lua hooks for CAN tx (#2967)

* CanTxMessage usable from unit test

* testLuaReturnsNil

* CAN hook and tests

* it helps if parameter names exist

* nameless params

* s

* redefinition of default argument

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/lua/lua.cpp

@@ -370,6 +370,18 @@ int testLuaReturnsInteger(const char* script) {
 	return lua_tointeger(ls, -1);
 }
 
+void testLuaExecString(const char* script) {
+	auto ls = setupLuaState();
+
+	if (!ls) {
+		throw new std::logic_error("Call to setupLuaState failed, returned null");
+	}
+
+	if (!loadScript(ls, script)) {
+		throw new std::logic_error("Call to loadScript failed");
+	}
+}
+
 #endif // EFI_UNIT_TEST
 
 #endif // EFI_LUA

firmware/controllers/lua/lua_hooks.cpp

@@ -11,6 +11,7 @@
 #include "airmass.h"
 #include "lua_airmass.h"
 #include "pwm_generator_logic.h"
+#include "can_msg_tx.h"
 
 // Some functions lean on existing FSIO implementation
 #include "fsio_impl.h"
@@ -67,6 +68,62 @@ static int lua_table3d(lua_State* l) {
 	return 1;
 }
 
+static int lua_txCan(lua_State* l) {
+	auto channel = luaL_checkinteger(l, 1);
+	// TODO: support multiple channels
+	luaL_argcheck(l, channel == 1, 1, "only channel 1 currently supported");
+
+	auto id = luaL_checkinteger(l, 2);
+	auto ext = luaL_checkinteger(l, 3);
+
+	// Check that ID is valid based on std vs. ext
+	if (ext == 0) {
+		luaL_argcheck(l, id <= 0x7FF, 2, "ID specified is greater than max std ID");
+	} else {
+		luaL_argcheck(l, id <= 0x1FFF'FFFF, 2, "ID specified is greater than max ext ID");
+	}
+
+	luaL_checktype(l, 4, LUA_TTABLE);
+
+	// conform ext parameter to true/false
+	CanTxMessage msg(id, 8, ext == 0 ? false : true);
+
+	// Unfortunately there is no way to inspect the length of a table,
+	// so we have to just iterate until we run out of numbers
+	uint8_t dlc = 0;
+
+	while (true) {
+		lua_pushnumber(l, dlc + 1);
+		auto elementType = lua_gettable(l, 4);
+		auto val = lua_tointeger(l, -1);
+		lua_pop(l, 1);
+
+		if (elementType == LUA_TNIL) {
+			// we're done, this is the end of the array.
+			break;
+		}
+
+		if (elementType != LUA_TNUMBER) {
+			// We're not at the end, but this isn't a number!
+			luaL_error(l, "Unexpected CAN data at position %d: %s", dlc, lua_tostring(l, -1));
+		}
+
+		// This element is valid, increment DLC
+		dlc++;
+
+		if (dlc > 8) {
+			luaL_error(l, "CAN frame length cannot be longer than 8");
+		}
+
+		msg[dlc - 1] = val;
+	}
+
+	msg.setDlc(dlc);
+
+	// no return value
+	return 0;
+}
+
 static LuaAirmass luaAirmass;
 
 AirmassModelBase& getLuaAirmassModel() {
@@ -235,6 +292,7 @@ void configureRusefiLuaHooks(lua_State* l) {
 	lua_register(l, "getSensorRaw", lua_getSensorRaw);
 	lua_register(l, "hasSensor", lua_hasSensor);
 	lua_register(l, "table3d", lua_table3d);
+	lua_register(l, "txCan", lua_txCan);
 
 #if !EFI_UNIT_TEST
 	lua_register(l, "startPwm", lua_startPwm);

firmware/controllers/lua/rusefi_lua.h

@@ -10,4 +10,5 @@ void startLua();
 expected<float> testLuaReturnsNumberOrNil(const char* script);
 float testLuaReturnsNumber(const char* script);
 int testLuaReturnsInteger(const char* script);
+void testLuaExecString(const char* script);
 #endif

firmware/hw_layer/drivers/can/can_msg_tx.cpp

@@ -9,10 +9,10 @@
 
 #include "efifeatures.h"
 #include "global.h"
+#include "can_msg_tx.h"
 
 #if EFI_CAN_SUPPORT
 #include "can.h"
-#include "can_msg_tx.h"
 #include "engine_configuration.h"
 
 EXTERN_CONFIG
@@ -43,7 +43,7 @@ CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
 		CAN_SID(m_frame) = eid;
 	}
 
-	m_frame.DLC = dlc;
+	setDlc(dlc);
 
 	memset(m_frame.data8, 0, sizeof(m_frame.data8));
 }
@@ -73,6 +73,10 @@ CanTxMessage::~CanTxMessage() {
 	}
 }
 
