Do not use Listener interface for NodeScanner class

Author: christiansandberg

canopen/network.py

@@ -38,7 +38,7 @@ def __init__(self, bus=None):
         self.scanner = NodeScanner(self)
         #: List of :class:`can.Listener` objects.
         #: Includes at least MessageListener.
-        self.listeners = [MessageListener(self), self.scanner]
+        self.listeners = [MessageListener(self)]
         self.notifier = None
         self.nodes = {}
         self.subscribers = {}
@@ -179,6 +179,7 @@ def notify(self, can_id, data, timestamp):
         if can_id in self.subscribers:
             callback = self.subscribers[can_id]
             callback(can_id, data, timestamp)
+        self.scanner.on_message_received(can_id)
 
     def __getitem__(self, node_id):
         return self.nodes[node_id]
@@ -220,7 +221,7 @@ def on_message_received(self, msg):
             logger.error(str(e))
 
 
-class NodeScanner(Listener):
+class NodeScanner(object):
     """Observes which nodes are present on the bus.
 
     Listens for the following messages:
@@ -243,12 +244,9 @@ def __init__(self, network=None):
         #: A :class:`list` of nodes discovered
         self.nodes = []
 
-    def on_message_received(self, msg):
-        if (not self.active or msg.is_error_frame or msg.is_remote_frame or
-                msg.is_extended_id):
-            return
-        service = msg.arbitration_id & 0x780
-        node_id = msg.arbitration_id & 0x7F
+    def on_message_received(self, can_id):
+        service = can_id & 0x780
+        node_id = can_id & 0x7F
         if node_id not in self.nodes and node_id != 0 and service in self.SERVICES:
             self.nodes.append(node_id)
 

test/test_network.py

@@ -29,14 +29,14 @@ def test_notify(self):
         self.assertEqual(len(node.emcy.active), 1)
         self.network.notify(0x702, b'\x05', 1473418396.0)
         self.assertEqual(node.nmt.state, 'OPERATIONAL')
+        self.assertListEqual(self.network.scanner.nodes, [2])
 
 
 class TestScanner(unittest.TestCase):
 
     def test_passive_scanning(self):
         scanner = canopen.network.NodeScanner()
-        scanner(can.Message(arbitration_id=0x586, extended_id=False))
-        scanner(can.Message(arbitration_id=0x587, extended_id=False))
-        scanner(can.Message(arbitration_id=0x586, extended_id=False))
-        scanner(can.Message(arbitration_id=0x588, extended_id=True))
+        scanner.on_message_received(0x586)
+        scanner.on_message_received(0x587)
+        scanner.on_message_received(0x586)
         self.assertListEqual(scanner.nodes, [6, 7])