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{
lib,
buildPythonPackage,
fetchFromGitHub,
# build system
setuptools,
# dependencies
numpy,
nunavut,
# optional dependencies
cobs,
libpcap,
pyserial,
python-can,
# tests
pytest-asyncio,
pytestCheckHook,
}:
buildPythonPackage rec {
pname = "pycyphal";
version = "1.24.5";
pyproject = true;
src = fetchFromGitHub {
owner = "OpenCyphal";
repo = "pycyphal";
tag = version;
hash = "sha256-yrGKmJW4W8bPazKHWkwgNWDPiQYg1KTEuI7hC3yOWek=";
fetchSubmodules = true;
};
build-system = [ setuptools ];
pythonRelaxDeps = [ "numpy" ];
dependencies = [
numpy
nunavut
];
optional-dependencies = {
transport-can-pythoncan = [ python-can ] ++ python-can.optional-dependencies.serial;
transport-serial = [
cobs
pyserial
];
transport-udp = [ libpcap ];
};
nativeCheckInputs = [
pytestCheckHook
pytest-asyncio
]
++ lib.concatAttrValues optional-dependencies;
preCheck = ''
export HOME=$TMPDIR
export PYTHONASYNCIODEBUG=1
python -c ${lib.escapeShellArg ''
import pycyphal
pycyphal.dsdl.compile_all(
[
"demo/public_regulated_data_types/uavcan",
"demo/custom_data_types/sirius_cyber_corp",
],
output_directory=".dsdl_compiled",
)
''}
export PYTHONPATH="$(pwd)/.dsdl_compiled:$PYTHONPATH"
'';
# These require extra permissions and/or actual hardware connected
disabledTestPaths = [
"pycyphal/application/__init__.py"
"pycyphal/application/_transport_factory.py"
"pycyphal/application/register/backend/dynamic.py"
"pycyphal/application/register/backend/static.py"
"pycyphal/transport/udp"
"tests/application"
"tests/demo"
"tests/dsdl"
"tests/presentation"
"tests/transport"
# These are flaky -- test against string representations of values
"pycyphal/application/register/_registry.py"
"pycyphal/application/register/_value.py"
];
pythonImportsCheck = [ "pycyphal" ];
meta = {
description = "Full-featured implementation of the Cyphal protocol stack in Python";
longDescription = ''
Cyphal is an open technology for real-time intravehicular distributed computing and communication based on modern networking standards (Ethernet, CAN FD, etc.).
'';
homepage = "https://opencyphal.org/";
changelog = "https://github.com/OpenCyphal/pycyphal/blob/${version}/CHANGELOG.rst";
license = lib.licenses.mit;
};
}
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