From fdf57245e213bd1b04481a9302f472e0b01eea84 Mon Sep 17 00:00:00 2001
From: "Erlend E. Aasland" <erlend@python.org>
Date: Mon, 2 Sep 2024 14:33:00 +0200
Subject: [PATCH 1/2] TPDO mappings may be read-only
---
canopen/pdo/base.py | 22 +++++++++++++---------
1 file changed, 13 insertions(+), 9 deletions(-)
diff --git a/canopen/pdo/base.py b/canopen/pdo/base.py
index f2a7d205..04bc28b5 100644
--- a/canopen/pdo/base.py
+++ b/canopen/pdo/base.py
@@ -427,15 +427,19 @@ def save(self) -> None:
for var in self.map:
logger.info("Writing %s (0x%04X:%02X, %d bits) to PDO map",
var.name, var.index, var.subindex, var.length)
- if getattr(self.pdo_node.node, "curtis_hack", False):
- # Curtis HACK: mixed up field order
- self.map_array[subindex].raw = (var.index |
- var.subindex << 16 |
- var.length << 24)
- else:
- self.map_array[subindex].raw = (var.index << 16 |
- var.subindex << 8 |
- var.length)
+ try:
+ if getattr(self.pdo_node.node, "curtis_hack", False):
+ # Curtis HACK: mixed up field order
+ self.map_array[subindex].raw = (var.index |
+ var.subindex << 16 |
+ var.length << 24)
+ else:
+ self.map_array[subindex].raw = (var.index << 16 |
+ var.subindex << 8 |
+ var.length)
+ except SdoAbortedError as e:
+ if e.code != 0x06010002:
+ raise
subindex += 1
try:
self.map_array[0].raw = len(self.map)
From 67a85931f171748ed9eee0be4a037afc3adb08a8 Mon Sep 17 00:00:00 2001
From: "Erlend E. Aasland" <erlend@python.org>
Date: Tue, 3 Sep 2024 10:48:27 +0200
Subject: [PATCH 2/2] Address review: heed OD instead of suppressing errors
---
canopen/pdo/base.py | 28 ++++++++++++----------------
1 file changed, 12 insertions(+), 16 deletions(-)
diff --git a/canopen/pdo/base.py b/canopen/pdo/base.py
index 04bc28b5..64f63fee 100644
--- a/canopen/pdo/base.py
+++ b/canopen/pdo/base.py
@@ -423,24 +423,20 @@ def save(self) -> None:
# mappings for an invalid object 0x0000:00 to overwrite any
# excess entries with all-zeros.
self._fill_map(self.map_array[0].raw)
- subindex = 1
- for var in self.map:
+ for subindex, var in enumerate(self.map, start=1):
+ if not var.od.writable:
+ continue
logger.info("Writing %s (0x%04X:%02X, %d bits) to PDO map",
var.name, var.index, var.subindex, var.length)
- try:
- if getattr(self.pdo_node.node, "curtis_hack", False):
- # Curtis HACK: mixed up field order
- self.map_array[subindex].raw = (var.index |
- var.subindex << 16 |
- var.length << 24)
- else:
- self.map_array[subindex].raw = (var.index << 16 |
- var.subindex << 8 |
- var.length)
- except SdoAbortedError as e:
- if e.code != 0x06010002:
- raise
- subindex += 1
+ if getattr(self.pdo_node.node, "curtis_hack", False):
+ # Curtis HACK: mixed up field order
+ self.map_array[subindex].raw = (var.index |
+ var.subindex << 16 |
+ var.length << 24)
+ else:
+ self.map_array[subindex].raw = (var.index << 16 |
+ var.subindex << 8 |
+ var.length)
try:
self.map_array[0].raw = len(self.map)
except SdoAbortedError as e: