Merge pull request #12 from UCSD-E4E/release/v0.2.0

Release/v0.2.0

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "radio-telemetry-tracker-drone-comms-package"
-version = "0.1.2"
+version = "0.2.0"
 description = ""
 authors = ["Tyler Flar <[email protected]>"]
 license = "Other"

radio_telemetry_tracker_drone_comms_package/__init__.py

@@ -3,7 +3,7 @@
 Package initialization for the Radio Telemetry Tracker Drone Comms Package.
 """
 
-__version__ = "0.1.2"
+__version__ = "0.2.0"
 
 from radio_telemetry_tracker_drone_comms_package.data_models import (
     ConfigRequestData,

radio_telemetry_tracker_drone_comms_package/data_models.py

@@ -9,6 +9,8 @@
 class SyncRequestData:
     """Data container for synchronization request packets."""
 
+    ack_timeout: float
+    max_retries: int
     packet_id: int | None = None
     timestamp: int | None = None
 

radio_telemetry_tracker_drone_comms_package/drone_comms.py

@@ -553,16 +553,21 @@ def unregister_error_handler(self, callback: Callable[[ErrorData], None]) -> boo
     # Public send methods
     # --------------------------------------------------------------------------
 
-    def send_sync_request(self, _: SyncRequestData) -> tuple[int, bool, int]:
+    def send_sync_request(self, data: SyncRequestData) -> tuple[int, bool, int]:
         """Send a sync request packet.
 
+        Args:
+            data: Sync request data to send
+
         Returns:
             tuple: (packet_id, need_ack, timestamp)
         """
         packet = RadioPacket()
         packet.syn_rqt.base.packet_id = self.generate_packet_id()
         packet.syn_rqt.base.need_ack = True
         packet.syn_rqt.base.timestamp = _current_timestamp_us()
+        packet.syn_rqt.ack_timeout = data.ack_timeout
+        packet.syn_rqt.max_retries = data.max_retries
         self.enqueue_packet(packet)
         return (
             packet.syn_rqt.base.packet_id,
@@ -581,7 +586,7 @@ def send_sync_response(self, data: SyncResponseData) -> tuple[int, bool, int]:
         """
         packet = RadioPacket()
         packet.syn_rsp.base.packet_id = self.generate_packet_id()
-        packet.syn_rsp.base.need_ack = False
+        packet.syn_rsp.base.need_ack = True
         packet.syn_rsp.base.timestamp = _current_timestamp_us()
         packet.syn_rsp.success = data.success
         self.enqueue_packet(packet)
@@ -632,7 +637,7 @@ def send_config_response(self, data: ConfigResponseData) -> tuple[int, bool, int
         """
         packet = RadioPacket()
         packet.cfg_rsp.base.packet_id = self.generate_packet_id()
-        packet.cfg_rsp.base.need_ack = False
+        packet.cfg_rsp.base.need_ack = True
         packet.cfg_rsp.base.timestamp = _current_timestamp_us()
         packet.cfg_rsp.success = data.success
         self.enqueue_packet(packet)
@@ -745,7 +750,7 @@ def send_start_response(self, data: StartResponseData) -> tuple[int, bool, int]:
         """
         packet = RadioPacket()
         packet.str_rsp.base.packet_id = self.generate_packet_id()
-        packet.str_rsp.base.need_ack = False
+        packet.str_rsp.base.need_ack = True
         packet.str_rsp.base.timestamp = _current_timestamp_us()
         packet.str_rsp.success = data.success
         self.enqueue_packet(packet)
@@ -783,7 +788,7 @@ def send_stop_response(self, data: StopResponseData) -> tuple[int, bool, int]:
         """
         packet = RadioPacket()
         packet.stp_rsp.base.packet_id = self.generate_packet_id()
-        packet.stp_rsp.base.need_ack = False
+        packet.stp_rsp.base.need_ack = True
         packet.stp_rsp.base.timestamp = _current_timestamp_us()
         packet.stp_rsp.success = data.success
         self.enqueue_packet(packet)
@@ -801,7 +806,7 @@ def send_error(self, _: ErrorData) -> tuple[int, bool, int]:
         """
         packet = RadioPacket()
         packet.err_pkt.base.packet_id = self.generate_packet_id()
-        packet.err_pkt.base.need_ack = False
+        packet.err_pkt.base.need_ack = True
         packet.err_pkt.base.timestamp = _current_timestamp_us()
         self.enqueue_packet(packet)
         return (
@@ -818,6 +823,8 @@ def _extract_sync_request(self, packet: SyncRequestPacket) -> SyncRequestData:
         return SyncRequestData(
             packet_id=packet.base.packet_id,
             timestamp=packet.base.timestamp,
+            ack_timeout=packet.ack_timeout,
+            max_retries=packet.max_retries,
         )
 
