Merge branch 'main' into dev

docs/network.md

@@ -72,4 +72,46 @@ A node can be created with the following commands:
 node,err := network.CreateLocalNode(0x10,od.Default())
 ```
 
+# Custom OD parsing
+
+The network can be configured to use a different OD parser
+when creating local nodes.
+
+```golang
+// Change default OD parser
+network.SetParsev2(od.ParserV2)
+```
+
+# Custom node processing
+
+Nodes can also be added to network and controlled locally
+with a **NodeProcessor**. e.g.
+
+
+```golang
+
+// Create a local node
+node, err := network.NewLocalNode(
+		network.BusManager,
+		slog.Default(),
+		odNode, // OD object ==> Should be created
+		nil, // Use definition from OD
+		nil, // Use definition from OD
+		nodeId,
+		nmt.StartupToOperational,
+		500,
+		sdo.DefaultClientTimeout,
+		sdo.DefaultServerTimeout,
+		true,
+		nil,
+	)
+
+
+// Add a custom node to network and control it independently
+proc,err := network.AddNode(node)
+
+// Start node processing
+err = proc.Start(context.Background())
+```
+
 More information on local nodes [here](local.md)

go.mod

@@ -3,8 +3,8 @@ module github.com/samsamfire/gocanopen
 go 1.22
 
 require (
-	github.com/stretchr/testify v1.8.4
-	golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8
+	github.com/stretchr/testify v1.9.0
+	golang.org/x/sys v0.21.0
 	gopkg.in/ini.v1 v1.67.0
 )
 

go.sum

@@ -2,10 +2,10 @@ github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
-github.com/stretchr/testify v1.8.4 h1:CcVxjf3Q8PM0mHUKJCdn+eZZtm5yQwehR5yeSVQQcUk=
-github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
-golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8 h1:0A+M6Uqn+Eje4kHMK80dtF3JCXC4ykBgQG4Fe06QRhQ=
-golang.org/x/sys v0.0.0-20220715151400-c0bba94af5f8/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsTg=
+github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY=
+golang.org/x/sys v0.21.0 h1:rF+pYz3DAGSQAxAu1CbC7catZg4ebC4UIeIhKxBZvws=
+golang.org/x/sys v0.21.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
 gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/ini.v1 v1.67.0 h1:Dgnx+6+nfE+IfzjUEISNeydPJh9AXNNsWbGP9KzCsOA=

mkdocs.yml

@@ -1,5 +1,5 @@
 site_name: Gocanopen
-
+repo_url: https://github.com/samsamfire/gocanopen
 nav:
   - Getting started: index.md
   - CAN driver: can.md

pkg/can/socketcanv2/socketcanv2.go

@@ -17,8 +17,7 @@ import (
 )
 
 const (
-	SocketCANFrameSize  = 16
-	DefaultRcvTimeoutUs = 100000
+	SocketCANFrameSize = 16
 )
 
 func init() {
@@ -52,15 +51,12 @@ func NewBus(channel string) (canopen.Bus, error) {
 		return nil, err
 	}
 
-	fd, err := syscall.Socket(syscall.AF_CAN, syscall.SOCK_RAW, unix.CAN_RAW)
+	fd, err := unix.Socket(unix.AF_CAN, unix.SOCK_RAW, unix.CAN_RAW)
+	//fd, err := syscall.Socket(syscall.AF_CAN, syscall.SOCK_RAW, unix.CAN_RAW)
 	if err != nil {
 		return nil, fmt.Errorf("failed to create CAN socket : %v", err)
 	}
-	tv := syscall.Timeval{
-		Sec:  0,
-		Usec: int64(DefaultRcvTimeoutUs),
-	}
-	err = syscall.SetsockoptTimeval(fd, syscall.SOL_SOCKET, syscall.SO_RCVTIMEO, &tv)
+	err = unix.SetsockoptTimeval(fd, unix.SOL_SOCKET, unix.SO_RCVTIMEO, &DefaultTimeVal)
 	if err != nil {
 		return nil, fmt.Errorf("failed to set read timeout %v", err)
 	}

pkg/can/socketcanv2/socketcanv2_amd64.go

@@ -0,0 +1,12 @@
+//go:build !arm
+
+package socketcanv2
+
+import (
+	"golang.org/x/sys/unix"
+)
+
+var DefaultTimeVal = unix.Timeval{
+	Sec:  int64(0),
+	Usec: int64(100_000),
+}

pkg/can/socketcanv2/socketcanv2_arm.go

@@ -0,0 +1,12 @@
+//go:build arm
+
+package socketcanv2
