Small change in NMT log message and FIXME comment for DS402. (#260)

* nmt: Include node ID in state change message.

These log messages can get rather confusing with more nodes involved.

* p402: Add FIXME about the messed up logic in reset_from_fault().

That method does not work as intended.  Until a fix is ready, at least
explain what goes wrong in a code comment.

Author: acolomb

canopen/nmt.py

@@ -68,8 +68,8 @@ def send_command(self, code):
         """
         if code in COMMAND_TO_STATE:
             new_state = COMMAND_TO_STATE[code]
-            logger.info("Changing NMT state from %s to %s",
-                        NMT_STATES[self._state], NMT_STATES[new_state])
+            logger.info("Changing NMT state on node %d from %s to %s",
+                        self.id, NMT_STATES[self._state], NMT_STATES[new_state])
             self._state = new_state
 
     @property

canopen/profiles/p402.py

@@ -287,6 +287,8 @@ def reset_from_fault(self):
         if self.state == 'FAULT':
             # Resets the Fault Reset bit (rising edge 0 -> 1)
             self.controlword = State402.CW_DISABLE_VOLTAGE
+            # FIXME! The rising edge happens with the transitions toward OPERATION
+            # ENABLED below, but until then the loop will always reach the timeout!
             timeout = time.monotonic() + self.TIMEOUT_RESET_FAULT
             while self.is_faulted():
                 if time.monotonic() > timeout: