#!/usr/bin/python3 ''' Extracts parameter default values from an ArduPilot .bin log file. Unittests. AP_FLAKE8_CLEAN Amilcar do Carmo Lucas, IAV GmbH ''' import unittest from unittest.mock import patch, MagicMock from extract_param_defaults import extract_parameter_default_values, missionplanner_sort, \ mavproxy_sort, sort_params, output_params, parse_arguments, \ NO_DEFAULT_VALUES_MESSAGE, MAVLINK_SYSID_MAX, MAVLINK_COMPID_MAX class TestArgParseParameters(unittest.TestCase): def test_command_line_arguments_combinations(self): # Check the 'format' and 'sort' default parameters args = parse_arguments(['dummy.bin']) self.assertEqual(args.format, 'missionplanner') self.assertEqual(args.sort, 'missionplanner') # Check the 'format' and 'sort' parameters to see if 'sort' can be explicitly overwritten args = parse_arguments(['-s', 'none', 'dummy.bin']) self.assertEqual(args.format, 'missionplanner') self.assertEqual(args.sort, 'none') # Check the 'format' and 'sort' parameters to see if 'sort' can be implicitly overwritten (mavproxy) args = parse_arguments(['-f', 'mavproxy', 'dummy.bin']) self.assertEqual(args.format, 'mavproxy') self.assertEqual(args.sort, 'mavproxy') # Check the 'format' and 'sort' parameters to see if 'sort' can be implicitly overwritten (qgcs) args = parse_arguments(['-f', 'qgcs', 'dummy.bin']) self.assertEqual(args.format, 'qgcs') self.assertEqual(args.sort, 'qgcs') # Check the 'format' and 'sort' parameters args = parse_arguments(['-f', 'mavproxy', '-s', 'none', 'dummy.bin']) self.assertEqual(args.format, 'mavproxy') self.assertEqual(args.sort, 'none') # Assert that a SystemExit is raised when --sysid is used without --format set to qgcs with self.assertRaises(SystemExit): with patch('builtins.print') as mock_print: parse_arguments(['-f', 'mavproxy', '-i', '7', 'dummy.bin']) mock_print.assert_called_once_with("--sysid parameter is only relevant if --format is qgcs") # Assert that a SystemExit is raised when --compid is used without --format set to qgcs with self.assertRaises(SystemExit): with patch('builtins.print') as mock_print: parse_arguments(['-f', 'missionplanner', '-c', '3', 'dummy.bin']) mock_print.assert_called_once_with("--compid parameter is only relevant if --format is qgcs") # Assert that a valid sysid and compid are parsed correctly args = parse_arguments(['-f', 'qgcs', '-i', '7', '-c', '3', 'dummy.bin']) self.assertEqual(args.format, 'qgcs') self.assertEqual(args.sort, 'qgcs') self.assertEqual(args.sysid, 7) self.assertEqual(args.compid, 3) class TestExtractParameterDefaultValues(unittest.TestCase): @patch('extract_param_defaults.mavutil.mavlink_connection') def test_logfile_does_not_exist(self, mock_mavlink_connection): # Mock the mavlink connection to raise an exception mock_mavlink_connection.side_effect = Exception("Test exception") # Call the function with a dummy logfile path with self.assertRaises(SystemExit) as cm: extract_parameter_default_values('dummy.bin') # Check the error message self.assertEqual(str(cm.exception), "Error opening the dummy.bin logfile: Test exception") @patch('extract_param_defaults.mavutil.mavlink_connection') def test_extract_parameter_default_values(self, mock_mavlink_connection): # Mock the mavlink connection and the messages it returns mock_mlog = MagicMock() mock_mavlink_connection.return_value = mock_mlog mock_mlog.recv_match.side_effect = [ MagicMock(Name='PARAM1', Default=1.1), MagicMock(Name='PARAM2', Default=2.0), None # End of messages ] # Call the function with a dummy logfile path defaults = extract_parameter_default_values('dummy.bin') # Check if the defaults dictionary contains the correct parameters and values self.assertEqual(defaults, {'PARAM1': 1.1, 'PARAM2': 2.0}) @patch('extract_param_defaults.mavutil.mavlink_connection') def test_no_parameters(self, mock_mavlink_connection): # Mock the mavlink connection to return no parameter messages mock_mlog = MagicMock() mock_mavlink_connection.return_value = mock_mlog mock_mlog.recv_match.return_value = None # No PARM messages # Call the function with a dummy logfile path and assert SystemExit is raised with the