Fix Optional handling for node IDs and PDO variables

[bizfsc]

Fix Optional handling to prevent operations on potentially None values.

Problem

mypy reports [operator] and [union-attr] errors where Optional values are used without None-checks — e.g. 0x600 + self.id when self.id could be None, or divmod(self.offset, 8) when self.offset is None.

Changes

canopen/node/base.py

• Annotate self.id as Optional[int] to match its runtime value (node_id or self.object_dictionary.node_id).

canopen/node/remote.py / canopen/node/local.py

• Add assert self.id is not None in __init__ and re-annotate self.id: int to narrow the type for all methods.

canopen/pdo/base.py

• Add assert guards for self.offset and self.pdo_parent at the start of get_data() and set_data().
• Fix wait_for_reception() return type: Optional[float] (was float, but returns None on timeout).

Impact

Eliminates 21 [operator] and [union-attr] errors in node and PDO modules.", "draft">false

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

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