16550730660

Committed 27 Jul 2025 11:41AM UTC coverage: 71.445% (+0.05%) from 71.398%

Build # 16550730660

Build Type

Pull #1962

github

Committed by

web-flow

Commit Message

Merge 0fec9c40d into afb1204c0

Pull Request Pull Request #1962: Minor Typing Improvements

Run Details

95 of 103 new or added lines in 21 files covered. (92.23%)

2 existing lines in 2 files now uncovered.

7909 of 11070 relevant lines covered (71.45%)

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88.89

/can/interfaces/cantact.py

"""
Interface for CANtact devices from Linklayer Labs
"""

import logging
import time
from collections.abc import Sequence
from typing import Any, Optional, Union
from unittest.mock import Mock

from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message

from ..exceptions import (
    CanInitializationError,
    CanInterfaceNotImplementedError,
    error_check,
)
from ..typechecking import AutoDetectedConfig
from ..util import check_or_adjust_timing_clock, deprecated_args_alias

logger = logging.getLogger(__name__)

try:
    import cantact
except ImportError:
    cantact = None
    logger.warning(
        "The CANtact module is not installed. Install it using `pip install cantact`"
    )


class CantactBus(BusABC):
    """CANtact interface"""

    @staticmethod
    def _detect_available_configs() -> Sequence[AutoDetectedConfig]:
        try:
            interface = cantact.Interface()
        except (NameError, SystemError, AttributeError):
            logger.debug(
                "Could not import or instantiate cantact, so no configurations are available"
            )
            return []

        channels: list[AutoDetectedConfig] = []
        for i in range(0, interface.channel_count()):
            channels.append({"interface": "cantact", "channel": f"ch:{i}"})
        return channels

    @deprecated_args_alias(
        deprecation_start="4.2.0", deprecation_end="5.0.0", bit_timing="timing"
    )
    def __init__(
        self,
        channel: int,
        bitrate: int = 500_000,
        poll_interval: float = 0.01,
        monitor: bool = False,
        timing: Optional[Union[BitTiming, BitTimingFd]] = None,
        **kwargs: Any,
    ) -> None:
        """
        :param int channel:
            Channel number (zero indexed, labeled on multi-channel devices)
        :param int bitrate:
            Bitrate in bits/s
        :param bool monitor:
            If true, operate in listen-only monitoring mode
        :param timing:
            Optional :class:`~can.BitTiming` instance to use for custom bit timing setting.
            If this argument is set then it overrides the bitrate argument. The
            `f_clock` value of the timing instance must be set to 24_000_000 (24MHz)
            for standard CAN.
            CAN FD and the :class:`~can.BitTimingFd` class are not supported.
        """

        if kwargs.get("_testing", False):
            self.interface = MockInterface()
        else:
            if cantact is None:
                raise CanInterfaceNotImplementedError(
                    "The CANtact module is not installed. "
                    "Install it using `python -m pip install cantact`"
                )
            with error_check(
                "Cannot create the cantact.Interface", CanInitializationError
            ):
                self.interface = cantact.Interface()

        self.channel = int(channel)
        self.channel_info = f"CANtact: ch:{channel}"
        self._can_protocol = CanProtocol.CAN_20

        # Configure the interface
        with error_check("Cannot setup the cantact.Interface", CanInitializationError):
            if isinstance(timing, BitTiming):
                timing = check_or_adjust_timing_clock(timing, valid_clocks=[24_000_000])

                # use custom bit timing
                self.interface.set_bit_timing(
                    int(channel),
                    int(timing.brp),
                    int(timing.tseg1),
                    int(timing.tseg2),
                    int(timing.sjw),
                )
            elif isinstance(timing, BitTimingFd):
                raise NotImplementedError(
                    f"CAN FD is not supported by {self.__class__.__name__}."
                )
            else:
                # use bitrate
                self.interface.set_bitrate(int(channel), int(bitrate))

            self.interface.set_enabled(int(channel), True)
            self.interface.set_monitor(int(channel), monitor)
            self.interface.start()

        super().__init__(
            channel=channel,
            bitrate=bitrate,
            poll_interval=poll_interval,
            **kwargs,
        )

    def _recv_internal(
        self, timeout: Optional[float]
    ) -> tuple[Optional[Message], bool]:
        if timeout is None:
            raise TypeError(
                f"{self.__class__.__name__} expects a numeric `timeout` value."
            )

