#!/usr/bin/env python """ """ import time import unittest from unittest.mock import Mock import pytest import can from can.interfaces.kvaser import canlib from can.interfaces.kvaser import constants class KvaserTest(unittest.TestCase): def setUp(self): canlib.canGetNumberOfChannels = KvaserTest.canGetNumberOfChannels canlib.canOpenChannel = Mock(return_value=0) canlib.canIoCtl = Mock(return_value=0) canlib.canIoCtlInit = Mock(return_value=0) canlib.kvReadTimer = Mock() canlib.canSetBusParams = Mock() canlib.canSetBusParamsFd = Mock() canlib.canBusOn = Mock() canlib.canBusOff = Mock() canlib.canClose = Mock() canlib.canSetBusOutputControl = Mock() canlib.canGetChannelData = Mock() canlib.canSetAcceptanceFilter = Mock() canlib.canWriteSync = Mock() canlib.canWrite = self.canWrite canlib.canReadWait = self.canReadWait canlib.canGetBusStatistics = Mock() canlib.canRequestBusStatistics = Mock() self.msg = {} self.msg_in_cue = None self.bus = can.Bus(channel=0, bustype="kvaser") def tearDown(self): if self.bus: self.bus.shutdown() self.bus = None def test_bus_creation(self): self.assertIsInstance(self.bus, canlib.KvaserBus) self.assertTrue(canlib.canOpenChannel.called) self.assertTrue(canlib.canBusOn.called) def test_bus_shutdown(self): self.bus.shutdown() self.assertTrue(canlib.canBusOff.called) self.assertTrue(canlib.canClose.called) def test_filter_setup(self): # No filter in constructor expected_args = [ ((0, 0, 0, 0),), # Disable filtering STD on read handle ((0, 0, 0, 1),), # Disable filtering EXT on read handle ((0, 0, 0, 0),), # Disable filtering STD on write handle ((0, 0, 0, 1),), # Disable filtering EXT on write handle ] self.assertEqual(canlib.canSetAcceptanceFilter.call_args_list, expected_args) # One filter, will be handled by canlib canlib.canSetAcceptanceFilter.reset_mock() self.bus.set_filters([{"can_id": 0x8, "can_mask": 0xFF, "extended": True}]) expected_args = [ ((0, 0x8, 0xFF, 1),), # Enable filtering EXT on read handle ((0, 0x8, 0xFF, 1),), # Enable filtering EXT on write handle ] self.assertEqual(canlib.canSetAcceptanceFilter.call_args_list, expected_args) # Multiple filters, will be handled in Python canlib.canSetAcceptanceFilter.reset_mock() multiple_filters = [ {"can_id": 0x8, "can_mask": 0xFF}, {"can_id": 0x9, "can_mask": 0xFF}, ] self.bus.set_filters(multiple_filters) expected_args = [ ((0, 0, 0, 0),), # Disable filtering STD on read handle ((0, 0, 0, 1),), # Disable filtering EXT on read handle ((0, 0, 0, 0),), # Disable filtering STD on write handle ((0, 0, 0, 1),), # Disable filtering EXT on write handle ] self.assertEqual(canlib.canSetAcceptanceFilter.call_args_list, expected_args) def test_send_extended(self): msg = can.Message( arbitration_id=0xC0FFEE, data=[0, 25, 0, 1, 3, 1, 4], is_extended_id=True ) self.bus.send(msg) self.assertEqual(self.msg["arb_id"], 0xC0FFEE) self.assertEqual(self.msg["dlc"], 7) self.assertEqual(self.msg["flags"], constants.canMSG_EXT) self.assertSequenceEqual(self.msg["data"], [0, 25, 0, 1, 3, 1, 4]) def test_send_standard(self): msg = can.Message(arbitration_id=0x321, data=[50, 51], is_extended_id=False) self.bus.send(msg) self.assertEqual(self.msg["arb_id"], 0x321) self.assertEqual(self.msg["dlc"], 2) self.assertEqual(self.msg["flags"], constants.canMSG_STD) self.assertSequenceEqual(self.msg["data"], [50, 51]) @pytest.mark.timeout(3.0) def test_recv_no_message(self): self.assertEqual(self.bus.recv(timeout=0.5), None) def test_recv_extended(self): self.msg_in_cue = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) now = time.time() msg = self.bus.recv() self.assertEqual(msg.arbitration_id, 0xC0FFEF) self.assertEqual(msg.dlc, 8) self.assertEqual(msg.is_extended_id, True) self.assertSequenceEqual(msg.data, self.msg_in_cue.data) self.assertTrue(now - 1 < msg.timestamp < now + 1) def test_recv_standard(self): self.msg_in_cue = can.Message( arbitration_id=0x123, data=[100, 101], is_extended_id=False ) msg = self.bus.recv() self.assertEqual(msg.arbitration_id, 0x123) self.assertEqual(msg.dlc, 2) self.assertEqual(msg.is_extended_id, False) self.assertSequenceEqual(msg.data, [100, 101]) def test_available_configs(self): configs = canlib.KvaserBus._detect_available_configs() expected = [ {"interface": "kvaser", "channel": 0}, {"interface": "kvaser", "channel": 1}, ] self.assertListEqual(configs, expected) def test_canfd_default_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() can.Bus(channel=0, bustype="kvaser", fd=True) canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 ) canlib.canSetBusParamsFd.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0 ) def test_canfd_nondefault_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() data_bitrate = 2000000 can.Bus(channel=0, bustype="kvaser", fd=True, data_bitrate=data_bitrate) bitrate_constant = canlib.BITRATE_FD[data_bitrate] canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 ) canlib.canSetBusParamsFd.assert_called_once_with(0, bitrate_constant, 0, 0, 0) def test_canfd_custom_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() data_bitrate = 123456 can.Bus(channel=0, bustype="kvaser", fd=True, data_bitrate=data_bitrate) canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 ) canlib.canSetBusParamsFd.assert_called_once_with(0, data_bitrate, 0, 0, 0) def test_bus_get_stats(self): stats = self.bus.get_stats() self.assertTrue(canlib.canRequestBusStatistics.called) self.assertTrue(canlib.canGetBusStatistics.called) self.assertIsInstance(stats, canlib.structures.BusStatistics) @staticmethod def canGetNumberOfChannels(count): count._obj.value = 2 def canWrite(self, handle, arb_id, buf, dlc, flags): self.msg["arb_id"] = arb_id self.msg["dlc"] = dlc self.msg["flags"] = flags self.msg["data"] = bytearray(buf._obj) def canReadWait(self, handle, arb_id, data, dlc, flags, timestamp, timeout): if not self.msg_in_cue: return constants.canERR_NOMSG arb_id._obj.value = self.msg_in_cue.arbitration_id dlc._obj.value = self.msg_in_cue.dlc data._obj.raw = self.msg_in_cue.data flags_temp = 0 if self.msg_in_cue.is_extended_id: flags_temp |= constants.canMSG_EXT else: flags_temp |= constants.canMSG_STD if self.msg_in_cue.is_remote_frame: flags_temp |= constants.canMSG_RTR if self.msg_in_cue.is_error_frame: flags_temp |= constants.canMSG_ERROR_FRAME flags._obj.value = flags_temp timestamp._obj.value = 0 return constants.canOK if __name__ == "__main__": unittest.main()