def send_j1939():
logger.debug("send_j1939, debug")
logger.info("send_j1939, info")
bus = j1939.Bus(channel='can0', bustype='socketcan',timeout=0.1)
node1 = j1939.Node(bus, j1939.NodeName(0), [0x48])
node2 = j1939.Node(bus, j1939.NodeName(0), [0x52])
bus.connect(node1)
bus.connect(node2)
pgn_get = j1939.PGN(reserved_flag=False, data_page_flag=False, pdu_format=0xd9, pdu_specific=17)
data = [0x10, 0x13, 0x11, 0x00, 0x00, 0xe9, 0xff, 0xff]
node1.send_parameter_group(pgn_get, data, destination_device_name=19)
if 0:
pgn = j1939.PGN(reserved_flag=True,
pdu_specific=j1939.DESTINATION_ADDRESS_GLOBAL)
arbitration_id = j1939.ArbitrationID(pgn=pgn, source_address=my_address)
msg = j1939.PDU(arbitration_id=arbitration_id,
data=[0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80])
node1.start_address_claim()
bus.flush_tx_buffer()
bus.shutdown()
def send_pgn(requested_pgn,
data,
channel='can0',
speed=250,
bustype='socketcan',
length=4,
src=0,
dest=0x17,
bus=None,
timeout=10):
countdown = timeout
result = None
keygetFunction = None
if speed == 250:
keygetFunction = security250.SeedToKey
if speed == 500:
keygetFunction = security500.SeedToKey
if not isinstance(requested_pgn, int):
raise ValueError("pgn must be an integer.")
if bus is None:
bus = j1939.Bus(channel=channel,
bustype=bustype,
timeout=0.01,
keygen=keygetFunction)
close = True
else:
close = False
pgn = j1939.PGN()
if requested_pgn < 0xf000:
requested_pgn |= dest
pgn.value = requested_pgn #0xea00 + dest # request_pgn mem-object
aid = j1939.ArbitrationID(pgn=pgn,
source_address=src,
destination_address=dest)
logger.info(data)
pdu = j1939.PDU(timestamp=0.0,
arbitration_id=aid,
data=data,
info_strings=None)
pdu.display_radix = 'hex'
bus.send(pdu)
if close:
bus.shutdown()
if 0: #leaving in miller's if 0
while countdown:
pdu = bus.recv(timeout=1)
if pdu and (pdu.pgn == 0xe800 or pdu.pgn == requested_pgn):
result = list(pdu.data)
break # got what I was waiting for
if pdu:
countdown -= 1
if not result:
raise IOError(" no CAN response")
return result
def request_pgn(requested_pgn, channel='can0', bustype='socketcan', length=4, src=0, dest=0x17, bus=None, timeout=10):
countdown = timeout
result = None
close = False
if not isinstance(requested_pgn, int):
raise ValueError("pgn must be an integer.")
# if bus is None:
# bus = j1939.Bus(channel=channel, bustype=bustype, timeout=0.01)
# close = True
if bus is None:
bus = j1939.Bus(channel=channel, bustype=bustype, timeout=0.01, keygen=security.SeedToKey, broadcast=False)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
pgn = j1939.PGN()
pgn.value = 0xea00 + dest # request_pgn mem-object
aid = j1939.ArbitrationID(pgn=pgn, source_address=src, destination_address=dest)
pgn0 = requested_pgn & 0xff
pgn1 = (requested_pgn >> 8) & 0xff
pgn2 = (requested_pgn >> 16) & 0xff
data = [pgn0, pgn1, pgn2]
pdu = j1939.PDU(timestamp=0.0, arbitration_id=aid, data=data, info_strings=None)
pdu.display_radix='hex'
bus.send(pdu)
maxPdu = 50
while countdown:
pdu = bus.recv(timeout=1)
if pdu and (pdu.pgn == 0xe800 or pdu.pgn == requested_pgn):
result = list(pdu.data)
break # got what I was waiting for
elif pdu:
maxPdu -=1
if maxPdu <= 0:
raise IOError('Bus too busy')
elif pdu is None:
countdown -= 1
else:
raise Exception('WHAT HAPPENED')
if close:
bus.shutdown()
if not result:
raise IOError(" no CAN response")
return result
def get_mem_object(pointer, extension, channel='can0', bustype='socketcan', length=4, src=0, dest=0x17, bus=None, timeout=10):
countdown = timeout
result = None
close = False
if bus is None:
bus = j1939.Bus(channel=channel, bustype=bustype, timeout=0.01, broadcast=False)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
pgn = j1939.PGN()
pgn.value = 0xd900 + dest # Request a DM14 mem-object
aid = j1939.ArbitrationID(pgn=pgn, source_address=src, destination_address=dest)
data = [length, 0x13, pointer, 0x00, 0x00, extension, 0xff, 0xff]
