Pull in changes from internal development.

Author: Jonathan Diamond

bin/config_message_rate.py

@@ -22,6 +22,7 @@
     'udp2': InterfaceID(TransportType.UDP, 2),
     'tcp1': InterfaceID(TransportType.TCP, 1),
     'tcp2': InterfaceID(TransportType.TCP, 2),
+    'tcp3': InterfaceID(TransportType.TCP, 3),
     'file': InterfaceID(TransportType.FILE, 1),
     'unix1': InterfaceID(TransportType.UNIX, 1),
     'unix2': InterfaceID(TransportType.UNIX, 2),

bin/p1_convert_user_config.py

@@ -8,7 +8,7 @@
 from pathlib import Path
 from typing import Type
 
-import construct # For ignoring wrapper class in DeepDiff
+import construct  # For ignoring wrapper class in DeepDiff
 from deepdiff import DeepDiff
 from fusion_engine_client.messages.configuration import (
     ConfigurationSource, DataType, DataVersion, PlatformStorageDataMessage,

firmware_tools/lg69t/firmware_tool.py

@@ -21,7 +21,7 @@ class ClientConnection:
 logger = logging.getLogger('point_one.data_source')
 
 
-RESPONSE_TIMEOUT = 5
+RESPONSE_TIMEOUT = 5.0
 RX_BYTE_TIMEOUT = 0.1
 MAX_DATA_BUFFER_SIZE = 10 * 1024 * 1024
 DATA_BUFFER_DROP_SIZE = 1 * 1024 * 1024
@@ -205,11 +205,13 @@ def read(self, size: int, timeout=RESPONSE_TIMEOUT) -> bytes:
         if self.rx_thread is None:
             raise RuntimeError('Reading DeviceInterface without calling "start_rx_thread".')
         data = b''
-        start_time = time.time()
-        while size > 0 and time.time() - start_time < timeout:
+        start_time = time.monotonic()
+        now = start_time
+        while size > 0 and now - start_time <= timeout:
             logger.trace(f'Buffered {len(self.data_buffer)} B.')
             if not self.data_event.wait(RX_BYTE_TIMEOUT):
                 logger.debug('Timed out waiting for byte to be added to buffer.')
+                now = time.monotonic()
                 continue
             self.data_lock.acquire()
 
@@ -224,6 +226,7 @@ def read(self, size: int, timeout=RESPONSE_TIMEOUT) -> bytes:
                 size = 0
 
             self.data_lock.release()
+            now = time.monotonic()
         if self.rx_log:
             self.rx_log.write(data)
         return data

p1_runner/data_source.py

@@ -4,6 +4,7 @@
 from fusion_engine_client.messages import *
 from fusion_engine_client.parsers import (FusionEngineDecoder,
                                           FusionEngineEncoder)
+from fusion_engine_client.parsers.decoder import MessageWithBytesTuple
 
 import p1_runner.trace as logging
 from p1_runner.data_source import RESPONSE_TIMEOUT, DataSource
@@ -135,6 +136,17 @@ def wait_for_reboot(self, data_stop_timeout=REBOOT_MAX_START_TIME, data_restart_
 
         return reboot_started and reboot_finished
 
+    def wait_for_any_fe_message(self, response_timeout=RESPONSE_TIMEOUT) -> List[MessageWithBytesTuple]:
+        start_time = time.time()
+        while time.time() - start_time < response_timeout:
+            msgs = self.fe_decoder.on_data(self.data_source.read(1, response_timeout))
+            if len(msgs) > 0:
+                return msgs  # type: ignore
+        return []
+
+    def poll_messages(self, read_buffer_size=MAX_FE_MSG_SIZE, response_timeout=0.0) -> List[MessageWithBytesTuple]:
+        return self.fe_decoder.on_data(self.data_source.read(read_buffer_size, response_timeout))  # type: ignore
+
     def wait_for_message(self, msg_type, response_timeout=RESPONSE_TIMEOUT):
         if isinstance(msg_type, MessageType):
             return self._wait_for_fe_message(msg_type, response_timeout)
@@ -144,7 +156,7 @@ def wait_for_message(self, msg_type, response_timeout=RESPONSE_TIMEOUT):
     def _wait_for_fe_message(self, msg_type, response_timeout):
         start_time = time.time()
         while True:
-            msgs = self.fe_decoder.on_data(self.data_source.read(1))
+            msgs = self.fe_decoder.on_data(self.data_source.read(1, response_timeout))
             for msg in msgs:
                 if msg[0].message_type == msg_type:
                     logger.debug('Response: %s', str(msg[1]))

p1_runner/device_interface.py

@@ -1,15 +1,16 @@
+import re
 from enum import Enum, auto
-from typing import Optional
+from typing import Dict, Optional
 
 
 class DeviceType(Enum):
     UNKNOWN = auto()
 
+    ATLAS = auto()
     LG69T_AM = auto()
     LG69T_AP = auto()
     LG69T_AH = auto()
     LG69T_AJ = auto()
-    ATLAS = auto()
 
     BEAM2K = auto()
     DJI_MAVIC = auto()
@@ -26,6 +27,17 @@ def is_lg69t(self) -> bool:
     def device_uses_unframed_logs(self) -> bool:
         return self.is_lg69t() or self is DeviceType.LC29H
 
+    def is_gnss_only(self) -> bool:
+        return self in (DeviceType.LG69T_AM,)
+
+    @classmethod
+    def mapping_device_to_regex(cls) -> Dict['DeviceType', str]:
+        return {
+            DeviceType.ATLAS: 'v[0-9]*.*',
+            DeviceType.LG69T_AM: 'lg69t-am-v[0-9]*.*',
+            DeviceType.LG69T_AP: 'lg69t-ap-v[0-9]*.*',
+        }
+
     @classmethod
     def from_string(cls, name: Optional[str]) -> 'DeviceType':
         if name is not None:
@@ -35,3 +47,13 @@ def from_string(cls, name: Optional[str]) -> 'DeviceType':
                 pass
 
         return DeviceType.UNKNOWN
+
+    @classmethod
+    def get_build_type_from_version(cls, version_str) -> Optional['DeviceType']:
+        mapping = cls.mapping_device_to_regex()
+        for key, val in mapping.items():
+            r = fr'{val}'
+            if re.match(r, version_str):
+                return key
+
+        return None

p1_runner/device_type.py

@@ -7,6 +7,7 @@
 import time
 import uuid
 from datetime import datetime, timezone
+from typing import Optional
 
 from . import trace as logging
 from .log_manifest import DeviceType, LogManifest
@@ -20,7 +21,7 @@ class LogManager(threading.Thread):
 
     def __init__(
             self, device_id, device_type='UNKNOWN', logs_base_dir='/logs', files=None, log_extension='.raw',
-            create_symlink=True, log_created_cmd=None, log_timestamps=True):
+            create_symlink=True, log_created_cmd=None, log_timestamps=True, directory_to_reuse: Optional[str] = None):
         super().__init__(name='log_manager')
 
         self.device_id = device_id
@@ -29,11 +30,13 @@ def __init__(
         self.create_symlink = create_symlink
         self.log_created_cmd = log_created_cmd
         self.data_filename = 'input' + log_extension
+        self.directory_to_reuse = directory_to_reuse
 
         self.log_guid = None
         self.creation_time = None
         self.sequence_num = None
         self.log_dir = None
+        self.timestamp_path = None
         self.log_timestamps = log_timestamps
         self.start_time = time.time()
         self.last_timestamp = time.time()
@@ -54,14 +57,19 @@ def get_abs_file_path(self, relative_path):
         else:
             return os.path.join(self.log_dir, relative_path)
 
-    def start(self):
-        self.logger.debug('Starting log manager.')
+    def create_log_dir(self):
+        if self.directory_to_reuse:
+            self.log_dir = self.directory_to_reuse
+            if not os.path.exists(self.log_dir):
+                raise IOError("Log directory '%s' doesn't exists." % self.log_dir)
+            else:
+                return
 
         self.log_guid = str(uuid.uuid4()).replace('-', '')
         self.creation_time = datetime.now(tz=timezone.utc)
+
         self.log_dir = os.path.join(self.logs_base_dir, self.creation_time.strftime('%Y-%m-%d'), self.device_id,
                                     self.log_guid)
-
         if os.path.exists(self.log_dir):
             raise IOError("Log directory '%s' already exists." % self.log_dir)
         else:
@@ -93,6 +101,10 @@ def start(self):
 
         self._create_manifest()
 
+    def start(self):
+        self.logger.debug('Starting log manager.')
+        if self.log_dir is None:
+            self.create_log_dir()
         super().start()
 
     def stop(self):
@@ -114,9 +126,9 @@ def run(self):
         self.logger.debug("Opening bin file '%s'." % path)
         timestamp_file = None
         if self.log_timestamps:
-            timestamp_path = os.path.join(self.log_dir, self.data_filename + '.timestamps')
-            self.logger.debug("Opening timestamp file '%s'." % timestamp_path)
-            timestamp_file = open(timestamp_path, 'wb')
+            self.timestamp_path = os.path.join(self.log_dir, self.data_filename + '.timestamps')
+            self.logger.debug("Opening timestamp file '%s'." % self.timestamp_path)
+            timestamp_file = open(self.timestamp_path, 'wb')
         with open(path, 'wb') as bin_file:
             if self.log_created_cmd is not None:
                 try:
@@ -165,6 +177,8 @@ def _create_manifest(self):
         manifest.device_type = self.device_type if self.device_type is not None else 'UNKNOWN'
 
         manifest.channels.append(self.data_filename)
+        if self.timestamp_path:
+            manifest.channels.append(self.timestamp_path)
         manifest.channels.extend(self.files)
         manifest.channels.sort()
 

p1_runner/log_manager.py

@@ -7,6 +7,7 @@
 import traceback
 from datetime import datetime, timezone
 from functools import reduce
+from typing import Iterable
 
 import ntripstreams
 from serial import SerialException
@@ -54,7 +55,7 @@ def set_data_callback(self, callback):
     def is_connected(self):
         return self.connected
 
-    def send_position(self, lla_deg: list, time: datetime = None):
+    def send_position(self, lla_deg: Iterable[float], time: datetime = None):
         if not self.connected:
             self.logger.trace('Not connected. Ignoring position update. [%.8f, %.8f, %.2f]' % tuple(lla_deg))
             return False