def main():
verbosity = 2
logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
config = {"can_filters": can_filters, "single_handle": True}
config["interface"] = "socketcan"
config["bitrate"] = 125000
bus = Bus("can1", **config)
print('Connected to {}: {}'.format(bus.__class__.__name__, bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
mcp_mqtt = mqtt.Client()
mcp_mqtt.on_connect = on_connect
mcp_mqtt.on_message = on_message
mcp_mqtt.user_data_set(bus)
mcp_mqtt.connect("mcp", 1883, 60)
try:
while True:
mcp_mqtt.loop_start()
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
def main():
verbosity = 2
logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
config = {"can_filters": can_filters, "single_handle": True}
config["interface"] = "socketcan"
config["bitrate"] = 125000
bus = Bus("can1", **config)
print('Connected to {}: {}'.format(bus.__class__.__name__, bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
mcp_mqtt = mqtt.Client()
mcp_mqtt.on_connect = on_connect
mcp_mqtt.on_message = on_message
mcp_mqtt.user_data_set(bus)
mcp_mqtt.connect("mcp", 1883, 60)
try:
while True:
mcp_mqtt.loop_start()
msg = bus.recv(1)
if msg is not None:
de=decon(msg.arbitration_id)
m= { "prio": hex(de[0]), "type": hex(de[1]), "dst": hex(de[2]), "src": hex(de[3]), "cmd": hex(de[4]), "action": hex(msg.data[0]) }
# print(m)
# mcp_mqtt.publish("can/rx", str(m))
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
def main():
verbosity = 2
logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
config = {"can_filters": can_filters, "single_handle": True}
config["interface"] = "socketcan"
config["bitrate"] = 125000
bus = Bus("can1", **config)
print('Connected to {}: {}'.format(bus.__class__.__name__, bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
mcp_mqtt = mqtt.Client()
mcp_mqtt.on_connect = on_connect
mcp_mqtt.on_message = on_message
mcp_mqtt.user_data_set(bus)
mcp_mqtt.connect("mcp", 1883, 60)
try:
while True:
mcp_mqtt.loop()
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
def main():
verbosity = 2
logging_level_name = [
'critical', 'error', 'warning', 'info', 'debug', 'subdebug'
][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
config = {"can_filters": can_filters, "single_handle": True}
config["interface"] = "socketcan_native"
config["bitrate"] = 125000
bus = Bus("can1", **config)
print('Connected to {}: {}'.format(bus.__class__.__name__,
bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
mcp_mqtt = mqtt.Client()
mcp_mqtt.on_connect = on_connect
mcp_mqtt.on_message = on_message
mcp_mqtt.user_data_set(bus)
mcp_mqtt.connect("mcp", 1883, 60)
mcp_mqtt.loop_start()
try:
while True:
msg = bus.recv(1)
if msg is not None:
de = decon(msg.arbitration_id)
m = {
"prio": hex(de[0]),
"type": hex(de[1]),
"dst": hex(de[2]),
"src": hex(de[3]),
"cmd": hex(de[4]),
"action": hex(msg.data[0])
}
if de[2] == 0 and de[4] == 6:
print("received state: ", hex(de[3]), hex(msg.data[0]),
hex(msg.data[1]))
for key in light_map:
address = light_map[key]
if address[0] == de[3] and address[
1] == msg.data[0] + 1:
print("light/" + key + " changed to " +
str(msg.data[1]))
mcp_mqtt.publish("light/" + key + "/state",
msg.data[1],
retain=1)
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
class Can(SetState):
def __init__(self, type="socketcan"):
self.type = type
self.interface = pysc.Interface()
self.interface.listen_only = True
self.state = State(self.interface.state.value)
self.baudrates = ( # Common automotive CAN bus speeds
33000,
100000,
125000,
250000,
500000,
)
@property
def state(self):
return State(self._state)
@state.setter
def state(self, state):
if state.value:
self.bus = Bus(self.interface.id, bustype=self.type)
else:
self.bus.shutdown()
self._state = state
@property
def baud(self):
return self.interface.baud
@baud.setter
def baud(self, rate):
if rate not in self.baudrates:
return print(f"Invalid. Please choose from {self.baudrates}")
self.interface.baud = rate
def detect_baud(self):
"""
Automatically attempt to detect baudrate.
