async def _unittest_udp_transport() -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer, TransferFrom
from pyuavcan.transport import Priority, Timestamp, InputSessionSpecifier, OutputSessionSpecifier
from pyuavcan.transport import ProtocolParameters
get_monotonic = asyncio.get_event_loop().time
with pytest.raises(ValueError):
_ = UDPTransport(ip_address='127.0.0.111/8', mtu=10)
with pytest.raises(ValueError):
_ = UDPTransport(ip_address='127.0.0.111/8',
service_transfer_multiplier=100)
tr = UDPTransport('127.0.0.111/8', mtu=9000)
tr2 = UDPTransport('127.0.0.222/8', service_transfer_multiplier=2)
assert tr.local_ip_address_with_netmask == '127.0.0.111/8'
assert tr2.local_ip_address_with_netmask == '127.0.0.222/8'
assert tr.loop is asyncio.get_event_loop()
assert tr.local_node_id == 111
assert tr2.local_node_id == 222
assert tr.input_sessions == []
assert tr.output_sessions == []
assert list(xml.etree.ElementTree.fromstring(
tr.descriptor).itertext()) == ['127.0.0.111/8']
assert tr.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2**56,
max_nodes=2**UDPTransport.NODE_ID_BIT_LENGTH,
mtu=9000,
)
assert list(xml.etree.ElementTree.fromstring(
tr2.descriptor).itertext()) == ['127.0.0.222/8']
assert tr2.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2**56,
max_nodes=2**UDPTransport.NODE_ID_BIT_LENGTH,
mtu=UDPTransport.DEFAULT_MTU,
)
assert tr.sample_statistics() == tr2.sample_statistics(
) == UDPTransportStatistics()
payload_single = [_mem('qwertyui'), _mem('01234567')
] * (UDPTransport.DEFAULT_MTU // 16)
assert sum(map(len, payload_single)) == UDPTransport.DEFAULT_MTU
payload_x3 = (payload_single * 3)[:-1]
payload_x3_size_bytes = UDPTransport.DEFAULT_MTU * 3 - 8
assert sum(map(len, payload_x3)) == payload_x3_size_bytes
#
# Instantiate session objects.
#
meta = PayloadMetadata(0x_bad_c0ffee_0dd_f00d, 10000)
broadcaster = tr2.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
assert broadcaster is tr2.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
subscriber_promiscuous = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
assert subscriber_promiscuous is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
subscriber_selective = tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), 123), meta)
assert subscriber_selective is tr.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), 123), meta)
server_listener = tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST),
None), meta)
assert server_listener is tr.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST),
None), meta)
server_responder = tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE),
222), meta)
assert server_responder is tr.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE),
222), meta)
client_requester = tr2.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), 111),
meta)
assert client_requester is tr2.get_output_session(
OutputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), 111),
meta)
client_listener = tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE),
111), meta)
assert client_listener is tr2.get_input_session(
InputSessionSpecifier(
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE),
111), meta)
print('tr :', tr.input_sessions, tr.output_sessions)
assert set(tr.input_sessions) == {
subscriber_promiscuous, subscriber_selective, server_listener
}
assert set(tr.output_sessions) == {server_responder}
print('tr2:', tr2.input_sessions, tr2.output_sessions)
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
assert tr.sample_statistics().demultiplexer[MessageDataSpecifier(
12345)].accepted_datagrams == {}
assert tr.sample_statistics().demultiplexer[ServiceDataSpecifier(
444, ServiceDataSpecifier.Role.REQUEST)].accepted_datagrams == {}
assert tr2.sample_statistics().demultiplexer[ServiceDataSpecifier(
444, ServiceDataSpecifier.Role.RESPONSE)].accepted_datagrams == {}
#
# Message exchange test.
#
assert await broadcaster.send_until(
Transfer(timestamp=Timestamp.now(),
priority=Priority.LOW,
transfer_id=77777,
fragmented_payload=payload_single),
monotonic_deadline=get_monotonic() + 5.0)
rx_transfer = await subscriber_promiscuous.receive_until(get_monotonic() +
5.0)
print('PROMISCUOUS SUBSCRIBER TRANSFER:', rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.LOW
assert rx_transfer.transfer_id == 77777
assert rx_transfer.fragmented_payload == [b''.join(payload_single)
] # type: ignore
print('tr :', tr.sample_statistics())
assert tr.sample_statistics().demultiplexer[MessageDataSpecifier(
12345)].accepted_datagrams == {
222: 1
}
assert tr.sample_statistics().demultiplexer[ServiceDataSpecifier(
444, ServiceDataSpecifier.Role.REQUEST)].accepted_datagrams == {}
print('tr2:', tr2.sample_statistics())
assert tr2.sample_statistics().demultiplexer[ServiceDataSpecifier(
444, ServiceDataSpecifier.Role.RESPONSE)].accepted_datagrams == {}
assert None is await subscriber_selective.receive_until(get_monotonic() +
0.1)
assert None is await subscriber_promiscuous.receive_until(get_monotonic() +
0.1)
assert None is await server_listener.receive_until(get_monotonic() + 0.1)
assert None is await client_listener.receive_until(get_monotonic() + 0.1)
