def package(state):
"""Helper function that packages the current state.
Parses through the state dictionary in key value pairs, creates a new message in the
proto for each sensor, and adds corresponding data to each field. Currently only
supports a single limit_switch switch as the rest of the state is just test fields.
"""
try:
proto_message = runtime_pb2.RuntimeData()
proto_message.robot_state = state['studentCodeState'][0]
for uid, values in state['hibike'][0]['devices'][0].items():
sensor = proto_message.sensor_data.add()
sensor.uid = str(uid)
sensor.device_type = SENSOR_TYPE[uid >> 72]
for param, value in values[0].items():
if value[0] is None:
continue
param_value_pair = sensor.param_value.add()
param_value_pair.param = param
if isinstance(value[0], bool):
param_value_pair.bool_value = value[0]
elif isinstance(value[0], float):
param_value_pair.float_value = value[0]
elif isinstance(value[0], int):
param_value_pair.int_value = value[0]
return proto_message.SerializeToString()
except Exception as e:
bad_things_queue.put(
BadThing(sys.exc_info(),
"UDP packager thread has crashed with error:" +
str(e),
event=BAD_EVENTS.UDP_SEND_ERROR,
printStackTrace=True))
def package(state):
"""Helper function that packages the current state.
Parses through the state dictionary in key value pairs, creates a new message in the proto
for each sensor, and adds corresponding data to each field. Currently only supports a single limit_switch
switch as the rest of the state is just test fields.
"""
try:
proto_message = runtime_pb2.RuntimeData()
for devID, devVal in state.items():
if (devID == 'studentCodeState'):
proto_message.robot_state = devVal[
0] #check if we are dealing with sensor data or student code state
elif devID == 'limit_switch':
test_sensor = proto_message.sensor_data.add()
test_sensor.device_name = devID
test_sensor.device_type = devVal[0][0]
test_sensor.value = devVal[0][1]
test_sensor.uid = devVal[0][2]
return proto_message.SerializeToString()
except Exception as e:
badThingsQueue.put(
BadThing(sys.exc_info(),
"UDP packager thread has crashed with error:" +
str(e),
event=BAD_EVENTS.UDP_SEND_ERROR,
printStackTrace=True))
def receiver(_port, receive_queue):
"""Receive messages on port to receive queue."""
host = '127.0.0.1'
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, RECV_PORT))
while True:
msg, _ = sock.recvfrom(2048)
runtime_message = runtime_pb2.RuntimeData()
runtime_message.ParseFromString(msg)
receive_queue[0] = msg
def receiver(port, receive_queue):
host = '127.0.0.1'
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.bind((host, recv_port))
while True:
msg, addr = s.recvfrom(2048)
runtime_message = runtime_pb2.RuntimeData()
runtime_message.ParseFromString(msg)
print(runtime_message.robot_state)
for sensor in runtime_message.sensor_data:
print(sensor.device_type)
print(sensor.device_name)
print(sensor.value)
print(sensor.uid)
receive_queue[0] = msg