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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()