def test_checkCmdCounter(self):
"""Test checkCmdCounter method."""
# Check that command relay buffer is empty
assert (self.comm.cmdRelayBuffer == bytearray())
### Test method with command that includes a command counter
checkCmdCounter(self.comm,
testCmds[NodeCmds['GCSCmd']].header['header'],
testCmds[NodeCmds['GCSCmd']].serialize(), self.comm)
encodedMsg = createEncodedMsg(testCmds[NodeCmds['GCSCmd']].serialize())
assert (self.comm.cmdRelayBuffer == encodedMsg)
# Resend with new counter to check cmd is appended to buffer
#cmdCounter = testCmds[NodeCmds['GCSCmd']].header['header']['cmdCounter']
#header, cmdMsg = self.updateCmdCounterValue(cmdCounter+1, deepcopy(testCmds[NodeCmds['GCSCmd']].header), testCmds[NodeCmds['GCSCmd']].body)
testCmds[NodeCmds['GCSCmd']].header['header']['cmdCounter'] += 1
checkCmdCounter(self.comm,
testCmds[NodeCmds['GCSCmd']].header['header'],
testCmds[NodeCmds['GCSCmd']].serialize(), self.comm)
#checkCmdCounter(self.comm, header['header'], cmdMsg, self.comm)
encodedMsg2 = createEncodedMsg(
testCmds[NodeCmds['GCSCmd']].serialize())
assert (self.comm.cmdRelayBuffer == encodedMsg + encodedMsg2)
## Test various counter values to test acceptance behavior
# Command counter == 1, stored counter == 0
self.comm.cmdRelayBuffer = bytearray()
self.nodeParams.cmdHistory.append(
0) # place known cmd counter value in history
testCmds[NodeCmds['GCSCmd']].header['header']['cmdCounter'] = 1
checkCmdCounter(self.comm,
testCmds[NodeCmds['GCSCmd']].header['header'],
testCmds[NodeCmds['GCSCmd']].serialize(), self.comm)
assert (len(self.comm.cmdRelayBuffer) > 0) # cmd put in relay buffer
# Command counter == 1, stored counter == 1
self.comm.cmdRelayBuffer = bytearray()
checkCmdCounter(self.comm,
testCmds[NodeCmds['GCSCmd']].header['header'],
testCmds[NodeCmds['GCSCmd']].serialize(), self.comm)
assert (len(self.comm.cmdRelayBuffer) == 0
) # cmd not put in relay buffer
### Send command that should not be relayed
self.comm.cmdRelayBuffer = bytearray()
self.nodeParams.cmdHistory = deque(maxlen=50) # clear command history
checkCmdCounter(self.comm, testCmds[NodeCmds['NoOp']].header['header'],
testCmds[NodeCmds['NoOp']].serialize(), self.comm)
assert (len(self.comm.cmdRelayBuffer) == 0
) # cmd not put in relay buffer
def test_parseMsgs(self):
"""Test parseMsgs method of SerialComm."""
# Place multiple messages in rx buffer
truthMsg = createEncodedMsg(testMsg)
truthMsg2 = createEncodedMsg(testMsg + b'999')
self.serialComm.radio.rxBuffer[0:len(truthMsg)] = truthMsg
self.serialComm.radio.rxBuffer[len(truthMsg):len(truthMsg) +
len(truthMsg2)] = truthMsg2
self.serialComm.radio.bytesInRxBuffer = len(truthMsg) + len(truthMsg2)
# Parse messages
self.serialComm.parseMsgs()
assert (len(self.serialComm.msgParser.parsedMsgs) == 2)
assert (self.serialComm.msgParser.parsedMsgs[0] == testMsg
) # confirm parsed message matches original
assert (self.serialComm.msgParser.parsedMsgs[1] == testMsg + b'999'
) # confirm parsed message matches original
def test_bufferTxMsg(self):
"""Test bufferTxMsg method of SerialComm."""
assert (len(self.serialComm.radio.txBuffer) == 0
) # confirm empty tx buffer
self.serialComm.bufferTxMsg(testMsg)
truthMsg = createEncodedMsg(testMsg)
assert (self.serialComm.radio.txBuffer == truthMsg
) # confirm message placed in tx buffer
def test_sendMsg(self):
"""Test sendMsg method of SerialComm."""
# Send test message
msgBytes = testMsg
self.serialPort.read(100) # clear serial buffer
self.serialComm.sendMsg(testMsg)
time.sleep(0.1)
readBytes = self.serialPort.read(100)
# Encode test message and compare to bytes read
truthMsg = createEncodedMsg(testMsg)
assert (readBytes == truthMsg)
def test_sendBuffer(self):
"""Test sendBuffer method of SerialComm."""
