async def _unittest_can_transport_non_anon() -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer, TransferFrom
from pyuavcan.transport import UnsupportedSessionConfigurationError, Priority, SessionStatistics, Timestamp
from pyuavcan.transport import ResourceClosedError, InputSessionSpecifier, OutputSessionSpecifier
# noinspection PyProtectedMember
from pyuavcan.transport.can._identifier import MessageCANID, ServiceCANID
# noinspection PyProtectedMember
from pyuavcan.transport.can._frame import UAVCANFrame
from .media.mock import MockMedia, FrameCollector
peers: typing.Set[MockMedia] = set()
media = MockMedia(peers, 64, 10)
media2 = MockMedia(peers, 64, 3)
peeper = MockMedia(peers, 64, 10)
assert len(peers) == 3
tr = can.CANTransport(media, 5)
tr2 = can.CANTransport(media2, 123)
assert tr.protocol_parameters == pyuavcan.transport.ProtocolParameters(
transfer_id_modulo=32, max_nodes=128, mtu=63)
assert tr.local_node_id == 5
assert tr.protocol_parameters == tr2.protocol_parameters
assert media.automatic_retransmission_enabled
assert media2.automatic_retransmission_enabled
#
# Instantiate session objects
#
meta = PayloadMetadata(0x_bad_c0ffee_0dd_f00d, 10000)
with pytest.raises(Exception): # Can't broadcast service calls
tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(123, ServiceDataSpecifier.Role.RESPONSE),
None), meta)
with pytest.raises(
UnsupportedSessionConfigurationError): # Can't unicast messages
tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(1234), 123), meta)
broadcaster = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
assert broadcaster is tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
subscriber_promiscuous = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), None), meta)
assert subscriber_promiscuous is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), None), meta)
subscriber_selective = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), 123), meta)
server_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
None), meta)
server_responder = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
client_requester = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST), 123),
meta)
client_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
assert set(tr.input_sessions) == {
subscriber_promiscuous, subscriber_selective, server_listener,
client_listener
}
assert set(tr.output_sessions) == {
broadcaster, server_responder, client_requester
}
#
# Basic exchange test, no one is listening
#
media2.configure_acceptance_filters(
[can.media.FilterConfiguration.new_promiscuous()])
peeper.configure_acceptance_filters(
[can.media.FilterConfiguration.new_promiscuous()])
collector = FrameCollector()
peeper.start(collector.give, False)
assert tr.sample_statistics() == can.CANTransportStatistics()
assert tr2.sample_statistics() == can.CANTransportStatistics()
ts = Timestamp.now()
def validate_timestamp(timestamp: Timestamp) -> None:
assert ts.monotonic_ns <= timestamp.monotonic_ns <= time.monotonic_ns()
assert ts.system_ns <= timestamp.system_ns <= time.time_ns()
assert await broadcaster.send_until(
Transfer(
timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=32 + 11, # Modulus 11
fragmented_payload=[_mem('abc'), _mem('def')]),
tr.loop.time() + 1.0)
assert broadcaster.sample_statistics() == SessionStatistics(
transfers=1, frames=1, payload_bytes=6)
assert tr.sample_statistics() == can.CANTransportStatistics(out_frames=1)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=1, in_frames_uavcan=1)
assert tr.sample_statistics(
).media_acceptance_filtering_efficiency == pytest.approx(1)
assert tr2.sample_statistics(
).media_acceptance_filtering_efficiency == pytest.approx(0)
assert tr.sample_statistics().lost_loopback_frames == 0
assert tr2.sample_statistics().lost_loopback_frames == 0
assert collector.pop().is_same_manifestation(
UAVCANFrame(
identifier=MessageCANID(Priority.IMMEDIATE, 5, 12345).compile(
[_mem('abcdef')]), # payload fragments joined
padded_payload=_mem('abcdef'),
transfer_id=11,
start_of_transfer=True,
end_of_transfer=True,
toggle_bit=True,
loopback=False).compile())
assert collector.empty
#
# Broadcast exchange with input dispatch test
#
selective_m12345_5 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), 5), meta)
selective_m12345_9 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), 9), meta)
promiscuous_m12345 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
assert await broadcaster.send_until(
Transfer(
timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=32 + 11, # Modulus 11
