def on_message_received(self, msg):
channel = channel2int(msg.channel)
if channel is None:
channel = self.channel
else:
# Many interfaces start channel numbering at 0 which is invalid
channel += 1
arb_id = msg.arbitration_id
if msg.is_extended_id:
arb_id |= CAN_MSG_EXT
flags = REMOTE_FLAG if msg.is_remote_frame else 0
if not msg.is_rx:
flags |= DIR
can_data = bytes(msg.data)
if msg.is_error_frame:
data = CAN_ERROR_EXT_STRUCT.pack(
channel,
0, # length
0, # flags
0, # ecc
0, # position
len2dlc(msg.dlc),
0, # frame length
arb_id,
0, # ext flags
can_data,
)
self._add_object(CAN_ERROR_EXT, data, msg.timestamp)
elif msg.is_fd:
fd_flags = EDL
if msg.bitrate_switch:
fd_flags |= BRS
if msg.error_state_indicator:
fd_flags |= ESI
data = CAN_FD_MSG_STRUCT.pack(
channel,
flags,
len2dlc(msg.dlc),
arb_id,
0,
0,
fd_flags,
len(can_data),
can_data,
)
self._add_object(CAN_FD_MESSAGE, data, msg.timestamp)
else:
data = CAN_MSG_STRUCT.pack(channel, flags, msg.dlc, arb_id,
can_data)
self._add_object(CAN_MESSAGE, data, msg.timestamp)
def send(self, msg, timeout=None):
msgType = PCAN_MESSAGE_EXTENDED.value if msg.is_extended_id else PCAN_MESSAGE_STANDARD.value
if msg.is_remote_frame:
msgType |= PCAN_MESSAGE_RTR.value
if msg.is_error_frame:
msgType |= PCAN_MESSAGE_ERRFRAME.value
if msg.is_fd:
msgType |= PCAN_MESSAGE_FD.value
if msg.bitrate_switch:
msgType |= PCAN_MESSAGE_BRS.value
if msg.error_state_indicator:
msgType |= PCAN_MESSAGE_ESI.value
if self.fd:
# create a TPCANMsg message structure
if platform.system() == 'Darwin':
CANMsg = TPCANMsgFDMac()
else:
CANMsg = TPCANMsgFD()
# configure the message. ID, Length of data, message type and data
CANMsg.ID = msg.arbitration_id
CANMsg.DLC = len2dlc(msg.dlc)
CANMsg.MSGTYPE = msgType
# copy data
for i in range(msg.dlc):
CANMsg.DATA[i] = msg.data[i]
log.debug("Data: %s", msg.data)
log.debug("Type: %s", type(msg.data))
result = self.m_objPCANBasic.WriteFD(self.m_PcanHandle, CANMsg)
else:
# create a TPCANMsg message structure
if platform.system() == 'Darwin':
CANMsg = TPCANMsgMac()
else:
CANMsg = TPCANMsg()
# configure the message. ID, Length of data, message type and data
CANMsg.ID = msg.arbitration_id
CANMsg.LEN = msg.dlc
CANMsg.MSGTYPE = msgType
# if a remote frame will be sent, data bytes are not important.
if not msg.is_remote_frame:
# copy data
for i in range(CANMsg.LEN):
CANMsg.DATA[i] = msg.data[i]
log.debug("Data: %s", msg.data)
log.debug("Type: %s", type(msg.data))
result = self.m_objPCANBasic.Write(self.m_PcanHandle, CANMsg)
if result != PCAN_ERROR_OK:
raise PcanError("Failed to send: " +
self._get_formatted_error(result))
def send(self, msg, timeout=None):
msg_id = msg.arbitration_id
if msg.is_extended_id:
msg_id |= xldefine.XL_MessageFlagsExtended.XL_CAN_EXT_MSG_ID.value
flags = 0
# If channel has been specified, try to send only to that one.
# Otherwise send to all channels
mask = self.channel_masks.get(msg.channel, self.mask)
if self.fd:
if msg.is_fd:
flags |= xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_EDL.value
if msg.bitrate_switch:
flags |= xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_BRS.value
if msg.is_remote_frame:
flags |= xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_RTR.value
message_count = 1
MsgCntSent = ctypes.c_uint(1)
XLcanTxEvent = xlclass.XLcanTxEvent()
XLcanTxEvent.tag = xldefine.XL_CANFD_TX_EventTags.XL_CAN_EV_TAG_TX_MSG.value
XLcanTxEvent.transId = 0xFFFF
XLcanTxEvent.tagData.canMsg.canId = msg_id
XLcanTxEvent.tagData.canMsg.msgFlags = flags
XLcanTxEvent.tagData.canMsg.dlc = len2dlc(msg.dlc)
for idx, value in enumerate(msg.data):
XLcanTxEvent.tagData.canMsg.data[idx] = value
xldriver.xlCanTransmitEx(self.port_handle, mask, message_count,
MsgCntSent, XLcanTxEvent)
else:
if msg.is_remote_frame:
flags |= xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_REMOTE_FRAME.value
message_count = ctypes.c_uint(1)
xl_event = xlclass.XLevent()
xl_event.tag = xldefine.XL_EventTags.XL_TRANSMIT_MSG.value
xl_event.tagData.msg.id = msg_id
xl_event.tagData.msg.dlc = msg.dlc
xl_event.tagData.msg.flags = flags
for idx, value in enumerate(msg.data):
xl_event.tagData.msg.data[idx] = value
xldriver.xlCanTransmit(self.port_handle, mask, message_count,
xl_event)
def send(self, msg, timeout=None):
msg_id = msg.arbitration_id
if msg.id_type:
msg_id |= vxlapi.XL_CAN_EXT_MSG_ID
flags = 0
# If channel has been specified, try to send only to that one.
# Otherwise send to all channels
mask = self.channel_masks.get(msg.channel, self.mask)
if self.fd:
if msg.is_fd:
flags |= vxlapi.XL_CAN_TXMSG_FLAG_EDL
if msg.bitrate_switch:
flags |= vxlapi.XL_CAN_TXMSG_FLAG_BRS
if msg.is_remote_frame:
flags |= vxlapi.XL_CAN_TXMSG_FLAG_RTR
message_count = 1
MsgCntSent = ctypes.c_uint(1)
XLcanTxEvent = vxlapi.XLcanTxEvent()
XLcanTxEvent.tag = vxlapi.XL_CAN_EV_TAG_TX_MSG
XLcanTxEvent.transId = 0xffff
XLcanTxEvent.tagData.canMsg.canId = msg_id
XLcanTxEvent.tagData.canMsg.msgFlags = flags
XLcanTxEvent.tagData.canMsg.dlc = len2dlc(msg.dlc)
for idx, value in enumerate(msg.data):
XLcanTxEvent.tagData.canMsg.data[idx] = value
vxlapi.xlCanTransmitEx(self.port_handle, mask, message_count,
MsgCntSent, XLcanTxEvent)
else:
if msg.is_remote_frame:
flags |= vxlapi.XL_CAN_MSG_FLAG_REMOTE_FRAME
message_count = ctypes.c_uint(1)
xl_event = vxlapi.XLevent()
xl_event.tag = vxlapi.XL_TRANSMIT_MSG
xl_event.tagData.msg.id = msg_id
xl_event.tagData.msg.dlc = msg.dlc
xl_event.tagData.msg.flags = flags
for idx, value in enumerate(msg.data):
xl_event.tagData.msg.data[idx] = value
vxlapi.xlCanTransmit(self.port_handle, mask, message_count,
xl_event)
def on_message_received(self, msg):
channel = channel2int(msg.channel)
if channel is None:
channel = self.channel
else:
# Many interfaces start channel numbering at 0 which is invalid
channel += 1
arb_id = msg.arbitration_id
if msg.is_extended_id:
arb_id |= CAN_MSG_EXT
flags = REMOTE_FLAG if msg.is_remote_frame else 0
data = bytes(msg.data)
if msg.is_error_frame:
data = CAN_ERROR_EXT_STRUCT.pack(channel,
0, # length
0, # flags
0, # ecc
0, # position
len2dlc(msg.dlc),
0, # frame length
arb_id,
0, # ext flags
data)
self._add_object(CAN_ERROR_EXT, data, msg.timestamp)
elif msg.is_fd:
fd_flags = EDL
if msg.bitrate_switch:
fd_flags |= BRS
if msg.error_state_indicator:
fd_flags |= ESI
data = CAN_FD_MSG_STRUCT.pack(channel, flags, len2dlc(msg.dlc),
arb_id, 0, 0, fd_flags, msg.dlc, data)
self._add_object(CAN_FD_MESSAGE, data, msg.timestamp)
else:
data = CAN_MSG_STRUCT.pack(channel, flags, msg.dlc, arb_id, data)
self._add_object(CAN_MESSAGE, data, msg.timestamp)
def send(self, msg, timeout=None):
msg_id = msg.arbitration_id
if msg.is_extended_id:
