// SPDX-License-Identifier: GPL-2.0+ /* * Copyright 2022 Google LLC * Written by Simon Glass */ #include #include #include #include #include #include #include #include #include #include "bootstd_common.h" #include #include "../../boot/scene_internal.h" enum { /* scenes */ SCENE1 = 7, SCENE2, /* objects */ OBJ_LOGO, OBJ_TEXT, OBJ_TEXT2, OBJ_MENU, OBJ_MENU_TITLE, /* strings */ STR_SCENE_TITLE, STR_TEXT, STR_TEXT2, STR_MENU_TITLE, STR_POINTER_TEXT, STR_ITEM1_LABEL, STR_ITEM1_DESC, STR_ITEM1_KEY, STR_ITEM1_PREVIEW, STR_ITEM2_LABEL, STR_ITEM2_DESC, STR_ITEM2_KEY, STR_ITEM2_PREVIEW, /* menu items */ ITEM1, ITEM1_LABEL, ITEM1_DESC, ITEM1_KEY, ITEM1_PREVIEW, ITEM2, ITEM2_LABEL, ITEM2_DESC, ITEM2_KEY, ITEM2_PREVIEW, /* pointer to current item */ POINTER_TEXT, }; #define BAD_POINTER ((void *)1) /* names for various things */ #define EXPO_NAME "my menus" #define SCENE_NAME1 "main" #define SCENE_NAME2 "second" #define SCENE_TITLE "Main Menu" #define LOGO_NAME "logo" /* Check base expo support */ static int expo_base(struct unit_test_state *uts) { struct udevice *dev; struct expo *exp; ulong start_mem; char name[100]; int i; ut_assertok(uclass_first_device_err(UCLASS_VIDEO, &dev)); start_mem = ut_check_free(); exp = NULL; strcpy(name, EXPO_NAME); ut_assertok(expo_new(name, NULL, &exp)); *name = '\0'; ut_assertnonnull(exp); ut_asserteq(0, exp->scene_id); ut_asserteq(0, exp->next_id); /* Make sure the name was allocated */ ut_assertnonnull(exp->name); ut_asserteq_str(EXPO_NAME, exp->name); ut_assertok(expo_set_display(exp, dev)); expo_destroy(exp); ut_assertok(ut_check_delta(start_mem)); /* test handling out-of-memory conditions */ for (i = 0; i < 2; i++) { struct expo *exp2; malloc_enable_testing(i); exp2 = BAD_POINTER; ut_asserteq(-ENOMEM, expo_new(EXPO_NAME, NULL, &exp2)); ut_asserteq_ptr(BAD_POINTER, exp2); malloc_disable_testing(); } return 0; } BOOTSTD_TEST(expo_base, UT_TESTF_DM | UT_TESTF_SCAN_FDT); /* Check creating a scene */ static int expo_scene(struct unit_test_state *uts) { struct scene *scn; struct expo *exp; ulong start_mem; char name[100]; int id, title_id; start_mem = ut_check_free(); ut_assertok(expo_new(EXPO_NAME, NULL, &exp)); scn = NULL; ut_asserteq(0, exp->next_id); strcpy(name, SCENE_NAME1); id = scene_new(exp, name, SCENE1, &scn); *name = '\0'; ut_assertnonnull(scn); ut_asserteq(SCENE1, id); ut_asserteq(SCENE1 + 1, exp->next_id); ut_asserteq_ptr(exp, scn->expo); /* Make sure the name was allocated */ ut_assertnonnull(scn->name); ut_asserteq_str(SCENE_NAME1, scn->name); /* Set the title */ title_id = expo_str(exp, "title", STR_SCENE_TITLE, SCENE_TITLE); ut_assert(title_id >= 0); /* Use an allocated ID - this will be allocated after the title str */ scn = NULL; id = scene_new(exp, SCENE_NAME2, 0, &scn); ut_assertnonnull(scn); ut_assertok(scene_title_set(scn, title_id)); ut_asserteq(STR_SCENE_TITLE + 1, id); ut_asserteq(STR_SCENE_TITLE + 2, exp->next_id); ut_asserteq_ptr(exp, scn->expo); ut_asserteq_str(SCENE_NAME2, scn->name); ut_asserteq(title_id, scn->title_id); expo_destroy(exp); ut_assertok(ut_check_delta(start_mem)); return 0; } BOOTSTD_TEST(expo_scene, UT_TESTF_DM | UT_TESTF_SCAN_FDT); /* Check creating a scene with objects */ static int expo_object(struct unit_test_state *uts) { struct scene_obj_img *img; struct scene_obj_txt *txt; struct scene *scn; struct expo *exp; ulong start_mem; char name[100]; char *data; int id; start_mem = ut_check_free(); ut_assertok(expo_new(EXPO_NAME, NULL, &exp)); id = scene_new(exp, SCENE_NAME1, SCENE1, &scn); ut_assert(id > 0); ut_asserteq(0, scene_obj_count(scn)); data = NULL; strcpy(name, LOGO_NAME); id = scene_img(scn, name, OBJ_LOGO, data, &img); ut_assert(id > 0); *name = '\0'; ut_assertnonnull(img); ut_asserteq(OBJ_LOGO, id); ut_asserteq(OBJ_LOGO + 1, exp->next_id); ut_asserteq_ptr(scn, img->obj.scene); ut_asserteq(SCENEOBJT_IMAGE, img->obj.type); ut_asserteq_ptr(data, img->data); /* Make sure the name was allocated */ ut_assertnonnull(scn->name); ut_asserteq_str(SCENE_NAME1, scn->name); ut_asserteq(1, scene_obj_count(scn)); id = scene_txt_str(scn, "text", OBJ_TEXT, STR_TEXT, "my string", &txt); ut_assert(id > 0); ut_assertnonnull(txt); ut_asserteq(OBJ_TEXT, id); ut_asserteq(SCENEOBJT_TEXT, txt->obj.type); ut_asserteq(2, scene_obj_count(scn)); /* Check passing NULL as the final parameter */ id = scene_txt_str(scn, "text2", OBJ_TEXT2, STR_TEXT2, "another string", NULL); ut_assert(id > 0); ut_asserteq(3, scene_obj_count(scn)); expo_destroy(exp); ut_assertok(ut_check_delta(start_mem)); return 0; } BOOTSTD_TEST(expo_object, UT_TESTF_DM | UT_TESTF_SCAN_FDT); /* Check setting object attributes and using themes */ static int expo_object_attr(struct unit_test_state *uts) { struct scene_obj_menu *menu; struct scene_obj_img *img; struct scene_obj_txt *txt; struct scene *scn; struct expo *exp; ulong start_mem; char name[100]; ofnode node; char *data; int id; start_mem = ut_check_free(); ut_assertok(expo_new(EXPO_NAME, NULL, &exp)); id = scene_new(exp, SCENE_NAME1, SCENE1, &scn); ut_assert(id > 0); data = NULL; id = scene_img(scn, LOGO_NAME, OBJ_LOGO, data, &img); ut_assert(id > 0); ut_assertok(scene_obj_set_pos(scn, OBJ_LOGO, 123, 456)); ut_asserteq(123, img->obj.dim.x); ut_asserteq(456, img->obj.dim.y); ut_asserteq(-ENOENT, scene_obj_set_pos(scn, OBJ_TEXT2, 0, 0)); id = scene_txt_str(scn, "text", OBJ_TEXT, STR_TEXT, "my string", &txt); ut_assert(id > 0); strcpy(name, "font2"); ut_assertok(scene_txt_set_font(scn, OBJ_TEXT, name, 42)); ut_asserteq_ptr(name, txt->font_name); ut_asserteq(42, txt->font_size); ut_asserteq(-ENOENT, scene_txt_set_font(scn, OBJ_TEXT2, name, 42)); id = scene_menu(scn, "main", OBJ_MENU, &menu); ut_assert(id > 0); ut_assertok(scene_menu_set_title(scn, OBJ_MENU, OBJ_TEXT)); ut_asserteq(-ENOENT, scene_menu_set_title(scn, OBJ_TEXT2, OBJ_TEXT)); ut_asserteq(-EINVAL, scene_menu_set_title(scn, OBJ_MENU, OBJ_TEXT2)); node = ofnode_path("/bootstd/theme"); ut_assert(ofnode_valid(node)); ut_assertok(expo_apply_theme(exp, node)); ut_asserteq(30, txt->font_size); expo_destroy(exp); ut_assertok(ut_check_delta(start_mem)); return 