        with error_check("Cannot receive message"):
            frame = self.interface.recv(int(timeout * 1000))
        if frame is None:
            # timeout occurred
            return None, False

        msg = Message(
            arbitration_id=frame["id"],
            is_extended_id=frame["extended"],
            timestamp=frame["timestamp"],
            is_remote_frame=frame["rtr"],
            dlc=frame["dlc"],
            data=frame["data"][: frame["dlc"]],
            channel=frame["channel"],
            is_rx=(not frame["loopback"]),  # received if not loopback frame
        )
        return msg, False

    def send(self, msg: Message, timeout: Optional[float] = None) -> None:
        with error_check("Cannot send message"):
            self.interface.send(
                self.channel,
                msg.arbitration_id,
                bool(msg.is_extended_id),
                bool(msg.is_remote_frame),
                msg.dlc,
                msg.data,
            )

    def shutdown(self) -> None:
        super().shutdown()
        with error_check("Cannot shutdown interface"):
            self.interface.stop()


def mock_recv(timeout: int) -> Optional[dict[str, Any]]:
    if timeout > 0:
        return {
            "id": 0x123,
            "extended": False,
            "timestamp": time.time(),
            "loopback": False,
            "rtr": False,
            "dlc": 8,
            "data": [1, 2, 3, 4, 5, 6, 7, 8],
            "channel": 0,
        }
    else:
        # simulate timeout when timeout = 0
        return None


class MockInterface:
    """
    Mock interface to replace real interface when testing.
    This allows for tests to run without actual hardware.
    """

    start = Mock()
    set_bitrate = Mock()
    set_bit_timing = Mock()
    set_enabled = Mock()
    set_monitor = Mock()
    stop = Mock()
    send = Mock()
    channel_count = Mock(return_value=1)

    recv = Mock(side_effect=mock_recv)

1	"""	24✔
2	Interface for CANtact devices from Linklayer Labs
3	"""
4
5	import logging	24✔
6	import time	24✔
7	from collections.abc import Sequence	24✔
8	from typing import Any, Optional, Union	24✔
9	from unittest.mock import Mock	24✔
10
11	from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message	24✔
12
13	from ..exceptions import (	24✔
14	CanInitializationError,
15	CanInterfaceNotImplementedError,
16	error_check,
17	)
18	from ..typechecking import AutoDetectedConfig	24✔
19	from ..util import check_or_adjust_timing_clock, deprecated_args_alias	24✔
20
21	logger = logging.getLogger(__name__)	24✔
22
23	try:	24✔
24	import cantact	24✔
25	except ImportError:	24✔
26	cantact = None	24✔
27	logger.warning(	24✔
28	"The CANtact module is not installed. Install it using `pip install cantact`"
29	)
30
31
32	class CantactBus(BusABC):	24✔
33	"""CANtact interface"""	24✔
34
35	@staticmethod	24✔
36	def _detect_available_configs() -> Sequence[AutoDetectedConfig]:	24✔
37	try:	24✔
38	interface = cantact.Interface()	24✔
39	except (NameError, SystemError, AttributeError):	24✔
40	logger.debug(	24✔
41	"Could not import or instantiate cantact, so no configurations are available"
42	)
43	return []	24✔
44
NEW 45	channels: list[AutoDetectedConfig] = []	×
46	for i in range(0, interface.channel_count()):	×
47	channels.append({"interface": "cantact", "channel": f"ch:{i}"})	×
48	return channels	×
49
50	@deprecated_args_alias(	24✔
51	deprecation_start="4.2.0", deprecation_end="5.0.0", bit_timing="timing"
52	)
53	def __init__(	24✔
54	self,
55	channel: int,
56	bitrate: int = 500_000,
57	poll_interval: float = 0.01,
58	monitor: bool = False,
59	timing: Optional[Union[BitTiming, BitTimingFd]] = None,
60	**kwargs: Any,
61	) -> None:
62	"""
63	:param int channel:
64	Channel number (zero indexed, labeled on multi-channel devices)
65	:param int bitrate:
66	Bitrate in bits/s
67	:param bool monitor:
68	If true, operate in listen-only monitoring mode
69	:param timing:
70	Optional :class:`~can.BitTiming` instance to use for custom bit timing setting.
71	If this argument is set then it overrides the bitrate argument. The
72	`f_clock` value of the timing instance must be set to 24_000_000 (24MHz)
73	for standard CAN.
74	CAN FD and the :class:`~can.BitTimingFd` class are not supported.
75	"""
76
77	if kwargs.get("_testing", False):	24✔
78	self.interface = MockInterface()	24✔
79	else:
80	if cantact is None:	×
81	raise CanInterfaceNotImplementedError(	×
82	"The CANtact module is not installed. "
83	"Install it using `python -m pip install cantact`"
84	)
85	with error_check(	×
86	"Cannot create the cantact.Interface", CanInitializationError
87	):
88	self.interface = cantact.Interface()	×
89
90	self.channel = int(channel)	24✔
91	self.channel_info = f"CANtact: ch:{channel}"	24✔
92	self._can_protocol = CanProtocol.CAN_20	24✔
93
94	# Configure the interface
95	with error_check("Cannot setup the cantact.Interface", CanInitializationError):	24✔
96	if isinstance(timing, BitTiming):	24✔
97	timing = check_or_adjust_timing_clock(timing, valid_clocks=[24_000_000])	24✔
98
99	# use custom bit timing
100	self.interface.set_bit_timing(	24✔
101	int(channel),
102	int(timing.brp),
103	int(timing.tseg1),
104	int(timing.tseg2),
105	int(timing.sjw),
106	)
107	elif isinstance(timing, BitTimingFd):	24✔
108	raise NotImplementedError(
109	f"CAN FD is not supported by {self.__class__.__name__}."
110	)
111	else:
112	# use bitrate
113	self.interface.set_bitrate(int(channel), int(bitrate))	24✔
114
115	self.interface.set_enabled(int(channel), True)	24✔
116	self.interface.set_monitor(int(channel), monitor)	24✔
117	self.interface.start()	24✔
118
119	super().__init__(	24✔
120	channel=channel,
121	bitrate=bitrate,
122	poll_interval=poll_interval,
123	**kwargs,
124	)
125
126	def _recv_internal(	24✔
127	self, timeout: Optional[float]
128	) -> tuple[Optional[Message], bool]:
129	if timeout is None:	24✔
NEW 130	raise TypeError(	×
131	f"{self.__class__.__name__} expects a numeric `timeout` value."
132	)
133
134	with error_check("Cannot receive message"):	24✔
135	frame = self.interface.recv(int(timeout * 1000))	24✔
136	if frame is None:	24✔
137	# timeout occurred
138	return None, False	24✔
139
140	msg = Message(	24✔
141	arbitration_id=frame["id"],
142	is_extended_id=frame["extended"],
143	timestamp=frame["timestamp"],
144	is_remote_frame=frame["rtr"],
145	dlc=frame["dlc"],
146	data=frame["data"][: frame["dlc"]],
147	channel=frame["channel"],
148	is_rx=(not frame["loopback"]), # received if not loopback frame
149	)
150	return msg, False	24✔
151
152	def send(self, msg: Message, timeout: Optional[float] = None) -> None:	24✔
153	with error_check("Cannot send message"):	24✔
154	self.interface.send(	24✔
155	self.channel,
156	msg.arbitration_id,
157	bool(msg.is_extended_id),
158	bool(msg.is_remote_frame),
159	msg.dlc,
160	msg.data,
161	)
162
163	def shutdown(self) -> None:	24✔
164	super().shutdown()	24✔
165	with error_check("Cannot shutdown interface"):	24✔
166	self.interface.stop()	24✔
167
168
169	def mock_recv(timeout: int) -> Optional[dict[str, Any]]:	24✔
170	if timeout > 0:	24✔
171	return {	24✔
172	"id": 0x123,
173	"extended": False,
174	"timestamp": time.time(),
175	"loopback": False,
176	"rtr": False,
177	"dlc": 8,
178	"data": [1, 2, 3, 4, 5, 6, 7, 8],
179	"channel": 0,
180	}
181	else:
182	# simulate timeout when timeout = 0
183	return None	24✔
184
185
186	class MockInterface:	24✔
187	"""	24✔
188	Mock interface to replace real interface when testing.
189	This allows for tests to run without actual hardware.
190	"""
191
192	start = Mock()	24✔
193	set_bitrate = Mock()	24✔
194	set_bit_timing = Mock()	24✔
195	set_enabled = Mock()	24✔
196	set_monitor = Mock()	24✔
197	stop = Mock()	24✔
198	send = Mock()	24✔
199	channel_count = Mock(return_value=1)	24✔
200
201	recv = Mock(side_effect=mock_recv)	24✔

hardbyte / python-can / 16550730660

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