def _make_subscriber(subjects: typing.Sequence[str],
presentation: Presentation) -> Subscriber[_M]:
group = [construct_port_id_and_type(ds) for ds in subjects]
assert len(group) > 0
if len(group) == 1:
((subject_id, dtype), ) = group
return presentation.make_subscriber(dtype, subject_id)
raise NotImplementedError(
"Multi-subject subscription is not yet implemented. See https://github.com/UAVCAN/pyuavcan/issues/65"
)
async def _unittest_spoofer(caplog: pytest.LogCaptureFixture) -> None:
dcs_pres = Presentation(LoopbackTransport(1234))
dcs_pub_spoof = dcs_pres.make_publisher(Spoof, 1)
spoofer = Spoofer(dcs_pres.make_subscriber(Spoof, 1))
# No target transports configured -- spoofing will do nothing except incrementing the transfer-ID counter.
assert await dcs_pub_spoof.publish(
Spoof(
timeout=uavcan.si.unit.duration.Scalar_1_0(1.0),
priority=org_uavcan_yukon.io.transfer.Priority_1_0(3),
session=org_uavcan_yukon.io.transfer.Session_0_1(
subject=org_uavcan_yukon.io.transfer.SubjectSession_0_1(
subject_id=uavcan.node.port.SubjectID_1_0(6666),
source=[uavcan.node.ID_1_0(1234)])),
transfer_id=[],
iface_id=[],
payload=org_uavcan_yukon.io.transfer.Payload_1_0(b"Hello world!"),
))
await asyncio.sleep(0.5)
# Validate the transfer-ID map.
assert len(spoofer._transfer_id_map) == 1
assert list(spoofer._transfer_id_map.keys())[0].source_node_id == 1234
assert list(spoofer._transfer_id_map.values())[0]._value == 1
# Configure transports.
cap_a: typing.List[pyuavcan.transport.Capture] = []
cap_b: typing.List[pyuavcan.transport.Capture] = []
target_tr_a = LoopbackTransport(None)
target_tr_b = LoopbackTransport(None)
target_tr_a.begin_capture(cap_a.append)
target_tr_b.begin_capture(cap_b.append)
spoofer.add_iface(111, target_tr_a)
spoofer.add_iface(222, target_tr_b)
# Spoof on both, successfully.
spoof = Spoof(
timeout=uavcan.si.unit.duration.Scalar_1_0(1.0),
priority=org_uavcan_yukon.io.transfer.Priority_1_0(3),
session=org_uavcan_yukon.io.transfer.Session_0_1(
subject=org_uavcan_yukon.io.transfer.SubjectSession_0_1(
subject_id=uavcan.node.port.SubjectID_1_0(6666),
source=[uavcan.node.ID_1_0(1234)])),
transfer_id=[9876543210], # This transfer will not touch the TID map.
iface_id=[], # All ifaces.
payload=org_uavcan_yukon.io.transfer.Payload_1_0(b"abcd"),
)
assert await dcs_pub_spoof.publish(spoof)
await asyncio.sleep(0.5)
assert len(cap_a) == len(cap_b)
(cap, ) = cap_a
cap_a.clear()
cap_b.clear()
assert isinstance(cap, LoopbackCapture)
assert cap.transfer.metadata.transfer_id == 9876543210
assert len(spoofer._transfer_id_map) == 1 # New entry was not created.
assert spoofer.status == {
111:
IfaceStatus(num_bytes=4,
num_errors=0,
num_timeouts=0,
num_transfers=1,
backlog=0,
backlog_peak=0),
222:
IfaceStatus(num_bytes=4,
num_errors=0,
num_timeouts=0,
num_transfers=1,
backlog=0,
backlog_peak=0),
}
# Make one time out, the other raise an error, third one is closed.
target_tr_a.spoof_result = False
target_tr_b.spoof_result = RuntimeError("Intended exception")
target_tr_c = LoopbackTransport(None)
target_tr_c.close()
spoofer.add_iface(0, target_tr_c)
with caplog.at_level(logging.CRITICAL):
assert await dcs_pub_spoof.publish(spoof)
await asyncio.sleep(2.0)
assert not cap_a
assert not cap_b
old_status = spoofer.status
assert old_status == {
0:
IfaceStatus(num_bytes=0,
num_errors=1,
num_timeouts=0,
num_transfers=0,
backlog=0,
backlog_peak=0),
111:
IfaceStatus(num_bytes=4,
num_errors=0,
num_timeouts=1,
num_transfers=1,
backlog=0,
backlog_peak=0),
222:
IfaceStatus(num_bytes=4,
num_errors=1,
num_timeouts=0,
num_transfers=1,
backlog=0,
backlog_peak=0),
}
# Force only one iface out of three. Check that the backlog counter goes up.
spoof.iface_id = [0]
assert await dcs_pub_spoof.publish(spoof)
assert await dcs_pub_spoof.publish(spoof)
assert await dcs_pub_spoof.publish(spoof)
await asyncio.sleep(2.0)
assert spoofer.status[0].backlog > 0
assert spoofer.status[0].backlog_peak > 0
assert spoofer.status[111] == old_status[111]
assert spoofer.status[222] == old_status[222]
# Finalize.
spoofer.close()
target_tr_a.close()
target_tr_b.close()
target_tr_c.close()
dcs_pres.close()
await asyncio.sleep(1.0)