"""
Contains Python equivalents of the function and constant
definitions in CANLIB's canlib.h, with some supporting functionality
specific to Python.
Copyright (C) 2010 Dynamic Controls
"""
import sys
import time
import logging
import ctypes
from can import BusABC
from ...exceptions import CanError, CanInitializationError, CanOperationError
from can import Message
from can.util import time_perfcounter_correlation
from . import constants as canstat
from . import structures
log = logging.getLogger("can.kvaser")
# Resolution in us
TIMESTAMP_RESOLUTION = 10
TIMESTAMP_FACTOR = TIMESTAMP_RESOLUTION / 1000000.0
try:
if sys.platform == "win32":
__canlib = ctypes.windll.LoadLibrary("canlib32")
else:
__canlib = ctypes.cdll.LoadLibrary("libcanlib.so")
log.info("loaded kvaser's CAN library")
except OSError:
log.warning("Kvaser canlib is unavailable.")
__canlib = None
def _unimplemented_function(*args):
raise NotImplementedError("This function is not implemented in canlib")
def __get_canlib_function(func_name, argtypes=None, restype=None, errcheck=None):
argtypes = [] if argtypes is None else argtypes
# log.debug('Wrapping function "%s"' % func_name)
try:
# e.g. canlib.canBusOn
retval = getattr(__canlib, func_name)
# log.debug('"%s" found in library', func_name)
except AttributeError:
log.warning('"%s" was not found in library', func_name)
return _unimplemented_function
else:
# log.debug('Result type is: %s' % type(restype))
# log.debug('Error check function is: %s' % errcheck)
retval.argtypes = argtypes
retval.restype = restype
if errcheck:
retval.errcheck = errcheck
return retval
class CANLIBError(CanError):
"""
Try to display errors that occur within the wrapped C library nicely.
"""
def __init__(self, function, error_code, arguments):
message = CANLIBError._get_error_message(error_code)
super().__init__(f"Function {function.__name__} failed - {message}", error_code)
self.function = function
self.arguments = arguments
@staticmethod
def _get_error_message(error_code: int) -> str:
errmsg = ctypes.create_string_buffer(128)
canGetErrorText(error_code, errmsg, len(errmsg))
return errmsg.value.decode("ascii")
class CANLIBInitializationError(CANLIBError, CanInitializationError):
pass
class CANLIBOperationError(CANLIBError, CanOperationError):
pass
def __convert_can_status_to_int(result):
if isinstance(result, int):
return result
else:
return result.value
def __check_status_operation(result, function, arguments):
result = __convert_can_status_to_int(result)
if not canstat.CANSTATUS_SUCCESS(result):
raise CANLIBOperationError(function, result, arguments)
return result
def __check_status_initialization(result, function, arguments):
result = __convert_can_status_to_int(result)
if not canstat.CANSTATUS_SUCCESS(result):
raise CANLIBInitializationError(function, result, arguments)
return result
def __check_status_read(result, function, arguments):
result = __convert_can_status_to_int(result)
if not canstat.CANSTATUS_SUCCESS(result) and result != canstat.canERR_NOMSG:
raise CANLIBOperationError(function, result, arguments)
return result
class c_canHandle(ctypes.c_int):
pass
canINVALID_HANDLE = -1
def __check_bus_handle_validity(handle, function, arguments):
if handle.value > canINVALID_HANDLE:
return handle # is valid
result = __convert_can_status_to_int(handle)
raise CANLIBInitializationError(function, result, arguments)
if __canlib is not None:
canInitializeLibrary = __get_canlib_function("canInitializeLibrary")
canGetErrorText = __get_canlib_function(
"canGetErrorText",
argtypes=[canstat.c_canStatus, ctypes.c_char_p, ctypes.c_uint],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
# TODO wrap this type of function to provide a more Pythonic API
canGetNumberOfChannels = __get_canlib_function(
"canGetNumberOfChannels",
argtypes=[ctypes.c_void_p],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
kvReadTimer = __get_canlib_function(
"kvReadTimer",
argtypes=[c_canHandle, ctypes.POINTER(ctypes.c_uint)],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canBusOff = __get_canlib_function(
"canBusOff",
