fix type setter for pdos

Author: semiversus

CHANGELOG.md

@@ -1,3 +1,7 @@
+# 0.4.12
+
+* update object dictionary on type change in PDOs
+
 # 0.4.11
 
 * check limits for numeric datatypes when using `object_dictionary.write`

src/durand/services/pdo/rpdo.py

@@ -54,6 +54,7 @@ def __init__(self, node: "Node", index: int):
     def _set_transmission_type(self, value: int):
         self._deactivate_mapping()
         self._transmission_type = value
+        self._node.object_dictionary.write(0x1400 + self._index, 2, value)
         self._activate_mapping()
 
     def _update_od_cob_id(self):

src/durand/services/pdo/tpdo.py

@@ -130,6 +130,8 @@ def _set_transmission_type(self, value: int):
 
         self._transmission_type = value
 
+        self._node.object_dictionary.write(0x1800 + self._index, 2, value)
+
     def _update_inhibit_time(self, value: int):
         if self._inhibit_timer:
             self._inhibit_timer.cancel()
@@ -147,7 +149,7 @@ def inhibit_time(self):
 
     @inhibit_time.setter
     def inhibit_time(self, value: float):
-        return self._node.object_dictionary.write(
+        self._node.object_dictionary.write(
             0x1800 + self._index, 3, value * 10_000
         )
 

tests/example_based/test_rpdo_sync.py

@@ -15,13 +15,12 @@ def test_rpdo_sync():
     # add a variable with index 0x2000 to the object dictionary of the node
     node.object_dictionary[0x2000] = Variable(DT.INTEGER16, "rw", value=5)
 
+    node.rpdo[0].transmission_type = 0  # set transmission type to sync
+
     # receive PDO message after changing into Operational state
     network.test(
         [   TxMsg(0x702, "00"),  # boot-up message from NMT
 
-            RxMsg(0x602, "2F 00 14 02 00 00 00 00"),  # set transmission type to 0
-            TxMsg(0x582, "60 00 14 02 00 00 00 00"),  # response (acknowledge)
-
             RxMsg(0x602, "23 00 16 01 02 00 00 20"),  # set mapping of 0x2000:0
             TxMsg(0x582, "60 00 16 01 00 00 00 00"),  # response (acknowledge)
 
@@ -31,7 +30,10 @@ def test_rpdo_sync():
             RxMsg(0x000, "80 00"),  # set NMT Pre-Operational state
             RxMsg(0x000, "01 00"),  # set NMT Operational state
 
-            RxMsg(0x202, "02 00")  # receive the PDO message (will be ignored until sync)
+            RxMsg(0x202, "02 00"),  # receive the PDO message (will be ignored until sync)
+
+            RxMsg(0x602, "40 00 14 02 00 00 00 00"),  # get transmission type
+            TxMsg(0x582, "4F 00 14 02 00 00 00 00"),  # receive type 0
         ]
     )