def test_simple_convert(self):
c = CanFrameValueExtractor(0, 64)
v = c.convert_frame(CanFrame("000", "00"))
self.assertEqual(v, 0)
v = c.convert_frame(self.deadbeef)
self.assertEqual(v, 0xdeadbeefdeadbeef)
def test_simple_convert_floats(self):
c = CanFrameValueExtractor(0, 64, a=1.0)
v = c.convert_frame(self.deadbeef)
self.assertTrue(abs(v - float(0xdeadbeefdeadbeef)) < 1e-19)
c = CanFrameValueExtractor(0, 64, a=10.0)
v = c.convert_frame(self.deadbeef)
self.assertTrue(abs((v/float(0xdeadbeefdeadbeef) - 10.0)) < 1e-19)
# it under the terms of the GNU General Public License as published by # the Free Software Foundation, version 2 # # RacePi 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 General Public License for more details. # # You should have received a copy of the GNU General Public License # along with RacePi. If not, see <http://www.gnu.org/licenses/>. from racepi.can.data import CanFrameValueExtractor, CanFrame from math import pi # Focus RS Mk3 CAN converters focus_rs_steering_angle_converter = CanFrameValueExtractor(49, 15, a=(pi/0x1000)) focus_rs_steering_direction_converter = CanFrameValueExtractor(32, 1) focus_rs_tps_converter = CanFrameValueExtractor(6, 10, a=0.1) focus_rs_rpm_converter = CanFrameValueExtractor(36, 12, a=2.0) focus_rs_brake_pressure_converter = CanFrameValueExtractor(24, 16, a=1e-3) focus_rs_wheelspeed1_converter = CanFrameValueExtractor(1, 15, a=1/307.0) focus_rs_wheelspeed2_converter = CanFrameValueExtractor(17, 15, a=1/307.0) focus_rs_wheelspeed3_converter = CanFrameValueExtractor(33, 15, a=1/307.0) focus_rs_wheelspeed4_converter = CanFrameValueExtractor(49, 15, a=1/307.0) # Lotus Evora CAN converters # import ctypes # lotus_evora_s1_rpm_converter = CanFrameValueExtractor(4, 12) # lotus_evora_s1_tps_converter = CanFrameValueExtractor(24, 8, a=100.0/0xFB) # lotus_evora_s1_steering_angle_converter = CanFrameValueExtractor(0, 16, custom_transform=lambda v: # ctypes.c_short(((v & 0xff) << 8) + ((v & 0xff00) >> 8)).value / 10.0)
def test_all_bits(self):
c = CanFrameValueExtractor(0, 64)
self.assertEqual(c.convert_frame(self.allbits), 0xffffffffffffffff)
for i in range(63):
c = CanFrameValueExtractor(i, 1)
self.assertEqual(c.convert_frame(self.allbits), 1)
def test_last_bit(self):
for i in range(63):
c = CanFrameValueExtractor(i, 1)
self.assertEqual(c.convert_frame(self.lastbit), 1 if i == 63 else 0)
def test_init(self):
self.assertIsNotNone(CanFrameValueExtractor(1, 2))
def test_ford_steering_direction_left(self):
c = CanFrameValueExtractor(32, 1)
self.assertEqual(0, c.convert_frame(self.sdl))
def test_ford_tps_offset(self):
c = CanFrameValueExtractor(4, 12, a=0.1, c=-1000.0)
self.assertTrue(abs(c.convert_frame(self.zerotps) + 1000.0) < 1e-19)
self.assertTrue(abs(c.convert_frame(self.fulltps) + 900.0) < 1e-19)
def test_ford_tps(self):
c = CanFrameValueExtractor(4, 12, a=0.1)
self.assertTrue(abs(c.convert_frame(self.zerotps) - 0.0) < 1e-19)
self.assertTrue(abs(c.convert_frame(self.fulltps)-100.0) < 1e-19)
def test_simple_custom_transform(self):
c = CanFrameValueExtractor(0, 64, custom_transform=lambda x: 0)
self.assertEqual(c.convert_frame(self.deadbeef), 0)
c = CanFrameValueExtractor(0, 64, custom_transform=lambda x: x-1)
self.assertEqual(c.convert_frame(self.deadbeef), 0xdeadbeefdeadbeef - 1)
def test_no_bits(self):
c = CanFrameValueExtractor(0, 64)
self.assertEqual(c.convert_frame(self.nobits), 0)
for i in range(63):
c = CanFrameValueExtractor(i, 1)
self.assertEqual(c.convert_frame(self.nobits), 0)