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roboticslab-uc3m / yarp-devices

A place for YARP devices
https://robots.uc3m.es/yarp-devices/
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Remote CAN network monitor GUI (à la EasySetup) #225

Closed PeterBowman closed 4 years ago

PeterBowman commented 5 years ago

YARP provides an ICanBusErrors interface to access several CAN network-related parameters stored in a CanErrors structure. It is yet to determine their purpose since no documentation is available, but here they are:

The ICanBusErrors interface would need to be implemented by CAN devices, currently CanBusHico and CanBusPeak. In this way, CanBusControlboard could check the network state periodically and watch for RX/TX overruns, network errors and, most interestingly, bus load (having the new PDO implementation in mind as detailed in https://github.com/roboticslab-uc3m/yarp-devices/issues/223).

Perhaps those parameters are not suitable for the goal of this issue. It is, however, a starting point I'd like to explore. All relevant parameters (per CAN bus) would be presented to users via GUI app (https://github.com/roboticslab-uc3m/yarp-devices/issues/224).

PeterBowman commented 5 years ago

First attempt at https://github.com/roboticslab-uc3m/yarp-devices/commit/0867506dd34dd541fe324f451c1b0a283b7feadf, not tested.

PeterBowman commented 5 years ago

Note to self: expose simultaneous CAN reads/writes?

PeterBowman commented 4 years ago

We may feel somewhat constrained by the ICanBusErrors interface in that it allows to expose only a subset of available CAN status items (not so surprisingly). See https://github.com/roboticslab-uc3m/yarp-devices/issues/231 regarding more sophisticated tools; I'm marking this as blocked for said reason.

PeterBowman commented 4 years ago

Actually blocked by https://github.com/roboticslab-uc3m/yarp-devices/issues/160, which targets streaming CAN data through YARP ports.

PeterBowman commented 4 years ago

Since remote connection to active YARP ports streaming CAN data is desired, keep in mind the following issue raised at https://github.com/roboticslab-uc3m/yarp-devices/issues/160#issuecomment-577650352 regarding lost packets and YARP carriers.

PeterBowman commented 4 years ago

I'm closing this as invalid. Bus-off state is now monitored as described in https://github.com/roboticslab-uc3m/yarp-devices/issues/242, CAN bus load is streamed via YARP port thanks to https://github.com/roboticslab-uc3m/yarp-devices/issues/160, and everything GUI-related will be discussed at https://github.com/roboticslab-uc3m/yarp-devices/issues/224.