ekfsm 0.11.0b1.post3__py3-none-any.whl → 0.13.0a160.post4__py3-none-any.whl

ekfsm/boards/oem/ekf/ccu.yaml

@@ -66,3 +66,5 @@ children:
                 sysstate:
                   - wd_trigger
                   - sw_shutdown
+                imu:
+                  - sample: imu_sample

ekfsm/boards/oem/ekf/se5-club.yaml

@@ -0,0 +1,41 @@
+id: 64
+name: "EKF SE5-CLUB"
+slot_type: CPCI_S0_PER
+children:
+    - device_type: I2CMux
+      name: "MUX"
+      addr: 0x70
+      slot_coding_mask: 0x07
+      children:
+        - device_type: MuxChannel
+          name: "CH00"
+          channel_id: 0
+          children:
+            - device_type: EKFIdentificationIOExpander
+              name: "GPIO"
+              addr: 0x3D
+              provides:
+                inventory:
+                  - revision
+            - device_type: EKF_EEPROM
+              name: "EEPROM"
+              addr: 0x55
+              provides:
+                inventory:
+                  - vendor
+                  - serial
+                  - model
+                  - repaired_at
+                  - manufactured_at
+        - device_type: MuxChannel
+          name: "CH01"
+          channel_id: 1
+          children:
+        - device_type: MuxChannel
+          name: "CH02"
+          channel_id: 2
+          children:
+        - device_type: MuxChannel
+          name: "CH03"
+          channel_id: 3
+          children:

ekfsm/boards/oem/ekf/sn4-djembe.yaml

@@ -0,0 +1,41 @@
+id: 61
+name: "EKF SN4-DJEMBE"
+slot_type: CPCI_S0_PER
+children:
+    - device_type: I2CMux
+      name: "MUX"
+      addr: 0x70
+      slot_coding_mask: 0x07
+      children:
+        - device_type: MuxChannel
+          name: "CH00"
+          channel_id: 0
+          children:
+            - device_type: EKFIdentificationIOExpander
+              name: "GPIO"
+              addr: 0x3D
+              provides:
+                inventory:
+                  - revision
+            - device_type: EKF_EEPROM
+              name: "EEPROM"
+              addr: 0x55
+              provides:
+                inventory:
+                  - vendor
+                  - serial
+                  - model
+                  - repaired_at
+                  - manufactured_at
+        - device_type: MuxChannel
+          name: "CH01"
+          channel_id: 1
+          children:
+        - device_type: MuxChannel
+          name: "CH02"
+          channel_id: 2
+          children:
+        - device_type: MuxChannel
+          name: "CH03"
+          channel_id: 3
+          children:

ekfsm/boards/oem/ekf/sq3-quartet.yaml

@@ -0,0 +1,41 @@
+id: 69
+name: "EKF SQ3-QUARTET"
+slot_type: CPCI_S0_PER
+children:
+    - device_type: I2CMux
+      name: "MUX"
+      addr: 0x70
+      slot_coding_mask: 0x07
+      children:
+        - device_type: MuxChannel
+          name: "CH00"
+          channel_id: 0
+          children:
+            - device_type: EKFIdentificationIOExpander
+              name: "GPIO"
+              addr: 0x3D
+              provides:
+                inventory:
+                  - revision
+            - device_type: EKF_EEPROM
+              name: "EEPROM"
+              addr: 0x55
+              provides:
+                inventory:
+                  - vendor
+                  - serial
+                  - model
+                  - repaired_at
+                  - manufactured_at
+        - device_type: MuxChannel
+          name: "CH01"
+          channel_id: 1
+          children:
+        - device_type: MuxChannel
+          name: "CH02"
+          channel_id: 2
+          children:
+        - device_type: MuxChannel
+          name: "CH03"
+          channel_id: 3
+          children:

ekfsm/boards/oem/hitron/{hdrc-300.yaml → hdrc-300s.yaml}

@@ -1,5 +1,5 @@
-id: HDRC300
-name: "HITRON HDRC-300"
+id: HDRC300S-110J-D120E(N)
+name: "Hitron HDRC-300S"
 slot_type: CPCI_S0_PSU
 children:
     - device_type: PmBus
@@ -15,6 +15,10 @@ children:
         main:
           - voltage: in1_input
           - current: curr1_input
+          - status: status0_input
         sby:
           - voltage: in2_input
           - current: curr2_input
+          - status: status1_input
+        th:
+          - temperature: temp1_input

