Add first CAN unit tests and build them in CI

.github/workflows/build.yml

@@ -36,7 +36,7 @@ jobs:
           sudo apt install -y git make python3 python3-pip doxygen
           pip3 install -r docs/requirements.txt
 
-      - name: Run build tests
+      - name: Run sample build tests
         working-directory: thingset-zephyr-sdk
         run: |
           west build -p -b olimex_lora_stm32wl_devkit samples/counter -- -DOVERLAY_CONFIG=lorawan.conf
@@ -51,6 +51,11 @@ jobs:
           west build -p -b native_posix samples/counter -- -DOVERLAY_CONFIG=native_websocket.conf
           west build -p -b xiao_esp32c3 samples/serial_ble_gateway
 
+      - name: Run unit tests
+        working-directory: thingset-zephyr-sdk
+        run: |
+          ../zephyr/scripts/twister -T ./tests --integration --inline-logs
+
       - name: Build documentation
         working-directory: thingset-zephyr-sdk
         run: |

tests/README.md

@@ -0,0 +1,11 @@
+# ThingSet SDK unit tests
+
+## Run unit tests
+
+With twister:
+
+    ../zephyr/scripts/twister -T ./tests --integration -v -n
+
+Manually (`tests/can` used as an example):
+
+    west build -b native_posix tests/can -t run

tests/can/CMakeLists.txt

@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(thingset_sdk_can_test)
+
+FILE(GLOB app_sources src/*.c)
+target_sources(app PRIVATE ${app_sources})

tests/can/prj.conf

@@ -0,0 +1,17 @@
+# Copyright (c) The ThingSet Project Contributors
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_CAN=y
+CONFIG_ISOTP=y
+CONFIG_ENTROPY_GENERATOR=y
+
+CONFIG_THINGSET=y
+CONFIG_THINGSET_SDK=y
+CONFIG_THINGSET_CAN=y
+
+CONFIG_ZTEST=y
+CONFIG_ZTEST_NEW_API=y
+CONFIG_ZTEST_SUMMARY=n
+
+# enable click-able absolute paths in assert messages
+#CONFIG_BUILD_OUTPUT_STRIP_PATHS=n

tests/can/src/main.c

@@ -0,0 +1,100 @@
+/*
+ * Copyright (c) The ThingSet Project Contributors
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/ztest.h>
+
+#include <thingset.h>
+#include <thingset/can.h>
+
+#define TEST_RECEIVE_TIMEOUT K_MSEC(100)
+
+static struct thingset_context ts;
+
+static const struct device *can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
+
+static struct k_sem report_rx_sem;
+static struct k_sem request_tx_sem;
+
+static void report_rx_callback(uint16_t data_id, const uint8_t *value, size_t value_len,
+                               uint8_t source_addr)
+{
+    k_sem_give(&report_rx_sem);
+}
+
+ZTEST(thingset_can, test_receive_report_from_node)
+{
+
+    struct can_frame report_frame = {
+        .id = 0x1E000002, /* node with address 0x02 */
+        .flags = CAN_FRAME_IDE,
+        .data = { 0xF6 },
+        .dlc = 1,
+    };
+    int err;
+
+    k_sem_reset(&report_rx_sem);
+
+    err = can_send(can_dev, &report_frame, K_MSEC(10), NULL, NULL);
+    zassert_equal(err, 0, "can_send failed: %d", err);
+
+    err = k_sem_take(&report_rx_sem, TEST_RECEIVE_TIMEOUT);
+    zassert_equal(err, 0, "receive timeout");
+}
+
+static void request_rx_cb(const struct device *dev, struct can_frame *frame, void *user_data)
+{
+    k_sem_give(&request_tx_sem);
+}
+
+ZTEST(thingset_can, test_send_request_to_node)
+{
+    struct can_filter other_node_filter = {
+        .id = 0x1800CC00,
+        .mask = 0x1F00FF00,
+        .flags = CAN_FILTER_DATA | CAN_FILTER_IDE,
+    };
+    uint8_t req_buf[] = { 0x01, 0x00 }; /* simple single-frame request via ISO-TP */
+    int err;
+
+    k_sem_reset(&request_tx_sem);
+
+    err = can_add_rx_filter(can_dev, &request_rx_cb, NULL, &other_node_filter);
+    zassert_false(err < 0, "adding rx filter failed: %d", err);
+
+    thingset_can_send(req_buf, sizeof(req_buf), 0xCC);
+
+    err = k_sem_take(&request_tx_sem, TEST_RECEIVE_TIMEOUT);
+    zassert_equal(err, 0, "receive timeout");
+}
+
+static void *thingset_can_setup(void)
+{
+    int err;
+
+    k_sem_init(&report_rx_sem, 0, 1);
+    k_sem_init(&request_tx_sem, 0, 1);
+
+    thingset_init_global(&ts);
+
+    zassert_true(device_is_ready(can_dev), "CAN device not ready");
+
+    (void)can_stop(can_dev);
+
+    err = can_set_mode(can_dev, CAN_MODE_LOOPBACK);
+    zassert_equal(err, 0, "failed to set loopback mode (err %d)", err);
+
+    err = can_start(can_dev);
+    zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);
+
+    /* wait for address claiming to finish */
+    k_sleep(K_MSEC(1000));
+
+    thingset_can_set_report_rx_callback(report_rx_callback);
+
+    return NULL;
+}
+
+ZTEST_SUITE(thingset_can, NULL, thingset_can_setup, NULL, NULL, NULL);

tests/can/testcase.yaml

@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: Apache-2.0
+
+tests:
+  thingset_sdk.can:
+    integration_platforms:
+      - native_posix
+    extra_args: EXTRA_CFLAGS=-Wno-error