98 lines
3.0 KiB
Python
98 lines
3.0 KiB
Python
#!/usr/bin/python3
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"""
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Author: Vertigo Designs, Ryan Summers
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Description: Implements HITL testing of Stabilizer data livestream capabilities.
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"""
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import asyncio
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import sys
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import argparse
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import socket
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from miniconf import Miniconf
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from stabilizer.stream import StabilizerStream
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def _get_ip(broker):
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""" Get the IP of the local device.
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Args:
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broker: The broker IP of the test. Used to select an interface to get the IP of.
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Returns:
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The IP as an array of integers.
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"""
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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try:
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sock.connect((broker, 1883))
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address = sock.getsockname()[0]
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finally:
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sock.close()
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return list(map(int, address.split('.')))
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def sequence_delta(previous_sequence, next_sequence):
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""" Check the number of items between two sequence numbers. """
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if previous_sequence is None:
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return 0
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delta = next_sequence - (previous_sequence + 1)
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return delta & 0xFFFFFFFF
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def main():
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""" Main program entry point. """
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parser = argparse.ArgumentParser(description='Loopback tests for Stabilizer HITL testing',)
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parser.add_argument('prefix', type=str,
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help='The MQTT topic prefix of the target')
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parser.add_argument('--broker', '-b', default='mqtt', type=str,
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help='The MQTT broker address')
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parser.add_argument('--port', '-p', default=2000, type=int,
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help='The UDP port to use for streaming')
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args = parser.parse_args()
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async def test():
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""" The actual testing being completed. """
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local_ip = _get_ip(args.broker)
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interface = await Miniconf.create(args.prefix, args.broker)
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stream = StabilizerStream(args.port, timeout=0.5)
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# Configure the stream
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print(f'Configuring stream to target {".".join(map(str, local_ip))}:{args.port}')
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print('')
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await interface.command('stream_target', {'ip': local_ip, 'port': args.port}, retain=False)
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await interface.command('telemetry_period', 10, retain=False)
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# Verify frame reception
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print('Testing stream reception')
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print('')
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last_sequence = None
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for _ in range(5000):
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for (seqnum, _data) in stream.read_frame():
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assert sequence_delta(last_sequence, seqnum) == 0, \
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f'Frame drop detected: 0x{last_sequence:08X} -> 0x{seqnum:08X}'
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last_sequence = seqnum
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# Disable the stream.
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print('Closing stream')
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print('')
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await interface.command('stream_target', {'ip': [0, 0, 0, 0], 'port': 0}, retain=False)
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stream.clear()
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print('Verifying no further data is received')
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try:
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for _ in stream.read_frame():
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raise Exception('Unexpected data encountered on stream')
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except socket.timeout:
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pass
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print('PASS')
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loop = asyncio.get_event_loop()
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sys.exit(loop.run_until_complete(test()))
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if __name__ == '__main__':
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main()
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