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canbus.packet

AmigaControlState Objects​

class AmigaControlState(IntEnum)

State of the Amiga vehicle control unit (VCU)

Packet Objects​

class Packet()

Base class inherited by all CAN message data structures.

from_can_data​

@classmethod
def from_can_data(cls, data, stamp: float)

Unpack CAN data directly into CAN message data structure.

stamp_packet​

def stamp_packet(stamp: float)

Time most recent message was received.

fresh​

def fresh(thresh_s: float = 0.5)

Returns False if the most recent message is older than thresh_s in seconds.

age​

def age()

Age of the most recent message.

make_amiga_rpdo1_proto​

def make_amiga_rpdo1_proto(
        state_req: AmigaControlState,
        cmd_speed: float,
        cmd_ang_rate: float,
        pto_bits: int = 0x0,
        hbridge_bits: int = 0x0) -> canbus_pb2.RawCanbusMessage

Creates a canbus_pb2.RawCanbusMessage.

Uses the AmigaRpdo1 structure and formatting, that can be sent directly to the canbus service to be formatted and send on the CAN bus.

Arguments:

  • state_req - State of the Amiga vehicle control unit (VCU).
  • cmd_speed - Command speed in meters per second.
  • cmd_ang_rate - Command angular rate in radians per second.

Returns:

An instance of a canbus_pb2.RawCanbusMessage.

AmigaRpdo1 Objects​

class AmigaRpdo1(Packet)

State, speed, and angular rate command (request) sent to the Amiga vehicle control unit (VCU).

New in fw v0.1.9 / farm-ng-amiga v0.0.7: Add pto & hbridge control. Message data is now 8 bytes (was 5).

encode​

def encode()

Returns the data contained by the class encoded as CAN message data.

decode​

def decode(data)

Decodes CAN message data and populates the values of the class.

AmigaTpdo1 Objects​

class AmigaTpdo1(Packet)

State, speed, and angular rate of the Amiga vehicle control unit (VCU).

New in fw v0.1.9 / farm-ng-amiga v0.0.7: Add pto & hbridge control. Message data is now 8 bytes (was 5).

encode​

def encode()

Returns the data contained by the class encoded as CAN message data.

decode​

def decode(data)

Decodes CAN message data and populates the values of the class.

to_proto​

def to_proto() -> amiga_v6_pb2.AmigaTpdo1

Packs the class data into an AmigaTpdo1 proto message.

Returns: An instance of an AmigaTpdo1 proto.

from_proto​

@classmethod
def from_proto(cls, proto: amiga_v6_pb2.AmigaTpdo1) -> AmigaTpdo1

Creates an instance of the class from a proto message.

Arguments:

  • proto - The AmigaTpdo1 proto message to parse.

parse_amiga_tpdo1_proto​

def parse_amiga_tpdo1_proto(
        message: canbus_pb2.RawCanbusMessage) -> AmigaTpdo1 | None

Parses a canbus_pb2.RawCanbusMessage.

IFF the message came from the dashboard and contains AmigaTpdo1 structure, formatting, and cobid.

Arguments:

  • message - The raw canbus message to parse.

Returns:

The parsed AmigaTpdo1 message, or None if the message is not a valid AmigaTpdo1 message.

MotorControllerStatus Objects​

class MotorControllerStatus(IntEnum)

Values representing the status of the motor controller.

PRE_OPERATIONAL​

the motor is not ready to run

IDLE​

the motor is waiting to start

POST_OPERATIONAL​

the motor already started

RUN​

the motor is running

FAULT​

the motor controller is in fault mode

MotorState Objects​

class MotorState()

Values representing the state of the motor.

Amalgamates values from multiple CAN packets.

to_proto​

def to_proto() -> canbus_pb2.MotorState

Returns the data contained by the class encoded as CAN message data.