async def test_link_serial(self):
"""Test passing data over a serial connections"""
# server = SerialConnection
server = SerialConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0, name=self.sname)
client = TCPConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0, server=True, name=self.cname)
await asyncio.sleep(0.10)
await serial_asyncio.create_serial_connection(self.loop, lambda: server, self.sPort, self.baud)
await self.loop.create_server(lambda: client, self.ip, self.port)
# wait for 1.00 sec
await asyncio.sleep(1.0)
# send a mavlink packet each way:
pkt = self.mod.MAVLink_heartbeat_message(
5, 4, 0, 0, 0, int(self.version))
client.send_data(pkt.pack(self.mav, force_mavlink1=False))
server.send_data(pkt.pack(self.mav, force_mavlink1=False))
# wait for 0.30 sec
await asyncio.sleep(0.30)
client.close()
server.close()
# Assert the packets were sent
assert self.cnum == 1
assert self.snum == 1
async def test_link_tcp_client(self):
"""Test passing data when there's only a client present"""
client = TCPConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect,
mavversion=self.version,
srcsystem=0,
srccomp=0,
server=False,
name=self.cname)
try:
await self.loop.create_connection(lambda: client, self.ip,
self.port)
except ConnectionRefusedError:
pass # This is the exception we want
# send a mavlink packet:
pkt = self.mod.MAVLink_heartbeat_message(5, 4, 0, 0, 0,
int(self.version))
client.send_data(pkt.pack(self.mav, force_mavlink1=False))
# wait for 0.10 sec
await asyncio.sleep(0.10)
client.close()
# Assert the packets were not sent
assert self.cnum == 0
async def test_linkretry_tcp(self):
"""For each of the TCP link types, test that they
keep re-trying to connect, by only adding in the
other side of the link 0.5 sec after startup"""
matrix = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0, 0.05)
matrix.onPacketAttach(self.newpacketcallbackVeh)
await matrix.addVehicleLink(self.VehA.name, self.VehA.target_system, self.linkA)
await matrix.addVehicleLink(self.VehB.name, self.VehB.target_system, self.linkB)
# now wait for a bit
await asyncio.sleep(0.10)
# now connect the other sides
tcpserver = TCPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=True, name='tcpserver:127.0.0.1:15001')
tcpclient = TCPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=False, name='tcpclient:127.0.0.1:15020')
await self.loop.create_server(lambda: tcpserver, self.ip, 15001)
await self.loop.create_connection(lambda: tcpclient, self.ip, 15020)
# send packets on each link and wait
await asyncio.sleep(0.20)
pkt = self.mod.MAVLink_heartbeat_message(
5, 4, 0, 0, 0, int(self.version))
pktbytes = pkt.pack(self.mavUAS, force_mavlink1=False)
pktbytesone = pkt.pack(self.mavoneUAS, force_mavlink1=False)
tcpserver.send_data(pktbytes)
tcpclient.send_data(pktbytesone)
await asyncio.sleep(0.20)
await matrix.stoploop()
tcpserver.close()
tcpclient.close()
# assert the links are all still there
assert len(matrix.getAllVeh()) == 2
assert len(matrix.linkdict) == 2
# assert packets were recived on both links (vehicles) in the matrix
assert self.vehpkts[self.VehA.name][0].get_msgbuf() == pktbytes
assert self.vehpkts[self.VehB.name][0].get_msgbuf() == pktbytesone
async def test_link_baddata(self):
"""Test passing corrupted data between two tcplink connections"""
client = TCPConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect,
mavversion=self.version,
srcsystem=0,
srccomp=0,
server=False,
name=self.cname)
server = TCPConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect,
mavversion=self.version,
srcsystem=0,
srccomp=0,
server=True,
name=self.sname)
await self.loop.create_server(lambda: server, self.ip, self.port)
await self.loop.create_connection(lambda: client, self.ip, self.port)
# wait for 0.10 sec
await asyncio.sleep(0.10)
# send a mavlink packet each way:
pkt = self.mod.MAVLink_heartbeat_message(5, 4, 0, 0, 0,
int(self.version))
packeddata = pkt.pack(self.mav, force_mavlink1=False)
corruptdata = b'q837ot4c'
client.send_data(packeddata + corruptdata)
server.send_data(corruptdata + packeddata)
# wait for 0.10 sec
await asyncio.sleep(0.10)
client.close()
server.close()
# Assert only the correct packets were sent
assert self.cnum == 1
assert self.snum == 1
class IntegratedTest(asynctest.TestCase):
"""
Class to test the integrated link-vehicle-module connections
"""
def setUp(self):
"""Set up some data that is reused in many tests"""
self.dialect = 'ardupilotmega'
self.version = 2.0
self.port = 15000
self.ip = "127.0.0.1"
self.cname = 'tcpclient:127.0.0.1:15000'
