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# coding: utf-8
"""
Interface for slcan compatible interfaces (win32/linux).
.. note::
Linux users can use slcand or socketcan as well.
"""
from __future__ import absolute_import
import time
import logging
from can import BusABC, Message
logger = logging.getLogger(__name__)
try:
import serial
except ImportError:
logger.warning("You won't be able to use the slcan can backend without "
"the serial module installed!")
serial = None
class slcanBus(BusABC):
"""
slcan interface
"""
# the supported bitrates and their commands
_BITRATES = {
10000: 'S0',
20000: 'S1',
50000: 'S2',
100000: 'S3',
125000: 'S4',
250000: 'S5',
500000: 'S6',
750000: 'S7',
1000000: 'S8',
83300: 'S9'
}
_SLEEP_AFTER_SERIAL_OPEN = 2 # in seconds
LINE_TERMINATOR = b'\r'
def __init__(self, channel, ttyBaudrate=115200, bitrate=None,
btr=None, sleep_after_open=_SLEEP_AFTER_SERIAL_OPEN,
rtscts=False, **kwargs):
"""
:raise ValueError: if both *bitrate* and *btr* are set
:param str channel:
port of underlying serial or usb device (e.g. /dev/ttyUSB0, COM8, ...)
Must not be empty.
:param int ttyBaudrate:
baudrate of underlying serial or usb device
:param int bitrate:
Bitrate in bit/s
:param str btr:
BTR register value to set custom can speed
:param float poll_interval:
Poll interval in seconds when reading messages
:param float sleep_after_open:
Time to wait in seconds after opening serial connection
:param bool rtscts:
turn hardware handshake (RTS/CTS) on and off
"""
if not channel: # if None or empty
raise TypeError("Must specify a serial port.")
if '@' in channel:
(channel, ttyBaudrate) = channel.split('@')
self.serialPortOrig = serial.serial_for_url(
channel, baudrate=ttyBaudrate, rtscts=rtscts)
self._buffer = bytearray()
time.sleep(sleep_after_open)
if bitrate is not None and btr is not None:
raise ValueError("Bitrate and btr mutually exclusive.")
if bitrate is not None:
self.close()
if bitrate in self._BITRATES:
self.write(self._BITRATES[bitrate])
else:
raise ValueError("Invalid bitrate, choose one of " + (', '.join(self._BITRATES)) + '.')
if btr is not None:
self.close()
self.write("s" + btr)
self.open()
super(slcanBus, self).__init__(channel, ttyBaudrate=115200,
bitrate=None, rtscts=False, **kwargs)
def write(self, string):
self.serialPortOrig.write(string.encode() + self.LINE_TERMINATOR)
self.serialPortOrig.flush()
def open(self):
self.write('O')
def close(self):
self.write('C')
def _recv_internal(self, timeout):
if timeout != self.serialPortOrig.timeout:
self.serialPortOrig.timeout = timeout
canId = None
remote = False
extended = False
frame = []
# First read what is already in the receive buffer
while (self.serialPortOrig.in_waiting and
self.LINE_TERMINATOR not in self._buffer):
self._buffer += self.serialPortOrig.read(1)
# If we still don't have a complete message, do a blocking read
if self.LINE_TERMINATOR not in self._buffer:
self._buffer += self.serialPortOrig.read_until(self.LINE_TERMINATOR)
if self.LINE_TERMINATOR not in self._buffer:
# Timed out
return None, False
readStr = self._buffer.decode()
del self._buffer[:]
if not readStr:
pass
elif readStr[0] == 'T':
# extended frame
canId = int(readStr[1:9], 16)
dlc = int(readStr[9])
extended = True
for i in range(0, dlc):
frame.append(int(readStr[10 + i * 2:12 + i * 2], 16))
elif readStr[0] == 't':
# normal frame
canId = int(readStr[1:4], 16)
dlc = int(readStr[4])
for i in range(0, dlc):
frame.append(int(readStr[5 + i * 2:7 + i * 2], 16))
elif readStr[0] == 'r':
# remote frame
canId = int(readStr[1:4], 16)
dlc = int(readStr[4])
remote = True
elif readStr[0] == 'R':
# remote extended frame
canId = int(readStr[1:9], 16)
dlc = int(readStr[9])
extended = True
remote = True
if canId is not None:
msg = Message(arbitration_id=canId,
is_extended_id=extended,
timestamp=time.time(), # Better than nothing...
is_remote_frame=remote,
dlc=dlc,
data=frame)
return msg, False
return None, False
def send(self, msg, timeout=None):
if timeout != self.serialPortOrig.write_timeout:
self.serialPortOrig.write_timeout = timeout
if msg.is_remote_frame:
if msg.is_extended_id:
sendStr = "R%08X%d" % (msg.arbitration_id, msg.dlc)
else:
sendStr = "r%03X%d" % (msg.arbitration_id, msg.dlc)
else:
if msg.is_extended_id:
sendStr = "T%08X%d" % (msg.arbitration_id, msg.dlc)
else:
sendStr = "t%03X%d" % (msg.arbitration_id, msg.dlc)
sendStr += "".join(["%02X" % b for b in msg.data])
self.write(sendStr)
def shutdown(self):
self.close()
self.serialPortOrig.close()
def fileno(self):
if hasattr(self.serialPortOrig, 'fileno'):
return self.serialPortOrig.fileno()
# Return an invalid file descriptor on Windows
return -1
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