def setUpClass(cls):
cls.network1 = canopen.Network()
cls.network1.connect("test", bustype="virtual")
cls.remote_node = cls.network1.add_node(2, EDS_PATH)
cls.network2 = canopen.Network()
cls.network2.connect("test", bustype="virtual")
cls.local_node = cls.network2.create_node(2, EDS_PATH)
def __init__(self,
use_sep_bus_object=False,
adapter='socketcan',
channel='can0',
bitrate=250000):
"""
:param boolean use_sep_bus_object:
Select wether a seperate bus object should be created and used.
:param str adapter:
Specify which type of CAN adapter should be used.
Options: 'socketcan#, 'pcan'
:raises can.CanError:
When connection fails.
"""
# Init variables
self.use_sep_bus_object = use_sep_bus_object
self.adapter = adapter
self.channel = channel
self.bitrate = bitrate
# Create empty lidst of dict for subscriptions
self.rcvd_msgs = []
# Create network
self.network = canopen.Network()
# Connect network
self.Connect()
def _setup_connection(self):
"""Creates a network interface object establishing an empty connection
with all the network attributes already specified."""
if self._connection is None:
self._connection = canopen.Network()
try:
self._connection.connect(bustype=self.__device,
channel=self.__channel,
bitrate=self.__baudrate)
except (PcanError, VCIDeviceNotFoundError) as e:
logger.error('Transceiver not found in network. Exception: %s',
e)
raise_err(
lib.IL_EFAIL, 'Error connecting to the transceiver. '
'Please verify the transceiver '
'is properly connected.')
except OSError as e:
logger.error(
'Transceiver drivers not properly installed. Exception: %s',
e)
if hasattr(e, 'winerror') and e.winerror == 126:
e.strerror = 'Driver module not found.' \
' Drivers might not be properly installed.'
raise_err(lib.IL_EFAIL, e)
except Exception as e:
logger.error('Failed trying to connect. Exception: %s', e)
raise_err(lib.IL_EFAIL,
'Failed trying to connect. {}'.format(e))
else:
logger.info('Connection already established')
async def motion_control(q):
network = canopen.Network()
network.connect(channel='can0', bustype='socketcan')
# network.connect(channel=0 , bustype='canalystii', bitrate=500000)
motor1 = f124(network, 1, 'KINCO-JDFD.EDS')
motor2 = f124(network, 2, 'KINCO-JDFD.EDS')
motor1.node.sdo['Controlword'].raw = 0x86
motor2.node.sdo['Controlword'].raw = 0x86
# time.sleep(0.5)
# motor2.set_motor_control('disable')
# motor2.set_motor_control('reset')
motor1.set_motor_direct(1)
motor1.set_motor_mode('speed')
#motor1.set_motor_direct(1)
motor2.set_motor_mode('speed')
motor1.node.sdo['Profile_acceleration'].raw = 163.84 * 40
motor1.node.sdo['Profile_deceleration'].raw = 163.84 * 40
motor2.node.sdo['Profile_acceleration'].raw = 163.84 * 40
motor2.node.sdo['Profile_deceleration'].raw = 163.84 * 40
motor1.set_motor_speed(0)
motor2.set_motor_speed(0)
motor1.set_motor_control('enable_speed')
motor2.set_motor_control('enable_speed')
print('motor init ok')
while True:
command = await q.get()
print('left_motor_speed: {}, right_motor_speed: {}'.format(
command[0], command[1]))
motor1.set_motor_speed(command[0])
motor2.set_motor_speed(command[1])
await asyncio.sleep(0.005)
def __init__(self): self._active_node = None self._bitrate = None self._bustype = None self._channel = None self._network = canopen.Network() # Create one network per CAN bus. self._od_file = None
def test_sync_producer(self):
network = canopen.Network()
network.connect(bustype="virtual", receive_own_messages=True)
producer = canopen.sync.SyncProducer(network)
producer.transmit()
msg = network.bus.recv(1)
network.disconnect()
self.assertEqual(msg.arbitration_id, 0x80)
self.assertEqual(msg.dlc, 0)
def __init__(self):
self.network = canopen.Network()
# #eventually the following lines should take arguments from config
can_info = config.get('bus_info').get('CAN')
try:
self.network.connect(channel=can_info.get('channel'), bustype=can_info.get('bus_type'))
self.connected = True
nodes = config.get('can_nodes')
for node in nodes:
nodeData = nodes.get(node)
self.network.add_node(nodeData['id'], lib_path + '/utils/eds-files/' + nodeData['eds_file'])
'''
# To do this new procedure, the CAN part of the config must look like this
can_nodes:
motor:
id: 1
eds_file: '[nodeId=001]eds_eDrive150.eds'
tsi:
id: 3
eds_file:
pack1:
id: 4
eds_file: 'Pack.eds'
pack2:
id: 5
eds_file: 'Pack.eds'
'''
#ensure nodes are connected
# self.network.scanner.search()
# time.sleep(1)
# print("Connected Nodes:")
# for node_id in self.network.scanner.nodes:
# print("Found node %d!" % node_id)
allSensors = config.get('Sensors')
self.sdoDict = {}
for sensorName in allSensors:
sensorDict = allSensors.get(sensorName)
if sensorDict['bus_type'] == 'CAN':
#DEBUG:
print(sensorName)
print(sensorDict)
# print config.get('Sensors').get(sensorDict)
if 'nmt' not in sensorName:
self.sdoDict[sensorName] = self.configure_sdo(sensorName,sensorDict)
#DEBUG:
# print('sdoDict =')
# print(sdoDict)]
print('Made it here for some reason')
except OSError: #can.CanError is an OSError
self.connected = False
print('CAN Bus not connecting!')
