def setUp(self):
self._messages = test_util.SynthesizeMessages(['ServoStatus'], 0)
# Convert data from ctypes object to Python dicts.
data = self._messages.Data(convert_to_basic_types=False)
# Create a new StructTree referencing the data so that we can change
self._servo_statuses = data['ServoStatus']
self._tetherdown_servo_statuses = (
data['filtered'].merge_tether_down.tether_down.servo_statuses)
def _RunLayouts(self):
num_messages = 10
messages = test_util.SynthesizeMessages()
for layout_name in self._layout_names:
layout = loader.LayoutLoader().GetLayoutByModuleName(layout_name)
layout.Initialize()
for _ in range(num_messages):
json.dumps(layout.Filter(messages).Json())
assert not layout.ErrorReport()
def setUp(self):
self._messages = test_util.SynthesizeMessages(
['NovAtelObservations', 'SeptentrioObservations'], 0)
# Convert data from ctypes object to Python dicts.
data = self._messages.Data(convert_to_basic_types=False)
self._novatel_obs = data['NovAtelObservations']['FcB']
self._septentrio_obs = data['SeptentrioObservations']['FcA']
# Values to qualify a good condition.
for i in range(32):
self._novatel_obs.range.cn0[i] = 51
self._novatel_obs.range.status_bits[i] = 0
self._septentrio_obs.meas_epoch.cn0[i] = 121
self._septentrio_obs.meas_epoch.type[i] = 0
self._novatel_obs.range.num_obs = 5
self._septentrio_obs.meas_epoch.num_obs = 5
self._novatel_cn0_indicator = gps.NovAtelObsCn0Indicator('FcB')
self._septentrio_cn0_indicator = gps.SeptentrioObsCn0Indicator('FcA')
def testTetherReleaseReadinessIndicator(self):
"""Test entering the 'continue' and 'any_warning_or_error' branch."""
loadcells = ['LoadcellPortA', 'LoadcellPortB']
indicator = control.TetherReleaseReadinessIndicator(loadcells)
# Create a message snapshot that fail silently to gracefully handle
# missing messages.
messages = test_util.SynthesizeMessages(
['ControlTelemetry', 'ControlSlowTelemetry', 'Loadcell'],
0,
fail_silently=True)
# Set up the port message so that it contains an empty StructTree in one
# port and an error in the other port.
read_message = messages.Data(convert_to_basic_types=False)
error_code = pack_avionics_messages.kLoadcellErrorBatteryDisconnected
del read_message['Loadcell']['LoadcellPortA']
read_message['Loadcell']['LoadcellPortB'].status.warning = 0
read_message['Loadcell']['LoadcellPortB'].status.error = error_code
read_message['ControlSlowTelemetry']['ControllerA'].flight_plan = (
system_params.kFlightPlanTurnKey)
# Call Filter, check that stoplight value is error,
# and check the string values detect a Low Battery Error in PortB.
result = indicator.Filter(messages)
result_string, result_stoplight = result
result_lines = result_string.split('\n')
self.assertEqual(stoplights.STOPLIGHT_ERROR, result_stoplight)
self.assertEqual('PortB:', result_lines[0])
self.assertEqual('[ERROR]', result_lines[1])
self.assertEqual('BatteryDisconnected', result_lines[2])
# Change flight plan to a low altitude plan.
read_message['ControlSlowTelemetry']['ControllerA'].flight_plan = (
system_params.kFlightPlanLaunchPerch)
result_string, result_stoplight = indicator.Filter(messages)
self.assertEqual(result_string, 'No Key')
self.assertEqual(result_stoplight, stoplights.STOPLIGHT_NORMAL)
# Disable BatterDisconnected error (key is plugged in).
read_message['Loadcell']['LoadcellPortB'].status.error = 0
result_string, result_stoplight = indicator.Filter(messages)
self.assertEqual(result_string, 'Keyed: PortB')
self.assertEqual(result_stoplight, stoplights.STOPLIGHT_ERROR)
def _SynthesizeMessages(self,
full_source,
init_state,
tether_valid,
flight_mode,
no_update_count=0):
messages = test_util.SynthesizeMessages(['ControlTelemetry'])
data = messages.Data(convert_to_basic_types=False)
filtered_data = aio_helper.GetFilteredData()
data['filtered'] = filtered_data
data['ControlTelemetry']['ControllerA'].init_state = init_state
data['ControlTelemetry']['ControllerA'].flight_mode = flight_mode
merge_tether_down = filtered_data.merge_tether_down
merge_tether_down.tether_down.control_telemetry.flight_mode = flight_mode
merge_tether_down.tether_down.control_telemetry.no_update_count = (
no_update_count)
merge_tether_down.valid = tether_valid
merge_tether_down.timestamp_sec = 1234567
return data
def setUp(self):
self.array = np.array([(0.0, 20), (1.0, 40), (2.0, 80), (3.0, 160)],
dtype=[('x', '<f8'), ('y', '<i8')])
self._data = {
'numbers': [
{
1: ['apple', 'antenna', 'alps']
},
{
2: ['banana', 'bus', 'bound']
},
{
3: ['car', 'cat', 'circuit']
},
{
4: ['dance', 'deer', 'direction']
},
],
'strings': {
'a': ['apple', 'antenna', 'alps'],
'b': ['banana', 'bus', 'bound'],
'c': ['car', 'cat', 'circuit'],
'd': ['dance', 'deer', 'direction'],
},
'deep': {
'x': {
'y': {
'z': 0
}
}
},
'numpy':
self.array
}
self._struct_tree = struct_tree.StructTree(self._data)
self._ndarray = np.array([[0, 1, 2], [3, 4, 5], [6, 7, 8]])
self._numpy_tree = struct_tree.StructTree({'array': self._ndarray})
self._ctype_tree = test_util.SynthesizeMessages('MotorStatus', 0)
self.assertIn('strings.a', self._struct_tree)
self.assertNotIn('strings.z', self._struct_tree)
self.assertNotIn('shallow.a', self._struct_tree)
def testCtypes(self):
messages = test_util.SynthesizeMessages(['ControlTelemetry'], 0)
# Run and make sure there are no faults.
autogen.GenerateScenario(messages.Data(convert_to_basic_types=True),
'Test')
def _SynthesizeControlTelemetry(self, sequence=0):
return test_util.SynthesizeMessages(
['ControlTelemetry', 'ControlSlowTelemetry'], sequence)
def _SynthesizePlcTelemetry(self, sequence=0):
messages = test_util.SynthesizeMessages(['GroundStationPlcStatus'],
sequence)
plc = messages.Subtree('GroundStationPlcStatus.PlcTophat').Data()
return plc, messages