tests/pyb: Update CAN tests to match revised CAN API.
Signed-off-by: Damien George <damien@micropython.org>
This commit is contained in:
Damien George
parent
5cdf964571
commit
71344c15f4
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@ -17,14 +17,13 @@ for bus in (-1, 0, 1, 3):
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print("ValueError", bus)
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CAN(1).deinit()
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CAN.initfilterbanks(14)
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can = CAN(1)
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print(can)
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# Test state when de-init'd
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print(can.state() == can.STOPPED)
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can.init(CAN.LOOPBACK)
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can.init(CAN.LOOPBACK, num_filter_banks=14)
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print(can)
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print(can.any(0))
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@ -61,7 +60,7 @@ else:
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# Test that recv can work without allocating memory on the heap
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buf = bytearray(10)
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l = [0, 0, 0, memoryview(buf)]
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l = [0, 0, 0, 0, memoryview(buf)]
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l2 = None
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micropython.heap_lock()
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@ -69,30 +68,30 @@ micropython.heap_lock()
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can.send("", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[3]), buf)
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print(l, len(l[4]), buf)
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can.send("1234", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[3]), buf)
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print(l, len(l[4]), buf)
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can.send("01234567", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[3]), buf)
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print(l, len(l[4]), buf)
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can.send("abc", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[3]), buf)
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print(l, len(l[4]), buf)
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micropython.heap_unlock()
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# Test that recv can work with different arrays behind the memoryview
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can.send("abc", 1)
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print(bytes(can.recv(0, [0, 0, 0, memoryview(array("B", range(8)))])[3]))
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print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("B", range(8)))])[4]))
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can.send("def", 1)
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print(bytes(can.recv(0, [0, 0, 0, memoryview(array("b", range(8)))])[3]))
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print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("b", range(8)))])[4]))
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# Test for non-list passed as second arg to recv
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can.send("abc", 1)
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@ -111,7 +110,7 @@ except ValueError:
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# Test for non-memoryview passed as 4th element to recv
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can.send("abc", 1)
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try:
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can.recv(0, [0, 0, 0, 0])
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can.recv(0, [0, 0, 0, 0, 0])
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except TypeError:
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print("TypeError")
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@ -132,19 +131,21 @@ except ValueError:
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del can
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# Testing extended IDs
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can = CAN(1, CAN.LOOPBACK, extframe=True)
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# Catch all filter
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can.setfilter(0, CAN.MASK32, 0, (0, 0))
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print("==== TEST extframe=True ====")
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can = CAN(1, CAN.LOOPBACK)
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# Catch all filter, but only for extframe's
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can.setfilter(0, CAN.MASK32, 0, (0, 0), extframe=True)
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print(can)
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try:
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can.send("abcde", 0x7FF + 1, timeout=5000)
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can.send("abcde", 0x7FF + 1, timeout=5000, extframe=True)
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except ValueError:
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print("failed")
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else:
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r = can.recv(0)
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if r[0] == 0x7FF + 1 and r[3] == b"abcde":
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if r[0] == 0x7FF + 1 and r[4] == b"abcde":
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print("passed")
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else:
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print("failed, wrong data received")
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@ -156,22 +157,24 @@ for n in [0, 8, 16, 24]:
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id_ok = 0b00001010 << n
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id_fail = 0b00011010 << n
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can.clearfilter(0)
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can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask))
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can.clearfilter(0, extframe=True)
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can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask), extframe=True)
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can.send("ok", id_ok, timeout=3)
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can.send("ok", id_ok, timeout=3, extframe=True)
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if can.any(0):
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msg = can.recv(0)
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print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[3]))
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print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))
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can.send("fail", id_fail, timeout=3)
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can.send("fail", id_fail, timeout=3, extframe=True)
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if can.any(0):
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msg = can.recv(0)
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print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[3]))
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print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))
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del can
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# Test RxCallbacks
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print("==== TEST rx callbacks ====")
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can = CAN(1, CAN.LOOPBACK)
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can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
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can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8))
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@ -248,6 +251,8 @@ print(can.recv(1))
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del can
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# Testing asynchronous send
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print("==== TEST async send ====")
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can = CAN(1, CAN.LOOPBACK)
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can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
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@ -277,6 +282,8 @@ while can.any(0):
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print(can.recv(0))
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# Testing rtr messages
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print("==== TEST rtr messages ====")
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bus1 = CAN(1, CAN.LOOPBACK)
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while bus1.any(0):
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bus1.recv(0)
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@ -298,6 +305,8 @@ bus1.send("", 32, rtr=True)
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print(bus1.recv(0))
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# test HAL error, timeout
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print("==== TEST errors ====")
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can = pyb.CAN(1, pyb.CAN.NORMAL)
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try:
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can.send("1", 1, timeout=50)
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@ -4,19 +4,19 @@ CAN 1
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ValueError 3
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CAN(1)
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True
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CAN(1, CAN.LOOPBACK, extframe=False, auto_restart=False)
