def test_rover_create_and_setup(tmpdir):
directory = str(tmpdir.realpath())
pilot = QueueReceiver()
teleop = QueueReceiver()
ipc_chatter = QueueReceiver()
ipc_server = CollectServer()
app = RoverApplication(config_dir=directory)
app.image_publisher = CollectPublisher()
app.state_publisher = CollectPublisher()
app.ipc_server = ipc_server
app.pilot = lambda: pilot.get_latest()
app.teleop = lambda: teleop.get_latest()
app.ipc_chatter = lambda: ipc_chatter.pop_latest()
try:
# The application writes a new user configuration file if none exists at the configuration location.
assert len(glob.glob(os.path.join(directory, 'config.ini'))) == 0
app.setup()
assert len(glob.glob(os.path.join(directory, 'config.ini'))) == 1
# The settings must result in a workable instance.
assert len(ipc_server.collect()) == 1
assert not bool(ipc_server.get_latest())
assert app.get_hz() > 0
#
# Change the configuration and request a restart.
# Write a new config file.
previous_process_frequency = app.get_hz()
new_process_frequency = previous_process_frequency + 10
_parser = SafeConfigParser()
_parser.add_section('vehicle')
_parser.set('vehicle', 'clock.hz', str(new_process_frequency))
with open(os.path.join(directory, 'test_config.ini'), 'wb') as f:
_parser.write(f)
#
# Issue the restart request.
ipc_chatter.add(dict(command='restart'))
app.step()
assert len(ipc_server.collect()) == 2
assert not bool(ipc_server.get_latest())
assert app.get_hz() == new_process_frequency
finally:
app.finish()
def test_command_history_reset():
relay = MyRelay()
publisher = CollectPublisher(topic='test/status')
platform = MyPlatform()
# With hz=1 the command history threshold is 180.
application = MainApplication(relay=relay, hz=1)
application.platform = platform
application.publisher = publisher
application.setup()
# Send the first commands to do valid communication.
command = dict(steering=0.1, throttle=0.2, reverse=0)
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=command)
), application.step()), list(range(10))))
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=dict(wakeup=1)))
application.step()
assert not relay.is_open()
publisher.clear()
# Send zero commands until just below the threshold.
zero = dict(steering=0, throttle=0, reverse=0)
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=zero)),
application.step()), list(range(180))))
assert not relay.is_open()
publisher.clear()
# And then a good command and some zero commands again.
# The relay should remain open.
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=command))
application.step()
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=zero)),
application.step()), list(range(10))))
assert not relay.is_open()
publisher.clear()
application.finish()
def test_relay_wakeup_reset():
relay = MyRelay()
publisher = CollectPublisher(topic='test/status')
platform = MyPlatform()
# With hz=1 the command history threshold is 180.
application = MainApplication(relay=relay, hz=1)
application.platform = platform
application.publisher = publisher
application.setup()
# Send the first commands to do valid communication.
command = dict(steering=0.1, throttle=0.2, reverse=0)
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=command)
), application.step()), list(range(10))))
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=dict(wakeup=1)))
application.step()
assert not relay.is_open()
publisher.clear()
# Send the zero commands and wakeup.
zero = dict(steering=0, throttle=0, reverse=0)
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=zero)),
application.step()), list(range(180))))
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=dict(wakeup=1)))
application.step()
assert not relay.is_open()
publisher.clear()
# After wakeup the counters need to have been reset in order not to revert immediately.
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=zero)),
application.step()), list(range(10))))
assert not relay.is_open()
publisher.clear()
application.finish()
def test_create_and_setup(tmpdir):
directory = str(tmpdir.realpath())
ipc_server = CollectServer()
pilot = QueueReceiver()
teleop = QueueReceiver()
ipc_chatter = QueueReceiver()
runner = TFRunner(navigator=FakeNavigator())
app = InferenceApplication(runner=runner,
config_dir=directory,
internal_models=directory)
app.publisher = CollectPublisher()
app.camera = QueueCamera()
app.ipc_server = ipc_server
app.teleop = lambda: teleop.get_latest()
app.pilot = lambda: pilot.get_latest()
app.ipc_chatter = lambda: ipc_chatter.pop_latest()
try:
# The default settings must result in a workable instance.
app.setup()
assert len(ipc_server.collect()) == 1
assert not bool(ipc_server.get_latest())
