async def send_until(self, frames: typing.Iterable[_media.DataFrame],
monotonic_deadline: float) -> int:
del monotonic_deadline # Unused
if self._closed:
raise pyuavcan.transport.ResourceClosedError
if self._raise_on_send_once:
self._raise_on_send_once, ex = None, self._raise_on_send_once
assert isinstance(ex, Exception)
raise ex
frames = list(frames)
assert len(
frames
) > 0, 'Interface constraint violation: empty transmission set'
assert min(
map(lambda x: len(x.data),
frames)) >= 1, 'CAN frames with empty payload are not valid'
# The media interface spec says that it is guaranteed that the CAN ID is the same across the set; enforce this.
assert len(set(
map(lambda x: x.identifier,
frames))) == 1, 'Interface constraint violation: nonuniform ID'
timestamp = pyuavcan.transport.Timestamp.now()
# Broadcast across the virtual bus we're emulating here.
for p in self._peers:
if p is not self:
# Unconditionally clear the loopback flag because for the other side these are
# regular received frames, not loopback frames.
p._receive(
_media.TimestampedDataFrame(identifier=f.identifier,
data=f.data,
format=f.format,
loopback=False,
timestamp=timestamp)
for f in frames)
# Simple loopback emulation with acceptance filtering.
self._receive(
_media.TimestampedDataFrame(identifier=f.identifier,
data=f.data,
format=f.format,
loopback=True,
timestamp=timestamp) for f in frames
if f.loopback)
return len(frames)
def inject_received(self, frames: typing.Iterable[_media.DataFrame]) -> None:
timestamp = pyuavcan.transport.Timestamp.now()
self._receive(_media.TimestampedDataFrame(identifier=f.identifier,
data=f.data,
format=f.format,
loopback=f.loopback,
timestamp=timestamp)
for f in frames)
def _parse_native_frame(source: bytes,
loopback: bool,
timestamp: pyuavcan.transport.Timestamp) \
-> typing.Optional[_media.TimestampedDataFrame]:
header_size = _FRAME_HEADER_STRUCT.size
ident_raw, data_length, _flags = _FRAME_HEADER_STRUCT.unpack(
source[:header_size])
if (ident_raw & _CAN_RTR_FLAG) or (
ident_raw
& _CAN_ERR_FLAG): # Unsupported format, ignore silently
_logger.debug('Frame dropped: id_raw=%08x', ident_raw)
return None
frame_format = _media.FrameFormat.EXTENDED if ident_raw & _CAN_EFF_FLAG else _media.FrameFormat.BASE
data = source[header_size:header_size + data_length]
assert len(data) == data_length
ident = ident_raw & _CAN_EFF_MASK
return _media.TimestampedDataFrame(identifier=ident,
data=bytearray(data),
format=frame_format,
loopback=loopback,
timestamp=timestamp)