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feat(sdr): update calibration table handling in AsvSdr
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Refactored code to handle calibration tables in AsvSdr. Modifications include better error handling procedures and updating variable names for more clarity. Try-catch block has been applied for better exception management.
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@asvol
asvol committed Nov 21, 2023
1 parent f1544b6 commit 9385c58
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Showing 5 changed files with 168 additions and 82 deletions.
135 changes: 91 additions & 44 deletions src/Asv.Mavlink.Test/Microservices/AsvSdr/AsvSdrExTests.cs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
using System;
#nullable enable
using System;
using System.Linq;
using System.Reactive.Concurrency;
using System.Reactive.Linq;
Expand Down Expand Up @@ -804,53 +805,77 @@ public async Task Client_read_calibration_table_list()
var (client, server) = await SetUpConnection();
var date = DateTime.Now;
server.Base.Set(_ => _.CalibTableCount = 2);
server.ReadCalibrationTableInfo = index =>
{
return index switch
{
0 => new CalibrationTableInfo { Name = "Table 1", Size = 10, Updated = date, },
1 => new CalibrationTableInfo { Name = "Table 2", Size = 20, Updated = date, },
_ => throw new Exception("Invalid table index")
};
server.TryReadCalibrationTableInfo = (ushort index, out string? name,out ushort? size, out CalibrationTableMetadata? metadata) =>
{
switch (index)
{
case 0:
size = 10;
name = "Table 1";
metadata = new CalibrationTableMetadata(updated: date);
return true;
case 1:
size = 20;
name = "Table 2";
metadata = new CalibrationTableMetadata(updated: date);
return true;
default:
size = null;
name = null;
metadata = null;
return false;
}
};
var status = await client.Base.Status.FirstAsync();
await client.ReadCalibrationTableList();
var sub = client.CalibrationTables.Bind(out var list).Subscribe();
Assert.Equal(2, list.Count);
Assert.Equal("Table 1", list[0].Name);
Assert.Equal("Table 2", list[1].Name);
Assert.Equal(10, list[0].RemoteRowCount.Value);
Assert.Equal(20, list[1].RemoteRowCount.Value);
Assert.Equal(10, list[0].RemoteSize.Value);
Assert.Equal(20, list[1].RemoteSize.Value);
Assert.Equal(0, list[0].Index);
Assert.Equal(1, list[1].Index);
Assert.True(date - list[0].Updated.Value < TimeSpan.FromMilliseconds(100));
Assert.True(date - list[0].Metadata.Value.Updated < TimeSpan.FromMilliseconds(100));
}
[Fact]
public async Task Client_download_calibration_table()
{
var (client, server) = await SetUpConnection();
var date = DateTime.Now;
server.Base.Set(_ => _.CalibTableCount = 2);
server.ReadCalibrationTableInfo = index =>
{
return index switch
{
0 => new CalibrationTableInfo { Name = "Table 1", Size = 10, Updated = date, },
1 => new CalibrationTableInfo { Name = "Table 2", Size = 20, Updated = date, },
_ => throw new Exception("Invalid table index")
};
server.TryReadCalibrationTableInfo = (ushort index, out string? name,out ushort? size, out CalibrationTableMetadata? metadata) =>
{
switch (index)
{
case 0:
size = 10;
name = "Table 1";
metadata = new CalibrationTableMetadata(updated: date);
return true;
case 1:
size = 20;
name = "Table 2";
metadata = new CalibrationTableMetadata(updated: date);
return true;
default:
size = null;
name = null;
metadata = null;
return false;
}
};
var status = await client.Base.Status.FirstAsync();
await client.ReadCalibrationTableList();
var sub = client.CalibrationTables.Bind(out var list).Subscribe();
Assert.Equal(2, list.Count);
Assert.Equal("Table 1", list[0].Name);
Assert.Equal("Table 2", list[1].Name);
Assert.Equal(10, list[0].RemoteRowCount.Value);
Assert.Equal(20, list[1].RemoteRowCount.Value);
Assert.Equal(10, list[0].RemoteSize.Value);
Assert.Equal(20, list[1].RemoteSize.Value);
Assert.Equal(0, list[0].Index);
Assert.Equal(1, list[1].Index);
Assert.True(date - list[0].Updated.Value < TimeSpan.FromSeconds(1));
Assert.True(date - list[0].Metadata.Value.Updated < TimeSpan.FromSeconds(1));
}

