rsp2k
ef8c4658e0
Parse Parrot's common.xml and ardrone3.xml into CommandSpec objects rather than transcribing 264 commands by hand. Direction is derived from comment result=/triggered= with a class-name-suffix fallback for the 31 commands that state neither, giving 101 to-drone and 163 from-drone. ardrone3.Piloting.FlatTrim is injected: the firmware accepts it but neither the vendored snapshot nor upstream defines it. codec encodes the <BBH header (the command id is 16 bits, not 8) and reads enums as i32 and strings as NUL-terminated, both of which pyparrot gets wrong. safety assigns the arming tier by class, with Mavlink and Calibration counted as motion because they move the aircraft. expectations parses the undocumented #p-c-m grammar including | alternatives and this.<arg> echoes. 90 tests, counts asserted so a bad parse fails loudly.
132 lines
4.6 KiB
Python
132 lines
4.6 KiB
Python
"""Tiering decides what needs arming, so a misfiled command is a safety bug."""
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import collections
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from mcbebop.protocol import xml_index
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from mcbebop.protocol.safety import ALWAYS_ALLOWED, tier_for
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from mcbebop.protocol.types import Direction, Tier
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MOTION = {
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# The aircraft itself.
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"ardrone3.Piloting.FlatTrim",
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"ardrone3.Piloting.TakeOff",
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"ardrone3.Piloting.PCMD",
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"ardrone3.Piloting.Landing",
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"ardrone3.Piloting.Emergency",
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"ardrone3.Piloting.NavigateHome",
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"ardrone3.Piloting.AutoTakeOffMode",
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"ardrone3.Piloting.moveBy",
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"ardrone3.Piloting.UserTakeOff",
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"ardrone3.Piloting.Circle",
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"ardrone3.Piloting.moveTo",
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"ardrone3.Piloting.CancelMoveTo",
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"ardrone3.Piloting.StartPilotedPOI",
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"ardrone3.Piloting.StopPilotedPOI",
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"ardrone3.Piloting.CancelMoveBy",
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"ardrone3.Piloting.StartPilotedPOIV2",
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"ardrone3.Animations.Flip",
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# Running a stored flight plan moves the whole mission.
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"common.Mavlink.Start",
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"common.Mavlink.Pause",
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"common.Mavlink.Stop",
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# Calibration asks a powered aircraft to rotate.
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"common.Calibration.MagnetoCalibration",
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"common.Calibration.PitotCalibration",
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"common.Animations.StartAnimation",
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"common.Animations.StopAnimation",
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"common.Animations.StopAllAnimations",
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}
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def test_motion_set_is_exactly_these():
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tiered = {c.full_name for c in xml_index.all_commands() if c.tier is Tier.MOTION}
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assert tiered == MOTION
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def test_every_motion_command_is_sendable():
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for name in MOTION:
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command = xml_index.get(name)
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assert command is not None, name
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assert command.direction is Direction.TO_DRONE, name
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def test_observe_is_the_two_dump_everything_commands():
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sendable_observe = {
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c.full_name
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for c in xml_index.all_commands()
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if c.tier is Tier.OBSERVE and c.direction is Direction.TO_DRONE
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}
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assert sendable_observe == {"common.Common.AllStates", "common.Settings.AllSettings"}
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def test_envelope_covers_the_limit_and_radio_classes():
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envelope = {c.full_name for c in xml_index.all_commands() if c.tier is Tier.ENVELOPE}
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for name in (
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"ardrone3.PilotingSettings.MaxAltitude",
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"ardrone3.PilotingSettings.NoFlyOverMaxDistance",
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"ardrone3.SpeedSettings.MaxVerticalSpeed",
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"ardrone3.GPSSettings.SetHome",
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"ardrone3.Network.WifiScan",
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"ardrone3.NetworkSettings.WifiSelection",
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"common.Network.Disconnect",
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"common.WifiSettings.OutdoorSetting",
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"common.FlightPlanSettings.ReturnHomeOnDisconnect",
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"common.Settings.Country",
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"common.Settings.AutoCountry",
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"common.Settings.Reset",
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"common.Common.Reboot",
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"common.Factory.Reset",
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"common.OverHeat.SwitchOff",
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"common.Charger.SetMaxChargeRate",
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"common.Controller.isPiloting",
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):
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assert name in envelope, name
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assert len(envelope) == 44
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def test_config_is_the_harmless_remainder():
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config = {c.full_name for c in xml_index.all_commands() if c.tier is Tier.CONFIG}
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assert len(config) == 31
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for name in (
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"ardrone3.MediaRecord.Picture",
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"ardrone3.MediaStreaming.VideoEnable",
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"ardrone3.PictureSettings.VideoFramerate",
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"ardrone3.Camera.Orientation",
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"common.Common.CurrentDate",
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"common.Settings.ProductName",
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"common.Headlights.intensity",
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):
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assert name in config, name
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assert not any(
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c.direction is Direction.FROM_DRONE for c in xml_index.all_commands() if c.tier is Tier.CONFIG
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)
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def test_sendable_tiers_account_for_every_to_drone_command():
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counts = collections.Counter(
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c.tier for c in xml_index.all_commands() if c.direction is Direction.TO_DRONE
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)
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assert counts[Tier.MOTION] == 25
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assert counts[Tier.ENVELOPE] == 44
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assert counts[Tier.OBSERVE] == 2
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assert counts[Tier.CONFIG] == 31
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assert sum(counts.values()) == 102 # 101 in the XML plus the injected FlatTrim
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def test_events_are_observe():
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for command in xml_index.all_commands():
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if command.direction is Direction.FROM_DRONE:
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assert command.tier is Tier.OBSERVE, command.full_name
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def test_always_allowed_are_the_two_that_end_a_flight():
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assert frozenset({"ardrone3.Piloting.Landing", "ardrone3.Piloting.Emergency"}) == ALWAYS_ALLOWED
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for name in ALWAYS_ALLOWED:
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command = xml_index.get(name)
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assert command.tier is Tier.MOTION # locked by tier, exempted by name
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def test_tier_for_is_what_the_index_stamped():
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for command in xml_index.all_commands():
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assert tier_for(command) is command.tier
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