Live CAN health

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难度
5/5
预计耗时
一周以上
新手友好度
35/100
Issue 类型
功能
描述清晰度
基本清楚
活跃度
活跃
技术栈
python
领域
backend, frontend, observability

调研方向

Start with the proposed live-can-health change in openspec/changes/live-can-health and read its proposal, spec, design, and tasks. The scope spans a robot-side NetworkTables contract, a live service in flashpoint serve, a CAN health view, and a Python fake robot, and depends on two private issues plus a separate Robot-2026 publisher PR. Check the OpenSpec validation command; done means the contract, guide page, suggested Java sample, and specified tests are complete.

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描述

roadmap

Size: M · Depends on: IgniteRobotics/flashpoint-private#71, IgniteRobotics/flashpoint-private#74 · OpenSpec: live-can-health (archived 2026-11-01)

Status

Update 2026-11-01: merged (PR #35) and archived (PR #41), 22/23 tasks. Spec synced to openspec/specs/live-can-health. Only 7.3 [HUMAN] (pit check with the Robot-2026 publisher deployed) is open, tracked in #13. Close this once it passes.

Status: proposed 2026-10-19. Proposal, spec, design and tasks are written and validate (openspec validate live-can-health --strict).

  • Needs a Robot-2026 PR for the publisher (to be filed separately). This repo carries only the contract, a guide page and a suggested Java sample.
  • Split out of IgniteRobotics/flashpoint#18 (Live & Pit views). The Pit board can consume it later.

Scope

  • Change: live-can-health.
  • What it adds:
    • a robot-side contract: robot code publishes running totals per CTRE device over NetworkTables under /Flashpoint/Live/CANHealth/ (dropouts = loops where the watched status signal is older than 2.5× its update period, worst signal age, resets, fault bits, lowest supply voltage), plus bus status, Enabled and a contract version. Totals, so a 40 ms dropout still counts over a ~100 ms NT link;
    • a live service in flashpoint serve: one NT connection (opened only while a view is open), compares each update with the last to make events (dropout, reboot, fault, bus errors, restart), maps devices to slots through the robot config, and applies the can-health sibling rule (isolated vs bus-wide);
    • a Live CAN view: device grid by bus and slot (ok / dropped / rebooted / faulted / disconnected / missing / unmapped), event log, and in-browser marks ("now wiggling: FL module");
    • a Python fake robot that publishes the contract, for tests and for working without a robot.
  • Both test styles, no mode switch: every event is tagged enabled (drive test) or disabled (shake test).
  • Non-goals: nothing written to the lake (marks and events live in the browser only); the Pit board and its verdict (#18); reading the bus when robot code isn't running (Phoenix diagnostics server dropped); non-CTRE devices; chain-order localisation.
  • New dependency: robotpy-ntcore (2026 line). ADR-0016 will amend ADR-0013 for the outbound robot connection.
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