def sendCommand(self, subSystem, command, enable=True, **kwargs):
if self.device:
packet = NebCommandPacket(subSystem, command, enable, **kwargs)
self.device.sendPacket(packet.stringEncode())
def testPacketsEncoding(self):
packetList = []
# Testing downsample command
# Downsample to 1Hz example
downSampleFactor = 1000
downSampleCommandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.Downsample, downSampleFactor)
packetString = downSampleCommandPacket.stringEncode()
packetBytes = bytearray(packetString)
self.assertEqual(len(packetBytes), 20)
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Motion)
self.assertEqual(packetBytes[1], 16)
self.assertEqual(packetBytes[3], Commands.Motion.Downsample)
self.assertEqual(packetBytes[8], struct.pack('<H', downSampleFactor)[0])
self.assertEqual(packetBytes[9], struct.pack('<H', downSampleFactor)[1])
# Make sure these calls dont cause an exception
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.MotionState, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.MotionState, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.IMU, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.IMU, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.Quaternion, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.Quaternion, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.EulerAngle, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.EulerAngle, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.ExtForce, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.ExtForce, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.TrajectoryInfo, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.TrajectoryInfo, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.Pedometer, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.Pedometer, False)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.MAG, True)
commandPacket = NebCommandPacket(SubSystem.Motion, Commands.Motion.MAG, False)
# Test encoding of recording packets
recordCommandPacket = NebCommandPacket(SubSystem.Storage, Commands.Storage.EraseAll)
packetBytes = bytearray(recordCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Storage)
self.assertEqual(packetBytes[1], 16)
self.assertEqual(packetBytes[3], Commands.Storage.EraseAll)
recordCommandPacket = NebCommandPacket(SubSystem.Storage, Commands.Storage.Record, True)
packetBytes = bytearray(recordCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Storage)
self.assertEqual(packetBytes[3], Commands.Storage.Record)
self.assertEqual(packetBytes[8], 0x01)
recordCommandPacket = NebCommandPacket(SubSystem.Storage, Commands.Storage.Record, False)
packetBytes = bytearray(recordCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Storage)
self.assertEqual(packetBytes[3], Commands.Storage.Record)
self.assertEqual(packetBytes[8], 0x00)
recordCommandPacket = NebCommandPacket(SubSystem.Storage, Commands.Storage.Playback, True, sessionID=42)
packetBytes = bytearray(recordCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Storage)
self.assertEqual(packetBytes[3], Commands.Storage.Playback)
self.assertEqual(packetBytes[8], 0x01)
recordCommandPacket = NebCommandPacket(SubSystem.Storage, Commands.Storage.Playback, False, sessionID=42)
packetBytes = bytearray(recordCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Storage)
self.assertEqual(packetBytes[3], Commands.Storage.Playback)
self.assertEqual(packetBytes[8], 0x00)
readCommandPacket = NebCommandPacket(SubSystem.EEPROM, Commands.EEPROM.Read, pageNumber=5)
packetBytes = bytearray(readCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.EEPROM)
self.assertEqual(packetBytes[3], Commands.EEPROM.Read)
self.assertEqual(packetBytes[4], 0x05)
# EEPROM Command packet testing
writeCommandPacket = NebCommandPacket(SubSystem.EEPROM, Commands.EEPROM.Write,\
pageNumber=11, dataBytes=b'\xde\xad\xbe\xef\xba\xbe\x92\x74')
packetBytes = bytearray(writeCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.EEPROM)
self.assertEqual(packetBytes[3], Commands.EEPROM.Write)
self.assertEqual(packetBytes[4], 0x0B)
self.assertEqual(packetBytes[5], 0x00)
self.assertEqual(packetBytes[6], 0xde)
self.assertEqual(packetBytes[7], 0xad)
self.assertEqual(packetBytes[8], 0xbe)
self.assertEqual(packetBytes[9], 0xef)
self.assertEqual(packetBytes[10], 0xba)
self.assertEqual(packetBytes[11], 0xbe)
self.assertEqual(packetBytes[12], 0x92)
self.assertEqual(packetBytes[13], 0x74)
# Debug packet set interface
switchInterfaceCommandPacket = NebCommandPacket(SubSystem.Debug,\
Commands.Debug.SetInterface,\
True)
packetBytes = bytearray(switchInterfaceCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Debug)
self.assertEqual(packetBytes[3], Commands.Debug.SetInterface)
self.assertEqual(packetBytes[8], 0x01)
switchInterfaceCommandPacket = NebCommandPacket(SubSystem.Debug,\
Commands.Debug.SetInterface,\
False)