argtypes=[c_canHandle],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canBusOn = __get_canlib_function(
"canBusOn",
argtypes=[c_canHandle],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canClose = __get_canlib_function(
"canClose",
argtypes=[c_canHandle],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canOpenChannel = __get_canlib_function(
"canOpenChannel",
argtypes=[ctypes.c_int, ctypes.c_int],
restype=c_canHandle,
errcheck=__check_bus_handle_validity,
)
canSetBusParams = __get_canlib_function(
"canSetBusParams",
argtypes=[
c_canHandle,
ctypes.c_long,
ctypes.c_uint,
ctypes.c_uint,
ctypes.c_uint,
ctypes.c_uint,
ctypes.c_uint,
],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canSetBusParamsFd = __get_canlib_function(
"canSetBusParamsFd",
argtypes=[
c_canHandle,
ctypes.c_long,
ctypes.c_uint,
ctypes.c_uint,
ctypes.c_uint,
],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canSetBusOutputControl = __get_canlib_function(
"canSetBusOutputControl",
argtypes=[c_canHandle, ctypes.c_uint],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canSetAcceptanceFilter = __get_canlib_function(
"canSetAcceptanceFilter",
argtypes=[c_canHandle, ctypes.c_uint, ctypes.c_uint, ctypes.c_int],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canReadWait = __get_canlib_function(
"canReadWait",
argtypes=[
c_canHandle,
ctypes.c_void_p,
ctypes.c_void_p,
ctypes.c_void_p,
ctypes.c_void_p,
ctypes.c_void_p,
ctypes.c_long,
],
restype=canstat.c_canStatus,
errcheck=__check_status_read,
)
canWrite = __get_canlib_function(
"canWrite",
argtypes=[
c_canHandle,
ctypes.c_long,
ctypes.c_void_p,
ctypes.c_uint,
ctypes.c_uint,
],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canWriteSync = __get_canlib_function(
"canWriteSync",
argtypes=[c_canHandle, ctypes.c_ulong],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canIoCtlInit = __get_canlib_function(
"canIoCtl",
argtypes=[c_canHandle, ctypes.c_uint, ctypes.c_void_p, ctypes.c_uint],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canIoCtl = __get_canlib_function(
"canIoCtl",
argtypes=[c_canHandle, ctypes.c_uint, ctypes.c_void_p, ctypes.c_uint],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canGetVersion = __get_canlib_function(
"canGetVersion", restype=ctypes.c_short, errcheck=__check_status_operation
)
kvFlashLeds = __get_canlib_function(
"kvFlashLeds",
argtypes=[c_canHandle, ctypes.c_int, ctypes.c_int],
restype=ctypes.c_short,
errcheck=__check_status_operation,
)
if sys.platform == "win32":
canGetVersionEx = __get_canlib_function(
"canGetVersionEx",
argtypes=[ctypes.c_uint],
restype=ctypes.c_uint,
errcheck=__check_status_operation,
)
canGetChannelData = __get_canlib_function(
"canGetChannelData",
argtypes=[ctypes.c_int, ctypes.c_int, ctypes.c_void_p, ctypes.c_size_t],
restype=canstat.c_canStatus,
errcheck=__check_status_initialization,
)
canRequestBusStatistics = __get_canlib_function(
"canRequestBusStatistics",
argtypes=[c_canHandle],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
canGetBusStatistics = __get_canlib_function(
"canGetBusStatistics",
argtypes=[
c_canHandle,
ctypes.POINTER(structures.BusStatistics),
ctypes.c_size_t,
],
restype=canstat.c_canStatus,
errcheck=__check_status_operation,
)
def init_kvaser_library():
if __canlib is not None:
try:
log.debug("Initializing Kvaser CAN library")
canInitializeLibrary()
log.debug("CAN library initialized")
except Exception:
log.warning("Kvaser canlib could not be initialized.")
DRIVER_MODE_SILENT = False
DRIVER_MODE_NORMAL = True
BITRATE_OBJS = {
1000000: canstat.canBITRATE_1M,
500000: canstat.canBITRATE_500K,
250000: canstat.canBITRATE_250K,
125000: canstat.canBITRATE_125K,
100000: canstat.canBITRATE_100K,
83000: canstat.canBITRATE_83K,
62000: canstat.canBITRATE_62K,
50000: canstat.canBITRATE_50K,
10000: canstat.canBITRATE_10K,
}
BITRATE_FD = {
500000: canstat.canFD_BITRATE_500K_80P,
1000000: canstat.canFD_BITRATE_1M_80P,
2000000: canstat.canFD_BITRATE_2M_80P,
4000000: canstat.canFD_BITRATE_4M_80P,
8000000: canstat.canFD_BITRATE_8M_60P,
}
[docs]class KvaserBus(BusABC):
"""
The CAN Bus implemented for the Kvaser interface.
