def device_init(self, rx_handle):
"""
生成一些操作对象:
实例化TX
实例化RX
:return:
"""
# 获取配置文件中的配置信息 -s
canAppName, channels, bitrate = self.get_params_from_config()
# 获取配置文件中的配置信息 -e
# 回调，实例化RX VectorBus，接收总线上的报文 -s
bus_rx = VectorBus(channel=channels[1],
app_name=canAppName,
bitrate=bitrate)
listeners = [
rx_handle # rx的回调
]
notifier = can.Notifier(bus_rx, listeners)
# 回调，实例化RX VectorBus，接收总线上的报文 -e
# 实例化TX VectorBus（需要重新实例化） -s
bus_tx = VectorBus(channel=channels[0],
app_name=canAppName,
bitrate=bitrate)
bus_tx.reset() # activate channel
# 实例化TX VectorBus（需要重新实例化） -e
return bus_tx, bus_rx, notifier
def __init__(self):
isotp_params = {
'stmin':
0, # Will request the sender to wait 32ms between consecutive frame. 0-127ms or 100-900ns with values from 0xF1-0xF9
'blocksize':
0, # Request the sender to send 8 consecutives frames before sending a new flow control message
'wftmax':
0, # Number of wait frame allowed before triggering an error
#'ll_data_length' : 8, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
'll_data_length':
16, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
'tx_padding':
0xCC, # Will pad all transmitted CAN messages with byte 0x00. None means no padding
'rx_flowcontrol_timeout':
1000, # Triggers a timeout if a flow control is awaited for more than 1000 milliseconds
'rx_consecutive_frame_timeout':
1000, # Triggers a timeout if a consecutive frame is awaited for more than 1000 milliseconds
'squash_stmin_requirement':
False, # When sending, respect the stmin requirement of the receiver. If set to True, go as fast as possible.
'can_fd': True,
'tx_data_min_length': 8,
'max_frame_size': 6000
}
self.exit_requested = False
#self.bus = VectorBus(channel='0', bitrate=500000)
self.bus = VectorBus(channel='0', bitrate=500000, fd=True)
addr = isotp.Address(isotp.AddressingMode.NormalFixed_29bits,
source_address=0x10,
target_address=0xF1)
self.stack = isotp.CanStack(self.bus,
address=addr,
params=isotp_params,
error_handler=self.my_error_handler)
class ThreadedApp:
def __init__(self):
isotp_params = {
'stmin': 0,
'blocksize': 0,
'wftmax': 0,
'll_data_length': 64,
'tx_padding': 0xCC,
'rx_flowcontrol_timeout': 1000,
'rx_consecutive_frame_timeout': 1000,
'squash_stmin_requirement': False,
'can_fd': True,
'tx_data_min_length': 8,
'max_frame_size': 65535
}
self.exit_requested = False
#self.bus = VectorBus(channel='0', bitrate=500000)
self.bus = VectorBus(channel='0', bitrate=500000, fd=True)
addr = isotp.Address(isotp.AddressingMode.NormalFixed_29bits,
source_address=0xF1,
target_address=0x10)
self.stack = isotp.CanStack(self.bus,
address=addr,
params=isotp_params,
error_handler=self.my_error_handler)
def start(self):
self.exit_requested = False
self.thread = threading.Thread(target=self.thread_task)
self.thread.start()
def stop(self):
self.exit_requested = True
if self.thread.isAlive():
self.thread.join()
def send(self, msg):
self.stack.send(msg)
def my_error_handler(self, error):
logging.warning('IsoTp error happened : %s - %s' %
(error.__class__.__name__, str(error)))
def thread_task(self):
while self.exit_requested == False:
self.stack.process() # Non-blocking
#time.sleep(self.stack.sleep_time()) # Variable sleep time based on state machine state
time.sleep(
0.001) # Variable sleep time based on state machine state
def shutdown(self):
self.stop()
self.bus.shutdown()
