feat: CODESYS-compatible SoftMotion (CiA 402 EtherCAT axes)

binary-versions.json

@@ -4,7 +4,7 @@
     "repository": "Autonomy-Logic/xml2st"
   },
   "strucpp": {
-    "version": "v0.5.13",
+    "version": "v0.6.0",
     "repository": "Autonomy-Logic/STruCpp"
   }
 }

src/backend/shared/ethercat/__tests__/cia402.test.ts

@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+import { readFileSync } from 'node:fs'
+import { resolve } from 'node:path'
+
+
+import {
+  CIA402_OBJECTS,
+  DEFAULT_CIA402_AXIS_CONFIG,
+  isCia402Drive,
+  normalizeObjectIndex,
+  resolveCia402Objects,
+} from '../cia402'
+import { enrichDeviceData } from '../enrich-device-data'
+import { parseESIDeviceFull } from '../esi-parser-main'
+
+const ESI_XML = readFileSync(
+  resolve(__dirname, 'fixtures/cia402-servo-esi.xml'),
+  'utf-8',
+)
+
+function loadDevice() {
+  const result = parseESIDeviceFull(ESI_XML, 0)
+  expect(result.success).toBe(true)
+  expect(result.device).toBeDefined()
+  return result.device!
+}
+
+describe('cia402 recognition', () => {
+  it('normalizes object indices in every ESI notation', () => {
+    expect(normalizeObjectIndex('#x6040')).toBe(0x6040)
+    expect(normalizeObjectIndex('0x6040')).toBe(0x6040)
+    expect(normalizeObjectIndex('6040')).toBe(0x6040)
+    expect(normalizeObjectIndex(0x6040)).toBe(0x6040)
+    expect(normalizeObjectIndex('bogus')).toBe(-1)
+  })
+
+  it('recognizes a real CiA 402 servo ESI as a SoftMotion drive', () => {
+    const device = loadDevice()
+    expect(isCia402Drive(device)).toBe(true)
+  })
+
+  it('does not recognize a device lacking the mandatory objects', () => {
+    const device = loadDevice()
+    // strip Controlword (0x6040) from the RxPDOs → no longer a valid axis
+    const stripped = {
+      ...device,
+      rxPdo: device.rxPdo.map((p) => ({
+        ...p,
+        entries: p.entries.filter((e) => normalizeObjectIndex(e.index) !== 0x6040),
+      })),
+    }
+    expect(isCia402Drive(stripped)).toBe(false)
+  })
+
+  it('resolves CiA 402 objects to editor-allocated IEC addresses', () => {
+    const device = loadDevice()
+    const enriched = enrichDeviceData(device)
+    const resolved = resolveCia402Objects(enriched.channelInfo, enriched.channelMappings)
+
+    const byRole = Object.fromEntries(resolved.map((r) => [r.role, r]))
+    // The real fixture maps: 0x6040 Controlword, 0x607A Target position (out);
+    // 0x6041 Statusword, 0x6064 Position actual (in).
+    expect(byRole.controlWord).toBeDefined()
+    expect(byRole.statusWord).toBeDefined()
+    expect(byRole.targetPosition).toBeDefined()
+    expect(byRole.positionActual).toBeDefined()
+
+    // Controlword is a 16-bit output → %Q word address, WORD/UINT type.
+    expect(byRole.controlWord.iecLocation).toMatch(/^%Q/)
+    expect(byRole.statusWord.iecLocation).toMatch(/^%I/)
+    // Every resolved object carries a concrete address + IEC type.
+    for (const r of resolved) {
+      expect(r.iecLocation).toMatch(/^%[IQ]/)
+      expect(r.iecType).toMatch(/\S/)
+    }
+  })
+
+  it('omits CiA 402 objects that have no channel mapping', () => {
+    const device = loadDevice()
+    const enriched = enrichDeviceData(device)
+    // Channel info present, but no address mappings → nothing resolves.
+    expect(resolveCia402Objects(enriched.channelInfo, [])).toEqual([])
+  })
+
+  it('defines the single-axis CiA 402 object set including mandatory objects', () => {
+    // Controlword + Statusword must be in the object table.
+    const indices = CIA402_OBJECTS.map((o) => o.index)
+    expect(indices).toContain(0x6040)
+    expect(indices).toContain(0x6041)
+    expect(DEFAULT_CIA402_AXIS_CONFIG.enabled).toBe(true)
+    expect(DEFAULT_CIA402_AXIS_CONFIG.scaleFactor).toBe(1)
+  })
+})