CanBusDevice

robodyno.components.can_bus.can_bus_device

Base class for all robodyno devices which use can bus as communication

All robodyno devices which use can bus as communication interface should inherit this class.

Examples:

>>> from robodyno.components import CanBusDevice
>>> from robodyno.interfaces import CanBus
>>> can_bus = CanBus()
>>> device = CanBusDevice(can_bus, 0x01)
>>> device.get_version()
{'main_version': 1, 'sub_version': 0, 'type': <Model.THIRD_PARTY: 255>}
>>> device.fw_ver
1.0
>>> device.type
<Model.THIRD_PARTY: 255>
>>> can_bus.disconnect()

CanBusDevice

Bases: object

Base class for all robodyno devices which use can bus as communication interface.

This class provides basic functions for all robodyno devices which use can bus as communication interface. It provides functions to get device firmware version and device type.

Attributes:

Name	Type	Description
id	int	Device id.
type	Model	Device type.
fw_ver	float	Device firmware version.

__init__(can, device_id)

Init device with interface and id.

Parameters:

Name	Type	Description	Default
can	CanBus	Can bus interface.	required
device_id	int	Device id.	required

Raises:

Type	Description
ValueError	If device id is not in range [0x01, 0x40).
TypeError	If can is not CanBus.

get_version(timeout=None)

Get device firmware version and type.

Parameters:

Name	Type	Description	Default
timeout	float	Timeout in seconds.	None

Returns:

Type	Description
dict | None	Device firmware version and type.