def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(self,
srcSystem=4,
srcComponent=0,
use_native=False)
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4, 0, self.dialect,
self.version)
self.VehA.onPacketTxAttach(self.vehSendFunc)
self.VehA.hasInitial = True
# The PaGS settings dir (just in source dir)
self.settingsdir = os.path.join(os.getcwd(), ".PaGS")
if not os.path.exists(self.settingsdir):
os.makedirs(self.settingsdir)
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir,
False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("internalPrinterModule")
def test_command(self):
"""Test the loading and execution of user commands
in modules"""
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir, False)
self.manager.onVehListAttach(self.getVehListCallbackMany)
self.manager.onVehGetAttach(self.getVehicleCallbackMany)
self.manager.addVehicle("VehB")
self.manager.addVehicle("VehC")
# load module
self.manager.addModule("templateModule")
# execute a command
self.manager.onModuleCommandCallback(
"VehB", "template do_stuff 1 \"the rest\"")
# and invalid command
self.manager.onModuleCommandCallback("VehB", "template do_nothing")
# Command to not-initialised vehicle
self.manager.onModuleCommandCallback(
"VehC", "template do_stuff 1 \"the rest\"")
# and assert
assert self.manager.multiModules['templateModule'].printedout[
"VehB"] == "Command not found: template do_nothing"
assert self.manager.multiModules['templateModule'].calledStuff["VehB"] == "1,the rest"
# VehC was not initialised, so the command should not be passed
assert self.manager.multiModules['templateModule'].printedout[
"VehC"] == "Cannot send command to vehicle - no packets received on link"
assert "VehC" not in self.manager.multiModules['templateModule'].calledStuff
def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(self,
srcSystem=4,
srcComponent=0,
use_native=False)
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4, 0, self.dialect,
self.version)
self.VehA.onPacketTxAttach(self.vehSendFunc)
self.txPackets = {}
self.txVehPackets = {}
self.manager = moduleManager.moduleManager(self.loop, self.dialect,
self.version, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("PaGS.modules.internalPrinterModule")
def __init__(self, dialect, mav, source_system, source_component, nogui,
multi, loop, initialModules):
"""
Start up PaGS
"""
self.source_system = source_system
self.source_component = source_component
self.dialect = dialect
self.mav = mav
# The PaGS settings dir
self.settingsdir = os.path.join(str(Path.home()), ".PaGS")
if not os.path.exists(self.settingsdir):
os.makedirs(self.settingsdir)
# logging.basicConfig(level=logging.DEBUG)
self.loop = loop
# Start the connection maxtrix
self.connmtrx = ConnectionManager(self.loop, dialect, mav,
source_system, source_component)
# Dict of vehicles
self.allvehicles = VehicleManager(self.loop)
# Module manager
self.modules = moduleManager.moduleManager(self.loop, self.settingsdir,
not nogui)
# event links from connmaxtrix -> vehicle manager
self.connmtrx.onPacketAttach(self.allvehicles.onPacketRecieved)
# event links from vehicle manager -> connmatrix
self.allvehicles.onPacketBufTxAttach(self.connmtrx.outgoingPacket)
asyncio.ensure_future(
self.allvehicles.onLinkAddAttach(self.connmtrx.addVehicleLink))
asyncio.ensure_future(
self.allvehicles.onLinkRemoveAttach(self.connmtrx.removeLink))
# event links from module manager -> vehicle manager
self.modules.onPktTxAttach(self.allvehicles.send_message)
self.modules.onVehListAttach(self.allvehicles.get_vehiclelist)
self.modules.onVehGetAttach(self.allvehicles.get_vehicle)
# event links vehicle manager -> module manager
self.allvehicles.onAddVehicleAttach(self.modules.addVehicle)
self.allvehicles.onRemoveVehicleAttach(self.modules.removeVehicle)
self.allvehicles.onPacketRxAttach(self.modules.incomingPacket)
# Need to load initial modules
for m in initialModules:
self.modules.addModule(m)
