python-can/test/test_cyclic_socketcan.py at develop · feuerball/python-can · GitHub

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#!/usr/bin/env python

"""

This module tests multiple message cyclic send tasks.

"""

import unittest

import time

import can

from .config import TEST_INTERFACE_SOCKETCAN

@unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan")

class CyclicSocketCan(unittest.TestCase):

BITRATE = 500000

TIMEOUT = 0.1

INTERFACE_1 = "socketcan"

CHANNEL_1 = "vcan0"

INTERFACE_2 = "socketcan"

CHANNEL_2 = "vcan0"

PERIOD = 1.0

DELTA = 0.01

def _find_start_index(self, tx_messages, message):

"""

:param tx_messages:

The list of messages that were passed to the periodic backend

:param message:

The message whose data we wish to match and align to

:returns: start index in the tx_messages

"""

start_index = -1

for index, tx_message in enumerate(tx_messages):

if tx_message.data == message.data:

start_index = index

break

return start_index

def setUp(self):

self._send_bus = can.Bus(

interface=self.INTERFACE_1, channel=self.CHANNEL_1, bitrate=self.BITRATE

)

self._recv_bus = can.Bus(

interface=self.INTERFACE_2, channel=self.CHANNEL_2, bitrate=self.BITRATE

)

def tearDown(self):

self._send_bus.shutdown()

self._recv_bus.shutdown()

def test_cyclic_initializer_list(self):

messages = []

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x44, 0x44, 0x44, 0x44, 0x44, 0x44],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x55, 0x55, 0x55, 0x55, 0x55, 0x55],

is_extended_id=False,

)

task = self._send_bus.send_periodic(messages, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC)

results = []

for _ in range(len(messages) * 2):

result = self._recv_bus.recv(self.PERIOD * 2)

if result:

results.append(result)

task.stop()

# Find starting index for each

start_index = self._find_start_index(messages, results[0])

self.assertTrue(start_index != -1)

# Now go through the partitioned results and assert that they're equal

for rx_index, rx_message in enumerate(results):

tx_message = messages[start_index]

self.assertIsNotNone(rx_message)

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

start_index = (start_index + 1) % len(messages)

def test_cyclic_initializer_tuple(self):

messages = []

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x44, 0x44, 0x44, 0x44, 0x44, 0x44],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x55, 0x55, 0x55, 0x55, 0x55, 0x55],

is_extended_id=False,

)

messages = tuple(messages)

self.assertIsInstance(messages, tuple)

task = self._send_bus.send_periodic(messages, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC)

results = []

for _ in range(len(messages) * 2):

result = self._recv_bus.recv(self.PERIOD * 2)

if result:

results.append(result)

task.stop()

# Find starting index for each

start_index = self._find_start_index(messages, results[0])

self.assertTrue(start_index != -1)

# Now go through the partitioned results and assert that they're equal

for rx_index, rx_message in enumerate(results):

tx_message = messages[start_index]

self.assertIsNotNone(rx_message)

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

start_index = (start_index + 1) % len(messages)

def test_cyclic_initializer_message(self):

message = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

task = self._send_bus.send_periodic(message, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC)

# Take advantage of kernel's queueing mechanisms

time.sleep(4 * self.PERIOD)

task.stop()

for _ in range(4):

tx_message = message

rx_message = self._recv_bus.recv(self.TIMEOUT)

self.assertIsNotNone(rx_message)

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

def test_cyclic_initializer_invalid_none(self):

with self.assertRaises(ValueError):

task = self._send_bus.send_periodic(None, self.PERIOD)

def test_cyclic_initializer_invalid_empty_list(self):

with self.assertRaises(ValueError):

task = self._send_bus.send_periodic([], self.PERIOD)

def test_cyclic_initializer_different_arbitration_ids(self):

messages = []

messages.append(

can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

messages.append(

can.Message(

arbitration_id=0x3E1,

data=[0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE],

is_extended_id=False,

)

with self.assertRaises(ValueError):

task = self._send_bus.send_periodic(messages, self.PERIOD)

def test_start_already_started_task(self):

messages_a = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

task_a = self._send_bus.send_periodic(messages_a, self.PERIOD)

time.sleep(0.1)

