# Copyright (c) 2017-2019 The University of Manchester
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
from enum import Enum
import logging
from spinn_front_end_common.utility_models import MultiCastCommand
from spinn_front_end_common.utilities.exceptions import ConfigurationException
logger = logging.getLogger(__name__)
# structure of command is KKKKKKKKKKKKKKKKKKKKK-IIIIIII-F-DDD
# K = ignored key at the top of the command
# I = instruction
# F = format
# D = device
_OFFSET_TO_IGNORED_KEY = 11
_OFFSET_TO_I = 4
_OFFSET_TO_F = 3
_OFFSET_TO_D = 0
_KEY_MASK = 0xFFFFF800
_I_MASK = 0x7F0
_F_MASK = 0x8
_D_MASK = 0x7
# UART masks and shifts
RETINA_UART_SHIFT = 3 + _OFFSET_TO_I
RETINA_WITHOUT_UART_MASK = 0x670
PUSH_BOT_LASER_LED_SPEAKER_FREQUENCY_UART_SHIFT = 1 + _OFFSET_TO_D
PUSH_BOT_MOTOR_WITHOUT_UART_MASK = 0x7C0
PUSH_BOT_MOTOR_UART_SHIFT = 0 + _OFFSET_TO_I
def munich_key(I, F, D):
return (I << _OFFSET_TO_I) | (F << _OFFSET_TO_F) | (D << _OFFSET_TO_D)
def munich_key_i_d(I, D):
return munich_key(I, 0, D)
def munich_key_i(I):
return munich_key(I, 0, 0)
def get_munich_i(key):
return key & _I_MASK
def get_munich_f(key):
return key & _F_MASK
def get_munich_d(key):
return key & _D_MASK
def get_retina_i(key):
return key & RETINA_WITHOUT_UART_MASK
def get_push_bot_laser_led_speaker_frequency_i(key):
return get_munich_i(key)
def get_push_bot_motor_i(key):
return key & PUSH_BOT_MOTOR_WITHOUT_UART_MASK
# Specific fields in the key
_SENSOR_OUTGOING_OFFSET_TO_D = 2
_SENSOR_OUTGOING_OFFSET_TO_I = 7
# Payload fields
_PAYLOAD_RETINA_PAYLOAD_OFFSET = 29
_PAYLOAD_RETINA_PAYLOAD_MASK = 0xE0000000
_PAYLOAD_RETINA_KEY_OFFSET = 26
_PAYLOAD_RETINA_KEY_MASK = 0x1C000000
_PAYLOAD_SENSOR_ID_OFFSET = 27
_PAYLOAD_OFFSET_FOR_SENSOR_TIME = 0
def GET_RETINA_KEY_VALUE(payload):
return (payload & _PAYLOAD_RETINA_KEY_MASK) >> _PAYLOAD_RETINA_KEY_OFFSET
def GET_RETINA_PAYLOAD_VALUE(payload):
return (
(payload & _PAYLOAD_RETINA_PAYLOAD_MASK) >>
_PAYLOAD_RETINA_PAYLOAD_OFFSET
)
# command key for setting up the master key of the board
CONFIGURE_MASTER_KEY = munich_key_i_d(127, 0)
# command key for setting up what mode of device running on the board
CHANGE_MODE = munich_key_i_d(127, 1)
# command for turning off retina output
DISABLE_RETINA_EVENT_STREAMING = munich_key_i_d(0, 0)
# command for retina where payload is events
ACTIVE_RETINA_EVENT_STREAMING_KEYS_CONFIGURATION = munich_key_i_d(0, 1)
# command for retina where events are the key
ACTIVE_RETINA_EVENT_STREAMING_SET_KEY = munich_key_i_d(0, 2)
# set timer / counter for timestamps
SET_TIMER_COUNTER_FOR_TIMESTAMPS = munich_key_i_d(0, 3)
# handle master / slave time sync
MASTER_SLAVE_KEY = munich_key_i_d(0, 4)
# command for setting bias (whatever the check that is)
BIAS_KEY = munich_key_i_d(0, 5)
# reset retina key.
RESET_RETINA_KEY = munich_key_i_d(0, 7)
# request on-board sensor data
SENSOR_REPORTING_OFF_KEY = munich_key_i_d(1, 0)
# poll sensors once
POLL_SENSORS_ONCE_KEY = munich_key_i_d(1, 1)
# poll sensors continuously
POLL_SENSORS_CONTINUOUSLY_KEY = munich_key_i_d(1, 2)
# disable motor
ENABLE_DISABLE_MOTOR_KEY = munich_key_i_d(2, 0)
# run motor for total period
MOTOR_RUN_FOR_PERIOD_KEY = munich_key_i_d(2, 1)
# raw output for motor 0 (permanent)
MOTOR_0_RAW_PERM_KEY = munich_key_i_d(2, 4)
# raw output for motor 1 (permanent)
MOTOR_1_RAW_PERM_KEY = munich_key_i_d(2, 5)
# raw output for motor 0 (leak towards 0)
MOTOR_0_RAW_LEAK_KEY = munich_key_i_d(2, 6)
# raw output for motor 1 (leak towards 0)
MOTOR_1_RAW_LEAK_KEY = munich_key_i_d(2, 7)
# motor output duration timer period
MOTOR_TIMER_A_TOTAL_PERIOD_KEY = munich_key_i_d(3, 0)
MOTOR_TIMER_B_TOTAL_PERIOD_KEY = munich_key_i_d(3, 2)
MOTOR_TIMER_C_TOTAL_PERIOD_KEY = munich_key_i_d(3, 4)
# motor output ratio active period
MOTOR_TIMER_A_CHANNEL_0_ACTIVE_PERIOD_KEY = munich_key_i_d(4, 0)
MOTOR_TIMER_A_CHANNEL_1_ACTIVE_PERIOD_KEY = munich_key_i_d(4, 1)
MOTOR_TIMER_B_CHANNEL_0_ACTIVE_PERIOD_KEY = munich_key_i_d(4, 2)
MOTOR_TIMER_B_CHANNEL_1_ACTIVE_PERIOD_KEY = munich_key_i_d(4, 3)
MOTOR_TIMER_C_CHANNEL_0_ACTIVE_PERIOD_KEY = munich_key_i_d(4, 4)
MOTOR_TIMER_C_CHANNEL_1_ACTIVE_PERIOD_KEY = munich_key_i_d(4, 5)
# digital IO Signals
QUERY_STATES_LINES_KEY = munich_key_i_d(5, 0)
# set output pattern to payload
SET_OUTPUT_PATTERN_KEY = munich_key_i_d(5, 1)
# add payload (logic or (PL)) to current output
ADD_PAYLOAD_TO_CURRENT_OUTPUT_KEY = munich_key_i_d(5, 2)
# remove payload (logic or (PL)) to current output from current output
REMOVE_PAYLOAD_TO_CURRENT_OUTPUT_KEY = munich_key_i_d(5, 3)
# set payload pins to high impedance
SET_PAYLOAD_TO_HIGH_IMPEDANCE_KEY = munich_key_i_d(5, 4)
# set laser params for PushBot
PUSH_BOT_LASER_CONFIG_TOTAL_PERIOD = munich_key_i_d(3, 0)
PUSH_BOT_LASER_CONFIG_ACTIVE_TIME = munich_key_i_d(4, 0)
PUSH_BOT_LASER_FREQUENCY = munich_key_i_d(37, 1)
# set led params for PushBot
PUSH_BOT_LED_CONFIG_TOTAL_PERIOD = munich_key_i_d(3, 4)
PUSH_BOT_LED_BACK_CONFIG_ACTIVE_TIME = munich_key_i_d(4, 4)
PUSH_BOT_LED_FRONT_CONFIG_ACTIVE_TIME = munich_key_i_d(4, 5)
PUSH_BOT_LED_FREQUENCY = munich_key_i_d(37, 0)
# set speaker params for PushBot
PUSH_BOT_SPEAKER_CONFIG_TOTAL_PERIOD = munich_key_i_d(3, 2)
PUSH_BOT_SPEAKER_CONFIG_ACTIVE_TIME = munich_key_i_d(4, 2)
PUSH_BOT_SPEAKER_TONE_BEEP = munich_key_i_d(36, 0)
PUSH_BOT_SPEAKER_TONE_MELODY = munich_key_i_d(36, 1)
# PushBot motor control
PUSH_BOT_MOTOR_0_PERMANENT_VELOCITY = munich_key_i_d(32, 0)
PUSH_BOT_MOTOR_1_PERMANENT_VELOCITY = munich_key_i_d(32, 1)
PUSH_BOT_MOTOR_0_LEAKY_VELOCITY = munich_key_i_d(32, 2)
PUSH_BOT_MOTOR_1_LEAKY_VELOCITY = munich_key_i_d(32, 3)
# payload for master slave
_PAYLOAD_MASTER_SLAVE_USE_INTERNAL_COUNTER = 0
_PAYLOAD_MASTER_SLAVE_SET_SLAVE = 1
_PAYLOAD_MASTER_SLAVE_SET_MASTER_CLOCK_NOT_STARTED = 2
_PAYLOAD_MASTER_SLAVE_SET_MASTER_CLOCK_ACTIVE = 4
class RetinaKey(Enum):
FIXED_KEY = (0, 128, 7)
NATIVE_128_X_128 = (1, 128, 7)
DOWNSAMPLE_64_X_64 = (2, 64, 6)
DOWNSAMPLE_32_X_32 = (3, 32, 5)
DOWNSAMPLE_16_X_16 = (4, 16, 4)
def __init__(self, value, pixels, bits_per_coordinate):
self._value_ = value << _PAYLOAD_RETINA_KEY_OFFSET
self._pixels = pixels
self._bits_per_coordinate = bits_per_coordinate
@property
def n_neurons(self):
return 2 * (self._pixels ** 2)
@property
def pixels(self):
return self._pixels
