def _unittest_redundant_transport_reconfiguration() -> None:
from pyuavcan.transport import OutputSessionSpecifier, MessageDataSpecifier, PayloadMetadata
tr = RedundantTransport()
tr.attach_inferior(LoopbackTransport(1234))
ses = tr.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(5555), None), PayloadMetadata(0))
assert ses
tr.detach_inferior(tr.inferiors[0])
tr.attach_inferior(LoopbackTransport(1235)) # Different node-ID
tr.detach_inferior(tr.inferiors[0])
tr.attach_inferior(LoopbackTransport(None, allow_anonymous_transfers=True)) # Anonymous
with pytest.raises(pyuavcan.transport.OperationNotDefinedForAnonymousNodeError):
tr.attach_inferior(LoopbackTransport(None, allow_anonymous_transfers=False))
assert len(tr.inferiors) == 1
async def _unittest_redundant_transport(caplog: typing.Any) -> None:
from pyuavcan.transport import MessageDataSpecifier, PayloadMetadata, Transfer
from pyuavcan.transport import Priority, Timestamp, InputSessionSpecifier, OutputSessionSpecifier
from pyuavcan.transport import ProtocolParameters
loop = asyncio.get_event_loop()
loop.slow_callback_duration = 1.0
tr_a = RedundantTransport()
tr_b = RedundantTransport(loop)
assert tr_a.sample_statistics() == RedundantTransportStatistics([])
assert tr_a.inferiors == []
assert tr_a.local_node_id is None
assert tr_a.loop is asyncio.get_event_loop()
assert tr_a.local_node_id is None
assert tr_a.protocol_parameters == ProtocolParameters(
transfer_id_modulo=0,
max_nodes=0,
mtu=0,
)
assert tr_a.descriptor == '<redundant></redundant>' # Empty, no inferiors.
assert tr_a.input_sessions == []
assert tr_a.output_sessions == []
assert tr_a.loop == tr_b.loop
#
# Instantiate session objects.
#
meta = PayloadMetadata(10_240)
pub_a = tr_a.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
sub_any_a = tr_a.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert pub_a is tr_a.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert set(tr_a.input_sessions) == {sub_any_a}
assert set(tr_a.output_sessions) == {pub_a}
assert tr_a.sample_statistics() == RedundantTransportStatistics()
pub_b = tr_b.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
sub_any_b = tr_b.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
sub_sel_b = tr_b.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 3210), meta)
assert sub_sel_b is tr_b.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 3210), meta)
assert set(tr_b.input_sessions) == {sub_any_b, sub_sel_b}
assert set(tr_b.output_sessions) == {pub_b}
assert tr_b.sample_statistics() == RedundantTransportStatistics()
#
# Exchange test with no inferiors, expected to fail.
#
assert len(pub_a.inferiors) == 0
assert len(sub_any_a.inferiors) == 0
assert not await pub_a.send_until(Transfer(
timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=1,
fragmented_payload=[memoryview(b'abc')]),
monotonic_deadline=loop.time() + 1.0)
assert not await sub_any_a.receive_until(loop.time() + 0.1)
assert not await sub_any_b.receive_until(loop.time() + 0.1)
assert tr_a.sample_statistics() == RedundantTransportStatistics()
assert tr_b.sample_statistics() == RedundantTransportStatistics()
#
# Adding inferiors - loopback, transport A only.
#
with pytest.raises(InconsistentInferiorConfigurationError,
match='(?i).*loop.*'):
tr_a.attach_inferior(
LoopbackTransport(
111, loop=asyncio.new_event_loop())) # Wrong event loop.
assert len(pub_a.inferiors) == 0
assert len(sub_any_a.inferiors) == 0
lo_mono_0 = LoopbackTransport(111)
lo_mono_1 = LoopbackTransport(111)
tr_a.attach_inferior(lo_mono_0)
assert len(pub_a.inferiors) == 1
assert len(sub_any_a.inferiors) == 1
with pytest.raises(ValueError):
tr_a.detach_inferior(lo_mono_1) # Not a registered inferior (yet).