pdu = j1939.PDU(timestamp=0.0, arbitration_id=aid, data=data, info_strings=None)
assert(pdu != None)
pdu.display_radix='hex'
bus.send(pdu)
while countdown:
pdu = bus.recv(timeout=1)
if pdu is not None:
logger.info(pdu)
if pdu.pgn == 0xd700:
value = list(pdu.data)
length = value[0]
if length == 1:
result = value[1]
elif length == 2:
result = (value[2] << 8) + value[1]
elif length == 4:
result = (value[4] << 24) + (value[3] << 16) + (value[2] << 8) + value[1]
else:
result = value[1:]
break # got what I was waiting for
countdown -= 1
if close:
bus.shutdown()
if result is None:
raise IOError(" no CAN response")
return result
import time
import j1939
if __name__ == "__main__":
# code to broadcast a DM1 message at 1 Hz
# 18FECAFE#FFFF00000000FFFF
channel = 'can0'
bustype = 'socketcan'
sourceaddr = 0xFE
destaddr = 0xFF
bus = j1939.Bus(channel=channel,
bustype=bustype,
timeout=0.01,
broadcast=False)
data = [0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF]
pgn = j1939.PGN()
pgn.value = 0xFECA # DM1
aid = j1939.ArbitrationID(pgn=pgn,
source_address=sourceaddr,
destination_address=destaddr)
pdu = j1939.PDU(timestamp=0.0,
arbitration_id=aid,
data=data,
info_strings=None)
while True:
bus.send(pdu)
if args.source is not None:
for src in args.source:
if src.startswith("0x"):
src = int(src[2:], base=16)
filters.append({"source": int(src)})
if args.filter is not None:
filters = json.load(args.filter)
print("Loaded filters from file: ", filters)
print("args.channel : ", args.channel)
print("args.interface: ", args.interface)
print("filter PGN's : ", args.pgn)
print("filter source : ", args.source)
print("filters : ", filters)
bus = j1939.Bus(channel=args.channel, bustype=args.interface, j1939_filters=filters, timeout=0.1)
print("channel info : ", bus.can_bus.channel_info)
log_start_time = datetime.datetime.now()
print('can.j1939 logger started on {}\n'.format(log_start_time))
logger.info('can.j1939 logger started on {}\n'.format(log_start_time))
try:
for msg in bus:
if args.hex_out:
msg.display_radix = 'hex'
print(msg)
logger.info(msg)
except KeyboardInterrupt:
bus.shutdown()
print()
def set_mem_object(pointer,
extension,
value,
channel='can0',
bustype='socketcan',
length=4,
src=0,
dest=0x17,
bus=None,
timeout=10):
countdown = timeout
result = -1
close = False
# only watch for the memory object pgn's
filt = [{'pgn': 0xd800, 'source': dest}, {'pgn': 0xd400, 'source': dest}]
if sys.platform == 'win32':
if bus is None:
bus = j1939.Bus(timeout=0.01,
keygen=security.SeedToKey,
broadcast=None,
name='j1939StartGeneral',
ignoreCanSendError=True,
j1939_filters=filt)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
else:
if bus is None:
bus = j1939.Bus(channel=channel,
bustype=bustype,
timeout=0.01,
keygen=security.SeedToKey,
broadcast=False,
j1939_filters=filt)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
dm14data = [length, 0x15, pointer, 0x00, 0x00, extension, 0xff, 0xff]
dm14pgn = j1939.PGN(pdu_format=0xd9, pdu_specific=dest)
dm14aid = j1939.ArbitrationID(pgn=dm14pgn,
source_address=src,
destination_address=dest)
dm14pdu = j1939.PDU(timestamp=0.0,
arbitration_id=dm14aid,
data=dm14data,
info_strings=None)
dm14pdu.display_radix = 'hex'
bus.send(dm14pdu)
sendBuffer = []
sendBuffer.append(length)
for i in range(0, length):
sendBuffer.append(0)
logger.info("## length=%d, value=%s " % (length, value))
if isinstance(value, int) and length < 8:
if length < 8:
for i in range(0, length):
sendBuffer[i] = (value >> (8 * i)) & 0xff
else:
raise ValueError("Don't know how to send a %d byte integer" %
length)
elif isinstance(value, list):
for i in range(len(value)):
sendBuffer[i + 1] = value[i]
elif isinstance(value, str):
assert (len(value) <= length)
sendBuffer[0] = length + 1
for i in range(len(value)):
sendBuffer[i + 1] = ord(value[i])
else:
raise ValueError("Data type not supported.")
