def transmit_can(device):
msg = ics.SpyMessage()
msg.ArbIDOrHeader = 0x01 # CAN Arbitration ID
msg.Data = (1, 2, 3, 4, 5, 6, 7, 8) # Data Bytes go here
msg.NetworkID = ics.NETID_HSCAN # First channel of CAN on the device
# msg parameter here can also be a tuple of messages
ics.transmit_messages(device, msg)
def transmit_can(device):
msg = ics.SpyMessage()
msg.ArbIDOrHeader = 0xFFFFFF # CAN Arbitration ID
msg.Data = (1, 2, 3, 4, 5, 6, 7, 8) # Data Bytes go here
msg.NetworkID = ics.NETID_HSCAN # First channel of CAN on the device
msg.NumberBytesHeader = 4
msg.StatusBitField = ics.SPY_STATUS_XTD_FRAME
# msg parameter here can also be a tuple of messages
ics.transmit_messages(device, msg)
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=None):
if not self.dev.IsOpen:
raise CanError("bus not open")
flags = 0
if msg.is_extended_id:
flags |= ics.SPY_STATUS_XTD_FRAME
if msg.is_remote_frame:
flags |= ics.SPY_STATUS_REMOTE_FRAME
message = ics.SpyMessage()
message.ArbIDOrHeader = msg.arbitration_id
message.NumberBytesData = len(msg.data)
message.Data = tuple(msg.data)
message.StatusBitField = flags
message.StatusBitField2 = 0
message.NetworkID = self.network
try:
ics.transmit_messages(self.dev, message)
except ics.RuntimeError:
raise ICSApiError(*ics.get_last_api_error(self.dev))
def _test_misc(self, state):
arbs = (0x203, 0x204, 0x205, 0x206, 0x201, 0x202)
for arb in arbs:
message = ics.SpyMessage()
message.ArbIDOrHeader = arb
message.NetworkID = ics.NETID_DEVICE
message.Data = (state,)
self.assertEqual(ics.transmit_messages(self.dev1, message), None)
# Wait for the report message to get sent
time.sleep(0.2)
self.assertFalse(ics.get_error_messages(self.dev1))
self.assertFalse(ics.get_error_messages(self.dev2))
messages, error_count = ics.get_messages(self.dev2, False, 0.5)
self.assertEqual(error_count, 0)
self.assertNotEqual(len(messages), 0)
self.assertEqual(messages[-1].ArbIDOrHeader, 0x100)
for i, arb in enumerate(arbs):
#print(messages[-1].Data, messages[-1].Data[1]>>i & 1)
self.assertEqual(messages[-1].Data[1]>>i & 1, state, \
"MISC%d PIN state is wrong" % (arb-0x200))
self.assertFalse(ics.get_error_messages(self.dev1))
self.assertFalse(ics.get_error_messages(self.dev2))
def testCAN(self):
message = ics.SpyMessage()
message.ArbIDOrHeader = 0xFF
message.Data = (1,2,3,4,5,6,7,8)
for network in (ics.NETID_HSCAN, ics.NETID_MSCAN, ics.NETID_HSCAN2, \
ics.NETID_HSCAN3, ics.NETID_LSFTCAN, ics.NETID_SWCAN):
message.NetworkID = network
try:
self.assertTrue(ics.transmit_messages(self.dev1, message) == None, network)
except ics.RuntimeError as ex:
print(ex, network)
raise ex
self.assertFalse(ics.get_error_messages(self.dev1))
self.assertFalse(ics.get_error_messages(self.dev2))
messages, error_count = ics.get_messages(self.dev1, False, 0.1)
self.assertEqual(error_count, 0)
self.assertEqual(len(messages), 1)
self.assertEqual(message.ArbIDOrHeader, messages[0].ArbIDOrHeader)
self.assertEqual(message.NetworkID, messages[0].NetworkID)
self.assertEqual(message.Data, messages[0].Data)
self.assertFalse(ics.get_error_messages(self.dev1))
self.assertFalse(ics.get_error_messages(self.dev2))
#!/usr/bin/python
import ics, sys, getopt, re, string
import random, time, sched, threading
linenm = 0
startime = time.time()
schd = sched.scheduler(time.time, time.sleep)
devices = ics.find_devices()
msg = ics.SpyMessage()
pre_miltm = 0.0
def tx_random_message(chnl=0,msgid=None,tmfm=None):
global linenm, startime, devices, msg, msgdtstr, msgcyc, pre_miltm
linenm += 1
msg.NetworkID = ics.NETID_HSCAN
txch = msg.NetworkID
if msgid == None:
msg.ArbIDOrHeader = random.randint(0,0x7FF)# message ID
else:
msg.ArbIDOrHeader = msgid
if msgdtstr != None :
msgtxstr = re.sub(r'[^0-9a-fA-F]',random.choice(string.hexdigits),msgdtstr)
else:
msgtxstr = ''.join(random.choice(string.hexdigits) for i in range(random.randint(0,0x07)))
if len(msgtxstr) > 12:
msgdt = (int('07'), int(msgtxstr[:2],16), int(msgtxstr[2:4],16), int(msgtxstr[4:6],16), int(msgtxstr[6:8],16),
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")
