software/js-drone: Add test

software/js-drone/test/README.md

+Tests for js-drone Software Release

software/js-drone/test/setup.py

+##############################################################################
+#
+# Copyright (c) 2022 Nexedi SA and Contributors. All Rights Reserved.
+#
+# WARNING: This program as such is intended to be used by professional
+# programmers who take the whole responsibility of assessing all potential
+# consequences resulting from its eventual inadequacies and bugs
+# End users who are looking for a ready-to-use solution with commercial
+# guarantees and support are strongly adviced to contract a Free Software
+# Service Company
+#
+# This program is Free Software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 3
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+#
+##############################################################################
+from setuptools import setup, find_packages
+
+version = '0.0.1.dev0'
+name = 'slapos.test.js_drone'
+with open("README.md") as f:
+  long_description = f.read()
+
+setup(name=name,
+      version=version,
+      description="Test for SlapOS' js-drone",
+      long_description=long_description,
+      long_description_content_type='text/markdown',
+      maintainer="Nexedi",
+      maintainer_email="info@nexedi.com",
+      url="https://lab.nexedi.com/nexedi/slapos",
+      packages=find_packages(),
+      install_requires=[
+        'slapos.core',
+        'slapos.libnetworkcache',
+        'erp5.util'
+      ],
+      zip_safe=True,
+      test_suite='test',
+      )

