diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml index 14f8352..dffcb30 100644 --- a/.github/workflows/rust.yml +++ b/.github/workflows/rust.yml @@ -8,17 +8,68 @@ on: env: CARGO_TERM_COLOR: always + # Speed up CI builds a bit by not generating debug symbols. + CARGO_PROFILE_DEV_DEBUG: 0 + CARGO_PROFILE_TEST_DEBUG: 0 jobs: build: - runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 - with: - submodules: recursive - - name: Make CI script executable - run: chmod +x ci-rust.sh - - name: Run CI checks - run: ./ci-rust.sh all + - uses: actions/checkout@v4 + with: + submodules: recursive + + # Cache Cargo registry + build artifacts. This is usually the biggest win for Rust CI runtimes. + - uses: Swatinem/rust-cache@v2 + with: + cache-on-failure: true + + - name: Enable vcan support on runner (fast path first) + run: | + set -euxo pipefail + + if ! command -v setcap >/dev/null 2>&1; then + sudo apt-get update + sudo apt-get install -y libcap2-bin + fi + + # Try to load SocketCAN + vcan. + sudo modprobe can || true + sudo modprobe can_raw || true + + if ! sudo modprobe vcan; then + # GitHub's ubuntu runners use an Azure-flavoured kernel. Only install extra modules when needed. + sudo apt-get update + sudo apt-get install -y "linux-modules-extra-$(uname -r)" \ + || sudo apt-get install -y linux-modules-extra-azure \ + || true + + sudo modprobe vcan || true + fi + + # Helpful debug output when the kernel simply doesn't provide vcan. + if ! lsmod | grep -q '^vcan\b'; then + echo "WARNING: vcan kernel module is not available on this runner kernel ($(uname -r))." + echo " vcan-based integration tests will fail unless you use a runner/kernel that provides vcan." + fi + + - name: Build & install ferroflow-vcan helper (CAP_NET_ADMIN) + run: | + set -euxo pipefail + + # Build the helper in *debug* profile so it can reuse compilation artifacts from the rest of the CI run. + cargo build --bin ferroflow-vcan --features test-vcan + + # Grant CAP_NET_ADMIN so integration tests can create/delete vcan interfaces without sudo. + sudo setcap cap_net_admin+ep target/debug/ferroflow-vcan + + # Put the helper on PATH for the test process (tests invoke it via `Command::new("ferroflow-vcan")`). + echo "$GITHUB_WORKSPACE/target/debug" >> "$GITHUB_PATH" + + - name: Make CI script executable + run: chmod +x ci-rust.sh + + - name: Run CI checks + run: ./ci-rust.sh all diff --git a/Cargo.lock b/Cargo.lock index 0e7b94e..af7b163 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -26,6 +26,12 @@ version = "1.0.102" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c" +[[package]] +name = "arraydeque" +version = "0.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7d902e3d592a523def97af8f317b08ce16b7ab854c1985a0c671e6f15cebc236" + [[package]] name = "astral-tokio-tar" version = "0.6.0" @@ -147,6 +153,18 @@ name = "bitflags" version = "2.11.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "843867be96c8daad0d758b57df9392b6d8d271134fce549de6ce169ff98a92af" +dependencies = [ + "serde_core", +] + +[[package]] +name = "block-buffer" +version = "0.10.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71" +dependencies = [ + "generic-array", +] [[package]] name = "bollard" @@ -240,11 +258,20 @@ version = "1.11.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33" +[[package]] +name = "caps" +version = "0.5.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fd1ddba47aba30b6a889298ad0109c3b8dcb0e8fc993b459daa7067d46f865e0" +dependencies = [ + "libc", +] + [[package]] name = "cc" -version = "1.2.56" +version = "1.2.60" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "aebf35691d1bfb0ac386a69bac2fde4dd276fb618cf8bf4f5318fe285e821bb2" +checksum = "43c5703da9466b66a946814e1adf53ea2c90f10063b86290cc9eb67ce3478a20" dependencies = [ "find-msvc-tools", "shlex", @@ -276,6 +303,55 @@ dependencies = [ "windows-link", ] +[[package]] +name = "config" +version = "0.15.22" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8e68cfe19cd7d23ffde002c24ffa5cda73931913ef394d5eaaa32037dc940c0c" +dependencies = [ + "async-trait", + "convert_case", + "json5", + "pathdiff", + "ron", + "rust-ini", + "serde-untagged", + "serde_core", + "serde_json", + "toml 1.1.2+spec-1.1.0", + "winnow 1.0.1", + "yaml-rust2", +] + +[[package]] +name = "const-random" +version = "0.1.18" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "87e00182fe74b066627d63b85fd550ac2998d4b0bd86bfed477a0ae4c7c71359" +dependencies = [ + "const-random-macro", +] + +[[package]] +name = "const-random-macro" +version = "0.1.16" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f9d839f2a20b0aee515dc581a6172f2321f96cab76c1a38a4c584a194955390e" +dependencies = [ + "getrandom 0.2.17", + "once_cell", + "tiny-keccak", +] + +[[package]] +name = "convert_case" +version = "0.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ec182b0ca2f35d8fc196cf3404988fd8b8c739a4d270ff118a398feb0cbec1ca" +dependencies = [ + "unicode-segmentation", +] + [[package]] name = "core-foundation" version = "0.10.1" @@ -292,12 +368,37 @@ version = "0.8.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b" +[[package]] +name = "cpufeatures" +version = "0.2.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "59ed5838eebb26a2bb2e58f6d5b5316989ae9d08bab10e0e6d103e656d1b0280" +dependencies = [ + "libc", +] + [[package]] name = "crossbeam-utils" version = "0.8.21" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28" +[[package]] +name = "crunchy" +version = "0.2.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "460fbee9c2c2f33933d720630a6a0bac33ba7053db5344fac858d4b8952d77d5" + +[[package]] +name = "crypto-common" +version = "0.1.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "78c8292055d1c1df0cce5d180393dc8cce0abec0a7102adb6c7b1eef6016d60a" +dependencies = [ + "generic-array", + "typenum", +] + [[package]] name = "darling" version = "0.21.3" @@ -393,9 +494,9 @@ dependencies = [ [[package]] name = "diesel" -version = "2.3.6" +version = "2.3.7" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d9b6c2fc184a6fb6ebcf5f9a5e3bbfa84d8fd268cdfcce4ed508979a6259494d" +checksum = "f4ae09a41a4b89f94ec1e053623da8340d996bc32c6517d325a9daad9b239358" dependencies = [ "bitflags", "byteorder", @@ -440,6 +541,16 @@ dependencies = [ "syn 2.0.117", ] +[[package]] +name = "digest" +version = "0.10.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292" +dependencies = [ + "block-buffer", + "crypto-common", +] + [[package]] name = "displaydoc" version = "0.2.5" @@ -451,6 +562,15 @@ dependencies = [ "syn 2.0.117", ] +[[package]] +name = "dlv-list" +version = "0.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "442039f5147480ba31067cb00ada1adae6892028e40e45fc5de7b7df6dcc1b5f" +dependencies = [ + "const-random", +] + [[package]] name = "docker_credential" version = "1.3.2" @@ -503,12 +623,32 @@ dependencies = [ "nb", ] +[[package]] +name = "encoding_rs" +version = "0.8.35" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "75030f3c4f45dafd7586dd6780965a8c7e8e285a5ecb86713e63a79c5b2766f3" +dependencies = [ + "cfg-if", +] + [[package]] name = "equivalent" version = "1.0.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f" +[[package]] +name = "erased-serde" +version = "0.4.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d2add8a07dd6a8d93ff627029c51de145e12686fbc36ecb298ac22e74cf02dec" +dependencies = [ + "serde", + "serde_core", + "typeid", +] + [[package]] name = "errno" version = "0.3.14" @@ -516,7 +656,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb" dependencies = [ "libc", - "windows-sys 0.52.0", + "windows-sys 0.61.2", ] [[package]] @@ -534,11 +674,15 @@ name = "ferro_flow" version = "0.1.0" dependencies = [ "anyhow", + "caps", "chrono", + "config", "dashmap", "diesel", "diesel_migrations", + "libc", "liquidcan_rust", + "serde", "serde_json", "socketcan", "testcontainers", @@ -578,6 +722,12 @@ version = "1.0.