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More tests and some fixes
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@nimrof
nimrof committed Nov 16, 2024
1 parent ad5563f commit 2c75776
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269 changes: 251 additions & 18 deletions Tests/EDSMappingTests.cs
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
using Xunit;
using libEDSsharp;
using LibCanOpen;
using System.Linq;
using System.Globalization;
using System;
using Google.Protobuf.WellKnownTypes;

namespace Tests
{
Expand All @@ -10,41 +12,272 @@ public class EDSMappingTests
[Fact]
public void Test_ToProtobufferAssertConfig()
{
var eds = new EDSsharp();
eds.ods = new System.Collections.Generic.SortedDictionary<ushort, ODentry>();
ODentry od = new ODentry
var eds = new EDSsharp
{
ods = new System.Collections.Generic.SortedDictionary<ushort, ODentry>()
};
var od = new ODentry
{
objecttype = ObjectType.VAR,
parameter_name = "Test REC",
Index = 0x2000
};

ODentry sub = new ODentry();
sub.parameter_name = "some value";
sub.datatype = DataType.UNSIGNED8;
sub.parent = od;
sub.accesstype = EDSsharp.AccessType.ro;
sub.defaultvalue = "1";
sub.PDOtype = PDOMappingType.no;
sub.objecttype = ObjectType.VAR;
var sub = new ODentry
{
parameter_name = "some value",
datatype = DataType.UNSIGNED8,
parent = od,
accesstype = EDSsharp.AccessType.ro,
defaultvalue = "1",
PDOtype = PDOMappingType.no,
objecttype = ObjectType.VAR
};

od.subobjects.Add(0x00, sub);
eds.ods.Add(0x2000, od);

//Assert is called inside the map function
var tmp = MappingEDS.MapToProtobuffer(eds);
MappingEDS.MapToProtobuffer(eds);
}
[Fact]
public void Test_FromProtobufferAssertConfig()
{
var d = new CanOpenDevice();
d.FileInfo = new CanOpen_FileInfo();
d.DeviceInfo = new CanOpen_DeviceInfo();
d.DeviceCommissioning = new CanOpen_DeviceCommissioning();
var d = new CanOpenDevice
{
FileInfo = new CanOpen_FileInfo(),
DeviceInfo = new CanOpen_DeviceInfo(),
DeviceCommissioning = new CanOpen_DeviceCommissioning()
};

//Assert is called inside the map function
var tmp = MappingEDS.MapFromProtobuffer(d);
MappingEDS.MapFromProtobuffer(d);
}
[Fact]
public void Test_ToProtobufferFileInfo()
{
var eds = new EDSsharp
{
fi = new FileInfo
{
CreatedBy = "CreatedBy",
CreationDate = "01-20-2000",
CreationTime = "12:20am",
Description = "Description",
FileRevision = (byte)'A',
FileVersion = "1.0.0",
ModificationDate = "02-10-1000",
ModificationTime = "12:20pm",
ModifiedBy = "ModifiedBy"
}
};

var creationDateTime = DateTime.ParseExact($"{eds.fi.CreationTime} {eds.fi.CreationDate}", "h:mmtt MM-dd-yyyy", CultureInfo.InvariantCulture);
var modificationDateTime = DateTime.ParseExact($"{eds.fi.ModificationTime} {eds.fi.ModificationDate}", "h:mmtt MM-dd-yyyy", CultureInfo.InvariantCulture);
var creationTimestamp = Timestamp.FromDateTime(creationDateTime.ToUniversalTime());
var modificationTimestamp = Timestamp.FromDateTime(modificationDateTime.ToUniversalTime());

