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This product is a mixture of 1,2-DMG PEG2000 and 1,3-DMG PEG2000 in ~97:3 ratio.

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The molecular weight and exact mass are averages based on the polydispersity of PEG.

C₁₂₂H₂₄₂O₅₀ (average MW due to polydispersity of PEG)

C 58.40% H 9.72% O 31.88%

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Webb C, Forbes N, Roces CB, Anderluzzi G, Lou G, Abraham S, Ingalls L, Marshall K, Leaver TJ, Watts JA, Aylott JW, Perrie Y. Using microfluidics for scalable manufacturing of nanomedicines from bench to GMP: A case study using protein-loaded liposomes. Int J Pharm. 2020 May 30;582:119266. doi: 10.1016/j.ijpharm.2020.119266. Epub 2020 Apr 3. PMID: 32251694.

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Overview¶

PyUAVCAN is a full-featured implementation of the UAVCAN protocol stackintended for non-embedded, user-facing applications such as GUI software, diagnostic tools,automation scripts, prototypes, and various R&D cases.It is designed to support GNU/Linux, MS Windows, and macOS as first-class target platforms.

The reader should understand the basics of UAVCAN and be familiar withasynchronous programming in Pythonto understand this documentation.

The library consists of several loosely coupled submodules,each implementing a well-segregated part of the protocol.Each of the submodules can be used separately depending on the level of abstraction required by the application.

• pyuavcan.dsdl – DSDL language support: code generation and object serialization.This module is a wrapper over Nunavut.

• pyuavcan.transport – the abstract UAVCAN transport layer model and severalconcrete transport implementations (UAVCAN/CAN, UAVCAN/UDP, UAVCAN/serial, etc.).This submodule exposes a relatively low-level API where data is represented as serialized blocks of bytes.Users may build custom concrete transports based on this module as well.

• pyuavcan.presentation – this layer binds the transport layer together with DSDL serialization logic,providing a high-level object-oriented API.At this layer, data is represented as instances of well-structured Python classesauto-generated from their DSDL source definitions.

• pyuavcan.application – this is an optional layer containing high-level convenienceclasses providing support for high-level protocol features such as node heartbeat broadcasting or monitoring.This layer can be used to look up usage examples for the presentation and transport layer API.

• pyuavcan.util – this is just a loosely organized collection of various utility functions and classesthat are used across the library. User applications may benefit from them also.Every other submodule depends on this one.

Note

In order to use this library the user should at leastskim through the API docs for the first three of the listed modules.

The overall structure of the library and its mapping onto the UAVCAN protocol is shown on the following diagram:

Every submodule is imported automatically, excepting application layer and concrete transport implementationsubmodules – those must be imported explicitly by the user:

Transport layer¶

The UAVCAN protocol itself is designed to support different transports such as CAN bus (UAVCAN/CAN),UDP/IP (UAVCAN/UDP), raw serial links (UAVCAN/serial), and so on.Generally, a real-time safety-critical implementation of UAVCAN would support a limited subset oftransports defined by the protocol (often just one) in order to reduce the validation & verification efforts.PyUAVCAN is different – it is created for user-facing software rather than reliable deeply embedded systems;that is, PyUAVCAN can't be put onboard a vehicle, but it can be put onto the computer of an engineer or a researcherbuilding said vehicle to help them implement, understand, validate, verify, and diagnose its onboard network.Hence, PyUAVCAN trades off simplicity and constrainedness (desirable for embedded systems)for extensibility and repurposeability (desirable for user-facing software).

The library consists of a transport-agnostic core which implements the higher levels of the UAVCAN protocol,DSDL code generation, and object serialization.The core defines an abstract transport model which decouples it from transport-specific logic.The main component of the abstract transport model is the interface class pyuavcan.transport.Transport,accompanied by several auxiliary definitions available in the same module pyuavcan.transport.

The concrete transports implemented in the library are contained in nested submodules;here is the full list of them:

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Users can implement their own custom transports by subclassing pyuavcan.transport.Transport.

Whenever the API documentation refers to monotonic time, the time system ofasyncio.AbstractEventLoop.time() is implied.Per asyncio, it defaults to time.monotonic(),but it can be overridden by the user on a per-loop basis if necessary (read the asyncio docs for details).This principle is valid for all other components of the library; for example, the presentation layer.

Media sub-layers¶

Typically, a given concrete transport implementation would need to support multiple different lower-levelcommunication mediums for the sake of application flexibility.Such lower-level implementation details fall outside of the scope of the UAVCAN transport model entirely,but they are relevant for this library as we want to encourage consistent design across the codebase.Such lower-level modules are called media sub-layers.

