402 profile #23
402 profile #23
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christiansandberg
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christiansandberg
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I'm not very familiar with 402 so can't say much about the functionality.
Could you perhaps also add a chapter in the documentation about specific profiles and a bit how to use interface with a 402 node?
canopen/profiles/p402.py
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| # first read the current PDO setup and only change TPDO1 | ||
| print(self.nmt.state) | ||
| self.nmt.state = 'PRE-OPERATIONAL' | ||
| self.pdo.read() |
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You can do self.pdo.tx[1].read() instead to save some time.
canopen/profiles/p402.py
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| self.pdo.tx[1].add_variable(0x6041) | ||
| # add callback to listen to TPDO1 and change 402 state | ||
| self.pdo.tx[1].add_callback(self.powerstate_402.on_PDO1_callback) | ||
| self.pdo.trans_type = 255 |
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This should be self.pdo.tx[1].trans_type = 255.
canopen/profiles/p402.py
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| self.pdo.tx[1].add_callback(self.powerstate_402.on_PDO1_callback) | ||
| self.pdo.trans_type = 255 | ||
| self.pdo.tx[1].enabled = True | ||
| self.pdo.save() |
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Like above, you can do self.pdo.tx[1].save() to only write to map 1.
canopen/profiles/p402.py
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| # Since I haven't found a way to do this the ParameterName is first | ||
| # retrieved from the OD, and used for extracting the data in the Map. | ||
| description = mapobject.pdo_node.node.object_dictionary[0x6041].name | ||
| statusword = mapobject.pdo_node.tx[1][description].raw |
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You can also get variables by position, i.e. statusword = mapobject[0].raw. Then you could skip having to add a reference to the parent Node in PdoNode.
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Ok, Thanks, i didnt like my solution, this is better
| # the current status | ||
| bitmaskvalue = statusword & value[0] | ||
| if bitmaskvalue == value[1]: | ||
| mapobject.pdo_node.node.powerstate_402._state = key |
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If this was a normal method instead of static, you could write self._state = key which I think is easier to understand.
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I struggled a lot with adding this function to the callback. It looked like calling self.something blocks the code somehow while a static function worked. So the workaround was to access _state from the passed object. I there is a better way i have no problem changing to that.
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| """ | ||
| if self._state in POWER_STATES_402.values(): | ||
| return POWER_STATES_402[self._state] |
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Isn't self._state is already a string?
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Takeover from NmtMaster, i'll clean it up
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I've made some changes that will cause some minor conflicts with your changes, could you merge in master to your branch also? |
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I'll add to the documentation, and if you have added new code in master then i'll rebase my branch onto your master. When i push to my github branch ten we can see the new commits appear. |
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I've updated documentation and various small things, rebased all onto master. |
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now that this is merged, I have some small future additions, like automatically mirroring the homing state of a device. That's a bit in the Statusword (in TPDO1). I'll make a separate PR for that in the near future. |
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for issue #16 I've added code to use nodes with a CiA 402 device profile.
Node402class is a subclass ofNode.PowerStateEngineclass for monitoring state changes. Inspired by the NMT state monitoring in theNmtMasteron_PDO1_callback functionto the TPDO1 callback