def test_pdo_transmit_with_invalid_index(self):
"""
Test PDO transmit with invalid OD File index
An exception is returned here because this is due
to an malformed OD file, not a malformed message
"""
pdo_message = [0x3f, 0x80, 0x0, 0x0]
with self.assertRaises(KeyError) as context:
parse(0x480, pdo_message, self.eds_data)
self.assertEqual("'3101sub6'", str(context.exception))
def test_mpdo_with_invalid_index(self):
"""
Test MPDO transmit with source addressing mode and an invalid index
This should return a Failed Validation Error
"""
pdo_message = [0x00, 0x31, 0x0A, 0x03, 0x3F, 0x80, 0x00, 0x00]
with self.assertRaises(FailedValidationError) as context:
parse(0x380, pdo_message, self.eds_data),
self.assertEqual(
"MPDO provided type index does not exist. Check "
"provided index '310a'", str(context.exception))
def test_pdo_with_multiple_elements_complex(self):
"""
Test PDO transmit with multiple elements in message
"""
pdo_message = [0x01, 0x3F, 0xC0, 0x00, 0x00]
self.assertEqual(
"Orientation boolean - True Orientation timestamp - "
"1.5", parse(0x200, pdo_message, self.eds_data),
"Error on PDO Message parse (multiple & complex)")
pdo_message = [0x7F, 0x80, 0x00, 0x01]
self.assertEqual(
"Orientation timestamp - 1.5 Orientation boolean - "
"True", parse(0x300, pdo_message, self.eds_data),
"Error on PDO Message parse (multiple & complex - "
"reverse)")
def test_mpdo_with_SAM(self):
"""
Test MPDO transmit with source addressing mode
"""
pdo_message = [0x00, 0x31, 0x01, 0x03, 0x3F, 0x80, 0x00, 0x00]
self.assertEqual("Orientation orientation - 1.0",
parse(0x380, pdo_message, self.eds_data),
"Error on MPDO SAM Message parse")
def test_pdo(self):
"""
Test PDO transmit
"""
pdo_message = [0x3f, 0x80, 0x0, 0x0]
self.assertEqual("Orientation orientation - 1.0",
parse(0x180, pdo_message, self.eds_data),
"Error on PDO Message parse")
def test_pdo_with_multiple_elements(self):
"""
Test PDO transmit with multiple elements in message
"""
pdo_message = [0x3F, 0x80, 0x00, 0x00, 0x3F, 0xC0, 0x00, 0x00]
self.assertEqual(
"Orientation orientation - 1.0 Orientation timestamp "
"- 1.5", parse(0x280, pdo_message, self.eds_data),
"Error on PDO Message parse (multiple)")