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tests: add messaging helpers
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@GwnDaan
GwnDaan committed Dec 13, 2023
1 parent f4bfe37 commit 4e47e6e
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Showing 8 changed files with 330 additions and 116 deletions.
6 changes: 4 additions & 2 deletions test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,8 @@ if(NOT TARGET GTest::gtest_main)
endif()

# Set test include files
set(TEST_INCLUDE helpers/control_function_helpers.hpp)
set(TEST_INCLUDE helpers/control_function_helpers.hpp
helpers/messaging_helpers.hpp)

# Set test source files
set(TEST_SRC
Expand All @@ -54,7 +55,8 @@ set(TEST_SRC
maintain_power_tests.cpp
vt_object_tests.cpp
nmea2000_message_tests.cpp
helpers/control_function_helpers.cpp)
helpers/control_function_helpers.cpp
helpers/messaging_helpers.cpp)

add_executable(unit_tests ${TEST_SRC} ${TEST_INCLUDE})
set_target_properties(
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4 changes: 2 additions & 2 deletions test/cf_functionalities_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
#include "isobus/utility/system_timing.hpp"

#include "helpers/control_function_helpers.hpp"
#include "helpers/messaging_helpers.hpp"

using namespace isobus;

Expand Down Expand Up @@ -506,8 +507,7 @@ TEST(CONTROL_FUNCTION_FUNCTIONALITIES_TESTS, CFFunctionalitiesTest)
ASSERT_TRUE(requesterPlugin.get_queue_empty());

// Simulate a request for the message
testFrame.identifier = 0x18EA50F7;
testFrame.identifier = test_helpers::create_extended_can_id(6, 0xEA00, otherECU, internalECU);
testFrame.identifier = test_helpers::create_ext_can_id(6, 0xEA00, otherECU, internalECU);
testFrame.data[0] = 0x8E;
testFrame.data[1] = 0xFC;
testFrame.data[2] = 0x00;
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179 changes: 94 additions & 85 deletions test/core_network_management_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
#include <thread>

#include "helpers/control_function_helpers.hpp"
#include "helpers/messaging_helpers.hpp"

using namespace isobus;

Expand Down Expand Up @@ -108,44 +109,55 @@ TEST(CORE_TESTS, CommandedAddress)
// Let's construct a short BAM session for commanded address
// We'll ignore the 50ms timing for the unit test

CANMessageFrame testFrame = {};
testFrame.identifier = 0x18ECFFF8; // TP Command broadcast
testFrame.isExtendedFrame = true;
testFrame.dataLength = 8;
testFrame.data[0] = 0x20; // BAM Mux
testFrame.data[1] = 9; // Data Length
testFrame.data[2] = 0; // Data Length MSB
testFrame.data[3] = 2; // Packet count
testFrame.data[4] = 0xFF; // Reserved
testFrame.data[5] = 0xD8; // PGN LSB
testFrame.data[6] = 0xFE; // PGN middle byte
testFrame.data[7] = 0x00; // PGN MSB
CANNetworkManager::process_receive_can_message_frame(testFrame);
// Broadcast Announce Message
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_broadcast(
7,
0xEC00, // Transport Protocol Connection Management
externalECU,
{
0x20, // BAM Mux
9, // Data Length
0, // Data Length MSB
2, // Packet count
0xFF, // Reserved
0xD8, // PGN LSB
0xFE, // PGN middle byte
0x00, // PGN MSB
}));

std::uint64_t rawNAME = internalECU->get_NAME().get_full_name();

// data packet 1
testFrame.identifier = 0x18EBFFF8;
testFrame.data[0] = 1;
testFrame.data[1] = static_cast<std::uint8_t>(rawNAME & 0xFF);
testFrame.data[2] = static_cast<std::uint8_t>((rawNAME >> 8) & 0xFF);
testFrame.data[3] = static_cast<std::uint8_t>((rawNAME >> 16) & 0xFF);
testFrame.data[4] = static_cast<std::uint8_t>((rawNAME >> 24) & 0xFF);
testFrame.data[5] = static_cast<std::uint8_t>((rawNAME >> 32) & 0xFF);
testFrame.data[6] = static_cast<std::uint8_t>((rawNAME >> 40) & 0xFF);
testFrame.data[7] = static_cast<std::uint8_t>((rawNAME >> 48) & 0xFF);
CANNetworkManager::process_receive_can_message_frame(testFrame);
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_broadcast(
7,
0xEB00, // Transport Protocol Data Transfer
externalECU,
{
1, // Sequence Number
static_cast<std::uint8_t>(rawNAME),
static_cast<std::uint8_t>(rawNAME >> 8),
static_cast<std::uint8_t>(rawNAME >> 16),
static_cast<std::uint8_t>(rawNAME >> 24),
static_cast<std::uint8_t>(rawNAME >> 32),
static_cast<std::uint8_t>(rawNAME >> 40),
static_cast<std::uint8_t>(rawNAME >> 48),
}));

