SDO block transfer

[christiansandberg]

Addresses part of issue #14.

Intended usage:

data = b'A really really long string...'
fp = node.sdo['Some Variable'].open('wb', size=len(data), block_transfer=True)
fp.write(data)
fp.close()

[christiansandberg]

@obbardc, could you test block download according to the code example above?

Could you also enable logging (see #27) and also log the CAN traffic.

[christiansandberg]

@obbardc, are you also able to test block upload? It's done in a similar way:

fp = node.sdo['Some Variable'].open('rb', block_transfer=True)
data = fp.read()
fp.close()

[obbardc]

Hi @christiansandberg

I have managed to try the block out on my hardware today. It starts downloading, then times out after a few writes... It could be down to my hardware, though. It's a proprietary piece of hardware so I have no control over the code.

with open("test.img", "rb") as inputHandle:
    data = inputHandle.read()

print "Writing Application"
fp = node.sdo[0x1F50][1].open('wb', size=len(data), block_transfer=True)
fp.write(data)
fp.close()
print "Writing Application End"

INFO:canopen.sdo:Initiating block download for 0x1F50:1
DEBUG:canopen.sdo:Expected size of data is 790984 bytes
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÆPÈ

DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Receiving a message
DEBUG:can.socketcan.ctypes:Trying to read a msg
DEBUG:canopen.sdo:Server requested a block size of 8
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÷¶ÀP9
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ¯
H
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:10227
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: 844
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
PuTTYDEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: 0
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:.1.0
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:canopen.sdo:Waiting for acknowledgement of last block...
DEBUG:can.socketcan.ctypes:Receiving a message
DEBUG:can.socketcan.ctypes:Trying to read a msg
DEBUG:canopen.sdo:All 8 sequences were received successfully
DEBUG:canopen.sdo:Server requested a block size of 8
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿÿÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
PuTTYDEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿÿÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿÿÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:ÿÿÿÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:canopen.sdo:Waiting for acknowledgement of last block...
DEBUG:can.socketcan.ctypes:Receiving a message
DEBUG:can.socketcan.ctypes:Trying to read a msg
DEBUG:canopen.sdo:All 8 sequences were received successfully
DEBUG:canopen.sdo:Server requested a block size of 8
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿÿÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿÿÿÿÿÿ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: ÿÿZ`
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:XHP
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: |h¦N
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
PuTTYDEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Receiving a message
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Trying to read a msg
DEBUG:can.socketcan.ctypes:Data:  Ãù
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data: dÃ
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:ùh
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:canopen.sdo:Waiting for acknowledgement of last block...
Traceback (most recent call last):
  File "test/canopen_test.py", line 83, in <module>
    fp.write(data)
  File "/home/pi/canopen/canopen/sdo.py", line 755, in write
    self.send(data)
  File "/home/pi/canopen/canopen/sdo.py", line 785, in send
    self._block_ack()
  File "/home/pi/canopen/canopen/sdo.py", line 792, in _block_ack
    response = self.sdo_client.read_response()
  File "/home/pi/canopen/canopen/sdo.py", line 107, in read_response
    raise SdoAbortedError(abort_code)
canopen.sdo.SdoAbortedError: Code 0x08000000, General error
DEBUG:can.socketcan.ctypes:Packing a can frame
DEBUG:can.socketcan.ctypes:Data:
DEBUG:can.socketcan.ctypes:Type: <type 'bytearray'>
DEBUG:can.socketcan.ctypes:sizeof frame: 16
DEBUG:canopen.sdo:Waiting for acknowledgement of last block...

[christiansandberg]

Well, it's positive that two blocks were received successfully. Maybe you could compare a CAN trace with one that's working? If you could get more details on the error that would also be great.