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

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#!/usr/bin/env python

# This program is free software; you can redistribute it and/or

# modify it under the terms of the GNU Lesser General Public

# License as published by the Free Software Foundation; either

# version 3 of the License, or (at your option) any later version.

# This program is distributed in the hope that it will be useful,

# but WITHOUT ANY WARRANTY; without even the implied warranty of

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

# Lesser General Public License for more details.

# You should have received a copy of the GNU Lesser General Public License

# along with this program; if not, write to the Free Software Foundation,

# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

# Contact information

# -------------------

# Kristian Sloth Lauszus

# Web : http://www.lauszus.com

# e-mail : lauszus@gmail.com

import argparse

import math

import os

import random

import struct

import time

import unittest

from collections import defaultdict

from typing import Dict, Tuple, Union

from unittest.mock import patch

import pytest

import can

from can.viewer import CanViewer, parse_args

from test.config import IS_CI

# Allow the curses module to be missing (e.g. on PyPy on Windows)

try:

import curses

CURSES_AVAILABLE = True

except ImportError:

curses = None # type: ignore

CURSES_AVAILABLE = False

# noinspection SpellCheckingInspection,PyUnusedLocal

class StdscrDummy:

def __init__(self):

self.key_counter = 0

self.draw_buffer = defaultdict(dict)

@staticmethod

def clear():

pass

@staticmethod

def erase():

pass

@staticmethod

def getmaxyx():

# Set y-value, so scrolling gets tested

# Set x-value, so the text will fit in the window

return 1, 100

def addstr(self, row, col, txt, *args):

assert row >= 0

assert col >= 0

assert txt is not None

# Save the text written into the buffer

for i, t in enumerate(txt):

self.draw_buffer[row][col + i] = t

# Raise an exception 50 % of the time, so we can make sure the code handles it

if random.random() < 0.5:

raise curses.error

@staticmethod

def nodelay(_bool):

pass

def getch(self):

assert curses is not None

self.key_counter += 1

if self.key_counter == 1:

# Send invalid key

return -1

elif self.key_counter == 2:

return ord("c") # Clear

elif self.key_counter == 3:

return curses.ascii.SP # Pause

elif self.key_counter == 4:

return curses.ascii.SP # Unpause

elif self.key_counter == 5:

return ord("s") # Sort

# Turn on byte highlighting (toggle)

elif self.key_counter == 6:

return ord("h")

# Turn off byte highlighting (toggle)

elif self.key_counter == 7:

return ord("h")

# Keep scrolling until it exceeds the number of messages

elif self.key_counter <= 100:

return curses.KEY_DOWN

# Scroll until the header is back as the first line and then scroll over the limit

elif self.key_counter <= 200:

return curses.KEY_UP

return curses.ascii.ESC

@unittest.skipUnless(CURSES_AVAILABLE, "curses might be missing on some platforms")

class CanViewerTest(unittest.TestCase):

@classmethod

def setUpClass(cls):

# Set seed, so the tests are not affected

random.seed(0)

def setUp(self):

self.stdscr_dummy = StdscrDummy()

config = {"interface": "virtual", "receive_own_messages": True}

bus = can.Bus(**config)

data_structs = None

patch_curs_set = patch("curses.curs_set")

patch_curs_set.start()

self.addCleanup(patch_curs_set.stop)

patch_use_default_colors = patch("curses.use_default_colors")

patch_use_default_colors.start()

self.addCleanup(patch_use_default_colors.stop)

patch_init_pair = patch("curses.init_pair")

patch_init_pair.start()

self.addCleanup(patch_init_pair.stop)

patch_color_pair = patch("curses.color_pair")

patch_color_pair.start()

self.addCleanup(patch_color_pair.stop)

patch_is_term_resized = patch("curses.is_term_resized")

mock_is_term_resized = patch_is_term_resized.start()

mock_is_term_resized.return_value = True if random.random() < 0.5 else False

self.addCleanup(patch_is_term_resized.stop)

if hasattr(curses, "resizeterm"):

patch_resizeterm = patch("curses.resizeterm")

patch_resizeterm.start()

self.addCleanup(patch_resizeterm.stop)

self.can_viewer = CanViewer(self.stdscr_dummy, bus, data_structs, testing=True)

def tearDown(self):