@property
def bits_per_coordinate(self):
return self._bits_per_coordinate
class RetinaPayload(Enum):
NO_PAYLOAD = (0, 0)
EVENTS_IN_PAYLOAD = (0, 4)
DELTA_TIMESTAMPS = (1, 4)
ABSOLUTE_2_BYTE_TIMESTAMPS = (2, 2)
ABSOLUTE_3_BYTE_TIMESTAMPS = (3, 3)
ABSOLUTE_4_BYTE_TIMESTAMPS = (4, 4)
def __init__(self, value, n_payload_bytes):
self._value_ = value << _PAYLOAD_RETINA_PAYLOAD_OFFSET
self._n_payload_bytes = n_payload_bytes
@property
def n_payload_bytes(self):
return self._n_payload_bytes
[docs]class MunichIoSpiNNakerLinkProtocol(object):
""" Provides Multicast commands for the Munich SpiNNaker-Link protocol
"""
__slots__ = ["__instance_key", "__mode", "__uart_id"]
[docs] class MODES(Enum):
"""types of modes supported by this protocol"""
RESET_TO_DEFAULT = 0
PUSH_BOT = 1
SPOMNIBOT = 2
BALL_BALANCER = 3
MY_ORO_BOTICS = 4
FREE = 5
# The instance of the protocol in use, to ensure that each vertex that is
# to send commands to the PushBot uses a different outgoing key; the top
# part of the key is ignored, so this works out!
protocol_instance = 0
# Keeps track of whether the mode has been configured already
__sent_mode_command = False
def __init__(self, mode, instance_key=None, uart_id=0):
"""
:param mode: The mode of operation of the protocol
:param instance_key: The optional instance key to use
:param uart_id: The ID of the UART when needed
"""
self.__mode = mode
# Create a key for this instance of the protocol
# - see above for reasoning
if instance_key is None:
self.__instance_key = (
MunichIoSpiNNakerLinkProtocol.protocol_instance <<
_OFFSET_TO_IGNORED_KEY
)
MunichIoSpiNNakerLinkProtocol.protocol_instance += 1
else:
self.__instance_key = instance_key
self.__uart_id = uart_id
@property
def mode(self):
return self.__mode
@property
def uart_id(self):
return self.__uart_id
[docs] @staticmethod
def sent_mode_command():
""" True if the mode command has ever been requested by any instance
"""
return MunichIoSpiNNakerLinkProtocol.__sent_mode_command
@property
def instance_key(self):
""" The key of this instance of the protocol
"""
return self.__instance_key
def _get_key(self, command, offset_to_uart_id=None):
if offset_to_uart_id is None:
return command | self.__instance_key
return (
command | self.__instance_key |
(self.__uart_id << offset_to_uart_id)
)
@property
def configure_master_key_key(self):
return self._get_key(CONFIGURE_MASTER_KEY)
@property
def set_mode_key(self):
return self._get_key(CHANGE_MODE)
[docs] def set_mode(self, time=None):
MunichIoSpiNNakerLinkProtocol.__sent_mode_command = True
return MultiCastCommand(
key=self.set_mode_key, payload=self.__mode.value, time=time)
@property
def set_retina_key_key(self):
return self._get_key(
ACTIVE_RETINA_EVENT_STREAMING_SET_KEY, RETINA_UART_SHIFT)
[docs] def set_retina_key(self, new_key, time=None):
return MultiCastCommand(
key=self.set_retina_key_key,
payload=new_key, time=time)
@property
def disable_retina_key(self):
return self._get_key(DISABLE_RETINA_EVENT_STREAMING, RETINA_UART_SHIFT)
[docs] def disable_retina(self, time=None):
return MultiCastCommand(key=self.disable_retina_key, time=time)
@property
def master_slave_key(self):
return self._get_key(MASTER_SLAVE_KEY, RETINA_UART_SHIFT)
[docs] def master_slave_use_internal_counter(self, time=None):
return MultiCastCommand(
key=self.master_slave_key,
payload=_PAYLOAD_MASTER_SLAVE_USE_INTERNAL_COUNTER, time=time)
[docs] def master_slave_set_slave(self, time=None):
return MultiCastCommand(
key=self.master_slave_key,