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1" +[[package]] +name = "foldhash" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2" + [[package]] name = "form_urlencoded" version = "1.2.2" @@ -675,6 +825,16 @@ dependencies = [ "slab", ] +[[package]] +name = "generic-array" +version = "0.14.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a" +dependencies = [ + "typenum", + "version_check", +] + [[package]] name = "getrandom" version = "0.2.17" @@ -710,7 +870,7 @@ dependencies = [ "futures-core", "futures-sink", "http", - "indexmap 2.13.0", + "indexmap 2.14.0", "slab", "tokio", "tokio-util", @@ -731,9 +891,27 @@ checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1" [[package]] name = "hashbrown" -version = "0.16.1" +version = "0.15.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "841d1cc9bed7f9236f321df977030373f4a4163ae1a7dbfe1a51a2c1a51d9100" +checksum = "9229cfe53dfd69f0609a49f65461bd93001ea1ef889cd5529dd176593f5338a1" +dependencies = [ + "foldhash", +] + +[[package]] +name = "hashbrown" +version = "0.17.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4f467dd6dccf739c208452f8014c75c18bb8301b050ad1cfb27153803edb0f51" + +[[package]] +name = "hashlink" +version = "0.10.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7382cf6263419f2d8df38c55d7da83da5c18aef87fc7a7fc1fb1e344edfe14c1" +dependencies = [ + "hashbrown 0.15.5", +] [[package]] name = "heck" @@ -803,9 +981,9 @@ checksum = "df3b46402a9d5adb4c86a0cf463f42e19994e3ee891101b1841f30a545cb49a9" [[package]] name = "hyper" -version = "1.8.1" +version = "1.9.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2ab2d4f250c3d7b1c9fcdff1cece94ea4e2dfbec68614f7b87cb205f24ca9d11" +checksum = "6299f016b246a94207e63da54dbe807655bf9e00044f73ded42c3ac5305fbcca" dependencies = [ "atomic-waker", "bytes", @@ -818,7 +996,6 @@ dependencies = [ "httpdate", "itoa", "pin-project-lite", - "pin-utils", "smallvec", "tokio", "want", @@ -841,15 +1018,14 @@ dependencies = [ [[package]] name = "hyper-rustls" -version = "0.27.7" +version = "0.27.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e3c93eb611681b207e1fe55d5a71ecf91572ec8a6705cdb6857f7d8d5242cf58" +checksum = "c2b52f86d1d4bc0d6b4e6826d960b1b333217e07d36b882dca570a5e1c48895b" dependencies = [ "http", "hyper", "hyper-util", "rustls", - "rustls-pki-types", "tokio", "tokio-rustls", "tower-service", @@ -882,7 +1058,7 @@ dependencies = [ "hyper", "libc", "pin-project-lite", - "socket2 0.5.10", + "socket2 0.6.3", "tokio", "tower-service", "tracing", @@ -929,12 +1105,13 @@ dependencies = [ [[package]] name = "icu_collections" -version = "2.1.1" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4c6b649701667bbe825c3b7e6388cb521c23d88644678e83c0c4d0a621a34b43" +checksum = "2984d1cd16c883d7935b9e07e44071dca8d917fd52ecc02c04d5fa0b5a3f191c" dependencies = [ "displaydoc", "potential_utf", + "utf8_iter", "yoke", "zerofrom", "zerovec", @@ -942,9 +1119,9 @@ dependencies = [ [[package]] name = "icu_locale_core" -version = "2.1.1" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "edba7861004dd3714265b4db54a3c390e880ab658fec5f7db895fae2046b5bb6" +checksum = "92219b62b3e2b4d88ac5119f8904c10f8f61bf7e95b640d25ba3075e6cac2c29" dependencies = [ "displaydoc", "litemap", @@ -955,9 +1132,9 @@ dependencies = [ [[package]] name = "icu_normalizer" -version = "2.1.1" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5f6c8828b67bf8908d82127b2054ea1b4427ff0230ee9141c54251934ab1b599" +checksum = "c56e5ee99d6e3d33bd91c5d85458b6005a22140021cc324cea84dd0e72cff3b4" dependencies = [ "icu_collections", "icu_normalizer_data", @@ -969,15 +1146,15 @@ dependencies = [ [[package]] name = "icu_normalizer_data" -version = "2.1.1" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7aedcccd01fc5fe81e6b489c15b247b8b0690feb23304303a9e560f37efc560a" +checksum = "da3be0ae77ea334f4da67c12f149704f19f81d1adf7c51cf482943e84a2bad38" [[package]] name = "icu_properties" -version = "2.1.2" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "020bfc02fe870ec3a66d93e677ccca0562506e5872c650f893269e08615d74ec" +checksum = "bee3b67d0ea5c2cca5003417989af8996f8604e34fb9ddf96208a033901e70de" dependencies = [ "icu_collections", "icu_locale_core", @@ -989,15 +1166,15 @@ dependencies = [ [[package]] name = "icu_properties_data" -version = "2.1.2" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "616c294cf8d725c6afcd8f55abc17c56464ef6211f9ed59cccffe534129c77af" +checksum = "8e2bbb201e0c04f7b4b3e14382af113e17ba4f63e2c9d2ee626b720cbce54a14" [[package]] name = "icu_provider" -version = "2.1.1" +version = "2.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "85962cf0ce02e1e0a629cc34e7ca3e373ce20dda4c4d7294bbd0bf1fdb59e614" +checksum = "139c4cf31c8b5f33d7e199446eff9c1e02decfc2f0eec2c8d71f65befa45b421" dependencies = [ "displaydoc", "icu_locale_core", @@ -1048,12 +1225,12 @@ dependencies = [ [[package]] name = "indexmap" -version = "2.13.0" +version = "2.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7714e70437a7dc3ac8eb7e6f8df75fd8eb422675fc7678aff7364301092b1017" +checksum = "d466e9454f08e4a911e14806c24e16fba1b4c121d1ea474396f396069cf949d9" dependencies = [ "equivalent", - "hashbrown 0.16.1", + "hashbrown 0.17.0", "serde", "serde_core", ] @@ -1078,36 +1255,47 @@ dependencies = [ [[package]] name = "itoa" -version = "1.0.17" +version = "1.0.18" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "92ecc6618181def0457392ccd0ee51198e065e016d1d527a7ac1b6dc7c1f09d2" +checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682" [[package]] name = "js-sys" -version = "0.3.91" +version = "0.3.95" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b49715b7073f385ba4bc528e5747d02e66cb39c6146efb66b781f131f0fb399c" +checksum = "2964e92d1d9dc3364cae4d718d93f227e3abb088e747d92e0395bfdedf1c12ca" dependencies = [ "once_cell", "wasm-bindgen", ] +[[package]] +name = "json5" +version = "0.4.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "96b0db21af676c1ce64250b5f40f3ce2cf27e4e47cb91ed91eb6fe9350b430c1" +dependencies = [ + "pest", + "pest_derive", + "serde", +] + [[package]] name = "libc" -version = "0.2.183" +version = "0.2.184" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d" +checksum = "48f5d2a454e16a5ea0f4ced81bd44e4cfc7bd3a507b61887c99fd3538b28e4af" [[package]] name = "libredox" -version = "0.1.15" +version = "0.1.16" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7ddbf48fd451246b1f8c2610bd3b4ac0cc6e149d89832867093ab69a17194f08" +checksum = "e02f3bb43d335493c96bf3fd3a321600bf6bd07ed34bc64118e9293bdffea46c" dependencies = [ "bitflags", "libc", "plain", - "redox_syscall 0.7.3", + "redox_syscall 0.7.4", ] [[package]] @@ -1150,9 +1338,9 @@ dependencies = [ [[package]] name = "litemap" -version = "0.8.1" +version = "0.8.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6373607a59f0be73a39b6fe456b8192fcc3585f602af20751600e974dd455e77" +checksum = "92daf443525c4cce67b150400bc2316076100ce0b3686209eb8cf3c31612e6f0" [[package]] name = "lock_api" @@ -1197,7 +1385,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "36c791ecdf977c99f45f23280405d7723727470f6689a5e6dbf513ac547ae10d" dependencies = [ "serde", - "toml", + "toml 0.9.12+spec-1.1.0", ] [[package]] @@ -1374,9 +1562,9 @@ dependencies = [ [[package]] name = "once_cell" -version = "1.21.3" +version = "1.21.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d" +checksum = "9f7c3e4beb33f85d45ae3e3a1792185706c8e16d043238c593331cc7cd313b50" [[package]] name = "openssl-probe" @@ -1384,6 +1572,16 @@ version = "0.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7c87def4c32ab89d880effc9e097653c8da5d6ef28e6b539d313baaacfbafcbe" +[[package]] +name = "ordered-multimap" +version = "0.7.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "49203cdcae0030493bad186b28da2fa25645fa276a51b6fec8010d281e02ef79" +dependencies = [ + "dlv-list", + "hashbrown 0.14.5", +] + [[package]] name = "parking_lot_core" version = "0.9.12" @@ -1422,12 +1620,61 @@ dependencies = [ "syn 2.0.117", ] +[[package]] +name = "pathdiff" +version = "0.2.