bproto/test/output/test_c_integration.py

import sys
import subprocess

sys.path.append('src/')
sys.path.append('test/')
sys.path.append('test/backend_output/python')


def send_c_binary(data: bytes) -> tuple[int, str, bytes]:
    proc = subprocess.Popen(
        ["build/test_integration_python"],
        stdin=subprocess.PIPE,
        stdout=subprocess.PIPE
    )
    stdout, _ = proc.communicate(data.hex().encode() + b"\n")
    return_code = proc.wait()

    lines = stdout.splitlines()

    if return_code != 0:
        return (return_code, lines[0].decode("ascii"), b"")
    else:
        return (
            return_code,
            lines[0].decode("ascii"),
            bytes.fromhex(lines[1].decode())
        )


def test_integration_c_encdec_motion_update():
    from backend_output.python.HCP_protocol_packets import HcpMessageMotionUpdate
    from backend_output.python.HCP_protocol_bitfield import HcpBitfieldEnables
    from backend_output.python.HCP_protocol_enum import HcpEnumInlineMotionUpdateDangerLvl

    pkg = HcpMessageMotionUpdate(
        speed=[1, 2, 3],
        stearing=-0.1,
        name="This is a test",
        enable=[True, False, True, False],
        heading="S",
        enables=HcpBitfieldEnables(
            a=True, b=False, c=True
        ),
        danger_lvl=HcpEnumInlineMotionUpdateDangerLvl.WARNING
    )
    
    # Send to Integration Test Binary
    ret_code, _, data_incoming = send_c_binary(pkg.to_bytes())

    assert ret_code == 0

    # Decode the incoming data.
    pkg_incoming = HcpMessageMotionUpdate().from_bytes(data_incoming)
    
    # Check that the incoming data is correctly modified.
    assert pkg.speed[0] + 1 == pkg_incoming.speed[0]
    assert pkg.speed[1] + 2 == pkg_incoming.speed[1]
    assert pkg.speed[2] + 3 == pkg_incoming.speed[2]
    
    assert round(pkg.stearing * 0.5 * 1000) == round(pkg_incoming.stearing * 1000)
    
    assert pkg_incoming.name[0] == "A"
    assert pkg.name[1:] == pkg_incoming.name[1:]
    
    assert pkg.enables.a != pkg_incoming.enables.a
    assert pkg.enables.b != pkg_incoming.enables.b
    assert pkg.enables.c != pkg_incoming.enables.c

    assert pkg.enable == pkg_incoming.enable

    assert pkg_incoming.danger_lvl.value == HcpEnumInlineMotionUpdateDangerLvl.MELTDOWN.value


def test_integration_c_encdec_error():
    from backend_output.python.HCP_protocol_packets import HcpMessageError
    from backend_output.python.HCP_protocol_bitfield import HcpBitfieldInlineErrorEnables
    from backend_output.python.HCP_protocol_enum import HcpEnumInlineErrorRecoveryStatus
    
    pkg = HcpMessageError(
        recovery_status=HcpEnumInlineErrorRecoveryStatus.NO,
        enables=HcpBitfieldInlineErrorEnables(
            test=True, asd=False, b=False, c=True, aa=True
        ),
    )
    
    # Send to Integration Test Binary
    ret_code, _, data_incoming = send_c_binary(pkg.to_bytes())

    assert ret_code == 0

    # Decode the incoming data.
    pkg_incoming = HcpMessageError().from_bytes(data_incoming)
    
    # Check that the incoming data is correctly modified.
    assert pkg_incoming.recovery_status.value == pkg.recovery_status.value
    assert pkg_incoming.enables.test == pkg.enables.test
    assert pkg_incoming.enables.asd == pkg.enables.asd
    assert pkg_incoming.enables.b != pkg.enables.b
    assert pkg_incoming.enables.c != pkg.enables.c
    assert pkg_incoming.enables.aa == pkg.enables.aa


def test_integration_c_encdec_failure_size():
    from backend_output.python.HCP_protocol_packets import HcpMessageError
    from backend_output.python.HCP_protocol_bitfield import HcpBitfieldInlineErrorEnables
    from backend_output.python.HCP_protocol_enum import HcpEnumInlineErrorRecoveryStatus
    
    pkg = HcpMessageError(
        recovery_status=HcpEnumInlineErrorRecoveryStatus.NO,
        enables=HcpBitfieldInlineErrorEnables(
            test=True, asd=False, b=False, c=True, aa=True
        ),
    )
    
    # Send to Integration Test Binary
    data = pkg.to_bytes()
    ret_code, msg, _ = send_c_binary(data[:4])

    assert ret_code != 0
    assert msg == "SIZE"


def test_integration_c_encdec_failure_crc():
    from backend_output.python.HCP_protocol_packets import HcpMessageError
    from backend_output.python.HCP_protocol_bitfield import HcpBitfieldInlineErrorEnables
    from backend_output.python.HCP_protocol_enum import HcpEnumInlineErrorRecoveryStatus
    
    pkg = HcpMessageError(
        recovery_status=HcpEnumInlineErrorRecoveryStatus.NO,
        enables=HcpBitfieldInlineErrorEnables(
            test=True, asd=False, b=False, c=True, aa=True
        ),
    )
    
    # Send to Integration Test Binary
    data = pkg.to_bytes()
    data = data[:2] + b"\xaa" + data[3:]
    ret_code, msg, _ = send_c_binary(data)

    assert ret_code != 0
    assert msg == "CRC"


def test_integration_c_encdec_failure_id():
    from backend_output.python.HCP_protocol_packets import HcpMessageError
    from backend_output.python.HCP_protocol_bitfield import HcpBitfieldInlineErrorEnables
    from backend_output.python.HCP_protocol_enum import HcpEnumInlineErrorRecoveryStatus
    
    pkg = HcpMessageError(
        recovery_status=HcpEnumInlineErrorRecoveryStatus.NO,
        enables=HcpBitfieldInlineErrorEnables(
            test=True, asd=False, b=False, c=True, aa=True
        ),
    )
    
    # Send to Integration Test Binary
    data = pkg.to_bytes()
    data = b"\xff" + data[1:]
    ret_code, msg, _ = send_c_binary(data)

    assert ret_code != 0
    assert msg == "ID"