Clean up UI windows and strengthen settings workflows
This commit is contained in:
+168
-2
@@ -1,6 +1,9 @@
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"""No serial port is opened by these tests."""
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import queue
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import threading
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import time
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import unittest
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from types import SimpleNamespace
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from unittest.mock import Mock, patch
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from app import Axes, MavlinkWorker, NEUTRAL_Z
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@@ -100,9 +103,18 @@ class WorkerWatchdogTests(unittest.TestCase):
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def assertNeutral(self):
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self.worker._send_control()
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self.assertEqual(self.worker.connection.mav.manual_control_send.call_args.args,
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self.assertEqual(self.control_values(),
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(1, 0, 0, NEUTRAL_Z, 0, 0))
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def control_values(self):
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return self.worker.connection.mav.manual_control_send.call_args.args
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def test_manual_control_uses_native_v2_without_forced_long_payload(self):
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self.worker._send_mav(self.worker.connection, 'manual_control_send',
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1, 50, 0, 525, -20, 0)
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self.assertEqual(self.control_values(), (1, 50, 0, 525, -20, 0))
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self.assertEqual(self.worker.connection.mav.manual_control_send.call_args.kwargs, {})
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def test_ui_freeze_neutralizes_and_does_not_replay(self):
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with patch("app.time.monotonic", return_value=10):
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self.worker.set_axes(Axes(forward=1), 1)
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@@ -118,7 +130,7 @@ class WorkerWatchdogTests(unittest.TestCase):
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self.worker.set_axes(Axes(forward=.25, vertical=.25), 1)
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self.worker._send_control()
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# 25% input at the default 20% limit: 5% command, not 100%.
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self.assertEqual(self.worker.connection.mav.manual_control_send.call_args.args,
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self.assertEqual(self.control_values(),
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(1, 50, 0, 525, 0, 0))
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def test_heartbeat_freeze_neutralizes_even_with_live_ui(self):
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@@ -131,6 +143,160 @@ class WorkerWatchdogTests(unittest.TestCase):
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self.worker.set_axes(Axes(forward=1), 19)
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self.assertEqual(self.worker.axes, Axes())
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def test_mavlink_transmissions_are_serialized(self):
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first_entered = threading.Event()
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release_first = threading.Event()
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second_entered = threading.Event()
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class Mav:
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def first_send(self, **_):
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first_entered.set()
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release_first.wait(1)
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def second_send(self, **_):
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second_entered.set()
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connection = SimpleNamespace(mav=Mav())
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first = threading.Thread(target=self.worker._send_mav,
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args=(connection, "first_send"))
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second = threading.Thread(target=self.worker._send_mav,
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args=(connection, "second_send"))
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first.start()
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self.assertTrue(first_entered.wait(.5))
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second.start()
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time.sleep(.05)
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self.assertFalse(second_entered.is_set())
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release_first.set()
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first.join(1)
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second.join(1)
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self.assertTrue(second_entered.is_set())
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def test_live_console_is_read_only_bounded_and_keeps_newest_lines(self):
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for index in range(310):
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self.worker.log("RX_TEST", f"vehicle {index}")
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self.worker.log("TX_TEST", f"computer {index}")
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sides = self.worker.read_console(2)
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self.assertEqual(set(sides), {"rx", "tx"})
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self.assertTrue(sides["rx"][0].endswith("[RX_TEST] vehicle 308"))
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self.assertTrue(sides["rx"][1].endswith("[RX_TEST] vehicle 309"))
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self.assertTrue(sides["tx"][1].endswith("[TX_TEST] computer 309"))
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self.assertEqual(len(self.worker.console_rx_lines), 300)
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self.assertEqual(len(self.worker.console_tx_lines), 300)
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self.assertEqual(len(self.worker.console_lines), 500)
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def test_arm_request_pauses_parameter_traffic(self):
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self.worker.armed = False
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self.worker.param_scan.append("SERVO1_FUNCTION")
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with patch("app.time.monotonic", return_value=10):
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self.worker.command_arm(True)
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self.worker.config_paused = False # A disarmed heartbeat arrived.
