diff --git a/ros_acomms/src/mac_utils.py b/ros_acomms/src/mac_utils.py
index b8c79735651b48d83e5684c399794aa87c7a6cb0..a46b12a20be76c50b9f92eb71bad89e1eb680a7e 100755
--- a/ros_acomms/src/mac_utils.py
+++ b/ros_acomms/src/mac_utils.py
@@ -18,7 +18,8 @@ KeyValue = armw.import_message("diagnostic_msgs", "KeyValue")
FDPMaxBytes4Rate = namedtuple('FDPMaxBytes4Rate', 'rate max_bytes default packet_duration_ms')
ManualTransmitRequest = namedtuple('ManualTransmitRequest', 'subscriber_queue publisher publish_topic subscribe_topic')
ManagedMacNodeEntry = namedtuple('ManagedMacNodeEntry', 'ns is_default set_software_mute select_callback')
-re_slot_range = r"^(?P<start>[0-9]*)(:|;|-)(?P<end>[0-9]*)(:|;|-)?((?P<step>[0-9]*))?$"
+# re_slot_range = r"^(?P<start>[0-9]*)(:|;|-)(?P<end>[0-9]*)(:|;|-)?((?P<step>[0-9]*))?$"
+re_slot_range = r"^(?P<start>-?[0-9]*)(:|;)(?P<end>-?[0-9]*)(:|;)?((?P<step>[0-9]*))?$"
class PSK_ROS_FDP_Rates(object):
FDP_MAX_BYTES_FOR_MINI_RATE = [
@@ -35,6 +36,12 @@ class PSK_ROS_FDP_Rates(object):
None, None, None, None, None, None, None,
]
+def resolve_slot_index(index, last_valid_slot, first_valid_slot=0):
+ if index >= 0:
+ return index
+ positive_indices = [i for i in range(first_valid_slot, last_valid_slot + 1)]
+ return positive_indices[index]
+
def validate_slot_range(slot_range, last_valid_slot, first_valid_slot=0, default_step=1):
match = re.match(re_slot_range, slot_range)
if match:
@@ -42,17 +49,28 @@ def validate_slot_range(slot_range, last_valid_slot, first_valid_slot=0, default
start, end, step = first_valid_slot, last_valid_slot, default_step
# we matched on this pattern. fill empty groups with defaults
if match.groupdict()['start']:
- start = int(match.groupdict()['start'])
+ start = resolve_slot_index(int(match.groupdict()['start']), last_valid_slot, first_valid_slot)
if match.groupdict()['end']:
- end = int(match.groupdict()['end'])
+ end = resolve_slot_index(int(match.groupdict()['end']), last_valid_slot, first_valid_slot)
if match.groupdict()['step']:
step = int(match.groupdict()['step'])
return [start, end, step]
+def slot_range_to_list(slot_range, last_valid_slot, first_valid_slot=0, default_step=1):
+ slot_range = validate_slot_range(slot_range, last_valid_slot, first_valid_slot, default_step)
+
+ if slot_range is not None:
+ start, end, step = slot_range[0], slot_range[1], slot_range[2]
+ # handle potential wrap around
+ if end <= start:
+ # range wraps around end of cycle to start
+ return list([i for i in range(0, (end + 1), step)] +\
+ [i for i in range(start, (last_valid_slot + 1), step)])
+ return [i for i in range(start, (end + 1), step)]
+
def format_range(start, end, step):
- return '{}-{}:{}'.format(start, end, step)
- # return '{}-{}:{}'.format(start, end + step, step)
+ return '{}:{}:{}'.format(start, end, step)
def parse_range(lst):
if len(lst) == 1:
diff --git a/ros_acomms/src/message_queue_node.py b/ros_acomms/src/message_queue_node.py
index df52478fb14d3ae295489a6db433875b19185642..5823218617f9ec0420ff15f3c522f2f98ae862aa 100755
--- a/ros_acomms/src/message_queue_node.py
+++ b/ros_acomms/src/message_queue_node.py
@@ -537,7 +537,9 @@ class MessageQueueNode(armw.ArmwNode):
# this method handles finding the highest priority packet codec, then using the packet codec type to encode the packet returned.
