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#!/usr/bin/env python
"""
Test for Vector Interface
"""
import
ctypes
import
functools
import
pickle
import
sys
import
time
from
unittest
.
mock
import
Mock
import
pytest
import
can
from
can
.
interfaces
.
vector
import
(
canlib
,
xldefine
,
xlclass
,
VectorError
,
VectorInitializationError
,
VectorOperationError
,
VectorChannelConfig
,
)
from
can
.
interfaces
.
vector
import
VectorBusParams
,
VectorCanParams
,
VectorCanFdParams
from
test
.
config
import
IS_WINDOWS
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
)
# 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_bus_creation_mocked
(
mock_xldriver
)
->
None
:
bus
=
can
.
Bus
(
channel
=
0
,
interface
=
"vector"
,
_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
.
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
)
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
)
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
)
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
)
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
)
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
)
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
)
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
)
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
)
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
,
)
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
()
can
.
interfaces
.
vector
.
canlib
.
xldriver
.
xlCanFlushTransmitQueue
.
assert_called
()
@
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
@
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
(
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"
)
# *****************************************************************************
# Utility functions
# *****************************************************************************
def
_find_xl_channel_config
(
serial
:
int
,
channel
:
int
)
->
xlclass
.
XLchannelConfig
:
"""Helper function"""
xl_driver_config
=
xlclass
.
XLdriverConfig
()
canlib
.
xldriver
.
xlOpenDriver
()
canlib
.
xldriver
.
xlGetDriverConfig
(
xl_driver_config
)
canlib
.
xldriver
.
xlCloseDriver
()
for
i
in
range
(
xl_driver_config
.
channelCount
):
xl_channel_config
:
xlclass
.
XLchannelConfig
=
xl_driver_config
.
channel
[
i
]
if
xl_channel_config
.
serialNumber
!=
serial
:
continue
if
xl_channel_config
.
hwChannel
!=
channel
:
continue
return
xl_channel_config
raise
LookupError
(
"XLchannelConfig not found."
)
@
functools
.
lru_cache
()
def
_find_virtual_can_serial
()
->
int
:
"""Serial number might be 0 or 100 depending on driver version."""
xl_driver_config
=
xlclass
.
XLdriverConfig
()
canlib
.
xldriver
.
xlOpenDriver
()
canlib
.
xldriver
.
xlGetDriverConfig
(
xl_driver_config
)
canlib
.
xldriver
.
xlCloseDriver
()
for
i
in
range
(
xl_driver_config
.
channelCount
):
xl_channel_config
:
xlclass
.
XLchannelConfig
=
xl_driver_config
.
channel
[
i
]
if
"Virtual CAN"
in
xl_channel_config
.
transceiverName
.
decode
():
return
xl_channel_config
.
serialNumber
raise
LookupError
(
"Vector virtual CAN not found"
)
XL_DRIVER_CONFIG_EXAMPLE
=
(
b"
\x0E
\x00
\x1E
\x14
\x0C
\x00
\x00
\x00
\x03
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
"
b"
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
"
b"
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x56
\x4E
\x38
\x39
\x31
\x34
\x20
\x43
\x68
\x61
\x6E
\x6E
"
b"
\x65
\x6C
\x20
\x53
\x74
\x72
\x65
\x61
\x6D
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
"
b"
\x2D
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x01
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x04
"
b"
\x0A
\x40
\x00
\x02
\x00
\x02
\x00
\x00
\x02
\x00
\x00
\x00
\x02
\x00
\x00
\x00
\x00
\x00
\x00
\x00
"
b"
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
"
b"
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x0C
\x00
\x02
\x0A
\x04
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x8E
"
b"
\x00
\x02
\x0A
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x01
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
\x00
"
b"
\x00
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