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self.worker._tick_param_scan(10.1)
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self.assertEqual(self.worker.command_quiet_until, 16)
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self.worker.connection.mav.param_request_read_send.assert_not_called()
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self.worker.connection.mav.command_long_send.assert_called_once()
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def test_arm_request_retries_until_state_confirmation(self):
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self.worker.armed = False
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with patch("app.time.monotonic", return_value=10):
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self.worker.command_arm(True)
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self.worker._tick_arm_retry(10.24)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 1)
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self.worker._tick_arm_retry(10.25)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 2)
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self.worker.pending_arm_state = None
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self.worker._tick_arm_retry(10.50)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 2)
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def test_outbound_command_has_valid_heartbeat_lead_in(self):
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self.worker._send_mav(self.worker.connection, "timesync_send", 0, 123)
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names = [call[0] for call in self.worker.connection.mav.method_calls]
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self.assertEqual(names[-2:], ["heartbeat_send", "timesync_send"])
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def test_disarm_sends_neutral_and_pauses_parameter_traffic(self):
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self.worker.param_scan.append("SERVO1_FUNCTION")
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with patch("app.time.monotonic", return_value=10):
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self.worker.command_arm(False)
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self.worker.config_paused = False
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self.worker._tick_param_scan(10.1)
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self.assertEqual(self.worker.disarm_requested_until, 16)
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self.assertEqual(self.control_values(),
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(1, 0, 0, NEUTRAL_Z, 0, 0))
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self.worker.connection.mav.param_request_read_send.assert_not_called()
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def test_telemetry_config_is_paced_and_includes_low_rate_esc(self):
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self.worker.armed = False
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with patch("app.time.monotonic", return_value=10):
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self.worker._configure_low_bandwidth_streams()
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self.assertEqual(len(self.worker.stream_config), 10)
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self.assertEqual(self.worker.stream_config[-1][0], "ESC_TELEMETRY_1_TO_4")
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self.assertEqual(self.worker.stream_config[-1][2], 1_000_000)
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self.worker.connection.mav.command_long_send.assert_not_called()
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self.worker._tick_stream_config(10)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 1)
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self.worker._tick_stream_config(10.1)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 1)
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self.worker.command_quiet_until = 16
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self.worker._tick_stream_config(11)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 1)
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self.worker._tick_stream_config(16)
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self.assertEqual(self.worker.connection.mav.command_long_send.call_count, 2)
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def test_link_probe_uses_configured_rate_and_measures_exact_echo(self):
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self.worker.armed = False
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self.worker.ping_rate_hz = 5
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with patch("app.time.monotonic", return_value=10), \
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patch("app.time.monotonic_ns", return_value=10_000_000_000):
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self.worker._tick_link_probe(10)
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self.worker.connection.mav.timesync_send.assert_called_once_with(
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0, 10_000_000_000)
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self.assertEqual(self.worker.pending_pings, {10_000_000_000: 10})
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self.assertEqual(self.worker.next_ping_at, 10.2)
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message = SimpleNamespace(
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tc1=1, ts1=10_000_000_000, get_type=lambda: "TIMESYNC",
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to_dict=lambda: {"tc1": 1, "ts1": 10_000_000_000})
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with patch("app.time.monotonic", return_value=10.04):
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self.worker._handle_message(message)
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quality = self.worker.events.get_nowait()
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self.assertEqual(quality[0], "link_quality")
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self.assertEqual(quality[1]["latency_ms"], 40.0)
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self.assertEqual(quality[1]["loss_percent"], 0.0)
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def test_link_rates_rebuild_requested_telemetry_intervals(self):
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self.worker.armed = False
