pica 0.1.7

Pica is a virtual UWB Controller implementing the FiRa UCI specification.
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#!/usr/bin/env python3

# Copyright 2022 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import asyncio
import argparse
import logging

from pica import Host
from pica.packets import uci
from .helper import init


async def controller(host: Host, peer: Host):
    await init(host)

    host.send_control(
        uci.SessionInitCmd(
            session_id=0, session_type=uci.SessionType.FIRA_RANGING_SESSION
        )
    )

    await host.expect_control(uci.SessionInitRsp(status=uci.StatusCode.UCI_STATUS_OK))

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_INIT,
            reason_code=0,
        )
    )

    mac_address_mode = 0x0
    ranging_duration = int(1000).to_bytes(4, byteorder="little")
    device_role_initiator = bytes([0])
    device_type_controller = bytes([1])
    host.send_control(
        uci.SessionSetAppConfigCmd(
            session_token=0,
            tlvs=[
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DEVICE_ROLE, v=device_role_initiator
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DEVICE_TYPE, v=device_type_controller
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DEVICE_MAC_ADDRESS, v=host.mac_address
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.MAC_ADDRESS_MODE,
                    v=bytes([mac_address_mode]),
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.RANGING_DURATION, v=ranging_duration
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.NO_OF_CONTROLEE, v=bytes([1])
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DST_MAC_ADDRESS, v=peer.mac_address
                ),
            ],
        )
    )

    await host.expect_control(
        uci.SessionSetAppConfigRsp(status=uci.StatusCode.UCI_STATUS_OK, cfg_status=[])
    )

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_IDLE,
            reason_code=0,
        )
    )

    host.send_control(uci.SessionStartCmd(session_id=0))

    await host.expect_control(uci.SessionStartRsp(status=uci.StatusCode.UCI_STATUS_OK))

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_ACTIVE,
            reason_code=0,
        )
    )

    await host.expect_control(
        uci.DeviceStatusNtf(device_state=uci.DeviceState.DEVICE_STATE_ACTIVE)
    )

    for _ in range(1, 3):
        event = await host.expect_control(uci.ShortMacTwoWaySessionInfoNtf, timeout=2.0)
        event.show()

    host.send_control(uci.SessionStopCmd(session_id=0))

    await host.expect_control(uci.SessionStopRsp(status=uci.StatusCode.UCI_STATUS_OK))

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_IDLE,
            reason_code=0,
        )
    )

    await host.expect_control(
        uci.DeviceStatusNtf(device_state=uci.DeviceState.DEVICE_STATE_READY)
    )

    host.send_control(uci.SessionDeinitCmd(session_token=0))

    await host.expect_control(uci.SessionDeinitRsp(status=uci.StatusCode.UCI_STATUS_OK))


async def controlee(host: Host, peer: Host):
    await init(host)

    host.send_control(
        uci.SessionInitCmd(
            session_id=0, session_type=uci.SessionType.FIRA_RANGING_SESSION
        )
    )

    await host.expect_control(uci.SessionInitRsp(status=uci.StatusCode.UCI_STATUS_OK))

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_INIT,
            reason_code=0,
        )
    )

    mac_address_mode = 0x0
    ranging_duration = int(1000).to_bytes(4, byteorder="little")
    device_role_responder = bytes([1])
    device_type_controlee = bytes([0])
    host.send_control(
        uci.SessionSetAppConfigCmd(
            session_token=0,
            tlvs=[
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DEVICE_ROLE, v=device_role_responder
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DEVICE_TYPE, v=device_type_controlee
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DEVICE_MAC_ADDRESS, v=host.mac_address
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.MAC_ADDRESS_MODE,
                    v=bytes([mac_address_mode]),
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.RANGING_DURATION, v=ranging_duration
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.NO_OF_CONTROLEE, v=bytes([1])
                ),
                uci.AppConfigTlv(
                    cfg_id=uci.AppConfigTlvType.DST_MAC_ADDRESS, v=peer.mac_address
                ),
            ],
        )
    )

    await host.expect_control(
        uci.SessionSetAppConfigRsp(status=uci.StatusCode.UCI_STATUS_OK, cfg_status=[])
    )

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_IDLE,
            reason_code=0,
        )
    )

    host.send_control(uci.SessionStartCmd(session_id=0))

    await host.expect_control(uci.SessionStartRsp(status=uci.StatusCode.UCI_STATUS_OK))

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_ACTIVE,
            reason_code=0,
        )
    )

    await host.expect_control(
        uci.DeviceStatusNtf(device_state=uci.DeviceState.DEVICE_STATE_ACTIVE)
    )

    for _ in range(1, 3):
        event = await host.expect_control(uci.ShortMacTwoWaySessionInfoNtf, timeout=2.0)
        event.show()

    host.send_control(uci.SessionStopCmd(session_id=0))

    await host.expect_control(uci.SessionStopRsp(status=uci.StatusCode.UCI_STATUS_OK))

    await host.expect_control(
        uci.SessionStatusNtf(
            session_token=0,
            session_state=uci.SessionState.SESSION_STATE_IDLE,
            reason_code=0,
        )
    )

    await host.expect_control(
        uci.DeviceStatusNtf(device_state=uci.DeviceState.DEVICE_STATE_READY)
    )

    host.send_control(uci.SessionDeinitCmd(session_token=0))

    await host.expect_control(uci.SessionDeinitRsp(status=uci.StatusCode.UCI_STATUS_OK))


async def run(address: str, uci_port: int):
    try:
        host0 = await Host.connect(address, uci_port, bytes([0, 1]))
        host1 = await Host.connect(address, uci_port, bytes([0, 2]))
    except Exception:
        logging.debug(
            f"Failed to connect to Pica server at address {address}:{uci_port}\n"
            + "Make sure the server is running"
        )
        exit(1)

    async with asyncio.TaskGroup() as tg:
        tg.create_task(controller(host0, host1))
        tg.create_task(controlee(host1, host0))

    host0.disconnect()
    host1.disconnect()

    logging.debug("Ranging test completed")


def main():
    """Start a Pica interactive console."""
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument(
        "--address",
        type=str,
        default="127.0.0.1",
        help="Select the pica server address",
    )
    parser.add_argument(
        "--uci-port", type=int, default=7000, help="Select the pica TCP UCI port"
    )
    asyncio.run(run(**vars(parser.parse_args())))


if __name__ == "__main__":
    main()