def compiled_dsdl() -> None:
"""
Ensures that the regulated DSDL namespaces are compiled and importable.
To force recompilation, remove the output directory.
"""
output_dir = str(OUTPUT_DIR)
if output_dir not in sys.path:
sys.path.insert(0, output_dir)
try:
import uavcan # pylint: disable=unused-import
import sirius_cyber_corp # pylint: disable=unused-import
except ImportError:
from tests.subprocess import execute_cli
from yakut.paths import DEFAULT_PUBLIC_REGULATED_DATA_TYPES_ARCHIVE_URI
sirius_cyber_corp_dir = str(CUSTOM_DATA_TYPES_DIR /
"sirius_cyber_corp")
args = [
"compile",
DEFAULT_PUBLIC_REGULATED_DATA_TYPES_ARCHIVE_URI,
"--lookup",
sirius_cyber_corp_dir,
"-O",
output_dir,
]
execute_cli(*args, timeout=300.0)
args = ["compile", sirius_cyber_corp_dir, "--output", output_dir]
execute_cli(*args, timeout=300.0)
importlib.invalidate_caches()
def _unittest_doc() -> None:
assert (len(
execute_cli("-vv", "doc", timeout=2.0, log=False)[1].splitlines()) >
10), "The doc output is suspiciously short"
with pytest.raises(CalledProcessError):
execute_cli("doc", "nonexistent-entry", timeout=2.0, log=False)
def _unittest_help() -> None:
"""
Just make sure that the help can be displayed without issues.
"""
execute_cli("--help", timeout=10.0, log=False)
for cmd in dir(yakut.cmd):
if not cmd.startswith("_") and cmd not in ("pyuavcan", "sys"):
execute_cli(cmd, "--help", timeout=3.0, log=False)
def _unittest_accommodate_swarm(transport_factory: TransportFactory,
compiled_dsdl: typing.Any) -> None:
_ = compiled_dsdl
# We spawn a lot of processes here, which might strain the test system a little, so beware. I've tested it
# with 120 processes and it made my workstation (24 GB RAM ~4 GHz Core i7) struggle to the point of being
# unable to maintain sufficiently real-time operation for the test to pass. Hm.
used_node_ids = list(range(10))
pubs = [
Subprocess.cli(
f"--transport={transport_factory(idx).expression}",
f"--path={OUTPUT_DIR}",
"pub",
"--period=0.4",
"--count=60",
) for idx in used_node_ids
]
_, stdout, _ = execute_cli(
"-v",
f"--path={OUTPUT_DIR}",
f"--transport={transport_factory(None).expression}",
"accommodate",
timeout=100.0,
)
assert int(stdout) not in used_node_ids
for p in pubs:
p.wait(100.0, interrupt=True)
def _unittest_call_errors(compiled_dsdl: typing.Any) -> None:
_ = compiled_dsdl
env = {
"YAKUT_PATH": str(OUTPUT_DIR),
}
# Non-service data type.
result, stdout, stderr = execute_cli(
"call",
"22",
"222.sirius_cyber_corp.PointXY.1.0",
environment_variables=env,
ensure_success=False,
log=False,
)
assert result != 0
assert stdout == ""
assert "service type" in stderr
# Non-existent data type.
result, stdout, stderr = execute_cli(
"call",
"22",
"222.sirius_cyber_corp.PointXY.1.0",
ensure_success=False,
log=False,
)
assert result != 0
assert stdout == ""
