Fix mixed up mapping parameter record index numbers in class PDO.

The access by this index number mixed up the two number ranges.  The
CiA 301 standard defines:

* Object 1600h to 17FFh: RPDO mapping parameter
* Object 1A00h to 1BFFh: TPDO mapping parameter

The test was also wrong, because it added the two tested variables to
the TPDO1, while testing the __getitem__ lookup with index 0x1600.

Author: acolomb

canopen/pdo/__init__.py

@@ -32,9 +32,9 @@ def __init__(self, node, rpdo, tpdo):
         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
-        for key, value in self.tx.items():
             self.map[0x1600 + (key - 1)] = value
+        for key, value in self.tx.items():
+            self.map[0x1A00 + (key - 1)] = value
 
 
 class RPDO(PdoBase):

test/test_pdo.py

@@ -50,7 +50,7 @@ def test_pdo_getitem(self):
         self.assertEqual(node.tpdo[1]['BOOLEAN value 2'].raw, True)
 
         # Test different types of access
-        by_mapping_record = node.pdo[0x1600]
+        by_mapping_record = node.pdo[0x1A00]
         self.assertIsInstance(by_mapping_record, canopen.pdo.PdoMap)
         self.assertEqual(by_mapping_record['INTEGER16 value'].raw, -3)
         by_object_name = node.pdo['INTEGER16 value']
@@ -68,7 +68,7 @@ def test_pdo_getitem(self):
         self.assertEqual(by_object_index.raw, 0xf)
         self.assertIs(node.pdo['0x2002'], by_object_index)
         self.assertIs(node.tpdo[0x2002], by_object_index)
-        self.assertIs(node.pdo[0x1600][0x2002], by_object_index)
+        self.assertIs(node.pdo[0x1A00][0x2002], by_object_index)
 
         self.assertRaises(KeyError, lambda: node.pdo[0])
         self.assertRaises(KeyError, lambda: node.tpdo[0])