class BoardInterface:
bus = ThreadSafeBus()
listener = CanListener()
notifier = can.Notifier(bus, [listener])
@staticmethod
def write_valve(boardID, valveID, angle):
arbId = (boardID << 6) | (valveID)
#TODO: angle should be converted to standard 16 bit representation for float
message = can.Message(arbitration_id=arbId, data=[angle])
#TODO: use this?
@staticmethod
def set_message_handler(self, messageHandler):
BoardInterface.listener.message_handler = messageHandler
class CanConnector(Connector, Thread):
CMD_REGEX = r"^(\d{1,2}):(\d{1,2}):?(big|little)?:(\d+)$"
VALUE_REGEX = r"^(\d{1,2}):(\d{1,2}):?(big|little)?:(bool|boolean|int|long|float|double|string):?([0-9A-Za-z-_]+)?$"
NO_CMD_ID = "no_cmd"
UNKNOWN_ARBITRATION_ID = -1
DEFAULT_RECONNECT_PERIOD = 30.0
DEFAULT_POLL_PERIOD = 1.0
DEFAULT_SEND_IF_CHANGED = False
DEFAULT_RECONNECT_STATE = True
DEFAULT_EXTENDED_ID_FLAG = False
DEFAULT_FD_FLAG = False
DEFAULT_BITRATE_SWITCH_FLAG = False
DEFAULT_BYTEORDER = "big"
DEFAULT_ENCODING = "ascii"
DEFAULT_ENABLE_UNKNOWN_RPC = False
DEFAULT_OVERRIDE_RPC_PARAMS = False
DEFAULT_STRICT_EVAL_FLAG = True
DEFAULT_SIGNED_FLAG = False
DEFAULT_RPC_RESPONSE_SEND_FLAG = False
def __init__(self, gateway, config, connector_type):
self.statistics = {'MessagesReceived': 0, 'MessagesSent': 0}
super().__init__()
self.setName(
config.get(
"name", 'CAN Connector ' +
''.join(choice(ascii_lowercase) for _ in range(5))))
self.__gateway = gateway
self.__connector_type = connector_type
self.__bus_conf = {}
self.__bus = None
self.__reconnect_count = 0
self.__reconnect_conf = {}
self.__devices = {}
self.__nodes = {}
self.__commands = {}
self.__polling_messages = []
self.__rpc_calls = {}
self.__shared_attributes = {}
self.__converters = {}
self.__bus_error = None
self.__connected = False
self.__stopped = True
self.daemon = True
self.__parse_config(config)
def open(self):
log.info("[%s] Starting...", self.get_name())
self.__stopped = False
self.start()
def close(self):
if not self.__stopped:
self.__stopped = True
log.debug("[%s] Stopping", self.get_name())
def get_name(self):
return self.name
def is_connected(self):
return self.__connected
def on_attributes_update(self, content):
for attr_name, attr_value in content["data"].items():
attr_config = self.__shared_attributes.get(content["device"],
{}).get(attr_name)
if attr_config is None:
log.warning(
"[%s] No configuration for '%s' attribute, ignore its update",
self.get_name(), attr_name)
return
log.debug(
"[%s] Processing attribute update for '%s' device: attribute=%s,value=%s",
self.get_name(), content["device"], attr_name, attr_value)
# Converter expects dictionary as the second parameter so pack an attribute value to a dictionary
data = self.__converters[content["device"]]["downlink"].convert(
attr_config, {"value": attr_value})
if data is None:
log.error(
"[%s] Failed to update '%s' attribute for '%s' device: data conversion failure",
self.get_name(), attr_name, content["device"])
return
done = self.send_data_to_bus(data, attr_config, data_check=True)
if done:
log.debug("[%s] Updated '%s' attribute for '%s' device",
self.get_name(), attr_name, content["device"])
else:
log.error(
"[%s] Failed to update '%s' attribute for '%s' device",
self.get_name(), attr_name, content["device"])
def server_side_rpc_handler(self, content):
rpc_config = self.__rpc_calls.get(content["device"],
{}).get(content["data"]["method"])
if rpc_config is None:
if not self.__devices[content["device"]]["enableUnknownRpc"]:
log.warning(
"[%s] No configuration for '%s' RPC request (id=%s), ignore it",
self.get_name(), content["data"]["method"],
content["data"]["id"])
return
else:
rpc_config = {}
log.debug(
"[%s] Processing %s '%s' RPC request (id=%s) for '%s' device: params=%s",
