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Bugfix for #445
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- changed save() Method of PdoBase to be more robust nad without an always true condition
- use getattr directly in curtis hack
- removed unused variables
- added Test for PDO saving
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Frieder Schüler committed Jun 4, 2024
1 parent 94f337d commit a28acdc
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Showing 2 changed files with 44 additions and 39 deletions.
78 changes: 39 additions & 39 deletions canopen/pdo/base.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -215,7 +215,6 @@ def __getitem_by_name(self, value):
value, ', '.join(valid_values)))

def __getitem__(self, key: Union[int, str]) -> "PdoVariable":
var = None
if isinstance(key, int):
# there is a maximum available of 8 slots per PDO map
if key in range(0, 8):
Expand Down Expand Up @@ -360,7 +359,7 @@ def _raw_from(param):
subindex = (value >> 8) & 0xFF
# Ignore the highest bit, it is never valid for <= 64 PDO length
size = value & 0x7F
if hasattr(self.pdo_node.node, "curtis_hack") and self.pdo_node.node.curtis_hack: # Curtis HACK: mixed up field order
if getattr(self.pdo_node.node, "curtis_hack", False): # Curtis HACK: mixed up field order
index = value & 0xFFFF
subindex = (value >> 16) & 0xFF
size = (value >> 24) & 0x7F
Expand All @@ -371,8 +370,10 @@ def _raw_from(param):

def save(self) -> None:
"""Save PDO configuration for this map using SDO."""
logger.info("Setting COB-ID 0x%X and temporarily disabling PDO",
self.cob_id)
if self.cob_id is None:
logger.debug("Skipping %s: no cob-id set", self.com_record.od.name)
return
logger.info(f"Setting COB-ID 0x{self.cob_id} and temporarily disabling PDO")
self.com_record[1].raw = self.cob_id | PDO_NOT_VALID | (RTR_NOT_ALLOWED if not self.rtr_allowed else 0x0)
if self.trans_type is not None:
logger.info("Setting transmission type to %d", self.trans_type)
Expand All @@ -387,39 +388,38 @@ def save(self) -> None:
logger.info("Setting SYNC start value to %d", self.sync_start_value)
self.com_record[6].raw = self.sync_start_value

if self.map is not None:
try:
self.map_array[0].raw = 0
except SdoAbortedError:
# WORKAROUND for broken implementations: If the array has a
# fixed number of entries (count not writable), generate dummy
# mappings for an invalid object 0x0000:00 to overwrite any
# excess entries with all-zeros.
self._fill_map(self.map_array[0].raw)
subindex = 1
for var in self.map:
logger.info("Writing %s (0x%X:%d, %d bits) to PDO map",
var.name, var.index, var.subindex, var.length)
if hasattr(self.pdo_node.node, "curtis_hack") and self.pdo_node.node.curtis_hack: # Curtis HACK: mixed up field order
self.map_array[subindex].raw = (var.index |
var.subindex << 16 |
var.length << 24)
else:
self.map_array[subindex].raw = (var.index << 16 |
var.subindex << 8 |
var.length)
subindex += 1
try:
self.map_array[0].raw = len(self.map)
except SdoAbortedError as e:
# WORKAROUND for broken implementations: If the array
# number-of-entries parameter is not writable, we have already
# generated the required number of mappings above.
if e.code != 0x06010002:
# Abort codes other than "Attempt to write a read-only
# object" should still be reported.
raise
self._update_data_size()
try:
self.map_array[0].raw = 0
except SdoAbortedError:
# WORKAROUND for broken implementations: If the array has a
# fixed number of entries (count not writable), generate dummy
# mappings for an invalid object 0x0000:00 to overwrite any
# excess entries with all-zeros.
self._fill_map(self.map_array[0].raw)
subindex = 1
for var in self.map:
logger.info("Writing %s (0x%X:%d, %d bits) to PDO map",
var.name, var.index, var.subindex, var.length)
if getattr(self.pdo_node.node, "curtis_hack", False): # Curtis HACK: mixed up field order
self.map_array[subindex].raw = (var.index |
var.subindex << 16 |
var.length << 24)
else:
self.map_array[subindex].raw = (var.index << 16 |
var.subindex << 8 |
var.length)
subindex += 1
try:
self.map_array[0].raw = len(self.map)
except SdoAbortedError as e:
# WORKAROUND for broken implementations: If the array
# number-of-entries parameter is not writable, we have already
# generated the required number of mappings above.
if e.code != 0x06010002:
# Abort codes other than "Attempt to write a read-only
# object" should still be reported.
raise
self._update_data_size()

if self.enabled:
self.com_record[1].raw = self.cob_id | (RTR_NOT_ALLOWED if not self.rtr_allowed else 0x0)
Expand Down Expand Up @@ -521,7 +521,7 @@ def remote_request(self) -> None:
Silently ignore if not allowed.
"""
if self.enabled and self.rtr_allowed:
self.pdo_node.network.send_message(self.cob_id, None, remote=True)
self.pdo_node.network.send_message(self.cob_id, bytes(), remote=True)

def wait_for_reception(self, timeout: float = 10) -> float:
"""Wait for the next transmit PDO.
Expand Down Expand Up @@ -600,7 +600,7 @@ def set_data(self, data: bytes):
cur_msg_data = cur_msg_data & bitwise_not
# Set the new data on the correct position
data = (data << bit_offset) | cur_msg_data
data = od_struct.pack_into(self.pdo_parent.data, byte_offset, data)
od_struct.pack_into(self.pdo_parent.data, byte_offset, data)
else:
self.pdo_parent.data[byte_offset:byte_offset + len(data)] = data

Expand Down
5 changes: 5 additions & 0 deletions test/test_pdo.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,11 @@ def test_bit_mapping(self):
self.assertEqual(node.tpdo[0x2002].raw, 0xf)
self.assertEqual(node.pdo[0x1600][0x2002].raw, 0xf)

def test_save_pdo(self):
node = canopen.Node(1, EDS_PATH)
node.tpdo.save()
node.rpdo.save()


if __name__ == "__main__":
unittest.main()

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