var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(eds.fi.CreatedBy, tmp.FileInfo.CreatedBy);
Assert.Equal(creationTimestamp, tmp.FileInfo.CreationTime);
Assert.Equal(eds.fi.Description, tmp.FileInfo.Description);
Assert.Equal(eds.fi.FileVersion, tmp.FileInfo.FileVersion);
Assert.Equal(eds.fi.ModifiedBy, tmp.FileInfo.ModifiedBy);
Assert.Equal(modificationTimestamp, tmp.FileInfo.ModificationTime);
}
[Fact]
public void Test_ToProtobufferDeviceInfo()
{
var eds = new EDSsharp
{
di = new DeviceInfo
{
BaudRate_10 = true,
BaudRate_20 = false,
BaudRate_50 = true,
BaudRate_125 = false,
BaudRate_250 = true,
BaudRate_500 = false,
BaudRate_800 = true,
BaudRate_1000 = false,
BaudRate_auto = true,
LSS_Master = false,
LSS_Supported = true,
VendorName = "VendorName",
ProductName = "ProductName"
}
};

var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(eds.di.BaudRate_10, tmp.DeviceInfo.BaudRate10);
Assert.Equal(eds.di.BaudRate_20, tmp.DeviceInfo.BaudRate20);
Assert.Equal(eds.di.BaudRate_50, tmp.DeviceInfo.BaudRate50);
Assert.Equal(eds.di.BaudRate_125, tmp.DeviceInfo.BaudRate125);
Assert.Equal(eds.di.BaudRate_250, tmp.DeviceInfo.BaudRate250);
Assert.Equal(eds.di.BaudRate_500, tmp.DeviceInfo.BaudRate500);
Assert.Equal(eds.di.BaudRate_800, tmp.DeviceInfo.BaudRate800);
Assert.Equal(eds.di.BaudRate_1000, tmp.DeviceInfo.BaudRate1000);
Assert.Equal(eds.di.BaudRate_auto, tmp.DeviceInfo.BaudRateAuto);
Assert.Equal(eds.di.LSS_Master, tmp.DeviceInfo.LssMaster);
Assert.Equal(eds.di.LSS_Supported, tmp.DeviceInfo.LssSlave);
Assert.Equal(eds.di.VendorName, tmp.DeviceInfo.VendorName);
Assert.Equal(eds.di.ProductName, tmp.DeviceInfo.ProductName);
}
[Fact]
public void Test_ToProtobufferDeviceCommissioning()
{
var eds = new EDSsharp
{
dc = new DeviceCommissioning
{
NodeID = 123,
NodeName = "NodeName",
Baudrate = 456,
}
};

var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(eds.dc.NodeID, tmp.DeviceCommissioning.NodeId);
Assert.Equal(eds.dc.NodeName, tmp.DeviceCommissioning.NodeName);
Assert.Equal(eds.dc.Baudrate, tmp.DeviceCommissioning.Baudrate);
}
[Theory]
[InlineData(OdObject.Types.ObjectType.Array, ObjectType.ARRAY)]
[InlineData(OdObject.Types.ObjectType.Record, ObjectType.RECORD)]
[InlineData(OdObject.Types.ObjectType.Var, ObjectType.VAR)]
[InlineData(OdObject.Types.ObjectType.Unspecified, ObjectType.DEFSTRUCT)]
[InlineData(OdObject.Types.ObjectType.Unspecified, ObjectType.DEFTYPE)]
[InlineData(OdObject.Types.ObjectType.Unspecified, ObjectType.DOMAIN)]
[InlineData(OdObject.Types.ObjectType.Unspecified, ObjectType.NULL)]
[InlineData(OdObject.Types.ObjectType.Unspecified, ObjectType.UNKNOWN)]
void Test_ToProtobufferODObject(OdObject.Types.ObjectType objTypeProto, ObjectType objTypeEDS)
{
var eds = new EDSsharp
{
ods = new System.Collections.Generic.SortedDictionary<ushort, ODentry>()
};
var od = new ODentry
{
objecttype = objTypeEDS,
parameter_name = "parameter name",
Index = 0x2000
};
eds.ods.Add(od.Index, od);
var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(objTypeProto, tmp.Objects[od.Index.ToString()].Type);
}

