diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 4128f9a9518c7cad63788a87508fdcfdb804d605..ff45a6dc2a8717ec4700d409c23e80b85174cb5a 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -109,6 +109,38 @@ pypi-scripted-tdma run_tests:
TEST_DYNAMIC_QUEUES: "true"
TDMA_TYPE: "tdma_scripted"
+test-with-hardware:
+ stage: test
+ tags:
+ - modembox
+ image: ros_acomms-tests:latest
+ script:
+ - source /ros_entrypoint.sh
+ - mkdir -p ~/catkin_ws/src
+ - cd ../ && cp -r $CI_PROJECT_NAME ~/catkin_ws/src/
+ - cd ~/catkin_ws/src/ros_acomms && pip install -U -r requirements.txt
+ - cd ~/catkin_ws && catkin_make
+ - roscore &
+ - sleep 5
+ - source devel/setup.bash
+ - TESTS_PATH=$(rospack find ros_acomms_tests)/src
+ - ROS_ACOMMS_PATH=$(rospack find ros_acomms)/src
+ - ROS_ACOMMS_MODELING_PATH=$(rospack find ros_acomms_modeling)/src
+ - cd ${CI_PROJECT_DIR}
+ - socat /dev/ttyUSB1,b19200,raw,echo=0 udp-listen:4002,fork | socat - udp:localhost:4001 &
+ - pytest --capture=no --junitxml=test_with_hardware.results.xml --cov=$ROS_ACOMMS_PATH --cov-report= $TESTS_PATH/test_with_hardware.py
+ - mv .coverage test_with_hardware.coverage # Note that the next call to pytest will delete anything that starts with .coverage*
+ - coverage combine --keep *.coverage
+ - coverage report
+ - mv .coverage "$CI_JOB_NAME_SLUG.job.coverage"
+ except:
+ - dev/autodocs
+ artifacts:
+ paths:
+ - '*.coverage'
+ reports:
+ junit: '*.results.xml'
+
test-coverage:
image: ros_acomms-tests:latest
except:
@@ -118,6 +150,7 @@ test-coverage:
- "pypi-basic-tdma run_tests"
- "pypi-advanced-tdma run_tests"
- "pypi-scripted-tdma run_tests"
+ - "test-with-hardware"
script:
- mkdir -p ~/catkin_ws/src
- cp -r ../$CI_PROJECT_NAME ~/catkin_ws/src/
diff --git a/ros_acomms/src/acomms_codecs/ccl_packet_codec.py b/ros_acomms/src/acomms_codecs/ccl_packet_codec.py
index e32ca3af52041c91e49f32b9021b9cf22ae5c1de..be8c52f875f4f749955ae51645d17f629d4ac55a 100644
--- a/ros_acomms/src/acomms_codecs/ccl_packet_codec.py
+++ b/ros_acomms/src/acomms_codecs/ccl_packet_codec.py
@@ -24,7 +24,7 @@ class PacketCodec(BasePacketCodec):
# Add headers. CCL messages can't have additional headers on the frame, but we can (theoretically) use
# miniframe headers in conjunction with the "print_rxd" option on TFP messages.
- miniframe_bits = BitArray(bytes=self.miniframe_header)
+ miniframe_bits = BitArray(bytes=bytes(self.miniframe_header))
remaining_miniframe_bits -= miniframe_bits.length
dataframe_bits = BitArray()
diff --git a/ros_acomms/src/acomms_codecs/ros_packet_codec.py b/ros_acomms/src/acomms_codecs/ros_packet_codec.py
index e705f44bb21a03206028a8e632688f5e539a2178..adfb3cd7660724154ff939b81d0ed0a1fab02229 100644
--- a/ros_acomms/src/acomms_codecs/ros_packet_codec.py
+++ b/ros_acomms/src/acomms_codecs/ros_packet_codec.py
@@ -61,9 +61,9 @@ class PacketCodec(BasePacketCodec):
remaining_dataframe_bits = num_dataframe_bytes * 8
# Add headers
- miniframe_bits = BitArray(bytes=self.miniframe_header)
+ miniframe_bits = BitArray(bytes=bytes(self.miniframe_header))
remaining_miniframe_bits = max(remaining_miniframe_bits - miniframe_bits.length, 0)
- dataframe_bits = BitArray(bytes=self.dataframe_header)
+ dataframe_bits = BitArray(bytes=bytes(self.dataframe_header))
remaining_dataframe_bits = max(remaining_dataframe_bits - dataframe_bits.length, 0)
total_remaining_bits = remaining_miniframe_bits + remaining_dataframe_bits
diff --git a/ros_acomms/src/acomms_driver_node.py b/ros_acomms/src/acomms_driver_node.py
index b297dbb22f5381e8eb9c21622743d3ed5942dd80..86d5556bf0db30e22643efd2873d3900835eb559 100755
--- a/ros_acomms/src/acomms_driver_node.py
+++ b/ros_acomms/src/acomms_driver_node.py
@@ -171,7 +171,11 @@ class AcommsDriverNode(object):
rospy.loginfo("Got modem SRC: {}".format(self.um.id))
rospy.set_param("modem_src", int(self.um.id)) # make relative to namespace, for other nodes to use
- self.tat_ms = float(self.um.get_config("TAT", response_timeout=2)["TAT"])
+ try:
+ self.tat_ms = float(self.um.get_config("TAT", response_timeout=2)["TAT"])
+ except TypeError as e:
+ rospy.logwarn("Unable to get modem TAT. Setting to 0, which probably won't work")
