Added operating mode parameter (anagate)

docs/CANMODULE-UTILS.md

@@ -50,6 +50,7 @@ high_speed
 timeout
 vcan
 sent_acknowledgement
+operating_mode
 ```
 
 Hyphenated key spelling is also accepted, for example `--set enable-termination=true`.

src/include/CanDeviceConfiguration.h

@@ -111,6 +111,21 @@ struct CanDeviceConfiguration {
    */
   std::optional<uint32_t> sent_acknowledgement;
 
+  /**
+   * @brief The operating mode of the CAN bus.
+   *
+   * This parameter is optional and only has effect for Anagate devices. It
+   * defaults to 0 if unset. The accepted values are:
+   * - 0 = default mode.
+   * - 1 = loop back mode: no telegrams are sent via the CAN bus, they are
+   *   instead received as if they had been transmitted over CAN by a
+   *   different CAN device.
+   * - 2 = listen mode: the device operates as a passive bus partner, meaning
+   *   no telegrams are sent to the CAN bus (nor ACKs for incoming telegrams).
+   * - 3 = offline mode: no telegrams are sent or received on the CAN bus.
+   */
+  std::optional<uint32_t> operating_mode;
+
   std::string to_string() const noexcept;
 
   /**
@@ -153,6 +168,7 @@ inline const std::vector<FieldDescriptor>& fields() {
       {"timeout", &CanDeviceConfiguration::timeout},
       {"vcan", &CanDeviceConfiguration::vcan},
       {"sent_acknowledgement", &CanDeviceConfiguration::sent_acknowledgement},
+      {"operating_mode", &CanDeviceConfiguration::operating_mode},
   };
   return kFields;
 }

src/main/CanVendorAnagate.cpp

@@ -20,7 +20,7 @@ const std::set<std::string> CanVendorAnagate::accepted_parameters = {
     "bus_number", "host",
     "bitrate",    "enable_termination",
     "high_speed", "sent_acknowledgement",
-    "timeout"};
+    "timeout",    "operating_mode"};
 
 /**
  * @brief Callback function to handle incoming CAN frames from the AnaGate DLL.
@@ -120,6 +120,9 @@ CanReturnCode CanVendorAnagate::vendor_open() noexcept {
       high_speed = args().config.high_speed.value();
     }
 
+    operating_mode =
+        static_cast<AnaUInt8>(args().config.operating_mode.value_or(0));
+
     // Set the modified configuration
     CANSetGlobals(m_handle, bitrate, operating_mode, enable_termination,
                   high_speed, enable_timestamp);

src/python/CanModule.cpp

@@ -92,6 +92,7 @@ PYBIND11_MODULE(canmodule, m) {
       .def_readwrite("timeout", &CanDeviceConfiguration::timeout)
       .def_readwrite("sent_acknowledgement",
                      &CanDeviceConfiguration::sent_acknowledgement)
+      .def_readwrite("operating_mode", &CanDeviceConfiguration::operating_mode)
       .def("__str__", &CanDeviceConfiguration::to_string);
 
   py::class_<CanDiagnostics>(m, "CanDiagnostics")

test/cpp/CanDeviceConfiguration_test.cpp

@@ -22,6 +22,7 @@ TEST_F(CanDeviceConfigurationTest, DefaultConstructorLeavesEverythingUnset) {
   ASSERT_FALSE(config.timeout.has_value());
   ASSERT_FALSE(config.vcan.has_value());
   ASSERT_FALSE(config.sent_acknowledgement.has_value());
+  ASSERT_FALSE(config.operating_mode.has_value());
 }
 
 TEST_F(CanDeviceConfigurationTest, AssignsEveryParameterOfTheMap) {
@@ -35,6 +36,7 @@ TEST_F(CanDeviceConfigurationTest, AssignsEveryParameterOfTheMap) {
       {"timeout", "6000"},
       {"vcan", "true"},
       {"sent_acknowledgement", "1"},
+      {"operating_mode", "2"},
   });
 
   ASSERT_EQ(config.bus_name.value(), "can0");
@@ -46,6 +48,7 @@ TEST_F(CanDeviceConfigurationTest, AssignsEveryParameterOfTheMap) {
   ASSERT_EQ(config.timeout.value(), 6000);
   ASSERT_TRUE(config.vcan.value());
