def main():
init_logging()
transport = SerialTransport()
c = Pytelemetry(transport)
options = dict()
options['port'] = "COM20"
options['baudrate'] = 115200
transport.connect(options)
#c.subscribe(None, printer)
bad_frame = bytearray(b'0700736f6d65746f70696300626f6f7961613ecc')
c.api._decode_frame(bad_frame)
c.publish('sometopic','booyaa','string')
timeout = time.time() + 3
while True:
c.update()
if time.time() > timeout:
break
transport.disconnect()
print("Done.")
def test_unexisting_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
c.publish('sometopic',12,'int323')
assert t.queue.qsize() == 0
def test_unexisting_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
with pytest.raises(IndexError):
c.publish('sometopic',12,'int323')
assert t.queue.qsize() == 0
def test_unexisting_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
with pytest.raises(IndexError):
c.publish('sometopic', 12, 'int323')
assert t.queue.qsize() == 0
def test_serial_stats():
# Setup
t = SerialTransport()
t.driver = driverMock()
c = Pytelemetry(t)
stats = t.stats()
assert stats['rx_bytes'] == 0
assert stats['rx_chunks'] == 0
assert stats['tx_bytes'] == 0
assert stats['tx_chunks'] == 0
c.publish('foo', 'bar', 'string')
stats = t.stats()
assert stats['rx_bytes'] == 0
assert stats['rx_chunks'] == 0
assert stats['tx_bytes'] == 13
assert stats['tx_chunks'] == 1
c.update()
stats = t.stats()
assert stats['rx_bytes'] == 13
assert stats[
'rx_chunks'] == 13 # TODO : For now data read byte after byter. To replace by read in bulk
assert stats['tx_bytes'] == 13
assert stats['tx_chunks'] == 1
c.publish('fooqux', -32767, 'int16')
stats = t.stats()
assert stats['rx_bytes'] == 13
assert stats['rx_chunks'] == 13
assert stats['tx_bytes'] == 13 + 15
assert stats['tx_chunks'] == 2
c.update()
stats = t.stats()
assert stats['rx_bytes'] == 13 + 15
assert stats['rx_chunks'] == 13 + 15
assert stats['tx_bytes'] == 13 + 15
assert stats['tx_chunks'] == 2
t.resetStats()
stats = t.stats()
assert stats['rx_bytes'] == 0
assert stats['rx_chunks'] == 0
assert stats['tx_bytes'] == 0
assert stats['tx_chunks'] == 0
def test_wrong_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
with pytest.raises(Exception) as excinfo:
c.publish('sometopic', 12, 'string')
# TODO : Assert exception
assert t.queue.qsize() == 0
def test_wrong_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
with pytest.raises(Exception) as excinfo:
c.publish('sometopic',12,'string')
# TODO : Assert exception
assert t.queue.qsize() == 0
def test_hardcoded():
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic","data"])
c.subscribe('sometopic ',cb)
# Apply hardcoded frame directly generated by the c library
# SOF head sometopic..................................... eol 12457........ crc..... eof
t.write([247, 6, 0, 115, 111, 109, 101, 116, 111, 112, 105, 99, 32, 0, 169, 48, 0, 0, 111, 249, 127])
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with('sometopic ',12457, None)
def test_serial_stats():
# Setup
t = SerialTransport()
t.driver = driverMock()
c = Pytelemetry(t)
stats = t.stats()
assert stats["rx_bytes"] == 0
assert stats["rx_chunks"] == 0
assert stats["tx_bytes"] == 0
assert stats["tx_chunks"] == 0
c.publish("foo", "bar", "string")
stats = t.stats()
assert stats["rx_bytes"] == 0
assert stats["rx_chunks"] == 0
assert stats["tx_bytes"] == 13
assert stats["tx_chunks"] == 1
c.update()
stats = t.stats()
assert stats["rx_bytes"] == 13
assert stats["rx_chunks"] == 13 # TODO : For now data read byte after byter. To replace by read in bulk
assert stats["tx_bytes"] == 13
assert stats["tx_chunks"] == 1
c.publish("fooqux", -32767, "int16")
stats = t.stats()
assert stats["rx_bytes"] == 13
assert stats["rx_chunks"] == 13
assert stats["tx_bytes"] == 13 + 15
assert stats["tx_chunks"] == 2
c.update()
stats = t.stats()
assert stats["rx_bytes"] == 13 + 15
assert stats["rx_chunks"] == 13 + 15
assert stats["tx_bytes"] == 13 + 15
assert stats["tx_chunks"] == 2
t.resetStats()
stats = t.stats()
assert stats["rx_bytes"] == 0
assert stats["rx_chunks"] == 0
assert stats["tx_bytes"] == 0
assert stats["tx_chunks"] == 0
def test_topic_contains_space_both_ends():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe(' topicwithspaces ', cb)
c.publish(' topicwithspaces ', 1234567, 'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with(' topicwithspaces ', 1234567, None)
def main():
init_logging()
transport = SerialTransport()
c = Pytelemetry(transport)
options = dict()
options['port'] = "COM20"
options['baudrate'] = 115200
transport.connect(options)
#c.subscribe(None, printer)
bad_frame = bytearray(b'0700736f6d65746f70696300626f6f7961613ecc')
c.api._decode_frame(bad_frame)
c.publish('sometopic', 'booyaa', 'string')
timeout = time.time() + 3
while True:
c.update()
if time.time() > timeout:
break
transport.disconnect()
print("Done.")
