Source code for spynnaker.pyNN.protocols.munich_io_spinnaker_link_protocol

# 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
from spinn_front_end_common.utility_models import MultiCastCommand
from spinn_front_end_common.utilities.exceptions import ConfigurationException

# 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(instr, format_bit=0, device=0):
    return ((instr << _OFFSET_TO_I) | (format_bit << _OFFSET_TO_F) |
            (device << _OFFSET_TO_D))


def get_munich_i(key):
    """ Get the instruction field from the key.
    """
    return key & _I_MASK


def get_munich_f(key):
    """ Get the format field from the key.
    """
    return key & _F_MASK


def get_munich_d(key):
    """ Get the device field from the 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(127, 0)

#: command key for setting up what mode of device running on the board
CHANGE_MODE = _munich_key(127, 1)

#: command for turning off retina output
DISABLE_RETINA_EVENT_STREAMING = _munich_key(0, 0)

#: command for retina where payload is events
ACTIVE_RETINA_EVENT_STREAMING_KEYS_CONFIGURATION = _munich_key(0, 1)

#: command for retina where events are the key
ACTIVE_RETINA_EVENT_STREAMING_SET_KEY = _munich_key(0, 2)

#: set timer / counter for timestamps
SET_TIMER_COUNTER_FOR_TIMESTAMPS = _munich_key(0, 3)

#: handle master / slave time sync
MASTER_SLAVE_KEY = _munich_key(0, 4)

#: command for setting bias (whatever the check that is)
BIAS_KEY = _munich_key(0, 5)

#: reset retina key.
RESET_RETINA_KEY = _munich_key(0, 7)

#: request on-board sensor data
SENSOR_REPORTING_OFF_KEY = _munich_key(1, 0)

#: poll sensors once
POLL_SENSORS_ONCE_KEY = _munich_key(1, 1)

#: poll sensors continuously
POLL_SENSORS_CONTINUOUSLY_KEY = _munich_key(1, 2)

#: disable motor
ENABLE_DISABLE_MOTOR_KEY = _munich_key(2, 0)

#: run motor for total period
MOTOR_RUN_FOR_PERIOD_KEY = _munich_key(2, 1)

#: raw output for motor 0 (permanent)
MOTOR_0_RAW_PERM_KEY = _munich_key(2, 4)

#: raw output for motor 1 (permanent)
MOTOR_1_RAW_PERM_KEY = _munich_key(2, 5)

#: raw output for motor 0 (leak towards 0)
MOTOR_0_RAW_LEAK_KEY = _munich_key(2, 6)

#: raw output for motor 1 (leak towards 0)
MOTOR_1_RAW_LEAK_KEY = _munich_key(2, 7)

#: motor output duration timer period
MOTOR_TIMER_A_TOTAL_PERIOD_KEY = _munich_key(3, 0)
#: motor output duration timer period
MOTOR_TIMER_B_TOTAL_PERIOD_KEY = _munich_key(3, 2)
#: motor output duration timer period
MOTOR_TIMER_C_TOTAL_PERIOD_KEY = _munich_key(3, 4)

#: motor output ratio active period
MOTOR_TIMER_A_CHANNEL_0_ACTIVE_PERIOD_KEY = _munich_key(4, 0)
#: motor output ratio active period
MOTOR_TIMER_A_CHANNEL_1_ACTIVE_PERIOD_KEY = _munich_key(4, 1)
#: motor output ratio active period
MOTOR_TIMER_B_CHANNEL_0_ACTIVE_PERIOD_KEY = _munich_key(4, 2)
#: motor output ratio active period
MOTOR_TIMER_B_CHANNEL_1_ACTIVE_PERIOD_KEY = _munich_key(4, 3)
#: motor output ratio active period
MOTOR_TIMER_C_CHANNEL_0_ACTIVE_PERIOD_KEY = _munich_key(4, 4)
#: motor output ratio active period
MOTOR_TIMER_C_CHANNEL_1_ACTIVE_PERIOD_KEY = _munich_key(4, 5)

