Merge 'master' into feature-asyncio

Author: sveinse

.github/workflows/pr-linters.yaml

@@ -0,0 +1,28 @@
+name: Run PR linters
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pull-requests: read
+
+jobs:
+
+  mypy:
+    name: Run mypy static type checker (optional)
+    runs-on: ubuntu-latest
+    continue-on-error: true
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.12
+        cache: pip
+        cache-dependency-path: |
+          'pyproject.toml'
+          'requirements-dev.txt'
+    - run: pip install -r requirements-dev.txt -e .
+    - name: Run mypy and report
+      run: mypy --config-file pyproject.toml .

canopen/network.py

@@ -468,7 +468,9 @@ class NodeScanner:
     SERVICES = (0x700, 0x580, 0x180, 0x280, 0x380, 0x480, 0x80)
 
     def __init__(self, network: Optional[Network] = None):
-        self.network = network
+        if network is None:
+            network = _UNINITIALIZED_NETWORK
+        self.network: Network = network
         #: A :class:`list` of nodes discovered
         self.nodes: List[int] = []
 
@@ -477,10 +479,6 @@ def on_message_received(self, can_id: int):
         service = can_id & 0x780
         node_id = can_id & 0x7F
         if node_id not in self.nodes and node_id != 0 and service in self.SERVICES:
-            # NOTE: In the current CPython implementation append on lists are
-            #       atomic which makes this thread-safe. However, other py
-            #       interpreters might not. It should be considered if a better
-            #       mechanism is needed to protect against race.
             self.nodes.append(node_id)
 
     def reset(self):
@@ -489,9 +487,6 @@ def reset(self):
 
     def search(self, limit: int = 127) -> None:
         """Search for nodes by sending SDO requests to all node IDs."""
-        if self.network is None:
-            raise RuntimeError("A Network is required to do active scanning")
-        # SDO upload request, parameter 0x1000:0x00
         sdo_req = b"\x40\x00\x10\x00\x00\x00\x00\x00"
         for node_id in range(1, limit + 1):
             self.network.send_message(0x600 + node_id, sdo_req)

canopen/nmt.py

@@ -3,7 +3,7 @@
 import struct
 import threading
 import time
-from typing import Callable, Optional, TYPE_CHECKING
+from typing import Callable, Dict, Final, List, Optional, TYPE_CHECKING
 
 from canopen.async_guard import ensure_not_async
 import canopen.network
@@ -14,7 +14,7 @@
 
 logger = logging.getLogger(__name__)
 
-NMT_STATES = {
+NMT_STATES: Final[Dict[int, str]] = {
     0: 'INITIALISING',
     4: 'STOPPED',
     5: 'OPERATIONAL',
@@ -23,7 +23,7 @@
     127: 'PRE-OPERATIONAL'
 }
 
-NMT_COMMANDS = {
+NMT_COMMANDS: Final[Dict[str, int]] = {
     'OPERATIONAL': 1,
     'STOPPED': 2,
     'SLEEP': 80,
@@ -34,7 +34,7 @@
     'RESET COMMUNICATION': 130
 }
 
-COMMAND_TO_STATE = {
+COMMAND_TO_STATE: Final[Dict[int, int]] = {
     1: 5,
     2: 4,
     80: 80,
@@ -121,7 +121,7 @@ def __init__(self, node_id: int):
         #: Timestamp of last heartbeat message
         self.timestamp: Optional[float] = None
         self.state_update = threading.Condition()
-        self._callbacks = []
+        self._callbacks: List[Callable[[int], None]] = []
 
