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#!/usr/bin/env python
"""
Test functions in `can.interfaces.socketcan.socketcan`.
"""
import ctypes
import struct
import sys
import unittest
import warnings
from unittest.mock import patch
import can
from can.interfaces.socketcan.constants import (
CAN_BCM_TX_DELETE,
CAN_BCM_TX_SETUP,
SETTIMER,
STARTTIMER,
TX_COUNTEVT,
)
from can.interfaces.socketcan.socketcan import (
BcmMsgHead,
bcm_header_factory,
build_bcm_header,
build_bcm_transmit_header,
build_bcm_tx_delete_header,
build_bcm_update_header,
)
from .config import IS_LINUX, IS_PYPY, TEST_INTERFACE_SOCKETCAN
class SocketCANTest(unittest.TestCase):
def setUp(self):
self._ctypes_sizeof = ctypes.sizeof
self._ctypes_alignment = ctypes.alignment
@unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer")
@patch("ctypes.sizeof")
@patch("ctypes.alignment")
def test_bcm_header_factory_32_bit_sizeof_long_4_alignof_long_4(
self, ctypes_sizeof, ctypes_alignment
):
"""This tests a 32-bit platform (ex. Debian Stretch on i386), where:
* sizeof(long) == 4
* sizeof(long long) == 8
* alignof(long) == 4
* alignof(long long) == 4
"""
def side_effect_ctypes_sizeof(value):
type_to_size = {
ctypes.c_longlong: 8,
ctypes.c_long: 4,
ctypes.c_uint8: 1,
ctypes.c_uint16: 2,
ctypes.c_uint32: 4,
ctypes.c_uint64: 8,
}
return type_to_size[value]
def side_effect_ctypes_alignment(value):
type_to_alignment = {
ctypes.c_longlong: 4,
ctypes.c_long: 4,
ctypes.c_uint8: 1,
ctypes.c_uint16: 2,
ctypes.c_uint32: 4,
ctypes.c_uint64: 4,
}
return type_to_alignment[value]
ctypes_sizeof.side_effect = side_effect_ctypes_sizeof
ctypes_alignment.side_effect = side_effect_ctypes_alignment
fields = [
("opcode", ctypes.c_uint32),
("flags", ctypes.c_uint32),
("count", ctypes.c_uint32),
("ival1_tv_sec", ctypes.c_long),
("ival1_tv_usec", ctypes.c_long),
("ival2_tv_sec", ctypes.c_long),
("ival2_tv_usec", ctypes.c_long),
("can_id", ctypes.c_uint32),
("nframes", ctypes.c_uint32),
]
BcmMsgHead = bcm_header_factory(fields)
expected_fields = [
("opcode", ctypes.c_uint32),
("flags", ctypes.c_uint32),
("count", ctypes.c_uint32),
("ival1_tv_sec", ctypes.c_long),
("ival1_tv_usec", ctypes.c_long),
("ival2_tv_sec", ctypes.c_long),
("ival2_tv_usec", ctypes.c_long),
("can_id", ctypes.c_uint32),
("nframes", ctypes.c_uint32),
# We expect 4 bytes of padding
("pad_0", ctypes.c_uint8),
("pad_1", ctypes.c_uint8),
("pad_2", ctypes.c_uint8),
("pad_3", ctypes.c_uint8),
]
self.assertEqual(expected_fields, BcmMsgHead._fields_)
@unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer")
@patch("ctypes.sizeof")
@patch("ctypes.alignment")
def test_bcm_header_factory_32_bit_sizeof_long_4_alignof_long_long_8(
self, ctypes_sizeof, ctypes_alignment
):
"""This tests a 32-bit platform (ex. Raspbian Stretch on armv7l), where:
* sizeof(long) == 4
* sizeof(long long) == 8
* alignof(long) == 4
* alignof(long long) == 8
"""
def side_effect_ctypes_sizeof(value):
type_to_size = {
ctypes.c_longlong: 8,
ctypes.c_long: 4,
ctypes.c_uint8: 1,
ctypes.c_uint16: 2,
ctypes.c_uint32: 4,
ctypes.c_uint64: 8,
}
return type_to_size[value]
def side_effect_ctypes_alignment(value):
type_to_alignment = {
ctypes.c_longlong: 8,
ctypes.c_long: 4,
ctypes.c_uint8: 1,
ctypes.c_uint16: 2,
ctypes.c_uint32: 4,
ctypes.c_uint64: 8,
}
return type_to_alignment[value]
ctypes_sizeof.side_effect = side_effect_ctypes_sizeof
ctypes_alignment.side_effect = side_effect_ctypes_alignment
fields = [
("opcode", ctypes.c_uint32),
("flags", ctypes.c_uint32),
("count", ctypes.c_uint32),
("ival1_tv_sec", ctypes.c_long),
("ival1_tv_usec", ctypes.c_long),
