Merge master into feature-asyncio

Author: sveinse

.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:
@@ -17,22 +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: ${{ matrix.python-version }}
+        cache: 'pip'
+        cache-dependency-path: |
+          'pyproject.toml'
+          'requirements-dev.txt'
     - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install pytest pytest-cov
-        pip install -e .
+      run: python3 -m pip install -e '.${{ matrix.features }}' -r requirements-dev.txt
     - name: Test with pytest
-      run: |
-        pytest -v --cov=canopen --cov-report=xml --cov-branch
+      run: pytest -v --cov=canopen --cov-report=xml --cov-branch
     - name: Upload coverage reports to Codecov
       uses: codecov/codecov-action@v4
       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

@@ -58,7 +58,7 @@ 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 3.8+.
+The library supports Python 3.8 or newer.
 
 This library is the asyncio port of CANopen. See below for code example.
 
@@ -60,11 +60,11 @@ 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
 
@@ -77,9 +77,13 @@ it in `develop mode`_::
 
 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
 -------------
 
@@ -89,7 +93,8 @@ 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
@@ -131,12 +136,12 @@ 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

@@ -9,6 +9,19 @@
     # 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/network.py

@@ -9,16 +9,9 @@
     from can import BusABC, Notifier
     from asyncio import AbstractEventLoop
 
-try:
-    import can
-    from can import Listener
-    from can import CanError
-except ImportError:
-    # Do not fail if python-can is not installed
-    can = None
-    CanError = Exception
-    class Listener:
-        """ Dummy listener """
+import can
+from can import Listener
+from can import CanError
 
 from canopen.node import RemoteNode, LocalNode
 from canopen.sync import SyncProducer
@@ -37,11 +30,10 @@ class Listener:
 class Network(MutableMapping):
     """Representation of one CAN bus containing one or more nodes."""
 
-    def __init__(
-        self,
-        bus: Optional[BusABC] = None,
-        loop: Optional[AbstractEventLoop] = None
-    ):
+    NOTIFIER_CYCLE: float = 1.0  #: Maximum waiting time for one notifier iteration.
+    NOTIFIER_SHUTDOWN_TIMEOUT: float = 5.0  #: Maximum waiting time to stop notifiers.
+
+    def __init__(self, bus: Optional[can.BusABC] = None, loop: Optional[AbstractEventLoop] = None):
         """
         :param can.BusABC bus:
             A python-can bus instance to re-use.
@@ -55,7 +47,7 @@ def __init__(
         #: List of :class:`can.Listener` objects.
         #: Includes at least MessageListener.
         self.listeners = [MessageListener(self)]
-        self.notifier: Optional[Notifier] = None
+        self.notifier: Optional[can.Notifier] = None
         self.nodes: Dict[int, Union[RemoteNode, LocalNode]] = {}
         self.subscribers: Dict[int, List[Callback]] = {}
         self.send_lock = threading.Lock()
@@ -106,7 +98,7 @@ def connect(self, *args, **kwargs) -> Network:
 
         :param channel:
             Backend specific channel for the CAN interface.
-        :param str bustype:
+        :param str interface:
             Name of the interface. See
             `python-can manual <https://python-can.readthedocs.io/en/stable/configuration.html#interface-names>`__
             for full list of supported interfaces.
@@ -138,7 +130,7 @@ def connect(self, *args, **kwargs) -> Network:
         if self.bus is None:
             self.bus = can.Bus(*args, **kwargs)
         logger.info("Connected to '%s'", self.bus.channel_info)
-        self.notifier = can.Notifier(self.bus, self.listeners, 1, **kwargs_notifier)
+        self.notifier = can.Notifier(self.bus, self.listeners, self.NOTIFIER_CYCLE, **kwargs_notifier)
         return self
 