# Task restarting is permitted as of #1440

task_a.start()

task_a.stop()

def test_create_same_id(self):

messages_a = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

messages_b = can.Message(

arbitration_id=0x401,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

task_a = self._send_bus.send_periodic(messages_a, self.PERIOD)

self.assertIsInstance(task_a, can.broadcastmanager.CyclicSendTaskABC)

task_b = self._send_bus.send_periodic(messages_b, self.PERIOD)

self.assertIsInstance(task_b, can.broadcastmanager.CyclicSendTaskABC)

time.sleep(self.PERIOD * 4)

task_a.stop()

task_b.stop()

msgs = []

for _ in range(4):

msg = self._recv_bus.recv(self.PERIOD * 2)

self.assertIsNotNone(msg)

msgs.append(msg)

self.assertTrue(len(msgs) >= 4)

# Both messages should be recevied on the bus,

# even with the same arbitration id

msg_a_data_present = msg_b_data_present = False

for rx_message in msgs:

self.assertTrue(

rx_message.arbitration_id

== messages_a.arbitration_id

== messages_b.arbitration_id

)

if rx_message.data == messages_a.data:

msg_a_data_present = True

if rx_message.data == messages_b.data:

msg_b_data_present = True

self.assertTrue(msg_a_data_present)

self.assertTrue(msg_b_data_present)

def test_modify_data_list(self):

messages_odd = []

messages_odd.append(

can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

messages_odd.append(

can.Message(

arbitration_id=0x401,

data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],

is_extended_id=False,

)

messages_odd.append(

can.Message(

arbitration_id=0x401,

data=[0x55, 0x55, 0x55, 0x55, 0x55, 0x55],

is_extended_id=False,

)

messages_even = []

messages_even.append(

can.Message(

arbitration_id=0x401,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

messages_even.append(

can.Message(

arbitration_id=0x401,

data=[0x44, 0x44, 0x44, 0x44, 0x44, 0x44],

is_extended_id=False,

)

messages_even.append(

can.Message(

arbitration_id=0x401,

data=[0x66, 0x66, 0x66, 0x66, 0x66, 0x66],

is_extended_id=False,

)

task = self._send_bus.send_periodic(messages_odd, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.ModifiableCyclicTaskABC)

results_odd = []

results_even = []

for _ in range(len(messages_odd) * 2):

result = self._recv_bus.recv(self.PERIOD * 2)

if result:

results_odd.append(result)

task.modify_data(messages_even)

for _ in range(len(messages_even) * 2):

result = self._recv_bus.recv(self.PERIOD * 2)

if result:

results_even.append(result)

task.stop()

# Make sure we received some messages

self.assertTrue(len(results_even) != 0)

self.assertTrue(len(results_odd) != 0)

# Find starting index for each

start_index_even = self._find_start_index(messages_even, results_even[0])

self.assertTrue(start_index_even != -1)

start_index_odd = self._find_start_index(messages_odd, results_odd[0])

self.assertTrue(start_index_odd != -1)

# Now go through the partitioned results and assert that they're equal

for rx_index, rx_message in enumerate(results_even):

tx_message = messages_even[start_index_even]

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

start_index_even = (start_index_even + 1) % len(messages_even)

if rx_index != 0:

prev_rx_message = results_even[rx_index - 1]

# Assert timestamps are within the expected period

self.assertTrue(

abs(

(rx_message.timestamp - prev_rx_message.timestamp) - self.PERIOD

)

<= self.DELTA

)

for rx_index, rx_message in enumerate(results_odd):

tx_message = messages_odd[start_index_odd]

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

start_index_odd = (start_index_odd + 1) % len(messages_odd)

if rx_index != 0:

prev_rx_message = results_odd[rx_index - 1]

# Assert timestamps are within the expected period

self.assertTrue(

abs(

(rx_message.timestamp - prev_rx_message.timestamp) - self.PERIOD

)

<= self.DELTA

)

def test_modify_data_message(self):

message_odd = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

message_even = can.Message(

arbitration_id=0x401,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

task = self._send_bus.send_periodic(message_odd, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.ModifiableCyclicTaskABC)

results_odd = []

results_even = []

for _ in range(1 * 4):

result = self._recv_bus.recv(self.PERIOD * 2)

if result:

results_odd.append(result)

task.modify_data(message_even)

for _ in range(1 * 4):

result = self._recv_bus.recv(self.PERIOD * 2)

if result:

results_even.append(result)

task.stop()

