canopen-python/canopen

📦 Compatibility Notes

• This will be the last release compatible with Python 3.8, which has already reached end-of-life state since 2024.

📦 Enhancements

• Add all public API parts to __all__ by @friederschueler in https://github.com/canopen-python/canopen/pull/462
• Export PdoMap and PdoVariable classes in pdo module by @acolomb in https://github.com/canopen-python/canopen/pull/464
• Raise ValueError for unknown formats in the import/export OD APIs by @erlend-aasland in https://github.com/canopen-python/canopen/pull/476
• Expose and improve the docstrings of `export_od` and `import_id` by @erlend-aasland in https://github.com/canopen-python/canopen/pull/473
• Bail early if an unsupported doctype is passed to export_od() by @erlend-aasland in https://github.com/canopen-python/canopen/pull/486
• Improve the RemoteNode.load_configuration() docs by @erlend-aasland in https://github.com/canopen-python/canopen/pull/477
• Add support for loading DCF configuration to remote node by @meifonglow in https://github.com/canopen-python/canopen/pull/427
• CI: Build docs in CI by @erlend-aasland in https://github.com/canopen-python/canopen/pull/498
• + 7 more

🐛 Bug Fixes

• build: Explicitly specify packages to install (fixes #467) by @sveinse in https://github.com/canopen-python/canopen/pull/468
• Ensure proper close after open in export_od by @sveinse in https://github.com/canopen-python/canopen/pull/469
• Adapt to renamed "bustype" parameter on can.Bus by @acolomb in https://github.com/canopen-python/canopen/pull/489
• Save the passed node ID to the resulting OD in `import_od()` by @erlend-aasland in https://github.com/canopen-python/canopen/pull/484
• Gracefully handle missing Baudrate setting in DCF by @acolomb in https://github.com/canopen-python/canopen/pull/492
• Add back PdoBase.export() dependency (canmatrix) by @erlend-aasland in https://github.com/canopen-python/canopen/pull/493
• Ensure NmtBase.state always returns a string by @erlend-aasland in https://github.com/canopen-python/canopen/pull/506
• Fix some type checker errors in network module by @acolomb in https://github.com/canopen-python/canopen/pull/534
• + 11 more

📦 Code Cleaning and Modernization

• doc: Clean up and modernize sphinx configuration (fixes #463) by @acolomb in https://github.com/canopen-python/canopen/pull/465
• Increase export_eds() test coverage by @erlend-aasland in https://github.com/canopen-python/canopen/pull/474
• Remove temporary files created in EDS tests by @erlend-aasland in https://github.com/canopen-python/canopen/pull/482
• Add tests for bitrate parsing in import_eds() by @erlend-aasland in https://github.com/canopen-python/canopen/pull/495
• README: Add formatting and amend doc build instructions by @erlend-aasland in https://github.com/canopen-python/canopen/pull/494
• Git: correctly ignore docs build directory by @erlend-aasland in https://github.com/canopen-python/canopen/pull/499
• Tests: establish test/util.py and test/test_nmt.py by @erlend-aasland in https://github.com/canopen-python/canopen/pull/503
• Add tests for NMT base and NMT master by @erlend-aasland in https://github.com/canopen-python/canopen/pull/504
• + 17 more

✨ New Contributors

• @erlend-aasland made their first contribution in https://github.com/canopen-python/canopen/pull/476
• @willson556 made their first contribution in https://github.com/canopen-python/canopen/pull/551
• @tonybaltovski made their first contribution in https://github.com/canopen-python/canopen/pull/557
• Full Changelog: https://github.com/canopen-python/canopen/compare/v2.3.0...v2.4.1

📦 Compatibility Notes

• This will be the last release compatible with Python 3.8, which has already reached end-of-life state since 2024.

📦 Enhancements

• Add all public API parts to __all__ by @friederschueler in https://github.com/canopen-python/canopen/pull/462
• Export PdoMap and PdoVariable classes in pdo module by @acolomb in https://github.com/canopen-python/canopen/pull/464
• Raise ValueError for unknown formats in the import/export OD APIs by @erlend-aasland in https://github.com/canopen-python/canopen/pull/476
• Expose and improve the docstrings of `export_od` and `import_id` by @erlend-aasland in https://github.com/canopen-python/canopen/pull/473
• Bail early if an unsupported doctype is passed to export_od() by @erlend-aasland in https://github.com/canopen-python/canopen/pull/486
• Improve the RemoteNode.load_configuration() docs by @erlend-aasland in https://github.com/canopen-python/canopen/pull/477
• Add support for loading DCF configuration to remote node by @meifonglow in https://github.com/canopen-python/canopen/pull/427
• CI: Build docs in CI by @erlend-aasland in https://github.com/canopen-python/canopen/pull/498
• + 7 more

