def __init__(self):
self.reset_action_counters()
self.fsm_instance = fsm.Fsm(
definition=self.fsm_definition,
action_handler=self,
log=None, # TODO: Testing logging output
log_id=None)
def run():
password_path = "./pass.txt"
pad = keypad.Keypad()
pad.setup()
#testpad = keypad_test.Keypad()
ledboard = led.LEDboard()
#testledboard = led_test.LEDboard()
ledboard.setup()
kpc = kpc_agent.KPCAgent(pad, ledboard, password_path)
#kpc = KPCAgent.KPCAgent(testpad, testledboard, password_path)
thefsm = fsm.Fsm(kpc)
# Add fsm rules
thefsm.addRule("S-init", "S-read", fsm.signal_is_symbol, kpc.reset_password_accumulator)
thefsm.addRule("S-read", "S-read", fsm.signal_is_digit, kpc.append_next_password_digit)
thefsm.addRule("S-read", "S-verify", "*", kpc.verify_password)
thefsm.addRule("S-read", "S-init", fsm.signal_is_symbol, kpc.reset_agent)
thefsm.addRule("S-verify", "S-active", "Y", kpc.fully_activate_agent)
thefsm.addRule("S-verify", "S-init", fsm.signal_is_symbol, kpc.reset_agent)
thefsm.addRule("S-active", "S-led", fsm.signal_less_than_six, kpc.set_lid) # sett led
thefsm.addRule("S-active", "S-password", "*", None) # Begynn passordendring
thefsm.addRule("S-active", "S-logout", "#", None)
thefsm.addRule("S-led", "S-time", "*", None) # Begynn Sett tid, kanskje None
thefsm.addRule("S-time", "S-time", fsm.signal_is_digit, kpc.append_next_time_digit) # Legg til på tid
thefsm.addRule("S-time", "S-active", "*", kpc.light_one_led)
thefsm.addRule("S-password", "S-password", fsm.signal_is_digit,
kpc.append_next_password_digit) # Legg til på endret passord
thefsm.addRule("S-password", "S-active", "*", kpc.validate_password)
thefsm.addRule("S-logout", "S-done", "#", kpc.exit_action)
thefsm.addRule("S-logout", "S-active", fsm.signal_is_symbol, None)
thefsm.addRule("S-done", "S-read", fsm.signal_is_symbol, kpc.reset_agent())
thefsm.set_start_state("S-init")
# fsm.set_end_state("S-end")#Har ingen end state foreløpig
thefsm.main_loop()
def __init__(self, node, config):
# TODO: process bandwidth field in config
self._node = node
self.name = config['name']
# TODO: Make the default metric/bandwidth depend on the speed of the interface
self._metric = self.get_config_attribute(config, 'metric',
common.constants.default_bandwidth)
self._advertised_name = self.generate_advertised_name()
self._log_id = node.log_id + "-{}".format(self.name)
self._ipv4_address = utils.interface_ipv4_address(self.name,
self._node.engine.tx_src_address)
self._rx_lie_ipv4_mcast_address = self.get_config_attribute(
config, 'rx_lie_mcast_address', constants.DEFAULT_LIE_IPV4_MCAST_ADDRESS)
self._tx_lie_ipv4_mcast_address = self.get_config_attribute(
config, 'tx_lie_mcast_address', constants.DEFAULT_LIE_IPV4_MCAST_ADDRESS)
self._rx_lie_ipv6_mcast_address = self.get_config_attribute(
config, 'rx_lie_v6_mcast_address', constants.DEFAULT_LIE_IPV6_MCAST_ADDRESS)
self._tx_lie_ipv6_mcast_address = self.get_config_attribute(
config, 'tx_lie_v6_mcast_address', constants.DEFAULT_LIE_IPV6_MCAST_ADDRESS)
self._rx_lie_port = self.get_config_attribute(config, 'rx_lie_port',
constants.DEFAULT_LIE_PORT)
self._tx_lie_port = self.get_config_attribute(config, 'tx_lie_port',
constants.DEFAULT_LIE_PORT)
self._rx_tie_port = self.get_config_attribute(config, 'rx_tie_port',
constants.DEFAULT_TIE_PORT)
self._rx_fail = False
self._tx_fail = False
self._log = node.log.getChild("if")
self.info("Create interface")
self._rx_log = self._log.getChild("rx")
self._tx_log = self._log.getChild("tx")
self._fsm_log = self._log.getChild("fsm")
self.local_id = node.allocate_interface_id()
self._mtu = self.get_mtu()
self._pod = self.UNDEFINED_OR_ANY_POD
self.neighbor = None
self._time_ticks_since_lie_received = None
self._lie_accept_or_reject = "No LIE Received"
self._lie_accept_or_reject_rule = "-"
