Migrate SDO client to another thread which allow reuse of existing code in async use

* Remove duplicated async code in SdoClient
* Implemented to thread in aupload() and adownload()
* Removed async callbacks
* Temporary fix issue with truncated SDO uploads
* Temporary fix iterator on SdoArray

Author: sveinse

canopen/node/remote.py

@@ -57,28 +57,24 @@ def associate_network(self, network: Network):
         self.tpdo.network = network
         self.rpdo.network = network
         self.nmt.network = network
+        for sdo in self.sdo_channels:
+            network.subscribe(sdo.tx_cobid, sdo.on_response)
         if network.is_async():
-            for sdo in self.sdo_channels:
-                network.subscribe(sdo.tx_cobid, sdo.aon_response)
             network.subscribe(0x700 + self.id, self.nmt.aon_heartbeat)
             network.subscribe(0x80 + self.id, self.emcy.aon_emcy)
         else:
-            for sdo in self.sdo_channels:
-                network.subscribe(sdo.tx_cobid, sdo.on_response)
             network.subscribe(0x700 + self.id, self.nmt.on_heartbeat)
             network.subscribe(0x80 + self.id, self.emcy.on_emcy)
         network.subscribe(0, self.nmt.on_command)
 
     def remove_network(self):
         network = self.network
+        for sdo in self.sdo_channels:
+            network.unsubscribe(sdo.tx_cobid, sdo.on_response)
         if network.is_async():
-            for sdo in self.sdo_channels:
-                network.unsubscribe(sdo.tx_cobid, sdo.aon_response)
             network.unsubscribe(0x700 + self.id, self.nmt.aon_heartbeat)
             network.unsubscribe(0x80 + self.id, self.emcy.aon_emcy)
         else:
-            for sdo in self.sdo_channels:
-                network.unsubscribe(sdo.tx_cobid, sdo.on_response)
             network.unsubscribe(0x700 + self.id, self.nmt.on_heartbeat)
             network.unsubscribe(0x80 + self.id, self.emcy.on_emcy)
         network.unsubscribe(0, self.nmt.on_command)
@@ -105,10 +101,7 @@ def add_sdo(self, rx_cobid, tx_cobid):
         client = SdoClient(rx_cobid, tx_cobid, self.object_dictionary)
         self.sdo_channels.append(client)
         if self.network is not None:
-            if self.network.is_async():
-                self.network.subscribe(client.tx_cobid, client.aon_response)
-            else:
-                self.network.subscribe(client.tx_cobid, client.on_response)
+            self.network.subscribe(client.tx_cobid, client.on_response)
         return client
 
     def store(self, subindex=1):

canopen/objectdictionary/__init__.py

@@ -356,7 +356,8 @@ def __len__(self) -> int:
         if self.data_type in self.STRUCT_TYPES:
             return self.STRUCT_TYPES[self.data_type].size * 8
         else:
-            return 8
+            # FIXME: Temporary fix for trucated 24-bit integers
+            return 64
 
     @property
     def writable(self) -> bool:

canopen/sdo/base.py

@@ -150,10 +150,10 @@ def __getitem__(self, subindex: Union[int, str]) -> "SdoVariable":
         return SdoVariable(self.sdo_node, self.od[subindex])
 
     def __iter__(self) -> Iterable[int]:
-        return iter(self.od)
+        return iter(range(1, len(self) + 1))
 
     async def aiter(self):
-        for i in iter(self.od):
+        for i in range(1, await self.alen() + 1):
             yield i
 
     def __aiter__(self):