🐛 Bug Fixes

• build: Explicitly specify packages to install (fixes #467) by @sveinse in https://github.com/canopen-python/canopen/pull/468
• Ensure proper close after open in export_od by @sveinse in https://github.com/canopen-python/canopen/pull/469
• Adapt to renamed "bustype" parameter on can.Bus by @acolomb in https://github.com/canopen-python/canopen/pull/489
• Save the passed node ID to the resulting OD in `import_od()` by @erlend-aasland in https://github.com/canopen-python/canopen/pull/484
• Gracefully handle missing Baudrate setting in DCF by @acolomb in https://github.com/canopen-python/canopen/pull/492
• Add back PdoBase.export() dependency (canmatrix) by @erlend-aasland in https://github.com/canopen-python/canopen/pull/493
• Ensure NmtBase.state always returns a string by @erlend-aasland in https://github.com/canopen-python/canopen/pull/506
• Fix some type checker errors in network module by @acolomb in https://github.com/canopen-python/canopen/pull/534
• + 10 more

📦 Code Cleaning and Modernization

• doc: Clean up and modernize sphinx configuration (fixes #463) by @acolomb in https://github.com/canopen-python/canopen/pull/465
• Increase export_eds() test coverage by @erlend-aasland in https://github.com/canopen-python/canopen/pull/474
• Remove temporary files created in EDS tests by @erlend-aasland in https://github.com/canopen-python/canopen/pull/482
• Add tests for bitrate parsing in import_eds() by @erlend-aasland in https://github.com/canopen-python/canopen/pull/495
• README: Add formatting and amend doc build instructions by @erlend-aasland in https://github.com/canopen-python/canopen/pull/494
• Git: correctly ignore docs build directory by @erlend-aasland in https://github.com/canopen-python/canopen/pull/499
• Tests: establish test/util.py and test/test_nmt.py by @erlend-aasland in https://github.com/canopen-python/canopen/pull/503
• Add tests for NMT base and NMT master by @erlend-aasland in https://github.com/canopen-python/canopen/pull/504
• + 17 more

✨ New Contributors

• @erlend-aasland made their first contribution in https://github.com/canopen-python/canopen/pull/476
• @willson556 made their first contribution in https://github.com/canopen-python/canopen/pull/551
• @tonybaltovski made their first contribution in https://github.com/canopen-python/canopen/pull/557
• Full Changelog: https://github.com/canopen-python/canopen/compare/v2.3.0...v2.4.0

📦 Compatibility Notes

• The lower-level python-can library dependency (version 4.4.0) introduced an incompatible change, which is worked around in this release:
• Implement abstract method can.Listener.stop() in MessageListener by @acolomb in https://github.com/christiansandberg/canopen/pull/422

📦 Enhancements

• Support of custom can.Bus implementations to the Network class by @vongostev in https://github.com/christiansandberg/canopen/pull/404
• 24 bit support by @raffi-g in https://github.com/christiansandberg/canopen/pull/406
• Implement the remaining canopen datatypes by @sveinse in https://github.com/christiansandberg/canopen/pull/440
• Mirror some OD access API to the SdoBase / SdoVariable classes by @acolomb in https://github.com/christiansandberg/canopen/pull/423
• Implement equality operator for SdoAbortedError by @acolomb in https://github.com/christiansandberg/canopen/pull/424
• Make pause after sending SDO request configurable by @sveinse in https://github.com/christiansandberg/canopen/pull/429
• Fixup RETRY_DELAY on SDO send by @sveinse in https://github.com/christiansandberg/canopen/pull/435
• Add support for using dot (.) to get subobjects from the OD by @sveinse in https://github.com/christiansandberg/canopen/pull/426
• + 2 more

🐛 Bug Fixes

• objectdictionary: Fix incorrect ParameterValue when export_dcf by @meifonglow in https://github.com/christiansandberg/canopen/pull/417
• SDO client fixes by @samsamfire in https://github.com/christiansandberg/canopen/pull/408
• Ignore the most significant bit in PDO mapping lengths by @acolomb in https://github.com/christiansandberg/canopen/pull/421
• Revert "change missing Baudrate to BaudRate" by @hepr-skylotec in https://github.com/christiansandberg/canopen/pull/452
• pdo: Skip saving if no COB-ID was set (fixes #445) by @friederschueler in https://github.com/christiansandberg/canopen/pull/446

