#119 Refactoring. Separated sys test support functionality into class

sys-test/swarm_test_rig/test_connection.py → sys_test/swarm_test_rig/test_connection.py

@@ -30,36 +30,23 @@ from cflib.crazyflie.log import LogConfig
 from cflib.crazyflie.swarm import CachedCfFactory
 from cflib.crazyflie.swarm import Swarm
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
-from cflib.crtp import RadioDriver
-from cflib.drivers.crazyradio import Crazyradio
+from sys_test.swarm_test_rig.test_rig_support import TestRigSupport
 
 
 class TestSwarmConnection(unittest.TestCase):
     def setUp(self):
         cflib.crtp.init_drivers(enable_debug_driver=False)
-
-        self.all_uris = [
-            'radio://0/42/2M/E7E7E74201',
-            'radio://0/42/2M/E7E7E74202',
-            'radio://0/42/2M/E7E7E74203',
-            'radio://0/42/2M/E7E7E74204',
-            'radio://0/42/2M/E7E7E74205',
-            'radio://0/42/2M/E7E7E74206',
-            'radio://0/42/2M/E7E7E74207',
-            'radio://0/42/2M/E7E7E74208',
-            'radio://0/42/2M/E7E7E74209',
-            'radio://0/42/2M/E7E7E7420A',
-        ]
+        self.test_rig_support = TestRigSupport()
 
     def test_that_connection_time_scales_with_more_devices_without_cache(self):
         # Fixture
-        self.restart_devices(self.all_uris)
+        self.test_rig_support.restart_devices(self.test_rig_support.all_uris)
 
         EXPECTED_CONNECTION_TIME = 5
 
-        for nr_of_devices in range(1, len(self.all_uris)):
+        for nr_of_devices in range(1, len(self.test_rig_support.all_uris)):
             # Test
-            uris = self.all_uris[:nr_of_devices]
+            uris = self.testRigSupport.all_uris[:nr_of_devices]
 
             start_time = time.time()
             with Swarm(uris):
@@ -75,18 +62,18 @@ class TestSwarmConnection(unittest.TestCase):
 
     def test_that_connection_time_scales_with_more_devices_with_cache(self):
         # Fixture
-        self.restart_devices(self.all_uris)
+        self.test_rig_support.restart_devices(self.test_rig_support.all_uris)
 
         # Fill caches first by connecting to all devices
         factory = CachedCfFactory(rw_cache='./cache')
-        with Swarm(self.all_uris, factory=factory):
+        with Swarm(self.test_rig_support.all_uris, factory=factory):
             pass
 
         EXPECTED_CONNECTION_TIME = 1.5
 
-        for nr_of_devices in range(1, len(self.all_uris)):
+        for nr_of_devices in range(1, len(self.test_rig_support.all_uris)):
             # Test
-            uris = self.all_uris[:nr_of_devices]
+            uris = self.test_rig_support.all_uris[:nr_of_devices]
 
             start_time = time.time()
             with Swarm(uris, factory=factory):
@@ -104,7 +91,7 @@ class TestSwarmConnection(unittest.TestCase):
         # Fixture
         # Test
         # Assert
-        self.restart_devices(self.all_uris)
+        self.test_rig_support.restart_devices(self.test_rig_support.all_uris)
 
     def test_that_the_same_cf_object_can_be_connected_multiple_times(self):
         # Fixture
@@ -114,37 +101,7 @@ class TestSwarmConnection(unittest.TestCase):
         lg_conf.add_variable('stabilizer.roll', 'float')
 
         # Test
-        for uri in self.all_uris:
+        for uri in self.test_rig_support.all_uris:
             with SyncCrazyflie(uri, cf=cf):
                 pass
 
-    # Utility functions ---------------------------------------------
-
-    def restart_devices(self, uris):
-        def send_packets(uris, value):
-            for uri in uris:
-                devid, channel, datarate, address = RadioDriver.parse_uri(uri)
-                radio.set_channel(channel)
-                radio.set_data_rate(datarate)
-                radio.set_address(address)
-
-                received_packet = False
-                for i in range(100):
-                    result = radio.send_packet((0xf3, 0xfe, value))
-                    if result.ack is True:
-                        received_packet = True
-                        break
-
-                self.assertTrue(received_packet)
-
-        print('Restarting devices')
-
-        BOOTLOADER_CMD_SYSOFF = 0x02
-        BOOTLOADER_CMD_SYSON = 0x03
-
-        radio = Crazyradio()
-        send_packets(uris, BOOTLOADER_CMD_SYSOFF)
-        time.sleep(0.1)
-        send_packets(uris, BOOTLOADER_CMD_SYSON)
-        radio.close()
-        time.sleep(5)