Refactoring

Messages.py

@@ -1,61 +1,23 @@
-from . import LowLevelMessages
+# from . import LowLevelMessages
-from .Thing import Thing
+# from .Thing import Thing
 
-class IMessage:
+# class IMessage:
-    id = 0x00
+#     id = 0x00
 
-    ## Serialize the message into the given buffer
+#     ## Serialize the message into the given buffer
-    #
+#     #
-    ## @returns: the length of the message
+#     ## @returns: the length of the message
-    def Serialize(buffer):
+#     def Serialize(buffer):
-        return 0
+#         return 0
     
-    def SendTo(self, participant):
+#     def SendTo(self, participant):
-        buffer_size = self.Serialize([participant.buffer])
+#         buffer_size = self.Serialize([participant.buffer])
-        if buffer_size == 0:
+#         if buffer_size == 0:
-            return False
+#             return False
-        return participant.SendBuffer(buffer_size)
+#         return participant.SendBuffer(buffer_size)
     
-    def Publish(self, participant):
+#     def Publish(self, participant):
-        bufferSize = self.Serialize([participant.buffer])
+#         bufferSize = self.Serialize([participant.buffer])
-        if bufferSize == 0:
+#         if bufferSize == 0:
-            return False
+#             return False
-        return participant.PublishBuffer(bufferSize)
+#         return participant.PublishBuffer(bufferSize)
-
-class InvestigateMsg():
-    id = 0x81
-    length = 3
-
-    def __init__(self, buffer):
-        self.network_id = buffer[1]
-        self.thing_id = buffer[2]
-
-class PoseMsg(IMessage):
-    id = 0x10
-    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):
-            return 0
-        
-        buffer: bytearray = buffer_ref[0]
-        buffer[0:PoseMsg.length] = [
-            PoseMsg.id,
-            self.network_id,
-            self.thing.id,
-            self.thing.pose_updated
-        ]
-        ix = [4]
-        if self.thing.pose_updated & Thing.Position:
-            LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
-        if self.thing.pose_updated & Thing.Orientation:
-            LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
-        if self.thing.pose_updated & Thing.LinearVelocity:
-            LowLevelMessages.SendSpherical(buffer, ix, self.thing.linearVelocity)
-        if self.thing.pose_updated & Thing.AngularVelocity:
-            LowLevelMessages.SendSpherical(buffer, ix, self.thing.angularVelocity)
-        return ix[0]

Messages/BinaryMsg.py

@@ -1,7 +1,7 @@
-from .Messages import IMessage
+# from ..Messages import IMessage
-from .Thing import Thing
+from ..Thing import Thing
 
-class BinaryMsg(IMessage):
+class BinaryMsg():
     id = 0xB1
 
     def __init__(self, buffer):

Messages/ClientMsg.py

@@ -1,10 +1,10 @@
-from .Messages import IMessage
+# from . import IMessage
 
 ## A client message announces the presence of a participant
 #
 ## When received by another participant, it can be followed by a NetworkIdMsg
 ## to announce that participant to this client such that it can join privately
-class ClientMsg(IMessage):
+class ClientMsg():
     id = 0xA0
     length = 2
 

Messages/InvestigateMsg.py

@@ -0,0 +1,8 @@
+
+class InvestigateMsg():
+    id = 0x81
+    length = 3
+
+    def __init__(self, buffer):
+        self.network_id = buffer[1]
+        self.thing_id = buffer[2]

Messages/LowLevelMessages.py

@@ -1,5 +1,5 @@
 import numpy as np
-from .SwingTwist import SwingTwist
+from ..SwingTwist import SwingTwist
 
 def SendAngle8(buffer, ix_ref, angle):
     # Normalize angle

Messages/ModelUrlMsg.py

@@ -1,6 +1,6 @@
-from .Messages import IMessage
+# from . import IMessage
 
-class ModelUrlMsg(IMessage):
+class ModelUrlMsg():
     id = 0x90
     length = 4
 

Messages/NameMsg.py

@@ -1,6 +1,6 @@
-from .Messages import IMessage
+# from . import IMessage
 
-class NameMsg(IMessage):
+class NameMsg():
     id = 0x91
     length = 4
 

Messages/NetworkIdMsg.py

@@ -1,9 +1,9 @@
-from .Messages import IMessage
+# from . import IMessage
 
 ## A network id message invites another participant to a site
 #
 ## This can be sent in response to a ClientMsg
-class NetworkIdMsg(IMessage):
+class NetworkIdMsg():
     id = 0xA1
     length = 2
 

Messages/PoseMsg.py

@@ -0,0 +1,30 @@
+
+class PoseMsg():
+    id = 0x10
+    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):
+            return 0
+        
+        buffer: bytearray = buffer_ref[0]
+        buffer[0:PoseMsg.length] = [
+            PoseMsg.id,
+            self.network_id,
+            self.thing.id,
+            self.thing.pose_updated
+        ]
+        ix = [4]
+        if self.thing.pose_updated & Thing.Position:
+            LowLevelMessages.SendSpherical(buffer, ix, self.thing.position)
+        if self.thing.pose_updated & Thing.Orientation:
+            LowLevelMessages.SendQuat32(buffer, ix, self.thing.orientation)
+        if self.thing.pose_updated & Thing.LinearVelocity:
+            LowLevelMessages.SendSpherical(buffer, ix, self.thing.linearVelocity)
+        if self.thing.pose_updated & Thing.AngularVelocity:
+            LowLevelMessages.SendSpherical(buffer, ix, self.thing.angularVelocity)
+        return ix[0]

Messages/ThingMsg.py

@@ -1,6 +1,6 @@
-from .Messages import IMessage
+# from . import IMessage
 
-class ThingMsg(IMessage):
+class ThingMsg():
     id = 0x80
     length = 5
 

Messages/__init__.py

@@ -0,0 +1,17 @@
+__all__ = ['BinaryMsg',
+           'ClientMsg',
+           'NetworkIdMsg',
+           'InvestigateMsg',
+           'ThingMsg',
+           'NameMsg',
+           'ModelUrlMsg',
+           'PoseMsg']
+
+from .BinaryMsg import BinaryMsg
+from .ClientMsg import ClientMsg
+from .InvestigateMsg import InvestigateMsg
+from .ThingMsg import ThingMsg
+from .NetworkIdMsg import NetworkIdMsg
+from .NameMsg import NameMsg
+from .ModelUrlMsg import ModelUrlMsg
+from .PoseMsg import PoseMsg

Participant.py

@@ -2,12 +2,7 @@ import socket
 import threading
 import time
 
-from .ClientMsg import ClientMsg
+from .Messages import *
-from .NetworkIdMsg import NetworkIdMsg
-from .ThingMsg import ThingMsg
-from .NameMsg import NameMsg
-from .ModelUrlMsg import ModelUrlMsg
-from .BinaryMsg import BinaryMsg
 from .Thing import Thing
 
 ## A participant is device which can communicate with other participants

Sensors/TemperatureSensor.py

@@ -1,5 +1,5 @@
 from ..Thing import Thing
-from .. import LowLevelMessages
+from ..Messages import LowLevelMessages
 
 class TemperatureSensor(Thing):
     def __init__(self, network_id, thing_id):

SiteServer.py

@@ -1,6 +1,5 @@
 from .Participant import Participant
-from .ClientMsg import ClientMsg
+from .Messages import *
-from .NetworkIdMsg import NetworkIdMsg
 
 import socket
 import threading