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nmt: use bytes instead of list for send_message and send_periodic #674

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nmt: use bytes instead of list for send_message and send_periodic #674

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166c469
nmt: use bytes instead of list for send_message/send_periodic
bizfsc Jun 24, 2026
b20d30b
nmt: fix update_heartbeat to use bytes
bizfsc Jun 24, 2026
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10 changes: 5 additions & 5 deletions canopen/nmt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ def send_command(self, code: int):
super(NmtMaster, self).send_command(code)
logger.info(
"Sending NMT command 0x%X to node %d", code, self.id)
self.network.send_message(0, [code, self.id])
self.network.send_message(0, bytes([code, self.id]))

def wait_for_heartbeat(self, timeout: float = 10):
"""Wait until a heartbeat message is received."""
Expand Down Expand Up @@ -190,7 +190,7 @@ def start_node_guarding(self, period: float):
"""
if self._node_guarding_producer:
self.stop_node_guarding()
self._node_guarding_producer = self.network.send_periodic(0x700 + self.id, None, period, True)
self._node_guarding_producer = self.network.send_periodic(0x700 + self.id, b'', period, True)

def stop_node_guarding(self):
"""Stops the node guarding mechanism."""
Expand Down Expand Up @@ -225,7 +225,7 @@ def send_command(self, code: int) -> None:

if self._state == 0:
logger.info("Sending boot-up message")
self.network.send_message(0x700 + self.id, [0])
self.network.send_message(0x700 + self.id, b'\x00')

# The heartbeat service should start on the transition
# between INITIALIZING and PRE-OPERATIONAL state
Expand Down Expand Up @@ -259,7 +259,7 @@ def start_heartbeat(self, heartbeat_time_ms: int):
if heartbeat_time_ms > 0:
logger.info("Start the heartbeat timer, interval is %d ms", self._heartbeat_time_ms)
self._send_task = self.network.send_periodic(
0x700 + self.id, [self._state], heartbeat_time_ms / 1000.0)
0x700 + self.id, bytes([self._state]), heartbeat_time_ms / 1000.0)

def stop_heartbeat(self):
"""Stop the heartbeat service."""
Expand All @@ -270,7 +270,7 @@ def stop_heartbeat(self):

def update_heartbeat(self):
if self._send_task is not None:
self._send_task.update([self._state])
self._send_task.update(bytes([self._state]))


class NmtError(Exception):
Expand Down
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