pycyphal2 2.0.0.dev2__tar.gz → 2.0.0.dev4__tar.gz

{pycyphal2-2.0.0.dev2/src/pycyphal2.egg-info → pycyphal2-2.0.0.dev4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pycyphal2
-Version: 2.0.0.dev2
+Version: 2.0.0.dev4
 Summary: Pure-Python implementation of Cyphal -- a simple and robust real-time publish/subscribe stack that runs anywhere.
 Author-email: Pavel Kirienko and OpenCyphal team <pavel@opencyphal.org>
 License: MIT

{pycyphal2-2.0.0.dev2 → pycyphal2-2.0.0.dev4}/src/pycyphal2/__init__.py

@@ -155,7 +155,7 @@ from ._transport import SubjectWriter as SubjectWriter
 from ._transport import Transport as Transport
 from ._transport import TransportArrival as TransportArrival
 
-__version__ = "2.0.0.dev2"
+__version__ = "2.0.0.dev4"
 
 # pdoc needs __all__ to display re-exported members.
 __all__ = [

{pycyphal2-2.0.0.dev2 → pycyphal2-2.0.0.dev4}/src/pycyphal2/_node.py

@@ -2,6 +2,7 @@ from __future__ import annotations
 
 import asyncio
 from collections import OrderedDict
+from collections.abc import Coroutine
 import logging
 import math
 import os
@@ -28,7 +29,7 @@ from ._header import (
     deserialize_header,
 )
 from ._transport import SubjectWriter, Transport, TransportArrival
-from ._api import Topic, Node, Publisher, Subscriber, Breadcrumb, Closable, Instant, Priority, SendError
+from ._api import Topic, Node, Publisher, Subscriber, Breadcrumb, Closable, ClosedError, Instant, Priority, SendError
 from ._api import SUBJECT_ID_PINNED_MAX
 
 if TYPE_CHECKING:
@@ -58,6 +59,22 @@ ACK_SEQNO_MAX_LAG = 100000
 U64_MASK = (1 << 64) - 1
 
 
+def ack_is_last_attempt(current_ack_deadline_ns: int, current_ack_timeout: float, total_deadline_ns: int) -> bool:
+    """True if doubling the ACK timeout would overrun the total deadline, so this is the last retry."""
+    next_ack_timeout_ns = round(current_ack_timeout * 2 * 1e9)
+    remaining_budget_ns = total_deadline_ns - current_ack_deadline_ns
+    return remaining_budget_ns < next_ack_timeout_ns
+
+
+def ack_window(deadline_ns: int, ack_timeout: float) -> tuple[int, bool] | None:
+    """Next reliable-delivery ACK window: (ack_deadline_ns, is_last_attempt), or None if past the deadline."""
+    now_ns = Instant.now().ns
+    if now_ns >= deadline_ns:
+        return None
+    ack_deadline_ns = min(deadline_ns, now_ns + round(ack_timeout * 1e9))
+    return ack_deadline_ns, ack_is_last_attempt(ack_deadline_ns, ack_timeout, deadline_ns)
+
+
 class GossipScope(Enum):
     UNICAST = auto()
     BROADCAST = auto()
@@ -115,6 +132,24 @@ def _name_is_homeful(name: str) -> bool:
     return name == "~" or name.startswith("~/")
 
