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