def _setup_session(self, config):
if len(config.sensor) > 1:
raise ValueError(
"the register protocol does not support multiple sensors")
if config.sensor[0] != 1:
raise ValueError(
"the register protocol currently only supports using sensor 1")
mode = config.mode
self._mode = mode
self._config = config
self._write_reg("main_control", "stop")
self._write_reg("mode_selection", mode)
self._write_reg("update_rate", 0)
for key, reg in regmap.get_config_key_to_reg_map(mode).items():
val = getattr(config, key)
if val is None:
continue
self._write_reg(reg, val)
self._write_reg("sensor_power_mode", "active")
self._write_reg("streaming_control", self._streaming_control_val)
self._write_reg("main_control", "create")
self._wait_status(regmap.STATUS_FLAGS.CREATED)
info = {}
info_regs = regmap.get_session_info_regs(mode)
for reg in info_regs:
k = reg.stripped_name
k = regmap.STRIPPED_NAME_TO_INFO_REMAP.get(k, k)
if k is None:
continue
info[k] = self._read_reg(reg)
if MODE_INFOS[mode].fixed_buffer_size:
self._data_length = info.get("data_length")
log.info("data length: {}".format(self._data_length))
log.info("buffer size: {} B".format(self._buffer_size))
else:
self._data_length = None
if self._data_rate is not None:
log.info("requested data rate: {:.2f} Mbit/s".format(
self._data_rate * 1e-6))
return info
def test_config_to_reg_map_completeness():
all_param_keys = set()
for mode, config_class in configs.MODE_TO_CONFIG_CLASS_MAP.items():
params = {
k: v
for k, v in inspect.getmembers(config_class)
if isinstance(v, cb.Parameter)
}
all_param_keys.update(params.keys())
expected_config_key_to_reg_map = {}
for param_name, param in params.items():
if param.is_dummy:
continue
reg_name = regmap.CONFIG_TO_STRIPPED_REG_NAME_MAP[param_name]
if reg_name is None:
continue
reg = regmap.get_reg(reg_name, mode)
assert reg.category in [
regmap.Category.CONFIG, regmap.Category.GENERAL
]
expected_config_key_to_reg_map[param_name] = reg
assert regmap.get_config_key_to_reg_map(
mode) == expected_config_key_to_reg_map
unknown_keys_in_map = set(
regmap.CONFIG_TO_STRIPPED_REG_NAME_MAP.keys()) - all_param_keys
assert not unknown_keys_in_map