 
+def _is_valid_wire_name(name: str) -> bool:
+    """True if `name` is a well-formed *resolved* wire topic name, as required of names received in gossip:
+    nonempty, length-bounded, printable ASCII (33-126), already normalized (no leading/trailing/duplicate
+    '/'), verbatim (no '*'/'>' pattern tokens), not homeful ('~'/'~/...'), and pin-free (no '#<id>' suffix).
+    The last two are stripped/expanded by resolve_name before a name reaches the wire, so their presence
+    means the gossip is unresolved/non-canonical and must not create a local topic."""
+    return (
+        bool(name)
+        and len(name) <= TOPIC_NAME_MAX
+        and "*" not in name
+        and ">" not in name
+        and not _name_is_homeful(name)
+        and _name_consume_pin_suffix(name)[1] is None
+        and all(33 <= ord(ch) <= 126 for ch in name)
+        and _name_normalize(name) == name
+    )
+
+
 def resolve_name(
     name: str, home: str, namespace: str, remaps: dict[str, str] | None = None
 ) -> tuple[str, int | None, bool]:
@@ -345,10 +380,8 @@ class PublishTracker:
     """Tracks a pending reliable publication awaiting ACKs."""
 
     tag: int
-    deadline_ns: int
     ack_event: asyncio.Event
     acknowledged: bool = False
-    data: bytes | None = None
     ack_timeout: float = ACK_BASELINE_DEFAULT_TIMEOUT
     compromised: bool = False
     remaining: set[int] = field(default_factory=set)
@@ -507,7 +540,6 @@ class NodeImpl(Node):
         self._remaps: dict[str, str] = {}
         self._closed = False
         self.loop = asyncio.get_running_loop()
-        self._now_mono = time.monotonic()
         self._monitor_callbacks: dict[int, Callable[[Topic], None]] = {}
         self._next_monitor_callback_id = 0
 
@@ -573,7 +605,31 @@ class NodeImpl(Node):
     def transport(self) -> Transport:
         return self._transport
 
+    def _raise_if_closed(self) -> None:
+        if self._closed:
+            raise ClosedError(f"Node '{self._home}' is closed")
+
+    def _spawn_detached(self, coro: Coroutine[Any, Any, None], what: str) -> None:
+        """Fire-and-forget a short-lived send: skip when closed, and never let its exception go unobserved."""
+        if self._closed:
+            coro.close()
+            return
+
+        def _done(task: asyncio.Task[None]) -> None:
+            if task.cancelled():
+                return
+            ex = task.exception()
+            if ex is None:
+                return
+            if isinstance(ex, (SendError, OSError)):
+                _logger.debug("%s send failed: %s", what, ex)
+            else:
+                _logger.error("%s task crashed: %s", what, ex, exc_info=ex)
+
+        self.loop.create_task(coro).add_done_callback(_done)
+
     def remap(self, spec: str | dict[str, str]) -> None:
+        self._raise_if_closed()
         if isinstance(spec, str):
             spec = dict(x.split("=", 1) for x in spec.split() if "=" in x)
         assert isinstance(spec, dict)
@@ -584,6 +640,7 @@ class NodeImpl(Node):
     def advertise(self, name: str) -> Publisher:
         from ._publisher import PublisherImpl
 
+        self._raise_if_closed()
         resolved, pin, verbatim = resolve_name(name, self._home, self._namespace, self._remaps)
         if not verbatim:
             raise ValueError("Cannot advertise on a pattern name")
@@ -602,6 +659,7 @@ class NodeImpl(Node):
     def subscribe(self, name: str, *, reordering_window: float | None = None) -> Subscriber:
         from ._subscriber import SubscriberImpl
 
+        self._raise_if_closed()
         resolved, pin, verbatim = resolve_name(name, self._home, self._namespace, self._remaps)
         if pin is not None and not verbatim:
             raise ValueError("Pattern names cannot be pinned")
@@ -637,6 +695,7 @@ class NodeImpl(Node):
         return subscriber
 
     def monitor(self, callback: Callable[[Topic], None]) -> Closable:
+        self._raise_if_closed()
         callback_id = self._next_monitor_callback_id
         self._next_monitor_callback_id += 1
         self._monitor_callbacks[callback_id] = callback
@@ -653,6 +712,7 @@ class NodeImpl(Node):
                 _logger.exception("monitor() callback failed for %s", topic)
 
     async def scout(self, pattern: str) -> None:
+        self._raise_if_closed()
         resolved, pin, _ = resolve_name(pattern, self._home, self._namespace, self._remaps)
         if pin is not None:
             raise ValueError("Cannot scout a pinned name/pattern")
@@ -800,12 +860,10 @@ class NodeImpl(Node):
         tracker.remaining.clear()
 
