def parse_request(request):
interface = request.get('bus')
if interface == None:
interface = CAN_SEND_INTERFACE
else:
interface = interface[0]
try:
bus = CAN.Bus(interface)
except OSError:
raise BadRequest("bus '" + interface + "' does not exist")
id = request.get('id')
if id == None:
raise BadRequest("id not specified")
id = int(id[0])
data = request.get('data[]') # POST
if data == None:
data = request.get('data') # GET
if data == None:
data = [] # parse_url removes data field if empty array
else:
data = data[0].strip('[]').split(',')
if len(data) == 1:
if data[0] == '':
data = []
data = list(map(int, data))
msg = CAN.Message(id, data)
return (bus, msg)
def parse_net(net):
global default_net
if net == 'default':
net = default_net
else:
net = CAN_INTERFACES[int(net) - 1]
return CAN.Bus(net)
def listen(self):
bus = CAN.Bus(DEFAULT_CAN_INTERFACE)
while True:
rlist, _, _ = select([self.websocket, bus], [], [])
for s in rlist:
if isinstance(s, CAN.Bus):
msg = s.recv()
self.send(bytes(msg))
elif isinstance(s, WebSocket):
msg = s.recv()
if msg is None:
return
bus.send(CAN.Message.from_bytes(msg))
#!/usr/bin/python3
import CAN
import CANopen
CAN_INTERFACE = "vcan0"
can_bus = CAN.Bus(CAN_INTERFACE)
node_id = 0x02
canopen_od = CANopen.ObjectDictionary.from_eds('node.eds')
node = CANopen.Node(can_bus, node_id, canopen_od)
while True:
pass # Run forever
CAN_SEND_INTERFACE = "vcan0"
UDP_LISTEN_IP = "127.0.0.1"
UDP_LISTEN_PORT = 5005
UDP_SEND_IP = "127.0.0.1"
UDP_SEND_PORT = 5006
def sigterm_handler(signum, frame):
sys.exit()
signal.signal(signal.SIGTERM, sigterm_handler)
sockets = []
for interface in CAN_LISTEN_INTERFACES:
can_socket = CAN.Bus(interface)
sockets.append(can_socket)
for s in sockets:
if s.getsockname()[0] == CAN_SEND_INTERFACE:
can_socket = s
udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
udp_socket.bind((UDP_LISTEN_IP, UDP_LISTEN_PORT))
sockets.append(udp_socket)
while True:
try:
rlist, _, _ = select(sockets, [], [])
for s in rlist:
socket_type = s.getsockopt(socket.SOL_SOCKET, socket.SO_TYPE)
if isinstance(s, CAN.Bus):
msg = s.recv()
GPIO.cleanup()
exit()
signal.signal(signal.SIGTERM, sigterm_handler)
GPIO.setmode(GPIO.BCM)
GPIO.setup(PIN_ENABLE_N, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(PIN_ADDRESS_N, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(PIN_ADDRESS_PARITY_N, GPIO.IN, pull_up_down=GPIO.PUD_UP)
runled0 = CANopen.RunIndicator(PIN_RUNLED0)
errled0 = CANopen.ErrorIndicator(PIN_ERRLED0)
runled1 = CANopen.Indicator(PIN_RUNLED1, CANopen.Indicator.OFF)
errled1 = CANopen.Indicator(PIN_ERRLED1, CANopen.Indicator.ON)
default_bus = CAN.Bus(DEFAULT_CAN_INTERFACE)
redundant_bus = CAN.Bus(REDUNDANT_CAN_INTERFACE)
active_bus = default_bus
class ResetNode(Exception):
pass
class ResetCommunication(Exception):
pass
while True:
try:
if GPIO.input(PIN_ENABLE_N) == GPIO.HIGH:
print("Enable_n is high")
sleep(1)
raise ResetNode
def do_GET(self):
parsed_path = urlparse(self.path)
try:
# Command
if parsed_path.query != '':
bus, msg = parse_request(parse_qs(parsed_path.query))
bus.send(msg)
self.send_response(204);
self.send_header('Access-Control-Allow-Origin', '*')
self.end_headers();
return
# Telemetry
if parsed_path.path == '/':
self.send_response(200)
self.send_header('Content-type', 'text/event-stream')
self.send_header('Cache-control', 'no-cache')
self.send_header('Access-Control-Allow-Origin', '*')
self.end_headers()
busses = []
for interface in CAN_LISTEN_INTERFACES:
bus = CAN.Bus(interface)
busses.append(bus)
while True:
try:
rlist, _, _ = select(busses, [], [])
for bus in rlist:
msg = bus.recv()
id = msg.arbitration_id
data = msg.data
data = ",".join(map(str, data))
self.wfile.write(bytes('data: {"bus":"' + bus.name + '","id":' + str(id) + ',"data":[' + data + '],"ts":"' + datetime.fromtimestamp(msg.timestamp).isoformat() + '"}' + "\n\n", 'utf8'))
except CAN.BusDown:
self.wfile.write(bytes('event: error' + "\n" + 'data: ' + bus.name + ' is down.' + "\n\n", 'utf-8'))
sleep(1)
continue
except SystemExit:
# This doesn't get called. Find a way if possible
self.wfile.write(bytes('event: error' + "\n" + 'data: System is shutting down.' + "\n\n", 'utf-8'))
raise
# File
filepath = WWW_DIR + self.path
if path.isfile(filepath):
f = open(filepath)
self.send_response(200)
if self.path.endswith(".html"):
self.send_header('Content-type', 'text/html')
elif self.path.endswith(".js"):
self.send_header('Content-type', 'text/javascript')
elif self.path.endswith(".css"):
self.send_header('Content-type', 'text/css')
self.end_headers()
self.wfile.write(bytes(f.read(), 'UTF-8'))
f.close()
return
self.send_response(404)
self.end_headers()
except BadRequest as e:
self.send_response(400)
self.send_error(400, 'Bad Request: %s' % str(e.args))
except BrokenPipeError:
print('Connection closed.')
except IOError:
self.send_response(500)
print("\n*** do_GET except ***")
print("Unexpected error:", sys.exc_info()[0])
traceback.print_exc()