def test_multiple_bytes(self):
bits = transport.bits_from_bytes(bytearray("\x00\xFF"))
self.assertEqual(bits, "0000000011111111")
bits = transport.bits_from_bytes(bytearray("\xFF\x00"))
self.assertEqual(bits, "1111111100000000")
bits = transport.bits_from_bytes(bytearray("\x00\x00\xAA\x55\xFF\xFF"))
self.assertEqual(
bits, "000000000000000010101010010101011111111111111111")
def test_multiple_bytes(self):
bits = transport.bits_from_bytes(bytearray(b"\x00\xFF"))
self.assertEqual(bits, "0000000011111111")
bits = transport.bits_from_bytes(bytearray(b"\xFF\x00"))
self.assertEqual(bits, "1111111100000000")
bits = transport.bits_from_bytes(bytearray(b"\x00\x00\xAA\x55\xFF\xFF"))
self.assertEqual(
bits, "000000000000000010101010010101011111111111111111")
def test_single_byte(self):
bits = transport.bits_from_bytes(bytearray("\x00"))
self.assertEqual(bits, "00000000")
bits = transport.bits_from_bytes(bytearray("\xA5"))
self.assertEqual(bits, "10100101")
bits = transport.bits_from_bytes(bytearray("\xFF"))
self.assertEqual(bits, "11111111")
bits = transport.bits_from_bytes(bytearray("\x0F"))
self.assertEqual(bits, "00001111")
bits = transport.bits_from_bytes(bytearray("\xF0"))
self.assertEqual(bits, "11110000")
def test_single_byte(self):
bits = transport.bits_from_bytes(bytearray(b"\x00"))
self.assertEqual(bits, "00000000")
bits = transport.bits_from_bytes(bytearray(b"\xA5"))
self.assertEqual(bits, "10100101")
bits = transport.bits_from_bytes(bytearray(b"\xFF"))
self.assertEqual(bits, "11111111")
bits = transport.bits_from_bytes(bytearray(b"\x0F"))
self.assertEqual(bits, "00001111")
bits = transport.bits_from_bytes(bytearray(b"\xF0"))
self.assertEqual(bits, "11110000")
def _recv_frame(self, dev, message):
frame_id, frame_data, ext_id = message
if not ext_id:
return
frame = transport.Frame(frame_id, frame_data)
# logging.debug("Node._recv_frame(): got {0!s}".format(frame))
transfer_frames = self.transfer_manager.receive_frame(frame)
if not transfer_frames:
return
dtid = transfer_frames[0].data_type_id
if transfer_frames[0].transfer_priority == \
transport.TransferPriority.SERVICE:
kind = dsdl.parser.CompoundType.KIND_SERVICE
else:
kind = dsdl.parser.CompoundType.KIND_MESSAGE
datatype = uavcan.DATATYPES.get((dtid, kind))
if not datatype:
logging.debug(("Node._recv_frame(): unrecognised data type " +
"ID {0:d} for kind {1:d}").format(dtid, kind))
return
transfer = transport.Transfer()
transfer.from_frames(transfer_frames, datatype_crc=datatype.base_crc)
if transfer.is_message():
payload = datatype() # Broadcast or unicast
elif transfer.is_request():
payload = datatype(mode="request")
else: # transfer.is_response()
payload = datatype(mode="response")
payload.unpack(transport.bits_from_bytes(transfer.payload))
logging.info("Node._recv_frame(): received {0!r}".format(payload))
# If it's a node info request, keep track of the status of each node
if payload.type == uavcan.protocol.NodeStatus:
self.node_info[transfer.source_node_id] = {
"uptime": payload.uptime_sec,
"status": payload.status_code,
"timestamp": time.time()
}
if transfer.is_response() and transfer.dest_node_id == self.node_id:
# This is a reply to a request we sent. Look up the original
# request and call the appropriate callback
requests = self.outstanding_requests.keys()
for key in requests:
if transfer.is_response_to(self.outstanding_requests[key]):
# Call the request's callback and remove it from the
# active list
if key in self.outstanding_request_callbacks:
self.outstanding_request_callbacks[key]((payload, transfer))
del self.outstanding_request_callbacks[key]
del self.outstanding_requests[key]
del self.outstanding_request_timestamps[key]
break
elif transfer.is_broadcast() or transfer.dest_node_id == self.node_id:
# This is a request, a unicast or a broadcast; look up the
# appropriate handler by data type ID
for handler in self.handlers:
if handler[0] == datatype:
kwargs = handler[2] if len(handler) == 3 else {}
h = handler[1](payload, transfer, self, **kwargs)
h._execute()
def test_empty(self):
bits = transport.bits_from_bytes(bytearray(""))
self.assertEqual(bits, "")
def test_empty(self):
bits = transport.bits_from_bytes(bytearray(b""))
self.assertEqual(bits, "")
def _recv_frame(self, dev, message):
frame_id, frame_data, ext_id = message
if not ext_id:
return
frame = transport.Frame(frame_id, frame_data)
# logging.debug("Node._recv_frame(): got {0!s}".format(frame))
transfer_frames = self.transfer_manager.receive_frame(frame)
if not transfer_frames:
return
dtid = transfer_frames[0].data_type_id
if transfer_frames[0].transfer_priority == \
transport.TransferPriority.SERVICE:
kind = dsdl.parser.CompoundType.KIND_SERVICE
else:
kind = dsdl.parser.CompoundType.KIND_MESSAGE
datatype = uavcan.DATATYPES.get((dtid, kind))
if not datatype:
logging.debug(("Node._recv_frame(): unrecognised data type " +
"ID {0:d} for kind {1:d}").format(dtid, kind))
return
transfer = transport.Transfer()
transfer.from_frames(transfer_frames, datatype_crc=datatype.base_crc)
if transfer.is_message():
payload = datatype() # Broadcast or unicast
elif transfer.is_request():
payload = datatype(mode="request")
else: # transfer.is_response()
payload = datatype(mode="response")
payload.unpack(transport.bits_from_bytes(transfer.payload))
# If it's a node info request, keep track of the status of each node
if payload.type == uavcan.protocol.NodeStatus:
self.node_info[transfer.source_node_id] = {
"uptime": payload.uptime_sec,
"status": payload.status_code,
"timestamp": time.time()
}
logging.debug(
"Node._recv_frame(): got node info {0!r}".format(
self.node_info[transfer.source_node_id]))
if transfer.is_response() and transfer.dest_node_id == self.node_id:
# This is a reply to a request we sent. Look up the original
# request and call the appropriate callback
requests = self.outstanding_requests.keys()
for key in requests:
if transfer.is_response_to(self.outstanding_requests[key]):
# Call the request's callback and remove it from the
# active list
if key in self.outstanding_request_callbacks:
self.outstanding_request_callbacks[key]((payload, transfer))
del self.outstanding_request_callbacks[key]
del self.outstanding_requests[key]
del self.outstanding_request_timestamps[key]
break
elif transfer.is_broadcast() or transfer.dest_node_id == self.node_id:
# This is a request, a unicast or a broadcast; look up the
# appropriate handler by data type ID
for handler in self.handlers:
if handler[0] == datatype:
kwargs = handler[2] if len(handler) == 3 else {}
h = handler[1](payload, transfer, self, **kwargs)
h._execute()
