Merge branch 'development' into Fix_#833

.github/workflows/ci.yml

@@ -19,7 +19,7 @@ jobs:
         # os: [ubuntu-latest]
         experimental: [false]
         # python-version: ["2.7","3.4","3.5","3.6","3.7","3.8","3.9","3.10","3.11","3.12"]
-        python-version: ["3.7","3.8","3.9","3.10","3.11","3.12"]
+        python-version: ["3.8","3.9","3.10","3.11","3.12", "3.13"]
       fail-fast: false
     steps:
     - uses: actions/checkout@v4

appveyor.yml

@@ -7,7 +7,6 @@ skip_branch_with_pr: true
 
 environment:
   matrix:
-    - TOXENV: py37
     - TOXENV: py38
     - TOXENV: py39
     - TOXENV: py310

src/canmatrix/formats/dbc.py

@@ -223,6 +223,8 @@ def dump(in_db, f, **options):
         # remove "-" from frame names
         if compatibility:
             frame.name = re.sub("[^A-Za-z0-9]", whitespace_replacement, frame.name)
+            if frame.name[0].isdigit():
+                frame.name = "_" + frame.name
 
         duplicate_signal_totals = collections.Counter(normalized_names.values())
         duplicate_signal_counter = collections.Counter()  # type: typing.Counter[str]
@@ -459,7 +461,7 @@ def dump(in_db, f, **options):
         if frame.is_complex_multiplexed:
             for signal in frame.signals:
                 if signal.muxer_for_signal is not None:
-                    f.write(("SG_MUL_VAL_ %d %s %s " % (frame.arbitration_id.to_compound_integer(), signal.name, signal.muxer_for_signal)).encode(dbc_export_encoding, ignore_encoding_errors))
+                    f.write(("SG_MUL_VAL_ %d %s %s " % (frame.arbitration_id.to_compound_integer(), output_names[frame][signal], signal.muxer_for_signal)).encode(dbc_export_encoding, ignore_encoding_errors))
                     f.write((", ".join(["%d-%d" % (a, b) for a, b in signal.mux_val_grp])).encode(dbc_export_encoding, ignore_encoding_errors))
 
                     f.write(";\n".encode(dbc_export_encoding, ignore_encoding_errors))

src/canmatrix/formats/eds.py

@@ -4,7 +4,9 @@
 import canopen.objectdictionary.eds
 import canopen.objectdictionary.datatypes
 import codecs
-
+import copy
+import re 
+import math
 
 logger = logging.getLogger(__name__)
 
@@ -33,129 +35,224 @@
                 0x82: 	'Reset Communication'}
 
 
-def get_signals(parent_object, signal_receiver):
-    signals = []
-    position = 0
-    for sub in range(1, len(parent_object)):
-        name = parent_object[sub].name
-        size = datatype_mapping[parent_object[sub].data_type][1]
-        unsigned = "UNSIGNED" in datatype_mapping[parent_object[sub].data_type][0]
-        signal = canmatrix.Signal(name = name, receivers=[signal_receiver], size=size, start_bit = position, is_signed = not unsigned)
-        position += size
-        signals.append(signal)
-    return signals
+def name_cleanup(in_str):
+    rets_str = re.sub("[^A-Za-z0-9]", '_', in_str)
+    return rets_str
 
+def get_bit_length(data_type_code):
+    return  datatype_mapping[data_type_code][1]
+def get_data_type_name(data_type_code):
+    return  datatype_mapping[data_type_code][0]
+
+def format_index(index, subindex):
+    return f"Index: 0x{index:04X}{subindex:02X}"
 
 def load(f, **options):  # type: (typing.IO, **typing.Any) -> canmatrix.CanMatrix
     eds_import_encoding = options.get("edsImportEncoding", 'iso-8859-1')
-    node_id = options.get("eds_node_id", 1)
+    node_id = options.get("eds_node_id", 0)
+    generic = options.get("generic", False)
     fp = codecs.getreader(eds_import_encoding)(f)
     od = canopen.objectdictionary.eds.import_eds(fp, node_id)
     db = canmatrix.CanMatrix()
+    signal_group_counter = 1
 
     node_name = od.device_information.product_name
+    if len(node_name) == 0:
+        node_name = "DUMMY"
     plc_name = "PLC"
+    if generic is True:
+        nm_out = canmatrix.canmatrix.Frame(name="NMT_Out_Request", size=2, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0), transmitters=[plc_name])
+        sig_cmd = canmatrix.canmatrix.Signal(name="nmt_CMD", size=8, start_bit = 0, receivers=[node_name])
+        for val, val_name in cmd_values.items():
+            sig_cmd.add_values(val, val_name)
+        nm_out.add_signal(sig_cmd)
+        nm_out.add_signal(canmatrix.canmatrix.Signal(name="Node_ID", size=8, start_bit = 8, receivers=[node_name]))
+        db.add_frame(nm_out)
+
+        nm_responde = canmatrix.canmatrix.Frame(name="NMT_Response_Frame_In", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x700+node_id), transmitters=[node_name])
+        response_sig1 = canmatrix.canmatrix.Signal(name="NMT_Response_1", size=32, start_bit = 0, receivers=[plc_name])
+        nm_responde.add_signal(response_sig1)
+        response_sig2 = canmatrix.canmatrix.Signal(name="NMT_Response_1", size=32, start_bit = 32, receivers=[plc_name])
+        nm_responde.add_signal(response_sig2)
+        db.add_frame(nm_responde)
+
+        sync = canmatrix.canmatrix.Frame(name="SYNC", size=0, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x80), transmitters=[plc_name])
+        db.add_frame(sync)
+
+        emcy = canmatrix.canmatrix.Frame(name="EMCY", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x80+node_id), transmitters=[node_name])
+        emcy.add_signal(canmatrix.canmatrix.Signal(name="EMCY_Error_Code", size=16, start_bit=0, receivers=[plc_name]))
+        emcy.add_signal(canmatrix.canmatrix.Signal(name="E_Reg", size=8, start_bit=16, receivers=[plc_name]))
+        emcy.add_signal(canmatrix.canmatrix.Signal(name="E_Number", size=8, start_bit=24, receivers=[plc_name]))
+        db.add_frame(emcy)
 
-    nm_out = canmatrix.canmatrix.Frame(name="NMT_Out_Request", size=2, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0), transmitters=[plc_name])
-    sig_cmd = canmatrix.canmatrix.Signal(name="nmt_CMD", size=8, start_bit = 0, receivers=[node_name])
-    for val, val_name in cmd_values.items():
-        sig_cmd.add_values(val, val_name)
-    nm_out.add_signal(sig_cmd)
-    nm_out.add_signal(canmatrix.canmatrix.Signal(name="Node_ID", size=8, start_bit = 8, receivers=[node_name]))
-    db.add_frame(nm_out)
-
-    nm_responde = canmatrix.canmatrix.Frame(name="NMT_Response_Frame_In", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x700+node_id), transmitters=[node_name])
-    response_sig1 = canmatrix.canmatrix.Signal(name="NMT_Response_1", size=32, start_bit = 0, receivers=[plc_name])
-    nm_responde.add_signal(response_sig1)
-    response_sig2 = canmatrix.canmatrix.Signal(name="NMT_Response_1", size=32, start_bit = 32, receivers=[plc_name])
-    nm_responde.add_signal(response_sig2)
-    db.add_frame(nm_responde)
-
-    sync = canmatrix.canmatrix.Frame(name="SYNC", size=0, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x80), transmitters=[plc_name])
-    db.add_frame(sync)
-
-    emcy = canmatrix.canmatrix.Frame(name="EMCY", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x80+node_id), transmitters=[node_name])
-    emcy.add_signal(canmatrix.canmatrix.Signal(name="EMCY_Error_Code", size=16, start_bit=0, receivers=[plc_name]))
-    emcy.add_signal(canmatrix.canmatrix.Signal(name="E_Reg", size=8, start_bit=16, receivers=[plc_name]))
-    emcy.add_signal(canmatrix.canmatrix.Signal(name="E_Number", size=8, start_bit=24, receivers=[plc_name]))
-    db.add_frame(emcy)
-
-    sdo_down = canmatrix.canmatrix.Frame(name="SDO_download", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x600+node_id), transmitters=[node_name])
-    sig_cmd = canmatrix.canmatrix.Signal(name="sdo_down_CMD", size=8, start_bit=0, receivers=[plc_name])
+    sdo_down = canmatrix.canmatrix.Frame(name="SDO_receive", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x600+node_id), transmitters=[node_name])
+    sig_cmd = canmatrix.canmatrix.Signal(name="CCS", size=3, start_bit=5, receivers=[plc_name], is_signed=False)
     sig_cmd.is_multiplexer = True
+    sdo_down.is_complex_multiplexed = True
     sig_cmd.multiplex = "Multiplexor"
     sdo_down.add_signal(sig_cmd)
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="sdo_down_IDX", size=16, start_bit=8, receivers=[plc_name]))
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="sdo_down_SUBIDX", size=8, start_bit=24, receivers=[plc_name]))
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="data8", size=8, start_bit=32, receivers=[plc_name], multiplex=0x2f))
-    sig_cmd.add_values(0x2f, "8_bytes")
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="data16", size=16, start_bit=32, receivers=[plc_name], multiplex=0x2b))
-    sig_cmd.add_values(0x2b, "16_bytes")
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="data24", size=24, start_bit=32, receivers=[plc_name], multiplex=0x27))
-    sig_cmd.add_values(0x27, "3_bytes")
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="data32", size=32, start_bit=32, receivers=[plc_name], multiplex=0x23))
-    sig_cmd.add_values(0x23, "4_bytes")
-    sig_cmd.add_values(0x40, "upload_request")
+    index = canmatrix.canmatrix.Signal(name="IDX", size=24, start_bit=8, receivers=[plc_name])
+    index.multiplex = "Multiplexor"
+    index.is_multiplexer = True
+    index.mux_val = 1
+    index.mux_val_grp.append([ 2, 2])
+    index.muxer_for_signal = "CCS"
+    sdo_down.add_signal(index)
     db.add_frame(sdo_down)
 
