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test_sdo_server.cpp
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/*********************************************************************
* _ _ _
* _ __ | |_ _ | | __ _ | |__ ___
* | '__|| __|(_)| | / _` || '_ \ / __|
* | | | |_ _ | || (_| || |_) |\__ \
* |_| \__|(_)|_| \__,_||_.__/ |___/
*
* www.rt-labs.com
* Copyright 2017 rt-labs AB, Sweden.
*
* This software is dual-licensed under GPLv3 and a commercial
* license. See the file LICENSE.md distributed with this software for
* full license information.
********************************************************************/
#include "co_sdo.h"
#include "co_od.h"
#include "options.h"
#include <gtest/gtest.h>
#include "mocks.h"
#include <sstream>
#include <locale>
#include <iostream>
#include <iomanip>
#include "test_util.h"
// Test fixture
class SdoServerTest : public TestBase
{
};
// Tests
TEST_F (SdoServerTest, ExpeditedUpload)
{
uint8_t expected[][8] = {
{0x43, 0x00, 0x10, 0x00, 0x92, 0x01, 0x42, 0x00},
};
uint8_t command[][8] = {
{0x40, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00},
};
mock_co_obj_find_result = find_obj (0x1000);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
co_sdo_rx (&net, 1, command[0], 8);
EXPECT_TRUE (CanMatch (0x581, expected[0], 8));
}
TEST_F (SdoServerTest, ExpeditedUploadString)
{
uint8_t expected[][8] = {
{0x47, 0x0a, 0x10, 0x00, 0x31, 0x32, 0x33, 0x00},
};
uint8_t command[][8] = {
{0x40, 0x0a, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00},
};
mock_co_obj_find_result = find_obj (0x100A);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
co_sdo_rx (&net, 1, command[0], 8);
EXPECT_TRUE (CanMatch (0x581, expected[0], 8));
}
TEST_F (SdoServerTest, ExpeditedDownload)
{
uint8_t expected[][8] = {
{0x60, 0x03, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00},
};
uint8_t command[][8] = {
{0x23, 0x03, 0x60, 0x00, 0x78, 0x56, 0x34, 0x12},
};
mock_co_obj_find_result = find_obj (0x6003);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 9);
co_sdo_rx (&net, 1, command[0], 8);
EXPECT_TRUE (CanMatch (0x581, expected[0], 8));
EXPECT_EQ (0x12345678u, value6003_09);
}
TEST_F (SdoServerTest, SegmentedUpload)
{
uint8_t expected[][8] = {
{0x41, 0x08, 0x10, 0x00, 0x09, 0x00, 0x00, 0x00},
{0x00, 0x6e, 0x65, 0x77, 0x20, 0x73, 0x6c, 0x61},
{0x1b, 0x76, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00},
};
uint8_t command[][8] = {
{0x40, 0x08, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
};
mock_co_obj_find_result = find_obj (0x1008);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
for (size_t i = 0; i < NELEMENTS (command); i++)
{
co_sdo_rx (&net, 1, command[i], 8);
EXPECT_TRUE (CanMatch (0x581, expected[i], 8));
}
}
TEST_F (SdoServerTest, SegmentedDownload)
{
uint8_t expected[][8] = {
{0x60, 0x09, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
};
uint8_t command[][8] = {
{0x21, 0x09, 0x10, 0x00, 0x0e, 0x00, 0x00, 0x00},
{0x00, 0x6e, 0x65, 0x77, 0x20, 0x73, 0x6c, 0x61},
{0x11, 0x76, 0x65, 0x20, 0x6e, 0x61, 0x6d, 0x65},
};
mock_co_obj_find_result = find_obj (0x1009);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
for (size_t i = 0; i < NELEMENTS (command); i++)
{
co_sdo_rx (&net, 1, command[i], 8);
EXPECT_TRUE (CanMatch (0x581, expected[i], 8));
}
EXPECT_STREQ ("new slave name", name1009);
EXPECT_EQ (1u, cb_notify_calls);
}
TEST_F (SdoServerTest, SegmentedDownloadCached)
{
uint8_t expected[][8] = {
{0x60, 0x03, 0x60, 0x0A, 0x00, 0x00, 0x00, 0x00},
{0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
};
uint8_t command[][8] = {
{0x21, 0x03, 0x60, 0x0A, 0x08, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66},
{0x11, 0x77, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
};
mock_co_obj_find_result = find_obj (0x6003);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 11);
for (size_t i = 0; i < NELEMENTS (command); i++)
{
co_sdo_rx (&net, 1, command[i], 8);
EXPECT_TRUE (CanMatch (0x581, expected[i], 8));
}
}
TEST_F (SdoServerTest, SegmentedTimeout)
{
uint8_t expected[][8] = {
{0x41, 0x08, 0x10, 0x00, 0x09, 0x00, 0x00, 0x00},
{0x00, 0x6e, 0x65, 0x77, 0x20, 0x73, 0x6c, 0x61},
{0x80, 0x08, 0x10, 0x00, 0x00, 0x00, 0x04, 0x05},
};
uint8_t command[][8] = {
{0x40, 0x08, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
};
os_tick_t now;
mock_co_obj_find_result = find_obj (0x1008);
mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
co_sdo_rx (&net, 1, command[0], 8);
// Should not time out
now = 1000 * SDO_TIMEOUT - 1;
co_sdo_server_timer (&net, now);
EXPECT_TRUE (CanMatch (0x581, expected[0], 8));
mock_os_tick_current_result = now;
co_sdo_rx (&net, 1, command[1], 8);
// Should not time out
now += 1000 * SDO_TIMEOUT - 1;
co_sdo_server_timer (&net, now);
EXPECT_TRUE (CanMatch (0x581, expected[1], 8));
// Should abort with timeout
now += 1;
co_sdo_server_timer (&net, now);
EXPECT_TRUE (CanMatch (0x581, expected[2], 8));
}
TEST_F (SdoServerTest, BadSubIndex)
{
const co_obj_t obj = {0, OTYPE_NULL, 0, NULL, NULL};
uint8_t expected[][8] = {
{0x80, 0x00, 0x10, 0x01, 0x11, 0x00, 0x09, 0x06},
};
uint8_t command[][8] = {
{0x40, 0x00, 0x10, 0x01, 0x00, 0x00, 0x00, 0x00},
};
mock_co_obj_find_result = &obj;
mock_co_entry_find_result = NULL;
for (size_t i = 0; i < NELEMENTS (command); i++)
{
co_sdo_rx (&net, 1, command[i], 8);
EXPECT_TRUE (CanMatch (0x581, expected[i], 8));
}
}
TEST_F (SdoServerTest, SubIndexFF)
{
uint8_t expected[][8] = {
{0x43, 0x00, 0x10, 0xFF, 0x07, 0x07, 0x00, 0x00},
{0x43, 0x03, 0x10, 0xFF, 0x08, 0x07, 0x00, 0x00},
};
uint8_t command[][8] = {
{0x40, 0x00, 0x10, 0xFF, 0x00, 0x00, 0x00, 0x00},
{0x40, 0x03, 0x10, 0xFF, 0x00, 0x00, 0x00, 0x00},
};
mock_co_obj_find_result = find_obj (0x1000);
mock_co_entry_find_result = NULL;
co_sdo_rx (&net, 1, command[0], 8);
EXPECT_TRUE (CanMatch (0x581, expected[0], 8));
mock_co_obj_find_result = find_obj (0x1003);
mock_co_entry_find_result = NULL;
co_sdo_rx (&net, 1, command[1], 8);
EXPECT_TRUE (CanMatch (0x581, expected[1], 8));
}