Introduce Python variable server client module

I also made a wiki page: Python Variable Server Client

Refs #365

.gitignore

@@ -13,6 +13,7 @@ lib_Darwin_*
 *.tab.h
 *.swp
 *.dox
+*.pyc
 Makefile_jsc_dirs
 .DS_Store
 bin/trick-ICG

share/trick/pymods/trick/tests/test_variable_server.py

@@ -0,0 +1,198 @@
+import inspect
+import os
+import sys
+import unittest
+
+# TODO: Get rid of this and use automatic discovery when Trick requires Python 2.7
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(inspect.getsourcefile(lambda:0))), '..')))
+from variable_server import *
+
+class TestVariableServer(unittest.TestCase):
+
+    def setUp(self):
+        self.variable_server = VariableServer('localhost', 7000)
+        self.variables = [
+            Variable('ball.obj.state.input.position[0]', type_=int),
+            Variable('ball.obj.state.input.mass', units='g', type_=float)
+        ]
+
+    def tearDown(self):
+        self.variable_server.close()
+
+    def test_get_value(self):
+        variable = 'ball.obj.state.input.mass'
+
+        self.assertEqual('10',
+          self.variable_server.get_value(variable))
+
+        self.assertEqual(10,
+          self.variable_server.get_value(variable, type_=int))
+
+        self.assertEqual(10000.0,
+          self.variable_server.get_value(variable, units='g', type_=float))
+
+        self.assertEqual(20,
+          self.variable_server.get_value(variable, type_=lambda x: int(x) * 2))
+
+        # bad units
+        self.assertRaises(
+          UnitsConversionError,
+          self.variable_server.get_value,
+          variable,
+          units='fjarnskaggl')
+
+        # bad type
+        self.assertRaises(
+          ValueError,
+          self.variable_server.get_value,
+          variable,
+          type_=dict)
+
+    def test_set_value(self):
+        variable = 'ball.obj.state.input.position[1]'
+        self.variable_server.set_value(variable, 1337)
+        self.assertEqual('1337', self.variable_server.get_value(variable))
+        self.variable_server.set_value(variable, 1337, 'km')
+        self.assertEqual('1337000', self.variable_server.get_value(variable))
+
+    def test_get_values(self):
+        # empty call
+        self.assertEqual([], self.variable_server.get_values())
+        # multi-arg vall
+        self.assertEqual(self.variable_server.get_values(*self.variables),
+                         [variable.value for variable in self.variables])
+        self.assertEqual(5, self.variables[0].value)
+        self.assertEqual('m', self.variables[0].units)
+        self.assertEqual(10000.0, self.variables[1].value)
+        self.assertEqual('g', self.variables[1].units)
+
+    def test_add_variables(self):
+        # empty call
+        self.variable_server.add_variables()
+
+        # repeated call
+        for x in range(2):
+            self.variable_server.add_variables(*self.variables)
+            self.assertEqual(self.variables, self.variable_server._variables)
+
+        # bad units
+        self.assertRaises(
+          UnitsConversionError,
+          self.variable_server.add_variables,
+          Variable('ball.obj.state.input.mass', units='fjarnskaggl'))
+
+        # bad type
+        self.assertRaises(
+          ValueError,
+          self.variable_server.add_variables,
+          Variable('ball.obj.state.input.mass', type_=dict))
+
+
+    def test_remove_variables(self):
+        self.variable_server.add_variables(*self.variables)
+        # empty call
+        self.variable_server.remove_variables()
+        self.assertEqual(self.variables, self.variable_server._variables)
+        # repeated call
+        for x in range(2):
+            self.variable_server.remove_variables(*self.variables)
+            self.assertFalse(self.variable_server._variables)
+
+    def test_remove_all_variables(self):
+        self.variable_server.add_variables(*self.variables)
+        # repeated call
+        for x in range(2):
+            self.variable_server.remove_all_variables()
+            self.assertFalse(self.variable_server._variables)
+
+    def test_set_units(self):
+        self.variable_server.set_units(self.variables[0], 'cm')
+
+    def test_set_period(self):
+        self.variable_server.set_period(10)
+        # We would like to verify that VariableServerThread::update_rate
+        # was modified, but variable server threads are not registered
+        # with the memory manager, so we can't.
+
+    def test_register_callback(self):
+        def foo():
+            pass
+        self.variable_server.register_callback(foo)
+        self.assertEqual({foo: ((), {})}, self.variable_server._callbacks)
+        args = 1, 2
+        kwargs = {'a': 3, 'b': 4}
+        self.variable_server.register_callback(foo, args, kwargs)
+        self.assertEqual({foo: (args, kwargs)},
+                         self.variable_server._callbacks)
+
+    def test_deregister_callback(self):
+        def foo():
+            pass
+        self.variable_server.register_callback(foo)
+        # repeated call
+        for x in range(2):
+            self.variable_server.deregister_callback(foo)
+            self.assertFalse(self.variable_server._callbacks)
+
+    def test_pause(self):
+        self.variable_server.pause(True)
+        self.variable_server.pause(False)
+        # We would like to verify that VariableServerThread::pause_cmd
+        # was modified, but variable server threads are not registered
+        # with the memory manager, so we can't.
+
+    def test_set_debug(self):
+        self.variable_server.set_debug(3)
+        # We would like to verify that VariableServerThread::debug
+        # was modified, but variable server threads are not registered
+        # with the memory manager, so we can't.
+
+    def test_set_tag(self):
+        self.variable_server.set_tag('test')
+        # We would like to verify that
+        # VariableServerThread::connection.client_tag was modified, but
+        # variable server threads are not registered with the memory
+        # manager, so we can't.
+
+    def test_set_copy_mode(self):
+        self.variable_server.set_copy_mode()
+        # We would like to verify that VariableServerThread::copy_mode
+        # was modified, but variable server threads are not registered
+        # with the memory manager, so we can't.
+
+    def test_send_on_copy(self):
+        self.variable_server.send_on_copy()
+        # We would like to verify that VariableServerThread::write_mode
+        # was modified, but variable server threads are not registered
+        # with the memory manager, so we can't.
+
+    def test_validate_addresses(self):
+        self.variable_server.validate_addresses()
+        # We would like to verify that VariableServerThread::validate_addresses
+        # was modified, but variable server threads are not registered
+        # with the memory manager, so we can't.
+
+    def test_variable_exists(self):
+        self.assertTrue(
+          self.variable_server.variable_exists(self.variables[0].name))
+        self.assertFalse(
+          self.variable_server.variable_exists('fjarnskaggl'))
+
+    def test_freeze(self):
+        self.variable_server.freeze(True)
+        self.variable_server.freeze(False)
+        # We would like to verify that Executive::async_freeze_command
+        # was modified, but it's **'d out, so we can't.
+
+    def test_enable_real_time(self):
+        self.variable_server.enable_real_time(False)
+        self.assertTrue(self.variable_server.get_value(
+          'trick_real_time.rt_sync.disable_flag', type_=bool))
+
+        self.variable_server.enable_real_time(True)
+        self.assertTrue(self.variable_server.get_value(
+          'trick_real_time.rt_sync.enable_flag', type_=bool))
+
+# TODO: Get rid of this and use automatic discovery when Trick requires Python 2.7
+if __name__ == '__main__':
+    unittest.main()