     @staticmethod
-    def prepare_publish_tracker(topic: TopicImpl, tag: int, deadline_ns: int, data: bytes) -> PublishTracker:
+    def prepare_publish_tracker(topic: TopicImpl, tag: int) -> PublishTracker:
         tracker = PublishTracker(
             tag=tag,
-            deadline_ns=deadline_ns,
             ack_event=asyncio.Event(),
-            data=data,
         )
         tracker.ack_timeout = ACK_BASELINE_DEFAULT_TIMEOUT
         for assoc in sorted(topic.associations.values(), key=lambda x: x.remote_id):
@@ -1036,14 +1094,6 @@ class NodeImpl(Node):
 
         root.scout_task = self.loop.create_task(do_send())
 
-    def send_scout(self, pattern: str) -> None:
-        """Send a scout message to discover topics matching a pattern."""
-
-        async def do_send() -> None:
-            await self._send_scout_once(pattern)
-
-        self.loop.create_task(do_send())
-
     # -- Message Dispatch --
 
     def on_subject_arrival(self, subject_id: int, arrival: TransportArrival) -> None:
@@ -1055,6 +1105,8 @@ class NodeImpl(Node):
         self.dispatch_arrival(arrival, subject_id=None, unicast=True)
 
     def dispatch_arrival(self, arrival: TransportArrival, *, subject_id: int | None, unicast: bool) -> None:
+        if self._closed:
+            return  # Drop late arrivals after close instead of mutating state / spawning sends.
         msg = arrival.message
         if len(msg) < HEADER_SIZE:
             _logger.debug("Drop short msg len=%d", len(msg))
@@ -1207,7 +1259,7 @@ class NodeImpl(Node):
             except (SendError, OSError) as e:
                 _logger.debug("ACK send failed: %s", e)
 
-        self.loop.create_task(do_send())
+        self._spawn_detached(do_send(), "ACK")
 
     def on_msg_ack(self, arrival: TransportArrival, hdr: MsgAckHeader | MsgNackHeader) -> None:
         topic = self.topics_by_hash.get(hdr.topic_hash)
@@ -1295,7 +1347,7 @@ class NodeImpl(Node):
             except (SendError, OSError) as e:
                 _logger.debug("RSP ACK send failed: %s", e)
 
-        self.loop.create_task(do_send())
+        self._spawn_detached(do_send(), "RSP ACK")
 
     def on_gossip(
         self,
@@ -1306,6 +1358,8 @@ class NodeImpl(Node):
     ) -> None:
         name = ""
         if hdr.name_len > 0:
+            # Best-effort decode for diagnostics/monitoring; an invalid name cannot create a topic because
+            # topic_subscribe_if_matching validates the character set before creating one.
             name = payload[: hdr.name_len].decode("utf-8", errors="replace")
 
