Merge branch 'master' into feature-proposed-data-type-fix

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 .

.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:
@@ -17,18 +25,39 @@ jobs:
       fail-fast: false
       matrix:
         python-version: ['3.x']
+        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: ${{ matrix.python-version }}
+        cache: 'pip'
+        cache-dependency-path: |
+          'pyproject.toml'
+          'requirements-dev.txt'
     - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install pytest
-        pip install -e .
+      run: python3 -m pip install -e '.${{ matrix.features }}' -r requirements-dev.txt
     - name: Test with pytest
-      run: |
-        pytest -v
+      run: pytest -v --cov=canopen --cov-report=xml --cov-branch
+    - name: Upload coverage reports to Codecov
+      uses: codecov/codecov-action@v5
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+
+  docs:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.12
+        cache: 'pip'
+        cache-dependency-path: |
+          'pyproject.toml'
+          'doc/requirements.txt'
+    - name: Install dependencies
+      run: python3 -m pip install -r doc/requirements.txt -e .
+    - name: Build docs
+      run: make -C doc html

.gitignore

@@ -57,7 +57,7 @@ coverage.xml
 *.log
 
 # Sphinx documentation
-docs/_build/
+doc/_build/
 
 # PyBuilder
 target/

README.rst

@@ -6,7 +6,7 @@ The aim of the project is to support the most common parts of the CiA 301
 standard in a simple Pythonic interface. It is mainly targeted for testing and
 automation tasks rather than a standard compliant master implementation.
 
-The library supports Python 3.6+.
+The library supports Python 3.8 or newer.
 
 
 Features
@@ -36,26 +36,30 @@ Incomplete support for creating slave nodes also exists.
 Installation
 ------------
 
-Install from PyPI_ using pip::
+Install from PyPI_ using :program:`pip`::
 
     $ pip install canopen
 
-Install from latest master on GitHub::
+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::
+
+    $ python3 -m unittest discover test -v
+
 Documentation
 -------------
 
@@ -65,7 +69,8 @@ http://canopen.readthedocs.io/en/latest/
 
 It can also be generated from a local clone using Sphinx_::
 
-    $ python setup.py build_sphinx
+    $ pip install -r doc/requirements.txt
+    $ make -C doc html
 
 
 Hardware support
@@ -107,12 +112,12 @@ The :code:`n` is the PDO index (normally 1 to 4). The second form of access is f
     # Arguments are passed to python-can's can.Bus() constructor
     # (see https://python-can.readthedocs.io/en/latest/bus.html).
     network.connect()
-    # network.connect(bustype='socketcan', channel='can0')
-    # network.connect(bustype='kvaser', channel=0, bitrate=250000)
-    # network.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
-    # network.connect(bustype='ixxat', channel=0, bitrate=250000)
-    # network.connect(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)
-    # network.connect(bustype='nican', channel='CAN0', bitrate=250000)
+    # network.connect(interface='socketcan', channel='can0')
+    # network.connect(interface='kvaser', channel=0, bitrate=250000)
+    # network.connect(interface='pcan', channel='PCAN_USBBUS1', bitrate=250000)
+    # network.connect(interface='ixxat', channel=0, bitrate=250000)
+    # network.connect(interface='vector', app_name='CANalyzer', channel=0, bitrate=250000)
+    # network.connect(interface='nican', channel='CAN0', bitrate=250000)
 
     # Read a variable using SDO
     device_name = node.sdo['Manufacturer device name'].raw

canopen/__init__.py

@@ -1,14 +1,33 @@
 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:
     # package is not installed
     __version__ = "unknown"
 
-Node = RemoteNode
-
+__all__ = [
+    "Network",
+    "NodeScanner",
+    "RemoteNode",
+    "LocalNode",
+    "SdoCommunicationError",
+    "SdoAbortedError",
+    "import_od",
+    "export_od",
+    "ObjectDictionary",
+    "ObjectDictionaryError",
+    "BaseNode402",
+]
 __pypi_url__ = "https://pypi.org/project/canopen/"
+
+Node = RemoteNode

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""):
@@ -130,7 +133,7 @@ def get_desc(self) -> str:
         return ""
 
     def __str__(self):
-        text = "Code 0x{:04X}".format(self.code)
+        text = f"Code 0x{self.code:04X}"
         description = self.get_desc()
         if description:
             text = text + ", " + description

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()
@@ -239,12 +242,12 @@ def send_identify_non_configured_remote_slave(self):
         self.__send_command(message)
 
     def fast_scan(self):
-        """This command sends a series of fastscan message 
+        """This command sends a series of fastscan message
         to find unconfigured slave with lowest number of LSS idenities
 
         :return:
             True if a slave is found.
-            False if there is no candidate. 
+            False if there is no candidate.
             list is the LSS identities [vendor_id, product_code, revision_number, serial_number]
         :rtype: bool, list
         """
@@ -353,7 +356,7 @@ def __send_configure(self, req_cs, value1=0, value2=0):
             raise LssError("Response message is not for the request")
 
         if error_code != ERROR_NONE:
-            error_msg = "LSS Error: %d" % error_code
+            error_msg = f"LSS Error: {error_code}"
             raise LssError(error_msg)
 
     def __send_command(self, message):
@@ -368,9 +371,7 @@ def __send_command(self, message):
         :rtype: bytes
         """
 
-        message_str = " ".join(["{:02x}".format(x) for x in message])
-        logger.info(
-            "Sending LSS message {}".format(message_str))
+        logger.info("Sending LSS message %s", message.hex(" ").upper())
 
         response = None
         if not self.responses.empty():