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test_database.py
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test_database.py
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import logging
import math
import os
import re
import shutil
import timeit
import unittest
from collections import namedtuple
from xml.etree import ElementTree
import textparser
from parameterized import parameterized
import cantools.autosar
from cantools.database.utils import sort_choices_by_value, sort_signals_by_name
try:
from StringIO import StringIO
except ImportError:
from io import StringIO
import cantools
from cantools.database import Message, Signal, UnsupportedDatabaseFormatError
from cantools.database.can.formats import dbc
class CanToolsDatabaseTest(unittest.TestCase):
maxDiff = None
cache_dir = '__cache_dir'
def assertEqualChoicesDictHelper_(self, have, expect):
if have.keys() != expect.keys():
raise AssertionError(f'keys differ: {have} != {expect}')
for key in have.keys():
self.assertEqual(str(have[key]), str(expect[key]))
def assertEqualChoicesDict(self, have, expect):
if have.keys() != expect.keys():
raise AssertionError(f'keys differ: {have.keys()} != {expect.keys()}')
for key in have.keys():
self.assertEqualChoicesDictHelper_(have[key], expect[key])
def assert_dbc_dump(self, db, filename):
actual_str = db.as_dbc_string()
actual_db = cantools.database.load_string(actual_str)
# open(filename, 'wb').write(actual.encode('cp1252'))
with open(filename, 'rb') as fin:
expected_str = fin.read().decode('cp1252')
expected_db = cantools.database.load_string(expected_str)
self.assertTrue(actual_db.is_similar(expected_db))
def assert_sym_equal(self, db):
sym_str = db.as_sym_string()
cantools.database.load_string(sym_str)
self.assertTrue(db.is_similar(db, include_format_specifics=False))
def assert_kcd_equal(self, db):
kcd_str = db.as_kcd_string()
cantools.database.load_string(kcd_str)
self.assertTrue(db.is_similar(db, include_format_specifics=False))
def tearDown(self):
if os.path.exists(self.cache_dir):
shutil.rmtree(self.cache_dir)
def test_vehicle(self):
filename = 'tests/files/dbc/vehicle.dbc'
db = cantools.database.load_file(filename)
self.assertEqual(len(db.nodes), 1)
self.assertEqual(db.nodes[0].name, 'UnusedNode')
self.assertEqual(len(db.messages), 217)
self.assertEqual(db.messages[216].protocol, None)
self.assertEqual(db.messages[216].name, 'RT_SB_Gyro_Rates')
self.assertEqual(db.messages[216].frame_id, 155872546)
self.assertEqual(db.messages[216].senders, [])
self.assertEqual(str(db.messages[0]),
"message('RT_SB_INS_Vel_Body_Axes', 0x9588322, True, 8, None)")
self.assertEqual(repr(db.messages[0].signals[0]),
"signal('Validity_INS_Vel_Forwards', 0, 1, 'little_endian', "
"False, 0, 1, 0, 0, 1, 'None', False, None, None, None, {None: 'Valid when "
"bit is set, invalid when bit is clear.'})")
self.assertEqual(db.messages[0].signals[0].initial, 0)
self.assertEqual(db.messages[0].signals[0].receivers, [])
self.assertEqual(db.messages[0].cycle_time, None)
self.assertEqual(db.messages[0].send_type, None)
self.assertEqual(repr(db.nodes[0]), "node('UnusedNode', None)")
i = 0
for message in db.messages:
for signal in message.signals:
if signal.choices is not None:
i += 1
self.assertEqual(i, 15)
self.assert_dbc_dump(db, filename)
self.assert_sym_equal(db)
self.assert_kcd_equal(db)
def test_dbc_signal_initial_value(self):
filename = 'tests/files/dbc/vehicle.dbc'
db = cantools.database.load_file(filename)
message = db.get_message_by_name('RT_IMU06_Accel')
signal = message.get_signal_by_name('Validity_Accel_Longitudinal')
self.assertEqual(signal.initial, None)
self.assertEqual(
repr(signal),
"signal('Validity_Accel_Longitudinal', 0, 1, 'little_endian', False, "
