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Save the passed node ID to the resulting OD in import_od() #484

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merged 6 commits into from
Jul 3, 2024
Merged

Save the passed node ID to the resulting OD in import_od() #484

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1b2cf65
Alt 1
erlend-aasland Jul 2, 2024
e4cfa6e
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erlend-aasland Jul 2, 2024
8c4cb85
Pull in main
erlend-aasland Jul 2, 2024
fd97945
Pull in main
erlend-aasland Jul 3, 2024
8a22e7e
Address review: load node_id from EDS if it's not provided
erlend-aasland Jul 3, 2024
ac79a35
Add fallback for edge case
erlend-aasland Jul 3, 2024
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6 changes: 4 additions & 2 deletions canopen/objectdictionary/eds.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,8 +86,10 @@ def import_eds(source, node_id):

if eds.has_section("DeviceComissioning"):
od.bitrate = int(eds.get("DeviceComissioning", "Baudrate")) * 1000
od.node_id = int(eds.get("DeviceComissioning", "NodeID"), 0)
node_id = node_id or od.node_id

if node_id is None:
node_id = int(eds.get("DeviceComissioning", "NodeID"), base=0)
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od.node_id = node_id

for section in eds.sections():
# Match dummy definitions
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2 changes: 1 addition & 1 deletion test/sample.eds
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Expand Up @@ -30,7 +30,7 @@ NrOfTXPDO=4
LSS_Supported=0

[DeviceComissioning]
NodeID=2
NodeID=0x10
NodeName=Some name
Baudrate=500
NetNumber=0
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9 changes: 9 additions & 0 deletions test/test_eds.py
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Expand Up @@ -63,6 +63,15 @@ def test_load_file_object(self):
od = canopen.import_od(fp)
self.assertTrue(len(od) > 0)

def test_load_implicit_nodeid(self):
# sample.eds has a DeviceComissioning section with NodeID set to 0x10.
od = canopen.import_od(EDS_PATH)
self.assertEqual(od.node_id, 16)

def test_load_explicit_nodeid(self):
od = canopen.import_od(EDS_PATH, node_id=3)
self.assertEqual(od.node_id, 3)

def test_variable(self):
var = self.od['Producer heartbeat time']
self.assertIsInstance(var, canopen.objectdictionary.ODVariable)
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