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#!/usr/bin/env python
# coding: utf-8
from __future__ import print_function
import unittest
import threading
try:
import queue
except ImportError:
import Queue as queue
import random
import logging
logging.getLogger(__file__).setLevel(logging.WARNING)
# make a random bool:
rbool = lambda: bool(round(random.random()))
import can
channel = 'vcan0'
can.rc['interface'] = 'virtual'
@unittest.skipIf('interface' not in can.rc, "Need a CAN interface")
class ControllerAreaNetworkTestCase(unittest.TestCase):
"""
This test ensures that what messages go in to the bus is what comes out.
Requires a can interface.
To ensure that hardware and/or software message priority queues don't
effect the test, messages are sent one at a time.
"""
num_messages = 512
# TODO check if error flags are working (don't currently appear on bus)
error_flags = [False for _ in range(num_messages)]
remote_flags = [rbool() for _ in range(num_messages)]
extended_flags = [rbool() for _ in range(num_messages)]
ids = list(range(num_messages))
data = list(bytearray([random.randrange(0, 2 ** 8 - 1)
for a in range(random.randrange(9))])
for b in range(num_messages))
def producer(self, ready_event, msg_read):
self.client_bus = can.interface.Bus(channel=channel)
ready_event.wait()
for i in range(self.num_messages):
m = can.Message(
arbitration_id=self.ids[i],
is_remote_frame=self.remote_flags[i],
is_error_frame=self.error_flags[i],
is_extended_id=self.extended_flags[i],
data=self.data[i]
)
#logging.debug("writing message: {}".format(m))
if msg_read is not None:
# Don't send until the other thread is ready
msg_read.wait()
msg_read.clear()
self.client_bus.send(m)
def testProducer(self):
"""Verify that we can send arbitrary messages on the bus"""
logging.debug("testing producer alone")
ready = threading.Event()
ready.set()
self.producer(ready, None)
logging.debug("producer test complete")
def testProducerConsumer(self):
logging.debug("testing producer/consumer")
ready = threading.Event()
msg_read = threading.Event()
self.server_bus = can.interface.Bus(channel=channel)
t = threading.Thread(target=self.producer, args=(ready, msg_read))
t.start()
# Ensure there are no messages on the bus
while True:
m = self.server_bus.recv(timeout=0.5)
if m is None:
print("No messages... lets go")
break
else:
self.fail("received messages before the test has started ...")
ready.set()
i = 0
while i < self.num_messages:
msg_read.set()
msg = self.server_bus.recv(timeout=0.5)
self.assertIsNotNone(msg, "Didn't receive a message")
#logging.debug("Received message {} with data: {}".format(i, msg.data))
self.assertEqual(msg.is_extended_id, self.extended_flags[i])
if not msg.is_remote_frame:
self.assertEqual(msg.data, self.data[i])
self.assertEqual(msg.arbitration_id, self.ids[i])
self.assertEqual(msg.is_error_frame, self.error_flags[i])
self.assertEqual(msg.is_remote_frame, self.remote_flags[i])
i += 1
t.join()
self.server_bus.flush_tx_buffer()
self.server_bus.shutdown()
if __name__ == '__main__':
unittest.main()
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