assert "yakut compile" in stderr
# Invalid YAML.
result, stdout, stderr = execute_cli(
f"--path={OUTPUT_DIR}",
"call",
"22",
"222.sirius_cyber_corp.PerformLinearLeastSquaresFit.1.0",
": }",
ensure_success=False,
log=False,
)
assert result != 0
assert stdout == ""
assert "parse" in stderr
assert "request object" in stderr
def _unittest_accommodate_loopback() -> None:
_, stdout, _ = execute_cli(
"-v",
f"--path={OUTPUT_DIR}",
"accommodate",
timeout=30.0,
environment_variables={
"YAKUT_TRANSPORT": "Loopback(None),Loopback(None)"
},
)
assert 0 <= int(stdout) < 2**64
def _unittest_accommodate_udp_localhost() -> None:
_, stdout, _ = execute_cli(
"-v",
f"--path={OUTPUT_DIR}",
"accommodate",
timeout=30.0,
environment_variables={
"YAKUT_TRANSPORT": 'UDP("127.0.0.1",anonymous=True)'
},
)
# Exclude zero from the set because an IP address with the host address of zero may cause complications.
assert 1 <= int(stdout) <= 65534
def _unittest_subscribe() -> None:
env = {
"YAKUT_TRANSPORT": "Loopback(1234)",
}
# No subjects specified.
_, _, stderr = execute_cli("-vv",
"sub",
timeout=5.0,
environment_variables=env)
assert "nothing to do" in stderr.lower()
assert "no subject" in stderr.lower()
# Count zero.
_, _, stderr = execute_cli("-vv",
"sub",
"4444.uavcan.si.unit.force.Scalar.1.0",
"--count=0",
timeout=5.0,
environment_variables=env)
assert "nothing to do" in stderr.lower()
assert "count" in stderr.lower()
# Compiled DSDL not found.
result, _, stderr = execute_cli("sub",
"4444.uavcan.si.unit.force.Scalar.1.0",
timeout=5.0,
ensure_success=False,
environment_variables=env)
assert result != 0
assert "yakut compile" in stderr.lower()
# Transport not specified.
result, _, stderr = execute_cli("sub",
"4444.uavcan.si.unit.force.Scalar.1.0",
timeout=5.0,
ensure_success=False)
assert result != 0
assert "transport" in stderr.lower()
def _unittest_publish(compiled_dsdl: typing.Any) -> None:
_ = compiled_dsdl
env = {
"YAKUT_TRANSPORT": "Loopback(1234)",
}
# Count zero, nothing to do.
_, _, stderr = execute_cli(
"-vv",
f"--path={OUTPUT_DIR}",
"pub",
"4444.uavcan.si.unit.force.Scalar.1.0",
"{}",
"--count",
"0",
timeout=5.0,
environment_variables=env,
)
assert "nothing to do" in stderr.lower()
# Compiled DSDL not found.
result, _, stderr = execute_cli(
"pub",
"4444.uavcan.si.unit.force.Scalar.1.0",
"{}",
"--count",
"0",
timeout=5.0,
ensure_success=False,
environment_variables=env,
)
assert result != 0
assert "yakut compile" in stderr.lower()
# Invalid period.
result, _, stderr = execute_cli(
"-vv",
f"--path={OUTPUT_DIR}",
"pub",
"4444.uavcan.si.unit.force.Scalar.1.0",
"{}",
"--period=0",
timeout=5.0,
ensure_success=False,
environment_variables=env,
)
assert result != 0
assert "period" in stderr.lower()
assert "seconds" in stderr.lower()
# Transport not configured.
result, _, stderr = execute_cli(
f"--path={OUTPUT_DIR}",
"pub",
"4444.uavcan.si.unit.force.Scalar.1.0",
"{}",
timeout=5.0,
ensure_success=False,
)
assert result != 0
assert "transport" in stderr.lower()
def _unittest_pub_sub_regular(transport_factory: TransportFactory,
compiled_dsdl: typing.Any) -> None:
_ = compiled_dsdl
env = {
"YAKUT_TRANSPORT": transport_factory(None).expression,
"YAKUT_PATH": str(OUTPUT_DIR),
}
proc_sub_heartbeat = Subprocess.cli(
"--format=json",
"sub",
"uavcan.node.Heartbeat.1.0",
environment_variables=env,
)
proc_sub_diagnostic = Subprocess.cli(
"--format=json",
"sub",
"4321.uavcan.diagnostic.Record.1.1",
"--count=3",
environment_variables=env,
)
proc_sub_diagnostic_wrong_pid = Subprocess.cli(
"--format=yaml",
"sub",
"uavcan.diagnostic.Record.1.1",
"--count=3",
environment_variables=env,
)
proc_sub_temperature = Subprocess.cli(
"--format=json",
"sub",
"555.uavcan.si.sample.temperature.Scalar.1.0",
"--count=3",
"--no-metadata",
environment_variables=env,
)
time.sleep(
1.0) # Time to let the background processes finish initialization
proc_pub = Subprocess.cli(
"-v",
"--heartbeat-vssc=54",
"--heartbeat-priority=high",
"--node-info",
"{software_image_crc: [0xdeadbeef]}",
f"--transport={transport_factory(51).expression}", # Takes precedence over the environment variable.
