This repository was archived by the owner on Aug 15, 2019. It is now read-only.
Add support for generic arduino commands #55
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
We take in a command as a list of JSON-encodable entities and pass that to robotd. We expect to immediately get back a response message (as well as the usual status blob) which contains either valid data from the arduino or a description of the failure. This includes a novel testing approach which: - creates a valid robotd Board instance - mocks the underlying serial connection - creates a robot-api Board instance - mocks the socket connecting the robot-api Board such that it connects to the robotd Board instance This avoids real sockets and multiprocessing, both of which incur substantial overhead during tests along with the introduction of timeouts (which is just nasty).
|
The test failure on the CI is due to sourcebots/robotd#35 not being available in that test environment. |
|
I'm liking this use of fake sockets, hopefully these changes can be backported into the remainder of the tests (separate PR) to reduce the oddness they bring |
|
@RealOrangeOne indeed, I've some thoughts -> #57 |
kierdavis
reviewed
Jan 29, 2018
| for cls in (CommandError, InvalidResponse): | ||
| if cls.__name__ == response['type']: | ||
| raise cls(response['description']) | ||
|
|
There was a problem hiding this comment.
What happens if we receive a response with an invalid type?
There was a problem hiding this comment.
good point; I'll make that error harder.
|
After testing on a kit last night I'm confident this works as intended. I would be grateful if the conflicts could be resolved before I approve. |
|
@kierdavis conflicts resolved; please could you take another look? |
2 tasks
kierdavis
approved these changes
Feb 1, 2018
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This adds a new
direct_commandmethod which takes in a command as a list of JSON-encodable entities and passes that to robotd. It expects to immediately get back a response message (as well as the usual status blob) which contains either valid data from the arduino or a description of the failure.This includes a novel testing approach which:
connects to the robotd Board instance
This avoids real
sockets andmultiprocessing, both of which incur substantial overhead during tests along with the introduction of timeouts (which is just nasty).This relies on sourcebots/robotd#35.