def _unittest_transport_primitives() -> None:
from pytest import raises
from pyuavcan.transport import InputSessionSpecifier, OutputSessionSpecifier
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata
with raises(ValueError):
MessageDataSpecifier(-1)
with raises(ValueError):
MessageDataSpecifier(32768)
with raises(ValueError):
ServiceDataSpecifier(-1, ServiceDataSpecifier.Role.REQUEST)
with raises(ValueError):
InputSessionSpecifier(MessageDataSpecifier(123), -1)
with raises(ValueError):
OutputSessionSpecifier(ServiceDataSpecifier(100, ServiceDataSpecifier.Role.RESPONSE), None)
with raises(ValueError):
PayloadMetadata(-1, 0)
with raises(ValueError):
PayloadMetadata(2 ** 64, 0)
with raises(ValueError):
PayloadMetadata(0, -1)
async def _unittest_issue_120() -> None:
from pyuavcan.transport import MessageDataSpecifier, PayloadMetadata, Transfer
from pyuavcan.transport import Priority, Timestamp, OutputSessionSpecifier
from .media.mock import MockMedia
asyncio.get_running_loop().slow_callback_duration = 5.0
peers: typing.Set[MockMedia] = set()
media = MockMedia(peers, 8, 10)
tr = can.CANTransport(media, 42)
assert tr.protocol_parameters.transfer_id_modulo == 32
feedback_collector = _FeedbackCollector()
ses = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None),
PayloadMetadata(1024))
ses.enable_feedback(feedback_collector.give)
for i in range(70):
ts = Timestamp.now()
assert await ses.send(
Transfer(
timestamp=ts,
priority=Priority.SLOW,
transfer_id=i,
fragmented_payload=[_mem(str(i))] *
7, # Ensure both single- and multiframe
),
tr.loop.time() + 1.0,
)
await asyncio.sleep(0.1)
fb = feedback_collector.take()
assert fb.original_transfer_timestamp == ts
num_frames = (10 * 1) + (60 * 3) # 10 single-frame, 60 multi-frame
assert 70 == ses.sample_statistics().transfers
assert num_frames == ses.sample_statistics().frames
assert 0 == tr.sample_statistics().in_frames # loopback not included here
assert 70 == tr.sample_statistics(
).in_frames_loopback # only first frame of each transfer
assert num_frames == tr.sample_statistics().out_frames
assert 70 == tr.sample_statistics(
).out_frames_loopback # only first frame of each transfer
assert 0 == tr.sample_statistics().lost_loopback_frames
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
def _unittest_input_dispatch_table() -> None:
import asyncio
from pytest import raises
from pyuavcan.transport import PayloadMetadata
t = InputDispatchTable()
assert len(list(t.items)) == 0
assert t.get(InputSessionSpecifier(MessageDataSpecifier(1234),
None)) is None
with raises(LookupError):
t.remove(InputSessionSpecifier(MessageDataSpecifier(1234), 123))
a = CANInputSession(
InputSessionSpecifier(MessageDataSpecifier(1234), None),
PayloadMetadata(456, 789), asyncio.get_event_loop(), lambda: None)
t.add(a)
t.add(a)
assert list(t.items) == [a]
assert t.get(InputSessionSpecifier(MessageDataSpecifier(1234), None)) == a
t.remove(InputSessionSpecifier(MessageDataSpecifier(1234), None))
assert len(list(t.items)) == 0
async def _unittest_output_session() -> None:
ts = Timestamp.now()
loop = asyncio.get_event_loop()
tx_timestamp: typing.Optional[Timestamp] = Timestamp.now()
tx_exception: typing.Optional[Exception] = None
last_sent_frames: typing.List[SerialFrame] = []
last_monotonic_deadline = 0.0
finalized = False
async def do_send(frames: typing.Sequence[SerialFrame],
monotonic_deadline: float) -> typing.Optional[Timestamp]:
nonlocal last_sent_frames
nonlocal last_monotonic_deadline
last_sent_frames = list(frames)
last_monotonic_deadline = monotonic_deadline
if tx_exception:
raise tx_exception
return tx_timestamp
def do_finalize() -> None:
nonlocal finalized
finalized = True
with raises(pyuavcan.transport.OperationNotDefinedForAnonymousNodeError):
SerialOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
1111),
payload_metadata=PayloadMetadata(1024),
mtu=10,
local_node_id=None,
send_handler=do_send,
finalizer=do_finalize,
)
sos = SerialOutputSession(
specifier=OutputSessionSpecifier(MessageDataSpecifier(3210), None),
payload_metadata=PayloadMetadata(1024),
mtu=11,
local_node_id=None,
send_handler=do_send,
finalizer=do_finalize,
)
assert sos.specifier == OutputSessionSpecifier(MessageDataSpecifier(3210),
None)
assert sos.destination_node_id is None
assert sos.payload_metadata == PayloadMetadata(1024)
assert sos.sample_statistics() == SessionStatistics()
assert await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
999999999.999,
))
assert last_monotonic_deadline == approx(999999999.999)
assert len(last_sent_frames) == 1
with raises(pyuavcan.transport.OperationNotDefinedForAnonymousNodeError):
await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three four five")
],
),
loop.time() + 10.0,
))
last_feedback: typing.Optional[Feedback] = None
def feedback_handler(feedback: Feedback) -> None:
nonlocal last_feedback
last_feedback = feedback
sos.enable_feedback(feedback_handler)
assert last_feedback is None
assert await (sos.send(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[]), 999999999.999))
assert last_monotonic_deadline == approx(999999999.999)
assert len(last_sent_frames) == 1
assert last_feedback is not None
assert last_feedback.original_transfer_timestamp == ts
assert last_feedback.first_frame_transmission_timestamp == tx_timestamp
sos.disable_feedback()
sos.disable_feedback() # Idempotency check
assert sos.sample_statistics() == SessionStatistics(transfers=2,
frames=2,
payload_bytes=11,
errors=0,
drops=0)
assert not finalized
sos.close()
assert finalized
finalized = False
sos = SerialOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
2222),
payload_metadata=PayloadMetadata(1024),
mtu=10,
local_node_id=1234,
send_handler=do_send,
finalizer=do_finalize,
)
# Induced failure
tx_timestamp = None
assert not await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
999999999.999,
))
assert last_monotonic_deadline == approx(999999999.999)
assert len(last_sent_frames) == 2
assert sos.sample_statistics() == SessionStatistics(transfers=0,
frames=0,
payload_bytes=0,
errors=0,
drops=2)
tx_exception = RuntimeError()
with raises(RuntimeError):
_ = await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
assert sos.sample_statistics() == SessionStatistics(transfers=0,
frames=0,
payload_bytes=0,
errors=1,
drops=2)
assert not finalized
sos.close()
assert finalized
sos.close() # Idempotency
with raises(pyuavcan.transport.ResourceClosedError):
await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
async def _unittest_output_session_no_listener() -> None:
"""
Test the Windows-specific corner case. Should be handled identically on all platforms.
"""
ts = Timestamp.now()
loop = asyncio.get_event_loop()
loop.slow_callback_duration = 5.0
def make_sock() -> socket_.socket:
sock = socket_.socket(socket_.AF_INET, socket_.SOCK_DGRAM)
sock.bind(("127.100.0.2", 0))
sock.connect(
("239.0.1.2", 33333)) # There is no listener on this endpoint.
sock.setsockopt(socket_.IPPROTO_IP, socket_.IP_MULTICAST_IF,
socket_.inet_aton("127.100.0.2"))
sock.setblocking(False)
return sock
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(MessageDataSpecifier(3210), None),
payload_metadata=PayloadMetadata(1024),
mtu=11,
multiplier=1,
sock=make_sock(),
finalizer=lambda: None,
)
assert await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
sos.close()
# Multi-frame with multiplication and feedback
last_feedback: typing.Optional[Feedback] = None
def feedback_handler(feedback: Feedback) -> None:
nonlocal last_feedback
assert last_feedback is None, "Unexpected feedback"
last_feedback = feedback
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
2222),
payload_metadata=PayloadMetadata(1024),
mtu=10,
multiplier=2,
sock=make_sock(),
finalizer=lambda: None,
)
sos.enable_feedback(feedback_handler)
assert last_feedback is None
assert await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.OPTIONAL,
transfer_id=54321,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
print("last_feedback:", last_feedback)
assert isinstance(last_feedback, UDPFeedback)
# Ensure that the timestamp is populated even if the error suppression logic is activated.
assert last_feedback.original_transfer_timestamp == ts
assert Timestamp.now(
).monotonic >= last_feedback.first_frame_transmission_timestamp.monotonic >= ts.monotonic
assert Timestamp.now(
).system >= last_feedback.first_frame_transmission_timestamp.system >= ts.system
sos.close()
async def _unittest_output_session() -> None:
ts = Timestamp.now()
loop = asyncio.get_event_loop()
loop.slow_callback_duration = 5.0 # TODO use asyncio socket read and remove this thing.
finalized = False
def do_finalize() -> None:
nonlocal finalized
finalized = True
def check_timestamp(t: Timestamp) -> bool:
now = Timestamp.now()
s = ts.system_ns <= t.system_ns <= now.system_ns
m = ts.monotonic_ns <= t.monotonic_ns <= now.system_ns
return s and m
destination_endpoint = "127.100.0.1", 25406
sock_rx = socket_.socket(socket_.AF_INET, socket_.SOCK_DGRAM)
sock_rx.bind(destination_endpoint)
sock_rx.settimeout(1.0)
def make_sock() -> socket_.socket:
sock = socket_.socket(socket_.AF_INET, socket_.SOCK_DGRAM)
sock.bind(("127.100.0.2", 0))
sock.connect(destination_endpoint)
sock.setblocking(False)
return sock
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(MessageDataSpecifier(3210), None),
payload_metadata=PayloadMetadata(1024),
mtu=11,
multiplier=1,
sock=make_sock(),
finalizer=do_finalize,
)
assert sos.specifier == OutputSessionSpecifier(MessageDataSpecifier(3210),
None)
assert sos.destination_node_id is None
assert sos.payload_metadata == PayloadMetadata(1024)
assert sos.sample_statistics() == SessionStatistics()
assert await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
rx_data, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == "127.100.0.2"
assert rx_data == (
b"\x00\x04\x00\x00\x00\x00\x00\x8040\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"
+ b"one" + b"two" + b"three")
with raises(socket_.timeout):
sock_rx.recvfrom(1000)
last_feedback: typing.Optional[Feedback] = None
def feedback_handler(feedback: Feedback) -> None:
nonlocal last_feedback
last_feedback = feedback
sos.enable_feedback(feedback_handler)
assert last_feedback is None
assert await (sos.send(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[]),
loop.time() + 10.0,
))
assert last_feedback is not None
assert last_feedback.original_transfer_timestamp == ts
assert check_timestamp(last_feedback.first_frame_transmission_timestamp)
sos.disable_feedback()
sos.disable_feedback() # Idempotency check
_, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == "127.100.0.2"
with raises(socket_.timeout):
sock_rx.recvfrom(1000)
assert sos.sample_statistics() == SessionStatistics(transfers=2,
frames=2,
payload_bytes=11,
errors=0,
drops=0)
assert sos.socket.fileno() >= 0
assert not finalized
sos.close()
assert finalized
assert sos.socket.fileno() < 0 # The socket is supposed to be disposed of.
finalized = False
# Multi-frame with multiplication
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
2222),
payload_metadata=PayloadMetadata(1024),
mtu=10,
multiplier=2,
sock=make_sock(),
finalizer=do_finalize,
)
assert await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.OPTIONAL,
transfer_id=54321,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
data_main_a, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == "127.100.0.2"
data_main_b, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == "127.100.0.2"
data_redundant_a, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == "127.100.0.2"
data_redundant_b, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == "127.100.0.2"
with raises(socket_.timeout):
sock_rx.recvfrom(1000)
print("data_main_a", data_main_a)
print("data_main_b", data_main_b)
print("data_redundant_a", data_redundant_a)
print("data_redundant_b", data_redundant_b)
assert data_main_a == data_redundant_a
assert data_main_b == data_redundant_b
assert data_main_a == (
b"\x00\x07\x00\x00\x00\x00\x00\x001\xd4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"
+ b"one" + b"two" + b"three"[:-1])
assert data_main_b == (
b"\x00\x07\x00\x00\x01\x00\x00\x801\xd4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"
+ b"e" + pyuavcan.transport.commons.crc.CRC32C.new(
b"one", b"two", b"three").value_as_bytes)
sos.socket.close() # This is to prevent resource warning
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
2222),
payload_metadata=PayloadMetadata(1024),
mtu=10,
multiplier=1,
sock=make_sock(),
finalizer=do_finalize,
)
# Induced timeout
assert not await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() - 0.1, # Expired on arrival
))
assert sos.sample_statistics() == SessionStatistics(
transfers=0,
frames=0,
payload_bytes=0,
errors=0,
drops=2 # Because multiframe
)
# Induced failure
sos.socket.close()
with raises(OSError):
assert not await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
assert sos.sample_statistics() == SessionStatistics(transfers=0,
frames=0,
payload_bytes=0,
errors=1,
drops=2)
assert not finalized
sos.close()
assert finalized
sos.close() # Idempotency
with raises(pyuavcan.transport.ResourceClosedError):
await (sos.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b"one"),
memoryview(b"two"),
memoryview(b"three")
],
),
loop.time() + 10.0,
))
sock_rx.close()
async def _unittest_input_session() -> None:
ts = Timestamp.now()
prio = Priority.SLOW
dst_nid = 1234
get_monotonic = asyncio.get_event_loop().time
nihil_supernum = b"nihil supernum"
finalized = False
def do_finalize() -> None:
nonlocal finalized
finalized = True
session_spec = InputSessionSpecifier(MessageDataSpecifier(2345), None)
payload_meta = PayloadMetadata(100)
sis = SerialInputSession(specifier=session_spec,
payload_metadata=payload_meta,
finalizer=do_finalize)
assert sis.specifier == session_spec
assert sis.payload_metadata == payload_meta
assert sis.sample_statistics() == SerialInputSessionStatistics()
assert sis.transfer_id_timeout == approx(
SerialInputSession.DEFAULT_TRANSFER_ID_TIMEOUT)
sis.transfer_id_timeout = 1.0
with raises(ValueError):
sis.transfer_id_timeout = 0.0
assert sis.transfer_id_timeout == approx(1.0)
assert await (sis.receive(get_monotonic() + 0.1)) is None
assert await (sis.receive(0.0)) is None
def mk_frame(
transfer_id: int,
index: int,
end_of_transfer: bool,
payload: typing.Union[bytes, memoryview],
source_node_id: typing.Optional[int],
) -> SerialFrame:
return SerialFrame(
priority=prio,
transfer_id=transfer_id,
index=index,
end_of_transfer=end_of_transfer,
payload=memoryview(payload),
source_node_id=source_node_id,
destination_node_id=dst_nid,
data_specifier=session_spec.data_specifier,
)
