def test_process_stop_command(self):
d = {
'type': 'StopCommand',
'address': 'ev3-ports:outD',
'speed': 100,
'stop_action': 'coast'
}
robot_state = RobotState()
server = ClientSocketHandler(robot_state, None, 'left_brick')
data = server._process_stop_command(d)
val = self._deserialize(data)
self.assertAlmostEqual(0.0667, val, 3)
def test_process_data_request(self):
d = {
'type': 'DataRequest',
'address': 'ev3-ports:in4',
}
robot_state = RobotState()
robot_state.values['left_brick:ev3-ports:in4'] = 10
robot_state.locks['left_brick:ev3-ports:in4'] = threading.Lock()
server = ClientSocketHandler(robot_state, None, 'left_brick')
data = server._process_data_request(d)
val = self._deserialize(data)
self.assertEqual(val, 10)
def test_process_drive_command_pixels(self):
d = {
'type': 'RotateCommand',
'address': 'ev3-ports:outB',
'speed': 10,
'distance': 100,
'stop_action': 'hold'
}
robot_state = RobotState()
server = ClientSocketHandler(robot_state, None, 'left_brick')
data = server._process_drive_command(d)
val = self._deserialize(data)
self.assertEqual(10, val)
def test_process_sound_command(self):
d = {
'type': 'SoundCommand',
'message': 'A test is running at the moment!',
}
frames_per_second = get_config().get_data(
)['exec_settings']['frames_per_second']
frames = int(round((32 / 2.5) * frames_per_second))
robot_state = RobotState()
server = ClientSocketHandler(robot_state, None, 'left_brick')
server._process_sound_command(d)
for i in range(frames):
self.assertIsNotNone(robot_state.next_sound_job())
self.assertIsNone(robot_state.next_sound_job())
def run(self):
"""
Listen for incoming connections. When a connection is established spawn a ClientSocketHandler
to manage it. Multiple connections can be established at the same time.
"""
port = get_simulation_settings()['exec_settings']['socket_port']
for robot_sim in self.word_simulator.robot_simulators:
for brick in robot_sim.robot.get_bricks():
sock = ClientSocketHandler(robot_sim, brick.brick, brick.name)
sock.setDaemon(True)
sock.start()
self.brick_sockets[(robot_sim.robot.name, brick.name)] = sock
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('localhost', port))
server.listen(5)
server.setblocking(False)
server.settimeout(1)
print('Listening for connections...')
self.handle_sockets(server)
print('Closing server')
def create_handler(self, client,
connection_id: str) -> ClientSocketHandler:
"""
Start a ClientSocketHandler tread to manage the given connection.
:param client: of the connection to manage.
:param connection_id: of the connection.
:return: a newly created ClientSocketHandler object.
"""
handler = ClientSocketHandler(self.robot_state, client, connection_id)
handler.setDaemon(True)
handler.start()
return handler
def create_client_socket_handler():
robot_sim = create_robot_sim()
return ClientSocketHandler(robot_sim, 0, 'left_brick')