"""
def __init__(self, channel, can_filters=None, **kwargs):
"""
:param int channel:
The Channel id to create this bus with.
:param list can_filters:
See :meth:`can.BusABC.set_filters`.
Backend Configuration
:param int bitrate:
Bitrate of channel in bit/s
:param bool accept_virtual:
If virtual channels should be accepted.
:param int tseg1:
Time segment 1, that is, the number of quanta from (but not including)
the Sync Segment to the sampling point.
If this parameter is not given, the Kvaser driver will try to choose
all bit timing parameters from a set of defaults.
:param int tseg2:
Time segment 2, that is, the number of quanta from the sampling
point to the end of the bit.
:param int sjw:
The Synchronization Jump Width. Decides the maximum number of time quanta
that the controller can resynchronize every bit.
:param int no_samp:
Either 1 or 3. Some CAN controllers can also sample each bit three times.
In this case, the bit will be sampled three quanta in a row,
with the last sample being taken in the edge between TSEG1 and TSEG2.
Three samples should only be used for relatively slow baudrates.
:param bool driver_mode:
Silent or normal.
:param bool single_handle:
Use one Kvaser CANLIB bus handle for both reading and writing.
This can be set if reading and/or writing is done from one thread.
:param bool receive_own_messages:
If messages transmitted should also be received back.
Only works if single_handle is also False.
If you want to receive messages from other applications on the same
computer, set this to True or set single_handle to True.
:param bool fd:
If CAN-FD frames should be supported.
:param int data_bitrate:
Which bitrate to use for data phase in CAN FD.
Defaults to arbitration bitrate.
"""
log.info("CAN Filters: {}".format(can_filters))
log.info("Got configuration of: {}".format(kwargs))
bitrate = kwargs.get("bitrate", 500000)
tseg1 = kwargs.get("tseg1", 0)
tseg2 = kwargs.get("tseg2", 0)
sjw = kwargs.get("sjw", 0)
no_samp = kwargs.get("no_samp", 0)
driver_mode = kwargs.get("driver_mode", DRIVER_MODE_NORMAL)
single_handle = kwargs.get("single_handle", False)
receive_own_messages = kwargs.get("receive_own_messages", False)
accept_virtual = kwargs.get("accept_virtual", True)
fd = kwargs.get("fd", False)
data_bitrate = kwargs.get("data_bitrate", None)
try:
channel = int(channel)
except ValueError:
raise ValueError("channel must be an integer")
self.channel = channel
log.debug("Initialising bus instance")
self.single_handle = single_handle
num_channels = ctypes.c_int(0)
canGetNumberOfChannels(ctypes.byref(num_channels))
num_channels = int(num_channels.value)
log.info("Found %d available channels", num_channels)
for idx in range(num_channels):
channel_info = get_channel_info(idx)
log.info("%d: %s", idx, channel_info)
if idx == channel:
self.channel_info = channel_info
flags = 0
if accept_virtual:
flags |= canstat.canOPEN_ACCEPT_VIRTUAL
if fd:
flags |= canstat.canOPEN_CAN_FD
log.debug("Creating read handle to bus channel: %s", channel)
self._read_handle = canOpenChannel(channel, flags)
canIoCtlInit(
self._read_handle,
canstat.canIOCTL_SET_TIMER_SCALE,
ctypes.byref(ctypes.c_long(TIMESTAMP_RESOLUTION)),
4,
)
if fd:
if "tseg1" not in kwargs and bitrate in BITRATE_FD:
