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"""Decorator for UWB ranging methods."""
import time
from typing import List
from lib import uwb_ranging_params
from mobly.controllers import android_device
from mobly.controllers.android_device_lib import jsonrpc_client_base
from mobly.snippet import errors
CALLBACK_WAIT_TIME_SEC = 3
STOP_CALLBACK_WAIT_TIME_SEC = 6
class UwbRangingDecorator():
"""Decorator for Uwb ranging methods."""
def __init__(self, ad: android_device.AndroidDevice):
"""Initialize the ranging device.
Args:
ad: android device object
Usage:
The ranging methods should be called in the following order
1. open_ranging()
2. start_ranging()
3. find peer, distance measurement, aoa measurements.
4. stop_ranging()
5. close_ranging()
"""
self.ad = ad
self._callback_keys = {}
self._event_handlers = {}
self.log = self.ad.log
def clear_ranging_session_callback_events(self, ranging_session_id: int = 0):
"""Clear 'RangingSessionCallback' events from EventCache.
Args:
ranging_session_id: ranging session id.
"""
handler = self._event_handlers[ranging_session_id]
handler.getAll("RangingSessionCallback")
def verify_callback_received(self,
ranging_event: str,
session: int = 0,
timeout: int = CALLBACK_WAIT_TIME_SEC):
"""Verifies if the expected callback is received.
Args:
ranging_event: Expected ranging event.
session: ranging session.
timeout: callback timeout.
Raises:
TimeoutError: if the expected callback event is not received.
"""
handler = self._event_handlers[session]
start_time = time.time()
while time.time() - start_time < timeout:
try:
event = handler.waitAndGet("RangingSessionCallback", timeout=timeout)
event_received = event.data["rangingSessionEvent"]
self.ad.log.debug("Received event - %s" % event_received)
if event_received == ranging_event:
self.ad.log.debug("Received the '%s' callback in %ss" %
(ranging_event, round(time.time() - start_time, 2)))
self.clear_ranging_session_callback_events(session)
return
except errors.CallbackHandlerTimeoutError as e:
self.log.warn("Failed to receive 'RangingSessionCallback' event")
raise TimeoutError("Failed to receive '%s' event" % ranging_event)
def open_fira_ranging(self,
params: uwb_ranging_params.UwbRangingParams,
session: int = 0,
expect_to_succeed: bool = True):
"""Opens fira ranging session.
Args:
params: UWB ranging parameters.
session: ranging session.
expect_to_succeed: Whether the session open is expected to succeed.
"""
callback_key = "fira_session_%s" % session
handler = self.ad.uwb.openFiraRangingSession(callback_key, params.to_dict())
self._event_handlers[session] = handler
if expect_to_succeed:
self.verify_callback_received("Opened", session)
self._callback_keys[session] = callback_key
else:
self.verify_callback_received("OpenFailed", session)
def start_fira_ranging(self, session: int = 0):
"""Starts Fira ranging session.
Args:
session: ranging session.
"""
self.ad.uwb.startFiraRangingSession(self._callback_keys[session])
self.verify_callback_received("Started", session)
def reconfigure_fira_ranging(
self,
params: uwb_ranging_params.UwbRangingReconfigureParams,
session: int = 0):
"""Reconfigures Fira ranging parameters.
Args:
params: UWB reconfigured params.
session: ranging session.
"""
self.ad.uwb.reconfigureFiraRangingSession(self._callback_keys[session],
params.to_dict())
self.verify_callback_received("Reconfigured", session)
def add_controlee_fira_ranging(
self,
params: uwb_ranging_params.UwbRangingControleeParams,
session: int = 0,
):
"""Reconfigures Fira ranging to add controlee.
Args:
params: UWB controlee params.
session: ranging session.
"""
self.ad.uwb.addControleeFiraRangingSession(
self._callback_keys[session], params.to_dict()
)
self.verify_callback_received("ControleeAdded", session)
def remove_controlee_fira_ranging(
self,
params: uwb_ranging_params.UwbRangingControleeParams,
session: int = 0,
):
"""Reconfigures Fira ranging to add controlee.
