feat(fleet): preserve operator VESC integration before final driver merge
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DCCONSTRUCTIONS
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"""Synthetic protocol and ownership tests; never opens a real serial port."""
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import base64
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import binascii
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from datetime import datetime, timedelta, timezone
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import json
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from pathlib import Path
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import struct
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import sys
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import tempfile
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import unittest
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import uuid
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sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
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sys.path.insert(0, str(Path(__file__).resolve().parents[3] / "src"))
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from runtime import SCHEMA
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from runtime.protocol import Decoder, firmware, request, values
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from runtime.serial import Attachment
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from runtime.service import Service
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def frame(payload):
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header = bytes([2, len(payload)]) if len(payload) < 256 else b"\x03" + len(payload).to_bytes(2, "big")
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return header + payload + binascii.crc_hqx(payload, 0).to_bytes(2, "big") + b"\x03"
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def fw(index=1):
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return b"\x00\x06\x06SYNTHETIC\x00" + bytes([index]) * 12 + b"\x00\x00\x00\x00"
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def telemetry():
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return b"\x04" + struct.pack(">hhiiiihihiiiiiiB", 215, 190, -123, 456, 0, 0, 123, 600, 481,
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100, 0, 200, 0, 30, 30, 0)
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class ProtocolTests(unittest.TestCase):
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def test_transmit_has_no_motor_or_write_escape_hatch(self):
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for code in range(256):
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if code in (0, 4, 14, 17, 31, 62):
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self.assertEqual(Decoder().feed(request(code)), [bytes([code])])
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else:
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with self.assertRaises(ValueError): request(code)
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for value in (True, b"\0", "0", -1, 256):
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with self.assertRaises(ValueError): request(value)
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def test_fragmented_and_combined_frames(self):
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samples = [fw(), bytes([14]) + bytes(range(256)) * 4, telemetry()]
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decoder = Decoder(); actual = []
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for byte in b"noise" + b"".join(map(frame, samples)):
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actual += decoder.feed(bytes([byte]))
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self.assertEqual(actual, samples)
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def test_crc_and_bounds(self):
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bad = bytearray(frame(fw())); bad[-2] ^= 1
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self.assertEqual(Decoder().feed(bad), [])
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self.assertEqual(Decoder().feed(b"\x04\xff\xff\xff" + frame(fw())), [fw()])
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with self.assertRaises(ValueError): Decoder().feed(bytes(30000))
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def test_identity_requires_uuid_and_bounded_name(self):
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self.assertEqual(firmware(fw())["uuid"], "01" * 12)
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for data in (b"", fw()[:5], fw()[:20], b"\0\6\6" + b"x" * 150, fw(0)):
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with self.assertRaises(ValueError): firmware(data)
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def test_telemetry_scales_signed_values_and_truncation(self):
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result = values(telemetry())
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self.assertEqual(result["motor_current_a"], -1.23)
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self.assertEqual(result["input_voltage_v"], 48.1)
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self.assertEqual(result["erpm"], 600)
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self.assertNotIn("timeout", result)
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for length in range(54):
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with self.assertRaises(ValueError): values(telemetry()[:length])
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class FakeLink:
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instances = []
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identities = {}
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def __init__(self, attachment):
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self.attachment = attachment; self.commands = []; self.closed = False
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self.instances.append(self)
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def query(self, code, timeout=2):
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request(code)
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self.commands.append(code)
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if code == 0: return fw(self.identities.get(self.attachment.usb, int(self.attachment.address)))
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if code == 4: return telemetry()
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return bytes([code]) + b"\x12\x34\x56\x78opaque-config"
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def close(self):
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self.closed = True
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class ServiceTests(unittest.TestCase):
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def setUp(self):
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self.temp = tempfile.TemporaryDirectory()
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self.attachments = [Attachment("1-2", "1", "ttyACM0", "12"), Attachment("1-3", "2", "ttyACM1", "12")]
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FakeLink.instances = []; FakeLink.identities = {}
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self.service = Service(self.temp.name, lambda: self.attachments, FakeLink)
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self.service.scan()
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def tearDown(self): self.temp.cleanup()
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def command(self, item=None, action="vesc.telemetry.read"):
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item = item or self.service.inventory("node_synthetic")["items"][0]
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now = datetime.now(timezone.utc); identifier = "op_" + uuid.uuid4().hex
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return {"api_version": SCHEMA, "kind": "OperationRequest", "operation_id": identifier,
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"idempotency_key": identifier, "session": {"session_id": item["snapshot"]["context"]["session_id"], "device_id": item["id"]},
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"requested_at": now.isoformat(), "deadline_at": (now + timedelta(seconds=60)).isoformat(),
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"action_id": action, "parameters": {}}
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def test_two_attachments_promote_independently(self):
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items = self.service.inventory("node_synthetic")["items"]
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self.assertEqual(len({i["id"] for i in items}), 2)
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self.assertTrue(all(i["id"] != i["attachment_id"] and i["verified"] for i in items))
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result = self.service.execute(self.command(items[1]))
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self.assertEqual(result["state"], "complete")
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self.assertEqual(FakeLink.instances[0].commands, [0])
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self.assertEqual(FakeLink.instances[1].commands, [0, 0, 4])
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def test_uuid_collision_never_aliases_a_controller(self):
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FakeLink.identities = {"1-2": 1, "1-3": 1}
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for device in self.service.devices.values(): device.close()
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self.service.scan()
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items = self.service.inventory("node_synthetic")["items"]
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self.assertEqual(len({i["id"] for i in items}), 2)
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self.assertTrue(all(not i["verified"] for i in items))
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with self.assertRaises(ValueError): self.service.execute(self.command(items[0]))
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def test_reconnect_invalidates_old_session_but_retains_uuid(self):
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old = self.service.inventory("node_synthetic")["items"][0]; command = self.command(old)
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self.attachments = self.attachments[1:]; self.service.scan()
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self.assertTrue(FakeLink.instances[0].closed)
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FakeLink.identities["1-2"] = 1
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self.attachments.append(Attachment("1-2", "3", "ttyACM4", "12")); self.service.scan()
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current = next(i for i in self.service.inventory("node_synthetic")["items"] if i["id"] == old["id"])
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self.assertNotEqual(current["snapshot"]["context"]["session_id"], old["snapshot"]["context"]["session_id"])
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with self.assertRaises(ValueError): self.service.execute(command)
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def test_receipt_replay_never_repeats_serial_query(self):
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command = self.command(); first = self.service.execute(command)
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before = list(FakeLink.instances[0].commands)
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self.assertEqual(self.service.execute(command), first)
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self.assertEqual(FakeLink.instances[0].commands, before)
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command["action_id"] = "vesc.config.backup"
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with self.assertRaises(ValueError): self.service.execute(command)
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def test_native_process_exit_invalidates_session_before_reconnection(self):
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old = self.service.inventory("node_synthetic")["items"][0]
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command = self.command(old)
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process = FakeLink.instances[0]
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process.alive = False
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self.service.scan()
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current = next(i for i in self.service.inventory("node_synthetic")["items"] if i["id"] == old["id"])
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self.assertTrue(process.closed)
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self.assertNotEqual(current["snapshot"]["context"]["session_id"], old["snapshot"]["context"]["session_id"])
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with self.assertRaises(ValueError): self.service.execute(command)
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def test_backup_is_raw_hashed_and_bound_to_identity(self):
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result = self.service.execute(self.command(action="vesc.config.backup"))
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self.assertEqual(result["state"], "complete")
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value = result["result"]
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self.assertFalse(value["decoded"])
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self.assertEqual(base64.b64decode(value["configs"]["motor"]["payload"])[0], 14)
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backups = list(Path(self.temp.name).glob("backup_*.json"))
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self.assertEqual(json.loads(backups[0].read_text()), value)
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self.assertEqual(backups[0].stat().st_mode & 0o777, 0o600)
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self.assertEqual(FakeLink.instances[0].commands, [0, 0, 14, 17, 0])
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def test_arbitrary_writes_parameters_and_expired_requests_rejected(self):
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for action in ("start", "stop", "settings.apply", "raw", "firmware.write"):
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with self.assertRaises(ValueError): self.service.execute(self.command(action=action))
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command = self.command(); command["parameters"] = {"packet": "anything"}
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with self.assertRaises(ValueError): self.service.execute(command)
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command = self.command(); command["deadline_at"] = command["requested_at"]
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with self.assertRaises(ValueError): self.service.execute(command)
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self.assertTrue(all(link.commands == [0] for link in FakeLink.instances))
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if __name__ == "__main__": unittest.main()
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