+void CanTxMessage::setDlc(uint8_t dlc) {
+	m_frame.DLC = dlc;
+}
+
 uint8_t& CanTxMessage::operator[](size_t index) {
 	return m_frame.data8[index];
 }
@@ -86,4 +90,20 @@ void CanTxMessage::setBit(size_t byteIdx, size_t bitIdx) {
 	m_frame.data8[byteIdx] |= 1 << bitIdx;
 }
 
+#else
+
+CanTxMessage::CanTxMessage(uint32_t /*eid*/, uint8_t /*dlc*/, bool /*isExtended*/) {
+
+}
+
+CanTxMessage::~CanTxMessage() {
+
+}
+
+uint8_t& CanTxMessage::operator[](size_t index) {
+	return m_data8[index];
+}
+
+void CanTxMessage::setDlc(uint8_t) { }
+
 #endif // EFI_CAN_SUPPORT

firmware/hw_layer/drivers/can/can_msg_tx.h

@@ -56,9 +56,13 @@ public:
 	 */
 	void setBit(size_t byteIdx, size_t bitIdx);
 
+	void setDlc(uint8_t dlc);
+
 protected:
 #if EFI_CAN_SUPPORT
 	CANTxFrame m_frame;
+#else // not EFI_CAN_SUPPORT
+	uint8_t m_data8[8];
 #endif // EFI_CAN_SUPPORT
 
 private:

firmware/hw_layer/drivers/drivers.mk

@@ -13,12 +13,12 @@ HW_LAYER_DRIVERS_CORE = \
 HW_LAYER_DRIVERS_CORE_CPP = \
 	$(DRIVERS_DIR)/gpio/core.cpp \
 	$(DRIVERS_DIR)/i2c/i2c_bb.cpp \
+	$(DRIVERS_DIR)/can/can_msg_tx.cpp \
 
 HW_LAYER_DRIVERS =
 
 HW_LAYER_DRIVERS_CPP = \
 	$(DRIVERS_DIR)/can/can_hw.cpp \
-	$(DRIVERS_DIR)/can/can_msg_tx.cpp \
 	$(DRIVERS_DIR)/serial/serial_hw.cpp \
 	$(DRIVERS_DIR)/gpio/tle6240.cpp \
 	$(DRIVERS_DIR)/gpio/tle8888.cpp \

unit_tests/tests/lua/test_lua_hooks.cpp

@@ -36,3 +36,41 @@ TEST(LuaHooks, Table3d) {
 	setTable(config->fsioTable2, (uint8_t)14);
 	EXPECT_EQ(testLuaReturnsNumber(tableTest), 14);
 }
+
+TEST(LuaHooks, CanTxChannel) {
+	// channel 1 valid
+	EXPECT_NO_THROW(testLuaExecString("txCan(1, 0, 0, {0})"));
+
+	// channel 0 invalid
+	EXPECT_ANY_THROW(testLuaExecString("txCan(0, 0, 0, {0})"));
+}
+
+TEST(LuaHooks, CanTxId) {
+	// std ID ok
+	EXPECT_NO_THROW(testLuaExecString("txCan(1, 2047, 0, {0})"));
+	// std ID too high
+	EXPECT_ANY_THROW(testLuaExecString("txCan(1, 2048, 0, {0})"));
+
+	// ext ID ok
+	EXPECT_NO_THROW(testLuaExecString("txCan(1, 536870911, 1, {0})"));
+	// ext ID too high
+	EXPECT_ANY_THROW(testLuaExecString("txCan(1, 536870912, 1, {0})"));
+}
+
+TEST(LuaHooks, CanTxDataLength) {
+	// valid: DLC = 0
+	EXPECT_NO_THROW(testLuaExecString("txCan(1, 0, 0, {})"));
+	// valid: DLC = 1
+	EXPECT_NO_THROW(testLuaExecString("txCan(1, 0, 0, {0})"));
+	// valid: DLC = 8
+	EXPECT_NO_THROW(testLuaExecString("txCan(1, 0, 0, {1, 2, 3, 4, 5, 6, 7, 8})"));
+
+	// invalid: DLC = 9
+	EXPECT_ANY_THROW(testLuaExecString("txCan(1, 0, 0, {1, 2, 3, 4, 5, 6, 7, 8, 9})"));
+
+	// invalid: is a table, but contains a not-number
+	EXPECT_ANY_THROW(testLuaExecString("txCan(1, 0, 0, {1, 2, 3, 'hello', 5, 6})"));
+
+	// invalid: not a table
+	EXPECT_ANY_THROW(testLuaExecString("txCan(1, 0, 0, 26)"));
+}