369 lines
15 KiB
Python
369 lines
15 KiB
Python
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#!/usr/bin/env python3
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#
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# Node/javascript mavlink test maker!
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#
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# This is written to run with python3 only, and the tests it produces are for node / javascript
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# It is mavlink1 and mavlink2 and multi-type aware
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#
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# Copyright David 'Buzz' Bussenschutt July 2020
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# Released under GNU GPL version 3 or later
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#
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# to run: cd test
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# python3 make_tests.py > made_tests.js
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# cd -
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# mocha test --grep 'from C'
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#
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# reads the output from modified C test commands, for example, for ardupilot + mavlink2:
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# "./testmav2.0_ardupilotmega | grep '^fd' command and builds a bunch of .js tests for this test data
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#
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# In order to identify types that are 'Long' or need Array wrapping, which need special handling we build a little lookup table
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# from the autogenerated file:mavlink.tests.js" (which itself is made by mavgen_javascript.py )
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#
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# we label and number each of the tests in the output as well, so that its also easy to run individual tests with something like:
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# mocha test --grep '1234'
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# or we can run all of them with:
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# mocha test --grep 'from C'
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# or eg all the ardupilotmega tests against mavlink1:
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# mocha test --grep 'using ardupilotmega/1.0'
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import subprocess
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import sys
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# now tested and executes with this simple matrix of two mavtypes and two mav versions
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cmddir = '../../../generator/C/test/posix/'
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mavtypes = ['ardupilotmega','common']
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versions = ['1.0','2.0']
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cmds = []
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#..so the C binding cmds executed/wrapped are: 'testmav1.0_ardupilotmega', 'testmav2.0_ardupilotmega', 'testmav1.0_common', 'testmav2.0_common'
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#---------------------------------------------------------------------------------------
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template1 = '''
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it('id${ID} encode and decode ${NAME} from C using ${MAVTYPE}/${VERSION} ${SIGNED}', function() {
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this.mav.seq = ${SEQ};
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this.mav.srcSystem=${SRCSYS};
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this.mav.srcComponent=${SRCCOMP};
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'''
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signing_extra_template = '''
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//-------- START codeblock only for signed packets----------------
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this.mav.seq = ${SEQ}-1;
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// relevant to how we pass-in the Long object/s to jspack, we'll assume the calling user is smart enough to know that.
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var wrap_long = function (someLong) {
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return [someLong.getLowBitsUnsigned(), someLong.getHighBitsUnsigned()];
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}
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this.mav.signing.secret_key = new Buffer.from([ 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42 ]) ; // matches secret key in testmav.c
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this.mav.signing.link_id = 0 ; // 1 byte // matches link_id in testmav.c
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//this.mav.signing.timestamp = new Buffer.from([ 0,0,0,0,0,${TS}]); // 6 bytes // matches timestamp in testmav.c
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this.mav.signing.timestamp = ${TS}; // at most 48 bits , fits in a native js number - matches timestamp in testmav.c
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this.mav.signing.sign_outgoing = true; // todo false this
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var epoch_offset = 1420070400;
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var x= Long.fromString("${TS}", true);
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var long_timestamp = wrap_long(x);
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var target_system = 255; // the python impl in mavproxy uses 255 here , so we do, it could be this.sysid
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var target_component = 0;
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var secret_key = this.mav.signing.secret_key ;
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MAVLink20Processor.prototype.send = function(mavmsg) {
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buf = mavmsg.pack(this);
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// no actual send here
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this.seq = (this.seq + 1) % 256;
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this.total_packets_sent +=1;
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this.total_bytes_sent += buf.length;
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}
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var link_id =0;
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var srcSystem=this.mav.srcSystem;
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var srcComponent=this.mav.srcComponent;
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stream_key = new Array(link_id,srcSystem,srcComponent).toString();
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this.mav.signing.stream_timestamps[stream_key] = ${TS};
