ardupilot_manager: tweak tests so they run faster

This took the mavlink routers tests down from 108s to 65s on my machine

Author: Williangalvani

core/services/ardupilot_manager/mavlink_proxy/test_all.py

@@ -1,4 +1,5 @@
 # pylint: disable=redefined-outer-name
+import asyncio
 import os
 import pathlib
 import pty
@@ -182,6 +183,34 @@ async def serial_test_mavproxy(valid_output_endpoints: Set[Endpoint], valid_mast
     )
 
 
+def create_endpoints_with_offset(endpoints: Set[Endpoint], port_offset: int) -> Set[Endpoint]:
+    """Create a new set of endpoints with ports offset by the given amount"""
+    new_endpoints = set()
+    for endpoint in endpoints:
+        # Only modify network endpoints with non-None arguments
+        if (
+            endpoint.connection_type
+            in [
+                EndpointType.UDPServer,
+                EndpointType.UDPClient,
+                EndpointType.TCPServer,
+                EndpointType.TCPClient,
+            ]
+            and endpoint.argument is not None
+        ):
+            new_endpoint = Endpoint(
+                name=endpoint.name,
+                owner=endpoint.owner,
+                connection_type=endpoint.connection_type,
+                place=endpoint.place,
+                argument=endpoint.argument + port_offset,
+            )
+            new_endpoints.add(new_endpoint)
+        else:
+            new_endpoints.add(endpoint)
+    return new_endpoints
+
+
 async def serial_test_mavlink_router(
     valid_output_endpoints: Set[Endpoint], valid_master_endpoints: Set[Endpoint]
 ) -> None:
@@ -191,6 +220,10 @@ async def serial_test_mavlink_router(
 
     assert AbstractRouter.get_interface("MAVLinkRouter"), "Failed to find interface MAVLinkRouter"
 
+    # Use base ports for MAVLinkRouter (offset by 0)
+    output_endpoints = create_endpoints_with_offset(valid_output_endpoints, 0)
+    master_endpoints = create_endpoints_with_offset(valid_master_endpoints, 0)
+
     mavlink_router = MAVLinkRouter()
     assert mavlink_router.name() == "MAVLinkRouter", "Name does not match."
     assert re.search(r"\d+", str(mavlink_router.version())) is not None, "Version does not follow pattern."
@@ -207,8 +240,12 @@ async def serial_test_mavlink_router(
         EndpointType.TCPClient,
         EndpointType.Serial,
     ]
+
+    filtered_output_endpoints = set(e for e in output_endpoints if e.connection_type in allowed_output_types)
+    filtered_master_endpoints = set(e for e in master_endpoints if e.connection_type in allowed_master_types)
+
     await run_common_routing_tests(
-        mavlink_router, allowed_output_types, allowed_master_types, valid_output_endpoints, valid_master_endpoints
+        mavlink_router, allowed_output_types, allowed_master_types, filtered_output_endpoints, filtered_master_endpoints
     )
 
 
@@ -220,6 +257,10 @@ async def serial_test_mavp2p(valid_output_endpoints: Set[Endpoint], valid_master
 
     assert AbstractRouter.get_interface("MAVP2P"), "Failed to find interface MAVP2P"
 
+    # Offset ports by 100 for MAVP2P to avoid conflicts as we run tests in parallel
+    output_endpoints = create_endpoints_with_offset(valid_output_endpoints, 100)
+    master_endpoints = create_endpoints_with_offset(valid_master_endpoints, 100)
+
     mavp2p = MAVP2P()
     assert mavp2p.name() == "MAVP2P", "Name does not match."
     assert re.search(r"\d+.\d+.\d+", str(mavp2p.version())) is not None, "Version does not follow pattern."
@@ -232,16 +273,23 @@ async def serial_test_mavp2p(valid_output_endpoints: Set[Endpoint], valid_master
         EndpointType.Serial,
     ]
     allowed_master_types = allowed_output_types
+
+    filtered_output_endpoints = set(e for e in output_endpoints if e.connection_type in allowed_output_types)
+    filtered_master_endpoints = set(e for e in master_endpoints if e.connection_type in allowed_master_types)
+
     await run_common_routing_tests(
-        mavp2p, allowed_output_types, allowed_master_types, valid_output_endpoints, valid_master_endpoints
+        mavp2p, allowed_output_types, allowed_master_types, filtered_output_endpoints, filtered_master_endpoints
     )
 
 
 @pytest.mark.timeout(120)
 @pytest.mark.asyncio
 async def test_router(valid_output_endpoints: Set[Endpoint], valid_master_endpoints: Set[Endpoint]) -> None:
-    for router in [serial_test_mavlink_router, serial_test_mavp2p]:
-        await router(valid_output_endpoints, valid_master_endpoints)
+    # Run both router tests in parallel
+    await asyncio.gather(
+        serial_test_mavlink_router(valid_output_endpoints, valid_master_endpoints),
+        serial_test_mavp2p(valid_output_endpoints, valid_master_endpoints),
+    )
 
 
 @pytest.mark.timeout(10)