+ self.tat_ms = 0
# Hack to work around 7-bit/8-bit addressing problems with legacy packets.
self.um._ignore_cacyc_address_mismatch = True
diff --git a/ros_acomms/src/message_queue_node.py b/ros_acomms/src/message_queue_node.py
index 5026939022fe501635e84061e8d777d60a7ffae3..521a108fdd8f1c1086a3935becfdf68c970e3c1d 100755
--- a/ros_acomms/src/message_queue_node.py
+++ b/ros_acomms/src/message_queue_node.py
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
from __future__ import unicode_literals, annotations
+import traceback
from itertools import groupby
from typing import Any, Deque, Dict, List, Optional, Tuple, Union
@@ -799,7 +800,8 @@ class MessageQueueNode(object):
self.mark_transmitted(msg)
except Exception as e:
# If anything goes wrong, we still want to release the lock
- rospy.logerr(f"Exception in get_next_packet_data: {e}")
+ traceback_str = traceback.format_exc()
+ rospy.logerr(f"Exception in get_next_packet_data: {e}\nTraceback:\n{traceback_str}")
self.get_packet_data_lock.release()
return GetNextPacketDataResponse()
else:
diff --git a/ros_acomms_tests/launch/test_with_hardware.launch b/ros_acomms_tests/launch/test_with_hardware.launch
new file mode 100644
index 0000000000000000000000000000000000000000..61009e781adf42f182dfce0cc893e43e3a3cf876
--- /dev/null
+++ b/ros_acomms_tests/launch/test_with_hardware.launch
@@ -0,0 +1,76 @@
+<launch>
+ <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}"/>
+
+ <group ns="modem0">
+ <node name="acomms_driver_node" pkg="ros_acomms" type="acomms_driver_node.py" output="screen" >
+ <param name="modem_connection_type" value="serial" />
+ <param name="modem_serial_port" value="/dev/ttyUSB0" type="str" />
+ <param name="modem_baud_rate" value="19200" type="int" />
+ <param name="pwramp_txlevel" value="3" type="int" />
+ <rosparam param="modem_config">
+ ALL: 0
+ SRC: 0
+ BND: 0
+ FC0: 10000
+ BW0: 5000
+ pwramp.txlevel: 3
+ psk.packet.mod_hdr_version: 1
+ </rosparam>
+ </node>
+
+ <node name="tdma" pkg="ros_acomms" type="tdma_node.py" output="screen" required="true" respawn="false">
+ <param name="num_slots" value="2"/>
+ <param name="active_slots" value="0"/>
+ <param name="slot_duration_seconds" value="10" />
+ <param name="guard_time_seconds" value="3" />
+ </node>
+
+
+ <node name="message_queue_node" pkg="ros_acomms" type="message_queue_node.py" output="screen" >
+ <param name="packet_codec_file" value="$(find ros_acomms_tests)/launch/message_codec_config.yaml"/>
+ </node>
+
+ <node name="packet_dispatch" pkg="ros_acomms" type="packet_dispatch_node.py" output="screen" >
+ <param name="packet_codec_file" value="$(find ros_acomms_tests)/launch/message_codec_config.yaml"/>
+ </node>
+
+ <node name="modem_sensor_data" pkg="ros_acomms" type="modem_sensor_data_node.py" output="screen">
+ <param name="query_interval_seconds" value="10"/>
+ </node>
+ </group>
+
+ <group ns="modem1">
+ <node name="acomms_driver_node" pkg="ros_acomms" type="acomms_driver_node.py" output="screen" >
+ <param name="modem_connection_type" value="udp" />
+ <param name="modem_local_port" value="4001" />
+ <param name="modem_remote_port" value="4002" />
+ <param name="pwramp_txlevel" value="3" type="int" />
+ <rosparam param="modem_config">
+ ALL: 0
+ SRC: 1
+ BND: 0
+ FC0: 10000
+ BW0: 5000
+ pwramp.txlevel: 3
+ psk.packet.mod_hdr_version: 1
+ </rosparam>
+ </node>
+
+ <node name="tdma_advanced" pkg="ros_acomms" type="tdma_node.py" output="screen" required="true" respawn="false">
+ <param name="num_slots" value="2"/>
+ <param name="active_slots" value="1"/>
+ <param name="slot_duration_seconds" value="10" />
+ <param name="guard_time_seconds" value="3" />
+ </node>
+
