def test_json_format_from_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType', msg_typ_info)
msg = HeartbeatMessage()
msg.droneID = "UAV123"
msg.sessionID = "SE123"
msg.batteryLevel = 0.7
msg.status = 0
msg.latitude = 40
msg.longitude = 40
msg.altitude = 40
json = message_formatter.format_from_ros_msg(msg)
expected_json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "messageType": "", "latitude": 40, "batteryLevel": 0.7}'
self.assertEqual(json, expected_json)
def test_json_format_from_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType',msg_typ_info)
msg = HeartbeatMessage()
msg.droneID = "UAV123"
msg.sessionID = "SE123"
msg.batteryLevel = 0.7
msg.status = 0
msg.latitude = 40
msg.longitude = 40
msg.altitude = 40
json = message_formatter.format_from_ros_msg(msg)
expected_json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "messageType": "", "latitude": 40, "batteryLevel": 0.7}'
self.assertEqual(json, expected_json)
def test_json_formatter_to_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType',msg_typ_info)
json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "latitude": 40, "batteryLevel": 0.7, "messageType": "HeartbeatMessage"}'
msg = message_formatter.format_to_ros_msg(json)
expected_msg = HeartbeatMessage()
expected_msg.droneID = "UAV123"
expected_msg.sessionID = "SE123"
expected_msg.batteryLevel = 0.7
expected_msg.status = 0
expected_msg.latitude = 40
expected_msg.longitude = 40
expected_msg.altitude = 40
expected_msg.messageType = "HeartbeatMessage"
self.assertEqual(msg, expected_msg)
self.assertTrue(isinstance(msg, HeartbeatMessage))
def test_json_formatter_to_ros_msg(self):
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter('messageType', msg_typ_info)
json = '{"status": 0, "droneID": "UAV123", "altitude": 40, "longitude": 40, "sessionID": "SE123", "latitude": 40, "batteryLevel": 0.7, "messageType": "HeartbeatMessage"}'
msg = message_formatter.format_to_ros_msg(json)
expected_msg = HeartbeatMessage()
expected_msg.droneID = "UAV123"
expected_msg.sessionID = "SE123"
expected_msg.batteryLevel = 0.7
expected_msg.status = 0
expected_msg.latitude = 40
expected_msg.longitude = 40
expected_msg.altitude = 40
expected_msg.messageType = "HeartbeatMessage"
self.assertEqual(msg, expected_msg)
self.assertTrue(isinstance(msg, HeartbeatMessage))
def test_json_formatter_instanciation(self):
expected_msg_typ_attr_name = 'messageType'
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter(expected_msg_typ_attr_name,
msg_typ_info)
self.assertEqual(message_formatter.msg_typ_attr_name,
expected_msg_typ_attr_name)
self.assertEqual(message_formatter.msg_typ_info, msg_typ_info)
def test_udp_client_send(self):
expected_msg_typ_attr_name = 'messageType'
msg_typ_info = {}
msg_typ_info['HelloMessage'] = 'rospy_message_transporter'
msg_typ_info['HeartbeatMessage'] = 'rospy_message_transporter'
message_formatter = JsonFormatter(expected_msg_typ_attr_name,
msg_typ_info)
client = UDPClient('UAVUdpSender', 'localhost', 6666,
message_formatter)
msg = HelloMessage()
msg.msg_content = "Hello"
self.assertTrue(client.send(msg))
class SimulatedCloudServerHandler( Handler ):
def __init__(self):
self.message_formatter = JsonFormatter(None,{})
def handle(self,ros_message, client_socket):
if ros_message.messageType == 'RegistrationRequestMessage':
response = RegistrationResponseMessage()
response.status = int(random.getrandbits(1))
response.messageType = 'RegistrationResponseMessage'
if response.status == 1:
print '...Registration accepeted'
response.sessionID = 'SE123'
response.UAVID = 'UAV123'
else:
print '...Registration refused'
json_msg = self.message_formatter.format_from_ros_msg(response)
client_socket.send(json_msg)
print 'The sent reponse message is:' + json_msg
elif ros_message.messageType == 'HeartbeatMessage':
response = HeartbeatMessage()
response.messageType = 'HeartbeatMessage'
json_msg = self.message_formatter.format_from_ros_msg(response)
client_socket.send(json_msg)
def __init__(self):
self.message_formatter = JsonFormatter(None,{})