fragmented_payload=[_mem('abc'), _mem('def')]),
tr.loop.time() + 1.0)
assert broadcaster.sample_statistics() == SessionStatistics(
transfers=2, frames=2, payload_bytes=12)
assert tr.sample_statistics() == can.CANTransportStatistics(out_frames=2)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=2, in_frames_uavcan=2, in_frames_uavcan_accepted=1)
received = await promiscuous_m12345.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 11
assert received.source_node_id == 5
assert received.priority == Priority.IMMEDIATE
validate_timestamp(received.timestamp)
assert received.fragmented_payload == [_mem('abcdef')]
assert selective_m12345_5.sample_statistics() == SessionStatistics(
) # Nothing
assert selective_m12345_9.sample_statistics() == SessionStatistics(
) # Nothing
assert promiscuous_m12345.sample_statistics() == SessionStatistics(
transfers=1, frames=1, payload_bytes=6)
assert media.automatic_retransmission_enabled
assert media2.automatic_retransmission_enabled
feedback_collector = _FeedbackCollector()
broadcaster.enable_feedback(feedback_collector.give)
assert await broadcaster.send_until(
Transfer(
timestamp=ts,
priority=Priority.SLOW,
transfer_id=2,
fragmented_payload=[_mem('qwe'), _mem('rty')] *
50 # Lots of data here, very multiframe
),
tr.loop.time() + 1.0)
assert broadcaster.sample_statistics() == SessionStatistics(
transfers=3, frames=7, payload_bytes=312)
broadcaster.disable_feedback()
assert tr.sample_statistics() == can.CANTransportStatistics(
out_frames=7, out_frames_loopback=1, in_frames_loopback=1)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=7, in_frames_uavcan=7, in_frames_uavcan_accepted=6)
fb = feedback_collector.take()
assert fb.original_transfer_timestamp == ts
validate_timestamp(fb.first_frame_transmission_timestamp)
received = await promiscuous_m12345.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 2
assert received.source_node_id == 5
assert received.priority == Priority.SLOW
validate_timestamp(received.timestamp)
assert b''.join(
received.fragmented_payload
) == b'qwerty' * 50 + b'\x00' * 13 # The 0x00 at the end is padding
assert await broadcaster.send_until(
Transfer(timestamp=ts,
priority=Priority.OPTIONAL,
transfer_id=3,
fragmented_payload=[_mem('qwe'), _mem('rty')]),
tr.loop.time() + 1.0)
assert broadcaster.sample_statistics() == SessionStatistics(
transfers=4, frames=8, payload_bytes=318)
received = await promiscuous_m12345.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 3
assert received.source_node_id == 5
assert received.priority == Priority.OPTIONAL
validate_timestamp(received.timestamp)
assert list(received.fragmented_payload) == [_mem('qwerty')]
assert promiscuous_m12345.sample_statistics() == SessionStatistics(
transfers=3, frames=7, payload_bytes=325)
assert tr.sample_statistics() == can.CANTransportStatistics(
out_frames=8, out_frames_loopback=1, in_frames_loopback=1)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=8, in_frames_uavcan=8, in_frames_uavcan_accepted=7)
broadcaster.close()
with pytest.raises(ResourceClosedError):
assert await broadcaster.send_until(
Transfer(timestamp=ts,
priority=Priority.LOW,
transfer_id=4,
fragmented_payload=[]),
tr.loop.time() + 1.0)
broadcaster.close() # Does nothing
# Final checks for the broadcaster - make sure nothing is left in the queue
assert (await promiscuous_m12345.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
# The selective listener was not supposed to pick up anything because it's selective for node 9, not 5
assert (await selective_m12345_9.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
# Now, there are a bunch of items awaiting in the selective input for node 5, collect them and check the stats
assert selective_m12345_5.source_node_id == 5
received = await selective_m12345_5.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 11
assert received.source_node_id == 5
assert received.priority == Priority.IMMEDIATE
validate_timestamp(received.timestamp)
assert received.fragmented_payload == [_mem('abcdef')]
received = await selective_m12345_5.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 2
assert received.source_node_id == 5
assert received.priority == Priority.SLOW
validate_timestamp(received.timestamp)
assert b''.join(
received.fragmented_payload
) == b'qwerty' * 50 + b'\x00' * 13 # The 0x00 at the end is padding
received = await selective_m12345_5.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 3
assert received.source_node_id == 5
assert received.priority == Priority.OPTIONAL
validate_timestamp(received.timestamp)
assert list(received.fragmented_payload) == [_mem('qwerty')]
assert selective_m12345_5.sample_statistics(
) == promiscuous_m12345.sample_statistics()
#
# Unicast exchange test
#
selective_server_s333_5 = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST), 5),
meta)
selective_server_s333_9 = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST), 9),
meta)
promiscuous_server_s333 = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
None), meta)
selective_client_s333_5 = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE), 5),
meta)
selective_client_s333_9 = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE), 9),
meta)
promiscuous_client_s333 = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
None), meta)
assert await client_requester.send_until(
Transfer(timestamp=ts,
priority=Priority.FAST,
transfer_id=11,
fragmented_payload=[]),
tr.loop.time() + 1.0)
assert client_requester.sample_statistics() == SessionStatistics(
transfers=1, frames=1, payload_bytes=0)
received = await selective_server_s333_5.receive_until(
tr.loop.time() + 1.0) # Same thing here
assert received is not None
assert received.transfer_id == 11
assert received.priority == Priority.FAST
validate_timestamp(received.timestamp)
assert list(map(bytes, received.fragmented_payload)) == [b'']
assert (await selective_server_s333_9.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
received = await promiscuous_server_s333.receive_until(
tr.loop.time() + 1.0) # Same thing here
assert received is not None
assert received.transfer_id == 11
assert received.priority == Priority.FAST
validate_timestamp(received.timestamp)
assert list(map(bytes, received.fragmented_payload)) == [b'']
assert selective_server_s333_5.sample_statistics() == SessionStatistics(
transfers=1, frames=1)
assert selective_server_s333_9.sample_statistics() == SessionStatistics()
assert promiscuous_server_s333.sample_statistics() == SessionStatistics(
transfers=1, frames=1)
assert (await selective_client_s333_5.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await selective_client_s333_9.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await promiscuous_client_s333.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert selective_client_s333_5.sample_statistics() == SessionStatistics()
assert selective_client_s333_9.sample_statistics() == SessionStatistics()
assert promiscuous_client_s333.sample_statistics() == SessionStatistics()
client_requester.enable_feedback(
feedback_collector.give) # FEEDBACK ENABLED HERE
# Will fail with an error; make sure it's counted properly. The feedback registry entry will remain pending!
media.raise_on_send_once(RuntimeError('Induced failure'))
with pytest.raises(RuntimeError, match='Induced failure'):
assert await client_requester.send_until(
Transfer(timestamp=ts,
priority=Priority.FAST,
transfer_id=12,
fragmented_payload=[]),
tr.loop.time() + 1.0)
assert client_requester.sample_statistics() == SessionStatistics(
transfers=1, frames=1, payload_bytes=0, errors=1)
# Some malformed feedback frames which will be ignored
media.inject_received([
UAVCANFrame(
identifier=ServiceCANID(priority=Priority.FAST,
source_node_id=5,
destination_node_id=123,
service_id=333,
request_not_response=True).compile(
[_mem('Ignored')]),
padded_payload=_mem('Ignored'),
start_of_transfer=False, # Ignored because not start-of-frame
end_of_transfer=False,
toggle_bit=True,
transfer_id=12,
loopback=True).compile()
])
media.inject_received([
UAVCANFrame(
identifier=ServiceCANID(priority=Priority.FAST,
source_node_id=5,
destination_node_id=123,
service_id=333,
request_not_response=True).compile(
[_mem('Ignored')]),
padded_payload=_mem('Ignored'),
start_of_transfer=True,
end_of_transfer=False,
toggle_bit=True,
transfer_id=
9, # Ignored because there is no such transfer-ID in the registry
loopback=True).compile()
])
# Now, this transmission will succeed, but a pending loopback registry entry will be overwritten, which will be
# reflected in the error counter.
assert await client_requester.send_until(
Transfer(
timestamp=ts,
priority=Priority.FAST,
transfer_id=12,
fragmented_payload=[
_mem(
'Until philosophers are kings, or the kings and princes of this world have the spirit and power of '
'philosophy, and political greatness and wisdom meet in one, and those commoner natures who pursue '
'either to the exclusion of the other are compelled to stand aside, cities will never have rest from '
'their evils '),
_mem('- no, nor the human race, as I believe - '),
_mem(
'and then only will this our State have a possibility of life and behold the light of day.'
),
]),
tr.loop.time() + 1.0)
client_requester.disable_feedback()
assert client_requester.sample_statistics() == SessionStatistics(
transfers=2, frames=8, payload_bytes=438, errors=2)
# The feedback is disabled, but we will send a valid loopback frame anyway to make sure it is silently ignored
media.inject_received([
UAVCANFrame(identifier=ServiceCANID(priority=Priority.FAST,
source_node_id=5,
destination_node_id=123,
service_id=333,
request_not_response=True).compile(
[_mem('Ignored')]),
padded_payload=_mem('Ignored'),
start_of_transfer=True,
end_of_transfer=False,
toggle_bit=True,
transfer_id=12,
loopback=True).compile()
])
client_requester.close()
with pytest.raises(ResourceClosedError):
assert await client_requester.send_until(
Transfer(timestamp=ts,
priority=Priority.LOW,
transfer_id=4,
fragmented_payload=[]),
tr.loop.time() + 1.0)
fb = feedback_collector.take()
assert fb.original_transfer_timestamp == ts
validate_timestamp(fb.first_frame_transmission_timestamp)
received = await promiscuous_server_s333.receive_until(tr.loop.time() +
1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.source_node_id == 5
assert received.transfer_id == 12
assert received.priority == Priority.FAST
validate_timestamp(received.timestamp)
assert len(received.fragmented_payload) == 7 # Equals the number of frames
assert sum(map(
len, received.fragmented_payload)) == 438 + 1 # Padding also included
assert b'Until philosophers are kings' in bytes(
received.fragmented_payload[0])
assert b'behold the light of day.' in bytes(
received.fragmented_payload[-1])
received = await selective_server_s333_5.receive_until(
tr.loop.time() + 1.0) # Same thing here
assert received is not None
assert received.transfer_id == 12
assert received.priority == Priority.FAST
validate_timestamp(received.timestamp)
assert len(received.fragmented_payload) == 7 # Equals the number of frames
assert sum(map(
len, received.fragmented_payload)) == 438 + 1 # Padding also included
assert b'Until philosophers are kings' in bytes(
received.fragmented_payload[0])
assert b'behold the light of day.' in bytes(
received.fragmented_payload[-1])
# Nothing is received - non-matching node ID selector
assert (await selective_server_s333_9.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
# Nothing is received - non-matching role (not server)
assert (await selective_client_s333_5.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await selective_client_s333_9.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await promiscuous_client_s333.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert selective_client_s333_5.sample_statistics() == SessionStatistics()
assert selective_client_s333_9.sample_statistics() == SessionStatistics()
assert promiscuous_client_s333.sample_statistics() == SessionStatistics()
# Final transport stats check; additional loopback frames are due to our manual tests above
assert tr.sample_statistics() == can.CANTransportStatistics(
out_frames=16, out_frames_loopback=2, in_frames_loopback=5)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=16, in_frames_uavcan=16, in_frames_uavcan_accepted=15)
#
# Drop non-UAVCAN frames silently
#
media.inject_received([
can.media.DataFrame(
identifier=ServiceCANID(priority=Priority.FAST,
source_node_id=5,
destination_node_id=123,
service_id=333,
request_not_response=True).compile(
[_mem('')]),
data=bytearray(
b''
), # The CAN ID is valid for UAVCAN, but the payload is not - no tail byte
format=can.media.FrameFormat.EXTENDED,
loopback=False)
])
media.inject_received([
can.media.DataFrame(
identifier=0, # The CAN ID is not valid for UAVCAN
data=bytearray(b'123'),
format=can.media.FrameFormat.BASE,
loopback=False)
])
media.inject_received([
UAVCANFrame(
identifier=ServiceCANID(
priority=Priority.FAST,
source_node_id=5,
destination_node_id=123,
service_id=444, # No such service
request_not_response=True).compile([_mem('Ignored')]),
padded_payload=_mem('Ignored'),
start_of_transfer=True,
end_of_transfer=False,
toggle_bit=True,
transfer_id=12,
loopback=True).compile()
])
assert tr.sample_statistics() == can.CANTransportStatistics(
out_frames=16,
in_frames=2,
out_frames_loopback=2,
in_frames_loopback=6)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=16, in_frames_uavcan=16, in_frames_uavcan_accepted=15)
