DS402: Allow handling the operation mode via PDO. #257
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Transmitting the RPDO only makes sense if the value takes effect immediately. If there is already a cyclic task configured, or the transmission type configuration requires a SYNC to be sent for the change to apply, there is no sense in sending the PDO automatically in the controlword setter.
Fall back to the previous behavior using SDO if the relevant object 0x6060 is not mapped to an RPDO.
Fall back to the previous behavior using SDO if the relevant object 0x6061 is not mapped to a TPDO. The property getter still blocks until an up-to-date value was received, by waiting for the respective TPDO up to a configurable timeout of 0.2 seconds by default. If the TPDO does not look like it will be transmitted regularly (from its is_periodic property), the method will not block and just return the last received TPDO's value. A lookup cache tpdo_pointers is added to keep track of the needed pdo.Map instance, analog to the rpdo_pointers.
Consistently use empty dict literal for initialization. Provide more useful comments about the expected contents.
Switching operation modes for several drives simultaneously must be done via PDO. There is still a fallback mechanism via SDO, but a warning should be issued when that is about to be used.
acolomb
force-pushed
the
operation-mode-pdo
branch
from
15a0891 to
2e444f7
Compare
af-silva
pushed a commit
that referenced
this pull request
Aug 16, 2021
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR is based on #256 to avoid conflicts, thus should be merged after it. If needed I can rebase after merging #256.EDIT: Rebased on top of master with #256 merged.
Switching operation modes for several drives simultaneously must be done via PDO. The current mechanism used for the
BaseNode402.op_modeproperty supports only SDO. Now the PDO method is tried first, but falls back to the SDO method if the relevant objects (0x6060 / 0x6061) are not mapped to PDOs. In order to make sure an up-to-date value is returned for the property, the getter blocks until the TPDO has been received once, with a default timeout of 0.2 seconds leading to aRuntimeError.On a side track,
pdo.Mapgains a new propertyis_periodicwhich reflects whether theperiodmember has been set (usually fromstart()), or if a synchronous transmission type is configured. The above mentioned blocking behavior of theop_modegetter is skipped if the TPDO is not deemed periodic, to prevent the timeout from firing. Similarly, transmitting the RPDO immediately in theop_modesetter is skipped when deemed periodic. Same goes for thecontrolwordsetter, assuming that the application is responsible to set up the periodic transmission.