Merge pull request #1 from christiansandberg/master

Author: sveinse

README.rst

@@ -53,6 +53,10 @@ it in `develop mode`_::
     $ cd canopen
     $ pip install -e .
 
+Unit tests can be run using the pytest_ framework::
+
+    $ pip install pytest
+    $ pytest -v
 
 Documentation
 -------------
@@ -233,3 +237,4 @@ logging_ level:
 .. _Sphinx: http://www.sphinx-doc.org/
 .. _develop mode: https://packaging.python.org/distributing/#working-in-development-mode
 .. _logging: https://docs.python.org/3/library/logging.html
+.. _pytest: https://docs.pytest.org/

canopen/objectdictionary/__init__.py

@@ -304,6 +304,8 @@ def __init__(self, name: str, index: int, subindex: int = 0):
         self.max: Optional[int] = None
         #: Default value at start-up
         self.default: Optional[int] = None
+        #: Is the default value relative to the node-ID (only applies to COB-IDs)
+        self.relative = False
         #: The value of this variable stored in the object dictionary
         self.value: Optional[int] = None
         #: Data type according to the standard as an :class:`int`

canopen/objectdictionary/eds.py

@@ -262,6 +262,8 @@ def build_variable(eds, section, node_id, index, subindex=0):
     if eds.has_option(section, "DefaultValue"):
         try:
             var.default_raw = eds.get(section, "DefaultValue")
+            if '$NODEID' in var.default_raw:
+                var.relative = True
             var.default = _convert_variable(node_id, var.data_type, eds.get(section, "DefaultValue"))
         except ValueError:
             pass

canopen/pdo/base.py

@@ -103,8 +103,7 @@ def export(self, filename):
             if pdo_map.cob_id is None:
                 continue
             frame = canmatrix.Frame(pdo_map.name,
-                                    Id=pdo_map.cob_id,
-                                    extended=0)
+                                    arbitration_id=pdo_map.cob_id)
             for var in pdo_map.map:
                 is_signed = var.od.data_type in objectdictionary.SIGNED_TYPES
                 is_float = var.od.data_type in objectdictionary.FLOAT_TYPES
@@ -118,8 +117,8 @@ def export(self, filename):
                 name = name.replace(" ", "_")
                 name = name.replace(".", "_")
                 signal = canmatrix.Signal(name,
-                                          startBit=var.offset,
-                                          signalSize=var.length,
+                                          start_bit=var.offset,
+                                          size=var.length,
                                           is_signed=is_signed,
                                           is_float=is_float,
                                           factor=var.od.factor,
@@ -128,9 +127,9 @@ def export(self, filename):
                                           unit=var.od.unit)
                 for value, desc in var.od.value_descriptions.items():
                     signal.addValues(value, desc)
-                frame.addSignal(signal)
-            frame.calcDLC()
-            db.frames.addFrame(frame)
+                frame.add_signal(signal)
+            frame.calc_dlc()
+            db.add_frame(frame)
         formats.dumpp({"": db}, filename)
         return db
 

test/test_eds.py

@@ -26,6 +26,12 @@ def test_variable(self):
         self.assertEqual(var.data_type, canopen.objectdictionary.UNSIGNED16)
         self.assertEqual(var.access_type, 'rw')
         self.assertEqual(var.default, 0)
+        self.assertFalse(var.relative)
+
+    def test_relative_variable(self):
+        var = self.od['Receive PDO 0 Communication Parameter']['COB-ID use by RPDO 1']
+        self.assertTrue(var.relative)
+        self.assertEqual(var.default, 512 + self.od.node_id)
 
     def test_record(self):
         record = self.od['Identity object']