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Add custom eds storage format & block transfer mechanism #343

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10 changes: 9 additions & 1 deletion canopen/network.py
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@af-silva af-silva Apr 2, 2023

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I can't spot anything wrong with the code,
It is just a small request, please pay some attention to the format of the code, like spaces between parameters when calling functions line 170:
object_dictionary = import_from_node(node, self, block_transfer, eds_format_handler)
remove unnecessary spaces:
eds_format_handler: Callable = None

It's just this small things.

acolomb reacted with thumbs up emoji
Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,8 @@ def add_node(
node: Union[int, RemoteNode, LocalNode],
object_dictionary: Union[str, ObjectDictionary, None] = None,
upload_eds: bool = False,
block_transfer: bool = False,
eds_format_handler : Callable = None
) -> RemoteNode:
"""Add a remote node to the network.

Expand All @@ -152,14 +154,20 @@ def add_node(
:class:`canopen.ObjectDictionary` object.
:param upload_eds:
Set ``True`` if EDS file should be uploaded from 0x1021.
:param block_transfer:
Set ``True`` if EDS file should be uploaded using block transfer mechanism
This can increase speed if supported
:param eds_format_handler:
Handler for generating .eds in case a custom format is used (object 0x1022)
This is manufacturer specific and can be used to extract a compressed EDS

:return:
The Node object that was added.
"""
if isinstance(node, int):
if upload_eds:
logger.info("Trying to read EDS from node %d", node)
object_dictionary = import_from_node(node,self)
object_dictionary = import_from_node(node,self,block_transfer,eds_format_handler)
node = RemoteNode(node, object_dictionary)
self[node.id] = node
return node
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26 changes: 22 additions & 4 deletions canopen/objectdictionary/eds.py
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@af-silva af-silva Apr 2, 2023

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I can't spot anything wrong with the code, just some small formatting problems, can you please arrange this.

Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
except ImportError:
from ConfigParser import RawConfigParser, NoOptionError, NoSectionError
from canopen import objectdictionary
from canopen.sdo import SdoClient
from canopen.sdo import SdoClient, SdoAbortedError

logger = logging.getLogger(__name__)

Expand Down Expand Up @@ -167,21 +167,39 @@ def import_eds(source, node_id):
return od


def import_from_node(node_id, network):
def import_from_node(node_id, network,block_transfer =False,eds_format_handler = None):
""" Download the configuration from the remote node
:param int node_id: Identifier of the node
:param network: network object
:param block_transfer: use block transfer
:param eds_format_handler: Callable with custom logic that should return the EDS
"""
# Create temporary SDO client
sdo_client = SdoClient(0x600 + node_id, 0x580 + node_id, objectdictionary.ObjectDictionary())
sdo_client.network = network
# Subscribe to SDO responses
network.subscribe(0x580 + node_id, sdo_client.on_response)
# Get Storage format (0x1022)
try:
storage_format = int.from_bytes(sdo_client.upload(0x1022,0),byteorder="little")
except SdoAbortedError as e:
# Default to 0 if not present
storage_format = 0
logger.debug("Failed to read object 0x1022, for EDS storage format, default to ASCII (0)")
# Create file like object for Store EDS variable
try:
eds_fp = sdo_client.open(0x1021, 0, "rt")
od = import_eds(eds_fp, node_id)
if eds_format_handler is not None:
eds_raw_fp = sdo_client.open(0x1021, 0, "rb",block_transfer=block_transfer)
# Custom format handler must return a fp or string to extracted EDS file
eds_fp = eds_format_handler(eds_raw_fp,storage_format)
else:
if storage_format != 0:
logger.warning("Trying to read EDS with ASCII format (0) even though storage format is not 0")
eds_fp = sdo_client.open(0x1021, 0, "rt", block_transfer=block_transfer)
od = import_eds(eds_fp,node_id)

except Exception as e:
print(e)
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@af-silva af-silva Apr 2, 2023

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remove the print

logger.error("No object dictionary could be loaded for node %d: %s",
node_id, e)
od = None
Expand Down
25 changes: 25 additions & 0 deletions doc/network.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,31 @@ Add nodes to the network using the :meth:`~canopen.Network.add_node` method::
local_node = canopen.LocalNode(1, '/path/to/master_dictionary.eds')
network.add_node(local_node)

Some nodes store their EDS, using object 0x1021.The node can be added using
it's internal EDS in the following way::

# Add node and import EDS from node
node = network.add_node(6,upload_eds=True)

# Optional block_transfer enabled
node = network.add_node(6,upload_eds = True, block_transfer = True)

# Optionally add a handler if the file uses a specific format in order to
# create an EDS. This is an example with a zip compressed EDS.
import zipfile
from io import BytesIO, TextIOWrapper

def unzip_eds_handler(fp,storage_format):
zip = zipfile.ZipFile(BytesIO(fp.read()))
io = TextIOWrapper(zip.open(name="device.eds"),encoding="ascii")
return io

node = network.add_node(6,
upload_eds = True,
block_transfer = True,
eds_format_handler = unzip_eds_handler)


Nodes can also be accessed using the ``Network`` object as a Python dictionary::

for node_id in network:
Expand Down

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