def __init__(self, channel):
"""Open connection with Vector hardware on selected channel,
channel is 0 based"""
xcp_rx_id = 0x1CE9F827
can_filters = [{"can_id": 0x1CE9F827, "can_mask": 0x0, "extended": True}]
self.bus = VectorBus(channel=[channel], app_name='CANoe', can_filters=can_filters)
# can_filters = [{"can_id": xcp_rx_id, "can_mask": 0xFFFFFFFF, "extended": True}]
# self.bus.set_filters(can_filters)
# self.reader = can.BufferedReader()
self.notifier = can.Notifier(self.bus, [can.BufferedReader()])
def __init__(self, channel):
conn = sqlite3.connect('main.db')
self.c = conn.cursor()
self.xcp_tx_id = 0xE927F8
# configure logging settings
logging.basicConfig(level=logging.DEBUG,
format=' %(asctime)s - %(levelname)s- %(message)s')
'''Open connection with Vector hardware, configure channel'''
can.rc['interface'] = 'vector'
can.rc['channel'] = 0
can.rc['bitrate'] = 500000
self.bus = VectorBus(channel=[channel], app_name='CANoe')
def __init__(self, parent):
self.parent = parent
self.bus = None
self.Repro_numTotal = 0
self.Repro_num = 0
self.Repro_completeflag = False
self.statusText = ''
self.Func_addr = None
self.Func_stack = None
self.Func_conn = None
self.Phys_addr = None
self.Phys_stack = None
self.Phys_conn = None
# Vector Bus
try:
self.bus = VectorBus(channel=0,
app_name='SANY SJB Reprogram',
bitrate=250000) # Link Layer (CAN protocol)
except:
self.set_statusText(
color='red',
text='CAN Open fail. Check the vector Hardware Configuration.')
else:
udsoncan.setup_logging('logging.conf')
self.set_statusText(color='green', text='CAN Open Success.')
self.parent.canOpenSuccess()
def connect_bus(channel, filters=None):
'''Open connect with Vector hardware, configure channel'''
can.rc['interface'] = 'vector'
can.rc['channel'] = 0
can.rc['bitrate'] = 500000
bus = VectorBus(channel=[channel], can_filters=filters, app_name='CANoe')
logging.debug('Bus object created for ' + bus.channel_info)
return bus
def __init__(self):
isotp_params = {
'stmin' : 0,
'blocksize' : 4,
'wftmax' : 0,
'll_data_length' : 8,
'tx_padding' : 0xCC,
'rx_flowcontrol_timeout' : 1000,
'rx_consecutive_frame_timeout' : 1000,
'squash_stmin_requirement' : False,
'can_fd' : False,
'tx_data_min_length' : 8
}
self.exit_requested = False
#self.bus = VectorBus(channel='0', bitrate=500000)
self.bus = VectorBus(channel='0', bitrate=500000, fd=True)
addr = isotp.Address(isotp.AddressingMode.NormalFixed_29bits, source_address=0xF1, target_address=0x10)
self.stack = isotp.CanStack(self.bus, address=addr, params=isotp_params, error_handler=self.my_error_handler)
def Send_p(self):
load_layer('can')
conf.contribs['CANSocket'] = {'use-python-can' : True}
load_contrib('cansocket')
from can.interfaces.vector import VectorBus
socket = CANSocket(iface=VectorBus(0, bitrate=1000000))
packet = CAN(identifier=0x123, data=b'01020304')
socket.send(packet)
rx_packet = socket.recv()
socket.sr1(packet)
class DoCan:
def __init__(self, channel):
"""Open connection with Vector hardware on selected channel,
channel is 0 based"""
xcp_rx_id = 0x1CE9F827
can_filters = [{"can_id": 0x1CE9F827, "can_mask": 0x0, "extended": True}]
self.bus = VectorBus(channel=[channel], app_name='CANoe', can_filters=can_filters)
# can_filters = [{"can_id": xcp_rx_id, "can_mask": 0xFFFFFFFF, "extended": True}]
# self.bus.set_filters(can_filters)
# self.reader = can.BufferedReader()
self.notifier = can.Notifier(self.bus, [can.BufferedReader()])
def connect(self):
xcp_tx_id = 0xE927F8
xcp_connect = can.Message(arbitration_id=xcp_tx_id, dlc=8, extended_id=True,
data=[0xFF, 0, 0, 0, 0, 0, 0, 0])
self.bus.send(xcp_connect)
def print_latest(self):
msg = self.notifier.listeners[0].get_message()
print('from latest {}'.format(msg))
def cyclic_thread(self, ID):
my_lock = threading.Lock()
pto_data = [0]
pto_msg = can.Message(arbitration_id=ID, dlc=1, extended_id=True, data=pto_data)
task = can.broadcastmanager.ThreadBasedCyclicSendTask(self.bus, my_lock, pto_msg, .01)
task.start()
return task
@staticmethod
def modify(thread):
pto_data = [1]
pto_msg = can.Message(arbitration_id=0x18fef0fe, dlc=1, extended_id=True, data=pto_data)
thread.modify_data(pto_msg)
from can.interfaces.vector import VectorBus
from udsoncan.connections import PythonIsoTpConnection
from udsoncan.client import Client
import isotp
# Refer to isotp documentation for full details about parameters
isotp_params = {
'stmin' : 32, # Will request the sender to wait 32ms between consecutive frame. 0-127ms or 100-900ns with values from 0xF1-0xF9
'blocksize' : 8, # Request the sender to send 8 consecutives frames before sending a new flow control message
'wftmax' : 0, # Number of wait frame allowed before triggering an error
'll_data_length' : 8, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
'tx_padding' : 0, # Will pad all transmitted CAN messages with byte 0x00. None means no padding
'rx_flowcontrol_timeout' : 1000, # Triggers a timeout if a flow control is awaited for more than 1000 milliseconds
'rx_consecutive_frame_timeout' : 1000, # Triggers a timeout if a consecutive frame is awaited for more than 1000 milliseconds
'squash_stmin_requirement' : False # When sending, respect the stmin requirement of the receiver. If set to True, go as fast as possible.
}
bus = VectorBus(channel=0, bitrate=9600) # Link Layer (CAN protocol)
tp_addr = isotp.Address(isotp.AddressingMode.Normal_11bits, txid=0x123, rxid=0x79D) # Network layer addressing scheme
stack = isotp.CanStack(bus=bus, address=tp_addr, params=isotp_params) # Network/Transport layer (IsoTP protocol)
conn = PythonIsoTpConnection(stack) # interface between Application and Transport layer
with Client(conn, request_timeout=1) as client: # Application layer (UDS protocol)
client.change_session(1)
# ...
isotp_params = {
#'stmin' : 0, # Will request the sender to wait 32ms between consecutive frame. 0-127ms or 100-900ns with values from 0xF1-0xF9
#'blocksize' : 0, # Request the sender to send 8 consecutives frames before sending a new flow control message
#'wftmax' : 0, # Number of wait frame allowed before triggering an error
#'ll_data_length' : 8, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
#'ll_data_length' : 64, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
#'tx_padding' : 0xCC, # Will pad all transmitted CAN messages with byte 0x00. None means no padding
#'rx_flowcontrol_timeout' : 1000, # Triggers a timeout if a flow control is awaited for more than 1000 milliseconds
#'rx_consecutive_frame_timeout' : 1000, # Triggers a timeout if a consecutive frame is awaited for more than 1000 milliseconds
#'squash_stmin_requirement' : False, # When sending, respect the stmin requirement of the receiver. If set to True, go as fast as possible.
