def _cleanup(self):
while sysfs_interface.get_state() != "idle":
try:
sysfs_interface.set_stop()
except Exception as e:
print(e)
try:
sysfs_interface.wait_for_state("idle", 3.0)
except SysfsInterfaceException:
logger.warning("CleanupRoutine - send stop-command and waiting for PRU to go to idle")
if self.shared_mem is not None:
self.shared_mem.__exit__()
if self.rpmsg_fd is not None:
os.close(self.rpmsg_fd)
try:
self.set_ldo_voltage(False)
self.ldo.__exit__()
except Exception as e:
print(e)
self.set_mppt(False)
self.set_harvester(False)
self.set_lvl_conv(False)
self._adc_set_power(False)
self._set_power(False)
logger.debug("Shepherd hardware is powered down")
def wait_for_start(timeout: float) -> NoReturn:
"""Waits until shepherd has started sampling.
Args:
timeout (float): Time to wait in seconds
"""
sysfs_interface.wait_for_state("running", timeout)
def __enter__(self):
try:
for name, pin in gpio_pin_nums.items():
self.gpios[name] = GPIO(pin, "out")
self._set_shepherd_pcb_power(True)
self.set_target_io_level_conv(False)
logger.debug("Shepherd hardware is powered up")
# If shepherd hasn't been terminated properly
if sysfs_interface.get_state() != "idle":
sysfs_interface.set_stop()
sysfs_interface.wait_for_state("idle", 5)
logger.debug(f"Switching to '{ self.mode }'-mode")
sysfs_interface.write_mode(self.mode)
# clean up msg-channel provided by kernel module
self._flush_msgs()
# Ask PRU for base address of shared mem (reserved with remoteproc)
mem_address = sysfs_interface.get_mem_address()
# Ask PRU for size of shared memory (reserved with remoteproc)
mem_size = sysfs_interface.get_mem_size()
logger.debug(
f"Shared memory address: \t0x{mem_address:08X}, size: {mem_size} byte"
)
# Ask PRU for size of individual buffers
samples_per_buffer = sysfs_interface.get_samples_per_buffer()
logger.debug(f"Samples per buffer: \t{ samples_per_buffer }")
self.n_buffers = sysfs_interface.get_n_buffers()
logger.debug(f"Number of buffers: \t{ self.n_buffers }")
self.buffer_period_ns = sysfs_interface.get_buffer_period_ns()
logger.debug(f"Buffer period: \t\t{ self.buffer_period_ns } ns")
self.shared_mem = SharedMem(
mem_address, mem_size, self.n_buffers, samples_per_buffer
)
self.shared_mem.__enter__()
except Exception:
self._cleanup()
raise
sysfs_interface.wait_for_state("idle", 3)
return self
def _cleanup(self):
logger.debug("ShepherdIO is commanded to power down / cleanup")
while sysfs_interface.get_state() != "idle":
try:
sysfs_interface.set_stop()
except Exception as e:
print(e)
try:
sysfs_interface.wait_for_state("idle", 3.0)
except SysfsInterfaceException:
logger.warning("CleanupRoutine - send stop-command and waiting for PRU to go to idle")
self.set_aux_target_voltage(None, 0.0)
if self.shared_mem is not None:
self.shared_mem.__exit__()
self.set_target_io_level_conv(False)
self._set_shepherd_pcb_power(False)
logger.debug("Shepherd hardware is now powered down")
def test_start_delayed(shepherd_up):
start_time = time.time() + 5
sysfs_interface.start(start_time)
sysfs_interface.wait_for_state("armed", 1)
with pytest.raises(sysfs_interface.SysfsInterfaceException):
sysfs_interface.wait_for_state("running", 3)
sysfs_interface.wait_for_state("running", 3)
with pytest.raises(sysfs_interface.SysfsInterfaceException):
sysfs_interface.start()
def shepherd_running(shepherd_up):
sysfs_interface.start()
sysfs_interface.wait_for_state("running", 5)
def test_wait_for_state(shepherd_up):
sysfs_interface.start()
assert sysfs_interface.wait_for_state("running", 3) < 3
sysfs_interface.stop()
assert sysfs_interface.wait_for_state("idle", 3) < 3
def __enter__(self):
try:
for name, pin in gpio_pin_nums.items():
self.gpios[name] = GPIO(pin, "out")
self._set_power(True)
self.set_mppt(False)
self.set_harvester(False)
self.set_lvl_conv(False)
self._adc_set_power(True)
logger.debug("Shepherd hardware is powered up")
# If shepherd hasn't been terminated properly
if sysfs_interface.get_state() != "idle":
sysfs_interface.set_stop()
sysfs_interface.wait_for_state("idle", 5)
logger.debug(f"Switching to '{ self.mode }' mode")
sysfs_interface.set_mode(self.mode)
# Open the RPMSG channel provided by rpmsg_pru kernel module
rpmsg_dev = Path("/dev/rpmsg_pru0")
self.rpmsg_fd = os.open(str(rpmsg_dev), os.O_RDWR | os.O_SYNC)
os.set_blocking(self.rpmsg_fd, False)
self._flush_msgs()
# Ask PRU for base address of shared mem (reserved with remoteproc)
mem_address = sysfs_interface.get_mem_address()
# Ask PRU for size of shared memory (reserved with remoteproc)
mem_size = sysfs_interface.get_mem_size()
logger.debug(
f"Shared memory address: \t0x{mem_address:08X}, size: {mem_size} byte"
)
# Ask PRU for size of individual buffers
samples_per_buffer = sysfs_interface.get_samples_per_buffer()
logger.debug(f"Samples per buffer: \t{ samples_per_buffer }")
self.n_buffers = sysfs_interface.get_n_buffers()
logger.debug(f"Number of buffers: \t{ self.n_buffers }")
self.buffer_period_ns = sysfs_interface.get_buffer_period_ns()
logger.debug(f"Buffer period: \t\t{ self.buffer_period_ns } ns")
self.shared_mem = SharedMem(
mem_address, mem_size, self.n_buffers, samples_per_buffer
)
self.shared_mem.__enter__()
logger.debug(f"Setting load to '{ self.load }'")
self.set_load(self.load)
self.ldo.__enter__()
self.set_ldo_voltage(False)
except Exception:
self._cleanup()
raise
sysfs_interface.wait_for_state("idle", 3)
return self