Parser unit tests

Per-crate, no I/O beyond test fixtures, parallel-safe. Live under crates/ethercat-esi/tests/.

Test Case: parse() accepts a representative Beckhoff EL3001 ESI TEST_0400

status: open verifies: REQ_0500, REQ_0504 links incoming: REQ_0500, REQ_0502, REQ_0504

Loads a canonical Beckhoff EL3001 ESI XML fixture from crates/ethercat-esi/tests/fixtures/, calls parse(xml), and asserts the resulting EsiFile exposes the expected identity (vendor_id = 0x2, product_id = 0x0BB93052), one device with two sync managers, the “Standard” and “Compact” PDO alternatives, the expected InitCmd count, and a non-empty object dictionary.

Test Case: Parser compiles under no_std + alloc TEST_0401

status: rejected verifies: REQ_0501

Compile-only test: a small bin target inside crates/ethercat-esi/tests/no_std/ declares #![no_std], uses alloc::string::String, and parses a fixture. The target must compile with --no-default-features against the crate; the test passes if compilation succeeds (no runtime assertion). Superseded. The parser now targets std (see std/POSIX baseline for the ... (ADR_0097)); no_std + alloc compatible (REQ_0501) is rejected, so this compile-only no_std test no longer applies.

Test Case: Parser is independent of ethercrab TEST_0402

status: open verifies: REQ_0503 links incoming: REQ_0503

cargo tree -p ethercat-esi --no-default-features --target <host> shall not list ethercrab anywhere in the resolved graph. Implemented as a CI shell check that greps the output and fails on match.

Test Case: AlternativeSmMapping parsing TEST_0871

status: implemented verifies: REQ_0529 links incoming: REQ_0529

Unit tests in crates/taktora-ethercat-esi/tests/alt_sm_mapping.rs parse inline ESI documents whose <Info><VendorSpecific><TwinCAT> declares one or more <AlternativeSmMapping> elements, and assert the typed IR captures each mapping’s name, default flag, and per-sync-manager ordered PDO-index lists with their optional ChannelNo — faithfully and without resolving a process image (AlternativeSmMapping captur... (REQ_0529)). A device that declares no <AlternativeSmMapping> yields an empty set rather than a fabricated default.

Test Case: Vendor-specific elements survive as RawXml TEST_0403

status: open verifies: REQ_0505 links incoming: REQ_0505

Fixture file with a fabricated <Vendor:UnknownElement foo="bar">inner</Vendor:UnknownElement> inside a <Device>. After parsing, the IR carries one RawXml entry with name = "Vendor:UnknownElement", attributes = {"foo": "bar"}, inner_text = "inner". The parse does not return an error.

Test Case: Parse errors carry line and column TEST_0404

status: open verifies: REQ_0506 links incoming: REQ_0506

A deliberately malformed ESI fixture (unclosed tag at known coordinates) parses to Err(EsiError::Xml { line, column, .. }) with the expected line and column. Catching this trace in build-time output (per Parse errors carry line and... (REQ_0506)) is the user benefit.

Test Case: Per-SM watchdog-trigger enable decodes from control-byte bit 6 TEST_0859

status: open verifies: REQ_0843 links incoming: REQ_0843

Unit tests in crates/taktora-ethercat-esi/tests/sm_watchdog.rs parse minimal inline ESI documents and assert SyncManager::watchdog_trigger_enable against control-byte bit 6 (0x40). Control byte #x64 (the real WAGO 750-354 outputs SM, bit 6 set) decodes to true; #x22 (WAGO mailbox-in SM), #x00 (WAGO inputs SM), and #x24 (all bit-6-clear) decode to false; and an <Sm> with no ControlByte attribute decodes to false, confirming the parser never fabricates an enabled watchdog from an absent control byte.

Test Case: FMMU declarations parse in order with tolerated unknowns TEST_0865

status: open verifies: REQ_0848 links incoming: REQ_0848

Unit tests in crates/taktora-ethercat-esi/tests/fmmu.rs parse inline ESI documents and the committed Beckhoff EL3602 fixture, asserting declaration order, the Inputs / Outputs / MBoxState decodings, attribute-bearing <Fmmu> elements, and that an unrecognised usage string is preserved as FmmuUsage::Other without failing the parse.

Test Case: EEPROM source data decodes; bad hex is a located error TEST_0866

status: open verifies: REQ_0849 links incoming: REQ_0849

Unit tests in crates/taktora-ethercat-esi/tests/eeprom.rs parse inline ESI documents and the committed Beckhoff EL1008 / EL3602 fixtures, asserting ByteSize / ConfigData / BootStrap decode to the expected bytes (lower- and uppercase hex), malformed and odd-length hex payloads raise EsiError::Value with path Eeprom.ConfigData, <Category> children (including self-closing elements) are captured as RawXml, and a typed <Eeprom> no longer appears among the vendor extensions.

Test Case: MDP catalog and slots parse from synthetic and real modular ESI TEST_0867

status: open verifies: REQ_0850 links incoming: REQ_0850

Unit tests in crates/taktora-ethercat-esi/tests/modules.rs parse the synthetic modular_coupler.xml fixture, asserting the three-module catalog (idents, names, per-module PDOs), the slot constraints (increments, min/max instances, default module idents), malformed module-ident error paths, that a modules-only document parses with empty devices, and that a non-modular fixture yields no modules and no slots. The gated test tests/wago_real.rs additionally parses a real WAGO 750-354 coupler ESI when present in tests/fixtures/vendor/ (not redistributed; see that directory’s PROVENANCE.md).

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