Sets interface to each available rate and listens.
Exits if messages are received within 2.5 seconds.
"""
for rate in self.baudrates:
self.baud = rate
received = self.bus.recv(2)
if received:
return f"Baudrate successfully detected!"
raise AttributeError("Something went wrong. Verify connections and try again.")
def connect(self):
self.kwargs = OrderedDict()
# Fetch driver keyword arguments.
self._fetch_kwargs(False)
self._fetch_kwargs(True)
can_id = self.parent.can_id_master
can_filter = {
"can_id": can_id.id,
"can_mask": can.MAX_29_BIT_IDENTIFIER
if can_id.is_extended else can.MAX_11_BIT_IDENTIFIER,
"extended": can_id.is_extended
}
self.bus = Bus(bustype=self.bustype, **self.kwargs)
self.bus.set_filters([can_filter])
self.parent.logger.debug("Python-CAN driver: {} - {}]".format(
self.bustype, self.bus))
self.connected = True
def main():
verbosity = 2
logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
config = {"can_filters": can_filters, "single_handle": True}
config["interface"] = "socketcan"
config["bitrate"] = 125000
bus = Bus("can1", **config)
print('Connected to {}: {}'.format(bus.__class__.__name__, bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
try:
while True:
msg = bus.recv(1)
if msg is not None:
de=decon(msg.arbitration_id)
m= { "prio": hex(de[0]), "type": hex(de[1]), "dst": hex(de[2]), "src": hex(de[3]), "cmd": hex(de[4]), "target": hex(msg.data[0]) }
if de[2] is 3 and msg.data[0] is 3 and de[1] is 0 and de[3] is 3 and de[4] is 3 :
print(m)
m = can.Message(arbitration_id=0x0C030900,
data=[3],
extended_id=True)
try:
bus.send(m)
except BaseException as e:
logging.error("Error sending can message {%s}: %s" % (m, e))
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
def listen(can_bus: can.Bus, callback: Callable) -> None:
"""Thread that runs all the time to listen to CAN messages
References:
- https://python-can.readthedocs.io/en/master/interfaces/socketcan.html
- https://python-can.readthedocs.io/en/master/
"""
while not kill_threads:
msg = can_bus.recv() # No timeout (wait indefinitely)
callback(message)
def logCan():
results = bus_Cofing()
can_filters = []
if len(results.filter) > 0:
print('Adding filter are:')
for filt in results.filter:
if ':' in filt:
_ = filt.split(":")
can_id = int(_[0], base=16)
can_mask = int(_[1], base=16)
print('Can ID: ', hex(can_id), 'mask: ', hex(can_mask))
elif "~" in filt:
can_id, can_mask = filt.split("~")
can_id = int(can_id, base=16) | 0x20000000 # CAN_INV_FILTER
can_mask = int(can_mask, base=16) & socket.CAN_ERR_FLAG
print('Can ID: ', can_id, 'mask: ', can_mask)
can_filters.append({"can_id": can_id, "can_mask": can_mask})
config = {"can_filters": can_filters, "single_handle": True}
if results.interface:
config["interface"] = results.interface
if results.bitrate:
config["bitrate"] = results.bitrate
bus = Bus(results.channel, **config)
print('\nConnected to {}: {}'.format(bus.__class__.__name__,
bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
logger = Logger(results.log_file)
while keep_going:
msg = bus.recv(1)
if msg is not None:
print(msg)
logger(msg)
bus.shutdown()
logger.stop()
async def poll_elster_register(
bus: can.Bus,
elster_index: int,
sender_id: int,
receiver_id: int,
interval: float,
start_delay: float = 0.0,
):
await asyncio.sleep(start_delay)
while True:
bus.send(
create_can_message(
ElsterReadRequestFrame(
timestamp=0,
sender=sender_id,
receiver=receiver_id,
elster_index=elster_index,
)
)
)
await asyncio.sleep(interval)
class TestMessageFiltering(unittest.TestCase):