correct message with self.assertRaises(SystemExit) as cm: extract_parameter_default_values('dummy.bin') self.assertEqual(str(cm.exception), NO_DEFAULT_VALUES_MESSAGE) @patch('extract_param_defaults.mavutil.mavlink_connection') def test_no_parameter_defaults(self, mock_mavlink_connection): # Mock the mavlink connection to simulate no parameter default values in the .bin file mock_mlog = MagicMock() mock_mavlink_connection.return_value = mock_mlog mock_mlog.recv_match.return_value = None # No PARM messages # Call the function with a dummy logfile path and assert SystemExit is raised with the correct message with self.assertRaises(SystemExit) as cm: extract_parameter_default_values('dummy.bin') self.assertEqual(str(cm.exception), NO_DEFAULT_VALUES_MESSAGE) @patch('extract_param_defaults.mavutil.mavlink_connection') def test_invalid_parameter_name(self, mock_mavlink_connection): # Mock the mavlink connection to simulate an invalid parameter name mock_mlog = MagicMock() mock_mavlink_connection.return_value = mock_mlog mock_mlog.recv_match.return_value = MagicMock(Name='INVALID_NAME%', Default=1.0) # Call the function with a dummy logfile path with self.assertRaises(SystemExit): extract_parameter_default_values('dummy.bin') @patch('extract_param_defaults.mavutil.mavlink_connection') def test_long_parameter_name(self, mock_mavlink_connection): # Mock the mavlink connection to simulate a too long parameter name mock_mlog = MagicMock() mock_mavlink_connection.return_value = mock_mlog mock_mlog.recv_match.return_value = MagicMock(Name='TOO_LONG_PARAMETER_NAME', Default=1.0) # Call the function with a dummy logfile path with self.assertRaises(SystemExit): extract_parameter_default_values('dummy.bin') class TestSortFunctions(unittest.TestCase): def test_missionplanner_sort(self): # Define a list of parameter names params = ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP2_PARAM2', 'PARAM_GROUP1_PARAM2'] # Sort the parameters using the missionplanner_sort function sorted_params = sorted(params, key=missionplanner_sort) # Check if the parameters were sorted correctly self.assertEqual(sorted_params, ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP1_PARAM2', 'PARAM_GROUP2_PARAM2']) # Test with a parameter name that doesn't contain an underscore params = ['PARAM1', 'PARAM3', 'PARAM2'] sorted_params = sorted(params, key=missionplanner_sort) self.assertEqual(sorted_params, ['PARAM1', 'PARAM2', 'PARAM3']) def test_mavproxy_sort(self): # Define a list of parameter names params = ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP2_PARAM2', 'PARAM_GROUP1_PARAM2'] # Sort the parameters using the mavproxy_sort function sorted_params = sorted(params, key=mavproxy_sort) # Check if the parameters were sorted correctly self.assertEqual(sorted_params, ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP1_PARAM2', 'PARAM_GROUP2_PARAM2']) # Test with a parameter name that doesn't contain an underscore params = ['PARAM1', 'PARAM3', 'PARAM2'] sorted_params = sorted(params, key=mavproxy_sort) self.assertEqual(sorted_params, ['PARAM1', 'PARAM2', 'PARAM3']) class TestOutputParams(unittest.TestCase): @patch('extract_param_defaults.print') def test_output_params(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 1.0, 'PARAM1': 2.0} # Call the function with the dummy dictionary, 'missionplanner' format type output_params(defaults, 'missionplanner') # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call('PARAM2,1'), unittest.mock.call('PARAM1,2')] mock_print.assert_has_calls(expected_calls, any_order=False) @patch('extract_param_defaults.print') def test_output_params_missionplanner_non_numeric(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM1': 'non-numeric'} # Call the function with the dummy dictionary, 'missionplanner' format type output_params(defaults, 'missionplanner') # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call('PARAM1,non-numeric')] mock_print.assert_has_calls(expected_calls, any_order=False) @patch('extract_param_defaults.print') def test_output_params_mavproxy(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 2.0, 'PARAM1': 