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "df94ce210e5bc13cb6651479fa48d14f601d9858cfe0467f43ae157023b938d3" + [[package]] name = "percent-encoding" version = "2.3.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9b4f627cb1b25917193a259e49bdad08f671f8d9708acfd5fe0a8c1455d87220" +[[package]] +name = "pest" +version = "2.8.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e0848c601009d37dfa3430c4666e147e49cdcf1b92ecd3e63657d8a5f19da662" +dependencies = [ + "memchr", + "ucd-trie", +] + +[[package]] +name = "pest_derive" +version = "2.8.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "11f486f1ea21e6c10ed15d5a7c77165d0ee443402f0780849d1768e7d9d6fe77" +dependencies = [ + "pest", + "pest_generator", +] + +[[package]] +name = "pest_generator" +version = "2.8.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8040c4647b13b210a963c1ed407c1ff4fdfa01c31d6d2a098218702e6664f94f" +dependencies = [ + "pest", + "pest_meta", + "proc-macro2", + "quote", + "syn 2.0.117", +] + +[[package]] +name = "pest_meta" +version = "2.8.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "89815c69d36021a140146f26659a81d6c2afa33d216d736dd4be5381a7362220" +dependencies = [ + "pest", + "sha2", +] + [[package]] name = "pin-project" version = "1.1.11" @@ -1454,17 +1701,11 @@ version = "0.2.17" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "a89322df9ebe1c1578d689c92318e070967d1042b512afbe49518723f4e6d5cd" -[[package]] -name = "pin-utils" -version = "0.1.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184" - [[package]] name = "pkg-config" -version = "0.3.32" +version = "0.3.33" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c" +checksum = "19f132c84eca552bf34cab8ec81f1c1dcc229b811638f9d283dceabe58c5569e" [[package]] name = "plain" @@ -1480,9 +1721,9 @@ checksum = "c33a9471896f1c69cecef8d20cbe2f7accd12527ce60845ff44c153bb2a21b49" [[package]] name = "potential_utf" -version = "0.1.4" +version = "0.1.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b73949432f5e2a09657003c25bca5e19a0e9c84f8058ca374f49e0ebe605af77" +checksum = "0103b1cef7ec0cf76490e969665504990193874ea05c85ff9bab8b911d0a0564" dependencies = [ "zerovec", ] @@ -1539,7 +1780,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "27c6023962132f4b30eb4c172c91ce92d933da334c59c23cddee82358ddafb0b" dependencies = [ "anyhow", - "itertools 0.13.0", + "itertools 0.14.0", "proc-macro2", "quote", "syn 2.0.117", @@ -1556,9 +1797,9 @@ dependencies = [ [[package]] name = "quote" -version = "1.0.44" +version = "1.0.45" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "21b2ebcf727b7760c461f091f9f0f539b77b8e87f2fd88131e7f1b433b3cece4" +checksum = "41f2619966050689382d2b44f664f4bc593e129785a36d6ee376ddf37259b924" dependencies = [ "proc-macro2", ] @@ -1571,9 +1812,9 @@ checksum = "69cdb34c158ceb288df11e18b4bd39de994f6657d83847bdffdbd7f346754b0f" [[package]] name = "rand" -version = "0.9.2" +version = "0.9.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1" +checksum = "7ec095654a25171c2124e9e3393a930bddbffdc939556c914957a4c3e0a87166" dependencies = [ "rand_chacha", "rand_core", @@ -1609,9 +1850,9 @@ dependencies = [ [[package]] name = "redox_syscall" -version = "0.7.3" +version = "0.7.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6ce70a74e890531977d37e532c34d45e9055d2409ed08ddba14529471ed0be16" +checksum = "f450ad9c3b1da563fb6948a8e0fb0fb9269711c9c73d9ea1de5058c79c8d643a" dependencies = [ "bitflags", ] @@ -1679,6 +1920,30 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "ron" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4147b952f3f819eca0e99527022f7d6a8d05f111aeb0a62960c74eb283bec8fc" +dependencies = [ + "bitflags", + "once_cell", + "serde", + "serde_derive", + "typeid", + "unicode-ident", +] + +[[package]] +name = "rust-ini" +version = "0.21.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "796e8d2b6696392a43bea58116b667fb4c29727dc5abd27d6acf338bb4f688c7" +dependencies = [ + "cfg-if", + "ordered-multimap", +] + [[package]] name = "rustc-hash" version = "2.1.2" @@ -1695,7 +1960,7 @@ dependencies = [ "errno", "libc", "linux-raw-sys", - "windows-sys 0.52.0", + "windows-sys 0.61.2", ] [[package]] @@ -1736,9 +2001,9 @@ dependencies = [ [[package]] name = "rustls-webpki" -version = "0.103.10" +version = "0.103.11" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "df33b2b81ac578cabaf06b89b0631153a3f416b0a886e8a7a1707fb51abbd1ef" +checksum = "20a6af516fea4b20eccceaf166e8aa666ac996208e8a644ce3ef5aa783bc7cd4" dependencies = [ "ring", "rustls-pki-types", @@ -1829,6 +2094,18 @@ dependencies = [ "serde_derive", ] +[[package]] +name = "serde-untagged" +version = "0.1.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f9faf48a4a2d2693be24c6289dbe26552776eb7737074e6722891fadbe6c5058" +dependencies = [ + "erased-serde", + "serde", + "serde_core", + "typeid", +] + [[package]] name = "serde_core" version = "1.0.228" @@ -1875,9 +2152,9 @@ dependencies = [ [[package]] name = "serde_spanned" -version = "1.1.0" +version = "1.1.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "876ac351060d4f882bb1032b6369eb0aef79ad9df1ea8bc404874d8cc3d0cd98" +checksum = "6662b5879511e06e8999a8a235d848113e942c9124f211511b16466ee2995f26" dependencies = [ "serde_core", ] @@ -1904,7 +2181,7 @@ dependencies = [ "chrono", "hex", "indexmap 1.9.3", - "indexmap 2.13.0", + "indexmap 2.14.0", "schemars 0.9.0", "schemars 1.2.1", "serde_core", @@ -1925,6 +2202,17 @@ dependencies = [ "syn 2.0.117", ] +[[package]] +name = "sha2" +version = "0.10.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a7507d819769d01a365ab707794a4084392c824f54a7a6a7862f8c3d0892b283" +dependencies = [ + "cfg-if", + "cpufeatures", + "digest", +] + [[package]] name = "shlex" version = "1.3.0" @@ -2160,11 +2448,20 @@ dependencies = [ "time-core", ] +[[package]] +name = "tiny-keccak" +version = "2.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2c9d3793400a45f954c52e73d068316d76b6f4e36977e3fcebb13a2721e80237" +dependencies = [ + "crunchy", +] + [[package]] name = "tinystr" -version = "0.8.2" +version = "0.8.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "42d3e9c45c09de15d06dd8acf5f4e0e399e85927b7f00711024eb7ae10fa4869" +checksum = "c8323304221c2a851516f22236c5722a72eaa19749016521d6dff0824447d96d" dependencies = [ "displaydoc", "zerovec", @@ -2172,9 +2469,9 @@ dependencies = [ [[package]] name = "tokio" -version = "1.50.0" +version = "1.51.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "27ad5e34374e03cfffefc301becb44e9dc3c17584f414349ebe29ed26661822d" +checksum = "f66bf9585cda4b724d3e78ab34b73fb2bbaba9011b9bfdf69dc836382ea13b8c" dependencies = [ "bytes", "libc", @@ -2188,9 +2485,9 @@ dependencies = [ [[package]] name = "tokio-macros" -version = "2.6.1" +version = "2.7.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5c55a2eff8b69ce66c84f85e1da1c233edc36ceb85a2058d11b0d6a3c7e7569c" +checksum = "385a6cb71ab9ab790c5fe8d67f1645e6c450a7ce006a33de03daa956cf70a496" dependencies = [ "proc-macro2", "quote", @@ -2239,11 +2536,24 @@ checksum = "cf92845e79fc2e2def6a5d828f0801e29a2f8acc037becc5ab08595c7d5e9863" dependencies = [ "serde_core", "serde_spanned", - "toml_datetime", + "toml_datetime 0.7.5+spec-1.1.0", "toml_parser", "winnow 0.7.15", ] +[[package]] +name = "toml" +version = "1.1.2+spec-1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "81f3d15e84cbcd896376e6730314d59fb5a87f31e4b038454184435cd57defee" +dependencies = [ + "serde_core", + "serde_spanned", + "toml_datetime 1.1.1+spec-1.1.0", + "toml_parser", + "winnow 1.0.1", +] + [[package]] name = "toml_datetime" version = "0.7.5+spec-1.1.0" @@ -2253,13 +2563,22 @@ dependencies = [ "serde_core", ] +[[package]] +name = "toml_datetime" +version = "1.1.1+spec-1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3165f65f62e28e0115a00b2ebdd37eb6f3b641855f9d636d3cd4103767159ad7" +dependencies = [ + "serde_core", +] + [[package]] name = "toml_parser" -version = "1.1.0+spec-1.1.0" +version = "1.1.2+spec-1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2334f11ee363607eb04df9b8fc8a13ca1715a72ba8662a26ac285c98aabb4011" +checksum = "a2abe9b86193656635d2411dc43050282ca48aa31c2451210f4202550afb7526" dependencies = [ - "winnow 1.0.0", + "winnow 1.0.1", ] [[package]] @@ -2310,7 +2629,7 @@ checksum = "ebe5ef63511595f1344e2d5cfa636d973292adc0eec1f0ad45fae9f0851ab1d4" dependencies = [ "futures-core", "futures-util", - "indexmap 2.13.0", + "indexmap 2.14.0", "pin-project-lite", "slab", "sync_wrapper", @@ -2370,12 +2689,36 @@ version = "0.2.