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CAN(1, CAN.LOOPBACK, auto_restart=False)
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False
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True
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[0, 0, 0, 0, 0, 0, 0, 0]
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True [0, 0, 0, 0, 0, 0, 1, 0]
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(123, False, 0, b'abcd')
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(2047, False, 0, b'abcd')
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(0, False, 0, b'abcd')
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(123, False, False, 0, b'abcd')
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(2047, False, False, 0, b'abcd')
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(0, False, False, 0, b'abcd')
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passed
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[42, False, 0, <memoryview>] 0 bytearray(b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00')
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[42, False, 0, <memoryview>] 4 bytearray(b'1234\x00\x00\x00\x00\x00\x00')
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[42, False, 0, <memoryview>] 8 bytearray(b'01234567\x00\x00')
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[42, False, 0, <memoryview>] 3 bytearray(b'abc34567\x00\x00')
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[42, False, False, 0, <memoryview>] 0 bytearray(b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00')
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[42, False, False, 0, <memoryview>] 4 bytearray(b'1234\x00\x00\x00\x00\x00\x00')
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[42, False, False, 0, <memoryview>] 8 bytearray(b'01234567\x00\x00')
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[42, False, False, 0, <memoryview>] 3 bytearray(b'abc34567\x00\x00')
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b'abc'
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b'def'
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TypeError
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@ -24,12 +24,14 @@ ValueError
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TypeError
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ValueError
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ValueError
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CAN(1, CAN.LOOPBACK, extframe=True, auto_restart=False)
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==== TEST extframe=True ====
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CAN(1, CAN.LOOPBACK, auto_restart=False)
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passed
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('0x8', '0x1c', '0xa', b'ok')
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('0x800', '0x1c00', '0xa00', b'ok')
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('0x80000', '0x1c0000', '0xa0000', b'ok')
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('0x8000000', '0x1c000000', '0xa000000', b'ok')
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('0x8', '0x1c', '0xa', True, b'ok')
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('0x800', '0x1c00', '0xa00', True, b'ok')
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('0x80000', '0x1c0000', '0xa0000', True, b'ok')
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('0x8000000', '0x1c000000', '0xa000000', True, b'ok')
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==== TEST rx callbacks ====
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cb0
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pending
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cb0
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@ -42,28 +44,31 @@ cb1
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full
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cb1a
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overflow
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(1, False, 0, b'11111111')
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(2, False, 1, b'22222222')
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(4, False, 3, b'44444444')
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(5, False, 0, b'55555555')
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(6, False, 1, b'66666666')
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(8, False, 3, b'88888888')
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(1, False, False, 0, b'11111111')
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(2, False, False, 1, b'22222222')
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(4, False, False, 3, b'44444444')
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(5, False, False, 0, b'55555555')
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(6, False, False, 1, b'66666666')
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(8, False, False, 3, b'88888888')
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cb0a
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pending
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cb1a
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pending
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(1, False, 0, b'11111111')
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(5, False, 0, b'55555555')
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(1, False, False, 0, b'11111111')
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(5, False, False, 0, b'55555555')
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==== TEST async send ====
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False
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(1, False, 0, b'abcde')
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(1, False, False, 0, b'abcde')
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passed
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(2, False, 0, b'abcde')
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(3, False, 0, b'abcde')
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(4, False, 0, b'abcde')
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(2, False, False, 0, b'abcde')
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(3, False, False, 0, b'abcde')
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(4, False, False, 0, b'abcde')
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==== TEST rtr messages ====
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False
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(5, True, 4, b'')
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(6, True, 5, b'')
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(7, True, 6, b'')
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(5, False, True, 4, b'')
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(6, False, True, 5, b'')
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(7, False, True, 6, b'')
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False
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(32, True, 9, b'')
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(32, False, True, 9, b'')
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==== TEST errors ====
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OSError(110,)
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@ -7,19 +7,19 @@ except (ImportError, ValueError):
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raise SystemExit
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# Testing rtr messages
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bus2 = CAN(2, CAN.LOOPBACK, extframe=True)
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bus2 = CAN(2, CAN.LOOPBACK)
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while bus2.any(0):
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bus2.recv(0)
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bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True))
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bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False))
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bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False,))
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bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True,))
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bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True), extframe=True)
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bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False), extframe=True)
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bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False,), extframe=True)
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bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True,), extframe=True)
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bus2.send("", 1, rtr=True)
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bus2.send("", 1, rtr=True, extframe=True)
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print(bus2.recv(0))
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bus2.send("", 2, rtr=True)
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bus2.send("", 2, rtr=True, extframe=True)
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print(bus2.recv(0))
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bus2.send("", 3, rtr=True)
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bus2.send("", 3, rtr=True, extframe=True)
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print(bus2.recv(0))
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bus2.send("", 4, rtr=True)
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bus2.send("", 4, rtr=True, extframe=True)
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print(bus2.any(0))
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@ -1,4 +1,4 @@
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(1, True, 0, b'')
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(2, True, 1, b'')
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(3, True, 2, b'')
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(1, True, True, 0, b'')
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(2, True, True, 1, b'')
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(3, True, True, 2, b'')
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False
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