// data packet 2
testFrame.data[0] = 2;
testFrame.data[1] = static_cast<std::uint8_t>((rawNAME >> 56) & 0xFF);
testFrame.data[2] = 0x04; // Address
testFrame.data[3] = 0xFF;
testFrame.data[4] = 0xFF;
testFrame.data[5] = 0xFF;
testFrame.data[6] = 0xFF;
testFrame.data[7] = 0xFF;
CANNetworkManager::process_receive_can_message_frame(testFrame);
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_broadcast(
7,
0xEB00, // Transport Protocol Data Transfer
externalECU,
{
2, // Sequence Number
static_cast<std::uint8_t>(rawNAME >> 56),
0x04, // Address
0xFF,
0xFF,
0xFF,
0xFF,
0xFF,
}));
CANNetworkManager::CANNetwork.update();

std::this_thread::sleep_for(std::chrono::milliseconds(500));
Expand All @@ -162,16 +174,11 @@ TEST(CORE_TESTS, InvalidatingControlFunctions)
CANHardwareInterface::assign_can_channel_frame_handler(0, std::make_shared<VirtualCANPlugin>());
CANHardwareInterface::start();

// Request the address claim PGN
CANMessageFrame testFrame = {};
testFrame.identifier = 0x18EAFFFE;
testFrame.isExtendedFrame = true;
testFrame.dataLength = 3;
const auto PGN = static_cast<std::uint32_t>(CANLibParameterGroupNumber::AddressClaim);
testFrame.data[0] = (PGN & 0xFF);
testFrame.data[1] = ((PGN >> 8) & 0xFF);
testFrame.data[2] = ((PGN >> 16) & 0xFF);
CANNetworkManager::process_receive_can_message_frame(testFrame);
// Request the address claim PGN to simulate a control function starting to claim an address
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_pgn_request(
0xEE00, // Address Claim PGN
nullptr,
nullptr));
CANNetworkManager::CANNetwork.update();

// Simulate waiting for some contention
Expand All @@ -183,19 +190,18 @@ TEST(CORE_TESTS, InvalidatingControlFunctions)
EXPECT_EQ(testControlFunction, nullptr);
EXPECT_EQ(testControlFunctionState, ControlFunctionState::Offline);

// Make a control function claim it's address
auto testPartner = test_helpers::force_claim_partnered_control_function(0x79, 0);
EXPECT_TRUE(wasTestStateCallbackHit);
EXPECT_NE(testControlFunction, nullptr);
EXPECT_EQ(testControlFunctionState, ControlFunctionState::Online);
wasTestStateCallbackHit = false;

// Request the address claim PGN
testFrame.data[0] = (PGN & std::numeric_limits<std::uint8_t>::max());
testFrame.data[1] = ((PGN >> 8) & std::numeric_limits<std::uint8_t>::max());
testFrame.data[2] = ((PGN >> 16) & std::numeric_limits<std::uint8_t>::max());
testFrame.identifier = 0x18EAFFFE;
testFrame.dataLength = 3;
CANNetworkManager::process_receive_can_message_frame(testFrame);
// Request the address claim PGN again
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_pgn_request(
0xEE00, // Address Claim PGN
nullptr,
nullptr));
CANNetworkManager::CANNetwork.update();

// Now, if we wait a while, that partner didn't claim again, so it should be invalid.
Expand All @@ -215,9 +221,6 @@ TEST(CORE_TESTS, InvalidatingControlFunctions)