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this.mav.signing.timestamp.should.eql(${TS}); //ts before setup
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var setup_signing = new mavlink20.messages.setup_signing(target_system, target_component, secret_key, long_timestamp);
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this.mav.send(setup_signing,this.sysid);
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setup_signing.secret_key.should.eql(new Buffer.from([ 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42, 42 ]) );
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setup_signing.initial_timestamp.should.eql([${TS},0]);
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//this.mav.signing.timestamp.should.eql(new Buffer.from([0,0,0,0,0,${TS}]));
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this.mav.signing.timestamp.should.eql(${TS}+1); // ts after setup
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this.mav.signing.link_id.should.eql(0);
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this.mav.signing.sign_outgoing.should.eql(true);
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//-------- END codeblock only for signed packets----------------
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'''
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template2 = '''
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var test_${NAME} = this.tests.test_${NAME}()[0]; // get the assembled test object with test data already set, override just the min we need to do this test
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//--- you can uncomment any of these to change the test, but you'll need to change the reference buffer to the right result too
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//${FIELDS}
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//---
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// Create a buffer that matches what the Python version of MAVLink creates
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var reference = new Buffer.from([${BUFFER}]);
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this.mav.signing.timestamp = ${TS};// force ts to be correct, right before the pack() that matters
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var p = test_${NAME}.pack(this.mav);
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// console.log(p);
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// p.forEach( x => { process.stdout.write( x.toString() ); process.stdout.write(" ") } ); process.stdout.write("\\n");
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// p.forEach( x => { process.stdout.write( x.toString(16) ); process.stdout.write(" ") } ); process.stdout.write("\\n");
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test_${NAME}._header.seq.should.eql(${SEQ});
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test_${NAME}._header.srcSystem.should.eql(${SRCSYS});
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test_${NAME}._header.srcComponent.should.eql(${SRCCOMP});
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test_${NAME}._header.msgId.should.eql(test_${NAME}._id);
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${SIGNED}test_${NAME}._header.incompat_flags.should.eql(1);
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${UNSIGNED}test_${NAME}._header.incompat_flags.should.eql(0);
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test_${NAME}._header.compat_flags.should.eql(0);
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new Buffer.from(p).should.eql(reference);
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});
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'''
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templatestart = '''
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//
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// (auto-generated by make_tests.py ), do not edit.
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// generator by davidbuzz@gmail.com
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//
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// Copyright David 'Buzz' Bussenschutt July 2020
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// Released under GNU GPL version 3 or later
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//
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// you can regenerate this file and its dependencies and run its tests, by executing the following: "cd pymavlink/generator/javascript ; npm test"
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// or see make_tests.py which created this.
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//
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should = require('should');
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var Long = require('long');
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'''
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templateheader = '''
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//--------------------------------------------------------------------------------------------------------------------------------------------------------
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describe('end-to-end node byte-level tests of ${MAVTYPE}/${VERSION} against C impl', function() {
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beforeEach(function() {
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var {mavlink${VERS}, MAVLink${VERS}Processor} = require('../implementations/mavlink_${MAVTYPE}_v${VERSION}/mavlink.js');// hardcoded here by make_tests.py generator
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this.mav = new MAVLink${VERS}Processor(null, 42, 150); // hardcoded here by make_tests.py generator
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this.tests = require('../implementations/mavlink_${MAVTYPE}_v${VERSION}/mavlink.tests.js');//// hardcoded here by make_tests.py generator
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// be sure the test library is using the right version before we call into it
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this.tests.set_mav(this.mav);
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});'''
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templatefooter = '''
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});'''
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#------------------------------------------------
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def is_packet_and_field_in_long_list(pname,fname):
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global llines
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for l in llines:
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if ( pname+'.'+fname in l ) :
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return (True, l)
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return (False, '')
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testid = 1;
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# for each of the 1.0,2.0 and common,ardupilotmega combos write tests