# Now go through the partitioned results and assert that they're equal

for rx_index, rx_message in enumerate(results_even):

tx_message = message_even

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

if rx_index != 0:

prev_rx_message = results_even[rx_index - 1]

# Assert timestamps are within the expected period

self.assertTrue(

abs(

(rx_message.timestamp - prev_rx_message.timestamp) - self.PERIOD

)

<= self.DELTA

)

for rx_index, rx_message in enumerate(results_odd):

tx_message = message_odd

self.assertEqual(tx_message.arbitration_id, rx_message.arbitration_id)

self.assertEqual(tx_message.dlc, rx_message.dlc)

self.assertEqual(tx_message.data, rx_message.data)

self.assertEqual(tx_message.is_extended_id, rx_message.is_extended_id)

self.assertEqual(tx_message.is_remote_frame, rx_message.is_remote_frame)

self.assertEqual(tx_message.is_error_frame, rx_message.is_error_frame)

self.assertEqual(tx_message.is_fd, rx_message.is_fd)

if rx_index != 0:

prev_rx_message = results_odd[rx_index - 1]

# Assert timestamps are within the expected period

self.assertTrue(

abs(

(rx_message.timestamp - prev_rx_message.timestamp) - self.PERIOD

)

<= self.DELTA

)

def test_modify_data_invalid(self):

message = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

task = self._send_bus.send_periodic(message, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.ModifiableCyclicTaskABC)

time.sleep(2 * self.PERIOD)

with self.assertRaises(ValueError):

task.modify_data(None)

def test_modify_data_unequal_lengths(self):

message = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

new_messages = []

new_messages.append(

can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

new_messages.append(

can.Message(

arbitration_id=0x401,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

task = self._send_bus.send_periodic(message, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.ModifiableCyclicTaskABC)

time.sleep(2 * self.PERIOD)

with self.assertRaises(ValueError):

task.modify_data(new_messages)

def test_modify_data_different_arbitration_id_than_original(self):

old_message = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

new_message = can.Message(

arbitration_id=0x3E1,

data=[0xEE, 0xEE, 0xEE, 0xEE, 0xEE, 0xEE],

is_extended_id=False,

)

task = self._send_bus.send_periodic(old_message, self.PERIOD)

self.assertIsInstance(task, can.broadcastmanager.ModifiableCyclicTaskABC)

time.sleep(2 * self.PERIOD)

with self.assertRaises(ValueError):

task.modify_data(new_message)

def test_stop_all_periodic_tasks_and_remove_task(self):

message_a = can.Message(

arbitration_id=0x401,

data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],

is_extended_id=False,

)

message_b = can.Message(

arbitration_id=0x402,

data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],

is_extended_id=False,

)

message_c = can.Message(

arbitration_id=0x403,

data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],

is_extended_id=False,

)

# Start Tasks

task_a = self._send_bus.send_periodic(message_a, self.PERIOD)

task_b = self._send_bus.send_periodic(message_b, self.PERIOD)

task_c = self._send_bus.send_periodic(message_c, self.PERIOD)

self.assertIsInstance(task_a, can.broadcastmanager.ModifiableCyclicTaskABC)

self.assertIsInstance(task_b, can.broadcastmanager.ModifiableCyclicTaskABC)

self.assertIsInstance(task_c, can.broadcastmanager.ModifiableCyclicTaskABC)

for _ in range(6):

_ = self._recv_bus.recv(self.PERIOD)

# Stop all tasks and delete

self._send_bus.stop_all_periodic_tasks(remove_tasks=True)

# Now wait for a few periods, after which we should definitely not

# receive any CAN messages

time.sleep(4 * self.PERIOD)

# If we successfully deleted everything, then we will eventually read

# 0 messages.

successfully_stopped = False

for _ in range(6):

rx_message = self._recv_bus.recv(self.PERIOD)

if rx_message is None:

successfully_stopped = True

break

self.assertTrue(successfully_stopped, "Still received messages after stopping")

# None of the tasks should still be associated with the bus

self.assertEqual(0, len(self._send_bus._periodic_tasks))

if __name__ == "__main__":

unittest.main()

python-can/test/test_cyclic_socketcan.py at develop · feuerball/python-can · GitHub

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