def _handle_message(action: bytes, data: List[bytes]) -> bytes:
from drivebuildclient.aiExchangeMessages_pb2 import Bool
if action == b"isRunning":
sid = SimulationID()
sid.ParseFromString(data[0])
result = Bool()
result.value = _is_simulation_running(sid)
elif action == b"vids":
sid = SimulationID()
sid.ParseFromString(data[0])
result = _get_vids(sid)
elif action == b"pollSensors":
sid = SimulationID()
sid.ParseFromString(data[0])
result = _poll_sensors(sid)
elif action == b"verify":
sid = SimulationID()
sid.ParseFromString(data[0])
result = _verify(sid)
elif action == b"requestAiFor":
sid = SimulationID()
sid.ParseFromString(data[0])
vid = VehicleID()
vid.ParseFromString(data[1])
result = _request_ai_for(sid, vid)
elif action == b"storeVerificationCycle":
sid = SimulationID()
sid.ParseFromString(data[0])
started = Num()
started.ParseFromString(data[1])
finished = Num()
finished.ParseFromString(data[2])
result = _store_verification_cycle(
sid, datetime.fromtimestamp(started.num),
datetime.fromtimestamp(finished.num))
elif action == b"steps":
sid = SimulationID()
sid.ParseFromString(data[0])
steps = Num()
steps.ParseFromString(data[1])
result = Void()
if _is_simulation_running(sid):
_get_data(sid).scenario.bng.step(steps.num)
result.message = "Simulated " + str(
steps.num) + " steps in simulation " + sid.sid + "."
else:
result.message = "Simulation " + sid.sid + " is not running anymore."
elif action == b"stop":
sid = SimulationID()
sid.ParseFromString(data[0])
test_result = TestResult()
test_result.ParseFromString(data[1])
_control_sim(sid, test_result.result, False)
result = Void()
else:
message = "The action \"" + action.decode() + "\" is unknown."
_logger.info(message)
result = Void()
result.message = message
return result.SerializeToString()
def extract_sid() -> Tuple[Optional[bytes], Optional[SimulationID]]:
from flask import request
serialized_sid_b = request.args.get("sid", default=None)
if serialized_sid_b:
serialized_sid = serialized_sid_b.encode()
sid = SimulationID()
sid.ParseFromString(serialized_sid)
return serialized_sid, sid
else:
return None, None
def run_test_case(
test_case: TestCase
) -> Tuple[Simulation, Scenario, ExtThread, SimulationID]:
"""
This method starts the actual simulation in a separate thread.
Additionally it already calculates and attaches all information that is need by this node and the separate
thread before calling _start_simulation(...).
"""
import dill as pickle
from drivebuildclient import create_client, send_request
from config import SIM_NODE_PORT, FIRST_SIM_PORT
sid = SimulationID()
response = send_request(create_client("localhost", SIM_NODE_PORT),
b"generateSid", [])
sid.ParseFromString(response)
sim = Simulation(sid, pickle.dumps(test_case),
FIRST_SIM_PORT + run_test_case.counter)
run_test_case.counter += 1 # FIXME Add a lock?
# Make sure there is no folder of previous tests having the same sid that got not propery removed
bng_scenario, thread = sim._start_simulation(test_case)
return sim, bng_scenario, thread, sid
def _handle_main_app_message(action: bytes, data: List[bytes]) -> bytes:
from google.protobuf.message import DecodeError
if action == b"runTests":
user = User()
try:
user.ParseFromString(data[1])
result = _run_tests(data[0], user)
except DecodeError:
_logger.exception("Running a test failed since \"" +
str(data[1]) +
"\" can not be parsed to an User")
result = SubmissionResult()
result.message.message = "The user parameter could not be parsed."
elif action == b"waitForSimulatorRequest":
sid = SimulationID()
sid.ParseFromString(data[0])
vid = VehicleID()
vid.ParseFromString(data[1])
result = _wait_for_simulator_request(sid, vid)
elif action == b"control":
sid = SimulationID()
sid.ParseFromString(data[0])
vid = VehicleID()
vid.ParseFromString(data[1])
control = Control()
control.ParseFromString(data[2])
result = _control(sid, vid, control)
elif action == b"requestData":
sid = SimulationID()
sid.ParseFromString(data[0])
vid = VehicleID()
vid.ParseFromString(data[1])
request = DataRequest()
request.ParseFromString(data[2])
result = _request_data(sid, vid, request)
elif action == b"requestSocket":
client = create_client(MAIN_APP_HOST, MAIN_APP_PORT)
client_thread = Thread(target=process_requests,
args=(client, _handle_main_app_message))
client_thread.daemon = True
_logger.info("_handle_main_app_message --> " +
str(client.getsockname()))
client_thread.start()
result = Void()
result.message = "Connected another client socket to the main app."
elif action == b"runningTests":
user = User()
user.ParseFromString(data[0])
result = _get_running_tests(user)
elif action == b"stop":
sid = SimulationID()
sid.ParseFromString(data[0])
test_result = TestResult()
test_result.ParseFromString(data[1])
_control_sim(sid, test_result.result, False)
result = Void()
result.message = "Stopped simulation " + sid.sid + "."
else:
message = "The action \"" + action.decode() + "\" is unknown."
_logger.info(message)
result = Void()
result.message = message
return result.SerializeToString()