Add an experimental Cyphal/CAN media implementation for replaying can…

…dump files, release v1.9 (#235)

* Add CandumpMedia

* Update mypy and pylint to the latest versions, introduce required minor adjustments

* Bump version, update changelog

CHANGELOG.rst

@@ -6,12 +6,15 @@ Changelog
 v1.9
 ----
 
-- Cyphal/CAN: Add support for GS USB adapter support via PythonCAN
+- Cyphal/CAN: Support GS USB adapter via PythonCAN
   (`#212 <https://github.com/OpenCyphal/pycyphal/pull/212>`_).
 
 - Cyphal/CAN: Adjust SocketCAN socket behavior to avoid ENOBUFS
   (`#234 <https://github.com/OpenCyphal/pycyphal/pull/234>`_).
 
+- Cyphal/CAN: Add :mod:``pycyphal.transport.can.media.candump`` media that reads standard CAN bus log files created
+  by the candump utility (part of SocketCAN).
+
 v1.8
 ----
 

noxfile.py

@@ -124,8 +124,8 @@ def test(session):
     #   2. At least MyPy has to be run separately per Python version we support.
     # If the interpreter is not CPython, this may need to be conditionally disabled.
     session.install(
-        "mypy   == 0.942",
-        "pylint == 2.13.*",
+        "mypy   == 0.961",
+        "pylint == 2.14.*",
     )
     relaxed_static_analysis = "3.7" in session.run("python", "-V", silent=True)  # Old Pythons require relaxed checks.
     if not relaxed_static_analysis:

pycyphal/VERSION

@@ -1 +1 @@
-1.9.0.beta2
+1.9.0

pycyphal/application/_transport_factory.py

@@ -90,8 +90,13 @@ def make_transport(
         * - ``uavcan.can.iface``
           - ``string``
           - Whitespace-separated list of CAN iface names.
-            Each iface name shall follow the format defined in :class:`pycyphal.transport.can.media.pythoncan`.
+            Each iface name shall follow the format defined in :mod:`pycyphal.transport.can.media.pythoncan`.
             E.g.: ``socketcan:vcan0``.
+            On GNU/Linux, the ``socketcan:`` prefix selects :mod:`pycyphal.transport.can.media.socketcan`
+            instead of PythonCAN.
+            All platforms support the ``candump:`` prefix, which selects :mod:`pycyphal.transport.can.media.candump`;
+            the text after colon is the path of the log file;
+            e.g., ``candump:/home/pavel/candump-2022-07-14_150815.log``.
 
         * - ``uavcan.can.mtu``
           - ``natural16[1]``
@@ -287,7 +292,11 @@ def init(name: str, default: RelaxedValue) -> ValueProxy:
             if iface.lower().startswith("socketcan:"):
                 from pycyphal.transport.can.media.socketcan import SocketCANMedia
 
-                media = SocketCANMedia(iface.split(":")[-1], mtu=mtu)
+                media = SocketCANMedia(iface.split(":", 1)[-1], mtu=mtu)
+            elif iface.lower().startswith("candump:"):
+                from pycyphal.transport.can.media.candump import CandumpMedia
+
+                media = CandumpMedia(iface.split(":", 1)[-1])
             else:
                 from pycyphal.transport.can.media.pythoncan import PythonCANMedia
 

pycyphal/presentation/subscription_synchronizer/monotonic_clustering.py

@@ -2,6 +2,8 @@
 # This software is distributed under the terms of the MIT License.
 # Author: Pavel Kirienko <pavel@opencyphal.org>
 
+# mypy: warn_unused_ignores=False
+
 from __future__ import annotations
 import bisect
 import asyncio
@@ -273,7 +275,7 @@ def __init__(self, *, subject_count: int, depth: int) -> None:
     def update(self, key: float, tolerance: float, index: int, item: T) -> tuple[T, ...] | None:
         clust: _Cluster[T] | None = None
         # noinspection PyTypeChecker
-        ni = bisect.bisect_left(self._clusters, key)
+        ni = bisect.bisect_left(self._clusters, key)  # type: ignore
         assert 0 <= ni <= len(self._clusters)
         neigh: list[tuple[float, int]] = []
         if 0 < ni:

pycyphal/transport/can/media/candump/__init__.py

@@ -0,0 +1,5 @@
+# Copyright (c) 2022 OpenCyphal
+# This software is distributed under the terms of the MIT License.
+# Author: Pavel Kirienko <pavel@opencyphal.org>
+
+from ._candump import CandumpMedia as CandumpMedia