Add unit tests for CiA 402 profile (coverage 36% → 45%)#644
Add unit tests for CiA 402 profile (coverage 36% → 45%)#644bizfsc wants to merge 3 commits intocanopen-python:masterfrom
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Add 24 unit tests covering: - State402 enum and state decoding from statusword - Command word generation for state transitions - Next-state calculation through the state machine - Homing status evaluation - Operation mode switching and reading - TPDO callback handling for statusword updates - Lookup table consistency checks
Codecov Report✅ All modified and coverable lines are covered by tests. 📢 Thoughts on this report? Let us know! |
acolomb
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Overall this looks nice, but much more valuable would be a simulation of actual TPDO reception.
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| class TestBaseNode402NextState(unittest.TestCase): |
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This is an internal method, not an API. While it's nice to see some consistency checks on it, the real test subject should be the .state property. I know that's a bit more involved, but injecting TPDO value changes should provide a nice way to simulate a real CAN node answering.
| status = None | ||
| for key, value in Homing.STATES.items(): | ||
| bitmask, bits = value | ||
| if sw & bitmask == bits: | ||
| status = key | ||
| self.assertEqual(status, expected) |
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This is pretty useless, as the node itself is not even involved. Again, trying to simulate TPDO reception would be a more valuable approach. As is, this test class could be nuked.
| def test_supported_bitmask_unique(self): | ||
| values = list(OperationMode.SUPPORTED.values()) | ||
| # All bitmasks should be unique (each is a single bit) | ||
| self.assertEqual(len(values), len(set(values))) |
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This is a funky AI idea. The standard defines the bit values, I see no need for testing them against some artificial logic condition.
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Summary
Add 24 unit tests for
canopen/profiles/p402.pyto improve test coverage from 36% to 45%.Tests Added
State402.decode_statusword()for all defined statesIS_HOMING/HOMING_COMPLETED/HOMING_ERRORevaluationApproach
Uses a minimal
ObjectDictionarywith the required DS402 objects (0x6040 controlword, 0x6041 statusword, 0x6060/0x6061 operation mode, 0x6502 supported drives). PDO maps are mocked withunittest.mock.MagicMockto test the TPDO callback path without requiring a real CAN bus.Coverage
The remaining uncovered code is primarily in
BaseNode402methods that require a live CAN bus interaction (SDO reads/writes, NMT state changes, PDO communication).