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1297 lines (1064 loc) · 51.2 KB
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#!/usr/bin/env python
"""
Test for Vector Interface
"""
import ctypes
import functools
import pickle
import sys
import time
from test.config import IS_WINDOWS
from unittest.mock import Mock
import pytest
import can
from can.interfaces.vector import (
VectorBusParams,
VectorCanFdParams,
VectorCanParams,
VectorChannelConfig,
VectorError,
VectorInitializationError,
VectorOperationError,
canlib,
xlclass,
xldefine,
)
XLDRIVER_FOUND = canlib.xldriver is not None
@pytest.fixture()
def mock_xldriver() -> None:
# basic mock for XLDriver
xldriver_mock = Mock()
# bus creation functions
xldriver_mock.xlOpenDriver = Mock()
xldriver_mock.xlGetApplConfig = Mock(side_effect=xlGetApplConfig)
xldriver_mock.xlGetChannelIndex = Mock(side_effect=xlGetChannelIndex)
xldriver_mock.xlOpenPort = Mock(side_effect=xlOpenPort)
xldriver_mock.xlCanFdSetConfiguration = Mock(return_value=0)
xldriver_mock.xlCanSetChannelMode = Mock(return_value=0)
xldriver_mock.xlActivateChannel = Mock(return_value=0)
xldriver_mock.xlGetSyncTime = Mock(side_effect=xlGetSyncTime)
xldriver_mock.xlCanSetChannelAcceptance = Mock(return_value=0)
xldriver_mock.xlCanSetChannelBitrate = Mock(return_value=0)
xldriver_mock.xlSetNotification = Mock(side_effect=xlSetNotification)
xldriver_mock.xlCanSetChannelOutput = Mock(return_value=0)
# bus deactivation functions
xldriver_mock.xlDeactivateChannel = Mock(return_value=0)
xldriver_mock.xlClosePort = Mock(return_value=0)
xldriver_mock.xlCloseDriver = Mock()
# sender functions
xldriver_mock.xlCanTransmit = Mock(return_value=0)
xldriver_mock.xlCanTransmitEx = Mock(return_value=0)
# various functions
xldriver_mock.xlCanFlushTransmitQueue = Mock()
# backup unmodified values
real_xldriver = canlib.xldriver
real_waitforsingleobject = canlib.WaitForSingleObject
real_has_events = canlib.HAS_EVENTS
# set mock
canlib.xldriver = xldriver_mock
canlib.HAS_EVENTS = False
yield
# cleanup
canlib.xldriver = real_xldriver
canlib.WaitForSingleObject = real_waitforsingleobject
canlib.HAS_EVENTS = real_has_events
def test_listen_only_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", listen_only=True, _testing=True)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
can.interfaces.vector.canlib.xldriver.xlCanSetChannelOutput.assert_called()
xlCanSetChannelOutput_args = (
can.interfaces.vector.canlib.xldriver.xlCanSetChannelOutput.call_args[0]
)
assert xlCanSetChannelOutput_args[2] == xldefine.XL_OutputMode.XL_OUTPUT_MODE_SILENT
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_listen_only() -> None:
bus = can.Bus(
channel=0,
serial=_find_virtual_can_serial(),
interface="vector",
receive_own_messages=True,
listen_only=True,
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
msg = can.Message(
arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True
)
bus.send(msg)
received_msg = bus.recv()
assert received_msg.arbitration_id == msg.arbitration_id
assert received_msg.data == msg.data
bus.shutdown()
def test_bus_creation_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", _testing=True)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation() -> None:
bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector")
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
bus.shutdown()
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert bus.channel_masks[0] == xl_channel_config.channelMask
assert (
xl_channel_config.busParams.data.can.canOpMode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20
)
bus = canlib.VectorBus(channel=0, serial=_find_virtual_can_serial())
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
bus.shutdown()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_channel_index() -> None:
channel_index = 1
bus = can.Bus(
channel=0,
serial=_find_virtual_can_serial(),
channel_index=channel_index,
interface="vector",
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
assert bus.channel_masks[0] == 1 << channel_index
bus.shutdown()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_multiple_channels() -> None:
bus = can.Bus(
channel="0, 1",
bitrate=1_000_000,
serial=_find_virtual_can_serial(),
interface="vector",
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
assert len(bus.channels) == 2
assert bus.mask == 3
xl_channel_config_0 = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert xl_channel_config_0.busParams.data.can.bitRate == 1_000_000
xl_channel_config_1 = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=1
)
assert xl_channel_config_1.busParams.data.can.bitRate == 1_000_000
bus.shutdown()
def test_bus_creation_bitrate_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", bitrate=200_000, _testing=True)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_called()
xlCanSetChannelBitrate_args = (
can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.call_args[0]
)
assert xlCanSetChannelBitrate_args[2] == 200_000
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_bitrate() -> None:
bus = can.Bus(
channel=0,
serial=_find_virtual_can_serial(),
interface="vector",
bitrate=200_000,
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert xl_channel_config.busParams.data.can.bitRate == 200_000
bus.shutdown()
def test_bus_creation_fd_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_FD
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert (
xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value
)
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_fd() -> None:
bus = can.Bus(
channel=0, serial=_find_virtual_can_serial(), interface="vector", fd=True
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_FD
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert (
xl_channel_config.interfaceVersion
== xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4
)
assert (
xl_channel_config.busParams.data.canFD.canOpMode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD
)
bus.shutdown()
def test_bus_creation_fd_bitrate_timings_mocked(mock_xldriver) -> None:
bus = can.Bus(
channel=0,
interface="vector",
fd=True,
bitrate=500_000,
data_bitrate=2_000_000,
sjw_abr=16,
tseg1_abr=127,
tseg2_abr=32,
sjw_dbr=6,
tseg1_dbr=27,
tseg2_dbr=12,
_testing=True,
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_FD
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert (
xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value
)
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called()
xlCanFdSetConfiguration_args = (
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.call_args[0]
)
canFdConf = xlCanFdSetConfiguration_args[2]
assert canFdConf.arbitrationBitRate == 500000
assert canFdConf.dataBitRate == 2000000
assert canFdConf.sjwAbr == 16
assert canFdConf.tseg1Abr == 127
assert canFdConf.tseg2Abr == 32
assert canFdConf.sjwDbr == 6
assert canFdConf.tseg1Dbr == 27
assert canFdConf.tseg2Dbr == 12
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_fd_bitrate_timings() -> None:
bus = can.Bus(
channel=0,
serial=_find_virtual_can_serial(),
interface="vector",
fd=True,
bitrate=500_000,
data_bitrate=2_000_000,
sjw_abr=16,
tseg1_abr=127,
tseg2_abr=32,
sjw_dbr=6,
tseg1_dbr=27,
tseg2_dbr=12,
)
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert (
xl_channel_config.interfaceVersion
== xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4
)
assert (
xl_channel_config.busParams.data.canFD.canOpMode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD
)
assert xl_channel_config.busParams.data.canFD.arbitrationBitRate == 500_000
assert xl_channel_config.busParams.data.canFD.sjwAbr == 16
assert xl_channel_config.busParams.data.canFD.tseg1Abr == 127
assert xl_channel_config.busParams.data.canFD.tseg2Abr == 32
assert xl_channel_config.busParams.data.canFD.sjwDbr == 6
assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 27
assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 12
assert xl_channel_config.busParams.data.canFD.dataBitRate == 2_000_000
bus.shutdown()
def test_bus_creation_timing_8mhz_mocked(mock_xldriver) -> None:
timing = can.BitTiming.from_bitrate_and_segments(
f_clock=8_000_000,
bitrate=125_000,
tseg1=13,
tseg2=2,
sjw=1,
)
bus = can.Bus(channel=0, interface="vector", timing=timing, _testing=True)
assert isinstance(bus, canlib.VectorBus)
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelParamsC200.assert_called()
btr0, btr1 = (
can.interfaces.vector.canlib.xldriver.xlCanSetChannelParamsC200.call_args[0]
)[2:]
assert btr0 == timing.btr0
assert btr1 == timing.btr1
def test_bus_creation_timing_16mhz_mocked(mock_xldriver) -> None:
