def test_badimports(self):
"""test a bad import, ie one that does not exist"""
try:
mod = getpymavlinkpackage('bad', 1.0)
except ValueError as e:
assert str(e) == 'Incorrect mavlink dialect'
assert 'mod' not in locals()
try:
mod = getpymavlinkpackage('common', 1.5)
except ValueError as e:
assert str(e) == 'Incorrect mavlink version (must be 1.0 or 2.0)'
assert 'mod' not in locals()
def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(self,
srcSystem=4,
srcComponent=0,
use_native=False)
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4, 0, self.dialect,
self.version)
self.VehA.onPacketTxAttach(self.vehSendFunc)
self.txPackets = {}
self.txVehPackets = {}
self.manager = moduleManager.moduleManager(self.loop, self.dialect,
self.version, False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("PaGS.modules.internalPrinterModule")
def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(self,
srcSystem=4,
srcComponent=0,
use_native=False)
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4, 0, self.dialect,
self.version)
self.VehA.onPacketTxAttach(self.vehSendFunc)
self.VehA.hasInitial = True
# The PaGS settings dir (just in source dir)
self.settingsdir = os.path.join(os.getcwd(), ".PaGS")
if not os.path.exists(self.settingsdir):
os.makedirs(self.settingsdir)
self.manager = moduleManager.moduleManager(self.loop, self.settingsdir,
False)
self.manager.onVehListAttach(self.getVehListCallback)
self.manager.onVehGetAttach(self.getVehicleCallback)
self.manager.onPktTxAttach(self.txcallback)
self.manager.addModule("internalPrinterModule")
def __init__(self, dialect: str, mavversion: float, name: str,
srcsystem: int, srccomp: int, rxcallback,
clcallback=None) -> None:
self.sourceSystem = srcsystem
self.sourceComponent = srccomp
self.mod = getpymavlinkpackage(dialect, mavversion)
self.packetsRx = collections.deque()
self.packetsTx = collections.deque()
self.mav = self.mod.MAVLink(self, self.sourceSystem,
self.sourceComponent, use_native=False)
self.mav.robust_parsing = True
# BW measures for RX, per sysid
# bytes and time(sec) in measurement period
self.bytesmeasure = (0, time.time())
self.bytespersecond = 0
self.callback = rxcallback
self.closecallback = clcallback
# Loss % per sysid
# BW measures for TX, per sysid
self.name = name
def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
# The PaGS settings dir (just in source dir)
self.settingsdir = os.path.join(os.getcwd(), ".PaGS")
if not os.path.exists(self.settingsdir):
os.makedirs(self.settingsdir)
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(
self, srcSystem=4, srcComponent=0, use_native=False)
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4,
0, self.dialect, self.version)
self.VehA.hasInitial = True
self.VehB = Vehicle(self.loop, "VehB", 255, 0, 5,
0, self.dialect, self.version)
self.VehB.hasInitial = True
self.VehC = Vehicle(self.loop, "VehC", 255, 0, 10,
0, self.dialect, self.version)
self.VehC.hasInitial = False
self.txPackets = {}
def test_modemappings(self):
"""Test the mode_toString() method"""
mavlink = getpymavlinkpackage('ardupilotmega', 2.0)
# PX4
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_PX4, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_PX4, 0, 5, 0, 2)
assert mode_toString(pktIn, mavlink) == "AUTO_RTL"
# APM:Copter
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "STABILIZE"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 5, 0, 2)
assert mode_toString(pktIn, mavlink) == "LOITER"
# APM:Rover
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_GROUND_ROVER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_GROUND_ROVER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 10, 0, 2)
assert mode_toString(pktIn, mavlink) == "AUTO"
# APM:Sub
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_SUBMARINE, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "STABILIZE"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_SUBMARINE, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 4, 0, 2)
assert mode_toString(pktIn, mavlink) == "GUIDED"
# APM:Plane
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_FIXED_WING, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_FIXED_WING, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 20, 0, 2)
