Merge pull request #2 from christiansandberg/master

Author: sveinse

canopen/network.py

@@ -109,7 +109,7 @@ def connect(self, *args, **kwargs) -> "Network":
             Backend specific channel for the CAN interface.
         :param str bustype:
             Name of the interface. See
-            `python-can manual <https://python-can.readthedocs.io/en/latest/configuration.html#interface-names>`__
+            `python-can manual <https://python-can.readthedocs.io/en/stable/configuration.html#interface-names>`__
             for full list of supported interfaces.
         :param int bitrate:
             Bitrate in bit/s.

canopen/objectdictionary/eds.py

@@ -52,7 +52,7 @@ def import_eds(source, node_id):
     else:
         for rate in [10, 20, 50, 125, 250, 500, 800, 1000]:
             baudPossible = int(
-                eds.get("DeviceInfo", "Baudrate_%i" % rate, fallback='0'), 0)
+                eds.get("DeviceInfo", "BaudRate_%i" % rate, fallback='0'), 0)
             if baudPossible != 0:
                 od.device_information.allowed_baudrates.add(rate*1000)
 
@@ -85,7 +85,7 @@ def import_eds(source, node_id):
                 pass
 
     if eds.has_section("DeviceComissioning"):
-        od.bitrate = int(eds.get("DeviceComissioning", "Baudrate")) * 1000
+        od.bitrate = int(eds.get("DeviceComissioning", "BaudRate")) * 1000
         od.node_id = int(eds.get("DeviceComissioning", "NodeID"), 0)
 
     for section in eds.sections():
@@ -370,10 +370,10 @@ def export_record(var, eds):
             "EdsVersion": 4.2,
         }
 
-        file_info.setdefault("ModificationDate", defmtime.strftime("%m-%d-%Y"))
-        file_info.setdefault("ModificationTime", defmtime.strftime("%I:%m%p"))
-        for k, v in origFileInfo.items():
-            file_info.setdefault(k, v)
+    file_info.setdefault("ModificationDate", defmtime.strftime("%m-%d-%Y"))
+    file_info.setdefault("ModificationTime", defmtime.strftime("%I:%m%p"))
+    for k, v in origFileInfo.items():
+        file_info.setdefault(k, v)
 
     eds.add_section("FileInfo")
     for k, v in file_info.items():
@@ -408,13 +408,13 @@ def export_record(var, eds):
     for rate in od.device_information.allowed_baudrates.union(
             {10e3, 20e3, 50e3, 125e3, 250e3, 500e3, 800e3, 1000e3}):
         eds.set(
-            "DeviceInfo", "Baudrate_%i" % (rate/1000),
+            "DeviceInfo", "BaudRate_%i" % (rate/1000),
             int(rate in od.device_information.allowed_baudrates))
 
     if device_commisioning and (od.bitrate or od.node_id):
         eds.add_section("DeviceComissioning")
         if od.bitrate:
-            eds.set("DeviceComissioning", "Baudrate", int(od.bitrate / 1000))
+            eds.set("DeviceComissioning", "BaudRate", int(od.bitrate / 1000))
         if od.node_id:
             eds.set("DeviceComissioning", "NodeID", int(od.node_id))
 

canopen/sdo/client.py

@@ -1058,6 +1058,8 @@ def __init__(self, sdo_client, index, subindex=0, size=None, request_crc_support
         self._seqno = 0
         self._crc = sdo_client.crc_cls()
         self._last_bytes_sent = 0
+        self._current_block = []
+        self._retransmitting = False
         command = REQUEST_BLOCK_DOWNLOAD | INITIATE_BLOCK_TRANSFER
         if request_crc_support:
             command |= CRC_SUPPORTED
@@ -1138,7 +1140,10 @@ def send(self, b, end=False):
         request[1:len(b) + 1] = b
         self.sdo_client.send_request(request)
         self.pos += len(b)
-        if self.crc_supported:
+        # Add the sent data to the current block buffer
+        self._current_block.append(b)
+        # Don't calculate crc if retransmitting
+        if self.crc_supported and not self._retransmitting:
             # Calculate CRC
             self._crc.process(b)
         if self._seqno >= self._blksize:
@@ -1161,14 +1166,37 @@ def _block_ack(self):
             raise SdoCommunicationError("Server did not respond with a "
                                         "block download response")
         if ackseq != self._blksize:
-            self.sdo_client.abort(0x05040003)
-            raise SdoCommunicationError(
-                ("%d of %d sequences were received. "
-                 "Retransmission is not supported yet.") % (ackseq, self._blksize))
+            # Sequence error, try to retransmit
+            self._retransmit(ackseq, blksize)
+            # We should be back in sync
+            return
+        # Clear the current block buffer
+        self._current_block = []
         logger.debug("All %d sequences were received successfully", ackseq)
         logger.debug("Server requested a block size of %d", blksize)
         self._blksize = blksize
         self._seqno = 0
+        
+    def _retransmit(self, ackseq, blksize):
+        """Retransmit the failed block"""
+        logger.info(("%d of %d sequences were received. "
+                 "Will start retransmission") % (ackseq, self._blksize))
+        # Sub blocks betwen ackseq and end of corrupted block need to be resent
+        # Get the part of the block to resend
+        block = self._current_block[ackseq:]
+        # Go back to correct position in stream
+        self.pos = self.pos - (len(block) * 7)
+        # Reset the _current_block before starting the retransmission
+        self._current_block = []
+        # Reset _seqno and update blksize
+        self._seqno = 0
+        self._blksize = blksize
+        # We are retransmitting
+        self._retransmitting = True
+        # Resend the block
+        for b in block:
+            self.write(b)
+        self._retransmitting = False
 
     def close(self):
         """Closes the stream."""

examples/eds/e35.eds

@@ -13,19 +13,19 @@ ModifiedBy=Manufacturer
 
 [DeviceInfo]
 VendorName=Manufacturer
-VendorNumber=001
+VendorNumber=101
 ProductName=example
 ProductNumber=25
 RevisionNumber=295
 OrderCode=25
-Baudrate_10=1
-Baudrate_20=1
-Baudrate_50=1
-Baudrate_125=1
-Baudrate_250=1
-Baudrate_500=1
-Baudrate_800=0
-Baudrate_1000=1
+BaudRate_10=1
+BaudRate_20=1
+BaudRate_50=1
+BaudRate_125=1
+BaudRate_250=1
+BaudRate_500=1
+BaudRate_800=0
+BaudRate_1000=1
 SimpleBootUpMaster=0
 SimpleBootUpSlave=1
 Granularity=8
@@ -243,7 +243,7 @@ HighLimit=0x7F
 ParameterValue=0x20
 
 [2000sub2]
-ParameterName=Baudrate
+ParameterName=BaudRate
 ObjectType=0x7
 DataType=0x0005
 AccessType=rw
@@ -324,7 +324,7 @@ LowLimit=0x1
 HighLimit=0x7F
 
 [2001sub2]
-ParameterName=Baudrate
+ParameterName=BaudRate
 ObjectType=0x7
 DataType=0x0005
 AccessType=rw

test/sample.eds

@@ -32,7 +32,7 @@ LSS_Supported=0
 [DeviceComissioning]
 NodeID=2
 NodeName=Some name
-Baudrate=500
+BaudRate=500
 NetNumber=0
 LSS_SerialNumber=0