class CommandProducer(SingletonMixin):
"""Forwards commands."""
def __init__(self):
super(CommandProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_EXCHANGE)
def start(self):
"""Send the start command."""
self._producer.publish('start')
def stop(self):
"""Send the stop command."""
self._producer.publish('stop')
def reset(self):
"""Send the reset command."""
self._producer.publish('reset')
def calibrate_compass(self):
"""Send the calibrate_compass command."""
self._producer.publish('calibrate-compass')
def set_max_throttle(self, throttle):
"""Send the set max throttle command."""
self._producer.publish('set-max-throttle={}'.format(throttle))
class CommandProducer(SingletonMixin):
"""Forwards commands."""
def __init__(self):
super(CommandProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_EXCHANGE)
def start(self):
"""Send the start command."""
self._producer.publish('start')
def stop(self):
"""Send the stop command."""
self._producer.publish('stop')
def reset(self):
"""Send the reset command."""
self._producer.publish('reset')
def calibrate_compass(self):
"""Send the calibrate_compass command."""
self._producer.publish('calibrate-compass')
def set_max_throttle(self, throttle):
"""Send the set max throttle command."""
self._producer.publish('set-max-throttle={}'.format(throttle))
class WaypointProducer(SingletonMixin):
"""Forwards waypoint commands to another exchange."""
def __init__(self):
super(WaypointProducer, self).__init__()
self._producer = MessageProducer(config.WAYPOINT_EXCHANGE)
def load_kml_file(self, kml_file_name):
"""Loads some waypoints from a KML file."""
self._producer.publish(
json.dumps({
'command': 'load',
'file': kml_file_name
}))
class WaypointProducer(SingletonMixin):
"""Forwards waypoint commands to another exchange."""
def __init__(self):
super(WaypointProducer, self).__init__()
self._producer = MessageProducer(config.WAYPOINT_EXCHANGE)
def load_kml_file(self, kml_file_name):
"""Loads some waypoints from a KML file."""
self._producer.publish(
json.dumps({
'command': 'load',
'file': kml_file_name
})
)
class CommandForwardProducer(SingletonMixin):
"""Forwards commands to another exchange."""
# This is a complete hack. I couldn't figure out how to do multiple
# consumers, but I only need it for one producer (command) and I only have
# two consumers, so I'll just manually forward them. I know this is fragile
# and tightly coupled, because handlers shouldn't need to or know about
# forwarding messages.
# TODO(skari): Implement multi consumer
def __init__(self):
super(CommandForwardProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_FORWARDED_EXCHANGE)
def forward(self, message):
"""Forwards the message."""
self._producer.publish(message)
class CommandForwardProducer(SingletonMixin):
"""Forwards commands to another exchange."""
# This is a complete hack. I couldn't figure out how to do multiple
# consumers, but I only need it for one producer (command) and I only have
# two consumers, so I'll just manually forward them. I know this is fragile
# and tightly coupled, because handlers shouldn't need to or know about
# forwarding messages.
# TODO(skari): Implement multi consumer
def __init__(self):
super(CommandForwardProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_FORWARDED_EXCHANGE)
def forward(self, message):
"""Forwards the message."""
self._producer.publish(message)
class AsyncLogger(SingletonMixin):
"""Logger that sends messages over Unix domain sockets."""
def __init__(self):
super(AsyncLogger, self).__init__()
self._producer = MessageProducer(config.LOGS_EXCHANGE)
self.warning = self.warn
def debug(self, message):
"""Forwards messages to debug log."""
self._producer.publish(
json.dumps({
'level': 'debug',
'message': message
}))
def info(self, message):
"""Forwards messages to info log."""
self._producer.publish(
json.dumps({
'level': 'info',
'message': message
}))
def warn(self, message):
"""Forwards messages to warn log."""
self._producer.publish(
json.dumps({
'level': 'warn',
'message': message
}))
def error(self, message):
"""Forwards messages to error log."""
self._producer.publish(
json.dumps({
'level': 'error',
'message': message
}))
def critical(self, message):
"""Forwards messages to critical log."""
self._producer.publish(
json.dumps({
'level': 'critical',
'message': message
}))
class AsyncLogger(SingletonMixin):
"""Logger that sends messages over Unix domain sockets."""
def __init__(self):
super(AsyncLogger, self).__init__()
self._producer = MessageProducer(config.LOGS_EXCHANGE)
self.warning = self.warn
def debug(self, message):
"""Forwards messages to debug log."""
self._producer.publish(json.dumps({
'level': 'debug',
'message': message
}))
def info(self, message):
"""Forwards messages to info log."""
self._producer.publish(json.dumps({
'level': 'info',
'message': message
}))
def warn(self, message):
"""Forwards messages to warn log."""
self._producer.publish(json.dumps({
'level': 'warn',
'message': message
}))
def error(self, message):
"""Forwards messages to error log."""
self._producer.publish(json.dumps({
'level': 'error',
'message': message
}))
def critical(self, message):
"""Forwards messages to critical log."""
self._producer.publish(json.dumps({
'level': 'critical',
'message': message
}))
def terminate(signal_number, stack_frame): # pylint: disable=unused-argument
"""Terminates the program. Used when a signal is received."""
