Revision 13:e3a4abc461f4, committed 2022-07-11

Comitter:

kendunlop

Date:

Mon Jul 11 16:28:07 2022 +0000

Parent:

12:e950feba910d

Commit message:

Finished a nicer, more readable way of defining CAN expectations in the 'CANpairslist[x]' table. IDfrom and IDmessageto are strings that can be written to easily make a set of CAN expectations.

Changed in this revision

--- a/Ken_CAN_test.cpp	Fri Jul 08 13:04:15 2022 +0000
+++ b/Ken_CAN_test.cpp	Mon Jul 11 16:28:07 2022 +0000
@@ -67,7 +67,7 @@
 int failsthistest = 0;
 int failsstreak = 0;
 int failsstreakstart = 0;
-int reportfailsindividually = 0;
+int reportfailsindividually = 1;
 int noreplyfailsthistest = 0;
 int noreplystreak = 0;
 int noreplystreakstartid = 0;
@@ -169,6 +169,14 @@
         }
     }
 
+//Structure for CAN conversion pair, an ID and ID-plus-message, expressed in strings
+struct CANpair {
+                string IDfrom;
+                string IDmessageto;
+               };
+
+struct CANpair CANpairslist[32]; //This defines a list of CANpair string pairs, each with 'IDfrom' and 'IDmessageto'.
+
 //Structure for CAN conversion table
 struct CANconversion {
         int IDfrom;
@@ -180,412 +188,18 @@
 struct CANconversion CANconversionlist[32]; //This defines a list of CANconversion structures, each with its own IDfrom, IDto, length, etc. (E.g.: 'CANconversionlist[0].IDfrom')
 int CANconversionlistheight = 32;
 
-//CANconversion CANconversionlist[32] = {}; // Trying to make a list here that contains multiple CANconversion data types.
-
-//A function to handle key presses in tables mode
-void tablesmodekeypress(void)
+//A function to reset the CAN pairs list so it can be re-written into
+void resetCANpairslist()
     {
-    //pc.printf("Key press detected in tables mode!\r\n");
-    if (c >= 48 and c <= 57)
+    CANconversionlistheight = 0;
+    for (int i = 0; i < 32; i++)
         {
-        numberkeypressed = c - 48;
-        pc.printf("That's a number key press.('%d')\r\n", numberkeypressed);
-        if (numberkeypressed == 1)
-            {
-            CANconversionlist[0].IDfrom = 0x301;
-            CANconversionlist[0].IDto = 0x401;
-            CANconversionlist[0].length = 0x8;
-            CANconversionlist[0].Data[0] = 0x01;
-            CANconversionlist[0].Data[1] = 0x00;
-            CANconversionlist[0].Data[2] = 0x00;
-            CANconversionlist[0].Data[3] = 0x00;
-            CANconversionlist[0].Data[4] = 0x00;
-            CANconversionlist[0].Data[5] = 0x00;
-            CANconversionlist[0].Data[6] = 0x00;
-            CANconversionlist[0].Data[7] = 0x00;
-            
-            CANconversionlist[1].IDfrom = 0x302;
-            CANconversionlist[1].IDto = 0x402;
-            CANconversionlist[1].length = 0x8;
-            CANconversionlist[1].Data[0] = 0x04;
-            CANconversionlist[1].Data[1] = 0x05;
-            CANconversionlist[1].Data[2] = 0x06;
-            CANconversionlist[1].Data[3] = 0x07;
-            CANconversionlist[1].Data[4] = 0x00;
-            CANconversionlist[1].Data[5] = 0x00;
-            CANconversionlist[1].Data[6] = 0x00;
-            CANconversionlist[1].Data[7] = 0x00;
-            
-            CANconversionlist[2].IDfrom = 0x303;
-            CANconversionlist[2].IDto = 0x403;
-            CANconversionlist[2].length = 0x8;
-            CANconversionlist[2].Data[0] = 0x03;
-            CANconversionlist[2].Data[1] = 0x04;
-            CANconversionlist[2].Data[2] = 0x05;
-            CANconversionlist[2].Data[3] = 0x00;
-            CANconversionlist[2].Data[4] = 0x00;
-            CANconversionlist[2].Data[5] = 0x00;
-            CANconversionlist[2].Data[6] = 0x00;
-            CANconversionlist[2].Data[7] = 0x00;
-            
-            CANconversionlist[3].IDfrom = 0x304;
-            CANconversionlist[3].IDto = 0x404;
-            CANconversionlist[3].length = 0x8;
-            CANconversionlist[3].Data[0] = 0x04;
-            CANconversionlist[3].Data[1] = 0x05;
-            CANconversionlist[3].Data[2] = 0x06;
-            CANconversionlist[3].Data[3] = 0x07;
-            CANconversionlist[3].Data[4] = 0x00;
-            CANconversionlist[3].Data[5] = 0x00;
-            CANconversionlist[3].Data[6] = 0x00;
-            CANconversionlist[3].Data[7] = 0x00;
-            
-            CANconversionlist[4].IDfrom = 0x305;
-            CANconversionlist[4].IDto = 0x405;
-            CANconversionlist[4].length = 0x8;
-            CANconversionlist[4].Data[0] = 0x04;
-            CANconversionlist[4].Data[1] = 0x05;
-            CANconversionlist[4].Data[2] = 0x06;
-            CANconversionlist[4].Data[3] = 0x07;
-            CANconversionlist[4].Data[4] = 0x00;
-            CANconversionlist[4].Data[5] = 0x00;
-            CANconversionlist[4].Data[6] = 0x00;
-            CANconversionlist[4].Data[7] = 0x00;
-            
-            CANconversionlist[5].IDfrom = 0x306;
-            CANconversionlist[5].IDto = 0x406;
-            CANconversionlist[5].length = 0x8;
-            CANconversionlist[5].Data[0] = 0x02;
-            CANconversionlist[5].Data[1] = 0x03;
-            CANconversionlist[5].Data[2] = 0x00;
-            CANconversionlist[5].Data[3] = 0x00;
-            CANconversionlist[5].Data[4] = 0x00;
-            CANconversionlist[5].Data[5] = 0x00;
-            CANconversionlist[5].Data[6] = 0x00;
-            CANconversionlist[5].Data[7] = 0x00;
-            
-            CANconversionlist[6].IDfrom = 0x308;
-            CANconversionlist[6].IDto = 0x407;
-            CANconversionlist[6].length = 0x8;
-            CANconversionlist[6].Data[0] = 0x00;
-            CANconversionlist[6].Data[1] = 0x00;
-            CANconversionlist[6].Data[2] = 0x00;
-            CANconversionlist[6].Data[3] = 0x00;
-            CANconversionlist[6].Data[4] = 0x00;
-            CANconversionlist[6].Data[5] = 0x00;
-            CANconversionlist[6].Data[6] = 0x00;
-            CANconversionlist[6].Data[7] = 0x00;
-            
-            CANconversionlist[7].IDfrom = 0x309;
-            CANconversionlist[7].IDto = 0x408;
-            CANconversionlist[7].length = 0x8;
-            CANconversionlist[7].Data[0] = 0x06;
-            CANconversionlist[7].Data[1] = 0x07;
-            CANconversionlist[7].Data[2] = 0x08;
-            CANconversionlist[7].Data[3] = 0x00;
-            CANconversionlist[7].Data[4] = 0x00;
-            CANconversionlist[7].Data[5] = 0x00;
-            CANconversionlist[7].Data[6] = 0x00;
-            CANconversionlist[7].Data[7] = 0x00;
-            
-            CANconversionlistheight = 8;
-            }
-        if (numberkeypressed == 2)
-            {
-            CANconversionlist[0].IDfrom = 0x301;
-            CANconversionlist[0].IDto = 0x301;
-            CANconversionlist[0].length = 0x8;
-            CANconversionlist[0].Data[0] = 0x08;
-            CANconversionlist[0].Data[1] = 0x00;
-            CANconversionlist[0].Data[2] = 0x00;
-            CANconversionlist[0].Data[3] = 0x00;
-            CANconversionlist[0].Data[4] = 0x00;
-            CANconversionlist[0].Data[5] = 0x00;
-            CANconversionlist[0].Data[6] = 0x00;
-            CANconversionlist[0].Data[7] = 0x00;
-            
-            CANconversionlist[1].IDfrom = 0x302;
-            CANconversionlist[1].IDto = 0x302;
-            CANconversionlist[1].length = 0x8;
-            CANconversionlist[1].Data[0] = 0x06;
-            CANconversionlist[1].Data[1] = 0x07;
-            CANconversionlist[1].Data[2] = 0x00;
-            CANconversionlist[1].Data[3] = 0x00;
-            CANconversionlist[1].Data[4] = 0x00;
-            CANconversionlist[1].Data[5] = 0x00;
-            CANconversionlist[1].Data[6] = 0x00;
-            CANconversionlist[1].Data[7] = 0x00;
-            
-            CANconversionlist[2].IDfrom = 0x303;
-            CANconversionlist[2].IDto = 0x303;
-            CANconversionlist[2].length = 0x8;
-            CANconversionlist[2].Data[0] = 0x00;
-            CANconversionlist[2].Data[1] = 0x00;
-            CANconversionlist[2].Data[2] = 0x00;
-            CANconversionlist[2].Data[3] = 0x00;
-            CANconversionlist[2].Data[4] = 0x00;
-            CANconversionlist[2].Data[5] = 0x00;
-            CANconversionlist[2].Data[6] = 0x00;
-            CANconversionlist[2].Data[7] = 0x00;
-            
-            CANconversionlist[3].IDfrom = 0x304;
-            CANconversionlist[3].IDto = 0x304;
-            CANconversionlist[3].length = 0x8;
-            CANconversionlist[3].Data[0] = 0x08;
-            CANconversionlist[3].Data[1] = 0x00;
-            CANconversionlist[3].Data[2] = 0x00;
-            CANconversionlist[3].Data[3] = 0x00;
-            CANconversionlist[3].Data[4] = 0x00;
-            CANconversionlist[3].Data[5] = 0x00;
-            CANconversionlist[3].Data[6] = 0x00;
-            CANconversionlist[3].Data[7] = 0x00;
-            
-            CANconversionlist[4].IDfrom = 0x305;
-            CANconversionlist[4].IDto = 0x305;
-            CANconversionlist[4].length = 0x8;
-            CANconversionlist[4].Data[0] = 0x08;
-            CANconversionlist[4].Data[1] = 0x00;
-            CANconversionlist[4].Data[2] = 0x09;
-            CANconversionlist[4].Data[3] = 0x09;
-            CANconversionlist[4].Data[4] = 0x00;