packetBytes = bytearray(switchInterfaceCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Debug)
self.assertEqual(packetBytes[3], Commands.Debug.SetInterface)
self.assertEqual(packetBytes[8], 0x00)
flashAndRecorderStateCommandPacket = NebCommandPacket(SubSystem.Debug,\
Commands.Debug.MotAndFlashRecState)
packetBytes = bytearray(flashAndRecorderStateCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Debug)
self.assertEqual(packetBytes[3], Commands.Debug.MotAndFlashRecState)
# Unit test start command packet
unitTestStartCommandPacket = NebCommandPacket(SubSystem.Debug,\
Commands.Debug.StartUnitTestMotion, True)
packetBytes = bytearray(unitTestStartCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Debug)
self.assertEqual(packetBytes[3], Commands.Debug.StartUnitTestMotion)
self.assertEqual(packetBytes[8], 0x01)
unitTestStartCommandPacket = NebCommandPacket(SubSystem.Debug,\
Commands.Debug.StartUnitTestMotion, False)
packetBytes = bytearray(unitTestStartCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Debug)
self.assertEqual(packetBytes[3], Commands.Debug.StartUnitTestMotion)
self.assertEqual(packetBytes[8], 0x00)
# Unit test data command packet
imuPackets = nebsim.createRandomIMUDataPacketList(50.0, 10, 1.0)
magPackets = nebsim.createRandomMAGDataPacketList(50.0, 10, 1.0)
for idx,imuPacket in enumerate(imuPackets):
magPacket = magPackets[idx]
imuPacketString = imuPacket.stringEncode()
magPacketString = magPacket.stringEncode()
unitTestDataPacket = NebCommandPacket(SubSystem.Debug,\
Commands.Debug.UnitTestMotionData, timestamp=imuPacket.data.timestamp,\
accel=imuPacket.data.accel, gyro=imuPacket.data.gyro, mag=magPacket.data.mag)
testPacketBytes = bytearray(unitTestDataPacket.stringEncode())
self.assertEqual(testPacketBytes[0], (PacketType.Command << 5)| SubSystem.Debug)
self.assertEqual(testPacketBytes[3], Commands.Debug.UnitTestMotionData)
self.assertEqual(testPacketBytes[8], imuPacketString[8])
self.assertEqual(testPacketBytes[9], imuPacketString[9])
self.assertEqual(testPacketBytes[10], imuPacketString[10])
self.assertEqual(testPacketBytes[11], imuPacketString[11])
self.assertEqual(testPacketBytes[12], imuPacketString[12])
self.assertEqual(testPacketBytes[13], imuPacketString[13])
self.assertEqual(testPacketBytes[14], imuPacketString[14])
self.assertEqual(testPacketBytes[15], imuPacketString[15])
self.assertEqual(testPacketBytes[16], imuPacketString[16])
self.assertEqual(testPacketBytes[17], imuPacketString[17])
self.assertEqual(testPacketBytes[18], imuPacketString[18])
self.assertEqual(testPacketBytes[19], imuPacketString[19])
self.assertEqual(testPacketBytes[20], magPacketString[8])
self.assertEqual(testPacketBytes[21], magPacketString[9])
self.assertEqual(testPacketBytes[22], magPacketString[10])
self.assertEqual(testPacketBytes[23], magPacketString[11])
self.assertEqual(testPacketBytes[24], magPacketString[12])
self.assertEqual(testPacketBytes[25], magPacketString[13])
# LED Command Packets
ledValues = [(0,1),(1,34),(3,0),(4,254),(5,128),(12,11)]
setLEDValuesPacket = NebCommandPacket(\
SubSystem.LED, Commands.LED.SetVal, ledValueTupleList=ledValues)
packetBytes = bytearray(setLEDValuesPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.LED)
self.assertEqual(packetBytes[3], Commands.LED.SetVal)
self.assertEqual(packetBytes[4], 6)
self.assertEqual(packetBytes[5], 0x00)
self.assertEqual(packetBytes[6], 0x01)
self.assertEqual(packetBytes[7], 0x01)
self.assertEqual(packetBytes[8], 34)
self.assertEqual(packetBytes[9], 3)
self.assertEqual(packetBytes[10], 0)
self.assertEqual(packetBytes[11], 4)
self.assertEqual(packetBytes[12], 254)
self.assertEqual(packetBytes[13], 5)
self.assertEqual(packetBytes[14], 128)
self.assertEqual(packetBytes[15], 12)
self.assertEqual(packetBytes[16], 11)
leds = [3,5,1,6,7,2,4]
getLEDValuesPacket = NebCommandPacket(\
SubSystem.LED, Commands.LED.GetVal,\
ledIndices=leds)
packetBytes = bytearray(getLEDValuesPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.LED)
self.assertEqual(packetBytes[3], Commands.LED.GetVal)
self.assertEqual(packetBytes[4], 7)
self.assertEqual(packetBytes[5], 3)
self.assertEqual(packetBytes[6], 5)
self.assertEqual(packetBytes[7], 1)
self.assertEqual(packetBytes[8], 6)
self.assertEqual(packetBytes[9], 7)
self.assertEqual(packetBytes[10], 2)
self.assertEqual(packetBytes[11], 4)
# Flash Session Info
sessionInfoCommandPacket = NebCommandPacket(SubSystem.Storage,\
Commands.Storage.SessionInfo, sessionID = 10)
packetBytes = bytearray(sessionInfoCommandPacket.stringEncode())
self.assertEqual(packetBytes[0], (PacketType.Command << 5)| SubSystem.Storage)
self.assertEqual(packetBytes[3], Commands.Storage.SessionInfo)
self.assertEqual(packetBytes[8], 0x0A)
self.assertEqual(packetBytes[9], 0x00)
def sendCommand(self, subSystem, command, enable=True, **kwargs):
if self.device:
packet = NebCommandPacket(subSystem, command, enable, **kwargs)
self.device.sendPacket(packet.stringEncode())