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Fixes after type checking
* Fixed uncovered bugs * Bumped minimum py version to 3.9 (due to asyncio compatibility) * Added tests for PDO to increase coverage
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+134
-52
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7 files changed

+134
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lines changed

‎README.rst‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -33,6 +33,8 @@ Difference between async and non-async version
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This port have some differences with the upstream non-async version of canopen.
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36+
* Minimum python version is 3.9, while the upstream version supports 3.8.
37+
3638
* The :code:`Network` accepts additional parameters than upstream. It accepts
3739
:code:`loop` which selects the mode of operation. If :code:`None` it will
3840
run in blocking mode, otherwise it will run in async mode. It supports

‎canopen/network.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,7 @@ def __init__(self, bus: Optional[can.BusABC] = None, notifier: Optional[can.Noti
3939
"""
4040
#: A python-can :class:`can.BusABC` instance which is set after
4141
#: :meth:`canopen.Network.connect` is called
42-
self.bus: Optional[BusABC] = bus
42+
self.bus: Optional[can.BusABC] = bus
4343
self.loop: Optional[asyncio.AbstractEventLoop] = loop
4444
self._tasks: set[asyncio.Task] = set()
4545
#: A :class:`~canopen.network.NodeScanner` for detecting nodes

‎canopen/pdo/base.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -664,7 +664,7 @@ async def await_for_reception(self, timeout: float = 10) -> float:
664664
:param float timeout: Max time to wait in seconds.
665665
:return: Timestamp of message received or None if timeout.
666666
"""
667-
await asyncio.to_thread(self.wait_for_reception, timeout)
667+
return await asyncio.to_thread(self.wait_for_reception, timeout)
668668

669669

670670
class PdoVariable(variable.Variable):

‎canopen/sdo/base.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -168,7 +168,7 @@ def __len__(self) -> int:
168168
return self[0].raw
169169

170170
async def alen(self) -> int:
171-
return await self[0].aget_raw()
171+
return await self[0].aget_raw() # type: ignore[return-value]
172172

173173
def __contains__(self, subindex: int) -> bool:
174174
return 0 <= subindex <= len(self)

‎canopen/variable.py‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,7 @@ def phys(self) -> Union[int, bool, float, str, bytes]:
118118
either a :class:`float` or an :class:`int`.
119119
Non integers will be passed as is.
120120
"""
121-
return self._get_phys(self.get_raw())
121+
return self._get_phys(self.raw)
122122

123123
async def aget_phys(self) -> Union[int, bool, float, str, bytes]:
124124
"""Physical value scaled with some factor (defaults to 1), async variant."""
@@ -193,6 +193,7 @@ async def aread(self, fmt: str = "raw") -> Union[int, bool, float, str, bytes]:
193193
return await self.aget_phys()
194194
elif fmt == "desc":
195195
return await self.aget_desc()
196+
raise ValueError(f"Unknown format '{fmt}'")
196197

197198
def write(
198199
self, value: Union[int, bool, float, str, bytes], fmt: str = "raw"
@@ -223,7 +224,7 @@ async def awrite(
223224
elif fmt == "phys":
224225
await self.aset_phys(value)
225226
elif fmt == "desc":
226-
await self.aset_desc(value)
227+
await self.aset_desc(value) # type: ignore[arg-type]
227228

228229

229230
class Bits(Mapping):

‎pyproject.toml‎

Lines changed: 10 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ authors = [
1212
]
1313
description = "CANopen stack implementation"
1414
readme = "README.rst"
15-
requires-python = ">=3.8"
15+
requires-python = ">=3.9"
1616
license = {file = "LICENSE.txt"}
1717
classifiers = [
1818
"Development Status :: 5 - Production/Stable",
@@ -51,9 +51,17 @@ filterwarnings = [
5151
]
5252

5353
[tool.mypy]
54-
python_version = "3.8"
54+
python_version = "3.9"
5555
exclude = [
5656
"^examples*",
5757
"^test*",
5858
"^setup.py*",
5959
]
60+
61+
[tool.coverage.run]
62+
branch = true
63+
64+
[tool.coverage.report]
65+
exclude_also = [
66+
'if TYPE_CHECKING:',
67+
]

‎test/test_pdo.py‎

Lines changed: 116 additions & 45 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,10 @@
55
from .util import SAMPLE_EDS, tmp_file
66

77

8-
class TestPDO(unittest.TestCase):
8+
class TestPDO(unittest.IsolatedAsyncioTestCase):
9+
10+
__test__ = False # This is a base class, tests should not be run directly.
11+
use_async: bool
912

1013
def setUp(self):
1114
node = canopen.Node(1, SAMPLE_EDS)
@@ -17,59 +20,115 @@ def setUp(self):
1720
pdo.add_variable('BOOLEAN value', length=1) # 0x2005
1821
pdo.add_variable('BOOLEAN value 2', length=1) # 0x2006
1922

