Tests: improve coverage of NodeScanner

test/test_network.py

@@ -92,13 +92,81 @@ def hook(_, data, ts):
 
 
 class TestScanner(unittest.TestCase):
+    TIMEOUT = 0.1
 
-    def test_passive_scanning(self):
-        scanner = canopen.network.NodeScanner()
-        scanner.on_message_received(0x586)
-        scanner.on_message_received(0x587)
-        scanner.on_message_received(0x586)
-        self.assertListEqual(scanner.nodes, [6, 7])
+    def setUp(self):
+        self.scanner = canopen.network.NodeScanner()
+
+    def test_scanner_on_message_received(self):
+        self.scanner.on_message_received(0x081)
+        # Emergency frames should be recognized.
+        self.scanner.on_message_received(0x081)
+        # Heartbeats should be recognized.
+        self.scanner.on_message_received(0x703)
+        # Tx PDOs should be recognized, but not Rx PDOs.
+        self.scanner.on_message_received(0x185)
+        self.scanner.on_message_received(0x206)
+        self.scanner.on_message_received(0x287)
+        self.scanner.on_message_received(0x308)
+        self.scanner.on_message_received(0x389)
+        self.scanner.on_message_received(0x40a)
+        self.scanner.on_message_received(0x48b)
+        self.scanner.on_message_received(0x50c)
+        # SDO responses from .search() should be recognized,
+        # but not SDO requests.
+        self.scanner.on_message_received(0x58d)
+        self.scanner.on_message_received(0x50e)
+        self.assertListEqual(self.scanner.nodes, [1, 3, 5, 7, 9, 11, 13])
+
+    def test_scanner_reset(self):
+        self.scanner.nodes = [1, 2, 3]  # Mock scan.
+        self.scanner.reset()
+        self.assertListEqual(self.scanner.nodes, [])
+
+    def test_scanner_search_no_network(self):
+        with self.assertRaisesRegex(RuntimeError, "Network is required"):
+            self.scanner.search()
+
+    def test_scanner_search(self):
+        bus = can.Bus(
+            interface="virtual",
+            channel="test",
+            receive_own_messages=True,
+        )
+        net = canopen.Network(bus)
+        net.connect()
+        self.addCleanup(net.disconnect)
+
+        scanner = canopen.network.NodeScanner(net)
+        scanner.search()
+
+        payload = bytes([64, 0, 16, 0, 0, 0, 0, 0])
+        acc = [bus.recv(self.TIMEOUT) for _ in range(127)]
+        for node_id, msg in enumerate(acc, start=1):
+            with self.subTest(node_id=node_id):
+                self.assertIsNotNone(msg)
+                self.assertEqual(msg.arbitration_id, 0x600 + node_id)
+                self.assertEqual(msg.data, payload)
+        # Check that no spurious packets were sent.
+        self.assertIsNone(bus.recv(self.TIMEOUT))
+
+    def test_scanner_search_limit(self):
+        bus = can.Bus(
+            interface="virtual",
+            channel="test",
+            receive_own_messages=True,
+        )
+        net = canopen.Network(bus)
+        net.connect()
+        self.addCleanup(net.disconnect)
+
+        scanner = canopen.network.NodeScanner(net)
+        scanner.search(limit=1)
+        msg = bus.recv(self.TIMEOUT)
+        self.assertIsNotNone(msg)
+        self.assertEqual(msg.arbitration_id, 0x601)
+        # Check that no spurious packets were sent.
+        self.assertIsNone(bus.recv(self.TIMEOUT))
 
 
 if __name__ == "__main__":