From 7dcc48f2143fcd0efd84625c26c4886a4cce9777 Mon Sep 17 00:00:00 2001
From: pv42 <pv42.97@gmail.com>
Date: Sun, 1 Sep 2024 16:13:49 +0200
Subject: [PATCH] test: add async versiosn of network loopback tests fix:
remove tokio version cap for dev-dep
---
mavlink-core/Cargo.toml | 3 +-
mavlink/Cargo.toml | 3 +
mavlink/tests/tcp_loopback_async_tests.rs | 69 +++++++++++++++++++++++
mavlink/tests/udp_loopback_async_tests.rs | 46 +++++++++++++++
4 files changed, 119 insertions(+), 2 deletions(-)
create mode 100644 mavlink/tests/tcp_loopback_async_tests.rs
create mode 100644 mavlink/tests/udp_loopback_async_tests.rs
diff --git a/mavlink-core/Cargo.toml b/mavlink-core/Cargo.toml
index d519159..eb749b0 100644
--- a/mavlink-core/Cargo.toml
+++ b/mavlink-core/Cargo.toml
@@ -46,5 +46,4 @@ async-trait = { version = "0.1.18", optional = true }
default = ["std", "tcp", "udp", "direct-serial", "serde"]
[dev-dependencies]
-# 1.39 tokio macros seems to be currently broken
-tokio = { version = "1.0, <=1.38", default-features = false, features = ["io-util", "net", "sync", "fs","macros", "rt" ] }
\ No newline at end of file
+tokio = { version = "1.0", default-features = false, features = ["io-util", "net", "sync", "fs","macros", "rt" ] }
\ No newline at end of file
diff --git a/mavlink/Cargo.toml b/mavlink/Cargo.toml
index cafcd6d..669d9b0 100644
--- a/mavlink/Cargo.toml
+++ b/mavlink/Cargo.toml
@@ -115,3 +115,6 @@ features = [
"tokio-1",
"signing"
]
+
+[dev-dependencies]
+tokio = { version = "1.0", default-features = false, features = ["macros", "rt", "time" ] }
diff --git a/mavlink/tests/tcp_loopback_async_tests.rs b/mavlink/tests/tcp_loopback_async_tests.rs
new file mode 100644
index 0000000..edd56ba
--- /dev/null
+++ b/mavlink/tests/tcp_loopback_async_tests.rs
@@ -0,0 +1,69 @@
+mod test_shared;
+
+#[cfg(all(feature = "tokio-1", feature = "tcp", feature = "common"))]
+mod test_tcp_connections {
+ #[cfg(feature = "signing")]
+ use crate::test_shared;
+ #[cfg(feature = "signing")]
+ use mavlink::SigningConfig;
+
+ /// Test whether we can send a message via TCP and receive it OK using async_connect.
+ /// This also test signing as a property of a MavConnection if the signing feature is enabled.
+ #[tokio::test]
+ pub async fn test_tcp_loopback() {
+ const RECEIVE_CHECK_COUNT: i32 = 5;
+
+ #[cfg(feature = "signing")]
+ let singing_cfg_server = SigningConfig::new(test_shared::SECRET_KEY, 0, true, false);
+ #[cfg(feature = "signing")]
+ let singing_cfg_client = singing_cfg_server.clone();
+
+ let server_thread = tokio::spawn(async move {
+ //TODO consider using get_available_port to use a random port
+ let mut server =
+ mavlink::connect_async("tcpin:0.0.0.0:14551").await.expect("Couldn't create server");
+
+ #[cfg(feature = "signing")]
+ server.setup_signing(Some(singing_cfg_server));
+
+ let mut recv_count = 0;
+ for _i in 0..RECEIVE_CHECK_COUNT {
+ match server.recv().await {
+ Ok((_header, msg)) => {
+ if let mavlink::common::MavMessage::HEARTBEAT(_heartbeat_msg) = msg {
+ recv_count += 1;
+ } else {
+ // one message parse failure fails the test
+ break;
+ }
+ }
+ Err(..) => {
+ // one message read failure fails the test
+ break;
+ }
+ }
+ }
+ assert_eq!(recv_count, RECEIVE_CHECK_COUNT);
+ });
+
+ // Give some time for the server to connect
+ tokio::time::sleep(std::time::Duration::from_millis(100)).await;
+
+ // have the client send a few hearbeats
+ tokio::spawn(async move {
+ let msg =
+ mavlink::common::MavMessage::HEARTBEAT(crate::test_shared::get_heartbeat_msg());
+ let mut client =
+ mavlink::connect_async("tcpout:127.0.0.1:14551").await.expect("Couldn't create client");
+
+ #[cfg(feature = "signing")]
+ client.setup_signing(Some(singing_cfg_client));
+
+ for _i in 0..RECEIVE_CHECK_COUNT {
+ client.send_default(&msg).await.ok();
+ }
+ });
+
+ server_thread.await.unwrap();
+ }
+}
diff --git a/mavlink/tests/udp_loopback_async_tests.rs b/mavlink/tests/udp_loopback_async_tests.rs
new file mode 100644
index 0000000..3d6b46d
--- /dev/null
+++ b/mavlink/tests/udp_loopback_async_tests.rs
@@ -0,0 +1,46 @@
+mod test_shared;
+
+#[cfg(all(feature = "tokio-1", feature = "udp", feature = "common"))]
+mod test_udp_connections {
+
+ /// Test whether we can send a message via UDP and receive it OK using async_connect
+ #[tokio::test]
+ pub async fn test_udp_loopback() {
+ const RECEIVE_CHECK_COUNT: i32 = 3;
+
+ let server = mavlink::connect_async("udpin:0.0.0.0:14552").await.expect("Couldn't create server");
+
+ // have the client send one heartbeat per second
+ tokio::spawn({
+ async move {
+ let msg =
+ mavlink::common::MavMessage::HEARTBEAT(crate::test_shared::get_heartbeat_msg());
+ let client =
+ mavlink::connect_async("udpout:127.0.0.1:14552").await.expect("Couldn't create client");
+ loop {
+ client.send_default(&msg).await.ok();
+ }
+ }
+ });
+
+ //TODO use std::sync::WaitTimeoutResult to timeout ourselves if recv fails?
+ let mut recv_count = 0;
+ for _i in 0..RECEIVE_CHECK_COUNT {
+ match server.recv().await {
+ Ok((_header, msg)) => {
+ if let mavlink::common::MavMessage::HEARTBEAT(_heartbeat_msg) = msg {
+ recv_count += 1;
+ } else {
+ // one message parse failure fails the test
+ break;
+ }
+ }
+ Err(..) => {
+ // one message read failure fails the test
+ break;
+ }
+ }
+ }
+ assert_eq!(recv_count, RECEIVE_CHECK_COUNT);
+ }
+}
--
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