listener = can.listen(matches=[canio.Match(0x408)], timeout=.9)
old_bus_state = None
old_count = -1
while True:
bus_state = can.state
if bus_state != old_bus_state:
print(f"Bus state changed to {bus_state}")
old_bus_state = bus_state
message = listener.receive()
if message is None:
print("No messsage received within timeout")
continue
data = message.data
if len(data) != 8:
print(f"Unusual message length {len(data)}")
continue
count, now_ms = struct.unpack("<II", data)
gap = count - old_count
old_count = count
print(f"received message: id={message.id:x} count={count} now_ms={now_ms}")
if gap != 1:
print(f"gap: {gap}")
print("Sending ACK")
can.send(canio.Message(id=0x409, data=struct.pack("<I", count)))
auto_restart=True)
listener = can.listen(matches=[canio.Match(0x409)], timeout=.1)
old_bus_state = None
count = 0
while True:
bus_state = can.state
if bus_state != old_bus_state:
print(f"Bus state changed to {bus_state}")
old_bus_state = bus_state
now_ms = (time.monotonic_ns() // 1_000_000) & 0xffffffff
print(f"Sending message: count={count} now_ms={now_ms}")
message = canio.Message(id=0x408, data=struct.pack("<II", count, now_ms))
while True:
can.send(message)
message_in = listener.receive()
if message_in is None:
print("No ACK received within timeout")
continue
data = message_in.data
if len(data) != 4:
print(f"Unusual message length {len(data)}")
continue
ack_count = struct.unpack("<I", data)[0]
if ack_count == count: