Add support for loading DCF configuration to remote node

canopen/node/remote.py

@@ -147,8 +147,16 @@ def __load_configuration_helper(self, index, subindex, name, value):
 
     def load_configuration(self):
         ''' Load the configuration of the node from the object dictionary.'''
+        # First apply PDO configuration from object dictionary
+        self.pdo.read(from_od=True)
+        self.pdo.save()
+
+        # Now apply all other records in object dictionary
         for obj in self.object_dictionary.values():
-            if isinstance(obj, ODRecord) or isinstance(obj, ODArray):
+            if 0x1400 <= obj.index < 0x1c00:
+                # Ignore PDO related objects
+                logger.debug(f"{obj.index:#06x}: {obj.name} already applied by pdo.save()")
+            elif isinstance(obj, ODRecord) or isinstance(obj, ODArray):
                 for subobj in obj.values():
                     if isinstance(subobj, ODVariable) and subobj.writable and (subobj.value is not None):
                         self.__load_configuration_helper(subobj.index, subobj.subindex, subobj.name, subobj.value)

canopen/pdo/base.py

@@ -314,11 +314,20 @@ def add_callback(self, callback: Callable[["Map"], None]) -> None:
         self.callbacks.append(callback)
 
     def read(self, from_od=False) -> None:
-        """Read PDO configuration for this map using SDO."""
+        """Read PDO configuration for this map 
+        
+        :param from_od:
+            Read using SDO if False, read from object dictionary if True.
+            When reading from object dictionary, if DCF populated a value, the
+            DCF value will be used, otherwise the EDS default will be used instead.
+        """
 
         def _raw_from(param):
             if from_od:
-                return param.od.default
+                if param.od.value is not None:
+                    return param.od.value
+                else:
+                    return param.od.default
             return param.raw
 
         cob_id = _raw_from(self.com_record[1])