payload=_PAYLOAD_MASTER_SLAVE_SET_SLAVE, time=time)
[docs] def master_slave_set_master_clock_not_started(self, time=None):
return MultiCastCommand(
key=self.master_slave_key,
payload=_PAYLOAD_MASTER_SLAVE_SET_MASTER_CLOCK_NOT_STARTED,
time=time)
[docs] def master_slave_set_master_clock_active(self, time=None):
return MultiCastCommand(
key=self.master_slave_key,
payload=_PAYLOAD_MASTER_SLAVE_SET_MASTER_CLOCK_ACTIVE,
time=time)
@property
def bias_values_key(self):
return self._get_key(BIAS_KEY, RETINA_UART_SHIFT)
[docs] def bias_values(self, bias_id, bias_value, time=None):
return MultiCastCommand(
key=self.bias_values_key,
payload=((bias_id << 0) | (bias_value << 8)), time=time)
@property
def reset_retina_key(self):
return self._get_key(RESET_RETINA_KEY, RETINA_UART_SHIFT)
[docs] def reset_retina(self, time=None):
return MultiCastCommand(
key=self.reset_retina_key, time=time)
@property
def turn_off_sensor_reporting_key(self):
return self._get_key(SENSOR_REPORTING_OFF_KEY)
[docs] def turn_off_sensor_reporting(self, sensor_id, time=None):
return MultiCastCommand(
key=self.turn_off_sensor_reporting_key,
payload=(sensor_id << _PAYLOAD_SENSOR_ID_OFFSET), time=time)
@property
def poll_sensors_once_key(self):
return self._get_key(POLL_SENSORS_ONCE_KEY)
[docs] def poll_sensors_once(self, sensor_id, time=None):
return MultiCastCommand(
key=self.poll_sensors_once_key,
payload=(sensor_id << _PAYLOAD_SENSOR_ID_OFFSET), time=time)
@property
def poll_individual_sensor_continuously_key(self):
return self._get_key(POLL_SENSORS_CONTINUOUSLY_KEY)
[docs] def poll_individual_sensor_continuously(
self, sensor_id, time_in_ms, time=None):
return MultiCastCommand(
key=self.poll_individual_sensor_continuously_key,
payload=((sensor_id << _PAYLOAD_SENSOR_ID_OFFSET) |
(time_in_ms << _PAYLOAD_OFFSET_FOR_SENSOR_TIME)),
time=time)
@property
def enable_disable_motor_key(self):
return self._get_key(ENABLE_DISABLE_MOTOR_KEY, RETINA_UART_SHIFT)
[docs] def generic_motor_enable(self, time=None):
return MultiCastCommand(
key=self.enable_disable_motor_key, payload=1, time=time)
[docs] def generic_motor_disable(self, time=None):
return MultiCastCommand(
key=self.enable_disable_motor_key, payload=0, time=time)
@property
def generic_motor_total_period_key(self):
return self._get_key(MOTOR_RUN_FOR_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def generic_motor_total_period(self, time_in_ms, time=None):
return MultiCastCommand(
key=self.generic_motor_total_period_key,
payload=time_in_ms, time=time)
@property
def generic_motor0_raw_output_permanent_key(self):
return self._get_key(MOTOR_0_RAW_PERM_KEY, RETINA_UART_SHIFT)
[docs] def generic_motor0_raw_output_permanent(self, pwm_signal, time=None):
return MultiCastCommand(
key=self.generic_motor0_raw_output_permanent_key,
payload=pwm_signal, time=time)
@property
def generic_motor1_raw_output_permanent_key(self):
return self._get_key(MOTOR_1_RAW_PERM_KEY, RETINA_UART_SHIFT)
[docs] def generic_motor1_raw_output_permanent(self, pwm_signal, time=None):
return MultiCastCommand(
key=self.generic_motor1_raw_output_permanent_key,
payload=pwm_signal, time=time)
@property
def generic_motor0_raw_output_leak_to_0_key(self):
return self._get_key(MOTOR_0_RAW_LEAK_KEY, RETINA_UART_SHIFT)
[docs] def generic_motor0_raw_output_leak_to_0(self, pwm_signal, time=None):
return MultiCastCommand(
key=self.generic_motor0_raw_output_leak_to_0_key,
payload=pwm_signal, time=time)
@property
def generic_motor1_raw_output_leak_to_0_key(self):