self.get_name(), "pre-configured" if rpc_config else "UNKNOWN",
content["data"]["method"], content["data"]["id"],
content["device"], content["data"].get("params"))
if self.__devices[content["device"]]["overrideRpcConfig"]:
if rpc_config:
conversion_config = self.__merge_rpc_configs(
content["data"].get("params", {}), rpc_config)
log.debug(
"[%s] RPC request (id=%s) params and connector config merged to conversion config %s",
self.get_name(), content["data"]["id"], conversion_config)
else:
log.debug(
"[%s] RPC request (id=%s) will use its params as conversion config",
self.get_name(), content["data"]["id"])
conversion_config = content["data"].get("params", {})
else:
conversion_config = rpc_config
data = self.__converters[content["device"]]["downlink"].convert(
conversion_config, content["data"].get("params", {}))
if data is not None:
done = self.send_data_to_bus(data,
conversion_config,
data_check=True)
if done:
log.debug(
"[%s] Processed '%s' RPC request (id=%s) for '%s' device",
self.get_name(), content["data"]["method"],
content["data"]["id"], content["device"])
else:
log.error(
"[%s] Failed to process '%s' RPC request (id=%s) for '%s' device",
self.get_name(), content["data"]["method"],
content["data"]["id"], content["device"])
else:
done = False
log.error(
"[%s] Failed to process '%s' RPC request (id=%s) for '%s' device: data conversion failure",
self.get_name(), content["data"]["method"],
content["data"]["id"], content["device"])
if conversion_config.get("response",
self.DEFAULT_RPC_RESPONSE_SEND_FLAG):
self.__gateway.send_rpc_reply(content["device"],
content["data"]["id"],
{"success": done})
def run(self):
need_run = True
while need_run:
bus_notifier = None
poller = None
try:
interface = self.__bus_conf["interface"]
channel = self.__bus_conf["channel"]
kwargs = self.__bus_conf["backend"]
self.__bus = ThreadSafeBus(interface=interface,
channel=channel,
**kwargs)
reader = BufferedReader()
bus_notifier = Notifier(self.__bus, [reader])
log.info("[%s] Connected to CAN bus (interface=%s,channel=%s)",
self.get_name(), interface, channel)
if self.__polling_messages:
poller = Poller(self)
# Poll once to check if network is not down.
# It would be better to have some kind of a ping message to check a bus state.
poller.poll()
# Initialize the connected flag and reconnect count only after bus creation and sending poll messages.
# It is expected that after these operations most likely the bus is up.
self.__connected = True
self.__reconnect_count = 0
while not self.__stopped:
message = reader.get_message()
if message is not None:
# log.debug("[%s] New CAN message received %s", self.get_name(), message)
self.__process_message(message)
self.__check_if_error_happened()
except Exception as e:
log.error("[%s] Error on CAN bus: %s", self.get_name(), str(e))
finally:
try:
if poller is not None:
poller.stop()
if bus_notifier is not None:
bus_notifier.stop()
if self.__bus is not None:
log.debug(
"[%s] Shutting down connection to CAN bus (state=%s)",
self.get_name(), self.__bus.state)
self.__bus.shutdown()
except Exception as e:
log.error(
"[%s] Error on shutdown connection to CAN bus: %s",
self.get_name(), str(e))
self.__connected = False
if not self.__stopped:
if self.__is_reconnect_enabled():
retry_period = self.__reconnect_conf["period"]
log.info(
"[%s] Next attempt to connect will be in %f seconds (%s attempt left)",
self.get_name(), retry_period, "infinite"
if self.__reconnect_conf["maxCount"] is None else
self.__reconnect_conf["maxCount"] -
self.__reconnect_count + 1)
time.sleep(retry_period)
else:
need_run = False
log.info(
"[%s] Last attempt to connect has failed. Exiting...",
self.get_name())
else:
need_run = False
