# When using a CAN module, Checksum needs to be recalculated.
request_command = 0
def request_callback(request):
global request_command
request_command = request.command
return request
def reply_callback(reply):
if(request_command != TMCL.COMMANDS["GET_FIRMWARE_VERSION"]):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = uart_tmcl_interface()
module = can_tmcl_interface()
bridge = TMCL_Bridge(host, [{"module":module, "request_callback":request_callback, "reply_callback":reply_callback}])
logger.info("Interfaces initialized.")
while(not(bridge.process())):
pass
logger.info("Closing interfaces ...")
host.close()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")
return request
def reply_callback(reply):
if (request_command != TMCL.COMMANDS["GET_FIRMWARE_VERSION"]):
reply.calculate_checksum()
return reply
logger.info("Initializing interfaces ...")
host = usb_vcp_tmcl_interface()
module = can_tmcl_interface()
bridge = TMCL_Bridge(host, [{
"module": module,
"request_callback": request_callback,
"reply_callback": reply_callback
}])
logger.info("Interfaces initialized.")
while (not (bridge.process(request_callback=request_callback,
reply_callback=reply_callback))):
#logger.debug("Processed request.")
pass
logger.info("Closing interfaces ...")
host.close()
module.close()
logger.info("Interfaces closed.")
logger.info("Bridge stopped.")