Args:
params: UWB controlee params.
session: ranging session.
"""
self.ad.uwb.removeControleeFiraRangingSession(
self._callback_keys[session], params.to_dict()
)
self.verify_callback_received("ControleeRemoved", session)
def is_uwb_peer_found(self, addr: List[int], session: int = 0) -> bool:
"""Verifies if the UWB peer is found.
Args:
addr: peer address.
session: ranging session.
Returns:
True if peer is found, False if not.
"""
self.verify_callback_received("ReportReceived", session)
return self.ad.uwb.isUwbPeerFound(self._callback_keys[session], addr)
def get_distance_measurement(self,
addr: List[int],
session: int = 0) -> float:
"""Returns distance measurement from peer.
Args:
addr: peer address.
session: ranging session.
Returns:
Distance measurement in float.
Raises:
ValueError: if the DistanceMeasurement object is null.
"""
try:
return self.ad.uwb.getDistanceMeasurement(self._callback_keys[session],
addr)
except jsonrpc_client_base.ApiError as api_error:
raise ValueError("Failed to get distance measurement.") from api_error
def get_aoa_azimuth_measurement(self,
addr: List[int],
session: int = 0) -> float:
"""Returns AoA azimuth measurement data from peer.
Args:
addr: list, peer address.
session: ranging session.
Returns:
AoA azimuth measurement in radians in float.
Raises:
ValueError: if the AngleMeasurement object is null.
"""
try:
return self.ad.uwb.getAoAAzimuthMeasurement(
self._callback_keys[session], addr)
except jsonrpc_client_base.ApiError as api_error:
raise ValueError("Failed to get azimuth measurement.") from api_error
def get_aoa_altitude_measurement(self,
addr: List[int],
session: int = 0) -> float:
"""Gets UWB AoA altitude measurement data.
Args:
addr: list, peer address.
session: ranging session.
Returns:
AoA altitude measurement in radians in float.
Raises:
ValueError: if the AngleMeasurement object is null.
"""
try:
return self.ad.uwb.getAoAAltitudeMeasurement(
self._callback_keys[session], addr)
except jsonrpc_client_base.ApiError as api_error:
raise ValueError("Failed to get altitude measurement.") from api_error
def get_rssi_measurement(self, addr: List[int], session: int = 0) -> int:
"""Returns RSSI measurement from both devices.
Args:
addr: peer address.
session: ranging session.
Returns:
RSSI measurement in int.
Raises:
ValueError: if the RSSI Measurement object is null.
"""
try:
return self.ad.uwb.getRssiDbmMeasurement(self._callback_keys[session],
addr)
except errors.ApiError as api_error:
raise ValueError("Failed to get RSSI measurement.") from api_error
def stop_ranging(self, session: int = 0):
"""Stops UWB ranging session.
Args:
session: ranging session.
"""
self.ad.uwb.stopRangingSession(self._callback_keys[session])
self.verify_callback_received("Stopped", session, STOP_CALLBACK_WAIT_TIME_SEC)
def close_ranging(self, session: int = 0):
"""Closes ranging session.
Args:
session: ranging session.
"""
if session not in self._callback_keys:
return
self.ad.uwb.closeRangingSession(self._callback_keys[session])
self.verify_callback_received("Closed", session)
self._callback_keys.pop(session, None)
self._event_handlers.pop(session, None)
def close_all_ranging_sessions(self):
"""Closes all ranging sessions.
Args:
"""
for session in self._callback_keys:
self.ad.uwb.closeRangingSession(self._callback_keys[session])
self.verify_callback_received("Closed", session)
self.clear_all_ranging_sessions()
def clear_all_ranging_sessions(self):
"""Clear all ranging sessions from internal map (for ex: after reboot).
Args:
"""
self._callback_keys.clear()
self._event_handlers.clear()
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