assert mode_toString(pktIn, mavlink) == "QLAND"
# APM:Antenna Tracker
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_ANTENNA_TRACKER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0, 2)
assert mode_toString(pktIn, mavlink) == "MANUAL"
pktIn = mavlink.MAVLink_heartbeat_message(
mavlink.MAV_TYPE_ANTENNA_TRACKER, mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 2, 0, 2)
assert mode_toString(pktIn, mavlink) == "SCAN"
def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(self,
srcSystem=4,
srcComponent=0,
use_native=False)
self.callbacks = {}
def setUp(self):
"""Set up some data that is reused in many tests"""
self.manager = None
self.dialect = 'ardupilotmega'
self.version = 2.0
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mavUAS = self.mod.MAVLink(
self, srcSystem=4, srcComponent=0, use_native=False)
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4,
0, self.dialect, self.version)
self.txPackets = {}
def setUp(self):
"""Set up some data that is reused in many tests"""
self.dialect = 'ardupilotmega'
self.version = 2.0
self.ip = '127.0.0.1'
self.port = 15000
self.cname = 'udpclient:127.0.0.1:15000'
self.sname = 'udpserver:127.0.0.1:15000'
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mav = self.mod.MAVLink(self,
srcSystem=0,
srcComponent=0,
use_native=False)
self.cnum = 0
self.snum = 0
def setUp(self):
"""Set up some data that is reused in many tests"""
self.dialect = 'ardupilotmega'
self.version = 2.0
self.ip = '127.0.0.1'
self.port = 15001
self.baud = 115200
self.cname = 'tcpclient:127.0.0.1:15001'
self.sname = None
# the serial <-> tcp server process. Will vary depending on OS
# Based on
# https://github.com/Apollon77/SupportingFiles/blob/master/README_SERIAL_TESTING.md
self.serialServer = None
if platform.system() == "Windows":
self.serialServer = subprocess.Popen(
[
r'.\\tests\\\support\\com2tcp.exe',
'--ignore-dsr',
'--baud',
'115200',
'--parity',
'e',
'\\\\.\\CNCA0',
'127.0.0.1',
'15001'],
stdout=subprocess.PIPE)
self.sname = 'serial:\\\\.\\CNCB0:115200'
self.sPort = '\\\\.\\CNCB0'
elif platform.system() == "Linux":
self.serialServer = subprocess.Popen(
[
'socat',
'-D',
'-x',
'-s',
'pty,link=/tmp/virtualcom0,ispeed=115200,ospeed=115200,raw,waitslave',
'tcp:127.0.0.1:15001'],
stdout=subprocess.PIPE)
self.sname = 'serial:/tmp/virtualcom0:115200'
self.sPort = '/tmp/virtualcom0'
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mav = self.mod.MAVLink(
self, srcSystem=0, srcComponent=0, use_native=False)
self.cnum = 0
self.snum = 0
def setUp(self):
"""Set up some data that is reused in many tests"""
self.dialect = 'ardupilotmega'
self.version = 2.0
self.port = 15000
self.ip = "127.0.0.1"
self.cname = 'tcpclient:127.0.0.1:15000'
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mav = self.mod.MAVLink(
self, srcSystem=4, srcComponent=0, use_native=False)
self.connmtrx = None
self.allvehicles = None
self.allModules = None
self.cnum = 0
def setUp(self):
"""Set up some data that is reused in many tests"""
self.dialect = 'ardupilotmega'
self.mavversion = 2.0
self.source_system = 255
self.source_component = 0
self.target_system = 1
self.target_component = 0
# This is the "vehicle" to respond to messages
self.mod = getpymavlinkpackage(self.dialect, self.mavversion)
self.mavVehicle = self.mod.MAVLink(self, srcSystem=self.target_system,
srcComponent=self.target_component,
use_native=False)
self.mavVehicle.robust_parsing = True
self.veh = None
self.txpackets = []
self.onNewPackets = []
def setUp(self):
"""Set up some data that is reused in many tests"""
self.dialect = 'ardupilotmega'
self.version = 2.0
self.ip = "127.0.0.1"
# The links
self.linkA = 'tcpclient:127.0.0.1:15001'
self.linkB = 'tcpserver:127.0.0.1:15020'
self.linkC = 'udpclient:127.0.0.1:15002'
self.linkD = 'udpserver:127.0.0.1:15021'
# The vehicles. Note the vehicles A and C have the same sysid
# Source s/c then target s/c
self.VehA = Vehicle(self.loop, "VehA", 255, 0, 4,
0, self.dialect, self.version)
self.VehB = Vehicle(self.loop, "VehB", 254, 0, 3,
0, self.dialect, self.version)
self.VehC = Vehicle(self.loop, "VehC", 255, 0, 4,
0, self.dialect, self.version)
# Dict of data rx'd by each link
self.rxdata = {}
