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.

属性：

名称	类型	描述
id	int	Device id.
type	Model	Device type.
fw_ver	float	Device firmware version.

__init__(can, device_id)

Init device with interface and id.

参数：

名称	类型	描述	默认
can	CanBus	Can bus interface.	必需
device_id	int	Device id.	必需

引发：

类型	描述
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.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	None

返回：

类型	描述
dict | None	Device firmware version and type.