141 lines
3.0 KiB
Go
141 lines
3.0 KiB
Go
package mavlink
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import (
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"bytes"
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"errors"
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"net"
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"strings"
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"testing"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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mavlink "gobot.io/x/gobot/platforms/mavlink/common"
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)
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var _ gobot.Adaptor = (*UDPAdaptor)(nil)
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type MockUDPConnection struct {
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TestClose func() error
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TestReadFromUDP func([]byte) (int, *net.UDPAddr, error)
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TestWriteTo func([]byte, net.Addr) (int, error)
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}
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func (m *MockUDPConnection) Close() error {
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return m.TestClose()
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}
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func (m *MockUDPConnection) ReadFromUDP(b []byte) (int, *net.UDPAddr, error) {
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return m.TestReadFromUDP(b)
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}
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func (m *MockUDPConnection) WriteTo(b []byte, a net.Addr) (int, error) {
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return m.TestWriteTo(b, a)
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}
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func NewMockUDPConnection() *MockUDPConnection {
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return &MockUDPConnection{
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TestClose: func() error {
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return nil
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},
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TestReadFromUDP: func([]byte) (int, *net.UDPAddr, error) {
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return 0, nil, nil
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},
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TestWriteTo: func([]byte, net.Addr) (int, error) {
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return 0, nil
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},
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}
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}
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func initTestMavlinkUDPAdaptor() *UDPAdaptor {
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m := NewUDPAdaptor(":14550")
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return m
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}
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func TestMavlinkUDPAdaptor(t *testing.T) {
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a := initTestMavlinkUDPAdaptor()
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gobottest.Assert(t, a.Port(), ":14550")
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}
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func TestMavlinkUDPAdaptorName(t *testing.T) {
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a := initTestMavlinkUDPAdaptor()
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gobottest.Assert(t, strings.HasPrefix(a.Name(), "Mavlink"), true)
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a.SetName("NewName")
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gobottest.Assert(t, a.Name(), "NewName")
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}
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func TestMavlinkUDPAdaptorConnectAndFinalize(t *testing.T) {
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a := initTestMavlinkUDPAdaptor()
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gobottest.Assert(t, a.Connect(), nil)
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gobottest.Assert(t, a.Finalize(), nil)
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}
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func TestMavlinkUDPAdaptorWrite(t *testing.T) {
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a := initTestMavlinkUDPAdaptor()
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a.Connect()
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defer a.Finalize()
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m := NewMockUDPConnection()
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m.TestWriteTo = func([]byte, net.Addr) (int, error) {
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return 3, nil
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}
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a.sock = m
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i, err := a.Write([]byte{0x01, 0x02, 0x03})
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gobottest.Assert(t, i, 3)
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gobottest.Assert(t, err, nil)
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}
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func TestMavlinkReadMAVLinkReadDefaultPacket(t *testing.T) {
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a := initTestMavlinkUDPAdaptor()
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a.Connect()
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defer a.Finalize()
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m := NewMockUDPConnection()
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m.TestReadFromUDP = func(b []byte) (int, *net.UDPAddr, error) {
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buf := new(bytes.Buffer)
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buf.Write([]byte{mavlink.MAVLINK_10_STX, 0x02, 0x03})
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copy(b, buf.Bytes())
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return buf.Len(), nil, nil
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}
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a.sock = m
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p, _ := a.ReadMAVLinkPacket()
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gobottest.Assert(t, p.Protocol, uint8(254))
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}
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func TestMavlinkReadMAVLinkPacketReadError(t *testing.T) {
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a := initTestMavlinkUDPAdaptor()
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a.Connect()
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defer a.Finalize()
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m := NewMockUDPConnection()
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i := 0
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m.TestReadFromUDP = func(b []byte) (int, *net.UDPAddr, error) {
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switch i {
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case 0:
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i = 1
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return 1, nil, nil
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case 1:
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i = 2
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buf := new(bytes.Buffer)
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buf.Write([]byte{0x01, 0x02, 0x03})
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copy(b, buf.Bytes())
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return buf.Len(), nil, nil
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case 2:
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i = 3
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buf := new(bytes.Buffer)
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buf.Write([]byte{mavlink.MAVLINK_10_STX, 255})
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copy(b, buf.Bytes())
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return buf.Len(), nil, nil
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}
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return 0, nil, errors.New("read error")
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}
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a.sock = m
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_, err := a.ReadMAVLinkPacket()
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gobottest.Assert(t, err, errors.New("read error"))
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}
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