#'can_fd' : True,
#'tx_data_min_length' : 8
}
bus = VectorBus(channel=0, bitrate=500000)
addr = isotp.Address(isotp.AddressingMode.NormalFixed_29bits,
source_address=0xF1,
target_address=0x10)
stack = isotp.CanStack(bus, address=addr, params=isotp_params)
#stack.send(b'\x01\x02\x03\x04\x05\x06\x07')
stack.send(
b'\x01\x02\x03\x04\x05\x06\x07\x08\x09\x10\x01\x02\x03\x04\x05\x06\x07\x08\x09\x10\x01\x02\x03\x04\x05\x06\x07\x08\x09\x10'
)
while stack.transmitting():
stack.process()
time.sleep(0.0001)
bus.shutdown()
class ThreadedApp:
def __init__(self):
isotp_params = {
'stmin':
0, # Will request the sender to wait 32ms between consecutive frame. 0-127ms or 100-900ns with values from 0xF1-0xF9
'blocksize':
0, # Request the sender to send 8 consecutives frames before sending a new flow control message
'wftmax':
0, # Number of wait frame allowed before triggering an error
#'ll_data_length' : 8, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
'll_data_length':
16, # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
'tx_padding':
0xCC, # Will pad all transmitted CAN messages with byte 0x00. None means no padding
'rx_flowcontrol_timeout':
1000, # Triggers a timeout if a flow control is awaited for more than 1000 milliseconds
'rx_consecutive_frame_timeout':
1000, # Triggers a timeout if a consecutive frame is awaited for more than 1000 milliseconds
'squash_stmin_requirement':
False, # When sending, respect the stmin requirement of the receiver. If set to True, go as fast as possible.
'can_fd': True,
'tx_data_min_length': 8,
'max_frame_size': 6000
}
self.exit_requested = False
#self.bus = VectorBus(channel='0', bitrate=500000)
self.bus = VectorBus(channel='0', bitrate=500000, fd=True)
addr = isotp.Address(isotp.AddressingMode.NormalFixed_29bits,
source_address=0x10,
target_address=0xF1)
self.stack = isotp.CanStack(self.bus,
address=addr,
params=isotp_params,
error_handler=self.my_error_handler)
def start(self):
self.exit_requested = False
self.thread = threading.Thread(target=self.thread_task)
self.thread.start()
def stop(self):
self.exit_requested = True
if self.thread.isAlive():
self.thread.join()
def send(self, msg):
self.stack.send(msg)
def my_error_handler(self, error):
logging.warning('IsoTp error happened : %s - %s' %
(error.__class__.__name__, str(error)))
def thread_task(self):
while self.exit_requested == False:
self.stack.process() # Non-blocking
#time.sleep(self.stack.sleep_time()) # Variable sleep time based on state machine state
time.sleep(
0.001) # Variable sleep time based on state machine state
def shutdown(self):
self.stop()
self.bus.shutdown()
'ignore_all_zero_dtc': True,
'dtc_snapshot_did_size':
2, # Not specified in standard. 2 bytes matches other services format.
'server_address_format': None, # 8,16,24,32,40
'server_memorysize_format': None, # 8,16,24,32,40
'data_identifiers': {
0x0200: MyCustomCodecThatShiftBy4,
0xD500: MyCustomCodecHex,
0xFE01: MyCustomCodecHex,
0xDF00: MyCustomCodecHex,
0xd472: MyCustomCodecHex
},
'input_output': {}
}
bus = VectorBus(channel=1, bitrate=500000) # Link Layer (CAN protocol)
tp_addr = isotp.Address(isotp.AddressingMode.Normal_11bits,
txid=0x7e1,
rxid=0x782) # Network layer addressing scheme
stack = isotp.CanStack(
bus=bus, address=tp_addr,
params=isotp_params) # Network/Transport layer (IsoTP protocol)
conn = PythonIsoTpConnection(
stack) # interface between Application and Transport layer
with Client(
conn, request_timeout=1,
config=client_config) as client: # Application layer (UDS protocol)
client.change_session(3)
response = client.request_seed(1)
#client.send_key(2, b'0001')
response = client.read_data_by_identifier(0x0200)
class XcpCommunicator:
def __init__(self, channel):
conn = sqlite3.connect('main.db')
self.c = conn.cursor()
self.xcp_tx_id = 0xE927F8
# configure logging settings
logging.basicConfig(level=logging.DEBUG,
