def test_handle_sensor_data_request(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
protocol.send_response_string = MagicMock()
sensor_data_request = fdm_pb2.SensorDataRequest()
sensor_data_request.type = fdm_pb2.GPS_REQUEST
protocol.handle_sensor_data_request(sensor_data_request)
expected_sensor_data_response = fdm_pb2.SensorDataResponse()
expected_sensor_data_response.type = fdm_pb2.GPS_REQUEST
expected_sensor_data_response.gps.latitude = aircraft.instruments.gps.latitude
expected_sensor_data_response.gps.longitude = aircraft.instruments.gps.longitude
expected_sensor_data_response.gps.altitude = aircraft.instruments.gps.altitude
expected_sensor_data_response.gps.airspeed = aircraft.instruments.gps.airspeed
expected_sensor_data_response.gps.heading = aircraft.instruments.gps.heading
protocol.send_response_string.assert_called_once_with(
expected_sensor_data_response.SerializeToString())
def test_fill_controls_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_controls_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.controls.aileron,
aircraft.controls.aileron)
self.assertAlmostEqual(sensor_data_response.controls.elevator,
aircraft.controls.elevator)
self.assertAlmostEqual(sensor_data_response.controls.rudder,
aircraft.controls.rudder)
self.assertAlmostEqual(sensor_data_response.controls.throttle,
aircraft.controls.throttle)
self.assertEqual(sensor_data_response.type, fdm_pb2.CONTROLS_REQUEST)
def test_fill_ins_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_ins_data(sensor_data_response)
self.assertAlmostEqual(
sensor_data_response.ins.roll,
aircraft.sensors.inertial_navigation_system.roll)
self.assertAlmostEqual(
sensor_data_response.ins.pitch,
aircraft.sensors.inertial_navigation_system.pitch)
self.assertEqual(sensor_data_response.type, fdm_pb2.INS_REQUEST)
def test_fill_gyroscope_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_gyroscope_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.gyroscope.roll_rate,
aircraft.sensors.gyroscope.roll_rate)
self.assertAlmostEqual(sensor_data_response.gyroscope.pitch_rate,
aircraft.sensors.gyroscope.pitch_rate)
self.assertAlmostEqual(sensor_data_response.gyroscope.yaw_rate,
aircraft.sensors.gyroscope.yaw_rate)
self.assertEqual(sensor_data_response.type, fdm_pb2.GYROSCOPE_REQUEST)
def test_fill_accelerometer_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_accelerometer_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.accelerometer.x,
aircraft.sensors.accelerometer.x)
self.assertAlmostEqual(sensor_data_response.accelerometer.y,
aircraft.sensors.accelerometer.y)
self.assertAlmostEqual(sensor_data_response.accelerometer.z,
aircraft.sensors.accelerometer.z)
self.assertEqual(sensor_data_response.type,
fdm_pb2.ACCELEROMETER_REQUEST)
def test_fill_gps_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_gps_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.gps.latitude,
aircraft.instruments.gps.latitude)
self.assertAlmostEqual(sensor_data_response.gps.longitude,
aircraft.instruments.gps.longitude)
self.assertAlmostEqual(sensor_data_response.gps.altitude,
aircraft.instruments.gps.altitude)
self.assertAlmostEqual(sensor_data_response.gps.airspeed,
aircraft.instruments.gps.airspeed)
self.assertAlmostEqual(sensor_data_response.gps.heading,
aircraft.instruments.gps.heading)
self.assertEqual(sensor_data_response.type, fdm_pb2.GPS_REQUEST)
def handle_sensor_data_request(self, sensor_data_request):
"""Fills the required data on the response object and sends the
response back to the requesting client"""
sensor_data_response = fdm_pb2.SensorDataResponse()
if sensor_data_request.type == fdm_pb2.GPS_REQUEST:
self.fill_gps_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.ACCELEROMETER_REQUEST:
self.fill_accelerometer_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.GYROSCOPE_REQUEST:
self.fill_accelerometer_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.THERMOMETER_REQUEST:
self.fill_thermometer_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.PRESSURE_SENSOR_REQUEST:
self.fill_pressure_sensor_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.PITOT_TUBE_REQUEST:
self.fill_pitot_tube_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.ENGINE_REQUEST:
self.fill_engine_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.CONTROLS_REQUEST:
self.fill_controls_data(sensor_data_response)
elif sensor_data_request.type == fdm_pb2.INS_REQUEST:
self.fill_ins_data(sensor_data_response)
else:
self.fill_error_response(sensor_data_response)
self.send_response_string(sensor_data_response.SerializeToString())
def test_fill_pitot_tube_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_pitot_tube_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.pitot_tube.pressure,
aircraft.sensors.pitot_tube.pressure)
self.assertEqual(sensor_data_response.type, fdm_pb2.PITOT_TUBE_REQUEST)
def test_fill_engine_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_engine_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.engine.thrust,
aircraft.engine.thrust)
self.assertAlmostEqual(sensor_data_response.engine.throttle,
aircraft.engine.throttle)
self.assertEqual(sensor_data_response.type, fdm_pb2.ENGINE_REQUEST)
def stringReceived(self, string):
"""Handle the data that have been received from the simulator"""
sensor_data_response = fdm_pb2.SensorDataResponse()
sensor_data_response.ParseFromString(string)
self.factory.received_responce(sensor_data_response)
