PyPI - can-motor-control - Versions diffs - 0.1.0__tar.gz - Mend

can-motor-control 0.1.0__tar.gz

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Files changed (51) hide show

can_motor_control-0.1.0/Cargo.lock ADDED Viewed

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can_motor_control-0.1.0/Cargo.toml ADDED Viewed

@@ -0,0 +1,29 @@
+[workspace]
+resolver = "2"
+members = ["crates/motor-codec", "crates/damiao-codec", "crates/can-motor-control", "crates/can-motor-control-py"]
+[workspace.package]
+version = "0.1.0"
+edition = "2021"
+rust-version = "1.85"
+license = "Apache-2.0 OR MIT"
+repository = "https://github.com/cc/can-motor-control"
+[workspace.dependencies]
+thiserror = { version = "2.0", default-features = false }
+bitflags = { version = "2.6", default-features = false }
+serde = { version = "1.0", default-features = false, features = ["derive"] }
+toml = "0.8"
+mio = { version = "1.0", features = ["os-poll", "os-ext"] }
+libc = "0.2"
+pyo3 = { version = "0.22", features = ["extension-module", "abi3-py310"] }
+numpy = "0.22"
+log = "0.4"
+motor-codec = { path = "crates/motor-codec", package = "can-motor-codec", version = "0.1.0", default-features = false }
+damiao-codec = { path = "crates/damiao-codec", package = "can-motor-damiao-codec", version = "0.1.0", default-features = false }
+can-motor-control = { path = "crates/can-motor-control", version = "0.1.0" }
+[profile.release]
+lto = "thin"
+codegen-units = 1

can_motor_control-0.1.0/PKG-INFO ADDED Viewed

@@ -0,0 +1,14 @@
+Metadata-Version: 2.4
+Name: can-motor-control
+Version: 0.1.0
+Classifier: Programming Language :: Rust
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Operating System :: POSIX :: Linux
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: License :: OSI Approved :: MIT License
+Requires-Dist: numpy>=1.24
+Requires-Dist: mkdocs-material>=9.5 ; extra == 'docs'
+Requires-Dist: mkdocstrings[python]>=0.26 ; extra == 'docs'
+Provides-Extra: docs
+Summary: Rust-backed control library for Damiao-family CAN motors
+Requires-Python: >=3.10

can_motor_control-0.1.0/crates/can-motor-control/Cargo.toml ADDED Viewed

@@ -0,0 +1,25 @@
+[package]
+name = "can-motor-control"
+version.workspace = true
+edition.workspace = true
+rust-version.workspace = true
+license.workspace = true
+repository.workspace = true
+description = "Robot control library for Damiao-family motors over Linux SocketCAN; vendor-agnostic above the codec seam"
+[features]
+default = ["socketcan", "mock"]
+socketcan = []
+mock = []
+[dependencies]
+motor-codec = { workspace = true, features = ["std"] }
+thiserror = { workspace = true, features = ["std"] }
+serde = { workspace = true, features = ["std", "derive"] }
+toml = { workspace = true }
+mio = { workspace = true }
+libc = { workspace = true }
+log = { workspace = true }
+[dev-dependencies]
+damiao-codec = { workspace = true, features = ["std"] }

can_motor_control-0.1.0/crates/can-motor-control/examples/00_can_interface_check.rs ADDED Viewed

@@ -0,0 +1,111 @@
+//! Tier 0 Rust bring-up: verify a SocketCAN interface without sending frames.
+//!
+//! This example never opens a CAN socket and never constructs a Robot. It only
+//! checks `/sys/class/net/<interface>` and prints the assumptions needed before
+//! moving to hardware-affecting examples.
+//!
+//! Usage:
+//!
+//! ```bash
+//! cargo run -p can-motor-control --example 00_can_interface_check -- --interface can0
+//! ```
+use std::env;
+use std::io::{self, Write};
+use std::path::Path;
+use std::process::ExitCode;
+const DEFAULT_INTERFACE: &str = "can0";
+fn print_help() {
+    println!(
+        "Tier 0 Rust bring-up: verify a SocketCAN interface without sending frames.\n\
+\n\
+Usage:\n\
+  cargo run -p can-motor-control --example 00_can_interface_check -- [--interface <iface>]\n\
+\n\
+Options:\n\
+  --interface <iface>  SocketCAN interface name (default: can0)\n\
+  --fd                 Assume a CAN-FD bus (adjusts the wire-format notes)\n\
+  -h, --help          Print this help text"
+    );
+}
+fn parse_args() -> Result<Option<(String, bool)>, String> {
+    let mut interface = DEFAULT_INTERFACE.to_string();
+    let mut fd = false;
+    let mut args = env::args().skip(1);
+    while let Some(arg) = args.next() {
+        match arg.as_str() {
+            "-h" | "--help" => return Ok(None),
+            "--fd" => fd = true,
+            "--interface" => {
+                interface = args
+                    .next()
+                    .ok_or_else(|| "--interface requires a value".to_string())?;
+            }
+            _ => return Err(format!("unknown argument: {arg}")),
+        }
+    }
+    Ok(Some((interface, fd)))
+}
+fn print_assumptions(interface: &str, fd: bool) {
+    println!("=== Rust 00 CAN interface check ===");
+    println!("  - interface         : {interface}");
+    println!("  - sends CAN frames? : no -- this example never opens the bus");
+    println!("  - hardware required : none");
+    println!();
+    if fd {
+        println!("  Target is a CAN-FD bus; the interface must be FD-capable.");
+        println!("  Confirm the bus is up and `candump {interface}` shows traffic before powering motors.");
+    } else {
+        println!("  Target is classical CAN (pass --fd for a CAN-FD bus).");
+        println!("  Confirm the bus is up at the expected bitrate (commonly 1 Mbit/s)");
+        println!("  and that `candump {interface}` shows traffic before powering motors.");
+    }
+    println!("===================================");
+    let _ = io::stdout().flush();
+}
+fn main() -> ExitCode {
+    let (interface, fd) = match parse_args() {
+        Ok(Some(parsed)) => parsed,
+        Ok(None) => {
+            print_help();
+            return ExitCode::SUCCESS;
+        }
+        Err(message) => {
+            eprintln!("ERROR: {message}");
+            eprintln!("Try --help for usage.");
+            return ExitCode::from(2);
+        }
+    };
+    print_assumptions(&interface, fd);
+    let sysfs_path = format!("/sys/class/net/{interface}");
+    if !Path::new(&sysfs_path).exists() {
+        eprintln!("\nERROR: {sysfs_path} does not exist.");
+        eprintln!("  * For a real interface, plug in the adapter and check `dmesg`.");
+        eprintln!("  * For a virtual interface, set it up with:");
+        eprintln!("      sudo ip link add dev {interface} type vcan");
+        if fd {
+            eprintln!("      sudo ip link set {interface} mtu 72   # CAN-FD frame size");
+        }
+        eprintln!("      sudo ip link set {interface} up");
+        eprintln!("  * Verify with: ip link show");
+        return ExitCode::from(2);
+    }
+    println!("\nOK: {sysfs_path} is present.");
+    println!("Next manual checks (run in another terminal):");
+    println!("  ip link show {interface}");
+    println!("  candump {interface}");
+    println!("\nWhen `candump` is quiet and the interface is `UP`, proceed to:");
+    println!("  cargo run -p can-motor-control --example 01_single_motor_enable_disable -- --interface {interface}");
+    ExitCode::SUCCESS
+}