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Improvements for version v1.2 #7

Merged
merged 29 commits into from
Jun 30, 2024
Merged

Improvements for version v1.2 #7

merged 29 commits into from
Jun 30, 2024

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samsamfire
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This PR brings a lot of refactoring, changes & functionnalities.

Refactoring:

  • Merge all configurators into one configurator with all the methods
  • Added constants for standard CANopen entries, for readability
  • Consistency in commenting
  • NewEM renamed to NewEMCY for consistency
  • monitoredNode renamed to hbConsumerEntry for consistency, also some improvements around creation.
  • cmd renamed to examples
  • fix some linting errors reported by staticcheck
  • updated README

Changes:

  • PDO configuration uses a pdo nb which corresponds either to RPDO (1<=nb<=256) or TPDO (257<=nb<=512)

Fixes:

  • Add check for emergency when creating PDO with New*PDO, because can be called later.
  • Real32 & Real64 where incorrectly parsed
  • Don't crash if TIME object not initialized properly
  • SYNC consumer was not working correctly when communication cycle period was 0

Added:

  • New "socketcanv2" driver, which should improve performance by using unsafe package
  • Octet string handled
  • Added callbacks for heartbeat events (loss, reboot, ...)

samsamfire added 29 commits April 29, 2024 23:30
@samsamfire
Refactored : Added documentation for Handle and Process functions of …
8f1409f 
…each CANopen object, consistency between all objects.

Refactored : Minor simplification in TIME object to reduce indentation
@samsamfire
Fixed : Force check on creation of PDO objects for emergency consumer…
72ccd42 
…. Renamed to "emcy"
@samsamfire
Changed : added some constant names for specific indexes
4607022
@samsamfire
Refactored : Regrouped all configurations into configurator
90b3f6e
@samsamfire
Refactored : adapted with new naming
c461774 
Refactored : changed PDO to use new configuration
@samsamfire
Added : adding new socketcan driver that reduces CPU load by doing di…
985701a 
…rect go - c byte translations using unsafe package
@samsamfire
Fixed : real32 & real64 where incorrectly parsed. Fixed, and added te…
1ceb5cf 
…sts.

Fixed : OCTET_STRING was not handled
@samsamfire
Fixed : Don't crash if TIME object not correctly initialized
91af2e3
@samsamfire
Changed : updated node tests to fit with new configurator
6368d6f
@samsamfire
Added : add doc on SDO
4d96966
@samsamfire
Added : re-added config/general.go for general node information
f1fb28c
@samsamfire
Refactored : moved requirements.txt inside of python tests
d43d91a
@samsamfire
Fixed : SYNC consumer was not working correctly when communication cy…
805316d 
…cle period was 0. Added regression test

Changed : Improved log around changing SYNC cob id
@samsamfire
Fixed : update eds to use float & updated corresponding tests
33f9eae 
Changed : removed duplicate test
@samsamfire
Refactored : renamed monitoredNode to hbConsumerEntry for clarity
dcf7af7 
Refactored : removed nbMonitoredNodes as this corresponds to length of hbConsumerEntry
Refactored : added update method for hbConsumerEntry
Changed : do not re-create a hbConsumerEntry, only update it ==> for upcoming change & usage of callbacks
@samsamfire
Added : added heartbeat event callbacks : heartbeat loss, reset, nmt …
81bb02d 
…change, startup ==> Added relevant tests, one is failing currently
@samsamfire
Fixed : heartbeat tests should now be passing
92b64b3
@samsamfire
Changed : improved logs around NMT to check if TX or RX
8470820
@samsamfire
Refactored : use entry index constants instead of hardcoded values
326c131
@samsamfire
Refactored : changed NewEM to NewEMCY for consistency, removed unnece…
b920f00 
…ssary checks
@samsamfire
Refactored : removed unused var in TIME
5316258
@samsamfire
Refactored : renamed cmd to examples
cf90e6a
@samsamfire
Refactored : improve consistency in config
5c980e8
@samsamfire
Refactored : starting fixing errors reported by linting (no error che…
f151314 
…cks, nil checks etc)
@samsamfire
Changed : updated go to 1.22
ac6e7ce 
Refactored : use new "range" over number where possible
@samsamfire
Update github workflow for integration test
f52d916
@samsamfire
Fixed : Update github workflow requirements.txt path for integration …
74bc0b3 
…tests
@samsamfire
Fixed : wrong path for requirements.txt
d9350ad
@samsamfire
Changed : updated README to fix some inconsistencies, added scan & lo…
2503449 
…cal node creation in main example.

Changed : changed default eds file name to gocanopen, and changed creation/modification date to now.
@samsamfire samsamfire merged commit a39b8f6 into main Jun 30, 2024
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