def test_http_test_pass():
assert is_enabled()
msg = MsgPrintDep(text='abcd')
register_uri(GET,
BASE_STATION_URI,
msg.to_binary(),
content_type="application/vnd.swiftnav.broker.v1+sbp2")
register_uri(PUT,
BASE_STATION_URI,
'',
content_type="application/vnd.swiftnav.broker.v1+sbp2")
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
assert not driver.read_ok
assert driver.connect_read()
assert driver.read_ok
assert driver.read(size=255) == msg.to_binary()
with pytest.raises(IOError):
assert driver.read(size=255)
assert not driver.read_close()
assert driver.read_response is None
assert not driver.read_ok
with pytest.raises(ValueError):
driver.read(size=255)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as http:
with Handler(Framer(http.read, http.write, False)) as link:
def tester(sbp_msg, **metadata):
assert sbp_msg.payload == msg.payload
link.add_callback(SBP_MSG_PRINT_DEP, tester)
t0 = time.time()
sleep = 0.1
while True:
if time.time() - t0 < sleep:
break
def __init__(self,
link,
device_uid=None,
base=DEFAULT_BASE,
whitelist=None):
"""
Traits tab with UI for UDP broadcast of SBP.
Parameters
----------
link : sbp.client.handler.Handler
Link for SBP transfer to/from Piksi.
device_uid : str
Piksi Device UUID (defaults to None)
base : str
HTTP endpoint
whitelist : [int] | None
Piksi Device UUID (defaults to None)
"""
self.link = link
self.http = HTTPDriver(None, base)
self.net_link = None
self.fwd = None
self.func = None
# Whitelist used for UDP broadcast view
self.msgs = OBS_MSGS
# register a callback when the msg_enum trait changes
self.on_trait_change(self.update_msgs, 'msg_enum')
# Whitelist used for Skylark broadcasting
self.whitelist = whitelist
self.device_uid = None
self.python_console_cmds = {'update': self}
def test_http_test_pass_streaming():
assert is_enabled()
msgs = [
MsgPrintDep(text='foo'),
MsgPrintDep(text='bar'),
MsgPrintDep(text='baz')
]
register_uri(GET,
BASE_STATION_URI,
mock_streaming_msgs([m.to_binary() for m in msgs]),
content_type="application/vnd.swiftnav.broker.v1+sbp2",
streaming=True)
register_uri(PUT,
BASE_STATION_URI,
body='',
content_type="application/vnd.swiftnav.broker.v1+sbp2",
streaming=True)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
assert driver.connect_read()
assert driver.read_ok
assert driver.read(size=255) == ''.join([m.to_binary() for m in msgs])
assert driver.read(size=255) == ''
assert not driver.read_close()
assert driver.read_response is None
assert not driver.read_ok
with pytest.raises(ValueError):
driver.read(size=255)
def test_http_test_pass_retry():
assert is_enabled()
msg = MsgPrintDep(text='abcd')
get_responses = [
Response(body="first response",
status=500,
content_type="application/vnd.swiftnav.broker.v1+sbp2"),
Response(body='second and last response',
status=200,
content_type="application/vnd.swiftnav.broker.v1+sbp2")
]
post_responses = [
Response(body="",
status=500,
content_type="application/vnd.swiftnav.broker.v1+sbp2"),
Response(body='',
status=200,
content_type="application/vnd.swiftnav.broker.v1+sbp2")
]
register_uri(GET, BASE_STATION_URI, get_responses)
register_uri(PUT, BASE_STATION_URI, post_responses)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
with pytest.raises(ValueError):
driver.read(size=255)
assert driver.connect_read()
assert driver.read(size=255)
def main(args):
"""
Get configuration, get driver, get logger, and build handler and start it.
