def __init__(self):
self.radio = MidLevel()
self.packet = UAVPacket()
self.loc = 0
class NodeA(object):
def __init__(self):
self.radio = MidLevel()
self.packet = UAVPacket()
self.loc = 0
def startup(self):
self.radio.startup()
def shutdown(self):
self.radio.shutdown()
def _listen(self, freq):
status = self.radio.listen(freq, rssi_threshold=100, timeout=1.0)
if status == 'clear':
print "channel clear"
def _receive(self, freq):
# ack = []
# for i in range(64):
# ack.append(0xff)
# # ack = [0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
# # 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
# # 0xff, 0xff, 0xff]
rx_packet = self.radio.receive(freq, rx_fifo_threshold=17, timeout=2.0)
# print "rx_packet: ", rx_packet
(rx_packet_num, rx_flags, rx_data) = self.packet.parse_packet(rx_packet)
# this chunk of code should probably be moved into
# packet_utils: UAVPacket.unpack_data()
s = ''
for i in range(8):
s = s + chr(rx_data[i])
# print "rx_data #
(goodput,) = struct.unpack('!d', s)
a4, a3, a2, a1 = rx_data[8:12]
ack_number = (a4 << 24) + (a3 << 16) + (a2 << 8) + a1
# print "ack_number: ", ack_number
# print "goodput = %f bits/sec" %(goodput)
print "Calculated goodput for packet %d = %f" %(ack_number, goodput)
# if (packet == ack):
# print "ACK received"
def _transmit(self, freq):
data = []
for i in range(50):
data.append(0xff)
flags = 0x00
tx_packet = self.packet.make_packet(self.loc, flags, data)
# print "tx_packet: ", tx_packet
# data = [0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36,
# 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D,
# 0x3E, 0x3F, 0x78]
self.radio.transmit(tx_packet, freq)
self.loc += 1
def fsm(self):
"""
Primary control loop.
This function is the finite state machine that controls the
operation of the system.
"""
self.startup()
state = "listen"
f = 434e6
while True:
if state == "listen":
self._listen(f)
state = "transmit"
elif state == "transmit":
self._transmit(f)
state = "receive"
elif state == "receive":
self._receive(f)
state = "listen"
else:
print "+++ Melon melon melon +++"
state = "listen"
class NodeA(object):
def __init__(self):
self.radio = MidLevel()
self.packet = UAVPacket()
self.loc = 0
def startup(self):
self.radio.startup()
def shutdown(self):
self.radio.shutdown()
def _listen(self, freq):
status = self.radio.listen(freq, rssi_threshold=100, timeout=1.0)
if status == 'clear':
print "channel clear"
def _receive(self, freq):
rx_packet = self.radio.receive(freq, rx_fifo_threshold=17, timeout=2.0)
if rx_packet == []:
return
else:
(rx_packet_num, rx_flags, rx_data) = self.packet.parse_packet(rx_packet)
# this chunk of code should probably be moved into
# packet_utils: UAVPacket.unpack_data()
s = ''
for i in range(8):
s = s + chr(rx_data[i])
(goodput,) = struct.unpack('!d', s)
a4, a3, a2, a1 = rx_data[8:12]
ack_number = (a4 << 24) + (a3 << 16) + (a2 << 8) + a1
print "Calculated goodput for packet %d = %f" %(ack_number, goodput)
def _transmit(self, freq):
data = []
for i in range(50):
data.append(0xff)
flags = 0x00
tx_packet = self.packet.make_packet(self.loc, flags, data)
self.radio.transmit(tx_packet, freq)
self.loc += 1
def fsm(self):
"""
Primary control loop.
This function is the finite state machine that controls the
operation of the system.
"""
self.startup()
state = "listen"
f = 434e6
while True:
if state == "listen":
self._listen(f)
state = "transmit"
elif state == "transmit":
self._transmit(f)
state = "receive"
elif state == "receive":
self._receive(f)
state = "listen"
else:
print "+++ Melon melon melon +++"
state = "listen"
class NodeA(object):
def __init__(self):
self.radio = MidLevel()
self.packet = UAVPacket()
self.loc = 0
def startup(self):
self.radio.startup()
def shutdown(self):
self.radio.shutdown()
def _listen(self, freq):
status = self.radio.listen(freq, rssi_threshold=100, timeout=1.0)
if status == 'clear':
print "channel clear"
def _receive(self, freq):
# ack = []
# for i in range(64):
# ack.append(0xff)
# # ack = [0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
# # 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
# # 0xff, 0xff, 0xff]
rx_packet = self.radio.receive(freq, rx_fifo_threshold=17, timeout=2.0)
# print "rx_packet: ", rx_packet
(rx_packet_num, rx_flags,
rx_data) = self.packet.parse_packet(rx_packet)
# this chunk of code should probably be moved into
# packet_utils: UAVPacket.unpack_data()
s = ''
for i in range(8):
s = s + chr(rx_data[i])
# print "rx_data #
(goodput, ) = struct.unpack('!d', s)
a4, a3, a2, a1 = rx_data[8:12]
ack_number = (a4 << 24) + (a3 << 16) + (a2 << 8) + a1
# print "ack_number: ", ack_number
# print "goodput = %f bits/sec" %(goodput)
print "Calculated goodput for packet %d = %f" % (ack_number, goodput)
# if (packet == ack):
# print "ACK received"
def _transmit(self, freq):
data = []
for i in range(50):
data.append(0xff)
flags = 0x00
tx_packet = self.packet.make_packet(self.loc, flags, data)
# print "tx_packet: ", tx_packet
# data = [0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36,
# 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D,
# 0x3E, 0x3F, 0x78]
self.radio.transmit(tx_packet, freq)
self.loc += 1
def fsm(self):
"""
Primary control loop.
This function is the finite state machine that controls the
operation of the system.
"""
self.startup()
state = "listen"
f = 434e6
while True:
if state == "listen":
self._listen(f)
state = "transmit"
elif state == "transmit":
self._transmit(f)
state = "receive"
elif state == "receive":
self._receive(f)
state = "listen"
else:
print "+++ Melon melon melon +++"
state = "listen"