def test_error_reporting(self):
"""Tests that StreamWriter records errors received correctly
and stores those values in the TransmissionError Thrown.
"""
expected_errors = [
'CRCMismatchError',
'CRCMismatchError',
'CRCMismatchError',
'GenericError',
'GenericError',
]
response_payload = bytearray()
response_payload.append(constants.response_code_dict['CRC_MISMATCH'])
for i in range(3):
self.outputstream.write(Encoder.encode_payload(response_payload))
response_payload = bytearray()
response_payload.append(constants.response_code_dict['GENERIC_PACKET_ERROR'])
for i in range(2):
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
payload = 'asdf'
try:
self.w.send_command(payload)
except errors.TransmissionError as e:
self.assertEqual(expected_errors, e.value)
def test_build_and_send_action_payload(self):
command = constants.host_action_command_dict['QUEUE_EXTENDED_POINT_NEW']
point = [1, 2, 3, 4, 5]
duration = 42
relativeAxes = 0
expected_payload = struct.pack(
'<BiiiiiIB',
command,
point[0], point[1], point[2], point[3], point[4],
duration,
relativeAxes
)
response_payload = bytearray()
response_payload.append(constants.response_code_dict['SUCCESS'])
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
payload = struct.pack(
'<BiiiiiIB',
command,
point[0], point[1], point[2], point[3], point[4],
duration,
relativeAxes,
)
self.w.send_action_payload(payload)
self.assertEquals(Encoder.encode_payload(expected_payload), self.inputstream.getvalue())
def test_send_command(self):
"""
Passing case: Preload the buffer with a correctly formatted expected response, and verigy that it works correctly
"""
payload = 'abcde'
response_payload = bytearray()
response_payload.append(constants.response_code_dict['SUCCESS'])
response_payload.extend('12345')
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
self.assertEqual(response_payload, self.w.send_command(payload))
self.assertEqual(Encoder.encode_payload(payload), self.inputstream.getvalue())
def test_send_packet_timeout(self):
"""
Time out when no data is received. The input stream should have max_rety_count copies of the
payload packet in it.
"""
payload = 'abcde'
packet = Encoder.encode_payload(payload)
expected_packet = Encoder.encode_payload(payload)
self.assertRaises(errors.TransmissionError,self.w.send_packet, packet)
self.inputstream.seek(0)
for i in range (0, constants.max_retry_count):
for byte in expected_packet:
self.assertEquals(byte, ord(self.inputstream.read(1)))
def test_send_packet(self):
"""
Passing case: Preload the buffer with a correctly formatted expected response, and
verify that it works correctly.
"""
payload = "abcde"
packet = Encoder.encode_payload(payload)
response_payload = bytearray()
response_payload.append(constants.response_code_dict["SUCCESS"])
response_payload.extend("12345")
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
self.assertEquals(response_payload, self.w.send_packet(packet))
self.assertEquals(Encoder.encode_payload(payload), self.inputstream.getvalue())
def test_external_stop_works_precondition(self): response_payload = bytearray() response_payload.append(constants.response_code_dict['SUCCESS']) self.outputstream.write(Encoder.encode_payload(response_payload)) self.outputstream.seek(0) self.w.set_external_stop() self.assertRaises(errors.ExternalStopError, self.w.send_command, 'asdf')
def test_build_and_send_query_payload(self):
cmd = constants.host_query_command_dict["GET_VERSION"]
s3gVersion = 123
botVersion = 456
expected_payload = struct.pack("<bH", cmd, s3gVersion)
response_payload = bytearray()
response_payload.append(constants.response_code_dict["SUCCESS"])
response_payload.extend(Encoder.encode_uint16(botVersion))
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
payload = struct.pack("<bH", cmd, s3gVersion)
self.assertEquals(response_payload, self.w.send_query_payload(payload))
self.assertEquals(Encoder.encode_payload(expected_payload), self.inputstream.getvalue())
def test_build_and_send_query_payload_with_null_terminated_string(self):
cmd = constants.host_query_command_dict["GET_NEXT_FILENAME"]
flag = 0x01
payload = struct.pack("<BB", cmd, flag)
filename = "asdf\x00"
response_payload = bytearray()
response_payload.append(constants.response_code_dict["SUCCESS"])
response_payload.append(constants.sd_error_dict["SUCCESS"])
response_payload.extend(filename)
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
payload = struct.pack("<bb", cmd, flag)
self.assertEqual(response_payload, self.w.send_query_payload(payload))
self.assertEqual(Encoder.encode_payload(payload), self.inputstream.getvalue())
def test_build_and_send_query_payload(self):
cmd = constants.host_query_command_dict['GET_VERSION']
s3gVersion = 123
botVersion = 456
expected_payload = struct.pack('<bH', cmd, s3gVersion)
response_payload = bytearray()
response_payload.append(constants.response_code_dict['SUCCESS'])
response_payload.extend(Encoder.encode_uint16(botVersion))
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
payload = struct.pack(
'<bH',
cmd,
s3gVersion,
)
self.assertEquals(response_payload, self.w.send_query_payload(payload))
self.assertEquals(Encoder.encode_payload(expected_payload),
self.inputstream.getvalue())
def test_build_and_send_query_payload_with_null_terminated_string(self):
cmd = constants.host_query_command_dict['GET_NEXT_FILENAME']
flag = 0x01
payload = struct.pack('<BB', cmd, flag)
filename = 'asdf\x00'
response_payload = bytearray()
response_payload.append(constants.response_code_dict['SUCCESS'])
response_payload.append(constants.sd_error_dict['SUCCESS'])
response_payload.extend(filename)
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
payload = struct.pack(
'<bb',
cmd,
flag,
)
self.assertEqual(response_payload, self.w.send_query_payload(payload))
self.assertEqual(Encoder.encode_payload(payload),
self.inputstream.getvalue())
def test_send_packet_many_bad_responses(self):
"""
Passing case: test that the transmission can recover from one less than the alloted
number of errors.
"""
payload = 'abcde'
packet = Encoder.encode_payload(payload)
expected_packet = Encoder.encode_payload(payload)
response_payload = bytearray()
response_payload.append(constants.response_code_dict['SUCCESS'])
response_payload.extend('12345')
for i in range (0, constants.max_retry_count - 1):
self.outputstream.write('a')
self.outputstream.write(Encoder.encode_payload(response_payload))
self.outputstream.seek(0)
self.assertEquals(response_payload, self.w.send_packet(packet))
self.inputstream.seek(0)
for i in range (0, constants.max_retry_count - 1):
for byte in expected_packet:
self.assertEquals(byte, ord(self.inputstream.read(1)))
def test_packet_crc(self): payload = 'abcd' packet = Encoder.encode_payload(payload) assert packet[6] == Encoder.CalculateCRC(payload);
def test_packet_length_field(self): payload = 'abcd' packet = Encoder.encode_payload(payload) assert packet[1] == len(payload)
def test_packet_header(self):
payload = 'abcd'
packet = Encoder.encode_payload(payload)
assert packet[0] == constants.header
def test_packet_length(self): payload = 'abcd' packet = Encoder.encode_payload(payload) assert len(packet) == len(payload) + 3