log.info("[%s] Stopped", self.get_name())
def is_stopped(self):
return self.__stopped
def get_polling_messages(self):
return self.__polling_messages
def send_data_to_bus(self,
data,
config,
data_check=True,
raise_exception=False):
try:
self.__bus.send(
Message(arbitration_id=config["nodeId"],
is_extended_id=config.get(
"isExtendedId", self.DEFAULT_EXTENDED_ID_FLAG),
is_fd=config.get("isFd", self.DEFAULT_FD_FLAG),
bitrate_switch=config.get(
"bitrateSwitch", self.DEFAULT_BITRATE_SWITCH_FLAG),
data=data,
check=data_check))
return True
except (ValueError, TypeError) as e:
log.error("[%s] Wrong CAN message data: %s", self.get_name(),
str(e))
except CanError as e:
log.error("[%s] Failed to send CAN message: %s", self.get_name(),
str(e))
if raise_exception:
raise e
else:
self.__on_bus_error(e)
return False
def __on_bus_error(self, e):
log.warning(
"[%s] Notified about CAN bus error. Store it to later processing",
self.get_name())
self.__bus_error = e
def __check_if_error_happened(self):
if self.__bus_error is not None:
# Maybe copying is redundant
e = copy(self.__bus_error)
self.__bus_error = None
raise e
def __merge_rpc_configs(self, rpc_params, rpc_config):
config = {}
options = {
"nodeId": self.UNKNOWN_ARBITRATION_ID,
"isExtendedId": self.DEFAULT_EXTENDED_ID_FLAG,
"isFd": self.DEFAULT_FD_FLAG,
"bitrateSwitch": self.DEFAULT_BITRATE_SWITCH_FLAG,
"response": True,
"dataLength": 1,
"dataByteorder": self.DEFAULT_BYTEORDER,
"dataSigned": self.DEFAULT_SIGNED_FLAG,
"dataExpression": None,
"dataEncoding": self.DEFAULT_ENCODING,
"dataBefore": None,
"dataAfter": None,
"dataInHex": None
}
for option_name, option_value in options.items():
if option_name in rpc_params:
config[option_name] = rpc_params[option_name]
elif option_value is not None:
config[option_name] = rpc_config.get(option_name, option_value)
return config
def __process_message(self, message):
if message.arbitration_id not in self.__nodes:
# Too lot log messages in case of high message generation frequency
log.debug("[%s] Ignoring CAN message. Unknown arbitration_id %d",
self.get_name(), message.arbitration_id)
return
cmd_conf = self.__commands[message.arbitration_id]
if cmd_conf is not None:
cmd_id = int.from_bytes(
message.data[cmd_conf["start"]:cmd_conf["start"] +
cmd_conf["length"]], cmd_conf["byteorder"])
else:
cmd_id = self.NO_CMD_ID
if cmd_id not in self.__nodes[message.arbitration_id]:
log.debug("[%s] Ignoring CAN message. Unknown cmd_id %d",
self.get_name(), cmd_id)
return
log.debug("[%s] Processing CAN message (id=%d,cmd_id=%s): %s",
self.get_name(), message.arbitration_id, cmd_id, message)
parsing_conf = self.__nodes[message.arbitration_id][cmd_id]
data = self.__converters[parsing_conf["deviceName"]]["uplink"].convert(
parsing_conf["configs"], message.data)
if data is None or not data.get("attributes", []) and not data.get(
"telemetry", []):
log.warning(
"[%s] Failed to process CAN message (id=%d,cmd_id=%s): data conversion failure",
self.get_name(), message.arbitration_id, cmd_id)
return
self.__check_and_send(parsing_conf, data)
def __check_and_send(self, conf, new_data):
self.statistics['MessagesReceived'] += 1
to_send = {"attributes": [], "telemetry": []}
send_on_change = conf["sendOnChange"]
for tb_key in to_send.keys():
for key, new_value in new_data[tb_key].items():
if not send_on_change or self.__devices[
conf["deviceName"]][tb_key][key] != new_value:
self.__devices[conf["deviceName"]][tb_key][key] = new_value
to_send[tb_key].append({key: new_value})
if to_send["attributes"] or to_send["telemetry"]:
to_send["deviceName"] = conf["deviceName"]
to_send["deviceType"] = conf["deviceType"]
log.debug("[%s] Pushing to TB server '%s' device data: %s",
self.get_name(), conf["deviceName"], to_send)