     def _extract_sync_response(self, packet: SyncResponsePacket) -> SyncResponseData:
@@ -923,6 +930,9 @@ def _extract_error(self, packet: ErrorPacket) -> ErrorData:
     # --------------------------------------------------------------------------
 
     def _handle_sync_request(self, data: SyncRequestData) -> None:
+        # Update ack_timeout and max_retries with values from sync request
+        self.ack_timeout = data.ack_timeout
+        self.max_retries = data.max_retries
         self._invoke_handlers(self._sync_request_handlers, data)
 
     def _handle_sync_response(self, data: SyncResponseData) -> None:

radio_telemetry_tracker_drone_comms_package/proto/packets.proto

@@ -17,6 +17,8 @@ message AckPacket {
 
 message SyncRequestPacket {
   BasePacket base = 1;
+  float ack_timeout = 2;
+  int32 max_retries = 3;
 }
 
 message SyncResponsePacket {

tests/test_data_models.py

@@ -25,13 +25,22 @@
 TEST_TARGET_FREQUENCIES = [100, 200, 300]
 TEST_SYNC_PACKET_ID = 123
 TEST_SYNC_TIMESTAMP = 456789
+TEST_SYNC_ACK_TIMEOUT = 2.0
+TEST_SYNC_MAX_RETRIES = 5
 
 
 def test_sync_request_data() -> None:
-    """Test SyncRequestData initialization and attribute access."""
-    data = SyncRequestData(packet_id=TEST_SYNC_PACKET_ID, timestamp=TEST_SYNC_TIMESTAMP)
+    """Test SyncRequestData model."""
+    data = SyncRequestData(
+        packet_id=TEST_SYNC_PACKET_ID,
+        timestamp=TEST_SYNC_TIMESTAMP,
+        ack_timeout=TEST_SYNC_ACK_TIMEOUT,
+        max_retries=TEST_SYNC_MAX_RETRIES,
+    )
     assert data.packet_id == TEST_SYNC_PACKET_ID  # noqa: S101
     assert data.timestamp == TEST_SYNC_TIMESTAMP  # noqa: S101
+    assert data.ack_timeout == TEST_SYNC_ACK_TIMEOUT  # noqa: S101
+    assert data.max_retries == TEST_SYNC_MAX_RETRIES  # noqa: S101
 
 
 def test_config_request_data() -> None:

tests/test_drone_comms.py

@@ -15,6 +15,7 @@
     RadioConfig,
 )
 from radio_telemetry_tracker_drone_comms_package.proto.packets_pb2 import RadioPacket
+from tests.test_data_models import TEST_SYNC_ACK_TIMEOUT, TEST_SYNC_MAX_RETRIES
 
 
 class MockInterface(Protocol):
@@ -88,11 +89,13 @@ def test_drone_comms_init_invalid_interface() -> None:
 
 
 def test_drone_comms_send_sync_request(drone_comms: DroneComms) -> None:
-    """Test sending sync request returns valid packet ID and timestamp."""
-    pid, need_ack, timestamp = drone_comms.send_sync_request(SyncRequestData())
+    """Test sending sync request packet."""
+    pid, need_ack, timestamp = drone_comms.send_sync_request(
+        SyncRequestData(ack_timeout=TEST_SYNC_ACK_TIMEOUT, max_retries=TEST_SYNC_MAX_RETRIES),
+    )
+    assert pid > 0  # noqa: S101
     assert need_ack is True  # noqa: S101
-    assert pid != 0  # noqa: S101
-    assert timestamp != 0  # noqa: S101
+    assert timestamp > 0  # noqa: S101
 
 
 def test_drone_comms_send_config_request(drone_comms: DroneComms) -> None:

tools/gcs_fds_cli.py

@@ -34,6 +34,14 @@ class GCSFDSCLI(cmd.Cmd):
     intro = "Welcome to the GCS/FDS CLI. Type help or ? to list commands.\n"
     prompt = "(gcs-fds) "
 
+    # Default values for sync request
+    DEFAULT_ACK_TIMEOUT = 2.0
+    DEFAULT_MAX_RETRIES = 5
+
+    # Argument indices for sync request
+    ACK_TIMEOUT_ARG_IDX = 1
+    MAX_RETRIES_ARG_IDX = 2
+
     def __init__(self, radio_config: RadioConfig) -> None:
         """Initialize the CLI with radio configuration.
 
@@ -98,7 +106,17 @@ def do_start(self, arg: str) -> None:  # noqa: ARG002
             logger.info("Already started.")
             return
 
-        self.drone_comms = DroneComms(radio_config=self.radio_config)
+        def on_ack_timeout(packet_id: int) -> None:
+            logger.warning("Packet %d acknowledgment timed out", packet_id)
+
+        def on_ack_success(packet_id: int) -> None:
+            logger.info("Packet %d successfully acknowledged", packet_id)
+
+        self.drone_comms = DroneComms(
+            radio_config=self.radio_config,
+            on_ack_callback=on_ack_timeout,
+            on_ack_success=on_ack_success,
+        )
         self.drone_comms.start()
         self.started = True
         logger.info("Started drone communications.")
@@ -158,10 +176,7 @@ def do_unregister(self, arg: str) -> None:
             logger.info("Unknown packet type: %s", pkt_type)
             return
 
-        if (
-            pkt_type not in self.registered_callbacks
-            or not self.registered_callbacks[pkt_type]
-        ):
+        if pkt_type not in self.registered_callbacks or not self.registered_callbacks[pkt_type]:
             logger.info("No callbacks registered for '%s'.", pkt_type)
             return
 
@@ -180,13 +195,31 @@ def do_unregister(self, arg: str) -> None:
         else:
             logger.info("Failed to unregister callbacks (unexpected error).")
 
-    def do_send_sync_request(self, arg: str) -> None:  # noqa: ARG002
+    def do_send_sync_request(self, arg: str) -> None:
         """Send a sync request packet.
 
         Args:
-            arg: Command argument (unused)
+            arg: Command argument in format: [ack_timeout] [max_retries]
         """
-        pid, ack, ts = self.drone_comms.send_sync_request(SyncRequestData())
+        # Default values
+        data = SyncRequestData(
+            ack_timeout=self.DEFAULT_ACK_TIMEOUT,
+            max_retries=self.DEFAULT_MAX_RETRIES,
+        )
+
+        # Parse arguments if provided
+        parts = arg.split()
+        if parts:
+            try:
+                if len(parts) >= self.ACK_TIMEOUT_ARG_IDX:
+                    data.ack_timeout = float(parts[0])
+                if len(parts) >= self.MAX_RETRIES_ARG_IDX:
+                    data.max_retries = int(parts[1])
+            except ValueError:
+                logger.exception("Invalid argument format")
+                return
+
+        pid, ack, ts = self.drone_comms.send_sync_request(data)
         logger.info(
             "Sent SyncRequest (packet_id=%s, need_ack=%s, timestamp=%s)",
             pid,