src.dualinventive.com/dinet/libdi-php/libdi/tests/can_send.cpp

/**
 * @file tests/can_rpc.cpp
 * @brief brief
 * @date Aug 25, 2015
 * @author rheijden
 * @copyright 2015 Dual Inventive Technology Centre B.V.
 *
 * descr
 */
#include <cstdio>
#include "tests/can.h"
#include <di/can.h>
#include <di/can/frame.h>
#include <gtest/gtest.h>
#include <vector>

extern "C" {
#include "can.c"
}

static int test_send_cb_cnt = 0;

TEST_CAN_INIT_DECL

void test_reset_cnt(void)
{
	test_send_cb_cnt = 0;
}

static std::vector<struct di_can_frame_rx> g_frames_send;

static di_errno_t test_can_send_cb(const struct di_can_frame_tx *frame)
{
	struct di_can_frame_rx rx;

	rx.canid = frame->canid;
	rx.size  = (uint16_t)frame->size;
	memcpy(rx.buf, frame->buf, rx.size);

	g_frames_send.push_back(rx);

	return DNOK;
}

/** Initialize send/recv callbacks */
TEST(can_send, set_callback) {
	di_can_callback_set_send(&can_ctx, test_can_send_cb);
}

/**
 * Test sending invalid message
 * 1. msg  = NULL
 * 2. *msg = NULL
 * 3. (*msg)->private_data (di_can_ctx) = NULL
 */
TEST(can_send, invalid) {
	struct di_can_msg *msg = NULL;
	struct di_can_msg m;

	ASSERT_EQ(DNE_PARAM, di_can_send(NULL));
	ASSERT_EQ(DNE_PARAM, di_can_send(&msg));

	m.size         = 0;
	m.size_written = 0;
	m.msg          = NULL;
	m.buf          = NULL;
	m.ctx          = NULL;

	msg = &m;
	ASSERT_EQ(DNE_PARAM, di_can_send(&msg));
}

/**
 * Send CAN message, this writes a SFT when msg->size == 0
 * Check:
 *   * src_id field is set from ctx->nodeid
 *   * dst_id is set from msg->dst_id
 */
TEST(can_send, sft) {
	struct di_can_msg *msg;

	msg = di_can_msg_alloc(&can_ctx);
	ASSERT_NE((void *)NULL, msg);

	msg->canid  = 0;
	DI_CAN_SET_DATATYPE(msg->canid, 0x123);
	msg->size   = 0;
	can_ctx.nodeid = 0xdeadbeef;
	msg->dst_id    = 0xcafebabe;

	di_can_send(&msg);
	ASSERT_EQ((void *)NULL, msg);

	static const struct di_can_frame_rx tvs[] = {
		{ 0, 0, 8, 0x01230001, {0xde, 0xad, 0xbe, 0xef, 0xca, 0xfe, 0xba, 0xbe}, NULL }
	};

	size_t n = 0;

	ASSERT_EQ(DI_ARRAY_SIZE(tvs), g_frames_send.size());
	for(auto f: g_frames_send) {
		printf("   got: "); test_can_print_frame_rx(&f);
		printf("expect: "); test_can_print_frame_rx(&tvs[n]);
		printf("\n");

		ASSERT_EQ(tvs[n].canid, f.canid);
		EXPECT_EQ(tvs[n].size,  f.size);
		EXPECT_EQ(0U, memcmp(tvs[n].buf, f.buf, tvs[n].size));
		n++;
	}

	g_frames_send.clear();
}

/**
 * Check if di_can_send sends the correct amount of multi-frames (MFT)
 * Sends a 16 byte payload (0x00 filled)
 * Check:
 *   * src_id field is set from ctx->nodeid
 *   * dst_id is set from msg->dst_id
 */
TEST(can_send, mft_two_payload_frames) {
	struct di_can_msg *msg;

	can_ctx.transaction = 0;

	msg = di_can_msg_alloc(&can_ctx);
	ASSERT_NE((void *)NULL, msg);

	msg->canid  = 0;
	DI_CAN_SET_DATATYPE(msg->canid, 0x321);
	msg->size   = 16;
	can_ctx.nodeid = 0x00001337;
	msg->dst_id    = 0x00008888;

	di_buffer_flush(msg->buf);

	di_can_send(&msg);
	ASSERT_EQ((void *)NULL, msg);

	static const struct di_can_frame_rx tvs[] = {
		{ 0, 0, 8, 0x03210000, {0x00, 0x00, 0x13, 0x37, 0x00, 0x00, 0x88, 0x88}, NULL }, // Source/Destination Node ID
		{ 0, 0, 8, 0x03210020, {0x00, 0x00, 0x10, 0x6a, 0x0a, 0x00, 0x00, 0x00}, NULL }, // MFT metadata frame (ptype, psize, pcrc)
		{ 0, 0, 8, 0x03210040, {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, NULL }, // Transfer Payload Data frame 1
		{ 0, 0, 8, 0x03210061, {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, NULL }, // Transfer Payload Data frame 2
	};

	size_t n = 0;

	ASSERT_EQ(DI_ARRAY_SIZE(tvs), g_frames_send.size());
	for(auto f: g_frames_send) {
		printf("   got: "); test_can_print_frame_rx(&f);
		printf("expect: "); test_can_print_frame_rx(&tvs[n]);
		printf("\n");
		ASSERT_EQ(tvs[n].canid, f.canid);
		EXPECT_EQ(tvs[n].size,  f.size);
		EXPECT_EQ(0U, memcmp(tvs[n].buf, f.buf, tvs[n].size));
		n++;
	}

	g_frames_send.clear();
}

/**
 * Send CAN message, this writes a SFT when msg->size == 0
 * Check:
 *   * src_id field is set from ctx->nodeid
 *   * dst_id is DI_CAN_NODEID_BROADCAST when msg->broadcast = true
 */
TEST(can_send, sft_broadcast) {
	struct di_can_msg *msg;

	can_ctx.transaction = 0;

	msg = di_can_msg_alloc(&can_ctx);
	ASSERT_NE((void *)NULL, msg);

	msg->canid  = 0;
	DI_CAN_SET_DATATYPE(msg->canid, 0x123);
	msg->size   = 0;
	can_ctx.nodeid = 0xdeadbeef;
	msg->dst_id = DI_CAN_NODEID_BROADCAST;

	di_can_send(&msg);
	ASSERT_EQ((void *)NULL, msg);

	static const struct di_can_frame_rx tvs[] = {
		{ 0, 0, 8, 0x01230001, {0xde, 0xad, 0xbe, 0xef, 0xff, 0xff, 0xff, 0xff}, NULL }
	};

	size_t n = 0;

	ASSERT_EQ(DI_ARRAY_SIZE(tvs), g_frames_send.size());
	for(auto f: g_frames_send) {
		printf("   got: "); test_can_print_frame_rx(&f);
		printf("expect: "); test_can_print_frame_rx(&tvs[n]);
		printf("\n");

		ASSERT_EQ(tvs[n].canid, f.canid);
		EXPECT_EQ(tvs[n].size,  f.size);
		EXPECT_EQ(0U, memcmp(tvs[n].buf, f.buf, tvs[n].size));
		n++;
	}

	g_frames_send.clear();
}