-            CANconversionlist[4].Data[5] = 0x00;
-            CANconversionlist[4].Data[6] = 0x00;
-            CANconversionlist[4].Data[7] = 0x00;
-            
-            CANconversionlist[5].IDfrom = 0x306;
-            CANconversionlist[5].IDto = 0x306;
-            CANconversionlist[5].length = 0x8;
-            CANconversionlist[5].Data[0] = 0x02;
-            CANconversionlist[5].Data[1] = 0x03;
-            CANconversionlist[5].Data[2] = 0x00;
-            CANconversionlist[5].Data[3] = 0x00;
-            CANconversionlist[5].Data[4] = 0x00;
-            CANconversionlist[5].Data[5] = 0x00;
-            CANconversionlist[5].Data[6] = 0x00;
-            CANconversionlist[5].Data[7] = 0x00;
-            
-            CANconversionlist[6].IDfrom = 0x308;
-            CANconversionlist[6].IDto = 0x307;
-            CANconversionlist[6].length = 0x8;
-            CANconversionlist[6].Data[0] = 0x06;
-            CANconversionlist[6].Data[1] = 0x07;
-            CANconversionlist[6].Data[2] = 0x08;
-            CANconversionlist[6].Data[3] = 0x00;
-            CANconversionlist[6].Data[4] = 0x00;
-            CANconversionlist[6].Data[5] = 0x00;
-            CANconversionlist[6].Data[6] = 0x00;
-            CANconversionlist[6].Data[7] = 0x00;
-            
-            CANconversionlist[7].IDfrom = 0x309;
-            CANconversionlist[7].IDto = 0x308;
-            CANconversionlist[7].length = 0x8;
-            CANconversionlist[7].Data[0] = 0x06;
-            CANconversionlist[7].Data[1] = 0x07;
-            CANconversionlist[7].Data[2] = 0x08;
-            CANconversionlist[7].Data[3] = 0x00;
-            CANconversionlist[7].Data[4] = 0x00;
-            CANconversionlist[7].Data[5] = 0x00;
-            CANconversionlist[7].Data[6] = 0x00;
-            CANconversionlist[7].Data[7] = 0x00;
-            
-            CANconversionlistheight = 8;
-            }
-        pc.printf("CAN conversion list currently has %d rows:\r\n", CANconversionlistheight);
-        int i = 0;
-        while (i < CANconversionlistheight)
-            {
-            //pc.printf("Printing row %d: ", i+1);
-            pc.printf("ID \033[1;37m%03X\033[0m will convert to: \033[1;30;47m%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m.", CANconversionlist[i].IDfrom, CANconversionlist[i].IDto, CANconversionlist[i].length, CANconversionlist[i].Data[0], CANconversionlist[i].Data[1], CANconversionlist[i].Data[2], CANconversionlist[i].Data[3], CANconversionlist[i].Data[4], CANconversionlist[i].Data[5], CANconversionlist[i].Data[6], CANconversionlist[i].Data[7]);
-            pc.printf("\r\n");
-            i++;
-            }
-        CANpassthrough = 0;
-        pc.printf("CANpassthrough is now set to %d.\r\n", CANpassthrough);
-        numberkeypressed = -1;
-        }
-    if (c == 27)
-        {
-        pc.printf("Esc key press found.\r\n");
-        normalkeypresses = 1;
-        tablesmode = 0;
+        CANpairslist[i].IDfrom = "";
+        CANpairslist[i].IDmessageto = "";
+        //pc.printf("Emptying CANpairslist row %d.\r\n", i);
         }
     }
 
-//A function to report if baud rates differ
-void reportbaudrates(void)
-    {
-    if (mbedCANbusspeed != CANGatewayCANbusspeed)
-        {
-        pc.printf("Mbed baud rate (%d) is different from assumed CAN Gateway baud rate (%d), will expect no CAN.\r\n", (mbedCANbusspeed / 1000), (CANGatewayCANbusspeed / 1000));
-        }
-    }
-
-//A function to handle when CAN-expectations are not fulfilled
-void expectationwasnotfulfilled(void)
-    {
-    //pc.printf("Expectation was not fulfilled for that message!\r\n");
-    }
-
-//A function to clear all test-related variables
-void resetCANbuses()//A quick method to reset both CAN buses conveniently
-    {
-    CanBus.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
-    CanBus2.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
-    }
-
-void resettest(void)
-    {
-    //pc.printf("Resetting test.\r\n");
-    listen = 1;
-    failsthistest = 0;
-    failsstreak = 0;
-    failsstreakstart = 0;
-    spamcount = 0;
-    noreplyfailsthistest = 0;
-    goodnoreplies = 0;
-    goodnoreplystreak = 0;
-    goodnoreplystreakstartid = 0;
-    noreplystreak = 0;
-    noreplystreakstartid = 0;
-    CANmatchstreak = 0;
-    CANmatchstreakstartID = 0;
-    mismatchfailsthistest = 0;
-    matchesthistest = 0;
-    idscheckedcount = 0;
-    unexpectedCANfails = 0;
-    unexpectedCANstreak = 0;
-    unexpectedCANstreakstartid = 0;
-    messagesincount = 0;
-    testwasaborted = 0;
-    }
-
-//A function to add a carriage return in the output if the system has been writing out the CAN messages it sends.