#: digital IO Signals
QUERY_STATES_LINES_KEY = _munich_key(5, 0)

#: set output pattern to payload
SET_OUTPUT_PATTERN_KEY = _munich_key(5, 1)

#: add payload (logic or (PL)) to current output
ADD_PAYLOAD_TO_CURRENT_OUTPUT_KEY = _munich_key(5, 2)

#: remove payload (logic or (PL)) to current output from current output
REMOVE_PAYLOAD_TO_CURRENT_OUTPUT_KEY = _munich_key(5, 3)

#: set payload pins to high impedance
SET_PAYLOAD_TO_HIGH_IMPEDANCE_KEY = _munich_key(5, 4)

#: set laser params for PushBot
PUSH_BOT_LASER_CONFIG_TOTAL_PERIOD = _munich_key(3, 0)
#: set laser params for PushBot
PUSH_BOT_LASER_CONFIG_ACTIVE_TIME = _munich_key(4, 0)
#: set laser params for PushBot
PUSH_BOT_LASER_FREQUENCY = _munich_key(37, 1)

#: set led params for PushBot
PUSH_BOT_LED_CONFIG_TOTAL_PERIOD = _munich_key(3, 4)
#: set led params for PushBot
PUSH_BOT_LED_BACK_CONFIG_ACTIVE_TIME = _munich_key(4, 4)
#: set led params for PushBot
PUSH_BOT_LED_FRONT_CONFIG_ACTIVE_TIME = _munich_key(4, 5)
#: set led params for PushBot
PUSH_BOT_LED_FREQUENCY = _munich_key(37, 0)

#: set speaker params for PushBot
PUSH_BOT_SPEAKER_CONFIG_TOTAL_PERIOD = _munich_key(3, 2)
#: set speaker params for PushBot
PUSH_BOT_SPEAKER_CONFIG_ACTIVE_TIME = _munich_key(4, 2)
#: set speaker params for PushBot
PUSH_BOT_SPEAKER_TONE_BEEP = _munich_key(36, 0)
#: set speaker params for PushBot
PUSH_BOT_SPEAKER_TONE_MELODY = _munich_key(36, 1)

#: PushBot motor control
PUSH_BOT_MOTOR_0_PERMANENT_VELOCITY = _munich_key(32, 0)
#: PushBot motor control
PUSH_BOT_MOTOR_1_PERMANENT_VELOCITY = _munich_key(32, 1)
#: PushBot motor control
PUSH_BOT_MOTOR_0_LEAKY_VELOCITY = _munich_key(32, 2)
#: PushBot motor control
PUSH_BOT_MOTOR_1_LEAKY_VELOCITY = _munich_key(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


[docs]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
[docs]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 MUNICH_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
[docs]class MunichIoSpiNNakerLinkProtocol(object): """ Provides Multicast commands for the Munich SpiNNaker-Link protocol """ __slots__ = ["__instance_key", "__mode", "__uart_id"] # 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 :type modes: ~spynnaker.pyNN.protocols.MUNICH_MODES :param instance_key: The optional instance key to use :type instance_key: int or None :param int 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): """ :rtype: ~spynnaker.pyNN.protocols.MUNICH_MODES """ return self.__mode @property def uart_id(self): """ :rtype: int """ 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 :rtype: int """ 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)
[docs] def configure_master_key(self, new_key, time=None): return MultiCastCommand( key=self.configure_master_key_key, payload=new_key, time=time)
@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)
@property 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)
@property 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 MUNICH_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 RetinaKey retina_key: the new key for the retina :param retina_payload: the new payload for the set retina key command packet :type retina_payload: RetinaPayload or None :param time: when to transmit this packet :type time: int or float or None :return: the command to send :rtype: ~spinn_front_end_common.utility_models.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)