return None
def test_time_producer(self):
network = canopen.Network()
network.connect(bustype="virtual", receive_own_messages=True)
producer = canopen.timestamp.TimeProducer(network)
producer.transmit(1486236238)
msg = network.bus.recv(1)
network.disconnect()
self.assertEqual(msg.arbitration_id, 0x100)
self.assertEqual(msg.dlc, 6)
self.assertEqual(msg.data, b"\xb0\xa4\x29\x04\x31\x43")
def setup():
network = canopen.Network()
network.connect(channel='/dev/ttyACM0', bustype='slcan', bitrate=250000)
network.scanner.search()
time.sleep(0.05)
for node_id in network.scanner.nodes:
nodes_in_network.append(node_id)
network.send_message(0x200 + node_id, [0x02, 0x00, 0x01, 0x00]) # set power save mode
nodes["node{0}".format(node_id)] = (canopen.RemoteNode(node_id, 'imu-dictionary.eds'))
network.add_node(nodes["node{0}".format(node_id)])
def __init__(self, bustype, channel, bitrate, debug=False):
self._debug = debug
self.__network = canopen.Network()
self.__network.connect(bustype=bustype, channel=channel, bitrate=bitrate)
if self._debug:
print("Opened Channel " + channel)
self.__nodes = []
def __init__(self):
with open('../config.yaml', 'r') as ymlfile:
self.config = yaml.safe_load(ymlfile)
self.selected_config = self.config['selected_config']
# local node
self.connectToNetwork(canopen.Network())
self.network.create_node(5, '../eds_files/steering_node.eds')
while True:
sleep(1)
self.network.sync.transmit()
def connect_bus():
"""quick function to connect to can bus"""
network = canopen.Network()
node = canopen.RemoteNode(0x7C, EDS_FILE)
network.add_node(node)
network.connect(bustype="socketcan", channel="vcan0")
# network.nmt.state = "OPERATIONAL"
return network, node
def _connect(self, channel, node_idx, datasheet):
"""
return network, node
raise HwError() if the device is not connected
raise ValueError(): if the device doesn't seem the right one
"""
# Connect to the CANbus and the CANopen network.
network = canopen.Network()
bustype = 'socketcan' if channel != 'fake' else 'virtual'
try:
network.connect(bustype=bustype, channel=channel)
network.check()
except CanError:
raise model.HwError("CAN network %s not found." % (channel, ))
except OSError as ex:
if ex.errno == 19: # No such device
raise model.HwError("CAN network %s not found." % (channel, ))
raise
# Tell CANopen what we *expect* to find
if channel == 'fake':
node = FakeRemoteNode(node_idx, datasheet)
else:
node = canopen.RemoteNode(node_idx, datasheet)
# Note: add_node() supports a "upload_eds" flag to read the object dict from
# the device. However the current firmware doesn't support that.
network.add_node(node)
# Check the device is there, and also force the state to be updated
try:
if channel != "fake":
node.nmt.wait_for_heartbeat(timeout=5)
except NmtError:
raise model.HwError(
"Focus tracker not found on channel %s with ID %s" %
(channel, node_idx))
logging.debug("Device is in state %s", node.nmt.state)
# If the device is stopped, it won't answer any SDO
if node.nmt.state not in ("OPERATIONAL", "PRE-OPERATIONAL"):
node.nmt.state = "PRE-OPERATIONAL"
logging.debug("Turning on the device to state %s", node.nmt.state)
# Check that the device has the right Vendor ID and Product code, mostly
# in case the node index corresponds to a different device, also on the network.
vid = node.sdo["Identity object"]["Vendor-ID"].raw
pcode = node.sdo["Identity object"]["Product code"].raw
if vid != VENDOR_ID or pcode != PRODUCT_CODE:
raise ValueError(
"Device %d on channel %s doesn't seem to be a FocusTracker (vendor 0x%04x, product 0x%04x)"
% (node_idx, channel, vid, pcode))
return network, node
def setup():
global network
global node
network = canopen.Network()
network.connect(channel='/dev/ttyACM0', bustype='slcan', bitrate=250000)
network.send_message(0x201, [0x00, 0x03, 0x01, 0xA0, 0x00])
node = canopen.RemoteNode(1, 'imu-dictionary.eds')
network.add_node(node)
def __init__(self):
with open('../config.yaml', 'r') as ymlfile:
self.config = yaml.safe_load(ymlfile)
# local node
self.selected_config = self.config['selected_config']
self.connectToNetwork(canopen.Network())
self.network.create_node(5, '../eds_files/Arduino1.eds')
while True:
sleep(1)
self.network[5].sdo[0x2000][1].phys = random.randint(0, 1024)
self.network[5].sdo[0x2000][2].phys = random.randint(0, 1024)
self.network.sync.transmit()
def create_network_node(self, node_id, od):
# Start with creating a network representing a CAN bus
network = canopen.Network()
try:
# Add a node with its corresponding Object Dictionary
node = network.add_node(node_id, od)
except Exception as e:
self.ui.statusbar.showMessage(str(e), 5000)
network, node = None, None
return network, node
def setup(self):
try:
os.system('sudo ip link set can0 type can bitrate 1000000')
os.system('sudo ifconfig can0 up')
os.system('sudo ifconfig can0 txqueuelen 1000')
# Start with creating a network representing one CAN bus
self.network = canopen.Network()
# Connect to the CAN bus
self.network.connect(bustype='socketcan', channel='can0')
self.network.check()
# Add some nodes with corresponding Object Dictionaries
self.node1 = canopen.BaseNode402(12, '/home/pi/canopen/examples/brunner_eds.eds')
self.node2 = canopen.BaseNode402(15, '/home/pi/canopen/examples/brunner_eds.eds')
for node in [self.node1, self.node2]:
self.network.add_node(node)
# Read a variable using SDO
node.sdo[0x1006].raw = 1
node.sdo[0x1014].raw = 163
node.sdo[0x1003][0].raw = 0
# Transmit SYNC every 100 ms
self.network.sync.start(0.1)
for node in [self.node1, self.node2]:
node.load_configuration()
node.setup_402_state_machine()
node.state = 'SWITCH ON DISABLED'
node.op_mode = "PROFILED VELOCITY"
# Read PDO configuration from node
node.tpdo.read()
# Re-map TxPDO1
node.tpdo[1].clear()
node.tpdo[1].add_variable('Statusword')
node.tpdo[1].add_variable('Position actual value')
node.tpdo[1].trans_type = 1
node.tpdo[1].event_timer = 0
node.tpdo[1].enabled = True
# Save new PDO configuration to node
node.tpdo.save()
node.rpdo.read()
node.state = 'READY TO SWITCH ON'
acceleration = 1600
deceleration = acceleration
self.node1.sdo[0x6083].raw = acceleration # target acc
self.node2.sdo[0x6083].raw = acceleration
self.node1.sdo[0x6084].raw = deceleration # target dec
self.node2.sdo[0x6084].raw = deceleration
self.is_setup = True
except Exception as e:
self.is_setup = False
def canopen_test_nmt(user_os):
"""
canopen testing : set the state of device in NMT
tested device : beckhoff remote I/O LC5100
"""
print("test nmt!")
