# coding: utf-8 """ Contains Python equivalents of the function and constant definitions in CANLIB's canlib.h, with some supporting functionality specific to Python. Copyright (C) 2010 Dynamic Controls """ from __future__ import absolute_import import sys import time import logging import ctypes from can import CanError, BusABC from can import Message from . import constants as canstat log = logging.getLogger('can.kvaser') # Resolution in us TIMESTAMP_RESOLUTION = 10 TIMESTAMP_FACTOR = TIMESTAMP_RESOLUTION / 1000000.0 try: if sys.platform == "win32": __canlib = ctypes.windll.LoadLibrary("canlib32") else: __canlib = ctypes.cdll.LoadLibrary("libcanlib.so") log.info("loaded kvaser's CAN library") except OSError: log.warning("Kvaser canlib is unavailable.") __canlib = None def _unimplemented_function(*args): raise NotImplementedError('This function is not implemented in canlib') def __get_canlib_function(func_name, argtypes=[], restype=None, errcheck=None): #log.debug('Wrapping function "%s"' % func_name) try: # e.g. canlib.canBusOn retval = getattr(__canlib, func_name) #log.debug('"%s" found in library', func_name) except AttributeError: log.warning('"%s" was not found in library', func_name) return _unimplemented_function else: #log.debug('Result type is: %s' % type(restype)) #log.debug('Error check function is: %s' % errcheck) retval.argtypes = argtypes retval.restype = restype if errcheck: retval.errcheck = errcheck return retval class CANLIBError(CanError): """ Try to display errors that occur within the wrapped C library nicely. """ def __init__(self, function, error_code, arguments): super(CANLIBError, self).__init__() self.error_code = error_code self.function = function self.arguments = arguments def __str__(self): return "Function %s failed - %s" % (self.function.__name__, self.__get_error_message()) def __get_error_message(self): errmsg = ctypes.create_string_buffer(128) canGetErrorText(self.error_code, errmsg, len(errmsg)) return errmsg.value.decode("ascii") def __convert_can_status_to_int(result): #log.debug("converting can status to int {} ({})".format(result, type(result))) if isinstance(result, int): return result else: return result.value def __check_status(result, function, arguments): result = __convert_can_status_to_int(result) if not canstat.CANSTATUS_SUCCESS(result): #log.debug('Detected error while checking CAN status') raise CANLIBError(function, result, arguments) return result def __check_status_read(result, function, arguments): result = __convert_can_status_to_int(result) if not canstat.CANSTATUS_SUCCESS(result) and result != canstat.canERR_NOMSG: #log.debug('Detected error in which checking status read') raise CANLIBError(function, result, arguments) return result class c_canHandle(ctypes.c_int): pass canINVALID_HANDLE = -1 def __handle_is_valid(handle): return (handle.value > canINVALID_HANDLE) def __check_bus_handle_validity(handle, function, arguments): if not __handle_is_valid(handle): result = __convert_can_status_to_int(handle) raise CANLIBError(function, result, arguments) else: return handle if __canlib is not None: canInitializeLibrary = __get_canlib_function("canInitializeLibrary") canGetErrorText = __get_canlib_function("canGetErrorText", argtypes=[canstat.c_canStatus, ctypes.c_char_p, ctypes.c_uint], restype=canstat.c_canStatus, errcheck=__check_status) # TODO wrap this type of function to provide a more Pythonic API canGetNumberOfChannels = __get_canlib_function("canGetNumberOfChannels", argtypes=[ctypes.c_void_p], restype=canstat.c_canStatus, errcheck=__check_status) kvReadTimer = __get_canlib_function("kvReadTimer", argtypes=[c_canHandle, ctypes.POINTER(ctypes.c_uint)], restype=canstat.c_canStatus, errcheck=__check_status) canBusOff = __get_canlib_function("canBusOff", argtypes=[c_canHandle], restype=canstat.c_canStatus, errcheck=__check_status) canBusOn = __get_canlib_function("canBusOn", argtypes=[c_canHandle], restype=canstat.c_canStatus, errcheck=__check_status) canClose = __get_canlib_function("canClose", argtypes=[c_canHandle], restype=canstat.c_canStatus, errcheck=__check_status) canOpenChannel = __get_canlib_function("canOpenChannel", argtypes=[ctypes.c_int, ctypes.c_int], restype=c_canHandle, errcheck=__check_bus_handle_validity) canSetBusParams = __get_canlib_function("canSetBusParams", argtypes=[c_canHandle, ctypes.c_long, ctypes.c_uint, ctypes.c_uint, ctypes.c_uint, ctypes.c_uint, ctypes.c_uint], restype=canstat.c_canStatus, errcheck=__check_status) canSetBusParamsFd = __get_canlib_function("canSetBusParamsFd", argtypes=[c_canHandle, ctypes.c_long, ctypes.c_uint, ctypes.c_uint, ctypes.c_uint], restype=canstat.c_canStatus, errcheck=__check_status) canSetBusOutputControl = __get_canlib_function("canSetBusOutputControl", argtypes=[c_canHandle, ctypes.c_uint], restype=canstat.c_canStatus, errcheck=__check_status) canSetAcceptanceFilter = __get_canlib_function("canSetAcceptanceFilter", argtypes=[ c_canHandle, ctypes.c_uint, ctypes.c_uint, ctypes.c_int ], restype=canstat.c_canStatus, errcheck=__check_status) canReadWait = __get_canlib_function("canReadWait", argtypes=[c_canHandle, ctypes.c_void_p, ctypes.c_void_p, ctypes.c_void_p, ctypes.c_void_p, ctypes.c_void_p, ctypes.c_long], restype=canstat.c_canStatus, errcheck=__check_status_read) canWrite = __get_canlib_function("canWrite", argtypes=[ c_canHandle, ctypes.c_long, ctypes.c_void_p, ctypes.c_uint, ctypes.c_uint], restype=canstat.c_canStatus, errcheck=__check_status) canWriteSync = __get_canlib_function("canWriteSync", argtypes=[c_canHandle, ctypes.c_ulong], restype=canstat.c_canStatus, errcheck=__check_status) canIoCtl = __get_canlib_function("canIoCtl", argtypes=[c_canHandle, ctypes.c_uint, ctypes.c_void_p, ctypes.c_uint], restype=canstat.c_canStatus, errcheck=__check_status) canGetVersion = __get_canlib_function("canGetVersion", restype=ctypes.c_short, errcheck=__check_status) kvFlashLeds = __get_canlib_function("kvFlashLeds", argtypes=[c_canHandle, ctypes.c_int, ctypes.c_int], restype=ctypes.c_short, errcheck=__check_status) if sys.platform == "win32": canGetVersionEx = __get_canlib_function("canGetVersionEx", argtypes=[ctypes.c_uint], restype=ctypes.c_uint, errcheck=__check_status) canGetChannelData = __get_canlib_function("canGetChannelData", argtypes=[ctypes.c_int, ctypes.c_int, ctypes.c_void_p, ctypes.c_size_t], restype=canstat.c_canStatus, errcheck=__check_status) def init_kvaser_library(): if __canlib is not None: try: log.debug("Initializing Kvaser CAN library") canInitializeLibrary() log.debug("CAN library initialized") except: log.warning("Kvaser canlib could not be initialized.") DRIVER_MODE_SILENT = False DRIVER_MODE_NORMAL = True BITRATE_OBJS = { 1000000: canstat.canBITRATE_1M, 500000: canstat.canBITRATE_500K, 250000: canstat.canBITRATE_250K, 125000: canstat.canBITRATE_125K, 100000: canstat.canBITRATE_100K, 83000: canstat.canBITRATE_83K, 62000: canstat.canBITRATE_62K, 50000: canstat.canBITRATE_50K, 10000: canstat.canBITRATE_10K } BITRATE_FD = { 500000: canstat.canFD_BITRATE_500K_80P, 1000000: canstat.canFD_BITRATE_1M_80P, 2000000: canstat.canFD_BITRATE_2M_80P, 4000000: canstat.canFD_BITRATE_4M_80P, 8000000: canstat.canFD_BITRATE_8M_60P } class KvaserBus(BusABC): """ The CAN Bus implemented for the Kvaser interface. """ def __init__(self, channel, can_filters=None, **config): """ :param int channel: The Channel id to create this bus with. :param list can_filters: See :meth:`can.BusABC.set_filters`. Backend Configuration :param int bitrate: Bitrate of channel in bit/s :param bool accept_virtual: If virtual channels should be accepted. :param int tseg1: Time segment 1, that is, the number of quanta from (but not including) the Sync Segment to the sampling point. If this parameter is not given, the Kvaser driver will try to choose all bit timing parameters from a set of defaults. :param int tseg2: Time segment 2, that is, the number of quanta from the sampling point to the end of the bit. :param int sjw: The Synchronization Jump Width. Decides the maximum number of time quanta that the controller can resynchronize every bit. :param int no_samp: Either 1 or 3. Some CAN controllers can also sample each bit three times. In this case, the bit will be sampled three quanta in a row, with the last sample being taken in the edge between TSEG1 and TSEG2. Three samples should only be used for relatively slow baudrates. :param bool driver_mode: Silent or normal. :param bool single_handle: Use one Kvaser CANLIB bus handle for both reading and