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self, stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport, self.telemetry, self.plots,
self.plotsLock, self.topics)
self.telemetry.subscribe(None, self.topics.process)
self.types_lookup = {
'--s': 'string',
'--u8': 'uint8',
'--u16': 'uint16',
'--u32': 'uint32',
'--i8': 'int8',
'--i16': 'int16',
'--i32': 'int32',
'--f32': 'float32'
}
logger.info("Module path : %s" %
os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def test_topic_contains_space_both_ends():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic","data","opts"])
c.subscribe(' topicwithspaces ',cb)
c.publish(' topicwithspaces ',1234567,'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with(' topicwithspaces ',1234567,None)
def test_hardcoded():
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data"])
c.subscribe('sometopic ', cb)
# Apply hardcoded frame directly generated by the c library
# SOF head sometopic..................................... eol 12457........ crc..... eof
t.write([
247, 6, 0, 115, 111, 109, 101, 116, 111, 112, 105, 99, 32, 0, 169, 48,
0, 0, 111, 249, 127
])
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with('sometopic ', 12457, None)
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self,stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport,
self.telemetry,
self.plots,
self.plotsLock,
self.topics)
self.telemetry.subscribe(None,self.topics.process)
self.types_lookup = {'--s' : 'string',
'--u8' : 'uint8',
'--u16' : 'uint16',
'--u32' : 'uint32',
'--i8' : 'int8',
'--i16' : 'int16',
'--i32' : 'int32',
'--f32' : 'float32'}
logger.info("Module path : %s" % os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def test_protocol_stats():
t = transportMock()
p = Pytelemetry(t)
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 0
assert measures["rx_corrupted_crc"] == 0
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# Add a frame inside the transport queue
t.write(bytearray.fromhex("f70700666f6f0062617247027f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 0
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# replaced CRC '4702' by '4701' to corrupt crc
t.write(bytearray.fromhex("f70700666f6f0062617247017f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 1
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# replaced byte n3 '00' by '10' to corrupt crc
t.write(bytearray.fromhex("f70710666f6f0062617247027f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
#crc = crc16(bytearray.fromhex("0900666f6f00626172"))
#print(crc)
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Replaced header from 0700 to 0900 to corrupt it. Crc is valid to not discard
t.write(bytearray.fromhex("f70900666f6f006261725fc57f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
#crc = crc16(bytearray.fromhex("0700666f6f01626172"))
#print(crc)
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Removed EOL. Crc is valid to not discard
t.write(bytearray.fromhex("f70700666f6f0162617224417f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 1
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# Impossible to detect corrupted payload of type string because length is unkown. One more reason to store framesize inside frame
# Use a frame of type u32 instead
#crc = crc16(bytearray.fromhex("03006b6c6d6f707100ffffff"))
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Corruped payload by removing third & fourth hex number from end. Crc will pass
#
t.write(bytearray.fromhex("f703006b6c6d6f707100fffffff2dd7f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 1
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 1
assert measures["tx_encoded_frames"] == 0
topmeasures = p.stats()
assert measures["rx_decoded_frames"] == topmeasures['protocol']["rx_decoded_frames"]
assert measures["rx_corrupted_crc"] == topmeasures['protocol']["rx_corrupted_crc"]
assert measures["rx_corrupted_header"] == topmeasures['protocol']["rx_corrupted_header"]
assert measures["rx_corrupted_eol"] == topmeasures['protocol']["rx_corrupted_eol"]
assert measures["rx_corrupted_topic"] == topmeasures['protocol']["rx_corrupted_topic"]
assert measures["rx_corrupted_payload"] == topmeasures['protocol']["rx_corrupted_payload"]
assert measures["tx_encoded_frames"] == topmeasures['protocol']["tx_encoded_frames"]
p.publish("boo", 123, "uint8")
# get measurements
measures = p.stats()
assert measures['protocol']["rx_decoded_frames"] == 1
assert measures['protocol']["rx_corrupted_crc"] == 2
assert measures['protocol']["rx_corrupted_header"] == 1
assert measures['protocol']["rx_corrupted_eol"] == 1
assert measures['protocol']["rx_corrupted_topic"] == 0
assert measures['protocol']["rx_corrupted_payload"] == 1