return self._get_key(MOTOR_1_RAW_LEAK_KEY, RETINA_UART_SHIFT)
[docs] def generic_motor1_raw_output_leak_to_0(self, pwm_signal, time=None):
return MultiCastCommand(
key=self.generic_motor1_raw_output_leak_to_0_key,
payload=pwm_signal, time=time)
@property
def pwm_pin_output_timer_a_duration_key(self):
return self._get_key(MOTOR_TIMER_A_TOTAL_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_a_duration(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_a_duration_key,
payload=timer_period, time=time)
@property
def pwm_pin_output_timer_b_duration_key(self):
return self._get_key(MOTOR_TIMER_B_TOTAL_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_b_duration(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_b_duration_key,
payload=timer_period, time=time)
@property
def pwm_pin_output_timer_c_duration_key(self):
return self._get_key(MOTOR_TIMER_C_TOTAL_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_c_duration(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_c_duration_key,
payload=timer_period, time=time)
@property
def pwm_pin_output_timer_a_channel_0_ratio_key(self):
return self._get_key(
MOTOR_TIMER_A_CHANNEL_0_ACTIVE_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_a_channel_0_ratio(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_a_channel_0_ratio_key,
payload=timer_period, time=time)
@property
def pwm_pin_output_timer_a_channel_1_ratio_key(self):
return self._get_key(
MOTOR_TIMER_A_CHANNEL_1_ACTIVE_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_a_channel_1_ratio(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_a_channel_1_ratio_key,
payload=timer_period, time=time)
[docs] def pwm_pin_output_timer_b_channel_0_ratio_key(self):
return self._get_key(
MOTOR_TIMER_B_CHANNEL_0_ACTIVE_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_b_channel_0_ratio(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_b_channel_0_ratio_key,
payload=timer_period, time=time)
@property
def pwm_pin_output_timer_b_channel_1_ratio_key(self):
return self._get_key(
MOTOR_TIMER_B_CHANNEL_1_ACTIVE_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_b_channel_1_ratio(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_b_channel_1_ratio_key,
payload=timer_period, time=time)
@property
def pwm_pin_output_timer_c_channel_0_ratio_key(self):
return self._get_key(
MOTOR_TIMER_C_CHANNEL_0_ACTIVE_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_c_channel_0_ratio(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_c_channel_0_ratio_key,
payload=timer_period, time=time)
[docs] def pwm_pin_output_timer_c_channel_1_ratio_key(self):
return self._get_key(
MOTOR_TIMER_C_CHANNEL_1_ACTIVE_PERIOD_KEY, RETINA_UART_SHIFT)
[docs] def pwm_pin_output_timer_c_channel_1_ratio(self, timer_period, time=None):
return MultiCastCommand(
key=self.pwm_pin_output_timer_c_channel_1_ratio_key,
payload=timer_period, time=time)
@property
def query_state_of_io_lines_key(self):
return self._get_key(QUERY_STATES_LINES_KEY)
[docs] def query_state_of_io_lines(self, time=None):
return MultiCastCommand(
key=self.query_state_of_io_lines_key, time=time)
@property
def set_output_pattern_for_payload_key(self):
return self._get_key(SET_OUTPUT_PATTERN_KEY)
[docs] def set_output_pattern_for_payload(self, payload, time=None):
return MultiCastCommand(
key=self.set_output_pattern_for_payload_key, payload=payload,
time=time)
@property
def add_payload_logic_to_current_output_key(self):
return self._get_key(ADD_PAYLOAD_TO_CURRENT_OUTPUT_KEY)