self._lie_receive_handler = None
self._flood_receive_handler = None
self._flood_send_handler = None
# The following queues (ties_tx, ties_rtx, ties_req, are ties_ack) are ordered dictionaries.
# The value is the header of the TIE. The index is the TIE-ID want to have two headers with
# same TIE-ID in the queue. The ordering is needed because we want to service the entries
# in the queue in the same order in which they were added (FIFO).
# TODO: For _ties_rtx, add time to retransmit to retransmit queue
self._ties_tx = collections.OrderedDict()
self._ties_rtx = collections.OrderedDict()
self._ties_req = collections.OrderedDict()
self._ties_ack = collections.OrderedDict()
self.fsm = fsm.Fsm(
definition=self.fsm_definition,
action_handler=self,
log=self._fsm_log,
log_id=self._log_id)
if self._node.running:
self.run()
self.fsm.start()
def setUp(self) -> None:
rospy.init_node("test_fsm", anonymous=True)
self.mm = MavrosMock()
rospy.Service("/mavros/set_mode",SetMode, self.mm.handle_set_mode)
rospy.Service("/mavros/cmd/arming", CommandBool, self.mm.handle_arm)
rospy.Service("/mavros/cmd/takeoff", CommandTOL, self.mm.handle_takeoff)
rospy.Service("/mavros/cmd/land", CommandTOL, self.mm.handle_landing)
rospy.Service("/mavros/setpoint_velocity/mav_frame", SetMavFrame, self.mm.handle_set_vel_FOR)
rospy.Subscriber("/mavros/global_position/set_gp_origin", GeoPointStamped, self.mm.handle_set_gp_origin)
self.fsm = fsmmod.Fsm()
def __init__(self, node, config):
# TODO: process bandwidth field in config
self._node = node
self._interface_name = config['name']
# TODO: Make the default metric/bandwidth depend on the speed of the interface
self._metric = self.get_config_attribute(
config, 'metric', common.constants.default_bandwidth)
self._advertised_name = self.generate_advertised_name()
self._log_id = node.log_id + "-{}".format(self._interface_name)
self._ipv4_address = utils.interface_ipv4_address(
self._interface_name, self._node.engine.tx_src_address)
self._rx_lie_ipv4_mcast_address = self.get_config_attribute(
config, 'rx_lie_mcast_address',
constants.DEFAULT_LIE_IPV4_MCAST_ADDRESS)
self._tx_lie_ipv4_mcast_address = self.get_config_attribute(
config, 'tx_lie_mcast_address',
constants.DEFAULT_LIE_IPV4_MCAST_ADDRESS)
self._rx_lie_ipv6_mcast_address = self.get_config_attribute(
config, 'rx_lie_v6_mcast_address',
constants.DEFAULT_LIE_IPV6_MCAST_ADDRESS)
self._tx_lie_ipv6_mcast_address = self.get_config_attribute(
config, 'tx_lie_v6_mcast_address',
constants.DEFAULT_LIE_IPV6_MCAST_ADDRESS)
self._rx_lie_port = self.get_config_attribute(
config, 'rx_lie_port', constants.DEFAULT_LIE_PORT)
self._tx_lie_port = self.get_config_attribute(
config, 'tx_lie_port', constants.DEFAULT_LIE_PORT)
self._rx_tie_port = self.get_config_attribute(
config, 'rx_tie_port', constants.DEFAULT_TIE_PORT)
self._rx_fail = False
self._tx_fail = False
self._log = node.log.getChild("if")
self.info(self._log, "Create interface")
self._rx_log = self._log.getChild("rx")
self._tx_log = self._log.getChild("tx")
self._fsm_log = self._log.getChild("fsm")
self._local_id = node.allocate_interface_id()
self._mtu = self.get_mtu()
self._pod = self.UNDEFINED_OR_ANY_POD
self._neighbor = None
self._time_ticks_since_lie_received = None
self._lie_accept_or_reject = "No LIE Received"
self._lie_accept_or_reject_rule = "-"
self._fsm = fsm.Fsm(definition=self.fsm_definition,
action_handler=self,
log=self._fsm_log,
log_id=self._log_id)
if self._node.running:
self.run()
self._fsm.start()
def main():
netw = network.Network(config.ELEV_ID)
elev = fsm.Fsm()
elevator_driver.elevator_hardware_init()
elev.fsm_init()
running_thread = Thread(target=elev.fsm_run,
args=(netw.online_elevators, ))
network_receiver_thread = Thread(target=netw.msg_receive_handler,
args=(elev, ))
network_sender_thread = Thread(target=netw.msg_send_handler, args=(elev, ))
running_thread.start()
network_receiver_thread.start()
