Merge remote-tracking branch 'origin/dev' into dev

cmd/canopen/extension_example.go

@@ -1,10 +1,10 @@
 package main
 
 import (
-	"canopen"
 	"io"
 	"os"
 
+	canopen "github.com/samsamfire/gocanopen"
 	log "github.com/sirupsen/logrus"
 )
 

cmd/canopen/main.go

@@ -1,10 +1,10 @@
 package main
 
 import (
-	"canopen"
 	"flag"
 	"os"
 
+	canopen "github.com/samsamfire/gocanopen"
 	log "github.com/sirupsen/logrus"
 )
 
@@ -37,15 +37,8 @@ func main() {
 	if err != nil {
 		panic(err)
 	}
-	node.OD.AddFile(0x3003, "File", "example2.bin", os.O_RDONLY|os.O_CREATE, os.O_CREATE|os.O_TRUNC|os.O_WRONLY)
+	err = node.GetOD().AddFile(0x3003, "File", "example2.bin", os.O_RDONLY|os.O_CREATE, os.O_CREATE|os.O_TRUNC|os.O_WRONLY)
 	if err != nil {
 		panic(err)
 	}
-	if err != nil {
-		panic(err)
-	}
-	e := network.Process()
-	if e != nil {
-		panic(e)
-	}
 }

cmd/canopen_http/main.go

@@ -1,10 +1,10 @@
 package main
 
 import (
-	"canopen"
 	"flag"
 	"fmt"
 
+	canopen "github.com/samsamfire/gocanopen"
 	log "github.com/sirupsen/logrus"
 )
 
@@ -29,7 +29,6 @@ func main() {
 	if e != nil {
 		panic(e)
 	}
-	go func() { network.Process() }()
 	gateway := canopen.NewGateway(1, 1, 100, &network)
 	gateway.ListenAndServe(fmt.Sprintf(":%d", DEFAULT_HTTP_PORT))
 

cmd/canopen_test/main.go

@@ -3,10 +3,10 @@ package main
 // Demo used for automated testing
 
 import (
-	"canopen"
 	"flag"
 	"os"
 
+	canopen "github.com/samsamfire/gocanopen"
 	log "github.com/sirupsen/logrus"
 )
 
@@ -38,15 +38,9 @@ func main() {
 		panic(err)
 	}
 	// Add file extension
-	node.OD.AddFile(0x200F, "File", "example.bin", os.O_RDONLY|os.O_CREATE, os.O_CREATE|os.O_TRUNC|os.O_WRONLY)
+	err = node.GetOD().AddFile(0x200F, "File", "example.bin", os.O_RDONLY|os.O_CREATE, os.O_CREATE|os.O_TRUNC|os.O_WRONLY)
 	if err != nil {
 		panic(err)
 	}
-	if err != nil {
-		panic(err)
-	}
-	e := network.Process()
-	if e != nil {
-		panic(e)
-	}
+	select {}
 }

cmd/sdo_client/main.go

@@ -1,10 +1,10 @@
 package main
 
 import (
-	"canopen"
 	"flag"
 	"fmt"
 
+	canopen "github.com/samsamfire/gocanopen"
 	log "github.com/sirupsen/logrus"
 )
 
@@ -24,16 +24,15 @@ func main() {
 	flag.Parse()
 
 	network := canopen.NewNetwork(nil)
-	e := network.Connect("", *channel, 500000)
-	if e != nil {
-		panic(e)
+	err := network.Connect("", *channel, 500000)
+	if err != nil {
+		panic(err)
 	}
-	go func() { network.Process() }()
 
 	// Load corresponding OD to be able to read values from strings
-	e = network.AddNode(0x10, "../../testdata/base.eds")
-	if e != nil {
-		panic(e)
+	_, err = network.AddNode(0x10, "../../testdata/base.eds", false)
+	if err != nil {
+		panic(err)
 	}
 	network.Read(0x10, "INTEGER16 value", "")
 	network.Read(0x10, "INTEGER8 value", "")

crc_test.go

@@ -1,12 +1,13 @@
 package canopen
 
-import "testing"
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+)
 
 func TestCcittSingle(t *testing.T) {
 	crc := CRC16(0)
 	crc.ccittSingle(10)
-	if crc != 0xA14A {
-		t.Errorf("Was expecting 0xA14A, got %x", crc)
-	}
-
+	assert.EqualValues(t, 0xA14A, crc)
 }

emergency.go

@@ -556,8 +556,7 @@ func NewEM(
 	emergency.Fifo = make([]EMFifo, fifoSize)
 
 	// Get cob id initial & verify
-	cobIdEmergency := uint32(0)
-	ret := entry1014.Uint32(0, &cobIdEmergency)
+	cobIdEmergency, ret := entry1014.Uint32(0)
 	if ret != nil || (cobIdEmergency&0x7FFFF800) != 0 {
 		// Don't break if only value is wrong
 		if ret != nil {
@@ -575,8 +574,7 @@ func NewEM(
 	emergency.txBuffer = NewFrame(producerCanId, 0, 8)
 	emergency.InhibitEmTimeUs = 0
 	emergency.InhibitEmTimer = 0
-	inhibitTime100us := uint16(0)
-	ret = entry1015.Uint16(0, &inhibitTime100us)
+	inhibitTime100us, ret := entry1015.Uint16(0)
 	if ret == nil {
 		emergency.InhibitEmTimeUs = uint32(inhibitTime100us) * 100
 		entry1015.AddExtension(emergency, ReadEntryDefault, WriteEntry1015)

fifo_test.go

@@ -1,78 +1,60 @@
 package canopen
 
-import "testing"
+import (
+	"testing"
+
+	"github.com/stretchr/testify/assert"
+)
 
 func TestFifoWrite(t *testing.T) {
 	fifo := NewFifo(100)
 	res := fifo.Write([]byte{1, 2, 3, 4, 5}, nil)
-	if res != 5 {
-		t.Errorf("Written only %v", res)
-	}
-	if fifo.writePos != 5 {
-		t.Errorf("Write position is %v", fifo.writePos)
-	}
-	if fifo.readPos != 0 {
-		t.Error()
-	}
+	assert.Equal(t, 5, res)
+	assert.Equal(t, 5, fifo.writePos)
+	assert.Equal(t, 0, fifo.readPos)
+
 	res = fifo.Write(make([]byte, 500), nil)
-	if res != 94 {
-		t.Errorf("Wrote %v", res)
-	}
+	assert.Equal(t, 94, res)
 	res = fifo.Write([]byte{1}, nil)
-	if res != 0 {
-		t.Error()
-	}
+	assert.Equal(t, 0, res)
+
 	// Free up some space by reading then re writing
 	var eof bool = false
 	fifo.Read(make([]byte, 10), &eof)
 	res = fifo.Write(make([]byte, 10), nil)
-	if res != 10 {
-		t.Error()
-	}
-
+	assert.Equal(t, 10, res)
 }
 
 func TestFifoRead(t *testing.T) {
 	fifo := NewFifo(100)
 	receive_buffer := make([]byte, 10)
 	var eof bool = false
 	res := fifo.Read(receive_buffer, &eof)
-	if res != 0 {
-		t.Error()
-	}
+	assert.Equal(t, 0, res)
+
 	// Write to fifo
 	res = fifo.Write([]byte{1, 2, 3, 4}, nil)
-	if res != 4 && fifo.writePos != 4 {
-		t.Error()
-	}
+	assert.Equal(t, 4, res)
+	assert.Equal(t, 4, fifo.writePos)
 	res = fifo.Read(receive_buffer, &eof)
-	if res != 4 {
-		t.Errorf("Res is %v", res)
-	}
+	assert.Equal(t, 4, res)
 }
 
