swarmit 0.2.0__py3-none-any.whl → 0.4.4__py3-none-any.whl

testbed/swarmit/protocol.py

@@ -0,0 +1,231 @@
+"""Swarmit protocol definition."""
+
+import dataclasses
+from dataclasses import dataclass
+from enum import Enum, IntEnum
+
+from dotbot.protocol import Payload, PayloadFieldMetadata, register_parser
+
+
+class StatusType(Enum):
+    """Types of device status."""
+
+    Bootloader = 0
+    Running = 1
+    Stopping = 2
+    Resetting = 3
+    Programming = 4
+
+
+class SwarmitPayloadType(IntEnum):
+    """Types of DotBot payload types."""
+
+    # Requests
+    SWARMIT_REQUEST_STATUS = 0x80
+    SWARMIT_REQUEST_START = 0x81
+    SWARMIT_REQUEST_STOP = 0x82
+    SWARMIT_REQUEST_RESET = 0x83
+    SWARMIT_REQUEST_OTA_START = 0x84
+    SWARMIT_REQUEST_OTA_CHUNK = 0x85
+
+    # Notifications
+    SWARMIT_NOTIFICATION_STATUS = 0x90
+    SWARMIT_NOTIFICATION_OTA_START_ACK = 0x93
+    SWARMIT_NOTIFICATION_OTA_CHUNK_ACK = 0x94
+    SWARMIT_NOTIFICATION_EVENT_GPIO = 0x95
+    SWARMIT_NOTIFICATION_EVENT_LOG = 0x96
+
+    # Custom messages
+    SWARMIT_MESSAGE = 0xA0
+
+
+# Requests
+
+
+@dataclass
+class PayloadRequest(Payload):
+    """Dataclass that holds an application request packet (start/stop/status)."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: []
+    )
+
+
+@dataclass
+class PayloadStatusRequest(PayloadRequest):
+    """Dataclass that holds an application status request packet."""
+
+
+@dataclass
+class PayloadStartRequest(PayloadRequest):
+    """Dataclass that holds an application start request packet."""
+
+
+@dataclass
+class PayloadStopRequest(PayloadRequest):
+    """Dataclass that holds an application stop request packet."""
+
+
+@dataclass
+class PayloadResetRequest(Payload):
+    """Dataclass that holds an application reset request packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="pos_x", length=4),
+            PayloadFieldMetadata(name="pos_y", length=4),
+        ]
+    )
+
+    pos_x: int = 0
+    pos_y: int = 0
+
+
+@dataclass
+class PayloadOTAStartRequest(Payload):
+    """Dataclass that holds an OTA start packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="fw_length", disp="len.", length=4),
+            PayloadFieldMetadata(
+                name="fw_chunk_counts", disp="chunks", length=4
+            ),
+        ]
+    )
+
+    fw_length: int = 0
+    fw_chunk_count: int = 0
+
+
+@dataclass
+class PayloadOTAChunkRequest(Payload):
+    """Dataclass that holds an OTA chunk packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="index", disp="idx", length=4),
+            PayloadFieldMetadata(name="count", disp="size"),
+            PayloadFieldMetadata(name="sha", type_=bytes, length=8),
+            PayloadFieldMetadata(name="chunk", type_=bytes, length=0),
+        ]
+    )
+
+    index: int = 0
+    count: int = 0
+    sha: bytes = dataclasses.field(default_factory=lambda: bytearray)
+    chunk: bytes = dataclasses.field(default_factory=lambda: bytearray)
+
+
+# Notifications
+
+
+@dataclass
+class PayloadStatusNotification(Payload):
+    """Dataclass that holds an application status notification packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="status", disp="st."),
+        ]
+    )
+
+    status: StatusType = StatusType.Bootloader
+
+
+@dataclass
+class PayloadOTAStartAckNotification(Payload):
+    """Dataclass that holds an application OTA start ACK notification packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: []
+    )
+
+
+@dataclass
+class PayloadOTAChunkAckNotification(Payload):
+    """Dataclass that holds an application OTA chunk ACK notification packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="index", disp="idx", length=4),
+        ]
+    )
+
+    index: int = 0
+
+
+@dataclass
+class PayloadEventNotification(Payload):
+    """Dataclass that holds an event notification packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="timestamp", disp="ts", length=4),
+            PayloadFieldMetadata(name="count", disp="len."),
+            PayloadFieldMetadata(
+                name="data", disp="data", type_=bytes, length=0
+            ),
+        ]
+    )
+
+    timestamp: int = 0
+    count: int = 0
+    data: bytes = dataclasses.field(default_factory=lambda: bytearray)
+
+
+@dataclass
+class PayloadMessage(Payload):
+    """Dataclass that holds a message packet."""
+
+    metadata: list[PayloadFieldMetadata] = dataclasses.field(
+        default_factory=lambda: [
+            PayloadFieldMetadata(name="count", disp="len."),
+            PayloadFieldMetadata(
+                name="message", disp="msg", type_=bytes, length=0
+            ),
+        ]
+    )
+
+    count: int = 0
+    message: bytes = dataclasses.field(default_factory=lambda: bytearray)
+
+
+def register_parsers():
+    # Register all swarmit specific parsers at module level
+    register_parser(
+        SwarmitPayloadType.SWARMIT_REQUEST_STATUS,
+        PayloadStatusRequest,
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_REQUEST_START, PayloadStartRequest
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_REQUEST_STOP, PayloadStopRequest
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_REQUEST_RESET, PayloadResetRequest
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_REQUEST_OTA_START, PayloadOTAStartRequest
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_REQUEST_OTA_CHUNK, PayloadOTAChunkRequest
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_NOTIFICATION_STATUS,
+        PayloadStatusNotification,
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_NOTIFICATION_OTA_START_ACK,
+        PayloadOTAStartAckNotification,
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_NOTIFICATION_OTA_CHUNK_ACK,
+        PayloadOTAChunkAckNotification,
+    )
+    register_parser(
+        SwarmitPayloadType.SWARMIT_NOTIFICATION_EVENT_LOG,
+        PayloadEventNotification,
+    )
+    register_parser(SwarmitPayloadType.SWARMIT_MESSAGE, PayloadMessage)