software/js-drone/test/test.py

+##############################################################################
+#
+# Copyright (c) 2022 Nexedi SA and Contributors. All Rights Reserved.
+#
+# WARNING: This program as such is intended to be used by professional
+# programmers who take the whole responsibility of assessing all potential
+# consequences resulting from its eventual inadequacies and bugs
+# End users who are looking for a ready-to-use solution with commercial
+# guarantees and support are strongly adviced to contract a Free Software
+# Service Company
+#
+# This program is Free Software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 3
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+#
+##############################################################################
+
+import ipaddress
+import json
+import os
+import socket
+import struct
+import subprocess
+import time
+
+from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass
+
+MAIN_SCRIPT_NAME = 'main.js'
+'''
+  0. positionArray
+    0.1 latitude
+    0.2 longitude
+    0.3 absolute altitude
+    0.4 relative altitude
+  1. speedArray
+    1.1 yaw angle
+    1.2 air speed
+    1.3 climb rate
+  2. message
+'''
+MONITORED_ITEM_NB = 3
+OPC_UA_PORT = 4840
+OPC_UA_NET_IF = 'lo'
+MCAST_GRP = 'ff15::1111'
+USER_SCRIPT_NAME = 'user.js'
+
+# OPC UA Pub/Sub related constants
+VERSION = 1
+PUBLISHER_ID_ENABLED = True
+GROUP_HEADER_ENABLED = True
+PAYLOAD_HEADER_ENABLED = True
+EXTENDED_FLAGS1_ENABLED = True
+
+PUBLISHER_ID_TYPE = 1 #UInt16
+DATA_SET_CLASS_ID_ENABLED = False
+SECURITY_ENABLED = False
+NETWORK_MESSAGE_TIMESTAMP_ENABLED = False
+PICOSECONDS_ENABLED = False
+EXTENDED_FLAGS2_ENABLED = False
+
+PUBLISHER_ID = 0
+
+WRITER_GROUP_ID_ENABLED = True
+GROUP_VERSION_ENABLED = False
+NETWORK_MESSAGE_NUMBER_ENABLED = False
+SEQUENCE_NUMBER_ENABLED = False
+
+WRITER_GROUP_ID = 1
+
+DATASET_PAYLOAD_HEADER_COUNT = 1
+DATA_SET_WRITER_ID = (1,)
+
+DATA_SET_MESSAGE_VALIDE = 1
+FIELD_ENCODING = 0 #UA_FIELDENCODING_VARIANT
+DATA_SET_MESSAGE_SEQUENCE_NR_ENABLED = False
+STATUS_ENABLED = False
+CONFIG_VERSION_MAJOR_VERSION_ENABLED = True
+CONFIG_VERSION_MINOR_VERSION_ENABLED = True
+MESSAGE_HEADER_FLAGS2_ENABLED = True
+
+DATA_SET_MESSAGE_TYPE = 0 #UA_DATASETMESSAGE_DATAKEYFRAME
+DATA_SET_MESSAGE_TIMESTAMP_ENABLED = True
+PICO_SECONDS_INCLUDED = False
+
+UA_DATETIME_SEC = 10000000
+UA_DATETIME_UNIX_EPOCH = 11644473600 * UA_DATETIME_SEC
+
+CONFIG_VERSION_MAJOR_VERSION = 1690792766
+CONFIG_VERSION_MINOR_VERSION = 1690781976
+
+POSITION_ARRAY_TYPE = 11 #double
+POSITION_ARRAY_VALUES = (45.64, 14.25, 686.61, 91.24)
+
+SPEED_ARRAY_TYPE = 10 #float
+SPEED_ARRAY_VALUES = (-72.419998, 15.93, -0.015)
+
+STRING_TYPE = 12
+TEST_MESSAGE = b'{"content":"{\\"next_checkpoint\\":1}","dest_id":-1}'
+
+setUpModule, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass(
+    os.path.abspath(
+        os.path.join(os.path.dirname(__file__), '..', 'software.cfg')))
+
+
+class JSDroneTestCase(SlapOSInstanceTestCase):
+
+  @classmethod
+  def getInstanceParameterDict(cls):
+    return {
+      '_': json.dumps({
+        'netIf': OPC_UA_NET_IF,
+        'subscriberGuidList': [cls.slap._computer_id],
+      })
+    }
+
+  def get_partition(self, instance_type):
+    software_url = self.getSoftwareURL()
+    for computer_partition in self.slap.computer.getComputerPartitionList():
+      partition_url = computer_partition.getSoftwareRelease()._software_release
+      partition_type = computer_partition.getType()
+      if partition_url == software_url and partition_type == instance_type:
+        return computer_partition
+    raise Exception("JS-drone %s partition not found" % instance_type)
+
+  def setUp(self):
+    super().setUp()
+    subscriber_partition = self.get_partition('drone')
+    instance_path = json.loads(
+      subscriber_partition.getConnectionParameterDict()['_'])['instance-path']
+    quickjs_bin = os.path.join(instance_path, 'bin', 'qjs')
+    script_dir = os.path.join(instance_path, 'etc')
+    self.qjs_process = subprocess.Popen(
+      [
+        quickjs_bin,
+        os.path.join(script_dir, MAIN_SCRIPT_NAME),
+        os.path.join(script_dir, USER_SCRIPT_NAME),
+      ],
+      stdin=subprocess.PIPE,
+      stdout=subprocess.PIPE,
+    )
+    time.sleep(0.1)
+
+  def tearDown(self):
+    if self.qjs_process.returncode == None:
+      self.qjs_process.kill()
+      self.qjs_process.communicate()
+    super().tearDown()
+
+  def ua_networkMessage_encodeHeader(self):
+    ua_byte1 = int(VERSION)
+    ua_byte1 |= int(PUBLISHER_ID_ENABLED) << 4
+    ua_byte1 |= int(GROUP_HEADER_ENABLED) << 5
+    ua_byte1 |= int(PAYLOAD_HEADER_ENABLED) << 6
+    ua_byte1 |= int(EXTENDED_FLAGS1_ENABLED) << 7
+
+    ua_byte2 = PUBLISHER_ID_TYPE
+    ua_byte2 |= int(DATA_SET_CLASS_ID_ENABLED) << 3
+    ua_byte2 |= int(SECURITY_ENABLED) << 4
