mirror of
https://github.com/svpcom/wfb-ng.git
synced 2025-03-19 04:54:11 -03:00
890b6f95fc
Changes: 1. Added support for multiple profiles and profile inheritance (no need to have multiple copies of wifibroadcast.cfg). 2. No hadcoded streams (video/mavlink/tunnel) anymore. You can define own profiles and any number of data streams can be added/removed to profiles without any code change. 3. Multiple profiles can be active simultaneously (no need to run multiple instances of wfb-server when using the same wifi adapters for different links). 4. Added support for raw udp data streams. They don't use any frame aggregation or mavlink injection. 5. TX antenna selection is now link_domain wide - i.e. one-way udp_proxy tx stream will use active antenna selected by other RX streams. Compatibility: This commit maintain both radio and config compatibility with previous version. So you can use previous verion of wfb-ng on the other link side and import most of your customizations from /etc/wifibroadcast.cfg The only config incompatible change is that `common.link_id` was moved to profile section and renamed to `link_domain`.
118 lines
4.0 KiB
Python
118 lines
4.0 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import time
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from twisted.python import log
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from twisted.trial import unittest
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from twisted.internet import reactor, defer
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from twisted.internet.protocol import DatagramProtocol
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from ..mavlink import MAVLink_heartbeat_message, MAVLink
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from ..proxy import UDPProxyProtocol, MavlinkUDPProxyProtocol
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from ..mavlink_protocol import MavlinkARMProtocol
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from ..common import df_sleep
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class Echo(DatagramProtocol):
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def datagramReceived(self, data, addr):
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log.msg("got %r from %s" % (data, addr))
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self.transport.write(data, addr)
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class SendPacket(DatagramProtocol):
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def __init__(self, msg, addr, count=1):
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self.df = defer.Deferred()
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self.msg = msg
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self.addr = addr
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self.count = count
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self.replies = []
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def startProtocol(self):
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log.msg('send %d of %r to %s' % (self.count, self.msg, self.addr))
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for i in range(self.count):
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self.transport.write(self.msg, self.addr)
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def datagramReceived(self, data, addr):
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log.msg("received back %r from %s" % (data, addr))
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self.replies.append((data, addr))
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if len(self.replies) == self.count:
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self.df.callback(self.replies)
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class UDPProxyTestCase(unittest.TestCase):
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def setUp(self):
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self.arm_proto = MavlinkARMProtocol(call_on_arm='/bin/true',
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call_on_disarm='/bin/true')
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self.p1 = MavlinkUDPProxyProtocol(addr=None, mirror=None, agg_max_size=1445, agg_timeout=1, inject_rssi=True, mavlink_sys_id=3, mavlink_comp_id=242,
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rx_hooks=[self.arm_proto.dataReceived], tx_hooks=[self.arm_proto.dataReceived])
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self.p2 = UDPProxyProtocol(('127.0.0.1', 14553))
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self.p1.peer = self.p2
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self.p2.peer = self.p1
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self.ep1 = reactor.listenUDP(14551, self.p1)
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self.ep2 = reactor.listenUDP(0, self.p2)
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def tearDown(self):
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self.ep1.stopListening()
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self.ep2.stopListening()
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self.p1._cleanup()
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self.p2._cleanup()
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@defer.inlineCallbacks
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def test_proxy(self):
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addr = ('127.0.0.1', 14551)
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p = SendPacket(b'\xfd\t\x00\x00\x00\x03\xf2m\x00\x00\x02\x00\x03\x00\x01\x01d\x00\x04\xa8\xad', addr, 10)
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ep3 = reactor.listenUDP(9999, p)
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ep4 = reactor.listenUDP(14553, Echo())
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try:
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ts = time.time()
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_replies = yield p.df
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_expected = [(b'\xfd\t\x00\x00\x00\x03\xf2m\x00\x00\x02\x00\x03\x00\x01\x01d\x00\x04\xa8\xad', addr)] * 10
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self.assertGreater(time.time() - ts, 1.0)
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self.assertEqual(_replies, _expected)
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finally:
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ep4.stopListening()
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ep3.stopListening()
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@defer.inlineCallbacks
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def test_rssi_injection(self):
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addr = ('127.0.0.1', 14551)
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p = SendPacket(b'test', addr)
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ep3 = reactor.listenUDP(9999, p)
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yield df_sleep(0.1)
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try:
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self.p1.send_rssi('test', 1, 2, 3, 4)
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ts = time.time()
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_replies = yield p.df
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_expected = [(b'\xfd\t\x00\x00\x00\x03\xf2m\x00\x00\x02\x00\x03\x00\x01\x01d\x00\x04\xa8\xad', addr)]
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self.assertLess(time.time() - ts, 1.0)
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self.assertEqual(_replies, _expected)
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finally:
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ep3.stopListening()
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@defer.inlineCallbacks
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def __test_arm_protocol(self, force_mavlink1):
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addr = ('127.0.0.1', 14551)
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mav = MAVLink(None, srcSystem=1, srcComponent=1)
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msg = MAVLink_heartbeat_message(1, 8, 128, 0, 0, 1).pack(mav, force_mavlink1=force_mavlink1)
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p = SendPacket(msg, addr)
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ep3 = reactor.listenUDP(9999, p)
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ep4 = reactor.listenUDP(14553, Echo())
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try:
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ts = time.time()
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yield p.df
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self.assertEqual(self.arm_proto.armed, True)
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finally:
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ep3.stopListening()
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ep4.stopListening()
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def test_arm_protocol_mav1(self):
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return self.__test_arm_protocol(True)
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def test_arm_protocol_mav2(self):
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return self.__test_arm_protocol(False)
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