def test_EnableParameterMsgSizeError(self):
d = bytearray([0x04, 0x03, 0x04, 0x05, 0x06])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
with self.assertRaises(canfix.MsgSizeError):
p = canfix.parseMessage(msg)
d = bytearray([0x04, 0x03])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
with self.assertRaises(canfix.MsgSizeError):
p = canfix.parseMessage(msg)
def test_NodeIdentificationMessageSizeError(self):
d = bytearray([0x00, 0x02, 0x01, 0x40, 0x50, 0x60, 0x70])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
with self.assertRaises(canfix.MsgSizeError):
p = canfix.parseMessage(msg)
d = bytearray([0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
with self.assertRaises(canfix.MsgSizeError):
p = canfix.parseMessage(msg)
def __tryFirmwareReq(self):
"""Requests a firmware load, waits for 1/2 a second and determines
if the response is correct and if so returns True returns
False on timeout"""
self.channel = self.__getFreeChannel()
if self.channel < 0:
raise FirmwareError("No Free Channel")
msg = canfix.UpdateFirmware(node=self.destNode, verification=self.device.fwUpdateCode, channel=self.channel)
msg.sendNode = self.srcNode
msg.msgType = canfix.MSG_REQUEST
self.can.send(msg.msg)
endtime = time.time() + 0.5
while True: # Channel wait loop
if self.kill: raise FirmwareError("Canceled")
try:
rframe = self.can.recv(0.1)
except connection.Timeout:
pass
else:
msg = canfix.parseMessage(rframe)
if isinstance(msg, canfix.UpdateFirmware):
if msg.destNode == self.srcNode:
if msg.status == canfix.MSG_SUCCESS:
return True
else:
log.warn("Firmware Update received with error code {}".format(msg.errorCode))
raise FirmwareError("Error {} Received".format(msg.errorCode))
finally:
now = time.time()
if now > endtime: return False
return True
def test_ParameterEncoder(self):
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(arbitration_id=0x11B, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Encoder Input (High Priority) #2")
self.assertEqual(p.value, [0, 0, [False]*8])
d = bytearray([0x00, 0x00, 0x00, 0xFB, 0xFF, 0x00, 0x00, 0x00])
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, [-5, 0, [False]*8])
d = bytearray([0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00])
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, [5, 0, [False]*8])
def test_ParameterIndicatedAltitude(self):
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(arbitration_id=0x184, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Indicated Altitude")
self.assertEqual(p.value, 0.0)
d = bytearray([0x00, 0x00, 0x00, 0x18, 0xFC, 0xFF, 0xFF]) # -1,000
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, -1000)
d = bytearray([0x00, 0x00, 0x00, 0x60, 0xEA, 0x00, 0x00]) # 60,000
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, 60000)
def test_ParameterIndicatedAirspeed(self):
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(arbitration_id=0x183, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Indicated Airspeed")
self.assertEqual(p.value, 0.0)
d = bytearray([0x00, 0x00, 0x00, 0x0F, 0x27]) # 9999
msg.data = d
p = canfix.parseMessage(msg)
self.assertLess(abs(p.value - 999.9), 0.005)
d = bytearray([0x00, 0x00, 0x00, 0x87, 0x13]) # 4999
msg.data = d
p = canfix.parseMessage(msg)
self.assertLess(abs(p.value - 499.9), 0.005)
def test_ResponseMessageCh0NoData(self):
msg = can.Message(extended_id=False, arbitration_id=0x7E1)
p = canfix.parseMessage(msg)
self.assertIsInstance(p,canfix.TwoWayMsg)
self.assertEqual(p.data,b'')
self.assertEqual(p.channel, 0x00)
self.assertEqual(p.type,"Response")
def test_LastTwoWayMessage(self):
d = bytearray([0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x7FF, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.TwoWayMsg)
self.assertEqual(p.channel, 0x0F)
self.assertEqual(p.type, "Response")
def update(self, msg):
p = canfix.parseMessage(msg)
node = None
if isinstance(p, canfix.Parameter):
node = self.__findNode(p.node)
assert node
result = node.updateParameter(p)
if result != None:
if self.parameterChanged is not None:
self.parameterChanged(p)
else:
if self.parameterAdded is not None:
self.parameterAdded(p)
elif isinstance(p, canfix.NodeAlarm):
pass
elif isinstance(p, canfix.NodeStatus):
node = p.sendNode
elif isinstance(p, canfix.NodeIdentification):
node = self.__findNode(p.sendNode)
assert node
node.deviceID = p.device
node.version = p.fwrev
node.model = p.model
device = devices.findDevice(node.deviceID, node.model, node.version)
if device:
node.name = device.name
node.device = device
if self.nodeIdent:
self.nodeIdent(p.sendNode, {"name":node.name, "deviceid":node.deviceID,
"model":node.model, "version":node.version})
elif isinstance(p, canfix.TwoWayMsg):
pass
if node is not None:
node.update()
def test_NodeSpecificMessage(self):
d = bytearray([0x61, 0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80])
