RoboidControl/RoboidControl-python
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NameMsg support

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This commit is contained in:
Pascal Serrarens 2024-12-31 14:34:25 +01:00
parent 637a0935b0
commit 85f66fa50f
5 changed files with 75 additions and 45 deletions
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30
Messages.py
View File

@ -52,36 +52,6 @@ class ThingMsg(IMessage):
]
return ThingMsg.length
class NameMsg(IMessage):
id = 0x91
length = 4
def __init__(self, network_id, thing):
self.network_id = network_id
self.thing = thing
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing is None or self.thing.name is None:
return 0
buffer: bytearray = buffer_ref[0]
encoded_name = self.thing.name.encode('utf-8')
name_length = len(encoded_name)
full_length = NameMsg.length + name_length
if name_length == 0 or full_length > len(buffer):
return 0
buffer[0:NameMsg.length] = [
NameMsg.id,
self.network_id,
self.thing.id,
name_length
]
# Append the name string
buffer[NameMsg.length:full_length] = encoded_name
return full_length
class ModelUrlMsg(IMessage):
id = 0x90
length = 6

37
NameMsg.py Normal file
View File

@ -0,0 +1,37 @@
from Messages import IMessage
class NameMsg(IMessage):
id = 0x91
length = 4
def __init__(self, network_id, thing=None):
if isinstance(network_id, bytes):
self.network_id = network_id[1]
self.thing_id = network_id[2]
name_length = network_id[3]
self.name = network_id[NameMsg.length:].decode("utf-8")
else:
self.network_id = network_id
self.thing = thing
def Serialize(self, buffer_ref):
if self.network_id is None or self.thing is None or self.thing.name is None:
return 0
buffer: bytearray = buffer_ref[0]
encoded_name = self.thing.name.encode('utf-8')
name_length = len(encoded_name)
full_length = NameMsg.length + name_length
if name_length == 0 or full_length > len(buffer):
return 0
buffer[0:NameMsg.length] = [
NameMsg.id,
self.network_id,
self.thing.id,
name_length
]
# Append the name string
buffer[NameMsg.length:full_length] = encoded_name
return full_length

42
Participant.py
View File

@ -1,9 +1,9 @@
import socket
import Messages
import threading
from ClientMsg import ClientMsg
from NetworkIdMsg import NetworkIdMsg
from NameMsg import NameMsg
from Thing import Thing
## A participant is device which can communicate with other participants
@ -14,7 +14,7 @@ class Participant:
def __init__(self, ipAddress = "0.0.0.0", port=7681, remote=False):
self.buffer = bytearray(256)
self.ipAddress = ipAddress
self.ip_address = ipAddress
self.port = port
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
@ -25,6 +25,7 @@ class Participant:
self.network_id = 0
self.nextPublishMe = 0
self.others = []
self.AddParticipant(self.ip_address, self.port)
self.thread = threading.Thread(target = self.Receiver)
self.thread.daemon = True
@ -32,14 +33,14 @@ class Participant:
def GetParticipant(self, ip_address, port):
found_participants = (item for item in self.others
if item.ipAddress == ip_address and item.port == port)
if item.ip_address == ip_address and item.port == port)
participant = next(found_participants, None)
return participant
def AddParticipant(self, ip_address, port):
remote_participant = Participant(ip_address, port, remote=True)
self.others.append(remote_participant)
remote_participant.network_id = len(self.others)
self.others.append(remote_participant)
return remote_participant
def Send(self, msg):
@ -47,7 +48,8 @@ class Participant:
if buffer_size <= 0:
return True
self.udp_socket.sendto(self.buffer[:buffer_size], (self.ipAddress, self.port))
# print(f'send {self.buffer[0]} to {self.ip_address} {self.port}')
self.udp_socket.sendto(self.buffer[:buffer_size], (self.ip_address, self.port))
return True
def Publish(self, msg):
@ -73,32 +75,42 @@ class Participant:
else:
print(f'############################ New Client')
pass
def ProcessNetworkIdMsg(self, msg: NetworkIdMsg):
self.network_id = msg.network_id
print(f'receive network id {msg.network_id}')
pass
for thing in Thing.allThings:
self.Send(NameMsg(self.network_id, thing))
def ProcessInvestigateMsg(self, data: bytearray):
pass
def ProcessNameMsg(self, msg: NameMsg):
print(f'received name {msg.name}')
def Receiver(self):
while True:
data, addr = self.udp_socket.recvfrom(1024)
remote_participant = self.GetParticipant(addr[0], addr[1])
remote_ip_address = addr[0]
remote_port = addr[1]
# print(f'msg received from {remote_ip_address}:{remote_port}')
remote_participant = self.GetParticipant(remote_ip_address, remote_port)
if remote_participant is None:
remote_participant = self.AddParticipant(addr[0], addr[1])
remote_participant = self.AddParticipant(remote_ip_address, self.port)
remote_participant.ReceiveData(data)
def ReceiveData(self, data):
msgId = data[0]
# print(f'msg {msgId} ')
match msgId:
case ClientMsg.id:
self.ProcessClientMsg(ClientMsg(data))
case NetworkIdMsg.id:
self.ProcessNetworkIdMsg(NetworkIdMsg(data))
case Messages.InvestigateMsg.id:
msg = Messages.InvestigateMsg(data)
self.ProcessInvestigateMsg(msg)
case Messages.BinaryMsg.id:
msg = Messages.BinaryMsg(data)
msg.thing.ProcessBinary(msg.data)
case NameMsg.id:
self.ProcessNameMsg(NameMsg(data))
# case Messages.InvestigateMsg.id:
# msg = Messages.InvestigateMsg(data)
# self.ProcessInvestigateMsg(msg)
# case Messages.BinaryMsg.id:
# msg = Messages.BinaryMsg(data)
# msg.thing.ProcessBinary(msg.data)

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test/__pycache__/thing_test.cpython-312.pyc
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11
test/thing_test.py
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@ -18,6 +18,17 @@ class ThingTest(unittest.TestCase):
milliseconds = time.time() * 1000
participant.Update(milliseconds)
def test_thing_msg(self):
participant = Participant("127.0.0.1")
thing = Thing()
thing.name = "First thing"
milliseconds = time.time() * 1000
start_time = milliseconds
while milliseconds < start_time + 5000:
milliseconds = time.time() * 1000
participant.Update(milliseconds)
def test_something(self):
self.assertEqual(1 + 1, 2)