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with patch("app.time.monotonic", return_value=10):
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self.worker.set_link_rates(10, {
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"SYS_STATUS": 5, "SERVO_OUTPUT_RAW": 10,
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"RC_CHANNELS": 0, "ESC_TELEMETRY_1_TO_4": 2,
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})
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self.assertEqual(self.worker.ping_rate_hz, 10)
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configured = {name: interval for name, _, interval in self.worker.stream_config}
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self.assertEqual(configured["SYS_STATUS"], 200_000)
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self.assertEqual(configured["SERVO_OUTPUT_RAW"], 100_000)
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self.assertEqual(configured["RC_CHANNELS"], -1)
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self.assertEqual(configured["ESC_TELEMETRY_1_TO_4"], 500_000)
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def test_link_probe_counts_timeout_and_pauses_for_commands(self):
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self.worker.pending_pings[4] = 5
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self.worker.rx_delivery_results.extend(((10, True), (10, False)))
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self.worker.next_ping_at = 0
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self.worker.command_quiet_until = 20
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with patch("app.time.monotonic", return_value=10):
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self.worker._tick_link_probe(10)
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self.worker.connection.mav.timesync_send.assert_not_called()
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self.assertEqual(list(self.worker.ping_results), [(10, None)])
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quality = self.worker.events.get_nowait()[1]
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self.assertEqual(quality["loss_percent"], 100.0)
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self.assertEqual(quality["grade"], "testing")
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def test_clean_downlink_cannot_hide_failed_round_trips(self):
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self.worker.ping_results.extend([(10, None)] * 20)
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self.worker.rx_delivery_results.extend([(10, True)] * 200)
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with patch("app.time.monotonic", return_value=10):
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self.worker._publish_link_quality()
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quality = self.worker.events.get_nowait()[1]
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self.assertEqual(quality["loss_percent"], 100.0)
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self.assertEqual(quality["grade"], "poor")
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class BridgeTests(unittest.TestCase):
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def test_delayed_arm_after_focus_reset_or_expiry_is_not_sent(self):
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@@ -0,0 +1,140 @@
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/* Browser regression check. Run: node tests/ui_windows.cjs [path-to-playwright]
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Uses a simulated Python bridge; never opens a COM port or sends MAVLink. */
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const assert=require('node:assert/strict');
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const fs=require('node:fs');
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const path=require('node:path');
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const http=require('node:http');
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const {chromium}=require(process.argv[2]||'playwright');
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const root=path.resolve(__dirname,'..'),output=path.join(root,'runtime','ui-check');
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fs.mkdirSync(output,{recursive:true});
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const server=http.createServer((req,res)=>{
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const url=decodeURIComponent(new URL(req.url,'http://localhost').pathname);
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let file=path.resolve(root,'.'+url);
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if(url==='/model.stl'||url==='/model')file=path.join(root,'runtime','vehicle_model.stl');
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if(!file.startsWith(root+path.sep)||!fs.existsSync(file)||!fs.statSync(file).isFile()){
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res.writeHead(404);res.end();return;
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}
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const types={'.html':'text/html','.js':'text/javascript','.css':'text/css','.stl':'model/stl'};
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res.setHeader('Content-Type',types[path.extname(file)]||'application/octet-stream');
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fs.createReadStream(file).pipe(res);
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});
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async function main(){
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await new Promise(resolve=>server.listen(0,'127.0.0.1',resolve));
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const browser=await chromium.launch({headless:true});
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try{
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const page=await browser.newPage({viewport:{width:1080,height:720}});
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const errors=[];page.on('pageerror',error=>errors.push(error.message));
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await page.addInitScript(()=>{
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const clone=value=>JSON.parse(JSON.stringify(value));
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const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,motor:i<=3?i:null,direction:i<=3?1:null};
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const state={connected:false,armed:false,armed_known:false,mode:null,app_state:'disconnected',status:'Ready',servos,link_quality:null};
