Export PdoMap and PdoVariable classes in pdo module (#464)

* Reintroduce PdoMap and PdoVariable to public API of sub-package pdo.

With commit 0285f58, the Map class
was inadvertently removed from the imports directly available within
the canopen.pdo package.  However, it is referenced as
canopen.pdo.PdoMap in the p402 module and documentation.

Restore that import using the new names PdoMap and PdoVariable.  Move
the compatibility define to the very bottom, just like in other
modules.  Provide an __all__ listing to clarify what constitutes the
public API.

* Use type hints for PdoMap in BaseNode402.

Replace the sphinx parameter type documentation with a proper type
hint annotation.  Same for the tpdo_pointers and rpdo_pointers
attributes.

Author: acolomb

canopen/pdo/__init__.py

@@ -1,10 +1,18 @@
 import logging
 
 from canopen import node
-from canopen.pdo.base import PdoBase, PdoMaps
+from canopen.pdo.base import PdoBase, PdoMap, PdoMaps, PdoVariable
 
-# Compatibility
-from canopen.pdo.base import Variable
+
+__all__ = [
+    "PdoBase",
+    "PdoMap",
+    "PdoMaps",
+    "PdoVariable",
+    "PDO",
+    "RPDO",
+    "TPDO",
+]
 
 logger = logging.getLogger(__name__)
 
@@ -77,3 +85,7 @@ def stop(self):
                 pdo.stop()
         else:
             raise TypeError('The node type does not support this function.')
+
+
+# Compatibility
+Variable = PdoVariable

canopen/profiles/p402.py

@@ -1,8 +1,10 @@
 # inspired by the NmtMaster code
 import logging
 import time
+from typing import Dict
 
 from canopen.node import RemoteNode
+from canopen.pdo import PdoMap
 from canopen.sdo import SdoCommunicationError
 
 logger = logging.getLogger(__name__)
@@ -212,8 +214,8 @@ class BaseNode402(RemoteNode):
     def __init__(self, node_id, object_dictionary):
         super(BaseNode402, self).__init__(node_id, object_dictionary)
         self.tpdo_values = {}  # { index: value from last received TPDO }
-        self.tpdo_pointers = {}  # { index: pdo.PdoMap instance }
-        self.rpdo_pointers = {}  # { index: pdo.PdoMap instance }
+        self.tpdo_pointers: Dict[int, PdoMap] = {}
+        self.rpdo_pointers: Dict[int, PdoMap] = {}
 
     def setup_402_state_machine(self, read_pdos=True):
         """Configure the state machine by searching for a TPDO that has the StatusWord mapped.
@@ -453,11 +455,10 @@ def is_op_mode_supported(self, mode):
         bits = OperationMode.SUPPORTED[mode]
         return self._op_mode_support & bits == bits
 
-    def on_TPDOs_update_callback(self, mapobject):
+    def on_TPDOs_update_callback(self, mapobject: PdoMap):
         """Cache updated values from a TPDO received from this node.
 
         :param mapobject: The received PDO message.
-        :type mapobject: canopen.pdo.PdoMap
         """
         for obj in mapobject:
             self.tpdo_values[obj.index] = obj.raw