-    sdo_up = canmatrix.canmatrix.Frame(name="SDO_upload", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x580+node_id), transmitters=[plc_name])
-    sig_cmd = canmatrix.canmatrix.Signal(name="sdo_state", size=8, start_bit=0, receivers=[node_name])
+    sdo_up = canmatrix.canmatrix.Frame(name="SDO_transmit", size=8, arbitration_id=canmatrix.canmatrix.ArbitrationId(id=0x580+node_id), transmitters=[plc_name])
+    sig_cmd = canmatrix.canmatrix.Signal(name="SCS", size=3, start_bit=5, is_signed=False)
     sig_cmd.is_multiplexer = True
+    sdo_up.is_complex_multiplexed = True
     sig_cmd.multiplex = "Multiplexor"
     sdo_up.add_signal(sig_cmd)
-    sdo_up.add_signal(canmatrix.canmatrix.Signal(name="sdo_uo_IDX", size=16, start_bit=8, receivers=[node_name]))
-    sdo_up.add_signal(canmatrix.canmatrix.Signal(name="sdo_up_SUBIDX", size=8, start_bit=24, receivers=[node_name]))
-    sdo_up.add_signal(canmatrix.canmatrix.Signal(name="error_code", size=32, start_bit=32, receivers=[node_name], multiplex=0x80))
-    sig_cmd.add_values(0x80, "upload_error")
-
-    sdo_up.add_signal(canmatrix.canmatrix.Signal(name="data8", size=8, start_bit=32, receivers=[plc_name], multiplex=0x4f))
-    sig_cmd.add_values(0x2f, "8_bytes")
-    sdo_up.add_signal(canmatrix.canmatrix.Signal(name="data16", size=16, start_bit=32, receivers=[plc_name], multiplex=0x4b))
-    sig_cmd.add_values(0x2b, "16_bytes")
-    sdo_up.add_signal(canmatrix.canmatrix.Signal(name="data24", size=24, start_bit=32, receivers=[plc_name], multiplex=0x47))
-    sig_cmd.add_values(0x27, "3_bytes")
-    sdo_down.add_signal(canmatrix.canmatrix.Signal(name="data32", size=32, start_bit=32, receivers=[plc_name], multiplex=0x43))
-    sig_cmd.add_values(0x23, "4_bytes")
+
+    index = canmatrix.canmatrix.Signal(name="IDX", size=24, start_bit=8)
+    index.multiplex = "Multiplexor"
+    index.is_multiplexer = True
+    index.mux_val = 2
+    index.mux_val_grp.append([ 2, 2])
+    index.muxer_for_signal = "SCS"
+    sdo_up.add_signal(index)
     db.add_frame(sdo_up)
 
