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LIN: Add wakeup request

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This commit is contained in:
Samuel Bejko
2026-09-14 17:13:23 -04:00
committed by Kyle Schwarz
parent 3a6501d116
commit d95a17b360
11 changed files with 135 additions and 10 deletions
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test/unit/linencoderdecodertest.cpp
+78 -1
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@@ -2,12 +2,14 @@
#include "icsneo/communication/encoder.h"
#include "icsneo/communication/packet/linpacket.h"
#include "icsneo/communication/message/linmessage.h"
#include "icsneo/communication/message/transmitmessage.h"
#include "icsneo/communication/packetizer.h"
#include "icsneo/core/ringbuffer.h"
#include "icsneo/api/eventmanager.h"
#include "gtest/gtest.h"
#include <vector>
#include <iostream>
#include <cstring>
using namespace icsneo;
@@ -55,6 +57,16 @@ protected:
0x00, 0x00,
0xE2, 0x41};
// Break-only LIN 1: commander (0x80) | break-only (0x20) | len 3 => 0xa3
// ID 0x00 pID 0x80
std::vector<uint8_t> testControllerBreakOnly =
{0xaa, 0x0c,
0x0d, 0x00,
0x10, 0x00,
0x00, 0xa3,
0x00, 0x00,
0x80, 0x41};
std::vector<uint8_t> recvBytes =
{0xaa, 0x0c, 0x22, 0x00,
0x10, 0x00, 0x88, 0x03,
@@ -139,6 +151,29 @@ TEST_F(LINEncoderDecoderTest, PacketEncoderControllerHeaderTest) {
EXPECT_EQ(bytestream, testControllerHeaderOnly);
}
TEST_F(LINEncoderDecoderTest, PacketEncoderControllerBreakOnlyTest) {
std::vector<uint8_t> bytestream;
auto message = std::make_shared<icsneo::LINMessage>(static_cast<uint8_t>(0x00u));
message->network = icsneo::Network::NetID::LIN_01;
message->linMsgType = icsneo::LINMessage::Type::LIN_BREAK_ONLY;
message->isEnhancedChecksum = false;
packetEncoder->encode(*packetizer, bytestream, message);
EXPECT_EQ(bytestream, testControllerBreakOnly);
}
TEST_F(LINEncoderDecoderTest, TransmitMessageBreakOnlySetsCommander) {
auto message = std::make_shared<icsneo::LINMessage>(static_cast<uint8_t>(0x00u));
message->network = icsneo::Network::NetID::LIN_01;
message->linMsgType = icsneo::LINMessage::Type::LIN_BREAK_ONLY;
auto bytes = TransmitMessage::EncodeFromMessage(message, 1, report);
ASSERT_FALSE(bytes.empty());
ASSERT_GE(bytes.size(), sizeof(TransmitMessage));
auto* tx = reinterpret_cast<TransmitMessage*>(bytes.data());
auto* lin = reinterpret_cast<HardwareLINPacket*>(tx->commonHeader);
EXPECT_EQ(lin->CoreMiniBitsLIN.TXCommander, 1);
EXPECT_EQ(lin->CoreMiniBitsLIN.BreakOnly, 1);
}
TEST_F(LINEncoderDecoderTest, PacketEncoderControllerWithDataTest) {
std::vector<uint8_t> bytestream;
auto message = std::make_shared<icsneo::LINMessage>(static_cast<uint8_t>(0x11u));
@@ -192,4 +227,46 @@ TEST_F(LINEncoderDecoderTest, PacketDecoderTest) {
EXPECT_EQ(msg2->isEnhancedChecksum, testMessage2->isEnhancedChecksum);
EXPECT_EQ(msg2->data, testMessage2->data);
EXPECT_EQ(msg2->checksum, testMessage2->checksum);
}
}
static std::shared_ptr<LINMessage> decodeLinPacket(const HardwareLINPacket& pkt) {
std::vector<uint8_t> bytes(sizeof(pkt));
std::memcpy(bytes.data(), &pkt, sizeof(pkt));
return std::dynamic_pointer_cast<LINMessage>(HardwareLINPacket::DecodeToMessage(bytes));
}
TEST_F(LINEncoderDecoderTest, WakeupPulseDecodeTest) {
HardwareLINPacket pkt{};
pkt.CoreMiniBitsLIN.WakeupRequest = 1;
auto msg = decodeLinPacket(pkt);
ASSERT_NE(msg, nullptr);
EXPECT_EQ(msg->linMsgType, LINMessage::Type::LIN_WAKEUP_REQUEST);
EXPECT_TRUE(msg->statusFlags.WakeupRequest);
}
TEST_F(LINEncoderDecoderTest, WakeupFlagOnUartBreakStaysError) {
HardwareLINPacket pkt{};
pkt.CoreMiniBitsLIN.WakeupRequest = 1;
pkt.CoreMiniBitsLIN.ErrRxOnlyBreak = 1;
auto msg = decodeLinPacket(pkt);
ASSERT_NE(msg, nullptr);
EXPECT_EQ(msg->linMsgType, LINMessage::Type::LIN_ERROR);
EXPECT_TRUE(msg->statusFlags.WakeupRequest);
EXPECT_TRUE(msg->errFlags.ErrRxBreakOnly);
}
TEST_F(LINEncoderDecoderTest, WakeupFlagOnCompleteFrameKeepsCommander) {
HardwareLINPacket pkt{};
pkt.CoreMiniBitsLIN.WakeupRequest = 1;
pkt.CoreMiniBitsLIN.TXCommander = 1;
pkt.CoreMiniBitsLIN.ID = 0x10;
pkt.CoreMiniBitsLIN.len = 3; // two responder bytes plus the checksum
pkt.data[0] = 0xaa;
pkt.data[1] = 0xbb;
pkt.data[2] = 0x99; // classic checksum, otherwise the frame decodes as LIN_ERROR
auto msg = decodeLinPacket(pkt);
ASSERT_NE(msg, nullptr);
EXPECT_EQ(msg->linMsgType, LINMessage::Type::LIN_COMMANDER_MSG);
EXPECT_TRUE(msg->statusFlags.WakeupRequest);
EXPECT_EQ(msg->ID, 0x10);
}