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shepherd_emulator.py
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shepherd_emulator.py
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import platform
import sys
import time
from contextlib import ExitStack
from datetime import datetime
from types import TracebackType
from shepherd_core import CalibrationPair
from shepherd_core import CalibrationSeries
from shepherd_core import Reader as CoreReader
from shepherd_core import local_tz
from shepherd_core.data_models import EnergyDType
from shepherd_core.data_models.content.virtual_harvester import HarvesterPRUConfig
from shepherd_core.data_models.content.virtual_source import ConverterPRUConfig
from shepherd_core.data_models.task import EmulationTask
from typing_extensions import Self
from . import commons
from . import sysfs_interface
from .eeprom import retrieve_calibration
from .h5_writer import Writer
from .logger import get_verbosity
from .logger import log
from .shared_memory import DataBuffer
from .shepherd_io import ShepherdIO
from .shepherd_io import ShepherdIOError
from .target_io import TargetIO
from .target_io import target_pins
class ShepherdEmulator(ShepherdIO):
"""API for emulating data with shepherd.
Provides a high-level interface for emulating data with
shepherd. Configures all hardware and initializes the communication
with kernel module and PRUs.
"""
def __init__(
self,
cfg: EmulationTask,
mode: str = "emulator",
) -> None:
log.debug("ShepherdEmulator-Init in %s-mode", mode)
super().__init__(
mode=mode,
trace_iv=cfg.power_tracing,
trace_gpio=cfg.gpio_tracing,
)
self.cfg = cfg
self.stack = ExitStack()
# performance-critical, allows deep insight between py<-->pru-communication
self.verbose_extra = False
if not cfg.input_path.exists():
raise ValueError(f"Input-File does not exist ({cfg.input_path})")
self.reader = CoreReader(cfg.input_path, verbose=get_verbosity())
self.stack.enter_context(self.reader)
if self.reader.get_mode() != "harvester":
msg = f"Input-File has wrong mode ({self.reader.get_mode()} != harvester)"
if self.cfg.abort_on_error:
raise ValueError(msg)
log.error(msg)
if not self.reader.is_valid() and self.cfg.abort_on_error:
raise RuntimeError("Input-File is not valid!")
cal_inp = self.reader.get_calibration_data()
if cal_inp is None:
cal_inp = CalibrationSeries()
log.warning(
"No calibration data from emulation-input (harvest) provided - using defaults",
)
# PRU expects values in SI: uV and nV
self.cal_pru = CalibrationSeries(
voltage=CalibrationPair(
gain=1e6 * cal_inp.voltage.gain,
offset=1e6 * cal_inp.voltage.offset,
),
current=CalibrationPair(
gain=1e9 * cal_inp.current.gain,
offset=1e9 * cal_inp.current.offset,
),
)
self.cal_emu = retrieve_calibration(cfg.use_cal_default).emulator
if cfg.time_start is None:
self.start_time = round(time.time() + 15)
else:
self.start_time = cfg.time_start.timestamp()
self.samples_per_buffer = sysfs_interface.get_samples_per_buffer()
self.samplerate_sps = (
10**9 * self.samples_per_buffer // sysfs_interface.get_buffer_period_ns()
)
self.fifo_buffer_size = sysfs_interface.get_n_buffers()
# TODO: write gpio-mask
log_iv = cfg.power_tracing is not None
log_cap = log_iv and cfg.power_tracing.intermediate_voltage
self.cnv_pru = ConverterPRUConfig.from_vsrc(
data=cfg.virtual_source,
log_intermediate_node=log_cap,
)
self.hrv_pru = HarvesterPRUConfig.from_vhrv(
data=cfg.virtual_source.harvester,
for_emu=False,
dtype_in=self.reader.get_datatype(),
)
log.info("Virtual Source will be initialized to:\n%s", cfg.virtual_source)
self.writer: Writer | None = None
if cfg.output_path is not None:
store_path = cfg.output_path.resolve()
if store_path.is_dir():
timestamp = datetime.fromtimestamp(self.start_time, tz=local_tz())
timestring = timestamp.strftime("%Y-%m-%d_%H-%M-%S")
# ⤷ closest to ISO 8601, avoids ":"
store_path = store_path / f"emu_{timestring}.h5"
self.writer = Writer(
file_path=store_path,
force_overwrite=cfg.force_overwrite,
mode=mode,
datatype=EnergyDType.ivsample,
cal_data=self.cal_emu,
samples_per_buffer=self.samples_per_buffer,
samplerate_sps=self.samplerate_sps,
compression=cfg.output_compression,
verbose=get_verbosity(),
omit_ts=True, # optimization during runtime
)
# hard-wire pin-direction until they are configurable
self._io: TargetIO | None = TargetIO()
log.info("Setting variable GPIO to INPUT (actuation is not implemented yet)")
for pin in range(len(target_pins)):
self._io.set_pin_direction(pin, pdir=True) # True = Inp
def __enter__(self) -> Self:
super().__enter__()
super().set_power_state_recorder(False)
super().set_power_state_emulator(True)
# TODO: why are there wrappers? just directly access
super().send_calibration_settings(self.cal_emu)
super().send_virtual_converter_settings(self.cnv_pru)
super().send_virtual_harvester_settings(self.hrv_pru)
super().reinitialize_prus() # needed for ADCs
super().set_io_level_converter(self.cfg.enable_io)
super().select_port_for_io_interface(self.cfg.io_port)
super().select_port_for_power_tracking(self.cfg.io_port)
super().set_aux_target_voltage(self.cfg.voltage_aux, self.cal_emu)
if self.writer is not None:
self.stack.enter_context(self.writer)
# add hostname to file
self.writer.store_hostname(platform.node().strip())
self.writer.start_monitors(self.cfg.sys_logging, self.cfg.gpio_tracing)
self.writer.store_config(self.cfg.model_dump())
# Preload emulator with data
time.sleep(1)
init_buffers = [
DataBuffer(voltage=dsv, current=dsc)
for _, dsv, dsc in self.reader.read_buffers(
end_n=self.fifo_buffer_size,
is_raw=True,
omit_ts=True,
)
]
for idx, buffer in enumerate(init_buffers):
self.return_buffer(idx, buffer, verbose=False)
time.sleep(0.1 * float(self.buffer_period_ns) / 1e9)
# ⤷ could be as low as ~ 10us
return self
def __exit__(
self,
typ: type[BaseException] | None = None,
exc: BaseException | None = None,
tb: TracebackType | None = None,
extra_arg: int = 0,
) -> None:
super()._power_down_shp()
time.sleep(2) # TODO: experimental - for releasing uart-backpressure
self.stack.close()
super().__exit__()
def return_buffer(
self,
index: int,
buffer: DataBuffer,
verbose: bool = False,
) -> None:
ts_start = time.time() if verbose else 0
# transform raw ADC data to SI-Units -> the virtual-source-emulator in PRU expects uV and nV
v_tf = self.cal_pru.voltage.raw_to_si(buffer.voltage).astype("u4")
c_tf = self.cal_pru.current.raw_to_si(buffer.current).astype("u4")
self.shared_mem.write_buffer(index, v_tf, c_tf)
super()._return_buffer(index)
if verbose:
log.debug(
"Sending emu-buffer #%d to PRU took %.2f ms",
index,
1e3 * (time.time() - ts_start),
)
def run(self) -> None:
success = self.start(self.start_time, wait_blocking=False)
if not success:
return
log.info("waiting %.2f s until start", self.start_time - time.time())
self.wait_for_start(self.start_time - time.time() + 15)
log.info("shepherd started!")
if self.cfg.duration is None:
ts_end = sys.float_info.max
else:
duration_s = self.cfg.duration.total_seconds()
ts_end = self.start_time + duration_s
log.debug("Duration = %s (forced runtime)", duration_s)
# Main Loop
for _, dsv, dsc in self.reader.read_buffers(
start_n=self.fifo_buffer_size,
is_raw=True,
omit_ts=True,
):
idx, emu_buf = self.get_buffer(verbose=self.verbose_extra)
if emu_buf.timestamp_ns / 1e9 >= ts_end:
log.warning("UNEXPECTED! Out of bound timestamp collected -> begin to exit now")
break
if self.writer is not None:
try:
self.writer.write_buffer(emu_buf)
except OSError as _xpt:
log.error(
"Failed to write data to HDF5-File - will STOP! error = %s",
_xpt,
)
return
hrvst_buf = DataBuffer(voltage=dsv, current=dsc)
self.return_buffer(idx, hrvst_buf, self.verbose_extra)
# Read all remaining buffers from PRU
try:
while True:
idx, emu_buf = self.get_buffer(verbose=self.verbose_extra)
if emu_buf.timestamp_ns / 1e9 >= ts_end:
log.warning("UNEXPECTED! Out of bound timestamp collected -> begin to exit now")
return
if self.writer is not None:
self.writer.write_buffer(emu_buf)
except ShepherdIOError as e:
# We're done when the PRU has processed all emulation data buffers
if e.id_num == commons.MSG_ERR_NOFREEBUF:
log.debug("FINISHED! Collected all Buffers from PRU -> begin to exit now")
return
raise e
except OSError as _xpt:
log.error(
"Failed to write data to HDF5-File - will STOP! error = %s",
_xpt,
)
return