From f89d6ad07951563509ea0971010b2b729f83f52f Mon Sep 17 00:00:00 2001 From: Andrey Lebedev Date: Sat, 16 May 2020 15:02:48 +0300 Subject: [PATCH] Introduce sensord simulator Allows to run variod locally on developer's machine and generate NMEA traffic for variod. Implemented with Python and documented in README.md --- testbench/.gitignore | 3 + testbench/Makefile | 5 + testbench/Pipfile | 14 + testbench/Pipfile.lock | 154 + testbench/README.md | 98 + testbench/samples/sample_flight_2.nmea | 50001 +++++++++++++++++++++++ testbench/setup.py | 34 + testbench/variodtb/sensordsim.py | 193 + 8 files changed, 50502 insertions(+) create mode 100644 testbench/.gitignore create mode 100644 testbench/Makefile create mode 100644 testbench/Pipfile create mode 100644 testbench/Pipfile.lock create mode 100644 testbench/README.md create mode 100644 testbench/samples/sample_flight_2.nmea create mode 100644 testbench/setup.py create mode 100644 testbench/variodtb/sensordsim.py diff --git a/testbench/.gitignore b/testbench/.gitignore new file mode 100644 index 0000000000..d763392ffa --- /dev/null +++ b/testbench/.gitignore @@ -0,0 +1,3 @@ +*.egg-info +*.py? +.mypy_cache diff --git a/testbench/Makefile b/testbench/Makefile new file mode 100644 index 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Instead of running a +real `sensord` daemon on real hardware, a simulator can be used. `variod` +generates vario sound based on input from `sensord` and forwards NMEA traffic +to XCSoar. So, there are total 3 processes involved in a typical operating +environment: + +* `sensord` - connects to variod on TCP port 4353 +* `variod` - listens TCP port 4353 and forwards traffic to port 4352 +* `xcsoar` - listens on TCP port 4352 + +Traffic flow can be described in diagram: + +``` ++---------+ +--------+ +--------+ +| | | +--------> | +| sensord +---------> variod | | xcsoar | +| | | <--------+ | ++---------+ +--------+ +--------+ +``` + +This project provides tools for testing variod daemon by simulating other parts +of the equation (`sensord` and `xcsoar`) + +## Setting up environment + +Development environment is managed by `pipenv`, so you need to install it +first: + +``` +pip3 install pipenv +``` + +Then development environment can be initialized by running + +``` +pipenv install +``` + +## Running + +Before running any command, set up your shell with: + +``` +pipenv shell +``` + +After that, the following commands should become available: + +* `sensord-sim` - simulator for real sensor daemon + +### Quick start + +Run thesse commands in 3 separate terminals: + +| Terminal 1 | Terminal 2 | Terminal 3 | +|---------------|----------------|------------------------| +| `nc -lp 4352` | `../variod -f` | `sensord-sim generate` | + +### Simulating sensord + +`sensord-sim` replaces `sensord` process. Sensord suports several modes via command line options. + +`generate` mode generates NMEA stream that goes from minimum vario reading to +maximum and back periodically. For example: + +``` +seonsord-sim generate --min=2 --max=5 --period=10 +``` + +`replay` mode simply forwards NMEA stream from pre-recorded file + +``` +seonsord-sim replay samples/sample_flight_2.nmea +``` + +It also allows to configure the delay between each sentence sent using +`--delay` flag. For example, to stress-test variod, one can flood it with NMEA +messages by setting the delay to 0: + +``` +sensord-sim --delay=0 replay samples/sample_flight_2.nmea +``` + +See `sensord-sim --help` for the full list of options. + +### Simulating xcsoar + +The most primitive way to simulate `xcsoar` process is to listen for port 4352 +using netcat command: + +``` +nc -lp 4352 +``` + +One can also run the actual xcsoar command and configure the openvario device +on port 4352. \ No newline at end of file diff --git a/testbench/samples/sample_flight_2.nmea b/testbench/samples/sample_flight_2.nmea new file mode 100644 index 0000000000..a32c74a71f --- /dev/null +++ b/testbench/samples/sample_flight_2.nmea @@ -0,0 +1,50001 @@ +$PFLAU,17,1,1,1,0,,0,,*55 +$GPRMC,101000.00,A,4743.66021,N,01226.03259,E,0.011,,280619,,,A*79 +$PGRMZ,1591,F,2*06 +$GPGGA,101000.00,4743.66021,N,01226.03259,E,1,07,1.22,548.1,M,47.0,M,,*5C +$POV,E,0.02,P,957.21,Q,0.00*19 +$PFLAA,0,82,148,16,1,3EDD36,0,,0,0.1,2*29 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+$GPRMC,114244.00,A,4711.24557,N,01240.78506,E,83.094,152.76,280619,,,A*54 +$PGRMZ,10727,F,2*39 +$POV,E,-2.56,P,677.68,Q,636.94*39 +$GPGGA,114244.00,4711.24557,N,01240.78506,E,1,10,0.86,3457.5,M,46.7,M,,*69 +$POV,E,-2.57,P,677.78,Q,634.94*3B +$PFLAA,0,2703,-3459,-272,2,DD0466,224,,33,1.6,1*66 +$PFLAU,0,1,2,1,0,157,0,-272,4434*4E +$GPRMC,114245.00,A,4711.22495,N,01240.80074,E,83.817,152.13,280619,,,A*5B +$PGRMZ,10717,F,2*3A +$POV,E,-2.69,P,677.89,Q,628.69*37 diff --git a/testbench/setup.py b/testbench/setup.py new file mode 100644 index 0000000000..5f17a7b913 --- /dev/null +++ b/testbench/setup.py @@ -0,0 +1,34 @@ +from setuptools import setup, find_packages +from os import path + +here = path.abspath(path.dirname(__file__)) + +# Get the long description from the README file +with open(path.join(here, "README.md"), encoding="utf-8") as f: + long_description = f.read() + +setup( + name="variod-testbench", + version="0.1.0.dev0", + description="Testing utilities for Openvario variod daemon", + long_description=long_description, + long_description_content_type="text/markdown", + url="https://github.com/Openvario/variod", + author="Andrey Lebedev", + author_email="andrey.lebedev@gmail.com", + classifiers=[ + "Development Status :: 3 - Alpha", + "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)", + "Programming Language :: Python :: 3", + "Programming Language :: Python :: 3.7", + "Programming Language :: Python :: 3.8", + ], + keywords="openvario variod testing", + # package_dir={"": "src"}, + packages=find_packages(where="src"), # Required + python_requires=">=3.7, <4", + install_requires=[], + extras_require={"dev": ["black", "mypy"], "test": [],}, + entry_points={"console_scripts": ["sensord-sim=variodtb.sensordsim:main"],}, + project_urls={}, +) diff --git a/testbench/variodtb/sensordsim.py b/testbench/variodtb/sensordsim.py new file mode 100644 index 0000000000..529dbe9af5 --- /dev/null +++ b/testbench/variodtb/sensordsim.py @@ -0,0 +1,193 @@ +from typing import Generator + +import logging +import math +import time +import socket +import argparse + +log = logging.getLogger(__name__) + +VARIOD_HOST = "localhost" +VARIOD_PORT = 4353 + + +class NmeaGenerator: + """Abstract interface for NMEA generators.""" + + def generate(self) -> Generator[str, None, None]: + """Generate NMEA sentence (with the checksum).""" + raise NotImplementedError() + + +class FileGenerator(NmeaGenerator): + """Generate arbitrary sentences by reading from the file.""" + + def __init__(self, fname: str) -> None: + """Create file generator + + fname: file name to read. + """ + self.fname = fname + + def generate(self) -> Generator[str, None, None]: + while True: + with open(self.fname, "r") as f: + yield from f + + +class VarioSinGenerator(NmeaGenerator): + """Synthesize sensord variometer readings. + + Iteratively go from minimum to maximum vario reading during given period + of time. + """ + + def __init__(self, start: float, end: float, period: float) -> None: + """Create NMEA generator. + + start: minimum vario value + end: maximum vario value + period: time in seconds to go from start to the end and back + """ + self.start = start + self.end = end + self.period = period + + def generate(self) -> Generator[str, None, None]: + vario_gen = self.generate_vario() + while True: + vario = next(vario_gen) + sentence = f"$POV,E,{vario:.2f}" + yield add_nmea_chksum(sentence) + "\r\n" + + def generate_vario(self) -> Generator[float, None, None]: + rng = self.end - self.start + + while True: + t = time.time() + vario = math.sin(t * 2 * math.pi / self.period) + # sin() generates values from -1 to 1. Make it from 0 to 1 + vario = (vario + 1) / 2 + # Apply the dynamic range + vario = vario * rng + self.start + yield vario + + +class SensordSim: + """Sensor daemon simulator.""" + + def __init__(self, nmea_gen: NmeaGenerator, delay: float) -> None: + """Create simulator + + nmea_gen: NMEA sentence generator to use + delay: delay between sentences in seconds + """ + self.nmea_gen = nmea_gen + self.delay = delay + + def run(self) -> None: + """Start sensor simulation. + + Never finishes. + """ + log.info("Starting sensord-sim") + + while True: + sock = self._wait_for_server() + with sock: + try: + self._simulate(sock) + except ConnectionError as e: + log.warning(f"Connection closed: {e}") + + def _wait_for_server(self) -> socket.socket: # pylint: disable=no-self-use + log.info(f"Connecting to {VARIOD_HOST}:{VARIOD_PORT}...") + while True: + try: + sock = socket.create_connection((VARIOD_HOST, VARIOD_PORT), 1) + log.info(f"Connection established") + return sock + except ConnectionRefusedError: + time.sleep(1) + return sock + + def _simulate(self, sock: socket.socket): + nmea_gen = self.nmea_gen.generate() + while True: + nmea = next(nmea_gen) + log.info(f">>> {nmea.strip()}") + sock.send(nmea.encode()) + if self.delay: + time.sleep(self.delay) + + +def make_parser() -> argparse.ArgumentParser: + parser = argparse.ArgumentParser(description="Sensor daemon simulator.") + parser.add_argument( + "--delay", + "-d", + type=float, + default=0.1, + metavar="SECONDS", + help="Delay between every NMEA sentence (default: 0.1s)", + ) + + subparsers = parser.add_subparsers(dest="gen", help="sub-command help") + + replay_parser = subparsers.add_parser("replay", help="Replay .nmea file") + replay_parser.add_argument("file", help="Path to .nmea file to replay") + + replay_parser = subparsers.add_parser("generate", help="Sinthesize vario readings") + replay_parser.add_argument( + "--min", + type=float, + default=-2.0, + help="Minimum vario reading (default: -2 m/s)", + ) + replay_parser.add_argument( + "--max", type=float, default=5.0, help="Maximum vario reading (default: 5 m/s)" + ) + replay_parser.add_argument( + "--period", + type=float, + default=10.0, + help=( + "Time in seconds to go from minimum vario reading to maximum " + "and back (default: 10s)" + ), + ) + return parser + + +def add_nmea_chksum(sentence: str) -> str: + checksum = 0 + for c in sentence: + checksum ^= ord(c) + return f"{sentence}*{checksum:02X}" + + +def _pick_generator(args): + if args.gen == "replay": + return FileGenerator(args.file) + + assert args.gen == "generate" + return VarioSinGenerator(args.min, args.max, args.period) + + +def main() -> None: + parser = make_parser() + args = parser.parse_args() + FORMAT = "%(asctime)-15s %(message)s" + logging.basicConfig(level=logging.INFO, format=FORMAT) + + gen = _pick_generator(args) + sim = SensordSim(gen, args.delay) + try: + sim.run() + except KeyboardInterrupt: + pass + + +if __name__ == "__main__": + main()