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nmt: Fix NmtSlave on a node without a heartbeat producer time #672

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nmt: Fix NmtSlave on a node without a heartbeat producer time #672

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7 changes: 5 additions & 2 deletions canopen/nmt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -230,8 +230,11 @@ def send_command(self, code: int) -> None:
# The heartbeat service should start on the transition
# between INITIALIZING and PRE-OPERATIONAL state
if old_state == 0 and self._state == 127:
heartbeat_time_ms = self._local_node.sdo[0x1017].raw
self.start_heartbeat(heartbeat_time_ms)
try:
heartbeat_time_ms = self._local_node.sdo[0x1017].raw
self.start_heartbeat(heartbeat_time_ms)
except KeyError:
pass
else:
self.update_heartbeat()

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8 changes: 8 additions & 0 deletions test/test_nmt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -193,6 +193,14 @@ def test_heartbeat(self):

self.local_node.nmt.stop_heartbeat()

def test_heartbeat_no_producer_time(self):
# Create a node without the producer heartbeat time parameter
node = canopen.LocalNode(1, canopen.ObjectDictionary())
with self.assertRaises(KeyError):
node.sdo[0x1017].raw = 100
# Should not fail because of missing 0x1017 object entry
node.nmt.state = "PRE-OPERATIONAL"


if __name__ == "__main__":
unittest.main()
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