diff --git a/.idea/dictionaries/pavel.xml b/.idea/dictionaries/pavel.xml
index dc66c814..6c9b8d23 100644
--- a/.idea/dictionaries/pavel.xml
+++ b/.idea/dictionaries/pavel.xml
@@ -259,6 +259,7 @@
slcan
sockaddr
socketcan
+ socketcand
socketcanfd
sphinxarg
sssss
@@ -291,6 +292,7 @@
todos
tradeoff
transcompiled
+ transcompiles
transcompiling
typecheck
uart
diff --git a/README.md b/README.md
index 7a29e376..be5fbb95 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
Full-featured Cyphal stack in Python
====================================
-[](https://ci.appveyor.com/project/Zubax/pycyphal/branch/master) [](https://pycyphal.readthedocs.io/) [](https://coveralls.io/github/OpenCyphal/pycyphal) [](https://sonarcloud.io/dashboard?id=PyCyphal) [](https://sonarcloud.io/dashboard?id=PyCyphal) [](https://sonarcloud.io/dashboard?id=PyCyphal) [](https://pypi.org/project/pycyphal/) [](https://github.com/psf/black) [](https://forum.opencyphal.org)
+[](https://github.com/OpenCyphal/pycyphal/actions/workflows/test-and-release.yml) [](https://pycyphal.readthedocs.io/) [](https://coveralls.io/github/OpenCyphal/pycyphal) [](https://sonarcloud.io/dashboard?id=PyCyphal) [](https://sonarcloud.io/dashboard?id=PyCyphal) [](https://sonarcloud.io/dashboard?id=PyCyphal) [](https://pypi.org/project/pycyphal/) [](https://github.com/psf/black) [](https://forum.opencyphal.org)
PyCyphal is a full-featured implementation of the Cyphal protocol stack intended for non-embedded, user-facing applications such as GUI software, diagnostic tools, automation scripts, prototypes, and various R&D cases.
diff --git a/demo/demo_app.py b/demo/demo_app.py
index 2aadaacd..6cf073f3 100755
--- a/demo/demo_app.py
+++ b/demo/demo_app.py
@@ -4,10 +4,9 @@
import os
import sys
-import pathlib
import asyncio
import logging
-import pycyphal
+import pycyphal # Importing PyCyphal will automatically install the import hook for DSDL compilation.
# DSDL files are automatically compiled by pycyphal import hook from sources pointed by CYPHAL_PATH env variable.
import sirius_cyber_corp # This is our vendor-specific root namespace. Custom data types.
diff --git a/demo/plant.py b/demo/plant.py
index e85d0af1..2b78d575 100755
--- a/demo/plant.py
+++ b/demo/plant.py
@@ -7,9 +7,9 @@
import time
import asyncio
-import pycyphal
+import pycyphal # Importing PyCyphal will automatically install the import hook for DSDL compilation.
-# Import DSDL's after pycyphal import hook is installed
+# Import DSDLs after pycyphal import hook is installed.
import uavcan.si.unit.voltage
import uavcan.si.sample.temperature
import uavcan.time
diff --git a/docs/conf.py b/docs/conf.py
index 1cc68aee..b435fcdd 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -15,7 +15,6 @@
import pathlib
import inspect
import datetime
-import importlib
import subprocess
@@ -28,24 +27,13 @@
APIDOC_GENERATED_ROOT = pathlib.Path("api")
DOC_ROOT = pathlib.Path(__file__).absolute().parent
REPOSITORY_ROOT = DOC_ROOT.parent
-
-# The generated files are not documented, but they must be importable to import the target package.
DSDL_GENERATED_ROOT = REPOSITORY_ROOT / ".compiled"
-PUBLIC_REGULATED_DATA_TYPES_ROOT = REPOSITORY_ROOT / "demo" / "public_regulated_data_types"
-
sys.path.insert(0, str(REPOSITORY_ROOT))
-sys.path.insert(0, str(DSDL_GENERATED_ROOT))
-import pycyphal # pylint: disable=wrong-import-position
+import pycyphal
-try:
- import pycyphal.application
-except (ImportError, AttributeError) as ex:
- print("Generating DSDL packages because:", ex)
- DSDL_GENERATED_ROOT.mkdir(parents=True, exist_ok=True)
- pycyphal.dsdl.compile(PUBLIC_REGULATED_DATA_TYPES_ROOT / "uavcan", [], DSDL_GENERATED_ROOT)
- importlib.invalidate_caches()
- import pycyphal.application
+pycyphal.dsdl.install_import_hook([REPOSITORY_ROOT / "demo" / "public_regulated_data_types"], DSDL_GENERATED_ROOT)
+import pycyphal.application # This may trigger DSDL compilation.
assert "/site-packages/" not in pycyphal.__file__, "Wrong import source"
@@ -212,7 +200,7 @@ def report_exception(exc: Exception) -> None:
return f"https://github.com/{GITHUB_USER_REPO[0]}/{GITHUB_USER_REPO[1]}/blob/{GIT_HASH}/{path}"
-for p in map(str, [DSDL_GENERATED_ROOT, REPOSITORY_ROOT]):
+for p in map(str, [REPOSITORY_ROOT]):
if os.environ.get("PYTHONPATH"):
os.environ["PYTHONPATH"] += os.path.pathsep + p
else:
diff --git a/docs/pages/architecture.rst b/docs/pages/architecture.rst
index 14b98478..2d852aba 100644
--- a/docs/pages/architecture.rst
+++ b/docs/pages/architecture.rst
@@ -239,6 +239,7 @@ The default import hook can be disabled by setting the ``PYCYPHAL_NO_IMPORT_HOOK
The main API entries are:
- :func:`pycyphal.dsdl.compile` --- transcompiles a DSDL namespace into a Python package.
+ Normally, one should rely on the import hook instead of invoking this directly.
- :func:`pycyphal.dsdl.serialize` and :func:`pycyphal.dsdl.deserialize` --- serialize and deserialize
an instance of an autogenerated class.
@@ -269,10 +270,9 @@ Submodule :mod:`pycyphal.application` provides the top-level API for the applica
standard application-layer functions defined by the Cyphal Specification (chapter 5 *Application layer*).
The **main entry point of the library** is :func:`pycyphal.application.make_node`.
-This submodule requires the standard DSDL namespace ``uavcan`` to be compiled first (see :func:`pycyphal.dsdl.compile`),
-so it is not auto-imported.
+This submodule requires the standard DSDL namespace ``uavcan`` to be compiled, so it is not auto-imported.
A typical usage scenario is to either distribute compiled DSDL namespaces together with the application,
-or to generate them lazily before importing this submodule.
+or to generate them lazily relying on the import hook.
Chapter :ref:`demo` contains a complete usage example.
diff --git a/docs/pages/demo.rst b/docs/pages/demo.rst
index 8b77cb17..3a39f174 100644
--- a/docs/pages/demo.rst
+++ b/docs/pages/demo.rst
@@ -22,7 +22,8 @@ The document is arranged as follows:
You are expected to be familiar with terms like *Cyphal node*, *DSDL*, *subject-ID*, *RPC-service*.
If not, skim through the `Cyphal Guide `_ first.
-If you want to follow along, :ref:`install PyCyphal ` and switch to a new directory before continuing.
+If you want to follow along, :ref:`install PyCyphal ` and
+switch to a new directory (``~/pycyphal-demo``) before continuing.
DSDL definitions
@@ -62,17 +63,19 @@ For the sake of clarity, move the custom DSDL root namespace directory ``sirius_
that we created above into ``custom_data_types/``.
You should end up with the following directory structure::
- custom_data_types/
- sirius_cyber_corp/ # Created in the previous section
- PerformLinearLeastSquaresFit.1.0.dsdl
- PointXY.1.0.dsdl
- public_regulated_data_types/ # Clone from git
- uavcan/ # The standard DSDL namespace
+ pycyphal-demo/
+ custom_data_types/
+ sirius_cyber_corp/ # Created in the previous section
+ PerformLinearLeastSquaresFit.1.0.dsdl
+ PointXY.1.0.dsdl
+ public_regulated_data_types/ # Clone from git
+ uavcan/ # The standard DSDL namespace
+ ...
...
- ...
- demo_app.py # The thermostat node script
+ demo_app.py # The thermostat node script
-``CYPHAL_PATH`` should contain a list to all the paths where the DSDL root namespace directories are to be found
+The ``CYPHAL_PATH`` environment variable should contain the list of paths where the
+DSDL root namespace directories are to be found
(be sure to modify the values to match your environment):
.. code-block:: sh
@@ -225,15 +228,12 @@ You will need to open a couple of new terminal sessions now.
If you don't have Yakut installed on your system yet, install it now by following its documentation.
-Yakut requires us to compile our DSDL namespaces beforehand using ``yakut compile``:
+Yakut also needs to know where the DSDL files are located, this is specified via the same ``CYPHAL_PATH``
+environment variable (this is a standard variable that many Cyphal tools rely on):
.. code-block:: sh
- yakut compile custom_data_types/sirius_cyber_corp public_regulated_data_types/uavcan
-
-The outputs will be stored in the current working directory.
-If you decided to change the working directory or move the compilation outputs,
-make sure to export the ``YAKUT_PATH`` environment variable pointing to the correct location.
+ export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types"
The commands shown later need to operate on the same network as the demo.
Earlier we configured the demo to use Cyphal/UDP via the localhost interface.
@@ -248,6 +248,7 @@ launch the following in a new terminal and leave it running (``y`` is a convenie
.. code-block:: sh
+ export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types"
export UAVCAN__UDP__IFACE=127.0.0.1
y sub --with-metadata uavcan.node.heartbeat uavcan.diagnostic.record # You should see heartbeats
@@ -256,6 +257,7 @@ Launch another subscriber to see the published voltage command (it is not going
.. code-block:: sh
+ export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types"
export UAVCAN__UDP__IFACE=127.0.0.1
y sub 2347:uavcan.si.unit.voltage.scalar --redraw # Prints nothing.
@@ -263,6 +265,7 @@ And publish the setpoint along with the measurement (process variable):
.. code-block:: sh
+ export CYPHAL_PATH="$HOME/pycyphal-demo/custom_data_types:$HOME/pycyphal-demo/public_regulated_data_types"
export UAVCAN__UDP__IFACE=127.0.0.1
export UAVCAN__NODE__ID=111 # We need a node-ID to publish messages properly
y pub --count=10 2345:uavcan.si.unit.temperature.scalar 250 \
@@ -405,16 +408,10 @@ that allows one to define process groups and conveniently manage them as a singl
The language comes with a user-friendly syntax for managing Cyphal registers.
Those familiar with ROS may find it somewhat similar to *roslaunch*.
-The following orchestration file (orc-file) ``launch.orc.yaml`` does this:
-
-- Compiles two DSDL namespaces: the standard ``uavcan`` and the custom ``sirius_cyber_corp``.
- If they are already compiled, this step is skipped.
-
-- When compilation is done, the two applications are launched.
- Be sure to stop the first script if it is still running!
-
-- Aside from the applications, a couple of diagnostic processes are started as well.
- A setpoint publisher will command the thermostat to drive the plant to the specified temperature.
+The following orchestration file (orc-file) ``launch.orc.yaml`` launches the two applications
+(be sure to stop the first script if it is still running!)
+along with a couple of diagnostic processes that monitor the network.
+A setpoint publisher that will command the thermostat to drive the plant to the specified temperature is also started.
The orchestrator runs everything concurrently, but *join statements* are used to enforce sequential execution as needed.
The first process to fail (that is, exit with a non-zero code) will bring down the entire *composition*.
diff --git a/pycyphal/_version.py b/pycyphal/_version.py
index c7bbe496..0daeee7b 100644
--- a/pycyphal/_version.py
+++ b/pycyphal/_version.py
@@ -1 +1 @@
-__version__ = "1.17.1"
+__version__ = "1.17.2"
diff --git a/pycyphal/dsdl/_import_hook.py b/pycyphal/dsdl/_import_hook.py
index 30aef15f..dc7ffe70 100644
--- a/pycyphal/dsdl/_import_hook.py
+++ b/pycyphal/dsdl/_import_hook.py
@@ -5,7 +5,7 @@
import sys
import os
from types import ModuleType
-from typing import Iterable, Optional, Sequence, Union
+from typing import Iterable, Optional, Sequence, Union, List
import pathlib
import keyword
import re
@@ -25,7 +25,7 @@
def root_namespace_from_module_name(module_name: str) -> str:
"""
- Tranlates python module name to DSDL root namespace.
+ Translates python module name to DSDL root namespace.
This handles special case where root namespace is a python keyword by removing trailing underscore.
"""
if module_name.endswith("_") and keyword.iskeyword(module_name[-1]):
@@ -48,7 +48,7 @@ def __init__(
self.lookup_directories = list(map(str, lookup_directories))
self.output_directory = output_directory
self.allow_unregulated_fixed_port_id = allow_unregulated_fixed_port_id
- self.root_namespace_directories: Sequence[pathlib.Path] = []
+ self.root_namespace_directories: List[pathlib.Path] = []
# Build a list of root namespace directories from lookup directories.
# Any dir inside any of the lookup directories is considered a root namespace if it matches regex
diff --git a/pycyphal/dsdl/_support_wrappers.py b/pycyphal/dsdl/_support_wrappers.py
index cb098b0d..1b1db830 100644
--- a/pycyphal/dsdl/_support_wrappers.py
+++ b/pycyphal/dsdl/_support_wrappers.py
@@ -6,7 +6,7 @@
autogenerated code unless explicitly requested by the application.
"""
-from typing import TypeVar, Type, Sequence, cast, Any, Iterable, Optional, Dict
+from typing import TypeVar, Type, Sequence, Any, Iterable, Optional, Dict
import pydsdl
diff --git a/pycyphal/transport/can/media/socketcan/_socketcan.py b/pycyphal/transport/can/media/socketcan/_socketcan.py
index 6ecdf2ba..d8aaa175 100644
--- a/pycyphal/transport/can/media/socketcan/_socketcan.py
+++ b/pycyphal/transport/can/media/socketcan/_socketcan.py
@@ -1,6 +1,7 @@
# Copyright (c) 2019 OpenCyphal
# This software is distributed under the terms of the MIT License.
# Author: Pavel Kirienko
+# pylint: disable=duplicate-code
import enum
import time
diff --git a/pycyphal/transport/can/media/socketcand/_socketcand.py b/pycyphal/transport/can/media/socketcand/_socketcand.py
index 8c302732..56a1315d 100644
--- a/pycyphal/transport/can/media/socketcand/_socketcand.py
+++ b/pycyphal/transport/can/media/socketcand/_socketcand.py
@@ -157,7 +157,8 @@ def _transmit_thread_worker(self) -> None:
tx.loop.call_soon_threadsafe(partial(tx.future.set_exception, ex))
except Exception as ex:
_logger.critical(
- "Unhandled exception in transmit thread, transmission thread stopped and transmission is no longer possible: %s",
+ "Unhandled exception in transmit thread, "
+ "transmission thread stopped and transmission is no longer possible: %s",
ex,
exc_info=True,
)
diff --git a/tests/transport/can/media/_socketcand.py b/tests/transport/can/media/_socketcand.py
index 0fc22206..6a268662 100644
--- a/tests/transport/can/media/_socketcand.py
+++ b/tests/transport/can/media/_socketcand.py
@@ -1,5 +1,6 @@
# Copyright (c) 2023 OpenCyphal
# This software is distributed under the terms of the MIT License.
+# pylint: disable=protected-access,duplicate-code
import sys
import typing
@@ -9,7 +10,7 @@
import pytest
from pycyphal.transport import Timestamp
-from pycyphal.transport.can.media import Envelope, DataFrame, FrameFormat, FilterConfiguration
+from pycyphal.transport.can.media import Envelope, DataFrame, FrameFormat
from pycyphal.transport.can.media.socketcand import SocketcandMedia
if sys.platform != "linux": # pragma: no cover
@@ -23,7 +24,7 @@ def _start_socketcand() -> typing.Generator[None, None, None]:
# starting a socketcand daemon in background
cmd = ["socketcand", "-i", "vcan0", "-l", "lo", "-p", "29536"]
- socketcand = subprocess.Popen(
+ socketcand = subprocess.Popen( # pylint: disable=consider-using-with
cmd,
encoding="utf8",
stdout=subprocess.PIPE,
diff --git a/tests/transport/redundant/_session_input.py b/tests/transport/redundant/_session_input.py
index cd556c72..99004f13 100644
--- a/tests/transport/redundant/_session_input.py
+++ b/tests/transport/redundant/_session_input.py
@@ -2,7 +2,6 @@
# This software is distributed under the terms of the MIT License.
# Author: Pavel Kirienko
-import time
import asyncio
import pytest
import pycyphal
@@ -96,7 +95,7 @@ async def add_inferior(inferior: pycyphal.transport.InputSession) -> None:
assert inf_b.transfer_id_timeout == pytest.approx(1.1)
# Redundant reception - new transfers accepted because the iface switch timeout is exceeded.
- time.sleep(ses.transfer_id_timeout) # Just to make sure that it is REALLY exceeded.
+ await asyncio.sleep(ses.transfer_id_timeout) # Just to make sure that it is REALLY exceeded.
assert await tx_b.send(
Transfer(
timestamp=Timestamp.now(),
@@ -132,7 +131,7 @@ async def add_inferior(inferior: pycyphal.transport.InputSession) -> None:
assert tr.fragmented_payload == [memoryview(b"ghi")]
assert tr.inferior_session == inf_b
- assert None is await ses.receive(asyncio.get_running_loop().time() + 1.0) # Nothing left to read now.
+ assert None is await ses.receive(asyncio.get_running_loop().time() + 0.1) # Nothing left to read now.
# This one will be rejected because wrong iface and the switch timeout is not yet exceeded.
assert await tx_a.send(
@@ -144,7 +143,7 @@ async def add_inferior(inferior: pycyphal.transport.InputSession) -> None:
),
asyncio.get_running_loop().time() + 1.0,
)
- assert None is await ses.receive(asyncio.get_running_loop().time() + 1.0)
+ assert None is await ses.receive(asyncio.get_running_loop().time() + 0.1)
# Transfer-ID timeout reconfiguration.
ses.transfer_id_timeout = 3.0