Handle booleans in PDO correctly

Fixes #104
christiansandberg · Mar 20, 2019 · f6a35e3 · f6a35e3 · Sandyman · Mar 26, 2019
1 parent 16c8c11
commit f6a35e3
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Showing 3 changed files with 33 additions and 3 deletions.
diff --git a/canopen/pdo/base.py b/canopen/pdo/base.py
@@ -495,7 +495,11 @@ def get_data(self):
 
         if bit_offset or self.length % 8:
             # Need information of the current variable type (unsigned vs signed)
-            od_struct = self.od.STRUCT_TYPES[self.od.data_type]
+            data_type = self.od.data_type
+            if data_type == objectdictionary.BOOLEAN:
+                # A boolean type needs to be treated as an U08
+                data_type = objectdictionary.UNSIGNED8
+            od_struct = self.od.STRUCT_TYPES[data_type]
             data = od_struct.unpack_from(self.pdo_parent.data, byte_offset)[0]
             # Shift and mask to get the correct values
             data = (data >> bit_offset) & ((1 << self.length) - 1)
@@ -521,7 +525,11 @@ def set_data(self, data):
         if bit_offset or self.length % 8:
             cur_msg_data = self.pdo_parent.data[byte_offset:byte_offset + len(self.od) // 8]
             # Need information of the current variable type (unsigned vs signed)
-            od_struct = self.od.STRUCT_TYPES[self.od.data_type]
+            data_type = self.od.data_type
+            if data_type == objectdictionary.BOOLEAN:
+                # A boolean type needs to be treated as an U08
+                data_type = objectdictionary.UNSIGNED8
+            od_struct = self.od.STRUCT_TYPES[data_type]
             cur_msg_data = od_struct.unpack(cur_msg_data)[0]
             # data has to have the same size as old_data
             data = od_struct.unpack(data)[0]

diff --git a/test/sample.eds b/test/sample.eds
@@ -821,6 +821,20 @@ DataType=0x0004
 AccessType=rw
 PDOMapping=1
 
+[2005]
+ParameterName=BOOLEAN value
+ObjectType=0x7
+DataType=0x0001
+AccessType=rw
+PDOMapping=1
+
+[2006]
+ParameterName=BOOLEAN value 2
+ObjectType=0x7
+DataType=0x0001
+AccessType=rw
+PDOMapping=1
+
 [3002]
 ParameterName=Sensor Sampling Rate (Hz)
 ObjectType=0x7

diff --git a/test/test_pdo.py b/test/test_pdo.py
@@ -14,27 +14,35 @@ def test_bit_mapping(self):
         map.add_variable('UNSIGNED8 value', length=4)  # 0x2002
         map.add_variable('INTEGER8 value', length=4)  # 0x2003
         map.add_variable('INTEGER32 value')  # 0x2004
+        map.add_variable('BOOLEAN value', length=1)  # 0x2005
+        map.add_variable('BOOLEAN value 2', length=1)  # 0x2006
 
         # Write some values
         map['INTEGER16 value'].raw = -3
         map['UNSIGNED8 value'].raw = 0xf
         map['INTEGER8 value'].raw = -2
         map['INTEGER32 value'].raw = 0x01020304
+        map['BOOLEAN value'].raw = False
+        map['BOOLEAN value 2'].raw = True
 
         # Check expected data
-        self.assertEqual(map.data, b'\xfd\xff\xef\x04\x03\x02\x01')
+        self.assertEqual(map.data, b'\xfd\xff\xef\x04\x03\x02\x01\x02')
 
         # Read values from data
         self.assertEqual(map['INTEGER16 value'].raw, -3)
         self.assertEqual(map['UNSIGNED8 value'].raw, 0xf)
         self.assertEqual(map['INTEGER8 value'].raw, -2)
         self.assertEqual(map['INTEGER32 value'].raw, 0x01020304)
+        self.assertEqual(map['BOOLEAN value'].raw, False)
+        self.assertEqual(map['BOOLEAN value 2'].raw, True)
 
         self.assertEqual(node.tpdo[1]['INTEGER16 value'].raw, -3)
         self.assertEqual(node.tpdo[1]['UNSIGNED8 value'].raw, 0xf)
         self.assertEqual(node.tpdo[1]['INTEGER8 value'].raw, -2)
         self.assertEqual(node.tpdo[1]['INTEGER32 value'].raw, 0x01020304)
         self.assertEqual(node.tpdo['INTEGER32 value'].raw, 0x01020304)
+        self.assertEqual(node.tpdo[1]['BOOLEAN value'].raw, False)
+        self.assertEqual(node.tpdo[1]['BOOLEAN value 2'].raw, True)
 
         # Test diferent types of access
         self.assertEqual(node.pdo[0x1600]['INTEGER16 value'].raw, -3)