def receive(self, interface):
"""
receive -
receive CAN frame
"""
self.check_interface_range(interface)
if self.port[interface] is None:
raise Exception(
"Port number {0} is not configured".format(interface))
info = komodo_drv.km_can_info_t()
komodo_pkt = komodo_drv.km_can_packet_t()
data_in = array('B', '\0' * 8)
komodo_rc = 0
rc = 1
self.lock.acquire()
komodo_rc, info, komodo_pkt, data_in = komodo_drv.km_can_read(
self.port[interface], data_in)
self.lock.release()
if komodo_rc:
# pkt.can_id = komodo_pkt.id
# pkt.dlc = komodo_pkt.dlc
# pkt.data = data_in
# flags = (pkt.extend_addr << EXTENDED_CAN_ID_LEN) | (pkt.remote_req << CAN_ID_RTR_BIT)
# pkt.is_extended = pkt.extend_addr
# pkt.rtr_f = pkt.remote_req
# rc = 0
return globals.canBusFrame(
komodo_pkt.id, komodo_pkt.dlc, data_in,
(komodo_pkt.extend_addr << globals.EXTENDED_CAN_ID_LEN) |
(komodo_pkt.remote_req << globals.CAN_ID_RTR_BIT))
return str(rc)
def get_frame(self, interface, timeout_sec=60):
self._check_interface_range(interface)
if not self._is_power_up:
raise Exception("Could not get frame - CAN Port is not powered up")
if self._port[interface] is None:
raise Exception(
"Could not get frame - Port number {0} is not configured".
format(interface))
info = komodo_drv.km_can_info_t()
pkt = komodo_drv.km_can_packet_t()
ret = 0
data_in = array('B', '\0' * 8)
start_time = time.time()
# When a frame is received info.status changes to 0 and info.events should be 0.
while ((info.status != 0) or (info.events != 0)):
ret, info, pkt, data_in = komodo_drv.km_can_read(
self._port[interface], data_in)
# log.debug("Inside Komodo read loop - status={0}, events={1}, id={2}, dlc={3}".format(info.status, info.events, pkt.id, pkt.dlc))
if (time.time() - start_time > timeout_sec):
raise Exception(
"Get frame didn't receive any frame for {} seconds".format(
timeout_sec))
# can_frame = canbus_manager.CanFrame(pkt.id, pkt.extend_addr, pkt.remote_req, pkt.dlc, data_in.tolist())
return can_frame
def transmit(self, interface, can_frame):
self.check_interface_range(interface)
if not self.is_power_up:
raise Exception(
"Could not send frame - CAN Port is not powered up")
if self.port[interface] is None:
raise Exception(
"Could not send frame - Port number {0} is not configured".
format(interface))
pkt = komodo_drv.km_can_packet_t()
pkt.id = can_frame.can_id
pkt.dlc = can_frame.dlc
pkt.extend_addr = can_frame.ide_f
pkt.remote_req = can_frame.rtr_f
# Convert data of type list to array for the komodo driver
data = array('B', can_frame.data)
self.lock.acquire()
ret, bytes = komodo_drv.km_can_write(self.port[interface], interface,
0, pkt, data)
self.lock.release()
if ret < 0:
raise Exception("Could not send frame, error {0}".format(ret))