         topic = self.topics_by_hash.get(hdr.topic_hash)
@@ -1374,6 +1428,14 @@ class NodeImpl(Node):
         now: float,
     ) -> TopicImpl | None:
         """Create an implicit topic if any pattern subscriber matches the name."""
+        # REFERENCE PARITY: the reference does not (yet) validate gossip-name characters here -- it trusts
+        # the hash. We additionally reject names that are not valid resolved wire names (non-normalized,
+        # non-verbatim by this implementation's rule, homeful, or pinned) so untrusted wire input cannot
+        # create a local topic with such a name. Consistent with the documented whitespace-strip deviation;
+        # the reference may adopt the same validation later.
+        if not _is_valid_wire_name(name):
+            _logger.debug("Gossip drop invalid wire name hash=%016x", topic_hash)
+            return None
         # Validate that the hash matches the name to prevent corrupt gossip from creating inconsistencies.
         if rapidhash(name) != topic_hash:
             _logger.debug("Gossip hash mismatch for '%s': got %016x, expected %016x", name, topic_hash, rapidhash(name))
@@ -1398,12 +1460,15 @@ class NodeImpl(Node):
     def on_scout(self, arrival: TransportArrival, hdr: ScoutHeader, payload: bytes) -> None:
         if hdr.pattern_len == 0 or hdr.pattern_len > TOPIC_NAME_MAX or len(payload) < hdr.pattern_len:
             return
+        # Best-effort decode; an invalid pattern simply matches no local topic names.
         pattern = payload[: hdr.pattern_len].decode("utf-8", errors="replace")
         _logger.debug("Scout received pattern='%s' from %016x", pattern, arrival.remote_id)
         for topic in list(self.topics_by_name.values()):
             subs = match_pattern(pattern, topic.name)
             if subs is not None:
-                self.loop.create_task(self.send_gossip_unicast(topic, arrival.remote_id, arrival.priority))
+                self._spawn_detached(
+                    self.send_gossip_unicast(topic, arrival.remote_id, arrival.priority), "gossip unicast"
+                )
 
     # -- Implicit Topic GC --
 
@@ -1474,6 +1539,12 @@ class NodeImpl(Node):
             return
         self._closed = True
         _logger.info("Node closing home='%s'", self._home)
+        # Unblock anything awaiting on a subscriber (`async for`): closing each enqueues StopAsyncIteration,
+        # otherwise a default (no-liveness-timeout) subscriber would wait on its queue forever. (Reliable
+        # publishes / response streams are deadline-bounded and resolve on their own.)
+        for root in list(self.sub_roots_verbatim.values()) + list(self.sub_roots_pattern.values()):
+            for sub in list(root.subscribers):
+                sub.close()
         self._gc_task.cancel()
         for root in list(self.sub_roots_pattern.values()):
             if root.scout_task is not None:

{pycyphal2-2.0.0.dev2 → pycyphal2-2.0.0.dev4}/src/pycyphal2/_publisher.py

@@ -8,7 +8,7 @@ from dataclasses import dataclass
 from ._api import DeliveryError, Instant, LivenessError, Priority, SendError
 from ._api import Publisher, Topic, ResponseStream, Response
 from ._header import MsgBeHeader, MsgRelHeader, RspBeHeader, RspRelHeader
-from ._node import ACK_BASELINE_DEFAULT_TIMEOUT, NodeImpl, PublishTracker, SESSION_LIFETIME, TopicImpl
+from ._node import ACK_BASELINE_DEFAULT_TIMEOUT, NodeImpl, PublishTracker, SESSION_LIFETIME, TopicImpl, ack_window
 from ._transport import TransportArrival
 
 _logger = logging.getLogger(__name__)
@@ -124,7 +124,7 @@ class PublisherImpl(Publisher):
         )
         self._topic.request_futures[tag] = stream
 
-        tracker = self._prepare_reliable_publish_tracker(tag, delivery_deadline.ns, payload)
+        tracker = self._prepare_reliable_publish_tracker(tag)
         try:
             initial_window = await self._reliable_publish_start(delivery_deadline, tag, payload, tracker)
         except asyncio.CancelledError:
@@ -169,12 +169,6 @@ class PublisherImpl(Publisher):
         finally:
             self._release_reliable_publish_tracker(tag, tracker)
 
-    @staticmethod
-    def _ack_is_last_attempt(current_ack_deadline_ns: int, current_ack_timeout: float, total_deadline_ns: int) -> bool:
-        next_ack_timeout_ns = round(current_ack_timeout * 2 * 1e9)
-        remaining_budget_ns = total_deadline_ns - current_ack_deadline_ns
-        return remaining_budget_ns < next_ack_timeout_ns
-
     @staticmethod
     def _ack_window_is_compromised(deadline_ns: int, current_ack_timeout: float) -> bool:
         return Instant.now().ns >= (deadline_ns - round(current_ack_timeout * 1e9))
@@ -189,16 +183,8 @@ class PublisherImpl(Publisher):
         )
         return hdr.serialize() + payload
 
