endpoint_client_test.go

package gomavlib

import (
	"io"
	"net"
	"testing"
	"time"

	"github.com/pion/transport/v2/udp"
	"github.com/stretchr/testify/require"

	"github.com/bluenviron/gomavlib/v3/pkg/dialect"
	"github.com/bluenviron/gomavlib/v3/pkg/frame"
	"github.com/bluenviron/gomavlib/v3/pkg/streamwriter"
)

func TestEndpointClient(t *testing.T) {
	for _, ca := range []string{"tcp", "udp"} {
		t.Run(ca, func(t *testing.T) {
			var ln net.Listener
			if ca == "tcp" {
				var err error
				ln, err = net.Listen("tcp", "127.0.0.1:5601")
				require.NoError(t, err)
			} else {
				addr, err := net.ResolveUDPAddr("udp", "127.0.0.1:5601")
				require.NoError(t, err)

				ln, err = udp.Listen("udp", addr)
				require.NoError(t, err)
			}
			defer ln.Close()

			go func() {
				conn, err := ln.Accept()
				require.NoError(t, err)
				defer conn.Close()

				dialectRW := &dialect.ReadWriter{Dialect: testDialect}
				err = dialectRW.Initialize()
				require.NoError(t, err)

				rw := &frame.ReadWriter{
					ByteReadWriter: conn,
					DialectRW:      dialectRW,
				}
				err = rw.Initialize()
				require.NoError(t, err)

				sw := &streamwriter.Writer{
					FrameWriter: rw.Writer,
					Version:     streamwriter.V2,
					SystemID:    11,
				}
				err = sw.Initialize()
				require.NoError(t, err)

				for i := 0; i < 3; i++ {
					fr, err := rw.Read()
					require.NoError(t, err)
					require.Equal(t, &frame.V2Frame{
						SequenceNumber: byte(i),
						SystemID:       10,
						ComponentID:    1,
						Message: &MessageHeartbeat{
							Type:           1,
							Autopilot:      2,
							BaseMode:       3,
							CustomMode:     6,
							SystemStatus:   4,
							MavlinkVersion: 5,
						},
						Checksum: fr.GetChecksum(),
					}, fr)

					err = sw.Write(&MessageHeartbeat{
						Type:           6,
						Autopilot:      5,
						BaseMode:       4,
						CustomMode:     3,
						SystemStatus:   2,
						MavlinkVersion: 1,
					})
					require.NoError(t, err)
				}
			}()

			var e EndpointConf
			if ca == "tcp" {
				e = EndpointTCPClient{"127.0.0.1:5601"}
			} else {
				e = EndpointUDPClient{"127.0.0.1:5601"}
			}

			node, err := NewNode(NodeConf{
				Dialect:          testDialect,
				OutVersion:       V2,
				OutSystemID:      10,
				Endpoints:        []EndpointConf{e},
				HeartbeatDisable: true,
			})
			require.NoError(t, err)
			defer node.Close()

			evt := <-node.Events()
			require.Equal(t, &EventChannelOpen{
				Channel: evt.(*EventChannelOpen).Channel,
			}, evt)

			for i := 0; i < 3; i++ {
				err := node.WriteMessageAll(&MessageHeartbeat{
					Type:           1,
					Autopilot:      2,
					BaseMode:       3,
					CustomMode:     6,
					SystemStatus:   4,
					MavlinkVersion: 5,
				})
				require.NoError(t, err)

				evt = <-node.Events()
				require.Equal(t, &EventFrame{
					Frame: &frame.V2Frame{
						SequenceNumber: byte(i),
						SystemID:       11,
						ComponentID:    1,
						Message: &MessageHeartbeat{
							Type:           6,
							Autopilot:      5,
							BaseMode:       4,
							CustomMode:     3,
							SystemStatus:   2,
							MavlinkVersion: 1,
						},
						Checksum: evt.(*EventFrame).Frame.GetChecksum(),
					},
					Channel: evt.(*EventFrame).Channel,
				}, evt)
			}
		})
	}
}

func TestEndpointClientIdleTimeout(t *testing.T) {
	for _, ca := range []string{"tcp"} {
		t.Run(ca, func(t *testing.T) {
			var ln net.Listener
			var err error
			ln, err = net.Listen("tcp", "127.0.0.1:5603")
			require.NoError(t, err)
			defer ln.Close()

			closed := make(chan struct{})
			reconnected := make(chan struct{})

			go func() {
				conn, err2 := ln.Accept()
				require.NoError(t, err2)

				dialectRW := &dialect.ReadWriter{Dialect: testDialect}
				err2 = dialectRW.Initialize()
				require.NoError(t, err2)

				rw := &frame.Reader{
					ByteReader: conn,
					DialectRW:  dialectRW,
				}
				err2 = rw.Initialize()
				require.NoError(t, err2)

				fr, err2 := rw.Read()
				require.NoError(t, err2)
				require.Equal(t, &frame.V2Frame{
					SequenceNumber: 0,
					SystemID:       10,
					ComponentID:    1,
					Message: &MessageHeartbeat{
						Type:           1,
						Autopilot:      2,
						BaseMode:       3,
						CustomMode:     6,
						SystemStatus:   4,
						MavlinkVersion: 5,
					},
					Checksum: fr.GetChecksum(),
				}, fr)

				_, err2 = rw.Read()
				require.Equal(t, io.EOF, err2)
				conn.Close()

				close(closed)

				// the client reconnects to the server due to autoReconnector
				conn, err2 = ln.Accept()
				require.NoError(t, err2)
				conn.Close()

				close(reconnected)
			}()

			var e EndpointConf
			if ca == "tcp" {
				e = EndpointTCPClient{"127.0.0.1:5603"}
			} else {
				e = EndpointUDPClient{"127.0.0.1:5603"}
			}

			node, err := NewNode(NodeConf{
				Dialect:          testDialect,
				OutVersion:       V2,
				OutSystemID:      10,
				Endpoints:        []EndpointConf{e},
				HeartbeatDisable: true,
				IdleTimeout:      500 * time.Millisecond,
			})
			require.NoError(t, err)
			defer node.Close()

			evt := <-node.Events()
			require.Equal(t, &EventChannelOpen{
				Channel: evt.(*EventChannelOpen).Channel,
			}, evt)

			err = node.WriteMessageAll(&MessageHeartbeat{
				Type:           1,
				Autopilot:      2,
				BaseMode:       3,
				CustomMode:     6,
				SystemStatus:   4,
				MavlinkVersion: 5,
			})
			require.NoError(t, err)

			select {
			case <-closed:
			case <-time.After(1 * time.Second):
				t.Errorf("should not happen")
			}

			<-node.Events()

			<-reconnected
		})
	}
}