コード例 #1
0
ファイル: uds_lib.py プロジェクト: HZC-AND/uds_on_can
    def clear_diagnosic_info(self, id, sub_function=0, fill_data=0x00):
        """
        14 清除诊断信息服务
        parm:
             id->接收方地址(物理地址或功能地址)
             sub_function->子功能(该参数具体类型待定)
             fill_data->数据填充
        return:
             14服务报文帧
        """
        # ALL DTCs
        if sub_function == 0:
            frame = Frame(id_=id,
                          data=[
                              0x04, 0x14, 0xFF, 0xFF, 0xFF, fill_data,
                              fill_data, fill_data
                          ],
                          dlc=8,
                          flags=0)
        # ALL emission-related DTCs
        if sub_function == 1:
            frame = Frame(id_=id,
                          data=[
                              0x04, 0x14, 0x00, 0x00, 0x00, fill_data,
                              fill_data, fill_data
                          ],
                          dlc=8,
                          flags=0)

        return frame
コード例 #2
0
ファイル: uds_lib.py プロジェクト: HZC-AND/uds_on_can
 def read_data_by_did(self, id, DID_dic={}):
     """
     22 通过DID读取数据
     parm:
          id->接收方地址(物理地址或功能地址)
          DID_dic->字典,举例DID_dic = {"VIN":{"DID_high":0xF1,"DID_low":0x90}}
     return:
          22服务报文帧
     """
     if len(DID_dic) < 4:
         i = 0
         DID = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
         for key in DID_dic:
             DID[i] = DID_dic[key]["DID_high"]
             DID[i + 1] = DID_dic[key]["DID_low"]
             i += 2
         frame = Frame(id_=id,
                       data=[
                           len(DID_dic) * 2 + 1, 0x22, DID[0], DID[1],
                           DID[2], DID[3], DID[4], DID[5]
                       ],
                       dlc=8,
                       flags=0)
         return frame
     else:
         # 需要分多帧,还会涉及到流控,有待研究
         pass
コード例 #3
0
 def __send_reset_zero_level_signal(self):
     # COB-id: 0x60A, Byte 1: initiating download, 3 empty bytes, index: 0x2020, sub index: 2
     frame = Frame(id_=1546,
                   data=[int('00101111', 2), 32, 32, 2, 1, 0, 0, 0],
                   dlc=8,
                   flags=0)
     self.channel.write(frame)
コード例 #4
0
    def write_can_message(self, cobid, data, flag=0, timeout=None):
        """Combining writing functions for different |CAN| interfaces
        Parameters
        ----------
        cobid : :obj:`int`
            |CAN| identifier
        data : :obj:`list` of :obj:`int` or :obj:`bytes`
            Data bytes
        flag : :obj:`int`, optional
            Message flag (|RTR|, etc.). Defaults to zero.
        timeout : :obj:`int`, optional
            |SDO| write timeout in milliseconds. When :data:`None` or not
            given an infinit timeout is used.
        """
        if self.__interface == 'Kvaser':
            if timeout is None:
                timeout = 0xFFFFFFFF
            frame = Frame(id_=cobid, data=data, timestamp=None
                          )  #, flags=canlib.MessageFlag.EXT)  #  from tutorial
            self.__ch.writeWait(frame, timeout)  #