-    @staticmethod
-    def _reliable_publish_window(deadline_ns: int, ack_timeout: float) -> tuple[int, bool] | None:
-        now_ns = Instant.now().ns
-        if now_ns >= deadline_ns:
-            return None
-        ack_deadline_ns = min(deadline_ns, now_ns + round(ack_timeout * 1e9))
-        return ack_deadline_ns, PublisherImpl._ack_is_last_attempt(ack_deadline_ns, ack_timeout, deadline_ns)
-
-    def _prepare_reliable_publish_tracker(self, tag: int, deadline_ns: int, payload: bytes) -> PublishTracker:
-        tracker = self._node.prepare_publish_tracker(self._topic, tag, deadline_ns, payload)
+    def _prepare_reliable_publish_tracker(self, tag: int) -> PublishTracker:
+        tracker = self._node.prepare_publish_tracker(self._topic, tag)
         tracker.ack_timeout = self.ack_timeout
         self._topic.publish_futures[tag] = tracker
         return tracker
@@ -231,7 +217,7 @@ class PublisherImpl(Publisher):
         payload: bytes,
         tracker: PublishTracker,
     ) -> tuple[int, bool]:
-        initial_window = self._reliable_publish_window(deadline.ns, tracker.ack_timeout)
+        initial_window = ack_window(deadline.ns, tracker.ack_timeout)
         if initial_window is None:
             raise DeliveryError("Reliable publish not acknowledged before deadline")
         ack_deadline_ns, _ = initial_window
@@ -277,7 +263,7 @@ class PublisherImpl(Publisher):
             if last_attempt:
                 break
             tracker.ack_timeout *= 2
-            next_window = self._reliable_publish_window(deadline.ns, tracker.ack_timeout)
+            next_window = ack_window(deadline.ns, tracker.ack_timeout)
             if next_window is None:
                 break
             ack_deadline_ns, last_attempt = next_window
@@ -292,7 +278,7 @@ class PublisherImpl(Publisher):
         raise DeliveryError("Reliable publish not acknowledged before deadline")
 
     async def _reliable_publish(self, deadline: Instant, tag: int, payload: bytes) -> None:
-        tracker = self._prepare_reliable_publish_tracker(tag, deadline.ns, payload)
+        tracker = self._prepare_reliable_publish_tracker(tag)
         try:
             initial_window = await self._reliable_publish_start(deadline, tag, payload, tracker)
             await self._reliable_publish_continue(deadline, tag, payload, tracker, initial_window)

{pycyphal2-2.0.0.dev2 → pycyphal2-2.0.0.dev4}/src/pycyphal2/_subscriber.py

@@ -15,6 +15,7 @@ from ._node import (
     NodeImpl,
     SubscriberRoot,
     TopicImpl,
+    ack_window,
     match_pattern,
 )
 
@@ -220,9 +221,6 @@ class SubscriberImpl(Subscriber):
 
         state.timeout_handle = loop.call_later(delay, on_timeout)
 
-    def _arm_reorder_timeout(self, state: ReorderingState) -> None:
-        self._rearm_reorder_timeout(state)
-
     def _drop_stale_reordering(self, now: float) -> None:
         stale = [key for key, state in self._reordering.items() if (state.last_active_at + SESSION_LIFETIME) < now]
         for key in stale:
@@ -337,7 +335,7 @@ class BreadcrumbImpl(Breadcrumb):
 
         ack_timeout = ACK_BASELINE_DEFAULT_TIMEOUT * (1 << int(self._priority))
         try:
-            initial_window = _ack_window(deadline.ns, ack_timeout)
+            initial_window = ack_window(deadline.ns, ack_timeout)
             if initial_window is None:
                 raise DeliveryError("Reliable response not acknowledged before deadline")
 
@@ -371,7 +369,7 @@ class BreadcrumbImpl(Breadcrumb):
                 if last_attempt:
                     break
                 ack_timeout *= 2
-                next_window = _ack_window(deadline.ns, ack_timeout)
+                next_window = ack_window(deadline.ns, ack_timeout)
                 if next_window is None:
                     break
                 ack_deadline_ns, last_attempt = next_window
@@ -414,17 +412,3 @@ class RespondTracker:
         self.done = True
         self.nacked = not positive
         self.ack_event.set()
-
-
-def _ack_is_last_attempt(current_ack_deadline_ns: int, current_ack_timeout: float, total_deadline_ns: int) -> bool:
-    next_ack_timeout_ns = round(current_ack_timeout * 2 * 1e9)
-    remaining_budget_ns = total_deadline_ns - current_ack_deadline_ns
-    return remaining_budget_ns < next_ack_timeout_ns
-
-
-def _ack_window(deadline_ns: int, ack_timeout: float) -> tuple[int, bool] | None:
-    now_ns = Instant.now().ns
-    if now_ns >= deadline_ns:
-        return None
-    ack_deadline_ns = min(deadline_ns, now_ns + round(ack_timeout * 1e9))
-    return ack_deadline_ns, _ack_is_last_attempt(ack_deadline_ns, ack_timeout, deadline_ns)

{pycyphal2-2.0.0.dev2 → pycyphal2-2.0.0.dev4}/src/pycyphal2/can/_interface.py

@@ -7,7 +7,8 @@ import itertools
 
 from .. import Closable, Instant
 
-_CAN_EXT_ID_MASK = (1 << 29) - 1
+CAN_EXT_ID_MASK = (1 << 29) - 1
+CAN_STD_ID_MASK = (1 << 11) - 1
 
 
 @dataclass(frozen=True)
@@ -18,7 +19,7 @@ class Frame:
     data: bytes
 
     def __post_init__(self) -> None:
-        if not isinstance(self.id, int) or not (0 <= self.id <= _CAN_EXT_ID_MASK):
+        if not isinstance(self.id, int) or not (0 <= self.id <= CAN_EXT_ID_MASK):
             raise ValueError(f"Invalid CAN identifier: {self.id!r}")
         data = bytes(self.data)
         if len(data) > 64:
@@ -39,9 +40,9 @@ class Filter:
     mask: int
 
     def __post_init__(self) -> None:
-        if not (0 <= self.id <= _CAN_EXT_ID_MASK):
+        if not (0 <= self.id <= CAN_EXT_ID_MASK):
             raise ValueError(f"Invalid CAN identifier: {self.id!r}")
-        if not (0 <= self.mask <= _CAN_EXT_ID_MASK):
+        if not (0 <= self.mask <= CAN_EXT_ID_MASK):
             raise ValueError(f"Invalid CAN mask: {self.mask!r}")
 