ekfsm/cli.py

@@ -75,9 +75,12 @@ def cli(verbose, debug, sysfs, config):
 @click.option("--revision", "-r", is_flag=False, help="Write chassis revision")
 @click.option("--model", "-m", is_flag=False, help="Write chassis model")
 @click.option("--custom", "-c", is_flag=False, help="Write chassis custom information")
-def write(serial, unit, vendor, revision, model, custom):
+@click.option("--version", "-v", is_flag=True, help="Write schema version")
+def write(serial, unit, vendor, revision, model, custom, version):
     """Write data to the system"""
     chassis = sm.ccu.chassis_inventory
+    eeprom = sm.ccu.mux.ch00.eeprom
+
     if serial:
         chassis.write_serial(serial)
     if unit:
@@ -90,6 +93,8 @@ def write(serial, unit, vendor, revision, model, custom):
         chassis.write_model(model)
     if custom:
         chassis.write_customer_area(custom)
+    if version:
+        eeprom.write_version(version)
 
 
 @cli.command()

ekfsm/config.py

@@ -7,6 +7,7 @@ from typing import Any, List, Tuple
 schema_str = """
 system_config:
   name: str()
+  aggregates: map(required=False)
   slots: list(include('slot'))
 ---
 slot:

ekfsm/core/components.py

@@ -11,16 +11,17 @@ if TYPE_CHECKING:
     from .slots import Slot
 
 
-class SystemComponent(NodeMixin):
+class SysTree(NodeMixin):
     """
     Base class for all system components including Hardware Modules and Devices.
     """
 
-    def __init__(self, name: str):
+    def __init__(self, name: str, abort: bool = False) -> None:
         from ekfsm.log import ekfsm_logger
 
         self.logger = ekfsm_logger(name)
         self.name = name
+        self.abort = abort
 
     def _render_tree(self) -> str:
         output = ""
@@ -35,18 +36,26 @@ class SystemComponent(NodeMixin):
         print(self)
 
 
-class HwModule(SystemComponent):
+class HwModule(SysTree):
     """
     A HwModule represents an instantiation of a specifc hw board type,
     for example an instance of an EKF SC9 board.
     """
 
-    def __init__(self, instance_name: str, config: dict, slot: Slot) -> None:
+    def __init__(
+        self,
+        instance_name: str,
+        config: dict,
+        slot: Slot,
+        abort: bool = False,
+        *args,
+        **kwargs,
+    ) -> None:
         from ekfsm.core.utils import deserialize_hardware_tree
 
         from .slots import SlotType
 
-        super().__init__(instance_name)
+        super().__init__(instance_name, abort=abort)
         self._slot: Slot = slot
         self.config = config
 
@@ -90,8 +99,11 @@ class HwModule(SystemComponent):
 
         nodes = findall(self, lambda node: isinstance(node, ProbeableDevice))
         for node in nodes:
-            if node.probe(*args, **kwargs):
-                return True
+            try:
+                if node.probe(*args, **kwargs):
+                    return True
+            except Exception as e:
+                self.logger.error(f"Error probing {node}: {e}")
 
         return False
 

ekfsm/core/utils.py

@@ -16,11 +16,11 @@ class BoardDictImporter:
     def __init__(self, nodecls=AnyNode):
         self.nodecls = nodecls
 
-    def import_(self, logger: logging.Logger, data, parent=None):
+    def import_(self, logger: logging.Logger, data, parent=None, abort: bool = False):
         """Import tree from `data`."""
-        return self.__import(logger, data, parent=parent)
+        return self.__import(logger, data, parent=parent, abort=abort)
 
-    def __import(self, logger: logging.Logger, data, parent=None):
+    def __import(self, logger: logging.Logger, data, parent=None, abort: bool = False):
         from .components import HwModule
 
         device_type = data.get("device_type")
@@ -30,6 +30,7 @@ class BoardDictImporter:
 
         children = data.pop("children", [])
         if parent is not None and isinstance(parent, HwModule):
+            # ???
             pass
 
         node = nodecls(parent=parent, **data)
@@ -38,11 +39,17 @@ class BoardDictImporter:
             for child in children:
                 try:
                     logger.debug(f"Importing sub device {child}")
-                    self.__import(logger, child, parent=node)
+                    self.__import(logger, child, parent=node, abort=abort)
                 except Exception as e:
-                    logger.error(
-                        f"Failed to import sub device {child}: {e}. continue anyway"
-                    )
+                    if abort:
+                        logger.error(
+                            f"Failed to import sub device {child}: {e}. aborting"
+                        )
+                        raise e
+                    else:
+                        logger.error(
+                            f"Failed to import sub device {child}: {e}. continue anyway"
+                        )
         return node
 
