libmav-python/test.py at main · Auterion/libmav-python · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
import unittest
import sys
sys.path.append('./cmake-build-debug')

import libmav


BIG_MESSAGE = '''
<mavlink>
    <enums>
        <enum name="SOME_ENUM">
            <entry value="123" name="SOME_ENUM_A"/>
            <entry value="124" name="SOME_ENUM_B"/>
        </enum>
    </enums>
    <messages>
        <message id="0" name="HEARTBEAT">
            <field type="uint8_t" name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
            <field type="uint8_t" name="autopilot">Autopilot type / class. defined in MAV_AUTOPILOT ENUM</field>
            <field type="uint8_t" name="base_mode">System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h</field>
            <field type="uint32_t" name="custom_mode">A bitfield for use for autopilot-specific flags.</field>
            <field type="uint8_t" name="system_status">System status flag, see MAV_STATE ENUM</field>
            <field type="uint8_t" name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
        </message>
        <message id="9915" name="BIG_MESSAGE">
            <field type="uint8_t" name="uint8_field">description</field>
            <field type="int8_t" name="int8_field">description</field>
            <field type="uint16_t" name="uint16_field">description</field>
            <field type="int16_t" name="int16_field">description</field>
            <field type="uint32_t" name="uint32_field">description</field>
            <field type="int32_t" name="int32_field">description</field>
            <field type="uint64_t" name="uint64_field">description</field>
            <field type="int64_t" name="int64_field">description</field>
            <field type="double" name="double_field">description</field>
            <field type="float" name="float_field">description</field>
            <field type="char[20]" name="char_arr_field">description</field>
            <field type="float[3]" name="float_arr_field">description</field>
            <field type="int32_t[3]" name="int32_arr_field">description</field>
        </message>
    </messages>
</mavlink>
'''


class TestMessageSet(unittest.TestCase):
    def testMessageSet(self):
        message_set = libmav.MessageSet()
        message_set.add_from_xml_string(BIG_MESSAGE)
        self.assertEqual(len(message_set), 2)
        self.assertTrue('BIG_MESSAGE' in message_set)
        self.assertTrue(9915 in message_set)
        self.assertFalse(12 in message_set)
        self.assertFalse('OTHER_MESSAGE' in message_set)
        self.assertEqual(message_set.id_for_message('BIG_MESSAGE'), 9915)
        self.assertEqual(message_set.enum('SOME_ENUM_A'), 123)
        self.assertEqual(message_set.enum('SOME_ENUM_B'), 124)

    def testCreateMessage(self):
        message_set = libmav.MessageSet()
        message_set.add_from_xml_string(BIG_MESSAGE)

        message = message_set.create('BIG_MESSAGE')
        self.assertEqual(message.name, 'BIG_MESSAGE')
        self.assertEqual(message.type.name, 'BIG_MESSAGE')
        self.assertEqual(message.id, 9915)


class TestMessage(unittest.TestCase):
    def setUp(self) -> None:
        self.message_set = libmav.MessageSet()
        self.message_set.add_from_xml_string(BIG_MESSAGE)

    def testMessageSetGet(self):
        message = self.message_set.create('BIG_MESSAGE')
        message['uint8_field'] = 1
        message['int8_field'] = 2
        message['uint16_field'] = 3
        message['int16_field'] = 4
        message['uint32_field'] = 5
        message['int32_field'] = 6
        message['uint64_field'] = 7
        message['int64_field'] = 8
        message['double_field'] = 9.0
        message['float_field'] = 10.0
        message['char_arr_field'] = 'Hello world'
        message['float_arr_field'] = [1.0, 2.0, 3.0]
        message['int32_arr_field'] = [4, 5, 6]

        self.assertEqual(message['uint8_field'], 1)
        self.assertEqual(message['int8_field'], 2)
        self.assertEqual(message['uint16_field'], 3)
        self.assertEqual(message['int16_field'], 4)
        self.assertEqual(message['uint32_field'], 5)
        self.assertEqual(message['int32_field'], 6)
        self.assertEqual(message['uint64_field'], 7)
        self.assertEqual(message['int64_field'], 8)
        self.assertEqual(message['double_field'], 9.0)
        self.assertEqual(message['float_field'], 10.0)
        self.assertEqual(message['char_arr_field'], 'Hello world')
        self.assertEqual(message['float_arr_field'], [1.0, 2.0, 3.0])
        self.assertEqual(message['int32_arr_field'], [4, 5, 6])

