def __init__(self, channel, *args, **kwargs):
"""A PCAN USB interface to CAN.
:param str channel:
The can interface name. An example would be PCAN_USBBUS1
"""
if channel == '':
raise TypeError("Must specify a PCAN channel.")
else:
self.channel_info = channel
baudrate = PCAN_BAUD_500K
hwtype = PCAN_TYPE_ISA
ioport = 0x02A0
interrupt = 11
self.m_objPCANBasic = PCANBasic()
self.m_PcanHandle = globals()[channel]
result = self.m_objPCANBasic.Initialize(self.m_PcanHandle, baudrate,
hwtype, ioport, interrupt)
if result != PCAN_ERROR_OK:
raise Exception(self.GetFormattedError(result))
super(Bus, self).__init__(*args, **kwargs)
def __init__(self, channel, *args, **kwargs):
"""A PCAN USB interface to CAN.
On top of the usual :class:`~can.Bus` methods provided,
the PCAN interface includes the `flash()` and `status()` methods.
:param str channel:
The can interface name. An example would be PCAN_USBBUS1
:param int bitrate:
Bitrate of channel in bit/s.
Default is 500 Kbs
"""
if channel is None or channel == '':
raise ArgumentError("Must specify a PCAN channel")
else:
self.channel_info = channel
bitrate = kwargs.get('bitrate', 500000)
pcan_bitrate = pcan_bitrate_objs.get(bitrate, PCAN_BAUD_500K)
hwtype = PCAN_TYPE_ISA
ioport = 0x02A0
interrupt = 11
self.m_objPCANBasic = PCANBasic()
self.m_PcanHandle = globals()[channel]
result = self.m_objPCANBasic.Initialize(self.m_PcanHandle,
pcan_bitrate, hwtype, ioport,
interrupt)
if result != PCAN_ERROR_OK:
raise PcanError(self._get_formatted_error(result))
super(PcanBus, self).__init__(*args, **kwargs)
class Bus(BusABC):
def __init__(self, channel, *args, **kwargs):
"""A PCAN USB interface to CAN.
:param str channel:
The can interface name. An example would be PCAN_USBBUS1
"""
if channel == '':
raise TypeError("Must specify a PCAN channel.")
else:
self.channel_info = channel
baudrate = PCAN_BAUD_500K
hwtype = PCAN_TYPE_ISA
ioport = 0x02A0
interrupt = 11
self.m_objPCANBasic = PCANBasic()
self.m_PcanHandle = globals()[channel]
result = self.m_objPCANBasic.Initialize(self.m_PcanHandle, baudrate,
hwtype, ioport, interrupt)
if result != PCAN_ERROR_OK:
raise Exception(self.GetFormattedError(result))
super(Bus, self).__init__(*args, **kwargs)
def GetFormattedError(self, error):