-void addnewlineifneeded(void)
-{
-    if (addnewlinetonextmessage == 1)
-        {
-        pc.printf("\r\n");
-        addnewlinetonextmessage = 0;
-        }
-}
-
-void reportsentCAN() //A function to print out the CAN that was sent. Messages can only be positioned correctly once their results are known.
-    {    
-    pc.printf("\033[1;33m\rSent out            : %s \033[0m", messageOutTextWithSpaces);
-    }
-
-    
-//A function to end a test and report on findings.
-void endtest()
-    {
-    listen = 0;
-    expectationresolved = 1;
-    if (testwasaborted == 1)
-        {
-        pc.printf("\033[1;35mTest was aborted, results invalid.\033[0m\r\n");
-        pc.printf("\033[1;35m%d IDs sent out. %d failures found so far.\033[0m\r\n", spamcount, failsthistest);
-        if (CANpassthrough == 0)
-            {
-            pc.printf("\033[1;35m%d expected non-replies found so far. \033[0m", goodnoreplies);
-            }
-        pc.printf("\033[1;35m%d CAN matches found so far.\033[0m\r\n", matchesthistest);
-        }
-    if (failsthistest == 0 and testwasaborted == 0)
-        {
-        pc.printf("\033[1;32mTest passed.\033[0m\r\n");
-        pc.printf("\033[1;32m%d IDs sent out. \033[0m", spamcount);
-        pc.printf("\033[1;32m%d failures found.\033[0m\r\n", failsthistest);
-        if (CANpassthrough == 0)
-            {
-            pc.printf("\033[1;32m%d expected non-replies found. \033[0m", goodnoreplies);
-            }
-        pc.printf("\033[1;32m%d CAN matches found.\033[0m\r\n", matchesthistest);
-        }
-    if (failsthistest > 0 and testwasaborted == 0)
-        {
-        pc.printf("\033[1;31mTest failed.\r\n%d failures found.\033[0m\r\n", failsthistest);
-        pc.printf("\033[1;31m%d mismatch failures, %d 'no reply' failures, %d unexpected CAN messages.\033[0m\r\n", mismatchfailsthistest, noreplyfailsthistest, unexpectedCANfails);
-        if (goodnoreplies > 0)
-            {
-            pc.printf("\033[1;31m%d expected non-replies occurred.\033[0m\r\n", goodnoreplies);
-            }
-        }
-    //addnewlineifneeded();
-    pc.printf("-------------------------------------\r\n");
-    failsthistest = 0;
-    normalkeypresses = 1;
-    }
-
-//'End ID spam test' function so you can end it by reaching 2048 IDs or pressing 'Esc' while it's running
-void endidspamtest()
-    {
-    spamendtime = clock();
-    getspamsecondstotal();//Process the spam information
-    idspamon = 0;
-    aspamisgoing = 0;
-    normalkeypresses = 0;
-    addnewlinetonextmessage = 1;
-    //addnewlineifneeded();
-    //pc.printf("Ending ID spam sequence. %d IDs checked total.\r\n", idscheckedcount);
-    idlistincrementer = 0;
-    endtest();
-    }
-    
-void endspeedtest()//A different 'end' routine for speed tests.
-    {
-    //if (messagesincount == spamcount - 1)//If the messages in are only one less than messages out, adjust since it's probably just the test cancelling before getting that last message.
