1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
|
#!/usr/bin/env python3
"""
This example exercises the periodic task's multiple message sending capabilities
Expects a vcan0 interface:
python3 -m examples.cyclic_multiple
"""
import logging
import time
import can
logging.basicConfig(level=logging.INFO)
def cyclic_multiple_send(bus):
"""
Sends periodic messages every 1 s with no explicit timeout
Sleeps for 10 seconds then stops the task.
"""
print("Starting to send a message every 1 s for 10 s")
messages = []
messages.append(
can.Message(
arbitration_id=0x401,
data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],
is_extended_id=False,
)
)
messages.append(
can.Message(
arbitration_id=0x401,
data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],
is_extended_id=False,
)
)
messages.append(
can.Message(
arbitration_id=0x401,
data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],
is_extended_id=False,
)
)
messages.append(
can.Message(
arbitration_id=0x401,
data=[0x44, 0x44, 0x44, 0x44, 0x44, 0x44],
is_extended_id=False,
)
)
messages.append(
can.Message(
arbitration_id=0x401,
data=[0x55, 0x55, 0x55, 0x55, 0x55, 0x55],
is_extended_id=False,
)
)
task = bus.send_periodic(messages, 1)
assert isinstance(task, can.CyclicSendTaskABC)
time.sleep(10)
task.stop()
print("stopped cyclic send")
def cyclic_multiple_send_modify(bus):
"""
Sends initial set of 3 Messages containing Odd data sent every 1 s with
no explicit timeout. Sleeps for 8 s.
Then the set is updated to 3 Messages containing Even data.
Sleeps for 10 s.
"""
messages_odd = []
messages_odd.append(
can.Message(
arbitration_id=0x401,
data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],
is_extended_id=False,
)
)
messages_odd.append(
can.Message(
arbitration_id=0x401,
data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],
is_extended_id=False,
)
)
messages_odd.append(
can.Message(
arbitration_id=0x401,
data=[0x55, 0x55, 0x55, 0x55, 0x55, 0x55],
is_extended_id=False,
)
)
messages_even = []
messages_even.append(
can.Message(
arbitration_id=0x401,
data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],
is_extended_id=False,
)
)
messages_even.append(
can.Message(
arbitration_id=0x401,
data=[0x44, 0x44, 0x44, 0x44, 0x44, 0x44],
is_extended_id=False,
)
)
messages_even.append(
can.Message(
arbitration_id=0x401,
data=[0x66, 0x66, 0x66, 0x66, 0x66, 0x66],
is_extended_id=False,
)
)
print("Starting to send a message with odd every 1 s for 8 s with odd data")
task = bus.send_periodic(messages_odd, 1)
assert isinstance(task, can.CyclicSendTaskABC)
time.sleep(8)
print("Starting to send a message with even data every 1 s for 10 s with even data")
task.modify_data(messages_even)
time.sleep(10)
print("stopped cyclic modify send")
if __name__ == "__main__":
for interface, channel in [("socketcan", "vcan0")]:
print(f"Carrying out cyclic multiple tests with {interface} interface")
with can.Bus(interface=interface, channel=channel, bitrate=500000) as BUS:
cyclic_multiple_send(BUS)
cyclic_multiple_send_modify(BUS)
time.sleep(2)
|
