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test_cyclic_socketcan.py
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226 lines (185 loc) · 8.1 KB
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"""
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_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_create_same_id_raises_exception(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, 1)
self.assertIsInstance(task_a, can.broadcastmanager.CyclicSendTaskABC)
# The second one raises a ValueError when we attempt to create a new
# Task, since it has the same arbitration ID.
with self.assertRaises(ValueError):
task_b = self._send_bus.send_periodic(messages_b, 1)
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_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()