# Start with creating a network representing one CAN bus
net = canopen.Network()
# Connect to the CAN bus
# Arguments are passed to python-can's can.interface.Bus() constructor
# (see https://python-can.readthedocs.io/en/latest/bus.html).
# connection is depended on your OS
if user_os == "linux":
net.connect(bustype='socketcan', channel='can0')
print("connect via \'socketcan\' to can0")
else:
net.connect(bustype='usb2can', channel='69E696BD', bitrate=125000)
print("connect via \'usb2can\' to channel 69E696BD, bitrate=125000")
# Check network
net.check()
# Add some nodes with corresponding Object Dictionaries
node_lc5100 = canopen.RemoteNode(node_id=1, object_dictionary='LC5100.eds')
for obj in node_lc5100.object_dictionary.values():
print('0x%X: %s' % (obj.index, obj.name))
net.add_node(node_lc5100)
# Test NMT command by goes through each state of device
nmt_cmd = {}
nmt_cmd.update({"start" : 0x01})
nmt_cmd.update({"stop" : 0x02})
nmt_cmd.update({"pre_op" : 0x80})
nmt_cmd.update({"reset" : 0x81})
print("NMT command list: ")
print(nmt_cmd)
while True:
try:
user_input = input("Enter NMT command from above : ")
if user_input in nmt_cmd.keys():
print("sending CMD : {}...".format(user_input))
node_lc5100.nmt.send_command(nmt_cmd.get(user_input))
else:
if user_input == 'q':
break
else:
print("command is not in the list.")
except Except as e:
print(e)
def canopen_test_sdo(user_os):
"""
canopen testing : read and write the data using SDO
tested device : beckhoff remote I/O LC5100
"""
print("test SDO")
# Start with creating a network representing one CAN bus
net = canopen.Network()
# Connect to the CAN bus
# Arguments are passed to python-can's can.interface.Bus() constructor
# (see https://python-can.readthedocs.io/en/latest/bus.html).
# connection is depended on your OS
if user_os == "linux":
net.connect(bustype='socketcan', channel='can0')
print("connect via \'socketcan\' to can0")
else:
net.connect(bustype='usb2can', channel='69E696BD', bitrate=125000)
print("connect via \'usb2can\' to channel 69E696BD, bitrate=125000")
# Create node device. Node device should be configured as "RemoteNode".
# So, Device will be able to be used as "SDO server".
node_lc5100 = canopen.RemoteNode(node_id=1, object_dictionary='LC5100.eds')
# Add some nodes with corresponding Object Dictionaries
net.add_node(node_lc5100)
# Set to pre-operational mode
node_lc5100.nmt.send_command(0x80)
time.sleep(3)
# SDO command testing by reading object of device
# Index of SDO request are from the datasheet
device_type = node_lc5100.sdo['Device Type']
device_name = node_lc5100.sdo['Manufacturer Device Name']
device_harware_ver = node_lc5100.sdo['Manufacturer Hardware Version']
# For variable-type of return object from sdo[] can be extracted by using .raw
print("Device type = {}".format(device_type.raw))
print("Device name = {}".format(device_name.raw))
print("Device harware version = {}".format(device_harware_ver.raw))
test_obj_index = 0x1010
sdo_object = node_lc5100.sdo[test_obj_index]
print("type(sdo_object) = {}, len()={}".format(sdo_object, len(sdo_object)))
# Iterate over arrays or records
for value in sdo_object.values():
print("value = {}".format(value.raw))
heartbeat_time_consumer = node_lc5100.sdo[0x1016][1]
heartbeat_time_producer = node_lc5100.sdo[0x1017]
print("heartbeat time (consumer) : {}".format(heartbeat_time_consumer.raw))
print("heartbeat time (producer) : {}".format(heartbeat_time_producer.raw))
def detect(chan):
network = canopen.Network()
network.connect(bustype='socketcan', channel=chan, bitrate=500000)
try:
network.scanner.search()
time.sleep(1)
#for node_id in network.scanner.nodes:
# print("Found node %d" % node_id)
return network.scanner.nodes
finally:
network.disconnect()
def __init__(self, id, eds_file):
"""
add node to the can
:param id: node id
:param eds_file: the location of the eds file
:return:
"""
self.network = canopen.Network()
self.network.connect(channel='can0', bustype='socketcan')
self.network.check()
self.network.sync.start(0.01)
self.id = id
self.eds_file = eds_file
self.node = self.network.add_node(self.id, self.eds_file)
def setup():
global network
network = canopen.Network()
network.connect(bustype='socketcan', channel='can1', bitrate = 250000)
network.scanner.search()
time.sleep(0.5)
for node_id in network.scanner.nodes:
nodes_in_network.append(node_id)
nodes["node{0}".format(node_id)] = (canopen.RemoteNode(node_id, 'imu-dictionary.eds'))
network.add_node(nodes["node{0}".format(node_id)])
network.send_message(0x200 + node_id, [0x02, 0x00, 0x01, 0x00])
time.sleep(0.5)
init_flags()
def connect(self):
try:
self.network = canopen.Network()
self.network.connect(bitrate=self.bitrate,
channel=self.interface_name,
bustype=self.bustype)
self.connected = True
except OSError:
self.connected = False
self.logger.error(
f"Could not connect on the {self.interface_name} interface."
