RTOS/tests/integration/test_can_communication.c

/**
 * @file test_can_communication.c
 * @brief Integration tests for CAN communication
 */

#include "unity.h"
#include "kernel.h"
#include "can_driver.h"
#include "can_tp.h"
#include "can_nm.h"
#include <string.h>

/* CAN test variables */
static CanMessage_t test_message;
static volatile bool message_received = false;
static volatile bool message_sent = false;
static volatile uint32_t rx_count = 0;

/* Callback functions */
static void test_rx_callback(const CanMessage_t* message) {
    message_received = true;
    rx_count++;
    memcpy(&test_message, message, sizeof(CanMessage_t));
}

static void test_tx_callback(uint32_t mailbox, bool success) {
    message_sent = success;
}

/* Setup */
void setUp(void) {
    kernel_init();
    message_received = false;
    message_sent = false;
    rx_count = 0;

    /* Initialize CAN */
    CanConfig_t config = {
        .nominal_baudrate = CAN_BAUD_500K,
        .data_baudrate = CAN_BAUD_500K,
        .frame_type = CAN_FRAME_CLASSIC,
        .enable_fd = false,
        .enable_automatic_retransmission = true,
        .rx_callback = test_rx_callback,
        .tx_callback = test_tx_callback,
        .filter_count = 0
    };

    can_init(&config);
}

/* Teardown */
void tearDown(void) {
    can_deinit();
    kernel_stop();
}

/* ============================================================================
 * Test Cases
 * ============================================================================ */

/**
 * @brief Test CAN initialization
 */
void test_can_init(void) {
    CanStatistics_t stats;
    TEST_ASSERT_EQUAL(KERNEL_OK, can_get_statistics(&stats));
    TEST_ASSERT_EQUAL(0, stats.tx_messages);
    TEST_ASSERT_EQUAL(0, stats.rx_messages);
}

/**
 * @brief Test CAN message send
 */
void test_can_send(void) {
    CanMessage_t msg = {
        .id = {.id = 0x100, .is_extended = false},
        .length = 8,
        .data = {1, 2, 3, 4, 5, 6, 7, 8}
    };

    TEST_ASSERT_EQUAL(KERNEL_OK, can_send_message(&msg, 1000));

    /* Wait for transmission */
    kernel_delay(10);

    TEST_ASSERT_TRUE(message_sent);
}

/**
 * @brief Test CAN message receive
 */
void test_can_receive(void) {
    CanMessage_t msg = {
        .id = {.id = 0x200, .is_extended = false},
        .length = 4,
        .data = {0xAA, 0xBB, 0xCC, 0xDD}
    };

    /* Simulate received message */
    can_process_interrupt();

    TEST_ASSERT_TRUE(message_received);
    TEST_ASSERT_EQUAL(0x200, test_message.id.id);
    TEST_ASSERT_EQUAL(4, test_message.length);
}

/**
 * @brief Test CAN TP multi-frame message
 */
void test_can_tp_multiframe(void) {
    CanTpConfig_t tp_config = {
        .addressing_format = CAN_TP_ADDRESSING_NORMAL,
        .source_address = 0x100,
        .target_address = 0x200,
        .timeout_ms = 1000,
        .stmin = 10,
        .block_size = 8,
        .padding_enabled = true,
        .padding_byte = 0xAA
    };

    can_tp_init(&tp_config);

    /* Create test message */
    uint8_t data[100];
    for (int i = 0; i < 100; i++) {
        data[i] = i;
    }

    CanTpMessage_t tp_msg = {
        .message_id = 0x300,
        .data = data,
        .length = 100,
        .addressing_format = CAN_TP_ADDRESSING_NORMAL
    };

    TEST_ASSERT_EQUAL(KERNEL_OK, can_tp_send_message(&tp_msg, 5000));
}

/**
 * @brief Test CAN network management
 */
void test_can_nm(void) {
    CanNmConfig_t nm_config = {
        .node_id = 1,
        .network_id = 0,
        .message_id = 0x400,
        .timeout_ms = 2000,
        .repeat_message_time_ms = 500,
        .is_coordinator = false,
        .sleep_ack_timeout_ms = 100
    };

    TEST_ASSERT_EQUAL(KERNEL_OK, can_nm_init(&nm_config));
    TEST_ASSERT_EQUAL(KERNEL_OK, can_nm_start());

    kernel_delay(100);

    TEST_ASSERT_EQUAL(CAN_NM_NORMAL_OPERATION, can_nm_get_state());
}

/* ============================================================================
 * Test Runner
 * ============================================================================ */
int main(void) {
    UNITY_BEGIN();

    RUN_TEST(test_can_init);
    RUN_TEST(test_can_send);
    RUN_TEST(test_can_receive);
    RUN_TEST(test_can_tp_multiframe);
    RUN_TEST(test_can_nm);

    return UNITY_END();
}