"None, 1, 0, None, None, 'None', False, None, None, None, {None: 'Valid when bit is "
"set, invalid when bit is clear.'})")
signal = message.get_signal_by_name('Validity_Accel_Lateral')
self.assertEqual(signal.raw_initial, 1)
self.assertEqual(signal.initial, 1)
signal = message.get_signal_by_name('Validity_Accel_Vertical')
self.assertEqual(signal.raw_initial, 0)
self.assertEqual(signal.initial, 0)
signal = message.get_signal_by_name('Accuracy_Accel')
self.assertEqual(signal.raw_initial, 127)
self.assertEqual(signal.initial, 127)
signal = message.get_signal_by_name('Accel_Longitudinal')
self.assertEqual(signal.raw_initial, 32767)
self.assertEqual(signal.initial, 32.767)
self.assertEqual(
repr(signal),
"signal('Accel_Longitudinal', 16, 16, 'little_endian', True, 32767, "
"0.001, 0, -65, 65, 'g', False, None, None, None, {None: 'Longitudinal "
"acceleration. This is positive when the vehicle accelerates in a "
"forwards direction.'})")
signal = message.get_signal_by_name('Accel_Lateral')
self.assertEqual(signal.raw_initial, -30000)
self.assertEqual(signal.initial, -30.0)
signal = message.get_signal_by_name('Accel_Vertical')
self.assertEqual(signal.raw_initial, 16120)
self.assertEqual(signal.initial, 16.120)
def test_dbc_gensigstartval_from_raw_initial(self):
sig = Signal(name='s', start=0, length=8, raw_initial=47)
msg = Message(frame_id=0x42, name='m', length=8, signals=[sig])
expected_db = cantools.db.Database(messages=[msg])
actual_db = cantools.db.Database()
actual_db.add_dbc_string(expected_db.as_dbc_string())
self.assertEqual(
actual_db.get_message_by_name('m').get_signal_by_name('s').raw_initial,
sig.raw_initial)
def test_motohawk(self):
filename = 'tests/files/dbc/motohawk.dbc'
with open(filename) as fin:
db = cantools.db.load(fin)
self.assertEqual(db.buses, [])
self.assertEqual(len(db.nodes), 2)
self.assertEqual(db.nodes[0].name, 'PCM1')
self.assertEqual(db.nodes[1].name, 'FOO')
self.assertEqual(len(db.messages), 1)
self.assertEqual(db.messages[0].bus_name, None)
self.assertEqual(len(db.messages[0].signals[2].receivers), 2)
self.assertEqual(db.messages[0].signals[2].receivers[0], 'PCM1')
self.assertEqual(db.messages[0].signals[2].receivers[1], 'FOO')
self.assertEqual(db.messages[0].signals[1].receivers, [])
self.assert_dbc_dump(db, filename)
def test_emc32(self):
db = cantools.db.Database()
with open('tests/files/dbc/emc32.dbc') as fin:
db.add_dbc(fin)
self.assertEqual(len(db.nodes), 1)
self.assertEqual(db.nodes[0].name, 'EMV_Statusmeldungen')
self.assertEqual(len(db.messages), 1)
self.assertEqual(db.messages[0].signals[0].name, 'EMV_Aktion_Status_3')
self.assertEqual(len(db.messages[0].signals[0].receivers), 1)
self.assertEqual(db.messages[0].signals[1].name, 'EMV_Aktion_Status_4')
self.assertEqual(len(db.messages[0].signals[1].receivers), 0)
self.assertEqual(len(db.dbc.environment_variables), 17)
env_var_1 = db.dbc.environment_variables['EMC_Azimuth']
self.assertEqual(env_var_1.name, 'EMC_Azimuth')
self.assertEqual(env_var_1.env_type, 1)
self.assertEqual(env_var_1.minimum, -180)
self.assertEqual(env_var_1.maximum, 400)
self.assertEqual(env_var_1.unit, 'deg')
self.assertEqual(env_var_1.initial_value, 0)
self.assertEqual(env_var_1.env_id, 12)
self.assertEqual(env_var_1.access_type, 'DUMMY_NODE_VECTOR0')
self.assertEqual(env_var_1.access_node, 'Vector__XXX')
self.assertEqual(env_var_1.comment, 'Elevation Head')
self.assertEqual(
repr(env_var_1),
"environment_variable('EMC_Azimuth', 1, -180, 400, 'deg', 0, 12,"
" 'DUMMY_NODE_VECTOR0', 'Vector__XXX', 'Elevation Head')")
env_var_2 = db.dbc.environment_variables['EMC_TrdPower']
self.assertEqual(env_var_2.name, 'EMC_TrdPower')
self.assertEqual(env_var_2.comment, None)
#
# Test setters
env_var_2.env_type = 1