def setUp(self):
self.node1 = Bus("test", bustype="virtual", preserve_timestamps=True)
self.node2 = Bus("test", bustype="virtual")
def tearDown(self):
self.node1.shutdown()
self.node2.shutdown()
def test_sendmsg(self):
self.node2.send(EXAMPLE_MSG1)
r = self.node1.recv(0.1)
assert r.timestamp != EXAMPLE_MSG1.timestamp
assert r.arbitration_id == EXAMPLE_MSG1.arbitration_id
assert r.data == EXAMPLE_MSG1.data
def test_sendmsg_preserve_timestamp(self):
self.node1.send(EXAMPLE_MSG1)
r = self.node2.recv(0.1)
assert r.timestamp == EXAMPLE_MSG1.timestamp
assert r.arbitration_id == EXAMPLE_MSG1.arbitration_id
assert r.data == EXAMPLE_MSG1.data
class TestMessageFiltering(unittest.TestCase):
def setUp(self):
self.bus = Bus(bustype='virtual', channel='testy')
def tearDown(self):
self.bus.shutdown()
def test_match_all(self):
# explicitly
self.bus.set_filters()
self.assertTrue(self.bus._matches_filters(EXAMPLE_MSG))
# implicitly
self.bus.set_filters(None)
self.assertTrue(self.bus._matches_filters(EXAMPLE_MSG))
def test_match_filters_is_empty(self):
self.bus.set_filters([])
for msg in TEST_ALL_MESSAGES:
self.assertTrue(self.bus._matches_filters(msg))
def test_match_example_message(self):
self.bus.set_filters(MATCH_EXAMPLE)
self.assertTrue(self.bus._matches_filters(EXAMPLE_MSG))
self.assertFalse(self.bus._matches_filters(HIGHEST_MSG))
self.bus.set_filters(MATCH_ONLY_HIGHEST)
self.assertFalse(self.bus._matches_filters(EXAMPLE_MSG))
self.assertTrue(self.bus._matches_filters(HIGHEST_MSG))
from uds import Uds
from can import Bus, Listener, Notifier
from time import sleep
def callback_onReceive(msg):
if (msg.arbitration_id == 0x600):
print("Bootloader Receive:", list(msg.data))
if (msg.arbitration_id == 0x7E0):
print("PCM Receive:", list(msg.data))
if __name__ == "__main__":
recvBus = Bus("virtualInterface", bustype="virtual")
listener = Listener()
notifier = Notifier(recvBus, [listener], 0)
listener.on_message_received = callback_onReceive
a = Uds()
a.send([0x22, 0xf1, 0x8C], responseRequired=False)
sleep(2)
def main():
parser = argparse.ArgumentParser(
"python -m can.logger",
description=
"Log CAN traffic, printing messages to stdout or to a given file.",
)
parser.add_argument(
"-f",
"--file_name",
dest="log_file",
help=
"""Path and base log filename, for supported types see can.Logger.""",
default=None,
)
parser.add_argument(
"-s",
"--file_size",
dest="file_size",
type=int,
help=
"""Maximum file size in bytes. Rotate log file when size threshold is reached.""",
default=None,
)
parser.add_argument(
"-v",
action="count",
dest="verbosity",
help="""How much information do you want to see at the command line?
You can add several of these e.g., -vv is DEBUG""",
default=2,
)
parser.add_argument(
"-c",
"--channel",
help='''Most backend interfaces require some sort of channel.
For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0"
With the socketcan interfaces valid channel examples include: "can0", "vcan0"''',
)
parser.add_argument(
"-i",
"--interface",
dest="interface",
help="""Specify the backend CAN interface to use. If left blank,
fall back to reading from configuration files.""",
choices=can.VALID_INTERFACES,
)
parser.add_argument(
"--filter",
help=
"""Comma separated filters can be specified for the given CAN interface:
<can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)
<can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)
""",
nargs=argparse.REMAINDER,
default="",
)
parser.add_argument("-b",
"--bitrate",
type=int,
help="""Bitrate to use for the CAN bus.""")
