V2

SUB Control/tests/test_vehicle_state.py

@@ -0,0 +1,158 @@
+"""No serial port is opened by these tests."""
+import queue
+import unittest
+from unittest.mock import Mock, patch
+
+from app import Axes, MavlinkWorker, NEUTRAL_Z
+from vehicle_state import VehicleState
+from web_ui import ControlApi
+
+
+class VehicleStateTests(unittest.TestCase):
+    def setUp(self):
+        self.now = 10.0
+        self.state = VehicleState(lambda: self.now)
+        self.state.heartbeat(False)
+
+    def test_ack_is_not_armed_confirmation(self):
+        self.state.request("arm")
+        self.now += .2
+        self.state.ack("MAV_RESULT_ACCEPTED")
+        self.assertFalse(self.state.snapshot()["armed"])
+        self.assertEqual(self.state.snapshot()["pending_command"], "arm")
+        self.state.heartbeat(True)
+        self.assertTrue(self.state.snapshot()["controls_allowed"])
+
+    def test_heartbeat_confirms_even_when_ack_packet_is_lost(self):
+        self.state.request("arm")
+        self.now += .5
+        self.state.heartbeat(True)
+        self.assertIsNone(self.state.pending)
+        self.assertTrue(self.state.armed)
+
+    def test_old_events_cannot_confirm_new_request(self):
+        self.state.request("arm")
+        self.state.ack("MAV_RESULT_DENIED", received_at=9)
+        self.state.heartbeat(True, received_at=9)
+        self.assertIsNotNone(self.state.pending)
+        self.assertFalse(self.state.armed)
+
+    def test_rejected_engage_stays_disarmed(self):
+        self.state.request("arm")
+        self.now += .1
+        self.state.ack("MAV_RESULT_DENIED")
+        self.assertIsNone(self.state.pending)
+        self.assertIn("rejected", self.state.error)
+        self.assertFalse(self.state.armed)
+
+    def test_engage_timeout_then_late_armed_heartbeat_is_truth(self):
+        self.state.request("arm")
+        self.now += 6
+        self.state.tick()
+        self.assertIn("timed out", self.state.error)
+        self.assertFalse(self.state.snapshot()["armed_known"])
+        self.state.heartbeat(True)
+        self.assertTrue(self.state.snapshot()["armed"])
+
+    def test_disarm_timeout_never_claims_disarmed(self):
+        self.state.heartbeat(True)
+        self.state.request("disarm")
+        self.now += 6
+        self.state.heartbeat(True)
+        snap = self.state.snapshot()
+        self.assertTrue(snap["armed"])
+        self.assertIn("timed out", snap["command_error"])
+
+    def test_disarm_ack_waits_for_disarmed_heartbeat(self):
+        self.state.heartbeat(True)
+        self.state.request("disarm")
+        self.now += .2
+        self.state.ack("MAV_RESULT_ACCEPTED")
+        self.assertTrue(self.state.snapshot()["armed"])
+        self.assertFalse(self.state.snapshot()["controls_allowed"])
+        self.state.heartbeat(False)
+        self.assertIsNone(self.state.pending)
+        self.assertFalse(self.state.armed)
+
+    def test_disconnect_preserves_last_known_armed_but_invalidates_it(self):
+        self.state.heartbeat(True)
+        self.state.disconnect()
+        snap = self.state.snapshot()
+        self.assertTrue(snap["armed"])
+        self.assertFalse(snap["armed_known"])
+        self.assertFalse(snap["controls_allowed"])
+
+    def test_frozen_telemetry_blocks_new_engage(self):
+        self.now += 3.1
+        self.assertFalse(self.state.snapshot()["armed_known"])
+        with self.assertRaises(RuntimeError):
+            self.state.request("arm")
+
+
+class WorkerWatchdogTests(unittest.TestCase):
+    def setUp(self):
+        self.worker = MavlinkWorker(queue.Queue())
+        self.worker.require_input_lease = True
+        self.worker.connection = Mock()
+        self.worker.target_system = 1
+        self.worker.armed = True
+        self.worker.last_heartbeat = 10
+
+    def assertNeutral(self):
+        self.worker._send_control()
+        self.assertEqual(self.worker.connection.mav.manual_control_send.call_args.args,
+                         (1, 0, 0, NEUTRAL_Z, 0, 0))
+
+    def test_ui_freeze_neutralizes_and_does_not_replay(self):
+        with patch("app.time.monotonic", return_value=10):
+            self.worker.set_axes(Axes(forward=1), 1)
+            self.worker._send_control()
+            self.assertGreater(self.worker.output_axes.forward, 0)
+        with patch("app.time.monotonic", return_value=11.1):
+            self.assertNeutral()
+            self.assertEqual(self.worker.axes, Axes())
+
+    def test_heartbeat_freeze_neutralizes_even_with_live_ui(self):
+        with patch("app.time.monotonic", return_value=13.1):
+            self.worker.set_axes(Axes(forward=1), 1)
+            self.assertNeutral()
+
+    def test_stale_queued_input_cannot_override_neutral(self):
+        self.worker.set_axes(Axes(), 20)
+        self.worker.set_axes(Axes(forward=1), 19)
+        self.assertEqual(self.worker.axes, Axes())
+
+
+class BridgeTests(unittest.TestCase):
+    def test_delayed_arm_after_focus_reset_or_expiry_is_not_sent(self):
+        api = ControlApi()
+        api.worker.connection = Mock()
+        api.worker.target_system = 1
+        api._consume(("heartbeat", 1, "ARDUPILOT", "MANUAL", False))
+        api.worker.set_axes(Axes(), 20)
+        with self.assertRaisesRegex(RuntimeError, "newer input reset"):
+            api.command("arm", 19)
+        with self.assertRaisesRegex(RuntimeError, "expired"):
+            api.command("arm", 21, expires_at=0)
+        api.worker.connection.mav.command_long_send.assert_not_called()
+
+    def test_real_bridge_ack_pending_disconnect_and_stale_battery(self):
+        api = ControlApi()
+        api.worker.connection = Mock()
+        api.worker.target_system = 1
+        api._consume(("heartbeat", 1, "ARDUPILOT", "MANUAL", False))
+        pending = api.command("arm")
+        self.assertEqual(pending["pending_command"], "arm")
+        self.assertFalse(pending["armed"])
+        api._consume(("ack", 400, "MAV_RESULT_ACCEPTED"))
+        self.assertFalse(api._snapshot()["armed"])
+        api._consume(("heartbeat", 1, "ARDUPILOT", "MANUAL", True))
+        self.assertTrue(api._snapshot()["armed"])
+        api._consume(("disconnected", "Disconnected"))
+        self.assertTrue(api._snapshot()["armed"])
+        self.assertFalse(api._snapshot()["armed_known"])
+        self.assertTrue(api._snapshot()["battery_stale"])
+
+
+if __name__ == "__main__":
+    unittest.main()