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test(canopen): witness SDO server batch completion #485

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

test(canopen): witness SDO server batch completion #485

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8 changes: 7 additions & 1 deletion src/CanKit.Pro.CANopen/CanOpenNode.SdoBlock.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -1116,6 +1116,9 @@ private void HandleBlockUploadServerSubBlockAck(SdoBlockServerSession session, b
SendNextBlockUploadSubBlock(session);
}

// Actor-only snapshot: capture before a session ends to observe that batch's completion.
internal Task? SdoBlockUploadBatchForTests => _sdoBlockServer?.UploadBatch;

private void SendNextBlockUploadSubBlock(SdoBlockServerSession session)
{
// Same ordering caveat as SendNextBlockDownloadSubBlock: send the whole sub-block
Expand Down Expand Up @@ -1183,7 +1186,7 @@ private void SendNextBlockUploadSubBlock(SdoBlockServerSession session)
if (firstSeqno == 1) session.HighestSeqnoHandedOver = 0;
}
int next = firstSeqno;
_ = SendOrderedControlFrames(onSendCompleted: null,
session.UploadBatch = SendOrderedControlFrames(onSendCompleted: null,
shouldStop: () =>
{
lock (session.SendGate)
Expand Down Expand Up @@ -1389,6 +1392,9 @@ public SdoBlockClientSession(byte serverNodeId, ushort index, byte subindex,

private sealed class SdoBlockServerSession
{
// Written/read on the actor; a captured reference remains usable after session removal.
public Task? UploadBatch;

public SdoBlockServerSession(bool inDownload, ushort index, byte subindex, byte[] buffer, int offset)
{
InDownload = inDownload;
Expand Down
78 changes: 59 additions & 19 deletions tests/CanKit.Pro.Tests/TestCases/CANopen/CanOpenSdoBlockUploadServerTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@ public class CanOpenSdoBlockUploadServerTests
[MemberData(nameof(SessionEndings))]
public async Task A_Block_Upload_Whose_Session_Ends_Mid_SubBlock_Sends_No_More_Segments(string ending)
{
using var clock = new VirtualClock();
var confirmationActor = clock.NewActor();
using var bus = ControllableBus.DeferredEchoCapable($"canopen-sdo-block-server-end-{Guid.NewGuid():N}");
var toClient = new List<byte[]>();
bus.OnTransmitting = frame =>
Expand All @@ -51,10 +53,12 @@ public async Task A_Block_Upload_Whose_Session_Ends_Mid_SubBlock_Sends_No_More_S
// test moves (#92): on the wall clock a short timeout races the thread pool from the
// start frame to segment 1 -- fired first, it aborts a session with no batch running,
// segment 1 never comes and the row fails without testing anything.
var clock = new ManualTimeSource();
var serverTimeout = TimeSpan.FromSeconds(30);
using var server = new CanOpenNode(new CanBusService(bus), ServerNodeId,
new CanOpenNodeOptions { SdoServerTimeout = serverTimeout }, ownsService: true, timeSource: clock);
// The protocol timeout must precede RawCan's unchanged one-second confirmation budget.
var serverTimeout = TimeSpan.FromMilliseconds(500);
using var service = new ClockedCanBusService(bus, confirmationActor);
using var server = new CanOpenNode(service, ServerNodeId,
new CanOpenNodeOptions { SdoServerTimeout = serverTimeout }, ownsService: false,
timeSource: confirmationActor.TimeSource);
var nmtSeen = new TaskCompletionSource(TaskCreationOptions.RunContinuationsAsynchronously);
server.NmtCommandReceived += (_, e) =>
{
Expand All @@ -64,12 +68,17 @@ public async Task A_Block_Upload_Whose_Session_Ends_Mid_SubBlock_Sends_No_More_S
Enumerable.Range(0, 140).Select(i => (byte)i).ToArray(), OdAccess.ReadOnly); // 20 segments
await bus.DeferredEchoes.WaitForEnqueuedAsync(1, ShortTimeout); // the boot-up
bus.DeferredEchoes.ReleaseAll();
await server.PostToActorAsync(() => server.SdoBlockUploadBatchForTests.Should().BeNull());