#
# Reception logic test.
#
pub_m2222 = tr2.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2222), None), meta)
# Transfer ID timeout configuration - one of them will be configured very short for testing purposes
subscriber_promiscuous.transfer_id_timeout = 1e-9 # Very low, basically zero timeout
with pytest.raises(ValueError):
subscriber_promiscuous.transfer_id_timeout = -1
with pytest.raises(ValueError):
subscriber_promiscuous.transfer_id_timeout = float('nan')
assert subscriber_promiscuous.transfer_id_timeout == pytest.approx(1e-9)
subscriber_selective.transfer_id_timeout = 1.0
with pytest.raises(ValueError):
subscriber_selective.transfer_id_timeout = -1
with pytest.raises(ValueError):
subscriber_selective.transfer_id_timeout = float('nan')
assert subscriber_selective.transfer_id_timeout == pytest.approx(1.0)
# Queue capacity configuration
assert subscriber_selective.frame_queue_capacity is None # Unlimited by default
subscriber_selective.frame_queue_capacity = 2
with pytest.raises(ValueError):
subscriber_selective.frame_queue_capacity = 0
assert subscriber_selective.frame_queue_capacity == 2
assert await pub_m2222.send_until(
Transfer(
timestamp=ts,
priority=Priority.EXCEPTIONAL,
transfer_id=7,
fragmented_payload=[
_mem('Finally, from so little sleeping and so much reading, '),
_mem(
'his brain dried up and he went completely out of his mind.'
), # Two frames.
]),
tr.loop.time() + 1.0)
assert tr.sample_statistics() == can.CANTransportStatistics(
out_frames=16,
in_frames=4,
in_frames_uavcan=2,
in_frames_uavcan_accepted=2,
out_frames_loopback=2,
in_frames_loopback=6)
assert tr2.sample_statistics() == can.CANTransportStatistics(
out_frames=2,
in_frames=16,
in_frames_uavcan=16,
in_frames_uavcan_accepted=15)
received = await subscriber_promiscuous.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.source_node_id == 123
assert received.priority == Priority.EXCEPTIONAL
assert received.transfer_id == 7
validate_timestamp(received.timestamp)
assert bytes(received.fragmented_payload[0]).startswith(b'Finally')
assert bytes(received.fragmented_payload[-1]).rstrip(b'\x00').endswith(
b'out of his mind.')
received = await subscriber_selective.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert received.priority == Priority.EXCEPTIONAL
assert received.transfer_id == 7
validate_timestamp(received.timestamp)
assert bytes(received.fragmented_payload[0]).startswith(b'Finally')
assert bytes(received.fragmented_payload[-1]).rstrip(b'\x00').endswith(
b'out of his mind.')
assert subscriber_selective.sample_statistics(
) == subscriber_promiscuous.sample_statistics()
assert subscriber_promiscuous.sample_statistics() == SessionStatistics(
transfers=1, frames=2, payload_bytes=124) # Includes padding!
assert await pub_m2222.send_until(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=
7, # Same transfer ID, will be accepted only by the instance with low TID timeout
fragmented_payload=[]),
tr.loop.time() + 1.0)
assert tr.sample_statistics() == can.CANTransportStatistics(
out_frames=16,
in_frames=5,
in_frames_uavcan=3,
in_frames_uavcan_accepted=3,
out_frames_loopback=2,
in_frames_loopback=6)
assert tr2.sample_statistics() == can.CANTransportStatistics(
out_frames=3,
in_frames=16,
in_frames_uavcan=16,
in_frames_uavcan_accepted=15)
received = await subscriber_promiscuous.receive_until(tr.loop.time() +
10.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.source_node_id == 123
assert received.priority == Priority.NOMINAL
assert received.transfer_id == 7
validate_timestamp(received.timestamp)
assert b''.join(received.fragmented_payload) == b''
assert subscriber_promiscuous.sample_statistics() == SessionStatistics(
transfers=2, frames=3, payload_bytes=124)
# Discarded because of the same transfer ID
assert (await subscriber_selective.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert subscriber_selective.sample_statistics() == SessionStatistics(
transfers=1,
frames=3,
payload_bytes=124,
errors=1 # Error due to the repeated transfer ID
)
assert await pub_m2222.send_until(
Transfer(
timestamp=ts,
priority=Priority.HIGH,
transfer_id=8,
fragmented_payload=[
_mem('a' * 63),
_mem('b' * 63),
_mem('c' * 63),
_mem(
'd' * 62
), # Tricky case - one of the CRC bytes spills over into the fifth frame
]),
tr.loop.time() + 1.0)
# The promiscuous one is able to receive the transfer since its queue is large enough
received = await subscriber_promiscuous.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert received.priority == Priority.HIGH
assert received.transfer_id == 8
validate_timestamp(received.timestamp)
assert list(map(bytes, received.fragmented_payload)) == [
b'a' * 63,
b'b' * 63,
b'c' * 63,
b'd' * 62,
]
assert subscriber_promiscuous.sample_statistics() == SessionStatistics(
transfers=3, frames=8, payload_bytes=375)
# The selective one is unable to do so since its RX queue is too small; it is reflected in the error counter
assert (await subscriber_selective.receive_until(tr.loop.time() +
_RX_TIMEOUT)) is None
assert subscriber_selective.sample_statistics() == SessionStatistics(
transfers=1, frames=5, payload_bytes=124, errors=1,
drops=3) # Overruns!
