Hotfix release 1.2.6 (#61)

* Fix switch of operation modes values (closes #48)

The Operation mode registry (0x22) contains 0 when the jumper sets the device as a Tag and contains 1 when the jumper sets the device as an anchor. Therefore, the constants are switched in the library to match the behavior of the device.

* Hotfix/filter data (#60)

* Fix data storing

FilterData always returns 0 when reading data from reg due to improper self.data initialization.

* Fix improper method name in call

* Fix bit operation priority

The + operator is called prior to the shift operator wich produce invalid result

* Added full discovery as tool, version bump, structured tools a bit

Author: laurentva

pypozyx/__init__.py

@@ -72,7 +72,7 @@
 
 """
 
-__version__ = '1.2.5'
+__version__ = '1.2.6'
 
 VERSION = __version__
 version = __version__

pypozyx/definitions/constants.py

@@ -55,8 +55,8 @@ class PozyxConstants:
     LED_OFF = False
 
     # Pozyx device modes
-    ANCHOR_MODE = 0
-    TAG_MODE = 1
+    TAG_MODE = 0
+    ANCHOR_MODE = 1
 
     # The GPIO modes
     GPIO_DIGITAL_INPUT = 0

pypozyx/lib.py

@@ -852,7 +852,7 @@ def getPositionFilterStrength(self, remote_id=None):
             POZYX_SUCCESS, POZYX_FAILURE, POZYX_TIMEOUT
         """
         filter_data = FilterData()
-        status = self.getPositionFilter(filter_data, remote_id=remote_id)
+        status = self.getPositionFilterData(filter_data, remote_id=remote_id)
 
         if status != POZYX_SUCCESS:
             warn("Wasn't able to get filter data, returning -1 as strength")

pypozyx/structures/device.py

@@ -308,15 +308,16 @@ def __init__(self, filter_type=0, filter_strength=0):
         self.filter_strength = filter_strength
         # TODO add type validation?
 
-        self.value = self.filter_type + self.filter_strength << 4
+        self.value = self.filter_type + (self.filter_strength << 4)
         self.load([self.value])
 
-    def load(self, data=None, convert=False):
-        self.data = [0] if data is None else data
+    def load(self, data=[0], convert=False):
+        self.data = data
+        self.value = data[0]
+        self.update_data()
 
         self.filter_type = self.data[0] & 0xF
         self.filter_strength = self.data[0] >> 4
-        self.value = self.filter_type + self.filter_strength << 4
 
     def update_data(self):
         try:

pypozyx/tools/discover_all_devices.py renamed to pypozyx/tools/device_list.py

@@ -1,19 +1,12 @@
-from pypozyx import PozyxConstants, UWBSettings, SingleRegister, DeviceList, DeviceCoordinates, Coordinates
-
-
-def all_discovery_uwb_settings():
-    for channel in PozyxConstants.ALL_UWB_CHANNELS:
-        for bitrate in PozyxConstants.ALL_UWB_BITRATES:
-            for prf in PozyxConstants.ALL_UWB_PRFS:
-                for plen in [PozyxConstants.UWB_PLEN_64, PozyxConstants.UWB_PLEN_1536]:
-                    yield UWBSettings(channel, bitrate, prf, plen, 33)
+from pypozyx import SingleRegister, DeviceList, DeviceCoordinates, Coordinates
 
 
 def all_device_coordinates_in_device_list(pozyx, remote_id=None):
     list_size = SingleRegister()
     status = pozyx.getDeviceListSize(list_size, remote_id=remote_id)
 
     if list_size.value == 0:
+        # TODO investigate if valid?
         return
 
     device_list = DeviceList(list_size=list_size.value)
@@ -24,3 +17,4 @@ def all_device_coordinates_in_device_list(pozyx, remote_id=None):
         pozyx.getDeviceCoordinates(device_id, coordinates, remote_id=remote_id)
         yield DeviceCoordinates(device_id, 0, pos=coordinates)
 
+

pypozyx/tools/discovery.py

@@ -0,0 +1,44 @@
+from pypozyx import PozyxConstants, UWBSettings, SingleRegister, DeviceList
+
+
+def all_discovery_uwb_settings():
+    for channel in PozyxConstants.ALL_UWB_CHANNELS:
+        for bitrate in PozyxConstants.ALL_UWB_BITRATES:
+            for prf in PozyxConstants.ALL_UWB_PRFS:
+                for plen in PozyxConstants.ALL_UWB_PLENS:
+                    yield UWBSettings(channel, bitrate, prf, plen, 33)
+
+
+def get_device_list(pozyx):
+    """"""
+    device_list_size = SingleRegister()
+    pozyx.getDeviceListSize(device_list_size)
+    device_list = DeviceList(list_size=device_list_size[0])
+    pozyx.getDeviceIds(device_list)
+    return device_list
+
+
+def discover_all_devices(pozyx):
+    original_uwb_settings = UWBSettings()
+    pozyx.getUWBSettings(original_uwb_settings)
+
+    for uwb_settings in all_discovery_uwb_settings():
+        pozyx.setUWBSettings(uwb_settings)
+
+        pozyx.clearDevices()
+        pozyx.doDiscoveryAll(slots=3, slot_duration=0.1)
+
+        device_list = get_device_list(pozyx)
+        if device_list:
+            print("Found on {}".format(uwb_settings))
+            for device_id in device_list:
+                print("\t- {}".format(device_id))
+
+    pozyx.setUWBSettings(original_uwb_settings)
+
+
+if __name__ == '__main__':
+    from pypozyx import PozyxSerial, get_first_pozyx_serial_port
+    pozyx = PozyxSerial(get_first_pozyx_serial_port())
+
+    discover_all_devices(pozyx)

pypozyx/tools/version_check.py

@@ -2,7 +2,6 @@
 import json
 import pypozyx
 import warnings
-import time
 
 
 class Version(object):

useful/system_analysis.py

@@ -10,7 +10,8 @@
 
 from pypozyx import PozyxSerial, get_first_pozyx_serial_port, PozyxConstants, POZYX_SUCCESS, UWBSettings, PozyxRegisters
 from pypozyx.structures.device_information import DeviceDetails
-from pypozyx.tools.discover_all_devices import all_discovery_uwb_settings, all_device_coordinates_in_device_list
+from pypozyx.tools.discovery import all_discovery_uwb_settings
+from pypozyx.tools.device_list import all_device_coordinates_in_device_list
 
 
 class Device(object):