Merge branch 'test-sdo-variables' into sdorecord-skip-count

test/sample.eds

@@ -100,12 +100,7 @@ DataType=0x0007
 AccessType=ro
 PDOMapping=0
 
-[1018sub3]
-ParameterName=Revision number
-ObjectType=0x7
-DataType=0x0007
-AccessType=ro
-PDOMapping=0
+; [1018sub3] left out for testing
 
 [1018sub4]
 ParameterName=Serial number
@@ -123,11 +118,62 @@ SupportedObjects=3
 [1003]
 ParameterName=Pre-defined error field
 ObjectType=0x8
-CompactSubObj=255
+SubNumber=9
+
+[1003sub0]
+ParameterName=Number of errors
+ObjectType=0x7
+DataType=0x0005
+AccessType=rw
+DefaultValue=3
+PDOMapping=0
+
+[1003sub1]
+ParameterName=Pre-defined error field_1
+ObjectType=0x7
+DataType=0x0007
+AccessType=ro
+DefaultValue=0
+PDOMapping=0
+
+; [1003sub2] left out for testing
+
+[1003sub3]
+ParameterName=Pre-defined error field_3
+ObjectType=0x7
+DataType=0x0007
+AccessType=ro
+DefaultValue=0
+PDOMapping=0
+
+[1003sub4]
+ParameterName=Pre-defined error field_4
+ObjectType=0x7
+DataType=0x0007
+AccessType=ro
+DefaultValue=0
+PDOMapping=0
+
+[1003sub5]
+ParameterName=Pre-defined error field_5
+ObjectType=0x7
+DataType=0x0007
+AccessType=ro
+DefaultValue=0
+PDOMapping=0
+
+; [1003sub6] left out for testing
+
+[1003sub7]
+ParameterName=Pre-defined error field_7
+ObjectType=0x7
 DataType=0x0007
 AccessType=ro
+DefaultValue=0
 PDOMapping=0
 
+; [1003sub8] left out for testing
+
 [1008]
 ParameterName=Manufacturer device name
 ObjectType=0x7

test/test_eds.py

@@ -121,7 +121,7 @@ def test_relative_variable(self):
     def test_record(self):
         record = self.od['Identity object']
         self.assertIsInstance(record, canopen.objectdictionary.ODRecord)
-        self.assertEqual(len(record), 5)
+        self.assertEqual(len(record), 4)
         self.assertEqual(record.index, 0x1018)
         self.assertEqual(record.name, 'Identity object')
         var = record['Vendor-ID']
@@ -357,3 +357,7 @@ def verify_od(self, source, doctype):
                                      f" mismatch on {pretty_index(evar.index, evar.subindex)}")
 
                 self.assertEqual(self.od.comments, exported_od.comments)
+
+
+if __name__ == "__main__":
+    unittest.main()

test/test_emcy.py

@@ -218,3 +218,7 @@ def check(*args, res):
         check(res=b'\x00\x00\x00\x00\x00\x00\x00\x00')
         check(3, res=b'\x00\x00\x03\x00\x00\x00\x00\x00')
         check(3, b"\xaa\xbb", res=b'\x00\x00\x03\xaa\xbb\x00\x00\x00')
+
+
+if __name__ == "__main__":
+    unittest.main()

test/test_local.py

@@ -89,7 +89,7 @@ def test_segmented_download(self):
     def test_slave_send_heartbeat(self):
         # Setting the heartbeat time should trigger heartbeating
         # to start
-        self.remote_node.sdo["Producer heartbeat time"].raw = 1000
+        self.remote_node.sdo["Producer heartbeat time"].raw = 100
         state = self.remote_node.nmt.wait_for_heartbeat()
         self.local_node.nmt.stop_heartbeat()
         # The NMT master will change the state INITIALISING (0)
@@ -98,7 +98,7 @@ def test_slave_send_heartbeat(self):
 
     def test_nmt_state_initializing_to_preoper(self):
         # Initialize the heartbeat timer
-        self.local_node.sdo["Producer heartbeat time"].raw = 1000
+        self.local_node.sdo["Producer heartbeat time"].raw = 100
         self.local_node.nmt.stop_heartbeat()
         # This transition shall start the heartbeating
         self.local_node.nmt.state = 'INITIALISING'

test/test_network.py

@@ -1,6 +1,7 @@
 import logging
-import unittest
 import threading
+import time
+import unittest
 
 import canopen
 import can
@@ -231,59 +232,57 @@ def test_network_send_periodic(self):
         DATA1 = bytes([1, 2, 3])
         DATA2 = bytes([4, 5, 6])
         COB_ID = 0x123
-        PERIOD = 0.1
+        PERIOD = 0.01
         TIMEOUT = PERIOD * 10
-        self.network.connect(interface="virtual", receive_own_messages=True)
+        self.network.connect(interface="virtual")
         self.addCleanup(self.network.disconnect)
 
