swarmit 0.1.0__py3-none-any.whl → 0.2.0__py3-none-any.whl

{swarmit-0.1.0.dist-info → swarmit-0.2.0.dist-info}/METADATA

@@ -1,11 +1,11 @@
 Metadata-Version: 2.3
 Name: swarmit
-Version: 0.1.0
+Version: 0.2.0
 Summary: Run Your Own Robot Swarm Testbed.
 Project-URL: Homepage, https://github.com/DotBots/swarmit
 Project-URL: Bug Tracker, https://github.com/DotBots/swarmit/issues
 Author-email: Alexandre Abadie <alexandre.abadie@inria.fr>
-License: BSD
+License-File: AUTHORS
 License-File: LICENSE
 Classifier: License :: OSI Approved :: BSD License
 Classifier: Operating System :: MacOS
@@ -15,7 +15,7 @@ Classifier: Programming Language :: Python :: 3
 Requires-Python: >=3.7
 Requires-Dist: click==8.1.7
 Requires-Dist: cryptography==43.0.1
-Requires-Dist: pydotbot==0.21.2
+Requires-Dist: pydotbot==0.22.0
 Requires-Dist: pyserial==3.5
 Requires-Dist: rich==13.8.1
 Requires-Dist: structlog==24.4.0
@@ -50,12 +50,32 @@ and [bootloader.emProject](device/bootloader/bootloader.emProject) in SES
 
 The device is now ready.
 
+### Gateway
+
+The communication between the computer and the swarm devices is performed via a
+gateway board connected via USB to the computer.
+The gateway board is a Nordic nRF53840DK.
+
+The firmware to run on the gateway can also be compiled and flash using SES.
+The SES project to open is located at [gateway.emProject](gateway/gateway.emProject).
+
+After flashing the gateway firmware, LED1 on the DK should blink fast during 1s.
+
 ### Python CLI script
 
 The Python CLI script provides commands for flashing, starting and stopping user
 code on the device, as well as monitoring and checking the status of devices
 in the swarm.
 