#
# Finalization.
#
print('str(CANTransport):', tr)
print('str(CANTransport):', tr2)
client_listener.close()
server_listener.close()
subscriber_promiscuous.close()
subscriber_selective.close()
tr.close()
tr2.close()
# Double-close has no effect:
client_listener.close()
server_listener.close()
subscriber_promiscuous.close()
subscriber_selective.close()
tr.close()
tr2.close()
async def _unittest_can_transport_anon() -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer, TransferFrom
from pyuavcan.transport import UnsupportedSessionConfigurationError, Priority, SessionStatistics, Timestamp
from pyuavcan.transport import OperationNotDefinedForAnonymousNodeError
from pyuavcan.transport import InputSessionSpecifier, OutputSessionSpecifier
# noinspection PyProtectedMember
from pyuavcan.transport.can._identifier import MessageCANID
# noinspection PyProtectedMember
from pyuavcan.transport.can._frame import UAVCANFrame
from .media.mock import MockMedia, FrameCollector
with pytest.raises(pyuavcan.transport.InvalidTransportConfigurationError):
can.CANTransport(MockMedia(set(), 64, 0), None)
with pytest.raises(pyuavcan.transport.InvalidTransportConfigurationError):
can.CANTransport(MockMedia(set(), 7, 16), None)
peers: typing.Set[MockMedia] = set()
media = MockMedia(peers, 64, 10)
media2 = MockMedia(peers, 64, 3)
peeper = MockMedia(peers, 64, 10)
assert len(peers) == 3
tr = can.CANTransport(media, None)
tr2 = can.CANTransport(media2, None)
assert tr.protocol_parameters == pyuavcan.transport.ProtocolParameters(
transfer_id_modulo=32, max_nodes=128, mtu=63)
assert tr.local_node_id is None
assert tr.protocol_parameters == tr2.protocol_parameters
assert not media.automatic_retransmission_enabled
assert not media2.automatic_retransmission_enabled
assert tr.descriptor == f'<can><mock mtu="64">mock@{id(peers):08x}</mock></can>'
#
# Instantiate session objects
#
meta = PayloadMetadata(0x_bad_c0ffee_0dd_f00d, 10000)
with pytest.raises(Exception): # Can't broadcast service calls
tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(123, ServiceDataSpecifier.Role.RESPONSE),
None), meta)
with pytest.raises(
UnsupportedSessionConfigurationError): # Can't unicast messages
tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(1234), 123), meta)
broadcaster = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
assert broadcaster is tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
subscriber_promiscuous = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), None), meta)
assert subscriber_promiscuous is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), None), meta)
subscriber_selective = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), 123), meta)
assert subscriber_selective is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2222), 123), meta)
server_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
None), meta)
assert server_listener is tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
None), meta)
server_responder = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
assert server_responder is tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
client_requester = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST), 123),
meta)
assert client_requester is tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST), 123),
meta)
client_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
assert client_listener is tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
assert broadcaster.destination_node_id is None
assert subscriber_promiscuous.source_node_id is None
assert subscriber_selective.source_node_id == 123
assert server_listener.source_node_id is None
assert client_listener.source_node_id == 123
base_ts = time.process_time()
inputs = tr.input_sessions
print(
f'INPUTS (sampled in {time.process_time() - base_ts:.3f}s): {inputs}')
assert set(inputs) == {
subscriber_promiscuous, subscriber_selective, server_listener,
client_listener
}
del inputs
print('OUTPUTS:', tr.output_sessions)
assert set(tr.output_sessions) == {
broadcaster, server_responder, client_requester
}
#
# Basic exchange test, no one is listening
#
media2.configure_acceptance_filters(
