Tests for co_pdo_trigger_with_obj

Add unit test for co_pdo_trigger_with_obj

Author: hefloryd

test/test_pdo.cpp

@@ -728,6 +728,39 @@ TEST_F (PdoTest, TxAcyclic)
    EXPECT_EQ (0x181u, mock_os_channel_send_id);
 }
 
+TEST_F (PdoTest, TriggerWithObj)
+{
+   net.state = STATE_OP;
+
+   net.pdo_tx[0].transmission_type = 0xFF;
+   net.pdo_tx[0].inhibit_time      = 0;
+
+   // Should trigger PDO
+   mock_co_obj_find_result   = find_obj (0x6000);
+   mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
+   co_pdo_trigger_with_obj (&net, 0x6000, 0);
+   EXPECT_EQ (0x1u, mock_os_channel_send_calls);
+
+   // Should not trigger PDO, not mapped
+   mock_co_obj_find_result   = find_obj (0x6001);
+   mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
+   co_pdo_trigger_with_obj (&net, 0x6001, 0);
+   EXPECT_EQ (0x1u, mock_os_channel_send_calls);
+
+   // Should not trigger PDO, does not exist
+   mock_co_obj_find_result   = NULL;
+   mock_co_entry_find_result = NULL;
+   co_pdo_trigger_with_obj (&net, 0x6002, 0);
+   EXPECT_EQ (0x1u, mock_os_channel_send_calls);
+
+   // Should not trigger PDO, invalid cob-id
+   net.pdo_tx[0].cobid = CO_COBID_INVALID | 0x181;
+   mock_co_obj_find_result   = find_obj (0x6000);
+   mock_co_entry_find_result = find_entry (mock_co_obj_find_result, 0);
+   co_pdo_trigger_with_obj (&net, 0x6000, 0);
+   EXPECT_EQ (0x1u, mock_os_channel_send_calls);
+}
+
 TEST_F (PdoTest, SparsePdo)
 {
    const co_obj_t * obj1533 = find_obj (0x1533);

test/test_util.h

@@ -128,6 +128,10 @@ class TestBase : public ::testing::Test
       {0, OD_NOTIFY | OD_RO | OD_TPDO, DTYPE_UNSIGNED32, 32, 0, &value6000},
    };
 
+   const co_entry_t OD6001[1] = {
+      {0, OD_NOTIFY | OD_RO | OD_TPDO, DTYPE_UNSIGNED32, 32, 1, NULL},
+   };
+
    uint16_t value6003_07;
    uint8_t value6003_08;
    uint32_t value6003_09;
@@ -159,7 +163,7 @@ class TestBase : public ::testing::Test
       {0, OD_RW | OD_RPDO, DTYPE_UNSIGNED32, 32, 0, &value7000},
    };
 
-   const co_obj_t test_od[36] = {
+   const co_obj_t test_od[37] = {
       // clang-format off
       {0x1000, OTYPE_VAR,    0,               OD1000, NULL},
       {0x1001, OTYPE_VAR,    0,               OD1001, co_od1001_fn},
@@ -194,6 +198,7 @@ class TestBase : public ::testing::Test
       {0x2000, OTYPE_ARRAY,  8,               OD2000, NULL},
       {0x2001, OTYPE_RECORD, 2,               OD2001, cb2001},
       {0x6000, OTYPE_VAR,    0,               OD6000, NULL},
+      {0x6001, OTYPE_VAR,    0,               OD6001, NULL},
       {0x6003, OTYPE_RECORD, 12,              OD6003, NULL},
       {0x7000, OTYPE_VAR,    0,               OD7000, NULL},
       {0, OTYPE_NULL, 0, NULL, NULL},