# Use predefined bitrate for arbitration
bitrate = BITRATE_FD[bitrate]
if data_bitrate in BITRATE_FD:
# Use predefined bitrate for data
data_bitrate = BITRATE_FD[data_bitrate]
elif not data_bitrate:
# Use same bitrate for arbitration and data phase
data_bitrate = bitrate
canSetBusParamsFd(self._read_handle, data_bitrate, tseg1, tseg2, sjw)
else:
if "tseg1" not in kwargs and bitrate in BITRATE_OBJS:
bitrate = BITRATE_OBJS[bitrate]
canSetBusParams(self._read_handle, bitrate, tseg1, tseg2, sjw, no_samp, 0)
# By default, use local echo if single handle is used (see #160)
local_echo = single_handle or receive_own_messages
if receive_own_messages and single_handle:
log.warning("receive_own_messages only works if single_handle is False")
canIoCtlInit(
self._read_handle,
canstat.canIOCTL_SET_LOCAL_TXECHO,
ctypes.byref(ctypes.c_byte(local_echo)),
1,
)
if self.single_handle:
log.debug("We don't require separate handles to the bus")
self._write_handle = self._read_handle
else:
log.debug("Creating separate handle for TX on channel: %s", channel)
self._write_handle = canOpenChannel(channel, flags)
canBusOn(self._read_handle)
can_driver_mode = (
canstat.canDRIVER_SILENT
if driver_mode == DRIVER_MODE_SILENT
else canstat.canDRIVER_NORMAL
)
canSetBusOutputControl(self._write_handle, can_driver_mode)
log.debug("Going bus on TX handle")
canBusOn(self._write_handle)
timer = ctypes.c_uint(0)
try:
if time.get_clock_info("time").resolution > 1e-5:
ts, perfcounter = time_perfcounter_correlation()
kvReadTimer(self._read_handle, ctypes.byref(timer))
current_perfcounter = time.perf_counter()
now = ts + (current_perfcounter - perfcounter)
self._timestamp_offset = now - (timer.value * TIMESTAMP_FACTOR)
else:
kvReadTimer(self._read_handle, ctypes.byref(timer))
self._timestamp_offset = time.time() - (timer.value * TIMESTAMP_FACTOR)
except Exception as exc:
# timer is usually close to 0
log.info(str(exc))
self._timestamp_offset = time.time() - (timer.value * TIMESTAMP_FACTOR)
self._is_filtered = False
super().__init__(channel=channel, can_filters=can_filters, **kwargs)
def _apply_filters(self, filters):
if filters and len(filters) == 1:
can_id = filters[0]["can_id"]
can_mask = filters[0]["can_mask"]
extended = 1 if filters[0].get("extended") else 0
try:
for handle in (self._read_handle, self._write_handle):
canSetAcceptanceFilter(handle, can_id, can_mask, extended)
except (NotImplementedError, CANLIBError) as e:
self._is_filtered = False
log.error("Filtering is not supported - %s", e)
else:
self._is_filtered = True
log.info("canlib is filtering on ID 0x%X, mask 0x%X", can_id, can_mask)
else:
self._is_filtered = False
log.info("Hardware filtering has been disabled")
try:
for handle in (self._read_handle, self._write_handle):
for extended in (0, 1):
canSetAcceptanceFilter(handle, 0, 0, extended)
except (NotImplementedError, CANLIBError) as e:
log.error("An error occured while disabling filtering: %s", e)
[docs] def flush_tx_buffer(self):
"""Wipeout the transmit buffer on the Kvaser."""
canIoCtl(self._write_handle, canstat.canIOCTL_FLUSH_TX_BUFFER, 0, 0)
def _recv_internal(self, timeout=None):
"""
Read a message from kvaser device and return whether filtering has taken place.
