Hotfix 1.3.4

.github/workflows/mab_candle_sdk_workflow.yml

@@ -73,6 +73,11 @@ jobs:
         with:
           python-version: "3.13"
 
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y python3-dev
+
       - name: Checkout
         uses: actions/checkout@v4
         with:
@@ -140,7 +145,7 @@ jobs:
 
       - name: Build
         run: cmake --build ./build -j$(nproc)
-      
+
       - name: Rename artifact to arch dependant name
         run: |
           mv build/candlelib/libcandle.so build/candlelib/libcandle-x86_64.so
@@ -255,10 +260,10 @@ jobs:
       - name: CMake configure
         run: |
           cmake -DCMAKE_BUILD_TYPE=Release -DCANDLE_BUILD_STATIC=OFF --toolchain ./cmake/linux.armhf.toolchain.cmake ./ -B build -G "Unix Makefiles" .
-      
+
       - name: Build
         run: cmake --build ./build -j$(nproc)
-      
+
       - name: Rename artifact to arch dependant name
         run: |
           mv build/candlelib/libcandle.so build/candlelib/libcandle-armhf.so

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "cStandard": "c17",
+            "cppStandard": "gnu++20",
+            "intelliSenseMode": "linux-gcc-x64",
+            "configurationProvider": "ms-vscode.cmake-tools",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
+        }
+    ],
+    "version": 4
+}

CMakeLists.txt

@@ -6,7 +6,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 set(CANDLESDK_VERSION_1 1)
 set(CANDLESDK_VERSION_2 3)
-set(CANDLESDK_VERSION_3 3)
+set(CANDLESDK_VERSION_3 4)
 set(CANDLESDK_VERSION
     ${CANDLESDK_VERSION_1}.${CANDLESDK_VERSION_2}.${CANDLESDK_VERSION_3})
 add_compile_definitions(CANDLESDK_VERSION="${CANDLESDK_VERSION}")

candlelib/src/communication_device/candle_frame_adapter_test.cpp

@@ -90,7 +90,7 @@ TEST_F(CandleFrameAdapterTest, readerFailError)
     std::vector<std::future<std::pair<std::vector<u8>, CANdleFrameAdapter::Error_t>>> futures;
 
     canId_t canId   = 100;
-    u16     timeout = 10;
+    u16     timeout = 20;
     for (const auto& data : mockDataVector)
     {
         futures.push_back(std::async(std::launch::async,
@@ -110,4 +110,4 @@ TEST_F(CandleFrameAdapterTest, readerFailError)
         lastResult = result.second;
     }
     EXPECT_EQ(CANdleFrameAdapter::Error_t::READER_TIMEOUT, lastResult);
-}
+}

candletool/include/md_cli.hpp

@@ -6,6 +6,7 @@
 #include "MD.hpp"
 #include "utilities.hpp"
 #include <algorithm>
+#include <filesystem>
 #include <memory>
 #include <optional>
 #include <candle_types.hpp>
@@ -103,7 +104,7 @@ namespace mab
 
         struct ConfigOptions
         {
-            ConfigOptions(CLI::App* rootCli) : configFile(std::make_shared<std::string>(""))
+            ConfigOptions(CLI::App* rootCli) : configFile(std::make_shared<std::filesystem::path>(""))
             {
                 optionsMap = std::map<std::string, CLI::Option*>{
                     {"file",
@@ -116,7 +117,7 @@ namespace mab
                          ->required()}};
             }
 
-            const std::shared_ptr<std::string>  configFile;
+            const std::shared_ptr<std::filesystem::path>  configFile;
             std::map<std::string, CLI::Option*> optionsMap;
         };
 
@@ -168,7 +169,7 @@ namespace mab
         {
             UpdateOptions(CLI::App* rootCli)
                 : fwVersion(std::make_shared<std::string>("")),
-                  pathToMabFile(std::make_shared<std::string>("")),
+                  pathToMabFile(std::make_shared<std::filesystem::path>("")),
                   recovery(std::make_shared<bool>(false)),
                   metadataFile(std::make_shared<std::string>(""))
             {
@@ -191,7 +192,7 @@ namespace mab
                                          "File with file metadata for managing downloads.")}};
             }
             const std::shared_ptr<std::string>  fwVersion;
-            const std::shared_ptr<std::string>  pathToMabFile;
+            const std::shared_ptr<std::filesystem::path>  pathToMabFile;
             const std::shared_ptr<bool>         recovery;
             const std::shared_ptr<std::string>  metadataFile;
             std::map<std::string, CLI::Option*> optionsMap;

candletool/src/md_cli.cpp

@@ -24,13 +24,25 @@
 #include "flasher.hpp"
 #include "web_file.hpp"
 
-/* ERROR COLORING NOTE: may not work on all terminals! */
+
+#ifndef WIN32
+
 #define REDSTART    "\033[1;31m"
 #define GREENSTART  "\033[1;32m"
 #define YELLOWSTART "\033[1;33m"
 #define BLUESTART   "\x1b[38;5;33m"
 #define RESETTEXT   "\033[0m"
 
+#else
+
+#define REDSTART    ""
+#define GREENSTART  ""
+#define YELLOWSTART ""
+#define BLUESTART   ""
+#define RESETTEXT   ""
+
+#endif
+
 #define RED__(x) REDSTART x RESETTEXT
 #define RED_(x)  REDSTART + x + RESETTEXT
 
