def test_struct_unpack_data_dict_v2_t2(self):
data = (2, 2, 2)
data_dict = {'u1-2-v': 2, 'u1-2-t': 2, 'i1-2': 2}
data_packet = struct.pack("<BBb", *data)
ap = AppProtocol(fake_data)
self.assertEqual(ap.unpack_data_dict(data_packet), data_dict)
class UdpClient:
def __init__(self,
port=2010,
protocol_description=None,
logger=None,
drone_ip="192.168.1.101"):
self._port = port
self._ip = "0.0.0.0"
self._drone_ip = drone_ip
if logger is None:
# If no logger has been passed we'll use the module logger
self.logger = logging.getLogger(__name__)
else:
self.logger = logger
self._sock = None
self._sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# To able to run multiple UdpClients on MacOS one needs to set
# SO_REUSEPORT, however on Windows that option does not exist,
# so we use SO_REUSEADDR for Windows and Linux.
if platform.system() == "Darwin":
self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1)
else:
self._sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self._ap = AppProtocol(protocol_description)
self.bind()
def __del__(self):
self.logger.debug("Closing UDP socket")
self._sock.close()
def bind(self):
self.logger.debug(f"Binding UDP socket to {self._ip}:{self._port}")
self._sock.bind((self._ip, self._port))
def _get_raw_data(self):
while True:
data_raw, addr = self._sock.recvfrom(1024)
if addr[0] == self._drone_ip:
return data_raw
def get_data(self, packet_type=None, timeout=None):
start_time = time.time()
while timeout is None or time.time() < start_time + timeout:
raw_data = self._get_raw_data()
try:
data = self._ap.unpack_data(raw_data)
except UnknownUDPPacketTypeError:
self.logger.warning(
"UDP packet type unknown. Please update the SDK")
continue
if packet_type is None or data[1] == packet_type:
return data
return None
def get_data_dict(self, packet_type=None, timeout=None):
start_time = time.time()
while timeout is None or time.time() < start_time + timeout:
raw_data = self._get_raw_data()
try:
data = self._ap.unpack_data_dict(raw_data)
except UnknownUDPPacketTypeError:
self.logger.warning(
"UDP packet type unknown. Please update the SDK")
continue
if packet_type is None or data["command_type"] == packet_type:
return data
return None