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test(canopen): clock SDO block confirmation deadlines #483

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Merged
dborgards merged 1 commit into from
Oct 27, 2026
Merged

test(canopen): clock SDO block confirmation deadlines #483

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29 changes: 21 additions & 8 deletions tests/CanKit.Pro.Tests/TestCases/CANopen/CanOpenSdoClientSendFailureTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -373,15 +373,18 @@ public async Task A_Lost_Echo_Of_An_Answered_Send_Does_Not_Fail_The_Upload()
[Fact]
public async Task A_SubBlock_Longer_Than_The_Sdo_Timeout_Does_Not_Time_Out_Before_Its_Ack()
{
using var clock = new VirtualClock();
var confirmationActor = clock.NewActor();
using var bus = ControllableBus.DeferredEchoCapable($"canopen-sdo-block-long-{Guid.NewGuid():N}");
var toServer = new List<byte[]>();
bus.OnTransmitting = frame =>
{
if ((uint)frame.ID == CanOpenCobId.SdoRx(0x11)) lock (toServer) toServer.Add(frame.Data.ToArray());
};
var clock = new ManualTimeSource();
using var client = new CanOpenNode(new CanBusService(bus), 0x7F,
new CanOpenNodeOptions { SdoTimeout = TimeSpan.FromSeconds(1) }, ownsService: true, clock);
using var service = new ClockedCanBusService(bus, confirmationActor);
using var client = new CanOpenNode(service, 0x7F,
new CanOpenNodeOptions { SdoTimeout = TimeSpan.FromSeconds(1) }, ownsService: false,
timeSource: confirmationActor.TimeSource);
await bus.DeferredEchoes.WaitForEnqueuedAsync(1, ShortTimeout); // the boot-up
bus.DeferredEchoes.ReleaseAll();

Expand All @@ -398,7 +401,9 @@ public async Task A_SubBlock_Longer_Than_The_Sdo_Timeout_Does_Not_Time_Out_Befor
await bus.DeferredEchoes.WaitForEnqueuedAsync(2 + segment, ShortTimeout);
_ = client.State; // two actor round-trips: every timer the last step armed is armed
_ = client.State;
clock.Advance(TimeSpan.FromMilliseconds(600));
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromSeconds(1), ShortTimeout);
await clock.AdvanceAsync(TimeSpan.FromMilliseconds(600));
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromMilliseconds(400), ShortTimeout);
_ = client.State;
_ = client.State;
bus.DeferredEchoes.ReleaseNext();
Expand All @@ -423,10 +428,16 @@ public async Task A_SubBlock_Longer_Than_The_Sdo_Timeout_Does_Not_Time_Out_Befor
[Fact]
public async Task A_Segment_Confirmed_After_The_Timeout_Does_Not_Revive_The_Block_Download()
{
using var clock = new VirtualClock();
var confirmationActor = clock.NewActor();
using var bus = ControllableBus.DeferredEchoCapable($"canopen-sdo-block-late-{Guid.NewGuid():N}");
var clock = new ManualTimeSource();
using var client = new CanOpenNode(new CanBusService(bus), 0x7F,
new CanOpenNodeOptions { SdoTimeout = TimeSpan.FromSeconds(1) }, ownsService: true, clock);
using var service = new ClockedCanBusService(bus, confirmationActor);
// Let the protocol timeout decide before RawCan's unchanged one-second deadline:
// a late but still transport-valid confirmation must not revive the transfer.
var sdoTimeout = TimeSpan.FromMilliseconds(500);
using var client = new CanOpenNode(service, 0x7F,
new CanOpenNodeOptions { SdoTimeout = sdoTimeout }, ownsService: false,
timeSource: confirmationActor.TimeSource);
await bus.DeferredEchoes.WaitForEnqueuedAsync(1, ShortTimeout); // the boot-up
bus.DeferredEchoes.ReleaseAll();

Expand All @@ -441,7 +452,9 @@ public async Task A_Segment_Confirmed_After_The_Timeout_Does_Not_Revive_The_Bloc
await bus.DeferredEchoes.WaitForEnqueuedAsync(3, ShortTimeout); // segment 1, unconfirmed
_ = client.State;
_ = client.State;
clock.Advance(TimeSpan.FromMilliseconds(1500));
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromSeconds(1), ShortTimeout);
await clock.AdvanceAsync(sdoTimeout + TimeSpan.FromTicks(sdoTimeout.Ticks / 2));
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromMilliseconds(250), ShortTimeout);
_ = client.State;
_ = client.State;
bus.DeferredEchoes.ReleaseNext();
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