def test_getCommand(self):
"""Test wether getting commands from the network works.
Sends command through TCP/IP and check wether the same command is received on the other end."""
self.assertTrue(self.communicator.wait_listen(2), "Communicator not listening")
CommandSocket = ThreadedSocket('localhost', self.testport, giveup=0, retry_timeout=0.1)
self.assertTrue(CommandSocket.wait_connect(4), "Could not connect to communicator")
CommandSocket.send(self.TestCommand)
time.sleep(0.1) # Wait a bit for the socket to be available
received, conn_id = self.communicator.get_command()
self.assertEqual(received, self.TestCommand) #,"Oh no, we received something else than we sent!")
def test_getCommand(self):
"""Test wether getting commands from the network works.
Sends command through TCP/IP and check wether the same command is received on the other end."""
self.assertTrue(self.communicator.wait_listen(2),
"Communicator not listening")
CommandSocket = ThreadedSocket('localhost',
self.testport,
giveup=0,
retry_timeout=0.1)
self.assertTrue(CommandSocket.wait_connect(4),
"Could not connect to communicator")
CommandSocket.send(self.TestCommand)
time.sleep(0.1) # Wait a bit for the socket to be available
received, conn_id = self.communicator.get_command()
self.assertEqual(
received, self.TestCommand
) #,"Oh no, we received something else than we sent!")
def test_send_command(self):
# Set up test communicator
comm_s = None
mod_s = None
client = None
try:
#comm_s = ThreadedSocket("", self.communicatorPort)
comm_s = ThreadedSocket("", "communicator")
self.assertTrue(comm_s.wait_listen(),
"Fake Communicator socket did not open")
self.config.add_option("vision_controller", "modules",
"localhost = mod1")
self.config.add_option("vision_controller", "modules_settings",
"mod1 = test")
self.controller = visioncontroller.VisionController()
self.controller.set_config(self.config)
# On the fake communicator, receive the module to start and the port
# to start it on, because we need that port to connect to.
client = comm_s.wait_connect()
self.assertTrue(client != None, "Did not get a connection")
recv = client.wait_data()
self.assertTrue(recv, "Did not receive any data")
port = None
for i in recv:
if "port" in i:
port = i['port']
self.assertTrue(port != None,
"Did not receive a port number to connect to")
# Set up a connection to the port specified by the vision
# controller, it should be listening on that by now.
mod_s = ThreadedSocket("localhost", port)
mod_s.start()
self.assertTrue(mod_s.wait_connect(),
"Fake vision module did not connect")
# First receive the send_capabilities command that should be send
# automatically.
recv = mod_s.wait_data()
self.assertEquals(len(recv), 1, "Should have received one command")
data = recv[0]
self.assertTrue(
"command" in data,
"There should be a command in the received dictionary")
self.assertEquals(data["command"], "send_capabilities",
"Testcommand should be send_capabilities")
self.assertTrue(
"params" in data,
"There should be command parameters in the received dictionary"
)
self.assertEquals(data["params"], {},
"Test parameters should be an empty dictionary")
# Try sending a test command and receive it
testCommand = "test_command"
testParams = {"param1": "test_param"}
self.controller.send_command("localhost", "mod1", testCommand,
testParams)
# See if the test command has been received
recv = mod_s.wait_data()
self.assertEquals(len(recv), 1, "Should have received one command")
data = recv[0]
self.assertTrue(
"command" in data,
"There should be a command in the received dictionary")
self.assertEquals(data["command"], testCommand,
"Testcommand should be %s" % testCommand)
self.assertTrue(
"params" in data,
"There should be command parameters in the received dictionary"
)
self.assertEquals(
data["params"], testParams,
"Test parameters should be %s" % repr(testParams))
finally:
if comm_s:
comm_s.close()
if mod_s:
mod_s.close()
if client:
client.close()
self.controller.stop_connections()
def test_send_command(self):
# Set up test communicator
comm_s = None
mod_s = None
client = None
try:
#comm_s = ThreadedSocket("", self.communicatorPort)
comm_s = ThreadedSocket("", "communicator")
self.assertTrue(comm_s.wait_listen(), "Fake Communicator socket did not open")
self.config.add_option("vision_controller", "modules", "localhost = mod1")
self.config.add_option("vision_controller", "modules_settings", "mod1 = test")
self.controller = visioncontroller.VisionController()
self.controller.set_config(self.config)
# On the fake communicator, receive the module to start and the port
# to start it on, because we need that port to connect to.
client = comm_s.wait_connect()
self.assertTrue(client != None, "Did not get a connection")
recv = client.wait_data()
self.assertTrue(recv, "Did not receive any data")
port = None
for i in recv:
if "port" in i:
port = i['port']
self.assertTrue(port != None, "Did not receive a port number to connect to")
# Set up a connection to the port specified by the vision
# controller, it should be listening on that by now.
mod_s = ThreadedSocket("localhost", port)
mod_s.start()
self.assertTrue(mod_s.wait_connect(), "Fake vision module did not connect")
# First receive the send_capabilities command that should be send
# automatically.
recv = mod_s.wait_data()
self.assertEquals(len(recv), 1, "Should have received one command")
data = recv[0]
self.assertTrue("command" in data, "There should be a command in the received dictionary")
self.assertEquals(data["command"], "send_capabilities", "Testcommand should be send_capabilities")
self.assertTrue("params" in data, "There should be command parameters in the received dictionary")
self.assertEquals(data["params"], {}, "Test parameters should be an empty dictionary")
# Try sending a test command and receive it
testCommand = "test_command"
testParams = {"param1": "test_param"}
self.controller.send_command("localhost", "mod1", testCommand, testParams)
# See if the test command has been received
recv = mod_s.wait_data()
self.assertEquals(len(recv), 1, "Should have received one command")
data = recv[0]
self.assertTrue("command" in data, "There should be a command in the received dictionary")
self.assertEquals(data["command"], testCommand, "Testcommand should be %s" % testCommand)
self.assertTrue("params" in data, "There should be command parameters in the received dictionary")
self.assertEquals(data["params"], testParams, "Test parameters should be %s" % repr(testParams))
finally:
if comm_s:
comm_s.close()
if mod_s:
mod_s.close()
if client:
client.close()
self.controller.stop_connections()
