Merge pull request #1 from dronekit/rroche/message_listeners_api_update

Attribute Listener interface changed

Author: tcr3dr

dronekit_solo/__init__.py

@@ -15,24 +15,24 @@ def __init__(self, *args):
         self.add_message_listener('GOPRO_GET_RESPONSE', self.__on_gopro_get_response)
         self.add_message_listener('GOPRO_SET_RESPONSE', self.__on_gopro_set_response)
 
-    def __on_gopro_status(self, name, m):
-        self.__msg_gopro_status = m.status
+    def __on_gopro_status(self, vehicle, name, m):
+        self.__msg_gopro_status = m
         self.notify_attribute_listeners('gopro_status', self.gopro_status)
 
     @property
     def gopro_status(self):
         return self.__msg_gopro_status
 
-    def __on_gopro_get_response(self, name, m):
-        self.__msg_gopro_get_response = (m.cmd_id, m.value)
+    def __on_gopro_get_response(self, vehicle, name, m):
+        self.__msg_gopro_get_response = (m.cmd_id, m.status, m.value)
         self.notify_attribute_listeners('gopro_get_response', self.gopro_get_response)
 
     @property
     def gopro_get_response(self):
         return self.__msg_gopro_get_response
 
-    def __on_gopro_set_response(self, name, m):
-        self.__msg_gopro_set_response = (m.cmd_id, m.result)
+    def __on_gopro_set_response(self, vehicle, name, m):
+        self.__msg_gopro_set_response = (m.cmd_id, m.status)
         self.notify_attribute_listeners('gopro_set_response', self.gopro_set_response)
 
     @property

requirements.txt

@@ -0,0 +1,6 @@
+dronekit==2.1.0
+dronekit-sitl==3.0.1
+nose==1.3.7
+psutil==3.4.2
+pymavlink==1.1.70
+wheel==0.24.0

tests/__init__.py

@@ -0,0 +1,28 @@
+from __future__ import print_function
+import os
+import sys
+from dronekit_sitl import SITL
+from nose.tools import assert_equals, with_setup
+
+sitl = None
+sitl_args = ['-I0', '--model', 'quad', '--home=-35.363261,149.165230,584,353']
+
+if 'SITL_SPEEDUP' in os.environ:
+    sitl_args += ['--speedup', str(os.environ['SITL_SPEEDUP'])]
+if 'SITL_RATE' in os.environ:
+    sitl_args += ['-r', str(os.environ['SITL_RATE'])]
+
+def setup_solo_sitl():
+    global sitl
+    sitl = SITL()
+    sitl.download('solo', '1.2.0')
+    sitl.launch(sitl_args, await_ready=True, restart=True)
+
+def teardown_sitl():
+    sitl.stop()
+
+def with_solo_sitl(fn):
+    @with_setup(setup_solo_sitl, teardown_sitl)
+    def test(*args, **kargs):
+        return fn('tcp:127.0.0.1:5760', *args, **kargs)
+    return test

tests/test_attribute_listener_api.py

@@ -0,0 +1,18 @@
+from dronekit import connect, VehicleMode
+from dronekit.test import with_sitl
+from dronekit_solo import SoloVehicle
+
+from nose.tools import assert_equals
+
+@with_sitl
+def test_attribute_listener(connpath):
+    '''check if the attribute listener api is up to date'''
+    v = connect(connpath, wait_ready=True, vehicle_class=SoloVehicle)
+    random_value = 123
+
+    def on_gopro_status(vehicle, attribute, value):
+        assert_equals(value, random_value)
+
+    v.add_attribute_listener('GOPRO_STATUS', on_gopro_status)
+    # manually notify the attribute listenr
+    v.notify_attribute_listeners('GOPRO_STATUS', random_value)

tests/test_gopro_state.py

@@ -0,0 +1,48 @@
+from dronekit import connect, VehicleMode
+from dronekit.test import with_sitl
+from dronekit_solo import SoloVehicle
+
+from nose.tools import assert_equals
+
+class FakeGoproState:
+    def __init__(self, cmd_id, status, value):
+        self.cmd_id = cmd_id
+        self.status = status
+        self.value = value
+
+class FakeGoproResponse:
+    def __init__(self, cmd_id, status):
+        self.cmd_id = cmd_id
+        self.status = status
+
+@with_sitl
+def test_gopro_state(connpath):
+    v = connect(connpath, wait_ready=True, vehicle_class=SoloVehicle)
+
+    fake_gopro_state = FakeGoproState(123, 1, [1, 1, 1, 1])
+
+    def on_gopro_status(vehicle, attribute, value):
+        assert_equals(vehicle.gopro_status, value)
+        assert_equals(value.cmd_id, fake_gopro_state.cmd_id)
+        assert_equals(value.status, fake_gopro_state.status)
+        assert_equals(value.value, fake_gopro_state.value)
+
+    v.add_attribute_listener('gopro_status', on_gopro_status)
+
+    # manually notify the attribute listenr
+    v.notify_message_listeners('GOPRO_HEARTBEAT', fake_gopro_state)
+
+@with_sitl
+def test_gopro_set_response(connpath):
+    v = connect(connpath, wait_ready=True, vehicle_class=SoloVehicle)
+
+    fake_gopro_response = FakeGoproResponse(123, 456)
+
+    def on_gopro_set_response(vehicle, attribute, value):
+        assert_equals(value[0], fake_gopro_response.cmd_id)
+        assert_equals(value[1], fake_gopro_response.status)
+
+    v.add_attribute_listener('gopro_set_response', on_gopro_set_response)
+
+    # manually notify the attribute listenr
+    v.notify_message_listeners('GOPRO_SET_RESPONSE', fake_gopro_response)