# TODO: Need to validate that selected codec can fit with overhead
# TODO: Support multiple packet_codecs in one packet
- response, messages_in_packet = self.get_next_packet(req=req)
+ # clear the current_packet_request before starting next round
+ self.current_packet_request = req
+ response, messages_in_packet = self.get_next_packet()
# planning to do more here with status on outbound traffic
# ..
return response
@@ -548,7 +550,10 @@ class MessageQueueNode(armw.ArmwNode):
# we ONLY call release if WE have the lock. Once enter try/catch he can be sure we have the lock.
self.get_next_packet_data_lock.release()
- def get_next_packet(self, req: GetNextPacketDataRequest):
+ def get_next_packet(self, req: GetNextPacketDataRequest = None):
+ # use current_packet_request which will be used for filling the rest of the packet during calls from the packet_codec
+ if req is None:
+ req = self.current_packet_request
# assumes req.minimum_priority is linted by caller (handle_get_next_packet)
# this is the default value. Tags may change the minimum_priority in the future
minimum_priority = req.minimum_priority
@@ -608,7 +613,7 @@ class MessageQueueNode(armw.ArmwNode):
self.mark_transmitted(msg)
except:
- self.log_err(f"Exception in get_next_packet_data() \nTraceback:\n{traceback.format_exc()}")
+ self.log_error(f"Exception in get_next_packet_data() \nTraceback:\n{traceback.format_exc()}")
return GetNextPacketDataResponse(), messages_in_packet
else:
# handle_get_next_packet was a success! We are returning an encoded payload
@@ -622,11 +627,15 @@ class MessageQueueNode(armw.ArmwNode):
def get_highest_priority_codec(self, available_packet_bytes: int,
dest_address: Optional[int] = None,
- minimum_priority: int = None):
+ minimum_priority: int = None,
+ req: GetNextPacketDataRequest = None,):
+ if req is None:
+ req = self.current_packet_request
highest_priority_message = self.get_next_message(max_size_in_bits=available_packet_bytes*8,
include_packet_overhead_in_size=True,
dest_address=dest_address,
minimum_priority=minimum_priority,
+ req=req,
)
if highest_priority_message:
@@ -637,14 +646,18 @@ class MessageQueueNode(armw.ArmwNode):
return packet_codec, dest_address
- def get_next_message(self, max_size_in_bits: int = 131072,
+ def get_next_message(self,
+ req: GetNextPacketDataRequest = None,
+ max_size_in_bits: int = 131072,
include_packet_overhead_in_size = False,
dest_address: Optional[int] = None,
packet_codec: Optional[str] = None,
check_reachability: bool = True,
minimum_priority: int = None,
- exclude_messages: Optional[List[QueuedMessage]] = []) -> Optional[QueuedMessage]:
+ exclude_messages: Optional[List[QueuedMessage]] = [],) -> Optional[QueuedMessage]:
+ if req is None:
+ req = self.current_packet_request
# We need these "link_layer" tags to pass to dynamic queue endpoints.
# These other nodes may have nested tags and exclusion criteria, this is how we tell those nodes about,
# .. the link_layer tags. Now nodes using the dynamic queue service can customize their behavior
@@ -669,6 +682,7 @@ class MessageQueueNode(armw.ArmwNode):
exclude_messages=exclude_messages,
link_layer_require_tags=link_layer_require_tags,
link_layer_exclude_tags=link_layer_exclude_tags,
+ req=req,
)
except:
self.log_error(f"get_next_message Error querying dynamic queues:\n{traceback.format_exc()}")
@@ -743,6 +757,7 @@ class MessageQueueNode(armw.ArmwNode):
return True
def query_dynamic_queues(self,
+ req: GetNextPacketDataRequest = None,
max_size_in_bits: int = 131072,
include_packet_overhead_in_size = False,
dest_address: Optional[int] = None,
@@ -751,7 +766,7 @@ class MessageQueueNode(armw.ArmwNode):
minimum_priority: int = None,
exclude_messages: Optional[List[QueuedMessage]] = None,
link_layer_require_tags=None,
- link_layer_exclude_tags=None) -> tuple[Optional['DynamicQueue'], Optional[int]]:
+ link_layer_exclude_tags=None,) -> tuple[Optional['DynamicQueue'], Optional[int]]:
"""
Query the registered dynamic queues using the specified message filter criteria.
