Metadata-Version: 2.4
Name: canopen
Version: 0.0.0
Summary: CANopen stack implementation
Author-email: Christian Sandberg <christiansandberg@me.com>, André Colomb <src@andre.colomb.de>, André Filipe Silva <afsilva.work@gmail.com>
License: MIT License
        
        Copyright (c) 2016 Christian Sandberg
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
        in the Software without restriction, including without limitation the rights
        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
        copies or substantial portions of the Software.
        
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
        SOFTWARE.
        
Project-URL: documentation, https://canopen.readthedocs.io/en/stable/
Project-URL: repository, https://github.com/christiansandberg/canopen
Classifier: Development Status :: 5 - Production/Stable
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3 :: Only
Classifier: Intended Audience :: Developers
Classifier: Topic :: Scientific/Engineering
Requires-Python: >=3.8
Description-Content-Type: text/x-rst
License-File: LICENSE.txt
Requires-Dist: python-can>=3.0.0
Dynamic: license-file

CANopen for Python
==================

A Python implementation of the CANopen_ standard.
The aim of the project is to support the most common parts of the CiA 301
standard in a simple Pythonic interface. It is mainly targeted for testing and
automation tasks rather than a standard compliant master implementation.

The library supports Python 3.6+.


Features
--------

The library is mainly meant to be used as a master.

* NMT master
* SDO client
* PDO producer/consumer
* SYNC producer
* EMCY consumer
* TIME producer
* LSS master
* Object Dictionary from EDS
* 402 profile support

Incomplete support for creating slave nodes also exists.

* SDO server
* PDO producer/consumer
* NMT slave
* EMCY producer
* Object Dictionary from EDS


Installation
------------

Install from PyPI_ using pip::

    $ pip install canopen

Install from latest master on GitHub::

    $ pip install https://github.com/christiansandberg/canopen/archive/master.zip

If you want to be able to change the code while using it, clone it then install
it in `develop mode`_::

    $ git clone https://github.com/christiansandberg/canopen.git
    $ cd canopen
    $ pip install -e .

Unit tests can be run using the pytest_ framework::

    $ pip install pytest
    $ pytest -v

Documentation
-------------

Documentation can be found on Read the Docs:

http://canopen.readthedocs.io/en/latest/

It can also be generated from a local clone using Sphinx_::

    $ python setup.py build_sphinx


Hardware support
----------------

This library supports multiple hardware and drivers through the python-can_ package.
See `the list of supported devices <https://python-can.readthedocs.io/en/stable/configuration.html#interface-names>`_.

It is also possible to integrate this library with a custom backend.


Quick start
-----------

Here are some quick examples of what you can do:

The PDOs can be access by three forms:

**1st:** :code:`node.tpdo[n]` or :code:`node.rpdo[n]`

**2nd:** :code:`node.pdo.tx[n]` or :code:`node.pdo.rx[n]`

**3rd:** :code:`node.pdo[0x1A00]` or :code:`node.pdo[0x1600]`

The :code:`n` is the PDO index (normally 1 to 4). The second form of access is for backward compatibility.

.. code-block:: python

    import canopen

    # Start with creating a network representing one CAN bus
    network = canopen.Network()

    # Add some nodes with corresponding Object Dictionaries
    node = canopen.RemoteNode(6, '/path/to/object_dictionary.eds')
    network.add_node(node)

    # Connect to the CAN bus
    # Arguments are passed to python-can's can.Bus() constructor
    # (see https://python-can.readthedocs.io/en/latest/bus.html).
    network.connect()
    # network.connect(bustype='socketcan', channel='can0')
    # network.connect(bustype='kvaser', channel=0, bitrate=250000)
    # network.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
    # network.connect(bustype='ixxat', channel=0, bitrate=250000)
    # network.connect(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)
    # network.connect(bustype='nican', channel='CAN0', bitrate=250000)

    # Read a variable using SDO
    device_name = node.sdo['Manufacturer device name'].raw
    vendor_id = node.sdo[0x1018][1].raw

    # Write a variable using SDO
    node.sdo['Producer heartbeat time'].raw = 1000

    # Read PDO configuration from node
    node.tpdo.read()
    node.rpdo.read()
    # Re-map TPDO[1]
    node.tpdo[1].clear()
    node.tpdo[1].add_variable('Statusword')
    node.tpdo[1].add_variable('Velocity actual value')
    node.tpdo[1].add_variable('Some group', 'Some subindex')
    node.tpdo[1].trans_type = 254
    node.tpdo[1].event_timer = 10
    node.tpdo[1].enabled = True
    # Save new PDO configuration to node
    node.tpdo[1].save()

    # Transmit SYNC every 100 ms
    network.sync.start(0.1)

    # Change state to operational (NMT start)
    node.nmt.state = 'OPERATIONAL'

    # Read a value from TPDO[1]
    node.tpdo[1].wait_for_reception()
    speed = node.tpdo[1]['Velocity actual value'].phys
    val = node.tpdo['Some group.Some subindex'].raw

    # Disconnect from CAN bus
    network.sync.stop()
    network.disconnect()


Debugging
---------

If you need to see what's going on in better detail, you can increase the
logging_ level:

.. code-block:: python

    import logging
    logging.basicConfig(level=logging.DEBUG)


.. _PyPI: https://pypi.org/project/canopen/
.. _CANopen: https://www.can-cia.org/canopen/
.. _python-can: https://python-can.readthedocs.org/en/stable/
.. _Sphinx: http://www.sphinx-doc.org/
.. _develop mode: https://packaging.python.org/distributing/#working-in-development-mode
.. _logging: https://docs.python.org/3/library/logging.html
.. _pytest: https://docs.pytest.org/
