swarmit 0.4.5__tar.gz → 0.5.0rc1__tar.gz

{swarmit-0.4.5 → swarmit-0.5.0rc1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: swarmit
-Version: 0.4.5
+Version: 0.5.0rc1
 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
@@ -14,13 +14,13 @@ 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: click>=8.1.7
 Requires-Dist: cryptography==43.0.1
-Requires-Dist: marilib-pkg>=0.6.0
-Requires-Dist: pydotbot>=0.24.1
-Requires-Dist: rich==14.0.0
-Requires-Dist: structlog==24.4.0
-Requires-Dist: tqdm==4.66.5
+Requires-Dist: marilib-pkg==0.7.0rc1
+Requires-Dist: pydotbot>=0.25.0
+Requires-Dist: rich>=14.0.0
+Requires-Dist: structlog>=24.4.0
+Requires-Dist: tqdm>=4.66.5
 Description-Content-Type: text/markdown
 
  # SwarmIT

{swarmit-0.4.5 → swarmit-0.5.0rc1}/pyproject.toml

@@ -26,13 +26,13 @@ authors = [
     { name="Alexandre Abadie", email="alexandre.abadie@inria.fr" },
 ]
 dependencies = [
-    "click          == 8.1.7",
+    "click          >= 8.1.7",
     "cryptography   == 43.0.1",
-    "pydotbot       >= 0.24.1",
-    "rich           == 14.0.0",
-    "structlog      == 24.4.0",
-    "tqdm           == 4.66.5",
-    "marilib-pkg    >= 0.6.0",
+    "pydotbot       >= 0.25.0",
+    "rich           >= 14.0.0",
+    "structlog      >= 24.4.0",
+    "tqdm           >= 4.66.5",
+    "marilib-pkg    == 0.7.0rc1",
 ]
 description = "Run Your Own Robot Swarm Testbed."
 readme = "README.md"

swarmit-0.5.0rc1/testbed/swarmit/__init__.py

@@ -0,0 +1 @@
+__version__ = "0.5.0rc1"

{swarmit-0.4.5 → swarmit-0.5.0rc1}/testbed/swarmit/controller.py

@@ -22,6 +22,7 @@ from testbed.swarmit.adapter import (
     MarilibEdgeAdapter,
 )
 from testbed.swarmit.protocol import (
+    DeviceType,
     PayloadMessage,
     PayloadOTAChunkRequest,
     PayloadOTAStartRequest,
@@ -39,11 +40,22 @@ COMMAND_MAX_ATTEMPTS = 5
 COMMAND_ATTEMPT_DELAY = 1
 STATUS_TIMEOUT = 5
 OTA_MAX_RETRIES_DEFAULT = 10
-OTA_ACK_TIMEOUT_DEFAULT = 3
+OTA_ACK_TIMEOUT_DEFAULT = 2
 SERIAL_PORT_DEFAULT = get_default_port()
 BROADCAST_ADDRESS = 0xFFFFFFFFFFFFFFFF
 
 
+@dataclass
+class NodeStatus:
+    """Class that holds node status."""
+
+    device: DeviceType = DeviceType.Unknown
+    status: StatusType = StatusType.Bootloader
+    battery: int = 0
+    pos_x: int = 0
+    pos_y: int = 0
+
+
 @dataclass
 class DataChunk:
     """Class that holds data chunks."""
@@ -101,11 +113,20 @@ def addr_to_hex(addr: int) -> str:
     return hexlify(addr.to_bytes(8, "big")).decode().upper()
 
 
+def battery_level_color(level: int):
+    if level > 85:
+        return "green"
+    elif level > 65:
+        return "dark_orange"
+    else:
+        return "red"
+
+
 def generate_status(status_data, devices=[], status_message="found"):
     data = {
-        key: device
-        for key, device in status_data.items()
-        if (devices and key in devices) or (not devices)
+        addr: device_data
+        for addr, device_data in status_data.items()
+        if (devices and addr in devices) or (not devices)
     }
     if not data:
         return Group(Text(f"\nNo device {status_message}\n"))
@@ -116,16 +137,35 @@ def generate_status(status_data, devices=[], status_message="found"):
 
     table = Table()
     table.add_column("Device Addr", style="magenta", no_wrap=True)
+    table.add_column(
+        "Type",
+        style="cyan",
+        justify="center",
+    )
+    table.add_column(
+        "Battery",
+        style="cyan",
+        justify="right",
+    )
+    table.add_column(
+        "Position",
+        style="cyan",
+        justify="right",
+    )
     table.add_column(
         "Status",
         style="green",
         justify="center",
         width=max([len(m) for m in StatusType.__members__]),
     )
-    for device_addr, status in sorted(data.items()):
+    for device_addr, device_data in sorted(data.items()):
+
         table.add_row(
             f"{device_addr}",
-            f"{'[bold cyan]' if status == StatusType.Running else '[bold green]'}{status.name}",
+            f"{device_data.device.name}",
+            f"[{battery_level_color(device_data.battery)}]{device_data.battery:>3}%",
+            f"({(device_data.pos_x / 1e6):.2f}, {(device_data.pos_y / 1e6):.2f})",
+            f"{'[bold cyan]' if device_data.status == StatusType.Running else '[bold green]'}{device_data.status.name}",
         )
     return Group(header, table)
 
@@ -188,7 +228,7 @@ class Controller:
         self.logger = LOGGER.bind(context=__name__)
         self.settings = settings
         self._interface: GatewayAdapterBase = None
-        self.status_data: dict[str, StatusType] = {}
+        self.status_data: dict[str, NodeStatus] = {}
         self.started_data: list[str] = []
         self.stopped_data: list[str] = []
         self.chunks: list[DataChunk] = []
@@ -225,11 +265,11 @@ class Controller:
         """Return the running devices."""
         return [
             addr
-            for addr, status in self.known_devices.items()
+            for addr, node in self.known_devices.items()
             if (
                 (
-                    status == StatusType.Running
-                    or status == StatusType.Programming
+                    node.status == StatusType.Running
+                    or node.status == StatusType.Programming
                 )
                 and (
                     not self.settings.devices or addr in self.settings.devices
@@ -242,9 +282,9 @@ class Controller:
         """Return the resetting devices."""
         return [
             device_addr
-            for device_addr, status in self.known_devices.items()
+            for device_addr, node in self.known_devices.items()
             if (
-                status == StatusType.Resetting
+                node.status == StatusType.Resetting
                 and (
                     not self.settings.devices
                     or device_addr in self.settings.devices
@@ -257,9 +297,9 @@ class Controller:
         """Return the ready devices."""
         return [
             device_addr
-            for device_addr, status in self.known_devices.items()
+            for device_addr, node in self.known_devices.items()
             if (
-                status == StatusType.Bootloader
+                node.status == StatusType.Bootloader
                 and (
                     not self.settings.devices
                     or device_addr in self.settings.devices
@@ -292,9 +332,14 @@ class Controller:
             packet.payload_type
             == SwarmitPayloadType.SWARMIT_NOTIFICATION_STATUS
         ):
-            self.status_data.update(
-                {device_addr: StatusType(packet.payload.status)}
+            status = NodeStatus(
+                device=DeviceType(packet.payload.device),
+                status=StatusType(packet.payload.status),
+                battery=packet.payload.battery,
+                pos_x=packet.payload.pos_x,
+                pos_y=packet.payload.pos_y,
             )
+            self.status_data.update({device_addr: status})
         elif (
             packet.payload_type
             == SwarmitPayloadType.SWARMIT_NOTIFICATION_OTA_START_ACK
@@ -384,7 +429,7 @@ class Controller:
         ready_devices = self.ready_devices
         attempts = 0
         while attempts < COMMAND_MAX_ATTEMPTS and not all(
-            self.status_data[addr] == StatusType.Running
+            self.status_data[addr].status == StatusType.Running
             for addr in ready_devices
         ):
             if not self.settings.devices:
@@ -406,7 +451,7 @@ class Controller:
 
         attempts = 0
         while attempts < COMMAND_MAX_ATTEMPTS and not all(
-            self.status_data[addr]
+            self.status_data[addr].status
             in [StatusType.Stopping, StatusType.Bootloader]
             for addr in stoppable_devices
         ):

{swarmit-0.4.5 → swarmit-0.5.0rc1}/testbed/swarmit/protocol.py

@@ -17,6 +17,15 @@ class StatusType(Enum):
     Programming = 4
 
 
+class DeviceType(Enum):
+    """Types of devices."""
+
+    Unknown = 0
+    DotBotV3 = 1
+    DotBotV2 = 2
+    nRF5340DK = 3
+
+
 class SwarmitPayloadType(IntEnum):
     """Types of DotBot payload types."""
 
@@ -126,11 +135,23 @@ class PayloadStatusNotification(Payload):
 
     metadata: list[PayloadFieldMetadata] = dataclasses.field(
         default_factory=lambda: [
+            PayloadFieldMetadata(name="device", disp="dev."),
             PayloadFieldMetadata(name="status", disp="st."),
+            PayloadFieldMetadata(name="battery", disp="bat."),
+            PayloadFieldMetadata(
+                name="pos_x", disp="pos x", length=4, signed=True
+            ),
+            PayloadFieldMetadata(
+                name="pos_y", disp="pos y", length=4, signed=True
+            ),
         ]
     )
 
+    device: DeviceType = DeviceType.Unknown
     status: StatusType = StatusType.Bootloader
+    battery: int = 0
+    pos_x: int = 0
+    pos_y: int = 0
 
 
 @dataclass

swarmit-0.4.5/testbed/swarmit/__init__.py

@@ -1 +0,0 @@
-__version__ = "0.4.5"