📦 Code Cleaning and Modernization

• Clean up imports of old modules by @sveinse in https://github.com/christiansandberg/canopen/pull/433
• Rename Maps to PdoMaps and Map to PdoMap by @sveinse in https://github.com/christiansandberg/canopen/pull/431
• Add meaningful "representation" formatter to object classes by @sveinse in https://github.com/christiansandberg/canopen/pull/432
• Minor linting nitpicks and Python 2 removal by @sveinse in https://github.com/christiansandberg/canopen/pull/441
• Fix "hearbeat" typos (fixes #389) by @acolomb in https://github.com/christiansandberg/canopen/pull/453
• Cleanup f-strings, logging and formats by @sveinse in https://github.com/christiansandberg/canopen/pull/443
• Modernize type annotations and fix some discrepancies by @acolomb in https://github.com/christiansandberg/canopen/pull/451
• build: Modernize, use setuptools 69 by @acolomb in https://github.com/christiansandberg/canopen/pull/428

✨ New Contributors

• @vongostev made their first contribution in https://github.com/christiansandberg/canopen/pull/404
• @raffi-g made their first contribution in https://github.com/christiansandberg/canopen/pull/406
• @meifonglow made their first contribution in https://github.com/christiansandberg/canopen/pull/417
• @hepr-skylotec made their first contribution in https://github.com/christiansandberg/canopen/pull/452
• @thesummer made their first contribution in https://github.com/christiansandberg/canopen/pull/350
• A big Thank You goes out to @sveinse and @friederschueler for their very active participation in getting this release into shape.
• Full Changelog: https://github.com/christiansandberg/canopen/compare/v2.2.0...v2.3.0

📋 What's Changed

• Fixed HighLimit and LowLimit for SIGNED values in EDS by @friederschueler in https://github.com/christiansandberg/canopen/pull/345
• Update profiles.rst by @Alflanker94 in https://github.com/christiansandberg/canopen/pull/348
• Change type() into isinstance() by @sveinse in https://github.com/christiansandberg/canopen/pull/357
• Remove use of object by @sveinse in https://github.com/christiansandberg/canopen/pull/361
• Use with contexts for open by @sveinse in https://github.com/christiansandberg/canopen/pull/356
• Remove old callbacks if re-adding a node with the same id by @samsamfire in https://github.com/christiansandberg/canopen/pull/342
• Import cleanups by @sveinse in https://github.com/christiansandberg/canopen/pull/362
• Fix pytest on windows (#364) by @sveinse in https://github.com/christiansandberg/canopen/pull/365
• + 6 more

✨ New Contributors

• @friederschueler made their first contribution in https://github.com/christiansandberg/canopen/pull/345
• @Alflanker94 made their first contribution in https://github.com/christiansandberg/canopen/pull/348
• @sveinse made their first contribution in https://github.com/christiansandberg/canopen/pull/357
• @XorJoep made their first contribution in https://github.com/christiansandberg/canopen/pull/380
• @marcovannoord made their first contribution in https://github.com/christiansandberg/canopen/pull/378
• @ljungholm made their first contribution in https://github.com/christiansandberg/canopen/pull/395
• Full Changelog: https://github.com/christiansandberg/canopen/compare/v2.1.0...v2.2.0

📋 What's Changed

• Adding retransmit functionality to SDO block download by @samsamfire in https://github.com/christiansandberg/canopen/pull/324
• Check data length SDO server by @samsamfire in https://github.com/christiansandberg/canopen/pull/338
• Corrected casing of BaudRate_xx keywords in DeviceInfo section of EDS… by @Sudlav in https://github.com/christiansandberg/canopen/pull/303
• Making sure the FileInfo section is preserved in EDS export by @Sudlav in https://github.com/christiansandberg/canopen/pull/304
• network: fix broken link to python-can readthedocs in docstring by @clarkgwillison in https://github.com/christiansandberg/canopen/pull/319
• Fix Typo by @mtru32 in https://github.com/christiansandberg/canopen/pull/332
• Fix typo by @amaargiru in https://github.com/christiansandberg/canopen/pull/334

✨ New Contributors

• @Sudlav made their first contribution in https://github.com/christiansandberg/canopen/pull/303
• @clarkgwillison made their first contribution in https://github.com/christiansandberg/canopen/pull/319
• @samsamfire made their first contribution in https://github.com/christiansandberg/canopen/pull/324
• @mtru32 made their first contribution in https://github.com/christiansandberg/canopen/pull/332
• @amaargiru made their first contribution in https://github.com/christiansandberg/canopen/pull/334
• Full Changelog: https://github.com/christiansandberg/canopen/compare/v2.0.0...v2.1.0

📋 What's Changed

• Respect rtr_allowed in Pdo.Map.Save() by @skalkoto in https://github.com/christiansandberg/canopen/pull/228
• Shutdown an already running periodic PDO before starting a new one by @ventussolus in https://github.com/christiansandberg/canopen/pull/230
• added SDO Abort if a timeout occurs when sending a SDO request by @jnu144 in https://github.com/christiansandberg/canopen/pull/239
• added argument for block transfer to enable/disable CRC Support by @jnu144 in https://github.com/christiansandberg/canopen/pull/240
• Check writeability for SDO download on LocalNode by @semiversus in https://github.com/christiansandberg/canopen/pull/241
• PDO: Allow subscription without calling read() or save() by @acolomb in https://github.com/christiansandberg/canopen/pull/253
• Do not raise an exception in "_check_statusword_configured" just log … by @Lauszus in https://github.com/christiansandberg/canopen/pull/268
• Export Eds or Dcf by @unsanded in https://github.com/christiansandberg/canopen/pull/254
• + 4 more

📦 CiA 402

• Thanks @acolomb and @af-silva.
• Support for the CiA 402 device profile for "drives and motion control" was
• overhauled in this release, bringing some backwards-incompatible changes.
• The goal is to make the library more flexible and easier to use from an
• application requiring DS402 functions, especially when controlling several
• synchronized motors.
• CAUTION: The following changes will likely require adaptation if you are
• using the respective functions in your application code!
• + 46 more

✨ New Contributors

• @skalkoto made their first contribution in https://github.com/christiansandberg/canopen/pull/228
• @ventussolus made their first contribution in https://github.com/christiansandberg/canopen/pull/230
• @jnu144 made their first contribution in https://github.com/christiansandberg/canopen/pull/239
• @semiversus made their first contribution in https://github.com/christiansandberg/canopen/pull/241
• @Lauszus made their first contribution in https://github.com/christiansandberg/canopen/pull/268
• @walmis made their first contribution in https://github.com/christiansandberg/canopen/pull/287
• Full Changelog: https://github.com/christiansandberg/canopen/compare/v1.2.1...v2.0.0

📋 Changes

• Fix when calling `stop_node_guarding()` twice (#224)
• Fix support for hexadecimal node ID in DCF (#221)
• Fix DefaultValue in EDS for OCTET_STRING and DOMAIN (#217)
• Fix examples and documentation (#207)

📋 Changes

• Drop Python 2.7 support (although it may still work)
• Avoid to raise an error if 'bus' or 'notifier' is None (#191)
• Add Support for StorageLocation of EDS (#206)
• Fix `import_from_node()` (#192)
• Fix parsing of $NODEID to handle case differences and spaces (#180)
• Add "NO MODE" as a valid mode for the 402 profile (#184)
• Fix disabled RPDO usage in P402 (#200)
• Use setuptools-scm for version

📋 Changes

• Added fallback in statusword property (#170)
• DS402 refactoring (#172)
• Allow for timestamps of other types than float (#173)
• Do not fail when network.notifier has not been set
• Add loading of DummyUsage definitions (#176)

📋 Changes

• Add callback for NMT slaves (#158)
• More info in debug output when adding PDOs (#162)
• Add unofficial support for using a custom CRC for block transfers (#157)
• Fix SDO communication error printout (#160)

📋 Changes

• Basic support for 29-bit IDs (#148).
• Support multiple SDO channels for a single node (#148).
• Support toggle bit in received heartbeat messages (#150).
• Fix bug with some manufacturer specific data types (#146).
• Fix BOOLEAN support with bit mapped PDOs (#104).
• Fix deprecation of collections module.
• Bump python-can requirement to 3.0.

📋 Changes

• SDO data size truncated to length of the default value in the EDS (#135)
• Prevent crash in `SyncProducer.stop()` if `Network.sync.start()` was not called (#128)
• following the newly API of CIA402,do some change (#132)

✨ New features

• Partial slave node support!
• New way of accessing PDOs
• Improved DS-402 profile support
• LSS fast scan support
• Node guarding support

📋 Changes

• Fixes bug where `node.pdo.save()` will not work after mapping PDOs using OD names.

📋 API changes:

• EMCY resets are not handled differently than regular EMCY codes in callbacks and log anymore. Previously `None` was used to represent a reset in the callbacks and it was not added to the log. Now resets are represented as a EmcyError with code 0.

📦 Improvements:

• Low level periodic transmission is used if the CAN interface and python-can supports it (currently supported with SocketCAN and IXXAT).
• Bit mapping support for PDOs
• EDS files with default value expressions containing $NODEID is supported
• LSS improvements
• If the CAN receive thread crashes, the exception will be raised next time a message is transmitted.

📋 Changes

• Fix EMCY reset (discovered by @racerep, see #43)

📋 Changes

• Experimental SDO block transfer (#28)
• Open SDO variables as writable files
• Time Stamp Object (TIME) support (#12)
• CiA 402 device profile with Power State Engine (#16, #23)
• LSS master support (#29)
• Callbacks for EMCY
• Change default to only attempt SDO operations once (#25)
• Fix IXXAT issue (#24)
• + 1 more

📋 Changes

• Improved documentation
• Ability to open SDO variables as readable files
• Callbacks for PDOs
• Node scanner

📋 Changes

• Some more documentation added (still far from complete)
• Some EMCY handling improvements