================================================
Python Durand - CANopen Responder Device Library
================================================
CANopen library to implement responder nodes.
Backends:
- CAN interfaces via python-can_
.. header
Synopsis
========
- Pure python implementation
- Under MIT license (2021 Günther Jena)
- Source is hosted on GitHub.com_
- Tested on Python 3.7, 3.8, 3.9 and 3.10
- Unit tested with pytest_, coding style done with Black_, static type checked with mypy_, static code checked with Pylint_, documented with Sphinx_
- Supporting CiA301_ (EN 50325-4)
.. _pytest: https://docs.pytest.org/en/latest
.. _Black: https://black.readthedocs.io/en/stable/
.. _mypy: http://mypy-lang.org/
.. _Pylint: https://www.pylint.org/
.. _Sphinx: http://www.sphinx-doc.org
.. _GitHub.com: https://github.com/semiversus/python-durand
.. _CiA301: http://can-cia.org/standardization/technical-documents
Feature List
============
* Object dictionary
* provides callbacks for *validation*, *update*, *download* and *read*
* supports records, arrays and variables
* EDS support
* dynamically generation of EDS file
* automatically provided via object 0x1021 ("Store EDS")
* up to 128 SDO servers
* expetited, segmented and block transfer for up- and download
* COB-IDs dynamically configurable
* custom up- and download handlers supported
* up to 512 TPDOs and 512 RPDOs
* dynamically configurable
* transmission types: synchronous (acyclic and every nth sync) and event driven
* inhibit time supported
* EMCY producer service
* COB-ID dynamically configurable
* inhibit time supported
* Heartbeat producer service
* dynamically configurable
* NMT slave service
* boot-up service
* callback for state change provided
* SYNC consumer service
* COB-ID dynamically configurable
* callback for received sync provided
* CiA305 Layer Setting Service
* fast scan supported
* bitrate and node id configuring supported
* identify remote responder supported
* CAN interface abstraction
* python-can_ fully supported
* automatic CAN id filtering by subscripted services
* Scheduling supporting threaded and async operation
TODO
* build object dictionary via reading an EDS file
* supporting MPDOs
* TIME consumer service
* Up- and download handler as io streams
Examples
========
Creating a node
---------------
.. code-block:: python
import can
from durand import CANBusNetwork, Node, Variable, Record, DatatypeEnum
bus = can.Bus(bustype='socketcan', channel='vcan0')
network = CANBusNetwork(bus)
node = Node(network, node_id=0x01)
Congratulations! You have a CiA-301 compliant node running. Layer Setting Service is also supported out of the box.
Adding objects
--------------
.. code-block:: python
od = node.object_dictionary
# add variable at index 0x2000
od[0x2000] = Variable(DatatypeEnum.UNSIGNED16, access='rw', value=10, name='Parameter 1')
# add record at index 0x2001
record = Record(name='Parameter Record')
record[1] = Variable(DatatypeEnum.UNSIGNED8, access='ro', value=0, name='Parameter 2a')
record[2] = Variable(DatatypeEnum.REAL32, access='rw', value=0, name='Parameter 2b')
od[0x2001] = record
Access values
-------------
The objects can be read and written directly by accessing the object dictionary:
.. code-block:: python
print(f'Value of Parameter 1: {od.read(0x2000, 0)}')
od.write(0x2001, 1, value=0xAA)
Add callbacks
-------------
A more event driven approach is using of callbacks. Following callbacks are available:
* `validate_callbacks` - called before a value in the object dictionary is going to be updated
* `update_callbacks` - called when the value has been changed (via `od.write` or via CAN bus)
* `download_callbacks` - called when the value has been changed via CAN bus
* `read_callback` - called when a object is read (return value is used )
.. code-block:: python
od.validate_callbacks[(0x2000, 0)].add(lambda v: v % 2 == 0)
od.update_callbacks[(0x2001, 2)].add(lambda v: print(f'Update for Parameter 2b: {v}'))
od.download_callbacks[(0x2000, 0)].add(lambda v: print(f'Download for Parmeter 1: {v}'))
od.set_read_callback(0x2001, 1, lambda: 17)
PDO mapping
-----------
PDOs can dynamically mapped via the SDO server or programmatically. The PDO indices
start at 0.
.. code-block:: python
node.tpdo[0].mapping = [(0x2001, 1), (0x2001, 2)]
node.tpdo[0].transmission_type = 1 # transmit on every SYNC
node.rpdo[0].mapping = [(0x2000, 0)]
node.tpdo[0].transmission_type = 255 # event driven (processed when received)
Install
=======
.. code-block:: bash
pip install durand
Credits
=======
This library would not be possible without:
* python-canopen_: CANopen library (by Christian Sandberg)
* python-can_: CAN interface library (by Brian Thorne)
.. _python-canopen: https://github.com/christiansandberg/canopen
.. _python-can: https://github.com/hardbyte/python-can
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Following callbacks are available:\n\n* `validate_callbacks` - called before a value in the object dictionary is going to be updated\n* `update_callbacks` - called when the value has been changed (via `od.write` or via CAN bus)\n* `download_callbacks` - called when the value has been changed via CAN bus\n* `read_callback` - called when a object is read (return value is used )\n\n.. code-block:: python\n\n od.validate_callbacks[(0x2000, 0)].add(lambda v: v % 2 == 0)\n od.update_callbacks[(0x2001, 2)].add(lambda v: print(f'Update for Parameter 2b: {v}'))\n od.download_callbacks[(0x2000, 0)].add(lambda v: print(f'Download for Parmeter 1: {v}'))\n od.set_read_callback(0x2001, 1, lambda: 17)\n\nPDO mapping\n-----------\n\nPDOs can dynamically mapped via the SDO server or programmatically. 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