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classic LSS scan #298

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classic LSS scan #298

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31 changes: 21 additions & 10 deletions canopen/lss.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@
CS_INQUIRE_REVISION_NUMBER,
CS_INQUIRE_SERIAL_NUMBER,
CS_INQUIRE_NODE_ID,
CS_IDENTIFY_REMOTE_SLAVE_SERIAL_NUMBER_HIGH,
]


Expand Down Expand Up @@ -228,12 +229,21 @@ def send_identify_remote_slave(self,

# TODO it should handle the multiple respones from slaves

self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_VENDOR_ID, vendorId)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_PRODUCT_CODE, productCode)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_REVISION_NUMBER_LOW, revisionNumberLow)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_REVISION_NUMBER_HIGH, revisionNumberHigh)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_SERIAL_NUMBER_LOW, serialNumberLow)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_SERIAL_NUMBER_HIGH, serialNumberHigh)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_VENDOR_ID, vendorId, nodelay=True)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_PRODUCT_CODE, productCode, nodelay=True)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_REVISION_NUMBER_LOW, revisionNumberLow, nodelay=True)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_REVISION_NUMBER_HIGH, revisionNumberHigh, nodelay=True)
self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_SERIAL_NUMBER_LOW, serialNumberLow, nodelay=True)
try:
response = self.__send_lss_address(CS_IDENTIFY_REMOTE_SLAVE_SERIAL_NUMBER_HIGH,
serialNumberHigh,
nodelay=True)
except LssError:
return False
cs = struct.unpack_from("<B", response)[0]
if cs == CS_IDENTIFY_SLAVE:
return True
return False

def send_identify_non_configured_remote_slave(self):
# TODO it should handle the multiple respones from slaves
Expand Down Expand Up @@ -296,15 +306,16 @@ def __send_fast_scan_message(self, id_number, bit_checker, lss_sub, lss_next):

return False

def __send_lss_address(self, req_cs, number):
def __send_lss_address(self, req_cs, number, nodelay=False):
message = bytearray(8)

message[0] = req_cs
message[1:5] = struct.pack('<I', number)
response = self.__send_command(message)
# some device needs these delays between messages
# because it can't handle messages arriving with no delay
time.sleep(0.2)
if not nodelay:
# some device needs these delays between messages
# because it can't handle messages arriving with no delay
time.sleep(0.2)

return response

Expand Down