self.mod = getpymavlinkpackage(self.dialect, self.version)
self.mav = self.mod.MAVLink(
self, srcSystem=4, srcComponent=0, use_native=False)
self.connmtrx = None
self.allvehicles = None
self.allModules = None
self.cnum = 0
def newpacketcallback(self, pkt, strconnection):
"""Callback when a link has a new packet"""
if pkt.get_type != 'BAD_DATA':
if strconnection == self.cname:
self.cnum += 1
async def tearDown(self):
"""Called at the end of each test"""
if self.allvehicles:
for veh in self.allvehicles.get_vehiclelist():
await self.allvehicles.remove_vehicle(veh)
if self.connmtrx:
await self.connmtrx.stoploop()
# for task in asyncio.Task.all_tasks():
# task.cancel()
async def doEventLinkages(self):
"""Create the event linkages. Assumes
that connmtrx, allvehicles, allModules
have been initialised
"""
# event links from connmaxtrix -> vehicle manager
self.connmtrx.onPacketAttach(self.allvehicles.onPacketRecieved)
# event links from vehicle manager -> connmatrix
self.allvehicles.onPacketBufTxAttach(self.connmtrx.outgoingPacket)
await self.allvehicles.onLinkAddAttach(self.connmtrx.addVehicleLink)
await self.allvehicles.onLinkRemoveAttach(self.connmtrx.removeLink)
# event links from module manager -> vehicle manager
self.allModules.onPktTxAttach(self.allvehicles.send_message)
self.allModules.onVehListAttach(self.allvehicles.get_vehiclelist)
self.allModules.onVehGetAttach(self.allvehicles.get_vehicle)
# event links vehicle manager -> module manager
self.allvehicles.onAddVehicleAttach(self.allModules.addVehicle)
self.allvehicles.onRemoveVehicleAttach(self.allModules.removeVehicle)
self.allvehicles.onPacketRxAttach(self.allModules.incomingPacket)
async def test_startup(self):
""" Test that we can cleanly startup and shutdown
"""
# Start the connection maxtrix
self.connmtrx = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0)
# Dict of vehicles
self.allvehicles = VehicleManager(self.loop)
# Module manager
self.allModules = moduleManager(
self.loop, self.dialect, self.version, False)
# and link them all together
await self.doEventLinkages()
async def test_singleConnection(self):
""" Test that we can get a packet with a single
vehicle with single connection
"""
# Start the connection maxtrix
self.connmtrx = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0)
# Dict of vehicles
self.allvehicles = VehicleManager(self.loop)
# Module manager
self.allModules = moduleManager(
self.loop, self.dialect, self.version, False)
# and link them all together
await self.doEventLinkages()
# add a link
await self.allvehicles.add_vehicle("VehA", 255, 0, 4, 0,
self.dialect, self.version, 'tcpserver:127.0.0.1:15000')
# Start a remote connection (TCP)
self.remoteClient = TCPConnection(rxcallback=self.newpacketcallback,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=False, name=self.cname)
await asyncio.sleep(0.3)
await self.loop.create_connection(lambda: self.remoteClient, self.ip, self.port)
# wait for 0.02 sec
await asyncio.sleep(0.02)
# send a heartbeat packet
pkt = self.mod.MAVLink_heartbeat_message(
5, 4, 0, 0, 0, int(self.version))
self.remoteClient.send_data(pkt.pack(self.mav, force_mavlink1=False))
await asyncio.sleep(0.02)
self.remoteClient.close()
# assert the vehicle recieved the packet
assert len(self.allvehicles.get_vehicle("VehA").latestPacketDict) == 1
assert self.allvehicles.get_vehicle("VehA").latestPacketDict[0] == pkt
async def test_outgoingdistribution(self):
"""Test outgoing packets (from gcs) are distributed
correctly"""
# -VehA: LinkA,LinkB, VehB: LinkB, VehC: LinkC
await self.VehA.setHearbeatRate(0)
await self.VehB.setHearbeatRate(0)
await self.VehC.setHearbeatRate(0)
matrix = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0, 0.05)
matrix.onPacketAttach(self.newpacketcallbackVeh)
self.VehA.onPacketTxAttach(matrix.outgoingPacket)
self.VehB.onPacketTxAttach(matrix.outgoingPacket)
self.VehC.onPacketTxAttach(matrix.outgoingPacket)
await matrix.addVehicleLink(self.VehA.name, self.VehA.target_system, self.linkA)
await matrix.addVehicleLink(self.VehA.name, self.VehA.target_system, self.linkB)
await matrix.addVehicleLink(self.VehB.name, self.VehB.target_system, self.linkB)
await matrix.addVehicleLink(self.VehC.name, self.VehC.target_system, self.linkC)
# now wait for a bit
await asyncio.sleep(0.15)
# now connect the other sides
tcpserver = TCPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=True, name='tcpserver:127.0.0.1:15001')
tcpclient = TCPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=False, name='tcpclient:127.0.0.1:15020')
