Merge branch 'master' into mypy

Author: acolomb

.github/workflows/pythonpackage.yml

@@ -44,7 +44,7 @@ jobs:
     - name: Test with pytest
       run: pytest -v --cov=canopen --cov-report=xml --cov-branch
     - name: Upload coverage reports to Codecov
-      uses: codecov/codecov-action@v4
+      uses: codecov/codecov-action@v5
       with:
         token: ${{ secrets.CODECOV_TOKEN }}
 

README.rst

@@ -42,12 +42,12 @@ 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 .
 

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

@@ -1,9 +1,12 @@
-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")
 
@@ -82,7 +85,7 @@ 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__)
 
@@ -78,8 +81,8 @@ 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()

canopen/network.py

@@ -1,21 +1,21 @@
 from __future__ import annotations
 
-from collections.abc import MutableMapping
 import logging
 import threading
-from typing import Callable, Dict, Iterator, List, Optional, Union
+from collections.abc import MutableMapping
+from typing import Callable, Dict, Final, Iterator, List, Optional, Union
 
 import can
 from can import Listener
-from can import CanError
 
-from canopen.node import RemoteNode, LocalNode
-from canopen.sync import SyncProducer
-from canopen.timestamp import TimeProducer
-from canopen.nmt import NmtMaster
 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
+
 
 logger = logging.getLogger(__name__)
 
@@ -75,10 +75,10 @@ def unsubscribe(self, can_id, callback=None) -> None:
             If given, remove only this callback.  Otherwise all callbacks for
             the CAN ID.
         """
-        if callback is None:
-            del self.subscribers[can_id]
-        else:
+        if callback is not None:
             self.subscribers[can_id].remove(callback)
+        if not self.subscribers[can_id] or callback is None:
+            del self.subscribers[can_id]
 
     def connect(self, *args, **kwargs) -> Network:
         """Connect to CAN bus using python-can.
@@ -282,6 +282,21 @@ 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

canopen/nmt.py

@@ -1,9 +1,11 @@
-import threading
 import logging
 import struct
+import threading
 import time
 from typing import Callable, Optional, TYPE_CHECKING
 
+import canopen.network
+
 if TYPE_CHECKING:
     from canopen.network import PeriodicMessageTask
 
@@ -49,7 +51,7 @@ class NmtBase:
 
     def __init__(self, node_id: int):
         self.id = node_id
-        self.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
+
+import canopen.network
 from canopen.objectdictionary import ObjectDictionary, import_od
 
 
@@ -17,10 +19,14 @@ def __init__(
         node_id: int,
         object_dictionary: Union[ObjectDictionary, str, TextIO],
     ):
-        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)
         self.object_dictionary = object_dictionary
 
         self.id = node_id or self.object_dictionary.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
 
-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
-from canopen import objectdictionary
+from canopen.pdo import PDO, RPDO, TPDO
+from canopen.sdo import SdoAbortedError, SdoServer
+
 
 logger = logging.getLogger(__name__)
 
@@ -34,7 +38,9 @@ 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):
+        if self.has_network():
+            raise RuntimeError("Node is already associated with a network")
         self.network = network
         self.sdo.network = network
         self.tpdo.network = network
@@ -44,15 +50,17 @@ 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:
+        if not self.has_network():
+            return
         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)