def test_log_bus_handler(self):
log_data = [
(timedelta(microseconds=10), 1, serialize(b'(1,2)')),
(timedelta(microseconds=11), 1, serialize(b'(3,4,5)')),
(timedelta(microseconds=30), 2, serialize([8, 9])),
]
log = iter(log_data)
inputs = {1:'raw'}
outputs = {2:'can'}
bus = LogBusHandler(log, inputs, outputs)
bus.listen()
with self.assertRaises(AssertionError) as e:
bus.publish('can', b'parsed data')
self.assertEqual(str(e.exception), "(b'parsed data', [8, 9], datetime.timedelta(0, 0, 30))")
def test_bus_sleep(self):
logger = MagicMock()
bus = BusHandler(logger, out={})
bus.sleep(0.1)
bus = LogBusHandler(logger, inputs={}, outputs={})
bus.sleep(0.1)
bus = LogBusHandlerInputsOnly(logger, inputs={})
bus.sleep(0.1)
def replay(args, application=None):
log = LogReader(args.logfile, only_stream_id=0)
print("original args:", next(log)[-1]) # old arguments
config_str = next(log)[-1]
config = literal_eval(config_str.decode('ascii'))
if args.config is not None:
config = config_load(*args.config, application=application)
names = logger.lookup_stream_names(args.logfile)
if args.debug:
print("streams:")
for i, name in enumerate(names):
print(f" {i+1:2d} {name}")
module = args.module
assert module in config['robot']['modules'], (
module, list(config['robot']['modules'].keys()))
module_config = config['robot']['modules'][module]
inputs = {}
for edge_from, edge_to in config['robot']['links']:
if edge_to.split('.')[0] == module:
if edge_from not in names:
g_logger.warning('Missing name: %s' % edge_from)
names.append(edge_from)
inputs[1 + names.index(edge_from)] = edge_to.split('.')[1]
outputs = {
i + 1: out.split('.')[1]
for i, out in enumerate(names) if out.startswith(f"{module}.")
}
if args.debug:
print("inputs:")
for i, name in sorted(inputs.items()):
print(f" {i:2d} {name}")
print("outputs:")
for i, name in sorted(outputs.items()):
print(f" {i:2d} {name}")
if args.force:
reader = LogReader(args.logfile, only_stream_id=inputs.keys())
bus = LogBusHandlerInputsOnly(reader, inputs=inputs)
else:
streams = list(inputs.keys()) + list(outputs.keys())
reader = LogReader(args.logfile, only_stream_id=streams)
bus = LogBusHandler(reader, inputs, outputs)
driver_name = module_config['driver']
module_class = get_class_by_name(driver_name)
module_instance = module_class(module_config.get('init', {}), bus=bus)
bus.node = module_instance # needed for slots
return module_instance
def replay(args, application=None):
log = LogReader(args.logfile, only_stream_id=0)
print("original args:", next(log)[-1]) # old arguments
config_str = next(log)[-1]
config = literal_eval(config_str.decode('ascii'))
if args.config is not None:
config = config_load(*args.config)
names = logger.lookup_stream_names(args.logfile)
print("stream names:")
for name in names:
print(" ", name)
module = args.module
assert module in config['robot']['modules'], (
module, list(config['robot']['modules'].keys()))
module_config = config['robot']['modules'][module]
input_names = module_config['in']
output_names = module_config['out']
print("inputs:", input_names)
print("outputs:", output_names)
inputs = {}
for edge_from, edge_to in config['robot']['links']:
if edge_to.split('.')[0] == module:
if edge_from not in names:
logging.warning(f'Missing name: {edge_from}')
names.append(edge_from)
inputs[1 + names.index(edge_from)] = edge_to.split('.')[1]
# start reading log from the beginning again
if args.force:
log = LogReader(args.logfile, only_stream_id=inputs.keys())
bus = LogBusHandlerInputsOnly(log, inputs=inputs)
else:
outputs = dict([(1 + names.index('.'.join([module, name])), name)
for name in output_names])
streams = list(inputs.keys()) + list(outputs.keys())
log = LogReader(args.logfile, only_stream_id=streams)
bus = LogBusHandler(log, inputs=inputs, outputs=outputs)
driver_name = module_config['driver']
if driver_name == 'application':
assert application is not None
module_class = application
else:
module_class = get_class_by_name(driver_name)
module_instance = module_class(module_config['init'], bus=bus)
bus.node = module_instance
return module_instance
def test_wrong_publish_channel(self):
log_data = [
(timedelta(microseconds=10), 1, serialize(b'(1,2)')),
(timedelta(microseconds=30), 2, serialize(b'[8,9]')),
(timedelta(microseconds=35), 3, serialize(b'[8,9]')),
]
log = iter(log_data)
inputs = {1: 'raw'}
outputs = {2: 'can', 3: 'can2'}
bus = LogBusHandler(log, inputs, outputs)
bus.listen()
with self.assertRaises(AssertionError) as e:
bus.publish('can2', [8, 9])
self.assertEqual(e.exception.args[0],
('can2', 'can', timedelta(0, 0, 30)))
with self.assertRaises(AssertionError) as e:
bus.publish('can3', [1, 2])
self.assertEqual(e.exception.args[0], ('can3', ('can', 'can2')))
def test_wrong_publish_channel(self):
log_data = [
(timedelta(microseconds=10), 1, serialize(b'(1,2)')),
(timedelta(microseconds=30), 2, serialize(b'[8,9]')),
(timedelta(microseconds=35), 3, serialize(b'[8,9]')),
]
log = iter(log_data)
inputs = {1:'raw'}
outputs = {2:'can', 3:'can2'}
bus = LogBusHandler(log, inputs, outputs)
bus.listen()
with self.assertRaises(AssertionError) as e:
bus.publish('can2', [8, 9])
self.assertEqual(str(e.exception), "('can2', 'can', datetime.timedelta(0, 0, 30))")
with self.assertRaises(AssertionError) as e:
bus.publish('can3', [1, 2])
self.assertEqual(str(e.exception), "('can3', dict_values(['can', 'can2']))")
def test_log_bus_handler(self):
log_data = [
(timedelta(microseconds=10), 1, serialize(b'(1,2)')),
(timedelta(microseconds=11), 1, serialize(b'(3,4,5)')),
(timedelta(microseconds=30), 2, serialize([8, 9])),
]
log = iter(log_data)
inputs = {1: 'raw'}
outputs = {2: 'can'}
bus = LogBusHandler(log, inputs, outputs)
bus.listen()
with self.assertRaises(AssertionError) as e:
bus.publish('can', b'parsed data')
self.assertEqual(e.exception.args[0],
(b'parsed data', [8, 9], timedelta(0, 0, 30)))