Returns the highest priority dynamic queue matching those criteria.
@@ -775,6 +790,9 @@ class MessageQueueNode(armw.ArmwNode):
the dynamic queues, returns (None, None).
"""
+ if req is None:
+ req = self.current_packet_request
+
if link_layer_exclude_tags is None:
link_layer_exclude_tags = []
if link_layer_require_tags is None:
@@ -856,7 +874,12 @@ class MessageQueueNode(armw.ArmwNode):
str(packet_codec) if packet_codec else ''),
exclude_message_ids=this_queue_exclusion_ids,
require_tags=link_layer_require_tags,
- exclude_tags=link_layer_exclude_tags)
+ exclude_tags=link_layer_exclude_tags,
+ mac_namespace=req.mac_namespace,
+ mac_cycle_num=req.mac_cycle_num,
+ slot_in_cycle_num=req.slot_in_cycle_num,
+ packet_in_slot_num=req.packet_in_slot_num,
+ )
self.log_debug(f"Queried {dynamic_queue_name} for {message_max_size_in_bits} bits, got: {queue_response}")
except Exception as e:
self.log_error_throttle(1, f"Error calling get_next_message service on {dynamic_queue_name}: {e}")
diff --git a/ros_acomms/src/tdma_advanced_node.py b/ros_acomms/src/tdma_advanced_node.py
index 8b016f7948eda64fea58eded3abff9ded413deab..5ee01f3ededbdeb5586a23ae59d1632a333865d0 100755
--- a/ros_acomms/src/tdma_advanced_node.py
+++ b/ros_acomms/src/tdma_advanced_node.py
@@ -389,7 +389,7 @@ class TdmaAdvancedMacNode(TdmaMacNode):
update_last_tx = True
return sent_modem_pings, sent_transponder_ping, update_last_tx
- def handle_queuing_packet(self, current_slot, remaining_active_seconds, sent_modem_pings, sent_transponder_ping):
+ def handle_queuing_packet(self, current_slot, remaining_active_seconds, sent_modem_pings, sent_transponder_ping, mac_namespace=None):
sent_modem_pings, sent_transponder_ping, update_last_tx = self.handle_this_cycle_nav_pings(current_slot, remaining_active_seconds, sent_modem_pings, sent_transponder_ping)
if update_last_tx:
# sent nav pings, return
@@ -398,14 +398,10 @@ class TdmaAdvancedMacNode(TdmaMacNode):
if current_slot in self.comms_slots:
# check and make sure comms are allowed this slot
# no nav pings sent this iter, comms allowed, go ahead with packet
- position_in_queue = self.send_next_packet()
+ position_in_queue = self.send_next_packet(mac_namespace=mac_namespace if mac_namespace is not None else self.get_name())
if position_in_queue is not None:
update_last_tx = True
- # after sending comms packet, we clear the flags on nav pings
- # after sending all modem pings requested, a transponder ping (if requested) is sent out,
- # .. then comms are allowed to use the remaining active time
- sent_modem_pings, sent_transponder_ping = False, False
self.log_debug(f'DEBUG: tdma advanced sent packet, position in queue: {position_in_queue}')
return sent_modem_pings, sent_transponder_ping, update_last_tx
diff --git a/ros_acomms/src/tdma_node.py b/ros_acomms/src/tdma_node.py
index 35529a7b71974123a5df5ee2f63187fa6c9386cc..e2462bab4614ca36f53039a5220c39fb76d0590a 100755
--- a/ros_acomms/src/tdma_node.py
+++ b/ros_acomms/src/tdma_node.py
@@ -19,6 +19,7 @@ QueueTxPacket, _, QueueTxPacketRequest = armw.import_service("ros_acomms_msgs",
GetNextPacketData, _, _ = armw.import_service("ros_acomms_msgs", "GetNextPacketData")
Packet = armw.import_message("ros_acomms_msgs", "Packet")
TdmaStatus = armw.import_message("ros_acomms_msgs", "TdmaStatus")
+MacStatus = armw.import_message("ros_acomms_msgs", "MacStatus")