-        //{
-        //pc.printf("messagesincount is only one less than spamcount, setting it.\r\n");
-        //messagesincount = spamcount;
-        //}
-    listen = 0;
-    pc.printf("Ending CAN speed test.\r\n");
-    pc.printf("%d messages sent. ", spamcount);
-    pc.printf("%d messages detected coming back in over %d seconds.\r\n", messagesincount, spamsecondstotal);
-    int speedtestpercentage = ((messagesincount * 100)/spamcount);
-    int speedtestpasslevel = 90;
-    if (speedtestpercentage >= speedtestpasslevel)
-        {
-        //pc.printf("\033[1;32mTest pass: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
-        }
-    else
-        {
-        //pc.printf("\033[1;31mTest fail: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
-        }
-    speedtestpasslevel = (CANGatewayCANbusspeed / 1000) * 8; //The HD2 can do 80 channels at 100Hz, so 8,000 messages per second are required at top baud rate (1000kbit/s)
-    if (CANGatewayCANbusspeed == mbedCANbusspeed)
-        {
-        if (messagesinpersecond >= speedtestpasslevel)
-            {
-            pc.printf("\033[1;32mTest pass: %d messages in per second. (%d required for pass at Gateway baud rate %d.)\033[0m\r\n", messagesinpersecond, speedtestpasslevel, CANGatewayCANbusspeed / 1000);
-            }
-        if (messagesinpersecond < speedtestpasslevel)
-            {
-            pc.printf("\033[1;31mTest fail: %d messages in per second. (%d required for pass at Gateway baud rate %d.)\033[0m\r\n", messagesinpersecond, speedtestpasslevel, CANGatewayCANbusspeed / 1000);
-            }
-        }
-    if (CANGatewayCANbusspeed != mbedCANbusspeed)
-        {
-        pc.printf("\033[1;35mTest invalid: Mbed CAN bus baud rate (%d) does not match presumed CAN Gateway baud rate (%d).\033[0m\r\n", mbedCANbusspeed / 1000, CANGatewayCANbusspeed / 1000);
-        }
-    pc.printf("\n");//Add an extra new line so the whole baud rate test is separate from the rest of the text.
-    }
-
-//A generic 'send CAN' function to send CAN with a standard message
-void sendCAN(void)
-{
-    CanBus.write(messageOut1);
-    //addnewlineifneeded();
-    if (aspamisgoing == 0)
-        {
-        //pc.printf("\r\n");
-        }
-    expectationresolved = 0;
-    //pc.printf("Expectationresolved now is %d.", expectationresolved);
-    expectationtimer = 0;
-    //addnewlinetonextmessage = 1;
-}
-
 //A function to deal with each CAN message part (e.g.: 301, 8, 01, 02...)
 void dealwithpart(void)
 {
@@ -762,6 +376,339 @@
     //pc.printf("--------------------------------------\r\n");
 }
 
+//A function to go through each row in the string CAN pairs list and turn them into data for the CAN conversion list.
+void gothroughCANpairslist(void)
+    {
+    for (int i = 0; i < 30; i++)
+        {
+        string tempstringA = CANpairslist[i].IDfrom;
+        string tempstringB = CANpairslist[i].IDmessageto;
+        //pc.printf("Strings found are '%s' and '%s'.\r\n", tempstringA, tempstringB);
+        //pc.printf("Will try to get an ID from out of '%s'.\r\n", tempstringA);
+        if (tempstringA != "" and tempstringB != "")//Only get a number from the part if tempstring A and B have something in them.
+            {
+            CANconversionlistheight = i+1;
+            partincrement = 0;
+            part = tempstringA;
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            //pc.printf("partincrement is now %d.\r\n", partincrement);
+            CANconversionlist[i].IDfrom = hextotal;
+            partincrement = 0;
+            part = tempstringB.substr(0,3);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].IDto = hextotal;
+            part = tempstringB.substr(4,1);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].length = hextotal;
+            part = tempstringB.substr(6,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [0] = hextotal;
+            part = tempstringB.substr(9,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [1] = hextotal;
+            part = tempstringB.substr(12,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [2] = hextotal;
+            part = tempstringB.substr(15,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [3] = hextotal;
+            part = tempstringB.substr(18,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [4] = hextotal;
+            part = tempstringB.substr(21,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [5] = hextotal;
+            part = tempstringB.substr(24,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [6] = hextotal;
+            part = tempstringB.substr(27,2);
+            dealwithpart();
+            //pc.printf("Hextotal obtained is %d.\r\n", hextotal);