" A reboot will probably solve the problem")
raise can.CanError(
f"Could not connect on the {self.interface_name} interface."
" A reboot will probably solve the problem")
def connect(self):
if not self.isReady():
try:
self.network = canopen.Network()
self.network.connect(bustype='pcan',
channel='PCAN_USBBUS1',
bitrate=1000000)
self.canReady = True
except Exception as error:
self.errors.append(['CAN', 'Network not connected'])
self.canReady = False
def __init__(self):
#ROS Node and CAN setup
self.network = canopen.Network()
can_interface = rospy.get_param('~can_interface')
self.network.connect(channel=can_interface, bustype='socketcan')
rospy.init_node('mani_controller')
position_publisher = rospy.Publisher('mani_position_read', Joints_data)
position_subscriber = rospy.Subscriber('mani_position_write', Joints_data, self.can_send)
self.lates_to_send = Joints_data()
self.network.subscribe(0xA01, self.can_recv)
self.network.subscribe(0xA02, self.can_recv)
self.rate = rospy.Rate(30) # 10hz
def connect_to_network():
network = canopen.Network()
with open('../config.yaml', 'r') as ymlfile:
config = yaml.safe_load(ymlfile)
try:
selected_config = config['selected_config']
bustype = config[selected_config]['bustype']
channel = config[selected_config]['channel']
bitrate = config[selected_config]['bitrate']
network.connect(bustype=bustype, channel=channel, bitrate=bitrate)
except OSError:
logging.error('CanOpenListener is unable to listen to network,'
' please check if configuration is set properly!'
f'(bustype = {bustype}, channel = {channel},'
f' bitrate = {bitrate})')
network = add_nodes(network, config[selected_config]['nodes'])
return config, network
def __init__(self,
logger,
node_id,
can_context=DEFAULT_CAN_CONTEXT,
program_number=1):
super(CANopenProgramDownloader, self).__init__()
self.logger = logger
self.node_id = node_id
self.can_context = can_context
self.program_number = program_number
self.network = canopen.Network()
self.node = self.network.add_node(self.node_id,
self.create_object_dictionary())
self.data_sdo = self.node.sdo[H1F50_PROGRAM_DATA][self.program_number]
self.ctrl_sdo = self.node.sdo[H1F51_PROGRAM_CTRL][self.program_number]
self.swid_sdo = self.node.sdo[H1F56_PROGRAM_SWID][self.program_number]
self.flash_sdo = self.node.sdo[H1F57_FLASH_STATUS][self.program_number]
def setup():
global network
network = canopen.Network()
network.connect(channel='/dev/ttyACM0', bustype='slcan', bitrate=250000)
network.scanner.search()
time.sleep(0.5)
for node_id in network.scanner.nodes:
nodes_in_network.append(node_id)
nodes_fieldnames.append("node{0}".format(node_id))
nodes["node{0}".format(node_id)] = (canopen.RemoteNode(
node_id, 'imu-dictionary.eds'))
network.add_node(nodes["node{0}".format(node_id)])
network.send_message(0x200 + node_id, [0x02, 0x00, 0x01, 0x00])
print("Found node %d" % node_id)
time.sleep(0.5)
def start(self, args):
self._devel = args.d
self._mapping.read()
self._display = DisplayApp(args.d, self._mapping)
self._network = canopen.Network()
self._network.listeners = self._network.listeners + [
BMSListener(self._display)
]
self._network.connect(bustype='socketcan', channel=args.dev)
self._controller = self._network.add_node(7, 'CANopenSocket.eds')
# main EWA thread here
self._main_thread.start()
# blocks until the UI ends
try:
self._display.run()
except BaseException as e:
logging.error(traceback.format_exc())
def __init__(self):
#initialise can network
self.ser = serial.Serial(
'COM8', 9800, timeout=1) # open serial port for EE controller
self.network = canopen.Network() # define network
self.network.connect(channel='PCAN_USBBUS1',
bustype='pcan',
bitrate=1000000) # establish communication
self.network.check()
#create driver objects
for id in self.can_ids:
motor = c5e.Driver(self.network, id)
motor.enable()
self.motors.append(motor)
self.network.sync.start(0.1)
self._position = (0, 4, 0) #TODO home
