Communication: Clear disconnected on open

CMakeLists.txt

@@ -512,6 +512,7 @@ if(LIBICSNEO_BUILD_UNIT_TESTS)
 		test/unit/icsneoc2.cpp
 		test/unit/ethphyregistertest.cpp
 		test/unit/tc10test.cpp
+		test/unit/communicationtest.cpp
 		test/unit/periodictest.cpp
 	)
 

communication/communication.cpp

@@ -36,6 +36,8 @@ bool Communication::open() {
 		return false;
 	}
 
+	// A heartbeat timeout marks the driver disconnected and leaves the cleanup to the user, a new open starts connected
+	driver->setIsDisconnected(false);
 	if(!driver->open())
 		return false;
 	spawnThreads();

test/unit/communicationtest.cpp

@@ -0,0 +1,48 @@
+#include "gtest/gtest.h"
+
+#include <cstring>
+#include <memory>
+
+#include "icsneo/icsneocpp.h"
+#include "icsneo/communication/driver.h"
+#include "icsneo/device/tree/radmoon2/radmoon2zl.h"
+
+using namespace icsneo;
+
+namespace {
+
+class ReopenTestDriver : public Driver {
+public:
+	explicit ReopenTestDriver(const device_eventhandler_t& handler) : Driver(handler) {}
+
+	bool open() override { opened = true; return true; }
+	bool isOpen() override { return opened; }
+	bool close() override { opened = false; return true; }
+	driver_finder_t getFinder() override { return [](std::vector<FoundDevice>&) {}; }
+
+protected:
+	bool writeInternal(const std::vector<uint8_t>&) override { return true; }
+
+private:
+	bool opened = false;
+};
+
+}
+
+// The heartbeat marks the driver disconnected and the user closes and opens again. Drivers like Servd stop their
+// threads while disconnected, so the reopened connection must not start disconnected.
+TEST(Communication, OpenAfterDisconnectIsConnected) {
+	FoundDevice found;
+	std::memcpy(found.serial, "RN0001", 6);
+	found.makeDriver = [](device_eventhandler_t handler, neodevice_t&) {
+		return std::make_unique<ReopenTestDriver>(handler);
+	};
+	auto device = std::make_shared<RADMoon2ZL>(found);
+	ASSERT_TRUE(device->com->open());
+
+	device->com->driver->setIsDisconnected(true);
+	ASSERT_TRUE(device->com->close());
+	ASSERT_TRUE(device->com->open());
+	EXPECT_FALSE(device->com->isDisconnected());
+	EXPECT_TRUE(device->com->close());
+}