#
# Service exchange test.
#
assert await client_requester.send_until(
Transfer(timestamp=Timestamp.now(),
priority=Priority.HIGH,
transfer_id=88888,
fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0)
rx_transfer = await server_listener.receive_until(get_monotonic() + 5.0)
print('SERVER LISTENER TRANSFER:', rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.HIGH
assert rx_transfer.transfer_id == 88888
assert len(rx_transfer.fragmented_payload) == 3
assert b''.join(rx_transfer.fragmented_payload) == b''.join(payload_x3)
assert None is await subscriber_selective.receive_until(get_monotonic() +
0.1)
assert None is await subscriber_promiscuous.receive_until(get_monotonic() +
0.1)
assert None is await server_listener.receive_until(get_monotonic() + 0.1)
assert None is await client_listener.receive_until(get_monotonic() + 0.1)
print('tr :', tr.sample_statistics())
assert tr.sample_statistics().demultiplexer[MessageDataSpecifier(
12345)].accepted_datagrams == {
222: 1
}
assert tr.sample_statistics().demultiplexer[ServiceDataSpecifier(
444, ServiceDataSpecifier.Role.REQUEST
)].accepted_datagrams == {
222: 3 * 2
} # Deterministic data loss mitigation is enabled, multiplication factor 2
print('tr2:', tr2.sample_statistics())
assert tr2.sample_statistics().demultiplexer[ServiceDataSpecifier(
444, ServiceDataSpecifier.Role.RESPONSE)].accepted_datagrams == {}
#
# Termination.
#
assert set(tr.input_sessions) == {
subscriber_promiscuous, subscriber_selective, server_listener
}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
subscriber_promiscuous.close()
subscriber_promiscuous.close() # Idempotency.
assert set(tr.input_sessions) == {subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
broadcaster.close()
broadcaster.close() # Idempotency.
assert set(tr.input_sessions) == {subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {client_requester}
tr.close()
tr.close() # Idempotency.
tr2.close()
tr2.close() # Idempotency.
assert not set(tr.input_sessions)
assert not set(tr.output_sessions)
assert not set(tr2.input_sessions)
assert not set(tr2.output_sessions)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr.get_output_session(
OutputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr2.get_input_session(
InputSessionSpecifier(MessageDataSpecifier(12345), None), meta)
async def _unittest_udp_transport_ipv4() -> None:
from pyuavcan.transport import MessageDataSpecifier, ServiceDataSpecifier, PayloadMetadata, Transfer, TransferFrom
from pyuavcan.transport import Priority, Timestamp, InputSessionSpecifier, OutputSessionSpecifier
from pyuavcan.transport import ProtocolParameters
asyncio.get_running_loop().slow_callback_duration = 5.0
get_monotonic = asyncio.get_event_loop().time
with pytest.raises(ValueError):
_ = UDPTransport("127.0.0.111", mtu=10)
with pytest.raises(ValueError):
_ = UDPTransport("127.0.0.111", service_transfer_multiplier=100)
tr = UDPTransport("127.0.0.111", mtu=9000)
tr2 = UDPTransport("127.0.0.222", service_transfer_multiplier=2)
assert tr.local_ip_address == ipaddress.ip_address("127.0.0.111")
assert tr2.local_ip_address == ipaddress.ip_address("127.0.0.222")
assert tr.loop is asyncio.get_event_loop()
assert tr.local_node_id == 111
assert tr2.local_node_id == 222
assert tr.input_sessions == []
assert tr.output_sessions == []
assert "127.0.0.111" in repr(tr)
assert tr.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2 ** 64,
max_nodes=65535,
mtu=9000,
)
default_mtu = min(UDPTransport.VALID_MTU_RANGE)
assert "127.0.0.222" in repr(tr2)
assert tr2.protocol_parameters == ProtocolParameters(
transfer_id_modulo=2 ** 64,
max_nodes=65535,
mtu=default_mtu,
)
assert tr.sample_statistics() == tr2.sample_statistics() == UDPTransportStatistics()
payload_single = [_mem("qwertyui"), _mem("01234567")] * (default_mtu // 16)
assert sum(map(len, payload_single)) == default_mtu
payload_x3 = (payload_single * 3)[:-1]
