def test_invalid_payload(self):
"""
Text expedited SDO transfer with an unsigned int data type
"""
parser = SDOParser()
message = []
with self.assertRaises(FailedValidationError) as context:
parser.parse(0x580, message, self.eds_data)
self.assertEqual("Invalid SDO payload length, expected 8, received "
"0", str(context.exception))
def test_expedited_invalid_index(self):
"""
Text expedited SDO transfer with an invalid index being used
"""
parser = SDOParser()
client_initiate_message = [
0x27, 0xFF, 0xFF, 0x00, 0x0A, 0x00, 0x00, 0x00
]
with self.assertRaises(FailedValidationError) as context:
parser.parse(0x600, client_initiate_message, self.eds_data)
self.assertEqual(
"SDO provided index does not exist. Check provided "
"index 'ffff'", str(context.exception))
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
def test_expedited_boolean(self):
"""
Text expedited SDO transfer with a boolean data type
Any non-zero value is considered True
"""
parser = SDOParser()
client_initiate_message = [
0x27, 0x10, 0x18, 0x02, 0x00, 0x00, 0x00, 0x01
]
self.assertEqual(
"Downloaded - Identity boolean: True",
parser.parse(0x600, client_initiate_message, self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [
0x60, 0x10, 0x18, 0x02, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Downloaded - Identity boolean: True",
parser.parse(0x580, server_initiate_response, self.eds_data),
"Error on Server Initiate Response")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
parser = SDOParser()
client_initiate_message = [
0x27, 0x10, 0x18, 0x02, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Downloaded - Identity boolean: False",
parser.parse(0x600, client_initiate_message, self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [
0x60, 0x10, 0x18, 0x02, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Downloaded - Identity boolean: False",
parser.parse(0x580, server_initiate_response, self.eds_data),
"Error on Server Initiate Response")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_expedited_signed_int(self):
"""
Text expedited SDO transfer with an signed int data type
"""
parser = SDOParser()
client_initiate_message = [0x2F, 0x10, 0x18, 0x01, 0xF6, 0xFF, 0xFF,
0xFF]
self.assertEqual("Downloaded - Identity integer8: -10",
parser.parse(0x600, client_initiate_message,
self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [0x60, 0x10, 0x18, 0x01, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Downloaded - Identity integer8: -10",
parser.parse(0x580, server_initiate_response,
self.eds_data),
"Error on Server Initiate Response")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_expedited_unsigned_int_upload(self):
"""
Test expedited SDO transfer with an unsigned int data type
"""
parser = SDOParser()
client_initiate_message = [0x40, 0x10, 0x18, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 0%",
parser.parse(0x600, client_initiate_message,
self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [0x47, 0x10, 0x18, 0x00, 0x0A, 0x00, 0x00,
0x00]
self.assertEqual("Downloaded - Identity unsigned8: 10",
parser.parse(0x580, server_initiate_response,
self.eds_data),
"Error on Server Initiate Response")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_expedited_unicode_string(self):
"""
Text expedited SDO transfer with an unicode string data type
"""
parser = SDOParser()
client_initiate_message = [0x2F, 0x10, 0x18, 0x06, 0xD8, 0x3C, 0xDF,
0x7B]
self.assertEqual("Downloaded - Identity unicode string: 🍻",
parser.parse(0x600, client_initiate_message,
self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [0x60, 0x10, 0x18, 0x06, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Downloaded - Identity unicode string: 🍻",
parser.parse(0x580, server_initiate_response,
self.eds_data),
"Error on Server Initiate Response")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_expedited_octet_string(self):
"""
Text expedited SDO transfer with an octet string data type
"""
parser = SDOParser()
client_initiate_message = [0x2F, 0x10, 0x18, 0x05, 0x61, 0x62, 0x63,
0x64]
self.assertEqual("Downloaded - Identity octet string: 0x61626364",
parser.parse(0x600, client_initiate_message,
self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [0x60, 0x10, 0x18, 0x05, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Downloaded - Identity octet string: 0x61626364",
parser.parse(0x580, server_initiate_response,
self.eds_data),
"Error on Server Initiate Response")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_normal_transfer_multiple_segments_with_size_upload(self):
"""
Test Normal SDO transfer with size indicated (Data not returned)
This test is using the upload order (data from client not server)
"""
parser = SDOParser()
client_initiate_message = [0x40, 0x10, 0x18, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 0%",
parser.parse(0x600, client_initiate_message,
self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [0x41, 0x10, 0x18, 0x00, 0x00, 0x00, 0x00,
0x10]
self.assertEqual("Initiating block download - Identity unsigned8",
parser.parse(0x580, server_initiate_response,