0; } BOOTSTD_TEST(expo_object_attr, UT_TESTF_DM | UT_TESTF_SCAN_FDT); /* Check creating a scene with a menu */ static int expo_object_menu(struct unit_test_state *uts) { struct scene_obj_menu *menu; struct scene_menitem *item; int id, label_id, desc_id, key_id, pointer_id, preview_id; struct scene_obj_txt *ptr, *name1, *desc1, *key1, *tit, *prev1; struct scene *scn; struct expo *exp; ulong start_mem; start_mem = ut_check_free(); ut_assertok(expo_new(EXPO_NAME, NULL, &exp)); id = scene_new(exp, SCENE_NAME1, SCENE1, &scn); ut_assert(id > 0); id = scene_menu(scn, "main", OBJ_MENU, &menu); ut_assert(id > 0); ut_assertnonnull(menu); ut_asserteq(OBJ_MENU, id); ut_asserteq(SCENEOBJT_MENU, menu->obj.type); ut_asserteq(0, menu->title_id); ut_asserteq(0, menu->pointer_id); ut_assertok(scene_obj_set_pos(scn, OBJ_MENU, 50, 400)); ut_asserteq(50, menu->obj.dim.x); ut_asserteq(400, menu->obj.dim.y); id = scene_txt_str(scn, "title", OBJ_MENU_TITLE, STR_MENU_TITLE, "Main Menu", &tit); ut_assert(id > 0); ut_assertok(scene_menu_set_title(scn, OBJ_MENU, OBJ_MENU_TITLE)); ut_asserteq(OBJ_MENU_TITLE, menu->title_id); pointer_id = scene_txt_str(scn, "cur_item", POINTER_TEXT, STR_POINTER_TEXT, ">", &ptr); ut_assert(pointer_id > 0); ut_assertok(scene_menu_set_pointer(scn, OBJ_MENU, POINTER_TEXT)); ut_asserteq(POINTER_TEXT, menu->pointer_id); label_id = scene_txt_str(scn, "label1", ITEM1_LABEL, STR_ITEM1_LABEL, "Play", &name1); ut_assert(label_id > 0); desc_id = scene_txt_str(scn, "desc1", ITEM1_DESC, STR_ITEM1_DESC, "Lord Melchett", &desc1); ut_assert(desc_id > 0); key_id = scene_txt_str(scn, "item1-key", ITEM1_KEY, STR_ITEM1_KEY, "1", &key1); ut_assert(key_id > 0); preview_id = scene_txt_str(scn, "item1-preview", ITEM1_PREVIEW, STR_ITEM1_PREVIEW, "(preview1)", &prev1); ut_assert(preview_id > 0); id = scene_menuitem(scn, OBJ_MENU, "linux", ITEM1, ITEM1_KEY, ITEM1_LABEL, ITEM1_DESC, ITEM1_PREVIEW, 0, &item); ut_asserteq(ITEM1, id); ut_asserteq(id, item->id); ut_asserteq(key_id, item->key_id); ut_asserteq(label_id, item->label_id); ut_asserteq(desc_id, item->desc_id); ut_asserteq(preview_id, item->preview_id); ut_assertok(scene_arrange(scn)); /* arranging the scene should cause the first item to become current */ ut_asserteq(id, menu->cur_item_id); /* the title should be at the top */ ut_asserteq(menu->obj.dim.x, tit->obj.dim.x); ut_asserteq(menu->obj.dim.y, tit->obj.dim.y); /* the first item should be next */ ut_asserteq(menu->obj.dim.x, name1->obj.dim.x); ut_asserteq(menu->obj.dim.y + 32, name1->obj.dim.y); ut_asserteq(menu->obj.dim.x + 230, key1->obj.dim.x); ut_asserteq(menu->obj.dim.y + 32, key1->obj.dim.y); ut_asserteq(menu->obj.dim.x + 200, ptr->obj.dim.x); ut_asserteq(menu->obj.dim.y + 32, ptr->obj.dim.y); ut_asserteq(menu->obj.dim.x + 280, desc1->obj.dim.x); ut_asserteq(menu->obj.dim.y + 32, desc1->obj.dim.y); ut_asserteq(-4, prev1->obj.dim.x); ut_asserteq(menu->obj.dim.y + 32, prev1->obj.dim.y); ut_asserteq(true, prev1->obj.flags & SCENEOF_HIDE); expo_destroy(exp); ut_assertok(ut_check_delta(start_mem)); return 0; } BOOTSTD_TEST(expo_object_menu, UT_TESTF_DM | UT_TESTF_SCAN_FDT); /* Check rendering a scene */ static int expo_render_image(struct unit_test_state *uts) { struct scene_obj_menu *menu; struct scene *scn, *scn2; struct expo_action act; struct scene_obj *obj; struct udevice *dev; struct expo *exp; int id; console_record_reset_enable(); ut_assertok(uclass_first_device_err(UCLASS_VIDEO, &dev)); ut_assertok(expo_new(EXPO_NAME, NULL, &exp)); id = scene_new(exp, SCENE_NAME1, SCENE1, &scn); ut_assert(id > 0); ut_assertok(expo_set_display(exp, dev)); id = scene_img(scn, "logo", OBJ_LOGO, video_get_u_boot_logo(), NULL); ut_assert(id > 0); ut_assertok(scene_obj_set_pos(scn, OBJ_LOGO, 50, 20)); id = scene_txt_str(scn, "text", OBJ_TEXT, STR_TEXT, "my string", NULL); ut_assert(id > 0); ut_assertok(scene_txt_set_font(scn, OBJ_TEXT, "cantoraone_regular", 40)); ut_assertok(scene_obj_set_pos(scn, OBJ_TEXT, 400, 100)); id = scene_txt_str(scn, "text", OBJ_TEXT2, STR_TEXT2, "another string", NULL); ut_assert(id > 0); ut_assertok(scene_txt_set_font(scn, OBJ_TEXT2, "nimbus_sans_l_regular", 60)); ut_assertok(scene_obj_set_pos(scn, OBJ_TEXT2, 200, 600)); id = scene_menu(scn, "main", OBJ_MENU, &menu); ut_assert(id > 0); id = scene_txt_str(scn, "title", OBJ_MENU_TITLE, STR_MENU_TITLE, "Main Menu", NULL); ut_assert(id > 0); ut_assertok(scene_menu_set_title(scn, OBJ_MENU, OBJ_MENU_TITLE)); id = scene_txt_str(scn, "cur_item", POINTER_TEXT, STR_POINTER_TEXT, ">", NULL); ut_assert(id > 0); ut_assertok(scene_menu_set_pointer(scn, OBJ_MENU, POINTER_TEXT)); id = scene_txt_str(scn, "label1", ITEM1_LABEL, STR_ITEM1_LABEL, "Play", NULL); ut_assert(id > 0); id = scene_txt_str(scn, "item1 txt", ITEM1_DESC, STR_ITEM1_DESC, "Lord Melchett", NULL); ut_assert(id > 0); id = scene_txt_str(scn, "item1-key", ITEM1_KEY, STR_ITEM1_KEY, "1", NULL); ut_assert(id > 0); id = scene_img(scn, "item1-preview", ITEM1_PREVIEW, video_get_u_boot_logo(), NULL); id = scene_menuitem(scn, OBJ_MENU, "item1", ITEM1, ITEM1_KEY, ITEM1_LABEL, ITEM1_DESC, ITEM1_PREVIEW, 0, NULL); ut_assert(id > 0); id = scene_txt_str(scn, "label2", ITEM2_LABEL, STR_ITEM2_LABEL, "Now", NULL); ut_assert(id > 0); id = scene_txt_str(scn, "item2 txt", ITEM2_DESC, STR_ITEM2_DESC, "Lord Percy", NULL); ut_assert(id > 0); id = scene_txt_str(scn, "item2-key", ITEM2_KEY, STR_ITEM2_KEY, "2", NULL); ut_assert(id > 0); id = scene_img(scn, "item2-preview", ITEM2_PREVIEW, video_get_u_boot_logo(), NULL); ut_assert(id > 0); id = scene_menuitem(scn, OBJ_MENU, "item2", ITEM2, ITEM2_KEY, ITEM2_LABEL, ITEM2_DESC, ITEM2_PREVIEW, 0, NULL); ut_assert(id > 0); ut_assertok(scene_obj_set_pos(scn, OBJ_MENU, 50, 400)); scn2 = expo_lookup_scene_id(exp, SCENE1); ut_asserteq_ptr(scn, scn2); scn2 = expo_lookup_scene_id(exp, SCENE2); ut_assertnull(scn2); /* render without a scene */ ut_asserteq(-ECHILD, expo_render(exp)); ut_assertok(expo_calc_dims(exp)); ut_assertok(scene_arrange(scn)); /* check dimensions of text */ obj = scene_obj_find(scn, OBJ_TEXT, SCENEOBJT_NONE); ut_assertnonnull(obj); ut_asserteq(400, obj->dim.x); ut_asserteq(100, obj->dim.y); ut_asserteq(126, obj->dim.w); ut_asserteq(40, obj->dim.h); /* check dimensions of image */ obj = scene_obj_find(scn, OBJ_LOGO, SCENEOBJT_NONE); ut_assertnonnull(obj); ut_asserteq(50, obj->dim.x); ut_asserteq(20, obj->dim.y); ut_asserteq(160, obj->dim.w); ut_asserteq(160, obj->dim.h); /* check dimensions of menu labels - both should be the same width */ obj = scene_obj_find(scn, ITEM1_LABEL, SCENEOBJT_NONE); ut_assertnonnull(obj); ut_asserteq(50, obj->dim.x); ut_asserteq(436, obj->dim.y); ut_asserteq(29, obj->dim.w); ut_asserteq(18, obj->dim.h); obj = scene_obj_find(scn, ITEM2_LABEL, SCENEOBJT_NONE); ut_assertnonnull(obj); ut_asserteq(50, obj->dim.x); ut_asserteq(454, obj->dim.y); ut_asserteq(29, obj->dim.w); ut_asserteq(18, obj->dim.h); /* check dimensions of menu */ obj = scene_obj_find(scn, OBJ_MENU, SCENEOBJT_NONE); ut_assertnonnull(obj); ut_asserteq(50, obj->dim.x); ut_asserteq(400, obj->dim.y); ut_asserteq(160, obj->dim.w); ut_asserteq(160, obj->dim.h); /* render it */ expo_set_scene_id(exp, SCENE1); ut_assertok(expo_render(exp)); /* move down */ ut_assertok(expo_send_key(exp, BKEY_DOWN)); ut_assertok(expo_action_get(exp, &act)); ut_asserteq(EXPOACT_POINT_ITEM, act.type); ut_asserteq(ITEM2, act.select.id); ut_assertok(expo_render(exp)); /* make sure only the preview for the second item is shown */ obj = scene_obj_find(scn, ITEM1_PREVIEW, SCENEOBJT_NONE); ut_asserteq(true, obj->flags & SCENEOF_HIDE); obj = scene_obj_find(scn, ITEM2_PREVIEW, SCENEOBJT_NONE); ut_asserteq(false, obj->flags & SCENEOF_HIDE); /* select it */ ut_assertok(expo_send_key(exp, BKEY_SELECT)); ut_assertok(expo_action_get(exp, &act)); ut_asserteq(EXPOACT_SELECT, act.type); ut_asserteq(ITEM2, act.select.id); /* make sure the action doesn't come again */ ut_asserteq(-EAGAIN, expo_action_get(exp, &act)); /* make sure there was no console output */ ut_assert_console_end(); /* now try in text mode */ expo_set_text_mode(exp, true); ut_assertok(expo_render(exp)); ut_assert_nextline("U-Boot : Boot Menu"); ut_assert_nextline("%s", ""); ut_assert_nextline("Main Menu"); ut_assert_nextline("%s", ""); ut_assert_nextline(" 1 Play Lord Melchett"); ut_assert_nextline(" > 2 Now Lord Percy"); /* Move back up to the first item */ ut_assertok(expo_send_key(exp, BKEY_UP)); ut_assertok(expo_action_get(exp, &act)); ut_asserteq(EXPOACT_POINT_ITEM, act.type); ut_asserteq(ITEM1, act.select.id); ut_assertok(expo_render(exp)); ut_assert_nextline("U-Boot : Boot Menu"); ut_assert_nextline("%s", ""); ut_assert_nextline("Main Menu"); ut_assert_nextline("%s", ""); ut_assert_nextline(" > 1 Play Lord Melchett"); ut_assert_nextline(" 2 Now Lord Percy"); ut_assert_console_end(); expo_destroy(exp); return 0; } BOOTSTD_TEST(expo_render_image, UT_TESTF_DM | UT_TESTF_SCAN_FDT); /* Check building an expo from a devicetree description */ static int expo_test_build(struct unit_test_state *uts) { struct