msg_id |= vxlapi.XL_CAN_EXT_MSG_ID
flags = 0
# If channel has been specified, try to send only to that one.
# Otherwise send to all channels
mask = self.channel_masks.get(msg.channel, self.mask)
if self.fd:
if msg.is_fd:
flags |= vxlapi.XL_CAN_TXMSG_FLAG_EDL
if msg.bitrate_switch:
flags |= vxlapi.XL_CAN_TXMSG_FLAG_BRS
if msg.is_remote_frame:
flags |= vxlapi.XL_CAN_TXMSG_FLAG_RTR
message_count = 1
MsgCntSent = ctypes.c_uint(1)
XLcanTxEvent = vxlapi.XLcanTxEvent()
XLcanTxEvent.tag = vxlapi.XL_CAN_EV_TAG_TX_MSG
XLcanTxEvent.transId = 0xffff
XLcanTxEvent.tagData.canMsg.canId = msg_id
XLcanTxEvent.tagData.canMsg.msgFlags = flags
XLcanTxEvent.tagData.canMsg.dlc = len2dlc(msg.dlc)
for idx, value in enumerate(msg.data):
XLcanTxEvent.tagData.canMsg.data[idx] = value
vxlapi.xlCanTransmitEx(self.port_handle, mask, message_count, MsgCntSent, XLcanTxEvent)
else:
if msg.is_remote_frame:
flags |= vxlapi.XL_CAN_MSG_FLAG_REMOTE_FRAME
message_count = ctypes.c_uint(1)
xl_event = vxlapi.XLevent()
xl_event.tag = vxlapi.XL_TRANSMIT_MSG
xl_event.tagData.msg.id = msg_id
xl_event.tagData.msg.dlc = msg.dlc
xl_event.tagData.msg.flags = flags
for idx, value in enumerate(msg.data):
xl_event.tagData.msg.data[idx] = value
vxlapi.xlCanTransmit(self.port_handle, mask, message_count, xl_event)
def _build_xl_can_tx_event(msg: Message) -> xlclass.XLcanTxEvent:
msg_id = msg.arbitration_id
if msg.is_extended_id:
msg_id |= xldefine.XL_MessageFlagsExtended.XL_CAN_EXT_MSG_ID
flags = 0
if msg.is_fd:
flags |= xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_EDL
if msg.bitrate_switch:
flags |= xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_BRS
if msg.is_remote_frame:
flags |= xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_RTR
xl_can_tx_event = xlclass.XLcanTxEvent()
xl_can_tx_event.tag = xldefine.XL_CANFD_TX_EventTags.XL_CAN_EV_TAG_TX_MSG
xl_can_tx_event.transId = 0xFFFF
xl_can_tx_event.tagData.canMsg.canId = msg_id
xl_can_tx_event.tagData.canMsg.msgFlags = flags
xl_can_tx_event.tagData.canMsg.dlc = len2dlc(msg.dlc)
xl_can_tx_event.tagData.canMsg.data = tuple(msg.data)
return xl_can_tx_event
