UAVCAN/serial: issues with DMA friendliness and bandwidth overhead

VadimZ · October 9, 2020, 4:01pm

Sure, however I don’t see this branch now. Was it merged already ?

pavel.kirienko · October 9, 2020, 4:01pm

Yes.

VadimZ · October 10, 2020, 12:01pm

First draft is here: https://github.com/flytrex-vadim/pyuavcan/commit/532f4ee35e39052d96fb479761fdfa491a73e4b8

pavel.kirienko · October 10, 2020, 12:07pm

That looks good, thank you. I have a few notes:

Please do not list runtime dependencines in requirements.txt, this file is for dev deps only, as indicated in the header. The COBS library should go into setup.cfg under extras_require.transport_serial:

github.com

UAVCAN/pyuavcan/blob/89fec1e658d5770b8e56a31a6a4e9259c7b4826e/setup.cfg#L44


# ========================================  OPTIONAL DEPENDENCIES  ========================================

[options.extras_require]
# Key name format: "transport_<transport-name>_<media-name>"; e.g.: "transport_ieee802154_xbee".
# If there is no media sub-layer, or the media dependencies are shared, or it is desired to have a common
# option for all media types, the media part may be omitted from the key.

transport_can_pythoncan =
    python-can[serial] ~= 3.3

transport_serial =
    pyserial ~= 3.4

# Command-line tool. This is not a transport.
# Per ruamel.yaml docs: "For production systems you should pin the version being used with ``ruamel.yaml<=0.15``"
cli =
    ruamel.yaml    < 0.16
    requests       ~= 2.21
    simplejson     ~= 3.16

# ========================================  PACKAGE CONFIGURATION  ========================================

Please try to minimize unnecessary whitespace change.

VadimZ · October 10, 2020, 12:30pm

Fixed whitespace (bad pycharm setting) and dependencies

https://github.com/flytrex-vadim/pyuavcan/commits/cobs

pavel.kirienko · October 10, 2020, 12:40pm

Okay. There are some nits like a commented-out string and some remaining whitespace but I think if the tests pass, we should be good to open a PR for a thorough review. Do the tests pass? Let me know if you need help setting up the test environment (although I think (or hope) it should be fairly straightforward).

pavel.kirienko · October 10, 2020, 12:53pm

Ah, also, would you be inclined to update the docs for the serial transport as well? Most of them are in __init__.py of pyuavcan.transport.serial.

VadimZ · October 10, 2020, 1:11pm

All the tests pass at the \transport level.
At the whole pyuavcan level there are some dsdl test failures that are probably setup-related (PYTHONASYNCIODEBUG)

created PR after few more fixes incl your nits

pavel.kirienko · October 10, 2020, 5:03pm

Thank you, @VadimZ. The UAVCAN/serial transport PoC is now officially based on COBS, and it is highly likely that this implementation will end up being formally specified in UAVCAN v1.1.