+            CANconversionlist[i].Data [7] = hextotal;
+            }
+        }
+    }
+
+//A function to handle key presses in tables mode
+void tablesmodekeypress(void)
+    {
+    //pc.printf("Key press detected in tables mode!\r\n");
+    if (c >= 48 and c <= 57)
+        {
+        numberkeypressed = c - 48;
+        pc.printf("That's a number key press.('%d')\r\n", numberkeypressed);
+        resetCANpairslist();
+        if (numberkeypressed == 1)
+            {
+            CANpairslist[0].IDfrom = "301";
+            CANpairslist[0].IDmessageto = "301 8 08 00 00 00 00 00 00 00";
+            CANpairslist[1].IDfrom = "302";
+            CANpairslist[1].IDmessageto = "302 8 06 07 00 00 00 00 00 00";
+            CANpairslist[2].IDfrom = "303";
+            CANpairslist[2].IDmessageto = "303 8 00 00 00 00 00 00 00 00";
+            CANpairslist[3].IDfrom = "304";
+            CANpairslist[3].IDmessageto = "304 8 08 00 00 00 00 00 00 00";
+            CANpairslist[4].IDfrom = "305";
+            CANpairslist[4].IDmessageto = "305 8 08 00 00 00 00 00 00 00";
+            CANpairslist[5].IDfrom = "306";
+            CANpairslist[5].IDmessageto = "306 8 02 03 00 00 00 00 00 00";
+            CANpairslist[6].IDfrom = "307";
+            CANpairslist[6].IDmessageto = "307 8 06 07 08 00 00 00 00 00";
+            CANpairslist[7].IDfrom = "309";
+            CANpairslist[7].IDmessageto = "308 8 06 07 08 00 00 00 00 00";
+            }
+        if (numberkeypressed == 2)
+            {
+            CANpairslist[0].IDfrom = "301";
+            CANpairslist[0].IDmessageto = "401 8 08 00 00 00 04 05 06 01";
+            CANpairslist[1].IDfrom = "302";
+            CANpairslist[1].IDmessageto = "402 8 04 05 06 07 06 07 08 00";
+            CANpairslist[2].IDfrom = "303";
+            CANpairslist[2].IDmessageto = "403 8 03 04 05 05 06 80 00 00";
+            CANpairslist[3].IDfrom = "304";
+            CANpairslist[3].IDmessageto = "404 8 04 05 06 07 06 07 08 00";
+            CANpairslist[4].IDfrom = "305";
+            CANpairslist[4].IDmessageto = "405 8 04 05 06 07 06 07 08 00";
+            CANpairslist[5].IDfrom = "306";
+            CANpairslist[5].IDmessageto = "406 8 02 03 00 00 00 00 00 00";
+            CANpairslist[6].IDfrom = "308";
+            CANpairslist[6].IDmessageto = "408 8 06 07 08 00 00 00 00 00";
+            CANpairslist[7].IDfrom = "309";
+            CANpairslist[7].IDmessageto = "409 8 06 07 08 00 00 00 00 00";
+            }
+        if (numberkeypressed == 3)
+            {
+            CANpairslist[0].IDfrom = "317";
+            CANpairslist[0].IDmessageto = "40A 8 08 00 00 00 04 05 06 07";
+            CANpairslist[1].IDfrom = "318";
+            CANpairslist[1].IDmessageto = "409 8 08 00 00 00 04 05 06 07";
+            CANpairslist[2].IDfrom = "319";
+            CANpairslist[2].IDmessageto = "408 8 06 07 02 03 04 05 00 00";
+            CANpairslist[3].IDfrom = "31A";
+            CANpairslist[3].IDmessageto = "407 8 08 00 00 00 04 05 02 03";
+            CANpairslist[4].IDfrom = "31B";
+            CANpairslist[4].IDmessageto = "40C 8 04 05 06 07 02 03 08 00";
+            CANpairslist[5].IDfrom = "31C";
+            CANpairslist[5].IDmessageto = "40B 8 06 07 04 05 02 03 00 00";
+            CANpairslist[6].IDfrom = "31D";
+            CANpairslist[6].IDmessageto = "406 8 08 00 00 00 04 05 06 07";
+            CANpairslist[7].IDfrom = "31E";
+            CANpairslist[7].IDmessageto = "405 8 04 05 06 07 00 00 00 00";
+            CANpairslist[8].IDfrom = "324";
+            CANpairslist[8].IDmessageto = "403 8 06 07 08 07 00 00 00 00";
+            CANpairslist[9].IDfrom = "325";
+            CANpairslist[9].IDmessageto = "404 8 04 05 06 07 00 00 00 00";
+            CANpairslist[10].IDfrom = "329";
+            CANpairslist[10].IDmessageto = "402 8 08 00 00 00 04 05 06 07";
+            CANpairslist[11].IDfrom = "32A";
+            CANpairslist[11].IDmessageto = "401 8 04 05 02 03 06 05 00 00";
+            }
+        gothroughCANpairslist();
+        pc.printf("CAN conversion list currently has %d rows:\r\n", CANconversionlistheight);
+        int i = 0;
+        while (i < CANconversionlistheight)
+            {
+            //pc.printf("Printing row %d: ", i+1);
+            pc.printf("ID \033[1;37m%03X\033[0m will convert to: \033[1;30;47m%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m", CANconversionlist[i].IDfrom, CANconversionlist[i].IDto, CANconversionlist[i].length, CANconversionlist[i].Data[0], CANconversionlist[i].Data[1], CANconversionlist[i].Data[2], CANconversionlist[i].Data[3], CANconversionlist[i].Data[4], CANconversionlist[i].Data[5], CANconversionlist[i].Data[6], CANconversionlist[i].Data[7]);