swarmit-0.2.0.dist-info/METADATA

@@ -1,99 +0,0 @@
-Metadata-Version: 2.3
-Name: swarmit
-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-File: AUTHORS
-License-File: LICENSE
-Classifier: License :: OSI Approved :: BSD License
-Classifier: Operating System :: MacOS
-Classifier: Operating System :: Microsoft :: Windows
-Classifier: Operating System :: POSIX :: Linux
-Classifier: Programming Language :: Python :: 3
-Requires-Python: >=3.7
-Requires-Dist: click==8.1.7
-Requires-Dist: cryptography==43.0.1
-Requires-Dist: pydotbot==0.22.0
-Requires-Dist: pyserial==3.5
-Requires-Dist: rich==13.8.1
-Requires-Dist: structlog==24.4.0
-Requires-Dist: tqdm==4.66.5
-Description-Content-Type: text/markdown
-
- # SwarmIT
-
- SwarmIT provides a embedded C port for nRF53 as well as Python based services to
- easily build and deploy a robotic swarm infrastructure testbed.
- ARM TrustZone is used to create a sandboxed user environment on each device
- under test, without requiring a control co-processor attached to it.
-
-## Features
-
-- Experiment management: start, stop, monitor and status check
-- Deploy a custom firmware on all or on a subset of robots of a swarm testbed
-- Resilient robot state: even when crashed by buggy user code, the robot can be reprogrammed remotely and wirelessly
-
-## Usage
-
-### Embedded C code
-
-SwarmIT embedded C code can be built using
-[Segger Embedded Studio (SES)](https://www.segger.com/products/development-tools/embedded-studio/).
-
-To provision a device, follow the following steps:
-1. open [netcore.emProject](device/network_core/netcore.emProject)
-and [bootloader.emProject](device/bootloader/bootloader.emProject) in SES
-2. build and load the netcore application on the nRF53 network core,
-3. build and load the bootloader application on the nRF53 application core.
-
-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 --help
-Usage: swarmit [OPTIONS] COMMAND [ARGS]...
-
-Options:
-  -p, --port TEXT         Serial port to use to send the bitstream to the
-                          gateway. Default: /dev/ttyACM0.
-  -b, --baudrate INTEGER  Serial port baudrate. Default: 1000000.
-  -d, --devices TEXT      Subset list of devices to interact with, separated
-                          with ,
-  --help                  Show this message and exit.
-
-Commands:
-  flash
-  monitor
-  start
-  status
-  stop
-```

swarmit-0.2.0.dist-info/RECORD

@@ -1,7 +0,0 @@
-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,,