def _update_clock(self, event: ReceiveEvent) -> None:
"""Handle any clock update."""
if event.time is not None:
self.current_time = event.time
self._mcu_state_synchronizer.input(
states.UpdateEvent(time=self.current_time))
self._frontend_state_synchronizer.input(
states.UpdateEvent(time=self.current_time))
self._file_state_synchronizer.input(
states.UpdateEvent(time=self.current_time))
def test_sync_outputs_multitype() -> None:
"""Test multi-type output scheduling from input sequences."""
synchronizer = states.Synchronizer(message_classes=mcu.MESSAGE_CLASSES,
output_schedule=collections.deque([
states.ScheduleEntry(time=0.1,
type=pb.Ping),
states.ScheduleEntry(
time=0.9, type=pb.Announcement),
]))
# schedule has not yet started
assert synchronizer.output_schedule[0].time == 0.1
assert synchronizer.output_deadline is None
assert synchronizer.output() is None
# schedule entry 1
synchronizer.input(states.UpdateEvent(time=0, pb_message=pb.Ping(id=1)))
synchronizer.input(
states.UpdateEvent(pb_message=pb.Announcement(announcement=b'1')))
assert synchronizer.current_time == 0
assert synchronizer.output_schedule[0].time == 0.1
assert synchronizer.output_deadline == 0.1
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=1)
assert synchronizer.all_states[pb.Announcement] == pb.Announcement(
announcement=b'1')
update_clock(synchronizer, 0.05)
assert synchronizer.output() is None
update_clock(synchronizer, 0.1)
assert synchronizer.output() == pb.Ping(id=1)
# schedule entry 2
assert synchronizer.output_schedule[0].time == 0.9
assert synchronizer.output_deadline == 1.0
update_clock(synchronizer, 0.5)
assert synchronizer.output() is None
synchronizer.input(states.UpdateEvent(pb_message=pb.Ping(id=2)))
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=2)
update_clock(synchronizer, 1.0)
assert synchronizer.output() == pb.Announcement(announcement=b'1')
# schedule entry 1
assert synchronizer.output_schedule[0].time == 0.1
assert synchronizer.output_deadline == 1.1
update_clock(synchronizer, 1.05)
assert synchronizer.output() is None
update_clock(synchronizer, 1.1)
assert synchronizer.output() == pb.Ping(id=2)
# schedule entry 2
assert synchronizer.output_schedule[0].time == 0.9
assert synchronizer.output_deadline == 2.0
assert synchronizer.output() is None
update_clock(synchronizer, 2.0)
assert synchronizer.output() == pb.Announcement(announcement=b'1')
def _handle_mcu_inbound_state(self, event: ReceiveEvent) -> None:
"""Handle any inbound state update from the MCU."""
if (event.mcu_receive is None
or type(event.mcu_receive) not in self.MCU_INPUT_TYPES):
return
try:
self._mcu_state_synchronizer.input(
states.UpdateEvent(pb_message=event.mcu_receive))
except exceptions.ProtocolDataError:
self._logger.exception('MCU State Synchronizer: %s',
event.mcu_receive)
try:
self._file_state_synchronizer.input(
states.UpdateEvent(pb_message=event.mcu_receive))
except exceptions.ProtocolDataError:
self._logger.exception('File Save State Synchronizer Save: %s',
event.mcu_receive)
def _handle_frontend_inbound_state(self, event: ReceiveEvent) -> None:
"""Handle any inbound state update from the frontend."""
if (event.frontend_receive is None or type(event.frontend_receive)
not in self.FRONTEND_INPUT_TYPES):
return
try:
self._frontend_state_synchronizer.input(
states.UpdateEvent(pb_message=event.frontend_receive))
except exceptions.ProtocolDataError:
self._logger.exception('Frontend State Synchronizer: %s',
event.frontend_receive)
def test_sync_inputs() -> None:
"""Test state updating from input sequences."""
example_sequence = [(pb.Ping,
states.UpdateEvent(time=i, pb_message=pb.Ping(id=i)))
for i in range(8)]
synchronizer = states.Synchronizer(message_classes=mcu.MESSAGE_CLASSES,
output_schedule=collections.deque([
states.ScheduleEntry(time=1.0,
type=pb.Ping)
]))
assert synchronizer.output() is None
for (message_type, update_event) in example_sequence:
synchronizer.input(update_event)
assert synchronizer.current_time == update_event.time
assert synchronizer.all_states[message_type] == update_event.pb_message
def test_sync_outputs_singletype() -> None:
"""Test single-type output scheduling from input sequences."""
synchronizer = states.Synchronizer(message_classes=mcu.MESSAGE_CLASSES,
output_schedule=collections.deque([
states.ScheduleEntry(time=1.0,
type=pb.Ping),
states.ScheduleEntry(time=2.0,
type=pb.Ping),
states.ScheduleEntry(time=3.0,
type=pb.Ping),
]))
# schedule has not yet started
assert synchronizer.output_schedule[0].time == 1.0
assert synchronizer.output_deadline is None
assert synchronizer.output() is None
assert synchronizer.output_schedule[0].time == 1.0
assert synchronizer.output_deadline is None
# schedule entry 1
synchronizer.input(states.UpdateEvent(time=0, pb_message=pb.Ping(id=1)))
assert synchronizer.current_time == 0
assert synchronizer.output_schedule[0].time == 1.0
assert synchronizer.output_deadline == 1.0
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=1)
update_clock(synchronizer, 0.9)
assert synchronizer.output() is None
update_clock(synchronizer, 1.0)
assert synchronizer.output() == pb.Ping(id=1)
assert synchronizer.output() is None
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=1)
# schedule entry 2
assert synchronizer.output_schedule[0].time == 2.0
assert synchronizer.output_deadline == 3.0
update_clock(synchronizer, 1.5)
assert synchronizer.output() is None
synchronizer.input(states.UpdateEvent(pb_message=pb.Ping(id=2)))
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=2)
update_clock(synchronizer, 3.0)
assert synchronizer.output() == pb.Ping(id=2)
assert synchronizer.output() is None
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=2)
# schedule entry 3
assert synchronizer.output_schedule[0].time == 3.0
assert synchronizer.output_deadline == 6.0
update_clock(synchronizer, 4.0)
assert synchronizer.output() is None
synchronizer.input(states.UpdateEvent(pb_message=pb.Ping(id=3)))
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=3)
update_clock(synchronizer, 5.0)
assert synchronizer.output() is None
synchronizer.input(states.UpdateEvent(pb_message=pb.Ping(id=4)))
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=4)
update_clock(synchronizer, 6.0)
assert synchronizer.output() == pb.Ping(id=4)
assert synchronizer.output() is None
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=4)
# schedule entry 1
assert synchronizer.output_schedule[0].time == 1.0
assert synchronizer.output_deadline == 7.0
synchronizer.input(states.UpdateEvent(pb_message=pb.Ping(id=5)))
assert synchronizer.output() is None
update_clock(synchronizer, 7.0)
assert synchronizer.output() == pb.Ping(id=5)
assert synchronizer.output() is None
assert synchronizer.all_states[pb.Ping] == pb.Ping(id=5)
def update_clock(synchronizer: states.Synchronizer, time: float) -> None:
"""Update the clock of the synchronizer."""
synchronizer.input(states.UpdateEvent(time=time))