[docs] def add_payload_logic_to_current_output(self, payload, time=None):
return MultiCastCommand(
key=self.add_payload_logic_to_current_output_key,
payload=payload, time=time)
@property
def remove_payload_logic_to_current_output_key(self):
return self._get_key(REMOVE_PAYLOAD_TO_CURRENT_OUTPUT_KEY)
[docs] def remove_payload_logic_to_current_output(self, payload, time=None):
return MultiCastCommand(
key=self.remove_payload_logic_to_current_output_key,
payload=payload, time=time)
@property
def set_payload_pins_to_high_impedance_key(self):
return self._get_key(SET_PAYLOAD_TO_HIGH_IMPEDANCE_KEY)
[docs] def set_payload_pins_to_high_impedance(self, payload, time=None):
return MultiCastCommand(
key=self.set_payload_pins_to_high_impedance_key,
payload=payload, time=time)
def _check_for_pushbot_mode(self):
if self.__mode is not self.MODES.PUSH_BOT:
raise ConfigurationException(
"The mode you configured is not the PushBot, and so this "
"message is invalid for mode {}".format(self.__mode))
@property
def push_bot_laser_config_total_period_key(self):
return self._get_key(
PUSH_BOT_LASER_CONFIG_TOTAL_PERIOD, RETINA_UART_SHIFT)
[docs] def push_bot_laser_config_total_period(self, total_period, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_laser_config_total_period_key,
payload=total_period, time=time)
@property
def push_bot_laser_config_active_time_key(self):
return self._get_key(
PUSH_BOT_LASER_CONFIG_ACTIVE_TIME, RETINA_UART_SHIFT)
[docs] def push_bot_laser_config_active_time(self, active_time, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_laser_config_active_time_key,
payload=active_time, time=time)
@property
def push_bot_laser_set_frequency_key(self):
return self._get_key(
PUSH_BOT_LASER_FREQUENCY,
PUSH_BOT_LASER_LED_SPEAKER_FREQUENCY_UART_SHIFT)
[docs] def push_bot_laser_set_frequency(self, frequency, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_laser_set_frequency_key,
payload=frequency, time=time)
@property
def push_bot_speaker_config_total_period_key(self):
return self._get_key(
PUSH_BOT_SPEAKER_CONFIG_TOTAL_PERIOD, RETINA_UART_SHIFT)
[docs] def push_bot_speaker_config_total_period(
self, total_period, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_speaker_config_total_period_key,
payload=total_period, time=time)
@property
def push_bot_speaker_config_active_time_key(self):
return self._get_key(
PUSH_BOT_SPEAKER_CONFIG_ACTIVE_TIME, RETINA_UART_SHIFT)
[docs] def push_bot_speaker_config_active_time(self, active_time, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_speaker_config_active_time_key,
payload=active_time, time=time)
@property
def push_bot_speaker_set_tone_key(self):
return self._get_key(
PUSH_BOT_SPEAKER_TONE_BEEP,
PUSH_BOT_LASER_LED_SPEAKER_FREQUENCY_UART_SHIFT)
[docs] def push_bot_speaker_set_tone(self, frequency, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_speaker_set_tone_key,
payload=frequency, time=time)
@property
def push_bot_speaker_set_melody_key(self):
return self._get_key(
PUSH_BOT_SPEAKER_TONE_MELODY,
PUSH_BOT_LASER_LED_SPEAKER_FREQUENCY_UART_SHIFT)
[docs] def push_bot_speaker_set_melody(self, melody, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_speaker_set_melody_key,
payload=melody, time=time)
@property
def push_bot_led_total_period_key(self):
return self._get_key(
PUSH_BOT_LED_CONFIG_TOTAL_PERIOD, RETINA_UART_SHIFT)
[docs] def push_bot_led_total_period(self, total_period, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_led_total_period_key,
payload=total_period, time=time)