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b" +[[package]] +name = "typeid" +version = "1.0.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bc7d623258602320d5c55d1bc22793b57daff0ec7efc270ea7d55ce1d5f5471c" + +[[package]] +name = "typenum" +version = "1.19.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "562d481066bde0658276a35467c4af00bdc6ee726305698a55b86e61d7ad82bb" + +[[package]] +name = "ucd-trie" +version = "0.1.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2896d95c02a80c6d6a5d6e953d479f5ddf2dfdb6a244441010e373ac0fb88971" + [[package]] name = "unicode-ident" version = "1.0.24" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75" +[[package]] +name = "unicode-segmentation" +version = "1.13.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9629274872b2bfaf8d66f5f15725007f635594914870f65218920345aa11aa8c" + [[package]] name = "untrusted" version = "0.9.0" @@ -2440,6 +2783,12 @@ version = "0.2.15" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426" +[[package]] +name = "version_check" +version = "0.9.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a" + [[package]] name = "want" version = "0.3.1" @@ -2466,9 +2815,9 @@ dependencies = [ [[package]] name = "wasm-bindgen" -version = "0.2.114" +version = "0.2.118" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6532f9a5c1ece3798cb1c2cfdba640b9b3ba884f5db45973a6f442510a87d38e" +checksum = "0bf938a0bacb0469e83c1e148908bd7d5a6010354cf4fb73279b7447422e3a89" dependencies = [ "cfg-if", "once_cell", @@ -2479,9 +2828,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro" -version = "0.2.114" +version = "0.2.118" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "18a2d50fcf105fb33bb15f00e7a77b772945a2ee45dcf454961fd843e74c18e6" +checksum = "eeff24f84126c0ec2db7a449f0c2ec963c6a49efe0698c4242929da037ca28ed" dependencies = [ "quote", "wasm-bindgen-macro-support", @@ -2489,9 +2838,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro-support" -version = "0.2.114" +version = "0.2.118" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "03ce4caeaac547cdf713d280eda22a730824dd11e6b8c3ca9e42247b25c631e3" +checksum = "9d08065faf983b2b80a79fd87d8254c409281cf7de75fc4b773019824196c904" dependencies = [ "bumpalo", "proc-macro2", @@ -2502,9 +2851,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-shared" -version = "0.2.114" +version = "0.2.118" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "75a326b8c223ee17883a4251907455a2431acc2791c98c26279376490c378c16" +checksum = "5fd04d9e306f1907bd13c6361b5c6bfc7b3b3c095ed3f8a9246390f8dbdee129" dependencies = [ "unicode-ident", ] @@ -2690,9 +3039,12 @@ checksum = "df79d97927682d2fd8adb29682d1140b343be4ac0f08fd68b7765d9c059d3945" [[package]] name = "winnow" -version = "1.0.0" +version = "1.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a90e88e4667264a994d34e6d1ab2d26d398dcdca8b7f52bec8668957517fc7d8" +checksum = "09dac053f1cd375980747450bfc7250c264eaae0583872e845c0c7cd578872b5" +dependencies = [ + "memchr", +] [[package]] name = "wit-bindgen" @@ -2702,9 +3054,9 @@ checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5" [[package]] name = "writeable" -version = "0.6.2" +version = "0.6.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9edde0db4769d2dc68579893f2306b26c6ecfbe0ef499b013d731b7b9247e0b9" +checksum = "1ffae5123b2d3fc086436f8834ae3ab053a283cfac8fe0a0b8eaae044768a4c4" [[package]] name = "xattr" @@ -2716,11 +3068,22 @@ dependencies = [ "rustix", ] +[[package]] +name = "yaml-rust2" +version = "0.10.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2462ea039c445496d8793d052e13787f2b90e750b833afee748e601c17621ed9" +dependencies = [ + "arraydeque", + "encoding_rs", + "hashlink", +] + [[package]] name = "yoke" -version = "0.8.1" +version = "0.8.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "72d6e5c6afb84d73944e5cedb052c4680d5657337201555f9f2a16b7406d4954" +checksum = "abe8c5fda708d9ca3df187cae8bfb9ceda00dd96231bed36e445a1a48e66f9ca" dependencies = [ "stable_deref_trait", "yoke-derive", @@ -2729,9 +3092,9 @@ dependencies = [ [[package]] name = "yoke-derive" -version = "0.8.1" +version = "0.8.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b659052874eb698efe5b9e8cf382204678a0086ebf46982b79d6ca3182927e5d" +checksum = "de844c262c8848816172cef550288e7dc6c7b7814b4ee56b3e1553f275f1858e" dependencies = [ "proc-macro2", "quote", @@ -2741,18 +3104,18 @@ dependencies = [ [[package]] name = "zerocopy" -version = "0.8.40" +version = "0.8.48" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a789c6e490b576db9f7e6b6d661bcc9799f7c0ac8352f56ea20193b2681532e5" +checksum = "eed437bf9d6692032087e337407a86f04cd8d6a16a37199ed57949d415bd68e9" dependencies = [ "zerocopy-derive", ] [[package]] name = "zerocopy-derive" -version = "0.8.40" +version = "0.8.48" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f65c489a7071a749c849713807783f70672b28094011623e200cb86dcb835953" +checksum = "70e3cd084b1788766f53af483dd21f93881ff30d7320490ec3ef7526d203bad4" dependencies = [ "proc-macro2", "quote", @@ -2761,18 +3124,18 @@ dependencies = [ [[package]] name = "zerofrom" -version = "0.1.6" +version = "0.1.7" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "50cc42e0333e05660c3587f3bf9d0478688e15d870fab3346451ce7f8c9fbea5" +checksum = "69faa1f2a1ea75661980b013019ed6687ed0e83d069bc1114e2cc74c6c04c4df" dependencies = [ "zerofrom-derive", ] [[package]] name = "zerofrom-derive" -version = "0.1.6" +version = "0.1.7" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502" +checksum = "11532158c46691caf0f2593ea8358fed6bbf68a0315e80aae9bd41fbade684a1" dependencies = [ "proc-macro2", "quote", @@ -2788,9 +3151,9 @@ checksum = "b97154e67e32c85465826e8bcc1c59429aaaf107c1e4a9e53c8d8ccd5eff88d0" [[package]] name = "zerotrie" -version = "0.2.3" +version = "0.2.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2a59c17a5562d507e4b54960e8569ebee33bee890c70aa3fe7b97e85a9fd7851" +checksum = "0f9152d31db0792fa83f70fb2f83148effb5c1f5b8c7686c3459e361d9bc20bf" dependencies = [ "displaydoc", "yoke", @@ -2799,9 +3162,9 @@ dependencies = [ [[package]] name = "zerovec" -version = "0.11.5" +version = "0.11.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6c28719294829477f525be0186d13efa9a3c602f7ec202ca9e353d310fb9a002" +checksum = "90f911cbc359ab6af17377d242225f4d75119aec87ea711a880987b18cd7b239" dependencies = [ "yoke", "zerofrom", @@ -2810,9 +3173,9 @@ dependencies = [ [[package]] name = "zerovec-derive" -version = "0.11.2" +version = "0.11.