Python API to configure the subject-IDs/service-IDs/registers

pavel.kirienko · July 8, 2022, 11:17am

This is slightly offtopic, but your example looks concerning because this is not how you configure subject-IDs. Ports are named simply like this_is_your_port and the name is embedded into:

uavcan\.(pub|sub|srv|cln)\.PORT_NAME\.(id|type)

This is documented here:

github.com/OpenCyphal/public_regulated_data_types

uavcan/register/384.Access.1.0.dsdl

70573cb98


      
          #   STANDARD REGISTERS
          #
          # The following table specifies the register name patterns that are reserved by the specification for
          # common functions. These conventions are not mandatory to follow, but implementers are recommended to adhere because
          # they enable enhanced introspection capabilities and simplify device configuration and diagnostics.
          #
          #   REGISTER NAME PATTERN                               TYPE            FLAGS                   RECOMMENDED DEFAULT
          # =====================================================================================================================
          #
          #   uavcan.node.id                                      natural16[1]    mutable, persistent     65535 (unset/PnP)
          #
          # Contains the node-ID of the local node. Values above the maximum valid node-ID for the current transport
          # indicate that the node-ID is not set; if plug-and-play is supported, it will be used by the node to obtain an
          # automatic node-ID. Invalid values other than 65535 should be avoided for consistency.
          #
          # ---------------------------------------------------------------------------------------------------------------------
          #
          #   uavcan.node.description                             string          mutable, persistent     (empty)
          #
          # User/integrator-defined, human-readable description of this specific node.

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Based on what I see, your register should be renamed roughly into uavcan.srv.th_get_data_and_metadata.id, and there also needs to be a uavcan.srv.th_get_data_and_metadata.type that contains the name of the data type.

It is also a design mistake to expose the name of the data type in the register name because these are unrelated entities. More on this in the Guide, look for “syntax-semantic separation”.