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Fixup RETRY_DELAY on SDO send #435

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Merged
merged 4 commits into from
May 18, 2024
Merged

Fixup RETRY_DELAY on SDO send #435

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72bdb86
Add configurable pause after sending SDO request
sveinse May 14, 2024
8389c38
Fix incorrect default pause value
sveinse May 16, 2024
f486091
Reanme PAUSE_AFTER_SEND to RETRY_DELAY
sveinse May 17, 2024
f284f5f
Merge branch 'master' into feature-sdo-pause-pt2
sveinse May 17, 2024
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12 changes: 6 additions & 6 deletions canopen/sdo/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,8 @@ class SdoClient(SdoBase):
#: Seconds to wait before sending a request, for rate limiting
PAUSE_BEFORE_SEND = 0.0

#: Seconds to wait after sending a request
PAUSE_AFTER_SEND = 0.1
#: Seconds to wait before retrying a request after a send error
RETRY_DELAY = 0.1

def __init__(self, rx_cobid, tx_cobid, od):
"""
Expand All @@ -45,19 +45,19 @@ def on_response(self, can_id, data, timestamp):

def send_request(self, request):
retries_left = self.MAX_RETRIES
if self.PAUSE_BEFORE_SEND:
time.sleep(self.PAUSE_BEFORE_SEND)
while True:
try:
if self.PAUSE_BEFORE_SEND:
time.sleep(self.PAUSE_BEFORE_SEND)
self.network.send_message(self.rx_cobid, request)
except CanError as e:
# Could be a buffer overflow. Wait some time before trying again
retries_left -= 1
if not retries_left:
raise
logger.info(str(e))
if self.PAUSE_AFTER_SEND:
time.sleep(self.PAUSE_AFTER_SEND)
if self.RETRY_DELAY:
time.sleep(self.RETRY_DELAY)
else:
break

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