tr_a.attach_inferior(lo_mono_1)
assert len(pub_a.inferiors) == 2
assert len(sub_any_a.inferiors) == 2
with pytest.raises(ValueError):
tr_a.attach_inferior(lo_mono_0) # Double-add not allowed.
with pytest.raises(InconsistentInferiorConfigurationError,
match='(?i).*node-id.*'):
tr_a.attach_inferior(LoopbackTransport(None)) # Wrong node-ID.
with pytest.raises(InconsistentInferiorConfigurationError,
match='(?i).*node-id.*'):
tr_a.attach_inferior(LoopbackTransport(1230)) # Wrong node-ID.
assert tr_a.inferiors == [lo_mono_0, lo_mono_1]
assert len(pub_a.inferiors) == 2
assert len(sub_any_a.inferiors) == 2
assert tr_a.sample_statistics() == RedundantTransportStatistics(inferiors=[
lo_mono_0.sample_statistics(),
lo_mono_1.sample_statistics(),
])
assert tr_a.local_node_id == 111
assert tr_a.descriptor == '<redundant><loopback/><loopback/></redundant>'
assert await pub_a.send_until(Transfer(
timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=2,
fragmented_payload=[memoryview(b'def')]),
monotonic_deadline=loop.time() + 1.0)
rx = await sub_any_a.receive_until(loop.time() + 1.0)
assert rx is not None
assert rx.fragmented_payload == [memoryview(b'def')]
assert rx.transfer_id == 2
assert not await sub_any_b.receive_until(loop.time() + 0.1)
#
# Incapacitate one inferior, ensure things are still OK.
#
with caplog.at_level(logging.CRITICAL,
logger=pyuavcan.transport.redundant.__name__):
for s in lo_mono_0.output_sessions:
s.exception = RuntimeError('INTENDED EXCEPTION')
assert await pub_a.send_until(Transfer(
timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=3,
fragmented_payload=[memoryview(b'qwe')]),
monotonic_deadline=loop.time() + 1.0)
rx = await sub_any_a.receive_until(loop.time() + 1.0)
assert rx is not None
assert rx.fragmented_payload == [memoryview(b'qwe')]
assert rx.transfer_id == 3
#
# Remove old loopback transports. Configure new ones with cyclic TID.
#
lo_cyc_0 = LoopbackTransport(111)
lo_cyc_1 = LoopbackTransport(111)
cyc_proto_params = ProtocolParameters(
transfer_id_modulo=32, # Like CAN
max_nodes=128, # Like CAN
mtu=63, # Like CAN
)
lo_cyc_0.protocol_parameters = cyc_proto_params
lo_cyc_1.protocol_parameters = cyc_proto_params
assert lo_cyc_0.protocol_parameters == lo_cyc_1.protocol_parameters == cyc_proto_params
assert tr_a.protocol_parameters.transfer_id_modulo >= 2**56
with pytest.raises(InconsistentInferiorConfigurationError,
match='(?i).*transfer-id.*'):
tr_a.attach_inferior(lo_cyc_0) # Transfer-ID modulo mismatch
tr_a.detach_inferior(lo_mono_0)
tr_a.detach_inferior(lo_mono_1)
del lo_mono_0 # Prevent accidental reuse.
del lo_mono_1
assert tr_a.inferiors == [] # All removed, okay.
