Update states tests, reset message listeners on state change (#870)

Author: 1Blademaster

radio/app/drone.py

@@ -522,6 +522,10 @@ def removeMessageListener(self, message_id: str) -> bool:
             return True
         return False
 
+    def clearAllMessageListeners(self) -> None:
+        """Clears all message listeners."""
+        self.message_listeners.clear()
+
     def reserve_message_type(self, message_type: str, controller_id: str) -> bool:
         """Reserve a message type for exclusive controller use.
 
@@ -1173,8 +1177,7 @@ def stopForwarding(self) -> Response:
     def close(self) -> None:
         """Close the connection to the drone."""
         self.logger.info(f"Cleaning up resources for drone at {self}")
-        for message_id in copy.deepcopy(self.message_listeners):
-            self.removeMessageListener(message_id)
+        self.clearAllMessageListeners()
 
         self.is_active.clear()
 

radio/app/endpoints/states.py

@@ -64,6 +64,9 @@ def set_state(data: SetStateType) -> None:
     # Reset all data streams
     droneStatus.drone.stopAllDataStreams()
 
+    # Remove all existing message listeners
+    droneStatus.drone.clearAllMessageListeners()
+
     # Always setup position stream to get GLOBAL_POSITION_INT messages
     droneStatus.drone.setupSingleDataStream(mavutil.mavlink.MAV_DATA_STREAM_POSITION)
 

radio/tests/test_states.py

@@ -5,48 +5,81 @@
 
 
 @falcon_test(pass_drone_status=True)
-def test_setState(socketio_client: SocketIOTestClient, droneStatus) -> None:
-    # Failure on no drone connection
+def test_setState_no_drone_connection(
+    socketio_client: SocketIOTestClient, droneStatus
+) -> None:
+    """Test that setState fails when no drone is connected"""
     with NoDrone():
         assert send_and_receive("set_state", "dashboard") == {
             "message": "Must be connected to the drone to set the drone state."
         }
 
-    # Failure on no state sent
+
+@falcon_test(pass_drone_status=True)
+def test_setState_missing_state_parameter(
+    socketio_client: SocketIOTestClient, droneStatus
+) -> None:
+    """Test that setState fails when state parameter is missing"""
     assert send_and_receive("set_state", {}) == {
         "message": "Request to endpoint set_state missing value for parameter: state."
     }
 
-    # TODO: These values don't seem right to me, they don't include the STATUSTEXT listener?
 
-    # Success on changing state to dashboard
+@falcon_test(pass_drone_status=True)
+def test_setState_dashboard_state(
+    socketio_client: SocketIOTestClient, droneStatus
+) -> None:
+    """Test setting state to dashboard"""
     socketio_client.emit("set_state", {"state": "dashboard"})
     assert len(socketio_client.get_received()) == 0
+    # TODO: These values don't seem right to me, they don't include the STATUSTEXT listener?
     assert len(droneStatus.drone.message_listeners) == 15
 
+
+@falcon_test(pass_drone_status=True)
+def test_setState_graphs_state(
+    socketio_client: SocketIOTestClient, droneStatus
+) -> None:
+    """Test setting state to graphs"""
     droneStatus.drone.message_listeners = {}
 
     socketio_client.emit("set_state", {"state": "graphs"})
     assert len(socketio_client.get_received()) == 0
     assert len(droneStatus.drone.message_listeners) == 6
 
+
+@falcon_test(pass_drone_status=True)
+def test_setState_config_flight_modes_state(
+    socketio_client: SocketIOTestClient, droneStatus
+) -> None:
+    """Test setting state to config.flight_modes"""
     droneStatus.drone.message_listeners = {}
 
     socketio_client.emit("set_state", {"state": "config.flight_modes"})
     assert len(socketio_client.get_received()) == 0
     assert len(droneStatus.drone.message_listeners) == 4
 
+
+@falcon_test(pass_drone_status=True)
+def test_setState_config_rc_state(
+    socketio_client: SocketIOTestClient, droneStatus
+) -> None:
+    """Test setting state to config.rc"""
     droneStatus.drone.message_listeners = {}
 
     socketio_client.emit("set_state", {"state": "config.rc"})
     assert len(socketio_client.get_received()) == 0
     assert len(droneStatus.drone.message_listeners) == 4
 
-    droneStatus.drone.message_listeners = {}
 
-    # TODO: Sort this out
-    # pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8")
-    # socketio_client.emit("set_state", {"state": "params"})
-    # time.sleep(15)
-    # assert len(socketio_client.get_received()[-1]["args"][0]) == 1400
-    # assert len(droneStatus.drone.message_listeners) == 1
+# TODO: Sort this out
+# @falcon_test(pass_drone_status=True)
+# def test_setState_params_state(socketio_client: SocketIOTestClient, droneStatus) -> None:
+#     """Test setting state to params"""
+#     # pytest.skip(reason="Issues with parameterController to be fixed in alpha 0.1.8")
+#     droneStatus.drone.message_listeners = {}
+#
+#     socketio_client.emit("set_state", {"state": "params"})
+#     time.sleep(15)
+#     assert len(socketio_client.get_received()[-1]["args"][0]) == 1400
+#     assert len(droneStatus.drone.message_listeners) == 1