+ <node name="message_queue_node" pkg="ros_acomms" type="message_queue_node.py" output="screen" >
+ <param name="packet_codec_file" value="$(find ros_acomms_tests)/launch/message_codec_config.yaml"/>
+ </node>
+
+ <node name="packet_dispatch" pkg="ros_acomms" type="packet_dispatch_node.py" output="screen" >
+ <param name="packet_codec_file" value="$(find ros_acomms_tests)/launch/message_codec_config.yaml"/>
+ </node>
+
+ </group>
+
+</launch>
diff --git a/ros_acomms_tests/src/test_with_hardware.py b/ros_acomms_tests/src/test_with_hardware.py
new file mode 100644
index 0000000000000000000000000000000000000000..5afe41b6e11792b91feb6bf96858428249a8617b
--- /dev/null
+++ b/ros_acomms_tests/src/test_with_hardware.py
@@ -0,0 +1,104 @@
+#! /usr/bin/env python3
+
+'''
+tests for ros_acomms
+'''
+import hashlib
+import os
+import secrets
+import sys
+import time
+import traceback
+
+import pytest
+import rospy
+import rospkg
+import roslaunch
+
+from std_msgs.msg import UInt8
+
+
+class TestRosAcommsSerial:
+ '''ros_acomms test class'''
+
+ @classmethod
+ def setup_class(self):
+ """
+ setup function for tests
+ """
+ self.test_counter = 0
+ rospy.init_node("ros_acomms_test_serial", log_level=rospy.INFO)
+
+ self.rospack = rospkg.RosPack()
+
+ uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
+ roslaunch.configure_logging(uuid)
+
+ launch_file = os.path.join(
+ self.rospack.get_path("ros_acomms_tests"),
+ "launch/test_with_hardware.launch",
+ )
+
+ roslaunch_args = []
+ full_cmd_list = [launch_file] + roslaunch_args
+ roslaunch_file_param = [(roslaunch.rlutil.resolve_launch_arguments(full_cmd_list)[0], roslaunch_args)]
+
+ self.launch = roslaunch.parent.ROSLaunchParent(uuid, roslaunch_file_param)
+ self.launch.start()
+ time.sleep(5)
+
+ def test_queue(self):
+ '''test_queue sends 3 messages through the ros_acomms and verifies that all 3 of the messages are recieved'''
+
+ queue_publisher = rospy.Publisher('/modem0/test_msg', UInt8, queue_size=5)
+
+ return_arr = []
+ input_arr = []
+
+ msg = UInt8()
+
+ print("Waiting for modem drivers...")
+
+ # Wait until the modem drivers are ready
+ try:
+ rospy.wait_for_service('/modem0/queue_tx_packet', timeout=30)
+ rospy.wait_for_service('/modem1/queue_tx_packet', timeout=30)
+ except rospy.exceptions.ROSException:
+ pytest.fail("Timed out waiting for modem drivers to be ready")
+
+ print("Modem drivers ready.")
+
+ use_sim_time = rospy.get_param("/use_sim_time", None)
+ if use_sim_time is not None:
+ pytest.fail("Sim time is active, it should be off for the hardware test.")
+
+ time.sleep(2)
+
+ try:
+ for val in range(3):
+ msg.data = val
+ queue_publisher.publish(msg)
+ print(f"Published test message {val}")
+
+ ret = rospy.wait_for_message(
+ "/modem1/from_acomms/test_msg", UInt8, timeout=60)
+
+ return_arr.append(ret.data)
+ input_arr.append(msg.data)
+
+ assert return_arr == input_arr, f"return_arr: {return_arr} != input_arr: {input_arr}"
+
+ except rospy.exceptions.ROSException:
+ pytest.fail("timed out when waiting for packet")
+
+ @classmethod
+ def teardown_class(self):
+ """
+ teardown function for tests
+ """
+
+ self.launch.shutdown()
+
+
+if __name__ == "__main__":
+ sys.exit(pytest.main(['--capture=no', __file__]))
diff --git a/ros_acomms_tests/tests.Dockerfile b/ros_acomms_tests/tests.Dockerfile
index 6d94cb3bd4c27dc9351aec913a047a78e60d9355..ca67210dc10be86a93663214e186d36e464918f8 100644
--- a/ros_acomms_tests/tests.Dockerfile
+++ b/ros_acomms_tests/tests.Dockerfile
@@ -5,5 +5,6 @@ RUN apt-get update \
&& apt install -y \
python3-pip \
git \
- ros-noetic-dynamic-reconfigure
+ ros-noetic-dynamic-reconfigure \
+ socat
RUN pip install pytest pytest-cov
\ No newline at end of file