# redirect stdout to the terminal printer, if loaded
# Thus print() can be used properly
if self.modules.multiModules.get('modules.terminalModule'):
sys.stdout = RedirPrint(
self.modules.multiModules.get('modules.terminalModule').print)
def test_guiStart(self):
"""Simple test of the GUI startup"""
# need to reset for handling gui
self.manager = moduleManager.moduleManager(self.loop, self.dialect,
self.version, True)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("PaGS.modules.internalPrinterModule")
self.manager.addModule("PaGS.modules.paramModule")
def test_cmd_do_stuff(self):
"""Test the do_stuff() command"""
self.manager = moduleManager.moduleManager(self.loop, self.dialect,
self.version, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.addModule("PaGS.modules.templateModule")
# execute a command
self.manager.onModuleCommandCallback(
"VehA", "template do_stuff 1 \"the rest\"")
# and assert
assert self.manager.multiModules[
'PaGS.modules.templateModule'].calledStuff["VehA"] == "1,the rest"
async def test_startup(self):
""" Test that we can cleanly startup and shutdown
"""
# Start the connection maxtrix
self.connmtrx = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0)
# Dict of vehicles
self.allvehicles = VehicleManager(self.loop)
# Module manager
self.allModules = moduleManager(
self.loop, self.dialect, self.version, False)
# and link them all together
await self.doEventLinkages()
async def test_singleConnection(self):
""" Test that we can get a packet with a single
vehicle with single connection
"""
# Start the connection maxtrix
self.connmtrx = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0)
# Dict of vehicles
self.allvehicles = VehicleManager(self.loop)
# Module manager
self.allModules = moduleManager(
self.loop, self.dialect, self.version, False)
# and link them all together
await self.doEventLinkages()
# add a link
await self.allvehicles.add_vehicle("VehA", 255, 0, 4, 0,
self.dialect, self.version, 'tcpserver:127.0.0.1:15000')
# Start a remote connection (TCP)
self.remoteClient = TCPConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=False, name=self.cname)
await asyncio.sleep(0.3)
await self.loop.create_connection(lambda: self.remoteClient, self.ip, self.port)
# wait for 0.02 sec
await asyncio.sleep(0.02)
# send a heartbeat packet
pkt = self.mod.MAVLink_heartbeat_message(
5, 4, 0, 0, 0, int(self.version))
self.remoteClient.send_data(pkt.pack(self.mav, force_mavlink1=False))
await asyncio.sleep(0.02)
self.remoteClient.close()
# assert the vehicle recieved the packet
assert len(self.allvehicles.get_vehicle("VehA").latestPacketDict) == 1
assert self.allvehicles.get_vehicle("VehA").latestPacketDict[0] == pkt
async def test_addremoveModule(self):
"""Test adding and removal of module"""
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.addModule("templateModule")
assert len(self.manager.multiModules) == 1
assert "template" in self.manager.commands
assert len(self.manager.commands["template"]) == 2
await self.manager.removeModule("templateModule")
assert len(self.manager.multiModules) == 0
assert "template" not in self.manager.commands
assert "templateModule" not in self.manager.printers
def test_printer(self):
"""Test the printer function (output)
for the modules"""
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir, False)
self.manager.onVehListAttach(self.getVehListCallbackMany)
self.manager.addVehicle("VehB")
self.manager.addVehicle("VehC")
# load module
self.manager.addModule("templateModule")
# print some text
self.manager.printVeh("VehB", "test text")
self.manager.printVeh("VehC", "test text2")
assert self.manager.multiModules['templateModule'].printedout["VehB"] == "test text"
assert self.manager.multiModules['templateModule'].printedout["VehC"] == "test text2"
def test_addRemoveVehicleAfterModule(self):
"""Test adding and removing vehicles prior
to module loading"""
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir, False)