assert measures['protocol']["tx_encoded_frames"] == 1
measures = p.api.delimiter.stats()
assert measures["rx_processed_bytes"] > 0
assert measures["rx_discarded_bytes"] == 0
assert measures["rx_escaped_bytes"] == 0
assert measures["rx_complete_frames"] > 0
assert measures["rx_uncomplete_frames"] == 0
assert measures["tx_processed_bytes"] > 0
assert measures["tx_encoded_frames"] > 0
assert measures["tx_escaped_bytes"] == 0
p.resetStats()
measures = p.stats()
assert measures['protocol']["rx_decoded_frames"] == 0
assert measures['protocol']["rx_corrupted_crc"] == 0
assert measures['protocol']["rx_corrupted_header"] == 0
assert measures['protocol']["rx_corrupted_eol"] == 0
assert measures['protocol']["rx_corrupted_topic"] == 0
assert measures['protocol']["rx_corrupted_payload"] == 0
assert measures['protocol']["tx_encoded_frames"] == 0
assert measures['framing']["rx_processed_bytes"] == 0
assert measures['framing']["rx_discarded_bytes"] == 0
assert measures['framing']["rx_escaped_bytes"] == 0
assert measures['framing']["rx_complete_frames"] == 0
assert measures['framing']["rx_uncomplete_frames"] == 0
assert measures['framing']["tx_processed_bytes"] == 0
assert measures['framing']["tx_encoded_frames"] == 0
assert measures['framing']["tx_escaped_bytes"] == 0
def test_end_to_end_string():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic","data","opts"])
default_cb = mock.Mock(spec=["topic","data","opts"])
c.subscribe('sometopic',cb)
c.subscribe(None,default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic','someMessage','string')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with('sometopic','someMessage',None)
# test default callback
c.publish('othertopic','otherMessage','string')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
default_cb.assert_called_once_with('othertopic','otherMessage',None)
def test_end_to_end_uints():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 255, 'uint8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 255, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 65535, 'uint16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 65535, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 4294967295, 'uint32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 4294967295, None)
def test_end_to_end_uints():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic","data","opts"])
default_cb = mock.Mock(spec=["topic","data","opts"])
c.subscribe('sometopic',cb)
c.subscribe(None,default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',255,'uint8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',255,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',65535,'uint16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',65535,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',4294967295,'uint32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',4294967295,None)
class Application(cmd.Cmd):
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self, stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport, self.telemetry, self.plots,
self.plotsLock, self.topics)
self.telemetry.subscribe(None, self.topics.process)
self.types_lookup = {
'--s': 'string',
'--u8': 'uint8',
'--u16': 'uint16',
'--u32': 'uint32',
'--i8': 'int8',
'--i16': 'int16',
'--i32': 'int32',
'--f32': 'float32'
}
logger.info("Module path : %s" %
os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def emptyline(self):
pass # Override default behavior to repeat last command if empty input
@docopt_cmd
def do_serial(self, arg):
"""
List serial ports or connect to one of them.
Usage: serial ((-l | --list) | <port> [options])
Options:
-b X, --bauds X Connection speed in bauds [default: 9600]
"""
if arg['--list'] or arg['-l']:
self.stdout.write("Available COM ports:\n")
for port, desc, hid in list_ports.comports():
self.stdout.write("%s \t %s\n" % (port, desc))
return
try:
self.runner.disconnect()
logger.warn("User requested connect without desconnecting first.")
except (IOError, AttributeError) as e:
logger.warn(
"Already disconnected. Continuing happily. E : {0}".format(e))
pass
self.topics.clear()
logger.info("Cleared all topics for new session.")
self.transport.resetStats(averaging_window=10)
self.runner.resetStats()
self.telemetry.resetStats()
logger.info("Cleared all stats for new session.")
try:
b = int(arg['--bauds'])
self.runner.connect(arg['<port>'], b)
except IOError as e:
self.stdout.write(
"Failed to connect to {0} at {1} (bauds).\n".format(
arg['<port>'], b))
logger.warn(
"Failed to connect to {0} at {1} (bauds). E : \n".format(
arg['<port>'], b, e))
else:
s = "Connected to {0} at {1} (bauds).\n".format(arg['<port>'], b)
self.stdout.write(s)
logger.info(s)
@docopt_cmd
def do_print(self, arg):
"""
Prints X last received samples from <topic>.