FromClient(bus, SdoBlockFrames.BuildBlockUploadInit(Index, 0x00, clientCrcSupported: false, blockSize: 20, pst: 0));
await bus.DeferredEchoes.WaitForEnqueuedAsync(2, ShortTimeout); // the initiate response
bus.DeferredEchoes.ReleaseAll();
await server.PostToActorAsync(() => server.SdoBlockUploadBatchForTests.Should().BeNull());
FromClient(bus, SdoBlockFrames.BuildEndResponse(SdoBlockFrames.CcsBlockUploadStart));
await bus.DeferredEchoes.WaitForEnqueuedAsync(3, ShortTimeout); // segment 1, its confirmation held
var firstBatch = await CaptureUploadBatchAsync(server);
firstBatch.IsCompleted.Should().BeFalse("segment 1 is still waiting for its echo");
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromSeconds(1), ShortTimeout);

// Each ending leaves a frame or an event behind that says the node has handled it; the
// batch is only let go once that has arrived.
Expand All @@ -87,7 +96,8 @@ public async Task A_Block_Upload_Whose_Session_Ends_Mid_SubBlock_Sends_No_More_S
case "the server times out":
// The start frame re-armed the deadline before the batch was handed segment 1, so
// it is armed by now. Past it, any frame wakes the actor, which then fires it.
clock.Advance(serverTimeout + TimeSpan.FromMilliseconds(1));
await clock.AdvanceAsync(serverTimeout + TimeSpan.FromMilliseconds(250));
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromMilliseconds(250), ShortTimeout);
bus.RaiseObserved(CanFrame.Classic(unchecked((int)CanOpenCobId.NmtCommand),
new byte[] { (byte)NmtCommand.EnterPreOperational, ServerNodeId }), isEcho: false);
await bus.DeferredEchoes.WaitForEnqueuedAsync(4, ShortTimeout); // the timeout's abort
Expand All @@ -109,15 +119,19 @@ public async Task A_Block_Upload_Whose_Session_Ends_Mid_SubBlock_Sends_No_More_S
// The session is over; let the batch carry on. A batch that ignores that sends segment 2
// at once (and one more at every later release, each waiting for the one before).
bus.DeferredEchoes.ReleaseAll();
// No signal says "nothing more is coming", so this is a negative window: it can only pass
// falsely on a slow host, never fail falsely.
await Task.Delay(TimeSpan.FromMilliseconds(300));
bus.DeferredEchoes.ReleaseAll();
await firstBatch.WithTimeoutAsync(ShortTimeout);
await server.PostToActorAsync(() => server.SdoBlockUploadBatchForTests.Should().BeNull(
"the ended or superseded session has no running upload batch"));

byte[][] sent;
lock (toClient) sent = toClient.ToArray();
sent.Length.Should().Be(expected, "nothing follows the end of the session");
sent.Count(f => (f[0] & 0x80) == 0 && f[0] is >= 2 and <= 20).Should().Be(0, "no further segment was sent");
if (ending == "the server times out")
{
sent[^1][0].Should().Be(SdoFrames.CsAbort);
SdoFrames.ReadAbortCode(sent[^1]).Should().Be((uint)SdoAbortCode.SdoProtocolTimedOut);
}
}

public static TheoryData<string> MidBatchAcks => new() { "a partial ack", "an ack of segments not yet sent" };
Expand All @@ -134,6 +148,8 @@ public async Task A_Block_Upload_Whose_Session_Ends_Mid_SubBlock_Sends_No_More_S
[MemberData(nameof(MidBatchAcks))]
public async Task An_Ack_While_The_SubBlock_Is_Still_Being_Sent_Stops_That_Batch(string ack)
{
using var clock = new VirtualClock();
var confirmationActor = clock.NewActor();
using var bus = ControllableBus.DeferredEchoCapable($"canopen-sdo-block-server-midack-{Guid.NewGuid():N}");
var toClient = new List<byte[]>();
bus.OnTransmitting = frame =>
Expand All @@ -142,8 +158,9 @@ public async Task An_Ack_While_The_SubBlock_Is_Still_Being_Sent_Stops_That_Batch
};
// SdoServerTimeout runs on a clock nothing moves (#362, #405): a stall between the test's
// frames longer than its 5 s would otherwise abort the session the test is driving.
using var server = new CanOpenNode(new CanBusService(bus), ServerNodeId,
new CanOpenNodeOptions(), ownsService: true, timeSource: new ManualTimeSource());
using var service = new ClockedCanBusService(bus, confirmationActor);
using var server = new CanOpenNode(service, ServerNodeId,
new CanOpenNodeOptions(), ownsService: false, timeSource: confirmationActor.TimeSource);
var nmtSeen = new TaskCompletionSource(TaskCreationOptions.RunContinuationsAsynchronously);
server.NmtCommandReceived += (_, e) =>
{
Expand All @@ -153,12 +170,17 @@ public async Task An_Ack_While_The_SubBlock_Is_Still_Being_Sent_Stops_That_Batch
Enumerable.Range(0, 140).Select(i => (byte)i).ToArray(), OdAccess.ReadOnly); // 20 segments
await bus.DeferredEchoes.WaitForEnqueuedAsync(1, ShortTimeout); // the boot-up
bus.DeferredEchoes.ReleaseAll();
await server.PostToActorAsync(() => server.SdoBlockUploadBatchForTests.Should().BeNull());