self.manager.onVehListAttach(self.getVehListCallbackMany)
# self.manager.onVehGetAttach(self.getVehicleCallback)
# simulate some vehicles being added
self.manager.addVehicle("VehB")
self.manager.addVehicle("VehC")
# and being removed
self.manager.removeVehicle("VehB")
# load module
self.manager.addModule("templateModule")
assert self.manager.multiModules['templateModule'].theVeh == [
"VehA", "VehC"]
def test_addremoveModule(self):
"""Test adding and removal of module"""
self.manager = moduleManager.moduleManager(
self.loop, self.dialect, self.version, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.addModule("PaGS.modules.templateModule")
assert len(self.manager.multiModules) == 1
assert "template" in self.manager.commands
assert len(self.manager.commands["template"]) == 2
self.manager.removeModule("PaGS.modules.templateModule")
assert len(self.manager.multiModules) == 0
assert "template" not in self.manager.commands
assert "PaGS.modules.templateModule" not in self.manager.printers
def test_addRemoveVehicle(self):
"""Test adding and removing a vehicle"""
self.manager = moduleManager.moduleManager(
self.loop, self.dialect, self.version, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.addModule("PaGS.modules.templateModule")
# simulate some vehicles being added
self.manager.addVehicle("VehB")
self.manager.addVehicle("VehC")
assert self.manager.multiModules['PaGS.modules.templateModule'].theVeh == [
"VehA", "VehB", "VehC"]
# and being removed
self.manager.removeVehicle("VehB")
assert self.manager.multiModules['PaGS.modules.templateModule'].theVeh == [
"VehA", "VehC"]
def test_inoutPacket(self):
"""Test packets going in and out"""
self.manager = moduleManager.moduleManager(
self.loop, self.dialect, self.version, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.addModule("PaGS.modules.templateModule")
# And create the callback for packet tx/rx between vehicle and modules
self.manager.onPktTxAttach(self.txcallback)
# send an incoming packet. The template module will send it back out
# again
pkt = self.mod.MAVLink_heartbeat_message(
5, 4, 0, 0, 0, int(self.version))
self.manager.incomingPacket("VehA", pkt, "link1")
assert self.manager.multiModules["PaGS.modules.templateModule"].pkts == 1
print(self.txPackets)
assert self.txPackets["VehA"] == 0 # the packet type
async def test_guiStart(self):
"""Simple test of the GUI startup"""
# need to reset for handling gui
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir,
True)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("internalPrinterModule")
self.manager.addModule("PaGS.modules.statusModule")
# Wait for param gui to load
await asyncio.sleep(0.2)
# Update the GUI with some status
pkt = self.mod.MAVLink_sys_status_message(52485167, 35684399, 52461871,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
self.manager.multiModules["PaGS.modules.statusModule"].incomingPacket(
"VehA", pkt)
def test_moreCommand(self):
"""Test the stability of the command handler with all
sorts of mangled user input"""
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir, False)
self.manager.onVehListAttach(self.getVehListCallbackMany)
self.manager.onVehGetAttach(self.getVehicleCallbackMany)
self.manager.addVehicle("VehB")
self.manager.addVehicle("VehC")
# load module
self.manager.addModule("templateModule")
# test the mangled inputs
self.manager.onModuleCommandCallback("VehB", "")
self.manager.onModuleCommandCallback("VehB", "template")
self.manager.onModuleCommandCallback("VehB", "template do_stuff")
self.manager.onModuleCommandCallback(
"VehB", "template do_stuff 1 3 4 6 7")
self.manager.onModuleCommandCallback("VehB", "template do_stuff \"4")
self.manager.onModuleCommandCallback("VehB", "template:")
self.manager.onModuleCommandCallback("VehB", "template do_stuff:")
self.manager.onModuleCommandCallback("VehB", "template crash")
def test_command(self):
