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OpenCyphal / pycyphal / 20594671158
94%

Build:
DEFAULT BRANCH: master
Ran 30 Dec 2025 10:53AM UTC
Jobs 1
Files 183
Run time 1min
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30 Dec 2025 10:41AM UTC coverage: 93.785% (-0.1%) from 93.912%
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Add option to disable bit rate switching for socket can (#373)

When running in CAN-FD mode, but with same nominal and data baudrate (just 64B data payload, but without transmitting data faster), BRS bit has to remain at zero. That indicates that there is no bitrate switch happening for data and data is transmitted at same speed. If I send message with BRS=1, even with data & nominal speed configured the same, I get framing errors on the bus. Even single message like this kills my whole bus.

This introduces option to do that via uavcan.udp.disable_brs set to true, or determines this automatically when uavcan.udp.bitrate indicates same bitrate for header & data.

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Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>

1646 of 1987 branches covered (82.84%)

Branch coverage included in aggregate %.

14245 of 14957 relevant lines covered (95.24%)

0.95 hits per line

Uncovered Existing Lines

Lines Coverage ∆ File
1
91.72
-0.93% /home/runner/work/pycyphal/pycyphal/pycyphal/application/plug_and_play.py
3
90.18
0.1% /home/runner/work/pycyphal/pycyphal/pycyphal/application/_transport_factory.py
39
78.67
1.62% /home/runner/work/pycyphal/pycyphal/pycyphal/transport/can/media/socketcan/_socketcan.py
Jobs
ID Job ID Ran Files Coverage
1 20594671158.1 30 Dec 2025 10:53AM UTC 183
93.79
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Source Files on build 20594671158
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