scene_obj_menu *menu; struct scene_menitem *item; struct scene_obj_txt *txt; struct scene_obj *obj; struct scene *scn; struct expo *exp; int count; ofnode node; node = ofnode_path("/cedit"); ut_assert(ofnode_valid(node)); ut_assertok(expo_build(node, &exp)); ut_asserteq_str("name", exp->name); ut_asserteq(0, exp->scene_id); ut_asserteq(ID_DYNAMIC_START + 20, exp->next_id); ut_asserteq(false, exp->popup); /* check the scene */ scn = expo_lookup_scene_id(exp, ID_SCENE1); ut_assertnonnull(scn); ut_asserteq_str("main", scn->name); ut_asserteq(ID_SCENE1, scn->id); ut_asserteq(ID_DYNAMIC_START + 1, scn->title_id); ut_asserteq(0, scn->highlight_id); /* check the title */ txt = scene_obj_find(scn, scn->title_id, SCENEOBJT_NONE); ut_assertnonnull(txt); obj = &txt->obj; ut_asserteq_ptr(scn, obj->scene); ut_asserteq_str("title", obj->name); ut_asserteq(scn->title_id, obj->id); ut_asserteq(SCENEOBJT_TEXT, obj->type); ut_asserteq(0, obj->flags); ut_asserteq_str("Test Configuration", expo_get_str(exp, txt->str_id)); /* check the menu */ menu = scene_obj_find(scn, ID_CPU_SPEED, SCENEOBJT_NONE); obj = &menu->obj; ut_asserteq_ptr(scn, obj->scene); ut_asserteq_str("cpu-speed", obj->name); ut_asserteq(ID_CPU_SPEED, obj->id); ut_asserteq(SCENEOBJT_MENU, obj->type); ut_asserteq(0, obj->flags); txt = scene_obj_find(scn, menu->title_id, SCENEOBJT_NONE); ut_asserteq_str("CPU speed", expo_get_str(exp, txt->str_id)); ut_asserteq(0, menu->cur_item_id); ut_asserteq(0, menu->pointer_id); /* check the items */ item = list_first_entry(&menu->item_head, struct scene_menitem, sibling); ut_asserteq_str("00", item->name); ut_asserteq(ID_CPU_SPEED_1, item->id); ut_asserteq(0, item->key_id); ut_asserteq(0, item->desc_id); ut_asserteq(0, item->preview_id); ut_asserteq(0, item->flags); txt = scene_obj_find(scn, item->label_id, SCENEOBJT_NONE); ut_asserteq_str("2 GHz", expo_get_str(exp, txt->str_id)); count = 0; list_for_each_entry(item, &menu->item_head, sibling) count++; ut_asserteq(3, count); expo_destroy(exp); return 0; } BOOTSTD_TEST(expo_test_build, UT_TESTF_DM); /* Check the cedit command */ static int expo_cedit(struct unit_test_state *uts) { extern struct expo *cur_exp; struct scene_obj_menu *menu; struct scene_obj_txt *txt; struct expo *exp; struct scene *scn; if (!IS_ENABLED(CONFIG_CMD_CEDIT)) return -EAGAIN; ut_assertok(run_command("cedit load hostfs - cedit.dtb", 0)); console_record_reset_enable(); /* * ^N Move down to second menu * ^M Open menu * ^N Move down to second item * ^M Select item * \e Quit */ console_in_puts("\x0e\x0d\x0e\x0d\e"); ut_assertok(run_command("cedit run", 0)); exp = cur_exp; scn = expo_lookup_scene_id(exp, exp->scene_id); ut_assertnonnull(scn); menu = scene_obj_find(scn, scn->highlight_id, SCENEOBJT_NONE); ut_assertnonnull(menu); txt = scene_obj_find(scn, menu->title_id, SCENEOBJT_NONE); ut_assertnonnull(txt); ut_asserteq_str("AC Power", expo_get_str(exp, txt->str_id)); ut_asserteq(ID_AC_ON, menu->cur_item_id); return 0; } BOOTSTD_TEST(expo_cedit, UT_TESTF_DM | UT_TESTF_SCAN_FDT);