        elif self.__interface == 'AnaGate':
            if not self.__ch.deviceOpen:
                self.logger.notice('Reopening AnaGate CAN interface')
            self.__ch.write(cobid, data, flag)
        else:
            msg = can.Message(arbitration_id=cobid,
                              data=data,
                              is_extended_id=False,
                              is_error_frame=False)
            try:
                self.__ch.send(msg, timeout)
            except:  # can.CanError:
                self.logger.error("An Error occurred, The bus is not active")
コード例 #5
0
def sendMessage(threadName, ch, number):
    wb = xw.Book("./uds_test2.xlsx")
    sht = wb.sheets("1_1_DiagAndCommMgtFuncUnit")
    # 初始化开始行数
    i = 11
    # send_data = sht.range("K11").value
    # for n in range(len(send_data)):
    #     send_data[n] = int(send_data[n],16)
    while i < 11 + number:
        if str(r.get("test"), encoding="utf8") == "start":
            if str(r.get("status"),
                   encoding="utf8") == "%s%s" % ("start", str(i)):
                # 向第一个线程传递当前行数值
                r.set("line_number", str(i))
                send_data = sht.range("%s%s" % ("k", str(i))).value
                send_data = send_data.split(" ")
                for n in range(len(send_data)):
                    send_data[n] = int(send_data[n], 16)
                frame = Frame(id_=0x79D,
                              data=[
                                  send_data[0], send_data[1], send_data[2],
                                  send_data[3], send_data[4], send_data[5],
                                  send_data[6], send_data[7]
                              ],
                              dlc=8,
                              flags=0)
                ch.write(frame)
                i = i + 1
                # r.set("test","stop")
    r.set("test", "stop")
コード例 #6
0
def sendMessage(ch,
                frame=Frame(
                    id_=0x79D,
                    data=[0x02, 0x10, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00],
                    dlc=8,
                    flags=0)):
    ch.write(frame)
コード例 #7
0
 def __set_angle_data_interval(self, ms):
     if 0 <= ms < 256:
         # COB-id: 0x60A, Byte 1: initiating download, 2 empty bytes, index: 0x1808, sub index: 5
         frame = Frame(id_=1546,
                       data=[int('00101011', 2), 8, 24, 5, ms, 0, 0, 0],
                       dlc=8,
                       flags=0)
         self.channel.write(frame)
コード例 #8
0
 def setSteerCMD(self, value):
     self.steer = value
     frame = Frame(id_=0x152,
                   data=(self.frame152()).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
     self.ch.write(frame)
     time.sleep(0.001)
コード例 #9
0
 def setBrakeCMD(self, value):
     value = value if value < 30000 else 30000
     self.brake = value
     frame = Frame(id_=0x152,
                   data=(self.frame152()).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
     self.ch.write(frame)
     time.sleep(0.001)
コード例 #10
0
    def write_reg(self, block: Enum, address: int, value: int):
        super().write_reg(block, address, value)
        if value > 32767:
            payload = struct.pack(">biH", block.value, address, value)
        else:
            payload = struct.pack(">bih", block.value, address, value)

        send_frame = Frame(id_=0x0100 + self.can_bus_unit_id, data=payload, dlc=len(payload), flags=0)
        self._hw_interface_can_bus.write(send_frame)
コード例 #11
0
 def setAccelCMD(self, value):
     value = value if value < 2000 else 2000
     self.accel = value
     frame = Frame(id_=0x152,
                   data=(self.frame152()).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
     #print(frame)
     self.ch.write(frame)
     time.sleep(0.001)
コード例 #12
0
 def put_bytes(self, data, timeout_ms):  # protected
     from canlib import canlib, Frame
     view = memoryview(data)
     for i in range(0, len(view), 8):
         try:
             self.__can.writeWait(Frame(id_=self.__message_id,
                                        data=view[i:i + 8]),
                                  timeout=self._put_short_timeout)
         except canlib.CanError:
             break
コード例 #13
0
    def write_block(self, block: Enum, address: int, block_data: np.ndarray):
        super().write_block(block, address, block_data)
        length = len(block_data)
        payload = struct.pack(">biH", block.value, address, length)
        send_frame = Frame(id_=0x0300 + self.can_bus_unit_id, data=payload, dlc=len(payload), flags=0)
        self._hw_interface_can_bus.write(send_frame)
        time.sleep(0.01)

