v1.4 (#197)

* Refactor the redundant output session to return optimistically, as soon as the first inferior is done transmitting. The test suite currently generates warnings due to some of the async tasks not being finalized properly.

* Fix #147

* Fix doc styling; same problem as in OpenCyphal/pydsdl#74

* Add diagnostics for GNU/Linux test on AppVeyor

* Split transmission in SocketCAN loopback test

.appveyor.yml

@@ -81,6 +81,8 @@ for:
     test_script:
       - 'nox --non-interactive --error-on-missing-interpreters --session test pristine --python $PYTHON'
       - 'nox --non-interactive --session demo check_style docs'
+    on_finish:
+      - 'ip link show'  # Diagnostics aid
 
   - # DEPLOYMENT
     matrix:

CHANGELOG.rst

@@ -3,6 +3,18 @@
 Changelog
 =========
 
+v1.4
+----
+
+- Behavior of the redundant output session changed:
+  :meth:`pyuavcan.transport.redundant.RedundantOutputSession.send` returns as soon as at least one inferior is done
+  transmitting, the slower ones keep transmitting in the background.
+  In other words, the redundant transport now operates at the rate of the fastest inferior (used to be the slowest one).
+
+- Implement the DSDL UX improvement described in `#147 <https://github.com/UAVCAN/pyuavcan/issues/147>`_.
+
+- Fully adopt PEP 585 in generated code.
+
 v1.3
 ----
 

docs/static/custom.css

@@ -36,6 +36,10 @@ h2 {
     font-weight: bold;
 }
 
+.rst-content dl {
+    display: block !important;
+}
+
 .rst-content a {
     color: #1700b3;
 }

noxfile.py

@@ -124,7 +124,7 @@ def test(session):
     #   2. At least MyPy has to be run separately per Python version we support.
     # If the interpreter is not CPython, this may need to be conditionally disabled.
     session.install(
-        "mypy   == 0.910",
+        "mypy   == 0.920",
         "pylint == 2.12.*",
     )
     session.run("mypy", "--strict", *map(str, src_dirs), str(compiled_dir))

pyuavcan/VERSION

@@ -1 +1 @@
-1.3.1
+1.4.0

pyuavcan/dsdl/_builtin_form.py

@@ -3,11 +3,10 @@
 # Author: Pavel Kirienko <pavel@uavcan.org>
 
 import typing
-
+import logging
 import numpy
 from numpy.typing import NDArray
 import pydsdl
-
 from ._composite_object import CompositeObject, get_model, get_attribute, set_attribute, get_class
 from ._composite_object import CompositeObjectTypeVar
 
@@ -93,6 +92,8 @@ def update_from_builtin(destination: CompositeObjectTypeVar, source: typing.Any)
     Source field names shall match the original unstropped names provided in the DSDL definition;
     e.g., `if`, not `if_`. If there is more than one variant specified for a union type, the last
     specified variant takes precedence.
+    If the structure of the source does not match the destination object, the correct representation
+    may be deduced automatically as long as it can be done unambiguously.
 
     :param destination: The object to update. The update will be done in-place. If you don't want the source
         object modified, clone it beforehand.
@@ -124,23 +125,68 @@ def update_from_builtin(destination: CompositeObjectTypeVar, source: typing.Any)
     ...     }
     ... })  # doctest: +NORMALIZE_WHITESPACE
     uavcan.register.Access.Request...name='my.register'...value=[ 1, 2, 42,-10000]...
-    """
-    # UX improvement; see https://github.com/UAVCAN/pyuavcan/issues/116
-    if not isinstance(source, dict):
-        raise TypeError(
-            f"Invalid format: cannot update an instance of type {type(destination).__name__!r} "
-            f"from value of type {type(source).__name__!r}"
-        )
-
-    source = dict(source)  # Create copy to prevent mutation of the original
 
