moteus 0.3.90__py3-none-any.whl → 0.3.92__py3-none-any.whl

moteus/command.py

@@ -13,20 +13,30 @@
 # limitations under the License.
 
 
+from .device_info import DeviceAddress
+
+
 class Command():
-    destination = 1
+    destination = DeviceAddress(can_id=1)
     source = 0
     reply_required = False
     data = b''
     can_prefix = 0x0000  # a 13 bit CAN prefix
     expected_reply_size = 0
 
+    # An optional function object which when passed a Frame returns
+    # True if the frame matches what is expected for this command.
+    reply_filter = None
+
     # If True, then the following parameters are used directly instead
     # of being calculated from destination and source (i.e. for
     # non-moteus devices).
     raw = False
     arbitration_id = 0  # this is the name python-can gives
-    bus = None  # Only valid for pi3hat
+
+    # The channel can be specified to direct this to a particular
+    # transport device.
+    channel = None
 
     def parse(self, message):
         # By default, we just return the message as is.

moteus/device_info.py

@@ -0,0 +1,61 @@
+# Copyright 2025 mjbots Robotic Systems, LLC.  info@mjbots.com
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+import typing
+import uuid
+
+from .transport_device import TransportDevice
+
+@dataclass(frozen=True)
+class DeviceAddress:
+    """The minimal set of information necessary to communicate with a
+    device in a system.  It may be just a CAN ID if that is unique, or
+    it may be a UUID prefix.  It may also include a transport device,
+    although that is not required."""
+    can_id: typing.Optional[int] = None
+    uuid: typing.Optional[bytes] = None
+    transport_device: typing.Optional[TransportDevice] = None
+
+    def __repr__(self):
+        if self.can_id:
+            return f'DeviceAddress(can_id={self.can_id}, td={self.transport_device})'
+        uuid_bytes = self.uuid.hex() if self.uuid else None
+        return f'DeviceAddress(uuid={uuid_bytes}, td={self.transport_device})'
+
+
+@dataclass
+class DeviceInfo:
+    """This describes a device that was discovered on the CAN bus.  It
+    includes the full available addressing information, as well as the
+    minimal DeviceAddress structure necessary to address it in the
+    current system."""
+
+    can_id: int = 1
+    uuid: typing.Optional[bytes] = None
+    transport_device: typing.Optional[TransportDevice] = None
+    address: typing.Optional[DeviceAddress] = None
+
+    def __repr__(self):
+        uuid_bytes = uuid.UUID(bytes=self.uuid) if self.uuid else None
+        return f'DeviceInfo(can_id={self.can_id}, uuid={uuid_bytes}, td={self.transport_device})'
+
+    def _cmp_key(self):
+        return (self.can_id, self.uuid or b'')
+
+    def __lt__(self, other):
+        if not isinstance(other, DeviceInfo):
+            return NotImplemented
+
+        return self._cmp_key() < other._cmp_key()

moteus/export.py

@@ -18,8 +18,10 @@ controller."""
 ALL = [
     'aiostream',
     'make_transport_args', 'get_singleton_transport',
-    'Fdcanusb', 'Router', 'Controller', 'Register', 'Transport',
-    'PythonCan',
+    'DeviceAddress', 'DeviceInfo',
+    'Frame', 'FrameFilter', 'TransportDevice',
+    'Fdcanusb', 'FdcanusbDevice', 'Controller', 'Register', 'Transport', 'TransportWrapper',
+    'PythonCan', 'PythonCanDevice',
     'Mode', 'QueryResolution', 'PositionResolution', 'Command', 'CommandError',
     'Stream',
     'TRANSPORT_FACTORIES',
@@ -28,19 +30,24 @@ ALL = [
     'RegisterParser', 'QueryParser',
 ]
 from moteus.command import Command
+from moteus.device_info import DeviceAddress, DeviceInfo
 from moteus.fdcanusb import Fdcanusb
-from moteus.router import Router
+from moteus.fdcanusb_device import FdcanusbDevice
 from moteus.transport import Transport
+from moteus.transport_wrapper import TransportWrapper
 from moteus.pythoncan import PythonCan
+from moteus.pythoncan_device import PythonCanDevice
+from moteus.multiplex import (INT8, INT16, INT32, F32, IGNORE,
+                              RegisterParser, QueryParser)
+from moteus.transport_device import Frame, FrameFilter, TransportDevice
+import moteus.reader as reader
+import moteus.aiostream as aiostream
+
 from moteus.moteus import (
     CommandError,
     Controller, Register, Mode, QueryResolution, PositionResolution, Stream,
     make_transport_args, get_singleton_transport,
     TRANSPORT_FACTORIES)
-from moteus.multiplex import (INT8, INT16, INT32, F32, IGNORE,
-                              RegisterParser, QueryParser)
-import moteus.reader as reader
-import moteus.aiostream as aiostream
 
 try:
     from moteus.version import VERSION

moteus/fdcanusb.py

@@ -1,4 +1,4 @@
-# Copyright 2023 mjbots Robotic Systems, LLC.  info@mjbots.com
+# Copyright 2025 mjbots Robotic Systems, LLC.  info@mjbots.com
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,229 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import asyncio
-import glob
-import os
-import serial
-import serial.tools
-import serial.tools.list_ports
-import sys
-import time
+import typing
 
-from . import aioserial
+from .fdcanusb_device import FdcanusbDevice
+from .transport_wrapper import TransportWrapper
 
-
-def _hexify(data):
-    return ''.join(['{:02X}'.format(x) for x in data])
-
-
-def _dehexify(data):
-    result = b''
-    for i in range(0, len(data), 2):
-        result += bytes([int(data[i:i + 2], 16)])
-    return result
-
-
-class CanMessage:
-    arbitration_id = 0
-    is_extended_id = False
-    dlc = 0
-    data = b''
-    is_fd = False
-    bitrate_switch = False
-
-
-class Fdcanusb:
-    """Connects to a single mjbots fdcanusb."""
-
-    def __init__(self, path=None, debug_log=None, disable_brs=False):
-        """Constructor.
-
-        Arguments:
-          path: serial port where fdcanusb is located
-        """
+class Fdcanusb(TransportWrapper):
+    def __init__(self, path=None, *args, **kwargs):
         if path is None:
-            path = self.detect_fdcanusb()
-
-        # A fdcanusb ignores the requested baudrate, so we'll just
-        # pick something nice and random.
-        self._serial = aioserial.AioSerial(port=path, baudrate=9600)
-        self._stream_data = b''
-
-        self._cycle_lock = asyncio.Lock()
-
-        self._send_flags = (
-            ' b' if disable_brs else '')
-
-        self._debug_log = None
-        if debug_log:
-            self._debug_log = open(debug_log, 'wb')
-
-    def __enter__(self):
-        return self
-
-    def __exit__(self, type, value, traceback):
-        self._serial.close()
-
-    async def _readline(self, stream):
-        while True:
-            offset = min((self._stream_data.find(c) for c in b"\r\n"
-                          if c in self._stream_data), default=None)
-            if offset is not None:
-                to_return, self._stream_data = (
-                    self._stream_data[0:offset+1],
-                    self._stream_data[offset+1:])
-                if offset > 0:
-                    return to_return
-                else:
-                    continue
-            else:
-                self._stream_data += await stream.read(8192, block=False)
-
-    def detect_fdcanusb(self):
-        if sys.platform == 'win32':
-            return self.win32_detect_fdcanusb()
-
-        if os.path.exists('/dev/fdcanusb'):
-            return '/dev/fdcanusb'
-        maybe_list = glob.glob('/dev/serial/by-id/*fdcanusb*')
-        if len(maybe_list):
-            return sorted(maybe_list)[0]
-
-        return self.pyserial_detect_fdcanusb()
-
-    def win32_detect_fdcanusb(self):
-        import serial.tools.list_ports
-        ports = serial.tools.list_ports.comports()
-        for port in ports:
-            if port.vid == 0x0483 and port.pid == 0x5740:
-                return port.name
-
-        raise RuntimeError('Could not detect fdcanusb')
-
-    def pyserial_detect_fdcanusb(self):
-        ports = serial.tools.list_ports.comports()
-        for port in ports:
-            if port.vid == 0x0483 and port.pid == 0x5740:
-                return port.device
-
-        raise RuntimeError('Could not detect fdcanusb')
-
-    async def cycle(self, commands):
-        """Request that the given set of commands be sent to the fdcanusb, and
-        any responses collated and returned, after being parsed by
-        their command specific parsers.
-
-        Each command instance must model moteus.Command
-        """
-
-        # Since the fdcanusb has state, we need to ensure it is kept
-        # consistent.  Only one call to cycle at a time please.
-        async with self._cycle_lock:
-            # Since the fdcanusb can't send multiple things at once, we
-            # just go through the commands one at a time and handle them
-            # individually.
-            return [await self._do_command(x) for x in commands]
-
-    def _parse_message(self, line):
-        fields = line.split(b" ")
-        message = CanMessage()
-        message.data = _dehexify(fields[2])
-        message.arbitration_id = int(fields[1], 16)
-
-        flags = fields[3] if len(fields) > 3 else ''
-        if b'E' in flags:
-            message.is_extended_id = True
-        if b'B' in flags:
-            message.bitrate_switch = True
-        if b'F' in flags:
-            message.is_fd = True
-
-        return message
-
-    async def _do_command(self, command):
-        await self.write(command)
-        reply_required = command.reply_required
-
-        # Get the OK response.
-        while True:
-            ok_response = await self._readline(self._serial)
-            if ok_response.startswith(b"OK"):
-                break
-            # Ignore spurious responses until we get an OK.
-
-        while reply_required:
-            line = await self._readline(self._serial)
-
-            if not line.startswith(b"rcv"):
-                raise RuntimeError("unexpected fdcanusb response, got: " +
-                                   line.decode('latin1'))
-
-            if self._debug_log:
-                self._debug_log.write(f'{time.time()} < '.encode('latin1') +
-                                      line.rstrip() + b'\n')
-
-            message = self._parse_message(line)
-
-            moteus_id = (message.arbitration_id >> 8) & 0x7f
-
-            if command.raw or moteus_id == command.destination:
-                return command.parse(message)
-
-            # We are not raw and the message wasn't from the device we
-            # were writing to, so just loop and try some more.
-
-    async def write(self, command):
-        # This merely sends a command and doesn't even wait for an OK
-        # to come back.  It can *not* be intermixed with calls to
-        # 'cycle'.
-        bus_id = None
-        if command.raw:
-            bus_id = command.arbitration_id
-        else:
-            bus_id = (command.destination |
-                      (0x8000 if command.reply_required else 0) |
-                      (command.can_prefix << 16))
-        hexdata = _hexify(command.data)
-        on_wire_size = self._round_up_dlc(len(command.data))
-        hexdata += '50' * (on_wire_size - len(command.data))
-        cmd = "can send {:04x} {}{}\n".format(
-            bus_id, hexdata, self._send_flags).encode('latin1')
-        self._serial.write(cmd)
-        if self._debug_log:
-            self._debug_log.write(f'{time.time()} > '.encode('latin1') +
-                                  cmd.rstrip() + b'\n')
-        await self._serial.drain()
-
-    async def read(self):
-        # Read a single CAN message and do not parse it.
-        while True:
-            line = await self._readline(self._serial)
-            if not line.startswith(b"rcv"):
-                continue
-
-            if self._debug_log:
-                self._debug_log.write(f'{time.time()} < '.encode('latin1') +
-                                      line.rstrip() + b'\n')
+            path = Fdcanusb.detect_fdcanusb()
 
-            message = self._parse_message(line)
-            return message
+        device = FdcanusbDevice(path, *args, **kwargs)
+        super().__init__(device)
 
-    def _round_up_dlc(self, size):
-        if size <= 8:
-            return size
-        if size <= 12:
-            return 12
-        if size <= 16:
-            return 16
-        if size <= 20:
-            return 20
-        if size <= 24:
-            return 24
-        if size <= 32:
-            return 32
-        if size <= 48:
-            return 48
-        if size <= 64:
-            return 64
-        return size
+    @staticmethod
+    def detect_fdcanusb():
+        return FdcanusbDevice.detect_fdcanusb()