clearpath_config.platform.can module

class clearpath_config.platform.can.CANAdapter(type_: str)

Bases: object

TYPES = {'physical': <class 'clearpath_config.platform.can.PhysicalCANAdapter'>, 'serial': <class 'clearpath_config.platform.can.SerialCANAdapter'>, 'virtual': <class 'clearpath_config.platform.can.VirtualCANAdapter'>}

class clearpath_config.platform.can.CANAdapterConfig(config: dict = {})

Bases: object

DEFAULTS = {'a200': [], 'a300': [{'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}, {'baud': 's5', 'can_dev': 'vcan1', 'port': 11413, 'serial_dev': '/dev/ttycan1', 'type': 'virtual'}], 'dd100': [{'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}], 'dd150': [{'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}], 'do100': [{'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}], 'do150': [{'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}], 'generic': [], 'j100': [], 'r100': [{'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}], 'w200': []}

VCAN0_DEFAULT = {'baud': 's8', 'can_dev': 'vcan0', 'port': 11412, 'serial_dev': '/dev/ttycan0', 'type': 'virtual'}

VCAN1_DEFAULT = {'baud': 's5', 'can_dev': 'vcan1', 'port': 11413, 'serial_dev': '/dev/ttycan1', 'type': 'virtual'}

property config

get_all() → List[PhysicalCANAdapter]

update(serial_number: bool = False) → None

class clearpath_config.platform.can.CANAdapterListConfig

Bases: ListConfig[PhysicalCANAdapter, str]

class clearpath_config.platform.can.CANBridge(interface: str = 'can0', enable_can_fd: bool = False, interval: float = 0.01, use_bus_time: bool = False, filters: str = '0:0', auto_configure: bool = True, auto_activate: bool = True, topic_rx: str = 'can0/rx', topic_tx: str = 'can0/tx', timeout: float = 5.0, transition_attempts: int = 3)

Bases: object

AUTO_ACTIVATE = 'auto_activate'

AUTO_CONFIGURE = 'auto_configure'

DEFAULTS = {'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'can0', 'interval': 0.01, 'timeout': 5.0, 'topic_rx': 'can0/rx', 'topic_tx': 'can0/tx', 'transition_attempts': 3, 'use_bus_time': False}

ENABLE_CAN_FD = 'enable_can_fd'

FILTERS = 'filters'

INTERFACE = 'interface'

INTERVAL = 'interval'

TIMEOUT = 'timeout'

TOPIC_RX = 'topic_rx'

TOPIC_TX = 'topic_tx'

TRANSITION_ATTEMPTS = 'transition_attempts'

USE_BUS_TIME = 'use_bus_time'

from_dict(d: dict) → None

property interface: str

to_dict() → dict

class clearpath_config.platform.can.CANBridgeConfig(config: dict = {})

Bases: object

A300_DEFAULT = [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}]

DEFAULTS = {'a200': [], 'a300': [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}], 'dd100': [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}], 'dd150': [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}], 'do100': [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}], 'do150': [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}], 'generic': [], 'j100': [], 'r100': [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}], 'w200': []}

SINGLE_VCAN_DEFAULT = [{'auto_activate': True, 'auto_configure': True, 'enable_can_fd': False, 'filters': '0:0', 'interface': 'vcan0', 'interval': 0.01, 'timeout': 5.0, 'transition_attempts': 3, 'use_bus_time': False}]

property config

get_all() → List[CANBridge]

update(serial_number: bool = False) → None

class clearpath_config.platform.can.CANBridgeListConfig

Bases: ListConfig[CANBridge, str]

class clearpath_config.platform.can.PhysicalCANAdapter(can_dev: str = 'vcan0', baud: str = 's8')

Bases: object

BAUD = 'baud'

CAN_DEV = 'can_dev'

DEFAULT = {'baud': 's8', 'can_dev': 'vcan0'}

TYPE = 'physical'

property baud: str

property can_dev: str

from_dict(d: dict) → None

to_dict() → dict

class clearpath_config.platform.can.SerialCANAdapter(can_dev: str = 'vcan0', baud: str = 's8', serial_dev: str = '/dev/ttycan0')

Bases: PhysicalCANAdapter

DEFAULT = {'serial_dev': '/dev/ttycan0'}

SERIAL_DEV = 'serial_dev'

TYPE = 'serial'

from_dict(d: dict) → None

property serial_dev: str

to_dict() → dict

class clearpath_config.platform.can.VirtualCANAdapter(can_dev: str = 'vcan0', baud: str = 's8', serial_dev: str = '/dev/ttycan0', port: int = 11412)

Bases: SerialCANAdapter

DEFAULT = {'port': 11412}

PORT = 'port'

TYPE = 'virtual'

from_dict(d: dict) → None

property port: int

to_dict() → dict