writing. This can be set if reading and/or writing is done from one thread. :param bool receive_own_messages: If messages transmitted should also be received back. Only works if single_handle is also False. If you want to receive messages from other applications on the same computer, set this to True or set single_handle to True. :param bool fd: If CAN-FD frames should be supported. :param int data_bitrate: Which bitrate to use for data phase in CAN FD. Defaults to arbitration bitrate. """ log.info("CAN Filters: {}".format(can_filters)) log.info("Got configuration of: {}".format(config)) bitrate = config.get('bitrate', 500000) tseg1 = config.get('tseg1', 0) tseg2 = config.get('tseg2', 0) sjw = config.get('sjw', 0) no_samp = config.get('no_samp', 0) driver_mode = config.get('driver_mode', DRIVER_MODE_NORMAL) single_handle = config.get('single_handle', False) receive_own_messages = config.get('receive_own_messages', False) accept_virtual = config.get('accept_virtual', True) fd = config.get('fd', False) data_bitrate = config.get('data_bitrate', None) try: channel = int(channel) except ValueError: raise ValueError('channel must be an integer') self.channel = channel log.debug('Initialising bus instance') self.single_handle = single_handle num_channels = ctypes.c_int(0) res = canGetNumberOfChannels(ctypes.byref(num_channels)) #log.debug("Res: {}".format(res)) num_channels = int(num_channels.value) log.info('Found %d available channels' % num_channels) for idx in range(num_channels): channel_info = get_channel_info(idx) log.info('%d: %s', idx, channel_info) if idx == channel: self.channel_info = channel_info flags = 0 if accept_virtual: flags |= canstat.canOPEN_ACCEPT_VIRTUAL if fd: flags |= canstat.canOPEN_CAN_FD log.debug('Creating read handle to bus channel: %s' % channel) self._read_handle = canOpenChannel(channel, flags) canIoCtl(self._read_handle, canstat.canIOCTL_SET_TIMER_SCALE, ctypes.byref(ctypes.c_long(TIMESTAMP_RESOLUTION)), 4) if fd: if 'tseg1' not in config and bitrate in BITRATE_FD: # Use predefined bitrate for arbitration bitrate = BITRATE_FD[bitrate] if data_bitrate in BITRATE_FD: # Use predefined bitrate for data data_bitrate = BITRATE_FD[data_bitrate] elif not data_bitrate: # Use same bitrate for arbitration and data phase data_bitrate = bitrate canSetBusParamsFd(self._read_handle, bitrate, tseg1, tseg2, sjw) else: if 'tseg1' not in config and bitrate in BITRATE_OBJS: bitrate = BITRATE_OBJS[bitrate] canSetBusParams(self._read_handle, bitrate, tseg1, tseg2, sjw, no_samp, 0) # By default, use local echo if single handle is used (see #160) local_echo = single_handle or receive_own_messages if receive_own_messages and single_handle: log.warning("receive_own_messages only works if single_handle is False") canIoCtl(self._read_handle, canstat.canIOCTL_SET_LOCAL_TXECHO, ctypes.byref(ctypes.c_byte(local_echo)), 1) if self.single_handle: log.debug("We don't require separate handles to the bus") self._write_handle = self._read_handle else: log.debug('Creating separate handle for TX on channel: %s' % channel) self._write_handle = canOpenChannel(channel, flags) canBusOn(self._read_handle) can_driver_mode = canstat.canDRIVER_SILENT if driver_mode == DRIVER_MODE_SILENT else canstat.canDRIVER_NORMAL canSetBusOutputControl(self._write_handle, can_driver_mode) log.debug('Going bus on TX handle') canBusOn(self._write_handle) timer = ctypes.c_uint(0) try: kvReadTimer(self._read_handle, ctypes.byref(timer)) except Exception as exc: # timer is usually close to 0 log.info(str(exc)) self._timestamp_offset = time.time() - (timer.value * TIMESTAMP_FACTOR) self._is_filtered = False super(KvaserBus, self).