20-
# Write some values
21-
pdo['INTEGER16 value'].raw = -3
22-
pdo['UNSIGNED8 value'].raw = 0xf
23-
pdo['INTEGER8 value'].raw = -2
24-
pdo['INTEGER32 value'].raw = 0x01020304
25-
pdo['BOOLEAN value'].raw = False
26-
pdo['BOOLEAN value 2'].raw = True
27-
2823
self.pdo = pdo
2924
self.node = node
3025

31-
def test_pdo_map_bit_mapping(self):
32-
self.assertEqual(self.pdo.data, b'\xfd\xff\xef\x04\x03\x02\x01\x02')
26+
async def set_values(self):
27+
"""Initialize the PDO with some valuues.
3328
34-
def test_pdo_map_getitem(self):
29+
Do this in a separate method in order to be abel to use the
30+
async and sync versions of the tests.
31+
"""
32+
node = self.node
33+
pdo = node.pdo.tx[1]
34+
if self.use_async:
35+
# Write some values (different from the synchronous values)
36+
await pdo['INTEGER16 value'].aset_raw(12)
37+
await pdo['UNSIGNED8 value'].aset_raw(0xe)
38+
await pdo['INTEGER8 value'].aset_raw(-4)
39+
await pdo['INTEGER32 value'].aset_raw(0x56789abc)
40+
await pdo['BOOLEAN value'].aset_raw(True)
41+
await pdo['BOOLEAN value 2'].aset_raw(False)
42+
else:
43+
# Write some values
44+
pdo['INTEGER16 value'].raw = -3
45+
pdo['UNSIGNED8 value'].raw = 0xf
46+
pdo['INTEGER8 value'].raw = -2
47+
pdo['INTEGER32 value'].raw = 0x01020304
48+
pdo['BOOLEAN value'].raw = False
49+
pdo['BOOLEAN value 2'].raw = True
50+
51+
async def test_pdo_map_bit_mapping(self):
52+
await self.set_values()
53+
if self.use_async:
54+
self.assertEqual(self.pdo.data, b'\x0c\x00\xce\xbc\x9a\x78\x56\x01')
55+
else:
56+
self.assertEqual(self.pdo.data, b'\xfd\xff\xef\x04\x03\x02\x01\x02')
57+
58+
async def test_pdo_map_getitem(self):
59+
await self.set_values()
3560
pdo = self.pdo
36-
self.assertEqual(pdo['INTEGER16 value'].raw, -3)
37-
self.assertEqual(pdo['UNSIGNED8 value'].raw, 0xf)
38-
self.assertEqual(pdo['INTEGER8 value'].raw, -2)
39-
self.assertEqual(pdo['INTEGER32 value'].raw, 0x01020304)
40-
self.assertEqual(pdo['BOOLEAN value'].raw, False)
41-
self.assertEqual(pdo['BOOLEAN value 2'].raw, True)
42-
43-
def test_pdo_getitem(self):
61+
if self.use_async:
62+
self.assertEqual(await pdo['INTEGER16 value'].aget_raw(), 12)
63+
self.assertEqual(await pdo['UNSIGNED8 value'].aget_raw(), 0xe)
64+
self.assertEqual(await pdo['INTEGER8 value'].aget_raw(), -4)
65+
self.assertEqual(await pdo['INTEGER32 value'].aget_raw(), 0x56789abc)
66+
self.assertEqual(await pdo['BOOLEAN value'].aget_raw(), True)
67+
self.assertEqual(await pdo['BOOLEAN value 2'].aget_raw(), False)
68+
else:
69+
self.assertEqual(pdo['INTEGER16 value'].raw, -3)
70+
self.assertEqual(pdo['UNSIGNED8 value'].raw, 0xf)
71+
self.assertEqual(pdo['INTEGER8 value'].raw, -2)
72+
self.assertEqual(pdo['INTEGER32 value'].raw, 0x01020304)
73+
self.assertEqual(pdo['BOOLEAN value'].raw, False)
74+
self.assertEqual(pdo['BOOLEAN value 2'].raw, True)
75+
76+
async def test_pdo_getitem(self):
77+
await self.set_values()
4478
node = self.node
45-
self.assertEqual(node.tpdo[1]['INTEGER16 value'].raw, -3)
46-
self.assertEqual(node.tpdo[1]['UNSIGNED8 value'].raw, 0xf)
47-
self.assertEqual(node.tpdo[1]['INTEGER8 value'].raw, -2)
48-
self.assertEqual(node.tpdo[1]['INTEGER32 value'].raw, 0x01020304)
49-
self.assertEqual(node.tpdo['INTEGER32 value'].raw, 0x01020304)
50-
self.assertEqual(node.tpdo[1]['BOOLEAN value'].raw, False)
51-
self.assertEqual(node.tpdo[1]['BOOLEAN value 2'].raw, True)
52-
53-
# Test different types of access
54-
self.assertEqual(node.pdo[0x1600]['INTEGER16 value'].raw, -3)
55-
self.assertEqual(node.pdo['INTEGER16 value'].raw, -3)
56-
self.assertEqual(node.pdo.tx[1]['INTEGER16 value'].raw, -3)
57-
self.assertEqual(node.pdo[0x2001].raw, -3)