logger.info("## sendBuffer=%s ", sendBuffer)
dm16pgn = j1939.PGN(pdu_format=0xd7, pdu_specific=dest)
dm16aid = j1939.ArbitrationID(pgn=dm16pgn,
source_address=src,
destination_address=dest)
dm16pdu = j1939.PDU(timestamp=0.0, arbitration_id=dm16aid, data=sendBuffer)
dm16pdu.display_radix = 'hex'
logger.info("## PDU=%s ", dm16pdu)
# Wait around for a while looking for the second proceed
proceedCount = 0
while countdown:
countdown -= 1
rcvPdu = bus.recv(2)
if rcvPdu:
rcvPdu.display_radix = 'hex'
logger.debug("received PDU: %s", rcvPdu)
if rcvPdu.pgn == 0xd800:
if rcvPdu.data[0] == 1 and rcvPdu.data[1] == 0x11:
proceedCount += 1
if proceedCount == 2:
bus.send(dm16pdu)
logger.info('Sent %s', dm16pdu)
elif rcvPdu.data[0] == 0 and rcvPdu.data[1] == 0x19:
logger.info("Value Sent")
result = 1
break
elif rcvPdu.data[0] == 0 and rcvPdu.data[1] == 0x1B:
logger.info("Rejected")
result = 0
break
if close:
bus.shutdown()
return result
def set_mem_object(pointer,
extension,
value,
channel='can0',
bustype='socketcan',
length=4,
src=0,
dest=0x17,
speed=250,
bus=None,
timeout=10):
countdown = timeout
result = -1
close = False
logger.debug(
"------------------------------- Set Mem Object: speed={}, security250={}, security500={}"
.format(speed, security250, security500))
keygetFunction = None
if int(speed) == 250:
keygetFunction = security250.SeedToKey
logger.debug(
"PI02f speed=500, keygetFunction={}".format(keygetFunction))
elif int(speed) == 500:
keygetFunction = security500.SeedToKey
logger.debug(
"PI02f speed=500, keygetFunction={}".format(keygetFunction))
else:
logger.debug(
"PI02f speed=Unknown, keygetFunction={}".format(keygetFunction))
pass
logger.debug("------------------------------- keygetFunction={}".format(
keygetFunction))
# only watch for the memory object pgn's
filt = [{'pgn': 0xd800, 'source': dest}, {'pgn': 0xd400, 'source': dest}]
if sys.platform == 'win32':
if bus is None:
bus = j1939.Bus(timeout=0.01,
keygen=keygetFunction,
broadcast=None,
name='j1939StartGeneral',
ignoreCanSendError=True,
j1939_filters=filt)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
else:
if bus is None:
bus = j1939.Bus(channel=channel,
bustype=bustype,
timeout=0.01,
keygen=keygetFunction,
broadcast=False,
j1939_filters=filt)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
pLow = pointer & 0x0000FF
pMid = (pointer >> 8) & 0x0000FF
pHigh = (pointer >> 16) & 0x0000FF
dm14data = [length, 0x15, pLow, pMid, pHigh, extension, 0xff, 0xff]
dm14pgn = j1939.PGN(pdu_format=0xd9, pdu_specific=dest)
dm14aid = j1939.ArbitrationID(pgn=dm14pgn,
source_address=src,
destination_address=dest)
dm14pdu = j1939.PDU(timestamp=0.0,
arbitration_id=dm14aid,
data=dm14data,
info_strings=None)
dm14pdu.display_radix = 'hex'
bus.send(dm14pdu)
sendBuffer = []
#sendBuffer.append(length)
#for i in range(0, length):
# sendBuffer.append(0)
logger.info("---------------## length=%d, value=%s " % (length, value))
if isinstance(value, int) and length < 8:
logger.info("-----value")
if length < 8:
sendBuffer.append(length)
for i in range(0, length):
sendBuffer.append((value >> (8 * i)) & 0xff)
else:
raise ValueError("Don't know how to send a %d byte integer" %
length)
elif isinstance(value, list):
# if sending a list use the exact list elements as the data
logger.info("-----list of {} byte(s)".format(len(value)))
sendBuffer.append(len(value))
for i in range(len(value)):
logger.info("---------------## b[{}]=0x{:02x}".format(i, value[i]))
sendBuffer.append(value[i])
elif isinstance(value, str):
logger.info("-----str, value={}, len(value)={}. length={}".format(
value, len(value), length))
assert (len(value) <= length)
sendBuffer.append(length + 1)
for i in range(len(value)):
sendBuffer.append(ord(value[i]))
else:
raise ValueError("Data type not supported.")
