fix range issue + test pdo comm records + import union + add getitem

canopen/pdo/__init__.py

@@ -1,4 +1,5 @@
 import logging
+from typing import Union
 
 from canopen import node
 from canopen.pdo.base import PdoBase, PdoMap, PdoMaps, PdoVariable
@@ -30,11 +31,18 @@ def __init__(self, node, rpdo, tpdo):
         self.tx = tpdo.map
 
         self.map = {}
-        # the object 0x1A00 equals to key '1' so we remove 1 from the key
         for key, value in self.rx.items():
-            self.map[0x1A00 + (key - 1)] = value
+            self.map[0x1400 + (key - 1)] = value
         for key, value in self.tx.items():
-            self.map[0x1600 + (key - 1)] = value
+            self.map[0x1800 + (key - 1)] = value
+
+    def __getitem__(self, key: Union[int, str]):
+        if isinstance(key, int):
+            if 0x1600 <= key <= 0x1600 + 511:
+                key = 0x1800 + (key - 0x1600)
+            elif 0x1A00 <= key <= 0x1A00 + 511:
+                key = 0x1400 + (key - 0x1A00)
+        return super().__getitem__(key)
 
 
 class RPDO(PdoBase):

canopen/pdo/base.py

@@ -45,8 +45,7 @@ def __getitem__(self, key: Union[int, str]):
                 raise KeyError("PDO index zero requested for 1-based sequence")
             if (
                 0 < key <= 512  # By PDO Index
-                or 0x1600 <= key <= 0x17FF  # By RPDO ID (512)
-                or 0x1A00 <= key <= 0x1BFF  # By TPDO ID (512)
+                or 0x1400 <= key <= 0x1BFF  # By record ID
             ):
                 return self.map[key]
         for pdo_map in self.map.values():
@@ -154,6 +153,8 @@ def __init__(self, com_offset, map_offset, pdo_node: PdoBase, cob_base=None):
         :param pdo_node:
         :param cob_base:
         """
+        self.com_offset = com_offset
+        self.map_offset = map_offset
         self.maps: dict[int, PdoMap] = {}
         for map_no in range(512):
             if com_offset + map_no in pdo_node.node.object_dictionary:
@@ -167,6 +168,10 @@ def __init__(self, com_offset, map_offset, pdo_node: PdoBase, cob_base=None):
                 self.maps[map_no + 1] = new_map
 
     def __getitem__(self, key: int) -> PdoMap:
+        if self.com_offset <= key <= self.com_offset + 511:
+            return self.maps[key - self.com_offset + 1]
+        if self.map_offset <= key <= self.map_offset + 511:
+            return self.maps[key - self.map_offset + 1]
         return self.maps[key]
 
     def __iter__(self) -> Iterator[int]:

test/test_pdo.py

@@ -76,6 +76,28 @@ def test_pdo_getitem(self):
         self.assertRaises(KeyError, lambda: node.pdo[0x1BFF])
         self.assertRaises(KeyError, lambda: node.tpdo[0x1BFF])
 
+    def test_pdo_getitem_communication_records(self):
+        # Test PDO access by communication parameter record indices
+        node = self.node
+        rpdo_comm = node.rpdo[0x1400]
+        self.assertIsInstance(rpdo_comm, canopen.pdo.PdoMap)
+        self.assertIs(rpdo_comm, node.rpdo[1])
+        tpdo_comm = node.tpdo[0x1800]
+        self.assertIsInstance(tpdo_comm, canopen.pdo.PdoMap)
+        self.assertIs(tpdo_comm, node.tpdo[1])
+
+        # Test generic PDO with RPDO
+        pdo_rpdo_comm = node.pdo[0x1400]
+        self.assertIsInstance(pdo_rpdo_comm, canopen.pdo.PdoMap)
+
+        # Test generic PDO with TPDO
+        pdo_tpdo_comm = node.pdo[0x1800]
+        self.assertIsInstance(pdo_tpdo_comm, canopen.pdo.PdoMap)
+
+        # Verify the returned objects are the same as mapping record access
+        self.assertIs(node.rpdo[0x1400], node.rpdo[0x1600])
+        self.assertIs(node.tpdo[0x1800], node.tpdo[0x1A00])
+
     def test_pdo_maps_iterate(self):
         node = self.node
         self.assertEqual(len(node.pdo), sum(1 for _ in node.pdo))