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Lukas Wegmann
crazyflie-lib-python
Commits
aa6a5acb
Commit
aa6a5acb
authored
Jun 5, 2019
by
Kristoffer Richardsson
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#120 Remove all callbacks on disconnect in the SyncCrazyflie class
parent
bcbc8336
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2 changed files
cflib/crazyflie/syncCrazyflie.py
+21
-4
21 additions, 4 deletions
cflib/crazyflie/syncCrazyflie.py
test/crazyflie/test_syncCrazyflie.py
+9
-0
9 additions, 0 deletions
test/crazyflie/test_syncCrazyflie.py
with
30 additions
and
4 deletions
cflib/crazyflie/syncCrazyflie.py
+
21
−
4
View file @
aa6a5acb
...
...
@@ -50,18 +50,17 @@ class SyncCrazyflie:
self
.
_is_link_open
=
False
self
.
_error_message
=
None
self
.
cf
.
connected
.
add_callback
(
self
.
_connected
)
self
.
cf
.
connection_failed
.
add_callback
(
self
.
_connection_failed
)
self
.
cf
.
disconnected
.
add_callback
(
self
.
_disconnected
)
def
open_link
(
self
):
if
(
self
.
is_link_open
()):
raise
Exception
(
'
Link already open
'
)
self
.
_add_callbacks
()
print
(
'
Connecting to %s
'
%
self
.
_link_uri
)
self
.
cf
.
open_link
(
self
.
_link_uri
)
self
.
_connect_event
.
wait
()
if
not
self
.
_is_link_open
:
self
.
_remove_callbacks
()
raise
Exception
(
self
.
_error_message
)
def
__enter__
(
self
):
...
...
@@ -70,6 +69,7 @@ class SyncCrazyflie:
def
close_link
(
self
):
self
.
cf
.
close_link
()
self
.
_remove_callbacks
()
self
.
_is_link_open
=
False
def
__exit__
(
self
,
exc_type
,
exc_val
,
exc_tb
):
...
...
@@ -94,4 +94,21 @@ class SyncCrazyflie:
self
.
_connect_event
.
set
()
def
_disconnected
(
self
,
link_uri
):
self
.
_remove_callbacks
()
self
.
_is_link_open
=
False
def
_add_callbacks
(
self
):
self
.
cf
.
connected
.
add_callback
(
self
.
_connected
)
self
.
cf
.
connection_failed
.
add_callback
(
self
.
_connection_failed
)
self
.
cf
.
disconnected
.
add_callback
(
self
.
_disconnected
)
def
_remove_callbacks
(
self
):
def
remove_callback
(
container
,
callback
):
try
:
container
.
remove_callback
(
callback
)
except
ValueError
:
pass
remove_callback
(
self
.
cf
.
connected
,
self
.
_connected
)
remove_callback
(
self
.
cf
.
connection_failed
,
self
.
_connection_failed
)
remove_callback
(
self
.
cf
.
disconnected
,
self
.
_disconnected
)
This diff is collapsed.
Click to expand it.
test/crazyflie/test_syncCrazyflie.py
+
9
−
0
View file @
aa6a5acb
...
...
@@ -91,6 +91,7 @@ class SyncCrazyflieTest(unittest.TestCase):
# Assert
self
.
assertEqual
(
expected
,
actual
)
self
.
_assertAllCallbacksAreRemoved
()
def
test_open_link_of_already_open_link_raises_exception
(
self
):
# Fixture
...
...
@@ -111,6 +112,7 @@ class SyncCrazyflieTest(unittest.TestCase):
# Assert
self
.
cf_mock
.
close_link
.
assert_called_once_with
()
self
.
assertFalse
(
self
.
sut
.
is_link_open
())
self
.
_assertAllCallbacksAreRemoved
()
def
test_close_link_that_is_not_open
(
self
):
# Fixture
...
...
@@ -132,6 +134,7 @@ class SyncCrazyflieTest(unittest.TestCase):
# Assert
self
.
assertFalse
(
self
.
sut
.
is_link_open
())
self
.
_assertAllCallbacksAreRemoved
()
def
test_open_close_with_context_mangement
(
self
):
# Fixture
...
...
@@ -142,3 +145,9 @@ class SyncCrazyflieTest(unittest.TestCase):
# Assert
self
.
cf_mock
.
close_link
.
assert_called_once_with
()
self
.
_assertAllCallbacksAreRemoved
()
def
_assertAllCallbacksAreRemoved
(
self
):
self
.
assertEqual
(
0
,
len
(
self
.
cf_mock
.
connected
.
callbacks
))
self
.
assertEqual
(
0
,
len
(
self
.
cf_mock
.
connection_failed
.
callbacks
))
self
.
assertEqual
(
0
,
len
(
self
.
cf_mock
.
disconnected
.
callbacks
))
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