Broadcast Manager

The broadcast manager allows the user to setup periodic message jobs. For example sending a particular message at a given period. The broadcast manager supported natively by several interfaces and a software thread based scheduler is used as a fallback.

This example shows the socketcan backend using the broadcast manager:

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#!/usr/bin/env python

"""
This example exercises the periodic sending capabilities.

Expects a vcan0 interface:

    python3 -m examples.cyclic

"""

import logging
import time

import can

logging.basicConfig(level=logging.INFO)


def simple_periodic_send(bus):
    """
    Sends a message every 20ms with no explicit timeout
    Sleeps for 2 seconds then stops the task.
    """
    print("Starting to send a message every 200ms for 2s")
    msg = can.Message(
        arbitration_id=0x123, data=[1, 2, 3, 4, 5, 6], is_extended_id=False
    )
    task = bus.send_periodic(msg, 0.20)
    assert isinstance(task, can.CyclicSendTaskABC)
    time.sleep(2)
    task.stop()
    print("stopped cyclic send")


def limited_periodic_send(bus):
    """Send using LimitedDurationCyclicSendTaskABC."""
    print("Starting to send a message every 200ms for 1s")
    msg = can.Message(
        arbitration_id=0x12345678, data=[0, 0, 0, 0, 0, 0], is_extended_id=True
    )
    task = bus.send_periodic(msg, 0.20, 1, store_task=False)
    if not isinstance(task, can.LimitedDurationCyclicSendTaskABC):
        print("This interface doesn't seem to support LimitedDurationCyclicSendTaskABC")
        task.stop()
        return

    time.sleep(2)
    print("Cyclic send should have stopped as duration expired")
    # Note the (finished) task will still be tracked by the Bus
    # unless we pass `store_task=False` to bus.send_periodic
    # alternatively calling stop removes the task from the bus
    # task.stop()


def test_periodic_send_with_modifying_data(bus):
    """Send using ModifiableCyclicTaskABC."""
    print("Starting to send a message every 200ms. Initial data is four consecutive 1s")
    msg = can.Message(arbitration_id=0x0CF02200, data=[1, 1, 1, 1])
    task = bus.send_periodic(msg, 0.20)
    if not isinstance(task, can.ModifiableCyclicTaskABC):
        print("This interface doesn't seem to support modification")
        task.stop()
        return
    time.sleep(2)
    print("Changing data of running task to begin with 99")
    msg.data[0] = 0x99
    task.modify_data(msg)
    time.sleep(2)

    task.stop()
    print("stopped cyclic send")
    print("Changing data of stopped task to single ff byte")
    msg.data = bytearray([0xFF])
    msg.dlc = 1
    task.modify_data(msg)
    time.sleep(1)
    print("starting again")
    task.start()
    time.sleep(1)
    task.stop()
    print("done")


# Will have to consider how to expose items like this. The socketcan
# interfaces will continue to support it... but the top level api won't.
# def test_dual_rate_periodic_send():
#     """Send a message 10 times at 1ms intervals, then continue to send every 500ms"""
#     msg = can.Message(arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5])
#     print("Creating cyclic task to send message 10 times at 1ms, then every 500ms")
#     task = can.interface.MultiRateCyclicSendTask('vcan0', msg, 10, 0.001, 0.50)
#     time.sleep(2)
#
#     print("Changing data[0] = 0x42")
#     msg.data[0] = 0x42
#     task.modify_data(msg)
#     time.sleep(2)
#
#     task.stop()
#     print("stopped cyclic send")
#
#     time.sleep(2)
#
#     task.start()
#     print("starting again")
#     time.sleep(2)
#     task.stop()
#     print("done")


def main():
    """Test different cyclic sending tasks."""
    reset_msg = can.Message(
        arbitration_id=0x00, data=[0, 0, 0, 0, 0, 0], is_extended_id=False
    )

    with can.Bus(interface="virtual") as bus:
        bus.send(reset_msg)

        simple_periodic_send(bus)

        bus.send(reset_msg)

        limited_periodic_send(bus)

        test_periodic_send_with_modifying_data(bus)

        # print("Carrying out multirate cyclic test for {} interface".format(interface))
        # can.rc['interface'] = interface
        # test_dual_rate_periodic_send()

    time.sleep(2)


if __name__ == "__main__":
    main()

Message Sending Tasks

The class based api for the broadcast manager uses a series of mixin classes. All mixins inherit from CyclicSendTaskABC which inherits from CyclicTask.

class can.broadcastmanager.CyclicTask[source]

Abstract Base for all cyclic tasks.

abstract stop()[source]

Cancel this periodic task.

Raises

can.CanError – If stop is called on an already stopped task.

Return type

None

class can.broadcastmanager.CyclicSendTaskABC(messages, period)[source]

Message send task with defined period

Parameters
  • messages (Union[Sequence[Message], Message]) – The messages to be sent periodically.

  • period (float) – The rate in seconds at which to send the messages.

Raises

ValueError – If the given messages are invalid

class can.broadcastmanager.LimitedDurationCyclicSendTaskABC(messages, period, duration)[source]

Message send task with a defined duration and period.

Parameters
  • messages (Union[Sequence[Message], Message]) – The messages to be sent periodically.

  • period (float) – The rate in seconds at which to send the messages.

  • duration (Optional[float]) – Approximate duration in seconds to continue sending messages. If no duration is provided, the task will continue indefinitely.

Raises

ValueError – If the given messages are invalid

class can.broadcastmanager.MultiRateCyclicSendTaskABC(channel, messages, count, initial_period, subsequent_period)[source]

A Cyclic send task that supports switches send frequency after a set time.

Transmits a message count times at initial_period then continues to transmit messages at subsequent_period.

Parameters
  • channel (Union[int, str]) – See interface specific documentation.

  • messages (Union[Sequence[Message], Message]) –

  • count (int) –

  • initial_period (float) –

  • subsequent_period (float) –

Raises

ValueError – If the given messages are invalid

class can.ModifiableCyclicTaskABC(messages, period)[source]

Adds support for modifying a periodic message

Parameters
  • messages (Union[Sequence[Message], Message]) – The messages to be sent periodically.

  • period (float) – The rate in seconds at which to send the messages.

Raises

ValueError – If the given messages are invalid

modify_data(messages)[source]

Update the contents of the periodically sent messages, without altering the timing.

Parameters

messages (Union[Sequence[Message], Message]) –

The messages with the new Message.data.

Note: The arbitration ID cannot be changed.

Note: The number of new cyclic messages to be sent must be equal to the original number of messages originally specified for this task.

Raises

ValueError – If the given messages are invalid

Return type

None

class can.RestartableCyclicTaskABC(messages, period)[source]

Adds support for restarting a stopped cyclic task

Parameters
  • messages (Union[Sequence[Message], Message]) – The messages to be sent periodically.

  • period (float) – The rate in seconds at which to send the messages.

Raises

ValueError – If the given messages are invalid

abstract start()[source]

Restart a stopped periodic task.

Return type

None