PDS Port

.gitignore

@@ -8,6 +8,7 @@ Makefile
 .mxproject
 startup_stm32f303xe.s
 STM32F303RETx_FLASH.ld
+__pycache__
 
 # Generated protobuf files
 *.pb.cc

Examples/UdpSendReceive/README.md

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+## UDP Send / Receive 
+A simple example of sending and receiving a message using python 
+annd UDP, to aid in the development of a slim wrapper for python UDP. 

Examples/UdpSendReceive/config.py

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+""" config.py
+
+UDP Configuration values 
+"""
+
+# UDP Config Values
+UDP_IP = "127.0.0.1"
+UDP_PORT = 5005
+SEND_FREQUENCY = 1

Examples/UdpSendReceive/udp_receive.py

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+""" udp_receive.py
+
+Receive and print a message via UDP
+"""
+
+import socket
+
+from config import *
+
+if __name__ == "__main__":
+    sock = socket.socket(socket.AF_INET,    # Internet
+                         socket.SOCK_DGRAM) # UDP
+    sock.bind((UDP_IP, UDP_PORT))
+
+    while True:
+        data, addr = sock.recvfrom(1024) # Buffer size is 1024 bytes
+        print(f"Received message: {data}")

Examples/UdpSendReceive/udp_send.py

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+""" udp_send.py
+
+Send a simple message over UDP.
+"""
+
+import socket
+import time
+
+from config import *
+
+if __name__ == "__main__":
+    MESSAGE = b"Hello, World!"
+
+    print(f"UDP target IP: {UDP_IP}")
+    print(f"UDP target port: {UDP_PORT}")
+    print(f"Message: {MESSAGE}\n")
+
+    sock = socket.socket(socket.AF_INET,    # Internet
+                         socket.SOCK_DGRAM) # UDP
+
+    while True:
+        sock.sendto(MESSAGE, (UDP_IP, UDP_PORT))
+        print("Message sent...\n")
+        time.sleep(1/SEND_FREQUENCY)
+

OnLand/PDS/UDP/udp_connection.py

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+""" udp_connection.py
+
+Classes:
+    UDPListener - Wrapper around a uni-directional UDP connection
+"""
+import logging
+import socket
+import select
+from datetime import timedelta
+
+
+class UDPListener:
+    """ UDP Listener  
+
+    Uni-directional UDP listening on specified ip and port
+
+    Fields:
+        ip: string - connection address
+        port: int - port to listen on
+        max_buffer: int - max byte size of the UDP receive/send buffers 
+        timeout: timedelta - how long to poll for data on the socket before timing out
+    """
+
+    def __init__(self, ip : str, port : int, max_buffer : int, timeout : timedelta):
+        self.sock = None
+        self.ip = ip
+        self.port = port
+        self.max_buffer_size = max_buffer
+        self.timeout = timeout
+
+    @classmethod
+    def transcribe(self, data : bytes):
+        """ Log the received byte data """
+        logging.info(f"[DATA] {data}")
+
+    def connect(self):
+        """ Connect to socket """
+        try:
+            self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_SNDBUF, self.max_buffer_size)
+            self.sock.bind((self.ip, self.port))
+        except Exception as e:
+            self.disconnect()
+            raise e
+
+    def is_connected(self):
+        """ Returns true if connected """
+        connected = self.sock is not None and self.sock.fileno() >= 0
+        return connected
+
+    def disconnect(self):
+        """ Disconnect from socket """
+        if self.sock is not None:
+            self.sock.close()
+            self.sock = None
+
+    def recv(self):
+        """ Receive UDP packet """
+        if not self.is_connected():
+            return None
+        try:
+            ready = select.select([self.sock], [], [], self.timeout.total_seconds())
+            if ready[0]:
+                data = self.sock.recvfrom(self.max_buffer_size)
+                if data is not None:
+                    return data[0]
+            else:
+                return None
+
+        except Exception as e:
+            self.disconnect()
+            raise e
+
+    def __str__(self):
+        ret_str = f"""UDP Connection:
+        \nIp: {self.ip}
+        \nPort: {self.port}
+        \nBuffer Size: {self.max_buffer_size}
+        """
+        return ret_str
+
+if __name__ == "__main__":
+    # Vehicle ECU
+    VEHICLE_IP = "127.0.0.1"
+    VEHICLE_UDP_PORT = 5005
+
+    con = UDPListener(VEHICLE_IP, VEHICLE_UDP_PORT, 1024, timedelta(seconds=2))
+    con.connect()
+
+    counter = 5
+    while True:
+        data = con.recv()
+        if data is not None:
+            print(f"Data:{data.decode('utf-8')}")
+        else:
+            print("No data...")
+

OnLand/PDS/boring_packet.py

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+""" boring_packet.py
+
+Contains the BoringPacket class for packaging
+critical system info for The Boring Company.  
+"""
+
+class BoringPacket():
+""" Create and pack The Boring Struct
+"""
+    raise NotImplementedError

OnLand/PDS/config.py

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+""" config.py
+
+Configuration values for:
+    - InfluxDB
+    - Vehicle ECU TCP/UDP Connections
+    - Surface ECU TCP/UDP Connections
+"""
+
+# Influx
+INFLUX_HOST = "localhost"
+INFLUX_PORT = 8086
+INFLUX_NAME = "paradigm_boring"
+INFLUX_USER = "paradigm"
+INFLUX_PW = "boring"
+
+# TBC Packet
+TEAM_NAME = "Paradigm Boring"
+
+# SocketIO 
+SOCKET_SERVER = "http://localhost:5000"
+
+# Vehicle ECU
+VEHICLE_IP = "127.0.0.1"
+VEHICLE_UDP_PORT = 5005
+
+# Surface ECU
+SURFACE_IP = "127.0.0.1"
+SURFACE_UDP_PORT = 5006