+
+import (
+	"golang.org/x/sys/unix"
+)
+
+var DefaultTimeVal = unix.Timeval{
+	Sec:  int32(0),
+	Usec: int32(100_000),
+}

pkg/network/network.go

@@ -42,8 +42,9 @@ type Network struct {
 	*sdo.SDOClient
 	controllers map[uint8]*n.NodeProcessor
 	// Network has an its own SDOClient
-	odMap  map[uint8]*ObjectDictionaryInformation
-	logger *slog.Logger
+	odMap    map[uint8]*ObjectDictionaryInformation
+	odParser od.Parser
+	logger   *slog.Logger
 }
 
 type ObjectDictionaryInformation struct {
@@ -71,6 +72,7 @@ func NewNetwork(bus canopen.Bus) Network {
 		controllers: map[uint8]*n.NodeProcessor{},
 		BusManager:  canopen.NewBusManager(bus),
 		odMap:       map[uint8]*ObjectDictionaryInformation{},
+		odParser:    od.Parse,
 		logger:      slog.Default(),
 	}
 }
@@ -210,7 +212,7 @@ func (network *Network) CreateLocalNode(nodeId uint8, odict any) (*n.LocalNode,
 
 	switch odType := odict.(type) {
 	case string:
-		odNode, err = od.Parse(odType, nodeId)
+		odNode, err = network.odParser(odType, nodeId)
 		if err != nil {
 			return nil, err
 		}
@@ -268,7 +270,7 @@ func (network *Network) AddRemoteNode(nodeId uint8, odict any) (*n.RemoteNode, e
 
 	switch odType := odict.(type) {
 	case string:
-		odNode, err = od.Parse(odType, nodeId)
+		odNode, err = network.odParser(odType, nodeId)
 		if err != nil {
 			return nil, err
 		}
@@ -419,3 +421,7 @@ func (network *Network) Scan(timeoutMs uint32) (map[uint8]NodeInformation, error
 func (network *Network) SetLogger(logger *slog.Logger) {
 	network.logger = logger
 }
+
+func (network *Network) SetParser(parser od.Parser) {
+	network.odParser = parser
+}

pkg/node/local.go

@@ -335,10 +335,10 @@ func NewLocalNode(
 		switch format {
 		case od.FormatEDSAscii:
 			node.logger.Info("EDS is downloadable via object 0x1021 in ASCII format")
-			odict.AddReader(edsStore.Index, edsStore.Name, odict.Reader)
+			odict.AddReader(edsStore.Index, edsStore.Name, odict.NewReaderSeeker())
 		case od.FormatEDSZipped:
 			node.logger.Info("EDS is downloadable via object 0x1021 in Zipped format")
-			compressed, err := createInMemoryZip("compressed.eds", odict.Reader)
+			compressed, err := createInMemoryZip("compressed.eds", odict.NewReaderSeeker())
 			if err != nil {
 				node.logger.Error("failed to compress EDS", "error", err)
 				return nil, err
@@ -357,6 +357,10 @@ func NewLocalNode(
 // for example.
 func createInMemoryZip(filename string, r io.ReadSeeker) ([]byte, error) {
 
+	if r == nil {
+		return nil, fmt.Errorf("expecting a reader %v", r)
+	}
+
 	buffer := new(bytes.Buffer)
 	zipWriter := zip.NewWriter(buffer)
 	// Create a file inside the zip

pkg/od/base.go

@@ -0,0 +1,15 @@
+package od
+
+import _ "embed"
+
+//go:embed base.eds
+var rawDefaultOd []byte
+
+// Return embeded default object dictionary
+func Default() *ObjectDictionary {
+	defaultOd, err := ParseV2(rawDefaultOd, 0)
+	if err != nil {
+		panic(err)
+	}
+	return defaultOd
+}

pkg/od/export.go

@@ -2,6 +2,7 @@ package od
 
 import (
 	"fmt"
+	"io"
 	"sort"
 	"strconv"
 
@@ -15,7 +16,16 @@ import (
 // work for this library.
 func ExportEDS(odict *ObjectDictionary, defaultValues bool, filename string) error {
 	if defaultValues {
-		return odict.iniFile.SaveTo(filename)
+		r := odict.NewReaderSeeker()
+		buffer, err := io.ReadAll(r)
+		if err != nil {
+			return fmt.Errorf("failed to read OD raw data %v", err)
+		}
+		i, err := ini.Load(buffer)
+		if err != nil {
+			return fmt.Errorf("failed to load .INI %v", err)
+		}
+		return i.SaveTo(filename)
 	}
 	eds := ini.Empty()