def test_frame_parsing(self):
frame = Frame.parse_string("""
<frame id="7" name="paola" source="me">
<word name="wow" />
<byte name="incredible" />
<word name="hihi" />
</frame>
""",
context=Context(devices=self.device_list))
# Parse properties
self.assertEqual(frame.source, "me")
self.assertEqual(frame.dest, "mlk") # broadcast by default
self.assertEqual(frame.name, "paola")
self.assertEqual(frame.id, 7)
self.assertEqual(len(frame.params), 3)
# Parse childrens
self.assertEqual(frame.params[0].name, "wow")
self.assertEqual(frame.params[0].byte_start, 1)
self.assertEqual(frame.params[1].name, "incredible")
self.assertEqual(frame.params[1].byte_start, 3)
self.assertEqual(frame.params[2].name, "hihi")
self.assertEqual(frame.params[2].byte_start, 4)
def __init__(self):
self.nodes = NodeStatusHandler()
self.start_signal_pub = rospy.Publisher(Topics.START_SIGNAL_TOPIC,
StartRobot,
queue_size=10)
self.spin_callbacks = []
self.can_subscribers = []
# Parse devices
self.devices: DeviceList = DeviceList.parse_file(
"can/devices.xml", package="interface_description")
# Then frames
self.frames: Dict[str, Frame] = FrameList.parse_file(
"can/frames.xml",
package="interface_description",
context=Context(devices=self.devices))
# Create can bus with given interface
self.bus = can.interface.Bus(
rospy.get_param("/interface/can_interface/device",
default="vcan0"))
self.can_input_thread = threading.Thread(
name="can_input", target=self.wait_for_can_message)
# Start thread
self.can_input_thread.start()
# Wait for controller and scheduler
self.nodes.require("controller", "ai")
self.nodes.require("scheduler", "ai")
self.nodes.set_wait_callback(self.nodes_ready)
self.nodes.wait_for_nodes(6)
def __init__(self):
super().__init__()
self.set_node_status("serial_interface", "interface", NodeStatus.INIT)
# Parse devices
self.devices: DeviceList = DeviceList.parse_file(
"can/devices.xml", package="interface_description")
# Then frames
self.frames: Dict[str, Frame] = FrameList.parse_file(
"can/frames.xml",
package="interface_description",
context=Context(devices=self.devices))
# Create serial bus bus with given interface
self.serials = [
SerialBus("/dev/ttyUSB0", self),
SerialBus("/dev/ttyUSB1", self)
]
self.subscriber: Subscriber = Subscriber("/can_interface/out", CanData,
self.on_ros_message)
self.publisher: Publisher = Publisher("/can_interface/in",
CanData,
queue_size=10)
# Declare can_interface ready
self.set_node_status("serial_interface", "interface", NodeStatus.READY)
def __init__(self):
super().__init__()
self.set_node_status("can_interface", "interface", NodeStatus.INIT)
# Parse devices
self.devices: DeviceList = DeviceList.parse_file(
"can/devices.xml",
package="interface_description"
)
# Then frames
self.frames: Dict[str, Frame] = FrameList.parse_file(
"can/frames.xml",
package="interface_description",
context=Context(devices=self.devices)
)
# Create can bus with given interface
self.bus = can.interface.Bus(rospy.get_param("/interface/can_interface/device", default="can0"))
self.can_input_thread = threading.Thread(name="can_input", target=self.wait_for_can_message)
# TODO /can_interface/out as a service
self.subscriber: Subscriber = Subscriber("/can_interface/out", CanData, self.on_ros_message)
self.publisher: Publisher = Publisher("/can_interface/in", CanData, queue_size=100)
# Start thread
self.can_input_thread.start()
# Declare can_interface ready
self.set_node_status("can_interface", "interface", NodeStatus.READY)
def test_context_passing(self):
global SomeClass
global YetAnotherClass
YetAnotherClass = Parsable(name="array_attr")(YetAnotherClass)
SomeClass = Parsable(name="o", children = [ BindList(type=YetAnotherClass, to="array_attr") ])(SomeClass)
parsed = SomeClass.parse_string("<o><array_attr /></o>", context=Context(name="hello"))
self.assertEqual(parsed.str_attr, "hello", "original context is passed")
self.assertEqual(len(parsed.array_attr), 1)
self.assertEqual(parsed.array_attr[0].wow, 76, "context is passed with additional args")
def __parsed__(self, context: Context):
super().__parsed__(context)
for i in range(len(self.children)):
child = self.children[i]
# Non native action children
if type(child) == Action and not child.native:
# Recover list format
child.arguments = child.arguments.to_list()
# Create adequate context
child_context = Context(**context.params)
child_context.parent = child
# Parse children with context
self.children[i] = ActionGroup.parse_file(
context.get("folder") + child.name + ".xml",
context=child_context)
# Set children parent
self.children[i].parent = self
def test_frame_list_parsing(self):
frame_list = FrameList.parse_string(
"""
<frames>
<frame name="go_girl" id="5" />
<frame name="go_girl_lol" id="1" />
</frames>
""",
context=Context(devices=self.device_list))
self.assertIn(5, frame_list.by_id)
self.assertIn(1, frame_list.by_id)
self.assertIn("go_girl", frame_list.by_name)
self.assertIn("go_girl_lol", frame_list.by_name)
self.assertEqual(frame_list.by_id[5], frame_list.by_name["go_girl"])
self.assertEqual(frame_list.by_id[1],
frame_list.by_name["go_girl_lol"])
def __parsed__(self, context: Context):
devices = context.get("devices")
self.source = self.source if self.source is not None else devices.broadcast.name
self.dest = self.dest if self.dest is not None else devices.broadcast.name
# Check that devices exists
if self.source not in devices.by_name:
raise ParsingException("{} is not a valid device".format(
self.source))
elif self.dest not in devices.by_name:
raise ParsingException("{} is not a valid device".format(
self.dest))
# Compute params byte_start property
current_offset: int = 1
for param in self.params:
param.byte_start = current_offset
current_offset += param.size
def __init__(self, dev="vcan0", callback=None): self.callback = callback # Parse devices self.devices: DeviceList = DeviceList.parse_file( "can/devices.xml", package="interface_description" ) # Then frames self.frames: Dict[str, Frame] = FrameList.parse_file( "can/frames.xml", package="interface_description", context=Context(devices=self.devices) ) # Create can bus with given interface self.bus = can.interface.Bus(dev) self.can_input_thread = threading.Thread(name="can_input", target=self.wait_for_can_message) # Start thread self.can_input_thread.start()
def __parsed__(self, context: Context):
self.oui = True
if "bob" in context.params:
self.wow = context.get("bob")
def __before_children__(self, context: Context):
context.set("bob", 76)
def __parsed__(self, context: Context):
if "name" in context.params:
self.str_attr = context.get("name")