canopen-asyncio/canopen/objectdictionary/datatypes.py at 9c2ec3d318695fa8ea7dc589276dcc949acb6ef2 · sveinse/canopen-asyncio · GitHub

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import struct

BOOLEAN = 0x1
INTEGER8 = 0x2
INTEGER16 = 0x3
INTEGER32 = 0x4
UNSIGNED8 = 0x5
UNSIGNED16 = 0x6
UNSIGNED32 = 0x7
REAL32 = 0x8
VISIBLE_STRING = 0x9
OCTET_STRING = 0xA
UNICODE_STRING = 0xB
TIME_OF_DAY = 0xC
TIME_DIFFERENCE = 0xD
DOMAIN = 0xF
INTEGER24 = 0x10
REAL64 = 0x11
INTEGER40 = 0x12
INTEGER48 = 0x13
INTEGER56 = 0x14
INTEGER64 = 0x15
UNSIGNED24 = 0x16
UNSIGNED40 = 0x18
UNSIGNED48 = 0x19
UNSIGNED56 = 0x1A
UNSIGNED64 = 0x1B
PDO_COMMUNICATION_PARAMETER = 0x20
PDO_MAPPING = 0x21
SDO_PARAMETER = 0x22
IDENTITY = 0x23

SIGNED_TYPES = (
    INTEGER8,
    INTEGER16,
    INTEGER24,
    INTEGER32,
    INTEGER40,
    INTEGER48,
    INTEGER56,
    INTEGER64,
)
UNSIGNED_TYPES = (
    UNSIGNED8,
    UNSIGNED16,
    UNSIGNED24,
    UNSIGNED32,
    UNSIGNED40,
    UNSIGNED48,
    UNSIGNED56,
    UNSIGNED64,
)
INTEGER_TYPES = SIGNED_TYPES + UNSIGNED_TYPES
FLOAT_TYPES = (REAL32, REAL64)
NUMBER_TYPES = INTEGER_TYPES + FLOAT_TYPES
DATA_TYPES = (VISIBLE_STRING, OCTET_STRING, UNICODE_STRING, DOMAIN)


class UnsignedN(struct.Struct):
    """Packing and unpacking unsigned integers of arbitrary width, like struct.Struct.

    The width must be a multiple of 8 and must be between 8 and 64.
    """

    def __init__(self, width: int):
        self.width = width
        if width % 8 != 0:
            raise ValueError("Width must be a multiple of 8")
        if width <= 0 or width > 64:
            raise ValueError("Invalid width for UnsignedN")
        elif width <= 8:
            fmt = "B"
        elif width <= 16:
            fmt = "<H"
        elif width <= 32:
            fmt = "<L"
        else:
            fmt = "<Q"
        super().__init__(fmt)

    def unpack(self, buffer):
        return super().unpack(buffer + b'\x00' * (super().size - self.size))

    def pack(self, *v):
        return super().pack(*v)[:self.size]

    @property
    def size(self) -> int:
        return self.width // 8


class IntegerN(struct.Struct):
    """Packing and unpacking integers of arbitrary width, like struct.Struct.

    The width must be a multiple of 8 and must be between 8 and 64.
    """

    def __init__(self, width: int):
        self.width = width
        if width % 8 != 0:
            raise ValueError("Width must be a multiple of 8")
        if width <= 0 or width > 64:
            raise ValueError("Invalid width for IntegerN")
        elif width <= 8:
            fmt = "b"
        elif width <= 16:
            fmt = "<h"
        elif width <= 32:
            fmt = "<l"
        else:
            fmt = "<q"
        super().__init__(fmt)

    def unpack(self, buffer):
        mask = 0x80
        neg = (buffer[self.size - 1] & mask) > 0
        return super().unpack(
            buffer + (b'\xff' if neg else b'\x00') * (super().size - self.size)
        )

    def pack(self, *v):
        return super().pack(*v)[:self.size]

    @property
    def size(self) -> int:
        return self.width // 8