eds: Add first-class support for CiA 306 ObjFlags and Denotation

canopen/objectdictionary/__init__.py

@@ -208,11 +208,16 @@ def __init__(self, name: str, index: int):
         self.name = name
         #: Storage location of index
         self.storage_location: Optional[str] = None
+        #: CiA 306 ObjFlags bitfield
+        self.obj_flags: int = 0
+        #: CiA 306 Denotation string (DCF only)
+        self.denotation: str = ""
         self.subindices: dict[int, ODVariable] = {}
         self.names: dict[str, ODVariable] = {}
 
     def __repr__(self) -> str:
-        return f"<{type(self).__qualname__} {self.name!r} at {pretty_index(self.index)}>"
+        flags = f" flags=0x{self.obj_flags:X}" if self.obj_flags else ""
+        return f"<{type(self).__qualname__} {self.name!r} at {pretty_index(self.index)}{flags}>"
 
     def __getitem__(self, subindex: Union[int, str]) -> ODVariable:
         item = self.names.get(subindex) or self.subindices.get(subindex)
@@ -269,11 +274,16 @@ def __init__(self, name: str, index: int):
         self.name = name
         #: Storage location of index
         self.storage_location: Optional[str] = None
+        #: CiA 306 ObjFlags bitfield
+        self.obj_flags: int = 0
+        #: CiA 306 Denotation string (DCF only)
+        self.denotation: str = ""
         self.subindices: dict[int, ODVariable] = {}
         self.names: dict[str, ODVariable] = {}
 
     def __repr__(self) -> str:
-        return f"<{type(self).__qualname__} {self.name!r} at {pretty_index(self.index)}>"
+        flags = f" flags=0x{self.obj_flags:X}" if self.obj_flags else ""
+        return f"<{type(self).__qualname__} {self.name!r} at {pretty_index(self.index)}{flags}>"
 
     def __getitem__(self, subindex: Union[int, str]) -> ODVariable:
         var = self.names.get(subindex) or self.subindices.get(subindex)
@@ -379,12 +389,17 @@ def __init__(self, name: str, index: int, subindex: int = 0):
         self.bit_definitions: dict[str, list[int]] = {}
         #: Storage location of index
         self.storage_location: Optional[str] = None
+        #: CiA 306 ObjFlags bitfield
+        self.obj_flags: int = 0
+        #: CiA 306 Denotation string (DCF only)
+        self.denotation: str = ""
         #: Can this variable be mapped to a PDO
         self.pdo_mappable = False
 
     def __repr__(self) -> str:
         subindex = self.subindex if isinstance(self.parent, (ODRecord, ODArray)) else None
-        return f"<{type(self).__qualname__} {self.qualname!r} at {pretty_index(self.index, subindex)}>"
+        flags = f" flags=0x{self.obj_flags:X}" if self.obj_flags else ""
+        return f"<{type(self).__qualname__} {self.qualname!r} at {pretty_index(self.index, subindex)}{flags}>"
 
     @property
     def qualname(self) -> str:

canopen/objectdictionary/eds.py

@@ -3,7 +3,9 @@
 import copy
 import logging
 import re
+import sys
 from configparser import NoOptionError, NoSectionError, RawConfigParser
+from datetime import datetime as dt
 from typing import TYPE_CHECKING
 
 from canopen.objectdictionary import (
@@ -24,7 +26,8 @@
 
 def import_eds(source, node_id):
     eds = RawConfigParser(inline_comment_prefixes=(';',))
-    eds.optionxform = str
+    eds.optionxform = str  # type: ignore[assignment]
+    fp = None
     opened_here = False
     try:
         if hasattr(source, "read"):
@@ -35,7 +38,7 @@ def import_eds(source, node_id):
         eds.read_file(fp)
     finally:
         # Only close object if opened in this fn
-        if opened_here:
+        if opened_here and fp is not None:
             fp.close()
 
     od = ObjectDictionary()
@@ -139,14 +142,20 @@ def import_eds(source, node_id):
                 arr.add_member(last_subindex)
                 arr.add_member(build_variable(eds, section, node_id, object_type, index, 1))
                 arr.storage_location = storage_location
+                arr.obj_flags = _get_obj_flags(eds, section)
+                arr.denotation = eds.get(section, "Denotation") if eds.has_option(section, "Denotation") else ""
                 od.add_object(arr)
             elif object_type == objectcodes.ARRAY:
                 arr = ODArray(name, index)
                 arr.storage_location = storage_location
+                arr.obj_flags = _get_obj_flags(eds, section)
+                arr.denotation = eds.get(section, "Denotation") if eds.has_option(section, "Denotation") else ""
                 od.add_object(arr)
             elif object_type == objectcodes.RECORD:
                 record = ODRecord(name, index)
                 record.storage_location = storage_location
+                record.obj_flags = _get_obj_flags(eds, section)
+                record.denotation = eds.get(section, "Denotation") if eds.has_option(section, "Denotation") else ""
                 od.add_object(record)
 
