forked from canopen-python/canopen
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathtest_emcy.py
225 lines (183 loc) · 7.25 KB
/
test_emcy.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
import logging
import threading
import unittest
from contextlib import contextmanager
import can
import canopen
from canopen.emcy import EmcyError
TIMEOUT = 0.1
class TestEmcy(unittest.TestCase):
def setUp(self):
self.emcy = canopen.emcy.EmcyConsumer()
def check_error(self, err, code, reg, data, ts):
self.assertIsInstance(err, EmcyError)
self.assertIsInstance(err, Exception)
self.assertEqual(err.code, code)
self.assertEqual(err.register, reg)
self.assertEqual(err.data, data)
self.assertAlmostEqual(err.timestamp, ts)
def test_emcy_consumer_on_emcy(self):
# Make sure multiple callbacks receive the same information.
acc1 = []
acc2 = []
self.emcy.add_callback(lambda err: acc1.append(err))
self.emcy.add_callback(lambda err: acc2.append(err))
# Dispatch an EMCY datagram.
self.emcy.on_emcy(0x81, b'\x01\x20\x02\x00\x01\x02\x03\x04', 1000)
self.assertEqual(len(self.emcy.log), 1)
self.assertEqual(len(self.emcy.active), 1)
error = self.emcy.log[0]
self.assertEqual(self.emcy.active[0], error)
for err in error, acc1[0], acc2[0]:
self.check_error(
error, code=0x2001, reg=0x02,
data=bytes([0, 1, 2, 3, 4]), ts=1000,
)
# Dispatch a new EMCY datagram.
self.emcy.on_emcy(0x81, b'\x10\x90\x01\x04\x03\x02\x01\x00', 2000)
self.assertEqual(len(self.emcy.log), 2)
self.assertEqual(len(self.emcy.active), 2)
error = self.emcy.log[1]
self.assertEqual(self.emcy.active[1], error)
for err in error, acc1[1], acc2[1]:
self.check_error(
error, code=0x9010, reg=0x01,
data=bytes([4, 3, 2, 1, 0]), ts=2000,
)
# Dispatch an EMCY reset.
self.emcy.on_emcy(0x81, b'\x00\x00\x00\x00\x00\x00\x00\x00', 2000)
self.assertEqual(len(self.emcy.log), 3)
self.assertEqual(len(self.emcy.active), 0)
def test_emcy_consumer_reset(self):
self.emcy.on_emcy(0x81, b'\x01\x20\x02\x00\x01\x02\x03\x04', 1000)
self.emcy.on_emcy(0x81, b'\x10\x90\x01\x04\x03\x02\x01\x00', 2000)
self.assertEqual(len(self.emcy.log), 2)
self.assertEqual(len(self.emcy.active), 2)
self.emcy.reset()
self.assertEqual(len(self.emcy.log), 0)
self.assertEqual(len(self.emcy.active), 0)
def test_emcy_consumer_wait(self):
PAUSE = TIMEOUT / 2
def push_err():
self.emcy.on_emcy(0x81, b'\x01\x20\x01\x01\x02\x03\x04\x05', 100)
def check_err(err):
self.assertIsNotNone(err)
self.check_error(
err, code=0x2001, reg=1,
data=bytes([1, 2, 3, 4, 5]), ts=100,
)
@contextmanager
def timer(func):
t = threading.Timer(PAUSE, func)
try:
yield t
finally:
t.join(TIMEOUT)
# Check unfiltered wait, on timeout.
self.assertIsNone(self.emcy.wait(timeout=TIMEOUT))
# Check unfiltered wait, on success.
with timer(push_err) as t:
with self.assertLogs(level=logging.INFO):
t.start()
err = self.emcy.wait(timeout=TIMEOUT)
check_err(err)
# Check filtered wait, on success.
with timer(push_err) as t:
with self.assertLogs(level=logging.INFO):
t.start()
err = self.emcy.wait(0x2001, TIMEOUT)
check_err(err)