Media sub-layer implementations should be located under the submodule called media,which in turn should be located under its parent transport's submodule, i.e., pyuavcan.transport.*.media.*.The media interface class should be pyuavcan.transport.*.media.Media;derived concrete implementations should be suffixed with *Media, e.g., SocketCANMedia.Users may implement their custom media drivers for use with the transport by subclassing Media as well.

Take the CAN media sub-layer for example; it contains the following classes (among others):

Media sub-layer modules should not be auto-imported. Instead, the user should import the required media sub-modulesmanually as necessary.This is important because sub-layers may have specific dependency requirements which are not guaranteedto be satisfied in all deployments;also, unnecessary submodules slow down package initialization and increase the memory footprint of the application,not to mention possible software reliability issues.

Generally, what's been described can be seen as the transport layer model projectedone level further down the protocol stack.

Some transport implementations may be entirely monolithic, without a dedicated media sub-layer.For example, see pyuavcan.transport.serial.SerialTransport.

Redundant pseudo-transport¶

The pseudo-transport pyuavcan.transport.redundant.RedundantTransport is used to operate withUAVCAN networks built with redundant transports.In order to initialize it, the application should first initialize each of the physical transports and thensupply them to the redundant pseudo-transport instance.Afterwards, the configured instance is used with the upper layers of the protocol stack, as shown on the diagram.

The UAVCAN Specification adds the following remark on redundant transports:

Reassembly of transfers from redundant interfaces may be implemented either on the per-transport-frame levelor on the per-transfer level.The former amounts to receiving individual transport frames from redundant interfaces which are thenused for reassembly;it can be seen that this method requires that all transports in the redundant group use identicalapplication-level MTU (i.e., same number of transfer pay-load bytes per frame).The latter can be implemented by treating each transport in the redundant group separately,so that each runs an independent transfer reassembly process, whose outputs are then deduplicatedon the per-transfer level;this method may be more computationally complex but it provides greater flexibility.

Per this classification, PyUAVCAN implements per-transfer redundancy.

Advanced network diagnostics: sniffing/snooping, tracing, spoofing¶

Packet capture (aka sniffing or snooping) and their further analysis (either real-time or postmortem)are vital for advanced network diagnostics or debugging.While existing general-purpose solutions like Wireshark, libpcap, npcap, SocketCAN, etc. are adequate forlow-level access, they are unsuitable for non-trivial use cases where comprehensive analysis is desired.

Certain scenarios require emitting spoofed traffic where some of its parameters are intentionally distorted(like fake source address).This may be useful for implementing complex end-to-end tests for UAVCAN-enabled equipment,running HITL/SITL simulation, or validating devices for compliance against the UAVCAN Specification.

These capabilities are covered by the advanced network diagnostics API exposed by the transport layer:

• pyuavcan.transport.Transport.begin_capture() –capturing on a transport refers to monitoring low-level network events and packets exchanged over thenetwork even if they neither originate nor terminate at the local node.

• pyuavcan.transport.Transport.make_tracer() –tracing refers to reconstructing high-level processes that transpire on the network from a sequence ofcaptured low-level events.Tracing may take place in real-time (with PyUAVCAN connected to a live network) or offline(with events read from a black box recorder or from a log file).

• pyuavcan.transport.Transport.spoof() –spoofing refers to faking network transactions as if they were coming from a different node(possibly a non-existent one) or whose parameters are significantly altered (e.g., out-of-sequence transfer-ID).

These advanced capabilities exist alongside the main communication logic using a separate set of API entitiesbecause their semantics are incompatible with regular communication.

Virtualization¶

Some transports support virtual interfaces that can be used for testing and experimentationinstead of real physical connections.For example, the UAVCAN/CAN transport supports virtual CAN buses via SocketCAN,and the serial transport supports TCP/IP tunneling and local loopback mode.

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DSDL support¶

The DSDL support module pyuavcan.dsdl is used for automatic generation of Pythonclasses from DSDL type definitions.The auto-generated classes have a high-level application-facing API and built-in auto-generatedserialization and deserialization routines.

By default, DSDL-generated packages are stored in the current working directory.This is convenient because the packages contained in the same directory are importable by default.If a different directory is used, it has to be added to the import lookup path manuallyeither via the PYTHONPATH environment variable or via sys.path.