# Run the viewer after the test, this is done, so we can receive the CAN-Bus messages and make sure that they

# are parsed correctly

self.can_viewer.run()

def test_send(self):

# CANopen EMCY

data = [1, 2, 3, 4, 5, 6, 7] # Wrong length

msg = can.Message(arbitration_id=0x080 + 1, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

data = [1, 2, 3, 4, 5, 6, 7, 8]

msg = can.Message(arbitration_id=0x080 + 1, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

# CANopen HEARTBEAT

data = [0x05] # Operational

msg = can.Message(arbitration_id=0x700 + 0x7F, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

# Send non-CANopen message

data = [1, 2, 3, 4, 5, 6, 7, 8]

msg = can.Message(arbitration_id=0x101, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

# Send the same command, but with another data length

data = [1, 2, 3, 4, 5, 6]

msg = can.Message(arbitration_id=0x101, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

# Send non-CANopen message with long parsed data length

data = [255, 255]

msg = can.Message(arbitration_id=0x102, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

# Send the same command, but with shorter parsed data length

data = [0, 0]

msg = can.Message(arbitration_id=0x102, data=data, is_extended_id=False)

self.can_viewer.bus.send(msg)

# Message with extended id

data = [1, 2, 3, 4, 5, 6, 7, 8]

msg = can.Message(arbitration_id=0x123456, data=data, is_extended_id=True)

self.can_viewer.bus.send(msg)

# self.assertTupleEqual(self.can_viewer.parse_canopen_message(msg), (None, None))

# Send the same message again to make sure that resending works and dt is correct

time.sleep(0.1)

self.can_viewer.bus.send(msg)

# Send error message

msg = can.Message(is_error_frame=True)

self.can_viewer.bus.send(msg)

def test_receive(self):

# Send the messages again, but this time the test code will receive it

self.test_send()

data_structs = {

# For converting the EMCY and HEARTBEAT messages

0x080 + 0x01: struct.Struct("<HBLB"),

0x700 + 0x7F: struct.Struct("<B"),

# Shorter parsed data length

0x102: struct.Struct("<BB"),

# Big-endian and float test

0x123456: struct.Struct(">ff"),

}

# Receive the messages we just sent in 'test_canopen'

while 1:

msg = self.can_viewer.bus.recv(timeout=0)

if msg is not None:

self.can_viewer.data_structs = (

data_structs if msg.arbitration_id != 0x101 else None

)

_id = self.can_viewer.draw_can_bus_message(msg)

if _id["msg"].arbitration_id == 0x101:

# Check if the counter is reset when the length has changed

self.assertEqual(_id["count"], 1)

# Make sure the line has been cleared after the shorted message was send

for col, v in self.stdscr_dummy.draw_buffer[_id["row"]].items():

if col >= 52 + _id["msg"].dlc * 3:

self.assertEqual(v, " ")

elif _id["msg"].arbitration_id == 0x102:

# Make sure the parsed values have been cleared after the shorted message was send

for col, v in self.stdscr_dummy.draw_buffer[_id["row"]].items():

if col >= 77 + _id["values_string_length"]:

self.assertEqual(v, " ")

elif _id["msg"].arbitration_id == 0x123456:

# Check if the counter is incremented

if _id["dt"] == 0:

self.assertEqual(_id["count"], 1)

else:

if not IS_CI: # do not test timing in CI

assert _id["dt"] == pytest.approx(

0.1, abs=5e-2

) # dt should be ~0.1 s

self.assertEqual(_id["count"], 2)

else:

# Make sure dt is 0

if _id["count"] == 1:

self.assertEqual(_id["dt"], 0)

else:

break

# Convert it into raw integer values and then pack the data

@staticmethod

def pack_data(

cmd, cmd_to_struct, *args

): # type: (int, Dict, Union[*float, *int]) -> bytes

if not cmd_to_struct or len(args) == 0:

# If no arguments are given, then the message does not contain a data package

return b""

for key in cmd_to_struct.keys():

if cmd == key if isinstance(key, int) else cmd in key:

value = cmd_to_struct[key]

if isinstance(value, tuple):

# The struct is given as the fist argument

struct_t = value[0] # type: struct.Struct

# The conversion from SI-units to raw values are given in the rest of the tuple

fmt = struct_t.format

if isinstance(fmt, str): # pragma: no cover

# Needed for Python 3.7

fmt = fmt.encode()

# Make sure the endian is given as the first argument

assert fmt[0] == ord("<") or fmt[0] == ord(">")

# Disable rounding if the format is a float

data = []

for c, arg, val in zip(fmt[1:], args, value[1:]):

if c == ord("f"):

data.append(arg * val)

else:

data.append(round(arg * val))

else:

# No conversion from SI-units is needed

struct_t = value # type: struct.Struct

data = args

return struct_t.pack(*data)

else:

raise ValueError(f"Unknown command: 0x{cmd:02X}")

def test_pack_unpack(self):

CANOPEN_TPDO1 = 0x180

CANOPEN_TPDO2 = 0x280

CANOPEN_TPDO3 = 0x380

CANOPEN_TPDO4 = 0x480

# Dictionary used to convert between Python values and C structs represented as Python strings.

# If the value is 'None' then the message does not contain any data package.

# The struct package is used to unpack the received data.

# Note the data is assumed to be in little-endian byte order.

# < = little-endian, > = big-endian

# x = pad byte

# c = char

# ? = bool

# b = int8_t, B = uint8_t

# h = int16, H = uint16

# l = int32_t, L = uint32_t

# q = int64_t, Q = uint64_t

# f = float (32-bits), d = double (64-bits)

# An optional conversion from real units to integers can be given as additional arguments.

# In order to convert from raw integer value the SI-units are multiplied with the values and similarly the values

# are divided by the value in order to convert from real units to raw integer values.

data_structs = {

# CANopen node 1

CANOPEN_TPDO1 + 1: struct.Struct("<bBh2H"),

CANOPEN_TPDO2 + 1: (struct.Struct("<HHB"), 100.0, 10.0, 1),

CANOPEN_TPDO3 + 1: struct.Struct("<ff"),

CANOPEN_TPDO4 + 1: (struct.Struct("<ff"), math.pi / 180.0, math.pi / 180.0),

CANOPEN_TPDO1 + 2: None,

CANOPEN_TPDO2 + 2: struct.Struct(">lL"),

(CANOPEN_TPDO3 + 2, CANOPEN_TPDO4 + 2): struct.Struct(">LL"),

} # type: Dict[Union[int, Tuple[int, ...]], Union[struct.Struct, Tuple, None]]

raw_data = self.pack_data(

CANOPEN_TPDO1 + 1, data_structs, -7, 13, -1024, 2048, 0xFFFF

)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO1 + 1, data_structs, raw_data)

self.assertListEqual(parsed_data, [-7, 13, -1024, 2048, 0xFFFF])

self.assertTrue(all(isinstance(d, int) for d in parsed_data))

raw_data = self.pack_data(CANOPEN_TPDO2 + 1, data_structs, 12.34, 4.5, 6)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO2 + 1, data_structs, raw_data)

assert parsed_data == pytest.approx([12.34, 4.5, 6])

self.assertTrue(

isinstance(parsed_data[0], float)

and isinstance(parsed_data[1], float)

and isinstance(parsed_data[2], int)