Usage: print <topic> [options]
Options:
-a, --all Display all received samples under <topic>
-l X, --limit X Display X last received samples under <topic> [default: 1]
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(
topic)
self.stdout.write(s)
logger.warn(s)
return
try:
if arg['--all']:
amount = 0 # 0 is understood as 'return all samples' by self.topics.samples()
else:
amount = int(arg['--limit'])
except:
s = "Could not cast --limit = '{0}' to integer. Using 1.\n".format(
arg['--limit'])
self.stdout.write(s)
logger.warn(s)
amount = 1
s = self.topics.samples(topic, amount)
if s is not None:
for i in s:
self.stdout.write("{0}\n".format(i))
else:
logger.error(
"Could not retrieve {0} sample(s) under topic '{1}'.\n".format(
amount, topic))
@docopt_cmd
def do_ls(self, arg):
"""
Prints available topics. Topics are basically labels under which data is available (for display, plot, etc).
Data can come from remote source (a connected embedded device) or the command-line interface itself (reception speed, etc).
Without flags, prints a list of remote topics.
Usage: ls [options]
Options:
-c, --cli Prints all CLI topics. Use this to display topics for monitoring reception speed, errors amount, etc.
"""
if arg['--cli']:
for topic in self.topics.ls(source='cli'):
self.stdout.write("%s\n" % topic)
return
for topic in self.topics.ls(source='remote'):
self.stdout.write("%s\n" % topic)
@docopt_cmd
def do_plot(self, arg):
"""
Plots <topic> in a graph window.
Usage: plot <topic>
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(
topic)
self.stdout.write(s)
logger.warn(s)
return
if self.topics.intransfer(topic):
s = "Topic '{0}' already plotting.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
has_indexes = self.topics.has_indexed_data(arg['<topic>'])
if has_indexes:
plotType = PlotType.indexed
transferType = "indexed"
else:
plotType = PlotType.linear
transferType = "linear"
p = Superplot(topic, plotType)
q, ctrl = p.start()
# Protect self.plots from modifications from the runner thread
self.plotsLock.acquire()
self.plots.append({
'topic': topic,
'plot': p, # Plot handler
'queue': q, # Data queue
'ctrl': ctrl # Plot control pipe
})
self.plotsLock.release()
self.topics.transfer(topic, q, transfer_type=transferType)
s = "Plotting '{0}' in mode [{1}].\n".format(topic, transferType)
logger.info(s)
self.stdout.write(s)
@docopt_cmd
def do_pub(self, arg):
"""
Publishes a (value | string) on <topic>.
Usage: pub (--u8 | --u16 | --u32 | --i8 | --i16 | --i32 | --f32 | --s) <topic> <value>
"""
if arg['--f32']:
arg['<value>'] = float(arg['<value>'])
elif not arg['--s']:
try:
arg['<value>'] = int(arg['<value>'])
except:
# User most likely entered a float with an integer flag
inter = float(arg['<value>'])
rounded = int(inter)
if isclose(inter, rounded):
arg['<value>'] = rounded
else:
s = "Aborted : Wrote decimal number ({0}) with integer flag.".format(
arg['<value>'])
self.stdout.write(s + "\n")
logger.warning(s)
return
subset = {
k: arg[k]
for k in ("--u8", "--u16", "--u32", "--i8", "--i16", "--i32",
"--f32", "--s")
}
valtype = None
for i, k in subset.items():
if k:
valtype = self.types_lookup[i]
if not valtype:
logger.error("Payload type [{0}] unkown.".format(arg))
return
try:
self.telemetry.publish(arg['<topic>'], arg['<value>'], valtype)
except SerialTimeoutException as e:
self.stdout.write("Pub failed. Connection most likely terminated.")
logger.error(
"Pub failed. Connection most likely terminated. exception : %s"
% e)
return
except AttributeError as e:
self.stdout.write(
"Pub failed because you are not connected to any device. Connect first using `serial` command."
)
logger.warning(
"Trying to publish while not connected. exception : %s" % e)
return
s = "Published on topic '{0}' : {1} [{2}]".format(
arg['<topic>'], arg['<value>'], valtype)
self.stdout.write(s + "\n")
logger.info(s)
@docopt_cmd
def do_count(self, arg):
"""
Prints a count of received samples for each topic.
Usage: count
"""
for topic in self.topics.ls():
self.stdout.write("{0} : {1}\n".format(topic,
self.topics.count(topic)))
@docopt_cmd
def do_disconnect(self, arg):
"""
Disconnects from any open connection.
Usage: disconnect
"""
try:
self.runner.disconnect()
self.stdout.write("Disconnected.\n")
logger.info("Disconnected.")
measures = self.transport.stats()
for key, item in measures.items():
logger.info("Raw IO : %s : %s" % (key, item))
measures = self.runner.stats()
for key, item in measures.items():
logger.info("IO speeds : %s : %s" % (key, item))
measures = self.telemetry.stats()
for key, item in measures['framing'].items():
logger.info("Framing : %s : %s" % (key, item))
for key, item in measures['protocol'].items():
logger.info("Protocol : %s : %s" % (key, item))
logger.info("Logged session statistics.")
except:
logger.warn("Already disconnected. Continuing happily.")
