Some tests require a connected emulator to run. To connect your system to emulation you must have the OT-3 Emulator set up and running.

Tests will default to using vcan0 as their SocketCAN network. If you wish to change the network, then specify the CAN_CHANNEL environment variable with the name of your network.

The preferred method of software CAN bus simulation is SocketCAN's vcan.

To start a vcan0 interface:

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up fd on

The preferred method of software CAN bus simulation is SocketCAN's vcan. But it is only available on linux.

This portable alternative to vcan runs a simulated CAN network using a socket server. This supports the opentrons_sock interface.

opentrons_sim_can_bus [-h] [--port PORT]

Example using default port (9898): opentrons_sim_can_bus

Example: opentrons_sim_can_bus --port 12345

The opentrons-hardware package includes some utility scripts.

This is a tool for sending messages to firmware (or simulator) over CAN bus. The CAN bus can either be a python-can defined interface or opentrons.

SocketCan's vcan (virtual can network) only works on Linux. Firmware simulations on non-Linux computers require opentrons_sock as it uses a plain old socket CAN network simulation. Simulated CAN bus must be started to use the opentrons interface.

opentrons_can_comm [-h] --interface INTERFACE [--bitrate BITRATE]
                   [--channel CHANNEL] [--port PORT] [--host HOST]

On Linux using socketcan: opentrons_can_comm --interface socketcan --channel vcan0

On Mac using pcan: opentrons_can_comm --interface pcan --channel PCAN_USBBUS1 --bitrate 250000

Example using opentrons' CAN over socket: opentrons_can_comm --interface opentrons_sock

A monitor on the CAN bus. It prints out the contents of messages received on the CAN bus.

The usage is the same as opentrons_can_comm.

A script that will update a subsystem's firmware.

opentrons_update_fw [-h] --interface INTERFACE [--bitrate BITRATE]
                    [--channel CHANNEL] [--port PORT] [--host HOST] --target
                    {head,gantry-x,gantry-y,pipette-left,pipette-right} --file
                    FILE [--retry-count RETRY_COUNT]
                    [--timeout-seconds TIMEOUT_SECONDS]

The FILE argument is a .hex file built by our ot3-firmware repo.

A fusion of opentrons_can_mon's colorized prettyprint output monitoring and opentronscan_comm's command generation capability.

The usage is the same as opentrons_can_comm.