)

raw_data = self.pack_data(CANOPEN_TPDO3 + 1, data_structs, 123.45, 67.89)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO3 + 1, data_structs, raw_data)

assert parsed_data == pytest.approx([123.45, 67.89])

self.assertTrue(all(isinstance(d, float) for d in parsed_data))

raw_data = self.pack_data(

CANOPEN_TPDO4 + 1, data_structs, math.pi / 2.0, math.pi

)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO4 + 1, data_structs, raw_data)

assert parsed_data == pytest.approx([math.pi / 2.0, math.pi])

self.assertTrue(all(isinstance(d, float) for d in parsed_data))

raw_data = self.pack_data(CANOPEN_TPDO1 + 2, data_structs)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO1 + 2, data_structs, raw_data)

self.assertListEqual(parsed_data, [])

self.assertIsInstance(parsed_data, list)

raw_data = self.pack_data(

CANOPEN_TPDO2 + 2, data_structs, -2147483648, 0xFFFFFFFF

)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO2 + 2, data_structs, raw_data)

self.assertListEqual(parsed_data, [-2147483648, 0xFFFFFFFF])

raw_data = self.pack_data(CANOPEN_TPDO3 + 2, data_structs, 0xFF, 0xFFFF)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO3 + 2, data_structs, raw_data)

self.assertListEqual(parsed_data, [0xFF, 0xFFFF])

raw_data = self.pack_data(CANOPEN_TPDO4 + 2, data_structs, 0xFFFFFF, 0xFFFFFFFF)

parsed_data = CanViewer.unpack_data(CANOPEN_TPDO4 + 2, data_structs, raw_data)

self.assertListEqual(parsed_data, [0xFFFFFF, 0xFFFFFFFF])

self.assertTrue(all(isinstance(d, int) for d in parsed_data))

# Make sure that the ValueError exception is raised

with self.assertRaises(ValueError):

self.pack_data(0x101, data_structs, 1, 2, 3, 4)

with self.assertRaises(ValueError):

CanViewer.unpack_data(

0x102, data_structs, b"\x01\x02\x03\x04\x05\x06\x07\x08"

)

def test_parse_args(self):

parsed_args, _, _, _ = parse_args(["-b", "250000"])

self.assertEqual(parsed_args.bitrate, 250000)

parsed_args, _, _, _ = parse_args(["--bitrate", "500000"])

self.assertEqual(parsed_args.bitrate, 500000)

parsed_args, _, _, _ = parse_args(["-c", "can0"])

self.assertEqual(parsed_args.channel, "can0")

parsed_args, _, _, _ = parse_args(["--channel", "PCAN_USBBUS1"])

self.assertEqual(parsed_args.channel, "PCAN_USBBUS1")

parsed_args, _, data_structs, _ = parse_args(["-d", "100:<L"])

self.assertEqual(parsed_args.decode, ["100:<L"])

self.assertIsInstance(data_structs, dict)

self.assertEqual(len(data_structs), 1)

self.assertIsInstance(data_structs[0x100], struct.Struct)

self.assertIn(data_structs[0x100].format, ["<L", b"<L"])

self.assertEqual(data_structs[0x100].size, 4)

f = open("test.txt", "w")

f.write("100:<BB\n101:<HH\n")

f.close()

parsed_args, _, data_structs, _ = parse_args(["-d", "test.txt"])

self.assertIsInstance(data_structs, dict)

self.assertEqual(len(data_structs), 2)

self.assertIsInstance(data_structs[0x100], struct.Struct)

self.assertIn(data_structs[0x100].format, ["<BB", b"<BB"])

self.assertEqual(data_structs[0x100].size, 2)

self.assertIsInstance(data_structs[0x101], struct.Struct)

self.assertIn(data_structs[0x101].format, ["<HH", b"<HH"])

self.assertEqual(data_structs[0x101].size, 4)

os.remove("test.txt")

parsed_args, _, data_structs, _ = parse_args(

["--decode", "100:<LH:10.:100.", "101:<ff", "102:<Bf:1:57.3"]