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "eadce39539ca5cb3985590102671f2567e659fca9666581ad3411d59207951f3" +checksum = "625dc425cab0dca6dc3c3319506e6593dcb08a9f387ea3b284dbd52a92c40555" dependencies = [ "proc-macro2", "quote", diff --git a/Cargo.toml b/Cargo.toml index fe37e1f..f024f09 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -11,6 +11,22 @@ chrono = "0.4" serde_json = "1.0" anyhow = "1.0.102" dashmap = "6.1.0" +config = "0.15.22" +serde = { version = "1.0.228", features = ["derive"] } + +# Test-only helper binary dependencies (enabled via feature) +caps = { version = "0.5", optional = true } +libc = { version = "0.2", optional = true } + +[features] +# Enables the `ferroflow-vcan` helper binary used by integration tests. +# Keep this disabled for normal builds. +test-vcan = ["dep:caps", "dep:libc"] + +[[bin]] +name = "ferroflow-vcan" +path = "src/bin/ferroflow-vcan.rs" +required-features = ["test-vcan"] [dev-dependencies] diesel_migrations = "2.3" diff --git a/README.md b/README.md index 6dcd5b1..051a28a 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,30 @@ It interfaces with our custom Engine Control Units ECUs, through our custom [Liq On the other end, it provides a high-level API for our [ECUI](https://github.com/SpaceTeam/web_ecui_houbolt), which is the user interface for our ECUs. # Setup -TODO + +## Integration tests: SocketCAN / vcan + +Some integration tests talk to the ECUemulator over SocketCAN. For that you use a virtual CAN interface. + +### Test helper: `ferroflow-vcan` +For test environments, this repo provides a small helper binary that can be granted `CAP_NET_ADMIN` once via `setcap`. +Integration tests will automatically use it (if it’s available on `PATH`) to create/delete `vcan` interfaces without sudo. + +Build the helper (feature-gated; not part of normal builds): +```bash +cargo build --release --features test-vcan --bin ferroflow-vcan +``` +Put it on PATH (recommended for tests): +```bash +install -m 0755 ./target/release/ferroflow-vcan ~/.local/bin/ferroflow-vcan +sudo setcap cap_net_admin+ep ~/.local/bin/ferroflow-vcan +``` + +Manual usage: +```bash +ferroflow-vcan up vcan0 +ferroflow-vcan down vcan0 +``` ## Development diff --git a/ci-rust.sh b/ci-rust.sh index 4beeea7..a3ec259 100755 --- a/ci-rust.sh +++ b/ci-rust.sh @@ -34,22 +34,22 @@ export CARGO_TERM_COLOR=always # Function to run a specific step or all steps run_step() { local step=$1 - + case $step in build) print_step "Build" cd "$PROJECT_DIR" - cargo build --verbose || { print_error "Build failed"; return 1; } + cargo build || { print_error "Build failed"; return 1; } print_success "Build completed" ;; - + test) print_step "Run tests" cd "$PROJECT_DIR" - cargo test --verbose || { print_error "Tests failed"; return 1; } + cargo test || { print_error "Tests failed"; return 1; } print_success "Tests passed" ;; - + fmt) print_step "Check formatting" cd "$PROJECT_DIR" @@ -63,7 +63,7 @@ run_step() { cargo fmt --all || { print_error "Formatting fix failed"; return 1; } print_success "Formatting fixed" ;; - + clippy) print_step "Run clippy" cd "$PROJECT_DIR" @@ -79,12 +79,11 @@ run_step() { ;; all) - run_step build || return 1 - run_step test || return 1 run_step fmt || return 1 run_step clippy || return 1 + run_step test || return 1 ;; - + *) echo "Usage: $0 [build|test|fmt|fmt-fix|clippy|clippy-fix|all]" echo "" diff --git a/src/bin/ferroflow-vcan.rs b/src/bin/ferroflow-vcan.rs new file mode 100644 index 0000000..47074d9 --- /dev/null +++ b/src/bin/ferroflow-vcan.rs @@ -0,0 +1,127 @@ +use std::ffi::OsStr; +use std::process::{Command, ExitCode}; + +fn usage() -> ! { + eprintln!( + "Usage:\n ferroflow-vcan up [IFACE]\n ferroflow-vcan down [IFACE]\n\nDefault IFACE is vcan0.\n\nThis helper is intended to be granted CAP_NET_ADMIN via setcap, e.g.:\n sudo setcap cap_net_admin+ep target/release/ferroflow-vcan\n\nThen it can create/delete vcan interfaces without sudo.\n" + ); + std::process::exit(2); +} + +fn cmd_status(args: I) -> std::io::Result +where + I: IntoIterator, + S: AsRef, +{ + Command::new("ip").args(args).status() +} + +fn iface_exists(iface: &str) -> bool { + cmd_status(["link", "show", iface]).is_ok_and(|s| s.success()) +} + +fn ensure_cap_net_admin_ambient() -> anyhow::Result<()> { + use caps::{CapSet, Capability}; + + // Must have CAP_NET_ADMIN in permitted set (provided by file capability). + let permitted = caps::read(None, CapSet::Permitted)?; + if !permitted.contains(&Capability::CAP_NET_ADMIN) { + anyhow::bail!( + "missing CAP_NET_ADMIN.\n\ + Fix (example): sudo setcap cap_net_admin+ep {}", + std::env::current_exe()?.display() + ); + } + + // Put CAP_NET_ADMIN into inheritable so we can raise it into ambient. + let mut inheritable = caps::read(None, CapSet::Inheritable)?; + if inheritable.insert(Capability::CAP_NET_ADMIN) { + caps::set(None, CapSet::Inheritable, &inheritable)?; + } + + // Raise ambient capability so it survives exec() into /sbin/ip. + // SAFETY: prctl is called with documented constants. + const PR_CAP_AMBIENT: libc::c_int = 47; + const PR_CAP_AMBIENT_RAISE: libc::c_ulong = 2; + + let rc = unsafe { + libc::prctl( + PR_CAP_AMBIENT, + PR_CAP_AMBIENT_RAISE, + Capability::CAP_NET_ADMIN as libc::c_ulong, + 0, + 0, + ) + }; + + if rc != 0 { + let err = std::io::Error::last_os_error(); + anyhow::bail!( + "failed to raise ambient CAP_NET_ADMIN ({}).\n\ + You may need a newer kernel or to run as root.", + err + ); + } + + Ok(()) +} + +fn up(iface: &str) -> anyhow::Result<()> { + ensure_cap_net_admin_ambient()?; + + // Try to load the vcan module; ignore errors (often needs extra privileges). + let _ = Command::new("modprobe").arg("vcan").status(); + + if !iface_exists(iface) { + let st = cmd_status(["link", "add", "dev", iface, "type", "vcan"])?; + if !st.success() { + anyhow::bail!("failed to create vcan interface '{iface}'"); + } + } + + let st = cmd_status(["link", "set", "up", iface])?; + if !st.success() { + anyhow::bail!("failed to bring up interface '{iface}'"); + } + + Ok(()) +} + +fn down(iface: &str) -> anyhow::Result<()> { + ensure_cap_net_admin_ambient()?; + + if !iface_exists(iface) { + return Ok(()); + } + + let st = cmd_status(["link", "del", iface])?; + if !st.success() { + anyhow::bail!("failed to delete interface '{iface}'"); + } + + Ok(()) +} + +fn main() -> ExitCode { + // Avoid pulling clap just for this helper. + let mut args = std::env::args().skip(1); + let Some(cmd) = args.next() else { + usage(); + }; + let iface = args.next().unwrap_or_else(|| "vcan0".to_string()); + + let res = match cmd.as_str() { + "up" => up(&iface), + "down" => down(&iface), + _ => { + usage(); + } + }; + + if let Err(e) = res { + eprintln!("{e:#}"); + return ExitCode::from(1); + } + + ExitCode::SUCCESS +} diff --git a/src/can/mod.rs b/src/can/mod.rs index 2832d24..e8918ce 100644 --- a/src/can/mod.rs +++ b/src/can/mod.rs @@ -1,15 +1,17 @@ //! Contains code related to sending/receiving CAN messages.mod can_thread; +use anyhow::{Context, Result, bail, ensure}; +use liquidcan::{CanMessage, CanMessageId, NODE_ID_BROADCAST, NODE_ID_INVALID, NODE_ID_SERVER}; +use socketcan::{ + CanAnyFrame, CanFdFrame, CanFdSocket, EmbeddedFrame, Frame, Socket, SocketOptions, StandardId, +}; use std::{ sync::{Arc, mpsc}, thread::Scope, + time::Duration, }; -use anyhow::{Context, Result, bail, ensure}; -use liquidcan::{CanMessage, CanMessageId, NODE_ID_BROADCAST, NODE_ID_INVALID, NODE_ID_SERVER}; -use socketcan::{CanAnyFrame, CanFdFrame, CanFdSocket, EmbeddedFrame, Frame, Socket, StandardId}; - -use crate::events::{self, Event, EventDispatcher}; +use crate::events::{self, Event, EventDispatcher, EventKind}; pub fn spawn_can_threads<'a>( interfaces: &'a [&'a str], @@ -24,9 +26,15 @@ pub fn spawn_can_threads<'a>( let sockets = interfaces .iter() .map(|&interface| { - let socket = Arc::new(CanFdSocket::open(interface).with_context(|| { + let socket = CanFdSocket::open(interface).with_context(|| { format!("failed to open can fd socket for interface {}", interface) - })?); + })?; + + // Make receive threads responsive to shutdown by ensuring reads don't block forever. + // On timeout the recv thread will just loop and check for Shutdown. + socket.set_read_timeout(Some(Duration::from_millis(50)))?; + + let socket = Arc::new(socket); Ok((interface, socket)) }) .collect::>>()?; @@ -34,29 +42,42 @@ pub fn spawn_can_threads<'a>( for (interface, socket) in &sockets { let interface = *interface; let socket = Arc::clone(socket); - scope.spawn(move || can_recv_thread(interface, socket, event_dispatcher)); - } + socket.set_recv_own_msgs(false)?; - scope.spawn(move || can_send_thread(sockets, event_dispatcher)); + // Subscribe each recv thread so it can terminate on Event::Shutdown. + let (shutdown_tx, shutdown_rx) = mpsc::channel::(); + let events = vec![EventKind::Shutdown]; - Ok(()) -} + event_dispatcher.subscribe( + shutdown_tx, + events, + format!