timing = can.BitTiming.from_bitrate_and_segments(
f_clock=16_000_000,
bitrate=125_000,
tseg1=13,
tseg2=2,
sjw=1,
)
bus = can.Bus(channel=0, interface="vector", timing=timing, _testing=True)
assert isinstance(bus, canlib.VectorBus)
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelParams.assert_called()
chip_params = (
can.interfaces.vector.canlib.xldriver.xlCanSetChannelParams.call_args[0]
)[2]
assert chip_params.bitRate == 125_000
assert chip_params.sjw == 1
assert chip_params.tseg1 == 13
assert chip_params.tseg2 == 2
assert chip_params.sam == 1
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_timing() -> None:
for f_clock in [8_000_000, 16_000_000]:
timing = can.BitTiming.from_bitrate_and_segments(
f_clock=f_clock,
bitrate=125_000,
tseg1=13,
tseg2=2,
sjw=1,
)
bus = can.Bus(
channel=0,
serial=_find_virtual_can_serial(),
interface="vector",
timing=timing,
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_20
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert xl_channel_config.busParams.data.can.bitRate == 125_000
assert xl_channel_config.busParams.data.can.sjw == 1
assert xl_channel_config.busParams.data.can.tseg1 == 13
assert xl_channel_config.busParams.data.can.tseg2 == 2
bus.shutdown()
def test_bus_creation_timingfd_mocked(mock_xldriver) -> None:
timing = can.BitTimingFd.from_bitrate_and_segments(
f_clock=80_000_000,
nom_bitrate=500_000,
nom_tseg1=68,
nom_tseg2=11,
nom_sjw=10,
data_bitrate=2_000_000,
data_tseg1=10,
data_tseg2=9,
data_sjw=8,
)
bus = can.Bus(
channel=0,
interface="vector",
timing=timing,
_testing=True,
)
assert isinstance(bus, canlib.VectorBus)
assert bus.protocol == can.CanProtocol.CAN_FD
can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
assert (
xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value
)
assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called()
can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called()
xlCanFdSetConfiguration_args = (
can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.call_args[0]
)
canFdConf = xlCanFdSetConfiguration_args[2]
assert canFdConf.arbitrationBitRate == 500_000
assert canFdConf.dataBitRate == 2_000_000
assert canFdConf.sjwAbr == 10
assert canFdConf.tseg1Abr == 68
assert canFdConf.tseg2Abr == 11
assert canFdConf.sjwDbr == 8
assert canFdConf.tseg1Dbr == 10
assert canFdConf.tseg2Dbr == 9
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_bus_creation_timingfd() -> None:
timing = can.BitTimingFd.from_bitrate_and_segments(
f_clock=80_000_000,
nom_bitrate=500_000,
nom_tseg1=68,
nom_tseg2=11,
nom_sjw=10,
data_bitrate=2_000_000,
data_tseg1=10,
data_tseg2=9,
data_sjw=8,
)
bus = can.Bus(
channel=0,
serial=_find_virtual_can_serial(),
interface="vector",
timing=timing,
)
assert bus.protocol == can.CanProtocol.CAN_FD
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert (
xl_channel_config.interfaceVersion
== xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4
)
assert (
xl_channel_config.busParams.data.canFD.canOpMode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD
)
assert xl_channel_config.busParams.data.canFD.arbitrationBitRate == 500_000
assert xl_channel_config.busParams.data.canFD.sjwAbr == 10
assert xl_channel_config.busParams.data.canFD.tseg1Abr == 68
assert xl_channel_config.busParams.data.canFD.tseg2Abr == 11
assert xl_channel_config.busParams.data.canFD.sjwDbr == 8
assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 10
assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 9
assert xl_channel_config.busParams.data.canFD.dataBitRate == 2_000_000
bus.shutdown()
def test_send_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", _testing=True)
msg = can.Message(
arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True
)
bus.send(msg)
can.interfaces.vector.canlib.xldriver.xlCanTransmit.assert_called()
can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.assert_not_called()
def test_send_fd_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True)
msg = can.Message(
arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True
)
bus.send(msg)
can.interfaces.vector.canlib.xldriver.xlCanTransmit.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.assert_called()
def test_receive_mocked(mock_xldriver) -> None:
can.interfaces.vector.canlib.xldriver.xlReceive = Mock(side_effect=xlReceive)