self.__gateway.send_to_storage(self.get_name(), to_send)
self.statistics['MessagesSent'] += 1
else:
log.debug("[%s] '%s' device data has not been changed",
self.get_name(), conf["deviceName"])
def __is_reconnect_enabled(self):
if self.__reconnect_conf["enabled"]:
if self.__reconnect_conf["maxCount"] is None:
return True
self.__reconnect_count += 1
return self.__reconnect_conf["maxCount"] >= self.__reconnect_count
else:
return False
def __parse_config(self, config):
self.__reconnect_count = 0
self.__reconnect_conf = {
"enabled": config.get("reconnect", self.DEFAULT_RECONNECT_STATE),
"period": config.get("reconnectPeriod",
self.DEFAULT_RECONNECT_PERIOD),
"maxCount": config.get("reconnectCount", None)
}
self.__bus_conf = {
"interface": config.get("interface", "socketcan"),
"channel": config.get("channel", "vcan0"),
"backend": config.get("backend", {})
}
for device_config in config.get("devices"):
is_device_config_valid = False
device_name = device_config["name"]
device_type = device_config.get("type", self.__connector_type)
strict_eval = device_config.get("strictEval",
self.DEFAULT_STRICT_EVAL_FLAG)
self.__devices[device_name] = {}
self.__devices[device_name][
"enableUnknownRpc"] = device_config.get(
"enableUnknownRpc", self.DEFAULT_ENABLE_UNKNOWN_RPC)
self.__devices[device_name]["overrideRpcConfig"] = True if self.__devices[device_name]["enableUnknownRpc"] \
else device_config.get("overrideRpcConfig", self.DEFAULT_OVERRIDE_RPC_PARAMS)
self.__converters[device_name] = {}
if not strict_eval:
log.info(
"[%s] Data converters for '%s' device will use non-strict eval",
self.get_name(), device_name)
if "serverSideRpc" in device_config and device_config[
"serverSideRpc"]:
is_device_config_valid = True
self.__rpc_calls[device_name] = {}
self.__converters[device_name][
"downlink"] = self.__get_converter(
device_config.get("converters"), False)
for rpc_config in device_config["serverSideRpc"]:
rpc_config["strictEval"] = strict_eval
self.__rpc_calls[device_name][
rpc_config["method"]] = rpc_config
if "attributeUpdates" in device_config and device_config[
"attributeUpdates"]:
is_device_config_valid = True
self.__shared_attributes[device_name] = {}
if "downlink" not in self.__converters[device_name]:
self.__converters[device_name][
"downlink"] = self.__get_converter(
device_config.get("converters"), False)
for attribute_config in device_config["attributeUpdates"]:
attribute_config["strictEval"] = strict_eval
attribute_name = attribute_config.get(
"attributeOnThingsBoard") or attribute_config.get(
"attribute")
self.__shared_attributes[device_name][
attribute_name] = attribute_config
for config_key in ["timeseries", "attributes"]:
if config_key not in device_config or not device_config[
config_key]:
continue
is_device_config_valid = True
is_ts = (config_key[0] == "t")
tb_item = "telemetry" if is_ts else "attributes"
self.__devices[device_name][tb_item] = {}
if "uplink" not in self.__converters[device_name]:
self.__converters[device_name][
"uplink"] = self.__get_converter(
device_config.get("converters"), True)
for msg_config in device_config[config_key]:
tb_key = msg_config["key"]
msg_config["strictEval"] = strict_eval
msg_config["is_ts"] = is_ts
node_id = msg_config.get("nodeId",
self.UNKNOWN_ARBITRATION_ID)
if node_id == self.UNKNOWN_ARBITRATION_ID:
log.warning(
"[%s] Ignore '%s' %s configuration: no arbitration id",
self.get_name(), tb_key, config_key)
continue
value_config = self.__parse_value_config(
msg_config.get("value"))
if value_config is not None:
msg_config.update(value_config)
else:
log.warning(
"[%s] Ignore '%s' %s configuration: no value configuration",
self.get_name(),
tb_key,
config_key,
)
continue
if msg_config.get("command",
"") and node_id not in self.__commands:
cmd_config = self.__parse_command_config(
msg_config["command"])
if cmd_config is None:
log.warning(
"[%s] Ignore '%s' %s configuration: wrong command configuration",
self.get_name(),
tb_key,
config_key,
)
continue
cmd_id = cmd_config["value"]
self.__commands[node_id] = cmd_config
else:
cmd_id = self.NO_CMD_ID
self.__commands[node_id] = None
if node_id not in self.__nodes:
self.__nodes[node_id] = {}
if cmd_id not in self.__nodes[node_id]:
self.__nodes[node_id][cmd_id] = {
"deviceName":
device_name,
"deviceType":
device_type,
"sendOnChange":
device_config.get("sendDataOnlyOnChange",
self.DEFAULT_SEND_IF_CHANGED),
"configs": []
}
self.__nodes[node_id][cmd_id]["configs"].append(msg_config)
self.__devices[device_name][tb_item][tb_key] = None
if "polling" in msg_config:
try:
polling_config = msg_config.get("polling")
polling_config["key"] = tb_key # Just for logging
polling_config["type"] = polling_config.get(
"type", "always")
polling_config["period"] = polling_config.get(
"period", self.DEFAULT_POLL_PERIOD)
polling_config["nodeId"] = node_id
polling_config["isExtendedId"] = msg_config.get(
"isExtendedId", self.DEFAULT_EXTENDED_ID_FLAG)
polling_config["isFd"] = msg_config.get(
"isFd", self.DEFAULT_FD_FLAG)
polling_config["bitrateSwitch"] = msg_config.get(
"bitrateSwitch",
self.DEFAULT_BITRATE_SWITCH_FLAG)
# Create CAN message object to validate its data
can_msg = Message(
arbitration_id=polling_config["nodeId"],
is_extended_id=polling_config["isExtendedId"],
is_fd=polling_config["isFd"],
bitrate_switch=polling_config["bitrateSwitch"],
data=bytearray.fromhex(
polling_config["dataInHex"]),
check=True)
self.__polling_messages.append(polling_config)
except (ValueError, TypeError) as e:
log.warning(
"[%s] Ignore '%s' %s polling configuration, wrong CAN data: %s",
self.get_name(), tb_key, config_key, str(e))
continue
if is_device_config_valid:
log.debug("[%s] Done parsing of '%s' device configuration",
self.get_name(), device_name)
self.__gateway.add_device(device_name, {"connector": self})
else:
log.warning(
"[%s] Ignore '%s' device configuration, because it doesn't have attributes,"
"attributeUpdates,timeseries or serverSideRpc",
self.get_name(), device_name)
def __parse_value_config(self, config):
if config is None:
log.warning("[%s] Wrong value configuration: no data",
self.get_name())
return
if isinstance(config, str):
value_matches = re.search(self.VALUE_REGEX, config)
if not value_matches:
log.warning(
"[%s] Wrong value configuration: '%s' doesn't match pattern",
self.get_name(), config)
return
value_config = {
"start":
int(value_matches.group(1)),
"length":
int(value_matches.group(2)),
"byteorder":
value_matches.group(3)
if value_matches.group(3) else self.DEFAULT_BYTEORDER,
"type":
value_matches.group(4)
}
if value_config["type"][0] == "i" or value_config["type"][0] == "l":
value_config["signed"] = value_matches.group(5) == "signed" if value_matches.group(5) \
else self.DEFAULT_SIGNED_FLAG
elif value_config["type"][0] == "s":
value_config["encoding"] = value_matches.group(
5) if value_matches.group(5) else self.DEFAULT_ENCODING
return value_config
elif isinstance(config, dict):
try:
value_config = {
"start":
int(config["start"]),
"length":
int(config["length"]),
"byteorder":
config["byteorder"]
if config.get("byteorder", "") else self.DEFAULT_BYTEORDER,
"type":
config["type"]
}
if value_config["type"][0] == "i" or value_config["type"][
0] == "l":
value_config["signed"] = config.get(
"signed", self.DEFAULT_SIGNED_FLAG)
elif value_config["type"][0] == "s":
value_config[
"encoding"] = config["encoding"] if config.get(
"encoding", "") else self.DEFAULT_ENCODING
return value_config
except (KeyError, ValueError) as e:
log.warning("[%s] Wrong value configuration: %s",
self.get_name(), str(e))
return
log.warning("[%s] Wrong value configuration: unknown type",
self.get_name())
return
def __parse_command_config(self, config):
if config is None:
log.warning("[%s] Wrong command configuration: no data",
self.get_name())
return
if isinstance(config, str):
cmd_matches = re.search(self.CMD_REGEX, config)
if not cmd_matches:
log.warning(
"[%s] Wrong command configuration: '%s' doesn't match pattern",
self.get_name(), config)
return
return {
"start":
int(cmd_matches.group(1)),
"length":
int(cmd_matches.group(2)),
"byteorder":
cmd_matches.group(3)
if cmd_matches.group(3) else self.DEFAULT_BYTEORDER,
"value":
int(cmd_matches.group(4))
}
elif isinstance(config, dict):
try:
return {
"start":
int(config["start"]),
"length":
int(config["length"]),
"byteorder":
config["byteorder"]
if config.get("byteorder", "") else self.DEFAULT_BYTEORDER,
"value":
int(config["value"])
}
except (KeyError, ValueError) as e:
log.warning("[%s] Wrong command configuration: %s",
self.get_name(), str(e))
return
log.warning("[%s] Wrong command configuration: unknown type",
self.get_name())
return
def __get_converter(self, config, need_uplink):
if config is None:
return BytesCanUplinkConverter(
) if need_uplink else BytesCanDownlinkConverter()
else:
if need_uplink:
uplink = config.get("uplink")
return BytesCanUplinkConverter() if uplink is None \
else TBUtility.check_and_import(self.__connector_type, uplink)
else:
downlink = config.get("downlink")
return BytesCanDownlinkConverter() if downlink is None \
else TBUtility.check_and_import(self.__connector_type, downlink)
def run(self):
need_run = True
while need_run:
bus_notifier = None
poller = None
try:
interface = self.__bus_conf["interface"]
channel = self.__bus_conf["channel"]
kwargs = self.__bus_conf["backend"]
self.__bus = ThreadSafeBus(interface=interface,
channel=channel,
**kwargs)
reader = BufferedReader()
bus_notifier = Notifier(self.__bus, [reader])
log.info("[%s] Connected to CAN bus (interface=%s,channel=%s)",
self.get_name(), interface, channel)
if self.__polling_messages:
poller = Poller(self)
# Poll once to check if network is not down.
# It would be better to have some kind of a ping message to check a bus state.
poller.poll()
# Initialize the connected flag and reconnect count only after bus creation and sending poll messages.
# It is expected that after these operations most likely the bus is up.
self.__connected = True
self.__reconnect_count = 0
while not self.__stopped:
message = reader.get_message()
if message is not None:
# log.debug("[%s] New CAN message received %s", self.get_name(), message)
self.__process_message(message)
self.__check_if_error_happened()
except Exception as e:
log.error("[%s] Error on CAN bus: %s", self.get_name(), str(e))
finally:
try:
if poller is not None:
poller.stop()
if bus_notifier is not None:
bus_notifier.stop()
if self.__bus is not None:
log.debug(
"[%s] Shutting down connection to CAN bus (state=%s)",
self.get_name(), self.__bus.state)
self.__bus.shutdown()
except Exception as e:
log.error(
"[%s] Error on shutdown connection to CAN bus: %s",
self.get_name(), str(e))
self.__connected = False
if not self.__stopped:
if self.__is_reconnect_enabled():
retry_period = self.__reconnect_conf["period"]
log.info(
"[%s] Next attempt to connect will be in %f seconds (%s attempt left)",
self.get_name(), retry_period, "infinite"
if self.__reconnect_conf["maxCount"] is None else
self.__reconnect_conf["maxCount"] -
self.__reconnect_count + 1)
time.sleep(retry_period)
else:
need_run = False
log.info(
"[%s] Last attempt to connect has failed. Exiting...",
self.get_name())
else:
need_run = False
log.info("[%s] Stopped", self.get_name())