("CAN recv thread ({interface})"), + ); -fn can_recv_thread(interface: &str, socket: Arc, event_dispatcher: &EventDispatcher) { - loop { - if let Err(error) = receive_frame(interface, &socket, event_dispatcher) { - eprintln!("CAN receive thread error on {interface}: {error:#}"); - } + scope.spawn(move || can_recv_thread(interface, socket, event_dispatcher, shutdown_rx)); } -} -fn can_send_thread(sockets: Vec<(&str, Arc)>, event_dispatcher: &EventDispatcher) { let (sender, receiver) = mpsc::channel::(); - event_dispatcher.subscribe(sender, "CAN send thread"); + let events = vec![ + EventKind::SendCanMessage, + EventKind::RelayCanMessage, + EventKind::Shutdown, + ]; + event_dispatcher.subscribe(sender, events, "CAN send thread"); + + scope.spawn(move || can_send_thread(sockets, receiver)); - while let Ok(event) = receiver.recv() { + Ok(()) +} + +fn can_send_thread( + sockets: Vec<(&str, Arc)>, + event_receiver: mpsc::Receiver, +) { + while let Ok(event) = event_receiver.recv() { match event { - events::Event::SendCanMessage { + Event::Shutdown => break, + Event::SendCanMessage { receiver_node_id, message, } => { @@ -82,7 +103,7 @@ fn can_send_thread(sockets: Vec<(&str, Arc)>, event_dispatcher: &Ev } } } - events::Event::RelayCanMessage { + Event::RelayCanMessage { from_interface, frame, } => { @@ -100,14 +121,49 @@ fn can_send_thread(sockets: Vec<(&str, Arc)>, event_dispatcher: &Ev } } +fn can_recv_thread( + interface: &str, + socket: Arc, + event_dispatcher: &EventDispatcher, + shutdown_rx: mpsc::Receiver, +) { + use std::sync::mpsc::TryRecvError; + + loop { + // Check for shutdown without blocking. + match shutdown_rx.try_recv() { + Ok(Event::Shutdown) => break, + Ok(_) => {} + Err(TryRecvError::Empty) => {} + Err(TryRecvError::Disconnected) => break, + } + + if let Err(error) = receive_frame(interface, &socket, event_dispatcher) { + // With the read timeout set, timeouts are expected; `receive_frame` turns them into Ok(()). + eprintln!("CAN receive thread error on {interface}: {error:#}"); + } + } +} + fn receive_frame( interface: &str, socket: &CanFdSocket, event_dispatcher: &EventDispatcher, ) -> Result<()> { - let frame = socket - .read_frame() - .with_context(|| format!("failed to read CAN frame on interface {}", interface))?; + let frame = match socket.read_frame() { + Ok(frame) => frame, + Err(e) + if e.kind() == std::io::ErrorKind::WouldBlock + || e.kind() == std::io::ErrorKind::TimedOut => + { + // Timeouts are ok to allow for shutdown of the receive thread. + return Ok(()); + } + Err(e) => { + return Err(anyhow::Error::from(e)) + .with_context(|| format!("failed to read CAN frame on interface {}", interface)); + } + }; let CanAnyFrame::Fd(frame) = frame else { anyhow::bail!( @@ -121,7 +177,7 @@ fn receive_frame( socketcan::Id::Standard(id) => id.as_raw(), socketcan::Id::Extended(id) => id.standard_id().as_raw(), }; - let message_id: liquidcan::CanMessageId = raw_id.into(); + let message_id: CanMessageId = raw_id.into(); if message_id.receiver_id() == NODE_ID_INVALID { bail!( diff --git a/src/config/mod.rs b/src/config/mod.rs index 4c43a4e..3c04e19 100644 --- a/src/config/mod.rs +++ b/src/config/mod.rs @@ -1,9 +1,22 @@ //! Handles parsing and storing the configuration of FerroFlow -use anyhow::Result; +use anyhow::{Context, Result}; +use config as config_builder; +use serde::{Deserialize, Serialize}; -pub struct Config {} +#[derive(Deserialize, Serialize, Debug)] +pub struct Config { + pub can_bus_interfaces: Vec, + pub heartbeat_period: u64, + pub database_url: String, +} + +pub fn load_config(path: &str) -> Result { + let config = config_builder::Config::builder() + .add_source(config::File::with_name(path)) + .build()?; -pub fn load_config() -> Result { - Ok(Config {}) + config + .try_deserialize() + .with_context(|| format!("Failed to deserialize config from {}", path)) } diff --git a/src/db/mod.rs b/src/db/mod.rs index df19528..4b65b83 100644 --- a/src/db/mod.rs +++ b/src/db/mod.rs @@ -1,21 +1,20 @@ //! Contains code for logging telemetry and parameters to postgres. +use anyhow::{Context, Result}; +use diesel::prelude::*; use std::{ sync::mpsc::{self, RecvTimeoutError}, thread, time::Duration, }; -use anyhow::{Context, Result}; -use diesel::prelude::*; - +pub use self::models::FieldLog; +use crate::events::EventKind; use crate::{ db::timescale_schema::field_logs, events::{self, Event}, }; -pub use self::models::FieldLog; - mod models; mod schema; mod timescale_schema; @@ -28,7 +27,9 @@ pub fn spawn_logging_worker<'a>( let mut conn = PgConnection::establish(&database_url).context("failed to connect to database")?; let (tx, rx) = mpsc::channel::(); - event_dispatcher.subscribe(tx, "Database logging thread"); + + let events = vec![EventKind::Shutdown, EventKind::NodeFieldUpdated]; + event_dispatcher.subscribe(tx, events, "Database logging thread"); scope.spawn(move || { // Write to the db in batches for better performance diff --git a/src/events/mod.rs b/src/events/mod.rs index 0aa8383..4aa5ae4 100644 --- a/src/events/mod.rs +++ b/src/events/mod.rs @@ -1,5 +1,6 @@ //! Events that are dispatched by one module and listened to by another. +use std::hash::Hash; use std::sync::{RwLock, mpsc::Sender}; use liquidcan::{CanMessage, CanMessageId}; @@ -24,9 +25,31 @@ pub enum Event { }, } +#[derive(Debug, Hash, Eq, PartialEq)] +pub enum EventKind { + CanMessageReceived, + NodeFieldUpdated, + Shutdown, + SendCanMessage, + RelayCanMessage, +} + +impl From for EventKind { + fn from(value: Event) -> Self { + match value { + Event::CanMessageReceived { .. } => EventKind::CanMessageReceived, + Event::NodeFieldUpdated(_) => EventKind::NodeFieldUpdated, + Event::Shutdown => EventKind::Shutdown, + Event::SendCanMessage { .. } => EventKind::SendCanMessage, + Event::RelayCanMessage { .. } => EventKind::RelayCanMessage, + } + } +} + struct EventListener { debug_name: String, sender: Sender, + subscribed_events: Vec, } pub struct EventDispatcher { @@ -46,15 +69,28 @@ impl EventDispatcher { } } - pub fn subscribe(&self, listener: Sender, debug_name: impl Into) { + pub fn subscribe( + &self, + listener: Sender, + subscribed_events: Vec, + debug_name: impl Into, + ) { self.listeners.write().unwrap().push(EventListener { debug_name: debug_name.into(), sender: listener, + subscribed_events, }); } pub fn dispatch(&self, event: Event) { for listener in self.listeners.read().unwrap().iter() { + if !listener + .subscribed_events + .contains(&EventKind::from(event.clone())) + { + continue; + } + if let Err(e) = listener.sender.send(event.clone()) { eprintln!( "Failed to send event to listener {}: {e}. Event content: {:#?}", @@ -64,3 +100,71 @@ impl EventDispatcher { } } } + +#[cfg(test)] +mod tests { + use super::{Event, EventDispatcher, EventKind}; + use std::sync::mpsc; + use std::time::Duration; + + #[test] + fn dispatch_only_notifies_subscribed_listeners() { + let dispatcher = EventDispatcher::new(); + let (shutdown_tx, shutdown_rx) = mpsc::channel(); + let (can_tx, can_rx) = mpsc::channel(); + + let shutdown_subscription = vec![EventKind::Shutdown]; + + let can_subscription = vec![EventKind::CanMessageReceived]; + + dispatcher.subscribe(shutdown_tx, shutdown_subscription, "shutdown-listener"); + dispatcher.subscribe(can_tx, can_subscription, "can-listener"); + + dispatcher.dispatch(Event::Shutdown); + + let received = shutdown_rx + .recv_timeout(Duration::from_millis(200)) + .expect("shutdown listener should receive Shutdown events"); + assert!(matches!(received, Event::Shutdown)); + + let non_matching_result = can_rx.recv_timeout(Duration::from_millis(50)); + assert!( + matches!