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Fix complete access for canopen #680

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Merged
julieta-prieto merged 2 commits into from
Jan 8, 2026
Merged

Fix complete access for canopen #680

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8c0da3b
use proper arguments for canopen read raw
Dec 29, 2025
7e495d5
drive context manager complete access just for ecat
Dec 29, 2025
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3 changes: 3 additions & 0 deletions ingenialink/drive_context_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

from ingenialink.dictionary import CanOpenObject
from ingenialink.enums.register import RegAccess
from ingenialink.ethercat.servo import EthercatServo
from ingenialink.exceptions import ILIOError
from ingenialink.register import Register
from ingenialink.servo import RegisterAccessOperation, Servo
Expand Down Expand Up @@ -185,6 +186,8 @@ def _store_register_data(self) -> None:
self._original_register_values[axis][uid] = register_value

def _store_objects_data(self) -> None:
if not isinstance(self.drive, EthercatServo):
return
for obj in self.drive.dictionary.all_objs():
uid = obj.uid
# Always read the rpdo/tpdo map objects using complete access
Expand Down
19 changes: 11 additions & 8 deletions ingenialink/servo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1420,7 +1420,7 @@ def read_complete_access(
buffer_size: Size of the buffer to read.

Raises:
ValueError: if buffer size is not specified or cannot be detected
ValueError: if buffer size is not specified or cannot be detected for EthercatRegister.
TypeError: if the register is not a CanopenRegister or EthercatRegister.

Returns:
Expand All @@ -1434,14 +1434,17 @@ def read_complete_access(
_reg = reg.registers[0]
buffer_size = reg.byte_length

if buffer_size is None:
raise ValueError(
"Buffer size must be specified for complete access read."
"Alternatively, use a CanOpenObject to infer the size required "
"automatically."
)
if isinstance(_reg, EthercatRegister):
if buffer_size is None:
raise ValueError(
"Buffer size must be specified for complete access read."
"Alternatively, use a CanOpenObject to infer the size required "
"automatically."
)
value = self._read_raw(reg=_reg, buffer_size=buffer_size, complete_access=True)
else:
value = self._read_raw(reg=_reg)

value = self._read_raw(_reg, buffer_size=buffer_size, complete_access=True)
self._notify_register_update_complete_access(
_reg, value, operation=RegisterAccessOperation.READ
)
Expand Down