Tests: establish test/util.py and test/test_nmt.py (#503)

Give NMT tests their own file, and establish a util.py for the test
suite for common stuff like the location of sample EDS files.

Consistently use SAMPLE_EDS instead of EDS_PATH.

test/test_eds.py

@@ -1,12 +1,10 @@
 import os
 import unittest
+
 import canopen
 from canopen.objectdictionary.eds import _signed_int_from_hex
 from canopen.utils import pretty_index
-
-
-SAMPLE_EDS = os.path.join(os.path.dirname(__file__), 'sample.eds')
-DATATYPES_EDS = os.path.join(os.path.dirname(__file__), 'datatypes.eds')
+from .util import SAMPLE_EDS, DATATYPES_EDS
 
 
 class TestEDS(unittest.TestCase):

test/test_local.py

@@ -1,12 +1,8 @@
-import os
-import unittest
-import canopen
-import logging
 import time
+import unittest
 
-# logging.basicConfig(level=logging.DEBUG)
-
-EDS_PATH = os.path.join(os.path.dirname(__file__), 'sample.eds')
+import canopen
+from .util import SAMPLE_EDS
 
 
 class TestSDO(unittest.TestCase):
@@ -18,15 +14,15 @@ class TestSDO(unittest.TestCase):
     def setUpClass(cls):
         cls.network1 = canopen.Network()
         cls.network1.connect("test", interface="virtual")
-        cls.remote_node = cls.network1.add_node(2, EDS_PATH)
+        cls.remote_node = cls.network1.add_node(2, SAMPLE_EDS)
 
         cls.network2 = canopen.Network()
         cls.network2.connect("test", interface="virtual")
-        cls.local_node = cls.network2.create_node(2, EDS_PATH)
+        cls.local_node = cls.network2.create_node(2, SAMPLE_EDS)
 
-        cls.remote_node2 = cls.network1.add_node(3, EDS_PATH)
+        cls.remote_node2 = cls.network1.add_node(3, SAMPLE_EDS)
 
-        cls.local_node2 = cls.network2.create_node(3, EDS_PATH)
+        cls.local_node2 = cls.network2.create_node(3, SAMPLE_EDS)
 
     @classmethod
     def tearDownClass(cls):
@@ -172,68 +168,6 @@ def test_callbacks(self):
         self.assertEqual(self._kwargs["data"], b"\x03\x04")
 
 
-class TestNMT(unittest.TestCase):
-    """
-    Test NMT slave.
-    """
-
-    @classmethod
-    def setUpClass(cls):
-        cls.network1 = canopen.Network()
-        cls.network1.connect("test", interface="virtual")
-        cls.remote_node = cls.network1.add_node(2, EDS_PATH)
-
-        cls.network2 = canopen.Network()
-        cls.network2.connect("test", interface="virtual")
-        cls.local_node = cls.network2.create_node(2, EDS_PATH)
-
-        cls.remote_node2 = cls.network1.add_node(3, EDS_PATH)
-
-        cls.local_node2 = cls.network2.create_node(3, EDS_PATH)
-
-    @classmethod
-    def tearDownClass(cls):
-        cls.network1.disconnect()
-        cls.network2.disconnect()
-
-    def test_start_two_remote_nodes(self):
-        self.remote_node.nmt.state = 'OPERATIONAL'
-        # Line below is just so that we are sure the client have received the command
-        # before we do the check
-        time.sleep(0.1)
-        slave_state = self.local_node.nmt.state
-        self.assertEqual(slave_state, 'OPERATIONAL')
-
-        self.remote_node2.nmt.state = 'OPERATIONAL'
-        # Line below is just so that we are sure the client have received the command
-        # before we do the check
-        time.sleep(0.1)
-        slave_state = self.local_node2.nmt.state
-        self.assertEqual(slave_state, 'OPERATIONAL')
-
-    def test_stop_two_remote_nodes_using_broadcast(self):
-        # This is a NMT broadcast "Stop remote node"
-        # ie. set the node in STOPPED state
-        self.network1.send_message(0, [2, 0])
-
-        # Line below is just so that we are sure the slaves have received the command
-        # before we do the check
-        time.sleep(0.1)
-        slave_state = self.local_node.nmt.state
-        self.assertEqual(slave_state, 'STOPPED')
-        slave_state = self.local_node2.nmt.state
-        self.assertEqual(slave_state, 'STOPPED')
-
-    def test_heartbeat(self):
-        # self.assertEqual(self.remote_node.nmt.state, 'INITIALISING')
-        # self.assertEqual(self.local_node.nmt.state, 'INITIALISING')
-        self.local_node.nmt.state = 'OPERATIONAL'
-        self.local_node.sdo[0x1017].raw = 100
-        time.sleep(0.2)
-        self.assertEqual(self.remote_node.nmt.state, 'OPERATIONAL')
-
-        self.local_node.nmt.stop_heartbeat()
-
 class TestPDO(unittest.TestCase):
     """
     Test PDO slave.
@@ -243,11 +177,11 @@ class TestPDO(unittest.TestCase):
     def setUpClass(cls):
         cls.network1 = canopen.Network()
         cls.network1.connect("test", interface="virtual")
-        cls.remote_node = cls.network1.add_node(2, EDS_PATH)
+        cls.remote_node = cls.network1.add_node(2, SAMPLE_EDS)
 
