Merge branch 'master' into feature-mypy-step1

Author: sveinse

.github/workflows/pythonpackage.yml

@@ -5,9 +5,17 @@ name: Python package
 
 on:
   push:
-    branches: [ "master" ]
+    branches:
+    - 'master'
+    paths-ignore:
+    - 'README.rst'
+    - 'LICENSE.txt'
   pull_request:
-    branches: [ "master" ]
+    branches:
+    - 'master'
+    paths-ignore:
+    - 'README.rst'
+    - 'LICENSE.txt'
 
 jobs:
   build:
@@ -20,19 +28,19 @@ jobs:
         features: ['', '[db_export]']
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v3
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.python-version }}
+        cache: 'pip'
+        cache-dependency-path: |
+          'pyproject.toml'
+          'requirements-dev.txt'
     - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install pytest pytest-cov
-        pip install -e '.${{ matrix.features }}'
+      run: python3 -m pip install -e '.${{ matrix.features }}' -r requirements-dev.txt
     - name: Test with pytest
-      run: |
-        pytest -v --cov=canopen --cov-report=xml --cov-branch
+      run: pytest -v --cov=canopen --cov-report=xml --cov-branch
     - name: Upload coverage reports to Codecov
       uses: codecov/codecov-action@v4
       with:

README.rst

@@ -42,18 +42,18 @@ Install from PyPI_ using :program:`pip`::
 
 Install from latest ``master`` on GitHub::
 
-    $ pip install https://github.com/christiansandberg/canopen/archive/master.zip
+    $ pip install https://github.com/canopen-python/canopen/archive/master.zip
 
 If you want to be able to change the code while using it, clone it then install
 it in `develop mode`_::
 
-    $ git clone https://github.com/christiansandberg/canopen.git
+    $ git clone https://github.com/canopen-python/canopen.git
     $ cd canopen
     $ pip install -e .
 
 Unit tests can be run using the pytest_ framework::
 
-    $ pip install pytest
+    $ pip install -r requirements-dev.txt
     $ pytest -v
 
 You can also use :mod:`unittest` standard library module::

canopen/__init__.py

@@ -1,8 +1,14 @@
 from canopen.network import Network, NodeScanner
-from canopen.node import RemoteNode, LocalNode
-from canopen.sdo import SdoCommunicationError, SdoAbortedError
-from canopen.objectdictionary import import_od, export_od, ObjectDictionary, ObjectDictionaryError
+from canopen.node import LocalNode, RemoteNode
+from canopen.objectdictionary import (
+    ObjectDictionary,
+    ObjectDictionaryError,
+    export_od,
+    import_od,
+)
 from canopen.profiles.p402 import BaseNode402
+from canopen.sdo import SdoAbortedError, SdoCommunicationError
+
 try:
     from canopen._version import version as __version__
 except ImportError:

canopen/emcy.py

@@ -1,10 +1,13 @@
 from __future__ import annotations
-import struct
 import logging
+import struct
 import threading
 import time
 from typing import Callable, List, Optional
 
+import canopen.network
+
+
 # Error code, error register, vendor specific data
 EMCY_STRUCT = struct.Struct("<HB5s")
 
@@ -83,7 +86,7 @@ def wait(
 class EmcyProducer:
 
     def __init__(self, cob_id: int):
-        self.network = None
+        self.network: canopen.network.Network = canopen.network._UNINITIALIZED_NETWORK
         self.cob_id = cob_id
 
     def send(self, code: int, register: int = 0, data: bytes = b""):

canopen/lss.py

@@ -1,7 +1,10 @@
 import logging
-import time
-import struct
 import queue
+import struct
+import time
+
+import canopen.network
+
 
 logger = logging.getLogger(__name__)
 
@@ -78,11 +81,11 @@ class LssMaster:
     #: Max time in seconds to wait for response from server
     RESPONSE_TIMEOUT = 0.5
 
-    def __init__(self):
-        self.network = None
+    def __init__(self) -> None:
+        self.network: canopen.network.Network = canopen.network._UNINITIALIZED_NETWORK
         self._node_id = 0
         self._data = None
-        self.responses = queue.Queue()
+        self.responses: queue.Queue[bytes] = queue.Queue()
 
     def send_switch_state_global(self, mode):
         """switch mode to CONFIGURATION_STATE or WAITING_STATE

canopen/network.py

@@ -1,31 +1,21 @@
 from __future__ import annotations
 
-from collections.abc import MutableMapping
 import logging
 import threading
+from collections.abc import MutableMapping
+from typing import Callable, Dict, Final, Iterator, List, Optional, Union
 from typing import Callable, Dict, Iterator, List, Optional, Union, TYPE_CHECKING, TextIO
 
-try:
-    import can
-    from can import Listener
-    from can import CanError
-except ImportError:
-    # Type checkers don't like this conditional logic, so it is only run when
-    # not type checking
-    if not TYPE_CHECKING:
-        # Do not fail if python-can is not installed
-        can = None
-        CanError = Exception
-        class Listener:
-            """ Dummy listener """
-
-from canopen.node import RemoteNode, LocalNode
-from canopen.sync import SyncProducer
-from canopen.timestamp import TimeProducer
-from canopen.nmt import NmtMaster
+import can
+from can import Listener
+
 from canopen.lss import LssMaster
-from canopen.objectdictionary.eds import import_from_node
+from canopen.nmt import NmtMaster
+from canopen.node import LocalNode, RemoteNode
 from canopen.objectdictionary import ObjectDictionary
+from canopen.objectdictionary.eds import import_from_node
+from canopen.sync import SyncProducer
+from canopen.timestamp import TimeProducer
 
 if TYPE_CHECKING:
     from can.typechecking import CanData
@@ -38,6 +28,9 @@ class Listener:
 class Network(MutableMapping):
     """Representation of one CAN bus containing one or more nodes."""
 
+    NOTIFIER_CYCLE: float = 1.0  #: Maximum waiting time for one notifier iteration.
+    NOTIFIER_SHUTDOWN_TIMEOUT: float = 5.0  #: Maximum waiting time to stop notifiers.
+
     def __init__(self, bus: Optional[can.BusABC] = None):
         """
         :param can.BusABC bus:
@@ -118,7 +111,7 @@ def connect(self, *args, **kwargs) -> Network:
         if self.bus is None:
             self.bus = can.Bus(*args, **kwargs)
         logger.info("Connected to '%s'", self.bus.channel_info)
-        self.notifier = can.Notifier(self.bus, self.listeners, 1)
+        self.notifier = can.Notifier(self.bus, self.listeners, self.NOTIFIER_CYCLE)
         return self
 
     def disconnect(self) -> None:
@@ -130,7 +123,7 @@ def disconnect(self) -> None:
             if hasattr(node, "pdo"):
                 node.pdo.stop()
         if self.notifier is not None:
-            self.notifier.stop()
+            self.notifier.stop(self.NOTIFIER_SHUTDOWN_TIMEOUT)
         if self.bus is not None:
             self.bus.shutdown()
         self.bus = None
@@ -296,6 +289,21 @@ def __len__(self) -> int:
         return len(self.nodes)
 
 
+class _UninitializedNetwork(Network):
+    """Empty network implementation as a placeholder before actual initialization."""
+
+    def __init__(self, bus: Optional[can.BusABC] = None):
+        """Do not initialize attributes, by skipping the parent constructor."""
+
+    def __getattribute__(self, name):
+        raise RuntimeError("No actual Network object was assigned, "
+                           "try associating to a real network first.")
+
+
+#: Singleton instance
+_UNINITIALIZED_NETWORK: Final[Network] = _UninitializedNetwork()
+
+
 class PeriodicMessageTask:
     """
     Task object to transmit a message periodically using python-can's
@@ -325,7 +333,6 @@ def __init__(
         self.msg = can.Message(is_extended_id=can_id > 0x7FF,
                                arbitration_id=can_id,
                                data=data, is_remote_frame=remote)
-        self._task = None
         self._start()
 
     def _start(self):
@@ -391,9 +398,6 @@ class NodeScanner:
         The network to use when doing active searching.
     """
 
