nucleo-wb55-playground/backend/monsun_backend/commands.py

import abc
import logging
from dataclasses import dataclass
from enum import Enum
from random import randint
from struct import pack
from struct import unpack
from typing import Union

from serial import Serial


class CommandId(Enum):
    command_none = 0
    command_log = 0x1

    # even numbers are requests with optional response with ID = request ID + 1

    command_heartbeat_request = 0x2
    command_heartbeat_response = 0x3

    command_led_request = 0x4
    command_led_response = 0x5

    command_gp_request = 0x6
    command_gp_response = 0x7


def get_command_id_from_name(name: str) -> CommandId:
    return {
        "log": CommandId.command_log,
        "led": CommandId.command_led_request,
        "gp": CommandId.command_gp_request,
    }[name]


def get_request_class(
    command_id: CommandId,
):
    return {
        CommandId.command_log: LogCommand,
        CommandId.command_heartbeat_request: HeartbeatRequest,
        CommandId.command_led_request: LEDRequest,
        CommandId.command_gp_request: GPRequest,
    }[command_id]


def get_response_class(
    command_id: CommandId,
):
    return {
        CommandId.command_heartbeat_response: HeartbeatResponse,
        CommandId.command_led_response: LEDResponse,
        CommandId.command_gp_response: GPResponse,
    }[command_id]


class Response(abc.ABC):

    identifier: int

    def __init__(
        self,
        data: bytes,
    ) -> None:
        self._logger = logging.getLogger(self.__class__.__name__)

        self.identifier = unpack(">H", data[:2])[0]
        self.unpack_payload(data[2:])

    @abc.abstractmethod
    def unpack_payload(
        self,
        data: bytes,
    ):
        pass


class Command(abc.ABC):
    def __init__(self) -> None:
        self._logger = logging.getLogger(self.__class__.__name__)

    @property
    @abc.abstractmethod
    def identifier(self) -> CommandId:
        pass

    @abc.abstractmethod
    def execute(
        self,
        serial: Serial,
    ):
        pass

    def send_command(self, payload: bytes, serial: Serial):
        length = len(payload)
        data = pack(
            ">BHB" + "B" * length + "B",
            int(self.identifier.value),
            length,
            0,
            *list(payload),
            0xFF,
        )

        serial.write(data)


class Request(Command):
    def __init__(self) -> None:
        super().__init__()

        self.response_identifier = randint(0, pow(2, 16) - 1)

    @property
    @abc.abstractmethod
    def timeout(self) -> float:
        pass

    @abc.abstractmethod
    def process_response(
        self,
        response: Response,
    ):
        pass

    def send_command(self, payload: bytes, serial: Serial):
        response_identifier_header = pack(">H", self.response_identifier)

        super().send_command(
            payload=response_identifier_header + payload,
            serial=serial,
        )


@dataclass
class LogCommand(Command):
    """Command ID: command_log"""

    level: int
    message: str

    HEADER_SIZE = 2  # log level + logger name length

    def __init__(
        self,
        data: bytes,
    ) -> None:
        super().__init__()

        self._logger.setLevel(logging.INFO)

        level = int(data[0])
        logger_name_length = int(data[1])
        self._logger.debug(f"level: {level}")
        self._logger.debug(f"logger_name_length: {logger_name_length}")

        logger_name = data[self.HEADER_SIZE : self.HEADER_SIZE + logger_name_length]
        message = data[self.HEADER_SIZE + logger_name_length :]
        self._logger.debug("logger_name " + str(logger_name))
        self._logger.debug("Message: " + str(message))

        self.received_logger = logging.getLogger(logger_name.decode())
        self.received_logger.setLevel(logging.DEBUG)
        self.level = level
        self.message = message.decode()

    @property
    def identifier(self) -> CommandId:
        return CommandId.command_log

    def execute(
        self,
        serial: Serial,
    ):
        self.received_logger.log(level=self.level, msg=self.message)


class HeartbeatResponse(Response):
    def unpack_payload(
        self,
        data: bytes,
    ):
        pass


class HeartbeatRequest(Request):
    @property
    def identifier(self) -> CommandId:
        return CommandId.command_heartbeat_request

    @property
    def timeout(self) -> float:
        return 0.1

    def process_response(self, response: Response):
        if not isinstance(response, HeartbeatResponse):
            raise TypeError(f"{response} is not a {HeartbeatResponse}")

    def execute(self, serial: Serial):
        self.send_command(
            payload=bytes(),
            serial=serial,
        )


class LEDResponse(Response):
    was_successful = True

    # def __init__(self) -> None:
    #     super().__init__()

    def unpack_payload(
        self,
        data: bytes,
    ):
        self.was_successful = bool(data[0])
        if self.was_successful:
            self._logger.debug("LED command was successful")
        else:
            self._logger.debug("LED command was not successful")


class LEDRequest(Request):
    def __init__(
        self,
        id: Union[int, str],
        command: Union[int, str],
    ) -> None:
        """
        led_id
        -------
        0: green
        1: red
        2: blue

        led_command
        --------
        0: off
        1: on
        2: toggle
        """
        super().__init__()
        try:
            self.led_id = int(id)
        except ValueError:
            self.led_id = {
                "green": 0,
                "red": 1,
                "blue": 2,
            }[str(id)]

        try:
            self.led_command = int(command)
        except ValueError:
            self.led_command = {
                "off": 0,
                "on": 1,
                "toggle": 2,
            }[str(command)]

    @property
    def identifier(self) -> CommandId:
        return CommandId.command_led_request

    @property
    def timeout(self) -> float:
        return 0.1

    def process_response(self, response: Response):
        if not isinstance(response, LEDResponse):
            raise TypeError(f"{response} is not a {LEDResponse}")

    def execute(self, serial: Serial):
        payload = pack(
            ">BB",
            self.led_id,
            self.led_command,
        )
        self.send_command(
            payload=payload,
            serial=serial,
        )


class GPResponse(Response):
    was_successful = True

    def unpack_payload(
        self,
        data: bytes,
    ):
        self.was_successful = bool(data[0])
        if self.was_successful:
            self._logger.debug("GP command was successful")
        else:
            self._logger.debug("GP command was not successful")


class GPRequest(Request):
    def __init__(
        self,
        command_id: Union[int, str],
    ) -> None:
        super().__init__()
        self.command_id = int(command_id)

    @property
    def identifier(self) -> CommandId:
        return CommandId.command_gp_request

    @property
    def timeout(self) -> float:
        return 0.1

    def process_response(self, response: Response):
        if not isinstance(response, GPResponse):
            raise TypeError(f"{response} is not a {GPResponse}")

    def execute(self, serial: Serial):
        payload = pack(
            ">B",
            self.command_id,
        )
        self.send_command(
            payload=payload,
            serial=serial,
        )