payload_x3_size_bytes = default_mtu * 3 - 8
assert sum(map(len, payload_x3)) == payload_x3_size_bytes
#
# Instantiate session objects.
#
meta = PayloadMetadata(10000)
broadcaster = tr2.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert broadcaster is tr2.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_promiscuous = tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
assert subscriber_promiscuous is tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
subscriber_selective = tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), 123), meta)
assert subscriber_selective is tr.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), 123), meta)
server_listener = tr.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), None), meta
)
assert server_listener is tr.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), None), meta
)
server_responder = tr.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 222), meta
)
assert server_responder is tr.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 222), meta
)
client_requester = tr2.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), 111), meta
)
assert client_requester is tr2.get_output_session(
OutputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST), 111), meta
)
client_listener = tr2.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 111), meta
)
assert client_listener is tr2.get_input_session(
InputSessionSpecifier(ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE), 111), meta
)
print("tr :", tr.input_sessions, tr.output_sessions)
assert set(tr.input_sessions) == {subscriber_promiscuous, subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
print("tr2:", tr2.input_sessions, tr2.output_sessions)
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
assert tr.sample_statistics().received_datagrams[MessageDataSpecifier(2345)].accepted_datagrams == {}
assert (
tr.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST)]
.accepted_datagrams
== {}
)
assert (
tr2.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE)]
.accepted_datagrams
== {}
)
#
# Message exchange test.
#
assert await broadcaster.send(
Transfer(
timestamp=Timestamp.now(), priority=Priority.LOW, transfer_id=77777, fragmented_payload=payload_single
),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await subscriber_promiscuous.receive(get_monotonic() + 5.0)
print("PROMISCUOUS SUBSCRIBER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.LOW
assert rx_transfer.transfer_id == 77777
assert rx_transfer.fragmented_payload == [b"".join(payload_single)]
print("tr :", tr.sample_statistics())
assert tr.sample_statistics().received_datagrams[MessageDataSpecifier(2345)].accepted_datagrams == {222: 1}
assert (
tr.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST)]
.accepted_datagrams
== {}
)
print("tr2:", tr2.sample_statistics())
assert (
tr2.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE)]
.accepted_datagrams
== {}
)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
#
# Service exchange test.
#
assert await client_requester.send(
Transfer(timestamp=Timestamp.now(), priority=Priority.HIGH, transfer_id=88888, fragmented_payload=payload_x3),
monotonic_deadline=get_monotonic() + 5.0,
)
rx_transfer = await server_listener.receive(get_monotonic() + 5.0)
print("SERVER LISTENER TRANSFER:", rx_transfer)
assert isinstance(rx_transfer, TransferFrom)
assert rx_transfer.priority == Priority.HIGH
assert rx_transfer.transfer_id == 88888
assert len(rx_transfer.fragmented_payload) == 3
assert b"".join(rx_transfer.fragmented_payload) == b"".join(payload_x3)
assert None is await subscriber_selective.receive(get_monotonic() + 0.1)
assert None is await subscriber_promiscuous.receive(get_monotonic() + 0.1)
assert None is await server_listener.receive(get_monotonic() + 0.1)
assert None is await client_listener.receive(get_monotonic() + 0.1)
print("tr :", tr.sample_statistics())
assert tr.sample_statistics().received_datagrams[MessageDataSpecifier(2345)].accepted_datagrams == {222: 1}
assert tr.sample_statistics().received_datagrams[
ServiceDataSpecifier(444, ServiceDataSpecifier.Role.REQUEST)
].accepted_datagrams == {
222: 3 * 2
} # Deterministic data loss mitigation is enabled, multiplication factor 2
print("tr2:", tr2.sample_statistics())
assert (
tr2.sample_statistics()
.received_datagrams[ServiceDataSpecifier(444, ServiceDataSpecifier.Role.RESPONSE)]
.accepted_datagrams
== {}
)
#
# Termination.
#
assert set(tr.input_sessions) == {subscriber_promiscuous, subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
subscriber_promiscuous.close()
subscriber_promiscuous.close() # Idempotency.
assert set(tr.input_sessions) == {subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {broadcaster, client_requester}
broadcaster.close()
broadcaster.close() # Idempotency.
assert set(tr.input_sessions) == {subscriber_selective, server_listener}
assert set(tr.output_sessions) == {server_responder}
assert set(tr2.input_sessions) == {client_listener}
assert set(tr2.output_sessions) == {client_requester}
tr.close()
tr.close() # Idempotency.
tr2.close()
tr2.close() # Idempotency.
assert not set(tr.input_sessions)
assert not set(tr.output_sessions)
assert not set(tr2.input_sessions)
assert not set(tr2.output_sessions)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr.get_output_session(OutputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
with pytest.raises(pyuavcan.transport.ResourceClosedError):
_ = tr2.get_input_session(InputSessionSpecifier(MessageDataSpecifier(2345), None), meta)
await asyncio.sleep(1) # Let all pending tasks finalize properly to avoid stack traces in the output.