msg = can.Message(extended_id=False, arbitration_id=0x6E0, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeSpecific)
self.assertEqual(p.sendNode, 0x00)
self.assertEqual(p.controlCode, 0x61)
self.assertEqual(p.data, bytearray([0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80]))
d = bytearray([0x61, 0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80])
msg = can.Message(extended_id=False, arbitration_id=0x7DF, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeSpecific)
self.assertEqual(p.sendNode, 0xFF)
self.assertEqual(p.controlCode, 0x61)
self.assertEqual(p.data, bytearray([0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80]))
def test_NodeSpecificMessageNoData(self):
d = bytearray([0x61])
msg = can.Message(extended_id=False, arbitration_id=0x6E0, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeSpecific)
self.assertEqual(p.sendNode, 0x00)
self.assertEqual(p.controlCode, 0x61)
def test_ParameterLatitude(self):
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(arbitration_id=0x1C3, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Aircraft Position Latitude")
self.assertEqual(p.value, 0.0)
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00, 0xB4, 0x42]) # 90.0
msg.data = d
p = canfix.parseMessage(msg)
self.assertLess(abs(p.value - 90.0), 0.00005)
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00, 0xB4, 0xc2]) # 4999
msg.data = d
p = canfix.parseMessage(msg)
self.assertLess(abs(p.value - -90.0), 0.00005)
def test_ConfigurationQueryMessageResponseFail(self):
d = bytearray([0x0A, 0x04, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeConfigurationQuery)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.error, 0x01)
def test_LastDefinedParameter(self):
d = bytearray([0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x587, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.Parameter)
self.assertEqual(p.node, 0x01)
self.assertEqual(p.index, 2)
self.assertEqual(p.function, 3)
def test_ResponseMessageCh1(self):
d = bytearray([0x01, 0x00, 0xAB, 0xCD, 0xEF, 0xFF, 0xEE, 0x11])
msg = can.Message(extended_id=False, arbitration_id=0x7E3, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p,canfix.TwoWayMsg)
self.assertEqual(p.data, b'\x01\x00\xAB\xCD\xEF\xFF\xEE\x11')
self.assertEqual(p.channel, 0x01)
self.assertEqual(p.type,"Response")
def test_ResponseMessageCh15(self):
d = bytearray([0x01, 0x00, 0xAB, 0xCD, 0xEF, 0xFF, 0xEE, 0x11])
msg = can.Message(extended_id=False, arbitration_id=0x7FF, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p,canfix.TwoWayMsg)
self.assertEqual(p.data, b'\x01\x00\xAB\xCD\xEF\xFF\xEE\x11')
self.assertEqual(p.channel, 0x0F)
self.assertEqual(p.type,"Response")
def test_NodeReportMessageRequest(self):
d = bytearray([0x05, 0x04])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeReport)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x05)
self.assertEqual(p.destNode, 0x04)
def test_ConfigurationQueryMessageResponseFail(self):
d = bytearray([0x0A, 0x04, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeConfigurationQuery)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.error, 0x01)
def test_NodeReportMessageRequest(self):
d = bytearray([0x05, 0x04])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeReport)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x05)
self.assertEqual(p.destNode, 0x04)
def test_LastNodeNoDataFromMessage(self):
d = bytearray([0x01, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0xFF, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeAlarm)
self.assertEqual(p.alarm, 1)
self.assertEqual(p.data, b'\x00\x00\x00\x00\x00')
self.assertEqual(p.node, 255)
def test_LastDefinedParameter(self):
d = bytearray([0x01, 0x02, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x587, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.Parameter)
self.assertEqual(p.node, 0x01)
self.assertEqual(p.index, 2)
self.assertEqual(p.function, 3)
def test_ParameterQuality(self):
d = bytearray([0x00, 0x00, 0x00, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, False)
self.assertEqual(p.quality, False)
self.assertEqual(p.failure, False)
d = bytearray([0x00, 0x00, 0x01, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, True)
self.assertEqual(p.quality, False)
self.assertEqual(p.failure, False)
d = bytearray([0x00, 0x00, 0x02, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, False)
self.assertEqual(p.quality, True)
self.assertEqual(p.failure, False)
d = bytearray([0x00, 0x00, 0x04, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, False)
self.assertEqual(p.quality, False)
self.assertEqual(p.failure, True)
d = bytearray([0x00, 0x00, 0x07, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, True)
self.assertEqual(p.quality, True)
self.assertEqual(p.failure, True)
def test_ParameterQuality(self):
d = bytearray([0x00, 0x00, 0x00, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, False)
self.assertEqual(p.quality, False)
self.assertEqual(p.failure, False)
d = bytearray([0x00, 0x00, 0x01, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, True)
self.assertEqual(p.quality, False)
self.assertEqual(p.failure, False)
d = bytearray([0x00, 0x00, 0x02, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, False)
self.assertEqual(p.quality, True)
self.assertEqual(p.failure, False)
d = bytearray([0x00, 0x00, 0x04, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, False)
self.assertEqual(p.quality, False)
self.assertEqual(p.failure, True)
d = bytearray([0x00, 0x00, 0x07, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.annunciate, True)
self.assertEqual(p.quality, True)
self.assertEqual(p.failure, True)
def test_NodeSpecificMessage(self):
d = bytearray([0x61, 0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80])
msg = can.Message(extended_id=False, arbitration_id=0x6E0, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeSpecific)
self.assertEqual(p.sendNode, 0x00)
self.assertEqual(p.controlCode, 0x61)
self.assertEqual(p.data,
bytearray([0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80]))
d = bytearray([0x61, 0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80])
msg = can.Message(extended_id=False, arbitration_id=0x7DF, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeSpecific)
self.assertEqual(p.sendNode, 0xFF)
self.assertEqual(p.controlCode, 0x61)
self.assertEqual(p.data,
bytearray([0x02, 0x03, 0x40, 0x50, 0x60, 0x70, 0x80]))
def test_ConfigurationQueryMessageRequest(self):
d = bytearray([0x0A, 0x04, 0x0F, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeConfigurationQuery)
#self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.key, 15)
def test_NodeIdentificationMessageRequest(self):
d = bytearray([0x00, 0x02])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeIdentification)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x00)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
def test_ConfigurationQueryMessageRequest(self):
d = bytearray([0x0A, 0x04, 0x0F, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeConfigurationQuery)
#self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.key, 15)
def test_NodeDescriptionMessage(self):
d = bytearray([0x0B, 0x04, 0x01, 0x00, ord('A'), ord('B'), ord('C'), ord('D')])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeDescription)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.packetnumber, 1)
self.assertEqual(p.chars, bytearray([ord('A'), ord('B'), ord('C'), ord('D')]))
def test_NodeIdentificationMessageRequest(self):
d = bytearray([0x00, 0x02])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeIdentification)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x00)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
def test_EnableParameterMessageRequest(self):
d = bytearray([0x04, 0x04, 0x05, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.EnableParameter)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x04)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.identifier, 261)
def test_EnableParameterMessageRequest(self):
d = bytearray([0x04, 0x04, 0x05, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.EnableParameter)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x04)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.identifier, 261)
def test_NodeStatusMessage(self):
d = bytearray([0x06, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
p.type = "WORD"
self.assertIsInstance(p, canfix.NodeStatus)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.controlCode, 0x06)
self.assertEqual(p.parameter, 0x00)
self.assertEqual(p.value, [False]*16)
def test_ConfigurationSetMessageResponseSuccess(self):
d = bytearray([0x09, 0x05, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeConfigurationSet)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x05)
self.assertEqual(p.status, canfix.MSG_SUCCESS)
self.assertEqual(p.errorCode, 0)
def test_ParameterSetMessage(self):
d = bytearray([0x0C, 0x83, 0x19, 0x0F, 0x27])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.ParameterSet)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.index, 3)
self.assertEqual(p.type, "UINT")
self.assertEqual(p.multiplier, 0.1)
self.assertTrue(abs(p.value - 999.9) < 0.1)
def test_BitRateSetMessageRequest(self):
d = bytearray([0x01, 0x02, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.BitRateSet)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x01)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.bitrate, 1)
def test_NodeStatusMessage(self):
d = bytearray([0x06, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
p.type = "WORD"
