def initialize2(num_taxel, MTB_ID, num_taxel2, MTB_ID2, baud):
for j in range(0, len(MTB_ID)):
for k in range(0, num_taxel):
cif_array[j, k] = ntcan.CIF(net, RxQS) #configure parameters
cif_array[j, k].baudrate = baud # set baudrate 0 = 1MBaud
cmsg_array[j, k] = ntcan.CMSG()
for j in range(len(MTB_ID), len(MTB_ID) + len(MTB_ID2)):
for k in range(0, num_taxel2):
cif_array[j, k] = ntcan.CIF(net, RxQS) #configure parameters
cif_array[j, k].baudrate = baud # set baudrate 0 = 1MBaud
cmsg_array[j, k] = ntcan.CMSG()
def initialize(num_taxel, MTB_ID, baud):
for j in range(0, len(MTB_ID)):
for k in range(0, num_taxel):
cif_array[j, k] = ntcan.CIF(net, RxQS) #configure parameters
cif_array[j, k].baudrate = baud # set baudrate 0 = 1MBaud
cmsg_array[j, k] = ntcan.CMSG() #for
# validate the configuration & check the CAN-USB availability
print(cif_array[0, 0])
print(cif_array[0, 0].net)
print(cif_array[0, 0].tx_timeout)
print(cif_array[0, 0].rx_timeout)
print(cif_array[0, 0].features)
util.print2lines()
print "cmsg lost: %d" % (cmsg_array[0, 0].msg_lost)
print "cmsg2 %s" % (cmsg_array[0, 0])
def ntcan_init():
# cif = ntcan.CIF( net, RxQueueSize, RxTimeOut, TxQueueSize, TxTimeOut, Flags)
# RxQS, TxQS = 1 for real time application
# Initialise cif using a loop
for j in range(board_start_num, board_start_num + num_of_board):
for k in range(0, num_of_taxel):
cif_array[j, k] = ntcan.CIF(net, RxQS)
# CAN-API-Description & set baudrate 0 = 1MBaud
cif_array[j, k].baudrate = 0
# Create CAN-Message structure
cmsg_array[j, k] = ntcan.CMSG()
# Target ID of the MTB & trigger the MTB to return the data
# canWrite...(cif, can-id, len, data ...)
cmsg_array[j, 0].canWriteByte(cif_array[j, 0], (id_base | j), 2, 7, 0)
print('\nSetting up ESD-CAN...')
print(cif_array[board_start_num, 0])
print(('Cmsg: %s') % (cmsg_array[board_start_num, 0]))
print(('Cmsg lost: %d') % (cmsg_array[board_start_num, 0].msg_lost))
def ntcan_init():
# cif = ntcan.CIF( net, RxQueueSize, RxTimeOut, TxQueueSize, TxTimeOut, Flags)
# RxQS, TxQS = 1 for real time application
net = 0 # Logical CAN Network [0, 255]
RxQS = 1 # RxQueueSize [0, 10000]
RxTO = 2000 # RxTimeOut in Millisconds
TxQS = 1 # TxQueueSize [0, 10000]
TxTO = 1000 # TxTimeOut in Millseconds
# Initialise cif using a loop
for j in range(board_start_num, board_start_num + num_of_board):
for k in range(0, num_of_taxel):
cif_array[j, k] = ntcan.CIF(net, RxQS)
# CAN-API-Description & set baudrate 0 = 1MBaud
cif_array[j, k].baudrate = 0
# Create CAN-Message structure
cmsg_array[j, k] = ntcan.CMSG()