# ANONYMOUS TRANSFERS.
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=0,
end_of_transfer=False,
payload=nihil_supernum,
source_node_id=None))
assert sis.sample_statistics() == SerialInputSessionStatistics(
frames=1,
errors=1,
)
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=1,
end_of_transfer=True,
payload=nihil_supernum,
source_node_id=None))
assert sis.sample_statistics() == SerialInputSessionStatistics(
frames=2,
errors=2,
)
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=0,
end_of_transfer=True,
payload=nihil_supernum,
source_node_id=None))
assert sis.sample_statistics() == SerialInputSessionStatistics(
transfers=1,
frames=3,
payload_bytes=len(nihil_supernum),
errors=2,
)
assert await (sis.receive(0)) == TransferFrom(
timestamp=ts,
priority=prio,
transfer_id=0,
fragmented_payload=[memoryview(nihil_supernum)],
source_node_id=None)
assert await (sis.receive(get_monotonic() + 0.1)) is None
assert await (sis.receive(0.0)) is None
# VALID TRANSFERS. Notice that they are unordered on purpose. The reassembler can deal with that.
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=1,
end_of_transfer=False,
payload=nihil_supernum,
source_node_id=1111))
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=0,
end_of_transfer=True,
payload=nihil_supernum,
source_node_id=2222)) # COMPLETED FIRST
assert sis.sample_statistics() == SerialInputSessionStatistics(
transfers=2,
frames=5,
payload_bytes=len(nihil_supernum) * 2,
errors=2,
reassembly_errors_per_source_node_id={
1111: {},
2222: {},
},
)
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(
transfer_id=0,
index=3,
end_of_transfer=True,
payload=TransferCRC.new(nihil_supernum * 3).value_as_bytes,
source_node_id=1111,
),
)
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=0,
end_of_transfer=False,
payload=nihil_supernum,
source_node_id=1111))
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(transfer_id=0,
index=2,
end_of_transfer=False,
payload=nihil_supernum,
source_node_id=1111)) # COMPLETED SECOND
assert sis.sample_statistics() == SerialInputSessionStatistics(
transfers=3,
frames=8,
payload_bytes=len(nihil_supernum) * 5,
errors=2,
reassembly_errors_per_source_node_id={
1111: {},
2222: {},
},
)
assert await (sis.receive(0)) == TransferFrom(
timestamp=ts,
priority=prio,
transfer_id=0,
fragmented_payload=[memoryview(nihil_supernum)],
source_node_id=2222)
assert await (sis.receive(0)) == TransferFrom(
timestamp=ts,
priority=prio,
transfer_id=0,
fragmented_payload=[memoryview(nihil_supernum)] * 3,
source_node_id=1111,
)
assert await (sis.receive(get_monotonic() + 0.1)) is None
assert await (sis.receive(0.0)) is None
# TRANSFERS WITH REASSEMBLY ERRORS.
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(
transfer_id=1,
index=0,
end_of_transfer=False,
payload=b"",
source_node_id=1111 # EMPTY IN MULTIFRAME
),
)
sis._process_frame( # pylint: disable=protected-access
ts,
mk_frame(
transfer_id=2,
index=0,
end_of_transfer=False,
payload=b"",
source_node_id=1111 # EMPTY IN MULTIFRAME
),
)
assert sis.sample_statistics() == SerialInputSessionStatistics(
transfers=3,
frames=10,
payload_bytes=len(nihil_supernum) * 5,
errors=4,
reassembly_errors_per_source_node_id={
1111: {
TransferReassembler.Error.MULTIFRAME_EMPTY_FRAME: 2,
},
2222: {},
},
)
assert not finalized
sis.close()
assert finalized
sis.close() # Idempotency check
async def _unittest_serial_transport_capture(caplog: typing.Any) -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer
from pyuavcan.transport import Priority, Timestamp, OutputSessionSpecifier
get_monotonic = asyncio.get_event_loop().time
tr = SerialTransport(serial_port="loop://",
local_node_id=42,
mtu=1024,
service_transfer_multiplier=2)
sft_capacity = 1024
payload_single = [_mem("qwertyui"), _mem("01234567")
] * (sft_capacity // 16)
assert sum(map(len, payload_single)) == sft_capacity
payload_x3 = (payload_single * 3)[:-1]
payload_x3_size_bytes = sft_capacity * 3 - 8
assert sum(map(len, payload_x3)) == payload_x3_size_bytes
broadcaster = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None),
PayloadMetadata(10000))
client_requester = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
3210),
PayloadMetadata(10000),
)
events: typing.List[SerialCapture] = []
events2: typing.List[pyuavcan.transport.Capture] = []
def append_events(cap: pyuavcan.transport.Capture) -> None:
assert isinstance(cap, SerialCapture)
events.append(cap)
tr.begin_capture(append_events)
tr.begin_capture(events2.append)
assert events == []
assert events2 == []
#
# Multi-frame message.
#
ts = Timestamp.now()
assert await broadcaster.send(
Transfer(timestamp=ts,
priority=Priority.LOW,
transfer_id=777,
fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0,
)
await asyncio.sleep(0.1)
