hardbyte · hardbyte · Nov 16, 2022 · Nov 15, 2022 · Nov 15, 2022 · Nov 15, 2022
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -31,6 +31,7 @@ Features
   xlFlushReceiveQueue to xldriver (#1387).
 * Vector: Raise a CanInitializationError, if the CAN settings can not 
   be applied according to the arguments of ``VectorBus.__init__`` (#1426).
+* Ixxat bus now implements BusState api and detects errors (#1141)
 
 Bug Fixes
 ---------

diff --git a/README.rst b/README.rst
@@ -62,7 +62,7 @@ Library Version                 Python
 ------------------------------  -----------
   2.x                           2.6+, 3.4+
   3.x                           2.7+, 3.5+
-  4.x *(currently on develop)*  3.7+
+  4.x                           3.7+
 ==============================  ===========
 
 
@@ -74,7 +74,7 @@ Features
 - receiving, sending, and periodically sending messages
 - normal and extended arbitration IDs
 - `CAN FD <https://en.wikipedia.org/wiki/CAN_FD>`__ support
-- many different loggers and readers supporting playback: ASC (CANalyzer format), BLF (Binary Logging Format by Vector), CSV, SQLite and Canutils log
+- many different loggers and readers supporting playback: ASC (CANalyzer format), BLF (Binary Logging Format by Vector), TRC, CSV, SQLite, and Canutils log
 - efficient in-kernel or in-hardware filtering of messages on supported interfaces
 - bus configuration reading from a file or from environment variables
 - command line tools for working with CAN buses (see the `docs <https://python-can.readthedocs.io/en/stable/scripts.html>`__)
@@ -84,6 +84,8 @@ Features
 Example usage
 -------------
 
+``pip install python-can``
+
 .. code:: python
 
     # import the library
@@ -117,9 +119,6 @@ Discussion
 If you run into bugs, you can file them in our
 `issue tracker <https://github.com/hardbyte/python-can/issues>`__ on GitHub.
 
-There is also a `python-can <https://groups.google.com/forum/#!forum/python-can>`__
-mailing list for development discussion.
-
 `Stackoverflow <https://stackoverflow.com/questions/tagged/can+python>`__ has several
 questions and answers tagged with ``python+can``.
 

diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py
@@ -20,7 +20,7 @@
 except ImportError:
     cantact = None
     logger.warning(
-        "The CANtact module is not installed. Install it using `python -m pip install cantact`"
+        "The CANtact module is not installed. Install it using `pip install cantact`"
     )
 
 

diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py
@@ -55,7 +55,7 @@ class UdpMulticastBus(BusABC):
     .. warning::
         This interface does not make guarantees on reliable delivery and message ordering, and also does not
         implement rate limiting or ID arbitration/prioritization under high loads. Please refer to the section
-        :ref:`other_virtual_interfaces` for more information on this and a comparison to alternatives.
+        :ref:`virtual_interfaces_doc` for more information on this and a comparison to alternatives.
 
     :param channel: A multicast IPv4 address (in `224.0.0.0/4`) or an IPv6 address (in `ff00::/8`).
                     This defines which version of IP is used. See

diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py
@@ -51,7 +51,7 @@ class VirtualBus(BusABC):
     .. warning::
         This interface guarantees reliable delivery and message ordering, but does *not* implement rate
         limiting or ID arbitration/prioritization under high loads. Please refer to the section
-        :ref:`other_virtual_interfaces` for more information on this and a comparison to alternatives.
+        :ref:`virtual_interfaces_doc` for more information on this and a comparison to alternatives.
     """
 
     def __init__(

diff --git a/doc/api.rst b/doc/api.rst
@@ -17,33 +17,9 @@ A form of CAN interface is also required.
    listeners
    asyncio
    bcm
+   errors
    bit_timing
+   utils
    internal-api
 
 
-Utilities
----------
-
-
-.. autofunction:: can.detect_available_configs
-
-
-.. _notifier:
-
-Notifier
---------
-
-The Notifier object is used as a message distributor for a bus. Notifier creates a thread to read messages from the bus and distributes them to listeners.
-
-.. autoclass:: can.Notifier
-    :members:
-
-
-.. _errors:
-
-Errors
-------
-
-.. automodule:: can.exceptions
-    :members:
-    :show-inheritance:
diff --git a/doc/bus.rst b/doc/bus.rst
@@ -3,48 +3,55 @@
 Bus
 ---
 
-The :class:`~can.BusABC` class, as the name suggests, provides an abstraction of a CAN bus.
-The bus provides a wrapper around a physical or virtual CAN Bus.
-An interface specific instance of the :class:`~can.BusABC` is created by the :class:`~can.Bus`
-class, for example::
+The :class:`~can.Bus` provides a wrapper around a physical or virtual CAN Bus.
+
+An interface specific instance is created by instantiating the :class:`~can.Bus`
+class with a particular ``interface``, for example::
 
     vector_bus = can.Bus(interface='vector', ...)
 
