r' +PTCA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCB0,
r' +PTCSB0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCB1,
r' +PTCSB1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.PTCB2,
r' +PTCSB2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.POFFSET,
r' +POFFSET = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(
SBE37Parameter.RCALDATE, r'rtc: +((\d+)-([a-zA-Z]+)-(\d+))',
lambda match: self._string_to_date(match.group(1), '%d-%b-%y'),
self._date_to_string)
self._param_dict.add(SBE37Parameter.RTCA0,
r' +RTCA0 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.RTCA1,
r' +RTCA1 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
self._param_dict.add(SBE37Parameter.RTCA2,
r' +RTCA2 = (-?\d.\d\d\d\d\d\de[-+]\d\d)',
lambda match: float(match.group(1)),
self._float_to_string)
########################################################################
# Static helpers to format set commands.
########################################################################
@staticmethod
def _true_false_to_string(v):
"""
Write a boolean value to string formatted for sbe37 set operations.
@param v a boolean value.
@retval A yes/no string formatted for sbe37 set operations.
@throws InstrumentParameterException if value not a bool.
"""
if not isinstance(v, bool):
raise InstrumentParameterException('Value %s is not a bool.' %
str(v))
if v:
return 'y'
else:
return 'n'
@staticmethod
def _int_to_string(v):
"""
Write an int value to string formatted for sbe37 set operations.
@param v An int val.
@retval an int string formatted for sbe37 set operations.
@throws InstrumentParameterException if value not an int.
"""
if not isinstance(v, int):
raise InstrumentParameterException('Value %s is not an int.' %
str(v))
else:
return '%i' % v
@staticmethod
def _float_to_string(v):
"""
Write a float value to string formatted for sbe37 set operations.
@param v A float val.
@retval a float string formatted for sbe37 set operations.
@throws InstrumentParameterException if value is not a float.
"""
if not isinstance(v, float):
raise InstrumentParameterException('Value %s is not a float.' % v)
else:
return '%e' % v
@staticmethod
def _date_to_string(v):
"""
Write a date tuple to string formatted for sbe37 set operations.
@param v a date tuple: (day,month,year).
@retval A date string formatted for sbe37 set operations.
@throws InstrumentParameterException if date tuple is not valid.
"""
if not isinstance(v, (list, tuple)):
raise InstrumentParameterException(
'Value %s is not a list, tuple.' % str(v))
if not len(v) == 3:
raise InstrumentParameterException('Value %s is not length 3.' %
str(v))
months = [
'Jan', 'Feb', 'Mar', 'Apr', 'May', 'Jun', 'Jul', 'Aug', 'Sep',
'Oct', 'Nov', 'Dec'
]
day = v[0]
month = v[1]
year = v[2]
if len(str(year)) > 2:
year = int(str(year)[-2:])
if not isinstance(day, int) or day < 1 or day > 31:
raise InstrumentParameterException(
'Value %s is not a day of month.' % str(day))
if not isinstance(month, int) or month < 1 or month > 12:
raise InstrumentParameterException('Value %s is not a month.' %
str(month))
if not isinstance(year, int) or year < 0 or year > 99:
raise InstrumentParameterException('Value %s is not a 0-99 year.' %
str(year))
return '%02i-%s-%02i' % (day, months[month - 1], year)
@staticmethod
def _string_to_date(datestr, fmt):
"""
Extract a date tuple from an sbe37 date string.
@param str a string containing date information in sbe37 format.
@retval a date tuple.
@throws InstrumentParameterException if datestr cannot be formatted to
a date.
"""
if not isinstance(datestr, str):
raise InstrumentParameterException('Value %s is not a string.' %
str(datestr))
try:
date_time = time.strptime(datestr, fmt)
date = (date_time[2], date_time[1], date_time[0])
except ValueError:
raise InstrumentParameterException(
'Value %s could not be formatted to a date.' % str(datestr))
return date