(non_matching_result, Err(mpsc::RecvTimeoutError::Timeout)), + "listener with non-matching subscription should not receive the event" + ); + } + + #[test] + fn dispatch_notifies_all_matching_listeners() { + let dispatcher = EventDispatcher::new(); + let (listener_one_tx, listener_one_rx) = mpsc::channel(); + let (listener_two_tx, listener_two_rx) = mpsc::channel(); + + let shutdown_subscription = vec![EventKind::Shutdown]; + + let shutdown_subscription_two = vec![EventKind::Shutdown]; + + dispatcher.subscribe( + listener_one_tx, + shutdown_subscription, + "shutdown-listener-one", + ); + dispatcher.subscribe( + listener_two_tx, + shutdown_subscription_two, + "shutdown-listener-two", + ); + + dispatcher.dispatch(Event::Shutdown); + + let first_received = listener_one_rx + .recv_timeout(Duration::from_millis(200)) + .expect("first listener should receive Shutdown events"); + assert!(matches!(first_received, Event::Shutdown)); + + let second_received = listener_two_rx + .recv_timeout(Duration::from_millis(200)) + .expect("second listener should receive Shutdown events"); + assert!(matches!(second_received, Event::Shutdown)); + } +} diff --git a/src/lib.rs b/src/lib.rs index a8c210a..f75ccd3 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -1,3 +1,7 @@ +use crate::config::Config; +use crate::events::EventDispatcher; +use crate::nodes::NodeManager; + pub mod can; pub mod config; pub mod db; @@ -5,3 +9,45 @@ pub mod events; pub mod nodes; pub mod sequence; pub mod socket; + +pub fn run_with_config(config: Config) -> anyhow::Result<()> { + let event_dispatcher = events::EventDispatcher::new(); + + let node_manager = nodes::NodeManager::new(&event_dispatcher); + + run_with_dependencies(&event_dispatcher, &node_manager, config) +} + +pub fn run_with_dependencies( + event_dispatcher: &EventDispatcher, + node_manager: &NodeManager, + config: Config, +) -> anyhow::Result<()> { + let interfaces = config + .can_bus_interfaces + .iter() + .map(|s| s.as_str()) + .collect::>(); + + let _ = std::thread::scope::<'_, _, anyhow::Result<()>>(|scope| { + can::spawn_can_threads(interfaces.as_slice(), event_dispatcher, scope)?; + + if !config.database_url.is_empty() { + db::spawn_logging_worker(config.database_url.to_string(), event_dispatcher, scope)?; + } + println!("Starting node registration"); + + nodes::spawn_can_msg_handler_thread(node_manager, event_dispatcher, scope); + nodes::spawn_heartbeat_thread( + node_manager, + std::time::Duration::from_secs(config.heartbeat_period), + event_dispatcher, + scope, + ); + + node_manager.start_node_registration(); + + Ok(()) + }); + Ok(()) +} diff --git a/src/main.rs b/src/main.rs index b9ba3d6..14e563f 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,30 +1,9 @@ #![allow(clippy::single_match)] use anyhow::Result; -use ferro_flow::{can, config, db, events, nodes}; +use ferro_flow::{config, run_with_config}; fn main() -> Result<()> { - let _config = config::load_config()?; + let config = config::load_config("config.yml")?; - let event_dispatcher = events::EventDispatcher::new(); - - let node_manager = nodes::NodeManager::new(&event_dispatcher); - let _ = std::thread::scope::<'_, _, Result<()>>(|scope| { - can::spawn_can_threads(&["vcan0"], &event_dispatcher, scope)?; - db::spawn_logging_worker( - "postgres://postgres:@localhost/ferroflow".into(), - &event_dispatcher, - scope, - )?; - nodes::spawn_can_msg_handler_thread(&node_manager, &event_dispatcher, scope); - nodes::spawn_heartbeat_thread( - &node_manager, - std::time::Duration::from_secs(1), - &event_dispatcher, - scope, - ); - - Ok(()) - }); - - Ok(()) + run_with_config(config) } diff --git a/src/nodes/mod.rs b/src/nodes/mod.rs index b81f27b..b4d9876 100644 --- a/src/nodes/mod.rs +++ b/src/nodes/mod.rs @@ -3,14 +3,14 @@ mod can_node; mod node_manager; +pub use node_manager::NodeManager; use std::{ sync::mpsc::{self, RecvTimeoutError}, time::{Duration, Instant}, }; -pub use node_manager::NodeManager; - use crate::events; +use crate::events::EventKind; pub fn spawn_can_msg_handler_thread<'a>( node_manager: &'a NodeManager<'a>, @@ -18,13 +18,18 @@ pub fn spawn_can_msg_handler_thread<'a>( scope: &'a std::thread::Scope<'a, '_>, ) { let (tx, rx) = mpsc::channel::(); - event_dispatcher.subscribe(tx, "Can message handler thread"); + let events = vec![EventKind::Shutdown, EventKind::CanMessageReceived]; + event_dispatcher.subscribe(tx, events, "Can message handler thread"); scope.spawn(move || { while let Ok(event) = rx.recv() { - if let events::Event::CanMessageReceived { id, message } = event - && let Err(error) = node_manager.handle_can_message_from_node(id, message) - { - eprintln!("Error handling CAN message in NodeManager: {error:#}"); + match event { + events::Event::Shutdown => break, + events::Event::CanMessageReceived { id, message } => { + if let Err(error) = node_manager.handle_can_message_from_node(id, message) { + eprintln!("Error handling CAN message in NodeManager: {error:#}"); + } + } + _ => {} } } }); @@ -37,7 +42,9 @@ pub fn spawn_heartbeat_thread<'a>( scope: &'a std::thread::Scope<'a, '_>, ) { let (tx, rx) = mpsc::channel::(); - event_dispatcher.subscribe(tx, "Heartbeat thread"); + let events = vec![EventKind::Shutdown]; + + event_dispatcher.subscribe(tx, events, "Heartbeat thread"); scope.spawn(move || { if let Err(error) = node_manager.dispatch_heartbeat_requests() { @@ -48,7 +55,6 @@ pub fn spawn_heartbeat_thread<'a>( loop { match rx.recv_timeout(next_heartbeat_at - Instant::now()) { Ok(events::Event::Shutdown) => break, - Ok(_) => {} Err(RecvTimeoutError::Timeout) => { if let Err(error) = node_manager.dispatch_heartbeat_requests() { eprintln!("Error dispatching heartbeat requests: {error:#}"); @@ -62,6 +68,7 @@ pub fn spawn_heartbeat_thread<'a>( } } Err(RecvTimeoutError::Disconnected) => break, + Ok(_) => {} } } }); diff --git a/src/nodes/node_manager.rs b/src/nodes/node_manager.rs index 8252fb3..9b95b9c 100644 --- a/src/nodes/node_manager.rs +++ b/src/nodes/node_manager.rs @@ -33,6 +33,14 @@ impl<'a> NodeManager<'a> { } } + pub fn start_node_registration(&self) { + self.event_dispatcher + .dispatch(events::Event::SendCanMessage { + receiver_node_id: liquidcan::NODE_ID_BROADCAST, + message: CanMessage::NodeInfoReq, + }); + } + pub fn handle_can_message_from_node( &self, message_id: CanMessageId, @@ -345,6 +353,9 @@ impl<'a> NodeManager<'a> { Ok(()) } + pub fn get_nodes(&self) -> &DashMap { + &self.can_nodes + } fn can_data_value_to_json(value: CanDataValue) -> serde_json::Value { match value { diff --git a/tests/common.rs b/tests/common.rs new file mode 100644 index 0000000..e8bdb4a --- /dev/null +++ b/tests/common.rs @@ -0,0 +1,98 @@ +use ferro_flow::events::EventDispatcher; +use std::sync::atomic::{AtomicUsize, Ordering}; +use std::{ + process::Command, + sync::{Mutex, OnceLock}, +}; + +/// Serialize vcan setup/teardown across tests to avoid races when multiple tests +/// try to create/delete interfaces at the same time. +static VCAN_LOCK: OnceLock> = OnceLock::new(); + +static VCAN_COUNTER: AtomicUsize = AtomicUsize::new(0); + +/// RAII guard that can delete the vcan interface on drop. +/// +/// By default, teardown is performed to avoid leaking randomized vcan interfaces. +/// Disable teardown by setting `FERROFLOW_NO_TEARDOWN_VCAN=1`. +pub struct VcanGuard { + iface: String, + teardown: bool, +} + +impl Drop for VcanGuard { + fn drop(&mut self) { + if !self.teardown { + return; + } + + Command::new("ferroflow-vcan") + .args(["down", &self.iface]) + .status() + .expect("failed to execute ferroflow-vcan down"); + } +} + +/// Ensure a vcan interface exists and is up on the host. +/// Notes: +/// - Requires CAP_NET_ADMIN on the host. The helper script will use `sudo` when needed. +/// - In CI (GitHub Actions ubuntu runners) `sudo` is typically passwordless. +/// +/// Returns a guard that can optionally teardown the interface when dropped. +pub fn ensure_vcan(iface: &str) -> VcanGuard { + // Avoid races when tests run concurrently. + let lock = VCAN_LOCK.get_or_init(|| Mutex::new(())); + let _guard = lock.lock().expect("vcan setup lock poisoned"); + + if Command::new("ip") + .args(["link", "show", iface]) + .status() + .is_ok_and(|s| s.success()) + { + print!