+    ua_byte2 |= int(NETWORK_MESSAGE_TIMESTAMP_ENABLED) << 5
+    ua_byte2 |= int(PICOSECONDS_ENABLED) << 6
+    ua_byte2 |= int(EXTENDED_FLAGS2_ENABLED) << 7
+
+    return struct.pack('BBH', ua_byte1, ua_byte2, PUBLISHER_ID)
+
+  def ua_groupHeader_encode(self):
+    ua_byte = int(WRITER_GROUP_ID_ENABLED)
+    ua_byte |= int(GROUP_VERSION_ENABLED) << 1
+    ua_byte |= int(NETWORK_MESSAGE_NUMBER_ENABLED) << 2
+    ua_byte |= int(SEQUENCE_NUMBER_ENABLED) << 3
+
+    return struct.pack('B', ua_byte) + struct.pack('H', WRITER_GROUP_ID)
+
+  def ua_payloadHeader_encode(self):
+    header = struct.pack('B', DATASET_PAYLOAD_HEADER_COUNT)
+    for data_set_writer_id in DATA_SET_WRITER_ID:
+      header += struct.pack('H', data_set_writer_id)
+    return header
+
+  def ua_networkMessage_encodeHeaders(self):
+    headers = self.ua_networkMessage_encodeHeader()
+    headers += self.ua_groupHeader_encode()
+    headers += self.ua_payloadHeader_encode()
+    return headers
+
+  def ua_dataSetMessageHeader_encode(self):
+    ua_byte1 = int(DATA_SET_MESSAGE_VALIDE)
+    ua_byte1 |= FIELD_ENCODING << 1
+    ua_byte1 |= int(DATA_SET_CLASS_ID_ENABLED) << 3
+    ua_byte1 |= int(STATUS_ENABLED) << 4
+    ua_byte1 |= int(CONFIG_VERSION_MAJOR_VERSION_ENABLED) << 5
+    ua_byte1 |= int(CONFIG_VERSION_MINOR_VERSION_ENABLED) << 6
+    ua_byte1 |= int(MESSAGE_HEADER_FLAGS2_ENABLED) << 7
+
+    ua_byte2 = DATA_SET_MESSAGE_TYPE
+    ua_byte2 |= int(DATA_SET_MESSAGE_TIMESTAMP_ENABLED) << 4
+    ua_byte2 |= int(PICO_SECONDS_INCLUDED) << 5
+
+    header = struct.pack('BB', ua_byte1, ua_byte2)
+    ua_datetime = time.time() * UA_DATETIME_SEC + UA_DATETIME_UNIX_EPOCH
+
+    return header + struct.pack('qII', int(ua_datetime), CONFIG_VERSION_MAJOR_VERSION, CONFIG_VERSION_MINOR_VERSION)
+
+  def ua_array_encode(self, type_id, struct_type, values):
+    encoding_mask = type_id
+    encoding_mask += 1 << 7 # is an array
+    ua_array = struct.pack('B', encoding_mask)
+    ua_array += struct.pack('I', len(values))
+    for value in values:
+      ua_array += struct.pack(struct_type, value)
+    return ua_array
+
+  def ua_dataSetMessage_encode(self):
+    data_set_message = self.ua_dataSetMessageHeader_encode()
+    data_set_message += struct.pack('H', MONITORED_ITEM_NB)
+    data_set_message += self.ua_array_encode(
+      POSITION_ARRAY_TYPE,
+      'd',
+      POSITION_ARRAY_VALUES,
+    )
+    data_set_message += self.ua_array_encode(
+      SPEED_ARRAY_TYPE,
+      'f',
+      SPEED_ARRAY_VALUES,
+    )
+    data_set_message += struct.pack('B', STRING_TYPE)
+    data_set_message += struct.pack('I', len(TEST_MESSAGE))
+    data_set_message += TEST_MESSAGE
+    return data_set_message
+
+  def send_ua_networkMessage(self):
+    ua_message = self.ua_networkMessage_encodeHeaders()
+    ua_message += self.ua_dataSetMessage_encode()
+    with socket.socket(socket.AF_INET6, socket.SOCK_DGRAM, socket.IPPROTO_UDP) as s:
+      s.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 2)
+      s.sendto(ua_message, ('::1', OPC_UA_PORT))
+
+  def test_requested_instances(self):
+    connection_parameter_dict = json.loads(
+      self.computer_partition.getConnectionParameterDict()['_'])
+    self.assertEqual(connection_parameter_dict['drone-id-list'], [])
+    self.assertEqual(connection_parameter_dict['subscriber-id-list'], [0])
+
+  def test_subscriber_instance_parameter_dict(self):
+    self.assertEqual(
+      json.loads(self.get_partition('drone').getInstanceParameterDict()['_']),
+      {
+        'autopilotIp': '192.168.27.1',
+        'id': 0,
+        'isASimulation': False,
+        'isADrone': False,
+        'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/subscribe.js',
+        'multicastIp': MCAST_GRP,
+        'numberOfPeers': 1,
+        'netIf': OPC_UA_NET_IF
+      }
+    )
+
+  def net_if_name_to_index(self, name):
+    with open('/sys/class/net/%s/ifindex' % name) as f:
+      index = int(f.readline())
+    return index
+
+  def test_joined_multicast_grp(self):
+    expected_string = '%s    %s              %s     1 00000004 0\n' % (
+      self.net_if_name_to_index(OPC_UA_NET_IF),
+      OPC_UA_NET_IF,
+      ipaddress.IPv6Address(MCAST_GRP).exploded.replace(':', ''),
+    )
+    with open('/proc/net/igmp6') as f:
+      self.assertIn(expected_string, f.readlines())
+
+  def test_pubsub_subscription(self):
+    self.send_ua_networkMessage()
+    time.sleep(0.1)
+    outs, _ = self.qjs_process.communicate(b'q\n', timeout=15)
+    decoded_out = outs.decode()
+    for line in (
+      'Subscription 0 | MonitoredItem %s' % MONITORED_ITEM_NB,
+      'Received position of drone 0: %f° %f° %fm %fm' % POSITION_ARRAY_VALUES,
+      'Received speed of drone 0: %f° %fm/s %fm/s' % SPEED_ARRAY_VALUES,
+      'Received message for drone 0: %s' % TEST_MESSAGE.decode(),
+    ):
+      self.assertIn(line, decoded_out)