             continue
@@ -171,8 +180,10 @@ def import_eds(source, node_id):
             index = int(match.group(1), 16)
             num_of_entries = int(eds.get(section, "NrOfEntries"))
             entry = od[index]
+            if not isinstance(entry, (ODRecord, ODArray)):
+                continue
             # For CompactSubObj index 1 is were we find the variable
-            src_var = od[index][1]
+            src_var = entry[1]
             for subindex in range(1, num_of_entries + 1):
                 var = copy_variable(eds, section, subindex, src_var)
                 if var is not None:
@@ -258,6 +269,15 @@ def _revert_variable(var_type, value):
         return f"0x{value:02X}"
 
 
+def _get_obj_flags(eds, section):
+    if eds.has_option(section, "ObjFlags"):
+        try:
+            return int(eds.get(section, "ObjFlags"), 0)
+        except ValueError:
+            pass
+    return 0
+
+
 def build_variable(
     eds: RawConfigParser,
     section: str,
@@ -321,16 +341,16 @@ def build_variable(
             pass
     if eds.has_option(section, "DefaultValue"):
         try:
-            var.default_raw = eds.get(section, "DefaultValue")
-            if '$NODEID' in var.default_raw:
+            var.default_raw = eds.get(section, "DefaultValue")  # type: ignore[attr-defined]
+            if '$NODEID' in var.default_raw:  # type: ignore[attr-defined]
                 var.relative = True
-            var.default = _convert_variable(node_id, var.data_type, var.default_raw)
+            var.default = _convert_variable(node_id, var.data_type, var.default_raw)  # type: ignore[assignment,attr-defined]
         except ValueError:
             pass
     if eds.has_option(section, "ParameterValue"):
         try:
-            var.value_raw = eds.get(section, "ParameterValue")
-            var.value = _convert_variable(node_id, var.data_type, var.value_raw)
+            var.value_raw = eds.get(section, "ParameterValue")  # type: ignore[attr-defined]
+            var.value = _convert_variable(node_id, var.data_type, var.value_raw)  # type: ignore[assignment,attr-defined]
         except ValueError:
             pass
     # Factor, Description and Unit are not standard according to the CANopen specifications, but
@@ -350,6 +370,9 @@ def build_variable(
             var.unit = eds.get(section, "Unit")
         except ValueError:
             pass
+    var.obj_flags = _get_obj_flags(eds, section)
+    if eds.has_option(section, "Denotation"):
+        var.denotation = eds.get(section, "Denotation")
     return var
 
 
@@ -425,23 +448,31 @@ def export_variable(var, eds):
         if getattr(var, 'unit', '') != '':
             eds.set(section, "Unit", var.unit)
 
+        if getattr(var, 'obj_flags', 0) != 0:
+            eds.set(section, "ObjFlags", f"0x{var.obj_flags:X}")
+        if device_commisioning and getattr(var, 'denotation', '') != '':
+            eds.set(section, "Denotation", var.denotation)
+
     def export_record(var, eds):
         section = f"{var.index:04X}"
         export_common(var, eds, section)
         eds.set(section, "SubNumber", f"0x{len(var.subindices):X}")
         ot = objectcodes.RECORD if isinstance(var, ODRecord) else objectcodes.ARRAY
         eds.set(section, "ObjectType", f"0x{ot:X}")
+        if getattr(var, 'obj_flags', 0) != 0:
+            eds.set(section, "ObjFlags", f"0x{var.obj_flags:X}")
+        if device_commisioning and getattr(var, 'denotation', '') != '':
+            eds.set(section, "Denotation", var.denotation)
         for i in var:
             export_variable(var[i], eds)
 
     export_array = export_record
 
     eds = RawConfigParser()
     # both disables lowercasing, and allows int keys
-    eds.optionxform = str
+    eds.optionxform = str  # type: ignore[assignment]
 