# Target ID of the MTB & trigger the MTB to return the data
# canWrite...(cif, can-id, len, data ...)
cmsg_array[j, 0].canWriteByte(cif_array[j, 0], (id_base | j), 2, 7, 0)
# print("sCD[{}] = {} => old".format(i,sensorConfigData[i]['sens_type']))
# cmd = "{}baseliner.pyc {} {} {} {} {} {} {}".format(path2p,can_bustype,can_channel,sensorConfigData[i]['ctrl_id'],i+1,"{}x{}".format(sensorConfigData[i]['num_sda'],sensorConfigData[i]['num_of_chip']),version,sensorConfigData[i]['num_sda']*sensorConfigData[i]['num_of_chip'])
# print("Running: '{}'".format(cmd))
# os.system(cmd)
try:
if can_bustype != "esd":
can_bus = can.interface.Bus(bustype=can_bustype,
channel=can_channel,
bitrate=1000000,
ttyBaudrate=1000000)
else:
print("Using esd controller")
import ntcan
for j in range(board_start_num, num_of_board + board_start_num):
for k in range(0, num_taxel):
cif_array[j, k] = ntcan.CIF(0, 1)
cif_array[j, k].baudrate = 0
cif_array[j, k].canIdAdd(CAN_address[j - board_start_num][k])
except Exception, e:
print("Error connecting to CAN: {}:{}".format(type(e).__name__, e))
exit()
for j in range(board_start_num,
num_of_board + board_start_num): #setup the message handlers
for k in range(0, num_taxel):
if can_bustype == "esd":
cmsg_array[j, k] = ntcan.CMSG()
else:
cmsg_array[j, k] = can.Message()
#sendToAllControllers([7,0])#Let's start all controllers
def main():
print(sys.path) #
print(os.path) #
print(sys.version) # version number of the Python interpreter
print(sys.copyright) # containing the copyright pertaining to the Python interpreter
print("Time: ", end=' ') #
print(time.asctime(time.localtime()))
# Open CAN Interface
# ---> cif = ntcan.CIF( net, RxQueueSize, RxTimeOut, TxQueueSize, TxTimeOut, Flags)
net=0 # logical CAN Network [0, 255]
RxQS=2000 # RxQueueSize [0, 10000]
RxTO=2000 # RxTimeOut in Millisconds
TxQS=1 # TxQueueSize [0, 10000]
TxTO=1000 # TxTimeOut in Millseconds
#cifFlags= # Flags
cif = ntcan.CIF(net,RxQS,RxTO,TxQS,TxTO)
print (cif)
util.print2lines()
# set baudrate 0 = 1MBaud
# CAN-API-Description
cif.baudrate = 0
# Erzeuge CAN-Messagestruktur
cmsg = ntcan.CMSG()
print((cmsg.msg_lost))
print (cmsg)
# # examples for ntcan ----------------------------------------------------------
# #cif2 = ntcan.CIF(net,RxQS,RxTO,TxQS,TxTO)
# cif2 = ntcan.CIF(net)
# print (cif2)
# print((cif2.net))
# print((cif2.tx_timeout))
# print((cif2.rx_timeout))
# print((cif2.features))
# util.print2lines()
# # set baudrate 0 = 1MBaud
# # CAN-API-Description
# cif2.baudrate = 0
# # Erzeuge CAN-Messagestruktur
# cmsg2 = ntcan.CMSG()
# print("cmsg lost: %d"%(cmsg2.msg_lost))
# print("cmsg2 %s" %(cmsg2))
# id = 123
# # can write
# # canWrite...(cif,can-id,len,data ...)
# #cmsg2.canWriteByte(cif2)
# cmsg2.canWriteByte(cif2,id,8,1,2,3,4,5,6,7,8)
# cmsg2.canWriteShort(cif2,id,8,0x11,0x22,0x33,0x44)
# cmsg2.canWriteLong(cif2,id,8,0x12345678,0xabcdef)
# #cmsg2.canWriteLong(cif2,id,8,0x12345678,-0x1)
# # can read
# cif2.canIdAdd(0x234) # add id
# # receive can message
# try:
# cmsg2.canRead(cif2)
# print(cmsg2)
# except IOError as xxx_todo_changeme:
# (errno) = xxx_todo_changeme
# print("I/O error(%s): " % (errno))
# cif2.canIdDelete(0x234) # delete id
# # clean up
# del cif2
# del cmsg2
# # examples for canopen --------------------------------------------------------
# # example for SYNC
# print()
# print("example for SYNC")
# canopen.SYNCsend(cif)
# time.sleep(0.5)
# canopen.SYNCsend(cif)
# time.sleep(0.5)
# canopen.SYNCsend(cif)
# # example for SYNC with class SYNC
# print()
# print("example for SYNC with class SYNC")
# sync = canopen.SYNC(0,canopen.CANOPEN_1000kBd,1,2000,1.5) # (net,baudrate,TxQS,TxTO,[time_s])
# print(sync)
# print(sync.cif)
# sync.send() # send SYNC fame
# sync.send() # send SYNC fame
# sync.send() # send SYNC fame
# # example for NMT
# print()
# print("example for NMT")
