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LibrePilot/androidgcs/tests/org/openpilot/uavtalk/TalkTest.java
2012-08-06 01:26:10 -05:00

134 lines
3.7 KiB
Java

package org.openpilot.uavtalk;
import static org.junit.Assert.*;
import java.io.ByteArrayInputStream;
import java.io.ByteArrayOutputStream;
import java.io.IOException;
import java.net.InetAddress;
import java.net.Socket;
import java.util.Observable;
import java.util.Observer;
import org.junit.BeforeClass;
import org.junit.Test;
import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
import org.openpilot.uavtalk.UAVTalk;
public class TalkTest {
static UAVObjectManager objMngr;
static final String IP_ADDRDESS = new String("127.0.0.1");
static final int PORT_NUM = 7777;
boolean succeed = false;
byte[] flightStatsConnected =
{0x3c,0x20,0x1d,0x00,
(byte) 0x5e,(byte) 0x26,(byte) 0x0c,(byte) 0x66,
0x03,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,
0x00,(byte) 0xAE};
@BeforeClass
public static void setUpBeforeClass() throws Exception {
objMngr = new UAVObjectManager();
UAVObjectsInitialize.register(objMngr);
}
//@Test
public void testGetFlightStatus() {
Socket connection = null;
UAVTalk talk = null;
try{
InetAddress ip = InetAddress.getByName(IP_ADDRDESS);
connection = new Socket(ip, PORT_NUM);
} catch (Exception e) {
e.printStackTrace();
fail("Couldn't connect to test platform");
}
try {
talk = new UAVTalk(connection.getInputStream(), connection.getOutputStream(), objMngr);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
fail("Couldn't construct UAVTalk object");
}
Thread inputStream = talk.getInputProcessThread();
inputStream.start();
succeed = false;
UAVObject obj = objMngr.getObject("FlightTelemetryStats");
obj.addUpdatedObserver( new Observer() {
public void update(Observable observable, Object data) {
// TODO Auto-generated method stub
System.out.println("Updated: " + data.toString());
succeed = true;
}
});
try {
Thread.sleep(1000);
} catch (InterruptedException e1) {
}
if(!succeed)
fail("Never received a FlightTelemetryStats update");
}
@Test
public void testSendObjectRequest() throws IOException {
ByteArrayInputStream is = new ByteArrayInputStream(new byte[0], 0, 0);
ByteArrayOutputStream os = new ByteArrayOutputStream(100);
UAVTalk talk = new UAVTalk(is,os,objMngr);
UAVObject obj = objMngr.getObject("FlightTelemetryStats");
obj.getField("Status").setValue("Connected");
talk.sendObject(obj, false, false);
System.out.println("Size: " + os.size());
byte [] array = os.toByteArray();
for(int i = 0; i < array.length; i++) {
System.out.print("0x" + Integer.toHexString((int) array[i] & 0xff));
System.out.print("/0x" + Integer.toHexString((int) flightStatsConnected[i] & 0xff));
if(i != array.length-1)
System.out.print("\n");
}
System.out.print("\n");
for(int i = 0; i < array.length; i++)
assertEquals(os.toByteArray()[i], flightStatsConnected[i]);
}
@Test
public void testReceiveObject() throws InterruptedException {
ByteArrayInputStream is = new ByteArrayInputStream(flightStatsConnected, 0, flightStatsConnected.length);
ByteArrayOutputStream os = new ByteArrayOutputStream(100);
// Make the Status wrong initially
UAVObject obj = objMngr.getObject("FlightTelemetryStats");
obj.getField("Status").setValue("Disconnected");
// Test receiving from that stream
UAVTalk talk = new UAVTalk(is,os,objMngr);
Thread inputStream = talk.getInputProcessThread();
inputStream.start();
Thread.sleep(1000);
System.out.println("Should be FlightTelemetry Stats:");
System.out.println(objMngr.getObject("FlightTelemetryStats").toString());
assertEquals(obj.getField("Status").getValue(), new String("Connected"));
}
}