"pub",
"4321.uavcan.diagnostic.Record.1.1",
'{severity: {value: 6}, timestamp: {microsecond: 123456}, text: "Hello world!"}',
"1234.uavcan.diagnostic.Record.1.1",
'{text: "Goodbye world."}',
"555.uavcan.si.sample.temperature.Scalar.1.0",
"{kelvin: 123.456}",
"--count=3",
"--period=2",
"--priority=slow",
environment_variables=env,
)
time.sleep(2.0) # Time to let the publisher boot up properly.
# Request GetInfo from the publisher we just launched.
_, stdout, _ = execute_cli(
f"--transport={transport_factory(52).expression}",
f"--path={OUTPUT_DIR}",
"call",
"51",
"uavcan.node.GetInfo.1.0",
"--no-metadata",
"--timeout=5",
timeout=10.0,
)
parsed = yakut.yaml.YAMLLoader().load(stdout)
assert parsed[430]["protocol_version"] == {
"major": pyuavcan.UAVCAN_SPECIFICATION_VERSION[0],
"minor": pyuavcan.UAVCAN_SPECIFICATION_VERSION[1],
}
assert parsed[430]["software_version"] == {
"major": yakut.__version_info__[0],
"minor": yakut.__version_info__[1],
}
assert parsed[430]["software_image_crc"] == [0xDEADBEEF]
assert parsed[430]["name"] == "org.uavcan.yakut.publish"
proc_pub.wait(10.0)
time.sleep(1.0) # Time to sync up
# Parse the output from the subscribers and validate it.
out_sub_heartbeat = proc_sub_heartbeat.wait(
1.0, interrupt=True)[1].splitlines()
out_sub_diagnostic = proc_sub_diagnostic.wait(
1.0, interrupt=True)[1].splitlines()
out_sub_temperature = proc_sub_temperature.wait(
1.0, interrupt=True)[1].splitlines()
heartbeats = list(map(json.loads, out_sub_heartbeat))
diagnostics = list(map(json.loads, out_sub_diagnostic))
temperatures = list(map(json.loads, out_sub_temperature))
print("heartbeats:", *heartbeats, sep="\n\t")
print("diagnostics:", *diagnostics, sep="\n\t")
print("temperatures:", *temperatures, sep="\n\t")
assert 1 <= len(heartbeats) <= 20
for m in heartbeats:
src_nid = m["7509"]["_metadata_"]["source_node_id"]
if src_nid == 51: # The publisher
assert "high" in m["7509"]["_metadata_"]["priority"].lower()
assert m["7509"]["_metadata_"]["transfer_id"] >= 0
assert m["7509"]["uptime"] in range(10)
assert m["7509"]["vendor_specific_status_code"] == 54
elif src_nid == 52: # The caller (GetInfo)
assert "nominal" in m["7509"]["_metadata_"]["priority"].lower()
assert m["7509"]["_metadata_"]["transfer_id"] >= 0
assert m["7509"]["uptime"] in range(4)
else:
assert False
assert len(diagnostics) == 3
for m in diagnostics:
assert "slow" in m["4321"]["_metadata_"]["priority"].lower()
assert m["4321"]["_metadata_"]["transfer_id"] >= 0
assert m["4321"]["_metadata_"]["source_node_id"] == 51
assert m["4321"]["timestamp"]["microsecond"] == 123456
assert m["4321"]["text"] == "Hello world!"