# Dict of data rx'd by each vehicle
self.vehpkts = {}
self.mod = getpymavlinkpackage(self.dialect, self.version)
# From the vehicle
self.mavUAS = self.mod.MAVLink(
self, srcSystem=4, srcComponent=0, use_native=False)
self.mavoneUAS = self.mod.MAVLink(
self, srcSystem=3, srcComponent=0, use_native=False)
self.mavGCS = self.mod.MAVLink(
self, srcSystem=255, srcComponent=0, use_native=False)
self.mavoneGCS = self.mod.MAVLink(
self, srcSystem=254, srcComponent=0, use_native=False)
def test_goodimports(self):
"""Test importing known good modules"""
for dialect in self.dialects:
for version in self.versions:
mod = getpymavlinkpackage(dialect, version)
assert mod is not None
def __init__(self, loop, name: str, source_system: int,
source_component: int, target_system: int,
target_component: int, dialect: str, mavversion: float):
self.loop = loop
# The latest of each packet type
self.latestPacketDict = dict()
# The vehicle
self.source_system = source_system
self.source_component = source_component
self.target_system = target_system
self.target_component = target_component
self.dialect = dialect
self.mavversion = mavversion
# working folder for this vehicle
self.folderdir = ""
# Vehicle name
self.name = name
# Mavlink encoder for sending messages
self.mod = getpymavlinkpackage(self.dialect, self.mavversion)
self.mav = self.mod.MAVLink(self,
srcSystem=source_system,
srcComponent=source_component,
use_native=False)
self.mav.robust_parsing = True
# Tx callback to connectionManager
self.txcallback = None
# parameters dict. Note all keys are byte arrays
self.params = dict()
self.params_type = dict()
# Status of getting params: [n, total, [got_ids]]
self.paramstatus = None
# Waypoints, fence, rally points arrays
self.waypoints = []
self.fence = []
self.rally = []
# Vehicle strings
self.fcName = "" # MAV_AUTOPILOT_ string
self.fcVersion = ""
self.OSVersion = ""
self.vehType = None # MAV_TYPE_ string
# Vehicle state
self.isArmed = None # True if armed, False if disarmed, None if unknown
self.flightMode = None # None is unknown, string MAV_MODE_ otherwise
self.isConnected = False # True if getting hb packets
# Heartbeats (tx and rx)
self.hbTimeout = 1 # Seconds with no hb packet = no connection
self.TimeoutTask = asyncio.ensure_future(self.waitrxtimeout())
self.timeoflasthb = 0 # time of last rx'd hb
self.hbInterval = 1 # Seconds between hb sending
self.hbTxTask = asyncio.ensure_future(self.sendHeartbeat())
def __init__(self, loop, txClbk, vehListClk, vehObjClk, cmdProcessClk,
cmdPrint, dialect, mavversion, isGUI):
self.tabs = [] # all the vehicles, one in each tab
self.loop = loop
# Event actions
self.txCallback = txClbk
self.vehListCallback = vehListClk
self.vehObjCallback = vehObjClk
self.commandProcessor = cmdProcessClk
self.printer = cmdPrint
# Mavlink
self.dialect = dialect
self.mavversion = mavversion
self.mod = getpymavlinkpackage(self.dialect, self.mavversion)
# commands
self.shortName = "terminal"
self.commandDict = {'watch': self.watch}
# Tell prompt_toolkit to use asyncio.
terminal_use_async()
self.tabbar = []
self.style_extensions = {
# Tabs
'tabbar': 'noinherit',
'tabbar.tab': '',
'tabbar.tab.active': 'bold noinherit reverse',
}
self.current_style = Style.from_dict(self.style_extensions)
# make the screen
self.hscreen = []
self.hscreen.append(
Window(height=1,
content=FormattedTextControl(self.tabbar,
style='class:tabbar'),
align=WindowAlign.LEFT))
self.hscreen.append(Window(height=1, char='-', style='class:line'))
self.hscreen.append(Window(content=None))
self.hscreen.append(Window(height=1, char='-', style='class:line'))
self.hscreen.append(Window(height=1, content=None))
self.root_container = HSplit(self.hscreen)
self.layout = Layout(self.root_container)
self.application = Application(layout=self.layout,
key_bindings=KB,
full_screen=True,
style=self.current_style)
# event linkages
self.application.nextTab = self.nextTab
# initial layout
self.tabbar.append(('class:tabbar.tab', ' {0} '.format("tmp")))
self.tabbar.append(('class:tabbar', ' '))
self.hscreen[0].content = FormattedTextControl(self.tabbar,
style='class:tabbar')
self.hscreen[2].content = BufferControl(focusable=False)
self.hscreen[4].content = BufferControl(focusable=True)
self.runUI()
