implement feedback from Christian

Author: semiversus

canopen/sdo/server.py

@@ -123,7 +123,6 @@ def block_download(self, data):
         self.abort(0x05040001)
 
     def init_download(self, request):
-        # TODO: Check if writable
         command, index, subindex = SDO_STRUCT.unpack_from(request)
         self._index = index
         self._subindex = subindex
@@ -136,7 +135,7 @@ def init_download(self, request):
                 size = 4 - ((command >> 2) & 0x3)
             else:
                 size = 4
-            self.download(index, subindex, request[4:4 + size])
+            self._node.set_data(index, subindex, request[4:4 + size], check_writable=True)
         else:
             logger.info("Initiating segmented download for 0x%X:%d", index, subindex)
             if command & SIZE_SPECIFIED:
@@ -210,4 +209,4 @@ def download(self, index, subindex, data, force_segment=False):
         :raises canopen.SdoAbortedError:
             When node responds with an error.
         """
-        return self._node.set_data(index, subindex, data, check_writable=True)
+        return self._node.set_data(index, subindex, data)