RoboidControl/RoboidControl-python
RoboidControl/RoboidControl-python
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Fixed tests

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This commit is contained in:
Pascal Serrarens 2025-05-01 11:30:24 +02:00
parent 794b1ca80e
commit b0a6c1f528
6 changed files with 49 additions and 64 deletions
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10
RoboidControl/Messages/NameMsg.py
View File

@ -49,10 +49,8 @@ class NameMsg(IMessage):
buffer: bytearray = buffer_ref[0]
encoded_name = self.name.encode('utf-8')
name_length = len(encoded_name)
full_length = NameMsg.length + name_length
if name_length == 0 or full_length > len(buffer):
full_length = NameMsg.length + self.name_length
if self.name_length == 0 or full_length > len(buffer):
return 0
logger.debug(f'Send NameMsg [{self.network_id}/{self.thing_id}] {self.name_length}')
@ -61,8 +59,8 @@ class NameMsg(IMessage):
NameMsg.id,
self.network_id,
self.thing_id,
name_length
self.name_length
]
# Append the name string
buffer[NameMsg.length:full_length] = encoded_name
buffer[NameMsg.length:full_length] = self.name
return full_length

2
RoboidControl/Participant.py
View File

@ -68,7 +68,7 @@ class Participant:
participants: set['Participant'] = set()
@staticmethod
def GetParticipant(arg1: Union[str, int], port: Optional[int]) -> Optional['Participant']:
def GetParticipant(arg1: Union[str, int], port: Optional[int] = None) -> Optional['Participant']:
if port is not None:
ip_address = str(arg1)
for participant in Participant.participants:

74
RoboidControl/Participants/ParticipantUDP.py
View File

@ -1,14 +1,15 @@
from RoboidControl.Participant import Participant
from RoboidControl.Thing import Thing
# from RoboidControl.Messages.NetworkIdMsg import NetworkIdMsg
# from RoboidControl.Messages.ThingMsg import ThingMsg
# from RoboidControl.Messages.NameMsg import NameMsg
# from RoboidControl.Messages.ModelUrlMsg import ModelUrlMsg
# from RoboidControl.Messages.Messages import IMessage
# from RoboidControl.Messages.InvestigateMsg import InvestigateMsg
# from RoboidControl.Messages.PoseMsg import PoseMsg
from RoboidControl.Messages import *
from RoboidControl.Messages.BinaryMsg import BinaryMsg
from RoboidControl.Messages.ParticipantMsg import ParticipantMsg
from RoboidControl.Messages.NetworkIdMsg import NetworkIdMsg
from RoboidControl.Messages.ThingMsg import ThingMsg
from RoboidControl.Messages.NameMsg import NameMsg
from RoboidControl.Messages.ModelUrlMsg import ModelUrlMsg
from RoboidControl.Messages.IMessage import IMessage
from RoboidControl.Messages.InvestigateMsg import InvestigateMsg
from RoboidControl.Messages.PoseMsg import PoseMsg
import socket
import threading
@ -67,7 +68,8 @@ class ParticipantUDP(Participant):
self.is_isolated = False
if ip_address is not None:
self.remote_site = Participant(ip_address, port)
self.others.append(self.remote_site)
Participant.AddParticipant(self)
self.buffer: bytearray = bytearray(256)
@ -89,22 +91,6 @@ class ParticipantUDP(Participant):
isolated_participant = None
# def GetParticipant(self, ip_address: str, port: int):
# # print(f'{self.name} Get participant {ip_address} {port}')
# # for item in self.others:
# # print(f'- {item.ip_address} {item.port}')
# found_participants = (item for item in self.others
# if item.ip_address == ip_address and item.port == port)
# participant = next(found_participants, None)
# return participant
# def AddParticipant(self, ip_address: str, port: int):
# print(f'{self.name} Add participant {ip_address} {port}')
# remote_participant = Participant(ip_address = ip_address, port = port)
# self.others.append(remote_participant)
# return remote_participant
#region Update
def Update(self, currentTimeMs: Optional[int] = None):
@ -143,12 +129,10 @@ class ParticipantUDP(Participant):
else:
if self.remote_site is not None and thing.owner is not None:
# Send to remote site
poseMsg = PoseMsg(thing.owner.network_id, thing)
self.Send(self.remote_site, poseMsg)
binaryMsg = BinaryMsg(thing.owner.network_id, thing)
self.Send(self.remote_site, binaryMsg)
# if thing.terminate:
# self.Remove(thing)
self.Send(self.remote_site, PoseMsg(thing.owner.network_id, thing))
self.Send(self.remote_site, BinaryMsg(thing.owner.network_id, thing))
if thing.terminate:
self.Remove(thing)
#endregion
@ -221,18 +205,18 @@ class ParticipantUDP(Participant):
# case InvestigateMsg.id:
# self.ProcessInvestigateMsg(InvestigateMsg(data))
case ThingMsg.id:
self.ProcessThingMsg(ThingMsg(data))
self.ProcessThingMsg(sender, ThingMsg(data))
case NameMsg.id:
self.ProcessNameMsg(NameMsg.NameMsg.Deserialize(data))
self.ProcessNameMsg(sender, NameMsg(data))
case ModelUrlMsg.id:
self.ProcessModelUrlMsg(ModelUrlMsg(data))
self.ProcessModelUrlMsg(sender, ModelUrlMsg(data))
case BinaryMsg.id:
self.ProcessBinaryMsg(BinaryMsg(data))
self.ProcessBinaryMsg(sender, BinaryMsg(data))
case _:
pass
def ProcessParticipantMsg(self, sender: Participant, msg: ParticipantMsg):
logger.debug(f'{self.name} Process participantMsg {msg.networkId}')
logger.debug(f'{self.name} Process participantMsg {msg.network_id}')
def ProcessSiteIdMsg(self, sender: Participant, msg: NetworkIdMsg):
logger.debug(f'{self.name} Process NetworkIdMsg {self.network_id} -> {msg.network_id}')
@ -243,13 +227,13 @@ class ParticipantUDP(Participant):
self.SendThingInfo(sender, thing, recursively=True)
def ProcessInvestigateMsg(self, sender: Participant, msg: InvestigateMsg):
logger.debug(f'{self.name} Process InestigateMsg [{msg.networkId}/{msg.thingId}]')
logger.debug(f'{self.name} Process InestigateMsg [{msg.network_id}/{msg.thing_id}]')
def ProcessThingMsg(self, msg: ThingMsg):
logger.debug(f'{self.name}: Process ThingMsg [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId}')
def ProcessThingMsg(self, sender: Participant, msg: ThingMsg):
logger.debug(f'{self.name}: Process ThingMsg [{msg.network_id}/{msg.thing_id}] {msg.thing_type} {msg.parent_id}')
def ProcessNameMsg(self, msg: NameMsg):
logger.debug(f'{self.name}: Process NameMsg [{msg.networkId}/{msg.thingId}] {msg.nameLength} {msg.name}')
def ProcessNameMsg(self, sender: Participant, msg: NameMsg):
logger.debug(f'{self.name}: Process NameMsg [{msg.network_id}/{msg.thing_id}] {msg.name_length} {msg.name}')
owner: Optional[Participant] = Participant.GetParticipant(msg.network_id)
if owner is None:
@ -261,11 +245,11 @@ class ParticipantUDP(Participant):
thing.name = msg.name
def ProcessModelUrlMsg(self, msg: ModelUrlMsg):
logger.debug(f'{self.name}: Process ModelUrlMsg [{msg.networkId}/{msg.thingId}] {msg.urlLength} {msg.url}')
def ProcessModelUrlMsg(self, sender: Participant, msg: ModelUrlMsg):
logger.debug(f'{self.name}: Process ModelUrlMsg [{msg.network_id}/{msg.thing_id}] {msg.url_length} {msg.url}')
def ProcessPoseMsg(self, sender: Participant, msg: PoseMsg):
logger.debug(f'{self.name}: Process PoseMsg [{msg.networkId}/{msg.thingId}] {msg.poseType}')
logger.debug(f'{self.name}: Process PoseMsg [{msg.network_id}/{msg.thing_id}] {msg.pose_type}')
owner: Optional[Participant] = Participant.GetParticipant(msg.network_id)
if owner is None:
@ -284,8 +268,8 @@ class ParticipantUDP(Participant):
if (msg.pose_type & PoseMsg.AngularVelocity) != 0:
thing.angular_velocity = msg.angular_velocity
def ProcessBinaryMsg(self, msg: BinaryMsg):
logger.debug(f'{self.name}: Process BinaryMsg [{msg.networkId}/{msg.thingId}] {msg.dataLength}')
def ProcessBinaryMsg(self, sender: Participant, msg: BinaryMsg):
logger.debug(f'{self.name}: Process BinaryMsg [{msg.network_id}/{msg.thing_id}] {msg.data_length}')
thing: Optional[Thing] = self.Get(msg.thing_id)
if thing is not None:

21
RoboidControl/Participants/SiteServer.py
View File

@ -19,7 +19,7 @@ class SiteServer(ParticipantUDP):
"""! Create a new site server
@param port The port of which to receive the messages
"""
super().__init__(ip_address = "127.0.0.1", port = port)
super().__init__(local_port = port)
self.isolated = False # site servers are never isolated
self.publishInterval = 0
@ -31,9 +31,9 @@ class SiteServer(ParticipantUDP):
#region Receive
def ProcessParticipantMsg(self, sender, msg):
ParticipantUDP.ProcessParticipantMsg(sender, msg)
ParticipantUDP.ProcessParticipantMsg(self, sender, msg)
if msg.network_id != sender.network_id:
self.Send(sender, sender.network_id)
self.Send(sender, NetworkIdMsg(sender.network_id))
def ProcessNetworkIdMsg(self, sender, msg):
pass
@ -41,13 +41,14 @@ class SiteServer(ParticipantUDP):
def ProcessThingMsg(self, sender, msg: ThingMsg):
thing: Optional[Thing] = sender.Get(msg.thing_id)
if thing is None:
Thing(sender, msg.thing_type, msg.thing_id)
if msg.parent_id != 0:
parent = sender.Get(msg.parent_id)
if parent is not None:
print(f'Could not find parent [{msg.network_id}/{msg.parent_id}]')
else:
parent = None
Thing(owner=sender, thing_type=msg.thing_type, thing_id=msg.thing_id, parent = parent)
if msg.parent_id != 0:
thing.parent = sender.Get(msg.parent_id)
if thing.parent is not None:
print(f'Could not find parent [{msg.network_id}/{msg.parent_id}]')
else:
thing.parent = None
#endregion Receive

2
RoboidControl/Thing.py
View File

@ -90,6 +90,8 @@ class Thing:
## Boolean indicating the thing has an updated angular velocity
self.angular_velocity_updated: bool = False
self.terminate: bool = False
if self.owner is not None:
self.owner.Add(self)

4
test/thing_test.py
View File

@ -46,8 +46,8 @@ class ThingTest(unittest.TestCase):
def test_thing_msg(self):
site = SiteServer()
participant = ParticipantUDP(ip_address="127.0.0.1", port=7683)
thing = Thing()
participant = ParticipantUDP(ip_address="127.0.0.1", port=7681, local_port=7682)
thing = Thing(participant)
thing.name = "First thing"
thing.model_url = "https://passer.life/extras/ant.jpg"