def write_car_event_to_can_packet(car: Vehicle, event_list: CarEvent):
pkt_list = []
for event in event_list:
if event.ID == CarEvent.CAR_EVENT_FREE:
continue
data = car.dbc_data.simple_msg_encode(event.ID, event.value)
# extend to 8 bytes by padding zero
data = data + '00' * (8 -
car.dbc_data.get_msg_length_in_byte(event.ID))
byte0, byte1, byte2, byte3, byte4, byte5, byte6, byte7 = \
int(data[0:2], 16), \
int(data[2:4], 16), \
int(data[4:6], 16), \
int(data[6:8], 16), \
int(data[8:10], 16), \
int(data[10:12], 16), \
int(data[12:14], 16), \
int(data[14:], 16)
can_payload = \
struct.pack('<8B', byte0, byte1, byte2, byte3,
byte4, byte5, byte6, byte7)
pkt = CAN(identifier=event.ID, length=len(data), data=can_payload)
pkt.time = event.timestamp
pkt_list.append(pkt)
wrpcap("can_packet.pcap", pkt_list)
return
def recv(self):
msg = self.iface.recv(timeout=1)
if msg is None:
raise CANSocketTimeoutElapsed
frame = CAN(identifier=msg.arbitration_id,
length=msg.dlc,
data=bytes(msg.data))
if msg.is_error_frame:
frame.flags |= 0x1
if msg.is_remote_frame:
frame.flags |= 0x2
if msg.is_extended_id:
frame.flags |= 0x4
frame.time = msg.timestamp
return frame
def recv(self):
msg = self.iface.recv(timeout=1)
if msg is None:
raise CANSocketTimeoutElapsed
frame = CAN(identifier=msg.arbitration_id,
length=msg.dlc,
data=bytes(msg.data))
if msg.is_error_frame:
frame.flags |= 0x1
if msg.is_remote_frame:
frame.flags |= 0x2
if msg.is_extended_id:
frame.flags |= 0x4
frame.time = msg.timestamp
return frame
def recv(self, x=CAN_FRAME_SIZE):
try:
pkt, sa_ll = self.ins.recvfrom(x)
except BlockingIOError: # noqa: F821
warning("Captured no data, socket in non-blocking mode.")
return None
except socket.timeout:
warning("Captured no data, socket read timed out.")
return None
except OSError:
# something bad happened (e.g. the interface went down)
warning("Captured no data.")
return None
# need to change the byteoder of the first four bytes,
# required by the underlying Linux SocketCAN frame format
pkt = struct.pack("<I12s", *struct.unpack(">I12s", pkt))
len = pkt[4]
canpkt = CAN(pkt[:len + 8])
canpkt.time = get_last_packet_timestamp(self.ins)
if self.remove_padding:
return canpkt
else:
return canpkt / Padding(pkt[len + 8:])
def recv(self, x=CAN_FRAME_SIZE):
try:
pkt, sa_ll = self.ins.recvfrom(x)
except BlockingIOError: # noqa: F821
warning("Captured no data, socket in non-blocking mode.")
return None
except socket.timeout:
warning("Captured no data, socket read timed out.")
return None
except OSError:
# something bad happened (e.g. the interface went down)
warning("Captured no data.")
return None
# need to change the byteoder of the first four bytes,
# required by the underlaying Linux SocketCAN frame format
pkt = struct.pack("<I12s", *struct.unpack(">I12s", pkt))
len = pkt[4]
canpkt = CAN(pkt[:len + 8])
canpkt.time = get_last_packet_timestamp(self.ins)
if self.remove_padding:
return canpkt
else:
return canpkt / Padding(pkt[len + 8:])