env_var_2.minimum = -180
env_var_2.maximum = 400
env_var_2.unit = 'deg'
env_var_2.initial_value = 0
env_var_2.env_id = 12
env_var_2.access_type = 'DUMMY_NODE_VECTOR0'
env_var_2.access_node = 'Vector__XXX'
env_var_2.comment = 'Elevation Head'
self.assertEqual(env_var_2.env_type, 1)
self.assertEqual(env_var_2.minimum, -180)
self.assertEqual(env_var_2.maximum, 400)
self.assertEqual(env_var_2.unit, 'deg')
self.assertEqual(env_var_2.initial_value, 0)
self.assertEqual(env_var_2.env_id, 12)
self.assertEqual(env_var_2.access_type, 'DUMMY_NODE_VECTOR0')
self.assertEqual(env_var_2.access_node, 'Vector__XXX')
self.assertEqual(env_var_2.comment, 'Elevation Head')
self.assertEqual(
repr(env_var_2),
"environment_variable('EMC_TrdPower', 1, -180, 400, 'deg', 0, 12,"
" 'DUMMY_NODE_VECTOR0', 'Vector__XXX', 'Elevation Head')")
def test_foobar(self):
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/foobar.dbc')
self.assertEqual(len(db.nodes), 4)
self.assertEqual(db.version, '2.0')
self.assertEqual(
repr(db),
"version('2.0')\n"
"\n"
"node('FOO', None)\n"
"node('BAR', 'fam \"1\"')\n"
"node('FIE', None)\n"
"node('FUM', None)\n"
"\n"
"message('Foo', 0x12330, True, 8, {None: 'Foo.'})\n"
" signal('Foo', 0, 12, 'big_endian', True, None, 0.01, "
"250, 229.53, 270.47, 'degK', False, None, None, None, None)\n"
" signal('Bar', 24, 32, 'big_endian', True, None, 0.1, "
"0, 0, 5, 'm', False, None, None, None, {None: 'Bar.'})\n"
"\n"
"message('Fum', 0x12331, True, 5, None)\n"
" signal('Fum', 0, 12, 'little_endian', True, None, 1, 0, 0, 10, "
"'None', False, None, None, None, None)\n"
" signal('Fam', 12, 12, 'little_endian', True, None, 1, 0, "
"0, 8, 'None', False, None, {1: \'Enabled\', 0: \'Disabled\'}, None, None)\n"
"\n"
"message('Bar', 0x12332, True, 4, None)\n"
" signal('Binary32', 0, 32, 'little_endian', True, None, 1, 0, None, "
"None, 'None', False, None, None, None, None)\n"
"\n"
"message('CanFd', 0x12333, True, 64, None)\n"
" signal('Fie', 0, 64, 'little_endian', False, None, 1, 0, None, None, "
"'None', False, None, None, None, None)\n"
" signal('Fas', 64, 64, 'little_endian', False, None, 1, 0, None, None, "
"'None', False, None, None, None, None)\n"
"\n"
"message('FOOBAR', 0x30c, False, 8, None)\n"
" signal('ACC_02_CRC', 0, 12, 'little_endian', True, None, 1, 0, 0, 1, "
"'None', False, None, None, None, None)\n")
self.assertEqual(len(db.buses), 1)
self.assertEqual(db.buses[0].name, 'TheBusName')
self.assertEqual(db.buses[0].comment, None)
self.assertEqual(db.buses[0].baudrate, 125000)
message = db.get_message_by_frame_id(0x12331)
self.assertEqual(message.name, 'Fum')
self.assertEqual(message.bus_name, 'TheBusName')
self.assertEqual(message.senders, ['FOO'])
self.assertEqual(message.signals[0].is_float, False)
message = db.get_message_by_frame_id(0x12332)
self.assertEqual(message.name, 'Bar')
self.assertEqual(message.bus_name, 'TheBusName')
self.assertEqual(message.senders, ['FOO', 'BAR'])
self.assertEqual(message.signals[0].receivers, ['FUM'])
self.assertEqual(message.signals[0].is_float, True)
self.assertEqual(message.signals[0].length, 32)
message = db.get_message_by_frame_id(0x12333)
self.assertEqual(message.name, 'CanFd')
self.assertEqual(message.bus_name, 'TheBusName')
self.assertEqual(message.senders, ['FOO'])
self.assertEqual(message.signals[0].receivers, ['FUM'])
self.assertEqual(message.signals[0].is_float, False)
self.assertEqual(message.signals[0].length, 64)
def test_foobar_encode_decode(self):
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/foobar.dbc')
messages = [
(
'Foo',
{'Foo': 250, 'Bar': 0.0},
b'\x00\x00\x00\x00\x00\x00\x00\x00'
),
(
'Fum',
{'Fum': 9, 'Fam': 5},
b'\x09\x50\x00\x00\x00'
),
(
'Bar',
{'Binary32': 1.0},
b'\x00\x00\x80\x3f'
),
(
'CanFd',
{'Fie': 0x123456789abcdef, 'Fas': 0xdeadbeefdeadbeef},
b'\xef\xcd\xab\x89\x67\x45\x23\x01'
b'\xef\xbe\xad\xde\xef\xbe\xad\xde'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
)
]
for name, decoded_message, encoded_message in messages:
encoded = db.encode_message(name, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(name, encoded)
self.assertEqual(decoded, decoded_message)
def test_foobar_encode_decode_frame_ids(self):
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/foobar.dbc')
messages = [
(
0x12330,
{'Foo': 250, 'Bar': 0.0},
b'\x00\x00\x00\x00\x00\x00\x00\x00'
),
(
0x12331,
{'Fum': 9, 'Fam': 5},
b'\x09\x50\x00\x00\x00'
),
(
0x12332,
{'Binary32': 1.0},
b'\x00\x00\x80\x3f'
),
(
0x12333,
{'Fie': 0x123456789abcdef, 'Fas': 0xdeadbeefdeadbeef},
b'\xef\xcd\xab\x89\x67\x45\x23\x01'
b'\xef\xbe\xad\xde\xef\xbe\xad\xde'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
b'\x00\x00\x00\x00\x00\x00\x00\x00'
)
]
for frame_id, decoded_message, encoded_message in messages:
encoded = db.encode_message(frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(frame_id, encoded)
self.assertEqual(decoded, decoded_message)
def test_foobar_decode_masked_frame_id(self):
db = cantools.db.Database(frame_id_mask=0xff)
db.add_dbc_file('tests/files/dbc/foobar.dbc')
frame_ids = [
0x12331,
0xfff31,
0x00031
]
for frame_id in frame_ids:
db.get_message_by_frame_id(frame_id)
def test_dbc_dump_val_table(self):
filename = 'tests/files/dbc/val_table.dbc'
db = cantools.database.load_file(filename)
self.assertEqual(
db.dbc.value_tables,
{
'Table3': {16: '16', 0: '0', 2: '2', 7: '7'},
'Table2': {},
'Table1': {0: 'Zero', 1: 'One'}
})
self.assert_dbc_dump(db, filename)
def test_dbc_load_empty_choice(self):
filename = 'tests/files/dbc/empty_choice.dbc'
db = cantools.database.load_file(filename)
message = db.get_message_by_frame_id(10)
self.assertEqual(message.signals[0].name, 'non_empty_choice')
self.assertEqual(message.signals[0].choices,
{254: 'Error', 255: 'Not available'})
self.assertEqual(message.signals[1].name, 'empty_choice')
self.assertEqual(message.signals[1].choices, None)
self.assertEqual(message.signals[2].name, 'no_choice')
self.assertEqual(message.signals[2].choices, None)
def test_dbc_load_choices(self):
filename = 'tests/files/dbc/choices.dbc'
db = cantools.database.load_file(filename)
msg = db.messages[0]
sig = msg.signals[0]
self.assertEqual(sig.choices[0].value, 0)
self.assertEqual(sig.choices[0].name, 'With space')
def test_dbc_load_choices_issue_with_name(self):
filename = 'tests/files/dbc/choices_issue_with_name.dbc'
db = cantools.database.load_file(filename, prune_choices=False)
msg = db.messages[0]
sig = msg.signals[0]
self.assertEqual(sig.choices[0].value, 0)
self.assertEqual(sig.choices[0].name, 'SignalWithChoices_CmdRespErr')
self.assertEqual(sig.choices[1].value, 1)
self.assertEqual(sig.choices[1].name, 'SignalWithChoices_CmdRespOK')
db = cantools.database.load_file(filename, prune_choices=True)
msg = db.messages[0]
sig = msg.signals[0]
self.assertEqual(sig.choices[0].value, 0)
self.assertEqual(sig.choices[0].name, 'CmdRespErr')
self.assertEqual(sig.choices[1].value, 1)
self.assertEqual(sig.choices[1].name, 'CmdRespOK')
# make sure that the default for pruning signal choices is False
db = cantools.database.load_file(filename)
msg = db.messages[0]
sig = msg.signals[0]
self.assertEqual(sig.choices[0].value, 0)
self.assertEqual(sig.choices[0].name, 'SignalWithChoices_CmdRespErr')
self.assertEqual(sig.choices[1].value, 1)
self.assertEqual(sig.choices[1].name, 'SignalWithChoices_CmdRespOK')
def test_padding_bit_order(self):
"""Encode and decode signals with reversed bit order.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/padding_bit_order.dbc')
