fix NMT states for SDO server

Author: semiversus

CHANGELOG.md

@@ -1,3 +1,19 @@
+# 0.4.4
+
+* fix SDO server startup when entering OPERATIONAL directly
+
+## 0.4.3
+
+* fix eds generation
+
+## 0.4.2
+
+* fix size in PDO mapping (it's bits not bytes)
+
+## 0.4.1
+
+* fix eds format datatype
+
 ## 0.4.0
 
 * rename "adapter" to "network"

src/durand/object_dictionary.py

@@ -189,7 +189,7 @@ def lookup(self, index: int, subindex: int = None) -> TObject:
             return obj[subindex]
 
     def write(self, index: int, subindex: int, value: Any, downloaded: bool = False):
-        """ Write the given value to the according variable.
+        """Write the given value to the according variable.
         WARNING: The datatype and range has to be checked before calling this function!
 
         :param index: object index
@@ -198,7 +198,9 @@ def write(self, index: int, subindex: int, value: Any, downloaded: bool = False)
         :param downloaded: flag is set, when the write is caused by an actual download
                            (instead of a internal value change)
         """
-        assert isinstance(value, (bytes, bool, int, float)), 'Only bytes, bool, int or float are allowed in object dictionary'
+        assert isinstance(
+            value, (bytes, bool, int, float)
+        ), "Only bytes, bool, int or float are allowed in object dictionary"
 
         if index in self._variables:
             multiplexor = (index, 0)

src/durand/services/sdo/server.py

@@ -1,6 +1,6 @@
 import struct
 from enum import Enum
-from typing import TYPE_CHECKING, Tuple
+from typing import TYPE_CHECKING
 import logging
 
 from durand.datatypes import DatatypeEnum as DT
@@ -32,6 +32,7 @@ class SDOServer:
     def __init__(self, node: "Node", index=0):
         self._node = node
         self._index = index
+        self._stopped = True
 
         from .download import DownloadManager
         from .upload import UploadManager
@@ -84,28 +85,41 @@ def __init__(self, node: "Node", index=0):
             2: self.upload_manager.init_upload,
             3: self.upload_manager.upload_segment,
             5: self.upload_manager.init_upload,
-            6: self._handle_download_block
+            6: self._handle_download_block,
         }
 
     @property
     def node(self):
         return self._node
 
     def _update_subscription(self, state: StateEnum):
-        if state == StateEnum.STOPPED:
+        if not self._stopped and state == StateEnum.STOPPED:
             self._node.network.remove_subscription(self._cob_rx)
-        elif state == StateEnum.PRE_OPERATIONAL and not (
-            self._cob_rx | self._cob_tx
-        ) & (1 << 31):
+            self._stopped = True
+            return
+
+        if (
+            self._stopped
+            and state in (StateEnum.PRE_OPERATIONAL, StateEnum.OPERATIONAL)
+            and not (self._cob_rx | self._cob_tx) & (1 << 31)
+        ):
             self._node.network.add_subscription(self._cob_rx, self.handle_msg)
+            self._stopped = False
 
     def _update_node(self, state: StateEnum):
-        if state == StateEnum.STOPPED:
+        if not self._stopped and state == StateEnum.STOPPED:
             self._node.network.remove_subscription(self._cob_rx)
-        elif state == StateEnum.PRE_OPERATIONAL:
+            self._stopped = True
+            return
+
+        if self._stopped and state in (
+            StateEnum.PRE_OPERATIONAL,
+            StateEnum.OPERATIONAL,
+        ):
             self._cob_rx = 0x600 + self._node.node_id
             self._cob_tx = 0x580 + self._node.node_id
             self._node.network.add_subscription(self._cob_rx, self.handle_msg)
+            self._stopped = False
 
     def _update_cob_rx(self, value: int):
         # bit 31: 0 - valid, 1 - invalid
@@ -182,7 +196,7 @@ def handle_msg(self, cob_id: int, msg: bytes) -> None:
             try:
                 return self._handle_cs_dict[ccs](msg)
             except KeyError as exc:  # ccs not found
-                raise SDODomainAbort(0x05040001) from exc # SDO command not implemented
+                raise SDODomainAbort(0x05040001) from exc  # SDO command not implemented
         except SDODomainAbort as exc:
             index, subindex = 0, 0
             if exc.multiplexor: