Skip to content
Navigation Menu
{{ message }}
forked from hardbyte/python-can
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtest_socketcan.py
More file actions
392 lines (347 loc) · 13.6 KB
/
Copy pathtest_socketcan.py
File metadata and controls
392 lines (347 loc) · 13.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
#!/usr/bin/env python
"""
Test functions in `can.interfaces.socketcan.socketcan`.
"""
import ctypes
import struct
import unittest
import warnings
from unittest.mock import patch
from .config import TEST_INTERFACE_SOCKETCAN
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
class SocketCANTest(unittest.TestCase):
def setUp(self):
self._ctypes_sizeof = ctypes.sizeof
self._ctypes_alignment = ctypes.alignment
@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_)
@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_)
@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://foss.heptapod.net/pypy/pypy/-/issues/3809
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://foss.heptapod.net/pypy/pypy/-/issues/3809"
)
if __name__ == "__main__":
unittest.main()
You can’t perform that action at this time.