   ASSERT_EQ(config.sent_acknowledgement.value(), 1);
+  ASSERT_EQ(config.operating_mode.value(), 2);
 }
 
 TEST_F(CanDeviceConfigurationTest, LeavesTheAbsentParametersUnset) {
@@ -61,11 +64,12 @@ TEST_F(CanDeviceConfigurationTest, LeavesTheAbsentParametersUnset) {
   ASSERT_FALSE(config.timeout.has_value());
   ASSERT_FALSE(config.vcan.has_value());
   ASSERT_FALSE(config.sent_acknowledgement.has_value());
+  ASSERT_FALSE(config.operating_mode.has_value());
 }
 
 TEST_F(CanDeviceConfigurationTest, AssignsEveryParameterPositionally) {
   const CanDeviceConfiguration config{"can0", 2,    "127.0.0.1", 125000, true,
-                                      false,  6000, true,        1};
+                                      false,  6000, true,        1,      2};
 
   ASSERT_EQ(config.bus_name.value(), "can0");
   ASSERT_EQ(config.bus_number.value(), 2);
@@ -76,6 +80,7 @@ TEST_F(CanDeviceConfigurationTest, AssignsEveryParameterPositionally) {
   ASSERT_EQ(config.timeout.value(), 6000);
   ASSERT_TRUE(config.vcan.value());
   ASSERT_EQ(config.sent_acknowledgement.value(), 1);
+  ASSERT_EQ(config.operating_mode.value(), 2);
 }
 
 TEST_F(CanDeviceConfigurationTest, LeavesTrailingPositionalParametersUnset) {
@@ -90,6 +95,7 @@ TEST_F(CanDeviceConfigurationTest, LeavesTrailingPositionalParametersUnset) {
   ASSERT_FALSE(config.timeout.has_value());
   ASSERT_FALSE(config.vcan.has_value());
   ASSERT_FALSE(config.sent_acknowledgement.has_value());
+  ASSERT_FALSE(config.operating_mode.has_value());
 }
 
 TEST_F(CanDeviceConfigurationTest, RejectsUnknownParameters) {
@@ -117,6 +123,8 @@ TEST_F(CanDeviceConfigurationTest, RejectsValuesOfTheWrongType) {
       {"high_speed", "TRUE"},
       {"vcan", "1"},
       {"sent_acknowledgement", "abc"},
+      {"operating_mode", "-1"},
+      {"operating_mode", "abc"},
   };
 
   for (const auto& [key, value] : invalid_values) {

test/python/test_anagate.py

@@ -224,6 +224,31 @@ def test_anagate_diagnostics():
     )
 
 
+def test_anagate_operating_mode():
+    canDeviceConfig = CanDeviceConfiguration()
+    canDeviceConfig.host = DEVICE_ONE.host
+    canDeviceConfig.bus_number = DEVICE_ONE.bus_number
+    canDeviceConfig.bitrate = DEVICE_ONE.bitrate
+    canDeviceConfig.enable_termination = DEVICE_ONE.enable_termination
+    canDeviceConfig.high_speed = DEVICE_ONE.high_speed
+    canDeviceConfig.operating_mode = 1
+
+    myDevice1 = CanDevice.create("anagate", CanDeviceArguments(canDeviceConfig))
+    try:
+        r = myDevice1.open()
+        assert r == CanReturnCode.success
+
+        diag = myDevice1.diagnostics()
+        assert diag.mode == "LOOPBACK"
+    finally:
+        myDevice1.close()
+
+        canDeviceConfig.operating_mode = 0
+        myDevice1 = CanDevice.create("anagate", CanDeviceArguments(canDeviceConfig))
+        myDevice1.open()
+        myDevice1.close()
+
+
 def test_anagate_bus_off_recovery():
     received_frames_dev1 = []
     myDevice1 = CanDevice.create(

test/python/test_canmodule_utils_config.py

@@ -164,6 +164,7 @@ def test_build_can_device_configuration_sets_all_supported_fields():
             "high_speed": "false",
             "timeout": "6000",
             "sent_acknowledgement": "1",
+            "operating_mode": "2",
         }
     )
 
@@ -174,3 +175,4 @@ def test_build_can_device_configuration_sets_all_supported_fields():
     assert configuration.high_speed is False
     assert configuration.timeout == 6000
     assert configuration.sent_acknowledgement == 1
+    assert configuration.operating_mode == 2