("ival2_tv_sec", ctypes.c_long),
("ival2_tv_usec", ctypes.c_long),
("can_id", ctypes.c_uint32),
("nframes", ctypes.c_uint32),
]
BcmMsgHead = bcm_header_factory(fields)
expected_fields = [
("opcode", ctypes.c_uint32),
("flags", ctypes.c_uint32),
("count", ctypes.c_uint32),
("ival1_tv_sec", ctypes.c_long),
("ival1_tv_usec", ctypes.c_long),
("ival2_tv_sec", ctypes.c_long),
("ival2_tv_usec", ctypes.c_long),
("can_id", ctypes.c_uint32),
("nframes", ctypes.c_uint32),
# We expect 4 bytes of padding
("pad_0", ctypes.c_uint8),
("pad_1", ctypes.c_uint8),
("pad_2", ctypes.c_uint8),
("pad_3", ctypes.c_uint8),
]
self.assertEqual(expected_fields, BcmMsgHead._fields_)
@unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer")
@patch("ctypes.sizeof")
@patch("ctypes.alignment")
def test_bcm_header_factory_64_bit_sizeof_long_8_alignof_long_8(
self, ctypes_sizeof, ctypes_alignment
):
"""This tests a 64-bit platform (ex. Ubuntu 18.04 on x86_64), where:
* sizeof(long) == 8
* sizeof(long long) == 8
* alignof(long) == 8
* alignof(long long) == 8
"""
def side_effect_ctypes_sizeof(value):
type_to_size = {
ctypes.c_longlong: 8,
ctypes.c_long: 8,
ctypes.c_uint8: 1,
ctypes.c_uint16: 2,
ctypes.c_uint32: 4,
ctypes.c_uint64: 8,
}
return type_to_size[value]
def side_effect_ctypes_alignment(value):
type_to_alignment = {
ctypes.c_longlong: 8,
ctypes.c_long: 8,
ctypes.c_uint8: 1,
ctypes.c_uint16: 2,
ctypes.c_uint32: 4,
ctypes.c_uint64: 8,
}
return type_to_alignment[value]
ctypes_sizeof.side_effect = side_effect_ctypes_sizeof
ctypes_alignment.side_effect = side_effect_ctypes_alignment
fields = [
("opcode", ctypes.c_uint32),
("flags", ctypes.c_uint32),
("count", ctypes.c_uint32),
("ival1_tv_sec", ctypes.c_long),
("ival1_tv_usec", ctypes.c_long),
("ival2_tv_sec", ctypes.c_long),
("ival2_tv_usec", ctypes.c_long),
("can_id", ctypes.c_uint32),
("nframes", ctypes.c_uint32),
]
BcmMsgHead = bcm_header_factory(fields)
expected_fields = [
("opcode", ctypes.c_uint32),
("flags", ctypes.c_uint32),
("count", ctypes.c_uint32),
# We expect 4 bytes of padding
("pad_0", ctypes.c_uint8),
("pad_1", ctypes.c_uint8),
("pad_2", ctypes.c_uint8),
("pad_3", ctypes.c_uint8),
("ival1_tv_sec", ctypes.c_long),
("ival1_tv_usec", ctypes.c_long),
("ival2_tv_sec", ctypes.c_long),
("ival2_tv_usec", ctypes.c_long),
("can_id", ctypes.c_uint32),
("nframes", ctypes.c_uint32),
]
self.assertEqual(expected_fields, BcmMsgHead._fields_)
def test_build_bcm_header(self):
def _find_u32_fmt_char() -> str:
for _fmt in ("H", "I", "L", "Q"):
if struct.calcsize(_fmt) == 4:
return _fmt
def _standard_size_little_endian_to_native(data: bytes) -> bytes:
std_le_fmt = "<IIIllllII"
native_fmt = "@" + std_le_fmt[1:].replace("I", _find_u32_fmt_char())
aligned_data = struct.pack(native_fmt, *struct.unpack(std_le_fmt, data))
padded_data = aligned_data + b"\x00" * ((8 - len(aligned_data) % 8) % 8)
return padded_data
expected_result = _standard_size_little_endian_to_native(
b"\x02\x00\x00\x00\x00\x00\x00\x00"
b"\x00\x00\x00\x00\x00\x00\x00\x00"
b"\x00\x00\x00\x00\x00\x00\x00\x00"
b"\x00\x00\x00\x00\x01\x04\x00\x00"
b"\x01\x00\x00\x00"
)
self.assertEqual(
expected_result,
build_bcm_header(
opcode=CAN_BCM_TX_DELETE,
flags=0,
count=0,
ival1_seconds=0,
ival1_usec=0,
ival2_seconds=0,
ival2_usec=0,
can_id=0x401,
nframes=1,
),
)
def test_build_bcm_tx_delete_header(self):
can_id = 0x401
flags = 0
bcm_buffer = build_bcm_tx_delete_header(can_id=can_id, flags=flags)
result = BcmMsgHead.from_buffer_copy(bcm_buffer)
self.assertEqual(CAN_BCM_TX_DELETE, result.opcode)
self.assertEqual(flags, result.flags)
self.assertEqual(0, result.count)