     def disconnect(self) -> None:
@@ -150,7 +142,7 @@ def disconnect(self) -> None:
             if hasattr(node, "pdo"):
                 node.pdo.stop()
         if self.notifier is not None:
-            self.notifier.stop()
+            self.notifier.stop(self.NOTIFIER_SHUTDOWN_TIMEOUT)
         if self.bus is not None:
             self.bus.shutdown()
         self.bus = None
@@ -352,7 +344,6 @@ def __init__(
         self.msg = can.Message(is_extended_id=can_id > 0x7FF,
                                arbitration_id=can_id,
                                data=data, is_remote_frame=remote)
-        self._task = None
         self._start()
 
     def _start(self):
@@ -418,9 +409,6 @@ class NodeScanner:
         The network to use when doing active searching.
     """
 
-    #: Activate or deactivate scanning
-    active = True
-
     SERVICES = (0x700, 0x580, 0x180, 0x280, 0x380, 0x480, 0x80)
 
     def __init__(self, network: Optional[Network] = None):

canopen/nmt.py

@@ -8,7 +8,8 @@
 from canopen.async_guard import ensure_not_async
 
 if TYPE_CHECKING:
-    from canopen.network import Network
+    from canopen.network import Network, PeriodicMessageTask
+
 
 logger = logging.getLogger(__name__)
 
@@ -94,10 +95,10 @@ def state(self) -> str:
         - 'RESET'
         - 'RESET COMMUNICATION'
         """
-        if self._state in NMT_STATES:
+        try:
             return NMT_STATES[self._state]
-        else:
-            return self._state
+        except KeyError:
+            return f"UNKNOWN STATE '{self._state}'"
 
     @state.setter
     def state(self, new_state: str):
@@ -115,7 +116,7 @@ class NmtMaster(NmtBase):
     def __init__(self, node_id: int):
         super(NmtMaster, self).__init__(node_id)
         self._state_received = None
-        self._node_guarding_producer = None
+        self._node_guarding_producer: Optional[PeriodicMessageTask] = None
         #: Timestamp of last heartbeat message
         self.timestamp: Optional[float] = None
         self.state_update = threading.Condition()
@@ -259,7 +260,7 @@ class NmtSlave(NmtBase):
 
     def __init__(self, node_id: int, local_node):
         super(NmtSlave, self).__init__(node_id)
-        self._send_task = None
+        self._send_task: Optional[PeriodicMessageTask] = None
         self._heartbeat_time_ms = 0
         self._local_node = local_node
 

canopen/node/remote.py

@@ -156,13 +156,28 @@ def __load_configuration_helper(self, index, subindex, name, value):
                                index, subindex, e)
                 raise
 
-    def load_configuration(self):
-        ''' Load the configuration of the node from the object dictionary.'''
+    def load_configuration(self) -> None:
+        """Load the configuration of the node from the Object Dictionary.
+
+        Iterate through all objects in the Object Dictionary and download the
+        values to the remote node via SDO.
+        To avoid PDO mapping conflicts, PDO-related objects are handled through
+        the methods :meth:`canopen.pdo.PdoBase.read` and
+        :meth:`canopen.pdo.PdoBase.save`.
+
+        """
+        # First apply PDO configuration from object dictionary
+        self.pdo.read(from_od=True)
+        self.pdo.save()
+
+        # Now apply all other records in object dictionary
         for obj in self.object_dictionary.values():
+            if 0x1400 <= obj.index < 0x1c00:
+                # Ignore PDO related objects
+                continue
             if isinstance(obj, ODRecord) or isinstance(obj, ODArray):
                 for subobj in obj.values():
                     if isinstance(subobj, ODVariable) and subobj.writable and (subobj.value is not None):
                         self.__load_configuration_helper(subobj.index, subobj.subindex, subobj.name, subobj.value)
             elif isinstance(obj, ODVariable) and obj.writable and (obj.value is not None):
                 self.__load_configuration_helper(obj.index, None, obj.name, obj.value)
-        self.pdo.read()  # reads the new configuration from the driver