[Theory]
[InlineData(OdSubObject.Types.DataType.Unspecified, DataType.UNKNOWN)]
[InlineData(OdSubObject.Types.DataType.Boolean, DataType.BOOLEAN)]
[InlineData(OdSubObject.Types.DataType.Integer8, DataType.INTEGER8)]
[InlineData(OdSubObject.Types.DataType.Integer16, DataType.INTEGER16)]
[InlineData(OdSubObject.Types.DataType.Integer32, DataType.INTEGER32)]
[InlineData(OdSubObject.Types.DataType.Unsigned8, DataType.UNSIGNED8)]
[InlineData(OdSubObject.Types.DataType.Unsigned16, DataType.UNSIGNED16)]
[InlineData(OdSubObject.Types.DataType.Unsigned32, DataType.UNSIGNED32)]
[InlineData(OdSubObject.Types.DataType.Real32, DataType.REAL32)]
[InlineData(OdSubObject.Types.DataType.VisibleString, DataType.VISIBLE_STRING)]
[InlineData(OdSubObject.Types.DataType.OctetString, DataType.OCTET_STRING)]
[InlineData(OdSubObject.Types.DataType.UnicodeString, DataType.UNICODE_STRING)]
[InlineData(OdSubObject.Types.DataType.TimeOfDay, DataType.TIME_OF_DAY)]
[InlineData(OdSubObject.Types.DataType.TimeDifference, DataType.TIME_DIFFERENCE)]
[InlineData(OdSubObject.Types.DataType.Domain, DataType.DOMAIN)]
[InlineData(OdSubObject.Types.DataType.Integer24, DataType.INTEGER24)]
[InlineData(OdSubObject.Types.DataType.Real64, DataType.REAL64)]
[InlineData(OdSubObject.Types.DataType.Integer40, DataType.INTEGER40)]
[InlineData(OdSubObject.Types.DataType.Integer48, DataType.INTEGER48)]
[InlineData(OdSubObject.Types.DataType.Integer56, DataType.INTEGER56)]
[InlineData(OdSubObject.Types.DataType.Integer64, DataType.INTEGER64)]
[InlineData(OdSubObject.Types.DataType.Unsigned24, DataType.UNSIGNED24)]
[InlineData(OdSubObject.Types.DataType.Unsigned40, DataType.UNSIGNED40)]
[InlineData(OdSubObject.Types.DataType.Unsigned48, DataType.UNSIGNED48)]
[InlineData(OdSubObject.Types.DataType.Unsigned56, DataType.UNSIGNED56)]
[InlineData(OdSubObject.Types.DataType.Unsigned64, DataType.UNSIGNED64)]
void Test_ToProtobufferSubODObjectDatatype(OdSubObject.Types.DataType datatypeProto, DataType datatypeEDS)
{
var eds = new EDSsharp
{
ods = new System.Collections.Generic.SortedDictionary<ushort, ODentry>()
};
var od = new ODentry
{
objecttype = ObjectType.RECORD,
Index = 0x2000
};
var sub = new ODentry
{
datatype = datatypeEDS,
parent = od,
};

