async def test_getVehicle(self):
"""Test getting a vehicle from the manager"""
self.manager = vehicleManager.VehicleManager(self.loop)
self.manager.onPacketBufTxAttach(self.pktbuffertxcallback)
await self.manager.add_vehicle("VehA", 255, 0, 4, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15001')
await self.manager.add_vehicle("VehB", 255, 0, 5, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15021')
with self.assertRaises(Exception) as context:
self.manager.get_vehicle("VehX")
assert 'No vehicle with that name' in str(context.exception)
assert self.manager.get_vehicle("VehA") is not None
assert self.manager.get_vehicle("VehA").name == "VehA"
async def test_packetRx(self):
"""Packet passing from connection manager -> vehiclemanager"""
self.manager = vehicleManager.VehicleManager(self.loop)
await self.manager.add_vehicle("VehA", 255, 0, 4, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15001')
await self.manager.add_vehicle("VehB", 255, 0, 5, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15021')
pkt = self.mod.MAVLink_heartbeat_message(5, 4, 0, 0, 0,
int(self.version))
self.manager.onPacketRecieved("VehA", pkt, 'tcpclient:127.0.0.1:15001')
assert len(self.manager.get_vehicle("VehA").latestPacketDict) == 1
assert self.manager.get_vehicle("VehA").latestPacketDict[0] == pkt
assert len(self.manager.get_vehicle("VehB").latestPacketDict) == 0
async def test_addlinkerror(self):
"""add a link to a vehicle that does not exist"""
self.manager = vehicleManager.VehicleManager(self.loop)
# Add callbacks
await self.manager.onLinkAddAttach(self.linkaddcallback)
self.manager.onAddVehicleAttach(self.vehicleaddcallback)
await self.manager.add_vehicle("VehA", 255, 0, 4, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15001')
self.callbacks = {}
with self.assertRaises(Exception) as context:
await self.manager.add_extraLink("VehX",
'tcpclient:127.0.0.1:15021')
assert 'No vehicle with that name' in str(context.exception)
assert self.callbacks == {}
async def test_addremovevehicle(self):
"""Add and remove vehicles, plus callbacks"""
self.manager = vehicleManager.VehicleManager(self.loop)
# Add callbacks
await self.manager.onLinkAddAttach(self.linkaddcallback)
await self.manager.onLinkRemoveAttach(self.linkremovecallback)
self.manager.onAddVehicleAttach(self.vehicleaddcallback)
self.manager.onRemoveVehicleAttach(self.vehicleremovecallback)
await self.manager.add_vehicle("VehA", 255, 0, 4, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15001')
await asyncio.sleep(0.20)
assert self.callbacks['linkadd'] == ("VehA", 4,
'tcpclient:127.0.0.1:15001')
assert self.callbacks['vehicleadd'] == ("VehA")
await self.manager.add_vehicle("VehB", 254, 0, 3, 0, self.dialect,
self.version,
'tcpserver:127.0.0.1:15020')
await asyncio.sleep(0.20)
assert self.callbacks['linkadd'] == ("VehB", 3,
'tcpserver:127.0.0.1:15020')
assert self.callbacks['vehicleadd'] == ("VehB")
assert len(self.manager.get_vehiclelist()) == 2
await self.manager.remove_vehicle("VehB")
await asyncio.sleep(0.20)
assert self.callbacks['linkremove'] == ("VehB")
assert self.callbacks['vehicleremove'] == ("VehB")
assert self.manager.get_vehiclelist() == ["VehA"]
await self.manager.remove_vehicle("VehA")
await asyncio.sleep(0.20)
assert len(self.manager.get_vehiclelist()) == 0
assert self.callbacks['linkremove'] == ("VehA")
assert self.callbacks['vehicleremove'] == ("VehA")
async def test_addvehiclemultilink(self):
"""Add multiple links for a vehicle, plus callbacks"""
self.manager = vehicleManager.VehicleManager(self.loop)
# Add callbacks
await self.manager.onLinkAddAttach(self.linkaddcallback)
self.manager.onAddVehicleAttach(self.vehicleaddcallback)
await self.manager.add_vehicle("VehA", 255, 0, 4, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15001')
await asyncio.sleep(0.5)
assert self.callbacks['linkadd'] == ("VehA", 4,
'tcpclient:127.0.0.1:15001')
assert self.callbacks['vehicleadd'] == ("VehA")
self.callbacks = {}
await self.manager.add_extraLink("VehA", 'tcpserver:127.0.0.1:15021')
assert self.callbacks['linkadd'] == ("VehA", 4,
'tcpserver:127.0.0.1:15021')
assert 'vehicleadd' not in self.callbacks
async def test_packetTx(self):
"""Packet passing from vehicle to connectionManager"""
self.manager = vehicleManager.VehicleManager(self.loop)
self.manager.onPacketBufTxAttach(self.pktbuffertxcallback)
await self.manager.add_vehicle("VehA", 255, 0, 4, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15001')
await self.manager.add_vehicle("VehB", 255, 0, 5, 0, self.dialect,
self.version,
'tcpclient:127.0.0.1:15021')
# Send a packet from GCS to Veh
self.manager.get_vehicle("VehA").sendPacket(
self.mod.MAVLINK_MSG_ID_HEARTBEAT,
type=self.mod.MAV_TYPE_GCS,
autopilot=self.mod.MAV_AUTOPILOT_INVALID,
base_mode=0,
custom_mode=0,
system_status=0,
mavlink_version=int(self.version))
assert self.callbacks['pktbuffertx'][0] == "VehA"
assert self.callbacks['pktbuffertx'][1] is not None
def test_manager(self):
"""Check initialisation"""
self.manager = vehicleManager.VehicleManager(self.loop)
assert len(self.manager.veh_list) == 0