@docopt_cmd
def do_info(self, arg):
"""
Prints out cli.py full path, module version.
Usage: info
"""
self.stdout.write("- CLI path : %s\n" %
os.path.dirname(os.path.realpath(__file__)))
try:
self.stdout.write("- version : %s\n" % __version__)
except:
self.stdout.write("- version : not found.\n")
@docopt_cmd
def do_stats(self, arg):
"""
Displays different metrics about the active transport (ex : serial port).
This allows you to know if for instance corrupted frames are received, what fraction
of the maximum baudrate is being used, etc.
Usage: stats
"""
measures = self.transport.stats()
self.stdout.write("Raw IO:\n")
for key, item in measures.items():
self.stdout.write("\t%s : %s\n" % (key, item))
measures = self.runner.stats()
self.stdout.write("IO speeds:\n")
for key, item in measures.items():
self.stdout.write("\t%s : %s\n" % (key, item))
measures = self.telemetry.stats()
self.stdout.write("Framing:\n")
for key, item in measures['framing'].items():
self.stdout.write("\t%s : %s\n" % (key, item))
self.stdout.write("Protocol:\n")
for key, item in measures['protocol'].items():
self.stdout.write("\t%s : %s\n" % (key, item))
def do_quit(self, arg):
"""
Exits the terminal application.
Usage: quit
"""
self.runner.terminate()
self.do_disconnect("")
self.stdout.write("Good Bye!\n")
logger.info("Application quit.")
exit()
def test_end_to_end_ints():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 127, 'int8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 127, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -127, 'int8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', -127, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 32767, 'int16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 32767, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -32767, 'int16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', -32767, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 2147483647, 'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 2147483647, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -2147483647, 'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', -2147483647, None)
import runner
from pytelemetry import Pytelemetry
import pytelemetry.transports.serialtransport as transports
import time
transport = transports.SerialTransport()
telemetry = Pytelemetry(transport)
app = runner.Runner(transport, telemetry)
def printer(topic, data, options):
if options:
print(topic, '[', options['index'], "] : ", data)
else:
print(topic, " : ", data)
options = dict()
port = "COM20"
bauds = 115200
app.connect(port, bauds)
print("Connected.")
telemetry.subscribe(None, printer)
telemetry.publish('bar', 1354, 'int32')
time.sleep(3)
app.terminate()
print("Done.")
def test_end_to_end_floats():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 0.0, 'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 0.0, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 3.4028234e38, 'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
assert abs(cb.call_args[0][1] - 3.4028234e38) <= max(
1e-7 * max(abs(cb.call_args[0][1]), abs(3.4028234e38)), 0.0)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -3.4028234e38, 'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
assert abs(cb.call_args[0][1] - (-3.4028234e38)) <= max(
1e-7 * max(abs(cb.call_args[0][1]), abs(-3.4028234e38)), 0.0)
import tkinter as tk
from pytelemetry import Pytelemetry
import pytelemetry.transports.serialtransport as transports
pressedKeys = dict()
direction = 0
throttle = 0
# Configure pytelemetry
transport = transports.SerialTransport()
telemetry = Pytelemetry(transport)
def clear():
global pressedKey
global direction
global throttle
pressedKeys['Up'] = False
pressedKeys['Down'] = False
pressedKeys['Left'] = False
pressedKeys['Right'] = False
direction = 0
throttle = 0
def onKeyPress(event):
global pressedKey
pressedKeys[event.keysym] = True
def onKeyRelease(event):
global pressedKey
pressedKeys[event.keysym] = False
def test_protocol_stats():
t = transportMock()
p = Pytelemetry(t)
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 0
assert measures["rx_corrupted_crc"] == 0
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# Add a frame inside the transport queue
t.write(bytearray.fromhex("f70700666f6f0062617247027f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 0
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# replaced CRC '4702' by '4701' to corrupt crc
t.write(bytearray.fromhex("f70700666f6f0062617247017f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 1
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# replaced byte n3 '00' by '10' to corrupt crc
t.write(bytearray.fromhex("f70710666f6f0062617247027f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
#crc = crc16(bytearray.fromhex("0900666f6f00626172"))
#print(crc)
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Replaced header from 0700 to 0900 to corrupt it. Crc is valid to not discard
t.write(bytearray.fromhex("f70900666f6f006261725fc57f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
#crc = crc16(bytearray.fromhex("0700666f6f01626172"))
#print(crc)
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Removed EOL. Crc is valid to not discard
t.write(bytearray.fromhex("f70700666f6f0162617224417f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 1
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# Impossible to detect corrupted payload of type string because length is unkown. One more reason to store framesize inside frame
# Use a frame of type u32 instead
#crc = crc16(bytearray.fromhex("03006b6c6d6f707100ffffff"))
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Corruped payload by removing third & fourth hex number from end. Crc will pass
