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Author: Vertigo Designs, Ryan Summers
Description: Implements HITL testing of Stabilizer data livestream capabilities.
import asyncio
import sys
import argparse
import logging
import socket
import time
from miniconf import Miniconf
from import StabilizerStream
# The duration to receive frames for.
# The minimum efficiency of the stream in frame transfer to pass testing. Represented as
# (received_frames / transmitted_frames).
def _get_ip(broker):
""" Get the IP of the local device.
broker: The broker IP of the test. Used to select an interface to get the IP of.
The IP as an array of integers.
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.connect((broker, 1883))
address = sock.getsockname()[0]
return list(map(int, address.split('.')))
def sequence_delta(previous_sequence, next_sequence):
""" Check the number of items between two sequence numbers. """
if previous_sequence is None:
return 0
delta = next_sequence - (previous_sequence + 1)
return delta & 0xFFFFFFFF
def main():
""" Main program entry point. """
parser = argparse.ArgumentParser(description='Loopback tests for Stabilizer HITL testing',)
parser.add_argument('prefix', type=str,
help='The MQTT topic prefix of the target')
parser.add_argument('--broker', '-b', default='mqtt', type=str,
help='The MQTT broker address')
parser.add_argument('--port', '-p', default=2000, type=int,
help='The UDP port to use for streaming')
args = parser.parse_args()
async def test():
""" The actual testing being completed. """
local_ip = _get_ip(
interface = await Miniconf.create(args.prefix,
stream = StabilizerStream(args.port, timeout=0.5)
# Configure the stream
print(f'Configuring stream to target {".".join(map(str, local_ip))}:{args.port}')
await interface.command('stream_target', {'ip': local_ip, 'port': args.port}, retain=False)
await interface.command('telemetry_period', 10, retain=False)
# Verify frame reception
print('Testing stream reception')
last_sequence = None
# Sample frames over a set time period and verify that no drops are encountered.
stop = time.time() + STREAM_TEST_DURATION_SECS
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dropped_batches = 0
total_batches = 0
while time.time() < stop:
for (seqnum, _data) in stream.read_frame():
num_dropped = sequence_delta(last_sequence, seqnum)
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total_batches += 1 + num_dropped
if num_dropped:
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dropped_batches += num_dropped
logging.warning('Frame drop detected: 0x%08X -> 0x%08X (%d batches)',
last_sequence, seqnum, num_dropped)
last_sequence = seqnum
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assert total_batches, 'Stream did not receive any frames'
stream_efficiency = 1.0 - (dropped_batches / total_batches)
print(f'Stream Reception Rate: {stream_efficiency * 100:.2f} %')
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print(f'Received {total_batches} ')
print(f'Lost {dropped_batches} batches')
assert stream_efficiency > MIN_STREAM_EFFICIENCY, \
f'Stream dropped too many packets. Reception rate: {stream_efficiency * 100:.2f} %'
# Disable the stream.
print('Closing stream')
await interface.command('stream_target', {'ip': [0, 0, 0, 0], 'port': 0}, retain=False)
print('Verifying no further data is received')
for _ in stream.read_frame():
raise Exception('Unexpected data encountered on stream')
except socket.timeout:
loop = asyncio.get_event_loop()
if __name__ == '__main__':