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const battery={cells:4,capacity_mah:5500,c_rating:35,full_v_per_cell:4.2,empty_v_per_cell:3.3,warning_percent:20};
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const link={baud:57600,control_hz:20,ping_hz:1,system_hz:1,servo_hz:2,rc_hz:2,esc_hz:1};
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const calls={battery:0,link:0,heavy:0,reverse:0,console:0,connect:[]};
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const sleep=ms=>new Promise(resolve=>setTimeout(resolve,ms));
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window.testBridge={state,battery,link,calls,failBattery:false,failMotor:false};
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window.pywebview={api:{
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initial_state:async()=>({ports:[{device:'COM5',label:'COM5'}],state:clone(state),battery_config:clone(battery),link_config:clone(link)}),
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refresh_ports:async()=>[{device:'COM5',label:'COM5'}],poll:async()=>clone(state),
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get_saved_model_info:async()=>null,set_gain:async()=>true,stop_controls:async()=>true,set_axes:async()=>true,
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save_battery:async data=>{calls.battery++;await sleep(200);if(window.testBridge.failBattery)throw Error('Battery save failed');Object.keys(battery).forEach(k=>battery[k]=+data[k]);return clone(battery)},
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save_link_settings:async data=>{calls.link++;await sleep(250);Object.keys(link).forEach(k=>link[k]=+data[k]);return clone(link)},
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connect:async(port,baud,rate)=>{calls.connect.push({port,baud,rate});Object.assign(state,{connected:true,armed_known:true,app_state:'connected_disarmed',mode:'MANUAL',link:'LINK OK',link_quality:{grade:'excellent',probe_samples:20,rx_packets_30s:100,rtt_median_ms:24,rtt_p95_ms:40,probe_loss_percent:0,rx_sequence_loss_percent:0,heartbeat_age_s:.2}});return clone(state)},
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disconnect:async()=>{Object.assign(state,{connected:false,armed_known:false,app_state:'disconnected'});return true},
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reverse_motor:async servo=>{calls.reverse++;if(window.testBridge.failMotor)throw Error('Motor write failed');setTimeout(()=>state.servos[servo].direction*=-1,650);return true},
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set_servo_function:async(servo,motor)=>{if(window.testBridge.failMotor)throw Error('Motor write failed');setTimeout(()=>Object.assign(state.servos[servo],{motor:motor||null,function:motor===0?0:motor<=8?32+motor:73+motor,direction:motor?1:null}),650);return true},
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start_heavy_quality_test:async()=>{calls.heavy++;await sleep(250);state.heavy_quality={running:true,status:'Stage 1 of 3: 1 Hz',sent:4,replies:4,results:[]};return clone(state.heavy_quality)},
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cancel_heavy_quality_test:async()=>{state.heavy_quality={running:false,status:'Cancelled',results:[]};return clone(state.heavy_quality)},
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read_console:async()=>{calls.console++;return {rx:['RX sample '+calls.console],tx:['TX sample '+calls.console]}},
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minimize_window:async()=>true,toggle_maximize_window:async()=>false,close_window:async()=>true
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}};
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});
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await page.goto('http://127.0.0.1:'+server.address().port+'/web/index.html');
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await page.waitForFunction(()=>bridgeReady);
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const openLink=()=>page.locator('[data-open="link-modal"]').click();
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const close=async id=>{await page.locator('#'+id+' [data-close]').first().click();await page.waitForFunction(id=>!document.getElementById(id).open,id)};
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await openLink();
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await page.locator('#baud').selectOption('115200');
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await page.locator('#link-modal').getByRole('button',{name:'Cancel',exact:true}).click();
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await page.waitForFunction(()=>!document.getElementById('link-modal').open);
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await openLink();assert.equal(await page.locator('#baud').inputValue(),'57600');
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await page.locator('#custom-port-input').fill('COM42');
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await page.locator('#custom-port-btn').click();
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assert(await page.locator('#link-modal').evaluate(d=>d.open));
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assert.equal(await page.locator('#port').inputValue(),'COM42');
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await page.locator('#baud').selectOption('115200');
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assert(await page.locator('#link-form [type="submit"]').evaluate(el=>{el.click();return el.disabled}));
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await page.waitForFunction(()=>!document.getElementById('link-modal').open);
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await page.locator('#refresh').click();assert.equal(await page.locator('#port').inputValue(),'COM42');
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await page.locator('#connect').click();
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await page.waitForFunction(()=>testBridge.calls.connect.length===1);
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assert.equal(await page.evaluate(()=>testBridge.calls.connect[0].baud),115200);
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await page.locator('[data-open="battery-modal"]').click();
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await page.locator('#battery-form [name="cells"]').fill('5');