# Gets the text using the GetErrorText API function
# If the function success, the translated error is returned. If it fails,
# a text describing the current error is returned.
#
#return error
stsReturn = self.m_objPCANBasic.GetErrorText(error, 0)
if stsReturn[0] != PCAN_ERROR_OK:
return "An error occurred. Error-code's text ({0:X}h) couldn't be retrieved".format(
error)
else:
return stsReturn[1]
def recv(self, timeout=None):
rx_msg = Message()
log.debug("Trying to read a msg")
result = self.m_objPCANBasic.Read(self.m_PcanHandle)
if result[0] == PCAN_ERROR_QRCVEMPTY or result[
0] == PCAN_ERROR_BUSLIGHT or result[0] == PCAN_ERROR_BUSHEAVY:
return None
elif result[0] != PCAN_ERROR_OK:
raise Exception(self.GetFormattedError(result[0]))
theMsg = result[1]
itsTimeStamp = result[2]
log.debug("I've got a message")
arbitration_id = theMsg.ID
bIsRTR = (theMsg.MSGTYPE
& PCAN_MESSAGE_RTR.value) == PCAN_MESSAGE_RTR.value
bIsExt = (theMsg.MSGTYPE
& PCAN_MESSAGE_EXTENDED.value) == PCAN_MESSAGE_EXTENDED.value
# Flags: EXT, RTR, ERR
#flags = (PYCAN_RTRFLG if bIsRTR else 0) | (PYCAN_STDFLG if not bIsExt else 0)
if bIsExt:
#rx_msg.id_type = ID_TYPE_EXTENDED
log.debug("CAN: Extended")
else:
#rx_msg.id_type = ID_TYPE_STANDARD
log.debug("CAN: Standard")
rx_msg.arbitration_id = arbitration_id
rx_msg.id_type = bIsExt
rx_msg.is_remote_frame = bIsRTR
rx_msg.dlc = theMsg.LEN
#rx_msg.flags = flags
rx_msg.data = theMsg.DATA
rx_msg.timestamp = boottimeEpoch + ((itsTimeStamp.micros +
(1000 * itsTimeStamp.millis)) /
(1000.0 * 1000.0))
return rx_msg
def send(self, msg):
if msg.id_type:
msgType = PCAN_MESSAGE_EXTENDED
else:
msgType = PCAN_MESSAGE_STANDARD
# create a TPCANMsg message structure
CANMsg = TPCANMsg()
# configure the message. ID, Length of data, message type and data
CANMsg.ID = msg.arbitration_id
CANMsg.LEN = len(msg.data)
CANMsg.MSGTYPE = msgType
# if a remote frame will be sent, data bytes are not important.
if msg.is_remote_frame:
CANMsg.MSGTYPE = msgType | PCAN_MESSAGE_RTR
else:
# copy data
for i in range(CANMsg.LEN):
CANMsg.DATA[i] = msg.data[i]
log.debug("Data: {}".format(msg.data))
log.debug("type: {}".format(type(msg.data)))
result = self.m_objPCANBasic.Write(self.m_PcanHandle, CANMsg)
if result != PCAN_ERROR_OK:
logging.error("Error sending frame :-/ " +
self.GetFormattedError(result))
class PcanBus(BusABC):
def __init__(self, channel, *args, **kwargs):
"""A PCAN USB interface to CAN.
On top of the usual :class:`~can.Bus` methods provided,
the PCAN interface includes the `flash()` and `status()` methods.
:param str channel:
The can interface name. An example would be PCAN_USBBUS1
:param int bitrate:
Bitrate of channel in bit/s.
Default is 500 Kbs
"""
if channel is None or channel == '':
raise ArgumentError("Must specify a PCAN channel")
else:
self.channel_info = channel
bitrate = kwargs.get('bitrate', 500000)
pcan_bitrate = pcan_bitrate_objs.get(bitrate, PCAN_BAUD_500K)
hwtype = PCAN_TYPE_ISA
ioport = 0x02A0
interrupt = 11
self.m_objPCANBasic = PCANBasic()
self.m_PcanHandle = globals()[channel]
result = self.m_objPCANBasic.Initialize(self.m_PcanHandle,
pcan_bitrate, hwtype, ioport,
interrupt)
if result != PCAN_ERROR_OK:
raise PcanError(self._get_formatted_error(result))
super(PcanBus, self).__init__(*args, **kwargs)
def _get_formatted_error(self, error):
"""
Gets the text using the GetErrorText API function
If the function succeeds, the translated error is returned. If it fails,
a text describing the current error is returned. Multiple errors may
be present in which case their individual messages are included in the
return string, one line per error.
