def run(self):
global frames
global frameCounts
global lastFramesByID
frames = []
frameCounts = {}
lastFrameByID = {}
startTime = getts()
lastRefresh = startTime
lastErrorCheck = startTime
while not self._abort:
# Check for bus errors once per second
# if (getts()-lastErrorCheck) > 1.0:
# lastErrorCheck = getts()
# status_response = self._canusb.get_status_flags()
# print status_response
# if len(status_response) > 2:
# # status is 'F' followed by 2 bytes of hexadecimal BCD that represent the 8 bit status
# status = (int(chr(status_response[1]),16) << 4) + int(chr(status_response[2]),16)
# if status > 0:
# status_message = ""
# rxFifoFull = status & 0x01
# if rxFifoFull > 0:
# status_message += " (RX Fifo full) "
# txFifoFull = status & 0x02
# if txFifoFull > 0:
# status_message += " (TX Fifo full) "
# errorWarning = status & 0x04
# if errorWarning > 0:
# status_message += " (Error Warning) "
# dataOverrun = status & 0x08
# if dataOverrun > 0:
# status_message += " (Data Overrun) "
# errorPassive = status & 0x20
# if errorPassive > 0:
# status_message += " (Error Passive) "
# arbitrationLost = status & 0x40
# if arbitrationLost > 0:
# status_message += " (Arbitration Lost) "
# busError = status & 0x80
# if busError > 0:
# status_message += " (Bus Error) "
# print "Bus status changed: 0x%x %s" % (status, status_message)
# Check whether it is time to send scheduled frames
# and insert scheduled frames in the tx queue
if 0 == len(self._tx_frames):
for f in self._tx_scheduled_frames:
self._tx_frames.appendleft(f)
try:
# is it time to send a scheduled frame
if len(self._tx_frames) > 0:
# send any available frame, this will also read incoming frames
f = self._tx_frames.pop()
# r = self._canusb.transmit_frame(f)
# print "Send Frame ",str(f)
# print type(f.rtr)
# print "f.rtr",f.rtr
if f.rtr == 0:
tempframe = can.Frame(
f.msg_id,
f.ndata, [
f.data[0], f.data[1], f.data[2], f.data[3],
f.data[4], f.data[5], f.data[6], f.data[7]
],
frame_type=can.FrameType.DataFrame,
is_extended_id=f.xtd)
elif f.rtr == 1:
tempframe = can.Frame(
f.msg_id,
f.ndata, [
f.data[0], f.data[1], f.data[2], f.data[3],
f.data[4], f.data[5], f.data[6], f.data[7]
],
frame_type=can.FrameType.RemoteFrame,
is_extended_id=f.xtd)
self._canusb.send(tempframe)
# print "pop a frame"
else:
# poll if there are no frames to send
# r = self._canusb.poll()
# print "poll a frame"
pass
# except lawicel_canusb.CANUSBError, e:
except Exception, e:
# re-raise error if it's not timeout
# if str(e).find("timeout") < 0:
# raise
# else:
# continue
print e
print "There is some error"
rawframe = self._canusb.recv_buff(8192)
# rxfifoLen = self._canusb.get_rxfifo_len()
rxfifoLen = len(rawframe)
self._lock.acquire()
if rxfifoLen != 0:
for i in range(0, rxfifoLen):
# f = self._canusb.get_rx_frame()
tempf = rawframe[i]
# print "Get a Frame ",str(tempf)
f = CANMessage.CANFrame(msg_id=(tempf.id), xtd=tempf.is_extended_id, \
rtr=tempf.frame_type, ndata=tempf.dlc, \
data=(tempf.data[0],tempf.data[1],tempf.data[2],tempf.data[3],\
tempf.data[4],tempf.data[5],tempf.data[6],tempf.data[7]) )
print "f ", str(f)
frames.append(f)
if f.get_msg_id() not in frameCounts:
frameCounts[f.get_msg_id()] = 1
else:
frameCounts[
f.get_msg_id()] = frameCounts[f.get_msg_id()] + 1
lastFramesByID[f.get_msg_id()] = f
self._lock.release()
# notify that new frames have been received if a callback
# was provided
# Only notify 5 times/s or every 100 frames to avoid
# over-loading the UI thread with events
if rxfifoLen != 0:
if (self._callback != None) and ((len(frames) % 100 == 0) or (
(getts() - lastRefresh) > 0.2)):
self._callback(len(frames))
lastRefresh = getts()
try:
r = c.poll()
except CANUSBError, e:
# re-raise error if it's not timeout
if str(e).find("timeout") < 0:
raise
l = c.get_rxfifo_len()
for i in range(0, l):
f = c.get_rx_frame()
print f
count = count + 1
if count > 10:
strcount = str(i + count)
databytes = map(ord, strcount)
f = CANMessage.CANFrame(102, 1, 0, len(databytes),
tuple([b for b in databytes]))
c.transmit_frame(f)
# if count >= 500:
# duration = time.time()-startTime
# rate = float(count) / duration
# print "received %d frames in %f s (%f frames/s)" % (count, duration, rate)
# startTime = time.time()
# count = 0;
except KeyboardInterrupt:
pass
finally:
c.close_channel()