TUM-Aries-Lab / motor-module / 35756885148
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NGierden 
Raise the CAN interface instead of assuming somebody already did

Callers have had to remember `sudo ./setup_can.sh` after every power cycle.
Forgetting it presents as a motor that will not answer, which sends you to the
wiring for a fault that is one command away.

This belongs here rather than in a consumer. can_utils already holds
get_can_state and reset_can_interface, and ensure_can_interface is the third
member of that family -- the light idempotent one beside the heavy
module-reload one. Splitting them is how someone reaches for the wrong tool.
The settings are bus properties too: CANDefaults already carried interface and
bitrate, so an application defining its own would be a second place for them to
drift from setup_can.sh.

Idempotent by design, and the tests pin it. An interface already up at the
right bitrate is left strictly alone: taking a working link down and up resets
the controller and can drop a motor into BUS-OFF, so an unnecessary bring-up is
worse than none. It acts only when the interface is down or running at another
bitrate.

restart_ms, tx_queue_length and the command timeout join CANDefaults beside the
two that were already there. The first two look optional and are not:
berr-reporting with restart-ms is what lets the controller restart itself out
of BUS-OFF, which one unacknowledged frame can cause, and a queue of 10 is too
shallow for a 100 Hz loop driving two motors.

sudo -n throughout, so a host without passwordless sudo fails at once and says
what to do rather than stopping a control process at a password prompt. On the
Orin it does, so scripts/allow_can_bringup_without_password.sh grants the one
narrow rule needed: `ip link set can0 <anything>` and nothing else -- not other
interfaces, not ip route, not ip addr. Reading needs no privilege, so
`ip link show` is not granted either. The rule is checked with visudo -c in a
temporary file before installation and sudoers revalidated afterwards, because
a malformed file there ... (continued)

1563 of 2118 relevant lines covered (73.8%)

0.74 hits per line

Coverage Regressions

Lines Coverage ∆ File
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45.73% motor_python/can_utils.py
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0.03% motor_python/definitions.py
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ID Job ID Ran Files Coverage
1 35756885148.1 13
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Source Files on build 35756885148