assert app.get_process_frequency() != 0
#
# Change the configuration and request a restart.
# Write a new config file.
previous_process_frequency = app.get_process_frequency()
new_process_frequency = previous_process_frequency + 10
_parser = SafeConfigParser()
_parser.add_section('inference')
_parser.set('inference', 'clock.hz', str(new_process_frequency))
with open(os.path.join(directory, 'test_config.ini'), 'w') as f:
_parser.write(f)
#
# Issue the restart request.
ipc_chatter.add(dict(command='restart'))
app.step()
assert len(ipc_server.collect()) == 2
assert not bool(ipc_server.get_latest())
assert app.get_process_frequency() == new_process_frequency
finally:
app.finish()
def test_relay_cycle():
relay = MyRelay()
publisher = CollectPublisher(topic='test/status')
platform = MyPlatform()
application = MainApplication(relay=relay)
application.platform = platform
application.publisher = publisher
application.setup()
# Without reliable communication the relay is open.
application.step()
assert relay.is_open()
publisher.clear()
# A non-zero command.
command = dict(steering=0.1, throttle=0.2, reverse=0)
# Send the first commands to do valid communication.
# The integrity protocol does not assume valid by default.
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=command)
), application.step()), list(range(10))))
assert relay.is_open()
publisher.clear()
# Send wakeup to close the relay after startup.
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=dict(wakeup=1)))
application.step()
assert not relay.is_open()
publisher.clear()
# Simulate communication violations.
list(
map(
lambda i: (platform.send(
dict(time=timestamp() + i * 1e6,
method='ras/servo/drive',
data=command)), application.step()), list(range(10))))
assert relay.is_open()
publisher.clear()
# And resume.
list(
map(
lambda _: (platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=command)
), application.step()), list(range(10))))
assert not relay.is_open()
publisher.clear()
# Pretend missing commands but valid communication.
_null_command = dict(steering=0, throttle=0, reverse=0)
list(
map(
lambda _: (platform.send(
dict(time=timestamp(),
method='ras/servo/drive',
data=_null_command)), application.step()),
list(range(5000))))
assert relay.is_open()
publisher.clear()
# The communication requirements must still be met to let the other side know we are operational.
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=_null_command))
application.step()
assert len(publisher.collect()) > 0
publisher.clear()
# Wakeup again.
platform.send(
dict(time=timestamp(), method='ras/servo/drive', data=dict(wakeup=1)))
application.step()
assert not relay.is_open()
application.finish()
assert relay.is_open()
def test_create_and_setup(tmpdir):
directory = str(tmpdir.realpath())
publisher = CollectPublisher()
ipc_server = CollectServer()
teleop = QueueReceiver()
ros = QueueReceiver()
vehicle = QueueReceiver()
ipc_chatter = QueueReceiver()
route_store = ReloadableDataSource(
FileSystemRouteDataSource(directory=directory, load_instructions=True))
app = PilotApplication(CommandProcessor(route_store), config_dir=directory)
app.publisher = publisher
app.ipc_server = ipc_server
app.teleop = lambda: teleop.get_latest()
app.ros = lambda: ros.get_latest()
app.vehicle = lambda: vehicle.get_latest()
app.inference = lambda: None
app.ipc_chatter = lambda: ipc_chatter.get_latest()
try:
# The default settings must result in a workable instance.
app.setup()
assert len(ipc_server.collect()) == 1
assert not bool(ipc_server.get_latest())
#
# Switch to direct driver mode.
teleop.add(dict(time=timestamp(), navigator=dict(), button_b=1))
app.step()
teleop.add(dict(time=timestamp(), navigator=dict()))
vehicle.add(dict(time=timestamp()))
app.step()
status = publisher.get_latest()
assert status.get('driver') == 'driver_mode.teleop.direct'
map(lambda x: x.clear(), [teleop, vehicle, publisher])
#
# Change the configuration and request a restart.
# Write a new config file.
previous_process_frequency = app.get_process_frequency()
new_process_frequency = previous_process_frequency + 10
_parser = SafeConfigParser()
_parser.add_section('pilot')
_parser.set('pilot', 'clock.hz', str(new_process_frequency))
with open(os.path.join(directory, 'test_config.ini'), 'wb') as f:
_parser.write(f)
#
# Issue the restart request.
ipc_chatter.add(dict(command='restart'))
app.step()
assert len(ipc_server.collect()) == 2
assert not bool(ipc_server.get_latest())
assert app.get_process_frequency() == new_process_frequency
# The driver should still be in direct mode.
teleop.add(dict(time=timestamp(), navigator=dict()))
vehicle.add(dict(time=timestamp()))
app.step()
status = publisher.get_latest()
assert status.get('driver') == 'driver_mode.teleop.direct'
map(lambda x: x.clear(), [teleop, vehicle, publisher])
finally:
app.finish()