-        acc = []
-        condition = threading.Condition()
-
-        def hook(_, data, ts):
-            with condition:
-                item = data, ts
-                acc.append(item)
-                condition.notify_all()
+        bus = can.Bus(interface="virtual")
+        self.addCleanup(bus.shutdown)
 
-        self.network.subscribe(COB_ID, hook)
-        self.addCleanup(self.network.unsubscribe, COB_ID)
+        acc = []
 
         task = self.network.send_periodic(COB_ID, DATA1, PERIOD)
         self.addCleanup(task.stop)
 
-        def periodicity():
+        def wait_for_periodicity():
             # Check if periodicity is established; flakiness has been observed
             # on macOS.
-            if len(acc) >= 2:
-                delta = acc[-1][1] - acc[-2][1]
-                return round(delta, ndigits=1) == PERIOD
-            return False
+            end_time = time.time() + TIMEOUT
+            while time.time() < end_time:
+                if msg := bus.recv(PERIOD):
+                    acc.append(msg)
+                if len(acc) >= 2:
+                    first, last = acc[-2:]
+                    delta = last.timestamp - first.timestamp
+                    if round(delta, ndigits=2) == PERIOD:
+                        return
+            self.fail("Timed out")
 
         # Wait for frames to arrive; then check the result.
-        with condition:
-            condition.wait_for(periodicity, TIMEOUT)
-        self.assertTrue(all(v[0] == DATA1 for v in acc))
+        wait_for_periodicity()
+        self.assertTrue(all([v.data == DATA1 for v in acc]))
 
         # Update task data, which may implicitly restart the timer.
         # Wait for frames to arrive; then check the result.
         task.update(DATA2)
-        with condition:
-            acc.clear()
-            condition.wait_for(periodicity, TIMEOUT)
+        acc.clear()
+        wait_for_periodicity()
         # Find the first message with new data, and verify that all subsequent
         # messages also carry the new payload.
-        data = [v[0] for v in acc]
+        data = [v.data for v in acc]
+        self.assertIn(DATA2, data)
         idx = data.index(DATA2)
-        self.assertTrue(all(v[0] == DATA2 for v in acc[idx:]))
+        self.assertTrue(all([v.data == DATA2 for v in acc[idx:]]))
 
         # Stop the task.
         task.stop()
         # A message may have been in flight when we stopped the timer,
         # so allow a single failure.
         bus = self.network.bus
-        msg = bus.recv(TIMEOUT)
+        msg = bus.recv(PERIOD)
         if msg is not None:
-            self.assertIsNone(bus.recv(TIMEOUT))
+            self.assertIsNone(bus.recv(PERIOD))
 
 
 class TestScanner(unittest.TestCase):

test/test_nmt.py

@@ -1,3 +1,4 @@
+import threading
 import time
 import unittest
 
@@ -41,28 +42,28 @@ def test_state_set_invalid(self):
 
 class TestNmtMaster(unittest.TestCase):
     NODE_ID = 2
-    COB_ID = 0x700 + NODE_ID
     PERIOD = 0.01
-    TIMEOUT = PERIOD * 2
+    TIMEOUT = PERIOD * 10
 
     def setUp(self):
-        bus = can.ThreadSafeBus(
-            interface="virtual",
-            channel="test",
-            receive_own_messages=True,
-        )
-        net = canopen.Network(bus)
+        net = canopen.Network()
         net.NOTIFIER_SHUTDOWN_TIMEOUT = 0.0
-        net.connect()
+        net.connect(interface="virtual")
         with self.assertLogs():
             node = net.add_node(self.NODE_ID, SAMPLE_EDS)
 
-        self.bus = bus
+        self.bus = can.Bus(interface="virtual")
         self.net = net
         self.node = node
 
     def tearDown(self):
         self.net.disconnect()
+        self.bus.shutdown()
+
+    def dispatch_heartbeat(self, code):
+        cob_id = 0x700 + self.NODE_ID
+        hb = can.Message(arbitration_id=cob_id, data=[code])
+        self.bus.send(hb)
 
     def test_nmt_master_no_heartbeat(self):
         with self.assertRaisesRegex(NmtError, "heartbeat"):
@@ -74,47 +75,54 @@ def test_nmt_master_on_heartbeat(self):
         # Skip the special INITIALISING case.
         for code in [st for st in NMT_STATES if st != 0]:
             with self.subTest(code=code):
-                task = self.net.send_periodic(self.COB_ID, [code], self.PERIOD)
-                try:
-                    actual = self.node.nmt.wait_for_heartbeat(self.TIMEOUT)
-                finally:
-                    task.stop()
+                t = threading.Timer(0.01, self.dispatch_heartbeat, args=(code,))
+                t.start()
+                self.addCleanup(t.join)
+                actual = self.node.nmt.wait_for_heartbeat(0.1)
                 expected = NMT_STATES[code]
                 self.assertEqual(actual, expected)
 
-    def test_nmt_master_on_heartbeat_initialising(self):
-        task = self.net.send_periodic(self.COB_ID, [0], self.PERIOD)
-        self.addCleanup(task.stop)
+    def test_nmt_master_wait_for_bootup(self):
+        t = threading.Timer(0.01, self.dispatch_heartbeat, args=(0x00,))
+        t.start()
+        self.addCleanup(t.join)
         self.node.nmt.wait_for_bootup(self.TIMEOUT)
+        self.assertEqual(self.node.nmt.state, "PRE-OPERATIONAL")
+
+    def test_nmt_master_on_heartbeat_initialising(self):
+        t = threading.Timer(0.01, self.dispatch_heartbeat, args=(0x00,))
+        t.start()
+        self.addCleanup(t.join)
         state = self.node.nmt.wait_for_heartbeat(self.TIMEOUT)
         self.assertEqual(state, "PRE-OPERATIONAL")
 
     def test_nmt_master_on_heartbeat_unknown_state(self):
-        task = self.net.send_periodic(self.COB_ID, [0xcb], self.PERIOD)
-        self.addCleanup(task.stop)
+        t = threading.Timer(0.01, self.dispatch_heartbeat, args=(0xcb,))
+        t.start()
+        self.addCleanup(t.join)
         state = self.node.nmt.wait_for_heartbeat(self.TIMEOUT)
         # Expect the high bit to be masked out, and a formatted string to
         # be returned.
         self.assertEqual(state, "UNKNOWN STATE '75'")
 
     def test_nmt_master_add_heartbeat_callback(self):
-        from threading import Event
-        event = Event()
+        event = threading.Event()
         state = None
         def hook(st):
             nonlocal state
             state = st
             event.set()
         self.node.nmt.add_heartbeat_callback(hook)
-        self.net.send_message(self.COB_ID, bytes([127]))
+
+        self.dispatch_heartbeat(0x7f)
         self.assertTrue(event.wait(self.TIMEOUT))
         self.assertEqual(state, 127)
 
     def test_nmt_master_node_guarding(self):
         self.node.nmt.start_node_guarding(self.PERIOD)
         msg = self.bus.recv(self.TIMEOUT)
         self.assertIsNotNone(msg)
-        self.assertEqual(msg.arbitration_id, self.COB_ID)
+        self.assertEqual(msg.arbitration_id, 0x700 + self.NODE_ID)
         self.assertEqual(msg.dlc, 0)
 
         self.node.nmt.stop_node_guarding()

test/test_od.py

@@ -261,3 +261,7 @@ def test_subindexes(self):
         self.assertEqual(array[1].name, "Test Variable")
         self.assertEqual(array[2].name, "Test Variable 2")
         self.assertEqual(array[3].name, "Test Variable_3")
+
+
+if __name__ == "__main__":
+    unittest.main()

test/test_sdo.py

@@ -10,6 +10,43 @@
 RX = 2
 
 
+class TestSDOVariables(unittest.TestCase):
+    """Some basic assumptions on the behavior of SDO variable objects.
+
+    Mostly what is stated in the API docs.
+    """
+
+    def setUp(self):
+        node = canopen.LocalNode(1, SAMPLE_EDS)
+        self.sdo_node = node.sdo
+
+    def test_record_iter_length(self):
+        """Assume the "highest subindex supported" entry is not counted.
+
+        Sub-objects without an OD entry should be skipped as well."""
+        record = self.sdo_node[0x1018]
+        subs = sum(1 for _ in iter(record))
+        self.assertEqual(len(record), 3)
+        self.assertEqual(subs, 3)
+
+    def test_array_iter_length(self):
+        """Assume the "highest subindex supported" entry is not counted."""
+        array = self.sdo_node[0x1003]
+        subs = sum(1 for _ in iter(array))
+        self.assertEqual(len(array), 3)
+        self.assertEqual(subs, 3)
+        # Simulate more entries getting added dynamically
+        array[0].set_data(b'\x08')
+        subs = sum(1 for _ in iter(array))
+        self.assertEqual(subs, 8)
+
+    def test_array_members_dynamic(self):
+        """Check if sub-objects missing from OD entry are generated dynamically."""
+        array = self.sdo_node[0x1003]
+        for var in array.values():
+            self.assertIsInstance(var, canopen.sdo.SdoVariable)
+
+
 class TestSDO(unittest.TestCase):
     """
     Test SDO traffic by example. Most are taken from