# Message 0.
msg0_frame_id = 1
decoded_message = {
'B': 1, # should set byte[0]bit[7]=1
'A': 0x2c9, # should set byte[0]bit[1]=1 and byte[1]=c9
'D': 0, # should set byte[5]bit[7]=0
'C': 0x2c9 # should set byte[4]bit[1]=1 and byte [5]=c9
}
encoded_message = b'\x82\xc9\x00\x00\x02\xc9\x00\x00'
encoded = db.encode_message(msg0_frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(msg0_frame_id, encoded)
self.assertEqual(decoded, decoded_message)
# Message 1.
msg1_frame_id = 2
decoded_message = {
'E': 1, # should set byte[0]bit[0]=1
'F': 0x2c9, # should set byte[0]bit[7:1]=92 and byte[1]=05
'G': 0, # should set byte[4]bit[0]=0
'H': 0x2c9 # should set byte[4]bit[7:1]=92 and byte[5]=05
}
encoded_message = b'\x93\x05\x00\x00\x92\x05\x00\x00'
encoded = db.encode_message(msg1_frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(msg1_frame_id, encoded)
self.assertEqual(decoded, decoded_message)
# Message 2.
msg2_frame_id = 3
decoded_message = {
'I': 1, # should set byte[0]bit[3:0]=1
'J': 2, # should set byte[0]bit[7:4]=2
'K': 3 # should set byte[1]bit[3:0]=3
}
encoded_message = b'\x21\x03\x00\x00\x00\x00\x00\x00'
encoded = db.encode_message(msg2_frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(msg2_frame_id, encoded)
self.assertEqual(decoded, decoded_message)
# Message 3.
msg3_frame_id = 4
decoded_message = {
'L': 0x0123456789abcdef
}
encoded_message = b'\x01\x23\x45\x67\x89\xab\xcd\xef'
encoded = db.encode_message(msg3_frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(msg3_frame_id, encoded)
self.assertEqual(decoded, decoded_message)
# Message 4.
msg4_frame_id = 5
decoded_message = {
'M': 0x0123456789abcdef
}
encoded_message = b'\xef\xcd\xab\x89\x67\x45\x23\x01'
encoded = db.encode_message(msg4_frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(msg4_frame_id, encoded)
self.assertEqual(decoded, decoded_message)
def test_motohawk_encode_decode(self):
"""Encode and decode the signals in a ExampleMessage frame.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/motohawk.dbc')
example_message_name = 'ExampleMessage'
example_message_frame_id = 496
# Encode and decode with non-enumerated values. Temperature
# 229.53 is encoded as a negative value.
datas = [
(
{
'Temperature': 250.55,
'AverageRadius': 3.2,
'Enable': 1
},
b'\xc0\x06\xe0\x00\x00\x00\x00\x00'
),
(
{
'Temperature': 229.53,
'AverageRadius': 0,
'Enable': 0
},
b'\x01\x00\x20\x00\x00\x00\x00\x00'
)
]
for decoded_message, encoded_message in datas:
encoded = db.encode_message(example_message_frame_id,
decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(example_message_frame_id,
encoded,
decode_choices=False)
self.assertEqual(decoded, decoded_message)
# check that encode(decode(encode(decoded))) == encode(decoded)
encoded2 = db.encode_message(example_message_frame_id, decoded)
self.assertEqual(encoded2, encoded)
# Make sure that the decoded message dictionary does not
# contain any unknown entries
decoded_message = datas[0][0]
decoded_message["UnspecifiedSignal"] = "pointless"
with self.assertRaises(cantools.database.EncodeError):
db.encode_message(example_message_frame_id,
decoded_message)
# make sure that we don't get this error if we use non-strict
# encoding
db.encode_message(example_message_frame_id,
decoded_message,
strict=False)
# Encode with enumerated values.
decoded_message = {
'Temperature': 250.55,
'AverageRadius': 3.2,
'Enable': 'Enabled'
}
encoded_message = b'\xc0\x06\xe0\x00\x00\x00\x00\x00'
# By frame id.
encoded = db.encode_message(example_message_frame_id, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(example_message_frame_id, encoded)
self.assertEqual(decoded, decoded_message)
# check that encode(decode(data)) == data
encoded2 = db.encode_message(example_message_frame_id, decoded)
self.assertEqual(encoded2, encoded)
# By name.
encoded = db.encode_message(example_message_name, decoded_message)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(example_message_name, encoded)
self.assertEqual(decoded, decoded_message)
# make sure that unknown signals are not accepted in
# strict mode
filename = 'tests/files/dbc/multiplex_choices.dbc'
db = cantools.database.load_file(filename)
decoded_message = {
# the following signals are required by MULTIPLEXOR_8
'Multiplexor': 'MULTIPLEXOR_8',
'BIT_J': 0,
'BIT_C': 0,
'BIT_G': 0,
'BIT_L': 0,
# BIT_A is only featured by MULTIPLEXOR_24
'BIT_A': 0,
}
with self.assertRaises(cantools.database.EncodeError):
db.encode_message("Message2",
decoded_message)
def test_motohawk_decode_truncated(self):
"""Decoding truncated frames.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/motohawk.dbc')
msgname = 'ExampleMessage'
with self.assertRaises(cantools.database.DecodeError):
db.decode_message(msgname, b'\x00\xff')
decoded = db.decode_message(msgname, b'\x00\x11', allow_truncated=True)
self.assertEqual(decoded, {'AverageRadius': 0.0, 'Enable': 'Disabled'})
msg = db.get_message_by_name(msgname)
with self.assertRaises(cantools.database.DecodeError):
msg.decode(b'\x00\xff')
decoded = msg.decode(b'\x00\xff', allow_truncated=True)
self.assertEqual(decoded, {'AverageRadius': 0.0, 'Enable': 'Disabled'})
def test_decode_truncated_multiplexed(self):
db = cantools.database.load_file('tests/files/dbc/multiplex.dbc')
msg = db.get_message_by_name('Message1')
encoded = bytes.fromhex('60008c35c3000000')
decoded_full = msg.decode(encoded)
# the last byte of the message does not encode any signals,
# but the specified frame length must still be observed!
with self.assertRaises(cantools.database.DecodeError):
msg.decode(encoded[:-1])
# partial message without omitted signals
self.assertEqual(msg.decode(encoded[:-1], allow_truncated=True),
decoded_full)
# partial message with omitted signals
self.assertEqual(msg.decode(encoded[:-4], allow_truncated=True),
{
'Multiplexor': 24,
'BIT_J': 1,
'BIT_C': 1,
'BIT_G': 1,
'BIT_L': 1,
'BIT_A': 1,
'BIT_K': 1,
'BIT_E': 1
})
# partial message with omitted multiplexor signal
self.assertEqual(msg.decode(b'', allow_truncated=True), {})
def test_big_endian_no_decode_choices(self):
"""Decode a big endian signal with `decode_choices` set to False.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/motohawk.dbc')
decoded_message = {
'Temperature': 250.55,
'AverageRadius': 3.2,
'Enable': 1
}
encoded_message = b'\xc0\x06\xe0\x00\x00\x00\x00\x00'
decoded = db.decode_message(496,
encoded_message,
decode_choices=False)
self.assertEqual(decoded, decoded_message)
def test_little_endian_no_decode_choices(self):
"""Decode a little endian signal with `decode_choices` set to False.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/socialledge.dbc')
decoded_message = {
'DRIVER_HEARTBEAT_cmd': 1
}
encoded_message = b'\x01\x00\x00\x00\x00\x00\x00\x00'
decoded = db.decode_message(100,
encoded_message,
decode_choices=False)
self.assertEqual(decoded, decoded_message)
decoded_message = {
'DRIVER_HEARTBEAT_cmd': 'DRIVER_HEARTBEAT_cmd_SYNC'
}
decoded = db.decode_message(100,
encoded_message)
self.assertEqual(decoded, decoded_message)
def test_encode_decode_no_scaling(self):
"""Encode and decode a message without scaling the signal values.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/motohawk.dbc')
decoded_message = {
'Temperature': 55,
'AverageRadius': 32,
'Enable': 'Enabled'
}
encoded_message = b'\xc0\x06\xe0\x00\x00\x00\x00\x00'
encoded = db.encode_message(496,
decoded_message,
scaling=False)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(496,
encoded,
scaling=False)
self.assertEqual(decoded, decoded_message)
def test_encode_signal_strict(self):
"""Test signal out of range errors.
