def test_reading_missing_item_raises_error(self):
storage = MemoryStorage()
self.assertRaises(StorageElementNotFoundError,
lambda: storage.read_metadata('foo'))
self.assertRaises(StorageElementNotFoundError,
lambda: storage.read('foo'))
def test_reading_unused_message_returns_zero(self):
persistent = MemoryStorage()
temp = MemoryStorage()
storage = LongMessageStorage(persistent, temp)
handler = LongMessageHandler(storage)
ble = LongMessageProtocol(handler)
ble.handle_write(0, [2]) # select long message 2
result = ble.handle_read()
# unused long message response is a 0 byte
self.assertEqual(b'\x00', result)
def test_read_returns_hash(self):
persistent = MemoryStorage()
persistent.write(2, b'abcd')
md5_hash = hashlib.md5(b'abcd').hexdigest()
temp = MemoryStorage()
storage = LongMessageStorage(persistent, temp)
handler = LongMessageHandler(storage)
ble = LongMessageProtocol(handler)
ble.handle_write(0, [2]) # select long message 2 (persistent)
result = ble.handle_read()
# reading a valid message returns its status, md5 hash and length
self.assertEqual("03" + md5_hash + "00000004", bytes2hexdigest(result))
def test_stored_data_integrity_is_checked_on_read(self):
storage = MemoryStorage()
storage.write('foo', b'data', md5='foobar')
self.assertRaises(IntegrityError, lambda: storage.read('foo'))
def test_stored_data_can_be_read(self):
storage = MemoryStorage()
storage.write('foo', b'data')
self.assertEqual(b'data', storage.read('foo'))
def test_md5_is_calculated_if_not_provided(self):
storage = MemoryStorage()
storage.write('foo', b'data', md5='some_md5')
self.assertEqual('some_md5', storage.read_metadata('foo')['md5'])
def test_md5_is_stored_if_provided(self):
storage = MemoryStorage()
storage.write('foo', b'data')
self.assertNotEqual('', storage.read_metadata('foo')['md5'])
self.assertNotEqual(None, storage.read_metadata('foo')['md5'])
def start_revvy(config: RobotConfig = None):
current_installation = os.path.dirname(os.path.realpath(__file__))
os.chdir(current_installation)
# base directories
package_data_dir = os.path.join(current_installation, 'data')
print('Revvy run from {} ({})'.format(current_installation, __file__))
# prepare environment
serial = getserial()
manifest = read_json('manifest.json')
sound_files = {
'alarm_clock': 'alarm_clock.mp3',
'bell': 'bell.mp3',
'buzzer': 'buzzer.mp3',
'car_horn': 'car-horn.mp3',
'cat': 'cat.mp3',
'dog': 'dog.mp3',
'duck': 'duck.mp3',
'engine_revving': 'engine-revving.mp3',
'lion': 'lion.mp3',
'oh_no': 'oh-no.mp3',
'robot': 'robot.mp3',
'robot2': 'robot2.mp3',
'siren': 'siren.mp3',
'ta_da': 'tada.mp3',
'uh_oh': 'uh-oh.mp3',
'yee_haw': 'yee-haw.mp3',
}
def sound_path(file):
return os.path.join(package_data_dir, 'assets', file)
sound_paths = {key: sound_path(sound_files[key]) for key in sound_files}
device_name = Observable("ROS")
ble_storage_dir = os.path.join(current_installation, 'ble')
ble_storage = FileStorage(ble_storage_dir)
long_message_storage = LongMessageStorage(ble_storage, MemoryStorage())
long_message_handler = LongMessageHandler(long_message_storage)
ble = RevvyBLE(device_name, serial, long_message_handler)
# if the robot has never been configured, set the default configuration for the simple robot
initial_config = default_robot_config
with RevvyTransportI2C() as transport:
robot_control = RevvyControl(transport.bind(0x2D))
robot = RobotManager(robot_control, ble, sound_paths,
manifest['version'], initial_config)
lmi = LongMessageImplementation(robot, config is not None)
long_message_handler.on_upload_started(lmi.on_upload_started)
long_message_handler.on_upload_finished(lmi.on_transmission_finished)
long_message_handler.on_message_updated(lmi.on_message_updated)
# noinspection PyBroadException
try:
robot.start()
print("Press Enter to exit")
input()
# manual exit
ret_val = RevvyStatusCode.OK
except EOFError:
robot.needs_interrupting = False
while not robot.exited:
time.sleep(1)
ret_val = robot.status_code
except KeyboardInterrupt:
# manual exit or update request
ret_val = robot.status_code
except Exception:
print(traceback.format_exc())
ret_val = RevvyStatusCode.ERROR
finally:
print('stopping')
robot.stop()
print('terminated.')