assert events == events2
# Send three, receive three.
# Sorting is required because the ordering of the events in the middle is not defined: arrival events
# may or may not be registered before the emission event depending on how the serial loopback is operating.
a, b, c, d, e, f = sorted(events, key=lambda x: not x.own)
assert isinstance(a, SerialCapture) and a.own
assert isinstance(b, SerialCapture) and b.own
assert isinstance(c, SerialCapture) and c.own
assert isinstance(d, SerialCapture) and not d.own
assert isinstance(e, SerialCapture) and not e.own
assert isinstance(f, SerialCapture) and not f.own
def parse(x: SerialCapture) -> SerialFrame:
out = SerialFrame.parse_from_cobs_image(x.fragment)
assert out is not None
return out
assert parse(a).transfer_id == 777
assert parse(b).transfer_id == 777
assert parse(c).transfer_id == 777
assert a.timestamp.monotonic >= ts.monotonic
assert b.timestamp.monotonic >= ts.monotonic
assert c.timestamp.monotonic >= ts.monotonic
assert parse(a).index == 0
assert parse(b).index == 1
assert parse(c).index == 2
assert not parse(a).end_of_transfer
assert not parse(b).end_of_transfer
assert parse(c).end_of_transfer
assert a.fragment.tobytes().strip(b"\x00") == d.fragment.tobytes().strip(
b"\x00")
assert b.fragment.tobytes().strip(b"\x00") == e.fragment.tobytes().strip(
b"\x00")
assert c.fragment.tobytes().strip(b"\x00") == f.fragment.tobytes().strip(
b"\x00")
events.clear()
events2.clear()
#
# Single-frame service request with dual frame duplication.
#
ts = Timestamp.now()
assert await client_requester.send(
Transfer(timestamp=ts,
priority=Priority.HIGH,
transfer_id=888,
fragmented_payload=payload_single),
monotonic_deadline=get_monotonic() + 5.0,
)
await asyncio.sleep(0.1)
assert events == events2
# Send two, receive two.
# Sorting is required because the order of the two events in the middle is not defined: the arrival event
# may or may not be registered before the emission event depending on how the serial loopback is operating.
a, b, c, d = sorted(events, key=lambda x: not x.own)
assert isinstance(a, SerialCapture) and a.own
assert isinstance(b, SerialCapture) and b.own
assert isinstance(c, SerialCapture) and not c.own
assert isinstance(d, SerialCapture) and not d.own
assert parse(a).transfer_id == 888
assert parse(b).transfer_id == 888
assert a.timestamp.monotonic >= ts.monotonic
assert b.timestamp.monotonic >= ts.monotonic
assert parse(a).index == 0
assert parse(b).index == 0
assert parse(a).end_of_transfer
assert parse(b).end_of_transfer
assert a.fragment.tobytes().strip(b"\x00") == c.fragment.tobytes().strip(
b"\x00")
assert b.fragment.tobytes().strip(b"\x00") == d.fragment.tobytes().strip(
b"\x00")
events.clear()
events2.clear()
#
# Out-of-band data.
#
grownups = b"Aren't there any grownups at all? - No grownups!\x00"
with caplog.at_level(logging.CRITICAL,
logger=pyuavcan.transport.serial.__name__):
# The frame delimiter is needed to force new frame into the state machine.
tr.serial_port.write(grownups)
await asyncio.sleep(1)
assert events == events2
(oob, ) = events
assert isinstance(oob, SerialCapture)
assert not oob.own
assert bytes(oob.fragment) == grownups
events.clear()
events2.clear()
async def _unittest_serial_transport(caplog: typing.Any) -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer, TransferFrom
from pyuavcan.transport import Priority, Timestamp, InputSessionSpecifier, OutputSessionSpecifier
from pyuavcan.transport import ProtocolParameters
get_monotonic = asyncio.get_event_loop().time
service_multiplication_factor = 2
with pytest.raises(ValueError):
_ = SerialTransport(serial_port="loop://", local_node_id=None, mtu=1)
with pytest.raises(ValueError):
_ = SerialTransport(serial_port="loop://",
local_node_id=None,
service_transfer_multiplier=10000)
with pytest.raises(pyuavcan.transport.InvalidMediaConfigurationError):
_ = SerialTransport(serial_port=serial.serial_for_url(
"loop://", do_not_open=True),
local_node_id=None)
tr = SerialTransport(serial_port="loop://", local_node_id=None, mtu=1024)
assert tr.local_node_id is None
assert tr.serial_port.is_open
assert tr.input_sessions == []
assert tr.output_sessions == []
assert tr.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2**64,
max_nodes=4096,
mtu=1024,
)
assert tr.sample_statistics() == SerialTransportStatistics()
sft_capacity = 1024
payload_single = [_mem("qwertyui"), _mem("01234567")
] * (sft_capacity // 16)
assert sum(map(len, payload_single)) == sft_capacity
payload_x3 = (payload_single * 3)[:-1]
payload_x3_size_bytes = sft_capacity * 3 - 8
assert sum(map(len, payload_x3)) == payload_x3_size_bytes
#
# Instantiate session objects.
#
meta = PayloadMetadata(10000)
broadcaster = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert broadcaster is tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_promiscuous = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert subscriber_promiscuous is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_selective = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 3210), meta)
assert subscriber_selective is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 3210), 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)
client_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
3210), meta)
assert client_listener is tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
3210), meta)
print("INPUTS:", tr.input_sessions)
print("OUTPUTS:", tr.output_sessions)
assert set(tr.input_sessions) == {
subscriber_promiscuous, subscriber_selective, server_listener,
client_listener
}
assert set(tr.output_sessions) == {broadcaster}
assert tr.sample_statistics() == SerialTransportStatistics()
#
# Message exchange test.
#
assert await broadcaster.send(
Transfer(timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=77777,
fragmented_payload=payload_single),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await subscriber_promiscuous.receive(get_monotonic() + 5.0)
print("PROMISCUOUS SUBSCRIBER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.LOW
assert rx_transfer.transfer_id == 77777
assert rx_transfer.fragmented_payload == [b"".join(payload_single)]
print(tr.sample_statistics())
assert tr.sample_statistics().in_bytes >= 32 + sft_capacity + 2
assert tr.sample_statistics().in_frames == 1
assert tr.sample_statistics().in_out_of_band_bytes == 0
assert tr.sample_statistics().out_bytes == tr.sample_statistics().in_bytes
assert tr.sample_statistics().out_frames == 1
assert tr.sample_statistics().out_transfers == 1
assert tr.sample_statistics().out_incomplete == 0
with pytest.raises(
pyuavcan.transport.OperationNotDefinedForAnonymousNodeError):
# Anonymous nodes can't send multiframe transfers.
assert await broadcaster.send(
Transfer(timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=77777,
fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0,
)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
#
# Service exchange test.
#
with pytest.raises(
pyuavcan.transport.OperationNotDefinedForAnonymousNodeError):
# Anonymous nodes can't emit service transfers.
tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
3210), meta)
#
# Replace the transport with a different one where the local node-ID is not None.
#
tr = SerialTransport(serial_port="loop://", local_node_id=3210, mtu=1024)