+    The following examples showcase positional initialization:
+
+    >>> from uavcan.node import Heartbeat_1
+    >>> update_from_builtin(Heartbeat_1(), [123456, 1, 2])  # doctest: +NORMALIZE_WHITESPACE
+    uavcan.node.Heartbeat.1.0(uptime=123456,
+                              health=uavcan.node.Health.1.0(value=1),
+                              mode=uavcan.node.Mode.1.0(value=2),
+                              vendor_specific_status_code=0)
+    >>> update_from_builtin(Heartbeat_1(), 123456)  # doctest: +NORMALIZE_WHITESPACE
+    uavcan.node.Heartbeat.1.0(uptime=123456,
+                              health=uavcan.node.Health.1.0(value=0),
+                              mode=uavcan.node.Mode.1.0(value=0),
+                              vendor_specific_status_code=0)
+    >>> update_from_builtin(Heartbeat_1(), [0, 0, 0, 0, 0])  # doctest: +IGNORE_EXCEPTION_DETAIL
+    Traceback (most recent call last):
+        ...
+    TypeError: ...
+
+    >>> update_from_builtin(uavcan.primitive.array.Real64_1(), 123.456) # doctest: +NORMALIZE_WHITESPACE
+    uavcan.primitive.array.Real64.1.0(value=[123.456])
+    >>> update_from_builtin(uavcan.primitive.array.Real64_1(), [123.456]) # doctest: +NORMALIZE_WHITESPACE
+    uavcan.primitive.array.Real64.1.0(value=[123.456])
+    >>> update_from_builtin(uavcan.primitive.array.Real64_1(), [123.456, -9]) # doctest: +NORMALIZE_WHITESPACE
+    uavcan.primitive.array.Real64.1.0(value=[123.456, -9. ])
+
+    >>> update_from_builtin(uavcan.register.Access_1_0.Request(), ["X", {"integer8": 99}])  # Same as the next one!
+    uavcan.register.Access.Request...name='X'...value=[99]...
+    >>> update_from_builtin(uavcan.register.Access_1_0.Request(), {'name': 'X', 'value': {'integer8': {'value': [99]}}})
+    uavcan.register.Access.Request...name='X'...value=[99]...
+    """
+    _logger.debug("update_from_builtin: destination/source on the next lines:\n%r\n%r", destination, source)
     if not isinstance(destination, CompositeObject):  # pragma: no cover
         raise TypeError(f"Bad destination: expected a CompositeObject, got {type(destination).__name__}")
-
     model = get_model(destination)
     _raise_if_service_type(model)
+    fields = model.fields_except_padding
+
+    # UX improvement: https://github.com/UAVCAN/pyuavcan/issues/147 -- match the source against the data type.
+    if not isinstance(source, dict):
+        if not isinstance(source, (list, tuple)):  # Assume positional initialization.
+            source = (source,)
+        can_propagate = fields and isinstance(fields[0].data_type, (pydsdl.ArrayType, pydsdl.CompositeType))
+        too_many_values = len(source) > (1 if isinstance(model.inner_type, pydsdl.UnionType) else len(fields))
+        if can_propagate and too_many_values:
+            _logger.debug(
+                "update_from_builtin: %d source values cannot be applied to %s but the first field accepts "
+                "positional initialization -- propagating down",
+                len(source),
+                type(destination).__name__,
+            )
+            source = [source]
+        if len(source) > len(fields):
+            raise TypeError(
+                f"Cannot apply {len(source)} values to {len(fields)} fields in {type(destination).__name__}"
+            )
+        source = {f.name: v for f, v in zip(fields, source)}
+        return update_from_builtin(destination, source)
 
-    for f in model.fields_except_padding:
+    source = dict(source)  # Create copy to prevent mutation of the original
+
+    for f in fields:
         field_type = f.data_type
         try:
             value = source.pop(f.name)
@@ -182,3 +228,6 @@ def _raise_if_service_type(model: pydsdl.SerializableType) -> None:
             f"Built-in form is not defined for service types. "
             f"Did you mean to use Request or Response? Input type: {model}"
         )
+
+
+_logger = logging.getLogger(__name__)

pyuavcan/dsdl/_templates/base.j2

@@ -20,7 +20,6 @@
 from __future__ import annotations
 import numpy as _np_
 from numpy.typing import NDArray as _NDArray_
-from typing import Optional as _Opt_
 import pydsdl as _pydsdl_
 import pyuavcan.dsdl as _dsdl_
 {%- if T.deprecated %}
@@ -175,7 +174,7 @@ class {{ name }}(_dsdl_.{%- if type.has_fixed_port_id -%}FixedPort{%- endif -%}C
                  {%- for f in type.fields_except_padding -%}
                  ,
                  {{ f|id }}: {{ ''.ljust(type.fields|longest_id_length - f|id|length) -}}
-                     _Opt_[{{ relaxed_type_annotation(f.data_type) }}] = None
+                     None | {{ relaxed_type_annotation(f.data_type) }} = None
                  {%- endfor -%}
     ) -> None:
         """
@@ -250,7 +249,7 @@ class {{ name }}(_dsdl_.{%- if type.has_fixed_port_id -%}FixedPort{%- endif -%}C
 {%- else %}  {#- IS UNION (guaranteed to contain at least 2 fields none of which are padding) #}
     {%- for f in type.fields %}
         self._{{ f|id }}: {{ ''.ljust(type.fields|longest_id_length - f|id|length) -}}
-            _Opt_[{{ strict_type_annotation(f.data_type) }}] = None
+            None | {{ strict_type_annotation(f.data_type) }} = None
     {%- endfor %}
         _init_cnt_: int = 0
     {% for f in type.fields %}
@@ -298,14 +297,7 @@ class {{ name }}(_dsdl_.{%- if type.has_fixed_port_id -%}FixedPort{%- endif -%}C
 -#}
 {%- for f in type.fields_except_padding %}
     @property
-    def {{ f|id }}(self) -> {# #}
-    {%- if type.inner_type is UnionType -%}
-        _Opt_[
-    {%- endif -%}
-        {{ strict_type_annotation(f.data_type) }}
-    {%- if type.inner_type is UnionType -%}
-        ]
-    {%- endif -%}:
+    def {{ f|id }}(self) -> {{ "None | " * (type.inner_type is UnionType) }}{{ strict_type_annotation(f.data_type) }}:
         """
         {{ f }}
     {%- if f.data_type is VariableLengthArrayType and f.data_type.string_like %}

pyuavcan/transport/can/media/_frame.py

@@ -75,7 +75,7 @@ class Envelope:
 
 
 _DLC_TO_LENGTH = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
-_LENGTH_TO_DLC: typing.Dict[int, int] = dict(zip(*list(zip(*enumerate(_DLC_TO_LENGTH)))[::-1]))  # type: ignore
+_LENGTH_TO_DLC: typing.Dict[int, int] = dict(zip(*list(zip(*enumerate(_DLC_TO_LENGTH)))[::-1]))
 assert len(_LENGTH_TO_DLC) == 16 == len(_DLC_TO_LENGTH)
 for item in _DLC_TO_LENGTH:
     assert _DLC_TO_LENGTH[_LENGTH_TO_DLC[item]] == item, "Invalid DLC tables"

pyuavcan/transport/can/media/socketcan/_socketcan.py

@@ -195,7 +195,7 @@ def handler_wrapper(frs: typing.Sequence[typing.Tuple[Timestamp, Envelope]]) ->
 
     def _read_frame(self, ts_mono_ns: int) -> typing.Tuple[Timestamp, Envelope]:
         while True:
-            data, ancdata, msg_flags, _addr = self._sock.recvmsg(
+            data, ancdata, msg_flags, _addr = self._sock.recvmsg(  # type: ignore
                 self._native_frame_size, self._ancillary_data_buffer_size
             )
             assert msg_flags & socket.MSG_TRUNC == 0, "The data buffer is not large enough"
@@ -295,7 +295,7 @@ class _NativeFrameDataCapacity(enum.IntEnum):
 _CAN_EFF_MASK = 0x1FFFFFFF
 
 
-def _make_socket(iface_name: str, can_fd: bool) -> socket.SocketType:
+def _make_socket(iface_name: str, can_fd: bool) -> socket.socket:
     s = socket.socket(socket.PF_CAN, socket.SOCK_RAW, socket.CAN_RAW)  # type: ignore
     try:
         s.bind((iface_name,))

pyuavcan/transport/redundant/__init__.py

@@ -365,6 +365,11 @@
 >>> tr.protocol_parameters
 ProtocolParameters(transfer_id_modulo=0, max_nodes=0, mtu=0)
 
+..  doctest::
+    :hide:
+
+    >>> doctest_await(asyncio.sleep(1.0))  # Let pending tasks terminate before the loop is closed.
+
 A redundant transport can be used with just one inferior to implement ad-hoc PnP allocation as follows:
 the transport is set up with an anonymous inferior which is disposed of upon completing the allocation procedure;
 the new inferior is then installed in the place of the old one configured to use the newly allocated node-ID value.

pyuavcan/transport/redundant/_redundant_transport.py

@@ -330,7 +330,7 @@ def retire() -> None:
     def _construct_inferior_session(transport: pyuavcan.transport.Transport, owner: RedundantSession) -> None:
         assert isinstance(transport, pyuavcan.transport.Transport)
         if isinstance(owner, pyuavcan.transport.InputSession):
-            inferior = transport.get_input_session(owner.specifier, owner.payload_metadata)
+            inferior: pyuavcan.transport.Session = transport.get_input_session(owner.specifier, owner.payload_metadata)
         elif isinstance(owner, pyuavcan.transport.OutputSession):
             inferior = transport.get_output_session(owner.specifier, owner.payload_metadata)
         else: