pkg/uwb-core: move twr helpers to its own module

dist/pythonlibs/riotctrl_shell/tests/test_twr.py

@@ -0,0 +1,68 @@
+# Copyright (C) 2021 Inria
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+
+from statistics import mean
+import riotctrl_shell.twr
+
+from .common import init_ctrl
+
+TEST_TWR_DATA = '{"t": 16236, "src": "98:9C", "dst": "02:A1", "d_cm": 477}'
+
+
+def test_TwrData_from_json_str():
+    data = riotctrl_shell.twr.TwrData.from_json_str(TEST_TWR_DATA)
+    assert data.t == 16236
+    assert data.src == "98:9C"
+    assert data.dst == "02:A1"
+    assert data.d_cm == 477
+
+
+def test_twr_listen_on():
+    rc = init_ctrl(output=riotctrl_shell.twr.TWR_LISTEN_ON_CMD_OUTPUT)
+    si = riotctrl_shell.twr.TwrCmd(rc)
+    cmd_output = si.twr_listen(on=True)
+    assert riotctrl_shell.twr.TWR_LISTEN_ON_CMD_OUTPUT in cmd_output
+
+
+def test_twr_listen_off():
+    rc = init_ctrl(output=riotctrl_shell.twr.TWR_LISTEN_OFF_CMD_OUTPUT)
+    si = riotctrl_shell.twr.TwrCmd(rc)
+    cmd_output = si.twr_listen(on=False)
+    assert riotctrl_shell.twr.TWR_LISTEN_OFF_CMD_OUTPUT in cmd_output
+
+
+def test_twr_request_and_parser():
+    _output = riotctrl_shell.twr.TWR_REQUEST_CMD_OUTPUT
+    count = 10
+    for _ in range(0, count):
+        _output += f"\n\r{TEST_TWR_DATA}"
+    rc = init_ctrl(output=_output)
+    si = riotctrl_shell.twr.TwrCmd(rc)
+    cmd_output = si.twr_request(count=count)
+    assert riotctrl_shell.twr.TWR_REQUEST_CMD_OUTPUT in cmd_output
+    parser = riotctrl_shell.twr.TwrRequestParser()
+    d_cm = parser.parse(cmd_output)
+    assert len(d_cm) == 10
+    assert mean(d_cm) == 477
+
+
+def test_twr_ifconfig_and_parser():
+    output = """
+Iface  3    HWaddr: 57:81  Channel: 5  NID: DE:CA
+
+            Long HWaddr: 08:22:61:44:4D:83:57:81
+            TX-Power: 8.0dBm  TC-PGdelay: 0xb5
+"""
+    rc = init_ctrl(output=output)
+    si = riotctrl_shell.twr.TwrCmd(rc)
+    cmd_output = si.ifconfig()
+    parser = riotctrl_shell.twr.TwrIfconfigParser()
+    netif = parser.parse(cmd_output)
+    assert netif["netif"] == "3"
+    assert netif["hwaddr"] == "57:81"
+    assert netif["hwaddr64"] == "08:22:61:44:4D:83:57:81"
+    assert netif["panid"] == "DE:CA"
+    assert netif["channel"] == "5"

examples/twr_aloha/twr_shell.py → dist/pythonlibs/riotctrl_shell/twr.py

@@ -8,10 +8,42 @@
 twr-aloha shell interactions
 """
 
+from dataclasses import dataclass
+import json
 import re
+from typing import Union
 
 from riotctrl.shell import ShellInteraction, ShellInteractionParser
 
+TWR_LISTEN_ON_CMD_OUTPUT = "[twr]: start listening"
+TWR_LISTEN_OFF_CMD_OUTPUT = "[twr]: stop listening"
+TWR_REQUEST_CMD_OUTPUT = "[twr]: start ranging"
+
+
+@dataclass
+class TwrData:
+    t: int
+    src: str
+    dst: str
+    d_cm: Union[int, float]
+
+    @staticmethod
+    def from_json_str(json_string: str):
+        json_dict = json.loads(json_string)
+        return TwrData(**json_dict)
+
+
+class TwrRequestParser(ShellInteractionParser):
+    def parse(self, cmd_output):
+        d_cm = []
+        for line in cmd_output.splitlines():
+            try:
+                twr_data = TwrData.from_json_str(line)
+            except json.decoder.JSONDecodeError:
+                continue
+            d_cm.append(twr_data.d_cm)
+        return d_cm
+
 
 class TwrIfconfigParser(ShellInteractionParser):
     iface_c = re.compile(r"Iface\s+(?P<name>\d+)\s")
@@ -60,9 +92,11 @@ def twr_listen(self, on=True, timeout=-1, async_=False):
             args=("lst", "on" if on else "off"), timeout=timeout, async_=async_
         )
 
-    def twr_req(self, addr="ff:ff", count=1, interval=1000, proto="ss", timeout=-1, async_=False):
+    def twr_request(
+        self, addr="ff:ff", count=1, itvl=1000, proto="ss", timeout=-1, async_=False
+    ):
         return self.twr_cmd(
-            args=("req", f"{addr}", f"-c {count}", f"-p {proto}", f"-i {interval}"),
+            args=("req", f"{addr}", f"-c {count}", f"-p {proto}", f"-i {itvl}"),
             timeout=timeout,
             async_=async_,
         )

examples/twr_aloha/Makefile

@@ -17,10 +17,12 @@ DEVELHELP ?= 1
 # Include uwb-core, uwb-dw1000
 USEPKG += uwb-core
 USEPKG += uwb-dw1000
-# Use event threads instead of a custom event queue
+## Use event threads instead of a custom event queue
 USEMODULE += uwb-core_event_thread
 CFLAGS += -DEVENT_THREAD_MEDIUM_STACKSIZE=THREAD_STACKSIZE_DEFAULT
 
+# Include TWR helper modules
+USEMODULE += uwb-core_twr
 # Include all ranging algorithms
 USEMODULE += uwb-core_twr_ss
 USEMODULE += uwb-core_twr_ss_ack
@@ -34,11 +36,6 @@ USEMODULE += uwb-core_twr_ds_ext
 USEMODULE += shell
 USEMODULE += shell_commands
 USEMODULE += ps
-USEMODULE += l2util
-USEMODULE += event_callback
-USEMODULE += event_timeout_ztimer
-USEMODULE += event_periodic
-USEMODULE += test_utils_result_output
 
 # All uwb-core applications need to enable `-fms-extensions`
 CFLAGS += -fms-extensions

examples/twr_aloha/app.config.test

@@ -6,10 +6,7 @@ CONFIG_MODULE_UWB-CORE_TWR_SS_ACK=y
 CONFIG_MODULE_UWB-CORE_TWR_SS_EXT=y
 CONFIG_MODULE_UWB-CORE_TWR_DS=y
 CONFIG_MODULE_UWB-CORE_TWR_DS_EXT=y
+CONFIG_MODULE_UWB-CORE_TWR=y
 CONFIG_MODULE_SHELL=y
-CONFIG_MODULE_SHELL_COMMANDS=y
 CONFIG_MODULE_PS=y
-CONFIG_MODULE_L2UTIL=y
-CONFIG_MODULE_EVENT_PERIODIC=y
-CONFIG_MODULE_EVENT_TIMEOUT_ZTIMER=y
 CONFIG_MODULE_TEST_UTILS_RESULT_OUTPUT=y

examples/twr_aloha/main.c

@@ -21,23 +21,12 @@
 #include <stdio.h>
 #include "shell.h"
 
-#include "control.h"
-
-extern int _twr_handler(int argc, char **argv);
-extern int _twr_ifconfig(int argc, char **argv);
-
-static const shell_command_t shell_commands[] = {
-    { "twr", "Two-way-ranging (TWR) cli", _twr_handler },
-    { "ifconfig", "Network interface information", _twr_ifconfig},
-    { NULL, NULL, NULL }
-};
-
 int main(void)
 {
-    /* this should start ranging... */
-    uwb_core_rng_init();
+    puts("RIOT uwb-core package Two-Way-Ranging example");
     /* define buffer to be used by the shell */
+    puts("All up, running the shell now");
     char line_buf[SHELL_DEFAULT_BUFSIZE];
-    shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
+    shell_run(NULL, line_buf, SHELL_DEFAULT_BUFSIZE);
     return 1;
 }

examples/twr_aloha/tests-with-config/01-run.py

@@ -12,7 +12,12 @@
 
 from riotctrl.ctrl import RIOTCtrl
 from riotctrl_shell.sys import Reboot
-from twr_shell import TwrCmd, TwrIfconfigParser
+from riotctrl_shell.twr import (
+    TWR_LISTEN_OFF_CMD_OUTPUT,
+    TWR_LISTEN_ON_CMD_OUTPUT,
+    TWR_REQUEST_CMD_OUTPUT,
+)
+from riotctrl_shell.twr import TwrCmd, TwrIfconfigParser
 
 
 class TwrShell(Reboot, TwrCmd):
@@ -75,11 +80,11 @@ def test_ifconfig(self):
         assert self.shell.channel() == "5"  # default channel is 5
 
     def test_listen(self):
-        assert "[twr]: start listening" in self.shell.twr_listen(on=True)
-        assert "[twr]: stop listening" in self.shell.twr_listen(on=False)
+        assert TWR_LISTEN_ON_CMD_OUTPUT in self.shell.twr_listen(on=True)
+        assert TWR_LISTEN_OFF_CMD_OUTPUT in self.shell.twr_listen(on=False)
 
     def test_req(self):
-        assert "[twr]: start ranging" in self.shell.twr_req()
+        assert TWR_REQUEST_CMD_OUTPUT in self.shell.twr_request()
 
 
 if __name__ == "__main__":