        start_offset = 0
        while start_offset < length:
            data = block_data[start_offset:start_offset + 4]
            wr_data = np.array(data, '>i2')
            wr_data_bytes = wr_data.tobytes()
            # offsets for command are in int indexes
            send_frame = Frame(id_=0x0300 + self.can_bus_unit_id, data=wr_data_bytes, dlc=8, flags=0)
            self._hw_interface_can_bus.write(send_frame)
            start_offset += len(data)
            if start_offset % (64 * 8) == 0:
                time.sleep(0.05)
コード例 #14
0
 def send_receive_sig(self):
     self.toggled = 0
     t = 0.1
     frame = Frame(id_=528,
                   data=bytearray(b'\x00\x00'),
                   flags=canlib.MessageFlag.STD)
     self.ch.write(frame)
     time.sleep(t)
     frame = Frame(id_=528,
                   data=bytearray(b'\x01\x00'),
                   flags=canlib.MessageFlag.STD)
     self.ch.write(frame)
     time.sleep(t)
     frame = Frame(id_=528,
                   data=bytearray(b'\x00\x00'),
                   flags=canlib.MessageFlag.STD)
     self.ch.write(frame)
     time.sleep(1)
     self.toggled = 1
コード例 #15
0
    def process_sdo_write(self, msg, timeout=42):
        """Process a SDO write request.

        Abort transfer if not expedited.

        Parameters
        ----------
        msg : :obj:`list` of :obj:`int`
            CAN data. Must have a length of 8 bytes.
        timeout : :obj:`int`, optional
            SDO timeout in milliseconds
        """

        cmd = msg[0]
        index = int.from_bytes([msg[1], msg[2]], 'little')
        subindex = msg[3]
        n = (cmd >> 2) & 0b11
        datasize = 4 - n
        data = int.from_bytes(msg[4:(4 + datasize)], 'little')
        cobid = coc.COBID.SDO_TX + self.__nodeId
        ret = [0 for i in range(8)]
        # Check if command specifier known
        if cmd not in [0x23, 0x27, 0x2b, 0x2f]:
            self.logger.error('Unkown command specifier')
            ret = self.sdo_abort_message([msg[2], msg[1]], msg[3], SAC.COMMAND)
        # Check if object exists
        elif index not in self.__od:
            self.logger.error('Object does not exist.')
            ret = self.sdo_abort_message([msg[2], msg[1]], msg[3],
                                         SAC.NO_OBJECT)
        # Check if subindex exists
        elif subindex not in self.__od[index]:
            self.logger.error('Subindex does not exist.')
            ret = self.sdo_abort_message([msg[2], msg[1]], msg[3],
                                         SAC.SUBINDEX)
        # Check access attribute
        elif self.__od[index][subindex].attribute in [
                coc.ATTR.RO, coc.ATTR.CONST
        ]:
            self.logger.error('No write access')
            ret = self.sdo_abort_message([msg[2], msg[1]], msg[3], SAC.ACCESS)
        else:
            self.logger.notice(f'Writing value {data:X} on '
                               f'{index:X}:{subindex:X}.')
            self.__od[index][subindex].value = data
            ret[0] = 0x60
            ret[1:4] = msg[1:4]
            ret[4:] = [0 for i in range(4)]
            if index == 0x2000 and subindex in range(1, 5):
                scb = subindex - 1
                self.logger.notice(f'SCB{scb}: Setting connections.')
                for i in range(16):
                    pspp_idx = 0x2200 + scb * 16 + i
                    self.__od[pspp_idx][2].value = bool((data >> i) & 1)
        self.__ch.writeWait(Frame(cobid, ret), timeout)
コード例 #16
0
    def setAngularSpeed(self, value):
        value = value if value < 255 else 255
        self.angular = value << 40
        #self.data = self.andbytes(self.data, (aliveVar << 40).to_bytes(8, byteorder="little", signed=False))

