rosotacom-dev 2.5.dev36__tar.gz → 2.5.dev37__tar.gz

{rosotacom_dev-2.5.dev36 → rosotacom_dev-2.5.dev37}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev36
+Version: 2.5.dev37
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev36 → rosotacom_dev-2.5.dev37}/src/rosotacom/resources/ws/ros2src/com_py/com_py/universal_ota_unwrapper.py

@@ -11,6 +11,7 @@ from rosidl_runtime_py.utilities import get_message
 
 from com_msgs.msg import OtaStamped
 from com_py.qos import get_topic_qos, load_qos_config
+from com_py.status_overview_core import is_sequence_epoch_reset
 
 
 class UniversalOtaUnwrapperNode(Node):
@@ -142,20 +143,35 @@ class UniversalOtaUnwrapperNode(Node):
             return publisher, typed_cls
 
     def _check_sequence(self, wrapped_topic: str, seq: int):
+        """Say which of the three things a sequence break is.
+
+        A backward jump is either reordering or the sending peer restarting, and
+        this pane log was the last place still calling both "reordering". Three
+        consumers now agree that a jump larger than the transport can reorder is
+        a new epoch -- the live accounting, the transit join and the offline bag
+        join -- and a breadcrumb that disagrees with them costs exactly the time
+        it takes to trust it.
+        """
         last_seq = self._last_seq.get(wrapped_topic)
         self._last_seq[wrapped_topic] = seq
         if last_seq is None:
             return
         expected = last_seq + 1
-        if seq != expected:
-            if seq < last_seq:
-                self.get_logger().warning(
-                    f"[{wrapped_topic}] Sequence reordering detected: received {seq} after {last_seq}"
-                )
-            else:
-                self.get_logger().warning(
-                    f"[{wrapped_topic}] Sequence jump detected: expected {expected}, received {seq}"
-                )
+        if seq == expected:
+            return
+        if is_sequence_epoch_reset(seq, expected):
+            self.get_logger().warning(
+                f"[{wrapped_topic}] Sending peer restarted: sequence begins again at {seq} "
+                f"after {last_seq}. Counts and delays are per epoch from here."
+            )
+        elif seq < last_seq:
+            self.get_logger().warning(
+                f"[{wrapped_topic}] Sequence reordering detected: received {seq} after {last_seq}"
+            )
+        else:
+            self.get_logger().warning(
+                f"[{wrapped_topic}] Sequence jump detected: expected {expected}, received {seq}"
+            )
 
     def unwrapper_callback(self, wrapped_msg: OtaStamped, wrapped_topic: str, out_topic: str):
         try:

{rosotacom_dev-2.5.dev36 → rosotacom_dev-2.5.dev37}/src/rosotacom_dev.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev36
+Version: 2.5.dev37
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev36 → rosotacom_dev-2.5.dev37}/src/rosotacom_dev.egg-info/SOURCES.txt

@@ -335,6 +335,7 @@ tests/unit/test_link_bytes.py
 tests/unit/test_link_trace.py
 tests/unit/test_network_profiles.py
 tests/unit/test_network_shaper.py
+tests/unit/test_ota_unwrapper.py
 tests/unit/test_ota_wrapper.py
 tests/unit/test_ota_xml.py
 tests/unit/test_plots.py

{rosotacom_dev-2.5.dev36 → rosotacom_dev-2.5.dev37}/src/rosotacom_dev.egg-info/scm_file_list.json

@@ -330,6 +330,7 @@
     "tests/unit/test_link_trace.py",
     "tests/unit/test_network_profiles.py",
     "tests/unit/test_network_shaper.py",
+    "tests/unit/test_ota_unwrapper.py",
     "tests/unit/test_ota_wrapper.py",
     "tests/unit/test_ota_xml.py",
     "tests/unit/test_plots.py",

{rosotacom_dev-2.5.dev36 → rosotacom_dev-2.5.dev37}/src/rosotacom_dev.egg-info/scm_version.json

@@ -1,7 +1,7 @@
 {
   "tag": "2.4",
-  "distance": 36,
-  "node": "gc4530f284a5644a8a04e8fc462e031603e0b4134",
+  "distance": 37,
+  "node": "g14af11d921417944e98035154a1166f10ebd923c",
   "dirty": false,
   "branch": "HEAD",
   "node_date": "2026-08-14"

