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test(canopen): witness reset heartbeat chain completion #484

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

test(canopen): witness reset heartbeat chain completion #484

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21 changes: 16 additions & 5 deletions tests/CanKit.Pro.Tests/TestCases/CANopen/CanOpenCommunicationProfileTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -1104,8 +1104,11 @@ public async Task A_Producer_Tick_Due_During_ApplicationReset_Stays_Behind_The_B
{
var session = NewSession();
using var bus = ControllableBus.DeferredEchoCapable(session);
var clock = new ManualTimeSource();
using var slave = new CanOpenNode(new CanBusService(bus), Slave, new CanOpenNodeOptions(), ownsService: true, clock);
using var clock = new VirtualClock();
var confirmationActor = clock.NewActor();
using var service = new ClockedCanBusService(bus, confirmationActor);
using var slave = new CanOpenNode(service, Slave, new CanOpenNodeOptions(), ownsService: false,
timeSource: confirmationActor.TimeSource);
var wire = new List<byte>();
bus.OnTransmitting = frame =>
{
Expand Down Expand Up @@ -1135,18 +1138,26 @@ async Task SettleAsync()

// The restarted cycle's first tick becomes due while the boot-up is still unconfirmed:
// it waits behind it in the chain instead of reaching the wire on its own.
clock.Advance(interval);
Task beforeTick = Task.CompletedTask;
await slave.PostToActorAsync(() => beforeTick = slave.HeartbeatSendChain);
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromSeconds(1), ShortTimeout);
await clock.AdvanceAsync(interval);
await SettleAsync();
await Task.Delay(100);
Task pendingTick = Task.CompletedTask;
await slave.PostToActorAsync(() => pendingTick = slave.HeartbeatSendChain);
pendingTick.Should().NotBeSameAs(beforeTick, "the due producer tick was appended to the heartbeat chain");
pendingTick.IsCompleted.Should().BeFalse("the tick is still behind the held boot-up confirmation");
bus.TransmitCount.Should().Be(transmitsBefore + 1, "a tick due while the boot-up is unconfirmed waits behind it");

bus.DeferredEchoes.ReleaseNext().Should().BeTrue(); // boot-up confirmed
await bus.DeferredEchoes.WaitForEnqueuedAsync(enqueuedBefore + 2, ShortTimeout); // the Pre-operational heartbeat
bus.DeferredEchoes.ReleaseNext().Should().BeTrue();
await bus.DeferredEchoes.WaitForEnqueuedAsync(enqueuedBefore + 3, ShortTimeout); // the tick, one interval after the boot-up
bus.DeferredEchoes.ReleaseNext().Should().BeTrue();
await pendingTick.WithTimeoutAsync(ShortTimeout);
await SettleAsync();
await Task.Delay(100);
await slave.PostToActorAsync(() => slave.HeartbeatSendChain.Should().BeSameAs(pendingTick,
"settling the completed chain queued no additional heartbeat"));
bus.DeferredEchoes.Enqueued.Should().Be(enqueuedBefore + 3,
"one tick: the one due during the hook was replaced by the restarted cycle's, not fired in addition to it");
lock (wire) wire.Should().Equal(new byte[] { 0x00, (byte)NmtState.PreOperational, (byte)NmtState.PreOperational },
Expand Down
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