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EMCY Error Logging #43

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Merged
christiansandberg merged 3 commits into from
Oct 19, 2017
Merged

EMCY Error Logging #43

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f973ea9
Fix emcy error logging
racerep Oct 9, 2017
8438ef1
Merge pull request #1 from racerep/racerep-patch-1
racerep Oct 9, 2017
2fb1188
Fix failing unit test
racerep Oct 9, 2017
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15 changes: 8 additions & 7 deletions canopen/emcy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,18 +22,19 @@ def __init__(self):

def on_emcy(self, can_id, data, timestamp):
code, register, data = self.EMCY_STRUCT.unpack(data)
if code & 0xFF == 0:
entry = EmcyError(code, register, data, timestamp)

with self.emcy_received:
self.log.append(entry)
self.active.append(entry)
self.emcy_received.notify_all()

if code & 0xFFFF == 0:
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@christiansandberg christiansandberg Oct 9, 2017

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I see that I made a mistake masking out the lower byte when I actually meant to mask out the higher byte as specified here for example (reset = 00xx). So I think it should be:

if code & 0xFF00 == 0:

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@racerep racerep Oct 9, 2017

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Agreed. Sorry, I did not check DS-301 error codes.

# Error reset
self.active = []
for callback in self.callbacks:
callback(None)
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@christiansandberg christiansandberg Oct 9, 2017

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I'm thinking it may be better skip using None as a representation for reset and just use the same emcy object regardless if it is a reset or an actual error. Then you can get timestamp for the reset and so on. What do you think? Then the documentation would have to be changed slightly as well.

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@racerep racerep Oct 9, 2017

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Sounds good.

else:
entry = EmcyError(code, register, data, timestamp)
#print("EMCY received for node %d: %s" % (can_id & 0x7F, entry))
with self.emcy_received:
self.log.append(entry)
self.active.append(entry)
self.emcy_received.notify_all()
for callback in self.callbacks:
callback(entry)

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2 changes: 1 addition & 1 deletion test/test_emcy.py
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Expand Up @@ -29,7 +29,7 @@ def test_emcy_list(self):
self.assertEqual(emcy_node.active[1], error)

emcy_node.on_emcy(0x81, b'\x00\x00\x00\x00\x00\x00\x00\x00', 1473418397.0)
self.assertEqual(len(emcy_node.log), 2)
self.assertEqual(len(emcy_node.log), 3)
self.assertEqual(len(emcy_node.active), 0)

def test_str(self):
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