return ret_val
def start_revvy(config: RobotConfig = None):
current_installation = os.path.dirname(os.path.realpath(__file__))
os.chdir(current_installation)
# base directories
writeable_data_dir = os.path.join(current_installation, '..', '..', '..',
'user')
package_data_dir = os.path.join(current_installation, 'data')
ble_storage_dir = os.path.join(writeable_data_dir, 'ble')
data_dir = os.path.join(writeable_data_dir, 'data')
def log_uncaught_exception(exctype, value, tb):
log_message = 'Uncaught exception: {}\n' \
'Value: {}\n' \
'Traceback: \n\t{}\n' \
'\n'.format(exctype, value, "\t".join(traceback.format_tb(tb)))
print(log_message)
logfile = os.path.join(data_dir, 'revvy_crash.log')
with open(logfile, 'a') as logf:
logf.write(log_message)
sys.excepthook = log_uncaught_exception
# self-test
if not check_manifest(os.path.join(current_installation, 'manifest.json')):
print('Revvy not started because manifest is invalid')
return RevvyStatusCode.INTEGRITY_ERROR
print('Revvy run from {} ({})'.format(current_installation, __file__))
# prepare environment
serial = getserial()
manifest = read_json('manifest.json')
device_storage = FileStorage(data_dir)
ble_storage = FileStorage(ble_storage_dir)
sound_files = {
'alarm_clock': 'alarm_clock.mp3',
'bell': 'bell.mp3',
'buzzer': 'buzzer.mp3',
'car_horn': 'car-horn.mp3',
'cat': 'cat.mp3',
'dog': 'dog.mp3',
'duck': 'duck.mp3',
'engine_revving': 'engine-revving.mp3',
'lion': 'lion.mp3',
'oh_no': 'oh-no.mp3',
'robot': 'robot.mp3',
'robot2': 'robot2.mp3',
'siren': 'siren.mp3',
'ta_da': 'tada.mp3',
'uh_oh': 'uh-oh.mp3',
'yee_haw': 'yee-haw.mp3',
}
def sound_path(file):
return os.path.join(package_data_dir, 'assets', file)
sound_paths = {key: sound_path(sound_files[key]) for key in sound_files}
dnp = DeviceNameProvider(device_storage, lambda: 'Revvy_{}'.format(serial))
device_name = Observable(dnp.get_device_name())
device_name.subscribe(dnp.update_device_name)
long_message_storage = LongMessageStorage(ble_storage, MemoryStorage())
long_message_handler = LongMessageHandler(long_message_storage)
ble = RevvyBLE(device_name, serial, long_message_handler)
# if the robot has never been configured, set the default configuration for the simple robot
initial_config = config
if config is None:
status = long_message_storage.read_status(
LongMessageType.CONFIGURATION_DATA)
if status.status != LongMessageStatus.READY:
initial_config = default_robot_config
with RevvyTransportI2C() as transport:
robot_control = RevvyControl(transport.bind(0x2D))
bootloader_control = BootloaderControl(transport.bind(0x2B))
updater = McuUpdater(robot_control, bootloader_control)
update_manager = McuUpdateManager(
os.path.join(package_data_dir, 'firmware'), updater)
update_manager.update_if_necessary()
robot = RobotManager(robot_control, ble, sound_paths,
manifest['version'], initial_config)
lmi = LongMessageImplementation(robot, config is not None)
long_message_handler.on_upload_started(lmi.on_upload_started)
long_message_handler.on_upload_finished(lmi.on_transmission_finished)
long_message_handler.on_message_updated(lmi.on_message_updated)
# noinspection PyBroadException
try:
robot.start()
print("Press Enter to exit")
input()
# manual exit
ret_val = RevvyStatusCode.OK
except EOFError:
robot.needs_interrupting = False
while not robot.exited:
time.sleep(1)
ret_val = robot.status_code
except KeyboardInterrupt:
# manual exit or update request
ret_val = robot.status_code
except Exception:
print(traceback.format_exc())
ret_val = RevvyStatusCode.ERROR
finally:
print('stopping')
robot.stop()
print('terminated.')
return ret_val