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Copy pathtest_systec.py
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281 lines (250 loc) · 9.62 KB
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#!/usr/bin/env python
# coding: utf-8
import unittest
from unittest.mock import Mock, patch
import can
from can.interfaces.systec import ucan, ucanbus
from can.interfaces.systec.ucan import *
class SystecTest(unittest.TestCase):
def compare_message(self, first, second, msg):
if (
first.arbitration_id != second.arbitration_id
or first.data != second.data
or first.is_extended_id != second.is_extended_id
):
raise self.failureException(msg)
def setUp(self):
# add equality function for can.Message
self.addTypeEqualityFunc(can.Message, self.compare_message)
ucan.UcanInitHwConnectControlEx = Mock()
ucan.UcanInitHardwareEx = Mock()
ucan.UcanInitHardwareEx2 = Mock()
ucan.UcanInitCanEx2 = Mock()
ucan.UcanGetHardwareInfoEx2 = Mock()
ucan.UcanSetAcceptanceEx = Mock()
ucan.UcanDeinitCanEx = Mock()
ucan.UcanDeinitHardware = Mock()
ucan.UcanWriteCanMsgEx = Mock()
ucan.UcanResetCanEx = Mock()
self.bus = can.Bus(bustype="systec", channel=0, bitrate=125000)
def test_bus_creation(self):
self.assertIsInstance(self.bus, ucanbus.UcanBus)
self.assertTrue(ucan.UcanInitHwConnectControlEx.called)
self.assertTrue(
ucan.UcanInitHardwareEx.called or ucan.UcanInitHardwareEx2.called
)
self.assertTrue(ucan.UcanInitCanEx2.called)
self.assertTrue(ucan.UcanGetHardwareInfoEx2.called)
self.assertTrue(ucan.UcanSetAcceptanceEx.called)
def test_bus_shutdown(self):
self.bus.shutdown()
self.assertTrue(ucan.UcanDeinitCanEx.called)
self.assertTrue(ucan.UcanDeinitHardware.called)
def test_filter_setup(self):
# no filter in the constructor
expected_args = ((self.bus._ucan._handle, 0, AMR_ALL, ACR_ALL),)
self.assertEqual(ucan.UcanSetAcceptanceEx.call_args, expected_args)
# one filter is handled by the driver
ucan.UcanSetAcceptanceEx.reset_mock()
can_filter = (True, 0x123, 0x123, False, False)
self.bus.set_filters(ucanbus.UcanBus.create_filter(*can_filter))
expected_args = (
(
self.bus._ucan._handle,
0,
ucan.UcanServer.calculate_amr(*can_filter),
ucan.UcanServer.calculate_acr(*can_filter),
),
)
self.assertEqual(ucan.UcanSetAcceptanceEx.call_args, expected_args)
# multiple filters are handled by the bus
ucan.UcanSetAcceptanceEx.reset_mock()
can_filter = ((False, 0x8, 0x8, False, False), (False, 0x9, 0x9, False, False))
self.bus.set_filters(
ucanbus.UcanBus.create_filter(*can_filter[0])
+ ucanbus.UcanBus.create_filter(*can_filter[1])
)
expected_args = ((self.bus._ucan._handle, 0, AMR_ALL, ACR_ALL),)
self.assertEqual(ucan.UcanSetAcceptanceEx.call_args, expected_args)
@patch("can.interfaces.systec.ucan.UcanServer.write_can_msg")
def test_send_extended(self, mock_write_can_msg):
msg = can.Message(
arbitration_id=0xC0FFEE, data=[0, 25, 0, 1, 3, 1, 4], is_extended_id=True
)
self.bus.send(msg)
expected_args = (
(0, [CanMsg(msg.arbitration_id, MsgFrameFormat.MSG_FF_EXT, msg.data)]),
)
self.assertEqual(mock_write_can_msg.call_args, expected_args)
@patch("can.interfaces.systec.ucan.UcanServer.write_can_msg")
def test_send_standard(self, mock_write_can_msg):
msg = can.Message(arbitration_id=0x321, data=[50, 51], is_extended_id=False)
self.bus.send(msg)
expected_args = (
(0, [CanMsg(msg.arbitration_id, MsgFrameFormat.MSG_FF_STD, msg.data)]),
)
self.assertEqual(mock_write_can_msg.call_args, expected_args)
@patch("can.interfaces.systec.ucan.UcanServer.get_msg_pending")
def test_recv_no_message(self, mock_get_msg_pending):
mock_get_msg_pending.return_value = 0
self.assertEqual(self.bus.recv(timeout=0.5), None)
@patch("can.interfaces.systec.ucan.UcanServer.get_msg_pending")
@patch("can.interfaces.systec.ucan.UcanServer.read_can_msg")
def test_recv_extended(self, mock_read_can_msg, mock_get_msg_pending):
mock_read_can_msg.return_value = (
[CanMsg(0xC0FFEF, MsgFrameFormat.MSG_FF_EXT, [1, 2, 3, 4, 5, 6, 7, 8])],
0,
)
mock_get_msg_pending.return_value = 1
msg = can.Message(
arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True
)
can_msg = self.bus.recv()
self.assertEqual(can_msg, msg)
@patch("can.interfaces.systec.ucan.UcanServer.get_msg_pending")
@patch("can.interfaces.systec.ucan.UcanServer.read_can_msg")
def test_recv_standard(self, mock_read_can_msg, mock_get_msg_pending):
mock_read_can_msg.return_value = (
[CanMsg(0x321, MsgFrameFormat.MSG_FF_STD, [50, 51])],
0,
)
mock_get_msg_pending.return_value = 1
msg = can.Message(arbitration_id=0x321, data=[50, 51], is_extended_id=False)
can_msg = self.bus.recv()
self.assertEqual(can_msg, msg)
@staticmethod
def test_bus_defaults():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=0)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
0,
InitCanParam(
Mode.MODE_NORMAL,
Baudrate.BAUD_500kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
DEFAULT_BUFFER_ENTRIES,
DEFAULT_BUFFER_ENTRIES,
),
)
@staticmethod
def test_bus_channel():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=1)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
1,
InitCanParam(
Mode.MODE_NORMAL,
Baudrate.BAUD_500kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
DEFAULT_BUFFER_ENTRIES,
DEFAULT_BUFFER_ENTRIES,
),
)
@staticmethod
def test_bus_bitrate():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=0, bitrate=125000)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
0,
InitCanParam(
Mode.MODE_NORMAL,
Baudrate.BAUD_125kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
DEFAULT_BUFFER_ENTRIES,
DEFAULT_BUFFER_ENTRIES,
),
)
def test_bus_custom_bitrate(self):
with self.assertRaises(ValueError):
can.Bus(bustype="systec", channel=0, bitrate=123456)
@staticmethod
def test_receive_own_messages():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=0, receive_own_messages=True)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
0,
InitCanParam(
Mode.MODE_TX_ECHO,
Baudrate.BAUD_500kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
DEFAULT_BUFFER_ENTRIES,
DEFAULT_BUFFER_ENTRIES,
),
)
@staticmethod
def test_bus_passive_state():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=0, state=can.BusState.PASSIVE)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
0,
InitCanParam(
Mode.MODE_LISTEN_ONLY,
Baudrate.BAUD_500kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
DEFAULT_BUFFER_ENTRIES,
DEFAULT_BUFFER_ENTRIES,
),
)
@staticmethod
def test_rx_buffer_entries():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=0, rx_buffer_entries=1024)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
0,
InitCanParam(
Mode.MODE_NORMAL,
Baudrate.BAUD_500kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
1024,
DEFAULT_BUFFER_ENTRIES,
),
)
@staticmethod
def test_tx_buffer_entries():
ucan.UcanInitCanEx2.reset_mock()
bus = can.Bus(bustype="systec", channel=0, tx_buffer_entries=1024)
ucan.UcanInitCanEx2.assert_called_once_with(
bus._ucan._handle,
0,
InitCanParam(
Mode.MODE_NORMAL,
Baudrate.BAUD_500kBit,
OutputControl.OCR_DEFAULT,
AMR_ALL,
ACR_ALL,
BaudrateEx.BAUDEX_USE_BTR01,
DEFAULT_BUFFER_ENTRIES,
1024,
),
)
def test_flush_tx_buffer(self):
self.bus.flush_tx_buffer()
ucan.UcanResetCanEx.assert_called_once_with(
self.bus._ucan._handle, 0, ResetFlags.RESET_ONLY_TX_BUFF
)
if __name__ == "__main__":
unittest.main()
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