 func TestFifoAltRead(t *testing.T) {
 	fifo := NewFifo(101)
-	if fifo.AltGetOccupied() != 0 {
-		t.Fatal("fifo should be empty")
-	}
+	assert.Equal(t, 0, fifo.AltGetOccupied())
+
 	rxBuffer := make([]byte, 7)
 	res := fifo.AltRead(rxBuffer)
-	if res != 0 {
-		t.Error()
-	}
+	assert.Equal(t, 0, res)
+
 	// Write to fifo
 	for i := 0; i < 10; i++ {
 		res = fifo.Write([]byte("1234567891"), nil)
-		if res != 10 {
-			t.Fatalf("should be exactly 10, got %v", res)
-		}
+		assert.Equal(t, 10, res)
 	}
 	res = fifo.AltRead(rxBuffer)
-	if res != 7 || string(rxBuffer) != "1234567" {
-		t.Fatal("alt read problem")
-	}
-	if fifo.AltGetOccupied() != 93 {
-		t.Fatalf("should be 93 left, instead %v", fifo.AltGetOccupied())
-	}
+	assert.Equal(t, 7, res)
+	assert.Equal(t, "1234567", string(rxBuffer))
+	assert.Equal(t, 93, fifo.AltGetOccupied())
 }

go.mod

@@ -1,11 +1,17 @@
-module canopen
+module github.com/samsamfire/gocanopen
 
 go 1.19
 
 require (
 	github.com/brutella/can v0.0.2
 	github.com/sirupsen/logrus v1.9.0
+	github.com/stretchr/testify v1.8.4
 	gopkg.in/ini.v1 v1.67.0
 )
 
-require golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8 // indirect
+require (
+	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
+)

go.sum

@@ -8,13 +8,16 @@ github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZN
 github.com/sirupsen/logrus v1.9.0 h1:trlNQbNUG3OdDrDil03MCb1H2o9nJ1x4/5LYw7byDE0=
 github.com/sirupsen/logrus v1.9.0/go.mod h1:naHLuLoDiP4jHNo9R0sCBMtWGeIprob74mVsIT4qYEQ=
 github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
-github.com/stretchr/testify v1.7.0 h1:nwc3DEeHmmLAfoZucVR881uASk0Mfjw8xYJ99tb5CcY=
 github.com/stretchr/testify v1.7.0/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
+github.com/stretchr/testify v1.8.4 h1:CcVxjf3Q8PM0mHUKJCdn+eZZtm5yQwehR5yeSVQQcUk=
+github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
 golang.org/x/sys v0.0.0-20181213200352-4d1cda033e06/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8 h1:0A+M6Uqn+Eje4kHMK80dtF3JCXC4ykBgQG4Fe06QRhQ=
 golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/ini.v1 v1.67.0 h1:Dgnx+6+nfE+IfzjUEISNeydPJh9AXNNsWbGP9KzCsOA=
 gopkg.in/ini.v1 v1.67.0/go.mod h1:pNLf8WUiyNEtQjuu5G5vTm06TEv9tsIgeAvK8hOrP4k=
-gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c h1:dUUwHk2QECo/6vqA44rthZ8ie2QXMNeKRTHCNY2nXvo=
 gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
+gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
+gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=

heartbeat_consumer.go

@@ -198,8 +198,7 @@ func NewHBConsumer(busManager *BusManager, em *EM, entry1016 *Entry) (*HBConsume
 	log.Debugf("[HB CONSUMER] %v possible entries for nodes to monitor", consumer.nbMonitoredNodes)
 	consumer.monitoredNodes = make([]HBConsumerNode, consumer.nbMonitoredNodes)
 	for index := 0; index < int(consumer.nbMonitoredNodes); index++ {
-		var hbConsValue uint32
-		err := entry1016.Uint32(uint8(index)+1, &hbConsValue)
+		hbConsValue, err := entry1016.Uint32(uint8(index) + 1)
 		if err != nil {
 			log.Errorf("[HB CONSUMER][%x|%x] reading %v failed : %v", entry1016.Index, index+1, entry1016.Name, err)
 			return nil, ErrOdParameters

http_gateway_test.go

@@ -22,14 +22,11 @@ func createGateway() *HTTPGatewayServer {
 	if e != nil {
 		panic(e)
 	}
-	e = network.AddNode(NODE_ID_TEST, "testdata/base.eds")
+	_, e = network.AddNode(NODE_ID_TEST, "testdata/base.eds", true)
 	if e != nil {
 		panic(e)
 	}
 	gateway := NewGateway(1, 1, 100, &network)
-	go func() {
-		network.Process()
-	}()
 	return gateway
 }