def setup_interfaces():
"""
Sets up the CAN interfaces over socketCan using system messages.
These cannot be set with pyvit or socketCan in python and must be
taken outside to a bash script.
"""
kill_interfaces()
print("Setting up CAN interfaces")
script_interfaces = """
sudo modprobe can
sudo modprobe can-dev
sudo modprobe can-raw
sudo modprobe vcan
sudo ip link set can1 up type can bitrate 250000
sudo ifconfig can1 down
sudo ifconfig can1 txqueuelen 1000
sudo ifconfig can1 up
sudo ip link add dev vcan1 type vcan
sudo ip link set up vcan1
sudo ip link show can1
sudo ip link show vcan1
"""
os.system("bash -c '%s'" % script_interfaces)
global dev
dev = socketcan.SocketCanDev("can1")
sleep(1)
def open_CAN_connection(self):
print('Opening CAN socket')
try:
self.dev = socketcan.SocketCanDev("can0")
self.dev.start()
except:
print('Could not open SocketCAN port')
def initCAN_UDSInterface(candevice,
tx_id,
rx_id,
extended_id=False,
timeout=2):
''' CAN Hardware für Steuergerät tx_id aktivieren'''
dev = socketcan.SocketCanDev(candevice)
disp = Dispatcher(dev, single_process=False)
uds_i = UDSInterface(disp,
tx_id,
rx_id,
extended_id=extended_id,
functional_timeout=timeout)
disp.start()
return disp, uds_i
def updateBitrate(self, bitrate):
"""
Updates the bitrate of the SocketCAN interface (if possible).
:param bitrate: The desired bitrate in bit/s
:return: A boolean value indicating success of updating the bitrate value
"""
# Physical CAN or virtual CAN ?
if not self.VCAN:
# Put interface down first so the new bitrate can be applied
cmd = "ip link set " + self.ifaceName + " down"
process = subprocess.Popen(cmd.split(),
stdout=subprocess.PIPE,
stderr=subprocess.PIPE)
output, error = process.communicate()
# prepare cmd for next call
cmd = "ip link set " + self.ifaceName + \
" up type can bitrate " + str(bitrate)
else:
cmd = "ip link set up " + self.ifaceName
process = subprocess.Popen(cmd.split(),
stdout=subprocess.PIPE,
stderr=subprocess.PIPE)
output, error = process.communicate()
if output.decode("utf-8") == "" and error.decode("utf-8") == "":
if self.VCAN:
self.bitrate = -1
else:
self.bitrate = bitrate
self.iface = socketcan.SocketCanDev(self.ifaceName)
self.iface.start()
return True
else:
CANData.logger.error(error.decode("utf-8"))
return False
def __init__(self, ifaceName, bitrate=500000):
"""
This method initializes the pyvit CAN interface using the passed parameters and the start() method.
Please note the active-flag which protects the object from being deleted while being in use.
:param ifaceName: Name of the interface as displayed by ``ifconfig -a``
:param bitrate: Desired bitrate of the interface
"""
self.ifaceName = ifaceName
self.VCAN = self.checkVCAN()
self.bitrate = bitrate if not self.VCAN else -1
self.iface = socketcan.SocketCanDev(ifaceName)
self.updateBitrate(bitrate)
#: 100 ms read timeout for async reads (see :func:`readPacketAsync`)
self.timeout = 0.1
self.active = False
self.iface.start()
from pyvit import can
from pyvit.hw import socketcan
dev = socketcan.SocketCanDev(
"vcan0") # /dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0
dev.set_bitrate(500000)
dev.start()
speed = pedal_pos = 0
while True:
frame = dev.recv()
if frame.arb_id == 0x257: # SG_ UIspeed_signed257 : 12|12@1+ (0.08,-40) [-40|287.6] "KPH" Receiver
d1 = frame.data[2]
d2 = frame.data[1] / 16
speed = int((d1 * 16 + d2) * 0.08 - 40)
if frame.arb_id == 0x118: # SG_ PedalPosition118 : 32|8@1+ (0.4,0) [0|100] "%" Receiver
d3 = frame.data[4]
pedal_pos = int(d3 * 0.4)
info = 'Speed:{:3d} km/h PedalPos:{:3d} %'.format(speed, pedal_pos)
print(info, end='\r', flush=True)
from pyvit import can
from pyvit.hw import socketcan
dev = socketcan.SocketCanDev("vcan0")
dev.start()
frame = can.Frame(0)
frame.data = [0] * 8
while True:
dev.send(frame)
def init():
global dev
dev = socketcan.SocketCanDev(iface)
dev.start()
return dev
from pyvit.file import jsondb
from pyvit.hw import socketcan
parser = jsondb.JsonDbParser()
b = parser.parse('examples/example_db.json')
dev = socketcan.SocketCanDev('vcan0')
dev.start()
while True:
frame = dev.recv()
signals = b.parse_frame(frame)
if signals:
for s in signals:
print(s)