def __init__(self, db=INFLUXDB_DBNAME):
self.state = ObjState.ON
self.connect_influxdb(db)
self.sensor_sub = MQTTSubscriber(SENSOR_DETECTIONS)
self.sensor_sub.subscribe_topic(self.handle_sensor_data)
self.last_known_desired_pose = Pose()
self.controller_sub = MQTTSubscriber(ROBOT_MOVE)
self.controller_sub.subscribe_topic(self.handle_controller_data)
def test_sendJSON():
"""
Tests subscriber and publisher wrapper with JSON messages
"""
def assert_rx_message(client, userdata, message):
global JSON_MSG_COUNT
JSON_MSG_COUNT += 1
jsonifyed = json.loads(message.payload.decode("utf-8"))
assert(jsonifyed == DATA)
assert(ObjState(jsonifyed["state"]) == ObjState.ON)
global JSON_MSG_COUNT
TOPIC = 'test/json'
DATA = {"sensor": "basic sensor", "id": 4, "state": ObjState.ON.value}
pub = MQTTPublisher(TOPIC)
pub.start_publish()
sub = MQTTSubscriber(TOPIC)
sub.subscribe_topic(assert_rx_message)
time.sleep(0.025)
rc = pub.publish_topic(json.dumps(DATA))
assert(rc == MQTTPahoRC.SUCCESS)
time.sleep(0.025)
pub.disconnect()
sub.disconnect()
assert(JSON_MSG_COUNT == 1)
def __init__(self, robot, placement_pose, ID):
super().__init__(robot, placement_pose, ID, SensorType.BASIC)
self.state = ObjState.ON
self.detection_topic = SENSOR_PREFIX + str(self.id) + DETECTION_SUFFIX
self.detection_pub = MQTTPublisher(self.detection_topic)
self.state_topic = SENSOR_PREFIX + str(self.id) + STATE_SUFFIX
self.state_sub = MQTTSubscriber(self.state_topic)
self.state_sub.subscribe_topic(self.control_state)
self.disabled = False
def __init__(self, robot, print_design):
self.state = ObjState.ON
self.sensor_sub = MQTTSubscriber(SENSOR_DETECTIONS)
self.sensor_sub.subscribe_topic(self.handle_sensor_data)
self.move_pub = MQTTPublisher(ROBOT_MOVE)
self.state_sub = MQTTSubscriber(CONTROLLER_PREFIX + STATE_SUFFIX)
self.state_sub.subscribe_topic(self.control_state)
self.sensor_msg_count = 0
self.sensor_msg_count_prev = 0
self.closed_loop = True
self.disabled = False
self.print_design = print_design
self.pattern_seq = 0
self.print_completed = False
self.robot_actual_pose = Pose()
self.robot_previous_pose = Pose()
self.robot_desired_pose = Pose()
self.relative_move = Pose()
def test_simpleSubscriber():
"""
Tests subscriber wrapper with mqtt publishers
"""
def assert_rx_message(client, userdata, message):
global SUB_MSG_COUNT
SUB_MSG_COUNT += 1
assert(message.payload.decode("utf-8") == DATA)
global SUB_MSG_COUNT
TOPIC = 'test/data'
DATA = 'my message data here'
simple_pub = mqtt.Client()
simple_pub.connect(MOSQUITTO_SERVER, MOSQUITTO_PORT, MOSQUITTO_TIMEOUT)
sub = MQTTSubscriber(TOPIC)
assert(sub._connected == False)
assert(sub._subscribed == False)
sub.subscribe_topic(assert_rx_message)
assert(sub._connected == True)
assert(sub._subscribed == True)
time.sleep(0.05)
simple_pub.publish(TOPIC, DATA)
sub.unsubscribe()
assert(sub._connected == True)
assert(sub._subscribed == False)
simple_pub.publish(TOPIC, DATA)
sub.resubscribe()
assert(sub._connected == True)
assert(sub._subscribed == True)
sub.disconnect()
time.sleep(0.01)
assert(sub._connected == False)
assert(sub._subscribed == False)
simple_pub.disconnect()
assert(SUB_MSG_COUNT == 1)
def __init__(self):
self.state = ObjState.ON
self.move_sub = MQTTSubscriber(ROBOT_MOVE)
self.move_sub.subscribe_topic(self.move)
self.pose = Pose()