def get_configuration(self):
"""
:return:
"""
# Creating the message
msg_type = np.array([int('0002', 16)], dtype=np.uint16)
msg_id = np.array([int('0000', 16)], dtype=np.uint16)
rcm_get_config_request = Mf.typecast(
np.array(
[Mf.swap_bytes_16(msg_type[0]),
Mf.swap_bytes_16(msg_id[0])],
dtype=np.uint16), 8)
rcm_get_config_request = bytearray(rcm_get_config_request)
# send data
if self.req_ip is not None:
msg = self.send_rcv(rcm_get_config_request, 32, 0.2)
else:
print 'UWB radio has no ip set'
return -1
# Processing message
if msg is not None:
msg_type = Mf.typecast(np.array([msg[1], msg[0]], dtype=np.uint8),
16)
if msg_type != np.array([0x0102], dtype=np.uint16):
print 'Message type %s does not match RCM_GET_CONFIG_CONFIRM.' % msg_type
return
else:
self.config.msg_id = Mf.typecast(
np.array([msg[3], msg[2]], dtype=np.uint8), 16)
self.config.node_id = Mf.typecast(
np.array([msg[7], msg[6], msg[5], msg[4]], dtype=np.uint8),
32)
self.config.pii = Mf.typecast(
np.array([msg[9], msg[8]], dtype=np.uint8), 16)
self.config.ant_mode = np.array([msg[10]], dtype=np.uint8)
self.config.code_chnl = np.array([msg[11]], dtype=np.uint8)
self.config.ant_dly_a = Mf.typecast(
np.array([msg[15], msg[14], msg[13], msg[12]],
dtype=np.uint8), 32)
self.config.ant_dly_b = Mf.typecast(
np.array([msg[19], msg[18], msg[17], msg[16]],
dtype=np.uint8), 32)
self.config.flags = Mf.typecast(
np.array([msg[21], msg[20]], dtype=np.uint8), 16)
self.config.tx_pwr = np.array([msg[22]], dtype=np.uint8)
self.config.unused = np.array([msg[23]], dtype=np.uint8)
self.config.time_stamp = Mf.typecast(
np.array([msg[27], msg[26], msg[25], msg[24]],
dtype=np.uint8), 32)
self.config.stat = Mf.typecast(
np.array([msg[31], msg[30], msg[29], msg[28]],
dtype=np.uint8), 32)
self.config.persist_flag = np.array([0], dtype=np.uint8)
return
def req_range(self, msg_id, responder_id):
"""
:param msg_id: ID of the message to send to the RCM. The id will decide what type of measurement
the RCM will perform.
:param responder_id: The id of the node to which measurements will be done.
:return: The status of the request and the confirmed message id from the RCM. This message should be the same
as the one you sent it to make sure you received what you want.
"""
status = np.array([0xFFFFFFFF], dtype=np.uint32) # return variable 1
msg_id_confirm = np.empty(0, dtype=np.uint32) # return variable 2
msg_type = np.array(
[int('0003', 16)],
dtype=np.uint16) # rcm_send_range_request message type.
msg_id = np.array([msg_id], dtype=np.uint16)
resp_id = np.array([responder_id], dtype=np.uint32)
ant_mode = np.array([0], dtype=np.uint8)
reserved = np.array([0], dtype=np.uint8)
data_size = np.array([0], dtype=np.uint16)
data = np.empty(0, dtype=np.uint8)
rcm_send_range_request = np.concatenate([
Mf.typecast(Mf.swap_bytes_16(msg_type), 8),
Mf.typecast(Mf.swap_bytes_16(msg_id), 8),
Mf.typecast(Mf.swap_bytes_32(resp_id), 8), ant_mode, reserved,
Mf.typecast(Mf.swap_bytes_16(data_size), 8), data
])
rcm_send_range_request.dtype = np.uint8
rcm_send_range_request = bytearray(rcm_send_range_request)
# send data
if self.req_ip is not None:
msg = self.send_rcv(rcm_send_range_request, 8, 0.3)
else:
print 'Unable to parse config, check your connection with the UWB'
return -1
# processing message
if msg is not None:
msg_type = Mf.typecast(np.array([msg[1], msg[0]], dtype=np.uint8),
16)
if msg_type != np.array([int('0103', 16)], dtype=np.uint16):
print 'Message type %s does not match RCM_SEND_RANGE_CONFIRM. ' % msg_type
status = np.array([1], dtype=np.uint32)
# msg_id_confirm remains empty uint32
else:
msg_id_confirm = Mf.typecast(
np.array([msg[3], msg[2]], dtype=np.uint8), 16)
status = Mf.typecast(
np.array([msg[7], msg[6], msg[5], msg[4]], dtype=np.uint8),
32)
return status, msg_id_confirm
def set_conf(self):
"""
:return: the status of the response from the RCM.
"""
msg_type = Mf.swap_bytes_16(
np.array([int('0001', 16)],
dtype=np.uint16)) # rcm_set_config_request msg type.
msg_id = Mf.swap_bytes_16(np.array([int('0003', 16)], dtype=np.uint16))
if self.config.node_id is not None:
node_id = Mf.swap_bytes_32(self.config.node_id)
else:
print 'UWB radio has no ip set'
return -1
pii = Mf.swap_bytes_16(self.config.pii)
ant_mode = self.config.ant_mode
code = self.config.code_chnl
ant_delay_a = Mf.swap_bytes_32(self.config.ant_dly_a)
ant_delay_b = Mf.swap_bytes_32(self.config.ant_dly_b)
flags = Mf.swap_bytes_16(self.config.flags)
tx_gain = self.config.tx_pwr
persist = self.config.persist_flag
rcm_set_config_request = \
np.concatenate([Mf.typecast(np.array([msg_type[0], msg_id[0]], dtype=np.uint16), 8),
Mf.typecast(np.array([node_id[0]], dtype=np.uint32), 8),
Mf.typecast(np.array([pii[0]], dtype=np.uint16), 8),
ant_mode, code,
Mf.typecast(np.array([ant_delay_a[0], ant_delay_b[0]], dtype=np.uint32), 8),
Mf.typecast(np.array([flags[0]], dtype=np.uint16), 8),
tx_gain, persist])
rcm_set_config_request.dtype = np.uint8
rcm_set_config_request = bytearray(rcm_set_config_request)
# send data
if self.req_ip is not None:
msg = self.send_rcv(rcm_set_config_request, 8, 0.4)
else:
print 'Unable to parse config, check your connection with the UWB'
return -1
# processing response
if msg is not None:
msg_type = Mf.typecast(np.array([msg[1], msg[0]], dtype=np.uint8),
16)
if msg_type != np.array([int('0101', 16)], dtype=np.uint16):
print 'Message type %s does not match RCM_SET_CONFIG_CONFIRM. ' % msg_type
else:
# msg_id in confirm should be equal to msg_id in request
msg_id = Mf.typecast(
np.array([msg[3], msg[2]], dtype=np.uint8), 16)
# status = Mf.typecast(np.array([msg[7], msg[6], msg[5], msg[4]], dtype=np.uint8), 32)
return msg_id