def send(self, msg, timeout=None):
if not ics.validate_hobject(self.dev):
raise CanError("bus not open")
message = ics.SpyMessage()
flag0 = 0
if msg.is_extended_id:
flag0 |= ics.SPY_STATUS_XTD_FRAME
if msg.is_remote_frame:
flag0 |= ics.SPY_STATUS_REMOTE_FRAME
flag3 = 0
if msg.is_fd:
message.Protocol = ics.SPY_PROTOCOL_CANFD
if msg.bitrate_switch:
flag3 |= ics.SPY_STATUS3_CANFD_BRS
if msg.error_state_indicator:
flag3 |= ics.SPY_STATUS3_CANFD_ESI
message.ArbIDOrHeader = msg.arbitration_id
msg_data = msg.data
message.NumberBytesData = len(msg_data)
message.Data = tuple(msg_data[:8])
if msg.is_fd and len(msg_data) > 8:
message.ExtraDataPtrEnabled = 1
message.ExtraDataPtr = tuple(msg_data)
message.StatusBitField = flag0
message.StatusBitField2 = 0
message.StatusBitField3 = flag3
if msg.channel is not None:
message.NetworkID = msg.channel
elif len(self.channels) == 1:
message.NetworkID = self.channels[0]
else:
raise ValueError(
"msg.channel must be set when using multiple channels.")
try:
ics.transmit_messages(self.dev, message)
except ics.RuntimeError:
raise ICSApiError(*ics.get_last_api_error(self.dev))
def send(self, msg, timeout=0):
"""Transmit a message to the CAN bus.
:param Message msg: A message object.
:param float timeout:
If > 0, wait up to this many seconds for message to be ACK'ed.
If timeout is exceeded, an exception will be raised.
None blocks indefinitely.
:raises can.CanError:
if the message could not be sent
"""
if not ics.validate_hobject(self.dev):
raise CanError("bus not open")
message = ics.SpyMessage()
flag0 = 0
if msg.is_extended_id:
flag0 |= ics.SPY_STATUS_XTD_FRAME
if msg.is_remote_frame:
flag0 |= ics.SPY_STATUS_REMOTE_FRAME
flag3 = 0
if msg.is_fd:
message.Protocol = ics.SPY_PROTOCOL_CANFD
if msg.bitrate_switch:
flag3 |= ics.SPY_STATUS3_CANFD_BRS
if msg.error_state_indicator:
flag3 |= ics.SPY_STATUS3_CANFD_ESI
message.ArbIDOrHeader = msg.arbitration_id
msg_data = msg.data
message.NumberBytesData = len(msg_data)
message.Data = tuple(msg_data[:8])
if msg.is_fd and len(msg_data) > 8:
message.ExtraDataPtrEnabled = 1
message.ExtraDataPtr = tuple(msg_data)
message.StatusBitField = flag0
message.StatusBitField2 = 0
message.StatusBitField3 = flag3
if msg.channel is not None:
message.NetworkID = msg.channel
elif len(self.channels) == 1:
message.NetworkID = self.channels[0]
else:
raise ValueError(
"msg.channel must be set when using multiple channels.")
msg_desc_id = next(description_id)
message.DescriptionID = msg_desc_id
receipt_key = (msg.arbitration_id, msg_desc_id)
if timeout != 0:
self.message_receipts[receipt_key].clear()
try:
ics.transmit_messages(self.dev, message)
except ics.RuntimeError:
raise ICSApiError(*ics.get_last_api_error(self.dev))
# If timeout is set, wait for ACK
# This requires a notifier for the bus or
# some other thread calling recv periodically
if timeout != 0 and not self.message_receipts[receipt_key].wait(
timeout):
raise CanError("Transmit timeout")