def __init__(self,
can_driver,
node_id=None,
node_status_interval=None,
mode=None,
node_info=None,
**_extras):
"""
It is recommended to use make_node() rather than instantiating this type directly.
:param can_driver: CAN bus driver object. Calling close() on a node object closes its driver instance.
:param node_id: Node ID of the current instance. Defaults to None, which enables passive mode.
:param node_status_interval: NodeStatus broadcasting interval. Defaults to DEFAULT_NODE_STATUS_INTERVAL.
:param mode: Initial operating mode (INITIALIZATION, OPERATIONAL, etc.); defaults to INITIALIZATION.
:param node_info: Structure of type uavcan.protocol.GetNodeInfo.Response, responded with when the local
node is queried for its node info.
"""
super(Node, self).__init__()
self._handler_dispatcher = HandlerDispatcher(self)
self._can_driver = can_driver
self._node_id = node_id
self._transfer_manager = transport.TransferManager()
self._outstanding_requests = {}
self._outstanding_request_callbacks = {}
self._next_transfer_ids = collections.defaultdict(int)
self.start_time_monotonic = time.monotonic()
# Hooks
self._transfer_hook_dispatcher = TransferHookDispatcher()
# NodeStatus publisher
self.health = uavcan.protocol.NodeStatus(
).HEALTH_OK # @UndefinedVariable
self.mode = uavcan.protocol.NodeStatus(
).MODE_INITIALIZATION if mode is None else mode # @UndefinedVariable
self.vendor_specific_status_code = 0
node_status_interval = node_status_interval or DEFAULT_NODE_STATUS_INTERVAL
self.periodic(node_status_interval, self._send_node_status)
# GetNodeInfo server
def on_get_node_info(e):
logger.debug('GetNodeInfo request from %r',
e.transfer.source_node_id)
self._fill_node_status(self.node_info.status)
return self.node_info
self.node_info = node_info or uavcan.protocol.GetNodeInfo.Response(
) # @UndefinedVariable
self.add_handler(uavcan.protocol.GetNodeInfo,
on_get_node_info) # @UndefinedVariable
def __init__(self, handlers, node_id=127):
self.can = None
self.transfer_manager = transport.TransferManager()
self.handlers = handlers
self.node_id = node_id
self.outstanding_requests = {}
self.outstanding_request_callbacks = {}
self.outstanding_request_timestamps = {}
self.next_transfer_ids = collections.defaultdict(int)
self.node_info = {}