Testing

The repository ships standalone test programs that share the same build system as the main application. Each one replaces the controller with a small driver that exercises one subsystem in isolation.

Pass at most one of the flags below; if more than one is passed, only the last takes effect.

zephyr-fvp and zephyr-s32z support all test flags. freertos-posix supports unit, DDS publisher, DDS subscriber, and CAN output tests. freertos-s32z2 does not support test build flags.

Unit test (node + DDS round-trip)

$ ./build.sh --unit-test

Builds actuation_module/test/unit_test.cpp. The test creates a DDS publisher and subscriber on the same topic, drives a node timer, and checks that messages arrive and callbacks fire as expected. Useful as a smoke test after changes to include/common/node/ or include/common/dds/.

DDS publisher only

$ ./build.sh --dds-publisher

Builds actuation_module/test/dds_pub.cpp. The firmware creates a DDS writer and publishes sample messages in a loop. Pair with a DDS subscriber on another machine (for example ddsperf) to validate discovery and network path.

DDS subscriber only

$ ./build.sh --dds-subscriber

Builds actuation_module/test/dds_sub.cpp. The firmware creates a DDS reader and logs every message it receives. Pair with an external publisher to validate the inbound path.

CAN output

$ ./build.sh --can-output-test

Builds actuation_module/test/can_output_test.cpp. The test validates the control-command encoder and on freertos-posix the in-memory mock backend (PLATFORM_FREERTOS_CAN_MOCK). Runtime SocketCAN is not used in this test; set SAFETY_ISLAND_CAN_IFACE on the main binary instead. See demo/can_carla_bridge/README.md.

SocketCAN vcan roundtrip (needs CAP_NET_ADMIN):

$ ./build.sh --platform freertos-posix --can-output-test --control-output DDS_AND_CAN
$ ./actuation_module/test/run-vcan-roundtrip.sh

The C++ sender emits one classic batch and one CAN-FD frame; the Python decoder receives and checks both. The script exits 77 locally if vcan0 cannot be created. GitHub Actions runs this in a separate FreeRTOS POSIX vcan job with --cap-add=NET_ADMIN and fails if the module is absent.

Python decoder golden vectors and UDP tunnel pack/unpack (no vcan, no python-can, no CARLA):

$ python3 demo/can_carla_bridge/test_decoder.py
$ python3 demo/can_carla_bridge/test_bridge.py
$ python3 demo/can_tunnel_bridge/test_datagram.py

The closed-loop deployment contract check runs in Open AD Kit PR #146:

$ python3 deployments/safety-island-carla-simulation/test_contract.py

UDP gateway → vcan0 (needs CAP_NET_ADMIN):

$ ./actuation_module/test/run-udp-tunnel-roundtrip.sh

Zephyr FVP TAP UDP tunnel (needs tun, CAP_NET_ADMIN, and FVP):

$ ./build.sh --platform zephyr-fvp --network tap --can-output-test \
    --control-output CAN_ONLY -d build/zephyr-fvp-tap-can
$ ./actuation_module/test/run-fvp-tap-tunnel.sh build/zephyr-fvp-tap-can

Native FVP --can-output-test without --network tap stays on zephyr,can-loopback.

DDS loopback

$ ./build.sh --dds-loopback-test

Builds actuation_module/test/dds_loopback_test.cpp for Zephyr targets.

Running tests

Zephyr test binaries are produced at build/<platform>/zephyr/zephyr.elf (zephyr-fvp or zephyr-s32z, or the directory passed with -d) and are deployed in exactly the same way as the main application:

freertos-posix test binaries are produced as build/freertos-posix/actuation_freertos unless -d selects another build directory. Run them directly on the host, for example:

$ ./build.sh --platform freertos-posix --can-output-test
$ ./build/freertos-posix/actuation_freertos

Clean between builds if switching flags:

$ ./build.sh -c