Tweak of source code after fork

README.md

@@ -4,6 +4,6 @@ DroneCAN DSDL definitions
 This repository contains the DSDL definitions of the standard DroneCAN
 messages and services.
 
-This DSDL is based on UAVCAN-v0
+This DSDL is originally based on UAVCAN-v0, but was forked Oct 2021.
 
 * [**DroneCAN website**](http://dronecan.org)

ardupilot/README.md

@@ -1,8 +1,8 @@
 This directory contains the DSDL for the ArduPilot vendor specific
-UAVCAN messages.
+DroneCAN messages.
 
 For service messages we use IDs starting at 200
 
 For non-service messages we use IDs starting at 20000
 
-https://uavcan.org/Specification/5._Application_level_conventions/#id-distribution
+https://dronecan.org/Specification/5._Application_level_conventions/#id-distribution

ardupilot/equipment/power/20004.BatteryInfoAux.uavcan → ardupilot/equipment/power/20004.BatteryInfoAux.dronecan

@@ -1,11 +1,11 @@
 #
 # Auxilary Single battery info.
 #
-# This message is to be used in conjunction with uavcan/equipment/power/1092.BatteryInfo.uavcan
+# This message is to be used in conjunction with dronecan/equipment/power/1092.BatteryInfo.dronecan
 
 # Please ensure that this message is sent before the BatteryInfo which doesn't
 # include the timestamp. The following fields should contain the timestamp of the last current measurement.
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 # Battery individual cell voltages
 # length of following field also used as cell count

ardupilot/equipment/trafficmonitor/20790.TrafficReport.uavcan → ardupilot/equipment/trafficmonitor/20790.TrafficReport.dronecan

@@ -1,5 +1,5 @@
 # Network-synchronized timestamp, 0 if not available. Note: not necessarily a UTC time.
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 # icao address
 uint32 icao_address

ardupilot/gnss/20006.RelPosHeading.uavcan → ardupilot/gnss/20006.RelPosHeading.dronecan

@@ -1,5 +1,5 @@
 # timestamp on the gps message
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 bool    reported_heading_acc_available
 float32 reported_heading_deg

ardupilot/indication/20000.SafetyState.uavcan → ardupilot/indication/20000.SafetyState.dronecan

@@ -1,5 +1,5 @@
 #
-# support for Safety LED on UAVCAN
+# support for Safety LED on DroneCAN
 
 uint8 STATUS_SAFETY_ON           = 0
 uint8 STATUS_SAFETY_OFF          = 255

ardupilot/indication/20001.Button.uavcan → ardupilot/indication/20001.Button.dronecan

@@ -1,5 +1,5 @@
 #
-# support for buttons on UAVCAN
+# support for buttons on DroneCAN
 # while a button is being pressed this message should be sent at 10Hz
 
 uint8 BUTTON_SAFETY      = 1

cuav/equipment/power/20300.CBAT.uavcan → cuav/equipment/power/20300.CBAT.dronecan

@@ -1,5 +1,5 @@
 #
-# support for CUAV Smart Battery on UAVCAN
+# support for CUAV Smart Battery on DroneCAN
 #
 
 float32 temperature                 # The surface temperature of the battery

uavcan/README.md → dronecan/README.md

@@ -1,7 +1,7 @@
-UAVCAN namespace
+DroneCAN namespace
 ================
 
-For details, please refer to the [UAVCAN specification](http://uavcan.org/).
+For details, please refer to the [DroneCAN specification](http://dronecan.org/).
 
 ## Standard ID grouping
 

uavcan/Timestamp.uavcan → dronecan/Timestamp.dronecan

@@ -2,7 +2,7 @@
 # Global timestamp in microseconds, 7 bytes.
 #
 # Use this data type for timestamp fields in messages, like follows:
-#   uavcan.Timestamp timestamp
+#   dronecan.Timestamp timestamp
 #
 
 uint56 UNKNOWN = 0

uavcan/equipment/ahrs/1000.Solution.uavcan → dronecan/equipment/ahrs/1000.Solution.dronecan

@@ -2,7 +2,7 @@
 # Inertial data and orientation in body frame.
 #
 
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 #
 # Normalized quaternion

uavcan/equipment/ahrs/1001.MagneticFieldStrength.uavcan → dronecan/equipment/ahrs/1001.MagneticFieldStrength.dronecan

@@ -1,7 +1,7 @@
 #
 # Magnetic field readings, in Gauss, in body frame.
 # SI units are avoided because of float16 range limitations.
-# This message is deprecated. Use the newer 1002.MagneticFieldStrength2.uavcan message.
+# This message is deprecated. Use the newer 1002.MagneticFieldStrength2.dronecan message.
 #
 
 float16[3] magnetic_field_ga

uavcan/equipment/ahrs/1003.RawIMU.uavcan → dronecan/equipment/ahrs/1003.RawIMU.dronecan

@@ -7,7 +7,7 @@
 #
 # Data acquisition timestamp in the bus shared time base.
 #
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 #
 # Integration interval, seconds.

uavcan/equipment/camera_gimbal/1044.Status.uavcan → dronecan/equipment/camera_gimbal/1044.Status.dronecan

