def test_end_to_end_floats():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 0.0, 'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 0.0, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 3.4028234e38, 'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
assert abs(cb.call_args[0][1] - 3.4028234e38) <= max(
1e-7 * max(abs(cb.call_args[0][1]), abs(3.4028234e38)), 0.0)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -3.4028234e38, 'float32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
assert abs(cb.call_args[0][1] - (-3.4028234e38)) <= max(
1e-7 * max(abs(cb.call_args[0][1]), abs(-3.4028234e38)), 0.0)
def test_end_to_end_uints():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 255, 'uint8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 255, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 65535, 'uint16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 65535, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 4294967295, 'uint32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 4294967295, None)
def main():
init_logging()
transport = SerialTransport()
c = Pytelemetry(transport)
options = dict()
options['port'] = "COM20"
options['baudrate'] = 115200
transport.connect(options)
#c.subscribe(None, printer)
bad_frame = bytearray(b'0700736f6d65746f70696300626f6f7961613ecc')
c.api._decode_frame(bad_frame)
c.publish('sometopic', 'booyaa', 'string')
timeout = time.time() + 3
while True:
c.update()
if time.time() > timeout:
break
transport.disconnect()
print("Done.")
def test_unexisting_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
with pytest.raises(IndexError):
c.publish('sometopic', 12, 'int323')
assert t.queue.qsize() == 0
def test_serial_stats():
# Setup
t = SerialTransport()
t.driver = driverMock()
c = Pytelemetry(t)
stats = t.stats()
assert stats['rx_bytes'] == 0
assert stats['rx_chunks'] == 0
assert stats['tx_bytes'] == 0
assert stats['tx_chunks'] == 0
c.publish('foo', 'bar', 'string')
stats = t.stats()
assert stats['rx_bytes'] == 0
assert stats['rx_chunks'] == 0
assert stats['tx_bytes'] == 13
assert stats['tx_chunks'] == 1
c.update()
stats = t.stats()
assert stats['rx_bytes'] == 13
assert stats[
'rx_chunks'] == 13 # TODO : For now data read byte after byter. To replace by read in bulk
assert stats['tx_bytes'] == 13
assert stats['tx_chunks'] == 1
c.publish('fooqux', -32767, 'int16')
stats = t.stats()
assert stats['rx_bytes'] == 13
assert stats['rx_chunks'] == 13
assert stats['tx_bytes'] == 13 + 15
assert stats['tx_chunks'] == 2
c.update()
stats = t.stats()
assert stats['rx_bytes'] == 13 + 15
assert stats['rx_chunks'] == 13 + 15
assert stats['tx_bytes'] == 13 + 15
assert stats['tx_chunks'] == 2
t.resetStats()
stats = t.stats()
assert stats['rx_bytes'] == 0
assert stats['rx_chunks'] == 0
assert stats['tx_bytes'] == 0
assert stats['tx_chunks'] == 0
def test_wrong_type():
# Setup
t = transportMock()
c = Pytelemetry(t)
with pytest.raises(Exception) as excinfo:
c.publish('sometopic', 12, 'string')
# TODO : Assert exception
assert t.queue.qsize() == 0
def test_end_to_end_ints():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 127, 'int8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 127, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -127, 'int8')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', -127, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 32767, 'int16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 32767, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -32767, 'int16')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', -32767, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 2147483647, 'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', 2147483647, None)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', -2147483647, 'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_with('sometopic', -2147483647, None)
def test_topic_contains_space_both_ends():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe(' topicwithspaces ', cb)
c.publish(' topicwithspaces ', 1234567, 'int32')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with(' topicwithspaces ', 1234567, None)
def test_hardcoded():
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data"])
c.subscribe('sometopic ', cb)
# Apply hardcoded frame directly generated by the c library
# SOF head sometopic..................................... eol 12457........ crc..... eof
t.write([
247, 6, 0, 115, 111, 109, 101, 116, 111, 112, 105, 99, 32, 0, 169, 48,
0, 0, 111, 249, 127
])
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with('sometopic ', 12457, None)
def __init__(self, transport=None, stdout=None):
# cmd Initialization and configuration
cmd.Cmd.__init__(self, stdout=stdout)
self.intro = 'pytelemetry terminal started.' \
+ ' (type help for a list of commands.)'
self.prompt = ':> '
self.file = None
# pytelemetry setup
if not transport:
self.transport = transports.SerialTransport()
else:
self.transport = transport
self.telemetry = Pytelemetry(self.transport)
self.topics = Topics()
self.plots = []
self.plotsLock = Lock()
self.runner = Runner(self.transport, self.telemetry, self.plots,
self.plotsLock, self.topics)
self.telemetry.subscribe(None, self.topics.process)
self.types_lookup = {
'--s': 'string',
'--u8': 'uint8',
'--u16': 'uint16',
'--u32': 'uint32',
'--i8': 'int8',
'--i16': 'int16',
'--i32': 'int32',
'--f32': 'float32'
}
logger.info("Module path : %s" %
os.path.dirname(os.path.realpath(__file__)))
try:
logger.info("Module version : %s" % __version__)
except:
logger.warning("Module version : not found.")
