Adding retransmit functionnality to sdo block download #324
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canopen/sdo/client.py
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| "Will start retransmission") % (ackseq, self._blksize)) | ||
| # Sub blocks betwen ackseq and end of corrupted block need to be resent | ||
| # Copy block to resend, and clear it so that multiple retransmits can be done | ||
| block = self._current_block[ackseq:].copy() |
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I believe just subindexing a list will return a copy already.
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Yes you are absolutely right !
canopen/sdo/client.py
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| @@ -731,14 +736,38 @@ def _block_ack(self): | |||
| raise SdoCommunicationError("Server did not respond with a " | |||
| "block download response") | |||
| if ackseq != self._blksize: | |||
| # Sequence error, try to retransmit | |||
| self.sdo_client.abort(0x05040003) | |||
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I don't quite remember the spec, is this abort code still needed?
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This is taken from the spec and apparently an SDO abort is only necessary in case of a fatal error, so I will remove it.
However it still worked with this abort message, so we probably have a bug on our side.
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No it's not very common for clients to send abort codes to the server, so some servers may just ignore them.
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Ok, good to know.
…ly be sent if an error is unrecoverable
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I am submitting a pull request to add retransmission functionnality for sdo block download.
I faced a hardware issue (silicon errata) on a DSP where in some very rare cases the CAN rx fifo would swap the reception of two or more CAN frames causing the block transfer to fail, this was a nice solution to overcome the problem.