def __init__(self, tx_id, rx_id, connection_mode=0, channel=None):
"""Sets up a CAN bus instance with a filter and a notifier.
:param tx_id:
Id for outgoing messages
:param rx_id:
Id for incoming messages
:param connection_mode:
Connection mode for the xcp-protocol. Only set if a custom mode is needed.
:param channel:
The channel for the can adapter. Only needed for Usb2can on Windows.
"""
self._reader = BufferedReader()
if platform.system() == "Windows":
from can.interfaces.usb2can import Usb2canBus
self._bus = Usb2canBus(channel=channel)
else:
from can.interface import Bus
self._bus = Bus()
self._bus.set_filters([{
"can_id": rx_id,
"can_mask": rx_id + 0x100,
"extended": False
}])
self._notifier = Notifier(self._bus, [self._reader])
self._tx_id = tx_id
self._rx_id = rx_id
self._conn_mode = connection_mode
def setup_can(self, async_loop=None):
for i in range(len(Cfg.Can.CAN_CHS)):
# can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000, data_bitrate=2000000, fd=True)
bus = Bus(bustype=Cfg.Can.CAN_BUS,
channel=Cfg.Can.CAN_CHS[i],
fd=True)
self.log.info(f'Can message recv on {bus.channel_info}')
# filter
bus.set_filters(Cfg.Can.CAN_FILTERS[i])
self._buses.append(bus)
self._notifier = Notifier(self._buses, [
self.parse_msg,
])
def __init__(self, dmm_parametername = None) -> None:
os.system("sudo /sbin/ip link set can0 up type can bitrate 250000")
self._can_monitor = CanBusMonitor()
self._bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=250000)
self._notifier = Notifier(self._bus, [self._can_monitor])
print("") #clear the line
# power supply is required
if not os.path.exists('/dev/ttyUSBrd6018'):
raise ValueError('No Riden RD6018 Detected')
powersupply_port = '/dev/ttyUSBrd6018'
self._powersupply = Riden(powersupply_port)
self._powersupply_monitor = RidenMonitor(rd60xx=self._powersupply)
self._powersupply_monitor.start()
# DMM is optional depending on test
if dmm_parametername:
if not os.path.exists('/dev/ttyUSBut61e'):
raise ValueError('No UT61E Detected')
dmm_port = '/dev/ttyUSBut61e'
self._dmm_monitor = DMMMonitor(dmm_port)
self._dmm_monitor.parametername = dmm_parametername
else:
self._dmm_monitor = None
# binary monitor is required
self._bin_monitor = BinaryMonitor()
# setup logger
self._logger = InstrumentLogger()
self._logger.addinstrument(self._powersupply_monitor)
if self._dmm_monitor:
self._logger.addinstrument(self._dmm_monitor)
self._logger.addinstrument(self._bin_monitor)
self._logger.addinstrument(self._can_monitor)
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 onCallback_receive2(msg):
print("Received: {0} on ID: {1} on anotherBus".format(
list(msg.data), hex(msg.arbitration_id)))
pass
if __name__ == "__main__":
bus = can.interface.Bus('virtualInterface', bustype='virtual')
bus2 = can.interface.Bus('anotherBus', bustype='virtual')
listener = Listener()
listener.on_message_received = onCallback_receive
notifier = Notifier(bus, [listener], 0)
listener2 = Listener()
listener2.on_message_received = onCallback_receive2
notifier2 = Notifier(bus2, [listener2], 0)
a = Uds()
a.send([0x22, 0xF1, 0x8C], responseRequired=False)
b = Uds("bootloader.ini")
b.send([0x22, 0xF1, 0x80], responseRequired=False)
c = Uds("bootloader2.ini")
c.send([0x22, 0xF1, 0x81], responseRequired=False)
try:
def run(self):
need_run = True
while need_run:
bus_notifier = None
poller = None
try:
interface = self.__bus_conf["interface"]
channel = self.__bus_conf["channel"]
kwargs = self.__bus_conf["backend"]
self.__bus = ThreadSafeBus(interface=interface,
channel=channel,
**kwargs)
reader = BufferedReader()
bus_notifier = Notifier(self.__bus, [reader])
log.info("[%s] Connected to CAN bus (interface=%s,channel=%s)",
self.get_name(), interface, channel)
if self.__polling_messages:
poller = Poller(self)
# Poll once to check if network is not down.
# It would be better to have some kind of a ping message to check a bus state.
poller.poll()