[Theory]
Expand All @@ -860,31 +885,46 @@ public async Task Client_download_calibration_table()
public async Task Client_read_calibration_table_rows(ushort count)
{
var (client, server) = await SetUpConnection();
var name = "Table 1";
var originName = "Table 1";
var date = DateTime.Now;
server.Base.Set(_ => _.CalibTableCount = 1);
server.ReadCalibrationTableInfo = index =>
server.TryReadCalibrationTableInfo = (ushort index, out string? name,out ushort? size, out CalibrationTableMetadata? metadata) =>
{
return index switch
if (index == 0)
{
0 => new CalibrationTableInfo { Name = name, Size = count, Updated = date, },
_ => throw new Exception("Invalid table index")
};
size = count;
name = originName;
metadata = new CalibrationTableMetadata(updated: date);
return true;
}
else
{
name = null;
size = null;
metadata = null;
return false;
}
};
server.ReadCalibrationTableRow = (tableIndex, row) =>
server.TryReadCalibrationTableRow = (ushort tableIndex, ushort rowIndex, out CalibrationTableRow? row) =>
{
if (tableIndex != 0) throw new Exception("Invalid table index");
return new CalibrationTableRow(row,row*0.1f,row*20,row*10);
if (tableIndex != 0)
{
row = null;
return false;
}
row = new CalibrationTableRow(rowIndex,rowIndex*0.1f,rowIndex*20,rowIndex*10);
return true;

};
var status = await client.Base.Status.FirstAsync();
await client.ReadCalibrationTableList();
var sub = client.CalibrationTables.Bind(out var list).Subscribe();
var table = await client.GetCalibrationTable(name);
var table = await client.GetCalibrationTable(originName);
Assert.NotNull(table);
Assert.Equal(name, table.Name);
Assert.Equal(count, table.RemoteRowCount.Value);
Assert.Equal(originName, table.Name);
Assert.Equal(count, table.RemoteSize.Value);
Assert.Equal(0, table.Index);
Assert.True(date - table.Updated.Value < TimeSpan.FromMilliseconds(100));
Assert.True(date - table.Metadata.Value.Updated < TimeSpan.FromMilliseconds(100));
var items = await table.Download();
Assert.Equal(count, items.Length);
for (int i = 0; i < count; i++)
Expand All @@ -902,23 +942,30 @@ public async Task Client_read_calibration_table_rows(ushort count)
public async Task Client_upload_and_download_with_server_error()
{
var (client, server) = await SetUpConnection();
var name = "Table 1";
var originName = "Table 1";
var date = DateTime.Now;

server.Base.Set(_ => _.CalibTableCount = 1);
server.ReadCalibrationTableInfo = index =>
server.TryReadCalibrationTableInfo = (ushort index, out string? name,out ushort? size, out CalibrationTableMetadata? metadata) =>
{
return index switch
if (index == 0)
{
0 => new CalibrationTableInfo { Name = name, Size = 10, Updated = date, },
_ => throw new Exception("Invalid table index")
};
size = 10;
name = originName;
metadata = new CalibrationTableMetadata(updated: date);
return true;
}

name = null;
size = null;
metadata = null;
return false;
};
server.WriteCalibrationTable = (tableIndex, items) =>
{
throw new Exception("FATAL");
};
server.ReadCalibrationTableRow = (tableIndex, row) =>
server.TryReadCalibrationTableRow = (ushort tableIndex, ushort rowIndex, out CalibrationTableRow? row) =>
{
throw new Exception("FATAL");
};
Expand All @@ -929,7 +976,7 @@ public async Task Client_upload_and_download_with_server_error()
var status = await client.Base.Status.FirstAsync();
await client.ReadCalibrationTableList();
var sub = client.CalibrationTables.Bind(out var list).Subscribe();
var table = await client.GetCalibrationTable(name);
var table = await client.GetCalibrationTable(originName);
Assert.NotNull(table);
await Assert.ThrowsAsync<AsvSdrException>(async () =>
{
Expand Down
39 changes: 33 additions & 6 deletions src/Asv.Mavlink/Microservices/AsvSdr/CalibrationTableRow.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -3,15 +3,42 @@

namespace Asv.Mavlink;

public class CalibrationTableInfo
public class CalibrationTablePod
{
public string Name { get; set; }
public CalibrationTableMetadata Metadata { get; set; }
public CalibrationTableRow[] Rows { get; set; }
}


public class CalibrationTableMetadata
{
public CalibrationTableMetadata()
{

}
public CalibrationTableMetadata(AsvSdrCalibTablePayload result)
{
Updated = MavlinkTypesHelper.FromUnixTimeUs(result.CreatedUnixUs);
}
public CalibrationTableMetadata(DateTime updated)
{
Updated = updated;
}
public DateTime Updated { get; set; }
public ushort Size { get; set; }

public void Fill(AsvSdrCalibTablePayload payload)
{
payload.CreatedUnixUs = MavlinkTypesHelper.ToUnixTimeUs(Updated);
}
}

public class CalibrationTableRow
{
public CalibrationTableRow()
{

}
public CalibrationTableRow(AsvSdrCalibTableRowPayload result)
{
FrequencyHz = result.RefFreq;
Expand All @@ -27,10 +54,10 @@ public CalibrationTableRow(ulong frequencyHz, float refPower, float refValue, fl
RefValue = refValue;
MeasuredValue = measuredValue;
}
public ulong FrequencyHz { get; }
public float RefPower { get; }
public float RefValue { get; }
public float MeasuredValue { get; }
public ulong FrequencyHz { get; set; }
public float RefPower { get;set; }
public float RefValue { get;set; }
public float MeasuredValue { get; set; }

public void Fill(AsvSdrCalibTableRowPayload args)
{
Expand Down
18 changes: 9 additions & 9 deletions src/Asv.Mavlink/Microservices/AsvSdr/Client/Ex/AsvSdrClientCalibrationTable.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -12,33 +12,33 @@ namespace Asv.Mavlink;
public class AsvSdrClientCalibrationTable:DisposableOnceWithCancel
{
private readonly IAsvSdrClient _ifc;
private readonly RxValue<ushort> _remoteRowCount;
private readonly RxValue<ushort> _remoteSize;
private static readonly Logger Logger = LogManager.GetCurrentClassLogger();
private readonly TimeSpan _deviceUploadTimeout;
private readonly RxValue<DateTime> _updated;
private readonly RxValue<CalibrationTableMetadata> _metadata;

public AsvSdrClientCalibrationTable(AsvSdrCalibTablePayload payload, IAsvSdrClient ifc, TimeSpan deviceUploadTimeout)
{
_ifc = ifc;
_deviceUploadTimeout = deviceUploadTimeout;
_remoteRowCount = new RxValue<ushort>(payload.RowCount).DisposeItWith(Disposable);
_updated = new RxValue<DateTime>(MavlinkTypesHelper.FromUnixTimeUs(payload.CreatedUnixUs)).DisposeItWith(Disposable);
_remoteSize = new RxValue<ushort>(payload.RowCount).DisposeItWith(Disposable);
_metadata = new RxValue<CalibrationTableMetadata>(new CalibrationTableMetadata(payload)).DisposeItWith(Disposable);
Name = MavlinkTypesHelper.GetString(payload.TableName);
Index = payload.TableIndex;
}
public string Name { get; }
public ushort Index { get; }

public IRxValue<ushort> RemoteRowCount => _remoteRowCount;
public IRxEditableValue<DateTime> Updated => _updated;
public IRxValue<ushort> RemoteSize => _remoteSize;
public IRxEditableValue<CalibrationTableMetadata> Metadata => _metadata;

internal void Update(AsvSdrCalibTablePayload payload)
{
var name = MavlinkTypesHelper.GetString(payload.TableName);
if (payload.TableIndex!= Index) throw new ArgumentException($"Invalid table index. Expected: {Index}, actual: {payload.TableIndex}");
if (name != Name) throw new ArgumentException($"Invalid table name. Expected: {Name}, actual: {name}");
_updated.OnNext(MavlinkTypesHelper.FromUnixTimeUs(payload.CreatedUnixUs));
_remoteRowCount.OnNext(payload.RowCount);
_metadata.OnNext(new CalibrationTableMetadata(payload));
_remoteSize.OnNext(payload.RowCount);
}

public async Task<CalibrationTableRow[]> Download(IProgress<double> progress = null,CancellationToken cancel = default)
Expand All @@ -47,7 +47,7 @@ public async Task<CalibrationTableRow[]> Download(IProgress<double> progress = n
progress.Report(0);
var info = await _ifc.ReadCalibrationTable(Index, cancel).ConfigureAwait(false);
var count = info.RowCount;
_remoteRowCount.OnNext(count);
_remoteSize.OnNext(count);
var array = new CalibrationTableRow[count];
for (ushort i = 0; i < count; i++)
{
Expand Down
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