def test_input():
message = pb_controller.Input()
message.move.left = 0.2
message.move.right = -0.5
message.fire.weapon1 = False
message.fire.weapon2 = True
payload = message.SerializeToString()
message2 = pb_controller.Input()
message2.ParseFromString(payload)
assert (message2.move.left == 0.2)
assert (message2.move.right == -0.5)
assert (not message2.fire.weapon1)
assert (message2.fire.weapon2)
def get_input(self, payload):
message = pb_messages.Input()
message.ParseFromString(payload)
assert (-1 <= message.move.left <= 1)
assert (-1 <= message.move.right <= 1)
return (message.move.left, message.move.right, message.fire.weapon1,
message.fire.weapon2)
def __init__(self, left, right, fire_weapon1, fire_weapon2):
pb_input = pb_controller.Input()
pb_input.move.left = left
pb_input.move.right = right
pb_input.fire.weapon1 = fire_weapon1
pb_input.fire.weapon2 = fire_weapon2
self._payload = pb_input.SerializeToString()
def send_input(self, data):
factor = 0.5
left = 0
right = 0
fire_weapon1 = False
fire_weapon2 = False
if ("LEFT" == data):
left = -1 * factor
right = 1 * factor
elif ("FORWARD" == data):
left = 1 * factor
right = 1 * factor
elif ("RIGHT" == data):
left = 1 * factor
right = -1 * factor
elif ("BACKWARD" == data):
left = -1 * factor
right = -1 * factor
elif ("FIRE1" == data):
fire_weapon1 = True
elif ("FIRE2" == data):
fire_weapon2 = True
pb_input = pb_controller.Input()
pb_input.move.left = left
pb_input.move.right = right
pb_input.fire.weapon1 = fire_weapon1
pb_input.fire.weapon2 = fire_weapon2
payload = pb_input.SerializeToString()
message = self._routing_id + ' Input ' + payload
# self._subscribe_stream.send(hello)
self._push_stream.send(message)
def test_4(self):
"""Nested message."""
message = pb_controller.Input()
message.move.left = 0.2
message.move.right = -0.5
message.fire.weapon1 = False
message.fire.weapon2 = True
yaml_content = """
message: !CaptureInput
message:
move:
left: {left}
right: {right}
fire:
weapon1: {weapon1}
weapon2: {weapon2}
""".format(left=message.move.left,
right=message.move.right,
weapon1=message.fire.weapon1,
weapon2=message.fire.weapon2)
data = yaml.load(yaml_content, Loader=yaml.FullLoader)
message2 = data["message"]
assert_equal(message.move.left, message2.protobuf_message.move.left)
assert_equal(message.move.right, message2.protobuf_message.move.right)
assert_equal(message.fire.weapon1,
message2.protobuf_message.fire.weapon1)
assert_equal(message.fire.weapon2,
message2.protobuf_message.fire.weapon2)
def get_input_message(self, left, right, fire1, fire2):
assert (-1 <= left <= 1)
assert (-1 <= right <= 1)
message = pb_messages.Input()
message.move.left = left
message.move.right = right
message.fire.weapon1 = fire1
message.fire.weapon2 = fire2
payload = message.SerializeToString()
return self.recipient + " Input " + payload
def test_key_map():
pb_message = pb_controller.Input()
left = 0.2
right = 0.5
pb_message.move.left = left
pb_message.move.right = right
pb_message.fire.weapon1 = False
pb_message.fire.weapon2 = True
yaml_content = """
message: !CaptureInput
destination: TEST1
message:
move:
left: {left}
right: "{{right}}"
fire:
weapon1: {weapon1}
weapon2: {weapon2}
""".format(left=pb_message.move.left,
weapon1=pb_message.fire.weapon1,
weapon2=pb_message.fire.weapon2)
data = yaml.load(yaml_content, Loader=yaml.FullLoader)
message1 = data["message"]
sys.stderr.write("\n" + str(message1.key_map) + "\n")
assert_equal(message1.key_map["/move/left"], pb_message.move.left)
assert_equal(message1.key_map["/move/right"], '{right}')
assert_equal(message1.key_map["/fire/weapon1"],
pb_message.fire.weapon1)
assert_equal(message1.key_map["/fire/weapon2"],
pb_message.fire.weapon2)
new_left = 1.0
pb_message.move.left = new_left
message2 = y2p.Input(pb_message.SerializeToString())
sys.stderr.write(str(message2.key_map) + "\n")
assert_equal(message2.key_map["/move/left"], pb_message.move.left)
assert_equal(message2.key_map["/move/right"], pb_message.move.right)
assert_equal(message2.key_map["/fire/weapon1"],
pb_message.fire.weapon1)
assert_equal(message2.key_map["/fire/weapon2"],
pb_message.fire.weapon2)
diffs = message1.compute_differences(message2)
sys.stderr.write(str(diffs) + "\n")