logger.info("---------------## sendBuffer=%s ", sendBuffer)
dm16pgn = j1939.PGN(pdu_format=0xd7, pdu_specific=dest)
dm16aid = j1939.ArbitrationID(pgn=dm16pgn,
source_address=src,
destination_address=dest)
dm16pdu = j1939.PDU(timestamp=0.0, arbitration_id=dm16aid, data=sendBuffer)
dm16pdu.display_radix = 'hex'
logger.info("----------------## PDU=%s ", dm16pdu)
# Wait around for a while looking for the second proceed
while countdown:
countdown -= 1
rcvPdu = bus.recv(timeout=0.25)
if rcvPdu:
rcvPdu.display_radix = 'hex'
logger.debug("received PDU: %s", rcvPdu)
if rcvPdu.pgn == 0xd800:
if rcvPdu.data[0] == 1 and rcvPdu.data[1] == 0x11:
if rcvPdu.data[6] == 0xff and rcvPdu.data[7] == 0xff:
bus.send(dm16pdu)
logger.info('Sent %s', dm16pdu)
elif rcvPdu.data[0] == 0 and rcvPdu.data[1] == 0x19:
logger.info("Value Sent")
result = 1
break
elif rcvPdu.data[0] == 0 and rcvPdu.data[1] == 0x1B:
logger.info("Rejected")
result = 0
break
if close:
bus.shutdown()
return result
def get_mem_object(pointer,
extension,
channel='can0',
bustype='socketcan',
length=4,
src=0,
dest=0x17,
bus=None,
speed=250,
timeout=10):
logger.info("{}: begin".format(inspect.stack()[0][3]))
countdown = timeout
result = None
close = False
if bus is None:
bus = j1939.Bus(channel=channel,
bustype=bustype,
timeout=0.01,
broadcast=False)
node = j1939.Node(bus, j1939.NodeName(), [src])
bus.connect(node)
close = True
pgn = j1939.PGN()
pgn.value = 0xd900 + dest # Request a DM14 mem-object
aid = j1939.ArbitrationID(pgn=pgn,
source_address=src,
destination_address=dest)
# Get the 3 bytes of the pointer and put them in the correct locations
pointer0 = pointer & 0xff
pointer1 = (pointer & 0xff00) >> 8
pointer2 = (pointer & 0xff0000) >> 16
data = [length, 0x13, pointer0, pointer1, pointer2, extension, 0xff, 0xff]
pdu = j1939.PDU(timestamp=0.0,
arbitration_id=aid,
data=data,
info_strings=None)
assert (pdu != None)
pdu.display_radix = 'hex'
logger.info("{}: Sending Request PDU: {}".format(inspect.stack()[0][3],
pdu))
bus.send(pdu)
#
# Wait for the response
#
while countdown:
pdu = bus.recv(timeout=1)
if pdu is not None:
logger.info("{}: Received PDU: {}".format(inspect.stack()[0][3],
pdu))
logger.info(pdu)
if pdu.pgn == 0xd700:
value = list(pdu.data)
length = value[0]
if length == 1:
result = value[1]
elif length == 2:
result = (value[2] << 8) + value[1]
elif length == 4:
result = (value[4] << 24) + (value[3] << 16) + (
value[2] << 8) + value[1]
else:
result = value[1:]
#logger.info("{}: d700 received, result: {}/0x{:08x}".format(inspect.stack()[0][3], result, result))
break # got what I was waiting for
countdown -= 1
if close:
logger.info("{}: Closing Bus".format(inspect.stack()[0][3]))
bus.shutdown()
if result is None:
raise IOError(" no CAN response")
return result
ch.setLevel(lLevel)
formatter = logging.Formatter('%(asctime)s | %(name)20s | %(threadName)20s | %(levelname)5s | %(message)s')
chformatter = logging.Formatter('%(name)25s | %(threadName)10s | %(levelname)5s | %(message)s')
fh.setFormatter(formatter)
ch.setFormatter(chformatter)
logger.addHandler(ch)
logger.addHandler(fh)
if __name__ == "__main__":
#from can.interfaces.interface import *
filters = [{'pgn':0xd900},{'pgn':0xd800},{'pgn':0xd700},{'pgn':0xd400}]
bus = j1939.Bus(channel='can0', bustype='socketcan', j1939_filters=filters, timeout=0.01)
node = j1939.Node(bus, j1939.NodeName(), [19])
bus.connect(node)
logger.info("bus: %s"
node.start_address_claim()
node.claim_address(18)
time.sleep(5)
pgn = j1939.PGN()
pgn.value = 0xd900
logger.info("pgn: ", pgn)
aid = j1939.ArbitrationID(priority=7, pgn=pgn, source_address=0x19, destination_address=0x17)
logger.info("aid: ", aid)
if pgn.is_destination_specific:
