From 71344c15f4ef6efc62fbaeef830fa357ee30dce0 Mon Sep 17 00:00:00 2001
From: Damien George <damien@micropython.org>
Date: Sat, 2 Apr 2022 22:14:33 +1100
Subject: [PATCH] tests/pyb: Update CAN tests to match revised CAN API.

Signed-off-by: Damien George <damien@micropython.org>
---
 tests/pyb/can.py      | 51 ++++++++++++++++++++---------------
 tests/pyb/can.py.exp  | 63 +++++++++++++++++++++++--------------------
 tests/pyb/can2.py     | 18 ++++++-------
 tests/pyb/can2.py.exp |  6 ++---
 4 files changed, 76 insertions(+), 62 deletions(-)

diff --git a/tests/pyb/can.py b/tests/pyb/can.py
index 4ea29b0f63..020efae053 100644
--- a/tests/pyb/can.py
+++ b/tests/pyb/can.py
@@ -17,14 +17,13 @@ for bus in (-1, 0, 1, 3):
         print("ValueError", bus)
 CAN(1).deinit()
 
-CAN.initfilterbanks(14)
 can = CAN(1)
 print(can)
 
 # Test state when de-init'd
 print(can.state() == can.STOPPED)
 
-can.init(CAN.LOOPBACK)
+can.init(CAN.LOOPBACK, num_filter_banks=14)
 print(can)
 print(can.any(0))
 
@@ -61,7 +60,7 @@ else:
 # Test that recv can work without allocating memory on the heap
 
 buf = bytearray(10)
-l = [0, 0, 0, memoryview(buf)]
+l = [0, 0, 0, 0, memoryview(buf)]
 l2 = None
 
 micropython.heap_lock()
@@ -69,30 +68,30 @@ micropython.heap_lock()
 can.send("", 42)
 l2 = can.recv(0, l)
 assert l is l2
-print(l, len(l[3]), buf)
+print(l, len(l[4]), buf)
 
 can.send("1234", 42)
 l2 = can.recv(0, l)
 assert l is l2
-print(l, len(l[3]), buf)
+print(l, len(l[4]), buf)
 
 can.send("01234567", 42)
 l2 = can.recv(0, l)
 assert l is l2
-print(l, len(l[3]), buf)
+print(l, len(l[4]), buf)
 
 can.send("abc", 42)
 l2 = can.recv(0, l)
 assert l is l2
-print(l, len(l[3]), buf)
+print(l, len(l[4]), buf)
 
 micropython.heap_unlock()
 
 # Test that recv can work with different arrays behind the memoryview
 can.send("abc", 1)
-print(bytes(can.recv(0, [0, 0, 0, memoryview(array("B", range(8)))])[3]))
+print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("B", range(8)))])[4]))
 can.send("def", 1)
-print(bytes(can.recv(0, [0, 0, 0, memoryview(array("b", range(8)))])[3]))
+print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("b", range(8)))])[4]))
 
 # Test for non-list passed as second arg to recv
 can.send("abc", 1)
@@ -111,7 +110,7 @@ except ValueError:
 # Test for non-memoryview passed as 4th element to recv
 can.send("abc", 1)
 try:
-    can.recv(0, [0, 0, 0, 0])
+    can.recv(0, [0, 0, 0, 0, 0])
 except TypeError:
     print("TypeError")
 
@@ -132,19 +131,21 @@ except ValueError:
 del can
 
 # Testing extended IDs
-can = CAN(1, CAN.LOOPBACK, extframe=True)
-# Catch all filter
-can.setfilter(0, CAN.MASK32, 0, (0, 0))
+print("==== TEST extframe=True ====")
+
+can = CAN(1, CAN.LOOPBACK)
+# Catch all filter, but only for extframe's
+can.setfilter(0, CAN.MASK32, 0, (0, 0), extframe=True)
 
 print(can)
 
 try:
-    can.send("abcde", 0x7FF + 1, timeout=5000)
+    can.send("abcde", 0x7FF + 1, timeout=5000, extframe=True)
 except ValueError:
     print("failed")
 else:
     r = can.recv(0)
-    if r[0] == 0x7FF + 1 and r[3] == b"abcde":
+    if r[0] == 0x7FF + 1 and r[4] == b"abcde":
         print("passed")
     else:
         print("failed, wrong data received")
@@ -156,22 +157,24 @@ for n in [0, 8, 16, 24]:
     id_ok = 0b00001010 << n
     id_fail = 0b00011010 << n
 
