adding tests for slcan FD support

Author: ssj71

test/test_slcan.py

@@ -178,6 +178,102 @@ def test_send_extended_remote(self):
         rx_msg = self.bus.recv(TIMEOUT)
         self.assertTrue(msg.equals(rx_msg, timestamp_delta=None))
 
+    def test_recv_fd(self):
+        self.serial.set_input_buffer(b"d123A303132333435363738393a3b3c3d3e3f\r")
+        msg = self.bus.recv(TIMEOUT)
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x123)
+        self.assertEqual(msg.is_extended_id, False)
+        self.assertEqual(msg.is_remote_frame, False)
+        self.assertEqual(msg.is_fd, True)
+        self.assertEqual(msg.bitrate_switch, False)
+        self.assertEqual(msg.dlc, 16)
+        self.assertSequenceEqual(msg.data, [0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F])
+
+    def test_send_fd(self):
+        payload = b"d123A303132333435363738393A3B3C3D3E3F\r"
+        msg = can.Message(
+            arbitration_id=0x123, is_extended_id=False, is_fd=True, data=[0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F]
+        )
+        self.bus.send(msg)
+        self.assertEqual(payload, self.serial.get_output_buffer())
+
+        self.serial.set_input_buffer(payload)
+        rx_msg = self.bus.recv(TIMEOUT)
+        self.assertTrue(msg.equals(rx_msg, timestamp_delta=None))
+
+    def test_recv_fd_extended(self):
+        self.serial.set_input_buffer(b"D12ABCDEFA303132333435363738393A3B3C3D3E3F\r")
+        msg = self.bus.recv(TIMEOUT)
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x12ABCDEF)
+        self.assertEqual(msg.is_extended_id, True)
+        self.assertEqual(msg.is_remote_frame, False)
+        self.assertEqual(msg.dlc, 16)
+        self.assertEqual(msg.bitrate_switch, False)
+        self.assertTrue(msg.is_fd)
+        self.assertSequenceEqual(msg.data, [0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F])
+
+    def test_send_fd_extended(self):
+        payload = b"D12ABCDEFA303132333435363738393A3B3C3D3E3F\r"
+        msg = can.Message(
+            arbitration_id=0x12ABCDEF, is_extended_id=True, is_fd=True, data=[0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F]
+        )
+        self.bus.send(msg)
+        self.assertEqual(payload, self.serial.get_output_buffer())
+
+        self.serial.set_input_buffer(payload)
+        rx_msg = self.bus.recv(TIMEOUT)
+        self.assertTrue(msg.equals(rx_msg, timestamp_delta=None))
+
+    def test_recv_fd_brs(self):
+        self.serial.set_input_buffer(b"b123A303132333435363738393a3b3c3d3e3f\r")
+        msg = self.bus.recv(TIMEOUT)
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x123)
+        self.assertEqual(msg.is_extended_id, False)
+        self.assertEqual(msg.is_remote_frame, False)
+        self.assertEqual(msg.is_fd, True)
+        self.assertEqual(msg.bitrate_switch, True)
+        self.assertEqual(msg.dlc, 16)
+        self.assertSequenceEqual(msg.data, [0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F])
+
+    def test_send_fd_brs(self):
+        payload = b"b123A303132333435363738393A3B3C3D3E3F\r"
+        msg = can.Message(
+            arbitration_id=0x123, is_extended_id=False, is_fd=True, bitrate_switch=True, data=[0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F]
+        )
+        self.bus.send(msg)
+        self.assertEqual(payload, self.serial.get_output_buffer())
+
+        self.serial.set_input_buffer(payload)
+        rx_msg = self.bus.recv(TIMEOUT)
+        self.assertTrue(msg.equals(rx_msg, timestamp_delta=None))
+
+    def test_recv_fd_brs_extended(self):
+        self.serial.set_input_buffer(b"B12ABCDEFA303132333435363738393A3B3C3D3E3F\r")
+        msg = self.bus.recv(TIMEOUT)
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x12ABCDEF)
+        self.assertEqual(msg.is_extended_id, True)
+        self.assertEqual(msg.is_remote_frame, False)
+        self.assertEqual(msg.dlc, 16)
+        self.assertEqual(msg.bitrate_switch, True)
+        self.assertTrue(msg.is_fd)
+        self.assertSequenceEqual(msg.data, [0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F])
+
+    def test_send_fd_brs_extended(self):
+        payload = b"B12ABCDEFA303132333435363738393A3B3C3D3E3F\r"
+        msg = can.Message(
+            arbitration_id=0x12ABCDEF, is_extended_id=True, is_fd=True, bitrate_switch=True, data=[0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3A, 0x3B, 0x3C, 0x3D, 0x3E, 0x3F]
+        )
+        self.bus.send(msg)
+        self.assertEqual(payload, self.serial.get_output_buffer())
+
+        self.serial.set_input_buffer(payload)
+        rx_msg = self.bus.recv(TIMEOUT)
+        self.assertTrue(msg.equals(rx_msg, timestamp_delta=None))
+
     def test_partial_recv(self):
         self.serial.set_input_buffer(b"T12ABCDEF")
         msg = self.bus.recv(TIMEOUT)