"""Test the loading and execution of user commands
in modules"""
self.manager = moduleManager.moduleManager(
self.loop, self.dialect, self.version, False)
self.manager.onVehListAttach(self.getVehListCallbackMany)
self.manager.addVehicle("VehB")
self.manager.addVehicle("VehC")
# load module
self.manager.addModule("PaGS.modules.templateModule")
# execute a command
self.manager.onModuleCommandCallback(
"VehB", "template do_stuff 1 \"the rest\"")
# and invalid command
self.manager.onModuleCommandCallback("VehB", "template do_nothing")
# and assert
assert self.manager.multiModules['PaGS.modules.templateModule'].printedout[
"VehB"] == "Command not found: template do_nothing"
assert self.manager.multiModules['PaGS.modules.templateModule'].calledStuff["VehB"] == "1,the rest"
async def test_guiStart(self):
"""Simple test of the GUI startup"""
# need to reset for handling gui
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir,
True)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("internalPrinterModule")
self.manager.addModule("PaGS.modules.paramModule")
# now all params downloaded
self.VehA.paramstatus = True
self.VehA.params = {"RC1_MIN": 1000, "RC2_MAX": 2000}
self.VehA.params_type = {
"RC1_MIN": self.mod.MAV_PARAM_TYPE_UINT16,
"RC2_MAX": self.mod.MAV_PARAM_TYPE_UINT16
}
# Wait for param gui to load
await asyncio.sleep(0.3)
def test_manager(self):
"""Check initialisation"""
self.manager = moduleManager.moduleManager(
self.loop, self.dialect, self.version, False)
assert len(self.manager.multiModules) == 0
def test_manager(self):
"""Check initialisation"""
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir, False)
assert len(self.manager.multiModules) == 0
def __init__(self, dialect, mav, source_system, source_component, nogui,
multi, source, loop, initialModules):
"""
Start up PaGS
"""
# logging.basicConfig(level=logging.DEBUG)
self.loop = loop
# Start the connection maxtrix
self.connmtrx = ConnectionManager(self.loop, dialect, mav,
source_system, source_component)
# Dict of vehicles
self.allvehicles = VehicleManager(self.loop)
# Module manager
self.modules = moduleManager.moduleManager(self.loop, dialect, mav,
not nogui)
# event links from connmaxtrix -> vehicle manager
self.connmtrx.onPacketAttach(self.allvehicles.onPacketRecieved)
# event links from vehicle manager -> connmatrix
self.allvehicles.onPacketBufTxAttach(self.connmtrx.outgoingPacket)
asyncio.ensure_future(
self.allvehicles.onLinkAddAttach(self.connmtrx.addVehicleLink))
asyncio.ensure_future(
self.allvehicles.onLinkRemoveAttach(self.connmtrx.removeLink))
# event links from module manager -> vehicle manager
self.modules.onPktTxAttach(self.allvehicles.send_message)
self.modules.onVehListAttach(self.allvehicles.get_vehiclelist)
self.modules.onVehGetAttach(self.allvehicles.get_vehicle)
# event links vehicle manager -> module manager
self.allvehicles.onAddVehicleAttach(self.modules.addVehicle)
self.allvehicles.onRemoveVehicleAttach(self.modules.removeVehicle)
self.allvehicles.onPacketRxAttach(self.modules.incomingPacket)
# Need to load initial modules
for m in initialModules:
self.modules.addModule(m)
# redirect stdout to the terminal printer, if loaded
# Thus print() can be used properly
if self.modules.multiModules.get('modules.terminalModule'):
sys.stdout = RedirPrint(
self.modules.multiModules.get('modules.terminalModule').print)
# Single or multi-vehicle?
if multi != "":
# TODO: figure out multivehicle parsing file
pass
else:
# Create vehicles and links
# Each sysID is assumed to be a different vehicle
# Multiple links with the same sysid will create a multilink vehicle
for connection in source:
Vehname = "Veh_" + str(connection.split(':')[3])
cn = connection.split(':')[0] + ":" + connection.split(
':')[1] + ":" + connection.split(':')[2]
asyncio.ensure_future(
self.allvehicles.add_vehicle(Vehname, source_system,
source_component,
connection.split(':')[3],
connection.split(':')[4],
dialect, mav, cn))