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def do_make_output(mt,v,lines):
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global testid
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t = templateheader.replace('${MAVTYPE}',mt)
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t = t.replace('${VERSION}',v)
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t = t.replace('${VERS}',v.replace('.',''))
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print(t)
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last_line = ''
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for line in lines:
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if line.startswith('fd '): # mavlink2 start byte as human-readable hex, eg 'fd 08 7e 2a 0b e2 00 00 88 41 00 00 34 42 30 93 '
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last_line = '2.0'
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if v == 1: # if param 'v' requested mav1 data and we see mav2 data, ignore it
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continue
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hexdata = line.strip().replace(' ',', 0x')
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hexdata = '0x'+hexdata
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# ckeck if signing bit is set on this packet: 0xfd, 0x09, 0x01 <-- that 1
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signchar = hexdata[15]
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signint = int(signchar,16)
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signbit = signint % 2; # lowest bit to true/false
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if line.startswith('fe '): # mavlink1 start byte as human-readable hex, eg 'fe 08 7e 2a 0b e2 00 00 88 41 00 00 34 42 30 93 '
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last_line = '1.0'
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if v == 2: # if param 'v' requested mav2 data and we see mav1 data, ignore it
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continue
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hexdata = line.strip().replace(' ',', 0x')
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hexdata = '0x'+hexdata
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signbit = False
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if line.startswith('sysid:'): # packet details human-readable eg 'sysid:42 compid:11 seq:126 RPM { rpm1: 17.000000 rpm2: 45.000000 }'
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# skip parsing data if it's not this parser
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if last_line != v:
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continue
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fields = line.split(' ')
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sysid = fields[0].split(':')[1]
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compid = fields[1].split(':')[1]
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seq = fields[2].split(':')[1]
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# lines without sign_ts, the { is earlier
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if fields[4] == '{':
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sign_ts = '0'
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packetname = fields[3]
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more = fields[4:]
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else:
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sign_ts = fields[3].split(':')[1]
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packetname = fields[4]
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more = fields[5:]
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packetname = packetname.lower()
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arraystarted = False
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for i,x in enumerate(more):
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if x == '[':
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arraystarted = True
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if x == ']':
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arraystarted = False
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more[i] = '], \n '
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if not arraystarted and x == '':
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more[i] = ',\n '
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fixed = ''.join(more)
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fixed = fixed.replace(',]',']') # drop unneeded comma from end of arrays
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fixed = fixed.replace('{','');
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fixed = fixed.replace('}','');
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fixed = fixed.replace(':','=') # move : to =
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import re
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fixed = re.sub(r'(\'.*?\')', '\\1,\n ', fixed)
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# now iterate over them as parsed lines safely
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newlines = []
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for fieldline in fixed.split('\n'):
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if fieldline.strip() == '':
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continue
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# a little miniparser here to modify things after the = sign to insert our own test values, not the included ones, but leave
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# value wrapping and other surrounding casting functions as-is.
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( field, value) = fieldline.split('=');
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if not value.startswith('['):
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value = value.replace(',','')
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field = field.replace(' ','')
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else: # array
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value = value.split('[')[1].split(']')[0]; # stuff inside the brackets, but not the brackets
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(retval,match) = is_packet_and_field_in_long_list(packetname,field);
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if retval == True:
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parts = match.split('=');
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after_equals = parts[1];
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before_semicolon = after_equals.split(';')[0]
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# determine old test value in the 'before_semicolon' line segment:
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# a little miniparser here to modify things after the = sign to insert our own test values, not the included ones, but leave
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# value wrapping and other surrounding casting functions as-is.