TEST(CORE_TESTS, SimilarControlFunctions)
{
CANMessageFrame testFrame;
testFrame.channel = 0;
testFrame.isExtendedFrame = true;
CANNetworkManager::CANNetwork.update();

// Make a partner that is a fuel system
Expand All @@ -227,13 +230,11 @@ TEST(CORE_TESTS, SimilarControlFunctions)
auto TestPartner = isobus::PartneredControlFunction::create(0, nameFilters);

// Request the address claim PGN
const auto PGN = static_cast<std::uint32_t>(CANLibParameterGroupNumber::AddressClaim);
testFrame.data[0] = (PGN & std::numeric_limits<std::uint8_t>::max());
testFrame.data[1] = ((PGN >> 8) & std::numeric_limits<std::uint8_t>::max());
testFrame.data[2] = ((PGN >> 16) & std::numeric_limits<std::uint8_t>::max());
testFrame.identifier = 0x18EAFFFE;
testFrame.dataLength = 3;
CANNetworkManager::process_receive_can_message_frame(testFrame);
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_pgn_request(
0xEE00, // Address Claim PGN
nullptr,
nullptr));
CANNetworkManager::CANNetwork.update();
CANNetworkManager::CANNetwork.update();

// Simulate waiting for some contention
Expand All @@ -243,38 +244,46 @@ TEST(CORE_TESTS, SimilarControlFunctions)
std::uint64_t rawNAME = 0xa0000F000425e9f8;

// Force claim some kind of TC
testFrame.identifier = 0x18EEFF7A;
testFrame.dataLength = 8;
testFrame.data[0] = static_cast<std::uint8_t>(rawNAME & 0xFF);
testFrame.data[1] = static_cast<std::uint8_t>((rawNAME >> 8) & 0xFF);
testFrame.data[2] = static_cast<std::uint8_t>((rawNAME >> 16) & 0xFF);
testFrame.data[3] = static_cast<std::uint8_t>((rawNAME >> 24) & 0xFF);
testFrame.data[4] = static_cast<std::uint8_t>((rawNAME >> 32) & 0xFF);
testFrame.data[5] = static_cast<std::uint8_t>((rawNAME >> 40) & 0xFF);
testFrame.data[6] = static_cast<std::uint8_t>((rawNAME >> 48) & 0xFF);
testFrame.data[7] = static_cast<std::uint8_t>((rawNAME >> 56) & 0xFF);
CANNetworkManager::process_receive_can_message_frame(testFrame);
auto firstTC = test_helpers::create_mock_control_function(0x7A);
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_broadcast(
6,
0xEE00, // Address Claim PGN
firstTC,
{
static_cast<std::uint8_t>(rawNAME),
static_cast<std::uint8_t>(rawNAME >> 8),
static_cast<std::uint8_t>(rawNAME >> 16),
static_cast<std::uint8_t>(rawNAME >> 24),
static_cast<std::uint8_t>(rawNAME >> 32),
static_cast<std::uint8_t>(rawNAME >> 40),
static_cast<std::uint8_t>(rawNAME >> 48),
static_cast<std::uint8_t>(rawNAME >> 56),
}));
CANNetworkManager::CANNetwork.update();

// Partner should be valid with that same NAME
EXPECT_EQ(TestPartner->get_NAME().get_full_name(), rawNAME);