("vcan interface '{iface}' already exists, skipping setup"); + } else { + // Prefer the setcap-based helper if available in PATH. + // Fallback to the sudo-based shell script. + Command::new("ferroflow-vcan") + .args(["up", iface]) + .status() + .expect("failed to execute ferroflow-vcan up"); + + // Verify it exists now. + assert!( + Command::new("ip") + .args(["link", "show", iface]) + .status() + .is_ok_and(|s| s.success()), + "vcan interface '{iface}' still not present after setup" + ); + } + + let teardown = std::env::var("FERROFLOW_NO_TEARDOWN_VCAN").ok().as_deref() != Some("1"); + + VcanGuard { + iface: iface.to_string(), + teardown, + } +} + +/// RAII guard that dispatches `Event::Shutdown` when dropped, to trigger application shutdown in integration tests. +/// Used in integration tests with asserts to ensure that the app threads shutdown properly on an assert failure +pub struct ShutdownGuard<'a> { + pub event_dispatcher: &'a EventDispatcher, +} + +impl Drop for ShutdownGuard<'_> { + fn drop(&mut self) { + // Keep this infallible: it's used to ensure cleanup when asserts/panics happen. + self.event_dispatcher + .dispatch(ferro_flow::events::Event::Shutdown); + } +} + +/// Generate a unique vcan interface name for the current test process. +pub fn unique_vcan_iface() -> String { + let pid = (std::process::id() % 10_000) as usize; + let c = VCAN_COUNTER.fetch_add(1, Ordering::Relaxed) % 1_000_000; + format!("vcan{pid:04}-{c:06}") +} diff --git a/tests/emulator.rs b/tests/emulator.rs new file mode 100644 index 0000000..c223939 --- /dev/null +++ b/tests/emulator.rs @@ -0,0 +1,235 @@ +mod common; + +use crate::common::ShutdownGuard; +use chrono::{DateTime, Utc}; +use ferro_flow::config::Config; +use ferro_flow::{events, nodes, run_with_dependencies}; +use liquidcan::payloads::CanDataType; +use std::{io::Write, time::Instant}; +use testcontainers::core::logs::LogFrame; +use testcontainers::{GenericImage, ImageExt, runners::SyncRunner}; + +#[test] +fn test_node_registration() { + let vcan_iface = common::unique_vcan_iface(); + let _vcan = common::ensure_vcan(&vcan_iface); + + let emulator_config = ecuemulator_test_config_toml(&vcan_iface); + + let event_dispatcher = events::EventDispatcher::new(); + let node_manager = nodes::NodeManager::new(&event_dispatcher); + let config = build_test_config(&vcan_iface); + + std::thread::scope(|s| { + let _shutdown = ShutdownGuard { + event_dispatcher: &event_dispatcher, + }; + s.spawn(|| { + run_with_dependencies(&event_dispatcher, &node_manager, config) + .expect("application should start with test config"); + }); + let _ecuemulator_container = start_ecuemulator_container_with_config(&emulator_config); + + let start_time = Instant::now(); + + loop { + if node_manager.get_nodes().len() == 1 { + break; + } + if start_time.elapsed().as_secs() > 10 { + panic!("ECUEmulator did not register within timeout"); + } + std::thread::sleep(std::time::Duration::from_millis(20)); + } + + let node = node_manager + .get_nodes() + .iter() + .next() + .expect("node should exist"); + assert_eq!(*node.key(), 5, "node ID should match config"); + assert_eq!( + node.telemetry_fields.values().len(), + 1, + "should have 1 telemetry field" + ); + assert_eq!( + node.parameter_fields.values().len(), + 1, + "should have 1 parameter field" + ); + assert_eq!( + node.registration_info.device_name, "Emulator1", + "device name should match config" + ); + assert_eq!( + node.telemetry_groups.len(), + 1, + "Should have 1 telemetry group" + ); + assert_eq!( + node.telemetry_groups[&1].fields.len(), + 1, + "Telemetry group should have 1 field" + ); + let telemetry_field = node.telemetry_fields.iter().next().unwrap(); + assert_eq!( + telemetry_field.1.name, "tel1", + "Telemetry field name should match config" + ); + assert_eq!( + telemetry_field.1.data_type, + CanDataType::UInt32, + "Telemetry field datatype should match config" + ); + assert_eq!( + node.telemetry_groups[&1].fields[0], + *node.telemetry_fields.keys().next().expect(""), + "The Telemetry field should be in the group" + ); + assert_eq!( + node.telemetry_fields.values().len(), + 1, + "should have 1 telemetry field" + ); + assert_eq!( + node.parameter_fields.values().len(), + 1, + "should have 1 parameter field" + ); + }); +} + +#[test] +fn test_telemetry_group_updates() { + let vcan_iface = common::unique_vcan_iface(); + let _vcan = common::ensure_vcan(&vcan_iface); + println!("Ensured {} interface exists", vcan_iface); + + let emulator_config = ecuemulator_test_config_toml(&vcan_iface); + + let event_dispatcher = events::EventDispatcher::new(); + let node_manager = nodes::NodeManager::new(&event_dispatcher); + let config = build_test_config(&vcan_iface); + println!("Starting application with test config: {:?}", config); + + std::thread::scope(|s| { + let _shutdown = ShutdownGuard { + event_dispatcher: &event_dispatcher, + }; + s.spawn(|| { + run_with_dependencies(&event_dispatcher, &node_manager, config) + .expect("application should start with test config"); + }); + let _ecuemulator_container = start_ecuemulator_container_with_config(&emulator_config); + + let mut start_time = Instant::now(); + + loop { + if node_manager.get_nodes().len() == 1 { + break; + } + if start_time.elapsed().as_secs() > 10 { + panic!("ECUEmulator did not register within timeout"); + } + std::thread::sleep(std::time::Duration::from_millis(20)); + } + + let node = node_manager + .get_nodes() + .iter() + .next() + .expect("node should exist"); + let telemetry_value_id = *node.telemetry_fields.keys().next().unwrap(); + + start_time = Instant::now(); + let mut first_update_time = Instant::now(); + + let mut prev_msg_time: DateTime = DateTime::from_timestamp_nanos(0); + let mut update_count = 0; + loop { + if let Some(tel_value) = node.values.get(&telemetry_value_id) { + let msg_time = tel_value.value().0; + if msg_time != prev_msg_time { + let value = tel_value.value().1.clone(); + prev_msg_time = msg_time; + if update_count == 0 { + first_update_time = Instant::now(); + } + update_count += 1; + + assert_eq!( + value, + liquidcan::payloads::CanDataValue::UInt32(0x12345678), + "Telemetry value should match config" + ); + } + } + if start_time.elapsed().as_millis() > 5000 + || first_update_time.elapsed().as_millis() > 500 + { + break; + } + std::thread::sleep(std::time::Duration::from_millis(1)); + } + println!("Telemetry value was updated {update_count} times"); + assert!( + (4..6).contains(&update_count), + "Telemetry value should have been updated at least once" + ); + }); +} + +fn build_test_config(can_iface: &str) -> Config { + Config { + can_bus_interfaces: vec![can_iface.to_string()], + heartbeat_period: 1, + database_url: "".to_string(), + } +} + +fn ecuemulator_test_config_toml(can_iface: &str) -> String { + format!( + r#"node_id = 5 +frequency = 10 +can_interface = "{can_iface}" +firmware_hash = "0x123" +liquid_hash = "0x123" +device_name = "Emulator1" + +[TelemetryValues] + [TelemetryValues.tel1] + value = 0x12345678 + datatype = "UInt32" + +[Parameters] + [Parameters.Parameter1] + value = 0xABAC0 + locked = false + datatype = "UInt32" +"# + ) +} + +fn start_ecuemulator_container_with_config( + config_toml: &str, +) -> testcontainers::Container { + let container = GenericImage::new("tuwienspaceteam/ecuemulator", "feat-docker-integration") + .with_network("host") + .with_env_var("CONFIG_PATH", "/config/config.toml") + .with_copy_to("/config/config.toml", config_toml.as_bytes().to_vec()) + .with_log_consumer(|frame: &LogFrame| { + let mut stderr = std::io::stderr().lock(); + match frame { + LogFrame::StdOut(bytes) | LogFrame::StdErr(bytes) => { + let _ = stderr.write_all(b"Container: "); + let _ = stderr.write_all(bytes); + } + } + }) + .start() + .expect("ecuemulator container should start"); + + println!("Started ECUEmulator container (id={})", container.id()); + container +}