def test_402_state2():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
node = canopen.get_node(1)
class MyOp(Operations):
def __init__(self, node):
super(MyOp, self).__init__()
self.node = node
def step1(self):
assert self.node.can402.state == Can402State.switch_on_disabled
self.node.can402.change_state(Can402StateCommand.shutdown, self.next_operation)
def step2(self):
assert self.node.can402.state == Can402State.ready_to_switch_on
self.node.can402.change_state(Can402StateCommand.switch_on, self.next_operation)
def done(self):
assert self.node.can402.state == Can402State.switched_on
op = MyOp(node)
op.next_operation()
def test_status_word_402state():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
node_id = 1
node = canopen.get_node(node_id)
assert node.can402.state == Can402State.switch_on_disabled
node.can402.statusword.signal_value_updated.register(callback)
for state,bits in Can402StatuswordStateBits.iteritems():
req = CanOpenMessageSdoReadRequest(canopen, node_id, Can402Objects.statusword[0],Can402Objects.statusword[1])
res = CanOpenMessageSdoReadResponse(canopen, node_id, Can402Objects.statusword[0],Can402Objects.statusword[1],
data=[bits & 0xff,0x00])
canopen.on_message_received(req)
canopen.on_message_received(res)
callback.assert_called()
node.can402.state == state
def init_can(self):
self.initialized = False
try:
self.can.bus = can.interface.Bus(self.can.can_device,
bustype='socketcan_ctypes')
self.can.canopen = CanOpen(self.can.bus)
self.stop_can_node()
self.can.node = CanOpenNode(self.can.canopen,
node_id=self.can.node_id)
self.can.node.eds.read(self.can.eds)
self.update_can_objects()
for index, subindex in self.can_objects.itervalues():
self.can.node.init_object(index, subindex)
self.can.node.start_thread()
self.initialized = True
print "CanOpen successful initialized:"
print "\tcan device: %s" % self.can.can_device
print "\tnode id: %d" % self.can.node_id
print "\teds: %s" % self.can.eds
except Exception, e:
traceback.print_exc()
raise e
def test_402_state():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
node = canopen.get_node(1)
assert node.can402.state == Can402State.switch_on_disabled
def on_complete1():
assert node.can402.state == Can402State.ready_to_switch_on
def on_complete2():
assert node.can402.state == Can402State.switched_on
node.can402.change_state(Can402StateCommand.switch_on,on_complete2)
node.can402.change_state(Can402StateCommand.shutdown,on_complete1)
def test_sdo_read_error():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen = CanOpen(bus, eds_config)
node = canopen.get_node(1)
node.sdo.signal_error[Can402Objects.controlword].register(callback)
msg = CanOpenMessageSdoReadRequest(canopen, 1,
Can402Objects.controlword[0],
Can402Objects.controlword[1])
canopen.send_msg(msg)
error_code = CanErrors.keys()[0]
msg = CanOpenMessageSdoError(canopen, 1, Can402Objects.controlword[0],
Can402Objects.controlword[1], error_code)
canopen.send_msg(msg)
callback.assert_called()
def test_sdo_read_error():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
node = canopen.get_node(1)
node.sdo.signal_error[Can402Objects.controlword].register(callback)
msg = CanOpenMessageSdoReadRequest(canopen,1,Can402Objects.controlword[0],Can402Objects.controlword[1])
canopen.send_msg(msg)
error_code = CanErrors.keys()[0]
msg = CanOpenMessageSdoError(canopen,1,Can402Objects.controlword[0],Can402Objects.controlword[1], error_code)
canopen.send_msg(msg)
callback.assert_called()
def test_sdo_read_success():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
node = canopen.get_node(1)
node.sdo.signal_write_complete[Can402Objects.controlword].register(callback)
msg = CanOpenMessageSdoReadRequest(canopen,1,Can402Objects.controlword[0],Can402Objects.controlword[1])
canopen.send_msg(msg)
read_data = [0x06, 0x07]
msg = CanOpenMessageSdoReadResponse(canopen,1,Can402Objects.controlword[0],Can402Objects.controlword[1], read_data)
canopen.send_msg(msg)
callback.assert_called()
def test_obj_signal_value_updated():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen = CanOpen(bus, eds_config)
node = canopen.get_node(1)
node.obj_dict.objects[
Can402Objects.controlword].signal_value_updated.register(callback)
msg = CanOpenMessageSdoReadRequest(canopen, 1,
Can402Objects.controlword[0],
Can402Objects.controlword[1])
canopen.send_msg(msg)
read_data = [0x06, 0x07]
msg = CanOpenMessageSdoReadResponse(canopen, 1,
Can402Objects.controlword[0],
Can402Objects.controlword[1],
read_data)
canopen.send_msg(msg)
callback.assert_called()
def test_sdo_write_success():
callback = mock.MagicMock()
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen = CanOpen(bus, eds_config)
node = canopen.get_node(1)
node.sdo.signal_write_complete[Can402Objects.controlword].register(
callback)
write_data = [0x06, 0x07]
msg = CanOpenMessageSdoWriteRequest(canopen, 1,
Can402Objects.controlword[0],
Can402Objects.controlword[1],
write_data)
canopen.send_msg(msg)
msg = CanOpenMessageSdoWriteResponse(canopen, 1,
Can402Objects.controlword[0],
Can402Objects.controlword[1])
canopen.send_msg(msg)
callback.assert_called()
def test_sdo_write():
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
node = canopen.get_node(1)
#!/usr/bin/env python2
# -*- coding: utf-8 -*-
import can
from canopen_301_402.canopen import CanOpen,eds_config
from canopen_301_402.constants import *
from canopen_301_402.canopen_msgs.msgs import *
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')
canopen=CanOpen(bus,eds_config)
# msg = canopen.msgs.nmt(1,Can301StateCommand.start_remote_node)
msg = CanOpenMessageNmtCommand(canopen,1,Can301StateCommand.start_remote_node)
# msg = CanOpenMessageNmtCommand(canopen,1,Can301StateCommand.start_remote_node)
# msg = canopen.msgs.nmt_request()
# msg = canopen.msgs.sdo_write_request(node_id=1, index=0x6040, subindex=0x00, data=[0x00,0x00])
# msg = canopen.msgs.sdo_write_request(node_id=1, index=0x6040, subindex=0x00, data=[0x06,0x00])
# msg = canopen.msgs.sdo_read_request(node_id=1, index=0x6041, subindex=0x00)
canopen.send_msg(msg)
node = canopen.get_node(1)
def callback(*args):
print "signal_write_complete"
print args
def test_sdo_write():
bus = can.interface.Bus('vcan0', bustype='socketcan_ctypes')