Unit test fixes

RoboidControl/Messages/ParticipantMsg.py

@@ -11,10 +11,14 @@ class ParticipantMsg(IMessage):
     ## The length of the message
     length: int = 2
 
-    def __init__(self, data = None):
+    def __init__(self, arg1):
         """! Create a new message for sending
         """
-        self.network_id = data
+        if isinstance(arg1, bytes):
+            buffer = arg1
+            self.network_id = buffer[1]
+        else:
+            self.network_id = arg1
 
     def Serialize(self, buffer_ref):
         """! Serialize the message into a byte array. 

RoboidControl/Participant.py

@@ -8,6 +8,8 @@ class Participant:
     """
     def __init__(self, ip_address, port):
         """! Create a new participant with the given communcation info
+        @param ip_address The IP address of the participant
+        @param port The UDP port of the participant
         """
 
         ## The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
@@ -15,16 +17,27 @@ class Participant:
         ## The port number for UDP communication with the participant. This is 0 for isolated participants.
         self.port = port
 
-        ## The network ID of the participant
+        ## he network Id to identify the participant.
         self.network_id =0
 
         ## The things managed by this participant
         self.things = set()
 
+    def Get(self, thing_id):
+        """!  Get the thing with the given properties
+
+        @param thing_id The ID of the thing
+        @return The thing if found, None in other cases
+        """
+        for thing in self.things:
+            if thing is not None and thing.id == thing_id:
+                return thing
+        return None
+
     def Add(self, thing, check_id = True):
         """! Add a new thing for this participant. 
         @param thing The thing to add
-        @param check_id When true, the thing ID of the thing is checked. If it is 0, a new thing Id will be assigned.
+        @param check_id If true, the thing.id is regenerated if it is zero
         """
         if check_id and thing.id == 0:
             thing.id = len(self.things) + 1
@@ -34,25 +47,16 @@ class Participant:
             if found_thing == None:
                 self.things.add(thing)
     
-    def Get(self, thing_id):
-        """! Find a thing managed by this participant
-
-        @param thing_id The ID of the thing
-        @return The thing if found or nullptr when no thing has been found
-        """
-        for thing in self.things:
-            if thing is not None and thing.id == thing_id:
-                return thing
-        return None
-
     def Remove(self, thing):
-        """! Remove a thig for this participant
+        """! Remove a thing for this participant
         @param thing The thing to remove
         """
         self.things.remove(thing)
 
-    ## Update all things
-    def Update(self, currentTimeMs):
+    def Update(self, currentTimeMs=0):
+        """! Update all things for this participant
+        @param The current time in milliseconds (optional)
+        """
         for thing in list(self.things):
             if thing is not None:
                 thing.Update(currentTimeMs)

RoboidControl/ParticipantUDP.py

@@ -33,12 +33,12 @@ class ParticipantUDP(Participant):
     name = "Participant"
     isolated_participant = None
 
-    def __init__(self, port=7681, ip_address=None, local_port=0):
-        super().__init__(ip_address = "127.0.0.1", port = port)
+    def __init__(self, port=7681, ip_address=None, local_port=7681):
+        super().__init__(ip_address = "127.0.0.1", port = local_port)
 
-        if local_port == 0:
-            local_port = port
-        self.local_port = local_port
+        # if local_port == 0:
+        #     local_port = port
+        # self.local_port = local_port
 
         ## True if the participant is running isolated.
         # Isolated participants do not communicate with other participants
@@ -48,7 +48,7 @@ class ParticipantUDP(Participant):
         ## The other participants communicating with this participant
         self.others = []
 
-        if self.port != 0:
+        if port != 0:
             self.is_isolated = False
             if ip_address is not None:
                 self.remote_site = Participant(ip_address, port)
@@ -59,7 +59,7 @@ class ParticipantUDP(Participant):
 
         self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)        
         self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1) 
-        self.udp_socket.bind(("0.0.0.0", self.local_port))
+        self.udp_socket.bind(("0.0.0.0", self.port))
 
         self.thread = threading.Thread(target = self.Receiver)
         self.thread.daemon = True

RoboidControl/Participants/SiteServer.py

@@ -23,7 +23,8 @@ class SiteServer(ParticipantUDP):
 
     def ProcessParticipantMsg(self, sender, msg):
         print(f'{self.name} received Participant ')
-        self.Send(sender, NetworkIdMsg())
+        if msg.network_id != sender.network_id:
+            self.Send(sender, sender.network_id)
     
     def ProcessNetworkId(self, msg):
         pass

RoboidControl/Thing.py

@@ -39,7 +39,7 @@ class Thing:
             owner = parent.owner
             self.SetParent(parent)
         elif owner == None:
-            from ParticipantUDP import ParticipantUDP            
+            from RoboidControl.ParticipantUDP import ParticipantUDP            
             owner = ParticipantUDP.Isolated()
 
         self.children = []

RoboidControl/Things/TemperatureSensor.py

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

test/BB2B_dummytest.py

@@ -4,11 +4,11 @@ from pathlib import Path
 sys.path.append(str(Path(__file__).resolve().parent.parent))
 import time
 
-from Participants.SiteServer import SiteServer
-from ParticipantUDP import ParticipantUDP
-from Thing import *
-from Things.DifferentialDrive import DifferentialDrive
-from Things.TouchSensor import TouchSensor
+from RoboidControl.Participants.SiteServer import SiteServer
+from RoboidControl.ParticipantUDP import ParticipantUDP
+from RoboidControl.Thing import *
+from RoboidControl.Things.DifferentialDrive import DifferentialDrive
+from RoboidControl.Things.TouchSensor import TouchSensor
 
 # Start a site server
 site = SiteServer(port=7691)

test/thing_test.py

@@ -3,13 +3,13 @@ import sys
 from pathlib import Path
 
 # Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
+sys.path.append(str(Path(__file__).resolve().parent))
 
 import unittest
 
-from Thing import Thing
-from ParticipantUDP import ParticipantUDP
-from Participants.SiteServer import SiteServer
+from RoboidControl.Thing import Thing
+from RoboidControl.ParticipantUDP import ParticipantUDP
+from RoboidControl.Participants.SiteServer import SiteServer
 
 class ThingTest(unittest.TestCase):
 
@@ -33,7 +33,7 @@ class ThingTest(unittest.TestCase):
 
     def test_site_participant(self):
         site = SiteServer(port=7681)
-        participant = ParticipantUDP(port=7681, ip_address="127.0.0.1", local_port=7682)
+        participant = ParticipantUDP(ip_address="127.0.0.1", port=7681, local_port=7682)
 
         milliseconds = time.time() * 1000
         start_time = milliseconds