def test_np_array_from_empty_file(self):
ap = AppProtocol(fake_data)
tmp = tempfile.mkstemp()[1]
with open(tmp, "wb") as f:
pass
np_data = ap.np_array_from_file(tmp)
self.assertIsNone(np_data)
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 test_np_array_from_gz_file(self):
data = (2, 1, 2, 3, 4, 5, 6, 7, 8, 9., 10., 11., 2, 1, 12, 13, 14, 15,
16, 17, 18, 19., 20., 21.)
data_packet = struct.pack("<BBbHhIiQqfddBBbHhIiQqfdd", *data)
ap = AppProtocol(fake_data)
tmp = tempfile.mkstemp(suffix=".gz")[1]
with gzip.open(tmp, "wb") as f:
f.write(data_packet)
np_data = ap.np_array_from_file(tmp)
self.assertEqual(np_data["i8-2"].tolist(), [8, 18])
self.assertEqual([data[:12], data[12:]], np_data.tolist())
def test_struct_unpack_v1_t1(self):
data = (1, 1, 2, 3, 4, 5, 6, 7, 8, 9., 10.)
data_packet = struct.pack("<BBbHhIiQqfd", *data)
ap = AppProtocol(fake_data)
self.assertEqual(ap.unpack_data(data_packet), data)
def test_struct(self):
ap = AppProtocol(fake_data)
self.assertEqual(ap.get_struct_format(1, 1), "<BBbHhIiQqfd")
def test_field_names_None_t1(self):
ap = AppProtocol(fake_data)
self.assertEqual(ap.get_field_names(1), [
'u1-2-v', 'u1-2-t', 'i1-2', 'u2-2', 'i2-2', 'u4-2', 'i4-2', 'u8-2',
'i8-2', 'f4-2', 'f8-2-a', 'f8-2-b'
])
def test_field_names_v1_t1(self):
ap = AppProtocol(fake_data)
self.assertEqual(ap.get_field_names(1, 1), [
'u1-1-v', 'u1-1-t', 'i1-1', 'u2-1', 'i2-1', 'u4-1', 'i4-1', 'u8-1',
'i8-1', 'f4-1', 'f8-1'
])
def test_nptypes(self):
ap = AppProtocol(fake_data)
self.assertEqual(ap.get_numpy_field_dtypes(1, 1), [
'<u1', '<u1', '<i1', '<u2', '<i2', '<u4', '<i4', '<u8', '<i8',
'<f4', '<f8'
])
def test_protocol_packet_type_exception(self):
ap = AppProtocol(fake_data)
self.assertRaises(UnknownUDPPacketTypeError, ap.get_json_data, 0, 1)
def test_protocol_version_exception(self):
ap = AppProtocol(fake_data)
self.assertRaises(UnknownUDPVersionError, ap.get_json_data, 1, 0)
def test_wrong_endianess(self):
ap = AppProtocol(fake_data_endianess)
self.assertRaises(ValueError, ap.get_json_data, 1, 1)
def test_protocol_version_none(self):
ap = AppProtocol(fake_data)
self.assertEqual(ap._last_version, '2')
def test_struct_pack_None_t2(self):
data_none = (None, 2, 2)
data = (2, 2, 2)
data_packet = struct.pack("<BBb", *data)
ap = AppProtocol(fake_data)
self.assertEqual(ap.pack_data(data_none), data_packet)
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)
def test_struct_unpack_v2_t2(self):
data = (2, 2, 2)
data_packet = struct.pack("<BBb", *data)
ap = AppProtocol(fake_data)
self.assertEqual(ap.unpack_data(data_packet), data)
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
