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test_socketcan_loopback.py

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"""

This module tests sending messages on socketcan with and without local_loopback flag

for a good explanation of why this might be needed:

https://www.kernel.org/doc/html/v4.17/networking/can.html#socketcan-local-loopback1

"""

import unittest

import can

from .config import TEST_INTERFACE_SOCKETCAN

@unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan")

class LocalLoopbackSocketCan(unittest.TestCase):

""" test local_loopback functionality"""

BITRATE = 500000

TIMEOUT = 0.1

INTERFACE_1 = "socketcan"

CHANNEL_1 = "vcan0"

INTERFACE_2 = "socketcan"

CHANNEL_2 = "vcan0"

def setUp(self):

self._recv_bus = can.Bus(

interface=self.INTERFACE_2, channel=self.CHANNEL_2, bitrate=self.BITRATE

)

def tearDown(self):

self._recv_bus.shutdown()

def test_sending_message_with_loopback_enabled(self):

"""test that sending messages with local_loopback=True produces output even

on the local device"""

loopback_send_bus = can.Bus(

interface=self.INTERFACE_1,

channel=self.CHANNEL_1,

bitrate=self.BITRATE,

local_loopback=True,

)

try:

msg = can.Message(arbitration_id=0x123, is_extended_id=False)

loopback_send_bus.send(msg)

recv_msg = self._recv_bus.recv(self.TIMEOUT)

self.assertIsNotNone(recv_msg)

recv_msg_lb = loopback_send_bus.recv(self.TIMEOUT)

self.assertIsNone(recv_msg_lb)

finally:

loopback_send_bus.shutdown()

def test_sending_message_without_loopback_enabled(self):

"""test that sending messages with local_loopback=False does not produce output

on the local device"""

noloopback_send_bus = can.Bus(

interface=self.INTERFACE_1,

channel=self.CHANNEL_1,

bitrate=self.BITRATE,

local_loopback=False,

)

try:

msg = can.Message(arbitration_id=0x123, is_extended_id=False)

noloopback_send_bus.send(msg)

recv_msg = self._recv_bus.recv(self.TIMEOUT)

self.assertIsNone(recv_msg)

recv_msg_nlb = noloopback_send_bus.recv(self.TIMEOUT)

self.assertIsNone(recv_msg_nlb)

finally:

noloopback_send_bus.shutdown()

if __name__ == "__main__":

unittest.main()