"""
arb_id = ctypes.c_long(0)
data = ctypes.create_string_buffer(64)
dlc = ctypes.c_uint(0)
flags = ctypes.c_uint(0)
timestamp = ctypes.c_ulong(0)
if timeout is None:
# Set infinite timeout
# http://www.kvaser.com/canlib-webhelp/group___c_a_n.html#ga2edd785a87cc16b49ece8969cad71e5b
timeout = 0xFFFFFFFF
else:
timeout = int(timeout * 1000)
# log.log(9, 'Reading for %d ms on handle: %s' % (timeout, self._read_handle))
status = canReadWait(
self._read_handle,
ctypes.byref(arb_id),
ctypes.byref(data),
ctypes.byref(dlc),
ctypes.byref(flags),
ctypes.byref(timestamp),
timeout, # This is an X ms blocking read
)
if status == canstat.canOK:
data_array = data.raw
flags = flags.value
is_extended = bool(flags & canstat.canMSG_EXT)
is_remote_frame = bool(flags & canstat.canMSG_RTR)
is_error_frame = bool(flags & canstat.canMSG_ERROR_FRAME)
is_fd = bool(flags & canstat.canFDMSG_FDF)
bitrate_switch = bool(flags & canstat.canFDMSG_BRS)
error_state_indicator = bool(flags & canstat.canFDMSG_ESI)
msg_timestamp = timestamp.value * TIMESTAMP_FACTOR
rx_msg = Message(
arbitration_id=arb_id.value,
data=data_array[: dlc.value],
dlc=dlc.value,
is_extended_id=is_extended,
is_error_frame=is_error_frame,
is_remote_frame=is_remote_frame,
is_fd=is_fd,
bitrate_switch=bitrate_switch,
error_state_indicator=error_state_indicator,
channel=self.channel,
timestamp=msg_timestamp + self._timestamp_offset,
)
# log.debug('Got message: %s' % rx_msg)
return rx_msg, self._is_filtered
else:
# log.debug('read complete -> status not okay')
return None, self._is_filtered
[docs] def send(self, msg, timeout=None):
# log.debug("Writing a message: {}".format(msg))
flags = canstat.canMSG_EXT if msg.is_extended_id else canstat.canMSG_STD
if msg.is_remote_frame:
flags |= canstat.canMSG_RTR
if msg.is_error_frame:
flags |= canstat.canMSG_ERROR_FRAME
if msg.is_fd:
flags |= canstat.canFDMSG_FDF
if msg.bitrate_switch:
flags |= canstat.canFDMSG_BRS
ArrayConstructor = ctypes.c_byte * msg.dlc
buf = ArrayConstructor(*msg.data)
canWrite(
self._write_handle, msg.arbitration_id, ctypes.byref(buf), msg.dlc, flags
)
if timeout:
canWriteSync(self._write_handle, int(timeout * 1000))
[docs] def flash(self, flash=True):
"""
Turn on or off flashing of the device's LED for physical
identification purposes.
"""
if flash:
action = canstat.kvLED_ACTION_ALL_LEDS_ON
else:
action = canstat.kvLED_ACTION_ALL_LEDS_OFF
try:
kvFlashLeds(self._read_handle, action, 30000)
except (CANLIBError, NotImplementedError) as e:
log.error("Could not flash LEDs (%s)", e)
[docs] def shutdown(self):
super().shutdown()
# Wait for transmit queue to be cleared
try:
canWriteSync(self._write_handle, 100)
except CANLIBError:
# Not a huge deal and it seems that we get timeout if no messages
# exists in the buffer at all
pass
if not self.single_handle:
canBusOff(self._read_handle)
canClose(self._read_handle)
canBusOff(self._write_handle)
canClose(self._write_handle)
[docs] def get_stats(self) -> structures.BusStatistics:
"""Retrieves the bus statistics.
Use like so:
>>> stats = bus.get_stats()
>>> print(stats)
std_data: 0, std_remote: 0, ext_data: 0, ext_remote: 0, err_frame: 0, bus_load: 0.0%, overruns: 0
:returns: bus statistics.
"""
canRequestBusStatistics(self._write_handle)
stats = structures.BusStatistics()
canGetBusStatistics(
self._write_handle, ctypes.pointer(stats), ctypes.sizeof(stats)
)
return stats
@staticmethod
def _detect_available_configs():
num_channels = ctypes.c_int(0)
try:
canGetNumberOfChannels(ctypes.byref(num_channels))
except (CANLIBError, NameError):
pass
return [
{"interface": "kvaser", "channel": channel}
for channel in range(num_channels.value)
]
def get_channel_info(channel):
name = ctypes.create_string_buffer(80)
serial = ctypes.c_uint64()
number = ctypes.c_uint()
canGetChannelData(
channel,
canstat.canCHANNELDATA_DEVDESCR_ASCII,
ctypes.byref(name),
ctypes.sizeof(name),
)
canGetChannelData(
channel,
canstat.canCHANNELDATA_CARD_SERIAL_NO,
ctypes.byref(serial),
ctypes.sizeof(serial),
)
canGetChannelData(
channel,
canstat.canCHANNELDATA_CHAN_NO_ON_CARD,
ctypes.byref(number),
ctypes.sizeof(number),
)
return f"{name.value.decode('ascii')}, S/N {serial.value} (#{number.value + 1})"
init_kvaser_library()