 
-    # RX Can-Ids ...
-    for index in range(0x1400, 0x1408):
-        if index in od:
-            # store canid in object...
-            od[index+0x200].canid = od[index][1].default
+    for obj in od.values():
+        if isinstance(obj, canopen.objectdictionary.ODVariable):
+            subindex = 0
+            combined_value = int(f"{subindex:02X}{obj.index:04X}", 16)
+            signal_name = name_cleanup(obj.name)
+            size = get_bit_length(obj.data_type)
+            if size == 0:
+                logger.info("Ignoring " + signal_name + " size 0")
+                continue
+            new_sig = canmatrix.canmatrix.Signal(name=signal_name, size=size, start_bit=32, receivers=[plc_name])
+            datatype_name = get_data_type_name(obj.data_type)
+            if "UNSIGNED" in datatype_name:
+                new_sig.is_signed = False
+            new_sig.mux_val = combined_value
+            new_sig.mux_val_grp.append([ combined_value, combined_value])
+            new_sig.muxer_for_signal = "IDX"
+            sdo_down.add_signal(new_sig)
+            up_sig = copy.deepcopy(new_sig)
+            up_sig.muxer_for_signal = "IDX"
 
-    ##RX PDOs
-    for index in range(0x1600, 0x1608):   
-        if index in od:
-            pdo_name = od[index].name.replace(" ", "_")
-            frame = canmatrix.canmatrix.Frame(name=pdo_name, transmitters=[plc_name])
-            db.add_frame(frame)
-            frame_id = od[index].canid
+            up_sig.receivers = []
+            sdo_up.add_signal(up_sig)
+        elif isinstance(obj, canopen.objectdictionary.ODRecord):
+            members = []
+            for subobj in obj.values():
+                combined_value = int(f"{subobj.subindex:02X}{obj.index:04X}", 16)
+                signal_name = name_cleanup(subobj.name)
+                size = get_bit_length(subobj.data_type)
+                if size == 0:
+                    logger.info("Ignoring " + signal_name + " size 0")
+                    continue
+
+                new_sig = canmatrix.canmatrix.Signal(name=signal_name, size=size, start_bit=32, receivers=[plc_name])
+                datatype_name = get_data_type_name(subobj.data_type)
+                if "UNSIGNED" in datatype_name:
+                    new_sig.is_signed = False
+                new_sig.mux_val = combined_value
+                new_sig.mux_val_grp.append([ combined_value, combined_value])
+                new_sig.muxer_for_signal = "IDX"
+                sdo_down.add_signal(new_sig)
+                up_sig = copy.deepcopy(new_sig)
+                up_sig.muxer_for_signal = "IDX"
+
+                up_sig.receivers = []
+                sdo_up.add_signal(up_sig)
+            if len(members) > 0:
+                sdo_down.add_signal_group("SG_R_" + name_cleanup(obj.name), signal_group_counter, members)
+                signal_group_counter += 1
+
+        elif isinstance(obj, canopen.objectdictionary.ODArray):
+            members = []
+            for subobj in obj.values():
+                combined_value = int(f"{subobj.subindex:02X}{obj.index:04X}", 16)
+                signal_name = name_cleanup(subobj.name)
+                size = get_bit_length(subobj.data_type)
+                if size == 0:
+                    logger.info("Ignoring " + signal_name + " size 0")
+                    continue
+
+                new_sig = canmatrix.canmatrix.Signal(name=signal_name, size=size, start_bit=32, receivers=[plc_name])
+                datatype_name = get_data_type_name(subobj.data_type)
+                if "UNSIGNED" in datatype_name:
+                    new_sig.is_signed = False
+                new_sig.mux_val = combined_value
+                new_sig.mux_val_grp.append([ combined_value, combined_value])
+                new_sig.muxer_for_signal = "IDX"
+                sdo_down.add_signal(new_sig)
+                members.append(signal_name)
+                up_sig = copy.deepcopy(new_sig)
+                up_sig.muxer_for_signal = "IDX"
+                up_sig.receivers = []
+                sdo_up.add_signal(up_sig)
+            if len(members) > 0:
+                sdo_down.add_signal_group("SG_A_" + name_cleanup(obj.name), signal_group_counter, members)
+                signal_group_counter += 1
+
+
+    for start_index, rx_tx_config in {0x1400 : {"transmitter": [], "receiver": [node_name]}, 0x1800: {"transmitter": [node_name], "receiver": []}}.items():       
+        for comm_index in range(start_index, start_index + 0x8):
+            map_index = comm_index + 0x200
+            if comm_index not in od or map_index not in od:
+                continue
+
+            # Retrieve the COB-ID
+            comm_param = od[comm_index] #od.get(comm_index)
+            cob_id_entry = comm_param.get(1) if comm_param else None
+            if not cob_id_entry or cob_id_entry.default is None:
+            # print(f"  Warning: No valid COB-ID found for {pdo_type} PDO at index 0x{comm_index:04X}. Skipping.")
+                continue
+            cob_id = cob_id_entry.default & 0x7FF
+            pdo_name = name_cleanup(od[comm_index].name)
+            frame = canmatrix.canmatrix.Frame(name=pdo_name, transmitters=rx_tx_config["transmitter"])
+            frame_id = cob_id
             frame.arbitration_id = canmatrix.ArbitrationId(id=frame_id)
-            frame.size = 8
-            signals = get_signals(od[index], node_name)
-            for sig in signals:
-                frame.add_signal(sig)
-
-    # RT Can-Ids ...
-    for index in range(0x1800, 0x1808):
-        if index in od:
-            # store canid in object...
-            od[index+0x200].canid = od[index][1].default - 0x40000000
-
-    #TX
-    for index in range(0x1A00, 0x1A08):   
-        if index in od:
-            frame = canmatrix.canmatrix.Frame(name=pdo_name, transmitters=[node_name])
             db.add_frame(frame)
-            pdo_name = od[index].name.replace(" ", "_")
-            frame_id = od[index].canid
-            frame.arbitration_id = canmatrix.ArbitrationId(id=frame_id)
-            frame.size = 8
-            signals = get_signals(od[index], plc_name)
-            for sig in signals:
-                frame.add_signal(sig)
+            mapping_param = od.get(map_index)
+            if not mapping_param:
+    #            print(f"  Warning: No mapping parameter found for {pdo_type} PDO at index 0x{map_index:04X}.")
+                continue
+            num_entries = mapping_param[0].default if 0 in mapping_param else 0
+            current_bit_start = 0
+            for subindex in range(1, num_entries + 1):
+                mapping_entry = mapping_param.get(subindex)
+                if not mapping_entry or mapping_entry.default is None:
+                    #print(f"  Warning: Subindex {subindex} missing for mapping parameter at 0x{map_index:04X}.")
+                    continue
+
+                # Decode the mapping entry
+                mapping_value = mapping_entry.default
+                obj_index = (mapping_value >> 16) & 0xFFFF
+                obj_subindex = (mapping_value >> 8) & 0xFF
+                bit_length = mapping_value & 0xFF
+
+                # Fetch the mapped object
+                mapped_obj = od.get_variable(obj_index, obj_subindex)
+                if not mapped_obj:
+                    #print(f"  Warning: Could not find object at Index: 0x{obj_index:04X}, Subindex: {obj_subindex}.")
+                    current_bit_start += bit_length
+                    continue
+                signal_name = name_cleanup(mapped_obj.name)
+                new_sig = canmatrix.Signal(signal_name, size=bit_length, start_bit=current_bit_start)
+                datatype_name = get_data_type_name(mapping_entry.data_type)
+                if "UNSIGNED" in datatype_name:
+                    new_sig.is_signed = False
+                new_sig.factor = mapped_obj.factor
+                if mapped_obj.min is not None:
+                    new_sig.min = mapped_obj.min
+                    new_sig.offset = mapped_obj.min
+                if mapped_obj.max is not None:
+                    new_sig.max = mapped_obj.max
+                new_sig.receivers = rx_tx_config["receiver"]
+                frame.add_signal(new_sig)
+                current_bit_start += bit_length
+                frame.size =  math.ceil(current_bit_start/8)
 
     db.update_ecu_list()   
+    for ecu in db.ecus:
+        db.rename_ecu(ecu.name, name_cleanup(ecu.name))
     return db