Updated after merging in master

sveinse · sveinse · commit abbc2dc3e77a · 2024-04-26T07:38:33.000+02:00
diff --git a/.gitignore b/.gitignore
@@ -11,6 +11,7 @@ __pycache__/
 # Distribution / packaging
 .Python
 env/
+venv/
 build/
 develop-eggs/
 dist/
diff --git a/README.rst b/README.rst
@@ -139,11 +139,11 @@ The :code:`n` is the PDO index (normally 1 to 4). The second form of access is f
     # network.connect(bustype='nican', channel='CAN0', bitrate=250000)
 
     # Read a variable using SDO
-    device_name = node.sdo['Manufacturer device name'].get_raw()
-    vendor_id = node.sdo[0x1018][1].get_raw()
+    device_name = node.sdo['Manufacturer device name'].raw
+    vendor_id = node.sdo[0x1018][1].raw
 
     # Write a variable using SDO
-    node.sdo['Producer heartbeat time'].set_raw(1000)
+    node.sdo['Producer heartbeat time'].raw = 1000
 
     # Read PDO configuration from node
     node.tpdo.read()
@@ -167,8 +167,8 @@ The :code:`n` is the PDO index (normally 1 to 4). The second form of access is f
 
     # Read a value from TPDO[1]
     node.tpdo[1].wait_for_reception()
-    speed = node.tpdo[1]['Velocity actual value'].get_phys()
-    val = node.tpdo['Some group.Some subindex'].get_raw()
+    speed = node.tpdo[1]['Velocity actual value'].phys
+    val = node.tpdo['Some group.Some subindex'].raw
 
     # Disconnect from CAN bus
     network.sync.stop()
diff --git a/canopen/emcy.py b/canopen/emcy.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 import struct
 import logging
 import threading
diff --git a/canopen/lss.py b/canopen/lss.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 from typing import Optional, TYPE_CHECKING
 import logging
 import time
diff --git a/canopen/nmt.py b/canopen/nmt.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 import threading
 import logging
 import struct
@@ -11,7 +10,6 @@
 if TYPE_CHECKING:
     from canopen.network import Network
 
-
 logger = logging.getLogger(__name__)
 
 NMT_STATES = {
diff --git a/canopen/node/base.py b/canopen/node/base.py
@@ -1,5 +1,4 @@
-from __future__ import annotations
-from typing import TextIO, Union, Optional, TYPE_CHECKING
+from typing import TextIO, Union, TYPE_CHECKING
 
 from canopen.objectdictionary import ObjectDictionary, import_od
 
@@ -22,7 +21,7 @@ def __init__(
         node_id: int,
         object_dictionary: Union[ObjectDictionary, str, TextIO],
     ):
-        self.network: Optional[Network] = None
+        self.network: Network | None = None
 
         if not isinstance(object_dictionary, ObjectDictionary):
             object_dictionary = import_od(object_dictionary, node_id)
diff --git a/canopen/node/remote.py b/canopen/node/remote.py
@@ -39,7 +39,7 @@ def __init__(
         #: Enable WORKAROUND for reversed PDO mapping entries
         self.curtis_hack = False
 
-        self.sdo_channels: List[SdoClient] = []
+        self.sdo_channels: list[SdoClient] = []
         self.sdo = self.add_sdo(0x600 + self.id, 0x580 + self.id)
         self.tpdo = TPDO(self)
         self.rpdo = RPDO(self)
diff --git a/canopen/objectdictionary/eds.py b/canopen/objectdictionary/eds.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 import copy
 import logging
 import re
diff --git a/canopen/pdo/__init__.py b/canopen/pdo/__init__.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 import logging
 
 from canopen import node
diff --git a/canopen/sdo/base.py b/canopen/sdo/base.py
@@ -1,4 +1,3 @@
-from __future__ import annotations
 import binascii
 from typing import Iterable, Union, Optional, TYPE_CHECKING
 try:
diff --git a/canopen/sdo/client.py b/canopen/sdo/client.py
@@ -73,7 +73,7 @@ def send_request(self, request):
                 logger.info(str(e))
                 if self.PAUSE_AFTER_SEND:
                     # NOTE: Blocking call
-                    time.sleep(0.1)
+                    time.sleep(self.PAUSE_AFTER_SEND)
             else:
                 break
 
@@ -91,7 +91,7 @@ async def asend_request(self, request):
                     raise
                 logger.info(str(e))
                 if self.PAUSE_AFTER_SEND:
-                    await asyncio.sleep(0.1)
+                    await asyncio.sleep(self.PAUSE_AFTER_SEND)
             else:
                 break
 
diff --git a/canopen/sync.py b/canopen/sync.py
@@ -1,5 +1,4 @@
 from __future__ import annotations
-
 from typing import Optional, TYPE_CHECKING
 
 if TYPE_CHECKING:
diff --git a/canopen/variable.py b/canopen/variable.py
@@ -30,6 +30,7 @@ def get_data(self) -> bytes:
         raise NotImplementedError("Variable is not readable")
 
     async def aget_data(self) -> bytes:
+        """Byte representation of the object as :class:`bytes`. Async variant."""
         raise NotImplementedError("Variable is not readable")
 
     def set_data(self, data: bytes):
@@ -40,17 +41,17 @@ async def aset_data(self, data: bytes):
 
     @property
     def data(self) -> bytes:
-        logger.warning("Accessing Variable.data property is deprecated, use get_data()")
+        """Byte representation of the object as :class:`bytes`."""
         return self.get_data()
 
     @data.setter
     def data(self, data: bytes):
-        logger.warning("Accessing Variable.data setter is deprecated, use set_data()")
+        """Set the variable data."""
         self.set_data(data)
 
