def testLEDCommandDecoding(self):
commandHeaderBytes = b'\x04\x08\x3a\x02'
commandDataBytes= b'\x01\x01\x01\x01\x01\x01\x01\x01'
commandBytes = commandHeaderBytes+commandDataBytes
packet = NebResponsePacket(commandBytes)
self.assertEqual(len(packet.data.ledState), 8)
self.assertEqual(packet.data.ledState[0], 1)
self.assertEqual(packet.data.ledState[1], 1)
self.assertEqual(packet.data.ledState[2], 1)
self.assertEqual(packet.data.ledState[3], 1)
self.assertEqual(packet.data.ledState[4], 1)
self.assertEqual(packet.data.ledState[5], 1)
self.assertEqual(packet.data.ledState[6], 1)
self.assertEqual(packet.data.ledState[7], 1)
def testDebugCommandDecoding(self):
commandHeaderBytes = b'\x00\x10\xbc\x02'
commandDataBytes= b'\xde\xea\xbe\xef\xa5\x01\x11\x01\x02\xba\xbe\x00\x01\x02\x03\x04'
commandBytes = commandHeaderBytes+commandDataBytes
packet = NebResponsePacket(commandBytes)
self.assertEqual(packet.data.motionStatus.distance, True )
self.assertEqual(packet.data.motionStatus.force, False)
self.assertEqual(packet.data.motionStatus.euler, True )
self.assertEqual(packet.data.motionStatus.quaternion, False)
self.assertEqual(packet.data.motionStatus.imuData, False)
self.assertEqual(packet.data.motionStatus.motion, True )
self.assertEqual(packet.data.motionStatus.steps, False)
self.assertEqual(packet.data.motionStatus.magData, True )
self.assertEqual(packet.data.motionStatus.sitStand, True )
self.assertEqual(packet.data.recorderStatus.status, 2)
def testCreatePedometerPackets(self):
#print("\n*** Testing Encoding and Decoding of Pedometer Packets ***")
responsePackets = []
packets = nebsim.createWalkingPathPacketList(1000, 61.0, 5.0, 10)
for packet in packets:
packetString = packet.stringEncode()
responsePackets.append(NebResponsePacket(packetString))
for idx,packet in enumerate(responsePackets):
self.assertEqual(packets[idx].header.subSystem, SubSystem.Motion)
self.assertEqual(packets[idx].header.command, Commands.Motion.Pedometer)
self.assertEqual(packets[idx].data.timestamp, packet.data.timestamp)
self.assertEqual(packets[idx].data.stepCount, packet.data.stepCount)
self.assertEqual(packets[idx].data.stepsPerMinute, packet.data.stepsPerMinute)
self.assertEqual(packets[idx].data.walkingDirection, packet.data.walkingDirection)
self.assertGreaterEqual(packets[idx].data.walkingDirection, -180.0)
self.assertLessEqual(packets[idx].data.walkingDirection, 180.0)
def testCreateEulerPackets(self):
#print("\n*** Testing Encoding and Decoding of Euler Angle Packets ***")
responsePackets = []
packets = nebsim.createSpinningObjectPacketList(50.0, 1.0, 2.0, 6.0)
for packet in packets:
packetString = packet.stringEncode()
responsePackets.append(NebResponsePacket(packetString))
for idx,packet in enumerate(responsePackets):
self.assertEqual(packets[idx].header.subSystem, SubSystem.Motion)
self.assertEqual(packets[idx].header.command, Commands.Motion.EulerAngle)
self.assertEqual(packets[idx].data.timestamp, packet.data.timestamp)
self.assertEqual(packets[idx].data.yaw, packet.data.yaw)
self.assertEqual(packets[idx].data.pitch, packet.data.pitch)
self.assertEqual(packets[idx].data.roll, packet.data.roll)
self.assertEqual(packets[idx].data.demoHeading, packet.data.demoHeading)
def waitForPacket(self, packetType, subSystem, command, timeout=3):
packet = None
currentTime = time.time()
while not packet or \
(not packet.isPacketValid(packetType, subSystem, command) and
not packet.isPacketError()):
if time.time() - currentTime > timeout:
raise TimeoutError
try:
bytes = self.device.receivePacket()
if bytes:
packet = NebResponsePacket(bytes)
else:
packet = None
except NotImplementedError as e:
logging.error("Dropped bad packet.")
packet = None
continue
except InvalidPacketFormatError as e:
logging.error("InvalidPacketFormatError")
packet = None
continue
except CRCError as e:
logging.error("CRCError : " + str(e))
packet = None
continue
except KeyError as e:
logging.error(
"Tried creating a packet with an invalid subsystem or command : "
+ str(e))
packet = None
continue
except TimeoutError as e:
logging.error('Read timed out.')
return NebResponsePacket.createEmptyResponsePacket(
subSystem, command)
except KeyboardInterrupt as e:
logging.error("KeyboardInterrupt.")
return NebResponsePacket.createEmptyResponsePacket(
subSystem, command)
except:
packet = None
logging.error("Unexpected error : ", exc_info=True)
return NebResponsePacket.createEmptyResponsePacket(
subSystem, command)
return packet
def testCreateMAGPackets(self):
#print("\n*** Testing Encoding and Decoding of MAG Packets ***")
responsePackets = []
packets = nebsim.createRandomMAGDataPacketList(50.0, 300, 1.0)
for packet in packets:
packetString = packet.stringEncode()
responsePackets.append(NebResponsePacket(packetString))
for idx,packet in enumerate(responsePackets):
self.assertEqual( packets[idx].header.subSystem, SubSystem.Motion)
self.assertEqual( packets[idx].header.command, Commands.Motion.MAG)
self.assertEqual( packets[idx].data.timestamp, packet.data.timestamp)
self.assertEqual( packets[idx].data.mag[0], packet.data.mag[0])
self.assertEqual( packets[idx].data.mag[1], packet.data.mag[1])
self.assertEqual( packets[idx].data.mag[2], packet.data.mag[2])
self.assertEqual( packets[idx].data.accel[0], packet.data.accel[0])
self.assertEqual( packets[idx].data.accel[1], packet.data.accel[1])
self.assertEqual( packets[idx].data.accel[2], packet.data.accel[2])
def storePacketsUntil(self, packetType, subSystem, command):
packetList = []
packet = None
while not packet or \
(not packet.isPacketValid(packetType, subSystem, command) and
not packet.isPacketError()):
try:
if packet and packet.header.subSystem != SubSystem.Debug:
packetList.append(packet)
print('Received {0} packets'.format(len(packetList)),
end="\r",
flush=True)
bytes = self.device.receivePacket()
if bytes:
packet = NebResponsePacket(bytes)
else:
packet = None
except NotImplementedError as e:
logging.error("Dropped bad packet.")
packet = None
continue
except InvalidPacketFormatError as e:
logging.error("InvalidPacketFormatError.")
packet = None
continue
except CRCError as e:
logging.error("CRCError : " + str(e))
packet = None
continue
except KeyError as e:
logging.error(
"Tried creating a packet with an invalid subsystem or command : "
+ str(e))
packet = None
continue
except TimeoutError as e:
logging.error('Read timed out.')
return None
except KeyboardInterrupt as e:
logging.error("KeyboardInterrupt.")
return None
except:
packet = None
logging.error("Unexpected error : ", exc_info=True)
continue
return packetList
def buildPacketList(self, packetList):
packets = []
errorList = []
for idx,packetString in enumerate(packetList):
try:
# print(binascii.hexlify(bytearray(packetString)))
nebPacket = NebResponsePacket(packetString)
# print('Appending {0}'.format(nebPacket))
packets.append(nebPacket)
except KeyError as keyError:
# print('Invalid Subsystem or Command Code')
errorList.append(keyError)
except NotImplementedError as notImplError:
# print('Got a non-standard packet at #{0}'\
# .format(idx))
errorList.append(notImplError)
except CRCError as crcError:
errorList.append(crcError)
# print('Got a CRCError at packet #{0}'\
# .format(idx))
# print(crcError)
except InvalidPacketFormatError as invPacketError:
errorList.append(invPacketError)
return (packets, errorList)