# Check filtered wait, on timeout.
with timer(push_err) as t:
t.start()
self.assertIsNone(self.emcy.wait(0x9000, TIMEOUT))
def push_reset():
self.emcy.on_emcy(0x81, b'\x00\x00\x00\x00\x00\x00\x00\x00', 100)
with timer(push_reset) as t:
t.start()
self.assertIsNone(self.emcy.wait(0x9000, TIMEOUT))
class TestEmcyError(unittest.TestCase):
def test_emcy_error(self):
error = EmcyError(0x2001, 0x02, b'\x00\x01\x02\x03\x04', 1000)
self.assertEqual(error.code, 0x2001)
self.assertEqual(error.data, b'\x00\x01\x02\x03\x04')
self.assertEqual(error.register, 2)
self.assertEqual(error.timestamp, 1000)
def test_emcy_str(self):
def check(code, expected):
err = EmcyError(code, 1, b'', 1000)
actual = str(err)
self.assertEqual(actual, expected)
check(0x2001, "Code 0x2001, Current")
check(0x3abc, "Code 0x3ABC, Voltage")
check(0x0234, "Code 0x0234")
check(0xbeef, "Code 0xBEEF")
def test_emcy_get_desc(self):
def check(code, expected):
err = EmcyError(code, 1, b'', 1000)
actual = err.get_desc()
self.assertEqual(actual, expected)
check(0x0000, "Error Reset / No Error")
check(0x00ff, "Error Reset / No Error")
check(0x0100, "")
check(0x1000, "Generic Error")
check(0x10ff, "Generic Error")
check(0x1100, "")
check(0x2000, "Current")
check(0x2fff, "Current")
check(0x3000, "Voltage")
check(0x3fff, "Voltage")
check(0x4000, "Temperature")
check(0x4fff, "Temperature")
check(0x5000, "Device Hardware")
check(0x50ff, "Device Hardware")
check(0x5100, "")
check(0x6000, "Device Software")
check(0x6fff, "Device Software")
check(0x7000, "Additional Modules")
check(0x70ff, "Additional Modules")
check(0x7100, "")
check(0x8000, "Monitoring")
check(0x8fff, "Monitoring")
check(0x9000, "External Error")
check(0x90ff, "External Error")
check(0x9100, "")
check(0xf000, "Additional Functions")
check(0xf0ff, "Additional Functions")
check(0xf100, "")
check(0xff00, "Device Specific")
check(0xffff, "Device Specific")
class TestEmcyProducer(unittest.TestCase):
def setUp(self):
self.txbus = can.Bus(interface="virtual")
self.rxbus = can.Bus(interface="virtual")
self.net = canopen.Network(self.txbus)
self.net.NOTIFIER_SHUTDOWN_TIMEOUT = 0.0
self.net.connect()
self.emcy = canopen.emcy.EmcyProducer(0x80 + 1)
self.emcy.network = self.net
def tearDown(self):
self.net.disconnect()
self.txbus.shutdown()
self.rxbus.shutdown()
def check_response(self, expected):
msg = self.rxbus.recv(TIMEOUT)
self.assertIsNotNone(msg)
actual = msg.data
self.assertEqual(actual, expected)
def test_emcy_producer_send(self):
def check(*args, res):
self.emcy.send(*args)
self.check_response(res)
check(0x2001, res=b'\x01\x20\x00\x00\x00\x00\x00\x00')
check(0x2001, 0x2, res=b'\x01\x20\x02\x00\x00\x00\x00\x00')
check(0x2001, 0x2, b'\x2a', res=b'\x01\x20\x02\x2a\x00\x00\x00\x00')
def test_emcy_producer_reset(self):
def check(*args, res):
self.emcy.reset(*args)
self.check_response(res)
check(res=b'\x00\x00\x00\x00\x00\x00\x00\x00')
check(3, res=b'\x00\x00\x03\x00\x00\x00\x00\x00')
check(3, b"\xaa\xbb", res=b'\x00\x00\x03\xaa\xbb\x00\x00\x00')
if __name__ == "__main__":
unittest.main()