# Place message in tx buffer
self.serialComm.bufferTxMsg(testMsg)
assert (len(self.serialComm.radio.txBuffer) > 0)
# Send message and compare received bytes to sent
self.serialComm.sendBuffer()
assert (len(self.serialComm.radio.txBuffer) == 0)
time.sleep(0.1)
self.serialComm.readBytes()
truthMsg = createEncodedMsg(testMsg)
serBytes = self.serialComm.radio.getRxBytes()
assert (serBytes == truthMsg)
def test_checkCmdCounter(self):
"""Test checkCmdCounter method."""
# Check that command relay buffer is empty
assert (self.comm.cmdRelayBuffer == bytearray())
### Test method with command that includes a command counter
cmdMsg = packHeader(testCmds[PixhawkCmds['GCSCmd']].header) + testCmds[
PixhawkCmds['GCSCmd']].body
checkCmdCounter(self.commProcessor,
testCmds[PixhawkCmds['GCSCmd']].header['header'],
cmdMsg, self.comm)
encodedMsg = createEncodedMsg(cmdMsg)
assert (self.comm.cmdRelayBuffer == encodedMsg)
# Resend with new counter to check cmd is appended to buffer
cmdCounter = testCmds[
PixhawkCmds['GCSCmd']].header['header']['cmdCounter']
header, cmdMsg = self.updateCmdCounterValue(
cmdCounter + 1, deepcopy(testCmds[PixhawkCmds['GCSCmd']].header),
testCmds[PixhawkCmds['GCSCmd']].body)
checkCmdCounter(self.commProcessor, header['header'], cmdMsg,
self.comm)
encodedMsg2 = createEncodedMsg(cmdMsg)
assert (self.comm.cmdRelayBuffer == encodedMsg + encodedMsg2)
## Test various counter values to test acceptance behavior
# Command counter == 1, stored counter == 0
self.comm.cmdRelayBuffer = bytearray()
self.nodeParams.cmdHistory.append(
0) # place known cmd counter value in history
header, cmdMsg = self.updateCmdCounterValue(
1, deepcopy(testCmds[PixhawkCmds['GCSCmd']].header),
testCmds[PixhawkCmds['GCSCmd']].body)
checkCmdCounter(self.commProcessor, header['header'], cmdMsg,
self.comm)
assert (len(self.comm.cmdRelayBuffer) > 0) # cmd put in relay buffer
# Command counter == 1, stored counter == 1
self.comm.cmdRelayBuffer = bytearray()
checkCmdCounter(self.commProcessor, header['header'], cmdMsg,
self.comm)
assert (len(self.comm.cmdRelayBuffer) == 0
) # cmd not put in relay buffer
# Command counter == 255, stored counter == 1
self.comm.cmdRelayBuffer = bytearray()
header, cmdMsg = self.updateCmdCounterValue(
255, deepcopy(testCmds[PixhawkCmds['GCSCmd']].header),
testCmds[PixhawkCmds['GCSCmd']].body)
checkCmdCounter(self.commProcessor, header['header'], cmdMsg,
self.comm)
assert (len(self.comm.cmdRelayBuffer) > 0) # cmd put in relay buffer
# Command counter == 1, stored counter == 255
header, cmdMsg = self.updateCmdCounterValue(
1, deepcopy(testCmds[PixhawkCmds['GCSCmd']].header),
testCmds[PixhawkCmds['GCSCmd']].body)
checkCmdCounter(self.commProcessor, header['header'], cmdMsg,
self.comm)
assert (len(self.comm.cmdRelayBuffer) > 0) # cmd put in relay buffer
# Command counter == cmdCounterThreshold, storedcounter == 255 (DEPRECATED)
#self.nodeParams.set_cmdCounter(255)
#self.comm.cmdRelayBuffer = bytearray()
#header, cmdMsg = self.updateCmdCounterValue(self.nodeParams.cmdCounterThreshold, deepcopy(testCmds[PixhawkCmds['GCSCmd']].header), testCmds[PixhawkCmds['GCSCmd']].body)
#assert(len(self.comm.cmdRelayBuffer) == 0) # cmd not put in relay buffer
### Send command that should not be relayed
self.comm.cmdRelayBuffer = bytearray()
self.nodeParams._cmdCounter = 0
cmdMsg = packHeader(testCmds[PixhawkCmds['FormationCmd']].header
) + testCmds[PixhawkCmds['FormationCmd']].body
checkCmdCounter(self.commProcessor,
testCmds[PixhawkCmds['FormationCmd']].header['header'],
cmdMsg, self.comm)
assert (len(self.comm.cmdRelayBuffer) == 0
) # cmd not put in relay buffer