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# coding: utf-8
"""
This module works with CAN data in ASCII log files (*.log).
It is is compatible with "candump -L" from the canutils program
(https://github.com/linux-can/can-utils).
"""
from __future__ import absolute_import, division
import time
import datetime
import logging
from can.message import Message
from can.listener import Listener
from .generic import BaseIOHandler
log = logging.getLogger('can.io.canutils')
CAN_MSG_EXT = 0x80000000
CAN_ERR_FLAG = 0x20000000
CAN_ERR_BUSERROR = 0x00000080
CAN_ERR_DLC = 8
class CanutilsLogReader(BaseIOHandler):
"""
Iterator over CAN messages from a .log Logging File (candump -L).
.. note::
.log-format looks for example like this:
``(0.0) vcan0 001#8d00100100820100``
"""
def __init__(self, file):
"""
:param file: a path-like object or as file-like object to read from
If this is a file-like object, is has to opened in text
read mode, not binary read mode.
"""
super(CanutilsLogReader, self).__init__(file, mode='r')
def __iter__(self):
for line in self.file:
# skip empty lines
temp = line.strip()
if not temp:
continue
timestamp, channel, frame = temp.split()
timestamp = float(timestamp[1:-1])
canId, data = frame.split('#')
if channel.isdigit():
channel = int(channel)
if len(canId) > 3:
isExtended = True
else:
isExtended = False
canId = int(canId, 16)
if data and data[0].lower() == 'r':
isRemoteFrame = True
if len(data) > 1:
dlc = int(data[1:])
else:
dlc = 0
else:
isRemoteFrame = False
dlc = len(data) // 2
dataBin = bytearray()
for i in range(0, len(data), 2):
dataBin.append(int(data[i:(i + 2)], 16))
if canId & CAN_ERR_FLAG and canId & CAN_ERR_BUSERROR:
msg = Message(timestamp=timestamp, is_error_frame=True)
else:
msg = Message(timestamp=timestamp, arbitration_id=canId & 0x1FFFFFFF,
extended_id=isExtended, is_remote_frame=isRemoteFrame,
dlc=dlc, data=dataBin, channel=channel)
yield msg
self.stop()
class CanutilsLogWriter(BaseIOHandler, Listener):
"""Logs CAN data to an ASCII log file (.log).
This class is is compatible with "candump -L".
If a message has a timestamp smaller than the previous one (or 0 or None),
it gets assigned the timestamp that was written for the last message.
It the first message does not have a timestamp, it is set to zero.
"""
def __init__(self, file, channel="vcan0", append=False):
"""
:param file: a path-like object or as file-like object to write to
If this is a file-like object, is has to opened in text
write mode, not binary write mode.
:param channel: a default channel to use when the message does not
have a channel set
:param bool append: if set to `True` messages are appended to
the file, else the file is truncated
"""
mode = 'a' if append else 'w'
super(CanutilsLogWriter, self).__init__(file, mode=mode)
self.channel = channel
self.last_timestamp = None
def on_message_received(self, msg):
# this is the case for the very first message:
if self.last_timestamp is None:
self.last_timestamp = (msg.timestamp or 0.0)
# figure out the correct timestamp
if msg.timestamp is None or msg.timestamp < self.last_timestamp:
timestamp = self.last_timestamp
else:
timestamp = msg.timestamp
channel = msg.channel if msg.channel is not None else self.channel
if msg.is_error_frame:
self.file.write("(%f) %s %08X#0000000000000000\n" % (timestamp, channel, CAN_ERR_FLAG | CAN_ERR_BUSERROR))
elif msg.is_remote_frame:
if msg.is_extended_id:
self.file.write("(%f) %s %08X#R\n" % (timestamp, channel, msg.arbitration_id))
else:
self.file.write("(%f) %s %03X#R\n" % (timestamp, channel, msg.arbitration_id))
else:
data = ["{:02X}".format(byte) for byte in msg.data]
if msg.is_extended_id:
self.file.write("(%f) %s %08X#%s\n" % (timestamp, channel, msg.arbitration_id, ''.join(data)))
else:
self.file.write("(%f) %s %03X#%s\n" % (timestamp, channel, msg.arbitration_id, ''.join(data)))
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