-That bus is then able to handle the interface specific software/hardware interactions
-and implements the :class:`~can.BusABC` API.
+The created bus is then able to handle the interface specific software/hardware interactions
+while giving the user the same top level API.
 
 A thread safe bus wrapper is also available, see `Thread safe bus`_.
 
-.. autoclass:: can.Bus
-    :class-doc-from: class
-    :show-inheritance:
-    :members:
-    :inherited-members:
-
-.. autoclass:: can.bus.BusState
-    :members:
-    :undoc-members:
-
 
 Transmitting
 ''''''''''''
 
 Writing individual messages to the bus is done by calling the :meth:`~can.BusABC.send` method
-and passing a :class:`~can.Message` instance. Periodic sending is controlled by the
-:ref:`broadcast manager <bcm>`.
+and passing a :class:`~can.Message` instance.
+
+.. code-block:: python
+   :emphasize-lines: 8
+
+   with can.Bus() as bus:
+       msg = can.Message(
+           arbitration_id=0xC0FFEE,
+           data=[0, 25, 0, 1, 3, 1, 4, 1],
+           is_extended_id=True
+       )
+       try:
+           bus.send(msg)
+           print(f"Message sent on {bus.channel_info}")
+       except can.CanError:
+           print("Message NOT sent")
 
 
+Periodic sending is controlled by the :ref:`broadcast manager <bcm>`.
+
 Receiving
 '''''''''
 
 Reading from the bus is achieved by either calling the :meth:`~can.BusABC.recv` method or
 by directly iterating over the bus::
 
-    for msg in bus:
-        print(msg.data)
+    with can.Bus() as bus:
+        for msg in bus:
+            print(msg.data)
 
-Alternatively the :class:`~can.Listener` api can be used, which is a list of :class:`~can.Listener`
-subclasses that receive notifications when new messages arrive.
+Alternatively the :ref:`listeners_doc` api can be used, which is a list of various
+:class:`~can.Listener` implementations that receive and handle messages from a :class:`~can.Notifier`.
 
 
 Filtering
@@ -67,6 +74,20 @@ Example defining two filters, one to pass 11-bit ID ``0x451``, the other to pass
 
 See :meth:`~can.BusABC.set_filters` for the implementation.
 
+Bus API
+'''''''
+
+.. autoclass:: can.Bus
+    :class-doc-from: class
+    :show-inheritance:
+    :members:
+    :inherited-members:
+
+.. autoclass:: can.bus.BusState
+    :members:
+    :undoc-members:
+
+
 Thread safe bus
 '''''''''''''''
 

diff --git a/doc/errors.rst b/doc/errors.rst
@@ -0,0 +1,8 @@
+.. _errors:
+
+Error Handling
+==============
+
+.. automodule:: can.exceptions
+    :members:
+    :show-inheritance:
diff --git a/doc/history.rst b/doc/history.rst
@@ -1,5 +1,5 @@
-History and Roadmap
-===================
+History
+=======
 
 Background
 ----------

diff --git a/doc/index.rst b/doc/index.rst
@@ -8,22 +8,22 @@ different hardware devices, and a suite of utilities for sending and receiving
 messages on a CAN bus.
 
 **python-can** runs any where Python runs; from high powered computers
-with commercial `CAN to usb` devices right down to low powered devices running
+with commercial `CAN to USB` devices right down to low powered devices running
 linux such as a BeagleBone or RaspberryPi.
 
 More concretely, some example uses of the library:
 
-- Passively logging what occurs on a CAN bus. For example monitoring a
+* Passively logging what occurs on a CAN bus. For example monitoring a
   commercial vehicle using its **OBD-II** port.
 
-- Testing of hardware that interacts via CAN. Modules found in
-  modern cars, motocycles, boats, and even wheelchairs have had components tested
+* Testing of hardware that interacts via CAN. Modules found in
+  modern cars, motorcycles, boats, and even wheelchairs have had components tested
   from Python using this library.
 
-- Prototyping new hardware modules or software algorithms in-the-loop. Easily
+* Prototyping new hardware modules or software algorithms in-the-loop. Easily
   interact with an existing bus.
 
-- Creating virtual modules to prototype CAN bus communication.
+* Creating virtual modules to prototype CAN bus communication.
 
 
 Brief example of the library in action: connecting to a CAN bus, creating and sending a message:
@@ -37,12 +37,14 @@ Brief example of the library in action: connecting to a CAN bus, creating and se
 Contents:
 
 .. toctree::
-   :maxdepth: 2
+   :maxdepth: 1
 
    installation
    configuration
    api
    interfaces
+   virtual-interfaces
+   plugin-interface
    scripts
    development
    history

diff --git a/doc/installation.rst b/doc/installation.rst
@@ -2,15 +2,24 @@ Installation
 ============
 
 
-Install ``can`` with ``pip``:
-::
+Install the ``can`` package from PyPi with ``pip`` or similar::
 
     $ pip install python-can
 
 
-As most likely you will want to interface with some hardware, you may
-also have to install platform dependencies. Be sure to check any other
-specifics for your hardware in :doc:`interfaces`.
+
+
+.. warning::
+   As most likely you will want to interface with some hardware, you may
+   also have to install platform dependencies. Be sure to check any other
+   specifics for your hardware in :doc:`interfaces`.
+
+   Many interfaces can install their dependencies at the same time as ``python-can``,
+   for instance the interface ``serial`` includes the ``pyserial`` dependency which can
+   be installed with the ``serial`` extra::
+
+       $ pip install python-can[serial]
+
 
 
 GNU/Linux dependencies
@@ -99,7 +108,7 @@ To install ``python-can`` using the CANtact driver backend:
 
 If ``python-can`` is already installed, the CANtact backend can be installed separately:
 
-``python3 -m pip install cantact``
+``pip install cantact``
 
 Additional CANtact documentation is available at `cantact.io <https://cantact.io>`__.
 

diff --git a/doc/interfaces.rst b/doc/interfaces.rst
@@ -1,14 +1,18 @@
 .. _can interface modules:
 
-CAN Interface Modules
----------------------
+Hardware Interfaces
+===================
 
 **python-can** hides the low-level, device-specific interfaces to controller
 area network adapters in interface dependant modules. However as each hardware
 device is different, you should carefully go through your interface's
 documentation.
 
-The available interfaces are:
+.. note::
+   The *Interface Names* are listed in :doc:`configuration`.
+
+
+The available hardware interfaces are:
 
 .. toctree::
    :maxdepth: 1
@@ -32,63 +36,6 @@ The available interfaces are:
    interfaces/socketcan
    interfaces/socketcand
    interfaces/systec
-   interfaces/udp_multicast
    interfaces/usb2can
    interfaces/vector
-   interfaces/virtual
-
-The *Interface Names* are listed in :doc:`configuration`.
-
-
-.. _plugin interface:
-
-Plugin Interface
-^^^^^^^^^^^^^^^^
-
-External packages can register new interfaces by using the ``can.interface`` entry point
-in its project configuration. The format of the entry point depends on your project
-configuration format (*pyproject.toml*, *setup.cfg* or *setup.py*).
-
-In the following example ``module`` defines the location of your bus class inside your
-package e.g. ``my_package.subpackage.bus_module`` and ``classname`` is the name of
-your :class:`can.BusABC` subclass.
-
-.. tab:: pyproject.toml (PEP 621)
-
-   .. code-block:: toml
-
-        # Note the quotes around can.interface in order to escape the dot .
-        [project.entry-points."can.interface"]
-        interface_name = "module:classname"
-
-.. tab:: setup.cfg
-
-   .. code-block:: ini
-
-        [options.entry_points]
-        can.interface =
-            interface_name = module:classname
-
-.. tab:: setup.py
-
-   .. code-block:: python
-
-        from setuptools import setup
-
-        setup(
-            # ...,
-            entry_points = {
-                'can.interface': [
-                    'interface_name = module:classname'
-                ]
-            }
-        )
-
-The ``interface_name`` can be used to
-create an instance of the bus in the **python-can** API:
-
-.. code-block:: python
-
-    import can
 
-    bus = can.Bus(interface="interface_name", channel=0)