        frame = Frame(id_=0x150,
                      data=(self.angular).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
        #print(frame)
        self.ch.write(frame)
        time.sleep(0.001)
コード例 #17
0
ファイル: kvasercosmos.py プロジェクト: MicrohexHQ/DubSat1
def command():
    while True:
        cmd = s.recv(36)
        frameId = (bytes_to_int(cmd[24:28])-2**29)
        # ch0.writeFrame(id_=frameId,data=bytearray(bytes_to_int(cmd[28:36])))
        print(frameId)
        print(enums.MessageFlag.EXT)
        f = Frame(id_=-2**29+frameId,data=(cmd[28:36]),flags=enums.MessageFlag.EXT)
        print(f.id)
        ch0.write(f)
        print(bytes_to_int((cmd[28:36])))
        sys.stdout.flush()
コード例 #18
0
 def setBrakeCMD(self, value):
     value = value if value < 30000 else 30000
     self.brake = value
     frame = Frame(id_=0x152,
                   data=(self.frame152()).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
     try:
         self.ch.write(frame)
     except:
         self.node.get_logger().fatal("dbw_cmd_node : can send failed")
     time.sleep(0.001)
コード例 #19
0
ファイル: uds_lib.py プロジェクト: HZC-AND/uds_on_can
 def security_access(self, id, sub_function, *key):
     """
     27 安全访问
     这个服务暂时还没想好怎么写
     """
     if sub_function % 2 == 0:  # 发送key
         pass
     else:  # 请求种子
         frame = Frame(
             id_=id,
             data=[0x02, 0x27, sub_function, 0x00, 0x00, 0x00, 0x00, 0x00],
             dlc=8,
             flags=0)
     return frame
コード例 #20
0
 def setSteerCMD(self, value):
     if abs(value) >= 440:
         Hsigned = -1 if value < 0 else 1
         value = Hsigned * 440
     self.steer = value
     frame = Frame(id_=0x152,
                   data=(self.frame152()).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
     try:
         self.ch.write(frame)
     except:
         self.node.get_logger().fatal("dbw_cmd_node : can send failed")
     time.sleep(0.001)
コード例 #21
0
ファイル: uds_lib.py プロジェクト: HZC-AND/uds_on_can
    def security_access_calculate_key(self, id, seed):
        """
        用于通过seed计算key
        """
        # seed_length = len(seed)
        """
        这里写key计算算法
        """
        frame = Frame(id_=id,
                      data=[0x06, 0x27, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00],
                      dlc=8,
                      flags=0)

        return frame
コード例 #22
0
    def setAngularSpeed(self, value):
        value = value if value < 255 else 255
        self.angular = value << 40
        #self.data = self.andbytes(self.data, (aliveVar << 40).to_bytes(8, byteorder="little", signed=False))

        frame = Frame(id_=0x150,
                      data=(self.angular).to_bytes(8,
                                                   byteorder="little",
                                                   signed=False))
        #print(frame)
        try:
            self.ch.write(frame)
        except:
            self.node.get_logger().fatal("dbw_cmd_node : can send failed")
        time.sleep(0.001)
コード例 #23
0
ファイル: uds_lib.py プロジェクト: HZC-AND/uds_on_can
 def send_flow_control_frame(self, id, STmin=0x14):
     """
     发送流控帧
     parm:
          id->接收地址
          STmin->帧最小间隔时间(默认20ms)
     rules:
          ISO15765
     """
     frame = Frame(id_=id,
                   data=[0x30, 0x00, STmin, 0x00, 0x00, 0x00, 0x00, 0x00],
                   dlc=8,
                   flags=0)
     # 发送流控帧
     self.ch.write(frame)
コード例 #24
0
 def __set_slope_level(self, msg):
     try:
         msg = msg.replace(",", ".")
         slope = float(msg.split(":", 1)[1])
         ba = bytearray(struct.pack("f", slope))
         frame = Frame(id_=1546,
                       data=[
                           int('00100011', 2), 32, 32, 1, ba[0], ba[1],
                           ba[2], ba[3]
                       ],
                       dlc=8,
                       flags=0)
         self.channel.write(frame)
     except ValueError:
         pass
コード例 #25
0
    def setGearCMD(self, value):
        cmd = [0, 5, 6, 7]
        if not value in cmd:
            #Rogue Data
            return -1
        #print(value)