58-
self.assertEqual(node.tpdo[0x2001].raw, -3)
59-
self.assertEqual(node.pdo[0x2002].raw, 0xf)
60-
self.assertEqual(node.pdo['0x2002'].raw, 0xf)
61-
self.assertEqual(node.tpdo[0x2002].raw, 0xf)
62-
self.assertEqual(node.pdo[0x1600][0x2002].raw, 0xf)
63-
64-
def test_pdo_save(self):
65-
self.node.tpdo.save()
66-
self.node.rpdo.save()
67-
68-
def test_pdo_export(self):
79+
if self.use_async:
80+
self.assertEqual(await node.tpdo[1]['INTEGER16 value'].aget_raw(), 12)
81+
self.assertEqual(await node.tpdo[1]['UNSIGNED8 value'].aget_raw(), 0xe)
82+
self.assertEqual(await node.tpdo[1]['INTEGER8 value'].aget_raw(), -4)
83+
self.assertEqual(await node.tpdo[1]['INTEGER32 value'].aget_raw(), 0x56789abc)
84+
self.assertEqual(await node.tpdo['INTEGER32 value'].aget_raw(), 0x56789abc)
85+
self.assertEqual(await node.tpdo[1]['BOOLEAN value'].aget_raw(), True)
86+
self.assertEqual(await node.tpdo[1]['BOOLEAN value 2'].aget_raw(), False)
87+
88+
# Test different types of access
89+
self.assertEqual(await node.pdo[0x1600]['INTEGER16 value'].aget_raw(), 12)
90+
self.assertEqual(await node.pdo['INTEGER16 value'].aget_raw(), 12)
91+
self.assertEqual(await node.pdo.tx[1]['INTEGER16 value'].aget_raw(), 12)
92+
self.assertEqual(await node.pdo[0x2001].aget_raw(), 12)
93+
self.assertEqual(await node.tpdo[0x2001].aget_raw(), 12)
94+
self.assertEqual(await node.pdo[0x2002].aget_raw(), 0xe)
95+
self.assertEqual(await node.pdo['0x2002'].aget_raw(), 0xe)
96+
self.assertEqual(await node.tpdo[0x2002].aget_raw(), 0xe)
97+
self.assertEqual(await node.pdo[0x1600][0x2002].aget_raw(), 0xe)
98+
else:
99+
self.assertEqual(node.tpdo[1]['INTEGER16 value'].raw, -3)
100+
self.assertEqual(node.tpdo[1]['UNSIGNED8 value'].raw, 0xf)
101+
self.assertEqual(node.tpdo[1]['INTEGER8 value'].raw, -2)
102+
self.assertEqual(node.tpdo[1]['INTEGER32 value'].raw, 0x01020304)
103+
self.assertEqual(node.tpdo['INTEGER32 value'].raw, 0x01020304)
104+
self.assertEqual(node.tpdo[1]['BOOLEAN value'].raw, False)
105+
self.assertEqual(node.tpdo[1]['BOOLEAN value 2'].raw, True)
106+
107+
# Test different types of access
108+
self.assertEqual(node.pdo[0x1600]['INTEGER16 value'].raw, -3)
109+
self.assertEqual(node.pdo['INTEGER16 value'].raw, -3)
110+
self.assertEqual(node.pdo.tx[1]['INTEGER16 value'].raw, -3)
111+
self.assertEqual(node.pdo[0x2001].raw, -3)
112+
self.assertEqual(node.tpdo[0x2001].raw, -3)
113+
self.assertEqual(node.pdo[0x2002].raw, 0xf)
114+
self.assertEqual(node.pdo['0x2002'].raw, 0xf)
115+
self.assertEqual(node.tpdo[0x2002].raw, 0xf)
116+
self.assertEqual(node.pdo[0x1600][0x2002].raw, 0xf)
117+
118+
async def test_pdo_save(self):
119+
await self.set_values()
120+
if self.use_async:
121+
await self.node.tpdo.asave()
122+
await self.node.rpdo.asave()
123+
else:
124+
self.node.tpdo.save()
125+
self.node.rpdo.save()
126+
127+
async def test_pdo_export(self):
69128
try:
70129
import canmatrix
71130
except ImportError:
72-
raise unittest.SkipTest("The PDO export API requires canmatrix")
131+
self.skipTest("The PDO export API requires canmatrix")
73132

74133
for pdo in "tpdo", "rpdo":
75134
with tmp_file(suffix=".csv") as tmp:
@@ -82,5 +141,17 @@ def test_pdo_export(self):
82141
self.assertIn("Frame Name", header)
83142

84143

144+
class TestPDOSync(TestPDO):
145+
""" Test the functions in synchronous mode. """
146+
__test__ = True
147+
use_async = False
148+
149+
150+
class TestPDOAsync(TestPDO):
151+
""" Test the functions in asynchronous mode. """
152+
__test__ = True
153+
use_async = True
154+
155+
85156
if __name__ == "__main__":
86157
unittest.main()

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