def construct_subsystem(self, args: argparse.Namespace) -> object:
"""
We use object instead of Node because the Node class requires generated code to be generated.
"""
from pyuavcan import application
from pyuavcan.application import heartbeat_publisher
node_info = pyuavcan.dsdl.update_from_builtin(application.NodeInfo(), args.node_info_fields)
_logger.debug('Node info: %r', node_info)
transport = self._transport_factory.construct_subsystem(args)
presentation = pyuavcan.presentation.Presentation(transport)
node = application.Node(presentation, info=node_info)
try:
# Configure the heartbeat publisher.
if args.heartbeat_fields.pop('uptime', None) is not None:
_logger.warning('Specifying uptime has no effect because it will be overridden by the node.')
node.heartbeat_publisher.health = \
args.heartbeat_fields.pop('health', heartbeat_publisher.Health.NOMINAL)
node.heartbeat_publisher.mode = \
args.heartbeat_fields.pop('mode', heartbeat_publisher.Mode.OPERATIONAL)
node.heartbeat_publisher.vendor_specific_status_code = args.heartbeat_fields.pop(
'vendor_specific_status_code',
os.getpid() & (2 ** min(pyuavcan.dsdl.get_model(heartbeat_publisher.Heartbeat)
['vendor_specific_status_code'].data_type.bit_length_set) - 1)
)
_logger.debug('Node heartbeat: %r', node.heartbeat_publisher.make_message())
if args.heartbeat_fields:
raise ValueError(f'Unrecognized heartbeat fields: {args.heartbeat_fields}')
# Check the node-ID configuration.
if not self._allow_anonymous and node.presentation.transport.local_node_id is None:
raise ValueError('The specified transport is configured in anonymous mode, '
'which cannot be used with the selected command. '
'Please specify the node-ID explicitly, or use a different transport.')
# Configure the transfer-ID map.
# Register save on exit even if we're anonymous because the local node-ID may be provided later.
self._register_output_transfer_id_map_save_at_exit(node.presentation)
# Restore if we have a node-ID. If we don't, no restoration will take place even if the node-ID is
# provided later. This behavior is acceptable for CLI; a regular UAVCAN application will not need
# to deal with saving/restoration at all since this use case is specific to CLI only.
if node.presentation.transport.local_node_id is not None:
tid_map_path = _get_output_transfer_id_file_path(node.presentation.transport.local_node_id,
node.presentation.transport.descriptor)
_logger.debug('Output TID map file: %s', tid_map_path)
tid_map = self._restore_output_transfer_id_map(tid_map_path)
_logger.debug('Output TID map with %d records from %s', len(tid_map), tid_map_path)
_logger.debug('Output TID map dump: %r', tid_map)
# noinspection PyTypeChecker
presentation.output_transfer_id_map.update(tid_map) # type: ignore
else:
_logger.debug('Output TID map not restored because the local node is anonymous.')
return node
except Exception:
node.close()
raise
def __call__(self, transport: Transport, name_suffix: str,
allow_anonymous: bool) -> object:
"""
We use ``object`` for return type instead of Node because the Node class requires generated code
to be generated.
"""
_logger.debug("Constructing node using %r with %r and name %r", self,
transport, name_suffix)
if not re.match(r"[a-z][a-z0-9_]*[a-z0-9]",
name_suffix): # pragma: no cover
raise ValueError(
f"Internal error: Poorly chosen node name suffix: {name_suffix!r}"
)
try:
from pyuavcan import application
except ImportError as ex:
from yakut.cmd.compile import make_usage_suggestion
raise click.UsageError(make_usage_suggestion(ex.name))
try:
node_info = pyuavcan.dsdl.update_from_builtin(
application.NodeInfo(), self.node_info)
except (ValueError, TypeError) as ex:
raise click.UsageError(
f"Node info fields are not valid: {ex}") from ex
if len(node_info.name) == 0:
node_info.name = f"org.uavcan.yakut.{name_suffix}"
_logger.debug("Node info: %r", node_info)
presentation = pyuavcan.presentation.Presentation(transport)
node = application.Node(presentation, info=node_info)
try:
# Configure the heartbeat publisher.
try:
if self.heartbeat_period is not None:
node.heartbeat_publisher.period = self.heartbeat_period
if self.heartbeat_priority is not None:
node.heartbeat_publisher.priority = self.heartbeat_priority
if self.heartbeat_vssc is not None:
node.heartbeat_publisher.vendor_specific_status_code = self.heartbeat_vssc
else:
node.heartbeat_publisher.vendor_specific_status_code = os.getpid(
) % 100
except ValueError as ex:
raise click.UsageError(
f"Invalid heartbeat parameters: {ex}") from ex
_logger.debug(
"Node heartbeat: %s, period: %s, priority: %s",
node.heartbeat_publisher.make_message(),
node.heartbeat_publisher.period,
node.heartbeat_publisher.priority,
)
# Check the node-ID configuration.
if not allow_anonymous and node.presentation.transport.local_node_id is None:
raise click.UsageError(
"The specified transport is configured in anonymous mode, which cannot be used with this command."
)
# Configure the transfer-ID map.
# Register save on exit even if we're anonymous because the local node-ID may be provided later.
_register_output_transfer_id_map_save_at_exit(node.presentation)
# Restore if we have a node-ID. If we don't, no restoration will take place even if the node-ID is
# provided later. This behavior is acceptable for CLI; a regular UAVCAN application will not need
# to deal with saving/restoration at all since this use case is specific to CLI only.
path = _get_output_transfer_id_map_path(
node.presentation.transport)
tid_map_restored = False
if path is not None:
tid_map = _restore_output_transfer_id_map(path)
if tid_map:
_logger.debug("Restored output TID map from %s: %r", path,
tid_map)
presentation.output_transfer_id_map.update(tid_map)
tid_map_restored = True
if not tid_map_restored:
_logger.debug("Could not restore output TID map from %s", path)
_logger.info("Constructed node: %s", node)
return node
except Exception:
node.close()
raise