+            pc.printf("\r\n");
+            i++;
+            }
+        CANpassthrough = 0;
+        pc.printf("CANpassthrough is now set to %d.\r\n", CANpassthrough);
+        numberkeypressed = -1;
+        }
+    if (c == 27)
+        {
+        pc.printf("Leaving Expectation Table mode.\r\n");
+        normalkeypresses = 1;
+        tablesmode = 0;
+        }
+    }
+
+//A function to report if baud rates differ
+void reportbaudrates(void)
+    {
+    if (mbedCANbusspeed != CANGatewayCANbusspeed)
+        {
+        pc.printf("Mbed baud rate (%d) is different from assumed CAN Gateway baud rate (%d), will expect no CAN.\r\n", (mbedCANbusspeed / 1000), (CANGatewayCANbusspeed / 1000));
+        }
+    }
+
+//A function to handle when CAN-expectations are not fulfilled
+void expectationwasnotfulfilled(void)
+    {
+    //pc.printf("Expectation was not fulfilled for that message!\r\n");
+    }
+
+//A function to clear all test-related variables
+void resetCANbuses()//A quick method to reset both CAN buses conveniently
+    {
+    CanBus.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
+    CanBus2.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
+    }
+
+void resettest(void)
+    {
+    //pc.printf("Resetting test.\r\n");
+    listen = 1;
+    failsthistest = 0;
+    failsstreak = 0;
+    failsstreakstart = 0;
+    spamcount = 0;
+    noreplyfailsthistest = 0;
+    goodnoreplies = 0;
+    goodnoreplystreak = 0;
+    goodnoreplystreakstartid = 0;
+    noreplystreak = 0;
+    noreplystreakstartid = 0;
+    CANmatchstreak = 0;
+    CANmatchstreakstartID = 0;
+    mismatchfailsthistest = 0;
+    matchesthistest = 0;
+    idscheckedcount = 0;
+    unexpectedCANfails = 0;
+    unexpectedCANstreak = 0;
+    unexpectedCANstreakstartid = 0;
+    messagesincount = 0;
+    testwasaborted = 0;
+    }
+
+//A function to add a carriage return in the output if the system has been writing out the CAN messages it sends.
+void addnewlineifneeded(void)
+{
+    if (addnewlinetonextmessage == 1)
+        {
+        pc.printf("\r\n");
+        addnewlinetonextmessage = 0;
+        }
+}
+
+void reportsentCAN() //A function to print out the CAN that was sent. Messages can only be positioned correctly once their results are known.
+    {    
+    pc.printf("\033[1;33m\rSent out            : %s \033[0m", messageOutTextWithSpaces);
+    }
+
+    
+//A function to end a test and report on findings.
+void endtest()
+    {
+    listen = 0;
+    expectationresolved = 1;
+    if (testwasaborted == 1)
+        {
+        pc.printf("\033[1;35mTest was aborted, results invalid.\033[0m\r\n");
+        pc.printf("\033[1;35m%d IDs sent out. %d failures found so far.\033[0m\r\n", spamcount, failsthistest);
+        if (CANpassthrough == 0)
+            {
+            pc.printf("\033[1;35m%d expected non-replies found so far. \033[0m", goodnoreplies);
+            }
+        pc.printf("\033[1;35m%d CAN matches found so far.\033[0m\r\n", matchesthistest);
+        }
+    if (failsthistest == 0 and testwasaborted == 0)
+        {
+        pc.printf("\033[1;32mTest passed.\033[0m\r\n");
+        pc.printf("\033[1;32m%d IDs sent out. \033[0m", spamcount);
+        pc.printf("\033[1;32m%d failures found.\033[0m\r\n", failsthistest);
+        if (CANpassthrough == 0)
+            {
+            pc.printf("\033[1;32m%d expected non-replies found. \033[0m", goodnoreplies);
+            }
+        pc.printf("\033[1;32m%d CAN matches found.\033[0m\r\n", matchesthistest);
+        }
+    if (failsthistest > 0 and testwasaborted == 0)
+        {
+        pc.printf("\033[1;31mTest failed.\r\n%d failures found.\033[0m\r\n", failsthistest);
+        pc.printf("\033[1;31m%d mismatch failures, %d 'no reply' failures, %d unexpected CAN messages.\033[0m\r\n", mismatchfailsthistest, noreplyfailsthistest, unexpectedCANfails);
+        if (goodnoreplies > 0)
+            {
+            pc.printf("\033[1;31m%d expected non-replies occurred.\033[0m\r\n", goodnoreplies);
+            }
+        }
+    pc.printf("-------------------------------------\r\n");
+    failsthistest = 0;
+    normalkeypresses = 1;
+    }
+
+//'End ID spam test' function so you can end it by reaching 2048 IDs or pressing 'Esc' while it's running
+void endidspamtest()
+    {
+    spamendtime = clock();
+    getspamsecondstotal();//Process the spam information
+    idspamon = 0;
+    aspamisgoing = 0;
+    normalkeypresses = 0;
+    addnewlinetonextmessage = 1;
+    //addnewlineifneeded();
+    //pc.printf("Ending ID spam sequence. %d IDs checked total.\r\n", idscheckedcount);
+    idlistincrementer = 0;
+    endtest();
+    }
+    
+void endspeedtest()//A different 'end' routine for speed tests.