-    from datetime import datetime as dt
-    defmtime = dt.utcnow()
+    defmtime = dt.now()
 
     try:
         # only if eds was loaded by us
@@ -450,12 +481,12 @@ def export_record(var, eds):
         origFileInfo = {
             # just set some defaults
             "CreationDate": defmtime.strftime("%m-%d-%Y"),
-            "CreationTime": defmtime.strftime("%I:%m%p"),
+            "CreationTime": defmtime.strftime("%I:%M%p"),
             "EdsVersion": 4.2,
         }
 
     file_info.setdefault("ModificationDate", defmtime.strftime("%m-%d-%Y"))
-    file_info.setdefault("ModificationTime", defmtime.strftime("%I:%m%p"))
+    file_info.setdefault("ModificationTime", defmtime.strftime("%I:%M%p"))
     for k, v in origFileInfo.items():
         file_info.setdefault(k, v)
 
@@ -485,34 +516,36 @@ def export_record(var, eds):
             continue
         elif isinstance(val, str):
             eds.set("DeviceInfo", eprop, val)
-        elif isinstance(val, (int, bool)):
-            eds.set("DeviceInfo", eprop, int(val))
+        elif isinstance(val, bool):
+            eds.set("DeviceInfo", eprop, str(int(val)))
+        elif isinstance(val, int):
+            eds.set("DeviceInfo", eprop, str(val))
 
     # we are also adding out of spec baudrates here.
     for rate in od.device_information.allowed_baudrates.union(
             {10e3, 20e3, 50e3, 125e3, 250e3, 500e3, 800e3, 1000e3}):
         eds.set(
             "DeviceInfo", f"BaudRate_{int(rate//1000)}",
-            int(rate in od.device_information.allowed_baudrates))
+            str(int(rate in od.device_information.allowed_baudrates)))
 
     if device_commisioning and (od.bitrate or od.node_id):
         eds.add_section("DeviceComissioning")
         if od.bitrate:
-            eds.set("DeviceComissioning", "Baudrate", int(od.bitrate / 1000))
+            eds.set("DeviceComissioning", "Baudrate", str(od.bitrate // 1000))
         if od.node_id:
-            eds.set("DeviceComissioning", "NodeID", int(od.node_id))
+            eds.set("DeviceComissioning", "NodeID", str(od.node_id))
 
     eds.add_section("Comments")
     i = 0
     for line in od.comments.splitlines():
         i += 1
         eds.set("Comments", f"Line{i}", line)
-    eds.set("Comments", "Lines", i)
+    eds.set("Comments", "Lines", str(i))
 
     eds.add_section("DummyUsage")
     for i in range(1, 8):
         key = f"Dummy{i:04d}"
-        eds.set("DummyUsage", key, 1 if (key in od) else 0)
+        eds.set("DummyUsage", key, str(1 if (key in od) else 0))
 
     def mandatory_indices(x):
         return x in {0x1000, 0x1001, 0x1018}
@@ -533,9 +566,9 @@ def optional_indices(x):
 
     def add_list(section, list):
         eds.add_section(section)
-        eds.set(section, "SupportedObjects", len(list))
+        eds.set(section, "SupportedObjects", str(len(list)))
         for i in range(0, len(list)):
-            eds.set(section, (i + 1), f"0x{list[i]:04X}")
+            eds.set(section, str(i + 1), f"0x{list[i]:04X}")
         for index in list:
             export_object(od[index], eds)
 
@@ -544,7 +577,6 @@ def add_list(section, list):
     add_list("ManufacturerObjects", supported_manufacturer_indices)
 
     if not dest:
-        import sys
         dest = sys.stdout
 
     eds.write(dest, False)

test/sample.eds

@@ -1025,6 +1025,14 @@ DataType=0x0007
 AccessType=rw
 PDOMapping=0
 
+[3060]
+ParameterName=Object with ObjFlags
+ObjectType=0x7
+DataType=0x0007
+AccessType=rw
+PDOMapping=0
+ObjFlags=0x1
+
 [3064]
 ParameterName=Record with DOMAIN sub-object
 SubNumber=0x2
@@ -1044,3 +1052,24 @@ ObjectType=0x2
 DataType=0x0007
 AccessType=rw
 PDOMapping=0
+
+[3065]
+ParameterName=Record with ObjFlags
+ObjectType=0x9
+ObjFlags=0x3
+SubNumber=0x2
+
+[3065sub0]
+ParameterName=Highest sub-index supported
+ObjectType=0x7
+DataType=0x0005
+AccessType=ro
+DefaultValue=0x01
+PDOMapping=0
+
+[3065sub1]
+ParameterName=Value
+ObjectType=0x7
+DataType=0x0007
+AccessType=rw
+PDOMapping=0