assert tr.local_node_id == 3210
#
# Re-instantiate session objects because the transport instances have been replaced.
#
broadcaster = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert broadcaster is tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_promiscuous = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_selective = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 3210), 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),
3210), meta)
assert server_responder is tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
3210), meta)
client_requester = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
3210), meta)
assert client_requester is tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
3210), meta)
client_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
3210), meta)
assert client_listener is tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
3210), meta)
assert set(tr.input_sessions) == {
subscriber_promiscuous, subscriber_selective, server_listener,
client_listener
}
assert set(tr.output_sessions) == {
broadcaster, server_responder, client_requester
}
assert tr.sample_statistics() == SerialTransportStatistics()
assert await client_requester.send(
Transfer(timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=88888,
fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await server_listener.receive(get_monotonic() + 5.0)
print("SERVER LISTENER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.HIGH
assert rx_transfer.transfer_id == 88888
assert len(rx_transfer.fragmented_payload) == 3
assert b"".join(rx_transfer.fragmented_payload) == b"".join(payload_x3)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
print(tr.sample_statistics())
assert tr.sample_statistics().in_bytes >= (
32 * 3 + payload_x3_size_bytes + 2) * service_multiplication_factor
assert tr.sample_statistics(
).in_frames == 3 * service_multiplication_factor
assert tr.sample_statistics().in_out_of_band_bytes == 0
assert tr.sample_statistics().out_bytes == tr.sample_statistics().in_bytes
assert tr.sample_statistics(
).out_frames == 3 * service_multiplication_factor
assert tr.sample_statistics(
).out_transfers == 1 * service_multiplication_factor
assert tr.sample_statistics().out_incomplete == 0
#
# Write timeout test.
#
assert not await broadcaster.send(
Transfer(timestamp=Timestamp.now(),
priority=Priority.IMMEDIATE,
transfer_id=99999,
fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() -
5.0, # The deadline is in the past.
)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
print(tr.sample_statistics())
assert tr.sample_statistics().in_bytes >= (
32 * 3 + payload_x3_size_bytes + 2) * service_multiplication_factor
assert tr.sample_statistics(
).in_frames == 3 * service_multiplication_factor
assert tr.sample_statistics().in_out_of_band_bytes == 0
assert tr.sample_statistics().out_bytes == tr.sample_statistics().in_bytes
assert tr.sample_statistics(
).out_frames == 3 * service_multiplication_factor
assert tr.sample_statistics(
).out_transfers == 1 * service_multiplication_factor
assert tr.sample_statistics().out_incomplete == 1 # INCREMENTED HERE
#
# Selective message exchange test.
#
assert await broadcaster.send(
Transfer(timestamp=Timestamp.now(),
priority=Priority.IMMEDIATE,
transfer_id=99999,
fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await subscriber_promiscuous.receive(get_monotonic() + 5.0)
print("PROMISCUOUS SUBSCRIBER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.IMMEDIATE
assert rx_transfer.transfer_id == 99999
assert b"".join(rx_transfer.fragmented_payload) == b"".join(payload_x3)
rx_transfer = await subscriber_selective.receive(get_monotonic() + 1.0)
print("SELECTIVE SUBSCRIBER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.IMMEDIATE
assert rx_transfer.transfer_id == 99999
assert b"".join(rx_transfer.fragmented_payload) == b"".join(payload_x3)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
#
# Out-of-band data test.
#
with caplog.at_level(logging.CRITICAL,
logger=pyuavcan.transport.serial.__name__):
stats_reference = tr.sample_statistics()
# The frame delimiter is needed to force new frame into the state machine.
grownups = b"Aren't there any grownups at all? - No grownups!\x00"
tr.serial_port.write(grownups)
stats_reference.in_bytes += len(grownups)
stats_reference.in_out_of_band_bytes += len(grownups)
# Wait for the reader thread to catch up.
assert None is await subscriber_selective.receive(get_monotonic() +
0.2)
assert None is await subscriber_promiscuous.receive(get_monotonic() +
0.2)
assert None is await server_listener.receive(get_monotonic() + 0.2)
assert None is await client_listener.receive(get_monotonic() + 0.2)
print(tr.sample_statistics())
assert tr.sample_statistics() == stats_reference
# The frame delimiter is needed to force new frame into the state machine.
tr.serial_port.write(
bytes([0xFF, 0xFF, SerialFrame.FRAME_DELIMITER_BYTE]))
stats_reference.in_bytes += 3
stats_reference.in_out_of_band_bytes += 3
# Wait for the reader thread to catch up.
assert None is await subscriber_selective.receive(get_monotonic() +
0.2)
assert None is await subscriber_promiscuous.receive(get_monotonic() +
0.2)
assert None is await server_listener.receive(get_monotonic() + 0.2)
assert None is await client_listener.receive(get_monotonic() + 0.2)
print(tr.sample_statistics())
assert tr.sample_statistics() == stats_reference
#
# Termination.
#
assert set(tr.input_sessions) == {
subscriber_promiscuous, subscriber_selective, server_listener,
client_listener
}
assert set(tr.output_sessions) == {
broadcaster, server_responder, client_requester
}
subscriber_promiscuous.close()
subscriber_promiscuous.close() # Idempotency.
assert set(tr.input_sessions) == {
subscriber_selective, server_listener, client_listener
}
assert set(tr.output_sessions) == {
broadcaster, server_responder, client_requester
}
broadcaster.close()
broadcaster.close() # Idempotency.
assert set(tr.input_sessions) == {
subscriber_selective, server_listener, client_listener
}
assert set(tr.output_sessions) == {server_responder, client_requester}
tr.close()
tr.close() # Idempotency.
assert not set(tr.input_sessions)
assert not set(tr.output_sessions)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
await asyncio.sleep(
1
) # Let all pending tasks finalize properly to avoid stack traces in the output.
async def _unittest_udp_transport_ipv4_capture() -> None:
import socket
from pyuavcan.transport.udp import UDPCapture, IPPacket
from pyuavcan.transport import MessageDataSpecifier, PayloadMetadata, Transfer
from pyuavcan.transport import Priority, Timestamp, OutputSessionSpecifier
from pyuavcan.transport import Capture, AlienSessionSpecifier
asyncio.get_running_loop().slow_callback_duration = 5.0
tr_capture = UDPTransport("127.50.0.2", local_node_id=None)
captures: typing.List[UDPCapture] = []
def inhale(s: Capture) -> None:
print("CAPTURED:", s)
assert isinstance(s, UDPCapture)
captures.append(s)
tr_capture.begin_capture(inhale)
await asyncio.sleep(1.0)
tr = UDPTransport("127.50.0.111")
meta = PayloadMetadata(10000)
broadcaster = tr.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(190), None), meta)
assert broadcaster is tr.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(190), None), meta)
# For reasons of Windows compatibility, we have to set up a dummy listener on the target multicast group.
# Otherwise, we will not see any packets at all. This is Windows-specific.
sink = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
sink.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sink.bind(("", 11111))
sink.setsockopt(
socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, socket.inet_aton("239.50.0.190") + socket.inet_aton("127.0.0.1")
)
ts = Timestamp.now()
assert len(captures) == 0 # Assuming here that there are no other entities that might create noise.
await broadcaster.send(
Transfer(
timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=9876543210,
fragmented_payload=[_mem(bytes(range(256)))] * 4,
),
monotonic_deadline=tr.loop.time() + 2.0,
)
await asyncio.sleep(1.0) # Let the packet propagate.
assert len(captures) == 1 # Ensure the packet is captured.
tr_capture.close() # Ensure the capture is stopped after the capturing transport is closed.
await broadcaster.send( # This one shall be ignored.
