API reference

For a general library overview, read Architecture. Navigation resources:

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pycyphal root module

Submodule import policy

The following submodules are auto-imported when the root module pycyphal is imported:

• pycyphal.dsdl

• pycyphal.transport, but not concrete transport implementation submodules.

• pycyphal.presentation

• pycyphal.util

Submodule pycyphal.application is not auto-imported because in order to have it imported the DSDL-generated package uavcan containing the standard data types must be compiled first.

Log level override

The environment variable PYCYPHAL_LOGLEVEL can be set to one of the following values to override the library log level:

• CRITICAL

• FATAL

• ERROR

• WARNING

• INFO

• DEBUG

pycyphal.CYPHAL_SPECIFICATION_VERSION = (1, 0)

Version of the Cyphal protocol implemented by this library, major and minor. The corresponding field in uavcan.node.GetInfo.Response is initialized from this value, see pycyphal.application.make_node().

Submodules

• pycyphal.dsdl package
  • Module contents
• pycyphal.application package
  • Subpackages
    • pycyphal.application.register package
      • Subpackages
        • pycyphal.application.register.backend package
          • Submodules
            • pycyphal.application.register.backend.dynamic module
            • pycyphal.application.register.backend.static module
          • Module contents
      • Module contents
  • Submodules
    • pycyphal.application.diagnostic module
    • pycyphal.application.file module
    • pycyphal.application.heartbeat_publisher module
    • pycyphal.application.node_tracker module
    • pycyphal.application.plug_and_play module
  • Module contents
    • Application layer overview
    • Node class
      • Constructing a node
      • Publishers and subscribers
      • RPC-service clients and servers
      • Registers and application settings
    • Application-layer function implementations
• pycyphal.presentation package
  • Subpackages
    • pycyphal.presentation.subscription_synchronizer package
      • Submodules
        • pycyphal.presentation.subscription_synchronizer.monotonic_clustering module
        • pycyphal.presentation.subscription_synchronizer.transfer_id module
      • Module contents
  • Module contents
    • Presentation layer overview
    • Usage example
• pycyphal.transport package
  • Subpackages
    • pycyphal.transport.can package
      • Subpackages
        • pycyphal.transport.can.media package
          • Subpackages
            • pycyphal.transport.can.media.candump package
              • Module contents
            • pycyphal.transport.can.media.pythoncan package
              • Module contents
            • pycyphal.transport.can.media.socketcan package
              • Module contents
          • Module contents
      • Module contents
        • Cyphal/CAN transport overview
        • Tooling
        • Inheritance diagram
    • pycyphal.transport.commons package
      • Subpackages
        • pycyphal.transport.commons.crc package
          • Module contents
        • pycyphal.transport.commons.high_overhead_transport package
          • Module contents
      • Module contents
    • pycyphal.transport.loopback package
      • Module contents
    • pycyphal.transport.redundant package
      • Module contents
        • Redundant pseudo-transport overview
        • Inferior aggregation restrictions
        • Transmission
        • Reception
        • Inheritance diagram
        • Usage
    • pycyphal.transport.serial package
      • Module contents
        • Cyphal/Serial transport overview
        • Protocol definition
        • Unreliable links and temporal redundancy
        • Usage
        • Tooling
          • Serial data logging
          • TCP/IP tunneling
        • Inheritance diagram
    • pycyphal.transport.udp package
      • Module contents
        • Cyphal/UDP transport overview
        • Protocol definition
        • IP address mapping
          • Message transfers
          • Service transfers
          • Datagram header format
        • Unreliable networks and temporal redundancy
        • Implementation-specific details
        • Usage
        • Tooling
        • Inheritance diagram
  • Module contents
    • Abstract transport model
    • Sessions
    • Sniffing/snooping and tracing
    • Implementing new transports
    • Class inheritance diagram
• pycyphal.util package
  • Module contents