# Initialize the connected flag and reconnect count only after bus creation and sending poll messages.
# It is expected that after these operations most likely the bus is up.
self.__connected = True
self.__reconnect_count = 0
while not self.__stopped:
message = reader.get_message()
if message is not None:
# log.debug("[%s] New CAN message received %s", self.get_name(), message)
self.__process_message(message)
self.__check_if_error_happened()
except Exception as e:
log.error("[%s] Error on CAN bus: %s", self.get_name(), str(e))
finally:
try:
if poller is not None:
poller.stop()
if bus_notifier is not None:
bus_notifier.stop()
if self.__bus is not None:
log.debug(
"[%s] Shutting down connection to CAN bus (state=%s)",
self.get_name(), self.__bus.state)
self.__bus.shutdown()
except Exception as e:
log.error(
"[%s] Error on shutdown connection to CAN bus: %s",
self.get_name(), str(e))
self.__connected = False
if not self.__stopped:
if self.__is_reconnect_enabled():
retry_period = self.__reconnect_conf["period"]
log.info(
"[%s] Next attempt to connect will be in %f seconds (%s attempt left)",
self.get_name(), retry_period, "infinite"
if self.__reconnect_conf["maxCount"] is None else
self.__reconnect_conf["maxCount"] -
self.__reconnect_count + 1)
time.sleep(retry_period)
else:
need_run = False
log.info(
"[%s] Last attempt to connect has failed. Exiting...",
self.get_name())
else:
need_run = False
log.info("[%s] Stopped", self.get_name())
class BMSTestFixture:
def __init__(self, dmm_parametername = None) -> None:
os.system("sudo /sbin/ip link set can0 up type can bitrate 250000")
self._can_monitor = CanBusMonitor()
self._bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=250000)
self._notifier = Notifier(self._bus, [self._can_monitor])
print("") #clear the line
# power supply is required
if not os.path.exists('/dev/ttyUSBrd6018'):
raise ValueError('No Riden RD6018 Detected')
powersupply_port = '/dev/ttyUSBrd6018'
self._powersupply = Riden(powersupply_port)
self._powersupply_monitor = RidenMonitor(rd60xx=self._powersupply)
self._powersupply_monitor.start()
# DMM is optional depending on test
if dmm_parametername:
if not os.path.exists('/dev/ttyUSBut61e'):
raise ValueError('No UT61E Detected')
dmm_port = '/dev/ttyUSBut61e'
self._dmm_monitor = DMMMonitor(dmm_port)
self._dmm_monitor.parametername = dmm_parametername
else:
self._dmm_monitor = None
# binary monitor is required
self._bin_monitor = BinaryMonitor()
# setup logger
self._logger = InstrumentLogger()
self._logger.addinstrument(self._powersupply_monitor)
if self._dmm_monitor:
self._logger.addinstrument(self._dmm_monitor)
self._logger.addinstrument(self._bin_monitor)
self._logger.addinstrument(self._can_monitor)
@property
def powersupply(self) -> Riden:
return self._powersupply
@property
def powersupply_monitor(self) -> RidenMonitor:
return self._powersupply_monitor
@property
def dmm_monitor(self) -> DMMMonitor:
return self._dmm_monitor
@property
def can_monitor(self) -> CanBusMonitor:
return self._can_monitor
@property
def bin_monitor(self) -> BinaryMonitor:
return self._bin_monitor
@property
def logger(self) -> InstrumentLogger:
return self._logger
def start(self) -> None:
"""Starts any Instrument threads"""
if self.dmm_monitor:
self.dmm_monitor.start()
def stop(self) -> None:
"""Stops any Instrument threads, stops logging"""
if self.dmm_monitor:
self.dmm_monitor.stop()
self._notifier.remove_listener(self._can_monitor)
self._bus.shutdown()
os.system("sudo /sbin/ip link set can0 down")
class CanProxy:
def __init__(self, on_msg=None):
self.log = logging.getLogger(__name__)
self._status = {'can0': 0, 'can1': 0}
self._buses = []
self._error_count = 0
self._on_msg = on_msg
def on_start(self):
self.init_msg_handler()
self.setup_can()
def on_stop(self):
self._msg_hdl.stop_diag()
self.stop_can()
def setup_can(self, async_loop=None):
for i in range(len(Cfg.Can.CAN_CHS)):
# can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000, data_bitrate=2000000, fd=True)
bus = Bus(bustype=Cfg.Can.CAN_BUS,
channel=Cfg.Can.CAN_CHS[i],
fd=True)
self.log.info(f'Can message recv on {bus.channel_info}')
# filter
bus.set_filters(Cfg.Can.CAN_FILTERS[i])
self._buses.append(bus)
self._notifier = Notifier(self._buses, [
self.parse_msg,
])
def stop_can(self):
self._notifier.stop()
for bus in self._buses:
bus.shutdown()
self._buses.clear()
def init_msg_handler(self):
hdl = MessageHandler()
#self._msg_hdl.start_log()
cfg_path = os.path.join(Cfg.AD_HMI_CFG_DIR, 'can_config.json')
self.log.info(f'Using config: {cfg_path}')
hdl.read_json_file(cfg_path)
hdl.get_message_list()
hdl.initial_display_signal_list()
self._msg_hdl = hdl
def parse_msg(self, msg):
'''
Parse received message
:param msg: (msg.timestamp, msg.channel, msg.arbitration_id, msg.dlc, msg.data, msg.is_error_frame, msg.is_extended_id, msg.is_remote_frame)
:return:
'''
# self.log.debug(msg)
if msg.is_error_frame:
self._error_count += 1
if self._msg_hdl:
rslt = self._msg_hdl.message_analysis(msg)
# print(msg, 'rslt', rslt)
if self._on_msg:
self._on_msg(msg.arbitration_id, rslt)
####################################################################################################################
# Message Sending
####################################################################################################################
def send_msg(self, msg):
'''
:param bus_name: name of the channel, e.g. 'can0', 'can1'
:param msg:
:return:
'''
bus = None
# find the bus
for _bus in self._buses:
if _bus.channel == msg.channel:
bus = _bus
break
try:
if bus:
bus.send(msg)
self.log.info(f'Msg send on {bus.channel_info}, msg: {msg}')
return True
except can.CanError:
self.log.warning(
f'Msg send failed on {bus.channel_info}, msg: {msg}')
return False
def send_periodic_msg(self, bus):
print("Starting to send a message every 200ms. Initial data is zeros")
# msg = can.Message(arbitration_id=0x0cf02200, data=[11, 22, 33, 44, 55, 66])
msg = can.Message(arbitration_id=0x1245, data=[11, 22, 33, 44, 55, 66])
self.task = can.send_periodic(bus, msg, 0.20)
time.sleep(2)
self.task.stop()
print("stopped cyclic send")
def test_send_msg(self):
msg = can.Message(
arbitration_id=0x123,
data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88],
extended_id=False,
is_fd=True,
is_remote_frame=False)
msg.channel = 'can0'
self.send_msg(msg)