Some tests require a connected emulator to run. To connect your system to emulation you must have the OT-3 Emulator set up and running.
Tests will default to using vcan0 as their SocketCAN network. If you wish to change
the network, then specify the CAN_CHANNEL environment variable with the name of
your network.
The preferred method of software CAN bus simulation is SocketCAN's vcan.
To start a vcan0 interface:
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up fd on
This portable alternative to vcan runs a simulated CAN network using a socket server. This supports the opentrons_sock interface.
The preferred method of software CAN bus simulation is SocketCAN's vcan. But it is only available on linux.
This alternative to vcan runs a simulated CAN network using a socket server. This supports the opentrons_sock interface.
opentrons_sim_can_bus [-h] [--port PORT]
Example using default port (9898): opentrons_sim_can_bus
Example: opentrons_sim_can_bus --port 12345
The opentrons-hardware package includes some utility scripts.
This is a tool for sending messages to firmware (or simulator) over CAN bus. The CAN bus can either be a python-can defined interface or opentrons.
SocketCan's vcan (virtual can network) only works on Linux. Firmware simulations on non-Linux computers require opentrons_sock as it uses a plain old socket CAN network simulation. Simulated CAN bus must be started to use the opentrons interface.
opentrons_can_comm [-h] --interface INTERFACE [--bitrate BITRATE]
[--channel CHANNEL] [--port PORT] [--host HOST]
On Linux using socketcan: opentrons_can_comm --interface socketcan --channel vcan0
On Mac using pcan: opentrons_can_comm --interface pcan --channel PCAN_USBBUS1 --bitrate 250000
Example using opentrons' CAN over socket: opentrons_can_comm --interface opentrons_sock
A monitor on the CAN bus. It prints out the contents of messages received on the CAN bus.
The usage is the same as opentrons_can_comm.
A script that will update a subsystem's firmware.
opentrons_update_fw [-h] --interface INTERFACE [--bitrate BITRATE]
[--channel CHANNEL] [--port PORT] [--host HOST] --target
{head,gantry-x,gantry-y,pipette-left,pipette-right} --file
FILE [--retry-count RETRY_COUNT]
[--timeout-seconds TIMEOUT_SECONDS]
The FILE argument is a .hex file built by our ot3-firmware repo.