        self.gear = value

        frame = Frame(id_=0x152,
                      data=(self.frame152()).to_bytes(8,
                                                      byteorder="little",
                                                      signed=False))
        self.ch.write(frame)
        time.sleep(0.001)
コード例 #26
0
    def AliveSender(self):
        aliveVar = 0
        while True:
            if aliveVar == 256: aliveVar = 0
            self.data_150 += (aliveVar << 8)
            self.data_150 += (self.angular)

            frame = Frame(id_=0x150,
                          data=(self.data_150).to_bytes(8,
                                                        byteorder="little",
                                                        signed=False))
            self.ch.write(frame)
            time.sleep(0.001)
            aliveVar += 1
            #print(frame)
            self.data_150 = 0
コード例 #27
0
 def analysis(self, ID, Bytearry_list, DBC):
     '''
     :param ID:报文ID;
     :param Bytearry_list:bytearry格式的数据列表;
     :param DBC:加载的DBC文件;
     :return:返回一个字典{信号名:数值, ...}
     '''
     signals_value = {}
     # signals_unit = {}
     frame = Frame(id_=ID, data=Bytearry_list)
     Message = DBC.interpret(frame)
     for Signal in Message:
         signals_value.setdefault(
             Signal.name, '{}'.format(Signal.value)
         )  # Signal.phys, Signal.raw, Signal value,Signal.unit
         # signals_unit.setdefault(Signal.name, '{}'.format(Signal.unit))#这个返回信号名和单位{信号名:单位, ...}
     return signals_value  #[signals_value, signals_unit]
コード例 #28
0
    def setGearCMD(self, value):
        cmd = [0, 5, 6, 7]
        if not value in cmd:
            #Rogue Data
            return -1
        #print(value)

        self.gear = value

        frame = Frame(id_=0x152,
                      data=(self.frame152()).to_bytes(8,
                                                      byteorder="little",
                                                      signed=False))
        try:
            self.ch.write(frame)
        except:
            self.node.get_logger().fatal("dbw_cmd_node : can send failed")
        time.sleep(0.001)
コード例 #29
0
ファイル: uds_lib.py プロジェクト: HZC-AND/uds_on_can
    def session(self, id, sub_function=0x01, fill_data=0x00):
        """
        10 会话服务
        parm:
             sub_function->子功能(该参数具体类型待定)
             id->接收方地址(物理地址或功能地址)
             fill_data->数据填充
        return:
             10服务报文帧
        """
        frame = Frame(id_=id,
                      data=[
                          0x02, 0x10, sub_function, fill_data, fill_data,
                          fill_data, fill_data, fill_data
                      ],
                      dlc=8,
                      flags=0)

        return frame
コード例 #30
0
 def read_reg(self, block: Enum, address: int, expected_res: ExpResType):
     super().read_reg(block, address, expected_res)
     payload = struct.pack(">bi", block.value, address)
     send_frame = Frame(id_=0x0200 + self.can_bus_unit_id, data=payload, dlc=len(payload), flags=0)
     self._hw_interface_can_bus.write(send_frame)
     time.sleep(0.1)  # time.sleep(0.01)  # this delay (0.1) is necessary when using long cable (?)
     res = -1
     for retry in range(5):
         try:
             response = self._hw_interface_can_bus.read()
             if response.id == 0x0280 + self.can_bus_unit_id and response.dlc == 2:
                 res = int(response.data[0]) << 8 | int(response.data[1])
                 break
             else:
                 time.sleep(0.01)
         except Exception as ex:
             res = -1
             time.sleep(0.01)
     return np.int16(res)