def test_end_to_end_string():
# Setup
t = transportMock()
c = Pytelemetry(t)
cb = mock.Mock(spec=["topic", "data", "opts"])
default_cb = mock.Mock(spec=["topic", "data", "opts"])
c.subscribe('sometopic', cb)
c.subscribe(None, default_cb)
# testing callback subscribed to topic
assert t.queue.qsize() == 0
c.publish('sometopic', 'someMessage', 'string')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
cb.assert_called_once_with('sometopic', 'someMessage', None)
# test default callback
c.publish('othertopic', 'otherMessage', 'string')
assert t.queue.qsize() > 0
c.update()
assert t.queue.qsize() == 0
default_cb.assert_called_once_with('othertopic', 'otherMessage', None)
# --------- Import modules ---------- #
from pytelemetry import Pytelemetry
from pytelemetry.transports.serialtransport import *
import time
import socket
import json
# ---- Global Variables ---- #
# load envVariable.json
with open('./envVariable.json') as f:
jsonFile = json.load(f)
config = json.loads(json.dumps(jsonFile))
transport = SerialTransport()
c = Pytelemetry(transport)
"""
*
* Function Name: init_port_forward
* Input: test boolean
* Output: None
* Logic: Initialises socket server, that communicates with js client
* Example Call: int_port_forward()
*
"""
def init_port_forward(test=False):
print("starting port from server")
HOST = '127.0.0.1' # Standard loopback interface address (localhost)
# Port to listen on (non-privileged ports are > 1023)
PORT = config["telemetrySocketPort"]
def test_protocol_stats():
t = transportMock()
p = Pytelemetry(t)
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 0
assert measures["rx_corrupted_crc"] == 0
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# Add a frame inside the transport queue
t.write(bytearray.fromhex("f70700666f6f0062617247027f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 0
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# replaced CRC '4702' by '4701' to corrupt crc
t.write(bytearray.fromhex("f70700666f6f0062617247017f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 1
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# replaced byte n3 '00' by '10' to corrupt crc
t.write(bytearray.fromhex("f70710666f6f0062617247027f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 0
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
#crc = crc16(bytearray.fromhex("0900666f6f00626172"))
#print(crc)
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Replaced header from 0700 to 0900 to corrupt it. Crc is valid to not discard
t.write(bytearray.fromhex("f70900666f6f006261725fc57f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 0
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
#crc = crc16(bytearray.fromhex("0700666f6f01626172"))
#print(crc)
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Removed EOL. Crc is valid to not discard
t.write(bytearray.fromhex("f70700666f6f0162617224417f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 1
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 0
assert measures["tx_encoded_frames"] == 0
# Impossible to detect corrupted payload of type string because length is unkown. One more reason to store framesize inside frame
# Use a frame of type u32 instead
#crc = crc16(bytearray.fromhex("03006b6c6d6f707100ffffff"))
#crc = struct.pack("<H",crc)
#print(crc.hex())
# Corruped payload by removing third & fourth hex number from end. Crc will pass
#
t.write(bytearray.fromhex("f703006b6c6d6f707100fffffff2dd7f"))
# update to read the new frame
p.update()
# get measurements
measures = p.api.stats()
assert measures["rx_decoded_frames"] == 1
assert measures["rx_corrupted_crc"] == 2
assert measures["rx_corrupted_header"] == 1
assert measures["rx_corrupted_eol"] == 1
assert measures["rx_corrupted_topic"] == 0
assert measures["rx_corrupted_payload"] == 1
assert measures["tx_encoded_frames"] == 0
topmeasures = p.stats()
assert measures["rx_decoded_frames"] == topmeasures['protocol'][
"rx_decoded_frames"]
assert measures["rx_corrupted_crc"] == topmeasures['protocol'][
"rx_corrupted_crc"]
assert measures["rx_corrupted_header"] == topmeasures['protocol'][
"rx_corrupted_header"]
assert measures["rx_corrupted_eol"] == topmeasures['protocol'][
"rx_corrupted_eol"]
assert measures["rx_corrupted_topic"] == topmeasures['protocol'][
"rx_corrupted_topic"]
assert measures["rx_corrupted_payload"] == topmeasures['protocol'][
"rx_corrupted_payload"]
assert measures["tx_encoded_frames"] == topmeasures['protocol'][
"tx_encoded_frames"]
p.publish("boo", 123, "uint8")
# get measurements
measures = p.stats()
assert measures['protocol']["rx_decoded_frames"] == 1
assert measures['protocol']["rx_corrupted_crc"] == 2
assert measures['protocol']["rx_corrupted_header"] == 1
assert measures['protocol']["rx_corrupted_eol"] == 1
assert measures['protocol']["rx_corrupted_topic"] == 0
assert measures['protocol']["rx_corrupted_payload"] == 1
assert measures['protocol']["tx_encoded_frames"] == 1
measures = p.api.delimiter.stats()
assert measures["rx_processed_bytes"] > 0
assert measures["rx_discarded_bytes"] == 0
assert measures["rx_escaped_bytes"] == 0
assert measures["rx_complete_frames"] > 0
assert measures["rx_uncomplete_frames"] == 0
assert measures["tx_processed_bytes"] > 0
assert measures["tx_encoded_frames"] > 0
assert measures["tx_escaped_bytes"] == 0
p.resetStats()
measures = p.stats()
assert measures['protocol']["rx_decoded_frames"] == 0
assert measures['protocol']["rx_corrupted_crc"] == 0
assert measures['protocol']["rx_corrupted_header"] == 0
assert measures['protocol']["rx_corrupted_eol"] == 0
assert measures['protocol']["rx_corrupted_topic"] == 0
assert measures['protocol']["rx_corrupted_payload"] == 0
assert measures['protocol']["tx_encoded_frames"] == 0
assert measures['framing']["rx_processed_bytes"] == 0
assert measures['framing']["rx_discarded_bytes"] == 0
assert measures['framing']["rx_escaped_bytes"] == 0
assert measures['framing']["rx_complete_frames"] == 0
assert measures['framing']["rx_uncomplete_frames"] == 0
assert measures['framing']["tx_processed_bytes"] == 0
assert measures['framing']["tx_encoded_frames"] == 0
assert measures['framing']["tx_escaped_bytes"] == 0
