Installation

Install the library from PyPI; the package name is pycyphal. Specify the installation options (known as “package extras” in parseltongue) depending on which Cyphal transports and features you are planning to use.

Installation options

Most of the installation options enable a particular transport or a particular media sublayer implementation for a transport. Those options are named uniformly following the pattern transport-<transport-name>-<media-name>, for example: transport-can-pythoncan. If there is no media sub-layer, or the media dependencies are shared, or there is a common installation option for all media types of the transport, the media part is omitted from the key; for example: transport-serial. Installation options whose names do not begin with transport- enable other optional features.

If you need full-featured library, use this and read no more:

pip install 'pycyphal[transport-can-pythoncan,transport-serial,transport-udp]'

If you want to know what exactly you are installing, read on.

can transport

This transport is implemented by pycyphal.transport.can.CANTransport. The following installation options are available:

transport-can-pythoncan

This option pulls the following dependencies:

python-can[serial] ~= 4.0

serial transport

This transport is implemented by pycyphal.transport.serial.SerialTransport. The following installation options are available:

transport-serial

This option pulls the following dependencies:

pyserial ~= 3.5
cobs     ~= 1.1.4

redundant transport

This transport is implemented by pycyphal.transport.redundant.RedundantTransport. This transport has no installation dependencies.

loopback transport

This transport is implemented by pycyphal.transport.loopback.LoopbackTransport. This transport has no installation dependencies.

udp transport

This transport is implemented by pycyphal.transport.udp.UDPTransport. The following installation options are available:

transport-udp

This option pulls the following dependencies:

libpcap >= 0.0.0b0, < 2.0.0

Use from source

PyCyphal requires no unconventional installation steps and is usable directly in its source form. If installation from PyPI is considered undesirable, the library sources can be just directly embedded into the user’s codebase (as a git submodule/subtree or copy-paste).

When doing so, don’t forget to let others know that you use PyCyphal (it’s MIT-licensed), and make sure to include at least its core dependencies, which are:

nunavut ~= 1.7
numpy   ~= 1.22 ; python_version>='3.8'
numpy   ~= 1.21 ; python_version=='3.7'