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_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()