cx-copter-communication/tests/004-message_receiver.py

import pathlib

test_file = pathlib.Path(__file__)
test_dir = test_file.parent
project_dir = test_dir.parent

import sys
sys.path.append(str(project_dir.absolute()))

import source as communication

class fail_message(communication.message):
    _type = 0x0012

    def __init__(self) -> None:
        super().__init__()

        self._add_field(communication.field("test", int, 1))

def main():
    print("Starting test.")

    print("Registering base messages.")

    receiver = communication.message_receiver()

    receiver.register(communication.position_message)
    receiver.register(communication.state_message)
    receiver.register(communication.control_message)

    print("Trying to register bad message.")

    try:
        receiver.register(fail_message)

    except Exception as error:
        print("Work, raised: " + str(error))

    print("Creating sample message to receive.")

    sample = communication.state_message()
    sample.set_ignition(True)
    sample.set_leds(0x20)

    coded = sample.encoder().code()

    print("Encoded.")
    print("Trying to receive it.")

    received = receiver.receive(coded)

    print("Type of received message: " + str(type(received)))
    print("Checking fields:")

    try:
        if received.get_ignition() != True:
            raise RuntimeError("Bad decoded ignition field.")

        if received.get_leds() != 0x20:
            raise RuntimeError("Bad decoded leds field.")

        print("All fields are good.")

    except Exception as error:
        print("Can not check, error: " + str(error))

if __name__ == "__main__":
    main()