"""
timeout = args.timeout
log_filename = args.logfilename
log_dirname = args.log_dirname
if not log_filename:
log_filename = logfilename()
if log_dirname:
log_filename = os.path.join(log_dirname, log_filename)
# State for handling a networked base stations.
channel = args.channel_id
serial_id = int(args.serial_id) if args.serial_id is not None else None
base = args.base
use_broker = args.broker
# Driver with context
driver = get_base_args_driver(args)
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with get_logger(args.log, log_filename, args.expand_json) as logger:
link.add_callback(printer, SBP_MSG_PRINT_DEP)
link.add_callback(log_printer, SBP_MSG_LOG)
Forwarder(link, logger).start()
if use_broker and base and serial_id:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http:
with Handler(Framer(http.read, http.write,
args.verbose)) as slink:
Forwarder(slink, swriter(link)).start()
run(args, link)
else:
run(args, link)
def main(args):
"""
Get configuration, get driver, get logger, and build handler and start it.
"""
port = args.port
baud = args.baud
timeout = args.timeout
log_filename = args.log_filename
append_log_filename = args.append_log_filename
tags = args.tags
# State for handling a networked base stations.
channel = args.channel_id
serial_id = int(args.serial_id) if args.serial_id is not None else None
base = args.base
use_broker = args.broker
# Driver with context
with get_driver(args.ftdi, port, baud, args.file) as driver:
# Handler with context
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with get_logger(args.log, log_filename) as logger:
with get_append_logger(append_log_filename, tags) as append_logger:
link.add_callback(printer, SBP_MSG_PRINT_DEP)
link.add_callback(log_printer, SBP_MSG_LOG)
Forwarder(link, logger).start()
Forwarder(link, append_logger).start()
if use_broker and base and serial_id:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http:
with Handler(Framer(http.read, http.write, args.verbose)) as slink:
Forwarder(slink, swriter(link)).start()
run(args, link)
else:
run(args, link)
def test_http_test_pass():
assert is_enabled()
msg = MsgPrintDep(text='abcd')
register_uri(GET,
BASE_STATION_URI,
msg.to_binary(),
content_type="application/vnd.swiftnav.broker.v1+sbp")
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
assert driver.read(size=255) == msg.to_binary()
def test_http_test_fail():
assert is_enabled()
msg = MsgPrintDep(text='abcd')
register_uri(GET,
BASE_STATION_URI,
msg.to_binary(),
content_type="application/vnd.swiftnav.broker.v1+sbp",
status=400)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
with pytest.raises(RuntimeError) as exc_info:
driver.read(size=255)
assert exc_info.value.message.startswith("Request failed! With code 400:")
def main(args):
"""
Get configuration, get driver, get logger, and build handler and start it.
"""
port = args.port
baud = args.baud
timeout = args.timeout
log_filename = args.logfilename
log_dirname = args.log_dirname
if not log_filename:
log_filename = logfilename()
if log_dirname:
log_filename = os.path.join(log_dirname, log_filename)
append_log_filename = args.append_log_filename
tags = args.tags
# State for handling a networked base stations.
channel = args.channel_id
serial_id = int(args.serial_id) if args.serial_id is not None else None
base = args.base
use_broker = args.broker
# Driver with context
if args.tcp:
try:
host, port = port.split(':')
driver = TCPDriver(host, int(port))
except: # noqa
raise Exception('Invalid host and/or port')
else:
driver = get_driver(args.ftdi,
port,
baud,
args.file,
rtscts=args.rtscts)
# Handler with context
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with get_logger(args.log, log_filename, args.expand_json) as logger:
with get_append_logger(append_log_filename, tags) as append_logger:
link.add_callback(printer, SBP_MSG_PRINT_DEP)
link.add_callback(log_printer, SBP_MSG_LOG)
Forwarder(link, logger).start()
Forwarder(link, append_logger).start()
if use_broker and base and serial_id:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http:
with Handler(
Framer(http.read, http.write,
args.verbose)) as slink:
Forwarder(slink, swriter(link)).start()
run(args, link)
else:
run(args, link)
def test_http_test_pass_streaming():
assert is_enabled()
msgs = [
MsgPrintDep(text='foo'),
MsgPrintDep(text='bar'),
MsgPrintDep(text='baz')
]
register_uri(GET,
BASE_STATION_URI,
mock_streaming_msgs([m.to_binary() for m in msgs]),
content_type="application/vnd.swiftnav.broker.v1+sbp",
streaming=True)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
assert driver.read(size=255) == ''.join([m.to_binary() for m in msgs])
def test_http_test_fail():
assert is_enabled()
msg = MsgPrintDep(text='abcd')
register_uri(GET,
BASE_STATION_URI,
msg.to_binary(),
content_type="application/vnd.swiftnav.broker.v1+sbp2",
status=400)
register_uri(PUT,
BASE_STATION_URI,
'',
content_type="application/vnd.swiftnav.broker.v1+sbp2",
status=400)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
assert not driver.connect_read()
assert not driver.read_ok
with pytest.raises(IOError):
driver.read(size=255)
traceback.print_exc()
# Make sure that SIGINT (i.e. Ctrl-C from command line) actually stops the
# application event loop (otherwise Qt swallows KeyboardInterrupt exceptions)
signal.signal(signal.SIGINT, signal.SIG_DFL)