    def testMessageFloatPackUnpack(self):
        message = self.message_set.create('BIG_MESSAGE')
        message.set_as_float_pack('float_field', 12)
        self.assertEqual(message.get_as_float_unpack('float_field'), 12)

    def testSetFromDict(self):
        message = self.message_set.create('BIG_MESSAGE')

        original = {
            '_id': 9915,
            '_name': 'BIG_MESSAGE',
            'uint8_field': 1,
            'int8_field': 2,
            'uint16_field': 3,
            'int16_field': 4,
            'uint32_field': 5,
            'int32_field': 6,
            'uint64_field': 7,
            'int64_field': 8,
            'double_field': 9.4,
            'float_field': 10.5,
            'char_arr_field': 'Hello world',
            'float_arr_field': [1.0, 2.0, 3.0],
            'int32_arr_field': [4, 5, 6]
        }

        message.set_from_dict(original)
        output = message.to_dict()
        self.assertEqual(original, output)

class TestPhysical(unittest.TestCase):
    def setUp(self) -> None:
        self.message_set = libmav.MessageSet()
        self.message_set.add_from_xml_string(BIG_MESSAGE)

        self.big_message = self.message_set.create('BIG_MESSAGE').set_from_dict({
            'uint8_field': 1,
            'int8_field': 2,
            'uint16_field': 3,
            'int16_field': 4,
            'uint32_field': 5,
            'int32_field': 6,
            'uint64_field': 7,
            'int64_field': 8,
            'double_field': 9.4,
            'float_field': 10.5,
            'char_arr_field': 'Hello world',
            'float_arr_field': [1.0, 2.0, 3.0],
            'int32_arr_field': [4, 5, 6]
        })

    def testTCPConnection(self):

        heartbeat = self.message_set.create('HEARTBEAT').set_from_dict({
            'type': 1,
            'autopilot': 2,
            'base_mode': 3,
            'custom_mode': 4,
            'system_status': 5,
            'mavlink_version': 6
        })
        server_physical = libmav.TCPServer(193413)
        server_runtime = libmav.NetworkRuntime(self.message_set, heartbeat, server_physical)

        client_physical = libmav.TCPClient('127.0.0.1', 193413)
        client_runtime = libmav.NetworkRuntime(self.message_set, heartbeat, client_physical)

        server_conn = server_runtime.await_connection(2000)
        client_conn = client_runtime.await_connection(2000)

        expectation = client_conn.expect('BIG_MESSAGE')
        server_conn.send(self.big_message)
        response = client_conn.receive(expectation, 100)

        self.assertEqual(self.big_message.to_dict(), response.to_dict())

        expectation = server_conn.expect('BIG_MESSAGE')
        client_conn.send(self.big_message)
        response = server_conn.receive(expectation, 100)
        self.assertEqual(self.big_message.to_dict(), response.to_dict())

    def testUDPConnection(self):
        heartbeat = self.message_set.create('HEARTBEAT').set_from_dict({
            'type': 1,
            'autopilot': 2,
            'base_mode': 3,
            'custom_mode': 4,
            'system_status': 5,
            'mavlink_version': 6
        })
        server_physical = libmav.UDPServer(193413)
        server_runtime = libmav.NetworkRuntime(self.message_set, heartbeat, server_physical)

        client_physical = libmav.UDPClient('127.0.0.1', 193413)
        client_runtime = libmav.NetworkRuntime(self.message_set, heartbeat, client_physical)

        server_conn = server_runtime.await_connection(2000)
        client_conn = client_runtime.await_connection(2000)

        expectation = client_conn.expect('BIG_MESSAGE')
        server_conn.send(self.big_message)
        response = client_conn.receive(expectation, 100)

        self.assertEqual(self.big_message.to_dict(), response.to_dict())

        expectation = server_conn.expect('BIG_MESSAGE')
        client_conn.send(self.big_message)
        response = server_conn.receive(expectation, 100)
        self.assertEqual(self.big_message.to_dict(), response.to_dict())


if __name__ == '__main__':
    unittest.main()