     @property
     def raw(self) -> Union[int, bool, float, str, bytes]:
-        logger.warning("Accessing Variable.raw property is deprecated, use get_raw()")
+        """Raw representation of the object."""
         return self.get_raw()
 
     def get_raw(self) -> Union[int, bool, float, str, bytes]:
@@ -102,13 +103,15 @@ def _get_raw(self, data: bytes) -> Union[int, bool, float, str, bytes]:
 
     @raw.setter
     def raw(self, value: Union[int, bool, float, str, bytes]):
-        logger.warning("Accessing Variable.raw setter is deprecated, use set_raw()")
+        """Set the raw value of the object"""
         self.set_raw(value)
 
     def set_raw(self, value: Union[int, bool, float, str, bytes]):
+        """Set the raw value of the object"""
         self.set_data(self._set_raw(value))
 
     async def aset_raw(self, value: Union[int, bool, float, str, bytes]):
+        """Set the raw value of the object, async variant"""
         await self.aset_data(self._set_raw(value))
 
     def _set_raw(self, value: Union[int, bool, float, str, bytes]):
@@ -119,7 +122,7 @@ def _set_raw(self, value: Union[int, bool, float, str, bytes]):
 
     @property
     def phys(self) -> Union[int, bool, float, str, bytes]:
-        logger.warning("Accessing Variable.phys attribute is deprecated, use get_phys()")
+        """Physical value scaled with some factor (defaults to 1)."""
         return self.get_phys()
 
     def get_phys(self) -> Union[int, bool, float, str, bytes]:
@@ -132,6 +135,7 @@ def get_phys(self) -> Union[int, bool, float, str, bytes]:
         return self._get_phys(self.get_raw())
 
     async def aget_phys(self) -> Union[int, bool, float, str, bytes]:
+        """Physical value scaled with some factor (defaults to 1), async variant."""
         return self._get_phys(await self.aget_raw())
 
     def _get_phys(self, raw: Union[int, bool, float, str, bytes]):
@@ -142,18 +146,20 @@ def _get_phys(self, raw: Union[int, bool, float, str, bytes]):
 
     @phys.setter
     def phys(self, value: Union[int, bool, float, str, bytes]):
-        logger.warning("Accessing Variable.phys setter is deprecated, use set_phys()")
+        """Set the physical value."""
         self.set_phys(value)
 
     def set_phys(self, value: Union[int, bool, float, str, bytes]):
+        """Set the physical value."""
         self.set_raw(self.od.encode_phys(value))
 
     async def aset_phys(self, value: Union[int, bool, float, str, bytes]):
+        """Set the physical value, async variant."""
         await self.aset_raw(self.od.encode_phys(value))
 
     @property
     def desc(self) -> str:
-        logger.warning("Accessing Variable.desc attribute is deprecated, use get_desc()")
+        """Converts to and from a description of the value as a string."""
         return self.get_desc()
 
     def get_desc(self) -> str:
@@ -163,24 +169,27 @@ def get_desc(self) -> str:
         return value
 
     async def aget_desc(self) -> str:
+        """Converts to and from a description of the value as a string, async variant."""
         value = self.od.decode_desc(await self.aget_raw())
         logger.debug("Description is '%s'", value)
         return value
 
     @desc.setter
     def desc(self, desc: str):
-        logger.warning("Accessing Variable.desc setter is deprecated, use set_desc()")
+        """Set description."""
         self.set_desc(desc)
 
     def set_desc(self, desc: str):
+        """Set description."""
         self.set_raw(self.od.encode_desc(desc))
 
     async def aset_desc(self, desc: str):
+        """Set description, async variant."""
         await self.aset_raw(self.od.encode_desc(desc))
 
     @property
     def bits(self) -> "Bits":
-        logger.warning("Accessing Variable.bits attribute is deprecated")
+        """Access bits using integers, slices, or bit descriptions."""
         return self.get_bits()
 
     def get_bits(self) -> "Bits":
@@ -209,6 +218,7 @@ def read(self, fmt: str = "raw") -> Union[int, bool, float, str, bytes]:
             return self.get_desc()
 
     async def aread(self, fmt: str = "raw") -> Union[int, bool, float, str, bytes]:
+        """Alternative way of reading using a function instead of attributes. Async variant."""
         if fmt == "raw":
             return await self.aget_raw()
         elif fmt == "phys":
@@ -239,16 +249,7 @@ def write(
     async def awrite(
         self, value: Union[int, bool, float, str, bytes], fmt: str = "raw"
     ) -> None:
-        """Alternative way of writing using a function instead of attributes.
-
-        May be useful for asynchronous writing.
-
-        :param str fmt:
-            How to write the value
-             - 'raw'
-             - 'phys'
-             - 'desc'
-        """
+        """Alternative way of writing using a function instead of attributes. Async variant"""
         if fmt == "raw":
             await self.aset_raw(value)
         elif fmt == "phys":

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,3 @@`
`1`		`-from __future__ import annotations`
`2`	`1`	`import struct`
`3`	`2`	`import logging`
`4`	`3`	`import threading`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,3 @@`
`1`		`-from __future__ import annotations`
`2`	`1`	`from typing import Optional, TYPE_CHECKING`
`3`	`2`	`import logging`
`4`	`3`	`import time`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,3 @@`
`1`		`-from __future__ import annotations`
`2`	`1`	`import copy`
`3`	`2`	`import logging`
`4`	`3`	`import re`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,3 @@`
`1`		`-from __future__ import annotations`
`2`	`1`	`import binascii`
`3`	`2`	`from typing import Iterable, Union, Optional, TYPE_CHECKING`
`4`	`3`	`try:`