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#!/usr/bin/env python
# coding: utf-8
"""
"""
import ctypes
import time
import logging
import unittest
try:
from unittest.mock import Mock, patch
except ImportError:
from mock import patch, 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.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()
|
