Minor comment and typing updates

Author: sveinse

canopen/emcy.py

@@ -20,9 +20,9 @@ class EmcyConsumer:
 
     def __init__(self):
         #: Log of all received EMCYs for this node
-        self.log: List["EmcyError"] = []
+        self.log: List[EmcyError] = []
         #: Only active EMCYs. Will be cleared on Error Reset
-        self.active: List["EmcyError"] = []
+        self.active: List[EmcyError] = []
         self.callbacks = []
         self.emcy_received = threading.Condition()
         self.aemcy_received = asyncio.Condition()
@@ -66,9 +66,8 @@ async def aon_emcy(self, can_id, data, timestamp):
             if res is not None and asyncio.iscoroutine(res):
                 await res
 
-    def add_callback(self, callback: Callable[["EmcyError"], None]):
-        """Get notified on EMCY messages from this node. The callback must
-           be multi-threaded.
+    def add_callback(self, callback: Callable[[EmcyError], None]):
+        """Get notified on EMCY messages from this node.
 
         :param callback:
             Callable which must take one argument of an

canopen/network.py

@@ -365,13 +365,13 @@ def stop(self):
         """Stop transmission"""
         self._task.stop()
 
+    # @callback  # NOTE: Indirectly called from another thread via other callbacks
     def update(self, data: bytes) -> None:
         """Update data of message
 
         :param data:
             New data to transmit
         """
-        # NOTE: Callback. Called from another thread unless async
         new_data = bytearray(data)
         old_data = self.msg.data
         self.msg.data = new_data

canopen/nmt.py

@@ -266,7 +266,7 @@ def __init__(self, node_id: int, local_node):
         self._heartbeat_time_ms = 0
         self._local_node = local_node
 
-     # @callback  # NOTE: called from another thread
+    # @callback  # NOTE: called from another thread
     def on_command(self, can_id, data, timestamp):
         super(NmtSlave, self).on_command(can_id, data, timestamp)
         self.update_heartbeat()
@@ -326,8 +326,8 @@ def stop_heartbeat(self):
             self._send_task.stop()
             self._send_task = None
 
+    # @callback  # NOTE: Indirectly called from another thread via on_command
     def update_heartbeat(self):
-        # NOTE: Called from callback. Called from another thread unless async
         if self._send_task is not None:
             # FIXME: Make this thread-safe
             self._send_task.update([self._state])