Skip to main content

Documentation Index

Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt

Use this file to discover all available pages before exploring further.

Source: docs/en/testing.md

​
Testing Guide

​
Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

  • Linux SocketCAN uses interface names directly: can0, can1, slcan0.
  • For USB-serial CAN adapters, bring up slcan0 first: sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0 && sudo ip link set slcan0 up.
  • Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
  • On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
  • On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.
This project currently focuses on deterministic unit tests for protocol and parsing logic, plus workspace-level compilation checks.

​
What Is Covered

  • motor_core:
    • Windows PCAN channel/bitrate parsing and validation
    • CoreController integration tests with fake CanBus:
      • duplicate device-id rejection
      • frame routing
      • enable/disable fan-out
      • shutdown lifecycle behavior
  • motor_vendor_damiao:
    • protocol encode/decode primitives
    • model matching/suggestion logic
  • motor_vendor_robstride:
    • extended CAN ID build/parse
    • ping/parameter encoding and validation
  • motor_cli:
    • input parsing helpers and RobStride parameter value parsing

​
Run All Tests

cargo test --workspace --all-targets

​
Release Test Notes

Every release should add a repeatable release test note that records core, Rust CLI, Python binding/CLI, hardware-in-the-loop commands, and dangerous command boundaries. 
cargo check --workspace
cargo test --workspace --all-targets

​
Hardware-in-the-loop (manual)

Automated tests avoid real CAN hardware. For hardware validation, run:
  1. vendor scan
  2. enable/disable
  3. control mode command
  4. feedback/state readback
Use the commands in root README.md (Linux) and Windows experimental section (can0@1000000) for repeatable checks. Reliability helper scripts:

​
Next Step Improvements

  • Expand long-run HIL matrix (different adapters and bus loads)
  • Add periodic cross-platform compare-scan jobs with explicit tolerance policy