Add unit tests for CiA 402 profile (coverage 36% → 45%)#644
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bizfsc wants to merge 4 commits intocanopen-python:masterfrom
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Add unit tests for CiA 402 profile (coverage 36% → 45%)#644bizfsc wants to merge 4 commits intocanopen-python:masterfrom
bizfsc wants to merge 4 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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Apr 29, 2026
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Overall this looks nice, but much more valuable would be a simulation of actual TPDO reception.
- Remove TestBaseNode402NextState: replaced by state setter tests that exercise the public .state property via TPDO/RPDO simulation - Remove TestBaseNode402HomingStatus: replaced by TestBaseNode402Homing that calls _homing_status() with TPDO-injected statusword - Remove test_supported_bitmask_unique: standard-defined values - Remove TestBaseNode402TPDOCallback: implicitly covered by all tests using _inject_tpdo() New test classes using TPDO reception simulation: - TestBaseNode402StateTransition: full state machine transitions with _FakeRpdoVar simulating drive controlword/statusword exchange - TestBaseNode402Homing: homing status via node._homing_status() - TestBaseNode402OpMode: operation mode reading via TPDO/SDO fallback - Extended TestBaseNode402State: check_statusword and statusword SDO fallback paths
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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).