How to use the canopen.sdo.base.SdoBase function in canopen

try:
    import queue
except ImportError:
    import Queue as queue

from ..network import CanError
from .. import objectdictionary

from .base import SdoBase
from .constants import *
from .exceptions import *

logger = logging.getLogger(__name__)


class SdoClient(SdoBase):
    """Handles communication with an SDO server."""

    #: Max time in seconds to wait for response from server
    RESPONSE_TIMEOUT = 0.3

    #: Max number of request retries before raising error
    MAX_RETRIES = 1

    #: Seconds to wait before sending a request, for rate limiting
    PAUSE_BEFORE_SEND = 0.0

    def __init__(self, rx_cobid, tx_cobid, od):
        """
        :param int rx_cobid:
            COB-ID that the server receives on (usually 0x600 + node ID)
        :param int tx_cobid:

import logging

from .base import SdoBase
from .constants import *
from .exceptions import *

logger = logging.getLogger(__name__)


class SdoServer(SdoBase):
    """Creates an SDO server."""

    def __init__(self, rx_cobid, tx_cobid, node):
        """
        :param int rx_cobid:
            COB-ID that the server receives on (usually 0x600 + node ID)
        :param int tx_cobid:
            COB-ID that the server responds with (usually 0x580 + node ID)
        :param canopen.LocalNode od:
            Node object owning the server
        """
        SdoBase.__init__(self, rx_cobid, tx_cobid, node.object_dictionary)
        self._node = node
        self._buffer = None
        self._toggle = 0
        self._index = None