First commit

simulator/modules/sbot_interface/boards/time_server.py

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+"""
+A simulator for handling time based commands using simulated time.
+
+Provides a message parser that simulates the behavior of sleep and time.
+"""
+from __future__ import annotations
+
+import logging
+from datetime import datetime, timedelta
+
+from sbot_interface.devices.util import get_globals
+
+LOGGER = logging.getLogger(__name__)
+g = get_globals()
+
+
+class TimeServer:
+    """
+    A simulator for handling time based commands using simulated time.
+
+    :param asset_tag: The asset tag to report for the time server.
+    :param software_version: The software version to report for the time server.
+    :param start_time: The start time for the time server (reported time to simulator time 0).
+    """
+
+    def __init__(
+        self,
+        asset_tag: str,
+        software_version: str = '1.0',
+        start_time: str = '2024-06-01T00:00:00+00:00',
+    ):
+        self.asset_tag = asset_tag
+        self.software_version = software_version
+        self.start_time = datetime.fromisoformat(start_time)
+
+    def handle_command(self, command: str) -> str:
+        """
+        Process a command string and return the response.
+
+        :param command: The command string to process.
+        :return: The response to the command.
+        """
+        args = command.split(':')
+        if args[0] == '*IDN?':
+            return f'SourceBots:TimeServer:{self.asset_tag}:{self.software_version}'
+        elif args[0] == '*STATUS?':
+            return "Yes"
+        elif args[0] == '*RESET':
+            return "NACK:Reset not supported"
+        elif args[0] == 'TIME?':
+            sim_time = g.robot.getTime()
+            current_time = self.start_time + timedelta(seconds=sim_time)
+            return current_time.isoformat('T', timespec='milliseconds')
+        elif args[0] == 'SLEEP':
+            if len(args) < 2:
+                return 'NACK:Missing duration'
+            try:
+                duration = int(args[1])
+            except ValueError:
+                return 'NACK:Invalid duration'
+            LOGGER.info(f'Sleeping for {duration} ms')
+            g.sleep(duration / 1000)
+            return 'ACK'
+        else:
+            return f'NACK:Unknown command {command.strip()}'
+        return 'NACK:Command failed'