def __init__(self) -> None:
self.isopen = True
self.user_host = base.get_user_host()
self.default_identity = self.user_host
# Accumulators for verifying that close is working.
self.num_read_loops = 0
self.done_task: asyncio.Future = asyncio.Future()
# Set of SalInfo.
self._salinfo_set: weakref.WeakSet[SalInfo] = weakref.WeakSet()
self.origin = os.getpid()
self.idl_dir = idl.get_idl_dir()
qos_path = ddsconfig.get_qos_path()
self.ackcmd_qos_set = QosSet(qos_path=qos_path,
profile_name="AckcmdProfile")
self.command_qos_set = QosSet(qos_path=qos_path,
profile_name="CommandProfile")
self.event_qos_set = QosSet(qos_path=qos_path,
profile_name="EventProfile")
self.telemetry_qos_set = QosSet(qos_path=qos_path,
profile_name="TelemetryProfile")
# Any of the three qos providers is fine for the participant qos.
participant_qos = self.command_qos_set.qos_provider.get_participant_qos(
)
self.participant = dds.DomainParticipant(qos=participant_qos)
def setUp(cls):
cls.component = "Test"
cls.data_dir = pathlib.Path(__file__).parent / "data" / "topic_names_sets"
metadata = salobj.parse_idl(
cls.component, idl.get_idl_dir() / "sal_revCoded_Test.idl"
)
command_names = []
event_names = []
telemetry_names = []
for topic_metadata in metadata.topic_info.values():
sal_topic_name = topic_metadata.sal_name
if sal_topic_name.startswith("command_"):
command_names.append(sal_topic_name[8:])
elif sal_topic_name.startswith("logevent_"):
event_names.append(sal_topic_name[9:])
elif sal_topic_name != "ackcmd":
telemetry_names.append(sal_topic_name)
cls.command_names = tuple(command_names)
cls.event_names = tuple(event_names)
cls.telemetry_names = tuple(telemetry_names)
cls.all_names = dict(
commands=cls.command_names,
events=cls.event_names,
telemetry=cls.telemetry_names,
)
cls.categories = ("commands", "events", "telemetry")
def __init__(self, name):
self.name = name
self.xml_dir = get_env_dir("TS_XML_DIR", "ts_xml not setup")
self.sal_work_dir = get_env_dir("SAL_WORK_DIR",
"$SAL_WORK_DIR must be defined")
idl_file_name = f"sal_revCoded_{self.name}.idl"
self.idl_file_from_path = self.sal_work_dir / "idl-templates" / "validated" / "sal" / idl_file_name
self.idl_file_to_path = idl.get_idl_dir() / idl_file_name
def get_component_metadata(
components: typing.List[str], ) -> typing.Dict[str, typing.Any]:
"""Gather metadada information, needed to validate topics versions.
Parameters
----------
components : `list` of `str`
List of components name in the "Name:index" format.
Returns
-------
`dict`
Component metadata.
"""
return dict([(
component,
salobj.parse_idl(
component,
idl.get_idl_dir() /
f"sal_revCoded_{component.split(':')[0]}.idl",
),
) for component in components])
def test_test_idl(self) -> None:
"""Test a Test IDL file generated by the current version of ts_sal.
This is to catch format changes relative to the local Simple IDL files.
It is not as thorough as the tests for the local Simple IDL files
because I don't want to make too many assumptions about minor details
of the XML.
"""
idl_path = idl.get_idl_dir() / "sal_revCoded_Test.idl"
metadata = salobj.parse_idl(name="Test", idl_path=idl_path)
assert metadata.name == "Test"
assert idl_path.samefile(metadata.idl_path)
# Check that names match between info dict keys
# and the name in the metadata.
for sal_topic_name, topic_metadata in metadata.topic_info.items():
assert topic_metadata.sal_name == sal_topic_name
for field_name, field_metadata in topic_metadata.field_info.items(
):