self.eds_data),
"Error on Server Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
client_download_segment = [0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 50.0%",
parser.parse(0x600, client_download_segment,
self.eds_data),
"Error on Client End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_download_response = [0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x0A]
self.assertEqual("Block downloading - Identity unsigned8",
parser.parse(0x580, server_download_response,
self.eds_data),
"Error on Server End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
client_download_segment = [0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 50.0%",
parser.parse(0x600, client_download_segment,
self.eds_data),
"Error on Client End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_download_response = [0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x0A]
self.assertEqual("Block download done - Identity unsigned8",
parser.parse(0x580, server_download_response,
self.eds_data),
"Error on Server End Message")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_normal_transfer_multiple_segments_no_size(self):
"""
Test Normal SDO transfer without size indicated (Data not returned)
"""
parser = SDOParser()
client_initiate_message = [0x20, 0x10, 0x18, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Initiating block download - Identity unsigned8",
parser.parse(0x600, client_initiate_message,
self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [0x60, 0x10, 0x18, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 0%",
parser.parse(0x580, server_initiate_response,
self.eds_data),
"Error on Server Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
client_download_segment = [0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x0A]
self.assertEqual("Block downloading - Identity unsigned8",
parser.parse(0x600, client_download_segment,
self.eds_data),
"Error on Client End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_download_response = [0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 XXX%",
parser.parse(0x580, server_download_response,
self.eds_data),
"Error on Server End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
client_download_segment = [0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x0A]
self.assertEqual("Block download done - Identity unsigned8",
parser.parse(0x600, client_download_segment,
self.eds_data),
"Error on Client End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_download_response = [0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00]
self.assertEqual("Identity unsigned8 100%",
parser.parse(0x580, server_download_response,
self.eds_data),
"Error on Server End Message")
self.assertEqual(True, parser.is_complete, "Parser should be complete")
def test_sdo_block_upload(self):
"""
Test SDO Block Download
Download 8byte unsigned integer with value 10
"""
parser = SDOParser()
client_initiate_message = [
0xA4, 0x10, 0x18, 0x00, 0x02, 0x00, 0x00, 0x00
]
self.assertEqual(
"Identity unsigned8 0%",
parser.parse(0x600, client_initiate_message, self.eds_data),
"Error on Client Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [
0xE6, 0x10, 0x18, 0x00, 0x00, 0x00, 0x00, 0x08
]
self.assertEqual(
"Initiating block download - Identity unsigned8",
parser.parse(0x580, server_initiate_response, self.eds_data),
"Error on Server Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_initiate_response = [
0xA3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Initiating block download - Identity unsigned8",
parser.parse(0x580, server_initiate_response, self.eds_data),
"Error on Server Initiate Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_block1_message = [
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Block downloading - Identity unsigned8",
parser.parse(0x580, server_block1_message, self.eds_data),
"Error on Server Block1 Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_block2_message = [
0x82, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Block downloading - Identity unsigned8",
parser.parse(0x580, server_block2_message, self.eds_data),
"Error on Server Block2 Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
client_block_confirm_message = [
0xA2, 0x02, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Identity unsigned8 100.0%",
parser.parse(0x600, client_block_confirm_message, self.eds_data),
"Error on Client Confirm Block Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
server_block_end_message = [
0xDD, 0xA1, 0x4A, 0x00, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Identity unsigned8 100%",
parser.parse(0x580, server_block_end_message, self.eds_data),
"Error on Server End Message")
self.assertEqual(False, parser.is_complete,
"Parser should be incomplete")
client_block_end_confirm_message = [
0xA1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
]
self.assertEqual(
"Block download done - Identity unsigned8",
parser.parse(0x600, client_block_end_confirm_message,
self.eds_data), "Error on Server End Message")
self.assertEqual(True, parser.is_complete, "Parser should be complete")