# the name differs because we did not go thourgh the standard path
# that removes the Capture part in the name.
assert_equal([('@name', u'!CaptureInput', u'!Input'),
('@destination', 'TEST1', None),
('/move/left', left, new_left)], diffs)
sys.stderr.write(str(message1.captured) + "\n")
assert_equal([{'right': right}], message1.captured)
pb_message = message1.fill(message1.captured[-1])
sys.stderr.write('filled:' + str(pb_message) + "\n")
message2.protobuf_message.move.left = left
assert_equal(str(pb_message), str(message2.protobuf_message))
assert_equal(pb_message, message2.protobuf_message)
def send_input(self, joystick, force_ping):
if (joystick.has_new_values):
pb_input = pb_controller.Input()
pb_input.move.left = joystick.left
pb_input.move.right = joystick.right
pb_input.fire.weapon1 = joystick.fire_weapon1
pb_input.fire.weapon2 = joystick.fire_weapon2
payload = pb_input.SerializeToString()
message = self._routing_id + ' Input ' + payload
LOGGER.debug("message sent: " + repr(message))
self._push_socket.send(message)
if (joystick.ping or force_ping):
pb_ping = pb_controller.Ping()
timing_event = pb_ping.timing.add()
timing_event.logger = NAME
timestamp = int(round(time.time() * 1000))
timing_event.timestamp = timestamp
payload = pb_ping.SerializeToString()
message = self._routing_id + ' Ping ' + payload
LOGGER.info("message sent: " + repr(message))
self._push_socket.send(message)
def test_3(self):
"""Play with the underlying library (not really a test)."""
message = pb_controller.Hello()
name = "JAMBON"
message.name = name
dico = pb2dict(message)
message = pb_controller.Input()
left = 0.2
right = -0.5
weapon1 = False
weapon2 = True
message.move.left = left
message.move.right = right
message.fire.weapon1 = weapon1
message.fire.weapon2 = weapon2
dico = pb2dict(message)
message2 = dict2pb(pb_controller.Input, dico)
assert_equal(left, message2.move.left)
assert_equal(right, message2.move.right)
assert_equal(weapon1, message2.fire.weapon1)
assert_equal(weapon2, message2.fire.weapon2)
def test_5(self):
"""Use the inline notation (json like)"""
message = pb_controller.Input()
message.move.left = 0.2
message.move.right = -0.5
message.fire.weapon1 = False
message.fire.weapon2 = True
yaml_content = """
message: !CaptureInput {{ "message": {{ "move": {{ "left": {left},
"right": {right} }}, "fire": {{ "weapon1": {weapon1}, "weapon2": {weapon2} }}
}} }}""".format(left=message.move.left,
right=message.move.right,
weapon1=message.fire.weapon1,
weapon2=message.fire.weapon2)
data = yaml.load(yaml_content, Loader=yaml.FullLoader)
message2 = data["message"]
assert_equal(message.move.left, message2.protobuf_message.move.left)
assert_equal(message.move.right, message2.protobuf_message.move.right)
assert_equal(message.fire.weapon1,
message2.protobuf_message.fire.weapon1)
assert_equal(message.fire.weapon2,
message2.protobuf_message.fire.weapon2)
import orwell.messages.server_game_pb2 as server_game_messages
import orwell.messages.controller_pb2 as controller_messages
import collections
from enum import Enum
class Messages(Enum):
Register = 'Register'
Registered = 'Registered'
Input = 'Input'
REGISTRY = {
Messages.Register.name: lambda: robot_messages.Register(),
Messages.Registered.name: lambda: server_game_messages.Registered(),
Messages.Input.name: lambda: controller_messages.Input(),
}
class Subscriber(object):
def __init__(self, address, port, context):
self._socket = context.socket(zmq.SUB)
self._socket.setsockopt(zmq.LINGER, 0)
self._socket.setsockopt(zmq.SUBSCRIBE, "")
url = "tcp://%s:%i" % (address, port)
self._socket.connect(url)
def read(self):
return self._socket.recv(flags=zmq.DONTWAIT)