-    can.clearfilter(0)
-    can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask))
+    can.clearfilter(0, extframe=True)
+    can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask), extframe=True)
 
-    can.send("ok", id_ok, timeout=3)
+    can.send("ok", id_ok, timeout=3, extframe=True)
     if can.any(0):
         msg = can.recv(0)
-        print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[3]))
+        print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))
 
-    can.send("fail", id_fail, timeout=3)
+    can.send("fail", id_fail, timeout=3, extframe=True)
     if can.any(0):
         msg = can.recv(0)
-        print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[3]))
+        print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))
 
 del can
 
 # Test RxCallbacks
+print("==== TEST rx callbacks ====")
+
 can = CAN(1, CAN.LOOPBACK)
 can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
 can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8))
@@ -248,6 +251,8 @@ print(can.recv(1))
 del can
 
 # Testing asynchronous send
+print("==== TEST async send ====")
+
 can = CAN(1, CAN.LOOPBACK)
 can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
 
@@ -277,6 +282,8 @@ while can.any(0):
     print(can.recv(0))
 
 # Testing rtr messages
+print("==== TEST rtr messages ====")
+
 bus1 = CAN(1, CAN.LOOPBACK)
 while bus1.any(0):
     bus1.recv(0)
@@ -298,6 +305,8 @@ bus1.send("", 32, rtr=True)
 print(bus1.recv(0))
 
 # test HAL error, timeout
+print("==== TEST errors ====")
+
 can = pyb.CAN(1, pyb.CAN.NORMAL)
 try:
     can.send("1", 1, timeout=50)
diff --git a/tests/pyb/can.py.exp b/tests/pyb/can.py.exp
index a27907cc52..bd8f6d60b6 100644
--- a/tests/pyb/can.py.exp
+++ b/tests/pyb/can.py.exp
@@ -4,19 +4,19 @@ CAN 1
 ValueError 3
 CAN(1)
 True
-CAN(1, CAN.LOOPBACK, extframe=False, auto_restart=False)
+CAN(1, CAN.LOOPBACK, auto_restart=False)
 False
 True
 [0, 0, 0, 0, 0, 0, 0, 0]
 True [0, 0, 0, 0, 0, 0, 1, 0]
-(123, False, 0, b'abcd')
-(2047, False, 0, b'abcd')
-(0, False, 0, b'abcd')
+(123, False, False, 0, b'abcd')
+(2047, False, False, 0, b'abcd')
+(0, False, False, 0, b'abcd')
 passed
-[42, False, 0, <memoryview>] 0 bytearray(b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00')
-[42, False, 0, <memoryview>] 4 bytearray(b'1234\x00\x00\x00\x00\x00\x00')
-[42, False, 0, <memoryview>] 8 bytearray(b'01234567\x00\x00')
-[42, False, 0, <memoryview>] 3 bytearray(b'abc34567\x00\x00')
+[42, False, False, 0, <memoryview>] 0 bytearray(b'\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00')
+[42, False, False, 0, <memoryview>] 4 bytearray(b'1234\x00\x00\x00\x00\x00\x00')
+[42, False, False, 0, <memoryview>] 8 bytearray(b'01234567\x00\x00')
+[42, False, False, 0, <memoryview>] 3 bytearray(b'abc34567\x00\x00')
 b'abc'
 b'def'
 TypeError
@@ -24,12 +24,14 @@ ValueError
 TypeError
 ValueError
 ValueError
-CAN(1, CAN.LOOPBACK, extframe=True, auto_restart=False)
+==== TEST extframe=True ====
+CAN(1, CAN.LOOPBACK, auto_restart=False)
 passed
-('0x8', '0x1c', '0xa', b'ok')
-('0x800', '0x1c00', '0xa00', b'ok')
-('0x80000', '0x1c0000', '0xa0000', b'ok')
-('0x8000000', '0x1c000000', '0xa000000', b'ok')
+('0x8', '0x1c', '0xa', True, b'ok')
+('0x800', '0x1c00', '0xa00', True, b'ok')
+('0x80000', '0x1c0000', '0xa0000', True, b'ok')
+('0x8000000', '0x1c000000', '0xa000000', True, b'ok')
+==== TEST rx callbacks ====
 cb0
 pending
 cb0
@@ -42,28 +44,31 @@ cb1
 full
 cb1a
 overflow
-(1, False, 0, b'11111111')
-(2, False, 1, b'22222222')
-(4, False, 3, b'44444444')
-(5, False, 0, b'55555555')
-(6, False, 1, b'66666666')
-(8, False, 3, b'88888888')
+(1, False, False, 0, b'11111111')
+(2, False, False, 1, b'22222222')
+(4, False, False, 3, b'44444444')
+(5, False, False, 0, b'55555555')
+(6, False, False, 1, b'66666666')
+(8, False, False, 3, b'88888888')
 cb0a
 pending
 cb1a
 pending
-(1, False, 0, b'11111111')
-(5, False, 0, b'55555555')
+(1, False, False, 0, b'11111111')
+(5, False, False, 0, b'55555555')
+==== TEST async send ====
 False
-(1, False, 0, b'abcde')
+(1, False, False, 0, b'abcde')
 passed
-(2, False, 0, b'abcde')
-(3, False, 0, b'abcde')
-(4, False, 0, b'abcde')
+(2, False, False, 0, b'abcde')
+(3, False, False, 0, b'abcde')
+(4, False, False, 0, b'abcde')
+==== TEST rtr messages ====
 False
-(5, True, 4, b'')
-(6, True, 5, b'')
-(7, True, 6, b'')
+(5, False, True, 4, b'')
+(6, False, True, 5, b'')
+(7, False, True, 6, b'')
 False
-(32, True, 9, b'')
+(32, False, True, 9, b'')
+==== TEST errors ====
 OSError(110,)
diff --git a/tests/pyb/can2.py b/tests/pyb/can2.py
index 46237ad84f..2ce438f1af 100644
--- a/tests/pyb/can2.py
+++ b/tests/pyb/can2.py
@@ -7,19 +7,19 @@ except (ImportError, ValueError):
     raise SystemExit
 
 # Testing rtr messages
-bus2 = CAN(2, CAN.LOOPBACK, extframe=True)
+bus2 = CAN(2, CAN.LOOPBACK)
 while bus2.any(0):
     bus2.recv(0)
-bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True))
-bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False))
-bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False,))
-bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True,))
+bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True), extframe=True)
+bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False), extframe=True)
+bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False,), extframe=True)
+bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(True,), extframe=True)
 
-bus2.send("", 1, rtr=True)
+bus2.send("", 1, rtr=True, extframe=True)
 print(bus2.recv(0))
-bus2.send("", 2, rtr=True)
+bus2.send("", 2, rtr=True, extframe=True)
 print(bus2.recv(0))
-bus2.send("", 3, rtr=True)
+bus2.send("", 3, rtr=True, extframe=True)
 print(bus2.recv(0))
-bus2.send("", 4, rtr=True)
+bus2.send("", 4, rtr=True, extframe=True)
 print(bus2.any(0))
diff --git a/tests/pyb/can2.py.exp b/tests/pyb/can2.py.exp
index 371ad2bdc4..3339e5cbec 100644
--- a/tests/pyb/can2.py.exp
+++ b/tests/pyb/can2.py.exp
@@ -1,4 +1,4 @@
-(1, True, 0, b'')
-(2, True, 1, b'')
-(3, True, 2, b'')
+(1, True, True, 0, b'')
+(2, True, True, 1, b'')
+(3, True, True, 2, b'')
 False