| commit | ab9b0eac2552f6b90f44fb2befe4b030a9684e2f | [log] [tgz] |
|---|---|---|
| author | Bailey Kuo <111781111+AlpineOolong@users.noreply.github.com> | Fri Apr 14 10:24:05 2023 -0700 |
| committer | Charlie Boutier <charliebout@google.com> | Wed Apr 26 22:45:37 2023 +0000 |
| tree | 166c6a55f1f2974749ca25094ff2a587f945652b | |
| parent | 7e934de8a16f51eecc31b3524318885a01cc246a [diff] |
Update crate dependencies to integrate with Android emulator (#24) * Update crate dependencies to integrate with Android emulator - Android emulator is built by CMake in AOSP emu-master-dev repo. - Update Cargo.toml to use Rust crates that are available in AOSP. - Add tokio/rt-multi-thread dependency for web feature to fix build error
Pica is a virtual UWB Controller implementing the FiRa UCI specification. It has been designed for testing UWB ranging capabilities. Pica supports the following features:
$> git clone https://github.com/google/pica.git $> cd pica/ $> cargo run
You should receive the following output:
Pica: Listening on: 7000 Pica: Web server started on http://0.0.0.0:3000
You can now open the web interface at http://0.0.0.0:3000 and the HTTP commands documentation at http://0.0.0.0:3000/openapi. The scene should be empty and look like this:
A command line tool is available to trigger some action such as creating an anchor. Run pica in a terminal then open a new one and do:
$> cd pica/ $> python3 scripts/console.py
If you hit Enter, the console will list you all the available commands:
device_reset Reset the UWBS. get_device_info Retrieve the device information like (UCI version and other vendor specific info). get_caps_info Get the capability of the UWBS. session_init Initialize the session session_deinit Deinitialize the session session_set_app_config set APP Configuration Parameters for the requested UWB session. session_get_app_config retrieve the current APP Configuration Parameters of the requested UWB session. session_get_count Retrieve number of UWB sessions in the UWBS. session_get_state Query the current state of the UWB session. range_start start a UWB session. range_stop Stop a UWB session. get_ranging_count Get the number of times ranging has been attempted during the ranging session.. pica_create_anchor Create a Pica anchor pica_destroy_anchor Destroy a Pica anchor pica_get_state Return the internal Pica state pica_init_uci_device Initialize an uci device pica_set_position Set the position of a Device
If you wish to create a virtual anchor:
$> cd pica/ && python3 scripts/console.py # If the console is not started yet $> --> pica_create_anchor 00:00 # pica_create_anchor <mac_address> $> --> pica_create_anchor 00:01 # Create another one
┌────────────────────┐
│ Web │
│ │
└─────┬─────────▲────┘
│ │ HTTP localhost:3000
┌────────────────────▼─────────┴───────┐
│ │
│ Pica │
│ │
│ ┌────────┐ ┌────────┐ ┌────────┐ │
│ │Anchor1 │ │Device1 │ │Device2 │ │
│ ├────────┤ │ │ │ │ │
│ │Anchor2 │ ├────────┤ ├────────┤ │
│ ├────────┤ │Session1│ │Session1│ │
│ │... │ ├────────┤ ├────────┤ │
│ │ │ │Session2│ │Session2│ │
│ └────────┘ └──▲──┬──┘ └──▲──┬──┘ │
│ │ │ │ │ │
└─────────────────┼──┼────────┼──┼─────┘
│ │ │ │ TCP localhost:7000
┌──┴──▼──┐ ┌──┴──▼──┐
│Client1 │ │Client2 │
│ │ │ │
├────────┤ ├────────┤
│VirtIO │ │ │
├────────┤ │ │
│UWB HAL │ │ │
├────────┤ │Python │
│Cuttle │ │console │
│fish │ │ │
└────────┘ └────────┘
Pica also implements HTTP commands, the documentation is available at http://0.0.0.0:3000/openapi. The set of HTTP commands let the user interact with Pica amd modify its scene.
If you haven't use bluetooth_packetgen before, it is a tool from Android. You can build it and use it and build it that way:
# Build bluetooth_packetgen cd $AOSP_DIR source build/envsetup.sh lunch <target> # Use target 1 if in doubt m bluetooth_packetgen export PATH=$PATH:${AOSP_DIR}/out/host/linux-x86/bin/ # Generate the source cd $PICA_DIR bluetooth_packetgen \ --rust \ --include=src/ \ --out=src/ \ src/uci_packets.pdl
Then edit the uci_packet.rs to add clippy guards
#![allow(clippy::all)] #![allow(non_upper_case_globals)] #![allow(non_camel_case_types)] #![allow(non_snake_case)] #![allow(unused)] #![allow(missing_docs)]