assert len(temperatures) == 3
assert all(
map(lambda mt: mt["555"]["kelvin"] == pytest.approx(123.456),
temperatures))
assert proc_sub_diagnostic_wrong_pid.alive
assert proc_sub_diagnostic_wrong_pid.wait(1.0,
interrupt=True)[1].strip() == ""
def _unittest_error() -> None:
with pytest.raises(CalledProcessError):
execute_cli("invalid-command", timeout=2.0, log=False)
with pytest.raises(CalledProcessError): # Ambiguous abbreviation.
execute_cli("c", timeout=2.0, log=False)
def _unittest_call_custom(transport_factory: TransportFactory,
compiled_dsdl: typing.Any) -> None:
_ = compiled_dsdl
env = {
"YAKUT_TRANSPORT": transport_factory(88).expression,
"YAKUT_PATH": str(OUTPUT_DIR),
}
from sirius_cyber_corp import PerformLinearLeastSquaresFit_1_0
# Set up the server that we will be testing the client against.
server_transport = construct_transport(transport_factory(22).expression)
server_presentation = pyuavcan.presentation.Presentation(server_transport)
server = server_presentation.get_server(PerformLinearLeastSquaresFit_1_0,
222)
last_metadata: typing.Optional[
pyuavcan.presentation.ServiceRequestMetadata] = None
async def handle_request(
request: PerformLinearLeastSquaresFit_1_0.Request,
metadata: pyuavcan.presentation.ServiceRequestMetadata,
) -> PerformLinearLeastSquaresFit_1_0.Response:
nonlocal last_metadata
last_metadata = metadata
print("REQUEST OBJECT :", request)
print("REQUEST METADATA:", metadata)
sum_x = sum(map(lambda p: p.x, request.points)) # type: ignore
sum_y = sum(map(lambda p: p.y, request.points)) # type: ignore
a = sum_x * sum_y - len(request.points) * sum(
map(lambda p: p.x * p.y, request.points)) # type: ignore
b = sum_x * sum_x - len(request.points) * sum(
map(lambda p: p.x**2, request.points)) # type: ignore
slope = a / b
y_intercept = (sum_y - slope * sum_x) / len(request.points)
response = PerformLinearLeastSquaresFit_1_0.Response(
slope=slope, y_intercept=y_intercept)
print("RESPONSE OBJECT:", response)
return response
# Invoke the service and then run the server for a few seconds to let it process the request.
proc = Subprocess.cli(
"-v",
"--format=json",
"call",
"22",
"222.sirius_cyber_corp.PerformLinearLeastSquaresFit.1.0",
"points: [{x: 10, y: 1}, {x: 20, y: 2}]",
"--priority=SLOW",
"--with-metadata",
environment_variables=env,
)
asyncio.get_event_loop().run_until_complete(
server.serve_for(handle_request, 3.0))
result, stdout, _ = proc.wait(5.0)
assert result == 0
assert last_metadata is not None
assert last_metadata.priority == pyuavcan.transport.Priority.SLOW
assert last_metadata.client_node_id == 88
# Finalize to avoid warnings in the output.
server_presentation.close()
# Parse the output and validate it.
parsed = json.loads(stdout)
print("PARSED RESPONSE:", parsed)
assert parsed["222"]["_metadata_"]["priority"] == "slow"
assert parsed["222"]["_metadata_"]["source_node_id"] == 22
assert parsed["222"]["slope"] == pytest.approx(0.1)
assert parsed["222"]["y_intercept"] == pytest.approx(0.0)
# Timed-out request.
result, stdout, stderr = execute_cli(
"call",
"--timeout=0.1",
"22",
"222.sirius_cyber_corp.PerformLinearLeastSquaresFit.1.0",
"points: [{x: 10, y: 1}, {x: 20, y: 2}]",
environment_variables=env,
ensure_success=False,
log=False,
)
assert result == 1
assert stdout == ""
assert "timed out" in stderr
