raccoonlab-tools 0.0.16

RaccoonLab tools

Cyphal/DroneCAN nodes tools

tools is a collection of scripts for testing and configuration of Cyphal/CAN and DroneCAN nodes.

This package is under development. It is avaliable in test.pypi at the moment.

Preparation

1. Install the package either from test.pypi or from sources:

   pip install -i https://test.pypi.org/simple/ raccoonlab-tools
   

   git clone https://github.com/PonomarevDA/tools.git
   cd tools
   pip install .
   

2. Clone the nodes config files somewhere. We recommend ~/.raccoonlab_tools/vendors For example:

   mkdir -p ~/.raccoonlab_tools/vendors/raccoonlab
   cd ~/.raccoonlab_tools/vendors/raccoonlab
   git clone https://github.com/RaccoonlabDev/raccoonlab_nodes_configs.git .
   

3. Install additional dependencies if you want to upload a firmware with STM32-programmer:

   • On ubuntu install stlink,
   • On Windows install STM32CubeProgrammer to the default directory.

4. Before working with a Cyphal node, you should configure the Cyphal-related environment variables. Check Cyphal for help. You can use scripts/cyphal as a hint.

1. Test cyphal specification

rl-test-cyphal-specification

2. Test dronecan specification

rl-test-dronecan-specification

rl-test-dronecan-gps-mag-baro

3. Get Node Info (Cyphal / DroneCAN)

rl-get-info

Return:

• Online CAN-sniffers
• Detect protocol if any CAN-node is avaliable: cyphal | dronecan | none
• Show node info of Cyphal/CAN or DroneCAN node if it is avaliable

4. Upload firmware with st-link linux / STM32CubeProgrammer Windows

rl-upload-firmware --config PATH_TO_YAML_CONFIG

rl-upload-firmware --binary PATH_TO_BIN_FILE

There are a few ways how you can specify the path to the binary:

1. (recommended) Using a GitHub Repository. It will always download the latest released firmware.

# config.yaml
metadata:
    link: RaccoonlabDev/mini_v2_node

2. Direct Link to the Firmware File

# config.yaml
metadata:
    link: https://github.com/RaccoonlabDev/docs/releases/download/v1.6.5/gnss_v2_cyphal_v1.6.5_c78d47c3.bin

3. Using a Local Path

# config.yaml
metadata:
    link: /user/home/firmwares/node.bin

4. Direct .bin path with --binary option

5. Upload config

rl-config --config PATH

Example of yaml config file:

# config.yaml
params:
    uavcan.node_id: 31
    uavcan.node.name: co.rl.mini

6. Monitor

rl-monitor

This script is used for automated node analysis. Within a single command:

• detect the protocol (Cyphal or DroneCAN),
• detect the node type,
• check the software version and highlight if it is not the latest,
• configure it if it has not been configured yet,
• subscribes on all possible topics,
• provide basic tests and diagnostics, highlight issues,
• publish some test commands if possible,
• print all data in real time.

An example of rl-monitor with gnss node:

7. U-center with Cyphal GNSS

rl-ublox-center

For RL GNSS it is possible to run u-center over Cyphal via gps.ubx_tx and gps.ubx_rx topics.

1. Download u-center (tested with u-center 23.08)
2. Run the u-center. On ubuntu you can use wine (wine64 u-centersetup_v23.08/u-center_v23.08.exe)
3. Configure the Cyphal environment
4. Run the script rl-ublox-center
5. Press Receiver - > Connection -> Network connection
6. Add new connection tcp://127.0.0.1:2001

An illustration:

Developer notes

Deploy to TestPyPI:

./scripts/deploy.sh

Deploy to PyPI:

./scripts/deploy.sh --pypi

License

The scripts are distributed under MIT license. In general, you can do with them whatever you want. If you find a bug, please suggest a PR or an issue.