# time.sleep(0.5)
# canopen.NMTstop (cif,1)
# time.sleep(0.5)
# canopen.NMTpreop (cif,1)
# time.sleep(0.5)
# canopen.NMTreset (cif,1)
# time.sleep(0.5)
# canopen.NMTresetcomm (cif,1)
# time.sleep(0.5)
# canopen.NMTstart (cif,0)
# # example for NMT with class NMT
# print()
# print("example for NMT with class NMT")
# nmt = canopen.NMT(0,canopen.CANOPEN_1000kBd,1,2000) # (net,baudrate,TxQS,TxTO)
# print(nmt)
# print(nmt.cif)
# nmt.start(3)
# nmt.stop(3)
# nmt.preop(3)
# nmt.reset(3)
# nmt.resetcomm(3)
# nmt.start(0)
# # example for NODEGUARD
# print()
# print("example for NODEGUARD ")
# canopen.NODEGUARDrequest (cif,1)
# canopen.NODEGUARDrequest (cif,2)
# canopen.NODEGUARDrequest (cif,3)
# canopen.NODEGUARDrequest (cif,3)
# result,state = canopen.NODEGUARDrequest (cif,3)
# if result == True:
# print("State %d" %state)
# # example for NODEGUARD with class NODEGUARD
# print("example for NODEGUARD with class NODEGUARD")
# nodeguard = canopen.NODEGUARD(0,canopen.CANOPEN_1000kBd,100,2000,1,2000) # (net,baudrate,RxQS,RxTO,TxQS,TxTO)
# print(nodeguard)
# print(nodeguard.cif)
# nodeguard.request(3)
# # example for SDO
# print()
# print("example for SDO")
# canopen.SDOread (cif,1,0x1000,0x00) # read device type (node1,index:0x1000,subindex:0)
# canopen.SDOread (cif,1,0x1001,0x00)
# canopen.SDOread (cif,1,0x100,0x00)
# result,data=canopen.SDOread (cif,1,0x1000,0)
# if result == True:
# print("Result %d Data 0x%X" %(result,data))
# result,data=canopen.SDOread (cif,2,0x1000,0)
# if result == True:
# print("Result %d Data 0x%X" %(result,data))
# result,data=canopen.SDOread (cif,3,0x1000,0)
# if result == True:
# print("Result %d Data 0x%X" %(result,data))
# #canopen.SDOwrite1Byte (cif,1,0x2400,0x01,0x12345678)
# canopen.SDOwrite2Byte (cif,1,0x2400,0x07,0x12345678)
# canopen.SDOwrite4Byte (cif,1,0x2008,0x01,0x12345678)
# canopen.SDOwriteString (cif,1,0x2008,0x01,"a")
# canopen.SDOwriteString (cif,1,0x2008,0x01,"ab")
# canopen.SDOwriteString (cif,1,0x2008,0x01,"abc")
# canopen.SDOwriteString (cif,1,0x2008,0x01,"abcd")
# canopen.SDOwriteString (cif,1,0x2008,0x01,"abcdef")
# canopen.SDOwriteString (cif,6,0x1010,0x01,"save") # Object 1010h: store parameters
# canopen.SDOwriteString (cif,6,0x1011,0x01,"load") # Object 1011h: restore default parameters
# # example for SDO with class SDO
# print()
# print("example for SDO with class SDO")
# sdo=canopen.SDO(0,canopen.CANOPEN_1000kBd,100,2000,1,2000) # (net,baudrate,RxQS,RxTO,TxQS,TxTO)
# sdo.read (1,0x1000,0x00)
# sdo.read (1,0x1001,0x00)
# sdo.read (1,0x1234,0x00)
# result,data=sdo.read (1,0x1000,0)
# print("Result %d Data 0x%X" %(result,data))
# if result == True:
# print("Result %d Data 0x%X" %(result,data))
# result,data=sdo.read (2,0x1008,0)
# if result == True:
# if isinstance(data,str): # string?
# print(data)
# else:
# print("0x%X"%data)
# #sdo.write1Byte (1,0x2400,0x01,0x12345678)
# sdo.write2Byte (1,0x2400,0x07,0x12345678)
# sdo.write4Byte (1,0x2008,0x01,0x12345678)
# sdo.writeString (1,0x2008,0x01,"a")
# sdo.writeString (1,0x2008,0x01,"ab")
# sdo.writeString (1,0x2008,0x01,"abc")
# sdo.writeString (1,0x2008,0x01,"abcd")
# sdo.writeString (1,0x2008,0x01,"abcdef")
# sdo.writeString (6,0x2008,0x01,"save")
# sdo.writeString (6,0x2008,0x01,"load")
# # read CANopen SDOs
# node = 2
# # 1001 VAR error register UNSIGNED8 ro M
# result,data=sdo.read (node,0x1001,0)
# # 1002 VAR manufacturer status register UNSIGNED32 ro O
# result,data=sdo.read (node,0x1002,0)
# # 1003 ARRAY pre-defined error field UNSIGNED32 ro O
# result,data=sdo.read (node,0x1003,0)
# # 1004 reserved for compatibility reasons
# result,data=sdo.read (node,0x1004,0)
# # 1005 VAR COB-ID SYNC UNSIGNED32 rw O
# result,data=sdo.read (node,0x1005,0)
# # 1006 VAR communication cycle period UNSIGNED32 rw O
# result,data=sdo.read (node,0x1006,0)
# # 1007 VAR synchronous window length UNSIGNED32 