     # @callback  # NOTE: called from another thread
     @ensure_not_async  # NOTE: Safeguard for accidental async use
@@ -209,7 +209,8 @@ def start_node_guarding(self, period: float):
         :param period:
             Period (in seconds) at which the node guarding should be advertised to the slave node.
         """
-        if self._node_guarding_producer : self.stop_node_guarding()
+        if self._node_guarding_producer:
+            self.stop_node_guarding()
         self._node_guarding_producer = self.network.send_periodic(0x700 + self.id, None, period, True)
 
     def stop_node_guarding(self):

canopen/objectdictionary/eds.py

@@ -1,12 +1,18 @@
+from __future__ import annotations
+
 import copy
 import logging
 import re
 from configparser import NoOptionError, NoSectionError, RawConfigParser
+from typing import TYPE_CHECKING
 
 from canopen import objectdictionary
 from canopen.objectdictionary import ObjectDictionary, datatypes
 from canopen.sdo import SdoClient
 
+if TYPE_CHECKING:
+    import canopen.network
+
 
 logger = logging.getLogger(__name__)
 
@@ -174,7 +180,7 @@ def import_eds(source, node_id):
 
 
 # FIXME: Make async variant "aimport_from_node"
-def import_from_node(node_id, network):
+def import_from_node(node_id: int, network: canopen.network.Network):
     """ Download the configuration from the remote node
     :param int node_id: Identifier of the node
     :param network: network object

canopen/sdo/client.py

@@ -634,8 +634,7 @@ def _ack_block(self):
         request[1] = self._ackseq
         request[2] = self.blksize
         self.sdo_client.send_request(request)
-        if self._ackseq == self.blksize:
-            self._ackseq = 0
+        self._ackseq = 0
 
     def _end_upload(self):
         response = self.sdo_client.read_response()

canopen/sync.py

@@ -1,8 +1,9 @@
 from __future__ import annotations
+
 from typing import Optional, TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from canopen.network import Network
+    import canopen.network
 
 
 class SyncProducer:
@@ -11,7 +12,7 @@ class SyncProducer:
     #: COB-ID of the SYNC message
     cob_id = 0x80
 
-    def __init__(self, network: Network):
+    def __init__(self, network: canopen.network.Network):
         self.network = network
         self.period: Optional[float] = None
         self._task = None

canopen/timestamp.py

@@ -1,10 +1,11 @@
 from __future__ import annotations
+
 import struct
 import time
 from typing import Optional, TYPE_CHECKING
 
 if TYPE_CHECKING:
-    from canopen.network import Network
+    import canopen.network
 
 
 # 1 Jan 1984
@@ -21,7 +22,7 @@ class TimeProducer:
     #: COB-ID of the SYNC message
     cob_id = 0x100
 
-    def __init__(self, network: Network):
+    def __init__(self, network: canopen.network.Network):
         self.network = network
 
     def transmit(self, timestamp: Optional[float] = None):
@@ -30,7 +31,7 @@ def transmit(self, timestamp: Optional[float] = None):
         :param float timestamp:
             Optional Unix timestamp to use, otherwise the current time is used.
         """
-        delta = timestamp or time.time() - OFFSET
+        delta = (timestamp or time.time()) - OFFSET
         days, seconds = divmod(delta, ONE_DAY)
         data = TIME_OF_DAY_STRUCT.pack(int(seconds * 1000), int(days))
         self.network.send_message(self.cob_id, data)

pyproject.toml

@@ -48,3 +48,11 @@ testpaths = [
 filterwarnings = [
     "ignore::DeprecationWarning",
 ]
+
+[tool.mypy]
+python_version = "3.8"
+exclude = [
+    "^examples*",
+    "^test*",
+    "^setup.py*",
+]

requirements-dev.txt

@@ -1,2 +1,3 @@
+mypy~=1.10
 pytest~=8.3
 pytest-cov~=5.0

test/test_network.py

@@ -384,7 +384,7 @@ async def test_scanner_reset(self):
             self.assertListEqual(self.scanner.nodes, [])
 
         async def test_scanner_search_no_network(self):
-            with self.assertRaisesRegex(RuntimeError, "Network is required"):
+            with self.assertRaisesRegex(RuntimeError, "No actual Network object was assigned"):
                 self.scanner.search()
 
         async def test_scanner_search(self):