@@ -8,7 +8,7 @@ Mode mode
 
 #
 # Camera axis orientation in body frame (not in fixed frame).
-# Please refer to the UAVCAN coordinate frame conventions.
+# Please refer to the DroneCAN coordinate frame conventions.
 #
 float16[4] camera_orientation_in_body_frame_xyzw
 float16[<=9] camera_orientation_in_body_frame_covariance   # +inf for non-existent axes

uavcan/equipment/gnss/1060.Fix.uavcan → dronecan/equipment/gnss/1060.Fix.dronecan

@@ -1,15 +1,15 @@
 #
 # GNSS navigation solution with uncertainty.
-# This message is deprecated. Use the newer 1063.Fix2.uavcan message.
+# This message is deprecated. Use the newer 1063.Fix2.dronecan message.
 #
 
-uavcan.Timestamp timestamp         # Global network-synchronized time, if available, otherwise zero
+dronecan.Timestamp timestamp         # Global network-synchronized time, if available, otherwise zero
 
 #
 # Time solution.
 # Time standard (GPS, UTC, TAI, etc) is defined in the field below.
 #
-uavcan.Timestamp gnss_timestamp
+dronecan.Timestamp gnss_timestamp
 
 #
 # Time standard used in the GNSS timestamp field.

uavcan/equipment/gnss/1063.Fix2.uavcan → dronecan/equipment/gnss/1063.Fix2.dronecan

@@ -5,14 +5,14 @@
 #
 # Global network-synchronized time, if available, otherwise zero.
 #
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 #
 # Time solution.
 # The method and number of leap seconds which were in use for deriving the timestamp are
 # defined in the fields below.
 #
-uavcan.Timestamp gnss_timestamp
+dronecan.Timestamp gnss_timestamp
 
 #
 # Method used for deriving the GNSS timestamp field.

uavcan/equipment/range_sensor/1050.Measurement.uavcan → dronecan/equipment/range_sensor/1050.Measurement.dronecan

@@ -2,11 +2,11 @@
 # Generic narrow-beam range sensor data.
 #
 
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 uint8 sensor_id
 
-uavcan.CoarseOrientation beam_orientation_in_body_frame
+dronecan.CoarseOrientation beam_orientation_in_body_frame
 
 float16 field_of_view                # Radians
 

uavcan/navigation/2000.GlobalNavigationSolution.uavcan → dronecan/navigation/2000.GlobalNavigationSolution.dronecan

@@ -8,7 +8,7 @@
 # Global network synchronized timestamp, if known.
 # Set to zero if the timestamp is not known.
 #
-uavcan.Timestamp timestamp
+dronecan.Timestamp timestamp
 
 #
 # Geo location [angular degree].

uavcan/protocol/2.GetDataTypeInfo.uavcan → dronecan/protocol/2.GetDataTypeInfo.dronecan

@@ -10,7 +10,7 @@
 uint16 id                   # Ignored if 'name' is non-empty
 DataTypeKind kind           # Ignored if 'name' is non-empty
 
-uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
+uint8[<=80] name            # Full data type name, e.g. "dronecan.protocol.GetDataTypeInfo"
 
 ---
 

uavcan/protocol/341.NodeStatus.uavcan → dronecan/protocol/341.NodeStatus.dronecan

@@ -1,7 +1,7 @@
 #
 # Abstract node status information.
 #
-# All UAVCAN nodes are required to publish this message periodically.
+# All DroneCAN nodes are required to publish this message periodically.
 #
 
 #

uavcan/protocol/4.GetTransportStats.uavcan → dronecan/protocol/4.GetTransportStats.dronecan

@@ -5,11 +5,11 @@
 ---
 
 #
-# UAVCAN transport layer statistics.
+# DroneCAN transport layer statistics.
 #
 uint48 transfers_tx             # Number of transmitted transfers.
 uint48 transfers_rx             # Number of received transfers.
-uint48 transfer_errors          # Number of errors detected in the UAVCAN transport layer.
+uint48 transfer_errors          # Number of errors detected in the DroneCAN transport layer.
 
 #
 # CAN bus statistics, for each interface independently.

uavcan/protocol/enumeration/380.Indication.uavcan → dronecan/protocol/enumeration/380.Indication.dronecan

@@ -7,7 +7,7 @@ void6
 #
 # This field is unused; keep it empty
 #
-uavcan.protocol.param.NumericValue value
+dronecan.protocol.param.NumericValue value
 
 #
 # Name of the enumerated parameter.

uavcan/protocol/file/40.BeginFirmwareUpdate.uavcan → dronecan/protocol/file/40.BeginFirmwareUpdate.dronecan

@@ -10,7 +10,7 @@
 # If the slave node accepts this request, the initiator will get a response immediately, before the update process
 # actually begins.
 #
-# While the firmware is being updated, the slave should set its mode (uavcan.protocol.NodeStatus.mode) to
+# While the firmware is being updated, the slave should set its mode (dronecan.protocol.NodeStatus.mode) to
 # MODE_SOFTWARE_UPDATE.
 #
 

test.py

@@ -5,8 +5,8 @@
 
 logging.basicConfig(stream=sys.stderr, level='DEBUG', format='%(levelname)s: %(message)s')
 
-from uavcan import dsdl
+from dronecan import dsdl
 
-parsed = dsdl.parse_namespaces(['uavcan','com','ardupilot']);
+parsed = dsdl.parse_namespaces(['dronecan','com','ardupilot']);
 if parsed:
     logging.info('%d data types parsed successfully', len(parsed))