print(
'Received signal {signal_number}, quitting'.format(
signal_number=signal_number
)
)
if POPEN is not None and POPEN.poll() is None:
print('Killing image capture')
try:
POPEN.kill()
except OSError:
pass
DRIVER.drive(0.0, 0.0)
time.sleep(0.2)
try:
with open('/dev/pi-blaster', 'w') as blaster:
time.sleep(0.1)
blaster.write(
'{pin}={throttle}\n'.format(
pin=THROTTLE_GPIO_PIN,
throttle=THROTTLE_NEUTRAL_US
)
)
time.sleep(0.1)
blaster.write(
'{pin}={steering}\n'.format(
pin=STEERING_GPIO_PIN,
steering=STEERING_NEUTRAL_US
)
)
time.sleep(0.1)
except IOError:
pass
for socket in os.listdir(os.sep.join(('.', 'messaging', 'sockets'))):
MessageProducer(socket).kill()
time.sleep(0.1)
for thread in THREADS:
thread.kill()
thread.join()
# Some threads should still be active
expected = set(('MainThread', '_TimeoutMonitor'))
actives = set((thread.name for thread in threading.enumerate()))
if not (actives <= expected):
print('Trying to exit while {} threads are still active!'.format(
threading.active_count()
))
for thread in threading.enumerate():
print(thread.name)
sys.exit(0)
class TelemetryProducer(SingletonMixin):
"""Forwards telemetry messages."""
def __init__(self):
super(TelemetryProducer, self).__init__()
self._producer = MessageProducer(config.TELEMETRY_EXCHANGE)
def gps_reading(
self,
latitude_d,
longitude_d,
accuracy_m,
heading_d,
speed_m_s,
timestamp_s,
device_id
):
"""Sends a GPS reading."""
self._producer.publish(json.dumps({
'latitude_d': latitude_d,
'longitude_d': longitude_d,
'accuracy_m': accuracy_m,
'heading_d': heading_d,
'speed_m_s': speed_m_s,
'timestamp_s': timestamp_s,
'device_id': device_id,
}))
def compass_reading(self, compass_d, confidence, device_id):
"""Sends a compass reading."""
self._producer.publish(json.dumps({
'compass_d': compass_d,
'confidence': confidence,
'device_id': device_id,
}))
def accelerometer_reading(
self,
acceleration_g_x,
acceleration_g_y,
acceleration_g_z,
device_id
):
"""Sends an accelerometer reading."""
self._producer.publish(json.dumps({
'acceleration_g_x': acceleration_g_x,
'acceleration_g_y': acceleration_g_y,
'acceleration_g_z': acceleration_g_z,
'device_id': device_id,
}))
class TelemetryProducer(SingletonMixin):
"""Forwards telemetry messages."""
def __init__(self):
super(TelemetryProducer, self).__init__()
self._producer = MessageProducer(config.TELEMETRY_EXCHANGE)
def gps_reading(self, latitude_d, longitude_d, accuracy_m, heading_d,
speed_m_s, timestamp_s, device_id):
"""Sends a GPS reading."""
self._producer.publish(
json.dumps({
'latitude_d': latitude_d,
'longitude_d': longitude_d,
'accuracy_m': accuracy_m,
'heading_d': heading_d,
'speed_m_s': speed_m_s,
'timestamp_s': timestamp_s,
'device_id': device_id,
}))
def compass_reading(self, compass_d, confidence, device_id):
"""Sends a compass reading."""
self._producer.publish(
json.dumps({
'compass_d': compass_d,
'confidence': confidence,
'device_id': device_id,
}))
def accelerometer_reading(self, acceleration_g_x, acceleration_g_y,
acceleration_g_z, device_id):
"""Sends an accelerometer reading."""
self._producer.publish(
json.dumps({
'acceleration_g_x': acceleration_g_x,
'acceleration_g_y': acceleration_g_y,
'acceleration_g_z': acceleration_g_z,
'device_id': device_id,
}))
def __init__(self):
super(AsyncLogger, self).__init__()
self._producer = MessageProducer(config.LOGS_EXCHANGE)
self.warning = self.warn
def test_1_producer_1_consumer(self):
"""Test single producer single consumer."""
def save_message(x):
self.message = x
def consume():
"""Function to consume messages."""
consume_messages(self.EXCHANGE, save_message)
consumer = threading.Thread(target=consume)
consumer.name = '{}:consume_messages'.format(self.__class__.__name__)
consumer.start()
# Give the receiver some time to set up, see comment below
time.sleep(0.05)
self.assertIs(self.message, None)
sent_message = 'banana'
producer = MessageProducer(self.EXCHANGE)
producer.publish(sent_message)
producer.publish('QUIT')
for _ in range(10):
# Because of a race condition, if the message is sent before the
# receiver has set up, the messages are never queued or something.
# Keep resending until the thread exits.
consumer.join(0.05)
if consumer.is_alive():
producer.publish(sent_message)
producer.publish('QUIT')
consumer.join(0.05)
self.assertFalse(consumer.is_alive())
producer.kill()
self.assertEqual(self.message, sent_message)
def __init__(self):
super(WaypointProducer, self).__init__()
self._producer = MessageProducer(config.WAYPOINT_EXCHANGE)
def __init__(self):
super(TelemetryProducer, self).__init__()
self._producer = MessageProducer(config.TELEMETRY_EXCHANGE)
def __init__(self):
super(CommandForwardProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_FORWARDED_EXCHANGE)
def __init__(self):
super(AsyncLogger, self).__init__()
self._producer = MessageProducer(config.LOGS_EXCHANGE)
self.warning = self.warn
def __init__(self):
super(CommandForwardProducer, self).__init__()
self._producer = MessageProducer(config.COMMAND_FORWARDED_EXCHANGE)
def __init__(self):
super(WaypointProducer, self).__init__()
self._producer = MessageProducer(config.WAYPOINT_EXCHANGE)
def __init__(self):
super(TelemetryProducer, self).__init__()
self._producer = MessageProducer(config.TELEMETRY_EXCHANGE)