 
@@ -50,7 +57,9 @@ def deserialize_hardware_tree(
     logger: logging.Logger, data: dict, parent: "HwModule"
 ) -> tuple[str, str, str, list["Device"]]:
     importer = BoardDictImporter()
+    abort = parent.abort
 
+    # better use schema extension for this
     id = data.pop("id", None)
     if id is None:
         raise ConfigError("Board configuration must contain `id`")
@@ -67,11 +76,17 @@ def deserialize_hardware_tree(
         for child in children:
             try:
                 logger.debug(f"Importing top level device {child}")
-                node = importer.import_(logger, child, parent=parent)
+                node = importer.import_(logger, child, parent=parent, abort=abort)
                 devices.append(node)
             except Exception as e:
-                logger.error(
-                    f"Failed to import top level device {child}: {e}. continue anyway"
-                )
+                if abort:
+                    logger.error(
+                        f"Failed to import top level device {child}: {e}. aborting"
+                    )
+                    raise e
+                else:
+                    logger.error(
+                        f"Failed to import top level device {child}: {e}. continue anyway"
+                    )
 
     return id, name, slot_type, devices

ekfsm/devices/__init__.py

@@ -1,8 +1,8 @@
 from ekfsm.devices.generic import Device
-from ekfsm.devices.hwmon import HWMON
+from ekfsm.devices.coretemp import CoreTemp
 from ekfsm.devices.smbios import SMBIOS
 from .eeprom import EEPROM, EKF_EEPROM, EKF_CCU_EEPROM
-from .pmbus import PmBus
+from .pmbus import PmBus, PsuStatus
 from .gpio import GPIO, EKFIdentificationIOExpander, GPIOExpander
 from .ekf_sur_led import EKFSurLed
 from .ekf_ccu_uc import EKFCcuUc
@@ -21,8 +21,9 @@ CLASS_MAP = {
     "EKF_CCU_EEPROM": EKF_CCU_EEPROM,
     "EKFCcuUc": EKFCcuUc,
     "PmBus": PmBus,
+    "PsuStatus": PsuStatus,
     "SMBIOS": SMBIOS,
-    "HWMON": HWMON,
+    "HWMON": CoreTemp,
     "EKFSurLed": EKFSurLed,
     "IIOThermalHumidity": IIOThermalHumidity,
 }

ekfsm/devices/{hwmon.py → coretemp.py}

@@ -7,7 +7,7 @@ from ekfsm.core.sysfs import SYSFS_ROOT
 from ekfsm.devices.generic import Device
 
 # Path to the root of the HWMON sysfs filesystem
-HWMON_ROOT = SYSFS_ROOT / Path('class/hwmon')
+HWMON_ROOT = SYSFS_ROOT / Path("class/hwmon")
 
 
 def find_core_temp_dir(hwmon_dir) -> Path:
@@ -24,19 +24,19 @@ def find_core_temp_dir(hwmon_dir) -> Path:
         FileNotFoundError: If no coretemp directory is found
     """
     # List all 'name' files in each subdirectory of hwmon_dir
-    name_files = glob.glob(os.path.join(hwmon_dir, '*', 'name'))
+    name_files = glob.glob(os.path.join(hwmon_dir, "*", "name"))
 
     # Search for the file containing "coretemp"
     for name_file in name_files:
-        with open(name_file, 'r') as file:
-            if file.readline().strip() == 'coretemp':
+        with open(name_file, "r") as file:
+            if file.readline().strip() == "coretemp":
                 # Return the directory containing this file
                 return Path(os.path.dirname(name_file))
 
     raise FileNotFoundError("No coretemp directory found")
 
 
-class HWMON(Device):
+class CoreTemp(Device):
     """
     A class to represent the HWMON device.
 
@@ -55,7 +55,9 @@ class HWMON(Device):
     ):
         from ekfsm.core.sysfs import SysFSDevice, SYSFS_ROOT
 
-        self.sysfs_device: SysFSDevice = SysFSDevice(find_core_temp_dir(SYSFS_ROOT / Path('class/hwmon')))
+        self.sysfs_device: SysFSDevice = SysFSDevice(
+            find_core_temp_dir(SYSFS_ROOT / Path("class/hwmon"))
+        )
 
         super().__init__(name, parent, None, *args, **kwargs)
 

ekfsm/devices/eeprom.py

@@ -14,7 +14,7 @@ from datetime import date
 from typing import Any, Callable, Literal, Sequence
 from functools import wraps
 
