Merge 'master' into feature-asyncio

Author: sveinse

canopen/objectdictionary/__init__.py

@@ -133,7 +133,6 @@ def __getitem__(
         self, index: Union[int, str]
     ) -> Union[ODArray, ODRecord, ODVariable]:
         """Get object from object dictionary by name or index."""
-        # FIXME: See upstream #588
         item = self.names.get(index)
         if item is None:
             item = self.indices.get(index)
@@ -423,6 +422,12 @@ def add_bit_definition(self, name: str, bits: List[int]) -> None:
         """
         self.bit_definitions[name] = bits
 
+    @property
+    def fixed_size(self) -> bool:
+        """Indicate whether the amount of needed data is known in advance."""
+        # Only for types which we parse using a structure.
+        return self.data_type in self.STRUCT_TYPES
+
     def decode_raw(self, data: bytes) -> Union[int, float, str, bytes, bytearray]:
         if self.data_type == VISIBLE_STRING:
             # Strip any trailing NUL characters from C-based systems

canopen/sdo/client.py

@@ -142,9 +142,7 @@ def truncate_data(self, index: int, subindex: int, data: bytes, size: int) -> by
         var = self.od.get_variable(index, subindex)
         if var is not None:
             # Found a matching variable in OD
-            # If this is a data type (string, domain etc) the size is
-            # unknown anyway so keep the data as is
-            if var.data_type not in objectdictionary.DATA_TYPES:
+            if var.fixed_size:
                 # Get the size in bytes for this variable
                 var_size = len(var) // 8
                 if size is None or var_size < size:
@@ -727,7 +725,6 @@ def __init__(self, sdo_client, index, subindex=0, size=None, request_crc_support
         logger.debug("Server requested a block size of %d", self._blksize)
         self.crc_supported = bool(res_command & CRC_SUPPORTED)
         # Run this last, used later to determine if initialization was successful
-        # FIXME: Upstream #590
         self._initialized = True
 
     def write(self, b):
@@ -844,8 +841,7 @@ def close(self):
         if self.closed:
             return
         super(BlockDownloadStream, self).close()
-        # FIXME: Upstream #590
-        if not hasattr(self, "_initialized"):
+        if not getattr(self, "_initialized", False):
             # Don't do finalization if initialization was not successful
             return
         if not self._done:

canopen/sdo/server.py

@@ -69,7 +69,11 @@ def init_upload(self, request):
 
         data = self._node.get_data(index, subindex, check_readable=True)
         size = len(data)
-        if size <= 4:
+        if size == 0:
+            logger.info("No content to upload for 0x%04X:%02X", index, subindex)
+            self.abort(0x0800_0024)
+            return
+        elif size <= 4:
             logger.info("Expedited upload for 0x%04X:%02X", index, subindex)
             res_command |= EXPEDITED
             res_command |= (4 - size) << 2
@@ -124,7 +128,6 @@ def request_aborted(self, data):
     def block_download(self, data):
         # We currently don't support BLOCK DOWNLOAD
         # Unpack the index and subindex in order to send appropriate abort
-        # FIXME: See upstream #590
         command, index, subindex = SDO_STRUCT.unpack_from(data)
         self._index = index
         self._subindex = subindex

test/test_local.py

@@ -83,6 +83,18 @@ async def test_expedited_upload_default_value_real(self):
             sampling_rate = self.remote_node.sdo["Sensor Sampling Rate (Hz)"].raw
         self.assertAlmostEqual(sampling_rate, 5.2, places=2)
 
+    async def test_upload_zero_length(self):
+        if self.use_async:
+            await self.local_node.sdo["Manufacturer device name"].aset_raw(b"")
+            with self.assertRaises(canopen.SdoAbortedError) as error:
+                await self.remote_node.sdo["Manufacturer device name"].aget_data()
+        else:
+            self.local_node.sdo["Manufacturer device name"].raw = b""
+            with self.assertRaises(canopen.SdoAbortedError) as error:
+                self.remote_node.sdo["Manufacturer device name"].data
+        # Should be No data available
+        self.assertEqual(error.exception.code, 0x0800_0024)
+
     async def test_segmented_upload(self):
         if self.use_async:
             await self.local_node.sdo["Manufacturer device name"].aset_raw("Some cool device")

test/test_od.py

@@ -249,7 +249,6 @@ def test_get_item_dot(self):
         self.assertEqual(test_od["Test Array.Test Variable"], member1)
         self.assertEqual(test_od["Test Array.Test Variable 2"], member2)
 
-    # FIXME: See upstream #588
     def test_get_item_index(self):
         test_od = od.ObjectDictionary()
         array = od.ODArray("Test Array", 0x1000)

test/test_sdo.py

@@ -991,7 +991,6 @@ async def test_unknown_od_112(self):
 
     async def test_unknown_datatype32(self):
         """Test an unknown datatype, but known OD, of 32 bits (4 bytes)."""
-        self.skipTest("Datatype conditionals are not fixed yet, see #436")
         # Add fake entry 0x2100 to OD, using fake datatype 0xFF
         if 0x2100 not in self.node.object_dictionary:
             fake_var = ODVariable("Fake", 0x2100)
@@ -1009,7 +1008,6 @@ async def test_unknown_datatype32(self):
 
     async def test_unknown_datatype112(self):
         """Test an unknown datatype, but known OD, of 112 bits (14 bytes)."""
-        self.skipTest("Datatype conditionals are not fixed yet, see #436")
         # Add fake entry 0x2100 to OD, using fake datatype 0xFF
         if 0x2100 not in self.node.object_dictionary:
             fake_var = ODVariable("Fake", 0x2100)