From 54ebbd45a8084f664c21be270fae0f7a1a658355 Mon Sep 17 00:00:00 2001
From: Svein Seldal <sveinse@users.noreply.github.com>
Date: Thu, 16 May 2024 17:52:28 +0200
Subject: [PATCH] Add support for using dot (.) to get subobjects from the OD
 (#426)

---
 canopen/objectdictionary/__init__.py |  3 +++
 doc/od.rst                           |  3 ++-
 doc/sdo.rst                          |  5 ++++-
 test/test_od.py                      | 14 ++++++++++++++
 4 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/canopen/objectdictionary/__init__.py b/canopen/objectdictionary/__init__.py
index a3bcc527..19196951 100644
--- a/canopen/objectdictionary/__init__.py
+++ b/canopen/objectdictionary/__init__.py
@@ -105,6 +105,9 @@ def __getitem__(
         """Get object from object dictionary by name or index."""
         item = self.names.get(index) or self.indices.get(index)
         if item is None:
+            if isinstance(index, str) and '.' in index:
+                idx, sub = index.split('.', maxsplit=1)
+                return self[idx][sub]
             name = "0x%X" % index if isinstance(index, int) else index
             raise KeyError("%s was not found in Object Dictionary" % name)
         return item
diff --git a/doc/od.rst b/doc/od.rst
index 6e7eb3b5..f31c7813 100644
--- a/doc/od.rst
+++ b/doc/od.rst
@@ -48,7 +48,8 @@ You can access the objects using either index/subindex or names::
 
     device_name_obj = node.object_dictionary['ManufacturerDeviceName']
     vendor_id_obj = node.object_dictionary[0x1018][1]
-
+    actual_speed = node.object_dictionary['ApplicationStatus.ActualSpeed']
+    command_all = node.object_dictionary['ApplicationCommands.CommandAll']
 
 API
 ---
diff --git a/doc/sdo.rst b/doc/sdo.rst
index 7b06118e..8634d28c 100644
--- a/doc/sdo.rst
+++ b/doc/sdo.rst
@@ -30,11 +30,14 @@ Examples
 --------
 
 SDO objects can be accessed using the ``.sdo`` member which works like a Python
-dictionary. Indexes and subindexes can be identified by either name or number.
+dictionary. Indexes can be identified by either name or number.
+There are two ways to idenity subindexes, either by using the index and subindex
+as separate arguments or by using a combined syntax using a dot.
 The code below only creates objects, no messages are sent or received yet::
 
     # Complex records
     command_all = node.sdo['ApplicationCommands']['CommandAll']
+    command_all = node.sdo['ApplicationCommands.CommandAll']
     actual_speed = node.sdo['ApplicationStatus']['ActualSpeed']
     control_mode = node.sdo['ApplicationSetupParameters']['RequestedControlMode']
 
diff --git a/test/test_od.py b/test/test_od.py
index a5f00985..9c25bfcb 100644
--- a/test/test_od.py
+++ b/test/test_od.py
@@ -136,6 +136,20 @@ def test_add_array(self):
         self.assertEqual(test_od["Test Array"], array)
         self.assertEqual(test_od[0x1002], array)
 
+    def test_get_item_dot(self):
+        test_od = od.ObjectDictionary()
+        array = od.ODArray("Test Array", 0x1000)
+        last_subindex = od.ODVariable("Last subindex", 0x1000, 0)
+        last_subindex.data_type = od.UNSIGNED8
+        member1 = od.ODVariable("Test Variable", 0x1000, 1)
+        member2 = od.ODVariable("Test Variable 2", 0x1000, 2)
+        array.add_member(last_subindex)
+        array.add_member(member1)
+        array.add_member(member2)
+        test_od.add_object(array)
+        self.assertEqual(test_od["Test Array.Last subindex"], last_subindex)
+        self.assertEqual(test_od["Test Array.Test Variable"], member1)
+        self.assertEqual(test_od["Test Array.Test Variable 2"], member2)
 
 class TestArray(unittest.TestCase):