"""
def bits(n):
while n:
b = n & (~n + 1)
yield b
n ^= b
stsReturn = self.m_objPCANBasic.GetErrorText(error, 0)
if stsReturn[0] != PCAN_ERROR_OK:
strings = []
for b in bits(error):
stsReturn = self.m_objPCANBasic.GetErrorText(b, 0)
if stsReturn[0] != PCAN_ERROR_OK:
text = "An error occurred. Error-code's text ({0:X}h) couldn't be retrieved".format(
error)
else:
text = stsReturn[1].decode('utf-8')
strings.append(text)
complete_text = '\n'.join(strings)
else:
complete_text = stsReturn[1].decode('utf-8')
return complete_text
def status(self):
"""
Query the PCAN bus status.
:return: The status code. See values in pcan_constants.py
"""
return self.m_objPCANBasic.GetStatus(self.channel_info)
def status_is_ok(self):
"""
Convenience method to check that the bus status is OK
"""
status = self.status()
return status == PCAN_ERROR_OK
def reset(self):
# Command the PCAN driver to reset the bus after an error.
status = self.m_objPCANBasic.Reset(self.channel_info)
return status == PCAN_ERROR_OK
def recv(self, timeout=None):
start_time = timeout_clock()
if timeout is None:
timeout = 0
rx_msg = Message()
log.debug("Trying to read a msg")
result = None
while result is None:
result = self.m_objPCANBasic.Read(self.m_PcanHandle)
if result[0] == PCAN_ERROR_QRCVEMPTY or result[
0] == PCAN_ERROR_BUSLIGHT or result[
0] == PCAN_ERROR_BUSHEAVY:
if timeout_clock() - start_time >= timeout:
return None
else:
result = None
time.sleep(0.001)
elif result[0] != PCAN_ERROR_OK:
raise PcanError(self._get_formatted_error(result[0]))
theMsg = result[1]
itsTimeStamp = result[2]
log.debug("Received a message")
bIsRTR = (theMsg.MSGTYPE
& PCAN_MESSAGE_RTR.value) == PCAN_MESSAGE_RTR.value
bIsExt = (theMsg.MSGTYPE
& PCAN_MESSAGE_EXTENDED.value) == PCAN_MESSAGE_EXTENDED.value
if bIsExt:
#rx_msg.id_type = ID_TYPE_EXTENDED
log.debug("CAN: Extended")
else:
#rx_msg.id_type = ID_TYPE_STANDARD
log.debug("CAN: Standard")
dlc = theMsg.LEN
timestamp = boottimeEpoch + ((itsTimeStamp.micros +
(1000 * itsTimeStamp.millis)) /
(1000.0 * 1000.0))
rx_msg = Message(timestamp=timestamp,
arbitration_id=theMsg.ID,
extended_id=bIsExt,
is_remote_frame=bIsRTR,
dlc=dlc,
data=theMsg.DATA[:dlc])
return rx_msg
def send(self, msg):
if msg.id_type:
msgType = PCAN_MESSAGE_EXTENDED
else:
msgType = PCAN_MESSAGE_STANDARD
# create a TPCANMsg message structure
CANMsg = TPCANMsg()
# configure the message. ID, Length of data, message type and data
CANMsg.ID = msg.arbitration_id
CANMsg.LEN = len(msg.data)
CANMsg.MSGTYPE = msgType
# if a remote frame will be sent, data bytes are not important.
if msg.is_remote_frame:
CANMsg.MSGTYPE = msgType.value | PCAN_MESSAGE_RTR.value
else:
# copy data
for i in range(CANMsg.LEN):
CANMsg.DATA[i] = msg.data[i]
log.debug("Data: %s", msg.data)
log.debug("Type: %s", type(msg.data))
result = self.m_objPCANBasic.Write(self.m_PcanHandle, CANMsg)
if result != PCAN_ERROR_OK:
raise PcanError("Failed to send: " +
self._get_formatted_error(result))
def flash(self, flash):
"""
Turn on or off flashing of the device's LED for physical
identification purposes.
"""
self.m_objPCANBasic.SetValue(self.channel_info,
PCAN_CHANNEL_IDENTIFYING, bool(flash))
def shutdown(self):
self.m_objPCANBasic.Uninitialize(self.m_PcanHandle)