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feat: add functionality for setting up CAN devices
Adds the "candevice" package which provides functions for interacting with CAN devices on the link layer. Allows for setting bitrate, setting device up/down, and retrieving info and stats from the device. Added integration tests for the candevice package, for testing against real hardware.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,7 @@ | ||
| .idea | ||
| tools/*/*/ | ||
| build/ | ||
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| # files generated during release | ||
| .generated-go-semantic-release-changelog.md | ||
| .semrel/ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,119 @@ | ||
| //go:build integration | ||
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| package candevice | ||
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| import ( | ||
| "fmt" | ||
| "testing" | ||
| ) | ||
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| const ( | ||
| bitrate125K = 125000 | ||
| bitrate250K = 250000 | ||
| ) | ||
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| func TestSetBitrate(t *testing.T) { | ||
| d, err := New("can0") | ||
| if err != nil { | ||
| t.Fatal("couldn't set up device:", err) | ||
| } | ||
| defer d.SetDown() | ||
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| if err := setBitrate(d, bitrate125K); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
| if err := setBitrate(d, bitrate250K); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
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| // Set bitrate on device which is up | ||
| if err := d.SetUp(); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
| if err := setBitrate(d, bitrate125K); err == nil { | ||
| t.Fatal("setting bitrate on device which is up succeeded") | ||
| } | ||
| if err := d.SetDown(); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
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| // Invalid bitrate | ||
| if err := setBitrate(d, 0); err == nil { | ||
| t.Fatal("setting invalid bitrate succeeded") | ||
| } | ||
| } | ||
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| func TestSetUpDown(t *testing.T) { | ||
| d, err := New("can0") | ||
| if err != nil { | ||
| t.Fatal("couldn't set up device:", err) | ||
| } | ||
| defer d.SetDown() | ||
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| if err := d.SetBitrate(bitrate125K); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
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| // Set up twice and set down twice. This checks that calling it twice has no effect | ||
| if err := setUp(d); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
| if err := setUp(d); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
| if err := setDown(d); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
| if err := setDown(d); err != nil { | ||
| t.Fatal(err) | ||
| } | ||
| } | ||
|
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| func setBitrate(d *Device, bitrate uint32) error { | ||
| if err := d.SetBitrate(bitrate); err != nil { | ||
| return err | ||
| } | ||
| if err := setUp(d); err != nil { | ||
| return err | ||
| } | ||
| actualBitrate, err := d.Bitrate() | ||
| if err != nil { | ||
| return err | ||
| } | ||
| if err := setDown(d); err != nil { | ||
| return err | ||
| } | ||
| if actualBitrate != bitrate { | ||
| return fmt.Errorf("expected bitrate: %d, actual: %d", bitrate, bitrate) | ||
| } | ||
| return nil | ||
| } | ||
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| func setUp(d *Device) error { | ||
| if err := d.SetUp(); err != nil { | ||
| return err | ||
| } | ||
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| isUp, err := d.IsUp() | ||
| if err != nil { | ||
| return err | ||
| } | ||
| if !isUp { | ||
| return fmt.Errorf("device not up after calling SetUp()") | ||
| } | ||
| return nil | ||
| } | ||
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| func setDown(d *Device) error { | ||
| if err := d.SetDown(); err != nil { | ||
| return err | ||
| } | ||
| isUp, err := d.IsUp() | ||
| if err != nil { | ||
| return err | ||
| } | ||
| if isUp { | ||
| return fmt.Errorf("device not down after calling SetDown()") | ||
| } | ||
| return nil | ||
| } |
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