self.assertEqual(0, result.ival1_tv_sec)
self.assertEqual(0, result.ival1_tv_usec)
self.assertEqual(0, result.ival2_tv_sec)
self.assertEqual(0, result.ival2_tv_usec)
self.assertEqual(can_id, result.can_id)
self.assertEqual(1, result.nframes)
def test_build_bcm_transmit_header_initial_period_0(self):
can_id = 0x401
flags = 0
count = 42
bcm_buffer = build_bcm_transmit_header(
can_id=can_id,
count=count,
initial_period=0,
subsequent_period=2,
msg_flags=flags,
)
result = BcmMsgHead.from_buffer_copy(bcm_buffer)
self.assertEqual(CAN_BCM_TX_SETUP, result.opcode)
# SETTIMER and STARTTIMER should be added to the initial flags
self.assertEqual(flags | SETTIMER | STARTTIMER, result.flags)
self.assertEqual(count, result.count)
self.assertEqual(0, result.ival1_tv_sec)
self.assertEqual(0, result.ival1_tv_usec)
self.assertEqual(2, result.ival2_tv_sec)
self.assertEqual(0, result.ival2_tv_usec)
self.assertEqual(can_id, result.can_id)
self.assertEqual(1, result.nframes)
def test_build_bcm_transmit_header_initial_period_1_24(self):
can_id = 0x401
flags = 0
count = 42
bcm_buffer = build_bcm_transmit_header(
can_id=can_id,
count=count,
initial_period=1.24,
subsequent_period=2,
msg_flags=flags,
)
result = BcmMsgHead.from_buffer_copy(bcm_buffer)
self.assertEqual(CAN_BCM_TX_SETUP, result.opcode)
# SETTIMER, STARTTIMER, TX_COUNTEVT should be added to the initial flags
self.assertEqual(flags | SETTIMER | STARTTIMER | TX_COUNTEVT, result.flags)
self.assertEqual(count, result.count)
self.assertEqual(1, result.ival1_tv_sec)
self.assertEqual(240000, result.ival1_tv_usec)
self.assertEqual(2, result.ival2_tv_sec)
self.assertEqual(0, result.ival2_tv_usec)
self.assertEqual(can_id, result.can_id)
self.assertEqual(1, result.nframes)
def test_build_bcm_update_header(self):
can_id = 0x401
flags = 0
bcm_buffer = build_bcm_update_header(can_id=can_id, msg_flags=flags)
result = BcmMsgHead.from_buffer_copy(bcm_buffer)
self.assertEqual(CAN_BCM_TX_SETUP, result.opcode)
self.assertEqual(flags, result.flags)
self.assertEqual(0, result.count)
self.assertEqual(0, result.ival1_tv_sec)
self.assertEqual(0, result.ival1_tv_usec)
self.assertEqual(0, result.ival2_tv_sec)
self.assertEqual(0, result.ival2_tv_usec)
self.assertEqual(can_id, result.can_id)
self.assertEqual(1, result.nframes)
@unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "Only run when vcan0 is available")
def test_bus_creation_can(self):
bus = can.Bus(interface="socketcan", channel="vcan0", fd=False)
self.assertEqual(bus.protocol, can.CanProtocol.CAN_20)
@unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "Only run when vcan0 is available")
def test_bus_creation_can_fd(self):
bus = can.Bus(interface="socketcan", channel="vcan0", fd=True)
self.assertEqual(bus.protocol, can.CanProtocol.CAN_FD)
@unittest.skipUnless(IS_LINUX and IS_PYPY, "Only test when run on Linux with PyPy")
def test_pypy_socketcan_support(self):
"""Wait for PyPy raw CAN socket support
This test shall document raw CAN socket support under PyPy. Once this test fails, it is likely that PyPy
either implemented raw CAN socket support or at least changed the error that is thrown.
https://github.com/pypy/pypy/issues/3808
https://github.com/hardbyte/python-can/issues/1479
"""
try:
can.Bus(interface="socketcan", channel="vcan0", bitrate=500000)
except OSError as e:
if "unknown address family" not in str(e):
warnings.warn(
"Please check if PyPy has implemented raw CAN socket support! "
"See: https://github.com/pypy/pypy/issues/3808"
)
if __name__ == "__main__":
unittest.main()
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