Fix segmented download of objects larger than 64 bits

The notification callback was not being triggered for downloads of
objects larger than 64 bits. Also, the cached field of the SDO job was
never cleared which would cause downloads of large objects to always
fail once a small object had been downloaded.

Author: hefloryd

src/co_main.c

@@ -277,6 +277,7 @@ int co_sdo_read (
    job->sdo.subindex = subindex;
    job->sdo.data     = data;
    job->sdo.remain   = size;
+   job->sdo.cached   = false;
    job->callback     = co_job_callback;
    job->timestamp    = os_tick_current();
    job->type         = CO_JOB_SDO_READ;
@@ -306,6 +307,7 @@ int co_sdo_write (
    job->sdo.subindex = subindex;
    job->sdo.data     = (uint8_t *)data;
    job->sdo.remain   = size;
+   job->sdo.cached   = false;
    job->callback     = co_job_callback;
    job->timestamp    = os_tick_current();
    job->type         = CO_JOB_SDO_WRITE;

src/co_od.c

@@ -36,7 +36,7 @@ static int co_subindex_equals (
    return entry->subindex == subindex;
 }
 
-static void co_od_notify (
+void co_od_notify (
    co_net_t * net,
    const co_obj_t * obj,
    const co_entry_t * entry,

src/co_od.h

@@ -271,6 +271,23 @@ uint32_t co_od_set_value (
    uint8_t subindex,
    uint64_t value);
 
+/**
+ * Trigger notification callback
+ *
+ * This functions triggers the notification callback of the subindex,
+ * if any.
+ *
+ * @param net           network handle
+ * @param obj           object descriptor
+ * @param entry         entry descriptor
+ * @param subindex      subindex
+ */
+void co_od_notify (
+   co_net_t * net,
+   const co_obj_t * obj,
+   const co_entry_t * entry,
+   uint8_t subindex);
+
 #ifdef __cplusplus
 }
 #endif

src/co_sdo_server.c

@@ -129,6 +129,7 @@ static int co_sdo_rx_upload_init_req (
    job->type         = CO_JOB_SDO_UPLOAD;
    job->sdo.index    = co_fetch_uint16 (&data[1]);
    job->sdo.subindex = data[3];
+   job->sdo.cached   = false;
    job->timestamp    = os_tick_current();
 
    /* Find requested object */
@@ -306,6 +307,7 @@ static int co_sdo_rx_download_init_req (
    job->type         = CO_JOB_SDO_DOWNLOAD;
    job->sdo.index    = co_fetch_uint16 (&data[1]);
    job->sdo.subindex = data[3];
+   job->sdo.cached   = false;
    job->timestamp    = os_tick_current();
 
    /* Find requested object */
@@ -466,34 +468,34 @@ static int co_sdo_rx_download_seg_req (
       /* Write complete */
       job->type = CO_JOB_NONE;
 
-      if (job->sdo.cached)
+      /* Find requested object */
+      obj = co_obj_find (net, job->sdo.index);
+      if (obj == NULL)
       {
-         /* Find requested object */
-         obj = co_obj_find (net, job->sdo.index);
-         if (obj == NULL)
-         {
-            co_sdo_abort (
-               net,
-               0x580 + net->node,
-               job->sdo.index,
-               job->sdo.subindex,
-               CO_SDO_ABORT_BAD_INDEX);
-            return -1;
-         }
+         co_sdo_abort (
+            net,
+            0x580 + net->node,
+            job->sdo.index,
+            job->sdo.subindex,
+            CO_SDO_ABORT_BAD_INDEX);
+         return -1;
+      }
 
-         /* Find requested subindex */
-         entry = co_entry_find (net, obj, job->sdo.subindex);
-         if (entry == NULL)
-         {
-            co_sdo_abort (
-               net,
-               0x580 + net->node,
-               job->sdo.index,
-               job->sdo.subindex,
-               CO_SDO_ABORT_BAD_SUBINDEX);
-            return -1;
-         }
+      /* Find requested subindex */
+      entry = co_entry_find (net, obj, job->sdo.subindex);
+      if (entry == NULL)
+      {
+         co_sdo_abort (
+            net,
+            0x580 + net->node,
+            job->sdo.index,
+            job->sdo.subindex,
+            CO_SDO_ABORT_BAD_SUBINDEX);
+         return -1;
+      }
 
+      if (job->sdo.cached)
+      {
          /* Atomically set value */
          abort =
             co_od_set_value (net, obj, entry, job->sdo.subindex, job->sdo.value);
@@ -508,6 +510,10 @@ static int co_sdo_rx_download_seg_req (
             return -1;
          }
       }
+      else
+      {
+         co_od_notify (net, obj, entry, job->sdo.subindex);
+      }
    }
 
    /* Segmented response */

test/test_sdo_client.cpp

@@ -58,7 +58,7 @@ TEST_F (SdoClientTest, ExpeditedUpload)
 
 TEST_F (SdoClientTest, ExpeditedDownload)
 {
-   co_job_t job;
+   co_job_t job{};
    uint16_t value = 0;
 
    uint8_t expected[][8] = {
@@ -136,7 +136,7 @@ TEST_F (SdoClientTest, SegmentedUpload)
 
 TEST_F (SdoClientTest, SegmentedDownload)
 {
-   co_job_t job;
+   co_job_t job{};
    const char * s = "hello world";
 
    uint8_t expected[][8] = {

test/test_sdo_server.cpp

@@ -132,6 +132,7 @@ TEST_F (SdoServerTest, SegmentedDownload)
    }
 
    EXPECT_STREQ ("new slave name", name1009);
+   EXPECT_EQ (1u, cb_notify_calls);
 }
 
 TEST_F (SdoServerTest, SegmentedDownloadCached)

test/test_util.h

@@ -97,7 +97,7 @@ class TestBase : public ::testing::Test
 
    char name1009[20]    = {0};
    co_entry_t OD1009[1] = {
-      {0, OD_RW, DTYPE_VISIBLE_STRING, 8 * sizeof (name1009), 0, name1009},
+      {0, OD_NOTIFY | OD_RW, DTYPE_VISIBLE_STRING, 8 * sizeof (name1009), 0, name1009},
    };
 
    char name100A[20];