mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 23:11:13 +00:00
Oleksandr Bezdieniezhnykh
2b19b8b90b
All FC adapter outbound MAVLink bytes now go through the AZ-401 MavlinkTransport seam (NoopMavlinkTransport in replay, SerialMavlinkTransport in live). New helpers in _outbound_mavlink_payloads.py extract encode/pack/seq-bump so the four AP _send sites and the iNav statustext _send site become encode -> pack -> transport.write. TlogReplayFcAdapter emits real AP-shape MAVLink bytes through the injected NoopMavlinkTransport, satisfying replay protocol Invariant 5 and unblocking AZ-401 AC-9. Closes AZ-558. Also unskips AZ-401 AC-9 and AZ-404 AC-4b. Live wire output remains byte-identical (proven via two-instance MAVLink byte-equivalence tests). AST scan asserts no .mav.<name>_send( calls remain in the retrofit set (AP / iNav / tlog adapters). Out of scope (logged in review): GCS adapter retrofit; airborne live strategy registration that would activate the SerialMavlinkTransport factory injection path. Tests: 2110 passed, 92 environmental skips, 1 unrelated pre-existing macOS cold-start flake deselected. Co-authored-by: Cursor <cursoragent@cursor.com>
102 lines
3.1 KiB
Python
102 lines
3.1 KiB
Python
"""Shared test stubs for the C8 outbound retrofit (AZ-558).
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After AZ-558 the AP / iNav / replay adapters route bytes through the
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``MavlinkTransport`` Protocol seam instead of calling
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``connection.mav.X_send(...)`` directly. The new code path is
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``mav.X_encode(...) → msg.pack(mav) → transport.write(buf)``.
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Tests that previously used a hand-rolled ``_MavStub`` with ``X_send``
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methods need the matching ``X_encode`` methods so their wire-level
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assertions continue to work. This module provides:
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* :class:`_FakeMsg` — opaque message stub returned by ``X_encode``;
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its ``pack(mav)`` returns deterministic placeholder bytes without
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recomputing CRCs / signing (the per-test stub records the call args
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inside its own ``X_encode`` method, so ``pack`` can be a pure
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byte-emitter).
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* :class:`_NullTransport` — minimal :class:`MavlinkTransport`
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implementation that drops bytes and counts them. Used by tests that
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do not care about wire content but need a transport to satisfy
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the new ``mavlink_transport_factory`` plumbing.
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* :class:`_BytesCapturingTransport` — collects every ``write(buf)``
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call. Used by AC-2 byte-equivalence and AZ-401 AC-9 tests that
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assert on aggregate byte volume / specific message bytes.
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"""
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from __future__ import annotations
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from typing import Any
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__all__ = [
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"_BytesCapturingTransport",
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"_FakeMsg",
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"_NullTransport",
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"_PLACEHOLDER_PACK_BYTES",
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]
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_PLACEHOLDER_PACK_BYTES: bytes = b"\x00" * 16
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class _FakeMsg:
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"""Opaque MAVLink message stand-in returned by ``X_encode``.
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``pack(mav)`` returns fixed placeholder bytes — the test stub's
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``X_encode`` method already recorded the call args, so we don't
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need to re-record here.
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"""
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__slots__ = ()
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def pack(self, mav: Any, force_mavlink1: bool = False) -> bytes:
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return _PLACEHOLDER_PACK_BYTES
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class _NullTransport:
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"""Minimal :class:`MavlinkTransport` impl that drops bytes."""
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__slots__ = ("_bytes_written", "_closed")
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def __init__(self) -> None:
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self._bytes_written = 0
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self._closed = False
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def write(self, payload: bytes) -> int:
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if self._closed:
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raise RuntimeError("write on closed _NullTransport")
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n = len(payload)
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self._bytes_written += n
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return n
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def bytes_written(self) -> int:
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return self._bytes_written
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def close(self) -> None:
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self._closed = True
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class _BytesCapturingTransport:
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"""Test :class:`MavlinkTransport` that retains every ``write`` payload."""
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__slots__ = ("_chunks", "_closed")
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def __init__(self) -> None:
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self._chunks: list[bytes] = []
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self._closed = False
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def write(self, payload: bytes) -> int:
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if self._closed:
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raise RuntimeError("write on closed _BytesCapturingTransport")
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self._chunks.append(bytes(payload))
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return len(payload)
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def bytes_written(self) -> int:
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return sum(len(c) for c in self._chunks)
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def close(self) -> None:
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self._closed = True
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@property
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def chunks(self) -> tuple[bytes, ...]:
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return tuple(self._chunks)
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