micropython/tests/pyb/can.py

try:
    from pyb import CAN
except ImportError:
    print("SKIP")
    raise SystemExit

from array import array
import micropython
import pyb

# test we can correctly create by id (2 handled in can2.py test)
for bus in (-1, 0, 1, 3):
    try:
        CAN(bus, CAN.LOOPBACK)
        print("CAN", bus)
    except ValueError:
        print("ValueError", bus)
CAN(1).deinit()

can = CAN(1)
print(can)

# Test state when de-init'd
print(can.state() == can.STOPPED)

can.init(CAN.LOOPBACK, num_filter_banks=14)
print(can)
print(can.any(0))

# Test state when freshly created
print(can.state() == can.ERROR_ACTIVE)

# Test that restart can be called
can.restart()

# Test info returns a sensible value
print(can.info())

# Catch all filter
can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))

can.send("abcd", 123, timeout=5000)
print(can.any(0), can.info())
print(can.recv(0))

can.send("abcd", -1, timeout=5000)
print(can.recv(0))

can.send("abcd", 0x7FF + 1, timeout=5000)
print(can.recv(0))

# Test too long message
try:
    can.send("abcdefghi", 0x7FF, timeout=5000)
except ValueError:
    print("passed")
else:
    print("failed")

# Test that recv can work without allocating memory on the heap

buf = bytearray(10)
l = [0, 0, 0, 0, memoryview(buf)]
l2 = None

micropython.heap_lock()

can.send("", 42)
l2 = can.recv(0, l)
assert l is l2
print(l, len(l[4]), buf)

can.send("1234", 42)
l2 = can.recv(0, l)
assert l is l2
print(l, len(l[4]), buf)

can.send("01234567", 42)
l2 = can.recv(0, l)
assert l is l2
print(l, len(l[4]), buf)

can.send("abc", 42)
l2 = can.recv(0, l)
assert l is l2
print(l, len(l[4]), buf)

micropython.heap_unlock()

# Test that recv can work with different arrays behind the memoryview
can.send("abc", 1)
print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("B", range(8)))])[4]))
can.send("def", 1)
print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("b", range(8)))])[4]))

# Test for non-list passed as second arg to recv
can.send("abc", 1)
try:
    can.recv(0, 1)
except TypeError:
    print("TypeError")

# Test for too-short-list passed as second arg to recv
can.send("abc", 1)
try:
    can.recv(0, [0, 0, 0])
except ValueError:
    print("ValueError")

# Test for non-memoryview passed as 4th element to recv
can.send("abc", 1)
try:
    can.recv(0, [0, 0, 0, 0, 0])
except TypeError:
    print("TypeError")

# Test for read-only-memoryview passed as 4th element to recv
can.send("abc", 1)
try:
    can.recv(0, [0, 0, 0, memoryview(bytes(8))])
except ValueError:
    print("ValueError")

# Test for bad-typecode-memoryview passed as 4th element to recv
can.send("abc", 1)
try:
    can.recv(0, [0, 0, 0, memoryview(array("i", range(8)))])
except ValueError:
    print("ValueError")

del can

# Testing extended IDs
print("==== TEST extframe=True ====")

can = CAN(1, CAN.LOOPBACK)
# Catch all filter, but only for extframe's
can.setfilter(0, CAN.MASK32, 0, (0, 0), extframe=True)

print(can)

try:
    can.send("abcde", 0x7FF + 1, timeout=5000, extframe=True)
except ValueError:
    print("failed")
else:
    r = can.recv(0)
    if r[0] == 0x7FF + 1 and r[4] == b"abcde":
        print("passed")
    else:
        print("failed, wrong data received")

# Test filters
for n in [0, 8, 16, 24]:
    filter_id = 0b00001000 << n
    filter_mask = 0b00011100 << n
    id_ok = 0b00001010 << n
    id_fail = 0b00011010 << n

    can.clearfilter(0, extframe=True)
    can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask), extframe=True)

    can.send("ok", id_ok, timeout=3, extframe=True)
    if can.any(0):
        msg = can.recv(0)
        print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))

    can.send("fail", id_fail, timeout=3, extframe=True)
    if can.any(0):
        msg = can.recv(0)
        print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))

del can

# Test RxCallbacks
print("==== TEST rx callbacks ====")

can = CAN(1, CAN.LOOPBACK)
can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8))


def cb0(bus, reason):
    print("cb0")
    if reason == 0:
        print("pending")
    if reason == 1:
        print("full")
    if reason == 2:
        print("overflow")


def cb1(bus, reason):
    print("cb1")
    if reason == 0:
        print("pending")
    if reason == 1:
        print("full")
    if reason == 2:
        print("overflow")


def cb0a(bus, reason):
    print("cb0a")
    if reason == 0:
        print("pending")
    if reason == 1:
        print("full")
    if reason == 2:
        print("overflow")


def cb1a(bus, reason):
    print("cb1a")
    if reason == 0:
        print("pending")
    if reason == 1:
        print("full")
    if reason == 2:
        print("overflow")


can.rxcallback(0, cb0)
can.rxcallback(1, cb1)

can.send("11111111", 1, timeout=5000)
can.send("22222222", 2, timeout=5000)
can.send("33333333", 3, timeout=5000)
can.rxcallback(0, cb0a)
can.send("44444444", 4, timeout=5000)

can.send("55555555", 5, timeout=5000)
can.send("66666666", 6, timeout=5000)
can.send("77777777", 7, timeout=5000)
can.rxcallback(1, cb1a)
can.send("88888888", 8, timeout=5000)

print(can.recv(0))
print(can.recv(0))
print(can.recv(0))
print(can.recv(1))
print(can.recv(1))
print(can.recv(1))

can.send("11111111", 1, timeout=5000)
can.send("55555555", 5, timeout=5000)

print(can.recv(0))
print(can.recv(1))

del can

# Testing asynchronous send
print("==== TEST async send ====")

can = CAN(1, CAN.LOOPBACK)
can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))

while can.any(0):
    can.recv(0)

can.send("abcde", 1, timeout=0)
print(can.any(0))
while not can.any(0):
    pass

print(can.recv(0))

try:
    can.send("abcde", 2, timeout=0)
    can.send("abcde", 3, timeout=0)
    can.send("abcde", 4, timeout=0)
    can.send("abcde", 5, timeout=0)
except OSError as e:
    if str(e) == "16":
        print("passed")
    else:
        print("failed")

pyb.delay(500)
while can.any(0):
    print(can.recv(0))

# Testing rtr messages
print("==== TEST rtr messages ====")

bus1 = CAN(1, CAN.LOOPBACK)
while bus1.any(0):
    bus1.recv(0)
bus1.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
bus1.setfilter(1, CAN.LIST16, 0, (5, 6, 7, 8), rtr=(True, True, True, True))
bus1.setfilter(2, CAN.MASK16, 0, (64, 64, 32, 32), rtr=(False, True))

bus1.send("", 1, rtr=True)
print(bus1.any(0))
bus1.send("", 5, rtr=True)
print(bus1.recv(0))
bus1.send("", 6, rtr=True)
print(bus1.recv(0))
bus1.send("", 7, rtr=True)
print(bus1.recv(0))
bus1.send("", 16, rtr=True)
print(bus1.any(0))
bus1.send("", 32, rtr=True)
print(bus1.recv(0))

# test HAL error, timeout
print("==== TEST errors ====")

can = pyb.CAN(1, pyb.CAN.NORMAL)
try:
    can.send("1", 1, timeout=50)
except OSError as e:
    print(repr(e))