1.0} # Call the function with the dummy dictionary, 'mavproxy' format type and 'mavproxy' sort type defaults = sort_params(defaults, 'mavproxy') output_params(defaults, 'mavproxy') # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call("%-15s %.6f" % ('PARAM1', 1.0)), unittest.mock.call("%-15s %.6f" % ('PARAM2', 2.0))] mock_print.assert_has_calls(expected_calls, any_order=False) @patch('extract_param_defaults.print') def test_output_params_qgcs(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 2.0, 'PARAM1': 1.0} # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs') # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"), unittest.mock.call("%u %u %-15s %.6f %u" % (1, 1, 'PARAM1', 1.0, 9)), unittest.mock.call("%u %u %-15s %.6f %u" % (1, 1, 'PARAM2', 2.0, 9))] mock_print.assert_has_calls(expected_calls, any_order=False) @patch('extract_param_defaults.print') def test_output_params_qgcs_2_4(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 2.0, 'PARAM1': 1.0} # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs', 2, 4) # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"), unittest.mock.call("%u %u %-15s %.6f %u" % (2, 4, 'PARAM1', 1.0, 9)), unittest.mock.call("%u %u %-15s %.6f %u" % (2, 4, 'PARAM2', 2.0, 9))] mock_print.assert_has_calls(expected_calls, any_order=False) @patch('extract_param_defaults.print') def test_output_params_qgcs_SYSID_THISMAV(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': 3.0} # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs', -1, 7) # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"), unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM1', 1.0, 9)), unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM2', 2.0, 9)), unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'SYSID_THISMAV', 3.0, 9))] mock_print.assert_has_calls(expected_calls, any_order=False) @patch('extract_param_defaults.print') def test_output_params_qgcs_SYSID_INVALID(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': -1.0} # Assert that a SystemExit is raised with the correct message when an invalid sysid is used with self.assertRaises(SystemExit) as cm: defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs', -1, 7) self.assertEqual(str(cm.exception), "Invalid system ID parameter -1 must not be negative") # Assert that a SystemExit is raised with the correct message when an invalid sysid is used with self.assertRaises(SystemExit) as cm: defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs', MAVLINK_SYSID_MAX+2, 7) self.assertEqual(str(cm.exception), f"Invalid system ID parameter 16777218 must be smaller than {MAVLINK_SYSID_MAX}") @patch('extract_param_defaults.print') def test_output_params_qgcs_COMPID_INVALID(self, mock_print): # Prepare a dummy defaults dictionary defaults = {'PARAM2': 2.0, 'PARAM1': 1.0} # Assert that a SystemExit is raised with the correct message when an invalid compid is used with self.assertRaises(SystemExit) as cm: defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs', -1, -3) self.assertEqual(str(cm.exception), "Invalid component ID parameter -3 must not be negative") # Assert that a SystemExit is raised with the correct message when an invalid compid is used with self.assertRaises(SystemExit) as cm: defaults = sort_params(defaults, 'qgcs') output_params(defaults, 'qgcs', 1, MAVLINK_COMPID_MAX+3) self.assertEqual(str(cm.exception), f"Invalid component ID parameter 259 must be smaller than {MAVLINK_COMPID_MAX}") @patch('extract_param_defaults.print') def test_output_params_integer(self, mock_print): # Prepare a dummy defaults dictionary with an integer value defaults = {'PARAM1': 1.01, 'PARAM2': 2.00} # Call the function with the dummy dictionary, 'missionplanner' format type and 'missionplanner' sort type defaults = sort_params(defaults, 'missionplanner') output_params(defaults, 'missionplanner') # Check if the print function was called with the correct parameters expected_calls = [unittest.mock.call('PARAM1,1.01'), unittest.mock.call('PARAM2,2')] mock_print.assert_has_calls(expected_calls, any_order=False) if __name__ == '__main__': unittest.main()