#
t.write(bytearray.fromhex("f703006b6c6d6f707100fffffff2dd7f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 1
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 1
assert measures["tx_encoded_frames"] == 0
topmeasures = p.stats()
assert measures["rx_decoded_frames"] == topmeasures['protocol'][
"rx_decoded_frames"]
assert measures["rx_corrupted_crc"] == topmeasures['protocol'][
"rx_corrupted_crc"]
assert measures["rx_corrupted_header"] == topmeasures['protocol'][
"rx_corrupted_header"]
assert measures["rx_corrupted_eol"] == topmeasures['protocol'][
"rx_corrupted_eol"]
assert measures["rx_corrupted_topic"] == topmeasures['protocol'][
"rx_corrupted_topic"]
assert measures["rx_corrupted_payload"] == topmeasures['protocol'][
"rx_corrupted_payload"]
assert measures["tx_encoded_frames"] == topmeasures['protocol'][
"tx_encoded_frames"]
p.publish("boo", 123, "uint8")
# get measurements
measures = p.stats()
assert measures['protocol']["rx_decoded_frames"] == 1
assert measures['protocol']["rx_corrupted_crc"] == 2
assert measures['protocol']["rx_corrupted_header"] == 1
assert measures['protocol']["rx_corrupted_eol"] == 1
assert measures['protocol']["rx_corrupted_topic"] == 0
assert measures['protocol']["rx_corrupted_payload"] == 1
assert measures['protocol']["tx_encoded_frames"] == 1
measures = p.api.delimiter.stats()
assert measures["rx_processed_bytes"] > 0
assert measures["rx_discarded_bytes"] == 0
assert measures["rx_escaped_bytes"] == 0
assert measures["rx_complete_frames"] > 0
assert measures["rx_uncomplete_frames"] == 0
assert measures["tx_processed_bytes"] > 0
assert measures["tx_encoded_frames"] > 0
assert measures["tx_escaped_bytes"] == 0
p.resetStats()
measures = p.stats()
assert measures['protocol']["rx_decoded_frames"] == 0
assert measures['protocol']["rx_corrupted_crc"] == 0
assert measures['protocol']["rx_corrupted_header"] == 0
assert measures['protocol']["rx_corrupted_eol"] == 0
assert measures['protocol']["rx_corrupted_topic"] == 0
assert measures['protocol']["rx_corrupted_payload"] == 0
assert measures['protocol']["tx_encoded_frames"] == 0
assert measures['framing']["rx_processed_bytes"] == 0
assert measures['framing']["rx_discarded_bytes"] == 0
assert measures['framing']["rx_escaped_bytes"] == 0
assert measures['framing']["rx_complete_frames"] == 0
assert measures['framing']["rx_uncomplete_frames"] == 0
assert measures['framing']["tx_processed_bytes"] == 0
assert measures['framing']["tx_encoded_frames"] == 0
assert measures['framing']["tx_escaped_bytes"] == 0
def test_end_to_end_floats():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic","data","opts"])
default_cb = mock.Mock(spec=["topic","data","opts"])
c.subscribe('sometopic',cb)
c.subscribe(None,default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',0.0,'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',0.0,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',3.4028234e38,'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
assert abs(cb.call_args[0][1] - 3.4028234e38) <= max(1e-7 * max(abs(cb.call_args[0][1]), abs(3.4028234e38)), 0.0)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',-3.4028234e38,'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
assert abs(cb.call_args[0][1] - (-3.4028234e38)) <= max(1e-7 * max(abs(cb.call_args[0][1]), abs(-3.4028234e38)), 0.0)
# --------- Import modules ---------- #
from pytelemetry import Pytelemetry
from pytelemetry.transports.serialtransport import *
import time
import socket
import json
# ---- Global Variables ---- #
# load envVariable.json
with open('./envVariable.json') as f:
jsonFile = json.load(f)
config = json.loads(json.dumps(jsonFile))
transport = SerialTransport()
c = Pytelemetry(transport)
"""
*
* Function Name: init_port_forward
* Input: test boolean
* Output: None
* Logic: Initialises socket server, that communicates with js client
* Example Call: int_port_forward()
*
"""
def init_port_forward(test=False):
print("starting port from server")
HOST = '127.0.0.1' # Standard loopback interface address (localhost)
# Port to listen on (non-privileged ports are > 1023)
PORT = config["telemetrySocketPort"]
def test_end_to_end_ints():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic","data","opts"])
default_cb = mock.Mock(spec=["topic","data","opts"])
c.subscribe('sometopic',cb)
c.subscribe(None,default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',127,'int8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',127,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',-127,'int8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',-127,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',32767,'int16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',32767,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',-32767,'int16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',-32767,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',2147483647,'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',2147483647,None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic',-2147483647,'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic',-2147483647,None)
class Application (cmd.Cmd):
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self,stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport,
self.telemetry,
self.plots,
self.plotsLock,
self.topics)
self.telemetry.subscribe(None,self.topics.process)
self.types_lookup = {'--s' : 'string',
'--u8' : 'uint8',
'--u16' : 'uint16',
'--u32' : 'uint32',
'--i8' : 'int8',
'--i16' : 'int16',
'--i32' : 'int32',
'--f32' : 'float32'}
logger.info("Module path : %s" % os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def emptyline(self):
pass # Override default behavior to repeat last command if empty input
@docopt_cmd
def do_serial(self, arg):
"""
List serial ports or connect to one of them.