+The Python CLI script connects via a virtual COM port to the gateway connected to
+the computer.
+
+The Python CLI script is available on PyPI. Install it using:
+
+```
+pip install swarmit
+```
+
 Default usage:
 
 ```

swarmit-0.2.0.dist-info/RECORD

@@ -0,0 +1,7 @@
+testbed/cli/main.py,sha256=_mZJx_W549A_5FVMylU0jNXvCG_6cAcDj2fRMAoU65o,19689
+swarmit-0.2.0.dist-info/METADATA,sha256=OkItUGFQ29DNW2xHUkOZLwYG0Mj9smwnmY9vjIlAt2Q,3279
+swarmit-0.2.0.dist-info/WHEEL,sha256=1yFddiXMmvYK7QYTqtRNtX66WJ0Mz8PYEiEUoOUUxRY,87
+swarmit-0.2.0.dist-info/entry_points.txt,sha256=R6BGQe6I1FcI5B2jo7Dr-Gh6-Rjn1Ykx3uAGuV5rVTo,50
+swarmit-0.2.0.dist-info/licenses/AUTHORS,sha256=o2cH3J5JkbZssK_1zYj0m8PHiGiILV0lySR6_hoWKK0,45
+swarmit-0.2.0.dist-info/licenses/LICENSE,sha256=j97C1uBc5chpQWi4bv_2SrqExuvKaJK2Ch6L2LFkoc4,1492
+swarmit-0.2.0.dist-info/RECORD,,

swarmit-0.2.0.dist-info/licenses/AUTHORS

@@ -0,0 +1 @@
+Alexandre Abadie <alexandre.abadie@inria.fr>

testbed/cli/main.py

@@ -19,14 +19,18 @@ from rich.table import Table
 
 from dotbot.logger import LOGGER
 from dotbot.hdlc import hdlc_encode, HDLCHandler, HDLCState
-from dotbot.protocol import PROTOCOL_VERSION
-from dotbot.serial_interface import SerialInterface, SerialInterfaceException, get_default_port
+from dotbot.protocol import PROTOCOL_VERSION, ProtocolHeader
+from dotbot.serial_interface import (
+    SerialInterface,
+    SerialInterfaceException,
+    get_default_port,
+)
 
 
 SERIAL_PORT = get_default_port()
 BAUDRATE = 1000000
 CHUNK_SIZE = 128
-SWARMIT_PREAMBLE = bytes([0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07])
+HEADER = ProtocolHeader()
 
 
 class NotificationType(Enum):
@@ -66,6 +70,17 @@ class DataChunk:
     data: bytes
 
 
+def _header():
+    """Return the header for the protocol."""
+    buffer = bytearray()
+    for field in ProtocolHeader().fields:
+        buffer += int(field.value).to_bytes(
+            length=field.length, byteorder="little", signed=field.signed
+        )
+    buffer += int(16).to_bytes(length=1, byteorder="little")
+    return buffer
+
+
 class SwarmitFlash:
     """Class used to flash a firmware."""
 
@@ -79,13 +94,11 @@ class SwarmitFlash:
         self.chunks = []
         self.fw_hash = None
         self.acked_ids = []
-        # Just write a single byte to fake a gateway handshake
-        self.serial.write(int(PROTOCOL_VERSION).to_bytes(length=1))
 
     def on_byte_received(self, byte):
         self.hdlc_handler.handle_byte(byte)
         if self.hdlc_handler.state == HDLCState.READY:
-            payload = self.hdlc_handler.payload
+            payload = self.hdlc_handler.payload[25:]
             if not payload:
                 return
             deviceid_ack = hex(int.from_bytes(payload[0:8], byteorder="little"))
@@ -102,7 +115,7 @@ class SwarmitFlash:
 
     def _send_start_ota(self, device_id):
         buffer = bytearray()
-        buffer += SWARMIT_PREAMBLE
+        buffer += _header()
         buffer += int(device_id, 16).to_bytes(length=8, byteorder="little")
         buffer += int(RequestType.SWARMIT_REQ_OTA_START.value).to_bytes(
             length=1, byteorder="little"
@@ -176,7 +189,7 @@ class SwarmitFlash:
                 break
             if send is True:
                 buffer = bytearray()
-                buffer += SWARMIT_PREAMBLE
+                buffer += _header()
                 buffer += int(device_id, 16).to_bytes(length=8, byteorder="little")
                 buffer += int(RequestType.SWARMIT_REQ_OTA_CHUNK.value).to_bytes(
                     length=1, byteorder="little"
@@ -222,7 +235,7 @@ class SwarmitStart:
 
     def _send_start(self, device_id):
         buffer = bytearray()
-        buffer += SWARMIT_PREAMBLE
+        buffer += _header()
         buffer += int(device_id, 16).to_bytes(length=8, byteorder="little")
         buffer += int(RequestType.SWARMIT_REQ_EXPERIMENT_START.value).to_bytes(
             length=1, byteorder="little"
@@ -251,7 +264,7 @@ class SwarmitStop:
 
