1"""
  2Controls the USB GPIO
  3
  4# (c) 2020-2024 TurnAround Factor, Inc.
  5#
  6# CUI DISTRIBUTION CONTROL
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 11# Distribution authorized to U.S. Government Agencies only, to protect information not owned by the
 12# U.S. Government and protected by a contractor’s ‘limited rights’ statement, or received with the understanding that
 13# it is not routinely transmitted outside the U.S. Government (determination made September 14, 2024). Other requests
 14# for this document shall be referred to ACOR DLA Logistics Operations (J-68), 8725 John J. Kingman Rd., Suite 4317,
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 19# Contractor Name: TurnAround Factor, Inc.
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 23# software marked with this legend are restricted during the period shown as provided in paragraph (b)(4) of the Rights
 24# in Noncommercial Technical Data and Computer Software--Small Business Innovative Research (SBIR) Program clause
 25# contained in the above identified contract. No restrictions apply after the expiration date shown above. Any
 26# reproduction of technical data, computer software, or portions thereof marked with this legend must also reproduce
 27# the markings.
 28"""
 29
 30import atexit
 31from dataclasses import dataclass
 32from enum import IntEnum
 33
 34import serial
 35from serial import SerialException
 36
 37from hitl_tester.modules.logger import logger
 38
 39
 40class NoDataException(Exception):
 41    """Exception raised when no data is received"""
 42
 43    def __init__(self):
 44        super().__init__("No data received")
 45
 46
 47class Baud(IntEnum):
 48    """The 6T baud rate in kb/s."""
 49
 50    RATE_1000 = 0
 51    RATE_500 = 1
 52    RATE_250 = 2
 53    RATE_250_LIMITED = 3
 54
 55
 56@dataclass
 57class Pinout6T:
 58    """Represents teh 6T pinout."""
 59
 60    dormant_1: bool = True
 61    dormant_2: bool = True
 62    reset: bool = True
 63    baud_rate: Baud = Baud.RATE_250_LIMITED
 64    position_id: int = 0xF  # ID 254 (NULL address)
 65
 66    def __int__(self) -> int:
 67        return (
 68            (self.position_id & 0xF) << 5
 69            | (self.baud_rate & 0x3) << 3
 70            | self.reset << 2
 71            | self.dormant_2 << 1
 72            | self.dormant_1
 73        )
 74
 75
 76class GPIOController:
 77    """GPIO controller"""
 78
 79    battery_1 = Pinout6T()
 80    battery_2 = Pinout6T()
 81    battery_3 = Pinout6T()
 82
 83    @staticmethod
 84    def get_index(num: int) -> str:
 85        """Gets correct index"""
 86        if num < 10:
 87            return str(num)
 88        return chr(55 + num)
 89
 90    @staticmethod
 91    def on(num: int):
 92        """Turn GPIO on"""
 93        GPIOController.call(f"gpio set {GPIOController.get_index(num)}")
 94
 95    @staticmethod
 96    def off(num: int):
 97        """Turn GPIO off"""
 98        GPIOController.call(f"gpio clear {GPIOController.get_index(num)}")
 99
100    @staticmethod
101    def status() -> str:
102        """Shows GPIO status"""
103        return GPIOController.call("gpio readall")
104
105    @staticmethod
106    def call(cmd: str) -> str:
107        """Talk to GPIO"""
108        response = None
109        try:
110            # 9600,8,N,1
111            with serial.Serial("/dev/taf-gpio", timeout=1) as ser:
112                ser.write(bytes(cmd + "\r", "utf-8"))
113                response = ser.read(25)
114                if not response:
115                    raise NoDataException
116                response = response[len(cmd) : -1]
117                if not response:
118                    raise NoDataException
119                response = response.decode().strip("\n\r")
120        except (TimeoutError, NoDataException) as ex:
121            logger.write_debug_to_report(ex)
122        except (FileNotFoundError, SerialException):
123            pass
124        return response or ""
125
126    @classmethod
127    def reset(cls):
128        """Reset GPIO to floating."""
129        cls.call("gpio writeall 00000000")
130        cls.call("gpio iodir ffffffff")
131
132    @classmethod
133    def set_battery_state(cls):
134        """Set the battery pins according to the pinouts for battery 1, 2, 3."""
135        cls.call("gpio writeall 00000000")
136        cls.call(f"gpio iodir {int(cls.battery_3) << 18 | int(cls.battery_2) << 9 | int(cls.battery_1):08x}")
137
138
139@atexit.register
140def __atexit__():
141    """Float all pins when shutting down."""
142    logger.write_debug_to_report("Shutting down GPIO.")
143    GPIOController.battery_1 = Pinout6T()
144    GPIOController.battery_2 = Pinout6T()
145    GPIOController.battery_3 = Pinout6T()
146    GPIOController.set_battery_state()
147
148
149if __name__ == "__main__":
150    logger.write_debug_to_report("Power cycling...")
151    GPIOController.reset()
152    logger.write_debug_to_report(f"Status: {GPIOController.status()}")