def event_information():
""" Event information """
return CoreCommandSpec(instruction='EV',
response_fields=[
ByteField('type'),
ByteField('action'),
WordField('device_nr'),
ByteArrayField('data', 4)
])
def device_information_list_inputs():
""" Device information list for inputs """
return CoreCommandSpec(instruction='DL',
request_fields=[LiteralBytesField(1)],
response_fields=[
ByteField('type'),
ByteArrayField('information',
lambda length: length - 1)
])
def ucan_rx_transport_message():
""" uCAN transport layer packages """
return CoreCommandSpec(instruction='FM',
response_fields=[
AddressField('cc_address'),
ByteField('nr_can_bytes'),
ByteField('sid'),
ByteArrayField('payload', 8)
])
def write_flash(data_length):
"""
Writes uCAN flash
Note: uCAN needs to be in bootloader
"""
return UCANPalletCommandSpec(
identifier=AddressField('ucan_address', 3),
pallet_type=PalletType.FLASH_WRITE_REQUEST,
request_fields=[
Int32Field('start_address'),
ByteArrayField('data', data_length)
])
def test_pallet_reconstructing(self):
received_commands = []
def send_command(_cid, _command, _fields):
received_commands.append(_fields)
core_communicator = CoreCommunicator(controller_serial=Mock(), verbose=True)
core_communicator._send_command = send_command
ucan_communicator = UCANCommunicator(master_communicator=core_communicator, verbose=True)
cc_address = '000.000.000.000'
ucan_address = '000.000.000'
pallet_type = PalletType.MCU_ID_REQUEST # Not important for this test
for length in [1, 3]:
# Build command
command = UCANPalletCommandSpec(identifier=AddressField('ucan_address', 3),
pallet_type=pallet_type,
request_fields=[ByteField('foo'), ByteField('bar')],
response_fields=[ByteArrayField('other', length)])
# Send command to mocked Core communicator
received_commands = []
ucan_communicator.do_command(cc_address, command, ucan_address, {'foo': 1, 'bar': 2}, timeout=None)
# Validate whether the correct data was send to the Core
self.assertEqual(len(received_commands), 2)
self.assertDictEqual(received_commands[0], {'cc_address': cc_address,
'nr_can_bytes': 8,
'payload': [129, 0, 0, 0, 0, 0, 0, pallet_type],
# +--------------+ = source and destination uCAN address
'sid': SID.BOOTLOADER_PALLET})
self.assertDictEqual(received_commands[1], {'cc_address': cc_address,
'nr_can_bytes': 7,
'payload': [0, 1, 2, 219, 155, 250, 178, 0],
# | | +----------------+ = checksum
# | + = bar
# + = foo
'sid': SID.BOOTLOADER_PALLET})
# Build fake reply from Core
consumer = ucan_communicator._consumers[cc_address][0]
fixed_payload = [0, 0, 0, 0, 0, 0, pallet_type]
variable_payload = range(7, 7 + length) # [7] or [7, 8, 9]
crc_payload = Int32Field.encode_bytes(UCANPalletCommandSpec.calculate_crc(fixed_payload + variable_payload))
ucan_communicator._process_transport_message({'cc_address': cc_address,
'nr_can_bytes': 8,
'sid': 1,
'payload': [129] + fixed_payload})
ucan_communicator._process_transport_message({'cc_address': cc_address,
'nr_can_bytes': length + 5,
'sid': 1,
'payload': [0] + variable_payload + crc_payload})
self.assertDictEqual(consumer.get(1), {'other': variable_payload})
def read_flash(data_length):
"""
Reads uCAN flash
Note: uCAN needs to be in bootloader
"""
return UCANPalletCommandSpec(
identifier=AddressField('ucan_address', 3),
pallet_type=PalletType.FLASH_READ_REQUEST,
request_fields=[
UInt32Field('start_address'),
ByteField('data_length')
],
response_fields=[ByteArrayField('data', data_length)])
def ucan_module_information():
""" Receives information from a uCAN module """
return CoreCommandSpec(instruction='CD',
response_fields=[
AddressField('ucan_address', 3),
WordArrayField('input_links', 6),
ByteArrayField('sensor_links', 2),
ByteField('sensor_type'),
VersionField('version'),
ByteField('bootloader'),
CharField('new_indicator'),
ByteField('min_led_brightness'),
ByteField('max_led_brightness')
])
def memory_write(length):
""" Writes memory """
return CoreCommandSpec(instruction='MW',
request_fields=[
CharField('type'),
WordField('page'),
ByteField('start'),
ByteArrayField('data', length)
],
response_fields=[
CharField('type'),
WordField('page'),
ByteField('start'),
ByteField('length'),
CharField('result')
])
def memory_read():
""" Reads memory """
return CoreCommandSpec(instruction='MR',
request_fields=[
CharField('type'),
WordField('page'),
ByteField('start'),
ByteField('length')
],
response_fields=[
CharField('type'),
WordField('page'),
ByteField('start'),
ByteArrayField('data',
lambda length: length - 4)
])