Coverage for /home/travis/build/RobotLocomotion/director/build/src/director-build/lib/python2.7/dist-packages/director/lcmobjectcollection : 0%

import time 

import pprint 

import uuid 

import json 

from collections import OrderedDict 

from director.thirdparty import numpyjsoncoder 

from director import callbacks 

from director.utime import getUtime 

from director.uuidutil import newUUID 

try: 

    import bot_core as lcmbotcore 

    USE_LCM = True 

except ImportError: 

    USE_LCM = False 

if USE_LCM: 

    from director import lcmUtils 

class LCMObjectCollection(object): 

    DESCRIPTION_UPDATED_SIGNAL = 'DESCRIPTION_UPDATED_SIGNAL' 

    DESCRIPTION_REMOVED_SIGNAL = 'DESCRIPTION_REMOVED_SIGNAL' 

    def __init__(self, channel): 

        self.collection = OrderedDict() 

        self.collectionId = newUUID() 

        self.sentCommands = set() 

        self.sentRequest = None 

        self.channel = channel 

        self.callbacks = callbacks.CallbackRegistry([self.DESCRIPTION_UPDATED_SIGNAL, 

                                                     self.DESCRIPTION_REMOVED_SIGNAL]) 

        self.sub = None 

        self._modified() 

        if USE_LCM: 

            self.sub = lcmUtils.addSubscriber(self.channel, messageClass=lcmbotcore.system_status_t, callback=self._onCommandMessage) 

            self.sub.setNotifyAllMessagesEnabled(True) 

    def __del__(self): 

        if self.sub: 

            lcmUtils.removeSubscriber(self.sub) 

    def connectDescriptionUpdated(self, func): 

        return self.callbacks.connect(self.DESCRIPTION_UPDATED_SIGNAL, func) 

    def disconnectDescriptionUpdated(self, callbackId): 

        self.callbacks.disconnect(callbackId) 

    def connectDescriptionRemoved(self, func): 

        return self.callbacks.connect(self.DESCRIPTION_REMOVED_SIGNAL, func) 

    def disconnectDescriptionRemoved(self, callbackId): 

        self.callbacks.disconnect(callbackId) 

    def getDescriptionId(self, desc): 

        return desc['uuid'] 

    def prettyPrintCollection(self): 

        print json.dumps(json.loads(numpyjsoncoder.encode(self.collection)), indent=2) 

    def getDescription(self, descriptionId): 

        return self.collection[descriptionId] 

    def updateDescription(self, desc, publish=True, notify=True): 

        self.collection[self.getDescriptionId(desc)] = desc 

        self._modified() 

        if publish and USE_LCM: 

            msg = self._newCommandMessage('update', description=desc) 

            lcmUtils.publish(self.channel, msg) 

        if notify: 

            self.callbacks.process(self.DESCRIPTION_UPDATED_SIGNAL, self, self.getDescriptionId(desc)) 

    def removeDescription(self, descriptionId, publish=True, notify=True): 

        try: 

            del self.collection[descriptionId] 

            self._modified() 

        except KeyError: 

            pass 

        if publish and USE_LCM: 

            msg = self._newCommandMessage('remove', descriptionId=descriptionId,) 

            lcmUtils.publish(self.channel, msg) 

        if notify: 

            self.callbacks.process(self.DESCRIPTION_REMOVED_SIGNAL, self, descriptionId) 

    def sendEchoRequest(self): 

        self.sentRequest = newUUID() 

        msg = self._newCommandMessage('echo_request', requestId=self.sentRequest) 

        lcmUtils.publish(self.channel, msg) 

    def sendEchoResponse(self, requestId=None): 

        if requestId is None: 

            requestId = newUUID() 

        msg = self._newCommandMessage('echo_response', requestId=requestId, descriptions=self.collection) 

        lcmUtils.publish(self.channel, msg) 

    def handleEchoResponse(self, data): 

        #if data['requestId'] != self.sentRequest: 

        #    return 

        self.sentRequest = None 

        for desc in data['descriptions'].values(): 

            self.updateDescription(desc, publish=False) 

    def _modified(self): 

        self.mtime = getUtime() 

    def _newCommandMessage(self, commandName, **commandArgs): 

        commandId = newUUID() 

        self.sentCommands.add(commandId) 

        commandArgs['commandId'] = commandId 

        commandArgs['collectionId'] = self.collectionId 

        commandArgs['command'] = commandName 

        msg = lcmbotcore.system_status_t() 

        msg.value = numpyjsoncoder.encode(commandArgs) 

        msg.utime = getUtime() 

        return msg 

    def _onCommandMessage(self, msg): 

        data = numpyjsoncoder.decode(msg.value) 

        commandId = data['commandId'] 

        if commandId in self.sentCommands: 

            self.sentCommands.remove(commandId) 

            return 

        command = data['command'] 

        if command == 'update': 

            desc = data['description'] 

            self.updateDescription(desc, publish=False) 

        elif command == 'remove': 

            self.removeDescription(data['descriptionId'], publish=False) 

        elif command == 'echo_request': 

            self.sendEchoResponse(data['requestId']) 

        elif command == 'echo_response': 

            self.handleEchoResponse(data)