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#!/usr/bin/env python
# coding: utf-8
"""
This module tests two virtual buses attached to each other.
"""
from __future__ import absolute_import, print_function
import sys
import unittest
from time import sleep
from multiprocessing.dummy import Pool as ThreadPool
import pytest
import random
import can
from .config import *
class Back2BackTestCase(unittest.TestCase):
"""
Use two interfaces connected to the same CAN bus and test them against
each other.
"""
BITRATE = 500000
TIMEOUT = 0.1
INTERFACE_1 = 'virtual'
CHANNEL_1 = 'virtual_channel_0'
INTERFACE_2 = 'virtual'
CHANNEL_2 = 'virtual_channel_0'
def setUp(self):
self.bus1 = can.Bus(channel=self.CHANNEL_1,
bustype=self.INTERFACE_1,
bitrate=self.BITRATE,
fd=TEST_CAN_FD,
single_handle=True)
self.bus2 = can.Bus(channel=self.CHANNEL_2,
bustype=self.INTERFACE_2,
bitrate=self.BITRATE,
fd=TEST_CAN_FD,
single_handle=True)
def tearDown(self):
self.bus1.shutdown()
self.bus2.shutdown()
def _check_received_message(self, recv_msg, sent_msg):
self.assertIsNotNone(recv_msg,
"No message was received on %s" % self.INTERFACE_2)
self.assertEqual(recv_msg.arbitration_id, sent_msg.arbitration_id)
self.assertEqual(recv_msg.is_extended_id, sent_msg.is_extended_id)
self.assertEqual(recv_msg.is_remote_frame, sent_msg.is_remote_frame)
self.assertEqual(recv_msg.is_error_frame, sent_msg.is_error_frame)
self.assertEqual(recv_msg.is_fd, sent_msg.is_fd)
self.assertEqual(recv_msg.bitrate_switch, sent_msg.bitrate_switch)
self.assertEqual(recv_msg.dlc, sent_msg.dlc)
if not sent_msg.is_remote_frame:
self.assertSequenceEqual(recv_msg.data, sent_msg.data)
def _send_and_receive(self, msg):
# Send with bus 1, receive with bus 2
self.bus1.send(msg)
recv_msg = self.bus2.recv(self.TIMEOUT)
self._check_received_message(recv_msg, msg)
# Some buses may receive their own messages. Remove it from the queue
self.bus1.recv(0)
# Send with bus 2, receive with bus 1
# Add 1 to arbitration ID to make it a different message
msg.arbitration_id += 1
self.bus2.send(msg)
recv_msg = self.bus1.recv(self.TIMEOUT)
self._check_received_message(recv_msg, msg)
def test_no_message(self):
self.assertIsNone(self.bus1.recv(0.1))
@unittest.skipIf(IS_CI, "the timing sensitive behaviour cannot be reproduced reliably on a CI server")
def test_timestamp(self):
self.bus2.send(can.Message())
recv_msg1 = self.bus1.recv(self.TIMEOUT)
sleep(2.0)
self.bus2.send(can.Message())
recv_msg2 = self.bus1.recv(self.TIMEOUT)
delta_time = recv_msg2.timestamp - recv_msg1.timestamp
self.assertTrue(1.75 <= delta_time <= 2.25,
'Time difference should have been 2s +/- 250ms.'