         cls.network2 = canopen.Network()
         cls.network2.connect("test", interface="virtual")
-        cls.local_node = cls.network2.create_node(2, EDS_PATH)
+        cls.local_node = cls.network2.create_node(2, SAMPLE_EDS)
 
     @classmethod
     def tearDownClass(cls):

test/test_network.py

@@ -1,18 +1,16 @@
 import time
-import os
 import unittest
-import canopen
 
+import canopen
 import can
-
-EDS_PATH = os.path.join(os.path.dirname(__file__), 'sample.eds')
+from .util import SAMPLE_EDS
 
 
 class TestNetwork(unittest.TestCase):
 
     def setUp(self):
         network = canopen.Network()
-        network.add_node(2, EDS_PATH)
+        network.add_node(2, SAMPLE_EDS)
         network.add_node(3, network[2].object_dictionary)
         self.network = network
 

test/test_nmt.py

@@ -0,0 +1,64 @@
+import time
+import unittest
+
+import canopen
+from .util import SAMPLE_EDS
+
+
+class TestNmtSlave(unittest.TestCase):
+    def setUp(self):
+        self.network1 = canopen.Network()
+        self.network1.connect("test", interface="virtual")
+        self.remote_node = self.network1.add_node(2, SAMPLE_EDS)
+
+        self.network2 = canopen.Network()
+        self.network2.connect("test", interface="virtual")
+        self.local_node = self.network2.create_node(2, SAMPLE_EDS)
+        self.remote_node2 = self.network1.add_node(3, SAMPLE_EDS)
+        self.local_node2 = self.network2.create_node(3, SAMPLE_EDS)
+
+    def tearDown(self):
+        self.network1.disconnect()
+        self.network2.disconnect()
+
+    def test_start_two_remote_nodes(self):
+        self.remote_node.nmt.state = "OPERATIONAL"
+        # Line below is just so that we are sure the client have received the command
+        # before we do the check
+        time.sleep(0.1)
+        slave_state = self.local_node.nmt.state
+        self.assertEqual(slave_state, "OPERATIONAL")
+
+        self.remote_node2.nmt.state = "OPERATIONAL"
+        # Line below is just so that we are sure the client have received the command
+        # before we do the check
+        time.sleep(0.1)
+        slave_state = self.local_node2.nmt.state
+        self.assertEqual(slave_state, "OPERATIONAL")
+
+    def test_stop_two_remote_nodes_using_broadcast(self):
+        # This is a NMT broadcast "Stop remote node"
+        # ie. set the node in STOPPED state
+        self.network1.send_message(0, [2, 0])
+
+        # Line below is just so that we are sure the slaves have received the command
+        # before we do the check
+        time.sleep(0.1)
+        slave_state = self.local_node.nmt.state
+        self.assertEqual(slave_state, "STOPPED")
+        slave_state = self.local_node2.nmt.state
+        self.assertEqual(slave_state, "STOPPED")
+
+    def test_heartbeat(self):
+        self.assertEqual(self.remote_node.nmt.state, "INITIALISING")
+        self.assertEqual(self.local_node.nmt.state, "INITIALISING")
+        self.local_node.nmt.state = "OPERATIONAL"
+        self.local_node.sdo[0x1017].raw = 100
+        time.sleep(0.2)
+        self.assertEqual(self.remote_node.nmt.state, "OPERATIONAL")
+
+        self.local_node.nmt.stop_heartbeat()
+
+
+if __name__ == "__main__":
+    unittest.main()

test/test_pdo.py

@@ -1,14 +1,13 @@
-import os.path
 import unittest
-import canopen
 
-EDS_PATH = os.path.join(os.path.dirname(__file__), 'sample.eds')
+import canopen
+from .util import SAMPLE_EDS
 
 
 class TestPDO(unittest.TestCase):
 
     def test_bit_mapping(self):
-        node = canopen.Node(1, EDS_PATH)
+        node = canopen.Node(1, SAMPLE_EDS)
         map = node.pdo.tx[1]
         map.add_variable('INTEGER16 value')  # 0x2001
         map.add_variable('UNSIGNED8 value', length=4)  # 0x2002
@@ -56,7 +55,7 @@ def test_bit_mapping(self):
         self.assertEqual(node.pdo[0x1600][0x2002].raw, 0xf)
 
     def test_save_pdo(self):
-        node = canopen.Node(1, EDS_PATH)
+        node = canopen.Node(1, SAMPLE_EDS)
         node.tpdo.save()
         node.rpdo.save()
 

test/test_sdo.py

@@ -1,12 +1,10 @@
-import os
 import unittest
-# import binascii
+
 import canopen
-from canopen.objectdictionary import ODVariable
 import canopen.objectdictionary.datatypes as dt
+from canopen.objectdictionary import ODVariable
+from .util import SAMPLE_EDS, DATATYPES_EDS
 
-EDS_PATH = os.path.join(os.path.dirname(__file__), 'sample.eds')
-DATAEDS_PATH = os.path.join(os.path.dirname(__file__), 'datatypes.eds')
 
 TX = 1
 RX = 2
@@ -26,17 +24,15 @@ def _send_message(self, can_id, data, remote=False):
         """
         next_data = self.data.pop(0)
         self.assertEqual(next_data[0], TX, "No transmission was expected")
-        # print(f"> {binascii.hexlify(data)} ({binascii.hexlify(next_data[1])})")
         self.assertSequenceEqual(data, next_data[1])
         self.assertEqual(can_id, 0x602)
         while self.data and self.data[0][0] == RX:
-            # print(f"< {binascii.hexlify(self.data[0][1])}")
             self.network.notify(0x582, self.data.pop(0)[1], 0.0)
 
     def setUp(self):
         network = canopen.Network()
         network.send_message = self._send_message
-        node = network.add_node(2, EDS_PATH)
+        node = network.add_node(2, SAMPLE_EDS)
         node.sdo.RESPONSE_TIMEOUT = 0.01
         self.network = network
 
@@ -178,17 +174,15 @@ def _send_message(self, can_id, data, remote=False):
         """
         next_data = self.data.pop(0)
         self.assertEqual(next_data[0], TX, "No transmission was expected")
-        # print("> %s (%s)" % (binascii.hexlify(data), binascii.hexlify(next_data[1])))
         self.assertSequenceEqual(data, next_data[1])
         self.assertEqual(can_id, 0x602)
         while self.data and self.data[0][0] == RX:
-            # print("< %s" % binascii.hexlify(self.data[0][1]))
             self.network.notify(0x582, self.data.pop(0)[1], 0.0)
 
     def setUp(self):
         network = canopen.Network()
         network.send_message = self._send_message
-        node = network.add_node(2, DATAEDS_PATH)
+        node = network.add_node(2, DATATYPES_EDS)
         node.sdo.RESPONSE_TIMEOUT = 0.01
         self.node = node
         self.network = network

test/util.py

@@ -0,0 +1,5 @@
+import os
+
+
+DATATYPES_EDS = os.path.join(os.path.dirname(__file__), "datatypes.eds")
+SAMPLE_EDS = os.path.join(os.path.dirname(__file__), "sample.eds")