rw O
# result,data=sdo.read (node,0x1007,0)
# # 1008 VAR manufacturer device name Vis-String const O
# result,data=sdo.read (node,0x1008,0)
# # 1009 VAR manufacturer hardware version Vis-String const O
# result,data=sdo.read (node,0x1009,0)
# # 100A VAR manufacturer software version Vis-String const O
# result,data=sdo.read (node,0x100A,0)
# # 100B reserved for compatibility reasons
# result,data=sdo.read (node,0x100B,0)
# # 100C VAR guard time UNSIGNED16 rw O
# result,data=sdo.read (node,0x100C,0)
# # 100D VAR life time factor UNSIGNED8 rw O
# result,data=sdo.read (node,0x100D,0)
# # 100E reserved for compatibility reasons
# result,data=sdo.read (node,0x100E,0)
# # 100F reserved for compatibility reasons
# result,data=sdo.read (node,0x100F,0)
# # 1010 ARRAY store parameters UNSIGNED32 rw O
# result,data=sdo.read (node,0x1010,0)
# # 1011 ARRAY restore default parameters UNSIGNED32 rw O
# result,data=sdo.read (node,0x1011,0)
# # 1012 VAR COB-ID TIME UNSIGNED32 rw O
# result,data=sdo.read (node,0x1012,0)
# # 1013 VAR high resolution time stamp UNSIGNED32 rw O
# result,data=sdo.read (node,0x1013,0)
# # 1014 VAR COB-ID EMCY UNSIGNED32 rw O
# result,data=sdo.read (node,0x1014,0)
# # 1015 VAR Inhibit Time EMCY UNSIGNED16 rw O
# result,data=sdo.read (node,0x1015,0)
# # 1016 ARRAY Consumer heartbeat time UNSIGNED32 rw O
# result,data=sdo.read (node,0x1016,0)
# # 1017 VAR Producer heartbeat time UNSIGNED16 rw O
# result,data=sdo.read (node,0x1017,0)
# # 1018 RECORD Identity Object Identity (23h) ro M
# result,data=sdo.read (node,0x1018,0)
# if result == True:
# sdo.read (node,0x1018,1)
# sdo.read (node,0x1018,2)
# sdo.read (node,0x1018,3)
# sdo.read (node,0x1018,4)
# sdo.write2Byte (2,0x1800,0x05,0)
# del sdo
# # example for PDO
# #
# # canopenPDO1writeByte (cif,node,len, data)
# # len: 0...8 always number of bytes!!!!!
# print()
# print("example for PDO")
# canopen.PDO1read(cif,3) # cif,node
# canopen.PDO2read(cif,4)
# canopen.PDO3read(cif,5)
# canopen.PDO4read(cif,127)
canopen.PDO1writeByte (cif,1,8,d0=0x10)
RxQS = 1 # RxQueueSize [0, 10000]
RxTO = 2000 # RxTimeOut in Millisconds
TxQS = 1 # TxQueueSize [0, 10000]
TxTO = 1000 # TxTimeOut in Millseconds
# examples for ntcan ----------------------------------------------------------
#cif1 = ntcan.CIF(net,RxQS,RxTO,TxQS,TxTO)
#cif1 = ntcan.CIF(net,RxQS) #RxQs = 1 --> Queue only 1 value, for real time application
#create cif using a loop
cif_array = {} #Number of CAN ID or equal to taxel
cmsg_array = {}
for j in range(board_start_num, num_of_board + board_start_num):
for k in range(0, num_taxel):
cif_array[j, k] = ntcan.CIF(net, RxQS)
# validate the configuration & check the CAN-USB availability
print(cif_array[board_start_num, 0])
print(cif_array[board_start_num, 0].net)
print(cif_array[board_start_num, 0].tx_timeout)
print(cif_array[board_start_num, 0].rx_timeout)
print(cif_array[board_start_num, 0].features)
util.print2lines()
# set baudrate 0 = 1MBaud
# CAN-API-Description
for j in range(board_start_num, num_of_board + board_start_num):
for k in range(0, num_taxel):
cif_array[j, k].baudrate = 0
UDP_IP = "192.168.0.2" UDP_PORT = 5005 UDP_IP_client = "192.168.0.4" UDP_PORT_client = 5005 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.bind((UDP_IP, UDP_PORT)) hunt_flag = 0 net = 0 # logical CAN Network [0, 255] RxQS = 2000 # RxQueueSize [0, 10000] RxTO = 2000 # RxTimeOut in Millisconds TxQS = 1 # TxQueueSize [0, 10000] TxTO = 1000 # TxTimeOut in Millseconds # cifFlags= # Flags cif = ntcan.CIF(net, RxQS, RxTO, TxQS, TxTO) print(cif) util.print2lines() # set baudrate 0 = 1MBaud # CAN-API-Description cif.baudrate = 0 # Erzeuge CAN-Messagestruktur cmsg = ntcan.CMSG() print(cmsg.msg_lost) print(cmsg) # examples for ntcan ---------------------------------------------------------- cif2 = ntcan.CIF(net) print(cif2) print(cif2.net)