parser.add_argument("--fd",
help="Activate CAN-FD support",
action="store_true")
parser.add_argument(
"--data_bitrate",
type=int,
help="""Bitrate to use for the data phase in case of CAN-FD.""",
)
state_group = parser.add_mutually_exclusive_group(required=False)
state_group.add_argument(
"--active",
help="Start the bus as active, this is applied by default.",
action="store_true",
)
state_group.add_argument("--passive",
help="Start the bus as passive.",
action="store_true")
# print help message when no arguments wre given
if len(sys.argv) < 2:
parser.print_help(sys.stderr)
raise SystemExit(errno.EINVAL)
results = parser.parse_args()
verbosity = results.verbosity
logging_level_name = [
"critical", "error", "warning", "info", "debug", "subdebug"
][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
if results.filter:
print(f"Adding filter(s): {results.filter}")
for filt in results.filter:
if ":" in filt:
_ = filt.split(":")
can_id, can_mask = int(_[0], base=16), int(_[1], base=16)
elif "~" in filt:
can_id, can_mask = filt.split("~")
can_id = int(can_id, base=16) | 0x20000000 # CAN_INV_FILTER
can_mask = int(can_mask, base=16) & socket.CAN_ERR_FLAG
can_filters.append({"can_id": can_id, "can_mask": can_mask})
config = {"can_filters": can_filters, "single_handle": True}
if results.interface:
config["interface"] = results.interface
if results.bitrate:
config["bitrate"] = results.bitrate
if results.fd:
config["fd"] = True
if results.data_bitrate:
config["data_bitrate"] = results.data_bitrate
bus = Bus(results.channel, **config)
if results.active:
bus.state = BusState.ACTIVE
elif results.passive:
bus.state = BusState.PASSIVE
print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}")
print(f"Can Logger (Started on {datetime.now()})")
if results.file_size:
logger = SizedRotatingLogger(base_filename=results.log_file,
max_bytes=results.file_size)
else:
logger = Logger(filename=results.log_file)
try:
while True:
msg = bus.recv(1)
if msg is not None:
logger(msg)
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
logger.stop()
def main():
parser = argparse.ArgumentParser(
"python -m can.player", description="Replay CAN traffic."
)
parser.add_argument(
"-f",
"--file_name",
dest="log_file",
help="""Path and base log filename, for supported types see can.LogReader.""",
default=None,
)
parser.add_argument(
"-v",
action="count",
dest="verbosity",
help="""Also print can frames to stdout.
You can add several of these to enable debugging""",
default=2,
)
parser.add_argument(
"-c",
"--channel",
help='''Most backend interfaces require some sort of channel.
For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0"
With the socketcan interfaces valid channel examples include: "can0", "vcan0"''',
)
parser.add_argument(
"-i",
"--interface",
dest="interface",
help="""Specify the backend CAN interface to use. If left blank,
fall back to reading from configuration files.""",
choices=can.VALID_INTERFACES,
)
parser.add_argument(
"-b", "--bitrate", type=int, help="""Bitrate to use for the CAN bus."""
)
parser.add_argument("--fd", help="Activate CAN-FD support", action="store_true")
parser.add_argument(
"--data_bitrate",
type=int,
help="""Bitrate to use for the data phase in case of CAN-FD.""",
)
parser.add_argument(
"--ignore-timestamps",
dest="timestamps",
help="""Ignore timestamps (send all frames immediately with minimum gap between frames)""",
action="store_false",
)
parser.add_argument(
"--error-frames",
help="Also send error frames to the interface.",
action="store_true",
)
parser.add_argument(
"-g",
"--gap",
type=float,
help="""<s> minimum time between replayed frames""",
default=0.0001,
)
parser.add_argument(
"-s",
"--skip",
type=float,
default=60 * 60 * 24,
help="""<s> skip gaps greater than 's' seconds""",
)
parser.add_argument(
"infile",
metavar="input-file",
type=str,
help="The file to replay. For supported types see can.LogReader.",
)
# print help message when no arguments were given
if len(sys.argv) < 2:
parser.print_help(sys.stderr)
raise SystemExit(errno.EINVAL)
results = parser.parse_args()
verbosity = results.verbosity
logging_level_name = ["critical", "error", "warning", "info", "debug", "subdebug"][
min(5, verbosity)
]
can.set_logging_level(logging_level_name)
error_frames = results.error_frames
config = {"single_handle": True}
if results.interface:
config["interface"] = results.interface
if results.bitrate:
config["bitrate"] = results.bitrate
if results.fd:
config["fd"] = True
if results.data_bitrate:
config["data_bitrate"] = results.data_bitrate
bus = Bus(results.channel, **config)
reader = LogReader(results.infile)
in_sync = MessageSync(
reader, timestamps=results.timestamps, gap=results.gap, skip=results.skip
)
print(f"Can LogReader (Started on {datetime.now()})")
try:
for m in in_sync:
if m.is_error_frame and not error_frames:
continue
if verbosity >= 3:
print(m)
bus.send(m)
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
reader.stop()
def state(self, state):
if state.value:
self.bus = Bus(self.interface.id, bustype=self.type)
else:
self.bus.shutdown()
self._state = state
class TestMessageFiltering(unittest.TestCase):
def setUp(self):
self.bus = Bus(bustype='virtual', channel='testy')
def tearDown(self):
self.bus.shutdown()
def test_match_all(self):
# explicitly
self.bus.set_filters()
self.assertTrue(self.bus._matches_filters(EXAMPLE_MSG))
# implicitly
self.bus.set_filters(None)
self.assertTrue(self.bus._matches_filters(EXAMPLE_MSG))
def test_match_filters_is_empty(self):
self.bus.set_filters([])
for msg in TEST_ALL_MESSAGES:
self.assertTrue(self.bus._matches_filters(msg))
def test_match_example_message(self):
self.bus.set_filters(MATCH_EXAMPLE)
self.assertTrue(self.bus._matches_filters(EXAMPLE_MSG))
self.assertFalse(self.bus._matches_filters(HIGHEST_MSG))
self.bus.set_filters(MATCH_ONLY_HIGHEST)
self.assertFalse(self.bus._matches_filters(EXAMPLE_MSG))
self.assertTrue(self.bus._matches_filters(HIGHEST_MSG))
def main():
parser = argparse.ArgumentParser(
"python -m can.logger",
description="Log CAN traffic, printing messages to stdout or to a given file.")
parser.add_argument("-f", "--file_name", dest="log_file",
help="""Path and base log filename, for supported types see can.Logger.""",
default=None)
parser.add_argument("-v", action="count", dest="verbosity",
help='''How much information do you want to see at the command line?
You can add several of these e.g., -vv is DEBUG''', default=2)
parser.add_argument('-c', '--channel', help='''Most backend interfaces require some sort of channel.
For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0"
With the socketcan interfaces valid channel examples include: "can0", "vcan0"''')
parser.add_argument('-i', '--interface', dest="interface",
help='''Specify the backend CAN interface to use. If left blank,
fall back to reading from configuration files.''',
choices=can.VALID_INTERFACES)
parser.add_argument('--filter', help='''Comma separated filters can be specified for the given CAN interface:
<can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)
<can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)
''', nargs=argparse.REMAINDER, default='')
parser.add_argument('-b', '--bitrate', type=int,
help='''Bitrate to use for the CAN bus.''')
group = parser.add_mutually_exclusive_group(required=False)
group.add_argument('--active', help="Start the bus as active, this is applied the default.",
action='store_true')
group.add_argument('--passive', help="Start the bus as passive.",
action='store_true')
# print help message when no arguments wre given
if len(sys.argv) < 2:
parser.print_help(sys.stderr)
import errno
raise SystemExit(errno.EINVAL)
results = parser.parse_args()
verbosity = results.verbosity
logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
if len(results.filter) > 0:
print('Adding filter/s', results.filter)
for filt in results.filter:
if ':' in filt:
_ = filt.split(":")
can_id, can_mask = int(_[0], base=16), int(_[1], base=16)
elif "~" in filt:
can_id, can_mask = filt.split("~")
can_id = int(can_id, base=16) | 0x20000000 # CAN_INV_FILTER
can_mask = int(can_mask, base=16) & socket.CAN_ERR_FLAG
can_filters.append({"can_id": can_id, "can_mask": can_mask})
config = {"can_filters": can_filters, "single_handle": True}
if results.interface:
config["interface"] = results.interface
if results.bitrate:
config["bitrate"] = results.bitrate
bus = Bus(results.channel, **config)
if results.active:
bus.state = BusState.ACTIVE
if results.passive:
bus.state = BusState.PASSIVE
print('Connected to {}: {}'.format(bus.__class__.__name__, bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
logger = Logger(results.log_file)
try:
while True:
msg = bus.recv(1)
if msg is not None:
logger(msg)
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
logger.stop()
class PythonCAN:
"""
"""
def __init__(self, bustype):
self.bustype = bustype
self.connected = False
def init(self, parent, receive_callback):
self.parent = parent
def connect(self):
self.kwargs = OrderedDict()