[can.media.FilterConfiguration.new_promiscuous()])
peeper.configure_acceptance_filters(
[can.media.FilterConfiguration.new_promiscuous()])
collector = FrameCollector()
peeper.start(collector.give, False)
assert tr.sample_statistics() == can.CANTransportStatistics()
assert tr2.sample_statistics() == can.CANTransportStatistics()
ts = Timestamp.now()
def validate_timestamp(timestamp: Timestamp) -> None:
assert ts.monotonic_ns <= timestamp.monotonic_ns <= time.monotonic_ns()
assert ts.system_ns <= timestamp.system_ns <= time.time_ns()
assert await broadcaster.send_until(
Transfer(
timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=32 + 11, # Modulus 11
fragmented_payload=[_mem('abc'), _mem('def')]),
tr.loop.time() + 1.0)
assert broadcaster.sample_statistics() == SessionStatistics(
transfers=1, frames=1, payload_bytes=6)
assert tr.sample_statistics() == can.CANTransportStatistics(out_frames=1)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=1, in_frames_uavcan=1)
assert tr.sample_statistics(
).media_acceptance_filtering_efficiency == pytest.approx(1)
assert tr2.sample_statistics(
).media_acceptance_filtering_efficiency == pytest.approx(0)
assert tr.sample_statistics().lost_loopback_frames == 0
assert tr2.sample_statistics().lost_loopback_frames == 0
assert collector.pop().is_same_manifestation(
UAVCANFrame(
identifier=MessageCANID(Priority.IMMEDIATE, None, 12345).compile(
[_mem('abcdef')]), # payload fragments joined
padded_payload=_mem('abcdef'),
transfer_id=11,
start_of_transfer=True,
end_of_transfer=True,
toggle_bit=True,
loopback=False).compile())
assert collector.empty
# Can't send anonymous service transfers
with pytest.raises(OperationNotDefinedForAnonymousNodeError):
assert await client_requester.send_until(
Transfer(timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=0,
fragmented_payload=[]),
tr.loop.time() + 1.0,
)
assert client_requester.sample_statistics() == SessionStatistics(
) # Not incremented!
# Can't send multiframe anonymous messages
with pytest.raises(OperationNotDefinedForAnonymousNodeError):
assert await broadcaster.send_until(
Transfer(
timestamp=ts,
priority=Priority.SLOW,
transfer_id=2,
fragmented_payload=[_mem('qwe'), _mem('rty')] *
50 # Lots of data here, very multiframe
),
tr.loop.time() + 1.0)
#
# Broadcast exchange with input dispatch test
#
selective_m12345_5 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), 5), meta)
selective_m12345_9 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), 9), meta)
promiscuous_m12345 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
assert await broadcaster.send_until(
Transfer(
timestamp=ts,
priority=Priority.IMMEDIATE,
transfer_id=32 + 11, # Modulus 11
fragmented_payload=[_mem('abc'), _mem('def')]),
tr.loop.time() + 1.0)
assert broadcaster.sample_statistics() == SessionStatistics(
transfers=2, frames=2, payload_bytes=12)
assert tr.sample_statistics() == can.CANTransportStatistics(out_frames=2)
assert tr2.sample_statistics() == can.CANTransportStatistics(
in_frames=2, in_frames_uavcan=2, in_frames_uavcan_accepted=1)
received = await promiscuous_m12345.receive_until(tr.loop.time() + 1.0)
assert received is not None
assert isinstance(received, TransferFrom)
assert received.transfer_id == 11
assert received.source_node_id is None # The sender is anonymous
assert received.priority == Priority.IMMEDIATE
validate_timestamp(received.timestamp)
assert received.fragmented_payload == [_mem('abcdef')]
assert selective_m12345_5.sample_statistics() == SessionStatistics(
) # Nothing
assert selective_m12345_9.sample_statistics() == SessionStatistics(
) # Nothing
assert promiscuous_m12345.sample_statistics() == SessionStatistics(
transfers=1, frames=1, payload_bytes=6)
assert not media.automatic_retransmission_enabled
assert not media2.automatic_retransmission_enabled
#
# Finalization.
#
print('str(CANTransport):', tr)
print('str(CANTransport):', tr2)
client_listener.close()
server_listener.close()
subscriber_promiscuous.close()
subscriber_selective.close()
tr.close()
tr2.close()
# Double-close has no effect:
client_listener.close()
server_listener.close()
subscriber_promiscuous.close()
subscriber_selective.close()
tr.close()
tr2.close()