bus = can.Bus(channel=0, interface="vector", _testing=True)
bus.recv(timeout=0.05)
can.interfaces.vector.canlib.xldriver.xlReceive.assert_called()
can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called()
def test_receive_fd_mocked(mock_xldriver) -> None:
can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock(side_effect=xlCanReceive)
bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True)
bus.recv(timeout=0.05)
can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_send_and_receive() -> None:
bus1 = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector")
bus2 = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector")
msg_std = can.Message(
channel=0, arbitration_id=0xFF, data=list(range(8)), is_extended_id=False
)
msg_ext = can.Message(
channel=0, arbitration_id=0xFFFFFF, data=list(range(8)), is_extended_id=True
)
bus1.send(msg_std)
msg_std_recv = bus2.recv(None)
assert msg_std.equals(msg_std_recv, timestamp_delta=None)
bus1.send(msg_ext)
msg_ext_recv = bus2.recv(None)
assert msg_ext.equals(msg_ext_recv, timestamp_delta=None)
bus1.shutdown()
bus2.shutdown()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_send_and_receive_fd() -> None:
bus1 = can.Bus(
channel=0, serial=_find_virtual_can_serial(), fd=True, interface="vector"
)
bus2 = can.Bus(
channel=0, serial=_find_virtual_can_serial(), fd=True, interface="vector"
)
msg_std = can.Message(
channel=0,
arbitration_id=0xFF,
data=list(range(64)),
is_extended_id=False,
is_fd=True,
)
msg_ext = can.Message(
channel=0,
arbitration_id=0xFFFFFF,
data=list(range(64)),
is_extended_id=True,
is_fd=True,
)
bus1.send(msg_std)
msg_std_recv = bus2.recv(None)
assert msg_std.equals(msg_std_recv, timestamp_delta=None)
bus1.send(msg_ext)
msg_ext_recv = bus2.recv(None)
assert msg_ext.equals(msg_ext_recv, timestamp_delta=None)
bus1.shutdown()
bus2.shutdown()
def test_receive_non_msg_event_mocked(mock_xldriver) -> None:
can.interfaces.vector.canlib.xldriver.xlReceive = Mock(
side_effect=xlReceive_chipstate
)
bus = can.Bus(channel=0, interface="vector", _testing=True)
bus.handle_can_event = Mock()
bus.recv(timeout=0.05)
can.interfaces.vector.canlib.xldriver.xlReceive.assert_called()
can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called()
bus.handle_can_event.assert_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_receive_non_msg_event() -> None:
bus = canlib.VectorBus(
channel=0, serial=_find_virtual_can_serial(), interface="vector"
)
bus.handle_can_event = Mock()
bus.xldriver.xlCanRequestChipState(bus.port_handle, bus.channel_masks[0])
bus.recv(timeout=0.5)
bus.handle_can_event.assert_called()
bus.shutdown()
def test_receive_fd_non_msg_event_mocked(mock_xldriver) -> None:
can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock(
side_effect=xlCanReceive_chipstate
)
bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True)
bus.handle_canfd_event = Mock()
bus.recv(timeout=0.05)
can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called()
can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called()
bus.handle_canfd_event.assert_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_receive_fd_non_msg_event() -> None:
bus = canlib.VectorBus(
channel=0, serial=_find_virtual_can_serial(), fd=True, interface="vector"
)
bus.handle_canfd_event = Mock()
bus.xldriver.xlCanRequestChipState(bus.port_handle, bus.channel_masks[0])
bus.recv(timeout=0.5)
bus.handle_canfd_event.assert_called()
bus.shutdown()
def test_flush_tx_buffer_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", _testing=True)
bus.flush_tx_buffer()
transmit_args = can.interfaces.vector.canlib.xldriver.xlCanTransmit.call_args[0]
num_msg = transmit_args[2]
assert num_msg.value == ctypes.c_uint(1).value
event = transmit_args[3]
assert isinstance(event, xlclass.XLevent)
assert event.tag & xldefine.XL_EventTags.XL_TRANSMIT_MSG
assert event.tagData.msg.flags & (
xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_OVERRUN
| xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_WAKEUP
)
def test_flush_tx_buffer_fd_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True)
bus.flush_tx_buffer()
transmit_args = can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.call_args[0]
num_msg = transmit_args[2]
assert num_msg.value == ctypes.c_uint(1).value