# Fetch driver keyword arguments.
self._fetch_kwargs(False)
self._fetch_kwargs(True)
can_id = self.parent.can_id_master
can_filter = {
"can_id": can_id.id,
"can_mask": can.MAX_29_BIT_IDENTIFIER
if can_id.is_extended else can.MAX_11_BIT_IDENTIFIER,
"extended": can_id.is_extended
}
self.bus = Bus(bustype=self.bustype, **self.kwargs)
self.bus.set_filters([can_filter])
self.parent.logger.debug("Python-CAN driver: {} - {}]".format(
self.bustype, self.bus))
self.connected = True
def _fetch_kwargs(self, local):
if local:
base = self
else:
base = self.parent
for param, arg in base.PARAMETER_TO_KW_ARG_MAP.items():
value = base.config.get(param)
#if param == "CHANNEL":
# value = self._handle_channel(value)
self.kwargs[arg] = value
def _handle_channel(self, value):
match = NUMBER.match(value)
if match:
gd = match.groupdict()
base = 16 if not gd["hex"] is None else 10
return int(value, base)
else:
return value
def close(self):
self.connected = False
def transmit(self, payload):
frame = Message(arbitration_id=self.parent.can_id_slave.id,
is_extended_id=True
if self.parent.can_id_slave.is_extended else False,
data=payload)
self.bus.send(frame)
def read(self):
if not self.connected:
return None
try:
frame = self.bus.recv(5)
except CanError:
return None
else:
if frame is None:
return None # Timeout condition.
extended = frame.is_extended_id
identifier = can.Identifier.make_identifier(
frame.arbitration_id, extended)
return can.Frame(id_=identifier,
dlc=frame.dlc,
data=frame.data,
timestamp=frame.timestamp)
def getTimestampResolution(self):
return 10 * 1000
import copy
import numpy as np
import time
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist, Vector3
from std_msgs.msg import Float32
from std_srvs.srv import Trigger
import can
can.rc['interface'] = 'socketcan'
can.rc['channel'] = 'can0'
can.rc['bitrate'] = 1000000
from can import Bus
bus = Bus()
bus.receive_own_messages = False
class FilteredCanReader(can.BufferedReader):
def __init__(self):
can.BufferedReader.__init__(self)
self.func_map = {}
self.domain = None
def register_callback(self, address):
def wrapper(function):
self.func_map[str(int(address))] = function
return function
return wrapper
def setUp(self):
self.bus = Bus(bustype='virtual', channel='testy')
def setUp(self):
self.bus = Bus(bustype='virtual', channel='testy')
def main():
parser = argparse.ArgumentParser(
"python -m can.player",
description="Replay CAN traffic.")
parser.add_argument("-f", "--file_name", dest="log_file",
help="""Path and base log filename, for supported types see can.LogReader.""",
default=None)
parser.add_argument("-v", action="count", dest="verbosity",
help='''Also print can frames to stdout.
You can add several of these to enable debugging''', default=2)
parser.add_argument('-c', '--channel',
help='''Most backend interfaces require some sort of channel.
For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0"
With the socketcan interfaces valid channel examples include: "can0", "vcan0"''')
parser.add_argument('-i', '--interface', dest="interface",
help='''Specify the backend CAN interface to use. If left blank,
fall back to reading from configuration files.''',
choices=can.VALID_INTERFACES)
parser.add_argument('-b', '--bitrate', type=int,
help='''Bitrate to use for the CAN bus.''')
parser.add_argument('--ignore-timestamps', dest='timestamps',
help='''Ignore timestamps (send all frames immediately with minimum gap between frames)''',
action='store_false')
parser.add_argument('-g', '--gap', type=float, help='''<s> minimum time between replayed frames''',
default=0.0001)
parser.add_argument('-s', '--skip', type=float, default=60*60*24,
help='''<s> skip gaps greater than 's' seconds''')
parser.add_argument('infile', metavar='input-file', type=str,
help='The file to replay. For supported types see can.LogReader.')