Transfer(timestamp=Timestamp.now(), priority=Priority.HIGH, transfer_id=54321, fragmented_payload=[_mem(b"")]),
monotonic_deadline=tr.loop.time() + 2.0,
)
await asyncio.sleep(1.0)
assert len(captures) == 1 # Ignored?
tr.close()
sink.close()
(pkt,) = captures
assert isinstance(pkt, UDPCapture)
assert (ts.monotonic - 1) <= pkt.timestamp.monotonic <= Timestamp.now().monotonic
assert (ts.system - 1) <= pkt.timestamp.system <= Timestamp.now().system
ip_pkt = IPPacket.parse(pkt.link_layer_packet)
assert ip_pkt is not None
assert [str(x) for x in ip_pkt.source_destination] == ["127.50.0.111", "239.50.0.190"]
parsed = pkt.parse()
assert parsed
ses, frame = parsed
assert isinstance(ses, AlienSessionSpecifier)
assert ses.source_node_id == 111
assert ses.destination_node_id is None
assert ses.data_specifier == broadcaster.specifier.data_specifier
assert frame.end_of_transfer
assert frame.index == 0
assert frame.transfer_id == 9876543210
assert len(frame.payload) == 1024
assert frame.priority == Priority.NOMINAL
async def _unittest_udp_transport_ipv4() -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer, TransferFrom
from pyuavcan.transport import Priority, Timestamp, InputSessionSpecifier, OutputSessionSpecifier
from pyuavcan.transport import ProtocolParameters
asyncio.get_running_loop().slow_callback_duration = 5.0
get_monotonic = asyncio.get_event_loop().time
with pytest.raises(ValueError):
_ = UDPTransport("127.0.0.111", mtu=10)
with pytest.raises(ValueError):
_ = UDPTransport("127.0.0.111", service_transfer_multiplier=100)
tr = UDPTransport("127.0.0.111", mtu=9000)
tr2 = UDPTransport("127.0.0.222", service_transfer_multiplier=2)
assert tr.local_ip_address == ipaddress.ip_address("127.0.0.111")
assert tr2.local_ip_address == ipaddress.ip_address("127.0.0.222")
assert tr.loop is asyncio.get_event_loop()
assert tr.local_node_id == 111
assert tr2.local_node_id == 222
assert tr.input_sessions == []
assert tr.output_sessions == []
assert "127.0.0.111" in repr(tr)
assert tr.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2 ** 64,
max_nodes=65535,
mtu=9000,
)
default_mtu = min(UDPTransport.VALID_MTU_RANGE)
assert "127.0.0.222" in repr(tr2)
assert tr2.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2 ** 64,
max_nodes=65535,
mtu=default_mtu,
)
assert tr.sample_statistics() == tr2.sample_statistics() == UDPTransportStatistics()
payload_single = [_mem("qwertyui"), _mem("01234567")] * (default_mtu // 16)
assert sum(map(len, payload_single)) == default_mtu
payload_x3 = (payload_single * 3)[:-1]
payload_x3_size_bytes = default_mtu * 3 - 8
assert sum(map(len, payload_x3)) == payload_x3_size_bytes
#
# Instantiate session objects.
#
meta = PayloadMetadata(10000)
broadcaster = tr2.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert broadcaster is tr2.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_promiscuous = tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert subscriber_promiscuous is tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_selective = tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), 123), meta)
assert subscriber_selective is tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), 123), meta)
server_listener = tr.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), None), meta
)
assert server_listener is tr.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), None), meta
)
server_responder = tr.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 222), meta
)
assert server_responder is tr.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 222), meta
)
client_requester = tr2.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), 111), meta
)
assert client_requester is tr2.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), 111), meta
)
client_listener = tr2.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 111), meta
)
assert client_listener is tr2.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 111), meta
)
print("tr :", tr.input_sessions, tr.output_sessions)
assert set(tr.input_sessions) == {subscriber_promiscuous, subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
print("tr2:", tr2.input_sessions, tr2.output_sessions)
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
assert tr.sample_statistics().received_datagrams[MessageDataSpecifier(2345)].accepted_datagrams == {}
assert (
tr.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST)]
.accepted_datagrams
== {}
)
assert (
tr2.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE)]
.accepted_datagrams
== {}
)
#
# Message exchange test.
#
assert await broadcaster.send(
Transfer(
timestamp=Timestamp.now(), priority=Priority.LOW, transfer_id=77777, fragmented_payload=payload_single
),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await subscriber_promiscuous.receive(get_monotonic() + 5.0)
print("PROMISCUOUS SUBSCRIBER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.LOW
assert rx_transfer.transfer_id == 77777
assert rx_transfer.fragmented_payload == [b"".join(payload_single)]
print("tr :", tr.sample_statistics())
assert tr.sample_statistics().received_datagrams[MessageDataSpecifier(2345)].accepted_datagrams == {222: 1}
assert (
tr.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST)]
.accepted_datagrams
== {}
)
print("tr2:", tr2.sample_statistics())
assert (
tr2.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE)]
.accepted_datagrams
== {}
)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
#
# Service exchange test.
#
assert await client_requester.send(
Transfer(timestamp=Timestamp.now(), priority=Priority.HIGH, transfer_id=88888, fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await server_listener.receive(get_monotonic() + 5.0)
print("SERVER LISTENER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.HIGH
assert rx_transfer.transfer_id == 88888
assert len(rx_transfer.fragmented_payload) == 3
assert b"".join(rx_transfer.fragmented_payload) == b"".join(payload_x3)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
print("tr :", tr.sample_statistics())
assert tr.sample_statistics().received_datagrams[MessageDataSpecifier(2345)].accepted_datagrams == {222: 1}
assert tr.sample_statistics().received_datagrams[
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST)
].accepted_datagrams == {
222: 3 * 2
} # Deterministic data loss mitigation is enabled, multiplication factor 2
print("tr2:", tr2.sample_statistics())
assert (
tr2.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE)]
.accepted_datagrams
== {}
)
#
# Termination.
#
assert set(tr.input_sessions) == {subscriber_promiscuous, subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
subscriber_promiscuous.close()
subscriber_promiscuous.close() # Idempotency.
assert set(tr.input_sessions) == {subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
broadcaster.close()
broadcaster.close() # Idempotency.
assert set(tr.input_sessions) == {subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {client_requester}
tr.close()
tr.close() # Idempotency.
tr2.close()
tr2.close() # Idempotency.
assert not set(tr.input_sessions)
assert not set(tr.output_sessions)
assert not set(tr2.input_sessions)
assert not set(tr2.output_sessions)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr2.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
await asyncio.sleep(1) # Let all pending tasks finalize properly to avoid stack traces in the output.