network_sender_thread.start()
def __init__(self):
self.reset_action_counters()
self.fsm_instance = fsm.Fsm(definition=self.fsm_definition,
action_handler=self,
log=None,
log_id=None)
def __init__(self, parent_engine, config, force_passive):
# TODO: process state_thrift_services_port field in config
# TODO: process config_thrift_services_port field in config
# TODO: process v4prefixes field in config
# TODO: process v6prefixes field in config
self._engine = parent_engine
self._config = config
self._node_nr = Node._next_node_nr
Node._next_node_nr += 1
self._name = self.get_config_attribute('name', self.generate_name())
self._passive = force_passive or self.get_config_attribute(
'passive', False)
self._running = self.is_running()
self._system_id = self.get_config_attribute('systemid',
self.generate_system_id())
self._log_id = self._name
self._log = logging.getLogger('node')
# TODO: Make sure formating of log message is deferred everywhere, not just direct calls
self._log.info("[%s] Create node", self._log_id)
self._configured_level_symbol = self.get_config_attribute(
'level', 'undefined')
parse_result = self.parse_level_symbol(self._configured_level_symbol)
assert parse_result is not None, "Configuration validation should have caught this"
(configured_level, leaf_only, leaf_2_leaf,
superspine_flag) = parse_result
self._configured_level = configured_level
self._leaf_only = leaf_only
self._leaf_2_leaf = leaf_2_leaf
self._superspine_flag = superspine_flag
self._interfaces = sortedcontainers.SortedDict()
self._rx_lie_ipv4_mcast_address = self.get_config_attribute(
'rx_lie_mcast_address', constants.DEFAULT_LIE_IPV4_MCAST_ADDRESS)
self._tx_lie_ipv4_mcast_address = self.get_config_attribute(
'tx_lie_mcast_address', constants.DEFAULT_LIE_IPV4_MCAST_ADDRESS)
self._rx_lie_ipv6_mcast_address = self.get_config_attribute(
'rx_lie_v6_mcast_address',
constants.DEFAULT_LIE_IPV6_MCAST_ADDRESS)
self._tx_lie_ipv6_mcast_address = self.get_config_attribute(
'tx_lie_v6_mcast_address',
constants.DEFAULT_LIE_IPV6_MCAST_ADDRESS)
self._rx_lie_port = self.get_config_attribute(
'rx_lie_port', constants.DEFAULT_LIE_PORT)
self._tx_lie_port = self.get_config_attribute(
'tx_lie_port', constants.DEFAULT_LIE_PORT)
# TODO: make lie-send-interval configurable
self._lie_send_interval_secs = constants.DEFAULT_LIE_SEND_INTERVAL_SECS
self._rx_tie_port = self.get_config_attribute(
'rx_tie_port', constants.DEFAULT_TIE_PORT)
self._derived_level = None
self._rx_offers = {}
self._tx_offers = {}
self._highest_available_level = None
self._highest_adjacency_three_way = None
self._fsm_log = self._log.getChild("fsm")
self._holdtime = 1
self._next_interface_id = 1
if 'interfaces' in config:
for interface_config in self._config['interfaces']:
self.create_interface(interface_config)
self._fsm = fsm.Fsm(definition=self.fsm_definition,
action_handler=self,
log=self._fsm_log,
log_id=self._log_id)
self._hold_down_timer = timer.Timer(
interval=self.DEFAULT_HOLD_DOWN_TIME,
expire_function=lambda: self._fsm.push_event(self.Event.
HOLD_DOWN_EXPIRED),
periodic=False,
start=False)
self._fsm.start()
'''
generate test cases based on walking through a finite state machine
'''
import fsm
from random import choice
demo = fsm.Fsm('rubertoDemo.xml') #generates a FSM from xml file
#putting text_file in global scope for now. TODO refactor
text_file = open("demo.py", "w")
'''
Setup the test, by creating the code headers and initialization for the tests
'''
def test_setup():
text_file.write("#demo.py, automatically generated webdriver code\n")
text_file.write("from selenium import webdriver\n")
text_file.write("driver = webdriver.Firefox()\n")
text_file.write("driver.get(\"http://blog.ruberto.com\")\n"
) #should read this from the fsm xml file
return
def test_teardown():
text_file.write("driver.quit()\n")
text_file.write("print \"So long, and thanks for all the fish\"")
text_file.close()
