Cyphal TUI

A textual based TUI for monitoring Cyphal networks.

Features

Supports:

• uavcan.node.Heartbeat
• uavcan.node.GetInfo
• uavcan.node.port.List
• uavcan.diagnostic.Record
• uavcan.node.ExecuteCommand
• uavcan.time.Synchronization
• uavcan.node.GetTransportStatistics (UNTESTED)
• FileServer (uses pycyphal implementation)
  • uavcan.file.Read
  • uavcan.file.List
  • uavcan.file.Write
  • uavcan.file.GetInfo
  • uavcan.file.Modify

Future Support:

• uavcan.time.GetSynchronizationMasterInfo
• uavcan.register.List
• uavcan.register.Access

Usage

Environment

I setup a python virtual env with this:

python3 -m venv .venv
source .venv/bin/activate
# Required
pip install textual pycyphal
# Only use these to test, not needed for runtime
pip install yakut==0.13.0 textual-dev
# Install yactui from here as editable
pip install -e .

This is the contents of the .env I use. I've setup a cyphal folder in my home directory which has the UAVCAN Data Types in the dsdl folder and I've precompiled them to the generated folder.

export CYPHAL_PATH=$HOME/cyphal/dsdl
export PYCYPHAL_PATH=$HOME/cyphal/generated
# if you want to use Yakut
export YAKUT_PATH=$HOME/cyphal/generated
# If you have problems with the auto DSDL generation
export PYTHONPATH=$HOME/cyphal/generated

No need to set UAVCAN__NODE__ID or UAVCAN__UDP__IFACE.

Precompiling

# Using yakut <= 0.13.0
yakut -v compile -O ${YAKUT_PATH} ${CYPHAL_PATH}/uavcan ${CYPHAL_PATH}/reg
# After 0.13.0 it's automatic if you have CYPHAL_PATH and PYCYPHAL_PATH set.

Command Options

$ yactui --help
Usage: yactui [-h] [-v] [--node-id NODE_ID] [--interface INTERFACE] [--ip IP] [--mtu MTU] [--cyphal-path CYPHAL_PATH] [--gen-path GEN_PATH]

Yet Another Cyphal Textual User Interface (YACTUI)

Options:
  -h, --help            show this help message and exit
  -v, --verbose         Increase verbosity level
  --node-id NODE_ID     The Node ID for this TUI instance in the Cyphal network default=0
  --interface INTERFACE
                        The network interface to bind to for Cyphal communication default=lo
  --ip IP               The IP address to bind to for Cyphal communication default=127.0.0.1
  --mtu MTU             The MTU to use for Cyphal communication default=1448

Debugging

You can use textual's console to capture some UI events and see some logging output, sometimes. No every crash can be captured this way.

# Assuming all the exported variables above as used!!
# Assuming use of
source .venv/bin/activate

# In this project folder, in a terminal window
textual console

# In another terminal window
textual run --dev src/yactui/cli.py --node-id 97

# In another terminal window
# The exemplar uses all the right message definitions to exercise the TUI
yactui --node-id 98 --exemplar

TODO

• See Issues