rosotacom_dev-2.5.dev37/tests/unit/test_ota_unwrapper.py

@@ -0,0 +1,140 @@
+"""What the unwrapper calls a break in the sequence.
+
+A backward jump is either the transport reordering two messages or the sending
+peer restarting, and they mean opposite things: one is a property of the link,
+the other resets the numbering everything downstream keys on. Three consumers
+already distinguish them — the live status accounting, the transit join and the
+offline bag join — and this pane log was the last place still calling both
+"reordering".
+
+The node imports rclpy, which the host suite does not have, so its ROS surface
+is stubbed before the module is loaded by file path (same approach as
+`tests/unit/test_ota_wrapper.py`).
+"""
+
+from __future__ import annotations
+
+import importlib.util
+import sys
+from collections.abc import Iterator
+from pathlib import Path
+from types import ModuleType, SimpleNamespace
+
+import pytest
+
+REPO_ROOT = Path(__file__).resolve().parents[2]
+COM_PY = REPO_ROOT / "src" / "rosotacom" / "resources" / "ws" / "ros2src" / "com_py" / "com_py"
+UNWRAPPER_PY = COM_PY / "universal_ota_unwrapper.py"
+CORE_PY = COM_PY / "status_overview_core.py"
+
+_STUBBED = (
+    "rclpy",
+    "rclpy.node",
+    "rclpy.serialization",
+    "rosidl_runtime_py",
+    "rosidl_runtime_py.utilities",
+    "com_msgs",
+    "com_msgs.msg",
+    "com_py",
+    "com_py.qos",
+    "com_py.status_overview_core",
+)
+
+
+class _FakeNode:
+    pass
+
+
+def _stub_module(name: str, **attrs: object) -> ModuleType:
+    module = ModuleType(name)
+    for key, value in attrs.items():
+        setattr(module, key, value)
+    sys.modules[name] = module
+    return module
+
+
+def _load(path: Path, name: str) -> ModuleType:
+    spec = importlib.util.spec_from_file_location(name, path)
+    assert spec and spec.loader
+    module = importlib.util.module_from_spec(spec)
+    sys.modules[name] = module
+    spec.loader.exec_module(module)
+    return module
+
+
+@pytest.fixture(scope="module")
+def unwrapper_module() -> Iterator[ModuleType]:
+    saved = {name: sys.modules.get(name) for name in _STUBBED}
+    _stub_module("rclpy", init=lambda *a, **k: None, shutdown=lambda *a, **k: None, spin=lambda *a, **k: None)
+    _stub_module("rclpy.node", Node=_FakeNode)
+    _stub_module("rclpy.serialization", deserialize_message=lambda *a, **k: None)
+    _stub_module("rosidl_runtime_py", utilities=None)
+    _stub_module("rosidl_runtime_py.utilities", get_message=lambda type_str: None)
+    _stub_module("com_msgs", msg=None)
+    _stub_module("com_msgs.msg", OtaStamped=object)
+    _stub_module("com_py", qos=None)
+    _stub_module("com_py.qos", get_topic_qos=lambda *a, **k: None, load_qos_config=lambda *a, **k: {})
+    # The real rule, not a stub: the point of this test is that the unwrapper
+    # and the accounting agree about what a restart is.
+    core = _load(CORE_PY, "rosotacom_status_overview_core_unwrapper")
+    _stub_module("com_py.status_overview_core", is_sequence_epoch_reset=core.is_sequence_epoch_reset)
+
+    module = _load(UNWRAPPER_PY, "rosotacom_universal_ota_unwrapper")
+    yield module
+
+    sys.modules.pop("rosotacom_universal_ota_unwrapper", None)
+    sys.modules.pop("rosotacom_status_overview_core_unwrapper", None)
+    for name, previous in saved.items():
+        if previous is None:
+            sys.modules.pop(name, None)
+        else:
+            sys.modules[name] = previous
+
+
+def _node(unwrapper_module: ModuleType, warnings: list[str]):
+    node = object.__new__(unwrapper_module.UniversalOtaUnwrapperNode)
+    node._last_seq = {}
+    node.get_logger = lambda: SimpleNamespace(
+        warning=warnings.append, error=lambda *a, **k: None, info=lambda *a, **k: None
+    )
+    return node
+
+
+def _feed(unwrapper_module: ModuleType, sequence: list[int]) -> list[str]:
+    warnings: list[str] = []
+    node = _node(unwrapper_module, warnings)
+    for value in sequence:
+        node._check_sequence("/x/ota_stamped", value)
+    return warnings
+
+
+def test_an_uninterrupted_stream_says_nothing(unwrapper_module: ModuleType) -> None:
+    assert _feed(unwrapper_module, list(range(20))) == []
+
+
+def test_a_restart_is_called_a_restart(unwrapper_module: ModuleType) -> None:
+    """The field shape: seq 28983, then the new run's first arrival at 37."""
+    (warning,) = _feed(unwrapper_module, [28982, 28983, 37, 38])
+
+    assert "Sending peer restarted" in warning
+    assert "37" in warning and "28983" in warning
+
+
+def test_a_reset_to_zero_is_a_restart_too(unwrapper_module: ModuleType) -> None:
+    (warning,) = _feed(unwrapper_module, [40, 41, 0, 1])
+    assert "Sending peer restarted" in warning
+
+
+def test_reordering_is_still_reordering(unwrapper_module: ModuleType) -> None:
+    # 1002 after 1000 is a forward gap (one warning); 1001 after 1002 is the
+    # reordering (the second). Both are real and both keep their old words.
+    gap, reorder = _feed(unwrapper_module, [1000, 1002, 1001])
+
+    assert "Sequence jump" in gap
+    assert "reordering" in reorder.lower()
+    assert "restarted" not in reorder
+
+
+def test_a_forward_gap_is_a_jump(unwrapper_module: ModuleType) -> None:
+    (warning,) = _feed(unwrapper_module, [10, 15])
+    assert "Sequence jump" in warning