Usage: serial ((-l | --list) | <port> [options])
Options:
-b X, --bauds X Connection speed in bauds [default: 9600]
"""
if arg['--list'] or arg['-l']:
self.stdout.write("Available COM ports:\n")
for port,desc,hid in list_ports.comports():
self.stdout.write("%s \t %s\n" % (port,desc))
return
try:
self.runner.disconnect()
logger.warn("User requested connect without desconnecting first.")
except (IOError,AttributeError) as e:
logger.warn("Already disconnected. Continuing happily. E : {0}"
.format(e))
pass
self.topics.clear()
logger.info("Cleared all topics for new session.")
self.transport.resetStats(averaging_window=10)
self.runner.resetStats()
self.telemetry.resetStats()
logger.info("Cleared all stats for new session.")
try:
b = int(arg['--bauds'])
self.runner.connect(arg['<port>'],b)
except IOError as e:
self.stdout.write("Failed to connect to {0} at {1} (bauds).\n"
.format(arg['<port>'],b))
logger.warn("Failed to connect to {0} at {1} (bauds). E : \n"
.format(arg['<port>'],b,e))
else:
s = "Connected to {0} at {1} (bauds).\n".format(arg['<port>'],b)
self.stdout.write(s)
logger.info(s)
@docopt_cmd
def do_print(self, arg):
"""
Prints X last received samples from <topic>.
Usage: print <topic> [options]
Options:
-a, --all Display all received samples under <topic>
-l X, --limit X Display X last received samples under <topic> [default: 1]
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
try:
if arg['--all']:
amount = 0 # 0 is understood as 'return all samples' by self.topics.samples()
else:
amount = int(arg['--limit'])
except:
s = "Could not cast --limit = '{0}' to integer. Using 1.\n".format(arg['--limit'])
self.stdout.write(s)
logger.warn(s)
amount = 1
s = self.topics.samples(topic,amount)
if s is not None:
for i in s:
self.stdout.write("{0}\n".format(i))
else:
logger.error("Could not retrieve {0} sample(s) under topic '{1}'.\n".format(amount,topic))
@docopt_cmd
def do_ls(self, arg):
"""
Prints available topics. Topics are basically labels under which data is available (for display, plot, etc).
Data can come from remote source (a connected embedded device) or the command-line interface itself (reception speed, etc).
Without flags, prints a list of remote topics.
Usage: ls [options]
Options:
-c, --cli Prints all CLI topics. Use this to display topics for monitoring reception speed, errors amount, etc.
"""
if arg['--cli']:
for topic in self.topics.ls(source='cli'):
self.stdout.write("%s\n" % topic)
return
for topic in self.topics.ls(source='remote'):
self.stdout.write("%s\n" % topic)
@docopt_cmd
def do_plot(self, arg):
"""
Plots <topic> in a graph window.
Usage: plot <topic>
"""
topic = arg['<topic>']
if not self.topics.exists(topic):
s = "Topic '{0}' unknown. Type 'ls' to list all available topics.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
if self.topics.intransfer(topic):
s = "Topic '{0}' already plotting.\n".format(topic)
self.stdout.write(s)
logger.warn(s)
return
has_indexes = self.topics.has_indexed_data(arg['<topic>'])
if has_indexes:
plotType = PlotType.indexed
transferType = "indexed"
else:
plotType = PlotType.linear
transferType = "linear"
p = Superplot(topic,plotType)
q, ctrl = p.start()
# Protect self.plots from modifications from the runner thread
self.plotsLock.acquire()
self.plots.append({
'topic': topic,
'plot': p, # Plot handler
'queue': q, # Data queue
'ctrl': ctrl # Plot control pipe
})
self.plotsLock.release()
self.topics.transfer(topic,q, transfer_type=transferType)
s = "Plotting '{0}' in mode [{1}].\n".format(topic,transferType)
logger.info(s)
self.stdout.write(s)
@docopt_cmd
def do_pub(self, arg):
"""
Publishes a (value | string) on <topic>.