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await page.keyboard.press('Escape');await page.waitForFunction(()=>!document.getElementById('battery-modal').open);
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await page.locator('[data-open="battery-modal"]').click();
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assert.equal(await page.locator('#battery-form [name="cells"]').inputValue(),'4');
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await page.evaluate(()=>testBridge.failBattery=true);
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await page.locator('#battery-form').getByRole('button',{name:'Save battery'}).click();
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await page.locator('#battery-form .form-feedback').waitFor({state:'visible'});
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assert(await page.locator('#battery-modal').evaluate(d=>d.open));
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assert.equal(await page.locator('#battery-form .form-feedback').textContent(),'Battery save failed');
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await page.evaluate(()=>testBridge.failBattery=false);
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await page.locator('#battery-form [name="cells"]').fill('5');
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await page.locator('#battery-form').getByRole('button',{name:'Save battery'}).click();
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await page.waitForFunction(()=>!document.getElementById('battery-modal').open);
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await page.locator('[data-open="battery-modal"]').click();
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assert.equal(await page.locator('#battery-form [name="cells"]').inputValue(),'5');
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await page.screenshot({path:path.join(output,'battery.png')});await close('battery-modal');
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await page.locator('[data-open="motors-modal"]').click();
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assert.equal(await page.locator('#motor-list > .motor-row').count(),3);
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await page.locator('#motor-list > .motor-row').first().getByRole('button').click();
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await page.waitForFunction(()=>document.querySelector('#motor-list > .motor-row > span').textContent==='Confirming…');
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assert(await page.locator('#motor-list > .motor-row').first().getByRole('button').isDisabled());
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await page.waitForFunction(()=>document.querySelector('#motor-list > .motor-row > span').textContent==='Reversed');
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await page.evaluate(()=>testBridge.failMotor=true);
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await page.locator('#motor-list > .motor-row').first().locator('select').selectOption('2');
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await page.locator('#motor-feedback').waitFor({state:'visible'});
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assert.equal(await page.locator('#motor-list > .motor-row').first().locator('select').inputValue(),'1');
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await page.screenshot({path:path.join(output,'motors.png')});await close('motors-modal');
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await page.locator('#link-quality').click();
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assert.equal(await page.locator('#quality-detail-rtt').textContent(),'24 ms');
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await page.locator('#heavy-quality-run').click();
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assert(await page.locator('#heavy-quality-run').isDisabled());
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||||
await page.locator('#heavy-quality-cancel').waitFor({state:'visible'});
|
||||
assert.equal(await page.evaluate(()=>testBridge.calls.heavy),1);
|
||||
await page.locator('#heavy-quality-cancel').click();
|
||||
await page.waitForFunction(()=>!testBridge.state.heavy_quality.running);
|
||||
await page.screenshot({path:path.join(output,'quality.png')});await close('link-quality-modal');
|
||||
await page.locator('#console').click();
|
||||
await page.waitForFunction(()=>document.getElementById('console-rx-output').textContent.includes('RX sample'));
|
||||
await page.locator('#console-pause').click();
|
||||
const paused=await page.locator('#console-rx-output').textContent();
|
||||
await page.waitForTimeout(850);assert.equal(await page.locator('#console-rx-output').textContent(),paused);
|
||||
await page.locator('#console-pause').click();
|
||||
await page.waitForFunction(old=>document.getElementById('console-rx-output').textContent!==old,paused);
|
||||
await page.screenshot({path:path.join(output,'console.png')});await close('console-modal');
|
||||
for(const viewport of [{width:900,height:560},{width:480,height:720}]){
|
||||
await page.setViewportSize(viewport);
|
||||
for(const id of ['link-modal','battery-modal','link-quality-modal','motors-modal','console-modal']){
|
||||
await page.evaluate(id=>openModal(id),id);
|
||||
const box=await page.locator('#'+id).boundingBox();
|
||||
assert(box.x>=0&&box.y>=0&&box.width<=viewport.width&&box.height<=viewport.height,id+' must fit viewport');
|
||||
assert.equal(await page.evaluate(()=>canDrive()),false);
|
||||
await close(id);
|
||||
}
|
||||
}
|
||||
await page.setViewportSize({width:1080,height:720});await openLink();
|
||||
await page.screenshot({path:path.join(output,'link.png')});await close('link-modal');
|
||||
assert.deepEqual(errors,[]);
|
||||
console.log('PASS: settings cancel/save/failure, saved baud, custom port rescan, motor confirmation/failure, heavy test, console pause/resume, keyboard gating, and five dialogs at two window sizes.');
|
||||
}catch(error){
|
||||
const page=browser.contexts()[0]?.pages()[0];
|
||||
if(page){
|
||||
await page.screenshot({path:path.join(output,'failure.png')});
|
||||
console.error(await page.evaluate(()=>[...document.querySelectorAll('input')].filter(el=>!el.checkValidity()).map(el=>({name:el.name,value:el.value,error:el.validationMessage}))));
|
||||
}
|
||||
throw error;
|
||||
}finally{await browser.close();await new Promise(resolve=>server.close(resolve))}
|
||||
}
|
||||
main().catch(error=>{console.error(error);server.close();process.exitCode=1});
|
||||
Reference in New Issue
Block a user