diff --git a/sys-test/__init__.py b/sys_test/__init__.py
similarity index 100%
rename from sys-test/__init__.py
rename to sys_test/__init__.py
diff --git a/sys-test/swarm_test_rig/__init__.py b/sys_test/swarm_test_rig/__init__.py
similarity index 100%
rename from sys-test/swarm_test_rig/__init__.py
rename to sys_test/swarm_test_rig/__init__.py
diff --git a/sys-test/swarm_test_rig/cload_all_nrf.sh b/sys_test/swarm_test_rig/cload_all_nrf.sh
similarity index 100%
rename from sys-test/swarm_test_rig/cload_all_nrf.sh
rename to sys_test/swarm_test_rig/cload_all_nrf.sh
diff --git a/sys-test/swarm_test_rig/cload_all_stm.sh b/sys_test/swarm_test_rig/cload_all_stm.sh
similarity index 100%
rename from sys-test/swarm_test_rig/cload_all_stm.sh
rename to sys_test/swarm_test_rig/cload_all_stm.sh
diff --git a/sys-test/swarm_test_rig/test_connection.py b/sys_test/swarm_test_rig/test_connection.py
similarity index 61%
rename from sys-test/swarm_test_rig/test_connection.py
rename to sys_test/swarm_test_rig/test_connection.py
index 1c8f6b9c8f52bb85142c461c946e3f68c0eb8ebc..8b90090e077e42710e924cb4fafefd2c5dd3ac61 100644
--- a/sys-test/swarm_test_rig/test_connection.py
+++ b/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)