decode_event raises on an id triple the XML does not carry, and the XML
is missing at least FlatTrim, so this happens on a real aircraft. The
receive loop already counted and carried on; now something checks it.
protocol/codec.py landed with decode_event returning ids and a values
dict, so the session looks the command name up in the index rather than
expecting it in the result. Verified end to end against that stream's
codec in a stitched tree: the sim encodes events through it, the session
decodes through it, and the test that skips until it exists now passes.
The argument name cannot be recovered by splitting a telemetry key,
because an argument can contain an underscore, so the expectation
predicate matches on the suffix instead.
The transport is threaded and the session puts an async face on it, so
pings and acks are answered whether or not anyone is awaiting a
coroutine. Telemetry is stored per key with a timestamp, because a drone
that has stopped reporting otherwise reads identically to one repeating
itself.
Encoding goes through protocol/codec lazily, so this lands without
waiting for that stream; the sim carries a small encoder of its own for
the events it sends, which also keeps it from agreeing with the client
about a shared mistake.
Ported from bebop-2's sim.py, retargeted at the vendored XML and with
the identity burst now sent per controller attach rather than once per
process.
protocol/types.py and arsdk/types.py are the interfaces the parallel streams
build against: command/arg/enum/expectation specs and the safety tiers on one
side, frame encoding and the buffer conventions on the other.
Logging goes to stderr throughout, since stdout carries JSON-RPC. That is also
why this package will speak ARSDK itself rather than through pyparrot, which
prints from its receive thread.
Bebop-era snapshot of common.xml and ardrone3.xml (BSD-3-Clause, Parrot SA),
with pyparrot's <myclass> rename reverted to Parrot's <class>. Provenance and
the comparison against upstream master are in arsdk-xml/PROVENANCE.md.
rsp2k