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Bug fixes, send/receive debug logs and Unsigned 24 support #267

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Bug fixes, send/receive debug logs and Unsigned 24 support #267

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5141b19
test if callback exist before removing it
TzviRonen Sep 6, 2021
3ce8ab4
Added send message debug log
TzviRonen Sep 6, 2021
bc06df4
Added debug logs and pause before read
TzviRonen Sep 6, 2021
3fb146e
fixed get_data var len calc
TzviRonen Sep 6, 2021
659899d
Added Unsigned24 data type
TzviRonen Sep 6, 2021
9b9efb7
Added PyCharm to gitignore
TzviRonen Sep 6, 2021
a8fcd87
request_response RETRY_DELAY
TzviRonen Sep 8, 2021
d0d9bba
made RETRY_DELAY default zero
TzviRonen Sep 8, 2021
b14f43e
removed callback test
TzviRonen Sep 8, 2021
56b206a
fixed uint24 support comments
TzviRonen Sep 8, 2021
a108eee
t
TzviRonen Sep 8, 2021
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12 changes: 12 additions & 0 deletions canopen/objectdictionary/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,17 @@ def add_member(self, variable):
self.subindices[variable.subindex] = variable
self.names[variable.name] = variable

class Unsigned24(struct.Struct):
def __init__(self, *args, **kwargs):
super(Unsigned24, self).__init__("<I", *args, **kwargs)
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Are we still trying to support Python 2? If not, this can be shortened to just super().

Also, why does this use I (unsigned int) whereas regular 32-bit ints use L (unsigned long)?

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Fixed the super thing.
This isn't an attempt to convert the uint24 to a regular 32-bit. The only reason I'm converting it to an I is because that's the closest data types Struct supports.
Then I'm using Struct.unpack("<I) to make that 32-bit int to python int.

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I had to look it up in the Python library docs, but as I see it, the <L and <I formats are equivalent, both using four bytes for the conversion. So your code seems correct, just wondering why not use the same letter when it doesn't really make a difference?


def unpack(self, data, *args, **kwargs):
if isinstance(data, bytearray):
while len(data) < 4:
data += b'\x00'
else:
logger.error(f"Unsigned24.unpack received wrong type - {type(data)}")
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Please use %-style format string.

return super(Unsigned24, self).unpack(data, *args, **kwargs)
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Another super() thing.


class Variable(object):
"""Simple variable."""
Expand All @@ -232,6 +243,7 @@ class Variable(object):
UNSIGNED8: struct.Struct("B"),
UNSIGNED16: struct.Struct("<H"),
UNSIGNED32: struct.Struct("<L"),
UNSIGNED24: Unsigned24(),
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Should be ordered by size?

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fixed

UNSIGNED64: struct.Struct("<Q"),
REAL32: struct.Struct("<f"),
REAL64: struct.Struct("<d")
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3 changes: 2 additions & 1 deletion canopen/objectdictionary/datatypes.py
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Expand Up @@ -13,10 +13,11 @@
DOMAIN = 0xF
REAL64 = 0x11
INTEGER64 = 0x15
UNSIGNED24 = 0x16
UNSIGNED64 = 0x1B

SIGNED_TYPES = (INTEGER8, INTEGER16, INTEGER32, INTEGER64)
UNSIGNED_TYPES = (UNSIGNED8, UNSIGNED16, UNSIGNED32, UNSIGNED64)
UNSIGNED_TYPES = (UNSIGNED8, UNSIGNED16, UNSIGNED24, UNSIGNED32, UNSIGNED64)
INTEGER_TYPES = SIGNED_TYPES + UNSIGNED_TYPES
FLOAT_TYPES = (REAL32, REAL64)
NUMBER_TYPES = INTEGER_TYPES + FLOAT_TYPES
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