def testReceivingLongMessage(self):
node = j1939.Node(self.bus, j1939.NodeName(0), [0x42, 0x01])
data = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
pgn = j1939.PGN(
reserved_flag=True,
pdu_specific=j1939.constants.DESTINATION_ADDRESS_GLOBAL)
arbitration_id = j1939.ArbitrationID(pgn=pgn, source_address=0x01)
m_out = j1939.PDU(arbitration_id=arbitration_id, data=data)
otherbus = j1939.Bus(channel=can_interface)
attempts = 0
while attempts < 5:
m_in = otherbus.recv(timeout=0.5)
if m_in is not None: break
# send a long message
self.bus.send(m_out)
attempts += 1
self.assertIsNotNone(
m_in,
'Should receive messages on can bus when sending long message')
self.assertIsInstance(m_in, j1939.PDU)
self.assertListEqual(m_in.data, m_out.data)
otherbus.shutdown()
def send_j1939():
bus = j1939.Bus(channel='vcan0')
node1 = j1939.Node(bus, j1939.NodeName(0), [0x01])
node2 = j1939.Node(bus, j1939.NodeName(0), [0x42])
bus.j1939_notifier.listeners.append(node1)
bus.j1939_notifier.listeners.append(node2)
pgn = j1939.PGN(reserved_flag=True,
pdu_specific=j1939.constants.DESTINATION_ADDRESS_GLOBAL)
arbitration_id = j1939.ArbitrationID(pgn=pgn, source_address=0x01)
msg = j1939.PDU(arbitration_id=arbitration_id, data=[0x10, 0x20, 0x30])
sleep(1)
node1.start_address_claim()
sleep(1)
try:
bus.send(msg)
print("Message sent on {}".format(bus.channel_info))
except can.CanError:
print("Message NOT sent")
sleep(1)
bus.flush_tx_buffer()
bus.shutdown()
def set_packet_types(self, value):
'''value bit 1 - slope, bit 2 - angular rate, bit 3 - accelerometer'''
arbitration_id = j1939.ArbitrationID(priority=6,
pgn=65366,
source_address=128)
m = j1939.PDU(arbitration_id=arbitration_id, data=[128, value])
self.bus.send(m)
def testReceivingLongMessage(self):
data = [1, 2, 3, 4, 5, 6, 7, 8]
pgn = j1939.PGN(
reserved_flag=True,
pdu_specific=j1939.constants.DESTINATION_ADDRESS_GLOBAL)
arbitration_id = j1939.ArbitrationID(pgn=pgn, source_address=0x01)
m_out = j1939.PDU(arbitration_id=arbitration_id, data=data)
otherbus = j1939.Bus(channel=can_interface)
# The otherbus might miss messages if we send them before its receive
# thread is running, so we wait here
sleep(0.50)
node = j1939.Node(otherbus, j1939.NodeName(0), [0x42, 0x01])
try:
attempts = 0
while attempts < 3:
m_in = otherbus.recv(timeout=2)
if m_in is not None:
break
# send a long message
self.bus.send(m_out)
attempts += 1
self.assertIsNotNone(m_in,
'Should receive sent messages on J1939 Bus')
self.assertIsInstance(m_in, j1939.PDU)
self.assertListEqual(m_in.data, m_out.data)
finally:
otherbus.shutdown()
def testSendingJ1939Message(self):
# this version puts the message through the network
arbitration_id = j1939.ArbitrationID(pgn=65259)
m = j1939.PDU(arbitration_id=arbitration_id, data=bytearray(b'abc123'))
logging.debug("writing message: {}".format(m))
self.bus.send(m)
logging.debug("message written")
def set_lpf_filter(self, gyro_hz, accel_hz):
'''value bit 1 - slope, bit 2 - angular rate, bit 3 - accelerometer'''
arbitration_id = j1939.ArbitrationID(priority=6,
pgn=65367,
source_address=128)
m = j1939.PDU(arbitration_id=arbitration_id,
data=[128, gyro_hz, accel_hz])
self.bus.send(m)
def mod_bank0(self):
# algorithm reset, save config, hardware bits, software bits, status, packet rate, packet type, digital filter]
# original array
# pdus_array = [ 80, 81, 82, 83, 84, 85, 86, 87]
pdus_array = [100, 101, 102, 103, 104, 105, 106, 107]
arbitration_id = j1939.ArbitrationID(priority=6, pgn=65520)
m = j1939.PDU(arbitration_id=arbitration_id, data=pdus_array)
self.bus.send(m)
def set_orientation(self, value):
arbitration_id = j1939.ArbitrationID(priority=6, pgn=65368)
value_msb = 0xFF00 & value
value_msb = value_msb >> 8
value_lsb = 0x00FF & value
m = j1939.PDU(arbitration_id=arbitration_id,
data=[128, value_msb, value_lsb])
print(m)
self.bus.send(m)
def get_config(self, pgn):
pdu_format = 0xFF00 & pgn
pdu_format = pdu_format >> 8
pdu_specific = 0x00FF & pgn
print(pdu_format)
print(pdu_specific)
arbitration_id = j1939.ArbitrationID(priority=6, pgn=60159)
m = j1939.PDU(arbitration_id=arbitration_id,
data=[24, pdu_format, pdu_specific])
self.bus.send(m)
def testTooLongAMessage(self):
data = bytes([random.randrange(0, 2**8 - 1) for b in range(1786)])
with self.assertRaises(AssertionError):
j1939.PDU(arbitration_id=self.arbitration_id, data=data)
def testMessageWithList(self):
data = [1, 4, 123, 35]
m = j1939.PDU(arbitration_id=self.arbitration_id, data=data)
self.assert_correct_message_data(m, data)
def testMessageWithByteArray(self):
data_as_bytearray = bytearray(b'abc123')
m = j1939.PDU(arbitration_id=self.arbitration_id,
data=data_as_bytearray)
self.assert_correct_message_data(m, data_as_bytearray)
def testMessageWithBytes(self):
data_as_bytes = b'abc123'
m = j1939.PDU(arbitration_id=self.arbitration_id, data=data_as_bytes)
self.assert_correct_message_data(m, data_as_bytes)
def testCreateMessage(self):
self.m = j1939.PDU(arbitration_id=self.arbitration_id)
def generate_long_messages(arbitration_id):
for l in list(range(10)) + [100, 1000, 1784, 1785]:
data = bytearray([random.randrange(0, 2**8 - 1) for b in range(l)])
m = j1939.PDU(arbitration_id=arbitration_id, data=data)
yield m, data
def set_odr_mod(self, odr_setting):
#arbitration_id = j1939.ArbitrationID(priority=6, pgn=65365, source_address=128)
arbitration_id = j1939.ArbitrationID(priority=6, pgn=65385)
m = j1939.PDU(arbitration_id=arbitration_id, data=[128, odr_setting])
self.bus.send(m)
def save_settings(self):
arbitration_id = j1939.ArbitrationID(priority=6, pgn=65361)
m = j1939.PDU(arbitration_id=arbitration_id, data=[0, 128])
print(m)
self.bus.send(m)
