def __init__(self):
threading.Thread.__init__(self)
self._general_state = None
self._calibration_state = None
self._udpclient = UdpClient()
self._exit_flag = threading.Event()
self.daemon = True
def test_get_raw_data(self):
us = UDPServer()
uc = UdpClient(protocol_description=fake_json,
port=UDP_PORT,
drone_ip="127.0.0.1")
data = uc._get_raw_data()
us.stop_thread()
self.assertEqual(data, struct.pack("<BBb", 2, 2, 2))
def test_get_data_dict(self):
us = UDPServer()
uc = UdpClient(protocol_description=fake_json,
port=UDP_PORT,
drone_ip="127.0.0.1")
data = uc.get_data_dict()
us.stop_thread()
self.assertEqual(data, {'u1-2-v': 2, 'u1-2-t': 2, 'i1-2': 2})
def test_get_data_t3(self):
us = UDPServer()
uc = UdpClient(protocol_description=fake_json,
port=UDP_PORT,
drone_ip="127.0.0.1")
data = uc.get_data(packet_type=3)
us.stop_thread()
self.assertEqual(data, (2, 3, 3))
def __init__(self, ip: str = "192.168.1.101", udp_timeout: float = 3):
threading.Thread.__init__(self)
self._ip = ip
self._udp_timeout = udp_timeout
self._general_state = None
self._general_state_received = threading.Event()
self._calibration_state = None
self._calibration_state_received = threading.Event()
self._udp_client = UdpClient(drone_ip=self._ip)
self._exit_flag = threading.Event()
self.daemon = True
def _wait_for_udp_communication(timeout: float, ip: str = "192.168.1.101"):
"""Simple helper for waiting for drone to come online
Raises ConnectionError if no connection is established in the specified timeout.
"""
temp_udp_client = UdpClient(drone_ip=ip)
temp_udp_client._sock.settimeout(timeout)
try:
temp_udp_client.get_data_dict()
except socket.timeout as e:
raise ConnectionError(
"Could not establish connection with drone") from e
class _DroneStateWatcher(threading.Thread):
"""Subscribes to UDP messages from the drone and stores the latest data"""
def __init__(self, ip: str = "192.168.1.101", udp_timeout: float = 3):
threading.Thread.__init__(self)
self._ip = ip
self._udp_timeout = udp_timeout
self._general_state = None
self._general_state_received = threading.Event()
self._calibration_state = None
self._calibration_state_received = threading.Event()
self._udp_client = UdpClient(drone_ip=self._ip)
self._exit_flag = threading.Event()
self.daemon = True
@property
def general_state(self) -> dict:
if not self._general_state_received.wait(timeout=self._udp_timeout):
raise TimeoutError("No state message received from drone")
return self._general_state
@property
def calibration_state(self) -> dict:
if not self._calibration_state_received.wait(
timeout=self._udp_timeout):
raise TimeoutError("No state message received from drone")
return self._calibration_state
def run(self):
while not self._exit_flag.is_set():
data_packet = self._udp_client.get_data_dict()
if data_packet["command_type"] == 1:
self._general_state = data_packet
self._general_state_received.set()
elif data_packet["command_type"] == 2:
self._calibration_state = data_packet
self._calibration_state_received.set()
def stop(self):
self._exit_flag.set()
class _PioneerStateWatcher(threading.Thread):
"""Subscribes to UDP messages from the drone and stores the latest data
"""
def __init__(self):
threading.Thread.__init__(self)
self._general_state = None
self._calibration_state = None
self._udpclient = UdpClient()
self._exit_flag = threading.Event()
self.daemon = True
@property
def general_state(self) -> dict:
start = time.time()
while self._general_state is None:
if time.time() - start > 3:
raise TimeoutError("No state message received from drone")
return self._general_state
@property
def calibration_state(self) -> dict:
start = time.time()
while self._calibration_state is None:
if time.time() - start > 3:
raise TimeoutError("No state message received from drone")
return self._calibration_state
def run(self):
while not self._exit_flag.is_set():
data_packet = self._udpclient.get_data_dict()
if data_packet["command_type"] == 1:
self._general_state = data_packet
elif data_packet["command_type"] == 2:
self._calibration_state = data_packet
def stop(self):
self._exit_flag.set()