format=' %(asctime)s - %(levelname)s- %(message)s')
'''Open connection with Vector hardware, configure channel'''
can.rc['interface'] = 'vector'
can.rc['channel'] = 0
can.rc['bitrate'] = 500000
self.bus = VectorBus(channel=[channel], app_name='CANoe')
def check_xcp_response(self):
# slave to master:
xcp_rx_id = 0x1CE9F827
# read response
# NOTE: add more sophisticated XCP error reporting using error array
for recvd_msg in self.bus:
if recvd_msg.arbitration_id == xcp_rx_id:
return recvd_msg
def write_xcp(self, message):
self.bus.send(message)
response_message = self.check_xcp_response()
command = hex(message.data[0])
if response_message.data[0] == 0xFF:
# response indicates command succesful
logging.debug('Command: {} Response: Success'.format(command))
elif response_message.data[0] == 0xFE:
# response indicates error, report error
error_code = response_message.data[1]
self.c.execute("SELECT * FROM error_array WHERE error_code=?",
(error_code, ))
error_info = self.c.fetchone()
if error_info is not None:
logging.debug('Command: {} Response: {} {}'.format(
command, error_info[1], error_info[2].strip()))
else:
logging.debug('Command: {} Response: {}'.format(
hex(message.data[0]), hex(response_message.data[1])))
else:
pass
def send_connect(self):
xcp_connect = can.Message(arbitration_id=self.xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xFF, 0, 0, 0, 0, 0, 0, 0])
self.write_xcp(xcp_connect)
def xcp_stop(self):
xcp_stop_daq = can.Message(arbitration_id=self.xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xFE, 0, 0, 0, 0, 0, 0, 0])
self.write_xcp(xcp_stop_daq)
def setup_daq(self, address):
xcp_tx_id = 0xE927F8
self.send_connect()
# This command clears all DAQ lists
xcp_free_daq = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xD6, 0, 0, 0, 0, 0, 0, 0])
self.write_xcp(xcp_free_daq)
# allocate daq lists
daq_count = 1
alloc_daq_array = struct.pack('<Bxhxxxx', 0xD5, daq_count)
xcp_alloc_daq = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=alloc_daq_array)
self.write_xcp(xcp_alloc_daq)
# allocate and assign ODT
daq_list_number = 0
odt_count = 1
alloc_odt_array = struct.pack('<BxhBxxx', 0xD4, daq_list_number,
odt_count)
xcp_alloc_odt = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=alloc_odt_array)
self.write_xcp(xcp_alloc_odt)
# allocate entries and assign to specific ODT in DAQ list
odt_number = 0
number_of_entries = 1
alloc_odt__entry_array = struct.pack('<BxhBBxx', 0xD3, daq_list_number,
odt_number, number_of_entries)
xcp_alloc_odt_entry = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=alloc_odt__entry_array)
self.write_xcp(xcp_alloc_odt_entry)
# configure DAQ lists
# initializes the DAQ list pointer for a subsequent operation with WRITE_DAQ or READ_DAQ.
xcp_set_daq_ptr = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xE2, 0, 0, 0, 0, 0, 0, 0])
self.write_xcp(xcp_set_daq_ptr)
# en_PscActivationState, SLONG length = 4, address = 0x20080CC
bit_offset = 0xFF # normal data element
element_size = 4
address_extension = 0
write_daq_data = struct.pack('<BBBBi', 0xE1, bit_offset, element_size,
address_extension, address)
xcp_write_daq = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=write_daq_data)
self.write_xcp(xcp_write_daq)
xcp_set_daq_list_mode = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xE0, 0, 0, 0, 1, 0, 2, 0])
self.write_xcp(xcp_set_daq_list_mode)
xcp_start_stop_daq_list = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xDE, 2, 0, 0, 0, 0, 0, 0])
self.write_xcp(xcp_start_stop_daq_list)
xcp_start_daq = can.Message(arbitration_id=xcp_tx_id,
dlc=8,
extended_id=True,
data=[0xDD, 1, 0, 0, 0, 0, 0, 0])
self.write_xcp(xcp_start_daq)
def graph_response(self, time_delay):
for i in range(time_delay):
recvd_msg = self.check_xcp_response()
y = struct.unpack('<xIxxx', recvd_msg.data)
#y = (y[0] / 100000)
# plt.scatter(i, y, '-')
# plt.pause(.05)
print(y)
time.sleep(1)