# Passing only a base station argument, we just want to display the
# base station data in the console. Otherwise, continue, assuming a
# rover connected to the serial port.
if port is None and base is None:
sys.stderr.write("ERROR: No data source specified!")
sys.exit(1)
if port is None and base and use_broker:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http_driver:
with sbpc.Handler(sbpc.Framer(http_driver.read, None,
args.verbose)) as link:
if os.path.isdir(log_filename):
log_filename = os.path.join(log_filename, s.LOG_FILENAME)
with s.get_logger(args.log, log_filename) as logger:
link.add_callback(logger)
log_filter = DEFAULT_LOG_LEVEL_FILTER
if args.initloglevel[0]:
log_filter = args.initloglevel[0]
SwiftConsole(link, args.update, log_filter,
True).configure_traits()
try:
os._exit(0)
except:
pass
def connect(self, link, read_config):
"""Retry read connections. Intended to be called when thread started
Only shared resource here is the self.link
Parameters
----------
link : SbpHandler
read_config : SkylarkConsoleConnectConfig object
Returns
----------
ret : int
0 if exited normally by thread stopping
-1 if unable to connect as base station
-2 if unable to connect as rover
-3 if we lost our net connection to skylark (we restart in this case unless stopped)
"""
assert isinstance(read_config, SkylarkConsoleConnectConfig)
self._connect_time = time.time()
if self.verbose:
print(("SkylarkWatchdogThread connection attempted at time {0} with parameters {1}".format(
self.get_connect_time(), read_config)))
i = 0
repeats = 5
http = HTTPDriver(device_uid=read_config.base_uuid, url=read_config.skylark_url)
if not http.connect_write(link, read_config.whitelist, pragma=read_config.base_pragma):
msg = ("\nUnable to connect to Skylark!\n\n" +
"Please check that you have a network connection.")
self._prompt_networking_error(msg)
http.close()
self.stop()
return -1 # unable to connect as base
time.sleep(1)
# If we get here, we were able to connect as a base
print("Attempting to read observation from Skylark...")
while (not self.stopped() and http
and not http.connect_read(device_uid=read_config.rover_uuid, pragma=read_config.rover_pragma)):
time.sleep(0.1)
i += 1
if i >= repeats:
msg = ("\nUnable to receive observations from Skylark!\n\n"
"Please check that:\n"
" - you have a network connection\n"
" - your Piksi has a single-point position\n"
" - a Skylark-connected Piksi receiver \n is nearby (within 5km)")
self._prompt_networking_error(msg)
http.close()
self.stop()
return -2 # Unable to connect as rover
# If we get here, we were able to connect as rover
print("Connected as a rover!")
with Handler(Framer(http.read, http.write)) as net_link:
fwd = Forwarder(net_link, swriter(link))
if self.verbose:
print("Starting forwarder")
fwd.start()
# now we sleep until we stop the thread or our http handler dies
while not self.stopped() and net_link.is_alive():
time.sleep(0.1)
# when we leave this loop, we are no longer connected to skylark so the fwd should be stopped
if self.verbose:
print("Stopping forwarder")
fwd.stop()
if self.verbose:
print("Stopping HTTPDriver")
http.close()
# now manage the return code
if self.stopped():
return 0 # If we stop from the event, it it intended and we return 0
else:
return -3 # Lost connection
