113 lines
3.2 KiB
Python
113 lines
3.2 KiB
Python
# minimal_connector.py
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from __future__ import annotations
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import asyncio
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import uuid
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from dynalab_protocol.models import (
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ConnectorHello,
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DynaLabHello,
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HandshakeAccepted,
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HandshakeRejected,
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Heartbeat,
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SignalDescriptor,
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machine_timestamp_ms,
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)
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from dynalab_protocol.wire import read_message, write_message
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HOST = "127.0.0.1"
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PORT = 8765
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async def main() -> None:
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reader, writer = await asyncio.open_connection(HOST, PORT)
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dynalab_hello: DynaLabHello
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handshake: HandshakeAccepted
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peer = writer.get_extra_info("peername")
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print(f"Connected to DynaLab at {peer}")
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try:
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message = await asyncio.wait_for(read_message(reader), timeout=5.0)
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if not isinstance(message, DynaLabHello):
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raise ValueError(f"Expected dynalab_hello, received {message.type}")
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dynalab_hello = message
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print(f"Received DynaLab Hello\n {dynalab_hello}")
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signals: list[SignalDescriptor] = [
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SignalDescriptor(
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id=uuid.uuid4(), name="lambda", type="number", min_value=0, max_value=5
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),
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SignalDescriptor(
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id=uuid.uuid4(), name="torque", type="number", min_value=0, max_value=10
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),
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SignalDescriptor(
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id=uuid.uuid4(), name="RPM", type="number", min_value=0, max_value=6000
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),
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SignalDescriptor(
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id=uuid.uuid4(),
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name="temperature",
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type="number",
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min_value=0,
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max_value=120,
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),
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SignalDescriptor(
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id=uuid.uuid4(),
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name="voltage",
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type="number",
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min_value=0,
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max_value=20,
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),
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SignalDescriptor(
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id=uuid.uuid4(),
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name="current",
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type="number",
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min_value=0,
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max_value=50,
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),
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]
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connector_hello = ConnectorHello(
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connector_uuid=uuid.uuid4(),
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connector_name="Minimal Connector",
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connector_version="a0.0.1",
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signals=signals,
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)
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await write_message(writer, connector_hello)
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message = await asyncio.wait_for(read_message(reader), timeout=5.0)
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if isinstance(message, HandshakeAccepted):
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handshake = message
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print(f"Received connection handshake: {handshake}")
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elif isinstance(message, HandshakeRejected):
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print(f"Connector handshake rejected: {message.reason}")
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return
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while True:
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message = await read_message(reader)
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print(f"Received {message}")
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if isinstance(message, Heartbeat):
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if message.sequence < 10:
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message.return_timestamp = machine_timestamp_ms()
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await write_message(writer, message)
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except asyncio.CancelledError:
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raise
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finally:
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print("Disconnecting")
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writer.close()
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await writer.wait_closed()
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if __name__ == "__main__":
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try:
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asyncio.run(main())
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except KeyboardInterrupt:
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print("\nConnector stopped")
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