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Fix some type checker errors in network module #534

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merged 3 commits into from
Aug 14, 2024
Merged

Fix some type checker errors in network module #534

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d87b865
Annotate PeriodicMessageTask in NmtMaster and NmtSlave.
acolomb Aug 12, 2024
c82f646
Type annotate Network.notifier.
acolomb Aug 12, 2024
b8187cd
Remove duplicate initialization of PeriodicMessageTask._task.
acolomb Aug 12, 2024
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3 changes: 1 addition & 2 deletions canopen/network.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ def __init__(self, bus: Optional[can.BusABC] = None):
#: List of :class:`can.Listener` objects.
#: Includes at least MessageListener.
self.listeners = [MessageListener(self)]
self.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()
Expand Down Expand Up @@ -308,7 +308,6 @@ 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):
Expand Down
10 changes: 7 additions & 3 deletions canopen/nmt.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,11 @@
import logging
import struct
import time
from typing import Callable, Optional
from typing import Callable, Optional, TYPE_CHECKING

if TYPE_CHECKING:
from canopen.network import PeriodicMessageTask


logger = logging.getLogger(__name__)

Expand Down Expand Up @@ -107,7 +111,7 @@ 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()
Expand Down Expand Up @@ -197,7 +201,7 @@ 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

Expand Down