     @property

pycyphal2-2.0.0.dev4/src/pycyphal2/can/_media_slcan.py

@@ -0,0 +1,198 @@
+"""
+SLCAN text protocol for CAN media (frame codec + adapter handshake).
+"""
+
+from __future__ import annotations
+
+import logging
+
+from ._interface import CAN_EXT_ID_MASK, CAN_STD_ID_MASK, Frame
+from ._wire import DLC_TO_LENGTH, MTU_CAN_CLASSIC
+
+_logger = logging.getLogger(__name__)
+
+_CR = 0x0D  # ACK / carriage return
+_LF = 0x0A
+_BEL = 0x07  # NACK / bell
+_MAX_LINE_LENGTH = 256
+_STRIP_CHARS = b" \t\r\n\x07\x03"
+
+_CMD_TERMINATOR = bytes([_CR])
+_CMD_CLOSE = b"C"
+_CMD_OPEN = b"O"
+_CMD_SET_BITRATE_PREFIX = b"S"
+_BITRATE_TO_SPEED_CODE = {
+    1_000_000: 8,
+    800_000: 7,
+    500_000: 6,
+    250_000: 5,
+    125_000: 4,
+    100_000: 3,
+    50_000: 2,
+    20_000: 1,
+    10_000: 0,
+}
+
+
+def encode_frame(identifier: int, data: bytes | bytearray | memoryview) -> bytes:
+    """
+    Encode an extended-ID Classic CAN data frame into one SLCAN ``T`` command line.
+    """
+    if not isinstance(identifier, int) or not (0 <= identifier <= CAN_EXT_ID_MASK):
+        raise ValueError(f"Invalid CAN identifier: {identifier!r}")
+    payload = bytes(data)
+    if len(payload) > MTU_CAN_CLASSIC:
+        raise ValueError(f"Invalid CAN data length: {len(payload)}")
+    return f"T{identifier:08X}{len(payload):1d}{payload.hex().upper()}\r".encode()
+
+
+def encode_deinit() -> bytes:
+    """The close command line. Sent fire-and-forget before purging input to reset the adapter."""
+    return _CMD_CLOSE + _CMD_TERMINATOR
+
+
+def encode_init_sequence(bitrate: int | None) -> list[bytes]:
+    """
+    Command lines to bring the adapter up after deinit+purge: optionally set the bitrate, then open.
+    If ``bitrate`` is None, the bitrate command is skipped, the old configured value (or adapter default) is kept.
+    A bitrate not in the standard speed-code table is sent as-is (some adapters accept raw bitrates, e.g. Zubax).
+    Each returned command line expects an ACK.
+    """
+    out: list[bytes] = []
+    if bitrate is not None:
+        code = _BITRATE_TO_SPEED_CODE.get(bitrate, bitrate)
+        out.append(_CMD_SET_BITRATE_PREFIX + str(code).encode("ascii") + _CMD_TERMINATOR)
+    out.append(_CMD_OPEN + _CMD_TERMINATOR)
+    return out
+
+
+def classify_init_response(chunk: bytes) -> bool | None:
+    """Scan a chunk for the first ACK (True) or NACK (False); return None if neither appears."""
+    for byte in chunk:
+        if byte == _CR:
+            return True
+        if byte == _BEL:
+            return False
+    return None
+
+
+class SLCANParser:
+    """
+    Incremental SLCAN parser.
+    Only data frames are returned. Unsupported or malformed input is silently dropped with debug logging.
+    Adapter-specific suffixes after the payload, such as timestamps or flags, are ignored.
+    """
+
+    def __init__(self) -> None:
+        self._buffer = bytearray()
+        self._discarding = False
+
+    def feed(self, chunk: bytes | bytearray | memoryview) -> list[Frame]:
+        out: list[Frame] = []
+        for byte in bytes(chunk):
+            if byte == _BEL:
+                if self._buffer or self._discarding:
+                    _logger.debug("SLCAN drop adapter error len=%d", len(self._buffer))
+                self._buffer.clear()
+                self._discarding = False
+                continue
+            if byte in (_CR, _LF):
+                if self._discarding:
+                    self._buffer.clear()
+                    self._discarding = False
+                    continue
+                if self._buffer:
+                    frame = _parse_line(bytes(self._buffer))
+                    if frame is not None:
+                        out.append(frame)
+                    self._buffer.clear()
+                continue
+            if self._discarding:
+                continue
+            if len(self._buffer) >= _MAX_LINE_LENGTH:
+                _logger.debug("SLCAN drop overlong line len>%d", _MAX_LINE_LENGTH)
+                self._buffer.clear()
+                self._discarding = True
+                continue
+            self._buffer.append(byte)
+        return out
+
+
+def _parse_line(line: bytes) -> Frame | None:
+    # Based on the original PyUAVCAN/PyDroneCAN implementation.
+    # Strips surrounding whitespace and control characters like BEL/ETX.
+    line = line.strip(_STRIP_CHARS)
+    if not line:
+        return None
+    command = line[:1]
+    if command in (b"T", b"x"):
+        return _parse_data_frame(line, id_length=8, max_payload_length=MTU_CAN_CLASSIC)
+    if command == b"t":
+        return _parse_data_frame(line, id_length=3, max_payload_length=MTU_CAN_CLASSIC)
+    if command == b"D":
+        return _parse_data_frame(line, id_length=8, max_payload_length=64)
+    if command in (b"r", b"R"):
+        _logger.debug("SLCAN drop unsupported frame type cmd=%r", command)
+        return None
+    _logger.debug("SLCAN drop unknown line=%r", line)
+    return None
+
+
+def _parse_data_frame(line: bytes, *, id_length: int, max_payload_length: int) -> Frame | None:
+    header_length = 2 + id_length
+    if len(line) < header_length:
+        _logger.debug("SLCAN drop short data line=%r", line)
+        return None
+    identifier = _parse_hex_int(line[1 : 1 + id_length])
+    dlc = _parse_dlc(line[1 + id_length])
+    if identifier is None or dlc is None:
+        _logger.debug("SLCAN drop malformed data header line=%r", line)
+        return None
+    payload_length = DLC_TO_LENGTH[dlc]  # _parse_dlc guarantees dlc in [0, 15]
+    if payload_length > max_payload_length:
+        _logger.debug("SLCAN drop data dlc out of range dlc=%d max=%d line=%r", dlc, max_payload_length, line)
+        return None
+    expected = header_length + payload_length * 2
+    if len(line) < expected:
+        _logger.debug("SLCAN drop data dlc mismatch len=%d expected=%d", len(line), expected)
+        return None
+    if id_length == 3 and identifier > CAN_STD_ID_MASK:
+        _logger.debug("SLCAN drop invalid standard id=%x", identifier)
+        return None
+    data = _parse_hex_bytes(line[header_length:expected])
+    if data is None:
+        _logger.debug("SLCAN drop malformed data id=%08x", identifier)
+        return None
+    try:
+        return Frame(id=identifier, data=data)
+    except ValueError as ex:
+        _logger.debug("SLCAN drop invalid frame: %s", ex)
+        return None
+
+
+def _parse_hex_int(value: bytes) -> int | None:
+    if not value:
+        return None
+    try:
+        return int(value, 16)
+    except ValueError:
+        return None
+
+
+def _parse_hex_bytes(value: bytes) -> bytes | None:
+    if len(value) % 2 != 0:
+        return None
+    try:
+        return bytes.fromhex(value.decode("ascii"))
+    except (UnicodeDecodeError, ValueError):
+        return None
+
+
+def _parse_dlc(value: int) -> int | None:
+    if ord("0") <= value <= ord("9"):
+        return value - ord("0")
+    if ord("A") <= value <= ord("F"):
+        return 10 + value - ord("A")
+    if ord("a") <= value <= ord("f"):
+        return 10 + value - ord("a")
+    return None

{pycyphal2-2.0.0.dev2 → pycyphal2-2.0.0.dev4}/src/pycyphal2/can/_wire.py

@@ -10,9 +10,8 @@ from .._hash import (
     CRC16CCITT_FALSE_RESIDUE,
     crc16ccitt_false_add,
 )
-from ._interface import Filter
+from ._interface import CAN_EXT_ID_MASK, Filter
 
-CAN_EXT_ID_MASK = (1 << 29) - 1
 NODE_ID_MAX = 127
 NODE_ID_ANONYMOUS = 0xFF
 NODE_ID_CAPACITY = NODE_ID_MAX + 1