-from ekfsm.core.components import SystemComponent
+from ekfsm.core.components import SysTree
 from ekfsm.core.probe import ProbeableDevice
 
 from .generic import Device
@@ -81,7 +81,7 @@ class EEPROM(Device):
     def __init__(
         self,
         name: str,
-        parent: SystemComponent | None = None,
+        parent: SysTree | None = None,
         *args,
         **kwargs,
     ):
@@ -740,7 +740,7 @@ class EKF_EEPROM(Validatable_EEPROM, ProbeableDevice):
         return get_crc16_xmodem(self._data)
 
     def probe(self, *args, **kwargs):
-        return self.root.id == self.model()
+        return self.hw_module.id == self.model()
 
 
 class EKF_CCU_EEPROM(EKF_EEPROM):
@@ -764,7 +764,7 @@ class EKF_CCU_EEPROM(EKF_EEPROM):
     _unit_length = 1
 
     _customer_area_start = 190
-    _customer_area_length = 64
+    _customer_area_length = 63
 
     def __init__(
         self,
@@ -865,6 +865,7 @@ class EKF_CCU_EEPROM(EKF_EEPROM):
         -------
             The vendor of the chassis.
         """
+
         return (
             self._content[
                 self._cvendor_index_start : self._cvendor_index_start
@@ -1002,6 +1003,42 @@ class EKF_CCU_EEPROM(EKF_EEPROM):
         unit = compute_int_from_bytes([area])
         return unit
 
+    @validated
+    def version(self) -> int:
+        """
+        Get the version of the EEPROM data scheme.
+
+        Note
+        ----
+        If undefined, the version is set to 255 and then defaults to 0.
+
+        Returns
+        -------
+            The version of the EEPROM data scheme.
+        """
+        version = self._content[self._ccrc_pos_start - 1]
+        return version
+
+    def write_version(self, version: int) -> None:
+        """
+        Write the version of the EEPROM data scheme.
+
+        Parameters
+        ----------
+        version
+            The version of the EEPROM data scheme.
+        """
+        if version < 0 or version > 255:
+            raise ValueError("Version must be between 0 and 255")
+
+        if version == 255:
+            logger.warning("Version 255 is undefined, setting to 0")
+            version = 0
+
+        version_bytes = version.to_bytes(1, byteorder="little")
+        logger.info(f"Writing version {version}")
+        self.write(version_bytes, self._ccrc_pos_start - 1)
+
     def write_unit(self, unit: int) -> None:
         """
         Write the subsystem unit number.

ekfsm/devices/ekf_ccu_uc.py

@@ -2,8 +2,9 @@ from .generic import Device
 from smbus2 import SMBus
 from enum import Enum
 from typing import Tuple
-from ekfsm.core.components import SystemComponent
+from ekfsm.core.components import SysTree
 from ..exceptions import AcquisitionError
+from .imu import ImuSample
 import struct
 
 
@@ -34,7 +35,7 @@ class EKFCcuUc(Device):
     def __init__(
         self,
         name: str,
-        parent: SystemComponent | None,
+        parent: SysTree | None,
         *args,
         **kwargs,
     ):
@@ -163,6 +164,68 @@ class EKFCcuUc(Device):
             self._i2c_addr, CcuCommands.PUSH_TEMPERATURE.value, list(data)
         )
 
+    def imu_sample(self) -> Tuple[ImuSample | None, bool]:
+        """
+        Read the next IMU sample from the CCU's IMU sample FIFO.
+
+        If no sample is available, this method returns None.
+        The second return value indicates if more samples are available in the FIFO.
+
+        The CCU periodically samples the accelerometer and gyroscope data from the IMU and
+        places it into a FIFO of 256 entries.
+        Application must periodically read the samples from the FIFO to avoid overflow.
+
+        FIFO overflow is indicated in the sample by the `lost` attribute.
+
+        Note that the x, y, and z axes of the accelerometer and gyroscope
+        are aligned to the mounting of the IMU on the CCU board. Please correct the axes if necessary
+        to match the orientation of the IMU in your application.
+
+        Returns
+        -------
+        Tuple[ImuSample | None, bool]
+            The IMU sample (or None) and a flag indicating if more samples are available in the FIFO.
+        """
+        more_samples = False
+        _data = self._smbus.read_block_data(
+            self._i2c_addr, CcuCommands.IMU_SAMPLES.value
+        )
+        data = bytes(_data)
+        if len(data) < 14:
+            return None, False  # No data available
+        diag, fsr, acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z = struct.unpack(
+            "<BBhhhhhh", data
+        )
+        imu_data = ImuSample(
+            [
+                self._scale_imu_accel(acc_x, fsr),
+                self._scale_imu_accel(acc_y, fsr),
+                self._scale_imu_accel(acc_z, fsr),
+            ],
+            [
+                self._scale_imu_gyro(gyro_x, fsr),
+                self._scale_imu_gyro(gyro_y, fsr),
+                self._scale_imu_gyro(gyro_z, fsr),
+            ],
+            True if diag & 1 else False,
+        )
+
+        more_samples = True if (diag & 2 != 0) else False
+
+        return imu_data, more_samples
+
+    @staticmethod
+    def _scale_imu_accel(val: int, fsr: int) -> float:
+        fsr = fsr & 0xF
+        scale = 16 / (1 << fsr)
+        return val * (scale / 32768) * 9.80665  # convert to m/s^2
+
+    @staticmethod
+    def _scale_imu_gyro(val: int, fsr: int) -> float:
+        fsr = fsr >> 4 & 0xF
+        scale = 2000 / (1 << fsr)
+        return val * (scale / 32768)
+
     def sw_shutdown(self) -> None:
         """
         Tell CCU that the system is going to shutdown.
@@ -316,6 +379,9 @@ class EKFCcuUc(Device):
             chunk = self._get_parameterset_chunk(begin)
             if len(chunk) < 32:
                 break
+            # if chunk ends with zero byte, remove it (workaround for I2C slave bug)
+            if chunk[-1] == 0:
+                chunk = chunk[:-1]
             json += chunk
             begin = False
         return json.decode("utf-8")

ekfsm/devices/ekf_sur_led.py

@@ -1,5 +1,5 @@
 from .gpio import GPIOExpander
-from ekfsm.core.components import SystemComponent
+from ekfsm.core.components import SysTree
 
 
 class EKFSurLed(GPIOExpander):
@@ -10,7 +10,7 @@ class EKFSurLed(GPIOExpander):
     def __init__(
         self,
         name: str,
-        parent: SystemComponent | None,
+        parent: SysTree | None,
         *args,
         **kwargs,
     ):

ekfsm/devices/generic.py

@@ -1,6 +1,6 @@
 from typing import TYPE_CHECKING
 from munch import Munch
-from ekfsm.core.components import SystemComponent
+from ekfsm.core.components import SysTree
 from ekfsm.core.sysfs import SysFSDevice, sysfs_root
 from ekfsm.exceptions import ConfigError
 from pathlib import Path
@@ -9,7 +9,7 @@ if TYPE_CHECKING:
     from ekfsm.core.components import HwModule
 
 
-class Device(SystemComponent):
+class Device(SysTree):
     """
     A generic device.
     """
@@ -17,12 +17,13 @@ class Device(SystemComponent):
     def __init__(
         self,
         name: str,
-        parent: SystemComponent | None = None,
+        parent: SysTree | None = None,
         children: list["Device"] | None = None,
+        abort: bool = False,
         *args,
-        **kwargs
+        **kwargs,
     ):
-        super().__init__(name)
+        super().__init__(name, abort=abort)
         self.parent = parent
         self.device_args = kwargs
         self.logger.debug(f"Device: {name} {kwargs}")
@@ -30,21 +31,21 @@ class Device(SystemComponent):
         if children:
             self.children = children
 
-        if not hasattr(self, "sysfs_device"):
+        # needs to be set during init because root will be changed after tree is complete
+        self.hw_module = self.root
+
+        # i2c initialization
+        if not hasattr(self, "sysfs_device") or self.sysfs_device is None:
             self.sysfs_device: SysFSDevice | None = None
 
+        # post init
         self._provides_attrs = kwargs.get("provides", {})
-
         self.provides = self.__post_init__(Munch(self._provides_attrs))
 
     def __post_init__(self, provides: Munch) -> Munch:
-        return self.__init_dynamic_attrs__(provides)
-
-    def __init_dynamic_attrs__(self, provides: Munch) -> Munch:
-
         for key, fields in provides.items():
             if isinstance(fields, dict):
-                provides[key] = self.__init_dynamic_attrs__(Munch(fields))
+                provides[key] = self.__post_init__(Munch(fields))
             elif isinstance(fields, list | str):
                 provides[key] = Munch()
 
@@ -91,14 +92,18 @@ class Device(SystemComponent):
         return None
 
     @property
-    def hw_module(self) -> 'HwModule':
+    def hw_module(self) -> "HwModule":
         from ekfsm.core.components import HwModule
 
-        if isinstance(self.root, HwModule):
-            return self.root
+        if isinstance(self._hw_module, HwModule):
+            return self._hw_module
         else:
             raise RuntimeError("Device is not a child of HwModule")
 
+    @hw_module.setter
+    def hw_module(self, hw_module: "HwModule") -> None:
+        self._hw_module = hw_module
+
     def get_i2c_chip_addr(self) -> int:
         assert self.parent is not None