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.
async def _unittest_redundant_transport_capture() -> None:
from threading import Lock
from pyuavcan.transport import Capture, Trace, TransferTrace, Priority, ServiceDataSpecifier
from pyuavcan.transport import AlienTransfer, AlienTransferMetadata, AlienSessionSpecifier
from pyuavcan.transport.redundant import RedundantDuplicateTransferTrace, RedundantCapture
from tests.transport.can.media.mock import MockMedia as CANMockMedia
asyncio.get_event_loop().slow_callback_duration = 5.0
tracer = RedundantTransport.make_tracer()
traces: typing.List[typing.Optional[Trace]] = []
lock = Lock()
def handle_capture(cap: Capture) -> None:
with lock:
# Drop TX frames, they are not interesting for this test.
assert isinstance(cap, RedundantCapture)
if isinstance(cap.inferior, pyuavcan.transport.serial.SerialCapture
) and cap.inferior.own:
return
if isinstance(
cap.inferior,
pyuavcan.transport.can.CANCapture) and cap.inferior.own:
return
print("CAPTURE:", cap)
traces.append(tracer.update(cap))
async def wait(how_many: int) -> None:
for _ in range(10):
await asyncio.sleep(0.1)
with lock:
if len(traces) >= how_many:
return
assert False, "No traces received"
# Setup capture -- one is added before capture started, the other is added later.
# Make sure they are treated identically.
tr = RedundantTransport()
inf_a: pyuavcan.transport.Transport = SerialTransport(SERIAL_URI, 1234)
inf_b: pyuavcan.transport.Transport = SerialTransport(SERIAL_URI, 1234)
tr.attach_inferior(inf_a)
assert not tr.capture_active
assert not inf_a.capture_active
assert not inf_b.capture_active
tr.begin_capture(handle_capture)
assert tr.capture_active
assert inf_a.capture_active
assert not inf_b.capture_active
tr.attach_inferior(inf_b)
assert tr.capture_active
assert inf_a.capture_active
assert inf_b.capture_active
# Send a transfer and make sure it is handled and deduplicated correctly.
transfer = AlienTransfer(
AlienTransferMetadata(
priority=Priority.IMMEDIATE,
transfer_id=1234,
session_specifier=AlienSessionSpecifier(
source_node_id=321,
destination_node_id=222,
data_specifier=ServiceDataSpecifier(
77, ServiceDataSpecifier.Role.REQUEST),
),
),
[memoryview(b"hello")],
)
assert await tr.spoof(transfer,
monotonic_deadline=asyncio.get_event_loop().time() +
1.0)
await wait(2)
with lock:
# Check the status of the deduplication process. We should get two: one transfer, one duplicate.
assert len(traces) == 2
trace = traces.pop(0)
assert isinstance(trace, TransferTrace)
assert trace.transfer == transfer
# This is the duplicate.
assert isinstance(traces.pop(0), RedundantDuplicateTransferTrace)
assert not traces
# Spoof the same thing again, get nothing out: transfers discarded by the inferior's own reassemblers.
# WARNING: this will fail if too much time has passed since the previous transfer due to TID timeout.
assert await tr.spoof(transfer,
monotonic_deadline=asyncio.get_event_loop().time() +
1.0)
await wait(2)
with lock:
assert None is traces.pop(0)
assert None is traces.pop(0)
assert not traces
# But if we change ONLY destination, deduplication will not take place.
transfer = AlienTransfer(
AlienTransferMetadata(
priority=Priority.IMMEDIATE,
transfer_id=1234,
session_specifier=AlienSessionSpecifier(
source_node_id=321,
destination_node_id=333,
data_specifier=ServiceDataSpecifier(
77, ServiceDataSpecifier.Role.REQUEST),
),
),
[memoryview(b"hello")],
)
assert await tr.spoof(transfer,
monotonic_deadline=asyncio.get_event_loop().time() +
1.0)
await wait(2)
with lock:
# Check the status of the deduplication process. We should get two: one transfer, one duplicate.
assert len(traces) == 2
trace = traces.pop(0)
assert isinstance(trace, TransferTrace)
assert trace.transfer == transfer
# This is the duplicate.
assert isinstance(traces.pop(0), RedundantDuplicateTransferTrace)
assert not traces
# Change the inferior configuration and make sure it is handled properly.
tr.detach_inferior(inf_a)
tr.detach_inferior(inf_b)
inf_a.close()
inf_b.close()
# The new inferiors use cyclic transfer-ID; the tracer should reconfigure itself automatically!
can_peers: typing.Set[CANMockMedia] = set()
inf_a = CANTransport(CANMockMedia(can_peers, 64, 2), 111)
inf_b = CANTransport(CANMockMedia(can_peers, 64, 2), 111)
tr.attach_inferior(inf_a)
tr.attach_inferior(inf_b)