assert pub_a.inferiors == []
assert sub_any_a.inferiors == []
assert tr_a.local_node_id is None # Back to the roots
assert tr_a.descriptor == '<redundant></redundant>' # Yes yes
# Now we can add our cyclic transports safely.
tr_a.attach_inferior(lo_cyc_0)
assert tr_a.protocol_parameters.transfer_id_modulo == 32
tr_a.attach_inferior(lo_cyc_1)
assert tr_a.protocol_parameters == cyc_proto_params, 'Protocol parameter mismatch'
assert tr_a.local_node_id == 111
assert tr_a.descriptor == '<redundant><loopback/><loopback/></redundant>'
# Exchange test.
assert await pub_a.send_until(Transfer(
timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=4,
fragmented_payload=[memoryview(b'rty')]),
monotonic_deadline=loop.time() + 1.0)
rx = await sub_any_a.receive_until(loop.time() + 1.0)
assert rx is not None
assert rx.fragmented_payload == [memoryview(b'rty')]
assert rx.transfer_id == 4
#
# Real heterogeneous transport test.
#
tr_a.detach_inferior(lo_cyc_0)
tr_a.detach_inferior(lo_cyc_1)
del lo_cyc_0 # Prevent accidental reuse.
del lo_cyc_1
udp_a = UDPTransport('127.0.0.111/8')
udp_b = UDPTransport('127.0.0.222/8')
serial_a = SerialTransport(SERIAL_URI, 111)
serial_b = SerialTransport(SERIAL_URI, 222, mtu=2048) # Heterogeneous.
tr_a.attach_inferior(udp_a)
tr_a.attach_inferior(serial_a)
tr_b.attach_inferior(udp_b)
tr_b.attach_inferior(serial_b)
print('tr_a.descriptor', tr_a.descriptor)
print('tr_b.descriptor', tr_b.descriptor)
assert tr_a.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2**64,
max_nodes=4096,
mtu=1024,
)
assert tr_a.local_node_id == 111
assert tr_a.descriptor == f'<redundant>{udp_a.descriptor}{serial_a.descriptor}</redundant>'
assert tr_b.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2**64,
max_nodes=4096,
mtu=1024,
)
assert tr_b.local_node_id == 222
assert tr_b.descriptor == f'<redundant>{udp_b.descriptor}{serial_b.descriptor}</redundant>'
assert await pub_a.send_until(Transfer(
timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=5,
fragmented_payload=[memoryview(b'uio')]),
monotonic_deadline=loop.time() + 1.0)
rx = await sub_any_b.receive_until(loop.time() + 1.0)
assert rx is not None
assert rx.fragmented_payload == [memoryview(b'uio')]
assert rx.transfer_id == 5
assert not await sub_any_a.receive_until(loop.time() + 0.1)
assert not await sub_any_b.receive_until(loop.time() + 0.1)
assert not await sub_sel_b.receive_until(loop.time() + 0.1)
#
# Construct new session with the transports configured.
#
pub_a_new = tr_a.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), 222), meta)
assert pub_a_new is tr_a.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), 222), meta)
assert set(tr_a.output_sessions) == {pub_a, pub_a_new}
assert await pub_a_new.send_until(Transfer(
timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=6,
fragmented_payload=[memoryview(b'asd')]),
monotonic_deadline=loop.time() + 1.0)
rx = await sub_any_b.receive_until(loop.time() + 1.0)
assert rx is not None
assert rx.fragmented_payload == [memoryview(b'asd')]
assert rx.transfer_id == 6
#
# Termination.
#
tr_a.close()
tr_a.close() # Idempotency
tr_b.close()
tr_b.close() # Idempotency
with pytest.raises(pyuavcan.transport.ResourceClosedError
): # Make sure the inferiors are closed.
udp_a.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
with pytest.raises(pyuavcan.transport.ResourceClosedError
): # Make sure the inferiors are closed.
serial_b.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
with pytest.raises(pyuavcan.transport.ResourceClosedError
): # Make sure the sessions are closed.
await pub_a.send_until(Transfer(timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=100,
fragmented_payload=[]),
monotonic_deadline=loop.time() + 1.0)
await asyncio.sleep(
1
) # Let all pending tasks finalize properly to avoid stack traces in the output.