"""
db = cantools.database.load_file('tests/files/kcd/signal_range.kcd')
# Values in range.
datas = [
('Message2', 3),
('Message3', 0)
]
for message_name, signal_value in datas:
db.encode_message(message_name, {'Signal1': signal_value})
# Values out of range.
datas = [
(
'Message1',
0,
'Expected signal "Signal1" value greater than or equal to 1 in '
'message "Message1", but got 0.'
),
(
'Message1',
3,
'Expected signal "Signal1" value smaller than or equal to 2 in '
'message "Message1", but got 3.'
),
(
'Message2',
0,
'Expected signal "Signal1" value greater than or equal to 1 in '
'message "Message2", but got 0.'
),
(
'Message3',
3,
'Expected signal "Signal1" value smaller than or equal to 2 in '
'message "Message3", but got 3.'
),
(
'Message4',
1.9,
'Expected signal "Signal1" value greater than or equal to 2 in '
'message "Message4", but got 1.9.'
),
(
'Message4',
8.1,
'Expected signal "Signal1" value smaller than or equal to 8 in '
'message "Message4", but got 8.1.'
)
]
for message_name, signal_value, error_message in datas:
with self.assertRaises(cantools.database.EncodeError) as cm:
db.encode_message(message_name, {'Signal1': signal_value})
self.assertEqual(str(cm.exception), error_message)
# Values out of range, but range checks disabled.
datas = [
('Message1', 0),
('Message1', 3)
]
for message_name, signal_value in datas:
db.encode_message(message_name,
{'Signal1': signal_value},
strict=False)
# Missing value.
with self.assertRaises(cantools.database.EncodeError) as cm:
db.encode_message('Message1', {'Foo': 1})
self.assertEqual(
str(cm.exception),
'The signal "Signal1" is required for encoding.')
# Missing value, but checks disabled.
with self.assertRaises(KeyError):
db.encode_message('Message1', {'Foo': 1}, strict=False)
@parameterized.expand(
[
("Error", True, b'\x0f\xff'),
("Error", False, b'\x0f\xff'),
("Init", True, b'\x0f\xfe'),
("Init", False, b'\x0f\xfe'),
(4070.00, True, b'\x0b\xb8'),
(4069.99, True, None), # scaled value < minimum
(4059.06, True, b'\x0f\xfe'), # scaled value corresponds to enum value "Init"
(4059.05, True, b'\x0f\xff'), # scaled value corresponds to enum value "Error"
(3000, False, b'\x0b\xb8'),
(3001, False, None), # raw value < minimum
(4100, True, b'\x00\x00'),
(4100.01, True, None), # scaled value > maximum
(4095, True, b'\x01\xf4'),
(4095, False, b'\x0f\xff'),
(4094, True, b'\x02\x58'),
(4094, False, b'\x0f\xfe'),
(0, False, b'\x00\x00'),
(-1, False, None), # raw value outside unsigned 12bit range
(4096, False, None), # raw value outside unsigned 12bit range
]
)
def test_encode_signal_strict_negative_scaling(self, value, scaling, expected_result):
"""Test encoding of a signal with negative scaling (=-0.01),
a value range from 4070-4100 and a value table."""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/issue_636_negative_scaling.dbc')
msg = db.get_message_by_name("ExampleMessage")
data = {"Temperature": value}
try:
_result = msg.encode(data=data, scaling=scaling, strict=True)
self.assertEqual(expected_result, _result)
except cantools.database.EncodeError:
if expected_result is not None:
raise
def test_encode_decode_no_scaling_no_decode_choices(self):
"""Encode and decode a message without scaling the signal values, not
decoding choices.