self.assertIsInstance(p, canfix.NodeStatus)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.controlCode, 0x06)
self.assertEqual(p.parameter, 0x00)
self.assertEqual(p.value, [False] * 16)
def test_ParameterSetIndexCalc(self):
for i in range(256):
cc = (i // 32) + 0x0C
x = (i % 32) << 11 | 0x183
d = bytearray([cc, x % 256, x >> 8, 0x0F, 0x27])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.ParameterSet)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.index, i)
def test_BitRateSetMessageRequest(self):
d = bytearray([0x01, 0x02, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.BitRateSet)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x01)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.bitrate, 1)
def test_ConfigurationQueryMessageResponseSuccess(self):
d = bytearray([0x0A, 0x04, 0x00, 0x55])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
p.datatype = "BYTE"
self.assertIsInstance(p, canfix.NodeConfigurationQuery)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.error, 0x00)
self.assertEqual(p.value, [True,False,True,False,True,False,True,False])
def test_ParameterSetIndexCalc(self):
for i in range(256):
cc = (i // 32) + 0x0C
x = (i % 32) << 11 | 0x183
d = bytearray([cc, x % 256, x >> 8, 0x0F, 0x27])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.ParameterSet)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.index, i)
def test_ConfigurationSetMessageResponseSuccess(self):
d = bytearray([0x09, 0x05, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeConfigurationSet)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x05)
self.assertEqual(p.status, canfix.MSG_SUCCESS)
self.assertEqual(p.errorCode, 0)
def test_ParameterSetMessage(self):
d = bytearray([0x0C, 0x83, 0x19, 0x0F, 0x27])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.ParameterSet)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.index, 3)
self.assertEqual(p.type, "UINT")
self.assertEqual(p.multiplier, 0.1)
self.assertTrue(abs(p.value - 999.9) < 0.1)
def test_ConfigurationSetMessageRequest(self):
d = bytearray([0x09, 0x04, 0x0F, 0x00, 0x55])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
p.datatype = "BYTE"
self.assertIsInstance(p, canfix.NodeConfigurationSet)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.key, 15)
self.assertEqual(p.value, [True,False,True,False,True,False,True,False])
def test_TwoWayConnectionMessageResponseSucceed(self):
d = bytearray([0x08, 0x04, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.TwoWayConnection)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.controlCode, 0x08)
self.assertEqual(p.status, canfix.MSG_SUCCESS)
self.assertEqual(p.errorCode, 0x00)
def test_BitRateSetMessageResponse(self):
d = bytearray([0x01, 0x02])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.BitRateSet)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x01)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.status, canfix.MSG_SUCCESS)
d = bytearray([0x01, 0x02, 0xFF])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.BitRateSet)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x01)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.status, canfix.MSG_FAIL)
def test_EnableParameterMessageResponse(self):
d = bytearray([0x04, 0x04, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.EnableParameter)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x04)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.status, canfix.MSG_SUCCESS)
d = bytearray([0x04, 0x04, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.EnableParameter)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x04)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.status, canfix.MSG_FAIL)
def test_TwoWayConnectionMessageRequest(self):
d = bytearray([0x08, 0x04, 0x02, 0x39, 0x30])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.TwoWayConnection)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.controlCode, 0x08)
self.assertEqual(p.connectionType, 12345)
self.assertEqual(p.channel, 0x02)
def test_TwoWayConnectionMessageRequest(self):
d = bytearray([0x08, 0x04, 0x02, 0x39, 0x30])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.TwoWayConnection)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.controlCode, 0x08)
self.assertEqual(p.connectionType, 12345)
self.assertEqual(p.channel, 0x02)
def test_UpdateFirmwareMessageRequest(self):
d = bytearray([0x07, 0x04, 0x39, 0x30, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.UpdateFirmware)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.controlCode, 0x07)
self.assertEqual(p.verification, 12345)
self.assertEqual(p.channel, 0)
def test_UpdateFirmwareMessageResponseFail(self):
d = bytearray([0x07, 0x04, 0x01])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.UpdateFirmware)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.controlCode, 0x07)