assert field_metadata.name == field_name
# Check that some of the expected topic names are present.
some_expected_topic_names = (
"command_enable",
"command_setArrays",
"command_setScalars",
"logevent_arrays",
"logevent_scalars",
"arrays",
"scalars",
)
assert set(some_expected_topic_names).issubset(
set(metadata.topic_info.keys()))
# Dict of field name: expected type name
field_types = dict(
salIndex="long",
private_revCode="string",
private_sndStamp="double",
private_rcvStamp="double",
private_seqNum="long",
private_identity="string",
private_origin="long",
boolean0="boolean",
byte0="octet",
short0="short",
int0="long",
long0="long",
longLong0="long long",
string0="string",
unsignedShort0="unsigned short",
unsignedInt0="unsigned long",
unsignedLong0="unsigned long",
float0="float",
double0="double",
)
# Check some details of arrays topics, including data type,
# array length and string length.
for topic_name in ("arrays", "logevent_arrays", "command_setArrays"):
with self.subTest(topic_name=topic_name):
topic_metadata = metadata.topic_info[topic_name]
for deprecated_field in ("char0", "octet0"):
topic_metadata.field_info.pop(deprecated_field, None)
expected_field_names = set(field_types.keys())
expected_field_names.remove("string0") # only in scalars
assert set(
topic_metadata.field_info.keys()) == expected_field_names
for field_metadata in topic_metadata.field_info.values():
if field_metadata.name[-1] != "0":
assert field_metadata.array_length is None
else:
assert field_metadata.array_length == 5
assert isinstance(field_metadata.description, str)
assert field_metadata.type_name == field_types[
field_metadata.name]
# Check some details of scalars topics, including data type,
# array length and string length.
for topic_name in ("scalars", "logevent_scalars",
"command_setScalars"):
with self.subTest(topic_name=topic_name):
topic_metadata = metadata.topic_info[topic_name]
for deprecated_field in ("char0", "octet0"):
topic_metadata.field_info.pop(deprecated_field, None)
expected_field_names = set(field_types.keys())
assert set(
topic_metadata.field_info.keys()) == expected_field_names
for field_metadata in topic_metadata.field_info.values():
assert field_metadata.array_length is None
assert isinstance(field_metadata.description, str)
assert field_metadata.type_name == field_types[
field_metadata.name]
def __init__(self,
*,
component,
topic_names_list,
queue_len=salobj.topics.DEFAULT_QUEUE_LEN):
self.component = component
self.topic_names_list = list(topic_names_list)
self.queue_len = int(queue_len)
topic_categories = ("commands", "events", "telemetry")
# Construct a dict of topic category: all topic names, by reading the
# IDL file. Topic names *omit* the command_ and logevent_ prefix.
all_names_dict = {category: set() for category in topic_categories}
idl_metadata = salobj.parse_idl(
component,
idl.get_idl_dir() / f"sal_revCoded_{component}.idl")
for topic in idl_metadata.topic_info:
if topic.startswith("command_"):
all_names_dict["commands"].add(topic[8:])
elif topic.startswith("logevent_"):
all_names_dict["events"].add(topic[9:])
elif topic == "ackcmd":
pass
else:
all_names_dict["telemetry"].add(topic)
# Examine the topic_names_list, recording which topics have been seen
# and looking for invalid and duplicate names.
ackcmd_added = False
seen_names_dict = {category: set() for category in topic_categories}
for i, topic_names in enumerate(self.topic_names_list):
if topic_names.add_ackcmd:
if ackcmd_added:
raise ValueError(
f"topic_names_list[{i}] invalid: ackcmd already added")
ackcmd_added = True
for category in topic_categories:
all_names = all_names_dict[category]
seen_names = seen_names_dict[category]
specified_names = set(getattr(topic_names, category, []))
# Check that specified names are valid
invalid_names = specified_names - all_names
if invalid_names:
raise ValueError(
f"topic_names_list[{i}].{category} "
f"has invalid names: {sorted(invalid_names)}")
# Check for duplicates
duplicate_names = seen_names & specified_names
if duplicate_names:
raise ValueError(
f"topic_names_list[{i}].{category} "
f"has names already specified: {sorted(duplicate_names)}"
)
seen_names |= specified_names
# Append a TopicNames to handle remaining topics, if needed.
remaining_names = {
category: all_names_dict[category] - seen_names_dict[category]
for category in topic_categories
}
if not ackcmd_added or any(
len(remaining_names[category]) > 0
for category in topic_categories):
self.topic_names_list.append(
TopicNames(add_ackcmd=not ackcmd_added, **remaining_names))
def test_get_idl_dir(self):
expected_idl_dir = self.get_expected_data_dir() / "idl"
assert idl.get_idl_dir() == expected_idl_dir