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pdo: Write the entries of an ARRAY mapping in PdoMap.save() #679

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pdo: Write the entries of an ARRAY mapping in PdoMap.save() #679

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8 changes: 7 additions & 1 deletion canopen/pdo/base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -452,7 +452,13 @@ def _set_com_record(
# mappings for an invalid object 0x0000:00 to overwrite any
# excess entries with all-zeros.
self._fill_map(self.map_array[0].raw)
for var, entry in zip(self.map, self.map_array.values()):
# Address the entries by the sub-indices the object dictionary defines:
# iterating the SDO array would ask the device for its entry count,
# which was just set to 0 above, and so write no entry at all.
entries = (
self.map_array[subindex] for subindex in self.map_array.od if subindex != 0
)
for var, entry in zip(self.map, entries):
if not entry.od.writable:
continue
logger.info(
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35 changes: 35 additions & 0 deletions test/test_pdo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,41 @@ def test_pdo_save(self):
self.node.tpdo.save()
self.node.rpdo.save()

def test_pdo_save_writes_the_entries_of_an_array_mapping(self):
# A mapping declared as an ARRAY is sized by its sub-index 0, which
# save() sets to 0 before it writes the entries.
od = canopen.objectdictionary.ObjectDictionary()
comm = canopen.objectdictionary.ODRecord("TPDO 1 communication", 0x1800)
for subindex, data_type in ((0, canopen.objectdictionary.UNSIGNED8),
(1, canopen.objectdictionary.UNSIGNED32),
(2, canopen.objectdictionary.UNSIGNED8)):
var = canopen.objectdictionary.ODVariable(f"sub{subindex}", 0x1800, subindex)
var.data_type, var.access_type, var.default = data_type, "rw", 0
comm.add_member(var)
od.add_object(comm)
mapping = canopen.objectdictionary.ODArray("TPDO 1 mapping", 0x1A00)
for subindex in range(5):
var = canopen.objectdictionary.ODVariable(f"sub{subindex}", 0x1A00, subindex)
var.data_type = (canopen.objectdictionary.UNSIGNED8 if subindex == 0
else canopen.objectdictionary.UNSIGNED32)
var.access_type, var.default = "rw", 0
mapping.add_member(var)
od.add_object(mapping)
for index, data_type in ((0x2001, canopen.objectdictionary.INTEGER16),
(0x2002, canopen.objectdictionary.UNSIGNED8)):
var = canopen.objectdictionary.ODVariable(f"value {index:X}", index)
var.data_type, var.access_type, var.pdo_mappable = data_type, "rw", True
od.add_object(var)
node = canopen.LocalNode(1, od)
pdo = node.tpdo[1]
pdo.add_variable(0x2001)
pdo.add_variable(0x2002, length=4)
pdo.cob_id = 0x181
pdo.save()
self.assertEqual(node.sdo.upload(0x1A00, 0), bytes([2]))
self.assertEqual(node.sdo.upload(0x1A00, 1), (0x20010010).to_bytes(4, "little"))
self.assertEqual(node.sdo.upload(0x1A00, 2), (0x20020004).to_bytes(4, "little"))

def test_pdo_save_skip_readonly(self):
"""Expect no exception when a record entry is not writable."""
# Saving only happens with a defined COB ID and for specified parameters
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