class TdmaMacNode(armw.ArmwNode):
def __init__(self, subclass=False):
@@ -26,6 +27,13 @@ class TdmaMacNode(armw.ArmwNode):
if not subclass:
self.tdma_status_publisher = self.publish('~tdma_status' if self.get_param('~publish_private_status', False) else 'tdma_status', TdmaStatus, queue_size=3)
+
+ # For MAC introspection
+ self.mac_cycle_num = 0
+ self.slot_in_cycle_num = 0
+ self.packet_in_slot_num = 0
+
+ self.mac_status_publisher = self.publish('mac_status', MacStatus, queue_size=3)
self.setup_active_slots(
active_slots=self.get_param('~active_slots', 0), # active_slots: (int)/[int,int,..] turns this param into list of ints, slots we're active in
@@ -409,7 +417,17 @@ class TdmaMacNode(armw.ArmwNode):
while not armw.is_shutdown():
rate.sleep()
+ # increase on each slot change
+ self.slot_in_cycle_num += 1
+ # reset on each slot change
+ self.packet_in_slot_num = 0
+
current_slot, remaining_slot_seconds = self.get_current_slot()
+
+ if current_slot == 0:
+ # increase on each complete cycle
+ self.mac_cycle_num += 1
+
if last_slot is None:
last_slot = current_slot
@@ -440,7 +458,7 @@ class TdmaMacNode(armw.ArmwNode):
# not enough time. sleep for rate and try again
return
- def send_next_packet(self, insert_at_head=False, minimum_priority=None, slot_tags=None):
+ def send_next_packet(self, insert_at_head=False, minimum_priority=None, slot_tags=None, mac_namespace=None):
self.log_debug("Entering send_next_packet")
# this will not send a manual request when minimum_priority is passed
# .. unless ~allow_manual_tx_during_priority_slots is set to True (defaults to False)
@@ -465,7 +483,11 @@ class TdmaMacNode(armw.ArmwNode):
num_dataframe_bytes=self.maximum_dataframe_bytes,
minimum_priority=minimum_priority,
require_tags=list(slot_tags[current_slot].require_tags),
- exclude_tags=list(slot_tags[current_slot].exclude_tags))
+ exclude_tags=list(slot_tags[current_slot].exclude_tags),
+ mac_namespace=mac_namespace if mac_namespace is not None else self.get_name(),
+ mac_cycle_num=self.mac_cycle_num,
+ slot_in_cycle_num=self.slot_in_cycle_num,
+ packet_in_slot_num=self.packet_in_slot_num)
except Exception as e:
self.log_warn(f'WARNING: send_next_packet() threw error on get_next_packet_data service callback!')
return -1
@@ -505,6 +527,15 @@ class TdmaMacNode(armw.ArmwNode):
packet=queue_packet)
resp = self.queue_tx_packet(req)
+ if resp.position_in_queue is not None:
+ msg = MacStatus(mac_namespace=mac_namespace if mac_namespace is not None else self.get_name(),
+ mac_cycle_num=self.mac_cycle_num,
+ slot_in_cycle_num=self.slot_in_cycle_num,
+ packet_in_slot_num=self.packet_in_slot_num)
+ armw.fill_time(msg.header.stamp, armw.Time().now())
+ self.mac_status_publisher.publish(msg)
+ # increase after each packet transmitted
+ self.packet_in_slot_num += 1
return resp.position_in_queue
diff --git a/ros_acomms/src/tdma_scripted_node.py b/ros_acomms/src/tdma_scripted_node.py
index 8ecccaa01128e2507e89997ed08597eb7f288ee4..3f45d0856d3d1543a86e45e8c3c1c43a01dd4b67 100755
--- a/ros_acomms/src/tdma_scripted_node.py
+++ b/ros_acomms/src/tdma_scripted_node.py
@@ -303,10 +303,11 @@ class TdmaScriptedMacNode(TdmaAdvancedMacNode):
# we are active and have at least enough time to send another packet
self.sent_modem_pings, self.sent_transponder_ping, update_last_tx = self.handle_queuing_packet(
- self.msg.current_slot,