The main API entries are:

• pyuavcan.dsdl.generate_package() – generates a Python package from a DSDL namespace.

• pyuavcan.dsdl.serialize() and pyuavcan.dsdl.deserialize() – serialize and deserializean instance of an autogenerated class.

• pyuavcan.dsdl.CompositeObject and pyuavcan.dsdl.ServiceObject – base classes forPython classes generated from DSDL type definitions; message types and service types, respectively.

• pyuavcan.dsdl.to_builtin() and pyuavcan.dsdl.update_from_builtin() – used to converta DSDL object instance to/from a simplified representation using only built-in types such as dict,list, int, float, str, and so on. These can be used as an intermediaterepresentation for conversion to/from JSON, YAML, and other commonly used serialization formats.

Presentation layer¶

The presentation layer submodule pyuavcan.presentation is the first submodule among the reviewed so far thatdepends on other submodules (barring the utility submodule, which is an implicit dependency so it's not mentioned).The internal dependency relations can be visualized as follows:

digraph submodule_interdependency { graph [bgcolor=transparent]; node [shape=box, style=filled, fontname='monospace']; dsdl [fillcolor='#FF88FF', label='pyuavcan.dsdl']; transport [fillcolor='#FFF2CC', label='pyuavcan.transport']; presentation [fillcolor='#D9EAD3', label='pyuavcan.presentation']; application [fillcolor='#C9DAF8', label='pyuavcan.application']; util [fillcolor='#D3D3D3', label='pyuavcan.util']; dsdl -> util; transport -> util; presentation -> {dsdl transport util}; application -> {dsdl transport presentation util};}

Submodule interdependency¶

The function of the presentation layer is to build high-level object-oriented interface on top of the transportlayer by invoking the DSDL serialization routines(see pyuavcan.dsdl.serialize() and pyuavcan.dsdl.deserialize()).This is the highest level of abstraction presented to the user of the library.That is, when creating a new publisher or another network session, the calling code will interactdirectly with the presentation layer (the application layer, if used, serves as a thin proxyrather than adding any new abstraction on top).

The main entity of the presentation layer is the controller class pyuavcan.presentation.Presentation;specifically, the following methods are the core of the upper API:

• pyuavcan.presentation.Presentation.make_publisher() – constructs pyuavcan.presentation.Publisher.

• pyuavcan.presentation.Presentation.make_subscriber() – constructs pyuavcan.presentation.Subscriber.

• pyuavcan.presentation.Presentation.make_client() – constructs pyuavcan.presentation.Client.

• pyuavcan.presentation.Presentation.get_server() (sic!) – constructs pyuavcan.presentation.Server.The name and semantics are slightly different because servers are unlike other session objects.

The presentation layer is the main part of the library API.

Application layer¶

The higher-level functions are implemented in the module pyuavcan.application.They operate directly on the presentation layer; there are no internal/private APIs used.Since the submodule relies exclusively on the public library API,it can be studied as a solid collection of usage examples and best practices.

The application layer submodule is the only top-level submodule that is not auto-imported.This is because it requires that the auto-generated Python package for the standard data types containedin the DSDL root namespace uavcan is available for importing; by default it is not.Another reason is that it is expected that some applications may choose to avoid reliance on the applicationlayer, so in that case importing this submodule at initialization time would be counter-productive.

As one might guess, if the submodule is imported before the uavcan root namespace package is generated,an ImportError is raised (with name='uavcan').Applications may choose to catch that exception to implement lazy code generation.For a hands-on guide on how to do that read the Demo application chapterand the API documentation for pyuavcan.dsdl.

Node class¶

The main entity of the application layer is the node class pyuavcan.application.Node.This is essentially a helper class, it does not provide significant new abstractions.

High-level functions¶

There are several submodules containing implementations of various higher-level functions of the protocol,one submodule per function. Here is the full list of such modules:

Normally, such modules are not pre-imported; the user should do that explicitly for required modules.This is done to avoid loading modules that may not be needed.

Utilities¶

The utilities module contains a loosely organized collection of functions and classes that areused by the library and are also available for reuse by the application.

Functions pyuavcan.util.import_submodules() and pyuavcan.util.iter_descendants()may come useful if automatic discovery of available transport and/or media implementations is needed.

For more information, read the API docs for pyuavcan.util.

Command-line tool¶

There is an independent but related project that is built on top of PyUAVCAN:Yakut.It is a command-line interface utility for diagnostics and management of UAVCAN networks.Consider it as an extensive collection of practical usage examples for PyUAVCAN.