Add support for f64, u64, i64, TimeOfDay, TimeDifference objects

Cargo.toml

@@ -37,7 +37,6 @@ embedded-io = { version = "0.6.1" }
 futures = { version = "0.3.31", default-features = false, features = [
     "async-await",
 ] }
-heapless = "0.8.0"
 log = "0.4.27"
 serde = { version = "1.0.219", features = ["derive"] }
 snafu = { version = "0.8.5", default-features = false }

integration_tests/Cargo.toml

@@ -17,6 +17,7 @@ critical-section = { version = "1.2.0", features = ["std"] }
 embedded-io.workspace = true
 futures.workspace = true
 tokio = { version = "1.44.2", features = ["rt", "macros", "time", "sync"] }
+rand = "0.9.2"
 
 [dev-dependencies]
 assertables = "9.8.1"

integration_tests/device_configs/example1.toml

@@ -148,3 +148,72 @@ array_size = 9
 data_type = "uint8"
 access_type = "rw"
 pdo_mapping = "both"
+
+[[objects]]
+index = 0x300B
+parameter_name = "Time Objects"
+object_type = "record"
+[[objects.subs]]
+sub_index = 1
+data_type = "TimeOfDay"
+access_type = "rw"
+pdo_mapping = "tpdo"
+[[objects.subs]]
+sub_index = 2
+data_type = "TimeDifference"
+access_type = "rw"
+
+[[objects]]
+index = 0x300C
+parameter_name = "All The Numbers"
+object_type = "record"
+[[objects.subs]]
+sub_index = 1
+data_type = "uint8"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 2
+data_type = "uint16"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 3
+data_type = "uint32"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 4
+data_type = "uint64"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 5
+data_type = "int8"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 6
+data_type = "int16"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 7
+data_type = "int32"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 8
+data_type = "int64"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 9
+data_type = "real32"
+access_type = "rw"
+pdo_mapping = "both"
+[[objects.subs]]
+sub_index = 10
+data_type = "real64"
+access_type = "rw"
+pdo_mapping = "both"

integration_tests/tests/node_test.rs

@@ -4,8 +4,10 @@ use std::{
 };
 
 use integration_tests::{object_dict1, prelude::*};
+use rand::Rng as _;
 use serial_test::serial;
 use zencan_client::nmt_master::NmtMaster;
+use zencan_common::{TimeDifference, TimeOfDay};
 
 #[serial]
 #[tokio::test]
@@ -453,3 +455,133 @@ async fn test_node_state_callbacks() {
     };
     test_with_background_process(&mut [&mut node], &mut bus, test_task).await;
 }
+
+/// Access time fields
+#[serial]
+#[tokio::test]
+async fn test_time_field_access() {
+    use object_dict1::*;
+
+    let _ = env_logger::try_init();
+
+    const NODE_ID: u8 = 1;
+    let mut bus = SimBus::new();
+    bus.add_node(&NODE_MBOX);
+    let callbacks = Callbacks::new();
+    let mut node = Node::new(
+        NodeId::new(NODE_ID).unwrap(),
+        callbacks,
+        &NODE_MBOX,
+        &NODE_STATE,
+        &OD_TABLE,
+    );
+    let mut client = get_sdo_client(&mut bus, NODE_ID);
+
+    let _logger = BusLogger::new(bus.new_receiver());
+
+    let test_task = move |_ctx| async move {
+        let time = TimeOfDay::from_ymd_hms_ms(2015, 8, 23, 10, 20, 5, 500).unwrap();
+        client.write_time_of_day(0x300B, 1, time).await.unwrap();
+        assert_eq!(time, OBJECT300B.get_sub1());
+        let read_time = client.read_time_of_day(0x300B, 1).await.unwrap();
+        assert_eq!(time, read_time);
+
+        let delta = TimeDifference::new(20, 50000);
+        client
+            .write_time_difference(0x300B, 2, delta)
+            .await
+            .unwrap();
+        assert_eq!(delta, OBJECT300B.get_sub2());
+        let read_delta = client.read_time_difference(0x300B, 2).await.unwrap();
+        assert_eq!(delta, read_delta);
+    };
+    test_with_background_process(&mut [&mut node], &mut bus, test_task).await;
+}
+
+/// Access fields for all numeric types
+#[serial]
+#[tokio::test]
+async fn test_numeric_access() {
+    use object_dict1::*;
+
+    let _ = env_logger::try_init();
+
+    const NODE_ID: u8 = 1;
+    let mut bus = SimBus::new();
+    bus.add_node(&NODE_MBOX);
+    let callbacks = Callbacks::new();
+    let mut node = Node::new(
+        NodeId::new(NODE_ID).unwrap(),
+        callbacks,
+        &NODE_MBOX,
+        &NODE_STATE,
+        &OD_TABLE,
+    );
+    let mut client = get_sdo_client(&mut bus, NODE_ID);
+
+    let _logger = BusLogger::new(bus.new_receiver());
+
+    let mut rng = rand::rng();
+    let test_task = move |_ctx| async move {
+        let val: u8 = rng.random();
+        client.write_u8(0x300C, 1, val).await.unwrap();
+        let read_val = client.read_u8(0x300C, 1).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub1());
+        assert_eq!(val, read_val);
+
+        let val: u16 = rng.random();
+        client.write_u16(0x300C, 2, val).await.unwrap();
+        let read_val = client.read_u16(0x300C, 2).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub2());
+        assert_eq!(val, read_val);
+
+        let val: u32 = rng.random();
+        client.write_u32(0x300C, 3, val).await.unwrap();
+        let read_val = client.read_u32(0x300C, 3).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub3());
+        assert_eq!(val, read_val);
+
+        let val: u64 = rng.random();
+        client.write_u64(0x300C, 4, val).await.unwrap();
+        let read_val = client.read_u64(0x300C, 4).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub4());
+        assert_eq!(val, read_val);
+
+        let val: i8 = rng.random();
+        client.write_i8(0x300C, 5, val).await.unwrap();
+        let read_val = client.read_i8(0x300C, 5).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub5());
+        assert_eq!(val, read_val);
+
+        let val: i16 = rng.random();
+        client.write_i16(0x300C, 6, val).await.unwrap();
+        let read_val = client.read_i16(0x300C, 6).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub6());
+        assert_eq!(val, read_val);
+
+        let val: i32 = rng.random();
+        client.write_i32(0x300C, 7, val).await.unwrap();
+        let read_val = client.read_i32(0x300C, 7).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub7());
+        assert_eq!(val, read_val);
+
+        let val: i64 = rng.random();
+        client.write_i64(0x300C, 8, val).await.unwrap();
+        let read_val = client.read_i64(0x300C, 8).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub8());
+        assert_eq!(val, read_val);
+
+        let val: f32 = rng.random();
+        client.write_f32(0x300C, 9, val).await.unwrap();
+        let read_val = client.read_f32(0x300C, 9).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub9());
+        assert_eq!(val, read_val);
+
+        let val: f64 = rng.random();
+        client.write_f64(0x300C, 10, val).await.unwrap();
+        let read_val = client.read_f64(0x300C, 10).await.unwrap();
+        assert_eq!(val, OBJECT300C.get_sub10());
+        assert_eq!(val, read_val);
+    };
+    test_with_background_process(&mut [&mut node], &mut bus, test_task).await;
+}