- self.msg.remaining_active_seconds,
- self.sent_modem_pings,
- self.sent_transponder_ping
+ current_slot=self.msg.current_slot,
+ remaining_active_seconds=self.msg.remaining_active_seconds,
+ sent_modem_pings=self.sent_modem_pings,
+ sent_transponder_ping=self.sent_transponder_ping,
+ mac_namespace=self.get_name(),
)
if update_last_tx:
self.packet_duration_sec, self.scripted_msg = self.set_rate_max_bytes_for_next_tx()
diff --git a/ros_acomms/src/tdma_slotted_aloha_node.py b/ros_acomms/src/tdma_slotted_aloha_node.py
index 64f314169087cce2e17babe1f3653b543a7b5734..ce26c0b4cb5f4e254be9e5f9b6dc02829df24b44 100755
--- a/ros_acomms/src/tdma_slotted_aloha_node.py
+++ b/ros_acomms/src/tdma_slotted_aloha_node.py
@@ -203,9 +203,9 @@ class TdmaSlottedAlohaMacNode(TdmaAdvancedMacNode):
position_in_queue = None
# if aloha slot we pass the minimum_priority
if self.in_aloha_slot(current_slot=current_slot):
- position_in_queue = self.send_next_packet(minimum_priority=self.aloha_slot_priority)
+ position_in_queue = self.send_next_packet(minimum_priority=self.aloha_slot_priority, mac_namespace=self.get_name())
elif current_slot in self.comms_slots:
- position_in_queue = self.send_next_packet()
+ position_in_queue = self.send_next_packet(mac_namespace=self.get_name())
if position_in_queue is not None:
update_last_tx = True
diff --git a/ros_acomms_msgs/CMakeLists.txt b/ros_acomms_msgs/CMakeLists.txt
index 7cb960fcb4ddf9bd53841ae1ce9c31c5d665281b..b15c1c383df968b1d705ea8497f5fcc8399901f6 100644
--- a/ros_acomms_msgs/CMakeLists.txt
+++ b/ros_acomms_msgs/CMakeLists.txt
@@ -21,6 +21,7 @@ if ("$ENV{ROS_VERSION}" STREQUAL "1")
SST.msg
TTA.msg
LinkStatsFeedback.msg
+ MacStatus.msg
MacSwitcherStatus.msg
ManagedMacState.msg
ModemAck.msg
@@ -82,6 +83,7 @@ elseif ("$ENV{ROS_VERSION}" STREQUAL "2")
"msg/SST.msg"
"msg/TTA.msg"
"msg/LinkStatsFeedback.msg"
+ "msg/MacStatus.msg"
"msg/MacSwitcherStatus.msg"
"msg/ManagedMacState.msg"
"msg/ModemAck.msg"
diff --git a/ros_acomms_msgs/msg/MacStatus.msg b/ros_acomms_msgs/msg/MacStatus.msg
new file mode 100644
index 0000000000000000000000000000000000000000..a476145b8b57a07cbcde163681896e45dfb724f6
--- /dev/null
+++ b/ros_acomms_msgs/msg/MacStatus.msg
@@ -0,0 +1,10 @@
+std_msgs/Header header
+
+# if filled out, this is the MAC that is building a packet to be transmitted
+string mac_namespace
+# Monotonically increasing count for rolling past active_slot 0.
+uint64 mac_cycle_num
+# Monotonically increasing count that increases on each slot change.
+uint64 slot_in_cycle_num
+# Starting at 0 for first packet in slot. If the slot is long enough to have more than 1 packet, this will count up
+uint16 packet_in_slot_num
diff --git a/ros_acomms_msgs/srv/GetNextPacketData.srv b/ros_acomms_msgs/srv/GetNextPacketData.srv
index 2cd319a1b5dce194a9ec780b6e55ed50dc0d54ff..337179a838901d743c3ae81e1a4b654a4c65b5db 100644
--- a/ros_acomms_msgs/srv/GetNextPacketData.srv
+++ b/ros_acomms_msgs/srv/GetNextPacketData.srv
@@ -9,6 +9,16 @@ int8 minimum_priority
string[] require_tags
string[] exclude_tags
+# MAC Introspection for dynamic queues. Information about the current cycle and slot that dynamic queue clients might act on
+# if filled out, this is the MAC that is building a packet to be transmitted
+string mac_namespace
+# Monotonically increasing count for rolling past active_slot 0.
