8000 socketcand Backend for python-can by domologic · Pull Request #1140 · hardbyte/python-can · GitHub
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socketcand Backend for python-can #1140

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Merged
merged 14 commits into from
Dec 6, 2021
Merged

socketcand Backend for python-can #1140

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a7dfed7
merge most recent version of socketcand-interface branch
telkamp Oct 17, 2021
c78ebb2
don't change loggine level
telkamp Nov 23, 2021
1cb9ee8
do not request python 3.7
telkamp Nov 23, 2021
e14987c
parse < hi > & < ok > messages
telkamp Nov 24, 2021
8c9d144
Initial upload: Doc for interfaces/socketcand
telkamp Nov 24, 2021
c78d985
Python code example was not displayed
telkamp Nov 24, 2021
33ccfd3
indent issues
telkamp Nov 24, 2021
af72891
minor changes
telkamp Nov 24, 2021
82c72f2
code optimization as proposed by felix
telkamp Nov 25, 2021
f9fcfd1
Typo
telkamp Nov 25, 2021
201c53f
Monor doc improvement
telkamp Nov 26, 2021
bed0ade
license information added
telkamp Nov 26, 2021
c2041de
reformatted using https://black.vercel.app/
telkamp Nov 26, 2021
0493e32
license removed
telkamp Nov 26, 2021
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parse < hi > & < ok > messages
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@telkamp
telkamp committed Nov 24, 2021
commit e14987c3501eda5531a2c48aadc6ee5429204dd0
8000
49 changes: 32 additions & 17 deletions can/interfaces/socketcand/socketcand.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
Interface to socketcand
see https://github.com/linux-can/socketcand

Author: Marvin Seiler
Author: Marvin Seiler, Gerrit Telkamp

Copyright (C) 2021 DOMOLOGIC GmbH
http://www.domologic.de
Expand All @@ -17,13 +17,13 @@

log = logging.getLogger(__name__)

def convert_ascii_message_to_can_message(ascii_message: str) -> can.Message:
if not ascii_message.startswith("< frame ") or not ascii_message.endswith(" >"):
log.warning(f"Could not parse ascii message: {ascii_message}")
def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message:
if not ascii_msg.startswith("< frame ") or not ascii_msg.endswith(" >"):
log.warning(f"Could not parse ascii message: {ascii_msg}")
return None
else:
# frame_string = ascii_message.removeprefix("< frame ").removesuffix(" >")
frame_string = ascii_message[8:-2]
# frame_string = ascii_msg.removeprefix("< frame ").removesuffix(" >")
frame_string = ascii_msg[8:-2]
parts = frame_string.split(" ", 3)
can_id, timestamp = int(parts[0], 16), float(parts[1])

Expand All @@ -43,8 +43,8 @@ def convert_can_message_to_ascii_message(can_message: can.Message) -> str:
data = can_message.data
length = can_message.dlc
bytes_string = " ".join("{:x}".format(x) for x in data[0:length])
ascii_message = f"< send {can_id:X} {length:X} {bytes_string} >"
return ascii_message
ascii_msg = f"< send {can_id:X} {length:X} {bytes_string} >"
return ascii_msg


def connect_to_server(s, host, port):
Expand All @@ -71,11 +71,15 @@ def __init__(self, channel, host, port, can_filters=None, **kwargs):
self.__message_buffer = deque()
self.__receive_buffer = "" # i know string is not the most efficient here
connect_to_server(self.__socket, self.__host, self.__port)
self._expect_msg("< hi >")

log.info(
f"SocketCanDaemonBus: connected with address {self.__socket.getsockname()}"
)
self._tcp_send(f"< open {channel} >")
self._expect_msg("< ok >")
self._tcp_send(f"< rawmode >")
self._expect_msg("< ok >")
super().__init__(channel=channel, can_filters=can_filters)

def _recv_internal(self, timeout):
Expand All @@ -100,11 +104,11 @@ def _recv_internal(self, timeout):
log.debug("Socket not ready")
return None, False

ascii_message = self.__socket.recv(1024).decode(
ascii_msg = self.__socket.recv(1024).decode(
"ascii"
) # may contain multiple messages
self.__receive_buffer += ascii_message
log.debug(f"Received Ascii Message: {ascii_message}")
self.__receive_buffer += ascii_msg
log.debug(f"Received Ascii Message: {ascii_msg}")
buffer_view = self.__receive_buffer
chars_processed_successfully = 0
while True:
Expand Down Expand Up @@ -152,13 +156,24 @@ def _recv_internal(self, timeout):
log.error(f"Failed to receive: {exc} {traceback.format_exc()}")
raise can.CanError(f"Failed to receive: {exc} {traceback.format_exc()}")

def _tcp_send(self, message: str):
log.debug(f"Sending Tcp Message: '{message}'")
self.__socket.sendall(message.encode("ascii"))

def send(self, message, timeout=None):
ascii_message = convert_can_message_to_ascii_message(message)
self._tcp_send(ascii_message)
def _tcp_send(self, msg: str):
log.debug(f"Sending TCP Message: '{msg}'")
self.__socket.sendall(msg.encode("ascii"))


def _expect_msg(self, msg):
ascii_msg = self.__socket.recv(256).decode(
"ascii"
)
if not ascii_msg == msg:
raise can.CanError(f"{msg} message expected!")


def send(self, msg, timeout=None):
ascii_msg = convert_can_message_to_ascii_message(msg)
self._tcp_send(ascii_msg)


def shutdown(self):
self.stop_all_periodic_tasks()
Expand Down
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