__init__(channel=channel, can_filters=can_filters, **config) def _apply_filters(self, filters): if filters and len(filters) == 1: can_id = filters[0]['can_id'] can_mask = filters[0]['can_mask'] extended = 1 if filters[0].get('extended') else 0 try: for handle in (self._read_handle, self._write_handle): canSetAcceptanceFilter(handle, can_id, can_mask, extended) except (NotImplementedError, CANLIBError) as e: self._is_filtered = False log.error('Filtering is not supported - %s', e) else: self._is_filtered = True log.info('canlib is filtering on ID 0x%X, mask 0x%X', can_id, can_mask) else: self._is_filtered = False log.info('Hardware filtering has been disabled') try: for handle in (self._read_handle, self._write_handle): for extended in (0, 1): canSetAcceptanceFilter(handle, 0, 0, extended) except (NotImplementedError, CANLIBError): # TODO add logging? pass def flush_tx_buffer(self): """ Wipeout the transmit buffer on the Kvaser. """ canIoCtl(self._write_handle, canstat.canIOCTL_FLUSH_TX_BUFFER, 0, 0) def _recv_internal(self, timeout=None): """ Read a message from kvaser device and return whether filtering has taken place. """ arb_id = ctypes.c_long(0) data = ctypes.create_string_buffer(64) dlc = ctypes.c_uint(0) flags = ctypes.c_uint(0) timestamp = ctypes.c_ulong(0) if timeout is None: # Set infinite timeout # http://www.kvaser.com/canlib-webhelp/group___c_a_n.html#ga2edd785a87cc16b49ece8969cad71e5b timeout = 0xFFFFFFFF else: timeout = int(timeout * 1000) #log.log(9, 'Reading for %d ms on handle: %s' % (timeout, self._read_handle)) status = canReadWait( self._read_handle, ctypes.byref(arb_id), ctypes.byref(data), ctypes.byref(dlc), ctypes.byref(flags), ctypes.byref(timestamp), timeout # This is an X ms blocking read ) if status == canstat.canOK: #log.debug('read complete -> status OK') data_array = data.raw flags = flags.value is_extended = bool(flags & canstat.canMSG_EXT) is_remote_frame = bool(flags & canstat.canMSG_RTR) is_error_frame = bool(flags & canstat.canMSG_ERROR_FRAME) is_fd = bool(flags & canstat.canFDMSG_FDF) bitrate_switch = bool(flags & canstat.canFDMSG_BRS) error_state_indicator = bool(flags & canstat.canFDMSG_ESI) msg_timestamp = timestamp.value * TIMESTAMP_FACTOR rx_msg = Message(arbitration_id=arb_id.value, data=data_array[:dlc.value], dlc=dlc.value, extended_id=is_extended, is_error_frame=is_error_frame, is_remote_frame=is_remote_frame, is_fd=is_fd, bitrate_switch=bitrate_switch, error_state_indicator=error_state_indicator, channel=self.channel, timestamp=msg_timestamp + self._timestamp_offset) #log.debug('Got message: %s' % rx_msg) return rx_msg, self._is_filtered else: #log.debug('read complete -> status not okay') return None, self._is_filtered def send(self, msg, timeout=None): #log.debug("Writing a message: {}".format(msg)) flags = canstat.canMSG_EXT if msg.is_extended_id else canstat.canMSG_STD if msg.is_remote_frame: flags |= canstat.canMSG_RTR if msg.is_error_frame: flags |= canstat.canMSG_ERROR_FRAME if msg.is_fd: flags |= canstat.canFDMSG_FDF if msg.bitrate_switch: flags |= canstat.canFDMSG_BRS ArrayConstructor = ctypes.c_byte * msg.dlc buf = ArrayConstructor(*msg.data) canWrite(self._write_handle, msg.arbitration_id, ctypes.byref(buf), msg.dlc, flags) if timeout: canWriteSync(self._write_handle, int(timeout * 1000)) def flash(self, flash=True): """ Turn on or off flashing of the device's LED for physical identification purposes. """ if flash: action = canstat.kvLED_ACTION_ALL_LEDS_ON else: action = canstat.kvLED_ACTION_ALL_LEDS_OFF try: kvFlashLeds(self._read_handle, action, 30000) except (CANLIBError, NotImplementedError) as e: log.error('Could not flash LEDs (%s)', e) def shutdown(self): # Wait for transmit queue to be cleared try: canWriteSync(self._write_handle, 100) except CANLIBError: # Not a huge deal and it seems that we get timeout if no messages # exists in the buffer at all pass if not self.single_handle: canBusOff(self._read_handle) canClose(self._read_handle) canBusOff(self._write_handle) canClose(self._write_handle) @staticmethod def _detect_available_configs(): num_channels = ctypes.c_int(0) try: canGetNumberOfChannels(ctypes.byref(num_channels)) except Exception: pass return [ {'interface': 'kvaser', 'channel': channel} for channel in range(num_channels.value) ] def get_channel_info(channel): name = ctypes.create_string_buffer(80) serial = ctypes.c_uint64() number = ctypes.c_uint() canGetChannelData(channel, canstat.canCHANNELDATA_DEVDESCR_ASCII, ctypes.byref(name), ctypes.sizeof(name)) canGetChannelData(channel, canstat.canCHANNELDATA_CARD_SERIAL_NO, ctypes.byref(serial), ctypes.sizeof(serial)) canGetChannelData(channel, canstat.canCHANNELDATA_CHAN_NO_ON_CARD, ctypes.byref(number), ctypes.sizeof(number)) return '%s, S/N %d (#%d)' % ( name.value.decode("ascii"), serial.value, number.value + 1) init_kvaser_library()