+    {
+    //if (messagesincount == spamcount - 1)//If the messages in are only one less than messages out, adjust since it's probably just the test cancelling before getting that last message.
+        //{
+        //pc.printf("messagesincount is only one less than spamcount, setting it.\r\n");
+        //messagesincount = spamcount;
+        //}
+    listen = 0;
+    pc.printf("Ending CAN speed test.\r\n");
+    pc.printf("%d messages sent. ", spamcount);
+    pc.printf("%d messages detected coming back in over %d seconds.\r\n", messagesincount, spamsecondstotal);
+    int speedtestpercentage = ((messagesincount * 100)/spamcount);
+    int speedtestpasslevel = 90;
+    if (speedtestpercentage >= speedtestpasslevel)
+        {
+        //pc.printf("\033[1;32mTest pass: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
+        }
+    else
+        {
+        //pc.printf("\033[1;31mTest fail: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
+        }
+    speedtestpasslevel = (CANGatewayCANbusspeed / 1000) * 8; //The HD2 can do 80 channels at 100Hz, so 8,000 messages per second are required at top baud rate (1000kbit/s)
+    if (CANGatewayCANbusspeed == mbedCANbusspeed)
+        {
+        if (messagesinpersecond >= speedtestpasslevel)
+            {
+            pc.printf("\033[1;32mTest pass: %d messages in per second. (%d required for pass at Gateway baud rate %d.)\033[0m\r\n", messagesinpersecond, speedtestpasslevel, CANGatewayCANbusspeed / 1000);
+            }
+        if (messagesinpersecond < speedtestpasslevel)
+            {
+            pc.printf("\033[1;31mTest fail: %d messages in per second. (%d required for pass at Gateway baud rate %d.)\033[0m\r\n", messagesinpersecond, speedtestpasslevel, CANGatewayCANbusspeed / 1000);
+            }
+        }
+    if (CANGatewayCANbusspeed != mbedCANbusspeed)
+        {
+        pc.printf("\033[1;35mTest invalid: Mbed CAN bus baud rate (%d) does not match presumed CAN Gateway baud rate (%d).\033[0m\r\n", mbedCANbusspeed / 1000, CANGatewayCANbusspeed / 1000);
+        }
+    pc.printf("\n");//Add an extra new line so the whole baud rate test is separate from the rest of the text.
+    }
+
+//A generic 'send CAN' function to send CAN with a standard message
+void sendCAN(void)
+{
+    CanBus.write(messageOut1);
+    //addnewlineifneeded();
+    if (aspamisgoing == 0)
+        {
+        //pc.printf("\r\n");
+        }
+    expectationresolved = 0;
+    //pc.printf("Expectationresolved now is %d.", expectationresolved);
+    expectationtimer = 0;
+    //addnewlinetonextmessage = 1;
+}
+
 //A function to get a coherent CAN message from one, uninterrupted string
 void getCANfrommessageOutText(void)
 {
@@ -1058,7 +1005,7 @@
                 if (c == '5' and normalkeypresses == 1)
                     {
                     buttonPressMessageOutText = "305 8 01 02 03 04 05 06 07 08";
-                    idlistincrementer = 0x15B;
+                    idlistincrementer = 0x305;
                     }
                 if (c == '6' and normalkeypresses == 1)
                     {
@@ -1512,15 +1459,6 @@
                                 pc.printf("\r\n\n");
                                 }
                             }
-                        if (failsstreak > 0)
-                            {
-                            failsstreak = 0;
-                            failsstreakstart = 0;
-                            if (aspamisgoing == 1)
-                                {
-                                pc.printf("\r\n\n");
-                                }
-                            }
                         if (CANmatchstreak > 0)
                             {
                             CANmatchstreak = 0;
@@ -1553,9 +1491,7 @@
                     messageinisneeded = 0;
                     if (aspamisgoing == 0)
                         {messageinisneeded = 1;}
-                    //if (itsamatch == 0 and shouldntcomein == 0)
-                    //    {messageinisneeded = 1;}
-                    if (reportfailsindividually == 1)
+                    if (itsamatch == 0 and shouldntcomein == 0 and reportfailsindividually == 1)
                         {messageinisneeded = 1;}
                     // If a message in is destined to be printed, reset the failsstreak if needed
                     if (messageinisneeded == 1 and failsstreak > 0)