def send_packet(self, packet, sender=None):
"""
packet: packet to send
sender: the fsm which sent the packet
"""
if self.do_send_packet(packet, packets.TURRET_RANGE_START,
packets.TURRET_RANGE_END, self.turret_channel):
return
elif self.do_send_packet(packet, packets.PIC32_RANGE_START,
packets.PIC32_RANGE_END,
self.pic_control_channel):
return
elif IS_HOST_DEVICE_PC and self.do_send_packet(
packet, packets.SIMULATOR_RANGE_START,
packets.SIMULATOR_RANGE_END, self.pic_control_channel):
return
elif self.do_send_packet(packet, packets.INTERBOT_RANGE_START,
packets.INTERBOT_RANGE_END,
self.interbot_channel):
return
elif self.do_send_packet(packet, packets.MEDIAPLAYER_RANGE_START,
packets.MEDIAPLAYER_RANGE_END,
self.mediaplayer_channel):
return
elif packet.TYPE >= packets.INTERBOT_RANGE_START and packet.TYPE < packets.INTERNAL_RANGE_END:
# add the packet to send to the list of packets to dispatch
logger.log_packet(
packet,
"ARM" + (":" + sender.name if sender is not None else ""))
self.packet_queue.appendleft((packet, sender))
if len(self.packet_queue) == 1:
Timer(self, 0, self.process_packets_and_dispatch).start()
def do_send_packet(self, packet, packet_range_start, packet_range_end, channel):
if packet.TYPE >= packet_range_start and packet.TYPE < packet_range_end:
if channel is not None and channel.connected:
logger.log_packet(packet, "ARM")
channel.write_packet(packet)
else:
logger.log("Channel for packet {} doesn't exist or isn't connected".format(packet.name))
return True
return False
def do_send_packet(self, packet: packets.BasePacket, packet_range_start,
packet_range_end, channel):
if packet.TYPE >= packet_range_start and packet.TYPE < packet_range_end:
if channel is not None and channel.connected:
logger.log_packet(packet, "ARM")
channel.write_packet(packet)
else:
logger.log(
"Channel for packet {} doesn't exist or isn't connected".
format(packet.name))
return True
return False
def send_packet(self, packet, sender = None):
"""
packet: packet to send
sender: the fsm which sent the packet
"""
if self.do_send_packet(packet, packets.TURRET_RANGE_START, packets.TURRET_RANGE_END, self.turret_channel):
return
elif self.do_send_packet(packet, packets.PIC32_RANGE_START, packets.PIC32_RANGE_END, self.pic_control_channel):
return
elif IS_HOST_DEVICE_PC and self.do_send_packet(packet, packets.SIMULATOR_RANGE_START, packets.SIMULATOR_RANGE_END, self.pic_control_channel):
return
elif self.do_send_packet(packet, packets.COLORDET_RANGE_START, packets.COLORDET_RANGE_END, self.colordetector):
return
elif self.do_send_packet(packet, packets.INTERBOT_RANGE_START, packets.INTERBOT_RANGE_END, self.interbot_channel):
return
elif packet.TYPE < packets.INTERNAL_RANGE_END:
# add the packet to send to the list of packets to dispatch
logger.log_packet(packet, "ARM" + (":" + sender.name if sender is not None else ""))
self.packet_queue.appendleft((packet, sender))
Timer(self, 0, self.process_packets_and_dispatch).start()
def process(self, channel, packet):
logger.log_packet(packet, channel.origin)
packet.dispatch(self)
self.packet_queue.appendleft((packet, None))
self.process_packets_and_dispatch()
def process(self, channel, packet):
logger.log_packet(packet, channel.origin)
packet.dispatch(self)
self.packet_queue.appendleft((packet, None))
self.process_packets_and_dispatch()
