CANopen network client in Python

This application acts as a CANopen network client. It connects to a CANopen gateway either through a Unix domain or TCP socket.

The application is meant to be a pure Python based drop-in replacement for canopencomm, the latter being part of the CANopenSocket repository.

Using this application

Mostly you can follow the README of the CANopenSocket repository to setup a working CANopen gateway and network client. Use this application as replacement for canopencomm.

This application takes input and sends it over to the CANopen gateway who will translate the message into the CANopen network. The input commands can either be passed into the application as command line arguments, as a file, or read from stdin. The network connection can be either a UNIX domain socket (Linux only) or TCP socket (Windows and Linux).

Through the command line

$ python cocomm.py 4 start

From a file

First create a file containing your commands. For example, mycommands.txt:

4 start
3 start

The commands will be executed line by line:

$ python cocomm.py -f mycommands.txt

From stdin

$ python cocomm.py
4 start

Press enter after each command to send. The reply should appear swiftly. Enter exit to exit the application.

Unix domain socket

The appliction uses will by default use a Unix domain socket at /tmp/CO_command_socket to connect to the gateway. You can override that socket file:

$ python cocomm.py -s /tmp/mysocket

TCP socket

For remote execution or for Windows machines this option comes in handy. By default port 60000 is used but both hostname/ip and port can be used defined:

$ python cocomm.py -t 192.168.0.10 -p 5000