From 98ecfa40efcee55544314329b0f6e0e6fb3b14da Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <stefan.scherzinger@de.schunk.com>
Date: Tue, 9 Jul 2024 09:52:18 +0200
Subject: [PATCH] Add boilerplate code for a web server

This will mimic the real gripper's web server.
---
 schunk_egu_egk_dummy/README.md          | 28 +++++++++++++++++++
 schunk_egu_egk_dummy/main.py            | 37 +++++++++++++++++++++++++
 schunk_egu_egk_dummy/src/__init__.py    |  0
 schunk_egu_egk_dummy/src/dummy.py       | 29 +++++++++++++++++++
 schunk_egu_egk_dummy/test/__init__.py   |  0
 schunk_egu_egk_dummy/test/test_dummy.py | 27 ++++++++++++++++++
 6 files changed, 121 insertions(+)
 create mode 100644 schunk_egu_egk_dummy/README.md
 create mode 100644 schunk_egu_egk_dummy/main.py
 create mode 100644 schunk_egu_egk_dummy/src/__init__.py
 create mode 100644 schunk_egu_egk_dummy/src/dummy.py
 create mode 100644 schunk_egu_egk_dummy/test/__init__.py
 create mode 100644 schunk_egu_egk_dummy/test/test_dummy.py

diff --git a/schunk_egu_egk_dummy/README.md b/schunk_egu_egk_dummy/README.md
new file mode 100644
index 0000000..5eb6018
--- /dev/null
+++ b/schunk_egu_egk_dummy/README.md
@@ -0,0 +1,28 @@
+# Schunk EGU/EGK Dummy
+A minimalist protocol simulator for system tests.
+
+## Install
+Use a virtual environment and
+```bash
+pip install fastapi uvicorn
+```
+
+## Getting started
+1. In a new terminal, start the dummy
+    ```bash
+    uvicorn main:server --port 8000 --reload
+    ```
+
+## Run tests locally
+
+Inside a virtual environment (.venv)
+
+```bash
+pip install pytest coverage
+```
+
+And then inside this repository
+```bash
+coverage run -m pytest test/
+coverage report
+```
diff --git a/schunk_egu_egk_dummy/main.py b/schunk_egu_egk_dummy/main.py
new file mode 100644
index 0000000..f9e6839
--- /dev/null
+++ b/schunk_egu_egk_dummy/main.py
@@ -0,0 +1,37 @@
+from src.dummy import Dummy
+
+from fastapi import FastAPI
+from fastapi.middleware.cors import CORSMiddleware
+from typing import Optional
+from pydantic import BaseModel
+
+# Components
+dummy = Dummy()
+dummy.start()
+server = FastAPI()
+client = ["http://localhost:8001"]
+
+
+server.add_middleware(
+    CORSMiddleware,
+    allow_origins=client,
+    allow_credentials=True,
+    allow_methods=["*"],
+    allow_headers=[""],
+)
+
+
+class Message(BaseModel):
+    message: str
+    optional: Optional[str] = None
+
+
+@server.put("/")
+async def put(msg: Message):
+    dummy.process(msg.message)
+    return True
+
+
+@server.get("/")
+async def get():
+    return "Dummy ready"
diff --git a/schunk_egu_egk_dummy/src/__init__.py b/schunk_egu_egk_dummy/src/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/schunk_egu_egk_dummy/src/dummy.py b/schunk_egu_egk_dummy/src/dummy.py
new file mode 100644
index 0000000..5e9d2b6
--- /dev/null
+++ b/schunk_egu_egk_dummy/src/dummy.py
@@ -0,0 +1,29 @@
+from threading import Thread
+import time
+
+
+class Dummy(object):
+    def __init__(self):
+        self.thread = Thread(target=self._run)
+        self.running = False
+        self.done = False
+
+    def start(self) -> None:
+        if self.running:
+            return
+        self.thread.start()
+        self.running = True
+
+    def stop(self) -> None:
+        self.done = True
+        self.thread.join()
+        self.running = False
+
+    def _run(self):
+        while not self.done:
+            time.sleep(1)
+        print("Done")
+
+    def process(self, msg: str) -> bool:
+        print(msg)
+        return True
diff --git a/schunk_egu_egk_dummy/test/__init__.py b/schunk_egu_egk_dummy/test/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/schunk_egu_egk_dummy/test/test_dummy.py b/schunk_egu_egk_dummy/test/test_dummy.py
new file mode 100644
index 0000000..8cb76f3
--- /dev/null
+++ b/schunk_egu_egk_dummy/test/test_dummy.py
@@ -0,0 +1,27 @@
+from src.dummy import Dummy
+
+
+def test_dummy_starts_a_background_thread():
+    dummy = Dummy()
+    assert not dummy.running
+    dummy.start()
+    assert dummy.running
+    dummy.stop()
+    assert not dummy.running
+
+
+def test_dummy_survives_repeated_starts_and_stops():
+    dummy = Dummy()
+    for _ in range(3):
+        dummy.start()
+    assert dummy.running
+
+    for _ in range(3):
+        dummy.stop()
+    assert not dummy.running
+
+
+def test_dummy_processes_messages():
+    dummy = Dummy()
+    msg = "Hello simulator!"
+    assert dummy.process(msg)