:py:mod:`phoenix6.canbus`
=========================

.. py:module:: phoenix6.canbus

Module Contents
---------------


Attributes
~~~~~~~~~~

.. autoapisummary::

   phoenix6.canbus.USE_WPILIB


.. py:data:: USE_WPILIB
   :value: 'True'

   

.. py:class:: CANBusStatus


   Contains status information about a CAN bus.

   .. py:attribute:: status
      :type: phoenix6.status_code.StatusCode

      Status code response of getting the data


   .. py:attribute:: bus_utilization
      :type: float
      :value: '0'

      CAN bus utilization, from 0.0 to 1.0


   .. py:attribute:: bus_off_count
      :type: int
      :value: '0'

      Bus off count


   .. py:attribute:: tx_full_count
      :type: int
      :value: '0'

      Transmit buffer full count


   .. py:attribute:: rec
      :type: int
      :value: '0'

      Receive Error Counter (REC)


   .. py:attribute:: tec
      :type: int
      :value: '0'

      Transmit Error Counter (TEC)



.. py:class:: CANBus(canbus: str = '', hoot_filepath: str | None = None)


   Class for getting information about an available CAN bus.

   A CANBus can optionally be constructed with an associated
   hoot file, which loads it for replay (equivalent to calling
   HootReplay.load_file).

   Only one hoot log may be replayed at a time, so only one CAN
   bus should be constructed with a hoot file.

   When using relative paths, the file path is typically relative
   to the top-level folder of the robot project.

   For the native roboRIO CAN bus, use CANBus.roborio(str | None) instead.

   :param canbus: Name of the CAN bus. Possible CAN bus strings are:

       - "rio" for the native roboRIO CAN bus
       - CANivore name or serial number
       - SocketCAN interface (non-FRC Linux only)
       - "*" for any CANivore seen by the program
       - empty string (default) to select the default for the system:

           - "rio" on roboRIO
           - "can0" on Linux
           - "*" on Windows

   :type canbus: str, optional
   :param hoot_filepath: Path and name of the hoot file to load
   :type hoot_filepath: str | None, optional

   .. py:property:: name
      :type: str

      Get the name used to construct this CAN bus.

      :returns: Name of the CAN bus
      :rtype: str


   .. py:method:: roborio(hoot_filepath: str | None = None) -> CANBus
      :staticmethod:

      Creates a new CAN bus for the native roboRIO bus.

      The CANBus can optionally be constructed with an associated
      hoot file, which loads it for replay (equivalent to calling
      HootReplay.load_file).

      Only one hoot log may be replayed at a time, so only one CAN
      bus should be constructed with a hoot file.

      When using relative paths, the file path is typically relative
      to the top-level folder of the robot project.

      :param hoot_filepath: Path and name of the hoot file to load
      :type hoot_filepath: str | None, optional
      :returns: The native roboRIO CAN bus
      :rtype: CANBus


   .. py:method:: is_network_fd() -> bool

      Gets whether the CAN bus is a CAN FD network.

      :returns: True if the CAN bus is CAN FD
      :rtype: bool


   .. py:method:: get_status() -> CANBusStatus

      Gets the status of the CAN bus, including the bus
      utilization and the error counters.

      This can block for up to 0.001 seconds (1 ms).

      :returns: Status of the CAN bus
      :rtype: CANBusStatus