def readpackettime(self, client, basetime):
ret_msg = None
# print("Going for timing")
while ret_msg is None and util.gettimestamp() < (basetime + 60000):
ret_msg = client.readpacket()
endtime = util.gettimestamp()
delaytime = int((endtime / 10 - basetime / 10))
#print("Response time is " + str(delaytime) + "ms")
self.assertTrue(delaytime < 600, "Response time is too long")
return ret_msg
def test_timestamp(self):
tmstmp = util.gettimestamp()
# assert that it makes sense
self.assertTrue(tmstmp > 0, "timestamp less than 0")
# check accuracy - 1ms accuracy required
# do many times and check accuracy is less than 2.0ms
for i in range(0, 100):
tsOne = util.gettimestamp()
time.sleep(0.001)
tsTwo = util.gettimestamp()
self.assertTrue((tsTwo - tsOne) < 20, "Time accuracy wrong")
def pinginterfaces(self):
"""Run a server ping on all ifaces. Also functions as a status/heartbeat
checker. Returns initial list of all clients, then the ping responses"""
retping = []
alldevices = []
if self.pingbasetime.value == 0:
self.pingbasetime.value = util.gettimestamp()
else:
print("Ping already in process")
# wait 500ms for ping returns
for i in range(0, 500):
time.sleep(0.001)
if not self.ping_q.empty():
resp = self.ping_q.get()
if len(resp.split(',')) == 2:
alldevices.append(resp)
else:
retping.append(resp)
#figure out if any devices did not respond and put them as -1 in the ping list
for ret in alldevices:
i_d, iface = ret.split(',')
found = False
for pret in retping:
if i_d + ',' + iface in pret:
found = True
#not found
if found == False:
retping.append(i_d + ',' + iface + ',-1')
# print("End ping")
self.pingbasetime.value = 0
self.pinginprogress.value = 0
return retping
def test_twoclientssinglepacket(self):
# encode
network_id = os.urandom(32)
device_idUAS = random.randint(1, 31)
device_idGCS = random.randint(32, 63)
msgUAS = self.makePacketrnd(network_id, device_idUAS)
msgGCS = self.makePacketrnd(network_id, device_idGCS)
# send initial packets
self.clientUAS.writepacket(
self.makePacketrnd(network_id, -device_idUAS, b"CL_BEGIN"))
self.clientGCS.writepacket(
self.makePacketrnd(network_id, -device_idGCS, b"CL_BEGIN"))
# send data packets
basetime = util.gettimestamp()
self.clientUAS.writepacket(msgUAS)
self.clientGCS.writepacket(msgGCS)
time.sleep(0.001)
# rx packets, with performance counters
retmsgGCS = self.readpackettime(self.clientGCS, basetime)
retmsgUAS = self.readpackettime(self.clientUAS, basetime)
# send end packets
self.clientUAS.writepacket(
self.makePacketrnd(network_id, -device_idUAS, b"CL_END"))
self.clientGCS.writepacket(
self.makePacketrnd(network_id, -device_idGCS, b"CL_END"))
time.sleep(0.001)
# and assert
self.assertEqual(msgUAS, retmsgGCS, "Message UAS -> GCS incorrect")
self.assertEqual(msgGCS, retmsgUAS, "Message GCS -> UAS incorrect")
def test_serverping(self):
# encode
network_id = os.urandom(32)
device_idUAS = random.randint(1, 31)
# send initial packets
self.clientUAS.writepacket(
self.makePacketrnd(network_id, -device_idUAS, b'CL_BEGIN'))
# send ping packet
pingpkt = self.makePacketrnd(network_id, -device_idUAS, b'CL_SVRPING')
starttime = util.gettimestamp()
self.clientUAS.writepacket(pingpkt)
time.sleep(0.001)
retping = self.readpackettime(self.clientUAS, starttime)
# send end packets
self.clientUAS.writepacket(
self.makePacketrnd(network_id, -device_idUAS, b'CL_END'))
time.sleep(0.001)
self.assertEqual(retping, pingpkt, "MessageP GCS -> GCS incorr")
def run(self):
serversocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
serversocket.setblocking(False)
serversocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
#serversocket.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 10)
#serversocket.setsockopt(socket.SOL_SOCKET, socket.SO_SNDBUF, 10)
serversocket.bind(self.localaddport)
udpclients = []
udpclientdevid = []
lastrxseq = -1
seq_no = 0
# print("Started")
while self.endloop.value == 0:
# sync with any changes to the client interfaces
(udpclients,
udpclientdevid) = self.sync_ifaces(udpclients, udpclientdevid,
seq_no)
# send out a server ping if required (and return list of all current clients)
if self.pingbasetime.value != 0 and self.pinginprogress.value == 0:
seq_no = self.sendallClients(udpclients, udpclientdevid, -1,
seq_no, b'CL_SVRPING')
self.pinginprogress.value = 1
# print("Sending ping " + str(seq_no))
for i in range(0, len(udpclients)):
self.ping_q.put(
str(udpclientdevid[i]) + "," +
str(udpclients[i].getiface()))
ready = select.select([serversocket], [], [], 0.0001)
# if there is data from the local client, send it to the remote
# only read up to the max payload size though
if ready[0]:
data, address = serversocket.recvfrom(
self.pkt.maxPayloadSize())
# send to the all the clients...
# print("Sending data")
seq_no = self.sendallClients(udpclients, udpclientdevid, 1,
seq_no, data)
# poll the clients for any new data
for i in range(0, len(udpclients)):
# if client has data, compare to latest timestamp
datarx = udpclients[i].readpacket()
if datarx:
dec_msg = self.pkt.recoverpacket(datarx)
# check if it's a returned ping packet
if dec_msg.Payload == b'CL_SVRPING' and dec_msg.DeviceID < 0 and self.pinginprogress.value == 1:
deltatime = int(
(util.gettimestamp() - self.pingbasetime.value) /
10)
self.ping_q.put(
str(udpclientdevid[i]) + "," +
str(udpclients[i].getiface()) + "," +
str(deltatime))
# print("Got packet from serverhub["+ str(i) +"][" +
# str(dec_msg.DeviceID) + "] " +
# str(dec_msg.Timestamp) + ", " + str(lastrxtime))
# if this data is newer, send to local client and
# update the timestamp
# need to ensure it's a new packet and we have a
# connected local client
if dec_msg.Sequence > lastrxseq and (
'address' in locals() or 'address' in globals()):
# print("rx packet")
lastrxseq = dec_msg.Sequence
serversocket.sendto(dec_msg.Payload, address)
# close the socket on end
if serversocket is not None:
# send ending packets
seq_no = self.sendallClients(udpclients, udpclientdevid, -1,
seq_no, b'CL_END')
# close the sockets - just remove the first item n times
# (array reindexes each time)
for i in range(0, len(udpclients)):
udpclients[0].close()
time.sleep(0.001)
udpclients.remove(udpclients[0])
udpclientdevid.remove(udpclientdevid[0])
serversocket.close()