+uint64 mac_cycle_num
+# Monotonically increasing count that increases on each slot change.
+uint64 slot_in_cycle_num
+# Starting at 0 for first packet in slot. If the slot is long enough to have more than 1 packet, this will count up
+uint16 packet_in_slot_num
+
---
# Response
int16 dest # Only 0-255 used by the modem, but allow negative values here
diff --git a/ros_acomms_msgs/srv/GetNextQueuedMessage.srv b/ros_acomms_msgs/srv/GetNextQueuedMessage.srv
index c2908c4e4b19f29ff6f8552b9a76ffba79aa412d..c5e6f8260ccafa95dca62e2a785a073815025328 100644
--- a/ros_acomms_msgs/srv/GetNextQueuedMessage.srv
+++ b/ros_acomms_msgs/srv/GetNextQueuedMessage.srv
@@ -30,6 +30,15 @@ string[] require_tags
# The criteria for exclusion are up to the servicer, but it should do something reasonable.
string[] exclude_tags
+# MAC Introspection for dynamic queues. Information about the current cycle and slot that dynamic queue clients might act on
+# if filled out, this is the MAC that is building a packet to be transmitted
+string mac_namespace
+# Monotonically increasing count for rolling past active_slot 0.
+uint64 mac_cycle_num
+# Monotonically increasing count that increases on each slot change.
+uint64 slot_in_cycle_num
+# Starting at 0 for first packet in slot. If the slot is long enough to have more than 1 packet, this will count up
+uint16 packet_in_slot_num
---
diff --git a/ros_acomms_tests/launch/test_link_layer_tags.launch b/ros_acomms_tests/launch/test_link_layer_tags.launch
index b334a05ca028973940f6c21961706b94554363b8..0f96dc23cdbf84a0f75a3d5fe1a661e2422c94a0 100644
--- a/ros_acomms_tests/launch/test_link_layer_tags.launch
+++ b/ros_acomms_tests/launch/test_link_layer_tags.launch
@@ -37,7 +37,7 @@
<node name="tdma" pkg="ros_acomms" type="$(arg tdma_type)_node.py" output="screen" required="true" respawn="false" clear_params="true">
<param name="active_slots" value="0,1" type="str" if="$(eval arg('tdma_type') == 'tdma_slotted_aloha')" />
- <param name="active_slots" value="0-11" type="str" if="$(eval arg('tdma_type') != 'tdma_slotted_aloha')" />
+ <param name="active_slots" value="0:11" type="str" if="$(eval arg('tdma_type') != 'tdma_slotted_aloha')" />
<rosparam>
num_slots: 12
slot_duration_seconds: 10
@@ -48,25 +48,25 @@
pings_per_slot: 1
always_send_test_data: True
aloha_slot_priority: 0
- aloha_slots: 4-11
+ aloha_slots: '4:11'
</rosparam>
<rosparam>
slot_tags:
- - slots: 0-11
+ - slots: '0:11'
exclude_tags:
- 'always_exclude'
- - slots: 0-2
+ - slots: '0:2'
require_tags:
- 'extra_special'
- - slots: 0
+ - slots: '0'
minimum_priority: 50
exclude_tags:
- 'low_priority'
- - slots: 6-11
+ - slots: '6:11'
require_tags:
- 'chat'
- - slots: 3,4,5
+ - slots: '3,4,5'
require_tags:
- 'some_aloha'
</rosparam>
@@ -104,7 +104,7 @@
<node name="tdma" pkg="ros_acomms" type="$(arg tdma_type)_node.py" output="screen" required="true" respawn="false" clear_params="true">
<param name="active_slots" value="2,3" type="str" if="$(eval arg('tdma_type') == 'tdma_slotted_aloha')" />
- <param name="active_slots" value="0-11" type="str" if="$(eval arg('tdma_type') != 'tdma_slotted_aloha')" />