)

self.assertEqual(

parsed_args.decode, ["100:<LH:10.:100.", "101:<ff", "102:<Bf:1:57.3"]

)

self.assertIsInstance(data_structs, dict)

self.assertEqual(len(data_structs), 3)

self.assertIsInstance(data_structs[0x100], tuple)

self.assertEqual(len(data_structs[0x100]), 3)

self.assertIsInstance(data_structs[0x100][0], struct.Struct)

self.assertIsInstance(data_structs[0x100][1], float)

self.assertIsInstance(data_structs[0x100][2], float)

self.assertIn(data_structs[0x100][0].format, ["<LH", b"<LH"])

self.assertEqual(data_structs[0x100][0].size, 6)

self.assertEqual(data_structs[0x100][1], 10.0)

self.assertEqual(data_structs[0x100][2], 100.0)

self.assertIsInstance(data_structs[0x101], struct.Struct)

self.assertIn(data_structs[0x101].format, ["<ff", b"<ff"])

self.assertEqual(data_structs[0x101].size, 8)

self.assertIsInstance(data_structs[0x102][0], struct.Struct)

self.assertIsInstance(data_structs[0x102][1], int)

self.assertIsInstance(data_structs[0x102][2], float)

self.assertIn(data_structs[0x102][0].format, ["<Bf", b"<Bf"])

self.assertEqual(data_structs[0x102][0].size, 5)

self.assertEqual(data_structs[0x102][1], 1)

self.assertAlmostEqual(data_structs[0x102][2], 57.3)

parsed_args, can_filters, _, _ = parse_args(["-f", "100:7FF"])

self.assertEqual(parsed_args.filter, ["100:7FF"])

self.assertIsInstance(can_filters, list)

self.assertIsInstance(can_filters[0], dict)

self.assertEqual(can_filters[0]["can_id"], 0x100)

self.assertEqual(can_filters[0]["can_mask"], 0x7FF)

parsed_args, can_filters, _, _ = parse_args(["-f", "101:7FF", "102:7FC"])

self.assertEqual(parsed_args.filter, ["101:7FF", "102:7FC"])

self.assertIsInstance(can_filters, list)

self.assertIsInstance(can_filters[0], dict)

self.assertIsInstance(can_filters[1], dict)

self.assertEqual(can_filters[0]["can_id"], 0x101)

self.assertEqual(can_filters[0]["can_mask"], 0x7FF)

self.assertEqual(can_filters[1]["can_id"], 0x102)

self.assertEqual(can_filters[1]["can_mask"], 0x7FC)

with self.assertRaises(argparse.ArgumentError):

parse_args(["-f", "101,7FF"])

parsed_args, can_filters, _, _ = parse_args(["--filter", "100~7FF"])

self.assertEqual(parsed_args.filter, ["100~7FF"])

self.assertIsInstance(can_filters, list)

self.assertIsInstance(can_filters[0], dict)

self.assertEqual(can_filters[0]["can_id"], 0x100 | 0x20000000)

self.assertEqual(can_filters[0]["can_mask"], 0x7FF & 0x20000000)

parsed_args, _, _, _ = parse_args(["-i", "socketcan"])

self.assertEqual(parsed_args.interface, "socketcan")

parsed_args, _, _, _ = parse_args(["--interface", "pcan"])

self.assertEqual(parsed_args.interface, "pcan")

# Make sure it exits with the correct error code when displaying the help page

# See: https://github.com/hardbyte/python-can/issues/427

with self.assertRaises(SystemExit) as cm:

parse_args(["-h"])

self.assertEqual(cm.exception.code, 0)

with self.assertRaises(SystemExit) as cm:

parse_args([])

import errno

self.assertEqual(cm.exception.code, errno.EINVAL)

if __name__ == "__main__":

unittest.main()

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

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