     def _send_stop(self, device_id):
         buffer = bytearray()
-        buffer += SWARMIT_PREAMBLE
+        buffer += _header()
         buffer += int(device_id, 16).to_bytes(length=8, byteorder="little")
         buffer += int(RequestType.SWARMIT_REQ_EXPERIMENT_STOP.value).to_bytes(
             length=1, byteorder="little"
@@ -285,7 +298,7 @@ class SwarmitMonitor:
             return
         self.hdlc_handler.handle_byte(byte)
         if self.hdlc_handler.state == HDLCState.READY:
-            payload = self.hdlc_handler.payload
+            payload = self.hdlc_handler.payload[25:]
             if not payload:
                 return
             deviceid = int.from_bytes(payload[0:8], byteorder="little")
@@ -318,22 +331,22 @@ class SwarmitStatus:
     def __init__(self, port, baudrate):
         self.logger = LOGGER.bind(context=__name__)
         self.hdlc_handler = HDLCHandler()
-        self.serial = SerialInterface(port, baudrate, self.on_byte_received)
         self.last_deviceid_notification = None
-        # Just write a single byte to fake a DotBot gateway handshake
-        self.serial.write(int(PROTOCOL_VERSION).to_bytes(length=1))
         self.status_data = {}
         self.resp_ids = []
         self.table = Table()
         self.table.add_column("Device ID", style="magenta", no_wrap=True)
         self.table.add_column("Status", style="green")
+        self.serial = SerialInterface(port, baudrate, self.on_byte_received)
+        # Just write a single byte to fake a DotBot gateway handshake
+        self.serial.write(int(PROTOCOL_VERSION).to_bytes(length=1))
 
     def on_byte_received(self, byte):
         if self.hdlc_handler is None:
             return
         self.hdlc_handler.handle_byte(byte)
         if self.hdlc_handler.state == HDLCState.READY:
-            payload = self.hdlc_handler.payload
+            payload = self.hdlc_handler.payload[25:]
             if not payload:
                 return
             deviceid_resp = hex(int.from_bytes(payload[0:8], byteorder="little"))
@@ -345,19 +358,19 @@ class SwarmitStatus:
                 self.status_data[deviceid_resp] = status
                 self.table.add_row(
                     deviceid_resp,
-                    f"{"[bold cyan]" if status == StatusType.Running else "[bold green]"}{status.name}",
+                    f'{"[bold cyan]" if status == StatusType.Running else "[bold green]"}{status.name}',
                 )
 
     def status(self, display=True):
         buffer = bytearray()
-        buffer += SWARMIT_PREAMBLE
+        buffer += _header()
         buffer += int("0", 16).to_bytes(length=8, byteorder="little")
         buffer += int(RequestType.SWARMIT_REQ_EXPERIMENT_STATUS.value).to_bytes(
             length=1, byteorder="little"
         )
         self.serial.write(hdlc_encode(buffer))
         timeout = 0  # ms
-        while timeout < 200:
+        while timeout < 2000:
             timeout += 1
             time.sleep(0.0001)
         if self.status_data and display is True:
@@ -393,7 +406,7 @@ def swarmit_flash(port, baudrate, firmware, yes, devices, ready_devices):
         console = Console()
         console.print(
             "[bold red]Error:[/] some acknowledgment are missing "
-            f"({", ".join(sorted(set(ready_devices).difference(set(ids))))}). "
+            f'({", ".join(sorted(set(ready_devices).difference(set(ids))))}). '
             "Aborting."
         )
         return False

swarmit-0.1.0.dist-info/RECORD

@@ -1,6 +0,0 @@
-testbed/cli/main.py,sha256=wQgWFdR7IIdT7IqzHarWW6_PdXrvhu2wgJl3sehzAJ8,19518
-swarmit-0.1.0.dist-info/METADATA,sha256=H4oeGLCMoS7GcMrKrQ4sEC0hkKcqOee5aYC3t2FO0LY,2650
-swarmit-0.1.0.dist-info/WHEEL,sha256=1yFddiXMmvYK7QYTqtRNtX66WJ0Mz8PYEiEUoOUUxRY,87
-swarmit-0.1.0.dist-info/entry_points.txt,sha256=R6BGQe6I1FcI5B2jo7Dr-Gh6-Rjn1Ykx3uAGuV5rVTo,50
-swarmit-0.1.0.dist-info/licenses/LICENSE,sha256=j97C1uBc5chpQWi4bv_2SrqExuvKaJK2Ch6L2LFkoc4,1492
-swarmit-0.1.0.dist-info/RECORD,,