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()
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()
