Add hotfix for connecting to Blunux >=3.0 (#119)

blueye/sdk/drone.py

@@ -7,7 +7,11 @@
 
 import requests
 from blueye.protocol import TcpClient, UdpClient
-from blueye.protocol.exceptions import MismatchedReply, NoConnectionToDrone, ResponseTimeout
+from blueye.protocol.exceptions import (
+    MismatchedReply,
+    NoConnectionToDrone,
+    ResponseTimeout,
+)
 from packaging import version
 
 from .camera import Camera
@@ -244,6 +248,12 @@ def _start_state_watcher_thread(self):
             # Ignore multiple starts
             pass
 
+    def _create_temporary_tcp_client(self):
+        temp_tcp_client = TcpClient()
+        temp_tcp_client.connect()
+        temp_tcp_client.stop()
+        temp_tcp_client._sock.close()
+
     def connect(self, timeout: float = None):
         """Start receiving telemetry info from the drone, and publishing watchdog messages
 
@@ -253,8 +263,12 @@ def connect(self, timeout: float = None):
         - *timeout* (float): Seconds to wait for connection
         """
 
-        self._wait_for_udp_communication(timeout, self._ip)
         self._update_drone_info()
+        if version.parse(self.software_version_short) >= version.parse("3.0"):
+            # Blunux 3.0 requires a TCP message before enabling UDP communication
+            self._create_temporary_tcp_client()
+
+        self._wait_for_udp_communication(timeout, self._ip)
         self._start_state_watcher_thread()
         if self._slave_mode_enabled:
             # No need to touch the TCP stuff if we're in slave mode so we return early

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "blueye.sdk"
-version = "1.0.1"
+version = "1.0.2"
 description = "SDK for controlling a Blueye underwater drone"
 authors = ["Sindre Hansen <[email protected]>",
            "Johannes Schrimpf <[email protected]>",

tests/test_sdk.py

@@ -1,12 +1,13 @@
 from time import time
-from unittest.mock import PropertyMock
+from unittest.mock import Mock, PropertyMock
 
-import blueye.sdk
 import pytest
 import requests
-from blueye.sdk import Drone
 from freezegun import freeze_time
 
+import blueye.sdk
+from blueye.sdk import Drone
+
 
 class TestLights:
     def test_lights_returns_value(self, mocked_drone):
@@ -92,6 +93,15 @@ def test_verify_sw_version_raises_connection_error_when_not_connected(mocked_dro
         mocked_drone._verify_required_blunux_version("1.4.7")
 
 
+def test_if_blunux_newer_than_3_create_tcp_first(mocked_drone: Drone):
+    mocked_drone.software_version_short = "3.0"
+    mocked_drone._create_temporary_tcp_client = Mock()
+    mocked_drone._update_drone_info = Mock()  # To avoid overwriting the version number
+    mocked_drone.connect()
+
+    mocked_drone._create_temporary_tcp_client.assert_called_once()
+
+
 def test_depth_reading(mocked_drone):
     depth = 10000
     mocked_drone._state_watcher._general_state = {"depth": depth}