# print help message when no arguments were given
if len(sys.argv) < 2:
parser.print_help(sys.stderr)
import errno
raise SystemExit(errno.EINVAL)
results = parser.parse_args()
verbosity = results.verbosity
logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
can.set_logging_level(logging_level_name)
config = {"single_handle": True}
if results.interface:
config["interface"] = results.interface
if results.bitrate:
config["bitrate"] = results.bitrate
bus = Bus(results.channel, **config)
reader = LogReader(results.infile)
in_sync = MessageSync(reader, timestamps=results.timestamps,
gap=results.gap, skip=results.skip)
print('Can LogReader (Started on {})'.format(datetime.now()))
try:
for m in in_sync:
if verbosity >= 3:
print(m)
bus.send(m)
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
reader.stop()
def setUp(self):
self.bus = Bus(bustype="virtual", channel="testy")
def main():
parser = argparse.ArgumentParser(
"python -m can.logger",
description=
"Log CAN traffic, printing messages to stdout or to a given file.")
parser.add_argument(
"-f",
"--file_name",
dest="log_file",
help=
"""Path and base log filename, for supported types see can.Logger.""",
default=None)
parser.add_argument(
"-v",
action="count",
dest="verbosity",
help='''How much information do you want to see at the command line?
You can add several of these e.g., -vv is DEBUG''',
default=2)
parser.add_argument(
'-c',
'--channel',
help='''Most backend interfaces require some sort of channel.
For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0"
With the socketcan interfaces valid channel examples include: "can0", "vcan0"'''
)
parser.add_argument(
'-i',
'--interface',
dest="interface",
help='''Specify the backend CAN interface to use. If left blank,
fall back to reading from configuration files.''',
choices=can.VALID_INTERFACES)
parser.add_argument(
'--filter',
help=
'''Comma separated filters can be specified for the given CAN interface:
<can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)
<can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)
''',
nargs=argparse.REMAINDER,
default='')
parser.add_argument('-b',
'--bitrate',
type=int,
help='''Bitrate to use for the CAN bus.''')
state_group = parser.add_mutually_exclusive_group(required=False)
state_group.add_argument(
'--active',
help="Start the bus as active, this is applied by default.",
action='store_true')
state_group.add_argument('--passive',
help="Start the bus as passive.",
action='store_true')
# print help message when no arguments wre given
if len(sys.argv) < 2:
parser.print_help(sys.stderr)
import errno
raise SystemExit(errno.EINVAL)
results = parser.parse_args()
verbosity = results.verbosity
logging_level_name = [
'critical', 'error', 'warning', 'info', 'debug', 'subdebug'
][min(5, verbosity)]
can.set_logging_level(logging_level_name)
can_filters = []
if len(results.filter) > 0:
print('Adding filter/s', results.filter)
for filt in results.filter:
if ':' in filt:
_ = filt.split(":")
can_id, can_mask = int(_[0], base=16), int(_[1], base=16)
elif "~" in filt:
can_id, can_mask = filt.split("~")
can_id = int(can_id, base=16) | 0x20000000 # CAN_INV_FILTER
can_mask = int(can_mask, base=16) & socket.CAN_ERR_FLAG
can_filters.append({"can_id": can_id, "can_mask": can_mask})
config = {"can_filters": can_filters, "single_handle": True}
if results.interface:
config["interface"] = results.interface
if results.bitrate:
config["bitrate"] = results.bitrate
bus = Bus(results.channel, **config)
if results.active:
bus.state = BusState.ACTIVE
elif results.passive:
bus.state = BusState.PASSIVE
print('Connected to {}: {}'.format(bus.__class__.__name__,
bus.channel_info))
print('Can Logger (Started on {})\n'.format(datetime.now()))
logger = Logger(results.log_file)
try:
while True:
msg = bus.recv(1)
if msg is not None:
logger(msg)
except KeyboardInterrupt:
pass
finally:
bus.shutdown()
logger.stop()
def setUp(self):
self.node1 = Bus("test", bustype="virtual", preserve_timestamps=True)
self.node2 = Bus("test", bustype="virtual")