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# Author : Keneth Wagner
# Copyright (C) 1999-2013 PEAK-System Technik GmbH, Darmstadt
# more Info at http://www.peak-system.com
import logging
from ctypes import *
from can.interfaces.pcan_constants import *
log = logging.getLogger('can.pcan')
log.setLevel(logging.INFO)
class TPCANMsg(Structure):
"""
Represents a PCAN message
"""
_fields_ = [("ID", c_ulong), # 11/29-bit message identifier
("MSGTYPE", TPCANMessageType), # Type of the message
("LEN", c_ubyte), # Data Length Code of the message (0..8)
("DATA", c_ubyte * 8)] # Data of the message (DATA[0]..DATA[7])
class TPCANTimestamp (Structure):
"""
Represents a timestamp of a received PCAN message
Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
"""
_fields_ = [("millis", c_ulong), # Base-value: milliseconds: 0.. 2^32-1
("millis_overflow", c_ushort), # Roll-arounds of millis
("micros", c_ushort)] # Microseconds: 0..999
# ///////////////////////////////////////////////////////////
# PCAN-Basic API function declarations
# ///////////////////////////////////////////////////////////
class PCANBasic:
"""
PCAN-Basic API class implementation
"""
def __init__(self):
"""Loads the PCANBasic.dll"""
self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
if self.__m_dllBasic is None:
log.warning("The PCAN-Basic DLL couldn't be loaded!")
def Initialize(self,
Channel,
Btr0Btr1,
HwType=TPCANType(0),
IOPort=c_uint(0),
Interrupt=c_ushort(0)):
"""
Initializes a PCAN Channel
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Btr0Btr1 : The speed for the communication (BTR0BTR1 code)
HwType : NON PLUG&PLAY: The type of hardware and operation mode
IOPort : NON PLUG&PLAY: The I/O address for the parallel port
Interrupt: NON PLUG&PLAY: Interrupt number of the parallel port
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Initialize(Channel, Btr0Btr1, HwType, IOPort, Interrupt)
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.Initialize")
raise
def Uninitialize(self, Channel):
"""
Uninitializes one or all PCAN Channels initialized by CAN_Initialize
Remarks:
Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized channels
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Uninitialize(Channel)
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.Uninitialize")
raise
def Reset(self, Channel):
"""
Resets the receive and transmit queues of the PCAN Channel
Remarks:
A reset of the CAN controller is not performed
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Reset(Channel)
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.Reset")
raise
def GetStatus(self, Channel):
"""
Gets the current status of a PCAN Channel
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_GetStatus(Channel)
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.GetStatus")
raise
def Read(self, Channel):
"""
Reads a CAN message from the receive queue of a PCAN Channel
Remarks:
The return value of this method is a 3-tuple, where
the first value is the result (TPCANStatus) of the method.
The order of the values are:
[0]: A TPCANStatus error code
[1]: A TPCANMsg structure with the CAN message read
[2]: A TPCANTimestamp structure with the time when a message was read
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A tuple with three values
"""
try:
msg = TPCANMsg()
timestamp = TPCANTimestamp()
res = self.__m_dllBasic.CAN_Read(Channel, byref(msg), byref(timestamp))
return TPCANStatus(res), msg, timestamp
except:
log.error("Exception on PCANBasic.Read")
raise
def Write(self, Channel, MessageBuffer):
"""
Transmits a CAN message
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
MessageBuffer: A TPCANMsg representing the CAN message to be sent
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Write(Channel, byref(MessageBuffer))
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.Write")
raise
def FilterMessages(self,
Channel,
FromID,
ToID,
Mode):
"""
Configures the reception filter
Remarks:
The message filter will be expanded with every call to this function.
If it is desired to reset the filter, please use the 'SetValue' function.
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
FromID : A c_ulong value with the lowest CAN ID to be received
ToID : A c_ulong value with the highest CAN ID to be received
Mode : A TPCANMode representing the message type (Standard, 11-bit
identifier, or Extended, 29-bit identifier)
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_FilterMessages(Channel, FromID, ToID, Mode)
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.FilterMessages")
raise
def GetValue(self, Channel, Parameter):
"""
Retrieves a PCAN Channel value
Remarks:
Parameters can be present or not according with the kind
of Hardware (PCAN Channel) being used. If a parameter is not available,
a PCAN_ERROR_ILLPARAMTYPE error will be returned.
The return value of this method is a 2-tuple, where
the first value is the result (TPCANStatus) of the method and
the second one, the asked value
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Parameter : The TPCANParameter parameter to get
Returns:
A tuple with 2 values
"""
try:
if Parameter == PCAN_API_VERSION or Parameter == PCAN_HARDWARE_NAME or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_TRACE_LOCATION:
mybuffer = create_string_buffer(256)
else:
mybuffer = c_int(0)
res = self.__m_dllBasic.CAN_GetValue(Channel, Parameter, byref(mybuffer), sizeof(mybuffer))
return TPCANStatus(res), mybuffer.value
except:
log.error("Exception on PCANBasic.GetValue")
raise
def SetValue(self, Channel, Parameter, Buffer):
"""
Returns a descriptive text of a given TPCANStatus error
code, in any desired language
Remarks:
Parameters can be present or not according with the kind
of Hardware (PCAN Channel) being used. If a parameter is not available,
a PCAN_ERROR_ILLPARAMTYPE error will be returned.
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Parameter : The TPCANParameter parameter to set
Buffer : Buffer with the value to be set
BufferLength : Size in bytes of the buffer
Returns:
A TPCANStatus error code
"""
try:
if Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_LOG_TEXT or Parameter == PCAN_TRACE_LOCATION:
mybuffer = create_string_buffer(256)
else:
mybuffer = c_int(0)
mybuffer.value = Buffer
res = self.__m_dllBasic.CAN_SetValue(Channel, Parameter, byref(mybuffer), sizeof(mybuffer))
return TPCANStatus(res)
except:
log.error("Exception on PCANBasic.SetValue")
raise
def GetErrorText(self, Error, Language=0):
"""
Configures or sets a PCAN Channel value
Remarks:
The current languages available for translation are:
Neutral (0x00), German (0x07), English (0x09),
Spanish (0x0A), Italian (0x10) and French (0x0C)
Parameters:
Error : A TPCANStatus error code
Language : Indicates a 'Primary language ID' (Default is Neutral(0))
Returns:
A tuple with 2 values, where the first value is the
result (TPCANStatus) of the method and
the second one, the error text
"""
try:
mybuffer = create_string_buffer(256)
res = self.__m_dllBasic.CAN_GetErrorText(Error, Language, byref(mybuffer))
return TPCANStatus(res), mybuffer.value
except:
log.error("Exception on PCANBasic.GetErrorText")
raise
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