self.assertEqual(p.status, canfix.MSG_FAIL)
self.assertEqual(p.errorCode, 0x01)
def test_TwoWayConnectionMessageResponseSucceed(self):
d = bytearray([0x08, 0x04, 0x00])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.TwoWayConnection)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.controlCode, 0x08)
self.assertEqual(p.status, canfix.MSG_SUCCESS)
self.assertEqual(p.errorCode, 0x00)
def test_ConfigurationQueryMessageResponseSuccess(self):
d = bytearray([0x0A, 0x04, 0x00, 0x55])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
p.datatype = "BYTE"
self.assertIsInstance(p, canfix.NodeConfigurationQuery)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.error, 0x00)
self.assertEqual(p.value,
[True, False, True, False, True, False, True, False])
def test_ParameterPitchControlPosition(self):
d = bytearray([0x00, 0x00, 0x00, 0x00, 0x00])
msg = can.Message(arbitration_id=0x124, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Pitch Control Position")
self.assertEqual(p.value, 0)
d = bytearray([0x00, 0x00, 0x00, 0xF0, 0xD8]) # -10,000
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, -100)
d = bytearray([0x00, 0x00, 0x00, 0x10, 0x27]) # 10,000
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, 100)
d = bytearray([0x00, 0x00, 0x00, 0x04, 0xd9]) # -9,980
msg.data = d
p = canfix.parseMessage(msg)
self.assertEqual(p.value, -99.8)
def test_ParameterMeta(self):
d = bytearray([0x00, 0x00, 0x00, 0x1c, 0x04]) # 1052
msg = can.Message(arbitration_id=0x183, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Indicated Airspeed")
self.assertEqual(p.value, 105.2)
self.assertEqual(p.meta, None)
d = bytearray([0x00, 0x00, 0x10, 0x1c, 0x04]) # 1052
msg = can.Message(arbitration_id=0x183, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Indicated Airspeed")
self.assertEqual(p.value, 105.2)
self.assertEqual(p.meta, 'Min')
d = bytearray([0x00, 0x00, 0xF0, 0x1c, 0x04]) # 1052
msg = can.Message(arbitration_id=0x183, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Indicated Airspeed")
self.assertEqual(p.value, 105.2)
self.assertEqual(p.meta, 'Vy')
def test_ParameterIndex(self):
d = bytearray([0x00, 0x00, 0x00, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.index, 0)
d = bytearray([0x00, 0x01, 0x00, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.index, 1)
d = bytearray([0x00, 0xFF, 0x00, 0xd2, 0x04])
msg = can.Message(arbitration_id=0x501, extended_id=False, data=d)
p = canfix.parseMessage(msg)
self.assertEqual(p.name, "Cylinder Head Temperature #2")
self.assertEqual(p.value, 123.4)
self.assertEqual(p.index, 255)
def test_ConfigurationSetMessageRequest(self):
d = bytearray([0x09, 0x04, 0x0F, 0x00, 0x55])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
p.datatype = "BYTE"
self.assertIsInstance(p, canfix.NodeConfigurationSet)
self.assertEqual(p.msgType, canfix.MSG_REQUEST)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.key, 15)
self.assertEqual(p.value,
[True, False, True, False, True, False, True, False])
def test_NodeIdentificationMessageResponse(self):
d = bytearray([0x00, 0x02, 0x01, 0x40, 0x50, 0x60, 0x70, 0x80])
msg = can.Message(extended_id=False, arbitration_id=0x6E1, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeIdentification)
self.assertEqual(p.sendNode, 0x01)
self.assertEqual(p.controlCode, 0x00)
self.assertEqual(p.destNode, 0x02)
self.assertEqual(p.device, 0x40)
self.assertEqual(p.fwrev, 0x50)
self.assertEqual(p.model, 8417376)
self.assertEqual(p.msgType, canfix.MSG_RESPONSE)
def test_NodeDescriptionMessage(self):
d = bytearray(
[0x0B, 0x04, 0x01, 0x00,
ord('A'),
ord('B'),
ord('C'),
ord('D')])
msg = can.Message(extended_id=False, arbitration_id=0x6E2, data=d)
p = canfix.parseMessage(msg)
self.assertIsInstance(p, canfix.NodeDescription)
self.assertEqual(p.sendNode, 0x02)
self.assertEqual(p.destNode, 0x04)
self.assertEqual(p.packetnumber, 1)
self.assertEqual(p.chars,
bytearray([ord('A'),
ord('B'),
ord('C'),
ord('D')]))
def listen(conn, msg_count, raw):
count = 0
while True:
try:
msg = conn.recv(1.0)
if msg:
#print(str(msg) + canfix.parameters[msg.arbitration_id].name)
x = canfix.parseMessage(msg)
if raw:
print(str(msg))
else:
print(canfix.Parameter(msg))
count+=1
if msg_count != 0:
if count > msg_count: break
except KeyboardInterrupt:
break
except:
print(str(msg))
def __getFreeChannel(self):
"""Waits for a half a second to see if there is any traffic on any
of the channels and returns the channel number of the first
free channel"""
endtime = time.time() + 0.5
channels = [0] * 16
while True: # Wait loop
try:
rframe = self.can.recv(0.1)
msg = canfix.parseMessage(rframe)
if isinstance(msg, canfix.TwoWayConnection):
self.channels[msg.channel] = 1
except connection.Timeout:
pass
finally:
now = time.time()
if now > endtime: break
for ch, v in enumerate(channels):
if v == 0: return ch
return -1
