4c3aa3a911
Makes actuation tests pass. In main, the timing of the socket no longer contains the time to receive and send data, but only the processing time of the message handler. ref: N25B-168
57 lines
2.0 KiB
Python
57 lines
2.0 KiB
Python
import zmq
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from robot_interface.endpoints.receiver_base import ReceiverBase
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from robot_interface.state import state
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class MainReceiver(ReceiverBase):
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def __init__(self, zmq_context, port=5555):
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"""
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The main receiver endpoint, responsible for handling ping and negotiation requests.
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:param zmq_context: The ZeroMQ context to use.
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:type zmq_context: zmq.Context
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:param port: The port to use.
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:type port: int
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"""
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super(MainReceiver, self).__init__("main")
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self.create_socket(zmq_context, zmq.REP, port, bind=False)
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@staticmethod
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def _handle_ping(message):
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"""A simple ping endpoint. Returns the provided data."""
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return {"endpoint": "ping", "data": message.get("data")}
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@staticmethod
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def _handle_port_negotiation(message):
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endpoints = [socket.endpoint_description() for socket in state.sockets]
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return {"endpoint": "negotiate/ports", "data": endpoints}
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@staticmethod
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def _handle_negotiation(message):
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"""
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Handle a negotiation request. Will respond with ports that can be used to connect to the robot.
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:param message: The negotiation request message.
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:type message: dict
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:return: A response dictionary with a 'ports' key containing a list of ports and their function.
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:rtype: dict[str, list[dict]]
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"""
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# In the future, the sender could send information like the robot's IP address, etc.
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if message["endpoint"] == "negotiate/ports":
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return MainReceiver._handle_port_negotiation(message)
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return {"endpoint": "negotiate/error", "data": "The requested endpoint is not implemented."}
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def handle_message(self, message):
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if message["endpoint"] == "ping":
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return self._handle_ping(message)
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elif message["endpoint"].startswith("negotiate"):
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return self._handle_negotiation(message)
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return {"endpoint": "error", "data": "The requested endpoint is not supported."}
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