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.