async def _unittest_can_transport_non_anon(caplog: typing.Any) -> 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
from pyuavcan.transport.can._identifier import MessageCANID, ServiceCANID
from pyuavcan.transport.can._frame import UAVCANFrame
from pyuavcan.transport.can.media import Envelope
from .media.mock import MockMedia, FrameCollector
asyncio.get_running_loop().slow_callback_duration = 5.0
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(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(2345), None), meta)
assert broadcaster is tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), 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(
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()[1].frame == UAVCANFrame(
identifier=MessageCANID(Priority.IMMEDIATE, 5,
2345).compile([_mem("abcdef")
]), # payload fragments joined
padded_payload=_mem("abcdef"),
transfer_id=11,
start_of_transfer=True,
end_of_transfer=True,
toggle_bit=True,
).compile())
assert collector.empty
#
# Broadcast exchange with input dispatch test
#
selective_m2345_5 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 5), meta)
selective_m2345_9 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 9), meta)
promiscuous_m2345 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert await broadcaster.send(
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_m2345.receive(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_m2345_5.sample_statistics() == SessionStatistics(
) # Nothing
assert selective_m2345_9.sample_statistics() == SessionStatistics(
) # Nothing
assert promiscuous_m2345.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(
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_m2345.receive(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(
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_m2345.receive(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_m2345.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(
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_m2345.receive(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_m2345_9.receive(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_m2345_5.source_node_id == 5
received = await selective_m2345_5.receive(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_m2345_5.receive(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_m2345_5.receive(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_m2345_5.sample_statistics(
) == promiscuous_m2345.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(
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(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(tr.loop.time() +
_RX_TIMEOUT)) is None
received = await promiscuous_server_s333.receive(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(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await selective_client_s333_9.receive(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await promiscuous_client_s333.receive(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(
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([
Envelope(
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,
).compile(),
loopback=True,
)
])
media.inject_received([
Envelope(
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,
).compile(
), # Ignored because there is no such transfer-ID in the registry
loopback=True,
)
])
# Now, this transmission will succeed, but a pending loopback registry entry will be overwritten, which will be
# reflected in the error counter.
with caplog.at_level(logging.CRITICAL,
logger=pyuavcan.transport.can.__name__):
assert await client_requester.send(
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([
Envelope(
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,
).compile(),
loopback=True,
)
])
client_requester.close()
with pytest.raises(ResourceClosedError):
assert await client_requester.send(
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(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(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(tr.loop.time() +
_RX_TIMEOUT)) is None
# Nothing is received - non-matching role (not server)
assert (await selective_client_s333_5.receive(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await selective_client_s333_9.receive(tr.loop.time() +
_RX_TIMEOUT)) is None
assert (await promiscuous_client_s333.receive(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,
)
])
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,
)
])
media.inject_received([
Envelope(
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,
).compile(),
loopback=True,
)
])
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(
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(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(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!
# Small delay is needed to make the small-TID instance certainly time out on Windows, where clock resolution is low.
await asyncio.sleep(0.1)
assert await pub_m2222.send(
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(tr.loop.time() + 1.0)
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(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(
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(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(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()
await asyncio.sleep(
1
) # Let all pending tasks finalize properly to avoid stack traces in the output.
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
from pyuavcan.transport.can._identifier import MessageCANID
from pyuavcan.transport.can._frame import UAVCANFrame
from .media.mock import MockMedia, FrameCollector
asyncio.get_running_loop().slow_callback_duration = 5.0
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
#
# Instantiate session objects
#
meta = PayloadMetadata(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(2345), None), meta)
assert broadcaster is tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(2345), 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)
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}
#
# 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(
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()[1].frame == UAVCANFrame(
identifier=MessageCANID(Priority.IMMEDIATE, None,
2345).compile([_mem("abcdef")
]), # payload fragments joined
padded_payload=_mem("abcdef"),
transfer_id=11,
start_of_transfer=True,
end_of_transfer=True,
toggle_bit=True,
).compile())
assert collector.empty
# Can't send anonymous service transfers
with pytest.raises(OperationNotDefinedForAnonymousNodeError):
tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.RESPONSE),
123), meta)
with pytest.raises(OperationNotDefinedForAnonymousNodeError):
tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(333, ServiceDataSpecifier.Role.REQUEST),
123), meta)
# Can't send multiframe anonymous messages
with pytest.raises(OperationNotDefinedForAnonymousNodeError):
assert await broadcaster.send(
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_m2345_5 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 5), meta)
selective_m2345_9 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), 9), meta)
promiscuous_m2345 = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert await broadcaster.send(
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_m2345.receive(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_m2345_5.sample_statistics() == SessionStatistics(
) # Nothing
assert selective_m2345_9.sample_statistics() == SessionStatistics(
) # Nothing
assert promiscuous_m2345.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()
async def _unittest_can_capture_trace() -> None:
from pyuavcan.transport import MessageDataSpecifier, PayloadMetadata, Transfer, Priority, Timestamp
from pyuavcan.transport import InputSessionSpecifier, OutputSessionSpecifier, TransferTrace
from .media.mock import MockMedia
from pyuavcan.transport.can import CANCapture
from pyuavcan.transport.can.media import FilterConfiguration, FrameFormat
asyncio.get_running_loop().slow_callback_duration = 5.0
ts = Timestamp.now()
peers: typing.Set[MockMedia] = set()
media = MockMedia(peers, 64, 2)
media2 = MockMedia(peers, 64, 2)
tr = can.CANTransport(media, None)
tr2 = can.CANTransport(media2, 51)
captures: typing.List[CANCapture] = []
captures_other: typing.List[CANCapture] = []
def add_capture(cap: pyuavcan.transport.Capture) -> None:
assert isinstance(cap, CANCapture)
captures.append(cap)
def add_capture_other(cap: pyuavcan.transport.Capture) -> None:
assert isinstance(cap, CANCapture)
captures_other.append(cap)
tr.begin_capture(add_capture)
tr.begin_capture(add_capture_other)
assert media.acceptance_filters == [
FilterConfiguration.new_promiscuous(FrameFormat.BASE),
FilterConfiguration.new_promiscuous(FrameFormat.EXTENDED),
]
a_out = tr.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), PayloadMetadata(800))
b_out = tr2.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(5432), None), PayloadMetadata(800))
# Ensure the filter configuration is not reset when creating new subscriptions.
a_in = tr2.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), PayloadMetadata(800))
assert media.acceptance_filters == [
FilterConfiguration.new_promiscuous(FrameFormat.BASE),
FilterConfiguration.new_promiscuous(FrameFormat.EXTENDED),
]
# Send transfers to collect some captures.
assert await a_out.send(
Transfer(ts, Priority.NOMINAL, transfer_id=11, fragmented_payload=[memoryview(b"first")]),
monotonic_deadline=tr.loop.time() + 2.0,
)
await asyncio.sleep(1.0) # Let messages propagate.
assert await b_out.send(
Transfer(ts, Priority.NOMINAL, transfer_id=22, fragmented_payload=[memoryview(b"second")]),
monotonic_deadline=tr.loop.time() + 2.0,
)
transfer = await a_in.receive(tr.loop.time() + 2.0)
assert transfer
assert transfer.transfer_id == 11
await asyncio.sleep(1.0) # Let messages propagate.
