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NmtMaster: Delay heartbeat callbacks after state update (fixes #579) #601

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NmtMaster: Delay heartbeat callbacks after state update (fixes #579) #601

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14 changes: 8 additions & 6 deletions canopen/nmt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,14 +120,13 @@ def __init__(self, node_id: int):
self._callbacks: List[Callable[[int], None]] = []

def on_heartbeat(self, can_id, data, timestamp):
new_state, = struct.unpack_from("B", data)
# Mask out toggle bit
new_state &= 0x7F
logger.debug("Received heartbeat can-id %d, state is %d", can_id, new_state)

with self.state_update:
self.timestamp = timestamp
new_state, = struct.unpack_from("B", data)
# Mask out toggle bit
new_state &= 0x7F
logger.debug("Received heartbeat can-id %d, state is %d", can_id, new_state)
for callback in self._callbacks:
callback(new_state)
if new_state == 0:
# Boot-up, will go to PRE-OPERATIONAL automatically
self._state = 127
Expand All @@ -136,6 +135,9 @@ def on_heartbeat(self, can_id, data, timestamp):
self._state_received = new_state
self.state_update.notify_all()

for callback in self._callbacks:
callback(new_state)

def send_command(self, code: int):
"""Send an NMT command code to the node.

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