diff --git a/.github/workflows/build-docs.yml b/.github/workflows/build-docs.yml new file mode 100644 index 0000000..72c7f7e --- /dev/null +++ b/.github/workflows/build-docs.yml @@ -0,0 +1,56 @@ +name: Build Documentation + +on: + workflow_dispatch: + +jobs: + build-docs: + runs-on: ubuntu-latest + steps: + - name: Checkout pyharp repository + uses: actions/checkout@v4 + + - name: Clone harp.devices repository + uses: actions/checkout@v4 + with: + repository: fchampalimaud/harp.devices + token: ${{ secrets.HARP_DEVICES_TOKEN }} + path: harp.devices + + - name: Install uv + uses: astral-sh/setup-uv@v5 + + - name: Install project dependencies + run: | + uv sync + + - name: Build documentation + run: | + chmod +x ./run_docs.sh + ./run_docs.sh build + + - name: Upload Build Artifact + uses: actions/upload-pages-artifact@v3 + with: + path: site + + + deploy: + name: Deploy to Github pages + needs: build-docs + + # Grant GITHUB_TOKEN the permissions required to make a Pages deployment + permissions: + pages: write # to deploy to Pages + id-token: write # to verify the deployment originates from an appropriate source + + # Deploy to the github-pages environment + environment: + name: github-pages + url: ${{ steps.deployment.outputs.page_url }} + + runs-on: ubuntu-latest + steps: + - name: Deploy to GitHub Pages + id: deployment + uses: actions/deploy-pages@v4 diff --git a/.gitignore b/.gitignore index f60ee92..0a19790 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,174 @@ -.idea/ -pyharp.egg-info/ -.python-version -__pycache__ -tests/.pytest_cache -**/*.bin \ No newline at end of file +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# UV +# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +#uv.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/latest/usage/project/#working-with-version-control +.pdm.toml +.pdm-python +.pdm-build/ + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ + +# Ruff stuff: +.ruff_cache/ + +# PyPI configuration file +.pypirc diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..23d8811 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,22 @@ +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: "v5.0.0" + hooks: + - id: check-case-conflict + - id: check-merge-conflict + - id: check-toml + - id: check-yaml + - id: check-json + exclude: ^.devcontainer/devcontainer.json + - id: pretty-format-json + exclude: ^.devcontainer/devcontainer.json + args: [--autofix, --no-sort-keys] + - id: end-of-file-fixer + - id: trailing-whitespace + + - repo: https://github.com/astral-sh/ruff-pre-commit + rev: "v0.11.5" + hooks: + - id: ruff + args: [--exit-non-zero-on-fix] + - id: ruff-format diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..dd4b3f2 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,7 @@ +{ + "recommendations": [ + "ms-python.python", + "charliermarsh.ruff", + "meta.pyrefly" + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..3ad43fe --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,15 @@ +{ + "editor.defaultFormatter": "charliermarsh.ruff", + "editor.formatOnSave": true, + "editor.formatOnPaste": true, + "ruff.organizeImports": true, + "editor.codeActionsOnSave": { + "source.organizeImports": "explicit" + }, + "python.testing.pytestArgs": [ + "tests" + ], + "python.testing.unittestEnabled": false, + "python.testing.pytestEnabled": true, + "python.pyrefly.displayTypeErrors": "force-on", +} \ No newline at end of file diff --git a/10-harp.rules b/10-harp.rules new file mode 100644 index 0000000..c5114ef --- /dev/null +++ b/10-harp.rules @@ -0,0 +1,3 @@ +# UDEV rules for a Harp Device (actually an ftdi RS232 Serial [Uart] IC) +SUBSYSTEMS=="usb", ENV{.LOCAL_ifNum}="$attr{bInterfaceNumber}" +SUBSYSTEMS=="usb", KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="0666", SYMLINK+="harp_device_%E{.LOCAL_ifNum}" diff --git a/LICENSE b/LICENSE index 86b9923..b7afd7f 100644 --- a/LICENSE +++ b/LICENSE @@ -1,6 +1,7 @@ MIT License Copyright (c) 2020 OEPS & Filipe Carvalho +Copyright (c) 2025 Hardware and Software Platform, Champalimaud Foundation Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal diff --git a/README.md b/README.md index 4b18b2d..811f3d9 100644 --- a/README.md +++ b/README.md @@ -1,71 +1,12 @@ - - # pyharp -Harp implementation of the Harp protocol. - -## Edit the code - -Each Python user has is own very dear IDE for editing. Here, we are leaving instructions on how to edit this code using pyCharm, Anaconda and Poetry. - -The instructions are for beginner. Most of the users can just skip them. - -This was tested on a Windows machine, but should be similar to other systems. - - -### 1. Install PyCHarm -**PyCharm** can be download from [here](https://www.jetbrains.com/pycharm/download/). The Community version is enough. -Download and install it. - -### 2. Install Anaconda - -**Anaconda** can be found [here](https://www.anaconda.com/products/individual). -Download the version according to your computer and install it. -- Unselect **Add Anaconda to the system PATH environment variable** -- Select ** Register Anaconda as the system Pyhton** - -It's suggested to reboot your computer at this point - -### 3. Install Poetry - -Open the **Command Prompt** and execute the next command: -``` -curl -sSL https://raw.githubusercontent.com/python-poetry/poetry/master/get-poetry.py | python -``` - -### 4. Install pyharp - -Open **Anaconda**, navigate to the repository folder and execute the next commands: -``` -poetry install -poetry env info -``` - -The second comand will reply with a **Path:**. -Select and copy this path. - -### 5. Using PyCharm to edit the code +This project includes two main packages: -1. Open **PyCharm** :) -2. Go to File -> Open, select the repository folder, and click **OK** -3. Go to File -> Settings -> Project:pyharp -> Project Interpreter -3.1 Click in the gear in front of the Project Interpreter: and select **Add...** -3.2 On Virtualenv Environment, chose Existing environment -3.3 Select **python.exe** on the folder Scripts under the path copied from the _poetry env info_ command -3.4 Click **OK** and **OK** + - **harp-protocol**: Provides the core protocol definitions and utilities for the Harp protocol. + See [Protocol API Documentation](https://fchampalimaud.github.io/pyharp/api/protocol) for details. -You are ready to go! + - **harp-serial**: Implements serial communication functionalities for generic Harp devices. + See [Serial API Documentation](https://fchampalimaud.github.io/pyharp/api/serial) for more information. -### 6. Test the code -Under **PyCharm**, Open one of the examples from the folder _examples_ (the _get_info.py_ is generic, so it's a good option) and update the COMx to your COM number. -Right-click on top of the file and chose option _Run 'get_info.py_. You should read something like this in the console: -``` -Device info: -* Who am I: (2080) IblBehavior -* HW version: 1.0 -* Assembly version: 0 -* HARP version: 1.6 -* Firmware version: 1.0 -* Device user name: IBL_rig_0 -``` +For specific Harp devices' packages please select the corresponding Harp device under the Devices section on the menu. \ No newline at end of file diff --git a/docs/api/protocol.md b/docs/api/protocol.md new file mode 100644 index 0000000..f2e55ee --- /dev/null +++ b/docs/api/protocol.md @@ -0,0 +1,15 @@ +{% include-markdown "../../src/harp-protocol/README.md" %} + +--- + +::: harp.protocol.MessageType +::: harp.protocol.PayloadType +::: harp.protocol.CommonRegisters +::: harp.protocol.OperationMode +::: harp.protocol.OperationCtrl +::: harp.protocol.ResetMode +::: harp.protocol.ClockConfig +::: harp.protocol.messages.HarpMessage +::: harp.protocol.messages.ReplyHarpMessage +::: harp.protocol.messages.ReadHarpMessage +::: harp.protocol.messages.WriteHarpMessage diff --git a/docs/api/serial.md b/docs/api/serial.md new file mode 100644 index 0000000..c598ff0 --- /dev/null +++ b/docs/api/serial.md @@ -0,0 +1,6 @@ +{% include-markdown "../../src/harp-serial/README.md" %} + +--- + +::: harp.serial.Device +::: harp.serial.TimeoutStrategy diff --git a/docs/assets/favicon.png b/docs/assets/favicon.png new file mode 100644 index 0000000..49c6fae Binary files /dev/null and b/docs/assets/favicon.png differ diff --git a/docs/assets/logo.svg b/docs/assets/logo.svg new file mode 100644 index 0000000..96224d9 --- /dev/null +++ b/docs/assets/logo.svg @@ -0,0 +1,71 @@ + + + +image/svg+xml + + + + + + + + + + diff --git a/docs/examples/get_info/get_info.md b/docs/examples/get_info/get_info.md new file mode 100644 index 0000000..0ebfe38 --- /dev/null +++ b/docs/examples/get_info/get_info.md @@ -0,0 +1,12 @@ +# Getting Device Info + +This example demonstrates how to connect to a Harp device, read its info and dump the device's registers. + +!!! warning + Don't forget to change the `SERIAL_PORT` to the one that corresponds to your device! The `SERIAL_PORT` must be denoted as `/dev/ttyUSBx` in Linux and `COMx` in Windows, where `x` is the number of the serial port. + + +```python +[](./get_info.py) +``` + diff --git a/docs/examples/get_info/get_info.py b/docs/examples/get_info/get_info.py new file mode 100755 index 0000000..ea88143 --- /dev/null +++ b/docs/examples/get_info/get_info.py @@ -0,0 +1,20 @@ +from pyharp.protocol.device import Device + +SERIAL_PORT = ( + "/dev/ttyUSB0" # or "COMx" in Windows ("x" is the number of the serial port) +) + +# Open serial connection and save communication to a file +device = Device(SERIAL_PORT, "dump.bin") + +# Display device's info on screen +device.info() + +# Dump device's registers +reg_dump = device.dump_registers() +for reg_reply in reg_dump: + print(reg_reply) + print() + +# Close connection +device.disconnect() diff --git a/docs/examples/index.md b/docs/examples/index.md new file mode 100644 index 0000000..d045e5d --- /dev/null +++ b/docs/examples/index.md @@ -0,0 +1,10 @@ +# Examples + +This section contains some examples to help you get started with `harp`. + +Here's the complete list of available examples: + +- [Getting Device Info](./get_info/get_info.md) - connect to a Harp device and read its information. +- [Wait for Events](./wait_for_events/wait_for_events.md) - connect to a Harp device and wait for events. +- [Write and Read from Registers](./read_and_write_from_registers/read_and_write_from_registers.md) - connect to the Harp Behavior, read from a digital input and write to a digital output. +- [Olfactometer Example](./olfactometer_example/olfactometer_example.md) - connect to the Harp Olfactometer, enable flow, open and close the odor valves and monitor the measured flow values. diff --git a/docs/examples/olfactometer_example/olfactometer_example.md b/docs/examples/olfactometer_example/olfactometer_example.md new file mode 100644 index 0000000..91b1024 --- /dev/null +++ b/docs/examples/olfactometer_example/olfactometer_example.md @@ -0,0 +1,14 @@ +# Olfactometer Example + +This example shows how to interface with the [Harp Olfactometer](https://github.com/harp-tech/device.olfactometer). + +In this example, the flows for the different channels are enabled to random flow values, then every odor valve is opened, one at a time every 5 seconds, and finally the flow is disabled before closing the connection with the device. During this time, the actual flows in every channel are being printed out in the terminal. + +!!! warning + Don't forget to change the `SERIAL_PORT` to the one that corresponds to your device! The `SERIAL_PORT` must be denoted as `/dev/ttyUSBx` in Linux and `COMx` in Windows, where `x` is the number of the serial port. + + +```python +[](./olfactometer_example.py) +``` + diff --git a/docs/examples/olfactometer_example/olfactometer_example.py b/docs/examples/olfactometer_example/olfactometer_example.py new file mode 100644 index 0000000..b4ac526 --- /dev/null +++ b/docs/examples/olfactometer_example/olfactometer_example.py @@ -0,0 +1,115 @@ +import random +import time +from threading import Event, Thread + +from harp.protocol import MessageType, PayloadType +from harp.protocol.messages import HarpMessage +from harp.serial.device import Device, OperationMode +from serial import SerialException + +SERIAL_PORT = ( + "/dev/ttyUSB0" # or "COMx" in Windows ("x" is the number of the serial port) +) + + +def print_events(device, stop_flag): + while not stop_flag.is_set(): + for msg in device.get_events(): + if ( + msg.address == 48 + or msg.address == 49 + or msg.address == 50 + or msg.address == 51 + or msg.address == 52 + ): + print(msg.address - 48) + print(msg.payload[0]) + print() + + +def main(): + # Open connection + device = Device(SERIAL_PORT) + time.sleep(1) + + stop_flag = Event() + + # Check if the device is a Harp Olfactometer + if not device.WHO_AM_I == 1140: + raise SerialException("This is not a Harp Olfactometer.") + + device.set_mode(OperationMode.ACTIVE) + + # Enable flow + device.send(HarpMessage.create(MessageType.WRITE, 32, PayloadType.U8, 0x01)) + + # Initialize thread for events + events_thread = Thread( + target=print_events, + args=( + device, + stop_flag, + ), + ) + events_thread.start() + + # Set the valves to a random flow + device.send( + HarpMessage.create( + MessageType.WRITE, 42, PayloadType.Float, int(random.random() * 100) + ) + ) + device.send( + HarpMessage.create( + MessageType.WRITE, 43, PayloadType.Float, int(random.random() * 100) + ) + ) + device.send( + HarpMessage.create( + MessageType.WRITE, 44, PayloadType.Float, int(random.random() * 100) + ) + ) + device.send( + HarpMessage.create( + MessageType.WRITE, 45, PayloadType.Float, int(random.random() * 100) + ) + ) + + # Open every odor valve, one at a time every 5 seconds + device.send(HarpMessage.create(MessageType.WRITE, 68, PayloadType.Float, 0x01)) + + time.sleep(5) + + device.send(HarpMessage.create(MessageType.WRITE, 69, PayloadType.Float, 0x01)) + device.send(HarpMessage.create(MessageType.WRITE, 68, PayloadType.Float, 0x02)) + + time.sleep(5) + + device.send(HarpMessage.create(MessageType.WRITE, 69, PayloadType.Float, 0x02)) + device.send(HarpMessage.create(MessageType.WRITE, 68, PayloadType.Float, 0x04)) + + time.sleep(5) + + device.send(HarpMessage.create(MessageType.WRITE, 69, PayloadType.Float, 0x04)) + device.send(HarpMessage.create(MessageType.WRITE, 68, PayloadType.Float, 0x08)) + + time.sleep(5) + + device.send(HarpMessage.create(MessageType.WRITE, 69, PayloadType.Float, 0x08)) + + time.sleep(5) + + # Disable flow + device.send(HarpMessage.create(MessageType.WRITE, 32, PayloadType.Float, 0x00)) + + time.sleep(1) + + stop_flag.set() + events_thread.join() + + # Close connection + device.disconnect() + + +if __name__ == "__main__": + main() diff --git a/docs/examples/read_and_write_from_registers/read_and_write_from_registers.md b/docs/examples/read_and_write_from_registers/read_and_write_from_registers.md new file mode 100644 index 0000000..040f6e4 --- /dev/null +++ b/docs/examples/read_and_write_from_registers/read_and_write_from_registers.md @@ -0,0 +1,17 @@ +# Read and Write from Registers + +This example demonstrates how to read and write from registers. In this particular example, the [Harp Behavior](https://harp-tech.org/api/Harp.Behavior.html) is used to read from the DI3 pin and to turn on and off the DO0 pin, according to the schematics shown [below](#schematics). + +!!! warning + Don't forget to change the `SERIAL_PORT` to the one that corresponds to your device! The `SERIAL_PORT` must be denoted as `/dev/ttyUSBx` in Linux and `COMx` in Windows, where `x` is the number of the serial port. + + +```python +[](./read_and_write_from_registers.py) +``` + + +## Schematics + +!!! warning + _TODO_ diff --git a/docs/examples/read_and_write_from_registers/read_and_write_from_registers.py b/docs/examples/read_and_write_from_registers/read_and_write_from_registers.py new file mode 100755 index 0000000..7533fe1 --- /dev/null +++ b/docs/examples/read_and_write_from_registers/read_and_write_from_registers.py @@ -0,0 +1,32 @@ +from harp.protocol import MessageType, PayloadType +from harp.protocol.messages import HarpMessage +from harp.serial.device import Device +from serial import SerialException + +SERIAL_PORT = ( + "/dev/ttyUSB0" # or "COMx" in Windows ("x" is the number of the serial port) +) + +# Open serial connection and save communication to a file +device = Device(SERIAL_PORT, "dump.bin") + +# Check if the device is a Harp Behavior +if not device.WHO_AM_I == 1216: + raise SerialException("This is not a Harp Behavior.") + +# Read initial DI3 state +reply = device.send(HarpMessage.create(MessageType.READ, 32, PayloadType.U8)) +print(reply.payload & 0x08) + +# Turn DO0 on and read DI3 state after it +reply = device.send(HarpMessage.create(MessageType.READ, 34, PayloadType.U8, 0x400)) +reply = device.send(HarpMessage.create(MessageType.READ, 32, PayloadType.U8)) +print(reply.payload & 0x08) + +# Turn DO0 off and read DI3 state again +reply = device.send(HarpMessage.create(MessageType.READ, 35, PayloadType.U8, 0x400)) +reply = device.send(HarpMessage.create(MessageType.READ, 32, PayloadType.U8)) +print(reply.payload & 0x08) + +# Close connection +device.disconnect() diff --git a/docs/examples/wait_for_events/wait_for_events.md b/docs/examples/wait_for_events/wait_for_events.md new file mode 100644 index 0000000..8db54fa --- /dev/null +++ b/docs/examples/wait_for_events/wait_for_events.md @@ -0,0 +1,12 @@ +# Wait for Events + +This example demonstrates how to read the events sent by the Harp device. + +!!! warning + Don't forget to change the `SERIAL_PORT` to the one that corresponds to your device! The `SERIAL_PORT` must be denoted as `/dev/ttyUSBx` in Linux and `COMx` in Windows, where `x` is the number of the serial port. + + +```python +[](./wait_for_events.py) +``` + diff --git a/docs/examples/wait_for_events/wait_for_events.py b/docs/examples/wait_for_events/wait_for_events.py new file mode 100755 index 0000000..e830e3d --- /dev/null +++ b/docs/examples/wait_for_events/wait_for_events.py @@ -0,0 +1,19 @@ +from harp.protocol import OperationMode +from harp.serial.device import Device + +SERIAL_PORT = ( + "/dev/ttyUSB0" # or "COMx" in Windows ("x" is the number of the serial port) +) + +# Open serial connection and save communication to a file +device = Device(SERIAL_PORT, "dump.bin") + +# Set device to Active Mode +device.set_mode(OperationMode.ACTIVE) +print("Setting mode to active.") + +# Read device's events +while True: + for msg in device.get_events(): + print(msg) + print() diff --git a/docs/index.md b/docs/index.md new file mode 100644 index 0000000..96d83c6 --- /dev/null +++ b/docs/index.md @@ -0,0 +1 @@ +{% include-markdown "../README.md" %} \ No newline at end of file diff --git a/docs/stylesheets/extra.css b/docs/stylesheets/extra.css new file mode 100644 index 0000000..b417550 --- /dev/null +++ b/docs/stylesheets/extra.css @@ -0,0 +1,9 @@ +:root > * { + --md-primary-fg-color: #009DE1; + --md-primary-fg-color--light: #009DE1; + --md-primary-fg-color--dark: #009DE1; +} + +.md-nav__title { + display: none; +} diff --git a/examples/check_device_id.py b/examples/check_device_id.py deleted file mode 100644 index b118b0e..0000000 --- a/examples/check_device_id.py +++ /dev/null @@ -1,31 +0,0 @@ -from pyharp.device import Device -from pyharp.messages import HarpMessage -from pyharp.messages import MessageType -from struct import * - - -# ON THIS EXAMPLE -# -# This code check if the device at COMx is the expected device. -# The device ID used is the 2080, the IblBehavior - - -# Open the device -device = Device("COM95") # Open serial connection - -# Get some of the device's parameters -device_id = device.WHO_AM_I # Get device's ID -device_id_description = device.WHO_AM_I_DEVICE # Get device's user name -device_user_name = device.DEVICE_NAME # Get device's user name - -# Check if we are dealing with the correct device -if device_id == 2080: - print("Correct device was found!") - print(f"Device's ID: {device_id}") - print(f"Device's name: {device_id_description}") - print(f"Device's user name: {device_user_name}") -else: - print("Device not correct or is not a Harp device!") - -# Close connection -device.disconnect() diff --git a/examples/get_info.py b/examples/get_info.py deleted file mode 100644 index fca840c..0000000 --- a/examples/get_info.py +++ /dev/null @@ -1,32 +0,0 @@ -from pyharp.device import Device -from pyharp.messages import HarpMessage -from pyharp.messages import MessageType -from struct import * - - -# ON THIS EXAMPLE -# -# This code opens the connection with the device and displays the information -# Also saves device's information into variables - - -# Open the device and print the info on screen -device = Device("COM95", "ibl.bin") # Open serial connection and save communication to a file -device.info() # Display device's info on screen - -# Get some of the device's parameters -device_id = device.WHO_AM_I # Get device's ID -device_id_description = device.WHO_AM_I_DEVICE # Get device's user name -device_user_name = device.DEVICE_NAME # Get device's user name - -# Get versions -device_fw_h = device.FIRMWARE_VERSION_H # Get device's firmware version -device_fw_l = device.FIRMWARE_VERSION_L # Get device's firmware version -device_hw_h = device.HW_VERSION_H # Get device's hardware version -device_hw_l = device.HW_VERSION_L # Get device's hardware version -device_harp_h = device.HARP_VERSION_H # Get device's harp core version -device_harp_l = device.HARP_VERSION_L # Get device's harp core version -device_assembly = device.ASSEMBLY_VERSION # Get device's assembly version - -# Close connection -device.disconnect() \ No newline at end of file diff --git a/examples/write_and_read_from_registers.py b/examples/write_and_read_from_registers.py deleted file mode 100644 index ccde127..0000000 --- a/examples/write_and_read_from_registers.py +++ /dev/null @@ -1,37 +0,0 @@ -from pyharp.device import Device -from pyharp.messages import HarpMessage -from pyharp.messages import MessageType -from struct import * - - -# ON THIS EXAMPLE -# -# This code opens the connection with the device and update content on a register -# It uses register address 42, which stores the analog sensor's higher threshold in the IBLBehavior device -# This register is unsigned with 16 bits (U16) - - -# Open the device and print the info on screen -device = Device("COM95", "ibl.bin") # Open serial connection and save communication to a file - -# Read current analog sensor's higher threshold (ANA_SENSOR_TH0_HIGH) at address 42 -analog_threshold_h = device.send(HarpMessage.ReadU16(42).frame).payload_as_int() -print(f"Analog sensor's higher threshold: {analog_threshold_h}") - -# Increase current analog sensor's higher threshold by one unit -device.send(HarpMessage.WriteU16(42, analog_threshold_h+1).frame) - -# Check if the register was well written -analog_threshold_h = device.send(HarpMessage.ReadU16(42).frame).payload_as_int() -print(f"Analog sensor's higher threshold: {analog_threshold_h}") - -# Read 10 samples of the analog sensor and display the values -# The value is at register STREAM[0], address 33 -analog_sensor = [] -for x in range(10): - value = device.send(HarpMessage.ReadS16(33).frame).payload_as_int() - analog_sensor.append(value & 0xffff) -print(f"Analog sensor's values: {analog_sensor}") - -# Close connection -device.disconnect() \ No newline at end of file diff --git a/mkdocs.yml b/mkdocs.yml new file mode 100644 index 0000000..32e9df3 --- /dev/null +++ b/mkdocs.yml @@ -0,0 +1,96 @@ +site_name: pyharp +repo_url: "https://github.com/fchampalimaud/pyharp" +# repo_name: "pyharp" +copyright: Copyright © 2025, Hardware and Software Platform, Champalimaud Foundation + +plugins: + - search + - autorefs + - codeinclude + - monorepo + - include-markdown + - mkdocstrings: + handlers: + python: + options: + docstring_style: numpy + show_root_heading: true + show_submodules: true + show_source: false + extensions: + - griffe_fieldz + - git-committers: + repository: fchampalimaud/pyharp + branch: main + - git-authors + + +markdown_extensions: + - abbr + - attr_list + - admonition + - pymdownx.details + - pymdownx.highlight: + anchor_linenums: true + line_spans: __span + pygments_lang_class: true + - pymdownx.inlinehilite + - pymdownx.snippets + - pymdownx.superfences + - toc: + permalink: "#" + +theme: + name: material + icon: + repo: fontawesome/brands/github + logo: assets/logo.svg + favicon: assets/favicon.png + features: + - content.tooltips + - toc.follow + - content.code.copy + # - navigation.sections + - navigation.indexes + - navigation.expand + - navigation.footer + palette: + - media: "(prefers-color-scheme)" + toggle: + icon: material/brightness-auto + name: Switch to light mode + - media: "(prefers-color-scheme: light)" + scheme: default + primary: custom + accent: light-blue + toggle: + icon: material/weather-sunny + name: Switch to dark mode + - media: "(prefers-color-scheme: dark)" + scheme: slate + primary: custom + accent: light-blue + toggle: + icon: material/weather-night + name: Switch to system preference + +nav: + - Home: index.md + - API: + - Protocol: api/protocol.md + - Serial: api/serial.md + - Examples: + - examples/index.md + - Getting Device Info: examples/get_info/get_info.md + - Wait for Events: examples/wait_for_events/wait_for_events.md + - Read and Write from Registers: examples/read_and_write_from_registers/read_and_write_from_registers.md + - Olfactometer Example: examples/olfactometer_example/olfactometer_example.md + - Devices: '*include ./harp.devices/*/mkdocs.yml' + +extra: + social: + - icon: 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3dc1f76..0000000 --- a/pyharp/__init__.py +++ /dev/null @@ -1 +0,0 @@ -__version__ = "0.1.0" diff --git a/pyharp/device.py b/pyharp/device.py deleted file mode 100644 index 5e0e64d..0000000 --- a/pyharp/device.py +++ /dev/null @@ -1,200 +0,0 @@ -import serial -from typing import Optional -from pathlib import Path - -from pyharp.messages import HarpMessage, ReplyHarpMessage -from pyharp.messages import CommonRegisters -from pyharp import device_names - - -class Device: - """ - https://github.com/harp-tech/protocol/blob/master/Device%201.0%201.3%2020190207.pdf - """ - - _ser: serial.Serial - _dump_file_path: Path - - WHO_AM_I: int - WHO_AM_I_DEVICE: str - HW_VERSION_H: int - HW_VERSION_L: int - ASSEMBLY_VERSION: int - HARP_VERSION_H: int - HARP_VERSION_L: int - FIRMWARE_VERSION_H: int - FIRMWARE_VERSION_L: int - # TIMESTAMP_SECOND = 0x08 - # TIMESTAMP_MICRO = 0x09 - # OPERATION_CTRL = 0x0A - # RESET_DEV = 0x0B - DEVICE_NAME: str - - def __init__(self, serial_port: str, dump_file_path: Optional[str] = None): - self._serial_port = serial_port - if dump_file_path is None: - self._dump_file_path = None - else: - self._dump_file_path = Path() / dump_file_path - self.connect() - self.load() - - def load(self) -> None: - self.WHO_AM_I = self.read_who_am_i() - self.WHO_AM_I_DEVICE = self.read_who_am_i_device() - self.HW_VERSION_H = self.read_hw_version_h() - self.HW_VERSION_L = self.read_hw_version_l() - self.ASSEMBLY_VERSION = self.read_assembly_version() - self.HARP_VERSION_H = self.read_harp_h_version() - self.HARP_VERSION_L = self.read_harp_l_version() - self.FIRMWARE_VERSION_H = self.read_fw_h_version() - self.FIRMWARE_VERSION_L = self.read_fw_l_version() - self.DEVICE_NAME = self.read_device_name() - - def info(self) -> None: - print("Device info:") - #print(f"* Who am I (ID): {self.WHO_AM_I}") - #print(f"* Who am I (Device): {self.WHO_AM_I_DEVICE}") - print(f"* Who am I: ({self.WHO_AM_I}) {self.WHO_AM_I_DEVICE}") - print(f"* HW version: {self.HW_VERSION_H}.{self.HW_VERSION_L}") - print(f"* Assembly version: {self.ASSEMBLY_VERSION}") - print(f"* HARP version: {self.HARP_VERSION_H}.{self.HARP_VERSION_L}") - print( - f"* Firmware version: {self.FIRMWARE_VERSION_H}.{self.FIRMWARE_VERSION_L}" - ) - print(f"* Device user name: {self.DEVICE_NAME}") - - def read(self): - pass - - def connect(self) -> None: - self._ser = serial.Serial( - self._serial_port, # "/dev/tty.usbserial-A106C8O9" - baudrate=1000000, - timeout=1, - parity=serial.PARITY_NONE, - stopbits=1, - bytesize=8, - rtscts=True, - ) - - def disconnect(self) -> None: - self._ser.close() - - def read_who_am_i(self) -> int: - address = CommonRegisters.WHO_AM_I - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU16(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_who_am_i_device(self) -> str: - address = CommonRegisters.WHO_AM_I - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU16(address).frame, dump=False - ) - - return device_names.get(reply.payload_as_int()) - - def read_hw_version_h(self) -> int: - address = CommonRegisters.HW_VERSION_H - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_hw_version_l(self) -> int: - address = CommonRegisters.HW_VERSION_L - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_assembly_version(self) -> int: - address = CommonRegisters.ASSEMBLY_VERSION - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_harp_h_version(self) -> int: - address = CommonRegisters.HARP_VERSION_H - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_harp_l_version(self) -> int: - address = CommonRegisters.HARP_VERSION_L - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_fw_h_version(self) -> int: - address = CommonRegisters.FIRMWARE_VERSION_H - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_fw_l_version(self) -> int: - address = CommonRegisters.FIRMWARE_VERSION_L - - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_int() - - def read_device_name(self) -> str: - address = CommonRegisters.DEVICE_NAME - - # reply: Optional[bytes] = self.send(HarpMessage.ReadU8(address).frame, 13 + 24) - reply: ReplyHarpMessage = self.send( - HarpMessage.ReadU8(address).frame, dump=False - ) - - return reply.payload_as_string() - - def send(self, message_bytes: bytearray, dump: bool = True) -> ReplyHarpMessage: - - self._ser.write(message_bytes) - - # TODO: handle case where read is None - - message_type = self._ser.read(1)[0] # byte array with only one byte - message_length = self._ser.read(1)[0] - message_content = self._ser.read(message_length) - - frame = bytearray() - frame.append(message_type) - frame.append(message_length) - frame += message_content - - reply: ReplyHarpMessage = HarpMessage.parse(frame) - - if dump: - self._dump_reply(reply.frame) - - return reply - - def _dump_reply(self, reply: bytes): - assert self._dump_file_path is not None - with self._dump_file_path.open(mode="ab") as f: - f.write(reply) diff --git a/pyharp/device_names.py b/pyharp/device_names.py deleted file mode 100644 index e5d8cbd..0000000 --- a/pyharp/device_names.py +++ /dev/null @@ -1,41 +0,0 @@ -def get(value: int) -> str: - if value == 1024: - return "Poke" - elif value == 1040: - return "MultiPwm" - elif value == 1056: - return "Wear" - elif value == 1072: - return "VoltsDrive" - elif value == 1088: - return "LedController" - elif value == 1104: - return "Synchronizer" - elif value == 1121: - return "SimpleAnalogGenerator" - elif value == 1136: - return "Archimedes" - elif value == 1152: - return "ClockSynchronizer" - elif value == 1168: - return "Camera" - elif value == 1184: - return "PyControl" - elif value == 1200: - return "FlyPad" - elif value == 1216: - return "Behavior" - elif value == 1232: - return "LoadCells" - elif value == 1248: - return "AudioSwitch" - elif value == 1264: - return "Rgb" - elif value == 1200: - return "FlyPad" - elif value == 2064: - return "FP3002" - elif value == 2080: - return "IblBehavior" - else: - return "NotSpecified" diff --git a/pyharp/main.py b/pyharp/main.py deleted file mode 100644 index 7197906..0000000 --- a/pyharp/main.py +++ /dev/null @@ -1,9 +0,0 @@ -import serial - - -def main() -> None: - print("hello world") - - -if __name__ == "__main__": - main() diff --git a/pyharp/messages.py b/pyharp/messages.py deleted file mode 100644 index 383ae2e..0000000 --- a/pyharp/messages.py +++ /dev/null @@ -1,395 +0,0 @@ -# from abc import ABC, abstractmethod -from typing import Union, Tuple, Optional - - -class MessageType: - READ: int = 1 - WRITE: int = 2 - EVENT: int = 3 - READ_ERROR: int = 9 - WRITE_ERROR: int = 10 - - -class PayloadType: - isUnsigned: int = 0x00 - isSigned: int = 0x80 - isFloat: int = 0x40 - hasTimestamp: int = 0x10 - - U8 = isUnsigned | 1 # 1 - S8 = isSigned | 1 # 129 - U16 = isUnsigned | 2 # 2 - S16 = isSigned | 2 # 130 - U32 = isUnsigned | 4 - S32 = isSigned | 4 - U64 = isUnsigned | 8 - S64 = isSigned | 8 - Float = isFloat | 4 - Timestamp = hasTimestamp - TimestampedU8 = hasTimestamp | U8 - TimestampedS8 = hasTimestamp | S8 - TimestampedU16 = hasTimestamp | U16 - TimestampedS16 = hasTimestamp | S16 - TimestampedU32 = hasTimestamp | U32 - TimestampedS32 = hasTimestamp | S32 - TimestampedU64 = hasTimestamp | U64 - TimestampedS64 = hasTimestamp | S64 - TimestampedFloat = hasTimestamp | Float - - ALL_UNSIGNED = [U8, U16, U32, TimestampedU8, TimestampedU16] - ALL_SIGNED = [S8, S16, S32, TimestampedS8, TimestampedS16] - - -class CommonRegisters: - WHO_AM_I = 0x00 - HW_VERSION_H = 0x01 - HW_VERSION_L = 0x02 - ASSEMBLY_VERSION = 0x03 - HARP_VERSION_H = 0x04 - HARP_VERSION_L = 0x05 - FIRMWARE_VERSION_H = 0x06 - FIRMWARE_VERSION_L = 0x07 - TIMESTAMP_SECOND = 0x08 - TIMESTAMP_MICRO = 0x09 - OPERATION_CTRL = 0x0A - RESET_DEV = 0x0B - DEVICE_NAME = 0x0C - - -T = Union[int, bytearray] - - -class HarpMessage: - DEFAULT_PORT: int = 255 - _frame: bytearray - - def __init__(self): - self._frame = bytearray() - - def calculate_checksum(self) -> int: - checksum: int = 0 - for i in self.frame: - checksum += i - return checksum & 255 - - @property - def frame(self) -> bytearray: - return self._frame - - @property - def message_type(self) -> int: - return self._frame[0] - - @staticmethod - def ReadU8(address: int) -> "ReadU8HarpMessage": - return ReadU8HarpMessage(address) - - @staticmethod - def ReadS8(address: int) -> "ReadS8HarpMessage": - return ReadS8HarpMessage(address) - - @staticmethod - def ReadS16(address: int) -> "ReadS16HarpMessage": - return ReadS16HarpMessage(address) - - @staticmethod - def ReadU16(address: int) -> "ReadU16HarpMessage": - return ReadU16HarpMessage(address) - - @staticmethod - def WriteU8(address: int, value: int) -> "WriteU8HarpMessage": - return WriteU8HarpMessage(address, value) - - @staticmethod - def WriteS8(address: int, value: int) -> "WriteS8HarpMessage": - return WriteS8HarpMessage(address, value) - - @staticmethod - def WriteS16(address: int, value: int) -> "WriteS16HarpMessage": - return WriteS16HarpMessage(address, value) - - @staticmethod - def WriteU16(address: int, value: int) -> "WriteU16HarpMessage": - return WriteU16HarpMessage(address, value) - - @staticmethod - def parse(frame: bytearray) -> "ReplyHarpMessage": - return ReplyHarpMessage(frame) - - -class ReplyHarpMessage(HarpMessage): - PAYLOAD_START_ADDRESS: int - PAYLOAD_LAST_ADDRESS: int - _message_type: int - _length: int - _address: int - _payload_type: int - _payload: bytes - _checksum: int - - def __init__( - self, frame: bytearray, - ): - """ - - :param payload_type: - :param payload: - :param address: - :param offset: how many bytes more besides the length corresponding to U8 (for example, for U16 it would be offset=1) - """ - - self._frame = frame - - self._message_type = frame[0] - self._length = frame[1] - self._address = frame[2] - self._port = frame[3] - self._payload_type = frame[4] - # TOOO: add timestamp here - self._payload = frame[ - 11:-1 - ] # retrieve all content from 11 (where payload starts) until the checksum (not inclusive) - self._checksum = frame[-1] # last index is the checksum - - # print(f"Type: {self.message_type}") - # print(f"Length: {self.length}") - # print(f"Address: {self.address}") - # print(f"Port: {self.port}") - # print(f"Payload Type: {self.payload_type}") - # print(f"Payload: {self.payload}") - # print(f"Checksum: {self.checksum}") - # print(f"Frame: {self.frame}") - - @property - def frame(self) -> bytearray: - return self._frame - - @property - def message_type(self) -> int: - return self._message_type - - @property - def length(self) -> int: - return self._length - - @property - def address(self) -> int: - return self._address - - @property - def port(self) -> int: - return self._port - - @property - def payload_type(self) -> int: - return self._payload_type - - @property - def payload(self) -> bytes: - return self._payload - - def payload_as_int(self) -> int: - value: int = 0 - if self.payload_type in PayloadType.ALL_UNSIGNED: - value = int.from_bytes(self.payload, byteorder="little", signed=False) - elif self.payload_type in PayloadType.ALL_SIGNED: - value = int.from_bytes(self.payload, byteorder="little", signed=True) - return value - - def payload_as_int_array(self): - pass # TODO: implement this - - def payload_as_string(self) -> str: - return self.payload.decode("utf-8") - - @property - def checksum(self) -> int: - return self._checksum - - -class ReadHarpMessage(HarpMessage): - MESSAGE_TYPE: int = MessageType.READ - _length: int - _address: int - _payload_type: int - _checksum: int - - def __init__(self, payload_type: int, address: int): - self._frame = bytearray() - - self._frame.append(self.MESSAGE_TYPE) - - length: int = 4 - self._frame.append(length) - - self._frame.append(address) - self._frame.append(self.DEFAULT_PORT) - self._frame.append(payload_type) - self._frame.append(self.calculate_checksum()) - - # def calculate_checksum(self) -> int: - # return ( - # self.message_type - # + self.length - # + self.address - # + self.port - # + self.payload_type - # ) & 255 - - @property - def message_type(self) -> int: - return self._frame[0] - - @property - def length(self) -> int: - return self._frame[1] - - @property - def address(self) -> int: - return self._frame[2] - - @property - def port(self) -> int: - return self._frame[3] - - @property - def payload_type(self) -> int: - return self._frame[4] - - @property - def checksum(self) -> int: - return self._frame[5] - - -class ReadU8HarpMessage(ReadHarpMessage): - def __init__(self, address: int): - super().__init__(PayloadType.U8, address) - - -class ReadS8HarpMessage(ReadHarpMessage): - def __init__(self, address: int): - super().__init__(PayloadType.S8, address) - - -class ReadU16HarpMessage(ReadHarpMessage): - def __init__(self, address: int): - super().__init__(PayloadType.U16, address) - - -class ReadS16HarpMessage(ReadHarpMessage): - def __init__(self, address: int): - super().__init__(PayloadType.S16, address) - - -class WriteHarpMessage(HarpMessage): - BASE_LENGTH: int = 5 - MESSAGE_TYPE: int = MessageType.WRITE - _length: int - _address: int - _payload_type: int - _payload: int - _checksum: int - - def __init__( - self, payload_type: int, payload: bytes, address: int, offset: int = 0 - ): - """ - - :param payload_type: - :param payload: - :param address: - :param offset: how many bytes more besides the length corresponding to U8 (for example, for U16 it would be offset=1) - """ - self._frame = bytearray() - - self._frame.append(self.MESSAGE_TYPE) - - self._frame.append(self.BASE_LENGTH + offset) - - self._frame.append(address) - self._frame.append(HarpMessage.DEFAULT_PORT) - self._frame.append(payload_type) - - for i in payload: - self._frame.append(i) - - self._frame.append(self.calculate_checksum()) - - # def calculate_checksum(self) -> int: - # return ( - # self.message_type - # + self.length - # + self.address - # + self.port - # + self.payload_type - # + self.payload - # ) & 255 - - @property - def message_type(self) -> int: - return self._frame[0] - - @property - def length(self) -> int: - return self._frame[1] - - @property - def address(self) -> int: - return self._frame[2] - - @property - def port(self) -> int: - return self._frame[3] - - @property - def payload_type(self) -> int: - return self._frame[4] - - @property - def checksum(self) -> int: - return self._frame[-1] - - -class WriteU8HarpMessage(WriteHarpMessage): - def __init__(self, address: int, value: int): - super().__init__(PayloadType.U8, value.to_bytes(1, byteorder="little"), address) - - @property - def payload(self) -> int: - return self.frame[5] - - -class WriteS8HarpMessage(WriteHarpMessage): - def __init__(self, address: int, value: int): - super().__init__( - PayloadType.S8, value.to_bytes(1, byteorder="little", signed=True), address - ) - - @property - def payload(self) -> int: - return int.from_bytes([self.frame[5]], byteorder="little", signed=True) - - -class WriteU16HarpMessage(WriteHarpMessage): - def __init__(self, address: int, value: int): - super().__init__( - PayloadType.U16, value.to_bytes(2, byteorder="little", signed=False), address, offset=1 - ) - - @property - def payload(self) -> int: - return int.from_bytes(self._frame[5:7], byteorder="little", signed=False) - - -class WriteS16HarpMessage(WriteHarpMessage): - def __init__(self, address: int, value: int): - super().__init__( - PayloadType.S16, - value.to_bytes(2, byteorder="little", signed=True), - address, - offset=1, - ) - - @property - def payload(self) -> int: - return int.from_bytes(self._frame[5:7], byteorder="little", signed=True) diff --git a/pyproject.toml b/pyproject.toml index 62037dc..ae3c412 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,23 +1,57 @@ -[tool.poetry] +[project] name = "pyharp" -version = "0.1.0" +version = "0.2.0" description = "Library for data acquisition and control of devices implementing the Harp protocol." -authors = ["filcarv "] +authors = [{ name= "Hardware and Software Platform, Champalimaud Foundation", email="software@research.fchampalimaud.org"}] license = "MIT" readme = 'README.md' +keywords = ['python', 'harp'] +requires-python = ">=3.9,<4.0" +dependencies = ["harp-protocol", "harp-serial"] -[tool.poetry.dependencies] -python = "^3.4" -pyserial = "^3.4" +[project.urls] +Repository = "https://github.com/fchampalimaud/pyharp/" +"Bug Tracker" = "https://github.com/fchampalimaud/pyharp/issues" +Documentation = "https://fchampalimaud.github.io/pyharp/" -[tool.poetry.dev-dependencies] -pytest = "^5.2" -mypy = "^0.782" -black = "^19.10b0" +[tool.uv.sources] +harp-protocol = { workspace = true } +harp-serial = { workspace = true } -[build-system] -requires = ["poetry>=0.12"] -build-backend = "poetry.masonry.api" +[tool.uv.workspace] +members = [ + "src/*", +] -[tool.poetry.scripts] -pyharp = "pyharp.main:main" +[dependency-groups] +dev = [ + "griffe-fieldz>=0.2.1", + "mkdocs>=1.6.1", + "mkdocs-codeinclude-plugin>=0.2.1", + "mkdocs-git-authors-plugin>=0.9.4", + "mkdocs-git-committers-plugin-2>=2.5.0", + "mkdocs-include-markdown-plugin>=7.1.6", + "mkdocs-material>=9.6.9", + "mkdocs-monorepo-plugin>=1.1.2", + "mkdocstrings-python>=1.16.6", + "pytest>=8.3.5", + "pytest-cov>=6.1.1", + "ruff>=0.11.0", +] + +[tool.ruff.lint.pydocstyle] +convention = "numpy" + +[tool.pytest.ini_options] +pythonpath = ["."] +addopts = ["--import-mode=importlib", ] +python_files = [ + "tests.py", + "test_*.py" +] + +[[tool.uv.index]] +name = "testpypi" +url = "https://test.pypi.org/simple/" +publish-url = "https://test.pypi.org/legacy/" +explicit = true diff --git a/run_docs.ps1 b/run_docs.ps1 new file mode 100644 index 0000000..913404a --- /dev/null +++ b/run_docs.ps1 @@ -0,0 +1,31 @@ +# Resolve script directory (optional) and change to that directory if desired: +# Set-Location -Path (Split-Path -Path $MyInvocation.MyCommand.Definition -Parent) + +# Launch mkdocs via uv (argument handling) +param( + [string]$action = "" +) + +# Find all subdirectories of .\harp.devices (follow symlinks) +$harpRoot = Join-Path -Path (Get-Location) -ChildPath "harp.devices" +$dirs = Get-ChildItem -LiteralPath $harpRoot -Directory -Force -ErrorAction SilentlyContinue | + ForEach-Object { $_.FullName } + +# Join them with ':' (Unix-style path separator) +$harpDevicesPaths = ($dirs -join ";") + +# Prepend to PYTHONPATH (preserve existing) +if ($env:PYTHONPATH) { + $env:PYTHONPATH = "{0};{1}" -f $harpDevicesPaths, $env:PYTHONPATH +} else { + $env:PYTHONPATH = $harpDevicesPaths +} + +# Optionally print for debugging +Write-Output "PYTHONPATH set to: $env:PYTHONPATH" + +switch ($action) { + "build" { uv run mkdocs build } + "deploy" { uv run mkdocs gh-deploy } + default { uv run mkdocs serve } +} diff --git a/run_docs.sh b/run_docs.sh new file mode 100755 index 0000000..d95ab3c --- /dev/null +++ b/run_docs.sh @@ -0,0 +1,19 @@ +#!/bin/bash + +# Find all subdirectories of harp.devices and join them with ':' +HARP_DEVICES_PATHS=$(find -L ./harp.devices -mindepth 1 -maxdepth 1 -type d | paste -sd ":" -) + +# Prepend to PYTHONPATH (preserve existing PYTHONPATH) +export PYTHONPATH="$HARP_DEVICES_PATHS:$PYTHONPATH" + +# Optionally print for debugging +echo "PYTHONPATH set to: $PYTHONPATH" + +# Launch mkdocs build or serve +if [ "$1" = "build" ]; then + uv run mkdocs build +elif [ "$1" = "deploy" ]; then + uv run mkdocs gh-deploy +else + uv run mkdocs serve +fi diff --git a/src/harp-protocol/README.md b/src/harp-protocol/README.md new file mode 100644 index 0000000..80289eb --- /dev/null +++ b/src/harp-protocol/README.md @@ -0,0 +1,7 @@ +# harp-protocol + +[![PyPI version](https://badge.fury.io/py/harp-protocol.svg)](https://badge.fury.io/py/harp-protocol) + +The Harp Protocol is a binary communication protocol created in order to facilitate and unify the interaction between different devices. It was designed with efficiency and ease of parsing in mind. + +For more detail please check Harp Tech's official documentation [here](https://harp-tech.org/protocol/BinaryProtocol-8bit.html). diff --git a/src/harp-protocol/harp/protocol/__init__.py b/src/harp-protocol/harp/protocol/__init__.py new file mode 100644 index 0000000..12e69f4 --- /dev/null +++ b/src/harp-protocol/harp/protocol/__init__.py @@ -0,0 +1 @@ +from .base import * # noqa: F403 diff --git a/src/harp-protocol/harp/protocol/base.py b/src/harp-protocol/harp/protocol/base.py new file mode 100644 index 0000000..8282c93 --- /dev/null +++ b/src/harp-protocol/harp/protocol/base.py @@ -0,0 +1,280 @@ +from datetime import datetime +from enum import IntEnum, IntFlag + +# The reference epoch for UTC harp time +REFERENCE_EPOCH = datetime(1904, 1, 1) + +# Bit masks for the PayloadType +_isUnsigned: int = 0x00 +_isSigned: int = 0x80 +_isFloat: int = 0x40 +_hasTimestamp: int = 0x10 + + +class MessageType(IntEnum): + """ + An enumeration of the allowed message types of a Harp message. More information on the MessageType byte of a Harp message can be found [here](https://harp-tech.org/protocol/BinaryProtocol-8bit.html#messagetype-1-byte). + + Attributes + ---------- + READ : int + The value that corresponds to a Read Harp message (1) + WRITE : int + The value that corresponds to a Write Harp message (2) + EVENT : int + The value that corresponds to an Event Harp message (3). Messages of this type are only meant to be send by the device + READ_ERROR : int + The value that corresponds to a Read Error Harp message (9). Messages of this type are only meant to be send by the device + WRITE_ERROR : int + The value that corresponds to a Write Error Harp message (10). Messages of this type are only meant to be send by the device + """ + + READ = 1 + WRITE = 2 + EVENT = 3 + READ_ERROR = 9 + WRITE_ERROR = 10 + + +class PayloadType(IntEnum): + """ + An enumeration of the allowed payload types of a Harp message. More information on the PayloadType byte of a Harp message can be found [here](https://harp-tech.org/protocol/BinaryProtocol-8bit.html#payloadtype-1-byte). + + Attributes + ---------- + U8 : int + The value that corresponds to a message of type U8 + S8 : int + The value that corresponds to a message of type S8 + U16 : int + The value that corresponds to a message of type U16 + S16 : int + The value that corresponds to a message of type S16 + U32 : int + The value that corresponds to a message of type U32 + S32 : int + The value that corresponds to a message of type S32 + U64 : int + The value that corresponds to a message of type U64 + S64 : int + The value that corresponds to a message of type S64 + Float : int + The value that corresponds to a message of type Float + Timestamp: int + The value that corresponds to a message of type Timestamp. This is not a valid PayloadType, but it is used to indicate that the message has a timestamp. + TimestampedU8 : int + The value that corresponds to a message of type TimestampedU8 + TimestampedS8 : int + The value that corresponds to a message of type TimestampedS8 + TimestampedU16 : int + The value that corresponds to a message of type TimestampedU16 + TimestampedS16 : int + The value that corresponds to a message of type TimestampedS16 + TimestampedU32 : int + The value that corresponds to a message of type TimestampedU32 + TimestampedS32 : int + The value that corresponds to a message of type TimestampedS32 + TimestampedU64 : int + The value that corresponds to a message of type TimestampedU64 + TimestampedS64 : int + The value that corresponds to a message of type TimestampedS64 + TimestampedFloat : int + The value that corresponds to a message of type TimestampedFloat + """ + + U8 = _isUnsigned | 1 + S8 = _isSigned | 1 + U16 = _isUnsigned | 2 + S16 = _isSigned | 2 + U32 = _isUnsigned | 4 + S32 = _isSigned | 4 + U64 = _isUnsigned | 8 + S64 = _isSigned | 8 + Float = _isFloat | 4 + Timestamp = _hasTimestamp + TimestampedU8 = _hasTimestamp | U8 + TimestampedS8 = _hasTimestamp | S8 + TimestampedU16 = _hasTimestamp | U16 + TimestampedS16 = _hasTimestamp | S16 + TimestampedU32 = _hasTimestamp | U32 + TimestampedS32 = _hasTimestamp | S32 + TimestampedU64 = _hasTimestamp | U64 + TimestampedS64 = _hasTimestamp | S64 + TimestampedFloat = _hasTimestamp | Float + + +class CommonRegisters(IntEnum): + """ + An enumeration with the registers that are common to every Harp device. More information on the common registers can be found [here](https://harp-tech.org/protocol/Device.html#table---list-of-available-common-registers). + + Attributes + ---------- + WHO_AM_I : int + The number of the `WHO_AM_I` register + HW_VERSION_H : int + The number of the `HW_VERSION_H` register + HW_VERSION_L : int + The number of the `HW_VERSION_L` register + ASSEMBLY_VERSION : int + The number of the `ASSEMBLY_VERSION` register + HARP_VERSION_H : int + The number of the `HARP_VERSION_H` register + HARP_VERSION_L : int + The number of the `HARP_VERSION_L` register + FIRMWARE_VERSION_H : int + The number of the `FIRMWARE_VERSION_H` register + FIRMWARE_VERSION_L : int + The number of the `FIRMWARE_VERSION_L` register + TIMESTAMP_SECOND : int + The number of the `TIMESTAMP_SECOND` register + TIMESTAMP_MICRO : int + The number of the `TIMESTAMP_MICRO` register + OPERATION_CTRL : int + The number of the `OPERATION_CTRL` register + RESET_DEV : int + The number of the `RESET_DEV` register + DEVICE_NAME : int + The number of the `DEVICE_NAME` register + SERIAL_NUMBER : int + The number of the `SERIAL_NUMBER` register + CLOCK_CONFIG : int + The number of the `CLOCK_CONFIG` register + TIMESTAMP_OFFSET : int + The number of the `TIMESTAMP_OFFSET` register + """ + + WHO_AM_I = 0x00 + HW_VERSION_H = 0x01 + HW_VERSION_L = 0x02 + ASSEMBLY_VERSION = 0x03 + HARP_VERSION_H = 0x04 + HARP_VERSION_L = 0x05 + FIRMWARE_VERSION_H = 0x06 + FIRMWARE_VERSION_L = 0x07 + TIMESTAMP_SECOND = 0x08 + TIMESTAMP_MICRO = 0x09 + OPERATION_CTRL = 0x0A + RESET_DEV = 0x0B + DEVICE_NAME = 0x0C + SERIAL_NUMBER = 0x0D + CLOCK_CONFIG = 0x0E + TIMESTAMP_OFFSET = 0x0F + + +class OperationMode(IntEnum): + """ + An enumeration with the operation modes of a Harp device. More information on the operation modes can be found [here](https://harp-tech.org/protocol/Device.html#r_operation_ctrl-u16--operation-mode-configuration). + + Attributes + ---------- + STANDBY : int + The value that corresponds to the Standby operation mode (0). The device has all the Events turned off + ACTIVE : int + The value that corresponds to the Active operation mode (1). The device turns ON the Events detection. Only the enabled Events will be operating + RESERVED : int + The value that corresponds to the Reserved operation mode (2) + SPEED : int + The value that corresponds to the Speed operation mode (3). The device enters Speed Mode + """ + + STANDBY = 0 + ACTIVE = 1 + RESERVED = 2 + SPEED = 3 + + +class OperationCtrl(IntFlag): + """ + An enumeration with the operation control bits of a Harp device. More information on the operation control bits can be found [here](https://harp-tech.org/protocol/Device.html#r_operation_ctrl-u16--operation-mode-configuration). + + Attributes + ---------- + OP_MODE : int + Bits 1:0 (0x03): Operation mode of the device. + 0: Standby Mode (all Events off, mandatory) + 1: Active Mode (Events detection enabled, mandatory) + 2: Reserved + 3: Speed Mode (device enters Speed Mode, optional; only responds to Speed Mode commands) + DUMP : int + Bit 3 (0x08): When set to 1, the device adds the content of all registers to the streaming buffer as Read messages. Always read as 0 + MUTE_RPL : int + Bit 4 (0x10): If set to 1, replies to all commands are muted (not sent by the device) + VISUALEN : int + Bit 5 (0x20): If set to 1, visual indications (e.g., LEDs) operate. If 0, all visual indications are turned off + OPLEDEN : int + Bit 6 (0x40): If set to 1, the LED indicates the selected Operation Mode (see LED feedback table in documentation) + ALIVE_EN : int + Bit 7 (0x80): If set to 1, the device sends an Event Message with the R_TIMESTAMP_SECONDS content each second (heartbeat) + """ + + OP_MODE = 3 << 0 + DUMP = 1 << 3 + MUTE_RPL = 1 << 4 + VISUALEN = 1 << 5 + OPLEDEN = 1 << 6 + ALIVE_EN = 1 << 7 + + +class ResetMode(IntEnum): + """ + An enumeration with the reset modes and actions for the R_RESET_DEV register of a Harp device. + More information on the reset modes can be found [here](https://harp-tech.org/protocol/Device.html#r_reset_dev-u8--reset-device-and-save-non-volatile-registers). + + Attributes + ---------- + RST_DEF : int + Bit 0 (0x01): If set, resets the device and restores all registers (Common and Application) to default values. + EEPROM is erased and defaults become the permanent boot option + RST_EE : int + Bit 1 (0x02): If set, resets the device and restores all registers (Common and Application) from non-volatile memory (EEPROM). + EEPROM values remain the permanent boot option + SAVE : int + Bit 3 (0x08): If set, saves all non-volatile registers (Common and Application) to EEPROM and reboots. + EEPROM becomes the permanent boot option + NAME_TO_DEFAULT : int + Bit 4 (0x10): If set, reboots the device with the default name + BOOT_DEF : int + Bit 6 (0x40, read-only): Indicates the device booted with default register values + BOOT_EE : int + Bit 7 (0x80, read-only): Indicates the device booted with register values saved on the EEPROM + """ + + RST_DEF = 0x01 + RST_EE = 0x02 + SAVE = 0x08 + NAME_TO_DEFAULT = 0x10 + BOOT_DEF = 0x40 + BOOT_EE = 0x80 + + +class ClockConfig(IntFlag): + """ + An enumeration with the clock configuration bits for the R_CLOCK_CONFIG register of a Harp device. + More information can be found [here](https://harp-tech.org/protocol/Device.html#r_clock_config-u8--synchronization-clock-configuration). + + Attributes + ---------- + CLK_REP : int + Bit 0 (0x01): If set to 1, the device will repeat the Harp Synchronization Clock to the Clock Output connector, if available. + Acts as a daisy-chain by repeating the Clock Input to the Clock Output. Setting this bit also unlocks the Harp Synchronization Clock + CLK_GEN : int + Bit 1 (0x02): If set to 1, the device will generate Harp Synchronization Clock to the Clock Output connector, if available. + The Clock Input will be ignored. Read as 1 if the device is generating the Harp Synchronization Clock + REP_ABLE : int + Bit 3 (0x08, read-only): Indicates if the device is able (1) to repeat the Harp Synchronization Clock timestamp + GEN_ABLE : int + Bit 4 (0x10, read-only): Indicates if the device is able (1) to generate the Harp Synchronization Clock timestamp + CLK_UNLOCK : int + Bit 6 (0x40): If set to 1, the device will unlock the timestamp register counter (R_TIMESTAMP_SECOND) and accept new timestamp values. + Read as 1 if the timestamp register is unlocked + CLK_LOCK : int + Bit 7 (0x80): If set to 1, the device will lock the current timestamp register counter (R_TIMESTAMP_SECOND) and reject new timestamp values. + Read as 1 if the timestamp register is locked + """ + + CLK_REP = 0x01 + CLK_GEN = 0x02 + REP_ABLE = 0x08 + GEN_ABLE = 0x10 + CLK_UNLOCK = 0x40 + CLK_LOCK = 0x80 diff --git a/src/harp-protocol/harp/protocol/device_names.py b/src/harp-protocol/harp/protocol/device_names.py new file mode 100644 index 0000000..4682267 --- /dev/null +++ b/src/harp-protocol/harp/protocol/device_names.py @@ -0,0 +1,52 @@ +from collections import defaultdict + +# This file contains the device names for the current version of the harp library. +# These names were extracted from https://github.com/harp-tech/protocol/blob/main/whoami.yml +# commit used: https://github.com/harp-tech/protocol/commit/3e2a228 + +current_device_names = { + 256: "USBHub", + 1024: "Poke", + 1040: "MultiPwmGenerator", + 1056: "Wear", + 1058: "WearBaseStationGen2", + 1072: "Driver12Volts", + 1088: "LedController", + 1104: "Synchronizer", + 1106: "InputExpander", + 1108: "OutputExpander", + 1121: "SimpleAnalogGenerator", + 1130: "StepperDriver", + 1136: "Archimedes", + 1140: "Olfactometer", + 1152: "ClockSynchronizer", + 1154: "TimestampGeneratorGen1", + 1158: "TimestampGeneratorGen3", + 1168: "CameraController", + 1170: "CameraControllerGen2", + 1184: "PyControlAdapter", + 1200: "FlyPad", + 1216: "Behavior", + 1224: "VestibularH1", + 1225: "VestibularH2", + 1232: "LoadCells", + 1236: "AnalogInput", + 1248: "RgbArray", + 1280: "SoundCard", + 1282: "CurrentDriver", + 1296: "SyringePump", + 1298: "LaserDriverController", + 1400: "LicketySplit", + 1401: "SniffDetector", + 1402: "Treadmill", + 1403: "cuTTLefish", + 1404: "WhiteRabbit", + 1405: "EnvironmentSensor", + 2064: "NeurophotometricsFP3002", + 2080: "Ibl_behavior_control", + 2094: "RfidReader", + 2110: "Pluma", +} + +device_names = defaultdict(lambda: "NotSpecified") +device_names.update(current_device_names) diff --git a/src/harp-protocol/harp/protocol/exceptions.py b/src/harp-protocol/harp/protocol/exceptions.py new file mode 100644 index 0000000..61650af --- /dev/null +++ b/src/harp-protocol/harp/protocol/exceptions.py @@ -0,0 +1,32 @@ +class HarpException(Exception): + """Base class for all exceptions raised related with Harp.""" + + pass + + +class HarpWriteException(HarpException): + """ + Exception raised when there is an error writing to a register in the Harp device. + """ + + def __init__(self, register): + super().__init__(f"Error writing to register {register}") + self.register = register + + +class HarpReadException(HarpException): + """ + Exception raised when there is an error reading from a register in the Harp device. + """ + + def __init__(self, register): + super().__init__(f"Error reading from register {register}") + self.register = register + + +class HarpTimeoutError(HarpException): + """Raised when no reply is received within the configured timeout.""" + + def __init__(self, timeout_s: float): + super().__init__(f"No reply received within {timeout_s} seconds.") + self.timeout_s = timeout_s diff --git a/src/harp-protocol/harp/protocol/messages.py b/src/harp-protocol/harp/protocol/messages.py new file mode 100644 index 0000000..1ee5595 --- /dev/null +++ b/src/harp-protocol/harp/protocol/messages.py @@ -0,0 +1,582 @@ +from __future__ import annotations # for type hints (PEP 563) + +import struct +from typing import Optional, Union + +from harp.protocol import MessageType, PayloadType +from harp.protocol.exceptions import HarpReadException + + +class HarpMessage: + """ + The `HarpMessage` class implements the Harp message as described in the [protocol](https://harp-tech.org/protocol/BinaryProtocol-8bit.html). + + Attributes + ---------- + frame : bytearray + The bytearray containing the whole Harp message + message_type : MessageType + The message type + length : int + The length parameter of the Harp message + address : int + The address of the register to which the Harp message refers to + port : int + Indicates the origin or destination of the Harp message in case the device is a hub of Harp devices. The value 255 points to the device itself (default value). + payload_type : PayloadType + The payload type + checksum : int + The sum of all bytes contained in the Harp message + """ + + DEFAULT_PORT: int = 255 + BASE_LENGTH: int = 4 + _frame: bytearray = bytearray() + _port: int = DEFAULT_PORT + + def calculate_checksum(self) -> int: + """ + Calculates the checksum of the Harp message. + + Returns + ------- + int + The value of the checksum + """ + checksum: int = 0 + for i in self.frame: + checksum += i + return checksum & 255 + + @property + def frame(self) -> bytearray: + """ + The bytearray containing the whole Harp message. + + Returns + ------- + bytearray + The bytearray containing the whole Harp message + """ + return self._frame + + @property + def message_type(self) -> MessageType: + """ + The message type. + + Returns + ------- + MessageType + The message type + """ + return MessageType(self._frame[0]) + + @property + def length(self) -> int: + """ + The length parameter of the Harp message. + + Returns + ------- + int + The length parameter of the Harp message + """ + return self._frame[1] + + @property + def address(self) -> int: + """ + The address of the register to which the Harp message refers to. + + Returns + ------- + int + The address of the register to which the Harp message refers to + """ + return self._frame[2] + + @property + def port(self) -> int: + """ + Indicates the origin or destination of the Harp message in case the device is a hub of Harp devices. The value 255 points to the device itself (default value). + + Returns + ------- + int + The port value + """ + return self._frame[3] + + @port.setter + def port(self, value: int) -> None: + """ + Sets the port value. + + Parameters + ---------- + value : int + The port value to set + """ + self._port = value + + @property + def payload_type(self) -> PayloadType: + """ + The payload type. + + Returns + ------- + PayloadType + The payload type + """ + return PayloadType(self._frame[4]) + + @property + def payload(self) -> Union[int, list[int], bytearray, float, list[float]]: + """ + The payload sent in the write Harp message. + + Returns + ------- + Union[int, list[int]] + The payload sent in the write Harp message + """ + payload_start = self.BASE_LENGTH + if self.payload_type & PayloadType.Timestamp: + payload_start += 6 + + payload_index = payload_start + 1 + + # length is payload_start + payload type size + pt = self.payload_type + if pt == PayloadType.U8 or pt == PayloadType.TimestampedU8: + if self.length == payload_start + 1: + return self._frame[payload_index] + else: # array case + return [ + int.from_bytes([self._frame[i]], byteorder="little") + for i in range(payload_index, self.length + 1) + ] + + elif pt == PayloadType.S8 or pt == PayloadType.TimestampedS8: + if self.length == payload_start + 1: + return int.from_bytes( + [self._frame[payload_index]], byteorder="little", signed=True + ) + else: # array case + return [ + int.from_bytes( + [self._frame[i]], + byteorder="little", + signed=True, + ) + for i in range(payload_index, self.length + 1) + ] + + elif pt == PayloadType.U16 or pt == PayloadType.TimestampedU16: + if self.length == payload_start + 2: + return int.from_bytes( + self._frame[payload_index : payload_index + 2], + byteorder="little", + signed=False, + ) + else: # array case + return [ + int.from_bytes( + self._frame[i : i + 2], + byteorder="little", + signed=False, + ) + for i in range(payload_index, self.length + 1, 2) + ] + + elif pt == PayloadType.S16 or pt == PayloadType.TimestampedS16: + if self.length == payload_start + 2: + return int.from_bytes( + self._frame[payload_index : payload_index + 2], + byteorder="little", + signed=True, + ) + else: + return [ + int.from_bytes( + self._frame[i : i + 2], + byteorder="little", + signed=True, + ) + for i in range(payload_index, self.length + 1, 2) + ] + + elif pt == PayloadType.U32 or pt == PayloadType.TimestampedU32: + if self.length == payload_start + 4: + return int.from_bytes( + self._frame[payload_index : payload_index + 4], + byteorder="little", + signed=False, + ) + else: + return [ + int.from_bytes( + self._frame[i : i + 4], + byteorder="little", + signed=False, + ) + for i in range(payload_index, self.length + 1, 4) + ] + + elif pt == PayloadType.S32 or pt == PayloadType.TimestampedS32: + if self.length == payload_start + 4: + return int.from_bytes( + self._frame[payload_index : payload_index + 4], + byteorder="little", + signed=True, + ) + else: + return [ + int.from_bytes( + self._frame[i : i + 4], + byteorder="little", + signed=True, + ) + for i in range(payload_index, self.length + 1, 4) + ] + + elif pt == PayloadType.U64 or pt == PayloadType.TimestampedU64: + if self.length == payload_start + 8: + return int.from_bytes( + self._frame[payload_index : payload_index + 8], + byteorder="little", + signed=False, + ) + else: + return [ + int.from_bytes( + self._frame[i : i + 8], + byteorder="little", + signed=False, + ) + for i in range(payload_index, self.length + 1, 8) + ] + + elif pt == PayloadType.S64 or pt == PayloadType.TimestampedS64: + if self.length == payload_start + 8: + return int.from_bytes( + self._frame[payload_index : payload_index + 8], + byteorder="little", + signed=True, + ) + else: + return [ + int.from_bytes( + self._frame[i : i + 8], + byteorder="little", + signed=True, + ) + for i in range(payload_index, self.length + 1, 8) + ] + + elif pt == PayloadType.Float or pt == PayloadType.TimestampedFloat: + if self.length == payload_start + 4: + return struct.unpack( + " int: + """ + The sum of all bytes contained in the Harp message. + + Returns + ------- + int + The sum of all bytes contained in the Harp message + """ + return self._frame[-1] + + @staticmethod + def parse(frame: bytearray) -> ReplyHarpMessage: + """ + Parses a bytearray to a (reply) Harp message. + + Parameters + ---------- + frame : bytearray + The bytearray will be parsed into a (reply) Harp message + + Returns + ------- + ReplyHarpMessage + The Harp message object parsed from the original bytearray + """ + return ReplyHarpMessage(frame) + + @staticmethod + def create( + message_type: MessageType, + address: int, + payload_type: PayloadType, + value: Optional[int | list[int] | float | list[float]] = None, + ) -> HarpMessage: + """ + Creates a Harp message. + + Parameters + ---------- + message_type : MessageType + The message type. It can only be of type READ or WRITE + address : int + The address of the register that the message will interact with + payload_type : PayloadType + The payload type + value: int | list[int] | float | list[float], optional + The payload of the message. If message_type == MessageType.WRITE, the value cannot be None + """ + if message_type == MessageType.READ: + return ReadHarpMessage(payload_type, address) + elif message_type == MessageType.WRITE and value is not None: + return WriteHarpMessage(payload_type, address, value) + elif message_type != MessageType.READ and message_type != MessageType.WRITE: + raise Exception( + "The only valid message types are MessageType.READ and MessageType.Write!" + ) + else: + raise Exception( + "The value cannot be None if the message type is equal to MessageType.WRITE!" + ) + + def __repr__(self) -> str: + """ + Prints debug representation of the reply message. + + Returns + ------- + str + The debug representation of the reply message + """ + return self.__str__() + f"\r\nRaw Frame: {self.frame}" + + def __str__(self) -> str: + """ + Prints friendly representation of a Harp message. + + Returns + ------- + str + The representation of the Harp message + """ + payload_str = "" + format_str = "" + if self.payload_type in [PayloadType.Float, PayloadType.TimestampedFloat]: + format_str = ".6f" + else: + bytes_per_word = self.payload_type & 0x07 + format_str = f"0{bytes_per_word}b" + + payload_str = "".join( + f"{item:{format_str}} " + for item in ( + self.payload if isinstance(self.payload, list) else [self.payload] + ) + ) + + # Check if the object has a 'timestamp' property and it's not None + timestamp_line = "" + if hasattr(self, "timestamp"): + ts = getattr(self, "timestamp") + if ts is not None: + timestamp_line = f"Timestamp: {ts}\r\n" + + return ( + f"Type: {self.message_type.name}\r\n" + + f"Length: {self.length}\r\n" + + f"Address: {self.address}\r\n" + + f"Port: {self.port}\r\n" + + timestamp_line + + f"Payload Type: {self.payload_type.name}\r\n" + + f"Payload Length: {len(self.payload) if self.payload is list else 1}\r\n" + + f"Payload: {payload_str}\r\n" + + f"Checksum: {self.checksum}" + ) + + +class ReplyHarpMessage(HarpMessage): + """ + A response message from a Harp device. + + Attributes + ---------- + payload : Union[int, list[int]] + The message payload formatted as the appropriate type + timestamp : float + The Harp timestamp at which the message was sent + """ + + def __init__( + self, + frame: bytearray, + ): + """ + Parameters + ---------- + frame : bytearray + The Harp message in bytearray format + """ + + self._frame = frame + # Retrieve all content from 11 (where payload starts) until the checksum (not inclusive) + self._raw_payload = frame[11:-1] + + # Assign timestamp after _payload since @properties all rely on self._payload. + self._timestamp = ( + int.from_bytes(frame[5:9], byteorder="little", signed=False) + + int.from_bytes(frame[9:11], byteorder="little", signed=False) * 32e-6 + ) + + # Timestamp is junk if it's not present. + if not (self.payload_type & PayloadType.Timestamp): + raise HarpReadException(self.address) + + @property + def is_error(self) -> bool: + """ + Indicates if this HarpMessage is an error message or not. + + Returns + ------- + bool + Returns True if this HarpMessage is an error message, False otherwise. + """ + return self.message_type in [MessageType.READ_ERROR, MessageType.WRITE_ERROR] + + @property + def timestamp(self) -> float: + """ + The Harp timestamp at which the message was sent. + + Returns + ------- + float + The Harp timestamp at which the message was sent + """ + return self._timestamp + + def payload_as_string(self) -> str: + """ + Returns the payload as a str. + + Returns + ------- + str + The payload parsed as a str + """ + return self._raw_payload.decode("utf-8").rstrip("\x00") + + +class ReadHarpMessage(HarpMessage): + """ + A read Harp message sent to a Harp device. + """ + + MESSAGE_TYPE: int = MessageType.READ + + def __init__(self, payload_type: PayloadType, address: int): + self._frame = bytearray() + + self._frame.append(self.MESSAGE_TYPE) + + length: int = 4 + self._frame.append(length) + self._frame.append(address) + self._frame.append(self._port) + self._frame.append(payload_type) + self._frame.append(self.calculate_checksum()) + + +class WriteHarpMessage(HarpMessage): + """ + A write Harp message sent to a Harp device. + + Attributes + ---------- + payload : Union[int, list[int]] + The payload sent in the write Harp message + """ + + MESSAGE_TYPE: int = MessageType.WRITE + + # Define payload type properties + _PAYLOAD_CONFIG = { + # payload_type: (byte_size, signed, is_float) + PayloadType.U8: (1, False), + PayloadType.S8: (1, True), + PayloadType.U16: (2, False), + PayloadType.S16: (2, True), + PayloadType.U32: (4, False), + PayloadType.S32: (4, True), + PayloadType.U64: (8, False), + PayloadType.S64: (8, True), + PayloadType.Float: (4, False), + } + + def __init__( + self, + payload_type: PayloadType, + address: int, + value: int | float | list[int] | list[float], + ): + """ + Create a WriteHarpMessage to send to a device. + + Parameters + ---------- + payload_type : PayloadType + Type of payload (U8, S8, U16, etc.) + address : int + Register address to write to + value : int, float, List[int], or List[float], optional + Value(s) to write - can be a single value or list of values + + Note + ----- + The message frame is constructed according to the HARP binary protocol. + The length is calculated as BASE_LENGTH + payload size in bytes. + """ + + self._frame = bytearray() + + # Get configuration for this payload type + byte_size, signed = self._PAYLOAD_CONFIG.get(payload_type, (1, False)) + + # Convert value to payload bytes + payload = bytearray() + + if isinstance(value, int) or isinstance(value, float): + values = [value] + else: + values = value + + for val in values: + if isinstance(val, float): + payload += struct.pack(" None: + """ + Loads the data stored in the device's common registers. + """ + self.WHO_AM_I = self._read_who_am_i() + self.DEFAULT_DEVICE_NAME = self._read_default_device_name() + self.HW_VERSION_H = self._read_hw_version_h() + self.HW_VERSION_L = self._read_hw_version_l() + self.ASSEMBLY_VERSION = self._read_assembly_version() + self.HARP_VERSION_H = self._read_harp_version_h() + self.HARP_VERSION_L = self._read_harp_version_l() + self.FIRMWARE_VERSION_H = self._read_fw_version_h() + self.FIRMWARE_VERSION_L = self._read_fw_version_l() + self.DEVICE_NAME = self._read_device_name() + self.SERIAL_NUMBER = self._read_serial_number() + self.CLOCK_CONFIG = self._read_clock_config() + self.TIMESTAMP_OFFSET = self._read_timestamp_offset() + + def info(self) -> None: + """ + Prints the device information. + """ + print("Device info:") + print(f"* Who am I: ({self.WHO_AM_I}) {self.DEFAULT_DEVICE_NAME}") + print(f"* HW version: {self.HW_VERSION_H}.{self.HW_VERSION_L}") + print(f"* Assembly version: {self.ASSEMBLY_VERSION}") + print(f"* HARP version: {self.HARP_VERSION_H}.{self.HARP_VERSION_L}") + print( + f"* Firmware version: {self.FIRMWARE_VERSION_H}.{self.FIRMWARE_VERSION_L}" + ) + print(f"* Device user name: {self.DEVICE_NAME}") + print(f"* Serial number: {self.SERIAL_NUMBER}") + print(f"* Mode: {self._read_device_mode().name}") + + def connect(self) -> None: + """ + Connects to the Harp device. + """ + self._ser = HarpSerial( + self._serial_port, # "/dev/tty.usbserial-A106C8O9" + baudrate=1000000, + timeout=self._TIMEOUT_S, + parity=serial.PARITY_NONE, + stopbits=1, + bytesize=8, + rtscts=True, + ) + + # open file if it is defined + if self._dump_file_path is not None: + self._dump_file = open(self._dump_file_path, "ab") + + def disconnect(self) -> None: + """ + Disconnects from the Harp device. + """ + # close file if it exists + if self._dump_file: + self._dump_file.close() + self._dump_file = None + + self._ser.close() + + def _read_device_mode(self) -> OperationMode: + """ + Reads the current operation mode of the Harp device. + + Returns + ------- + DeviceMode + The current device mode + """ + address = CommonRegisters.OPERATION_CTRL + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + return OperationMode(reply.payload & OperationCtrl.OP_MODE) + + def dump_registers(self) -> list: + """ + Asserts the DUMP bit to dump the values of all core and app registers + as Harp Read Reply Messages. More information on the DUMP bit can be found [here](https://harp-tech.org/protocol/Device.html#r_operation_ctrl-u16--operation-mode-configuration). + + Returns + ------- + list + The list containing the reply Harp messages for all the device's registers + """ + address = CommonRegisters.OPERATION_CTRL + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return [] + + reg_value = reg_value.payload + + # Assert DUMP bit + reg_value |= OperationCtrl.DUMP + self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + # Receive the contents of all registers as Harp Read Reply Messages + replies = [] + while True: + msg = self._read() + if msg is not None: + replies.append(msg) + else: + break + return replies + + def read_operation_ctrl(self): + """ + Reads the OPERATION_CTRL register of the device. + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + """ + address = CommonRegisters.OPERATION_CTRL + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + # create dict with complete byte and then decode each bit according to the OperationCtrl entries + if reply is not None: + reg_value = reply.payload + result = { + "REG_VALUE": reply.payload, + "OP_MODE": OperationMode(reg_value & OperationCtrl.OP_MODE), + "DUMP": bool(reg_value & OperationCtrl.DUMP), + "MUTE_RPL": bool(reg_value & OperationCtrl.MUTE_RPL), + "VISUALEN": bool(reg_value & OperationCtrl.VISUALEN), + "OPLEDEN": bool(reg_value & OperationCtrl.OPLEDEN), + "ALIVE_EN": bool(reg_value & OperationCtrl.ALIVE_EN), + } + return result + + def write_operation_ctrl( + self, + mode: Optional[OperationMode] = None, + mute_rpl: Optional[bool] = None, + visual_en: Optional[bool] = None, + op_led_en: Optional[bool] = None, + alive_en: Optional[bool] = None, + ) -> ReplyHarpMessage | None: + """ + Writes the OPERATION_CTRL register of the device. + + Parameters + ---------- + mode : OperationMode, optional + The new operation mode value + mute_rpl : bool, optional + If True, the Replies to all the Commands are muted + visual_en : bool, optional + If True, enables the status led + op_led_en : bool, optional + If True, enables the operation LED + alive_en : bool, optional + If True, enables the ALIVE_EN bit + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + """ + address = CommonRegisters.OPERATION_CTRL + + # Read register first + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return reg_value + + reg_value = reg_value.payload + + if mode is not None: + # Clear old operation mode + reg_value &= ~OperationCtrl.OP_MODE + # Set new operation mode + reg_value |= mode + + if mute_rpl is not None: + if mute_rpl: + reg_value |= OperationCtrl.MUTE_RPL + else: + reg_value &= ~OperationCtrl.MUTE_RPL + + if visual_en is not None: + if visual_en: + reg_value |= OperationCtrl.VISUALEN + else: + reg_value &= ~OperationCtrl.VISUALEN + + if op_led_en is not None: + if op_led_en: + reg_value |= OperationCtrl.OPLEDEN + else: + reg_value &= ~OperationCtrl.OPLEDEN + + if alive_en is not None: + if alive_en: + reg_value |= OperationCtrl.ALIVE_EN + else: + reg_value &= ~OperationCtrl.ALIVE_EN + + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + return reply + + def set_mode(self, mode: OperationMode) -> ReplyHarpMessage | None: + """ + Sets the operation mode of the device. + + Parameters + ---------- + mode : DeviceMode + The new device mode value + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + """ + address = CommonRegisters.OPERATION_CTRL + + # Read register first + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return reg_value + + reg_value = reg_value.payload + + # Clear old operation mode + reg_value &= ~OperationCtrl.OP_MODE + + # Set new operation mode + reg_value |= mode + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + return reply + + def alive_en(self, enable: bool) -> bool: + """ + Sets the ALIVE_EN bit of the device. + + Parameters + ---------- + enable : bool + If True, enables the ALIVE_EN bit. If False, disables it + + Returns + ------- + bool + True if the operation was successful, False otherwise + """ + address = CommonRegisters.OPERATION_CTRL + + # Read register first + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return False + + reg_value = reg_value.payload + + if enable: + reg_value |= OperationCtrl.ALIVE_EN + else: + reg_value &= ~OperationCtrl.ALIVE_EN + + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + if reply is None: + return False + + return reply is not None + + def op_led_en(self, enable: bool) -> bool: + """ + Sets the operation LED of the device. + + Parameters + ---------- + enable : bool + If True, enables the operation LED. If False, disables it + + Returns + ------- + bool + True if the operation was successful, False otherwise + """ + address = CommonRegisters.OPERATION_CTRL + + # Read register first + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return False + + reg_value = reg_value.payload + + if enable: + reg_value |= OperationCtrl.OPLEDEN + else: + reg_value &= ~OperationCtrl.OPLEDEN + + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + return reply is not None + + def visual_en(self, enable: bool) -> bool: + """ + Sets the status led of the device. + + Parameters + ---------- + enable : bool + If True, enables the status led. If False, disables it + + Returns + ------- + bool + True if the operation was successful, False otherwise + """ + address = CommonRegisters.OPERATION_CTRL + + # Read register first + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return False + + reg_value = reg_value.payload + + if enable: + reg_value |= OperationCtrl.VISUALEN + else: + reg_value &= ~OperationCtrl.VISUALEN + + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + return reply is not None + + def mute_reply(self, enable: bool) -> bool: + """ + Sets the MUTE_REPLY bit of the device. + + Parameters + ---------- + enable : bool + If True, the Replies to all the Commands are muted. If False, un-mutes them + + Returns + ------- + bool + True if the operation was successful, False otherwise + """ + address = CommonRegisters.OPERATION_CTRL + + # Read register first + reg_value = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U8) + ) + + if reg_value is None: + return False + + reg_value = reg_value.payload + + if enable: + reg_value |= OperationCtrl.MUTE_RPL + else: + reg_value &= ~OperationCtrl.MUTE_RPL + + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reg_value) + ) + + return reply is not None + + def reset_device( + self, reset_mode: ResetMode = ResetMode.RST_DEF + ) -> ReplyHarpMessage | None: + """ + Resets the device and reboots with all the registers with the default values. Beware that the EEPROM will be erased. More information on the reset device register can be found [here](https://harp-tech.org/protocol/Device.html#r_reset_dev-u8--reset-device-and-save-non-volatile-registers). + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + """ + address = CommonRegisters.RESET_DEV + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, reset_mode) + ) + + return reply + + def set_clock_config(self, clock_config: ClockConfig) -> ReplyHarpMessage | None: + """ + Sets the clock configuration of the device. + + Parameters + ---------- + clock_config : ClockConfig + The clock configuration value + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + """ + address = CommonRegisters.CLOCK_CONFIG + reply = self.send( + HarpMessage.create(MessageType.WRITE, address, PayloadType.U8, clock_config) + ) + + return reply + + def set_timestamp_offset(self, timestamp_offset: int) -> ReplyHarpMessage | None: + """ + When the value of this register is above 0 (zero), the device's timestamp will be offset by this amount. The register is sensitive to 500 microsecond increments. This register is non-volatile. + + Parameters + ---------- + timestamp_offset : int + The timestamp offset value + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + """ + address = CommonRegisters.TIMESTAMP_OFFSET + reply = self.send( + HarpMessage.create( + MessageType.WRITE, address, PayloadType.U8, timestamp_offset + ) + ) + + return reply + + def send( + self, + message: HarpMessage, + *, + expect_reply: bool = True, + timeout_strategy: TimeoutStrategy | None = None, + ) -> ReplyHarpMessage | None: + """ + Sends a Harp message and (optionally) waits for a reply. + + Parameters + ---------- + message : HarpMessage + The HarpMessage to be sent to the device + expect_reply : bool, optional + If False, do not wait for a reply (fire-and-forget) + timeout_strategy : TimeoutStrategy | None + Override the device-level timeout strategy for this call + + Returns + ------- + ReplyHarpMessage | None + Reply (or None when allowed by the timeout strategy or expect_reply=False) + + Raises + ------- + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + self._ser.write(message.frame) + + if not expect_reply: + return None + + strategy = timeout_strategy or self._timeout_strategy + + try: + reply = self._read() + except TimeoutError: + hte = HarpTimeoutError(self._read_timeout_s) + if strategy in ( + TimeoutStrategy.LOG_AND_RAISE, + TimeoutStrategy.LOG_AND_NONE, + ): + self.log.warning(str(hte)) + if strategy in (TimeoutStrategy.RAISE, TimeoutStrategy.LOG_AND_RAISE): + raise hte + return None + + self._dump_reply(reply.frame) + return reply + + def _read(self) -> ReplyHarpMessage: + """ + Reads an incoming serial message in a blocking way. + + Returns + ------- + ReplyHarpMessage + The incoming Harp message in case it exists + + Raises + ------- + TimeoutError + If no reply is received within the timeout period + """ + try: + return self._ser.msg_q.get(block=True, timeout=self._read_timeout_s) + except queue.Empty: + raise TimeoutError("No reply received within the timeout period.") + + def _dump_reply(self, reply: bytearray): + """ + Dumps the reply to a Harp message in the dump file in case it exists. + """ + if self._dump_file: + self._dump_file.write(reply) + + def get_events(self) -> list[ReplyHarpMessage]: + """ + Gets all events from the event queue. + + Returns + ------- + list + The list containing every Harp event message that were on the queue + """ + msgs = [] + while True: + try: + msgs.append(self._ser.event_q.get(timeout=False)) + except queue.Empty: + break + return msgs + + def event_count(self) -> int: + """ + Gets the number of events in the event queue. + + Returns + ------- + int + The number of events in the event queue + """ + return self._ser.event_q.qsize() + + def read_u8(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type U8. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.U8, + ) + ) + + return reply + + def read_s8(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type S8. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.S8, + ) + ) + + return reply + + def read_u16(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type U16. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.U16, + ) + ) + + return reply + + def read_s16(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type S16. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.S16, + ) + ) + + return reply + + def read_u32(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type U32. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.U32, + ) + ) + + return reply + + def read_s32(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type S32. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.S32, + ) + ) + + return reply + + def read_u64(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type U64. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.U64, + ) + ) + + return reply + + def read_s64(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type S64. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.S64, + ) + ) + + return reply + + def read_float(self, address: int) -> ReplyHarpMessage | None: + """ + Reads the value of a register of type Float. + + Parameters + ---------- + address : int + The register to be read + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message that will contain the value read from the register + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.READ, + address=address, + payload_type=PayloadType.Float, + ) + ) + + return reply + + def write_u8(self, address: int, value: int | list[int]) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type U8. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.U8, + value=value, + ) + ) + + return reply + + def write_s8(self, address: int, value: int | list[int]) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type S8. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.S8, + value=value, + ) + ) + + return reply + + def write_u16( + self, address: int, value: int | list[int] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type U16. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.U16, + value=value, + ) + ) + + return reply + + def write_s16( + self, address: int, value: int | list[int] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type S16. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.S16, + value=value, + ) + ) + + return reply + + def write_u32( + self, address: int, value: int | list[int] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type U32. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.U32, + value=value, + ) + ) + + return reply + + def write_s32( + self, address: int, value: int | list[int] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type S32. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.S32, + value=value, + ) + ) + + return reply + + def write_u64( + self, address: int, value: int | list[int] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type U64. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.U64, + value=value, + ) + ) + + return reply + + def write_s64( + self, address: int, value: int | list[int] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type S64. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.S64, + value=value, + ) + ) + + return reply + + def write_float( + self, address: int, value: float | list[float] + ) -> ReplyHarpMessage | None: + """ + Writes the value of a register of type Float. + + Parameters + ---------- + address : int + The register to be written on + value: int | list[int] + The value to be written to the register + + Returns + ------- + ReplyHarpMessage + The reply to the Harp message + + Raises + ------ + HarpTimeoutError + If no reply is received and the effective strategy requires raising + """ + reply = self.send( + HarpMessage.create( + message_type=MessageType.WRITE, + address=address, + payload_type=PayloadType.Float, + value=value, + ) + ) + + return reply + + def _read_who_am_i(self) -> int: + """ + Reads the value stored in the `WHO_AM_I` register. + + Returns + ------- + int + The value of the `WHO_AM_I` register + """ + address = CommonRegisters.WHO_AM_I + + reply = self.send( + HarpMessage.create(MessageType.READ, address, PayloadType.U16) + ) + + return reply.payload + + def _read_default_device_name(self) -> str: + """ + Returns the `DEFAULT_DEVICE_NAME` by cross-referencing the `WHO_AM_I` with the corresponding device name in the `device_names` dictionary. + + Returns + ------- + str + The default device name + """ + return device_names.get(self.WHO_AM_I, "Unknown device") + + def _read_hw_version_h(self) -> int: + """ + Reads the value stored in the `HW_VERSION_H` register. + + Returns + ------- + int + The value of the `HW_VERSION_H` register + """ + address = CommonRegisters.HW_VERSION_H + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_hw_version_l(self) -> int: + """ + Reads the value stored in the `HW_VERSION_L` register. + + Returns + ------- + int + The value of the `HW_VERSION_L` register + """ + address = CommonRegisters.HW_VERSION_L + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_assembly_version(self) -> int: + """ + Reads the value stored in the `ASSEMBLY_VERSION` register. + + Returns + ------- + int + The value of the `ASSEMBLY_VERSION` register + """ + address = CommonRegisters.ASSEMBLY_VERSION + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_harp_version_h(self) -> int: + """ + Reads the value stored in the `HARP_VERSION_H` register. + + Returns + ------- + int + The value of the `HARP_VERSION_H` register + """ + address = CommonRegisters.HARP_VERSION_H + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_harp_version_l(self) -> int: + """ + Reads the value stored in the `HARP_VERSION_L` register. + + Returns + ------- + int + The value of the `HARP_VERSION_L` register + """ + address = CommonRegisters.HARP_VERSION_L + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_fw_version_h(self) -> int: + """ + Reads the value stored in the `FW_VERSION_H` register. + + Returns + ------- + int + The value of the `FW_VERSION_H` register + """ + address = CommonRegisters.FIRMWARE_VERSION_H + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_fw_version_l(self) -> int: + """ + Reads the value stored in the `FW_VERSION_L` register. + + Returns + ------- + int + The value of the `FW_VERSION_L` register + """ + address = CommonRegisters.FIRMWARE_VERSION_L + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_device_name(self) -> str: + """ + Reads the value stored in the `DEVICE_NAME` register. + + Returns + ------- + int + The value of the `DEVICE_NAME` register + """ + address = CommonRegisters.DEVICE_NAME + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload_as_string() + + def _read_serial_number(self) -> int: + """ + Reads the value stored in the `SERIAL_NUMBER` register. + + Returns + ------- + int + The value of the `SERIAL_NUMBER` register + """ + address = CommonRegisters.SERIAL_NUMBER + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + if reply.is_error: + return 0 + + return reply.payload + + def _read_clock_config(self) -> int: + """ + Reads the value stored in the `CLOCK_CONFIG` register. + + Returns + ------- + int + The value of the `CLOCK_CONFIG` register + """ + address = CommonRegisters.CLOCK_CONFIG + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def _read_timestamp_offset(self) -> int: + """ + Reads the value stored in the `TIMESTAMP_OFFSET` register. + + Returns + ------- + int + The value of the `TIMESTAMP_OFFSET` register + """ + address = CommonRegisters.TIMESTAMP_OFFSET + + reply = self.send(HarpMessage.create(MessageType.READ, address, PayloadType.U8)) + + return reply.payload + + def __enter__(self): + """ + Support for using Device with 'with' statement. + + Returns + ------- + Device + The Device instance + """ + # Connection is already established in __init__ + # but we could add additional setup if needed + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + """ + Cleanup resources when exiting the 'with' block. + + Parameters + ---------- + exc_type : Exception type or None + Type of the exception that caused the context to be exited + exc_val : Exception or None + Exception instance that caused the context to be exited + exc_tb : traceback or None + Traceback if an exception occurred + """ + self.disconnect() + # Return False to propagate exceptions that occurred in the with block + return False diff --git a/src/harp-serial/harp/serial/harp_serial.py b/src/harp-serial/harp/serial/harp_serial.py new file mode 100644 index 0000000..c966d79 --- /dev/null +++ b/src/harp-serial/harp/serial/harp_serial.py @@ -0,0 +1,153 @@ +import logging +import queue +import threading +from functools import partial +from typing import Union + +import serial +import serial.threaded + +from harp.protocol.messages import HarpMessage, MessageType + + +class HarpSerialProtocol(serial.threaded.Protocol): + """ + The `HarpSerialProtocol` class deals with the data received from the serial communication. + """ + + _read_q: queue.Queue + + def __init__(self, read_q: queue.Queue, *args, **kwargs): + """ + Parameters + ---------- + read_q : queue.Queue + The queue to where the data received will be put + """ + self._read_q = read_q + self._buffer = bytearray() + super().__init__(*args, **kwargs) + + def connection_made(self, transport: serial.threaded.ReaderThread) -> None: + """ + _TODO_ + + Parameters + ---------- + transport : serial.threaded.ReaderThread + _TODO_ + """ + return super().connection_made(transport) + + def data_received(self, data: bytes) -> None: + """ + Receives data from the serial commmunication. + + Parameters + ---------- + data : bytes + The data received from the serial communication + """ + self._buffer.extend(data) + while True: + if len(self._buffer) < 2: + # not enough data to read the message type and length + break + + # Read length (we can ignore the message type) + message_length = self._buffer[1] + total_length = 2 + message_length + if len(self._buffer) < total_length: + break + + frame = self._buffer[:total_length] + self._buffer = self._buffer[total_length:] + self._read_q.put(frame) + + def connection_lost(self, exc: Union[BaseException, None]) -> None: + """ + _TODO_ + + Parameters + ---------- + exc : exc: Union[BaseException, None] + _TODO_ + """ + return super().connection_lost(exc) + + +class HarpSerial: + """ + The `HarpSerial` deals with the received Harp messages and separates the events from the remaining messages. + + Attributes + ---------- + msg_q : queue.Queue + The queue containing the Harp messages that are not of the type `MessageType.EVENT` + event_q : queue.Queue + The queue containing the Harp messages of `MessageType.EVENT` + """ + + msg_q: queue.Queue + event_q: queue.Queue + + def __init__(self, serial_port: str, **kwargs): + """ + Parameters + ---------- + serial_port : str + The serial port used to establish the connection with the Harp device. It must be denoted as `/dev/ttyUSBx` in Linux and `COMx` in Windows, where `x` is the number of the serial port + """ + # Connect to the Harp device + self._ser = serial.Serial(serial_port, **kwargs) + + self.log = logging.getLogger(f"{__name__}.{self.__class__.__name__}") + + # Initialize the message queues + self._read_q = queue.Queue() + self.msg_q = queue.Queue() + self.event_q = queue.Queue() + + # Start the thread with the `HarpSerialProtocol` + self._reader = serial.threaded.ReaderThread( + self._ser, + partial(HarpSerialProtocol, self._read_q), + ) + self._reader.start() + self._reader.connect() + + # Start the thread that parses and separates the events from the remaining messages + self._parse_thread = threading.Thread( + target=self.parse_harp_msgs_threaded_buffered, + daemon=True, + ) + self._parse_thread.start() + + def close(self): + """ + Closes the serial port. + """ + self._reader.close() + + def write(self, data): + """ + Writes data to the Harp device. + """ + self._reader.write(data) + + def parse_harp_msgs_threaded_buffered(self): + """ + Parses the Harp messages and separates the events from the remaining messages. + """ + while True: + frame = self._read_q.get() + try: + # Parses the bytearray into a ReplyHarpMessage object + msg = HarpMessage.parse(frame) + if msg.message_type == MessageType.EVENT: + self.event_q.put(msg) + else: + self.msg_q.put(msg) + except Exception as e: + self.log.error(f"Error parsing message: {e}") + self.log.debug(f"Raw data: {frame}") diff --git a/src/harp-serial/pyproject.toml b/src/harp-serial/pyproject.toml new file mode 100644 index 0000000..cd4421b --- /dev/null +++ b/src/harp-serial/pyproject.toml @@ -0,0 +1,25 @@ +[project] +name = "harp-serial" +version = "0.3.0" +description = "Library for data acquisition and control of devices implementing the Harp protocol." +authors = [{ name= "Hardware and Software Platform, Champalimaud Foundation", email="software@research.fchampalimaud.org"}] +license = "MIT" +keywords = ['python', 'harp'] +requires-python = ">=3.9,<4.0" +dependencies = [ + "harp-protocol==0.3.0", + "pyserial>=3.5", +] + +[tool.uv.sources] +harp-protocol = { workspace = true } + +[build-system] +requires = ["hatchling"] +build-backend = "hatchling.build" + +[tool.hatch.build.targets.wheel] +include = [ + "harp", + "harp/**/*", +] diff --git a/tests/test_device.py b/tests/test_device.py index da16859..a0137ae 100644 --- a/tests/test_device.py +++ b/tests/test_device.py @@ -1,86 +1,98 @@ -import serial +# import time -from typing import Optional -from pyharp.messages import HarpMessage, ReplyHarpMessage -from pyharp.device import Device +# from pyharp import MessageType, PayloadType +# from pyharp.device import Device +# from pyharp.messages import HarpMessage, ReplyHarpMessage -DEFAULT_ADDRESS = 42 +# DEFAULT_ADDRESS = 42 +# # FIXME +# # def test_create_device() -> None: +# # # open serial connection and load info +# # device = Device("COM74", "dump.bin") +# # assert device._ser.is_open +# # device.info() +# # device.disconnect() +# # assert not device._ser.is_open -def test_create_device() -> None: - # open serial connection and load info - device = Device("/dev/tty.usbserial-A106C8O9") - assert device._ser.is_open - device.info() - device.disconnect() - assert not device._ser.is_open +# def test_read_U8() -> None: +# # open serial connection and load info +# device = Device("/dev/ttyUSB0", "dump.bin") -def test_read_U8() -> None: - # open serial connection and load info - device = Device("/dev/tty.usbserial-A106C8O9", "dump.bin") +# # read register 38 +# register: int = 38 +# read_size: int = 35 # TODO: automatically calculate this! - # read register 38 - register: int = 38 - read_size: int = 35 # TODO: automatically calculate this! - - read_message = HarpMessage.ReadU8(register) - reply: ReplyHarpMessage = device.send(read_message.frame) - assert reply is not None - # assert reply.payload_as_int() == write_value - - print(reply) - assert device._dump_file_path.exists() - device.disconnect() - - -def test_U8() -> None: - # open serial connection and load info - device = Device("/dev/tty.usbserial-A106C8O9", "dump.txt") - assert device._dump_file_path.exists() - - register: int = 38 - read_size: int = 20 # TODO: automatically calculate this! - write_value: int = 65 - - # assert reply[11] == 0 # what is the default register value?! - - # write 65 on register 38 - write_message = HarpMessage.WriteU8(register, write_value) - reply : ReplyHarpMessage = device.send(write_message.frame) - assert reply is not None - - # read register 38 - read_message = HarpMessage.ReadU8(register) - reply = device.send(read_message.frame) - assert reply is not None - assert reply.payload_as_int() == write_value - - device.disconnect() - - -# def test_read_hw_version_integration() -> None: -# -# # serial settings -# ser = serial.Serial( -# "/dev/tty.usbserial-A106C8O9", -# baudrate=1000000, -# timeout=5, -# parity=serial.PARITY_NONE, -# stopbits=1, -# bytesize=8, -# rtscts=True, +# reply: ReplyHarpMessage = device.send( +# HarpMessage.create(MessageType.READ, register, PayloadType.U8) +# ) +# assert reply is not None +# # assert reply.payload == write_value + +# print(reply) +# assert device._dump_file_path.exists() +# device.disconnect() + +# # FIXME: this seems to be testing the Behavior device, not a generic harp device. +# def test_U8() -> None: +# # open serial connection and load info +# device = Device("/dev/ttyUSB0", "dump.bin") +# assert device._dump_file_path.exists() + +# register: int = 38 +# read_size: int = 20 # TODO: automatically calculate this! +# write_value: int = 65 + +# # assert reply[11] == 0 # what is the default register value?! + +# # write 65 on register 38 +# reply = device.send( +# HarpMessage.create( +# MessageType.WRITE, register, PayloadType.U8, write_value +# ) # ) -# -# assert ser.is_open -# -# ser.write(b"\x01\x04\x01\xff\x01\x06") # read HW major version (register 1) -# ser.write(b"\x01\x04\x02\xff\x01\x07") # read HW minor version (register 2) -# # print(f"In waiting: <{ser.in_waiting}>") -# -# data = ser.read(100) -# print(f"Data: {data}") -# ser.close() -# assert not ser.is_open -# -# # assert data[0] == '\t' +# assert reply is not None + +# # read register 38 +# reply = device.read_u8(register) +# assert reply is not None +# assert reply.payload == write_value + +# device.disconnect() + + +# # def test_read_hw_version_integration() -> None: +# # +# # # serial settings +# # ser = serial.Serial( +# # "/dev/tty.usbserial-A106C8O9", +# # baudrate=1000000, +# # timeout=5, +# # parity=serial.PARITY_NONE, +# # stopbits=1, +# # bytesize=8, +# # rtscts=True, +# # ) +# # +# # assert ser.is_open +# # +# # ser.write(b"\x01\x04\x01\xff\x01\x06") # read HW major version (register 1) +# # ser.write(b"\x01\x04\x02\xff\x01\x07") # read HW minor version (register 2) +# # # print(f"In waiting: <{ser.in_waiting}>") +# # +# # data = ser.read(100) +# # print(f"Data: {data}") +# # ser.close() +# # assert not ser.is_open +# # +# # # assert data[0] == '\t' + + +# # FIXME +# # def test_device_events(device: Device) -> None: +# # while True: +# # print(device.event_count()) +# # for msg in device.get_events(): +# # print(msg) +# # time.sleep(0.3) diff --git a/tests/test_messages.py b/tests/test_messages.py index 1100ae9..6b2fb18 100644 --- a/tests/test_messages.py +++ b/tests/test_messages.py @@ -1,85 +1,546 @@ -from pyharp.messages import HarpMessage -from pyharp.messages import MessageType -from pyharp.messages import CommonRegisters +import pytest + +from harp.protocol import CommonRegisters, MessageType, PayloadType +from harp.protocol.exceptions import HarpReadException +from harp.protocol.messages import ( + HarpMessage, + ReadHarpMessage, + ReplyHarpMessage, + WriteHarpMessage, +) DEFAULT_ADDRESS = 42 +def test_create_write_float(): + """Test creating a write message with float value.""" + value = 3.14159 + message = WriteHarpMessage(PayloadType.Float, 42, value) + + assert message.message_type == MessageType.WRITE + assert abs(message.payload - value) < 0.0001 # Float comparison + assert len(message.frame) == 10 # 5 header bytes + 4 float bytes + 1 checksum + + +def test_create_write_list(): + """Test creating a write message with list values.""" + values = [10, 20, 30] + message = WriteHarpMessage(PayloadType.U8, 42, values) + + # The frame should have length: 1 (type) + 1 (length) + 1 (address) + 1 (port) + 1 (payload_type) + 3 (values) + 1 (checksum) + assert len(message.frame) == 9 + + # Extract the payload portion from the frame + payload_bytes = message.frame[5:8] + # Verify each value in the payload bytes + assert list(payload_bytes) == values + + +def test_create_error_cases(): + """Test error cases in HarpMessage.create().""" + # Test invalid message type + with pytest.raises(Exception) as excinfo: + HarpMessage.create(MessageType.EVENT, 42, PayloadType.U8, 10) + assert "valid message types" in str(excinfo.value) + + # Test WRITE with None value + with pytest.raises(Exception) as excinfo: + HarpMessage.create(MessageType.WRITE, 42, PayloadType.U8, None) + assert "value cannot be None" in str(excinfo.value) + + +def test_reply_is_error(): + """Test ReplyHarpMessage.is_error property.""" + # Create a READ_ERROR message + frame = bytearray( + [ + MessageType.READ_ERROR, + 5, + 42, + 255, + PayloadType.TimestampedU8, + 0, + 0, + 0, + 0, # timestamp seconds + 0, + 0, # timestamp micros + 123, # payload + 0, + ] + ) # checksum placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + reply = ReplyHarpMessage(frame) + assert reply.is_error + + # Create a normal READ message + frame = bytearray( + [ + MessageType.READ, + 5, + 42, + 255, + PayloadType.TimestampedU8, + 0, + 0, + 0, + 0, # timestamp seconds + 0, + 0, # timestamp micros + 123, # payload + 0, + ] + ) # checksum placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + reply = ReplyHarpMessage(frame) + assert not reply.is_error + + def test_create_read_U8() -> None: - message = HarpMessage.ReadU8(DEFAULT_ADDRESS) + message = ReadHarpMessage(payload_type=PayloadType.U8, address=DEFAULT_ADDRESS) assert message.message_type == MessageType.READ assert message.checksum == 47 # 1 + 4 + 42 + 255 + 1 - 256 - print(message.frame) def test_create_read_S8() -> None: - message = HarpMessage.ReadS8(DEFAULT_ADDRESS) + message = ReadHarpMessage(payload_type=PayloadType.S8, address=DEFAULT_ADDRESS) assert message.message_type == MessageType.READ assert message.checksum == 175 # 1 + 4 + 42 + 255 + 129 - 256 - print(message.frame) def test_create_read_U16() -> None: - message = HarpMessage.ReadU16(DEFAULT_ADDRESS) + message = ReadHarpMessage(payload_type=PayloadType.U16, address=DEFAULT_ADDRESS) assert message.message_type == MessageType.READ assert message.checksum == 48 # 1 + 4 + 42 + 255 + 2 - 256 - print(message.frame) def test_create_read_S16() -> None: - message = HarpMessage.ReadS16(DEFAULT_ADDRESS) + message = ReadHarpMessage(payload_type=PayloadType.S16, address=DEFAULT_ADDRESS) assert message.message_type == MessageType.READ assert message.checksum == 176 # 1 + 4 + 42 + 255 + 130 - 256 - print(message.frame) + + +def test_create_read_U32() -> None: + message = ReadHarpMessage(payload_type=PayloadType.U32, address=DEFAULT_ADDRESS) + + assert message.message_type == MessageType.READ + assert message.checksum == 50 # 1 + 4 + 42 + 255 + 4 - 256 + + +def test_create_read_S32() -> None: + message = ReadHarpMessage(payload_type=PayloadType.S32, address=DEFAULT_ADDRESS) + + assert message.message_type == MessageType.READ + assert message.checksum == 178 # 1 + 4 + 42 + 255 + 130 - 256 + + +def test_create_read_U64() -> None: + message = ReadHarpMessage(payload_type=PayloadType.U64, address=DEFAULT_ADDRESS) + + assert message.message_type == MessageType.READ + assert message.checksum == 54 # 1 + 4 + 42 + 255 + 2 - 256 + + +def test_create_read_S64() -> None: + message = ReadHarpMessage(payload_type=PayloadType.S64, address=DEFAULT_ADDRESS) + + assert message.message_type == MessageType.READ + assert message.checksum == 182 # 1 + 4 + 42 + 255 + 130 - 256 + + +def test_create_read_float() -> None: + message = ReadHarpMessage(payload_type=PayloadType.Float, address=DEFAULT_ADDRESS) + + assert message.message_type == MessageType.READ + assert message.checksum == 114 # 1 + 4 + 42 + 255 + 4 - 256 def test_create_write_U8() -> None: value: int = 23 - message = HarpMessage.WriteU8(DEFAULT_ADDRESS, value) + message = WriteHarpMessage(PayloadType.U8, DEFAULT_ADDRESS, value) - assert message.message_type == MessageType.Write + assert message.message_type == MessageType.WRITE assert message.payload == value - assert message.checksum == 72 # 2 + 5 + 42 + 255 + 1 + 23 - 256 - print(message.frame) + assert message.checksum == 72 # 2 + 4 + 42 + 255 + 1 + 23 = 328 → 328 % 256 = 73 def test_create_write_S8() -> None: value: int = -3 # corresponds to signed int 253 (0xFD) - message = HarpMessage.WriteS8(DEFAULT_ADDRESS, value) + message = WriteHarpMessage(PayloadType.S8, DEFAULT_ADDRESS, value) - assert message.message_type == MessageType.Write + assert message.message_type == MessageType.WRITE assert message.payload == value assert message.checksum == 174 # (2 + 5 + 42 + 255 + 129 + 253) & 255 - print(message.frame) def test_create_write_U16() -> None: value: int = 1024 # 4 0 (2 x bytes) - message = HarpMessage.WriteU16(DEFAULT_ADDRESS, value) + message = WriteHarpMessage(PayloadType.U16, DEFAULT_ADDRESS, value) - assert message.message_type == MessageType.Write + assert message.message_type == MessageType.WRITE assert message.length == 6 assert message.payload == value assert message.checksum == 55 # (2 + 6 + 42 + 255 + 2 + 4 + 0) & 255 - print(message.frame) def test_create_write_S16() -> None: value: int = -4837 # 27 237 (2 x bytes), corresponds to signed int 7149 - message = HarpMessage.WriteS16(DEFAULT_ADDRESS, value) + message = WriteHarpMessage(PayloadType.S16, DEFAULT_ADDRESS, value) - assert message.message_type == MessageType.Write + assert message.message_type == MessageType.WRITE assert message.length == 6 assert message.payload == value assert message.checksum == 187 # (2 + 6 + 42 + 255 + 130 + 27 + 237) & 255 - print(message.frame) + + +def test_create_write_U8_array() -> None: + values: list[int] = [1, 2, 3, 4, 5] + message = WriteHarpMessage(PayloadType.U8, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert message.length == 4 + len( + values + ) # 7 header bytes + len(values) payload bytes + assert message.payload == values + assert message.checksum == 68 # (2 + (4 + 5) + 42 + 255 + 1 + 5) & 255 + + +def test_create_write_S8_array() -> None: + values: list[int] = [-1, -2, -3, -4, -5] + message = WriteHarpMessage(PayloadType.S8, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert message.length == 4 + len( + values + ) # 7 header bytes + len(values) payload bytes + assert message.payload == values + assert message.checksum == 166 # (2 + (4 + 5) + 42 + 255 + 129 + 5) & 255 + + +def test_create_write_U16_array() -> None: + values: list[int] = [1, 2, 3, 4, 5] + message = WriteHarpMessage(PayloadType.U16, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert ( + message.length == 4 + len(values) * 2 + ) # 7 header bytes + len(values) * 2 payload bytes + assert message.payload == values + assert message.checksum == 74 # (2 + (4 + 5 * 2) + 42 + 255 + 2 + 5) & 255 + + +def test_create_write_S16_array() -> None: + values: list[int] = [-1, -2, -3, -4, -5] + message = WriteHarpMessage(PayloadType.S16, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert ( + message.length == 4 + len(values) * 2 + ) # 7 header bytes + len(values) * 2 payload bytes + assert message.payload == values + assert message.checksum == 167 # (2 + (4 + 5) + 42 + 255 + 129 + 5) & 255 + + +def test_create_write_U32_array() -> None: + values: list[int] = [1, 2, 3, 4, 5] + message = WriteHarpMessage(PayloadType.U32, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert ( + message.length == 4 + len(values) * 4 + ) # 7 header bytes + len(values) * 4 payload bytes + assert message.payload == values + assert message.checksum == 86 # (2 + (4 + 5 * 4) + 42 + 255 + 4 + 5) & 255 + + +def test_create_write_S32_array() -> None: + values: list[int] = [-1, -2, -3, -4, -5] + message = WriteHarpMessage(PayloadType.S32, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert ( + message.length == 4 + len(values) * 4 + ) # 7 header bytes + len(values) * 4 payload bytes + assert message.payload == values + assert message.checksum == 169 # (2 + (4 + 5 * 4) + 42 + 255 + 130 + 5) & 255 + + +def test_create_write_U64_array() -> None: + values: list[int] = [1, 2, 3, 4, 5] + message = WriteHarpMessage(PayloadType.U64, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert ( + message.length == 4 + len(values) * 8 + ) # 7 header bytes + len(values) * 8 payload bytes + assert message.payload == values + assert message.checksum == 110 # (2 + (4 + 5 * 8) + 42 + 255 + 2 + 5) & 255 + + +def test_create_write_S64_array() -> None: + values: list[int] = [-1, -2, -3, -4, -5] + message = WriteHarpMessage(PayloadType.S64, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + assert ( + message.length == 4 + len(values) * 8 + ) # 7 header bytes + len(values) * 8 payload bytes + assert message.payload == values + assert message.checksum == 173 # (2 + (4 + 5 * 8) + 42 + 255 + 130 + 5) & 255 + + +def test_create_write_float_array() -> None: + """Test creating a write message with float array values.""" + values = [1.1, 2.2, 3.3] + message = WriteHarpMessage(PayloadType.Float, DEFAULT_ADDRESS, values) + + assert message.message_type == MessageType.WRITE + expected_checksum = 193 # (2 + 4 + 42 + 255 + 1 + 3 * 4) & 255 + assert len(message.payload) == len(values) + for actual, expected in zip(message.payload, values): + assert abs(actual - expected) < 0.0001 # Float comparison with error margin + assert message.checksum == expected_checksum def test_read_who_am_i() -> None: - message = HarpMessage.ReadU16(CommonRegisters.WHO_AM_I) + message = ReadHarpMessage( + payload_type=PayloadType.U16, address=CommonRegisters.WHO_AM_I + ) assert str(message.frame) == str(bytearray(b"\x01\x04\x00\xff\x02\x06")) + + +def test_create_write_U32() -> None: + """Test creating a write message with S32 value.""" + value: int = 2147483000 # Large number + message = WriteHarpMessage(PayloadType.U32, DEFAULT_ADDRESS, value) + + assert message.message_type == MessageType.WRITE + assert message.length == 8 + assert message.payload == value + assert len(message.frame) == 10 # length + checksum byte + # Calculate checksum as in other tests + expected_checksum = 42 # (2 + 8 + 42 + 255 + 4 + 0 + 0 + 0 + 0) & 255 + assert message.checksum == expected_checksum + + +def test_create_write_S32() -> None: + """Test creating a write message with S32 value.""" + value: int = -2147483000 # Large negative number + message = WriteHarpMessage(PayloadType.S32, DEFAULT_ADDRESS, value) + + assert message.message_type == MessageType.WRITE + assert message.length == 8 + assert message.payload == value + assert len(message.frame) == 10 # length + checksum byte + # Calculate checksum as in other tests + expected_checksum = 193 # (2 + 8 + 42 + 255 + 130 + 0 + 0 + 0 + 0) & 255 + assert message.checksum == expected_checksum + + +def test_create_write_U64() -> None: + """Test creating a write message with U64 value.""" + value: int = 9223372036854775807 # Large 64-bit value + message = WriteHarpMessage(PayloadType.U64, DEFAULT_ADDRESS, value) + + assert message.message_type == MessageType.WRITE + assert message.length == 12 # 5 header bytes + 8 payload bytes + assert message.payload == value + assert len(message.frame) == 14 # length + checksum byte + # Calculate checksum for 64-bit value + expected_checksum = 183 # (2 + 12 + 42 + 255 + 2 + 0 + 0 + 0 + 0) & 255 + assert message.checksum == expected_checksum + + +def test_create_write_S64() -> None: + """Test creating a write message with S64 value.""" + value: int = -9223372036854775807 + message = WriteHarpMessage(PayloadType.S64, DEFAULT_ADDRESS, value) + assert message.message_type == MessageType.WRITE + assert message.length == 12 + assert message.payload == value + assert len(message.frame) == 14 # length + checksum byte + # Calculate checksum for 64-bit signed value + expected_checksum = 64 # (2 + 12 + 42 + 255 + 130 + 0 + 0 + 0 + 0) & 255 + assert message.checksum == expected_checksum + + +def test_reply_message_str_repr() -> None: + """Test string representation of Reply message.""" + # Create a simple reply message + frame = bytearray( + [ + MessageType.READ, + 5, + 42, + 255, + PayloadType.TimestampedU8, + 0, + 0, + 0, + 0, # timestamp seconds + 0, + 0, # timestamp micros + 123, # payload + 0, + ] + ) # checksum placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + reply = ReplyHarpMessage(frame) + str_repr = str(reply) + repr_str = repr(reply) + + assert "Type: READ" in str_repr + assert "Length: 5" in str_repr + assert "Address: 42" in str_repr + assert "Port: 255" in str_repr + assert "Payload: " in str_repr + assert "Raw Frame" in repr_str + + +def test_payload_as_string() -> None: + """Test ReplyHarpMessage.payload_as_string().""" + test_string = "Hello" + encoded = test_string.encode("utf-8") + + frame = bytearray( + [ + MessageType.READ, + 5 + len(encoded), + 42, + 255, + PayloadType.TimestampedU8, + 0, + 0, + 0, + 0, # timestamp seconds + 0, + 0, + ] + ) # timestamp micros + + # Add string payload + frame.extend(encoded) + # Add checksum + frame.append(0) # placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + reply = ReplyHarpMessage(frame) + assert reply.payload_as_string() == test_string + + +def test_harp_message_parse() -> None: + """Test the static parse method of HarpMessage.""" + frame = bytearray( + [ + MessageType.READ, + 11, + 42, + 255, + PayloadType.TimestampedU8, + 0, + 0, + 0, + 0, # timestamp seconds + 0, + 0, # timestamp micros + 123, # payload + 0, + ] + ) # checksum placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + message = HarpMessage.parse(frame) + assert isinstance(message, ReplyHarpMessage) + assert message.message_type == MessageType.READ + assert message.address == 42 + assert message.payload == 123 + + +def test_timestamp_handling() -> None: + """Test timestamp handling in ReplyHarpMessage.""" + # Create a timestamped message + frame = bytearray( + [ + MessageType.READ, + 5, + 42, + 255, + PayloadType.TimestampedU8, + 1, + 0, + 0, + 0, # timestamp seconds = 1 + 32, + 0, # timestamp micros = 32 (= 1ms) + 123, # payload + 0, + ] + ) # checksum placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + reply = ReplyHarpMessage(frame) + assert reply.timestamp is not None + assert reply.timestamp == 1 + 32 * 32e-6 # 1 second + 1 millisecond + + +# test ReplyHarpMessage without TimestampedU8 raises HarpReadException +def test_reply_without_timestamp_raises() -> None: + """Test that accessing timestamp in non-timestamped message raises exception.""" + frame = bytearray( + [ + MessageType.READ, + 5, + 42, + 255, + PayloadType.U8, # Not a timestamped type + 123, # payload + 0, + ] + ) # checksum placeholder + + # Fix checksum + checksum = sum(frame[:-1]) & 255 + frame[-1] = checksum + + with pytest.raises(HarpReadException) as excinfo: + ReplyHarpMessage(frame) + assert "not a timestamped payload type" in str(excinfo.value) + + +def 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