FromClient(bus, SdoBlockFrames.BuildBlockUploadInit(Index, 0x00, clientCrcSupported: false, blockSize: 20, pst: 0));
await bus.DeferredEchoes.WaitForEnqueuedAsync(2, ShortTimeout); // the initiate response
bus.DeferredEchoes.ReleaseAll();
await server.PostToActorAsync(() => server.SdoBlockUploadBatchForTests.Should().BeNull());
FromClient(bus, SdoBlockFrames.BuildEndResponse(SdoBlockFrames.CcsBlockUploadStart));
await bus.DeferredEchoes.WaitForEnqueuedAsync(3, ShortTimeout); // segment 1, its confirmation held
var firstBatch = await CaptureUploadBatchAsync(server);
firstBatch.IsCompleted.Should().BeFalse("segment 1 is still waiting for its echo");
await clock.WaitUntilTimerArmedAsync(confirmationActor, TimeSpan.FromSeconds(1), ShortTimeout);

// Segment 1 is out: a partial ack confirms it and asks for the rest again; an ack of all
// 20 claims 19 that have not left. An NMT command behind the ack is handled behind it.
Expand All @@ -174,23 +196,33 @@ public async Task An_Ack_While_The_SubBlock_Is_Still_Being_Sent_Stops_That_Batch
// need it would fail for want of scheduling.
await bus.DeferredEchoes.WaitForEnqueuedAsync(4, ShortTimeout);

// Let both sends run. The first batch, still sending, would go on with segment 2 at
// once and one more segment at every later release. No signal says "nothing more is
// coming", so this is a negative window: it can only pass falsely on a slow host.
for (var i = 0; i < 3; i++)
if (ack == "a partial ack")
{
var retransmission = await CaptureUploadBatchAsync(server);
retransmission.Should().NotBeSameAs(firstBatch);
bus.DeferredEchoes.ReleaseNext().Should().BeTrue(); // original segment 1
await firstBatch.WithTimeoutAsync(ShortTimeout);
for (var segment = 2; segment <= 20; segment++)
{
await bus.DeferredEchoes.WaitForEnqueuedAsync(segment + 2, ShortTimeout);
bus.DeferredEchoes.ReleaseNext().Should().BeTrue();
}
await retransmission.WithTimeoutAsync(ShortTimeout);
}
else
{
bus.DeferredEchoes.ReleaseAll();
await Task.Delay(TimeSpan.FromMilliseconds(100));
await firstBatch.WithTimeoutAsync(ShortTimeout);
await server.PostToActorAsync(() => server.SdoBlockUploadBatchForTests.Should().BeNull());
}
bus.DeferredEchoes.ReleaseAll();

byte[][] sent;
lock (toClient) sent = toClient.ToArray();
var seqnos = sent.Skip(1).Where(f => (f[0] & 0x7F) is >= 1 and <= 20).Select(f => f[0] & 0x7F).ToList();
if (ack == "a partial ack")
{
seqnos.Should().HaveCountGreaterThan(1, "the retransmission is under way");
seqnos.Should().Equal(Enumerable.Range(1, seqnos.Count),
seqnos.Should().HaveCount(20, "the retransmission completed the sub-block");
seqnos.Should().Equal(Enumerable.Range(1, 20),
"the first batch stopped at the ack, so each segment went out once, in order");
return;
}
Expand Down Expand Up @@ -302,4 +334,12 @@ private static byte[] Next(BlockingCollection<byte[]> frames)
throw new TimeoutException($"No frame on COB-ID 0x{CanOpenCobId.SdoTx(ServerNodeId):X3} within {ShortTimeout}.");
return frame;
}
private static async Task<Task> CaptureUploadBatchAsync(CanOpenNode server)
{
Task? batch = null;
await server.PostToActorAsync(() => batch = server.SdoBlockUploadBatchForTests);
batch.Should().NotBeNull("the first segment is on the wire, so its batch has started");
return batch!;
}

}
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