class TestFormationClock:
def setup_method(self, method):
# Create FormationClock instance
if method.__name__ == "test_referenceClock":
self.clock = FormationClock(time.time())
else:
self.clock = FormationClock()
def test_standardClock(self):
"""Test non-referenced clock functionality."""
startTime = time.time()
clockTime = self.clock.getTime()
endTime = time.time()
assert (clockTime >= startTime and clockTime <= endTime
) # Check that returned time is correct
def test_referenceClock(self):
"""Test referenced clock functionality."""
assert (self.clock.getTime() <= time.time() - self.clock.referenceTime)
def test_getOffset(self):
"""Test time offset functionality."""
offset = self.clock.getOffset()
assert (offset == None or (isinstance(offset, Real) and offset > 0))
class TestFormationClock:
def setup_method(self, method):
# Create FormationClock instance
if method.__name__ == "test_referenceClock":
self.clock = FormationClock(time.time())
else:
self.clock = FormationClock()
def test_nonreferenceClock(self):
"""Test non-referenced clock functionality."""
startTime = time.time()
clockTime = self.clock.getTime()
endTime = time.time()
assert (clockTime >= startTime and clockTime <= endTime
) # Check that returned time is correct
def test_referenceClock(self):
"""Test referenced clock functionality."""
assert (self.clock.getTime() <= time.time() - self.clock.referenceTime)
def test_getOffset(self):
"""Test time offset functionality."""
# Test zero offset returned when no time source
self.clock.timeSource = None
offset = self.clock.getOffset()
assert (abs(offset) < 0.00001)
class NodeParams():
def __init__(self, configFile=[], config=[]):
if configFile:
self.config = NodeConfig(configFile)
elif config:
self.config = config
self.setupParams()
def setupParams(self):
self.cmdCounterMax = 255 # DEPRECATED - TODO - DELETE
self.cmdCounterThreshold = 10 # DEPRECATED - TODO - DELETE
self.commStartTime = []
#self.cmdRelayBuffer = []
self.cmdHistory = deque(
maxlen=50) # FIFO list of last commands received
# Node status
self.nodeStatus = [
NodeState(node + 1) for node in range(self.config.maxNumNodes)
]
# Formation clock
self.clock = FormationClock()
# TDMA Failsafe status
self.tdmaStatus = TDMAStatus.nominal
self.frameStartTime = [] # DEPRECATED - REMOVE
self.tdmaFailsafe = False
self.timeOffsetTimer = None
if (self.config.commConfig['fpga'] == True):
# Setup FPGA failsafe status pin
self.fpgaFailsafePin = self.config.commConfig['fpgaFailsafePin']
GPIO.setup(self.fpgaFailsafePin, "in")
else:
self.fpgaFailsafePin = []
# Comm link status
self.linkStatus = [[
LinkStatus.NoLink for i in range(self.config.maxNumNodes)
] for j in range(self.config.maxNumNodes)]
def get_cmdCounter(self):
#if self.commStartTime: # time-based counter
# return int((self.clock.getTime() - self.commStartTime)*1000)
#else: # random counter
return random.randint(1, 65536)
def checkTimeOffset(self, offset=None):
if (self.config.commType == "TDMA"): # TDMA time offset failsafe
if self.config.commConfig[
'fpga'] and self.fpgaFailsafePin: # TDMA time controlled by FPGA
if (GPIO.input(self.fpgaFailsafePin) == 0): # failsafe not set
self.timeOffsetTimer = None # reset timer
else: # failsafe condition set
if self.timeOffsetTimer:
if self.clock.getTime(
) - self.timeOffsetTimer > self.config.commConfig[
'offsetTimeout']: # No time offset reading for longer than allowed
self.tdmaFailsafe = True # Set TDMA failsafe flag
return 3
else: # start timer
self.timeOffsetTimer = self.clock.getTime()
else:
if offset == None: # offset not provided so attempt to get offset from clock
offset = self.clock.getOffset()
if offset != None: # time offset available
self.timeOffsetTimer = None # reset time offset timer
self.nodeStatus[self.config.nodeId - 1].timeOffset = offset
if abs(self.nodeStatus[self.config.nodeId - 1].timeOffset
) > self.config.commConfig['operateSyncBound']:
return 1
else: # no offset available
self.nodeStatus[self.config.nodeId -
1].timeOffset = 127 # Error value
# Check time offset timer
if self.timeOffsetTimer:
#print(self.clock.getTime() - self.timeOffsetTimer)
if self.clock.getTime(
) - self.timeOffsetTimer > self.config.commConfig[
'offsetTimeout']: # No time offset reading for longer than allowed
self.tdmaFailsafe = True # Set TDMA failsafe flag
return 2
else: # start timer
self.timeOffsetTimer = self.clock.getTime()