# Validate the captures.
assert captures == captures_other
assert len(captures) == 2 # One sent, one received.
assert captures[0].own
assert b"first" in captures[0].frame.data
assert not captures[1].own
assert b"second" in captures[1].frame.data
# Check the loopback stats.
assert tr.sample_statistics().in_frames == 1
assert tr.sample_statistics().in_frames_loopback == 1
assert tr2.sample_statistics().in_frames == 1
assert tr2.sample_statistics().in_frames_loopback == 0
# Perform basic tracer test (the full test is implemented separately).
tracer = tr.make_tracer()
trc = tracer.update(captures[0])
assert isinstance(trc, TransferTrace)
assert b"first" in trc.transfer.fragmented_payload[0].tobytes()
trc = tracer.update(captures[1])
assert isinstance(trc, TransferTrace)
assert b"second" in trc.transfer.fragmented_payload[0].tobytes()
def _unittest_output_session() -> None:
from pytest import raises
from pyuavcan.transport import OutputSessionSpecifier, MessageDataSpecifier, ServiceDataSpecifier, Priority
from pyuavcan.transport import PayloadMetadata, SessionStatistics, Timestamp, Feedback, Transfer
ts = Timestamp.now()
loop = asyncio.get_event_loop()
run_until_complete = loop.run_until_complete
finalized = False
def do_finalize() -> None:
nonlocal finalized
finalized = True
def check_timestamp(t: pyuavcan.transport.Timestamp) -> bool:
now = pyuavcan.transport.Timestamp.now()
s = ts.system_ns <= t.system_ns <= now.system_ns
m = ts.monotonic_ns <= t.monotonic_ns <= now.system_ns
return s and m
destination_endpoint = '127.100.0.1', 25406
sock_rx = socket_.socket(socket_.AF_INET, socket_.SOCK_DGRAM)
sock_rx.bind(destination_endpoint)
sock_rx.settimeout(1.0)
def make_sock() -> socket_.socket:
sock = socket_.socket(socket_.AF_INET, socket_.SOCK_DGRAM)
sock.bind(('127.100.0.2', 0))
sock.connect(destination_endpoint)
sock.setblocking(False)
return sock
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(MessageDataSpecifier(3210), None),
payload_metadata=PayloadMetadata(1024),
mtu=11,
multiplier=1,
sock=make_sock(),
loop=asyncio.get_event_loop(),
finalizer=do_finalize,
)
assert sos.specifier == OutputSessionSpecifier(MessageDataSpecifier(3210),
None)
assert sos.destination_node_id is None
assert sos.payload_metadata == PayloadMetadata(1024)
assert sos.sample_statistics() == SessionStatistics()
assert run_until_complete(
sos.send_until(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b'one'),
memoryview(b'two'),
memoryview(b'three')
]),
loop.time() + 10.0))
rx_data, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == '127.100.0.2'
assert rx_data == (
b'\x00\x04\x00\x00\x00\x00\x00\x8040\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+ b'one'
b'two'
b'three')
with raises(socket_.timeout):
sock_rx.recvfrom(1000)
last_feedback: typing.Optional[Feedback] = None
def feedback_handler(feedback: Feedback) -> None:
nonlocal last_feedback
last_feedback = feedback
sos.enable_feedback(feedback_handler)
assert last_feedback is None
assert run_until_complete(
sos.send_until(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[]),
loop.time() + 10.0))
assert last_feedback is not None
assert last_feedback.original_transfer_timestamp == ts
assert check_timestamp(last_feedback.first_frame_transmission_timestamp)
sos.disable_feedback()
sos.disable_feedback() # Idempotency check
_, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == '127.100.0.2'
with raises(socket_.timeout):
sock_rx.recvfrom(1000)
assert sos.sample_statistics() == SessionStatistics(transfers=2,
frames=2,
payload_bytes=11,
errors=0,
drops=0)
assert sos.socket.fileno() >= 0
assert not finalized
sos.close()
assert finalized
assert sos.socket.fileno() < 0 # The socket is supposed to be disposed of.
finalized = False
# Multi-frame with multiplication
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
2222),
payload_metadata=PayloadMetadata(1024),
mtu=10,
multiplier=2,
sock=make_sock(),
loop=asyncio.get_event_loop(),
finalizer=do_finalize,
)
assert run_until_complete(
sos.send_until(
Transfer(timestamp=ts,
priority=Priority.OPTIONAL,
transfer_id=54321,
fragmented_payload=[
memoryview(b'one'),
memoryview(b'two'),
memoryview(b'three')
]),
loop.time() + 10.0))
data_main_a, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == '127.100.0.2'
data_main_b, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == '127.100.0.2'
data_redundant_a, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == '127.100.0.2'
data_redundant_b, endpoint = sock_rx.recvfrom(1000)
assert endpoint[0] == '127.100.0.2'
with raises(socket_.timeout):
sock_rx.recvfrom(1000)
print('data_main_a', data_main_a)
print('data_main_b', data_main_b)
print('data_redundant_a', data_redundant_a)
print('data_redundant_b', data_redundant_b)
assert data_main_a == data_redundant_a
assert data_main_b == data_redundant_b
assert data_main_a == (
b'\x00\x07\x00\x00\x00\x00\x00\x001\xd4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+ b'one'
b'two'
b'three'[:-1])
assert data_main_b == (
b'\x00\x07\x00\x00\x01\x00\x00\x801\xd4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
+ b'e' + pyuavcan.transport.commons.crc.CRC32C.new(
b'one', b'two', b'three').value_as_bytes)
sos = UDPOutputSession(
specifier=OutputSessionSpecifier(
ServiceDataSpecifier(321, ServiceDataSpecifier.Role.REQUEST),
2222),
payload_metadata=PayloadMetadata(1024),
mtu=10,
multiplier=1,
sock=make_sock(),
loop=asyncio.get_event_loop(),
finalizer=do_finalize,
)
# Induced timeout
assert not run_until_complete(
sos.send_until(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b'one'),
memoryview(b'two'),
memoryview(b'three')
]),
loop.time() - 0.1 # Expired on arrival
))
assert sos.sample_statistics() == SessionStatistics(
transfers=0,
frames=0,
payload_bytes=0,
errors=0,
drops=2 # Because multiframe
)
# Induced failure
sos.socket.close()
with raises(OSError):
assert not run_until_complete(
sos.send_until(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b'one'),
memoryview(b'two'),
memoryview(b'three')
]),
loop.time() + 10.0))
assert sos.sample_statistics() == SessionStatistics(transfers=0,
frames=0,
payload_bytes=0,
errors=1,
drops=2)
assert not finalized
sos.close()
assert finalized
sos.close() # Idempotency
with raises(pyuavcan.transport.ResourceClosedError):
run_until_complete(
sos.send_until(
Transfer(timestamp=ts,
priority=Priority.NOMINAL,
transfer_id=12340,
fragmented_payload=[
memoryview(b'one'),
memoryview(b'two'),
memoryview(b'three')
]),
loop.time() + 10.0))
sock_rx.close()