@property
def push_bot_led_back_active_time_key(self):
return self._get_key(
PUSH_BOT_LED_BACK_CONFIG_ACTIVE_TIME, RETINA_UART_SHIFT)
[docs] def push_bot_led_back_active_time(self, active_time, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_led_back_active_time_key,
payload=active_time, time=time)
@property
def push_bot_led_front_active_time_key(self):
return self._get_key(
PUSH_BOT_LED_FRONT_CONFIG_ACTIVE_TIME, RETINA_UART_SHIFT)
[docs] def push_bot_led_front_active_time(self, active_time, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_led_front_active_time_key,
payload=active_time, time=time)
@property
def push_bot_led_set_frequency_key(self):
return self._get_key(
PUSH_BOT_LED_FREQUENCY,
PUSH_BOT_LASER_LED_SPEAKER_FREQUENCY_UART_SHIFT)
[docs] def push_bot_led_set_frequency(self, frequency, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_led_set_frequency_key,
payload=frequency, time=time)
@property
def push_bot_motor_0_permanent_key(self):
return self._get_key(
PUSH_BOT_MOTOR_0_PERMANENT_VELOCITY, PUSH_BOT_MOTOR_UART_SHIFT)
[docs] def push_bot_motor_0_permanent(self, velocity, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_motor_0_permanent_key,
payload=velocity, time=time)
@property
def push_bot_motor_1_permanent_key(self):
return self._get_key(
PUSH_BOT_MOTOR_1_PERMANENT_VELOCITY, PUSH_BOT_MOTOR_UART_SHIFT)
[docs] def push_bot_motor_1_permanent(self, velocity, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_motor_1_permanent_key,
payload=velocity, time=time)
@property
def push_bot_motor_0_leaking_towards_zero_key(self):
return self._get_key(
PUSH_BOT_MOTOR_0_LEAKY_VELOCITY, PUSH_BOT_MOTOR_UART_SHIFT)
[docs] def push_bot_motor_0_leaking_towards_zero(self, velocity, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_motor_0_leaking_towards_zero_key,
payload=velocity, time=time)
@property
def push_bot_motor_1_leaking_towards_zero_key(self):
return self._get_key(
PUSH_BOT_MOTOR_1_LEAKY_VELOCITY, PUSH_BOT_MOTOR_UART_SHIFT)
[docs] def push_bot_motor_1_leaking_towards_zero(self, velocity, time=None):
self._check_for_pushbot_mode()
return MultiCastCommand(
key=self.push_bot_motor_1_leaking_towards_zero_key,
payload=velocity, time=time)
[docs] def sensor_transmission_key(self, sensor_id):
return ((sensor_id << _SENSOR_OUTGOING_OFFSET_TO_D) |
(self.__uart_id << _SENSOR_OUTGOING_OFFSET_TO_I))
@property
def set_retina_transmission_key(self):
return self._get_key(
ACTIVE_RETINA_EVENT_STREAMING_KEYS_CONFIGURATION,
RETINA_UART_SHIFT)
[docs] def set_retina_transmission(
self, retina_key=RetinaKey.NATIVE_128_X_128,
retina_payload=None, time=None):
""" Set the retina transmission key
:param retina_key: the new key for the retina
:param retina_payload: \
the new payload for the set retina key command packet
:type retina_payload: enum or None
:param time: when to transmit this packet
:return: the command to send
:rtype: \
:py:class:`spinn_front_end_common.utility_models.multi_cast_command.MultiCastCommand`
"""
if retina_key == RetinaKey.FIXED_KEY and retina_payload is None:
retina_payload = RetinaPayload.EVENTS_IN_PAYLOAD
if retina_payload is None:
retina_payload = RetinaPayload.NO_PAYLOAD
if (retina_key == RetinaKey.FIXED_KEY and
retina_payload != RetinaPayload.EVENTS_IN_PAYLOAD):
raise ConfigurationException(
"If the Retina Key is FIXED_KEY, the payload must be"
" EVENTS_IN_PAYLOAD")
return MultiCastCommand(
key=self.set_retina_transmission_key,
payload=retina_key.value | retina_payload.value,
time=time)