Fixed NamedTupleAdapter crash when handling translated values, added optional WebSocket support.

python/fusion_engine_client/parsers/decoder.py

@@ -261,16 +261,12 @@ def on_data(self, data: Union[bytes, int]) -> List[Union[MessageTuple, MessageWi
                 contents = cls()
                 try:
                     contents.unpack(buffer=self._buffer, offset=MessageHeader.calcsize())
+                    _logger.debug('Decoded FusionEngine message %s.', repr(contents))
                 except Exception as e:
                     # unpack() may fail if the payload length in the header differs from the length expected by the
                     # class, the payload contains an illegal value, etc.
                     _logger.error('Error deserializing message %s payload: %s', self._header.get_type_string(), e)
-                    self._header = None
-                    self._msg_len = 0
-                    self._buffer.pop(0)
-                    self._bytes_processed += 1
-                    continue
-                _logger.debug('Decoded FusionEngine message %s.', repr(contents))
+                    contents = bytes(self._buffer[MessageHeader.calcsize():self._msg_len])
             # If cls is None, we don't have a class for the message type. Return a copy of the payload bytes.
             else:
                 contents = bytes(self._buffer[MessageHeader.calcsize():self._msg_len])

python/fusion_engine_client/utils/construct_utils.py

@@ -3,7 +3,7 @@
 import re
 from typing import Optional
 
-from construct import Adapter, Array, Enum, Float64l, Float32l, FormatField, Struct
+from construct import Adapter, Array, Container, Enum, Float64l, Float32l, FormatField, Struct
 import numpy as np
 
 from .enum_utils import IntEnum
@@ -117,8 +117,12 @@ def make_default(self):
         return self.tuple_cls()
 
     def _decode(self, obj, context, path):
-        # skip _io member
-        return self.tuple_cls(*list(obj.values())[1:])
+        if isinstance(obj, Container):
+            # skip _io member
+            values = list(obj.values())[1:]
+        else:
+            values = [obj]
+        return self.tuple_cls(*values)
 
     def _encode(self, obj, context, path):
         return obj._asdict()

python/fusion_engine_client/utils/transport_utils.py

@@ -3,7 +3,19 @@
 from typing import Callable, Union
 
 try:
-    # pySerial is optional.
+    # WebSocket support is optional. To use, install with:
+    #   pip install websockets
+    import websockets.sync.client as ws
+    ws_supported = True
+except ImportError:
+    ws_supported = False
+    # Dummy stand-ins for type hinting if websockets is not installed.
+    class ws:
+        class ClientConnection: pass
+
+try:
+    # Serial port support is optional. To use, install with:
+    #   pip install pyserial
     import serial
     serial_supported = True
 
@@ -21,7 +33,7 @@ def __send(self, data, flags=None):
     serial.Serial.send = __send
 except ImportError:
     serial_supported = False
-    # Dummy stand-in if pySerial is not installed.
+    # Dummy stand-in for type hinting if pySerial is not installed.
     class serial:
         class Serial: pass
         class SerialException(Exception): pass
@@ -34,14 +46,16 @@ class SerialException(Exception): pass
   udp://:12345)
   Note: When using UDP, you must configure the device to send data to your
   machine.
+- ws://HOSTNAME:PORT - Connect to the specified hostname (or IP address) and
+  port over WebSocket (e.g., ws://192.168.0.3:30300)
 - unix://FILENAME - Connect to the specified UNIX domain socket file
 - [(serial|tty)://]DEVICE:BAUD - Connect to a serial device with the specified
   baud rate (e.g., tty:///dev/ttyUSB0:460800 or /dev/ttyUSB0:460800)
 """
 
 
 def create_transport(descriptor: str, timeout_sec: float = None, print_func: Callable = None) -> \
-        Union[socket.socket, serial.Serial]:
+        Union[socket.socket, serial.Serial, ws.ClientConnection]:
     m = re.match(r'^tcp://([a-zA-Z0-9-_.]+)?(?::([0-9]+))?$', descriptor)
     if m:
         hostname = m.group(1)
@@ -72,6 +86,27 @@ def create_transport(descriptor: str, timeout_sec: float = None, print_func: Cal
         transport.bind(('', port))
         return transport
 
+    m = re.match(r'^ws://([a-zA-Z0-9-_.]+):([0-9]+)$', descriptor)
+    if m:
+        hostname = m.group(1)
+        ip_address = socket.gethostbyname(hostname)
+        port = int(m.group(2))
+
+        url = f'ws://{ip_address}:{port}'
+
+        if not ws_supported:
+            raise RuntimeError(f'Websocket support not found. Cannot connect to {url}. '
+                               f'Please install (pip install websockets) and run again.')
+
+        if print_func is not None:
+            print_func(f'Connecting to {url}.')
+
+        try:
+            transport = ws.connect(url, open_timeout=timeout_sec)
+        except TimeoutError:
+            raise TimeoutError(f'Timed out connecting to {url}.')
+        return transport
+
     m = re.match(r'^unix://([a-zA-Z0-9-_./]+)$', descriptor)
     if m:
         path = m.group(1)
@@ -84,21 +119,21 @@ def create_transport(descriptor: str, timeout_sec: float = None, print_func: Cal
         transport.connect(path)
         return transport
 
-    m = re.match(r'^(?:(?:serial|tty)://)?([^:]+)(:([0-9]+))?$', descriptor)
+    m = re.match(r'^(?:(?:serial|tty)://)?([^:]+)(?::([0-9]+))?$', descriptor)
     if m:
-        if serial_supported:
-            path = m.group(1)
-            if m.group(2) is None:
-                raise ValueError('Serial baud rate not specified.')
-            else:
-                baud_rate = int(m.group(2))
-            if print_func is not None:
-                print_func(f'Connecting to tty://{path}:{baud_rate}.')
-
-            transport = serial.Serial(port=path, baudrate=baud_rate, timeout=timeout_sec)
-            return transport
+        path = m.group(1)
+        if m.group(2) is None:
+            raise ValueError('Serial baud rate not specified.')
         else:
-            raise RuntimeError(
-                "This application requires pyserial. Please install (pip install pyserial) and run again.")
+            baud_rate = int(m.group(2))
+
+        if not serial_supported:
+            raise RuntimeError(f'Serial port support not found. Cannot connect to tty://{path}:{baud_rate}. '
+                               f'Please install (pip install pyserial) and run again.')
+        if print_func is not None:
+            print_func(f'Connecting to tty://{path}:{baud_rate}.')
+
+        transport = serial.Serial(port=path, baudrate=baud_rate, timeout=timeout_sec)
+        return transport
 
     raise ValueError('Unsupported transport descriptor.')