# Capture should have been launched automatically.
assert inf_a.capture_active
assert inf_b.capture_active
# Send transfer over CAN and observe that it is handled well.
transfer = AlienTransfer(
AlienTransferMetadata(
priority=Priority.IMMEDIATE,
transfer_id=19,
session_specifier=AlienSessionSpecifier(
source_node_id=111,
destination_node_id=22,
data_specifier=ServiceDataSpecifier(
77, ServiceDataSpecifier.Role.REQUEST),
),
),
[memoryview(b"hello")],
)
assert await tr.spoof(transfer,
monotonic_deadline=asyncio.get_event_loop().time() +
1.0)
await wait(2)
with lock:
# Check the status of the deduplication process. We should get two: one transfer, one duplicate.
assert len(traces) == 2
trace = traces.pop(0)
assert isinstance(trace, TransferTrace)
assert trace.transfer == transfer
# This is the duplicate.
assert isinstance(traces.pop(0), RedundantDuplicateTransferTrace)
assert not traces
# Dispose of everything.
tr.close()
await asyncio.sleep(1.0)
async def _unittest_slow_node(
compiled: typing.List[pyuavcan.dsdl.GeneratedPackageInfo]) -> None:
from pyuavcan.application import make_node, make_registry
import uavcan.primitive
from uavcan.node import Version_1_0, Heartbeat_1_0, GetInfo_1_0, Mode_1_0, Health_1_0
asyncio.get_running_loop().slow_callback_duration = 3.0
assert compiled
remote_pres = Presentation(UDPTransport("127.1.1.1"))
remote_hb_sub = remote_pres.make_subscriber_with_fixed_subject_id(
Heartbeat_1_0)
remote_info_cln = remote_pres.make_client_with_fixed_service_id(
GetInfo_1_0, 258)
trans = RedundantTransport()
try:
info = GetInfo_1_0.Response(
protocol_version=Version_1_0(
*pyuavcan.UAVCAN_SPECIFICATION_VERSION),
software_version=Version_1_0(*pyuavcan.__version_info__[:2]),
name="org.uavcan.pyuavcan.test.node",
)
node = make_node(info,
make_registry(None, typing.cast(Dict[str, bytes],
{})),
transport=trans)
print("node:", node)
assert node.presentation.transport is trans
node.start()
node.start() # Idempotency
# Check port instantiation API for non-fixed-port-ID types.
assert "uavcan.pub.optional.id" not in node.registry # Nothing yet.
with pytest.raises(KeyError, match=r".*uavcan\.pub\.optional\.id.*"):
node.make_publisher(uavcan.primitive.Empty_1_0, "optional")
assert 0xFFFF == int(
node.registry["uavcan.pub.optional.id"]) # Created automatically!
with pytest.raises(TypeError):
node.make_publisher(uavcan.primitive.Empty_1_0)
# Same but for fixed port-ID types.
assert "uavcan.pub.atypical_heartbeat.id" not in node.registry # Nothing yet.
port = node.make_publisher(uavcan.node.Heartbeat_1_0,
"atypical_heartbeat")
assert port.port_id == pyuavcan.dsdl.get_model(
uavcan.node.Heartbeat_1_0).fixed_port_id
port.close()
assert 0xFFFF == int(node.registry["uavcan.pub.atypical_heartbeat.id"]
) # Created automatically!
node.registry[
"uavcan.pub.atypical_heartbeat.id"] = 111 # Override the default.
port = node.make_publisher(uavcan.node.Heartbeat_1_0,
"atypical_heartbeat")
assert port.port_id == 111
port.close()
node.heartbeat_publisher.priority = pyuavcan.transport.Priority.FAST
node.heartbeat_publisher.period = 0.5
node.heartbeat_publisher.mode = Mode_1_0.MAINTENANCE # type: ignore
node.heartbeat_publisher.health = Health_1_0.ADVISORY # type: ignore
node.heartbeat_publisher.vendor_specific_status_code = 93
with pytest.raises(ValueError):
node.heartbeat_publisher.period = 99.0
with pytest.raises(ValueError):
node.heartbeat_publisher.vendor_specific_status_code = -299
assert node.heartbeat_publisher.priority == pyuavcan.transport.Priority.FAST
assert node.heartbeat_publisher.period == pytest.approx(0.5)
assert node.heartbeat_publisher.mode == Mode_1_0.MAINTENANCE
assert node.heartbeat_publisher.health == Health_1_0.ADVISORY
assert node.heartbeat_publisher.vendor_specific_status_code == 93
assert None is await remote_hb_sub.receive_for(2.0)
assert trans.local_node_id is None
trans.attach_inferior(UDPTransport("127.1.1.2"))
assert trans.local_node_id == 258
for _ in range(2):
hb_transfer = await remote_hb_sub.receive_for(2.0)
assert hb_transfer is not None
hb, transfer = hb_transfer
assert transfer.source_node_id == 258
assert transfer.priority == pyuavcan.transport.Priority.FAST
assert 1 <= hb.uptime <= 9
assert hb.mode.value == Mode_1_0.MAINTENANCE
assert hb.health.value == Health_1_0.ADVISORY
assert hb.vendor_specific_status_code == 93
info_transfer = await remote_info_cln.call(GetInfo_1_0.Request())
assert info_transfer is not None
resp, transfer = info_transfer
assert transfer.source_node_id == 258
assert isinstance(resp, GetInfo_1_0.Response)
assert resp.name.tobytes().decode() == "org.uavcan.pyuavcan.test.node"
assert resp.protocol_version.major == pyuavcan.UAVCAN_SPECIFICATION_VERSION[
0]
assert resp.software_version.major == pyuavcan.__version_info__[0]
trans.detach_inferior(trans.inferiors[0])
assert trans.local_node_id is None
assert None is await remote_hb_sub.receive_for(2.0)
node.close()
node.close() # Idempotency
finally:
trans.close()
remote_pres.close()
await asyncio.sleep(1.0) # Let the background tasks terminate.
async def _unittest_slow_node(
generated_packages: typing.List[pyuavcan.dsdl.GeneratedPackageInfo]
) -> None:
from pyuavcan.application import Node
from uavcan.node import Version_1_0, Heartbeat_1_0, GetInfo_1_0, Mode_1_0, Health_1_0
asyncio.get_running_loop().slow_callback_duration = 3.0
assert generated_packages
remote_pres = Presentation(UDPTransport("127.1.1.1"))
remote_hb_sub = remote_pres.make_subscriber_with_fixed_subject_id(
Heartbeat_1_0)
remote_info_cln = remote_pres.make_client_with_fixed_service_id(
GetInfo_1_0, 258)
trans = RedundantTransport()
pres = Presentation(trans)
try:
info = GetInfo_1_0.Response(
protocol_version=Version_1_0(
*pyuavcan.UAVCAN_SPECIFICATION_VERSION),
software_version=Version_1_0(*pyuavcan.__version_info__[:2]),
name="org.uavcan.pyuavcan.test.node",
)
node = Node(pres, info, with_diagnostic_subscriber=True)
print("node:", node)
assert node.presentation is pres
node.start()
node.start() # Idempotency
node.heartbeat_publisher.priority = pyuavcan.transport.Priority.FAST
node.heartbeat_publisher.period = 0.5
node.heartbeat_publisher.mode = Mode_1_0.MAINTENANCE # type: ignore
node.heartbeat_publisher.health = Health_1_0.ADVISORY # type: ignore
node.heartbeat_publisher.vendor_specific_status_code = 93
with pytest.raises(ValueError):
node.heartbeat_publisher.period = 99.0
with pytest.raises(ValueError):
node.heartbeat_publisher.vendor_specific_status_code = -299
assert node.heartbeat_publisher.priority == pyuavcan.transport.Priority.FAST
assert node.heartbeat_publisher.period == pytest.approx(0.5)
assert node.heartbeat_publisher.mode == Mode_1_0.MAINTENANCE
assert node.heartbeat_publisher.health == Health_1_0.ADVISORY
assert node.heartbeat_publisher.vendor_specific_status_code == 93
assert None is await remote_hb_sub.receive_for(2.0)
assert trans.local_node_id is None
trans.attach_inferior(UDPTransport("127.1.1.2"))
assert trans.local_node_id == 258
for _ in range(2):
hb_transfer = await remote_hb_sub.receive_for(2.0)
assert hb_transfer is not None
hb, transfer = hb_transfer
assert transfer.source_node_id == 258
assert transfer.priority == pyuavcan.transport.Priority.FAST
assert 1 <= hb.uptime <= 9
assert hb.mode.value == Mode_1_0.MAINTENANCE
assert hb.health.value == Health_1_0.ADVISORY
assert hb.vendor_specific_status_code == 93
info_transfer = await remote_info_cln.call(GetInfo_1_0.Request())
assert info_transfer is not None
resp, transfer = info_transfer
assert transfer.source_node_id == 258
assert isinstance(resp, GetInfo_1_0.Response)
assert resp.name.tobytes().decode() == "org.uavcan.pyuavcan.test.node"
assert resp.protocol_version.major == pyuavcan.UAVCAN_SPECIFICATION_VERSION[
0]
assert resp.software_version.major == pyuavcan.__version_info__[0]
trans.detach_inferior(trans.inferiors[0])
assert trans.local_node_id is None
assert None is await remote_hb_sub.receive_for(2.0)
node.close()
node.close() # Idempotency
finally:
pres.close()
remote_pres.close()
await asyncio.sleep(1.0) # Let the background tasks terminate.