Implemented the management for DOMAIN Objects

Changed to save whether a Variable has ObjectType==DOMAIN while importing an EDS, so that it is possible to export it unchanged.

Author: FedericoSpada

canopen/objectdictionary/__init__.py

@@ -364,6 +364,8 @@ def __init__(self, name: str, index: int, subindex: int = 0):
         self.data_type: Optional[int] = None
         #: Access type, should be "rw", "ro", "wo", or "const"
         self.access_type: str = "rw"
+        #: The variable represents a DOMAIN ObjectType
+        self.is_domain: bool = False
         #: Description of variable
         self.description: str = ""
         #: Dictionary of value descriptions

canopen/objectdictionary/eds.py

@@ -129,7 +129,7 @@ def import_eds(source, node_id):
                 storage_location = None
 
             if object_type in (objectcodes.VAR, objectcodes.DOMAIN):
-                var = build_variable(eds, section, node_id, index)
+                var = build_variable(eds, section, node_id, index, is_domain=object_type==objectcodes.DOMAIN)
                 od.add_object(var)
             elif object_type == objectcodes.ARRAY and eds.has_option(section, "CompactSubObj"):
                 arr = ODArray(name, index)
@@ -158,7 +158,11 @@ def import_eds(source, node_id):
             subindex = int(match.group(2), 16)
             entry = od[index]
             if isinstance(entry, (ODRecord, ODArray)):
-                var = build_variable(eds, section, node_id, index, subindex)
+                try:
+                    object_type = int(eds.get(section, "ObjectType"), 0)
+                except NoOptionError:
+                    object_type = objectcodes.VAR
+                var = build_variable(eds, section, node_id, index, subindex, is_domain=object_type==objectcodes.DOMAIN)
                 entry.add_member(var)
 
         # Match [index]Name
@@ -252,13 +256,14 @@ def _revert_variable(var_type, value):
         return f"0x{value:02X}"
 
 
-def build_variable(eds, section, node_id, index, subindex=0):
+def build_variable(eds, section, node_id, index, subindex=0, is_domain=False):
     """Creates a object dictionary entry.
     :param eds: String stream of the eds file
     :param section:
     :param node_id: Node ID
     :param index: Index of the CANOpen object
-    :param subindex: Subindex of the CANOpen object (if presente, else 0)
+    :param subindex: Subindex of the CANOpen object (if present, else 0)
+    :param is_domain: variable represents a DOMAIN ObjectType (if present, else False)
     """
     name = eds.get(section, "ParameterName")
     var = ODVariable(name, index, subindex)
@@ -268,6 +273,7 @@ def build_variable(eds, section, node_id, index, subindex=0):
         var.storage_location = None
     var.data_type = int(eds.get(section, "DataType"), 0)
     var.access_type = eds.get(section, "AccessType").lower()
+    var.is_domain = is_domain
     if var.data_type > 0x1B:
         # The object dictionary editor from CANFestival creates an optional object if min max values are used
         # This optional object is then placed in the eds under the section [A0] (start point, iterates for more)
@@ -370,7 +376,8 @@ def export_variable(var, eds):
             section = f"{var.index:04X}sub{var.subindex:X}"
 
         export_common(var, eds, section)
-        eds.set(section, "ObjectType", f"0x{objectcodes.VAR:X}")
+        object_type = objectcodes.DOMAIN if var.is_domain else objectcodes.VAR
+        eds.set(section, "ObjectType", f"0x{object_type:X}")
         if var.data_type:
             eds.set(section, "DataType", f"0x{var.data_type:04X}")
         if var.access_type:

test/sample.eds

@@ -1017,3 +1017,30 @@ PDOMapping=0x0
 Factor=ERROR
 Description=
 Unit=
+
+[3063]
+ParameterName=DOMAIN object
+ObjectType=0x2
+DataType=0x0007
+AccessType=rw
+PDOMapping=0
+
+[3064]
+ParameterName=Record with DOMAIN sub-object
+SubNumber=0x2
+ObjectType=0x9
+
+[3064sub0]
+ParameterName=Highest subindex
+ObjectType=0x7
+DataType=0x0005
+AccessType=ro
+DefaultValue=0x01
+PDOMapping=0
+
+[3064sub1]
+ParameterName=DOMAIN sub-object
+ObjectType=0x2
+DataType=0x0007
+AccessType=rw
+PDOMapping=0

test/test_eds.py

@@ -111,6 +111,7 @@ def test_variable(self):
         self.assertEqual(var.name, 'Producer heartbeat time')
         self.assertEqual(var.data_type, canopen.objectdictionary.UNSIGNED16)
         self.assertEqual(var.access_type, 'rw')
+        self.assertEqual(var.is_domain, False)
         self.assertEqual(var.default, 0)
         self.assertFalse(var.relative)
 
@@ -132,6 +133,7 @@ def test_record(self):
         self.assertEqual(var.subindex, 1)
         self.assertEqual(var.data_type, canopen.objectdictionary.UNSIGNED32)
         self.assertEqual(var.access_type, 'ro')
+        self.assertEqual(var.is_domain, False)
 
     def test_record_with_limits(self):
         int8 = self.od[0x3020]
@@ -166,6 +168,7 @@ def test_array_compact_subobj(self):
         self.assertEqual(var.subindex, 5)
         self.assertEqual(var.data_type, canopen.objectdictionary.UNSIGNED32)
         self.assertEqual(var.access_type, 'ro')
+        self.assertEqual(var.is_domain, False)
 
     def test_explicit_name_subobj(self):
         name = self.od[0x3004].name
@@ -197,6 +200,7 @@ def test_dummy_variable(self):
         self.assertEqual(var.name, 'Dummy0003')
         self.assertEqual(var.data_type, canopen.objectdictionary.INTEGER16)
         self.assertEqual(var.access_type, 'const')
+        self.assertEqual(var.is_domain, False)
         self.assertEqual(len(var), 16)
 
     def test_dummy_variable_undefined(self):
@@ -213,6 +217,39 @@ def test_reading_factor(self):
         self.assertEqual(var2.factor, 1)
         self.assertEqual(var2.unit, '')
 
+    def test_read_domain_object(self):
+        var = self.od[0x3063]
+        self.assertIsInstance(var, canopen.objectdictionary.ODVariable)
+        self.assertEqual(var.index, 0x3063)
+        self.assertEqual(var.subindex, 0)
+        self.assertEqual(var.name, 'DOMAIN object')
+        self.assertEqual(var.data_type, canopen.objectdictionary.UNSIGNED32)
+        self.assertEqual(var.access_type, 'rw')
+        self.assertEqual(var.is_domain, True)
+
+    def test_read_domain_subobject(self):
+        record = self.od[0x3064]
+        var = record[1]
+        self.assertIsInstance(var, canopen.objectdictionary.ODVariable)
+        self.assertEqual(var.index, 0x3064)
+        self.assertEqual(var.subindex, 1)
+        self.assertEqual(var.name, 'DOMAIN sub-object')
+        self.assertEqual(var.data_type, canopen.objectdictionary.UNSIGNED32)
+        self.assertEqual(var.access_type, 'rw')
+        self.assertEqual(var.is_domain, True)
+
+    def test_roundtrip_domain_objects(self):
+        # ObjectType==DOMAIN survive an EDS export/import round-trip
+        import io
+        with io.StringIO() as dest:
+            canopen.export_od(self.od, dest, 'eds')
+            dest.name = 'mock.eds'
+            dest.seek(0)
+            od2 = canopen.import_od(dest)
+        self.assertEqual(od2['Producer heartbeat time'].is_domain, False)
+        self.assertEqual(od2['Identity object']['Vendor-ID'].is_domain, False)
+        self.assertEqual(od2[0x3063].is_domain, True)
+        self.assertEqual(od2[0x3064][1].is_domain, True)
 
 
     def test_comments(self):