num_msg_sent = transmit_args[3]
assert num_msg_sent.value == ctypes.c_uint(0).value
event = transmit_args[4]
assert isinstance(event, xlclass.XLcanTxEvent)
assert event.tag & xldefine.XL_CANFD_TX_EventTags.XL_CAN_EV_TAG_TX_MSG
assert (
event.tagData.canMsg.msgFlags
& xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_HIGHPRIO
)
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_flush_tx_buffer() -> None:
bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector")
bus.flush_tx_buffer()
bus.shutdown()
def test_shutdown_mocked(mock_xldriver) -> None:
bus = can.Bus(channel=0, interface="vector", _testing=True)
bus.shutdown()
can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called()
can.interfaces.vector.canlib.xldriver.xlClosePort.assert_called()
can.interfaces.vector.canlib.xldriver.xlCloseDriver.assert_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_shutdown() -> None:
bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector")
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert xl_channel_config.isOnBus != 0
bus.shutdown()
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=0
)
assert xl_channel_config.isOnBus == 0
def test_reset_mocked(mock_xldriver) -> None:
bus = canlib.VectorBus(channel=0, interface="vector", _testing=True)
bus.reset()
can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called()
can.interfaces.vector.canlib.xldriver.xlActivateChannel.assert_called()
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_reset() -> None:
bus = canlib.VectorBus(
channel=0, serial=_find_virtual_can_serial(), interface="vector"
)
bus.reset()
bus.shutdown()
def test_popup_hw_cfg_mocked(mock_xldriver) -> None:
canlib.xldriver.xlPopupHwConfig = Mock()
canlib.VectorBus.popup_vector_hw_configuration(10)
assert canlib.xldriver.xlPopupHwConfig.called
args, kwargs = canlib.xldriver.xlPopupHwConfig.call_args
assert isinstance(args[0], ctypes.c_char_p)
assert isinstance(args[1], ctypes.c_uint)
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_popup_hw_cfg() -> None:
with pytest.raises(VectorOperationError):
canlib.VectorBus.popup_vector_hw_configuration(1)
def test_get_application_config_mocked(mock_xldriver) -> None:
canlib.xldriver.xlGetApplConfig = Mock()
canlib.VectorBus.get_application_config(app_name="CANalyzer", app_channel=0)
assert canlib.xldriver.xlGetApplConfig.called
def test_set_application_config_mocked(mock_xldriver) -> None:
canlib.xldriver.xlSetApplConfig = Mock()
canlib.VectorBus.set_application_config(
app_name="CANalyzer",
app_channel=0,
hw_type=xldefine.XL_HardwareType.XL_HWTYPE_VN1610,
hw_index=0,
hw_channel=0,
)
assert canlib.xldriver.xlSetApplConfig.called
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_set_and_get_application_config() -> None:
xl_channel_config = _find_xl_channel_config(
serial=_find_virtual_can_serial(), channel=1
)
canlib.VectorBus.set_application_config(
app_name="python-can::test_vector",
app_channel=5,
hw_channel=xl_channel_config.hwChannel,
hw_index=xl_channel_config.hwIndex,
hw_type=xldefine.XL_HardwareType(xl_channel_config.hwType),
)
hw_type, hw_index, hw_channel = canlib.VectorBus.get_application_config(
app_name="python-can::test_vector",
app_channel=5,
)
assert hw_type == xldefine.XL_HardwareType(xl_channel_config.hwType)
assert hw_index == xl_channel_config.hwIndex
assert hw_channel == xl_channel_config.hwChannel
def test_set_timer_mocked(mock_xldriver) -> None:
canlib.xldriver.xlSetTimerRate = Mock()
bus = canlib.VectorBus(channel=0, interface="vector", fd=True, _testing=True)
bus.set_timer_rate(timer_rate_ms=1)
assert canlib.xldriver.xlSetTimerRate.called
@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_set_timer() -> None:
bus = canlib.VectorBus(
channel=0, serial=_find_virtual_can_serial(), interface="vector"
)
bus.handle_can_event = Mock()
bus.set_timer_rate(timer_rate_ms=1)
t0 = time.perf_counter()
while time.perf_counter() - t0 < 0.5:
bus.recv(timeout=-1)
# call_count is incorrect when using virtual bus
# assert bus.handle_can_event.call_count > 498
# assert bus.handle_can_event.call_count < 502
@pytest.mark.skipif(IS_WINDOWS, reason="Not relevant for Windows.")
def test_called_without_testing_argument() -> None:
"""This tests if an exception is thrown when we are not running on Windows."""
with pytest.raises(can.CanInterfaceNotImplementedError):
# do not set the _testing argument, since it would suppress the exception
can.Bus(channel=0, interface="vector")
def test_vector_error_pickle() -> None:
for error_type in [
VectorError,
VectorInitializationError,
VectorOperationError,
]:
error_code = 118
error_string = "XL_ERROR"
function = "function_name"
exc = error_type(error_code, error_string, function)
# pickle and unpickle
p = pickle.dumps(exc)
exc_unpickled: VectorError = pickle.loads(p)
assert str(exc) == str(exc_unpickled)
assert error_code == exc_unpickled.error_code
with pytest.raises(error_type):
raise exc_unpickled
def test_vector_subtype_error_from_generic() -> None:
for error_type in [VectorInitializationError, VectorOperationError]:
error_code = 118
error_string = "XL_ERROR"
function = "function_name"
generic = VectorError(error_code, error_string, function)
# pickle and unpickle
specific: VectorError = error_type.from_generic(generic)
assert str(generic) == str(specific)
assert error_code == specific.error_code
with pytest.raises(error_type):
raise specific
def test_iterate_channel_index() -> None:
channel_mask = 0x23 # 100011
channels = list(canlib._iterate_channel_index(channel_mask))
assert channels == [0, 1, 5]
@pytest.mark.skipif(
sys.byteorder != "little", reason="Test relies on little endian data."
)
def test_get_channel_configs() -> None:
_original_func = canlib._get_xl_driver_config
canlib._get_xl_driver_config = _get_predefined_xl_driver_config
channel_configs = canlib.get_channel_configs()
assert len(channel_configs) == 12
canlib._get_xl_driver_config = _original_func
@pytest.mark.skipif(
sys.byteorder != "little", reason="Test relies on little endian data."
)
def test_detect_available_configs() -> None:
_original_func = canlib._get_xl_driver_config
canlib._get_xl_driver_config = _get_predefined_xl_driver_config
available_configs = canlib.VectorBus._detect_available_configs()
assert len(available_configs) == 5
assert available_configs[0]["interface"] == "vector"
assert available_configs[0]["channel"] == 2
assert available_configs[0]["serial"] == 1001
assert available_configs[0]["channel_index"] == 2
assert available_configs[0]["hw_type"] == xldefine.XL_HardwareType.XL_HWTYPE_VN8900
assert available_configs[0]["hw_index"] == 0
assert available_configs[0]["supports_fd"] is True
assert isinstance(
available_configs[0]["vector_channel_config"], VectorChannelConfig
)
canlib._get_xl_driver_config = _original_func
@pytest.mark.skipif(not IS_WINDOWS, reason="Windows specific test")
def test_winapi_availability() -> None:
assert canlib.WaitForSingleObject is not None
assert canlib.INFINITE is not None
def test_vector_channel_config_attributes():
assert hasattr(VectorChannelConfig, "name")
assert hasattr(VectorChannelConfig, "hw_type")
assert hasattr(VectorChannelConfig, "hw_index")
assert hasattr(VectorChannelConfig, "hw_channel")
assert hasattr(VectorChannelConfig, "channel_index")
assert hasattr(VectorChannelConfig, "channel_mask")
assert hasattr(VectorChannelConfig, "channel_capabilities")
assert hasattr(VectorChannelConfig, "channel_bus_capabilities")
assert hasattr(VectorChannelConfig, "is_on_bus")
assert hasattr(VectorChannelConfig, "bus_params")
assert hasattr(VectorChannelConfig, "connected_bus_type")
assert hasattr(VectorChannelConfig, "serial_number")
assert hasattr(VectorChannelConfig, "article_number")
assert hasattr(VectorChannelConfig, "transceiver_name")
def test_vector_bus_params_attributes():
assert hasattr(VectorBusParams, "bus_type")
assert hasattr(VectorBusParams, "can")
assert hasattr(VectorBusParams, "canfd")
def test_vector_can_params_attributes():
assert hasattr(VectorCanParams, "bitrate")
assert hasattr(VectorCanParams, "sjw")
assert hasattr(VectorCanParams, "tseg1")
assert hasattr(VectorCanParams, "tseg2")
assert hasattr(VectorCanParams, "sam")
assert hasattr(VectorCanParams, "output_mode")
assert hasattr(VectorCanParams, "can_op_mode")
def test_vector_canfd_params_attributes():
assert hasattr(VectorCanFdParams, "bitrate")
assert hasattr(VectorCanFdParams, "data_bitrate")
assert hasattr(VectorCanFdParams, "sjw_abr")
assert hasattr(VectorCanFdParams, "tseg1_abr")
assert hasattr(VectorCanFdParams, "tseg2_abr")
assert hasattr(VectorCanFdParams, "sam_abr")
assert hasattr(VectorCanFdParams, "sjw_dbr")
assert hasattr(VectorCanFdParams, "tseg1_dbr")
assert hasattr(VectorCanFdParams, "tseg2_dbr")
assert hasattr(VectorCanFdParams, "output_mode")
assert hasattr(VectorCanFdParams, "can_op_mode")
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