-    #: Activate or deactivate scanning
-    active = True
-
     SERVICES = (0x700, 0x580, 0x180, 0x280, 0x380, 0x480, 0x80)
 
     def __init__(self, network: Optional[Network] = None):

canopen/nmt.py

@@ -1,11 +1,14 @@
-import threading
 import logging
 import struct
+import threading
 import time
-from typing import Callable, Optional, List, TYPE_CHECKING
+from typing import Callable, Optional, TYPE_CHECKING, List
+
+import canopen.network
 
 if TYPE_CHECKING:
-    from canopen.network import Network, PeriodicMessageTask
+    from canopen.network import PeriodicMessageTask
+
 
 logger = logging.getLogger(__name__)
 
@@ -48,7 +51,7 @@ class NmtBase:
 
     def __init__(self, node_id: int):
         self.id = node_id
-        self.network: Optional[Network] = None
+        self.network: canopen.network.Network = canopen.network._UNINITIALIZED_NETWORK
         self._state = 0
 
     def on_command(self, can_id, data, timestamp):

canopen/node/__init__.py

@@ -1,2 +1,2 @@
-from canopen.node.remote import RemoteNode
 from canopen.node.local import LocalNode
+from canopen.node.remote import RemoteNode

canopen/node/base.py

@@ -1,4 +1,6 @@
 from typing import TextIO, Union, Optional
+
+import canopen.network
 from canopen.objectdictionary import ObjectDictionary, import_od
 
 
@@ -17,7 +19,7 @@ def __init__(
         node_id: Optional[int],
         object_dictionary: Union[ObjectDictionary, str, TextIO, None],
     ):
-        self.network = None
+        self.network: canopen.network.Network = canopen.network._UNINITIALIZED_NETWORK
 
         if not isinstance(object_dictionary, ObjectDictionary):
             object_dictionary = import_od(object_dictionary, node_id)
@@ -27,3 +29,7 @@ def __init__(
         if node_id is None:
             raise ValueError("Node ID must be specified")
         self.id: int = node_id
+
+    def has_network(self) -> bool:
+        """Check whether the node has been associated to a network."""
+        return not isinstance(self.network, canopen.network._UninitializedNetwork)

canopen/node/local.py

@@ -1,13 +1,17 @@
+from __future__ import annotations
+
 import logging
 from typing import Dict, Union, List, Protocol, TextIO, Optional
 
-from canopen.node.base import BaseNode
-from canopen.sdo import SdoServer, SdoAbortedError
-from canopen.pdo import PDO, TPDO, RPDO
-from canopen.nmt import NmtSlave
+import canopen.network
+from canopen import objectdictionary
 from canopen.emcy import EmcyProducer
+from canopen.nmt import NmtSlave
+from canopen.node.base import BaseNode
 from canopen.objectdictionary import ObjectDictionary, ODVariable
-from canopen import objectdictionary
+from canopen.pdo import PDO, RPDO, TPDO
+from canopen.sdo import SdoAbortedError, SdoServer
+
 
 logger = logging.getLogger(__name__)
 
@@ -50,7 +54,7 @@ def __init__(
         self.add_write_callback(self.nmt.on_write)
         self.emcy = EmcyProducer(0x80 + self.id)
 
-    def associate_network(self, network):
+    def associate_network(self, network: canopen.network.Network):
         self.network = network
         self.sdo.network = network
         self.tpdo.network = network
@@ -60,15 +64,15 @@ def associate_network(self, network):
         network.subscribe(self.sdo.rx_cobid, self.sdo.on_request)
         network.subscribe(0, self.nmt.on_command)
 
-    def remove_network(self):
+    def remove_network(self) -> None:
         self.network.unsubscribe(self.sdo.rx_cobid, self.sdo.on_request)
         self.network.unsubscribe(0, self.nmt.on_command)
-        self.network = None
-        self.sdo.network = None
-        self.tpdo.network = None
-        self.rpdo.network = None
-        self.nmt.network = None
-        self.emcy.network = None
+        self.network = canopen.network._UNINITIALIZED_NETWORK
+        self.sdo.network = canopen.network._UNINITIALIZED_NETWORK
+        self.tpdo.network = canopen.network._UNINITIALIZED_NETWORK
+        self.rpdo.network = canopen.network._UNINITIALIZED_NETWORK
+        self.nmt.network = canopen.network._UNINITIALIZED_NETWORK
+        self.emcy.network = canopen.network._UNINITIALIZED_NETWORK
 
     def add_read_callback(self, callback):
         self._read_callbacks.append(callback)