'But measured {}'.format(delta_time))
def test_standard_message(self):
msg = can.Message(is_extended_id=False,
arbitration_id=0x100,
data=[1, 2, 3, 4, 5, 6, 7, 8])
self._send_and_receive(msg)
def test_extended_message(self):
msg = can.Message(is_extended_id=True,
arbitration_id=0x123456,
data=[10, 11, 12, 13, 14, 15, 16, 17])
self._send_and_receive(msg)
def test_remote_message(self):
msg = can.Message(is_extended_id=False,
arbitration_id=0x200,
is_remote_frame=True,
dlc=4)
self._send_and_receive(msg)
def test_dlc_less_than_eight(self):
msg = can.Message(is_extended_id=False,
arbitration_id=0x300,
data=[4, 5, 6])
self._send_and_receive(msg)
@unittest.skipUnless(TEST_CAN_FD, "Don't test CAN-FD")
def test_fd_message(self):
msg = can.Message(is_fd=True,
is_extended_id=True,
arbitration_id=0x56789,
data=[0xff] * 64)
self._send_and_receive(msg)
@unittest.skipUnless(TEST_CAN_FD, "Don't test CAN-FD")
def test_fd_message_with_brs(self):
msg = can.Message(is_fd=True,
bitrate_switch=True,
is_extended_id=True,
arbitration_id=0x98765,
data=[0xff] * 48)
self._send_and_receive(msg)
@unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan")
class BasicTestSocketCan(Back2BackTestCase):
INTERFACE_1 = 'socketcan'
CHANNEL_1 = 'vcan0'
INTERFACE_2 = 'socketcan'
CHANNEL_2 = 'vcan0'
@unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan")
class SocketCanBroadcastChannel(unittest.TestCase):
def setUp(self):
self.broadcast_bus = can.Bus(channel='', bustype='socketcan')
self.regular_bus = can.Bus(channel='vcan0', bustype='socketcan')
def tearDown(self):
self.broadcast_bus.shutdown()
self.regular_bus.shutdown()
def test_broadcast_channel(self):
self.broadcast_bus.send(can.Message(channel='vcan0'))
recv_msg = self.regular_bus.recv(1)
self.assertIsNotNone(recv_msg)
self.assertEqual(recv_msg.channel, 'vcan0')
self.regular_bus.send(can.Message())
recv_msg = self.broadcast_bus.recv(1)
self.assertIsNotNone(recv_msg)
self.assertEqual(recv_msg.channel, 'vcan0')
class TestThreadSafeBus(Back2BackTestCase):
def setUp(self):
self.bus1 = can.ThreadSafeBus(channel=self.CHANNEL_1,
bustype=self.INTERFACE_1,
bitrate=self.BITRATE,
fd=TEST_CAN_FD,
single_handle=True)
self.bus2 = can.ThreadSafeBus(channel=self.CHANNEL_2,
bustype=self.INTERFACE_2,
bitrate=self.BITRATE,
fd=TEST_CAN_FD,
single_handle=True)
@pytest.mark.timeout(5.0)
def test_concurrent_writes(self):
sender_pool = ThreadPool(100)
receiver_pool = ThreadPool(100)
message = can.Message(
arbitration_id=0x123,
channel=self.CHANNEL_1,
is_extended_id=True,
timestamp=121334.365,
data=[254, 255, 1, 2]
)
workload = 1000 * [message]
def sender(msg):
self.bus1.send(msg)
def receiver(_):
return self.bus2.recv(timeout=2.0)
sender_pool.map_async(sender, workload)
for msg in receiver_pool.map(receiver, len(workload) * [None]):
self.assertIsNotNone(msg)
self.assertEqual(message.arbitration_id, msg.arbitration_id)
self.assertTrue(message.equals(msg, timestamp_delta=None))
sender_pool.close()
sender_pool.join()
receiver_pool.close()
receiver_pool.join()
@pytest.mark.timeout(5.0)
def test_filtered_bus(self):
sender_pool = ThreadPool(100)
receiver_pool = ThreadPool(100)
included_message = can.Message(
arbitration_id=0x123,
channel=self.CHANNEL_1,
is_extended_id=True,
timestamp=121334.365,
data=[254, 255, 1, 2]
)
excluded_message = can.Message(
arbitration_id=0x02,
channel=self.CHANNEL_1,
is_extended_id=True,
timestamp=121334.300,
data=[1, 2, 3]
)
workload = 500 * [included_message] + 500 * [excluded_message]
random.shuffle(workload)
self.bus2.set_filters([{"can_id": 0x123, "can_mask": 0xff, "extended": True}])
def sender(msg):
self.bus1.send(msg)
def receiver(_):
return self.bus2.recv(timeout=2.0)
sender_pool.map_async(sender, workload)
received_msgs = receiver_pool.map(receiver, 500 * [None])
for msg in received_msgs:
self.assertIsNotNone(msg)
self.assertEqual(msg.arbitration_id, included_message.arbitration_id)
self.assertTrue(included_message.equals(msg, timestamp_delta=None))
self.assertEqual(len(received_msgs), 500)
sender_pool.close()
sender_pool.join()
receiver_pool.close()
receiver_pool.join()
if __name__ == '__main__':
unittest.main()
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