// Now, claim something else that matches a TC. The original partner should remain the same.
auto testOtherTCNAME = NAME(rawNAME);
testOtherTCNAME.set_ecu_instance(1);
testOtherTCNAME.set_function_instance(1);
rawNAME = testOtherTCNAME.get_full_name();
testFrame.identifier = 0x18EEFF7B;
testFrame.dataLength = 8;
testFrame.data[0] = static_cast<std::uint8_t>(rawNAME & 0xFF);
testFrame.data[1] = static_cast<std::uint8_t>((rawNAME >> 8) & 0xFF);
testFrame.data[2] = static_cast<std::uint8_t>((rawNAME >> 16) & 0xFF);
testFrame.data[3] = static_cast<std::uint8_t>((rawNAME >> 24) & 0xFF);
testFrame.data[4] = static_cast<std::uint8_t>((rawNAME >> 32) & 0xFF);
testFrame.data[5] = static_cast<std::uint8_t>((rawNAME >> 40) & 0xFF);
testFrame.data[6] = static_cast<std::uint8_t>((rawNAME >> 48) & 0xFF);
testFrame.data[7] = static_cast<std::uint8_t>((rawNAME >> 56) & 0xFF);
CANNetworkManager::process_receive_can_message_frame(testFrame);
auto secondTCNAME = NAME(rawNAME);
secondTCNAME.set_ecu_instance(1);
secondTCNAME.set_function_instance(1);
rawNAME = secondTCNAME.get_full_name();
auto secondTC = test_helpers::create_mock_control_function(0x7B);
CANNetworkManager::process_receive_can_message_frame(test_helpers::create_message_frame_broadcast(
6,
0xEE00, // Address Claim PGN
secondTC,
{
static_cast<std::uint8_t>(rawNAME),
static_cast<std::uint8_t>(rawNAME >> 8),
static_cast<std::uint8_t>(rawNAME >> 16),
static_cast<std::uint8_t>(rawNAME >> 24),
static_cast<std::uint8_t>(rawNAME >> 32),
static_cast<std::uint8_t>(rawNAME >> 40),
static_cast<std::uint8_t>(rawNAME >> 48),
static_cast<std::uint8_t>(rawNAME >> 56),
}));
CANNetworkManager::CANNetwork.update();

// Partner should never change
Expand Down
3 changes: 2 additions & 1 deletion test/diagnostic_protocol_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
#include "isobus/utility/system_timing.hpp"

#include "helpers/control_function_helpers.hpp"
#include "helpers/messaging_helpers.hpp"

using namespace isobus;

Expand Down Expand Up @@ -72,7 +73,7 @@ TEST(DIAGNOSTIC_PROTOCOL_TESTS, MessageEncoding)

// Use a PGN request to trigger sending it from the protocol
testFrame.dataLength = 3;
testFrame.identifier = test_helpers::create_extended_can_id(6, 0xEA00, TestInternalECU, TestPartneredECU);
testFrame.identifier = test_helpers::create_ext_can_id(6, 0xEA00, TestInternalECU, TestPartneredECU);
testFrame.data[0] = 0xC5;
testFrame.data[1] = 0xFD;
testFrame.data[2] = 0x00;
Expand Down
30 changes: 8 additions & 22 deletions test/helpers/control_function_helpers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,30 +122,16 @@ namespace test_helpers
return partnerECU;
}

std::uint32_t create_extended_can_id(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<isobus::ControlFunction> destination,
std::shared_ptr<isobus::ControlFunction> source)
class WrappedControlFunction : public ControlFunction
{
std::uint32_t identifier = 0;
public:
WrappedControlFunction(NAME name, std::uint8_t address, std::uint8_t canPort) :
ControlFunction(name, address, canPort) {}
};

EXPECT_NE(source, nullptr);
EXPECT_TRUE(source->get_address_valid());
EXPECT_NE(destination, nullptr);
EXPECT_TRUE(destination->get_address_valid());

identifier |= (static_cast<std::uint32_t>(priority) & 0x07) << 26;
identifier |= source->get_address();

// Bounds check the parameter group number
EXPECT_TRUE(parameterGroupNumber < 0x3FFFF);
EXPECT_TRUE((parameterGroupNumber & 0xF000) < 0xF000);
EXPECT_TRUE((parameterGroupNumber & 0xFF) == 0);

identifier |= (parameterGroupNumber & 0x3FF00) << 8;
identifier |= destination->get_address() << 8;

return identifier;
std::shared_ptr<isobus::ControlFunction> create_mock_control_function(std::uint8_t address)
{
return std::make_shared<WrappedControlFunction>(NAME(0), address, 0);
}

}; // namespace test_helpers
5 changes: 1 addition & 4 deletions test/helpers/control_function_helpers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,7 @@ namespace test_helpers

std::shared_ptr<isobus::PartneredControlFunction> force_claim_partnered_control_function(std::uint8_t address, std::uint8_t canPort);

std::uint32_t create_extended_can_id(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<isobus::ControlFunction> destination,
std::shared_ptr<isobus::ControlFunction> source);
std::shared_ptr<isobus::ControlFunction> create_mock_control_function(std::uint8_t address);

}; // namespace test_helpers

Expand Down
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