udpserver = UDPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=True, name='udpserver:127.0.0.1:15002')
await self.loop.create_server(lambda: tcpserver, self.ip, 15001)
await self.loop.create_connection(lambda: tcpclient, self.ip, 15020)
await self.loop.create_datagram_endpoint(lambda: udpserver,
local_addr=(self.ip, 15002))
# send packets on each link and wait
await asyncio.sleep(0.15)
# send packet from the GCS of VehA, VehB and VehC
pktbytesA = self.VehA.sendPacket(self.mod.MAVLINK_MSG_ID_HEARTBEAT,
type=self.mod.MAV_TYPE_GCS,
autopilot=self.mod.MAV_AUTOPILOT_INVALID,
base_mode=0,
custom_mode=0,
system_status=0,
mavlink_version=int(self.VehA.mavversion))
await asyncio.sleep(0.10)
pktbytesB = self.VehB.sendPacket(self.mod.MAVLINK_MSG_ID_HEARTBEAT,
type=self.mod.MAV_TYPE_GCS,
autopilot=self.mod.MAV_AUTOPILOT_INVALID,
base_mode=0,
custom_mode=0,
system_status=0,
mavlink_version=int(self.VehB.mavversion))
await asyncio.sleep(0.10)
pktbytesC = self.VehC.sendPacket(self.mod.MAVLINK_MSG_ID_HEARTBEAT,
type=self.mod.MAV_TYPE_GCS,
autopilot=self.mod.MAV_AUTOPILOT_INVALID,
base_mode=0,
custom_mode=0,
system_status=0,
mavlink_version=int(self.VehC.mavversion))
# wait for packets to send
await asyncio.sleep(0.15)
# and close everything
await matrix.stoploop()
tcpserver.close()
tcpclient.close()
udpserver.close()
# assert the links are all still there
assert len(matrix.getAllVeh()) == 3
assert len(matrix.linkdict) == 3
# assert packets were recived on the endpoints
assert self.rxdata['tcpserver:127.0.0.1:15001'][0].get_msgbuf(
) == pktbytesA
assert self.rxdata['tcpclient:127.0.0.1:15020'][0].get_msgbuf(
) == pktbytesC
assert self.rxdata['tcpclient:127.0.0.1:15020'][1].get_msgbuf(
) == pktbytesB
assert self.rxdata['udpserver:127.0.0.1:15002'][0].get_msgbuf(
) == pktbytesC
async def test_incomingdistribution(self):
"""Test incoming packets (from vehicle) are distributed
correctly"""
# -VehA: LinkA,LinkB, VehB: LinkB, VehC: LinkC
matrix = ConnectionManager(
self.loop, self.dialect, self.version, 0, 0, 0.05)
matrix.onPacketAttach(self.newpacketcallbackVeh)
await matrix.addVehicleLink(self.VehA.name, self.VehA.target_system, self.linkA)
await matrix.addVehicleLink(self.VehA.name, self.VehA.target_system, self.linkB)
await matrix.addVehicleLink(self.VehB.name, self.VehB.target_system, self.linkB)
await matrix.addVehicleLink(self.VehC.name, self.VehC.target_system, self.linkD)
# now wait for a bit
await asyncio.sleep(0.10)
# now connect the other sides
tcpserver = TCPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=True, name='tcpserver:127.0.0.1:15001')
tcpclient = TCPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=False, name='tcpclient:127.0.0.1:15020')
udpclient = UDPConnection(rxcallback=self.newpacketcallbackLnk,
dialect=self.dialect, mavversion=self.version,
srcsystem=0, srccomp=0,
server=False, name='udpclient:127.0.0.1:15021')
await self.loop.create_server(lambda: tcpserver, self.ip, 15001)
await self.loop.create_connection(lambda: tcpclient, self.ip, 15020)
await self.loop.create_datagram_endpoint(lambda: udpclient,
remote_addr=(self.ip, 15021))
# send packets on each link and wait
await asyncio.sleep(0.10)
pkt = self.mod.MAVLink_heartbeat_message(
5, 4, 0, 0, 0, int(self.version))
pktbytes = pkt.pack(self.mavUAS, force_mavlink1=False)
pktbytesone = pkt.pack(self.mavoneUAS, force_mavlink1=False)
# send packet to VehA on LinkA
tcpserver.send_data(pktbytes)
await asyncio.sleep(0.10)
# send new (updated) packet to VehA on LinkB
pktupdate = self.mod.MAVLink_heartbeat_message(
5, 3, 0, 0, 0, int(self.version))
pktbytesupdate = pktupdate.pack(self.mavUAS, force_mavlink1=False)
tcpclient.send_data(pktbytesupdate)
# need a small sleep here otherwise the linkB gets confused
await asyncio.sleep(0.10)
# send packet to VehB on linkB
tcpclient.send_data(pktbytesone)
await asyncio.sleep(0.10)
# send packet to VehC on LinkC
udpclient.send_data(pktbytes)
# wait for packets to send
await asyncio.sleep(0.10)
# and close everything
await matrix.stoploop()
tcpserver.close()
tcpclient.close()
udpclient.close()
# assert the links are all still there
assert len(matrix.getAllVeh()) == 3
assert len(matrix.linkdict) == 3
# assert packets were recived
assert self.vehpkts[self.VehA.name][0].get_msgbuf() == pktbytes
assert self.vehpkts[self.VehA.name][1].get_msgbuf() == pktbytesupdate
assert self.vehpkts[self.VehB.name][0].get_msgbuf() == pktbytesone
assert self.vehpkts[self.VehC.name][0].get_msgbuf() == pktbytes