A bit better data type handling.

canopen/common.py

@@ -47,11 +47,11 @@ def raw(self):
         +---------------------------+----------------------------+
         | REALxx                    | :class:`float`             |
         +---------------------------+----------------------------+
-        | VISIBLE_STRING            | :class:`str`               |
-        |                           +----------------------------+
+        | VISIBLE_STRING            | :class:`str` /             |
         |                           | ``unicode`` (Python 2)     |
         +---------------------------+----------------------------+
-        | UNICODE_STRING            | :class:`str`               |
+        | UNICODE_STRING            | :class:`str` /             |
+        |                           | ``unicode`` (Python 2)     |
         +---------------------------+----------------------------+
         | OCTET_STRING              | :class:`bytes`             |
         +---------------------------+----------------------------+

canopen/objectdictionary/__init__.py

@@ -23,9 +23,10 @@
 UNSIGNED64 = 0x1B
 
 SIGNED_TYPES = (INTEGER8, INTEGER16, INTEGER32, INTEGER64)
-UNSIGNED_TYPES = (BOOLEAN, UNSIGNED8, UNSIGNED16, UNSIGNED32, UNSIGNED64)
+UNSIGNED_TYPES = (UNSIGNED8, UNSIGNED16, UNSIGNED32, UNSIGNED64)
 INTEGER_TYPES = SIGNED_TYPES + UNSIGNED_TYPES
 FLOAT_TYPES = (REAL32, REAL64)
+NUMBER_TYPES = INTEGER_TYPES + FLOAT_TYPES
 
 
 def import_od(filename):
@@ -243,14 +244,15 @@ def encode_raw(self, value):
         elif self.data_type in self.STRUCT_TYPES:
             if self.data_type in INTEGER_TYPES:
                 value = int(value)
-            if self.min is not None and value < self.min:
-                logger.warning(
-                    "Value %d is less than min value %d", value, self.min)
-            if self.max is not None and value > self.max:
-                logger.warning(
-                    "Value %d is greater than max value %d",
-                    value,
-                    self.max)
+            if self.data_type in NUMBER_TYPES:
+                if self.min is not None and value < self.min:
+                    logger.warning(
+                        "Value %d is less than min value %d", value, self.min)
+                if self.max is not None and value > self.max:
+                    logger.warning(
+                        "Value %d is greater than max value %d",
+                        value,
+                        self.max)
             try:
                 return self.STRUCT_TYPES[self.data_type].pack(value)
             except struct.error:

canopen/pdo.py

@@ -69,10 +69,9 @@ def export(self, filename):
             for pdo_map in pdo_maps.values():
                 if pdo_map.cob_id is None:
                     continue
-                direction = "Tx" if pdo_map.cob_id & 0x80 else "Rx"
-                map_id = pdo_map.cob_id >> 8
-                name = "%sPDO%d_node%d" % (direction, map_id, self.parent.id)
-                frame = canmatrix.Frame(name, Id=pdo_map.cob_id, extended=0)
+                frame = canmatrix.Frame(pdo_map.name,
+                                        Id=pdo_map.cob_id,
+                                        extended=0)
                 for var in pdo_map.map:
                     is_signed = var.od.data_type in objectdictionary.SIGNED_TYPES
                     is_float = var.od.data_type in objectdictionary.FLOAT_TYPES
@@ -137,7 +136,7 @@ def __init__(self, pdo_node, com_index, map_index):
         self.cob_id = None
         #: Is the remote transmit request (RTR) allowed for this PDO
         self.rtr_allowed = True
-        #: Transmission type (1-255)
+        #: Transmission type (0-255)
         self.trans_type = None
         #: List of variables mapped to this PDO
         self.map = None
@@ -183,6 +182,19 @@ def _get_variable(self, index, subindex):
     def _update_data_size(self):
         self.data = bytearray(int(math.ceil(self._get_total_size() / 8.0)))
 
+    @property
+    def name(self):
+        """A descriptive name of the PDO.
+
+        Examples:
+        - TxPDO1_node4
+        - RxPDO4_node1
+        """
+        direction = "Tx" if self.cob_id & 0x80 else "Rx"
+        map_id = self.cob_id >> 8
+        node_id = self.cob_id & 0x7F
+        return "%sPDO%d_node%d" % (direction, map_id, node_id)
+
     def read(self):
         com_record = self.pdo_node.parent.sdo[self.com_index]
         map_record = self.pdo_node.parent.sdo[self.map_index]
@@ -302,7 +314,7 @@ def stop(self):
         self.transmit_thread = None
 
     def remote_request(self):
-        """Send a remote request for the transmit PDO. 
+        """Send a remote request for the transmit PDO.
         Silently ignore if not allowed.
         """
         if self.enabled and self.rtr_allowed:

canopen/version.py

@@ -1,2 +1,2 @@
 
-__version__ = "0.3.0.dev9"
+__version__ = "0.3.0.dev10"