+ <param name="active_slots" value="0:11" type="str" if="$(eval arg('tdma_type') != 'tdma_slotted_aloha')" />
<rosparam>
num_slots: 12
slot_duration_seconds: 10
@@ -115,7 +115,7 @@
pings_per_slot: 1
always_send_test_data: True
aloha_slot_priority: 0
- aloha_slots: 4-11
+ aloha_slots: '4:11'
</rosparam>
<param name="slot_tags" value="$(dirname)/test_slot_tags.yaml" />
diff --git a/ros_acomms_tests/launch/test_slot_tags.yaml b/ros_acomms_tests/launch/test_slot_tags.yaml
index 76fafc366b3a5a35ecba393bae2ef6846f915f76..fe5437ac363d25afca6e495a75e4c2079f9f07a9 100644
--- a/ros_acomms_tests/launch/test_slot_tags.yaml
+++ b/ros_acomms_tests/launch/test_slot_tags.yaml
@@ -1,17 +1,17 @@
slot_tags:
- - slots: 0-2
+ - slots: '0:2'
require_tags:
- 'extra_special'
- - slots: 0-11
+ - slots: '0:11'
exclude_tags:
- 'always_exclude'
- - slots: 2
+ - slots: '2'
minimum_priority: 50
exclude_tags:
- 'low_priority'
- - slots: 4-11
+ - slots: '4:11'
require_tags:
- 'chat'
- - slots: 4-6
+ - slots: '4:6'
require_tags:
- 'some_aloha'
diff --git a/ros_acomms_tests/src/test_tdma_extreme_configs.py b/ros_acomms_tests/src/test_tdma_extreme_configs.py
index bc1e346be3bf768d923caaca9fdbef791b8b78f7..e82e92a729dee9386476445f0a9674dd508ce617 100755
--- a/ros_acomms_tests/src/test_tdma_extreme_configs.py
+++ b/ros_acomms_tests/src/test_tdma_extreme_configs.py
@@ -102,16 +102,16 @@ class TestTdmaExtremeConfigs:
if self.tdma_type == 'tdma_slotted_aloha':
# assert str(expanded_slots_as_ranges(ret.nav_slots)) == '12-96:4', f'ERROR: nav_slots not expected range: 12-96:4, aloha_slots should trim nav_slots'
- assert 'nav_slots: 12-96:4' in ret.message, f'ERROR: nav_slots not expected range: 12-96:4, aloha_slots should trim nav_slots'
- assert 'aloha_slots: 100-152:2,0-10:1,280-65534:1' in ret.message, f'ERROR: aloha_slots not expected range: 100-152:2,0-10:1,280-65534:1'
+ assert 'nav_slots: 12:96:4' in ret.message, f'ERROR: nav_slots not expected range: 12-96:4, aloha_slots should trim nav_slots'
+ assert 'aloha_slots: 100:152:2,0:10:1,280:65534:1' in ret.message, f'ERROR: aloha_slots not expected range: 100-152:2,0-10:1,280-65534:1'
else:
# assert str(expanded_slots_as_ranges(ret.nav_slots)) == '0-148:4', f'ERROR: nav_slots not expected range: 0-148:4'
- assert 'nav_slots: 0-148:4' in ret.message, f'ERROR: nav_slots not expected range: 0-148:4'
+ assert 'nav_slots: 0:148:4' in ret.message, f'ERROR: nav_slots not expected range: 0-148:4'
# assert str(expanded_slots_as_ranges(ret.comms_slots)) == '0-150:2', f'ERROR: comms_slots not expected range: 0-150:2'
# assert str(expanded_slots_as_ranges(ret.active_slots)) == '0-150:2', f'ERROR: active_slots not expected range: 0-150:2'
- assert 'comms_slots: 0-150:2' in ret.message, f'ERROR: comms_slots not expected range: 0-150:2'
- assert 'active_slots: 0-150:2' in ret.message, f'ERROR: active_slots not expected range: 0-150:2'
+ assert 'comms_slots: 0:150:2' in ret.message, f'ERROR: comms_slots not expected range: 0-150:2'
+ assert 'active_slots: 0:150:2' in ret.message, f'ERROR: active_slots not expected range: 0-150:2'
except rospy.exceptions.ROSException:
self.logger.warning("timed out while waiting for tdma status")