"""
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/motohawk.dbc')
decoded_message = {
'Temperature': 3,
'AverageRadius': 2,
'Enable': 1
}
encoded_message = b'\x84\x00\x60\x00\x00\x00\x00\x00'
encoded = db.encode_message(496,
decoded_message,
scaling=False)
self.assertEqual(encoded, encoded_message)
decoded = db.decode_message(496,
encoded,
decode_choices=False,
scaling=False)
self.assertEqual(decoded, decoded_message)
def test_socialledge(self):
db = cantools.db.Database()
db.add_dbc_file('tests/files/dbc/socialledge.dbc')
# Verify nodes.
self.assertEqual(len(db.nodes), 5)
self.assertEqual(db.nodes[0].name, 'DBG')
self.assertEqual(db.nodes[0].comment, None)
self.assertEqual(db.nodes[1].name, 'DRIVER')
self.assertEqual(db.nodes[1].comment,
'// The driver controller driving the car //')
self.assertEqual(db.nodes[2].name, 'IO')
self.assertEqual(db.nodes[2].comment, None)
self.assertEqual(db.nodes[3].name, 'MOTOR')
self.assertEqual(db.nodes[3].comment,
'The motor controller of the car')
self.assertEqual(db.nodes[4].name, 'SENSOR')
self.assertEqual(db.nodes[4].comment,
'The sensor controller of the car')
# Verify messages and their signals.
self.assertEqual(len(db.messages), 5)
self.assertEqual(db.messages[0].name, 'DRIVER_HEARTBEAT')
self.assertEqual(db.messages[0].comment,
'Sync message used to synchronize the controllers')
self.assertEqual(db.messages[0].signals[0].choices[0],
'DRIVER_HEARTBEAT_cmd_NOOP')
self.assertEqual(db.messages[0].signals[0].choices[1],
'DRIVER_HEARTBEAT_cmd_SYNC')
self.assertEqual(db.messages[0].signals[0].choices[2],
'DRIVER_HEARTBEAT_cmd_REBOOT')
self.assertEqual(db.messages[1].name, 'IO_DEBUG')
self.assertEqual(db.messages[2].name, 'MOTOR_CMD')
self.assertEqual(db.messages[3].name, 'MOTOR_STATUS')
self.assertEqual(db.messages[4].name, 'SENSOR_SONARS')
sensor_sonars = db.messages[-1]
self.assertFalse(db.messages[0].is_multiplexed())
self.assertTrue(sensor_sonars.is_multiplexed())
self.assertEqual(sensor_sonars.signals[-1].name, 'SENSOR_SONARS_no_filt_rear')
self.assertEqual(sensor_sonars.signals[-1].multiplexer_ids, [1])
self.assertEqual(sensor_sonars.signals[2].name, 'SENSOR_SONARS_left')
self.assertEqual(sensor_sonars.signals[2].multiplexer_ids, [0])
self.assertEqual(sensor_sonars.signals[0].name, 'SENSOR_SONARS_mux')
self.assertEqual(sensor_sonars.signals[0].is_multiplexer, True)
sensor_sonars.assert_signals_encodable({
'SENSOR_SONARS_mux': 0,
'SENSOR_SONARS_err_count': 1,
'SENSOR_SONARS_left': 2,
'SENSOR_SONARS_middle': 3,
'SENSOR_SONARS_right': 4,
'SENSOR_SONARS_rear': 5,
#'foo':'bar',
}, scaling=True)
with self.assertRaises(cantools.database.EncodeError):
sensor_sonars.assert_signals_encodable(123, scaling=True)
self.assertEqual(sensor_sonars.signal_tree,
[
{
'SENSOR_SONARS_mux': {
0: [
'SENSOR_SONARS_left',
'SENSOR_SONARS_middle',
'SENSOR_SONARS_right',
'SENSOR_SONARS_rear'