od.subobjects.Add(0x00, sub);
eds.ods.Add(od.Index, od);
var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(datatypeProto, tmp.Objects[od.Index.ToString()].SubObjects["0"].Type);
}
[Theory]
[InlineData(OdSubObject.Types.AccessPDO.Tr, OdSubObject.Types.AccessSDO.Rw, EDSsharp.AccessType.rw)]
[InlineData(OdSubObject.Types.AccessPDO.T, OdSubObject.Types.AccessSDO.Ro, EDSsharp.AccessType.ro)]
[InlineData(OdSubObject.Types.AccessPDO.R, OdSubObject.Types.AccessSDO.Wo, EDSsharp.AccessType.wo)]
[InlineData(OdSubObject.Types.AccessPDO.T, OdSubObject.Types.AccessSDO.Rw, EDSsharp.AccessType.rwr)]
[InlineData(OdSubObject.Types.AccessPDO.R, OdSubObject.Types.AccessSDO.Rw, EDSsharp.AccessType.rww)]
[InlineData(OdSubObject.Types.AccessPDO.R, OdSubObject.Types.AccessSDO.Ro, EDSsharp.AccessType.@const)]
[InlineData(OdSubObject.Types.AccessPDO.No, OdSubObject.Types.AccessSDO.No, EDSsharp.AccessType.UNKNOWN)]
void Test_ToProtobufferSubODObjectAccesstype(OdSubObject.Types.AccessPDO accessPDOProto, OdSubObject.Types.AccessSDO accessSDOProto, EDSsharp.AccessType datatypeEDS)
{
var eds = new EDSsharp
{
ods = new System.Collections.Generic.SortedDictionary<ushort, ODentry>()
};
var od = new ODentry
{
objecttype = ObjectType.RECORD,
Index = 0x2000
};
var sub = new ODentry
{
parent = od,
accesstype = datatypeEDS,
PDOtype = PDOMappingType.no,
};

od.subobjects.Add(0x00, sub);
eds.ods.Add(od.Index, od);
var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(accessPDOProto, tmp.Objects[od.Index.ToString()].SubObjects["0"].Pdo);
Assert.Equal(accessSDOProto, tmp.Objects[od.Index.ToString()].SubObjects["0"].Sdo);
}
[Fact]
public void Test_ToProtobufferSubODObjectMembers()
{
var eds = new EDSsharp
{
ods = new System.Collections.Generic.SortedDictionary<ushort, ODentry>()
};
var od = new ODentry
{
objecttype = ObjectType.RECORD,
Index = 0x2000
};
var sub = new ODentry
{
parent = od,
actualvalue = "123",
parameter_name = "parameter_name",
HighLimit = "HighLimit",
LowLimit = "LowLimit",
defaultvalue = "defaultvalue",
};

od.subobjects.Add(0x00, sub);
eds.ods.Add(od.Index, od);
var tmp = MappingEDS.MapToProtobuffer(eds);
Assert.Equal(sub.actualvalue, tmp.Objects[od.Index.ToString()].SubObjects["0"].ActualValue);
Assert.Equal(sub.parameter_name, tmp.Objects[od.Index.ToString()].SubObjects["0"].Name);
Assert.Equal(sub.HighLimit, tmp.Objects[od.Index.ToString()].SubObjects["0"].HighLimit);
Assert.Equal(sub.LowLimit, tmp.Objects[od.Index.ToString()].SubObjects["0"].LowLimit);
Assert.Equal(sub.defaultvalue, tmp.Objects[od.Index.ToString()].SubObjects["0"].DefaultValue);
}
}
}
12 changes: 8 additions & 4 deletions Tests/EDSParserTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -336,16 +336,20 @@ public void Test_datetimeparse()
public void Test_accesstype()
{
{
Dictionary<string, Dictionary<string, string>> section = new Dictionary<string, Dictionary<string, string>>();
section.Add("[1234]", new Dictionary<string, string>());
Dictionary<string, Dictionary<string, string>> section = new Dictionary<string, Dictionary<string, string>>
{
{ "[1234]", new Dictionary<string, string>() }
};
section["[1234]"].Add("AccessType", "ro");
KeyValuePair<string, Dictionary<string, string>> kvp = section.Single();
this.ParseEDSentry(kvp);
}

{
Dictionary<string, Dictionary<string, string>> section = new Dictionary<string, Dictionary<string, string>>();
section.Add("[1234]", new Dictionary<string, string>());
Dictionary<string, Dictionary<string, string>> section = new Dictionary<string, Dictionary<string, string>>
{
{ "[1234]", new Dictionary<string, string>() }
};
section["[1234]"].Add("AccessType", "RO");
KeyValuePair<string, Dictionary<string, string>> kvp = section.Single();
this.ParseEDSentry(kvp);
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