Usage: pub (--u8 | --u16 | --u32 | --i8 | --i16 | --i32 | --f32 | --s) <topic> <value>
"""
if arg['--f32']:
arg['<value>'] = float(arg['<value>'])
elif not arg['--s']:
try:
arg['<value>'] = int(arg['<value>'])
except:
# User most likely entered a float with an integer flag
inter = float(arg['<value>'])
rounded = int(inter)
if isclose(inter,rounded):
arg['<value>'] = rounded
else:
s = "Aborted : Wrote decimal number ({0}) with integer flag.".format(arg['<value>'])
self.stdout.write(s + "\n")
logger.warning(s)
return
subset = {k: arg[k] for k in ("--u8","--u16","--u32","--i8","--i16","--i32","--f32","--s")}
valtype = None
for i, k in subset.items():
if k:
valtype = self.types_lookup[i]
if not valtype:
logger.error(
"Payload type [{0}] unkown."
.format(arg))
return
try:
self.telemetry.publish(arg['<topic>'],arg['<value>'],valtype)
except SerialTimeoutException as e:
self.stdout.write("Pub failed. Connection most likely terminated.")
logger.error("Pub failed. Connection most likely terminated. exception : %s" % e)
return
except AttributeError as e:
self.stdout.write("Pub failed because you are not connected to any device. Connect first using `serial` command.")
logger.warning("Trying to publish while not connected. exception : %s" % e)
return
s = "Published on topic '{0}' : {1} [{2}]".format(arg['<topic>'], arg['<value>'],valtype)
self.stdout.write(s + "\n")
logger.info(s)
@docopt_cmd
def do_count(self, arg):
"""
Prints a count of received samples for each topic.
Usage: count
"""
for topic in self.topics.ls():
self.stdout.write("{0} : {1}\n".format(topic, self.topics.count(topic)))
@docopt_cmd
def do_disconnect(self, arg):
"""
Disconnects from any open connection.
Usage: disconnect
"""
try:
self.runner.disconnect()
self.stdout.write("Disconnected.\n")
logger.info("Disconnected.")
measures = self.transport.stats()
for key,item in measures.items():
logger.info("Raw IO : %s : %s" % (key,item))
measures = self.runner.stats()
for key,item in measures.items():
logger.info("IO speeds : %s : %s" % (key,item))
measures = self.telemetry.stats()
for key,item in measures['framing'].items():
logger.info("Framing : %s : %s" % (key,item))
for key,item in measures['protocol'].items():
logger.info("Protocol : %s : %s" % (key,item))
logger.info("Logged session statistics.")
except:
logger.warn("Already disconnected. Continuing happily.")
@docopt_cmd
def do_info(self, arg):
"""
Prints out cli.py full path, module version.
Usage: info
"""
self.stdout.write("- CLI path : %s\n" % os.path.dirname(os.path.realpath(__file__)))
try:
self.stdout.write("- version : %s\n" % __version__)
except:
self.stdout.write("- version : not found.\n")
@docopt_cmd
def do_stats(self, arg):
"""
Displays different metrics about the active transport (ex : serial port).
This allows you to know if for instance corrupted frames are received, what fraction
of the maximum baudrate is being used, etc.
Usage: stats
"""
measures = self.transport.stats()
self.stdout.write("Raw IO:\n")
for key,item in measures.items():
self.stdout.write("\t%s : %s\n" % (key,item))
measures = self.runner.stats()
self.stdout.write("IO speeds:\n")
for key,item in measures.items():
self.stdout.write("\t%s : %s\n" % (key,item))
measures = self.telemetry.stats()
self.stdout.write("Framing:\n")
for key,item in measures['framing'].items():
self.stdout.write("\t%s : %s\n" % (key,item))
self.stdout.write("Protocol:\n")
for key,item in measures['protocol'].items():
self.stdout.write("\t%s : %s\n" % (key,item))
def do_quit(self, arg):
"""
Exits the terminal application.
Usage: quit
"""
self.runner.terminate()
self.do_disconnect("")
self.stdout.write("Good Bye!\n")
logger.info("Application quit.")
exit()
import runner
from pytelemetry import Pytelemetry
import pytelemetry.transports.serialtransport as transports
import time
transport = transports.SerialTransport()
telemetry = Pytelemetry(transport)
app = runner.Runner(transport,telemetry)
def printer(topic, data, options):
if options:
print(topic,'[',options['index'],"] : ", data)
else:
print(topic," : ", data)
options = dict()
port = "COM20"
bauds = 115200
app.connect(port,bauds)
print("Connected.")
telemetry.subscribe(None, printer)
telemetry.publish('bar',1354,'int32')
time.sleep(3)
app.terminate()
print("Done.")
def test_end_to_end_string():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 'someMessage', 'string')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with('sometopic', 'someMessage', None)
# test default callback
c.publish('othertopic', 'otherMessage', 'string')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
default_cb.assert_called_once_with('othertopic', 'otherMessage', None)