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if not before_semicolon.replace(' ','').startswith('['):
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if '"' in before_semicolon:
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oldvalue = before_semicolon.split('"')[1]; # stuff inside the ", but not the "
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elif 'Array' in before_semicolon:
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oldvalue = before_semicolon.split('[')[1].split(']')[0]; # [1234]
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else:
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oldvalue = before_semicolon; # unwrapped numbers etc
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else: # array
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oldvalue = before_semicolon.split('[')[1].split(']')[0]; # stuff inside the brackets, but not the brackets
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line_minus_data = before_semicolon.replace(oldvalue,value);
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newlines.append(" test_"+packetname+"."+field+'='+line_minus_data+';')
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else:
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newlines.append(" test_"+packetname+"."+field+'='+value+';')
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fixed = '\n//'.join(newlines)
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t = template1
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t = t.replace('${MAVTYPE}',mt)
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t = t.replace('${VERSION}',v)
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t = t.replace('${NAME}',packetname)
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t = t.replace('${ID}',str(testid))
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testid = testid+1
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t = t.replace('${SEQ}',seq)
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t = t.replace('${SRCSYS}',sysid)
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t = t.replace('${SRCCOMP}',compid)
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t = t.replace('${BUFFER}',hexdata)
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if signbit:
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t = t.replace('${SIGNED}','signed')
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else :
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t = t.replace('${SIGNED}','')
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print(t)
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if signbit:
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t = signing_extra_template
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t = t.replace('${SEQ}',seq)
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t = t.replace('${TS}',sign_ts)
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print(t)
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t = template2
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t = t.replace('${NAME}',packetname)
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t = t.replace('${SEQ}',seq)
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t = t.replace('${SRCSYS}',sysid)
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t = t.replace('${SRCCOMP}',compid)
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t = t.replace('${BUFFER}',hexdata)
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t = t.replace('${FIELDS}',fixed)
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t = t.replace('${TS}',sign_ts)
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if signbit:
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t = t.replace('${SIGNED}','/*signed*/ ')
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t = t.replace('${UNSIGNED}','//unsigned ')
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else :
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t = t.replace('${SIGNED}','//signed ')
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t = t.replace('${UNSIGNED}','/*unsigned*/ ')
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print(t)
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|
|
||
|
|
print('//------------------------------------------------------')
|
||
|
|
|
||
|
|
# append footer
|
||
|
|
t = templatefooter.replace('${MAVTYPE}',mt)
|
||
|
|
t = t.replace('${VERSION}',v)
|
||
|
|
t = t.replace('${VERS}',v.replace('.',''))
|
||
|
|
print(t)
|
||
|
|
|
||
|
|
|
||
|
|
#---------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
# example line from file:
|
||
|
|
# test_actuator_output_status.time_usec = Long.fromNumber(93372036854775807, true); // fieldtype: uint64_t isarray: False
|
||
|
|
llines = []
|
||
|
|
def make_long_lookup_table(mt,v):
|
||
|
|
global llines
|
||
|
|
_cmd = 'egrep "(wrap_long|new.*Array)" ../implementations/mavlink_'+mt+'_v'+v+'/mavlink.tests.js'; # relevant lines only
|
||
|
|
_result = subprocess.run(_cmd, stdout=subprocess.PIPE, shell=True)
|
||
|
|
_data = _result.stdout.decode('utf-8')
|
||
|
|
llines = _data.split("\n")
|
||
|
|
#return lines
|
||
|
|
|
||
|
|
#---------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
print(templatestart)
|
||
|
|
|
||
|
|
for mt in mavtypes:
|
||
|
|
for v in versions:
|
||
|
|
cmd = cmddir+'testmav'+v+'_'+mt
|
||
|
|
result = subprocess.run(cmd, stdout=subprocess.PIPE)
|
||
|
|
data = result.stdout.decode('utf-8')
|
||
|
|
lines = data.split("\n")
|
||
|
|
llines = []
|
||
|
|
make_long_lookup_table(mt, v);
|
||
|
|
do_make_output(mt,v,lines)
|
||
|
|
|
||
|
|
|
||
|
|
print("//output done")
|
||
|
|
|
||
|
|
sys.exit()
|
||
|
|
|