software/slapos-sr-testing/software.cfg

@@ -252,6 +252,11 @@ setup = ${slapos-repository:location}/software/mosquitto/test/
 egg = slapos.test.peertube
 setup = ${slapos-repository:location}/software/peertube/test/
 
+[slapos.test.js-drone-setup]
+<= setup-develop-egg
+egg = slapos.test.js_drone
+setup = ${slapos-repository:location}/software/js-drone/test/
+
 [slapos.core-repository]
 <= git-clone-repository
 repository = https://lab.nexedi.com/nexedi/slapos.core.git
@@ -316,6 +321,7 @@ eggs +=
   ${slapos.test.html5as-setup:egg}
   ${slapos.test.htmlvalidatorserver-setup:egg}
   ${slapos.test.hugo-setup:egg}
+  ${slapos.test.js-drone-setup:egg}
   ${slapos.test.jscrawler-setup:egg}
   ${slapos.test.jstestnode-setup:egg}
   ${slapos.test.jupyter-setup:egg}
@@ -407,6 +413,7 @@ tests =
   html5as-base ${slapos.test.html5as-base-setup:setup}
   htmlvalidatorserver ${slapos.test.htmlvalidatorserver-setup:setup}
   hugo ${slapos.test.hugo-setup:setup}
+  js-drone ${slapos.test.js-drone-setup:setup}
   jscrawler ${slapos.test.jscrawler-setup:setup}
   jstestnode ${slapos.test.jstestnode-setup:setup}
   jupyter ${slapos.test.jupyter-setup:setup}