Stop all PDOs on disconnect

Author: christiansandberg

canopen/network.py

@@ -98,6 +98,8 @@ def disconnect(self):
 
         Must be overridden in a subclass if a custom interface is used.
         """
+        for node in self.nodes.values():
+            node.pdo.stop()
         self.notifier.stop()
         self.bus.shutdown()
         self.bus = None

canopen/pdo.py

@@ -111,6 +111,10 @@ def export(self, filename):
         formats.dumpp({"": db}, filename)
         return db
 
+    def stop(self):
+        """Stop transmission of all Rx PDOs."""
+        for pdo_map in self.rx:
+            pdo_map.stop()
 
 class Maps(collections.Mapping):
     """A collection of transmit or receive maps."""
@@ -344,7 +348,7 @@ def start(self, period=None):
         if not self.transmit_thread or not self.transmit_thread.is_alive():
             self.stop_event.clear()
             self.transmit_thread = threading.Thread(
-                name="Thread for " + self.name,
+                name=self.name,
                 target=self._periodic_transmit)
             self.transmit_thread.daemon = True
             self.transmit_thread.start()

canopen/version.py

@@ -1,2 +1,2 @@
 
-__version__ = "0.4.0.dev6"
+__version__ = "0.4.0.dev7"