Merge branch 'master' into feature-asyncio

Author: sveinse

.github/workflows/pythonpackage.yml

@@ -27,8 +27,12 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install pytest
+        pip install pytest pytest-cov
         pip install -e .
     - name: Test with pytest
       run: |
-        pytest -v
+        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 }}

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+.
 
 This library is the asyncio port of CANopen. See below for code example.
 

canopen/emcy.py

@@ -165,7 +165,7 @@ 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

@@ -369,7 +369,7 @@ 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)
 
     # FIXME: Make async implementation "__asend_command"
@@ -387,9 +387,7 @@ 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():

canopen/network.py

@@ -2,7 +2,7 @@
 from collections.abc import MutableMapping
 import logging
 import threading
-from typing import Callable, Dict, Iterable, List, Optional, Union, TYPE_CHECKING
+from typing import Callable, Dict, Iterator, List, Optional, Union, TYPE_CHECKING
 import asyncio
 
 if TYPE_CHECKING:
@@ -98,7 +98,7 @@ def unsubscribe(self, can_id, callback=None) -> None:
         else:
             self.subscribers[can_id].remove(callback)
 
-    def connect(self, *args, **kwargs) -> "Network":
+    def connect(self, *args, **kwargs) -> Network:
         """Connect to CAN bus using python-can.
 
         Arguments are passed directly to :class:`can.BusABC`. Typically these
@@ -246,7 +246,7 @@ def send_message(self, can_id: int, data: bytes, remote: bool = False) -> None:
 
     def send_periodic(
         self, can_id: int, data: bytes, period: float, remote: bool = False
-    ) -> "PeriodicMessageTask":
+    ) -> PeriodicMessageTask:
         """Start sending a message periodically.
 
         :param can_id:
@@ -316,7 +316,7 @@ def __delitem__(self, node_id: int):
         self.nodes[node_id].remove_network()
         del self.nodes[node_id]
 
-    def __iter__(self) -> Iterable[int]:
+    def __iter__(self) -> Iterator[int]:
         return iter(self.nodes)
 
     def __len__(self) -> int:
@@ -337,7 +337,7 @@ def __init__(
         bus,
         remote: bool = False,
     ):
-        """ 
+        """
         :param can_id:
             CAN-ID of the message
         :param data:

canopen/nmt.py

@@ -225,14 +225,17 @@ async def _wait_for_bootup():
         except asyncio.TimeoutError:
             raise NmtError("Timeout waiting for boot-up message")
 
-    def add_hearbeat_callback(self, callback: Callable[[int], None]):
+    def add_heartbeat_callback(self, callback: Callable[[int], None]):
         """Add function to be called on heartbeat reception.
 
         :param callback:
             Function that should accept an NMT state as only argument.
         """
         self._callbacks.append(callback)
 
+    # Compatibility with previous typo
+    add_hearbeat_callback = add_heartbeat_callback
+
     def start_node_guarding(self, period: float):
         """Starts the node guarding mechanism.
 
@@ -289,29 +292,29 @@ def send_command(self, code: int) -> None:
 
     def on_write(self, index, data, **kwargs):
         if index == 0x1017:
-            hearbeat_time, = struct.unpack_from("<H", data)
-            if hearbeat_time == 0:
+            heartbeat_time, = struct.unpack_from("<H", data)
+            if heartbeat_time == 0:
                 self.stop_heartbeat()
             else:
-                self.start_heartbeat(hearbeat_time)
+                self.start_heartbeat(heartbeat_time)
 
     def start_heartbeat(self, heartbeat_time_ms: int):
-        """Start the hearbeat service.
+        """Start the heartbeat service.
 
-        :param hearbeat_time
+        :param heartbeat_time_ms
             The heartbeat time in ms. If the heartbeat time is 0
             the heartbeating will not start.
         """
         self._heartbeat_time_ms = heartbeat_time_ms
 
         self.stop_heartbeat()
         if heartbeat_time_ms > 0:
-            logger.info("Start the hearbeat timer, interval is %d ms", self._heartbeat_time_ms)
+            logger.info("Start the heartbeat timer, interval is %d ms", self._heartbeat_time_ms)
             self._send_task = self.network.send_periodic(
                 0x700 + self.id, [self._state], heartbeat_time_ms / 1000.0)
 
     def stop_heartbeat(self):
-        """Stop the hearbeat service."""
+        """Stop the heartbeat service."""
         if self._send_task is not None:
             logger.info("Stop the heartbeat timer")
             self._send_task.stop()

canopen/node/local.py

@@ -99,7 +99,7 @@ def get_data(
                 return obj.encode_raw(obj.default)
 
         # Resource not available
-        logger.info("Resource unavailable for 0x%X:%d", index, subindex)
+        logger.info("Resource unavailable for 0x%04X:%02X", index, subindex)
         raise SdoAbortedError(0x060A0023)
 
     def set_data(

canopen/node/remote.py

@@ -135,20 +135,15 @@ def __load_configuration_helper(self, index, subindex, name, value):
         """
         try:
             if subindex is not None:
-                logger.info(str('SDO [{index:#06x}][{subindex:#06x}]: {name}: {value:#06x}'.format(
-                    index=index,
-                    subindex=subindex,
-                    name=name,
-                    value=value)))
+                logger.info('SDO [0x%04X][0x%02X]: %s: %#06x',
+                            index, subindex, name, value)
                 # NOTE: Blocking call - OK. Protected in SdoClient
                 self.sdo[index][subindex].raw = value
             else:
                 # NOTE: Blocking call - OK. Protected in SdoClient
                 self.sdo[index].raw = value
-                logger.info(str('SDO [{index:#06x}]: {name}: {value:#06x}'.format(
-                    index=index,
-                    name=name,
-                    value=value)))
+                logger.info('SDO [0x%04X]: %s: %#06x',
+                            index, name, value)
         except SdoCommunicationError as e:
             logger.warning(str(e))
         except SdoAbortedError as e:
@@ -157,7 +152,8 @@ def __load_configuration_helper(self, index, subindex, name, value):
             if e.code != 0x06010002:
                 # Abort codes other than "Attempt to write a read-only object"
                 # should still be reported.
-                logger.warning('[ERROR SETTING object {0:#06x}:{1:#06x}]  {2}'.format(index, subindex, str(e)))
+                logger.warning('[ERROR SETTING object 0x%04X:%02X] %s',
+                               index, subindex, e)
                 raise
 
     def load_configuration(self):