@@ -472,17 +484,19 @@ namespace mab
                     return;
                 }
 
-                std::string configFilePath = *downloadConfigOptions.configFile;
+                std::filesystem::path configFilePath = *downloadConfigOptions.configFile;
                 if (configFilePath.empty())
                 {
                     m_logger.error("Configuration file path is empty!");
                     return;
                 }
                 // If the path is not specified, prepend the standard path
-                if (std::find(configFilePath.begin(), configFilePath.end(), '/') ==
-                    configFilePath.end())
+                std::string matchString = configFilePath.string();
+                if (std::find(matchString.begin(), matchString.end(), '/') ==
+                    matchString.end() || std::find(matchString.begin(), matchString.end(), '\\') ==
+                        matchString.end())
                 {
-                    configFilePath = "/etc/candletool/config/motors/" + configFilePath;
+                    configFilePath = std::filesystem::path(DEFAULT_CANDLETOOL_CONFIG_DIR) / std::filesystem::path("/config/motors/") / configFilePath;
                 }
 
                 MDConfigMap cfgMap;
@@ -491,7 +505,7 @@ namespace mab
                     cfgElement.m_value = registerRead(*md, regAddress).value_or("NOT FOUND");
                 }
                 // Write the configuration to the file
-                mINI::INIFile      configFile(configFilePath);
+                mINI::INIFile      configFile(configFilePath.string());
                 mINI::INIStructure ini;
                 for (const auto& [regAddress, cfgElement] : cfgMap.m_map)
                 {
@@ -520,24 +534,26 @@ namespace mab
                 auto md = getMd(mdCanId, candleBuilder);
                 if (md == nullptr)
                 {
-                    m_logger.error("Coudl not connect to MD!");
+                    m_logger.error("Could not connect to MD!");
                     return;
                 }
 
-                std::string configFilePath = *uploadConfigOptions.configFile;
+                std::filesystem::path configFilePath = *uploadConfigOptions.configFile;
                 if (configFilePath.empty())
                 {
                     m_logger.error("Configuration file path is empty!");
                     return;
                 }
                 // If the path is not specified, prepend the standard path
-                if (std::find(configFilePath.begin(), configFilePath.end(), '/') ==
-                    configFilePath.end())
+                std::string matchString = configFilePath.string();
+                if (std::find(matchString.begin(), matchString.end(), '/') ==
+                    matchString.end() || std::find(matchString.begin(), matchString.end(), '\\') ==
+                        matchString.end())
                 {
-                    configFilePath = "/etc/candletool/config/motors/" + configFilePath;
+                    configFilePath = std::filesystem::path(DEFAULT_CANDLETOOL_CONFIG_DIR) / std::filesystem::path("/config/motors/") / configFilePath;
                 }
 
-                mINI::INIFile      configFile(configFilePath);
+                mINI::INIFile      configFile(configFilePath.string());
                 mINI::INIStructure ini;
                 if (!configFile.read(ini))
                 {
@@ -1153,7 +1169,7 @@ namespace mab
                 else
                 {
                     m_logger.info("Overriding download of file. Using local provided path.");
-                    MabFileParser mabFile(*updateOptions.pathToMabFile,
+                    MabFileParser mabFile(updateOptions.pathToMabFile->string(),
                                           MabFileParser::TargetDevice_E::MD);
 
                     if (*(updateOptions.recovery) == false)

examples/py/md_impedance.py

@@ -7,8 +7,10 @@
 # Initialize CANdle on the USB bus (SPI bus not supported yet)
 candle = pc.attachCandle(pc.CANdleDatarate_E.CAN_DATARATE_1M, pc.busTypes_t.USB)
 
+md_id = pc.discoverMDs(candle)[0]  # Discover MDs and take the first one
+
 # Create virual MD representation
-md = pc.MD(100, candle)
+md = pc.MD(md_id, candle)
 
 # Initialize it to see if it connects
 err = md.init()

pycandle/CMakeLists.txt

@@ -4,7 +4,7 @@ project(pyCandle)
 
 set(CMAKE_BUILD_TYPE Release)
 
-find_package(Python COMPONENTS Interpreter REQUIRED)
+find_package(Python COMPONENTS Interpreter Development.Module)
 add_subdirectory(3rd_party/pybind11)
 message(${CMAKE_SOURCE_DIR})
 pybind11_add_module(pyCandle MODULE src/bindings.cpp)

pycandle/src/bindings.cpp

@@ -641,6 +641,8 @@ PYBIND11_MODULE(pyCandle, m)
           py::arg("regName"),
           py::arg("value"),
           "Write a register to the MD device.");
+    m.def("discoverMDs", &mab::MD::discoverMDs, "Discover MD devices connected to the system.");
+
 
     // Logger
     py::enum_<Logger::Verbosity_E>(m, "Verbosity_E")

pyproject.toml

@@ -13,7 +13,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "candlesdk"
-version = "1.3.3"
+version = "1.3.4"
 dependencies = ["cmake"]
 requires-python = ">= 3.10"
 authors = [{ name = "MAB Robotics", email = "support@mabrobotics.pl" }]