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SDO client fixes #408

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Merged
christiansandberg merged 6 commits into from
Apr 18, 2024
Merged

SDO client fixes #408

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074be34
Adding propagation of dictionary changes to PDO and vice versa.
samsamfire Dec 25, 2022
f15a88c
Fixed HighLimit and LowLimit for SIGNED values in EDS (#345)
friederschueler Feb 24, 2023
e5502c5
Update profiles.rst (#348)
Alflanker94 Mar 2, 2023
19ed1b3
Added an "_error" flag to not send the "end block transfer" frame in …
samsamfire Dec 3, 2023
ba1484d
Merge remote-tracking branch 'origin/master' into sdo-client-fixes
samsamfire Dec 3, 2023
3cb847c
Revert "Adding propagation of dictionary changes to PDO and vice versa."
samsamfire Dec 3, 2023
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11 changes: 10 additions & 1 deletion canopen/sdo/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -470,6 +470,7 @@ def __init__(self, sdo_client, index, subindex=0, request_crc_support=True):
self._crc = sdo_client.crc_cls()
self._server_crc = None
self._ackseq = 0
self._error = False

logger.debug("Reading 0x%X:%d from node %d", index, subindex,
sdo_client.rx_cobid - 0x600)
Expand All @@ -483,9 +484,12 @@ def __init__(self, sdo_client, index, subindex=0, request_crc_support=True):
response = sdo_client.request_response(request)
res_command, res_index, res_subindex = SDO_STRUCT.unpack_from(response)
if res_command & 0xE0 != RESPONSE_BLOCK_UPLOAD:
self._error = True
self.sdo_client.abort(0x05040001)
raise SdoCommunicationError("Unexpected response 0x%02X" % res_command)
# Check that the message is for us
if res_index != index or res_subindex != subindex:
self._error = True
raise SdoCommunicationError((
"Node returned a value for 0x{:X}:{:d} instead, "
"maybe there is another SDO client communicating "
Expand Down Expand Up @@ -537,6 +541,7 @@ def read(self, size=-1):
self._crc.process(data)
if self._done:
if self._server_crc != self._crc.final():
self._error = True
self.sdo_client.abort(0x05040004)
raise SdoCommunicationError("CRC is not OK")
logger.info("CRC is OK")
Expand All @@ -556,6 +561,8 @@ def _retransmit(self):
# We should be back in sync
self._ackseq = seqno
return response
self._error = True
self.sdo_client.abort(0x05040000)
raise SdoCommunicationError("Some data were lost and could not be retransmitted")

def _ack_block(self):
Expand All @@ -571,9 +578,11 @@ def _end_upload(self):
response = self.sdo_client.read_response()
res_command, self._server_crc = struct.unpack_from("<BH", response)
if res_command & 0xE0 != RESPONSE_BLOCK_UPLOAD:
self._error = True
self.sdo_client.abort(0x05040001)
raise SdoCommunicationError("Unexpected response 0x%02X" % res_command)
if res_command & 0x3 != END_BLOCK_TRANSFER:
self._error = True
self.sdo_client.abort(0x05040001)
raise SdoCommunicationError("Server did not end transfer as expected")
# Return number of bytes not used in last message
Expand All @@ -583,7 +592,7 @@ def close(self):
if self.closed:
return
super(BlockUploadStream, self).close()
if self._done:
if self._done and not self._error:
request = bytearray(8)
request[0] = REQUEST_BLOCK_UPLOAD | END_BLOCK_TRANSFER
self.sdo_client.send_request(request)
Expand Down