def __init__(self, props, can_network: Network, can_node_id: int):
### props must contain the following attributes: "type", "name"
self._name = TAString(self, 0x2512, 0x00,
b'\x1F\x00' + props["name"].encode("utf-16le"))
self.__init_od()
self._local_node = can_network.create_node(can_node_id, self._od)
self._sdo_servers = {}
super().__init__(props, can_network, can_node_id)
self._sdo_client = SdoClient(0x640 + can_node_id, 0x5C0 + can_node_id,
ObjectDictionary())
self._sdo_client.network = can_network
can_network.subscribe(0x5C0 + can_node_id,
self._sdo_client.on_response)
self._sdo_node = None
self.__analog_timer = threading.Timer(self.__analog_interval,
self.__send_analog)
self.__digital_timer = threading.Timer(self.__digital_interval,
self.__send_digital)
self.__analog_timer.start()
self.__digital_timer.start()
for i in range(0x400, 0x440):
self._canNetwork.subscribe(i, self.__cs_mpdo_callback)
for i in range(0x480, 0x4C0):
self._canNetwork.subscribe(i, self.__dl_eh_mpdo_callback)
self._nmt_send()
self._eh_timer = threading.Timer(10, self._eh_send)
self._eh_timer.start()
def import_from_node(node_id, network):
# Create temporary SDO client
sdo_client = SdoClient(0x600 + node_id, 0x580 + node_id, None)
sdo_client.network = network
# Subscribe to SDO responses
network.subscribe(0x580 + node_id, sdo_client.on_response)
# Create file like object for Store EDS variable
try:
eds_fp = sdo_client.open(0x1021, 0, "rt")
od = import_eds(eds_fp, node_id)
except Exception as e:
logger.error("No object dictionary could be loaded for node %d: %s",
node_id, e)
od = None
finally:
network.unsubscribe(0x580 + node_id)
return od
def import_from_node(node_id, network):
# Create temporary SDO client
sdo_client = SdoClient(0x600 + node_id, 0x580 + node_id, None)
sdo_client.network = network
# Subscribe to SDO responses
network.subscribe(0x580 + node_id, sdo_client.on_response)
# Create file like object for Store EDS variable
try:
eds_fp = ReadableStream(sdo_client, 0x1021)
eds_fp = io.BufferedReader(eds_fp)
eds_fp = io.TextIOWrapper(eds_fp, "ascii")
od = import_eds(eds_fp, node_id)
except Exception as e:
logger.error("No object dictionary could be loaded for node %d: %s",
node_id, e)
od = None
finally:
network.unsubscribe(0x580 + node_id)
return od
def import_from_node(node_id, network):
""" Download the configuration from the remote node
:param int node_id: Identifier of the node
:param network: network object
"""
# Create temporary SDO client
sdo_client = SdoClient(0x600 + node_id, 0x580 + node_id, objectdictionary.ObjectDictionary())
sdo_client.network = network
# Subscribe to SDO responses
network.subscribe(0x580 + node_id, sdo_client.on_response)
# Create file like object for Store EDS variable
try:
eds_fp = sdo_client.open(0x1021, 0, "rt")
od = import_eds(eds_fp, node_id)
except Exception as e:
logger.error("No object dictionary could be loaded for node %d: %s",
node_id, e)
od = None
finally:
network.unsubscribe(0x580 + node_id)
return od
assert resp_cmd == 0x60
assert Index == index
assert SubIndex == subindex
return ErrCode
object_dictionary_table = [
#index, subindex, value
(0x3000, 0, bytearray([0x20])), #Node Id: new node id, like 0x21 = 0x20 +1
#Note: Result Value = Set Value + 0x01, Here we input the Set Value
(0x3001, 0, bytearray([0x05])), #Baud Rate: 500K
(0x3003, 1, bytearray([0x00])), #Auto Baud Detection: disable
(0x6003, 0, bytearray([0xd0, 0x07, 0x00, 0x00])), #Preset value: 2000
(0x6200, 0, bytearray([0x32, 0x00])), #Cyclic Timer: 50ms
(0x1010, 1, bytearray("save")), #save
]
if __name__ == "__main__":
network = canopen.Network()
network.connect(bustype='socketcan', channel="can1", bitrate=500000)
node_id = 0x20
if len(sys.argv) > 1:
node_id = int(sys.argv[1])
sc = SdoClient(0x600 + node_id, 0x580 + node_id, None)
sc.network = network
sc.RESPONSE_TIMEOUT = 10
network.subscribe(sc.tx_cobid, sc.on_response)
for index, subindex, data in object_dictionary_table:
ErrCode = download_data(sc, index, subindex, data)
print "%x|%x -> %d" % (index, subindex, ErrCode)
