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Specific Exceptions: Adapting neousys (+ bugfixes & simplifications) #1076

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Merged
mergify merged 8 commits into from
Jun 8, 2021
Merged

Specific Exceptions: Adapting neousys (+ bugfixes & simplifications) #1076

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51569b0
improve error handling in neousys; fix bugs
felixdivo Jun 8, 2021
d94bad0
remove unused code from neousys
felixdivo Jun 8, 2021
1f5b03a
Format code with black
felixdivo Jun 8, 2021
8c66933
remove unused test flag
felixdivo Jun 8, 2021
3448861
support timeouts while receiving
felixdivo Jun 8, 2021
16edfad
remove confusing parameter documentation
felixdivo Jun 8, 2021
e046ed8
Merge branch 'develop' into felixdivo-issue-1046-neousys
mergify[bot] Jun 8, 2021
fb0210a
Merge branch 'develop' into felixdivo-issue-1046-neousys
mergify[bot] Jun 8, 2021
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148 changes: 59 additions & 89 deletions can/interfaces/neousys/neousys.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,14 +13,11 @@
# pylint: disable=too-few-public-methods
# pylint: disable=too-many-instance-attributes
# pylint: disable=wrong-import-position
# pylint: disable=method-hidden
# pylint: disable=unused-import

import warnings
import queue
import logging
import platform
import time
from time import time

from ctypes import (
byref,
Expand All @@ -33,11 +30,17 @@
Structure,
)

if platform.system() == "Windows":
try:
from ctypes import WinDLL
else:
except ImportError:
from ctypes import CDLL

from can import BusABC, Message
from ...exceptions import (
CanInitializationError,
CanOperationError,
CanInterfaceNotImplementedError,
)


logger = logging.getLogger(__name__)
Expand Down Expand Up @@ -126,111 +129,87 @@ class NeousysCanBitClk(Structure):
NEOUSYS_CANLIB = WinDLL("./WDT_DIO.dll")
else:
NEOUSYS_CANLIB = CDLL("libwdt_dio.so")
logger.info("Loaded Neousys WDT_DIO Can driver")
logger.info("Loaded Neousys WDT_DIO Can driver")
except OSError as error:
logger.info("Cannot Neousys CAN bus dll or share object: %d", format(error))
# NEOUSYS_CANLIB = None
logger.info("Cannot load Neousys CAN bus dll or shared object: %d", format(error))


class NeousysBus(BusABC):
""" Neousys CAN bus Class"""
"""Neousys CAN bus Class"""

def __init__(self, channel, device=0, bitrate=500000, **kwargs):
"""
:param channel: channel number
:param device: device number
:param bitrate: bit rate. Renamed to bitrate in next release.
:param bitrate: bit rate.
"""
super().__init__(channel, **kwargs)

if NEOUSYS_CANLIB is not None:
self.channel = channel

self.device = device
if NEOUSYS_CANLIB is None:
raise CanInterfaceNotImplementedError("Neousys WDT_DIO Can driver missing")

self.channel_info = "Neousys Can: device {}, channel {}".format(
self.device, self.channel
)
self.channel = channel
self.device = device
self.channel_info = f"Neousys Can: device {self.device}, channel {self.channel}"

self.queue = queue.Queue()
self.queue = queue.Queue()

# Init with accept all and wanted bitrate
self.init_config = NeousysCanSetup(
bitrate, NEOUSYS_CAN_MSG_USE_ID_FILTER, 0, 0
)
# Init with accept all and wanted bitrate
self.init_config = NeousysCanSetup(bitrate, NEOUSYS_CAN_MSG_USE_ID_FILTER, 0, 0)

self._neousys_recv_cb = NEOUSYS_CAN_MSG_CALLBACK(self._neousys_recv_cb)
self._neousys_status_cb = NEOUSYS_CAN_STATUS_CALLBACK(
self._neousys_status_cb
)
self._neousys_recv_cb = NEOUSYS_CAN_MSG_CALLBACK(self._neousys_recv_cb)
self._neousys_status_cb = NEOUSYS_CAN_STATUS_CALLBACK(self._neousys_status_cb)

if NEOUSYS_CANLIB.CAN_RegisterReceived(0, self._neousys_recv_cb) == 0:
logger.error("Neousys CAN bus Setup receive callback")
if NEOUSYS_CANLIB.CAN_RegisterReceived(0, self._neousys_recv_cb) == 0:
raise CanInitializationError("Neousys CAN bus Setup receive callback")

if NEOUSYS_CANLIB.CAN_RegisterStatus(0, self._neousys_status_cb) == 0:
logger.error("Neousys CAN bus Setup status callback")
if NEOUSYS_CANLIB.CAN_RegisterStatus(0, self._neousys_status_cb) == 0:
raise CanInitializationError("Neousys CAN bus Setup status callback")

if (
NEOUSYS_CANLIB.CAN_Setup(
channel, byref(self.init_config), sizeof(self.init_config)
)
== 0
):
logger.error("Neousys CAN bus Setup Error")
if (
NEOUSYS_CANLIB.CAN_Setup(
channel, byref(self.init_config), sizeof(self.init_config)
)
== 0
):
raise CanInitializationError("Neousys CAN bus Setup Error")

if NEOUSYS_CANLIB.CAN_Start(channel) == 0:
logger.error("Neousys CAN bus Start Error")
if NEOUSYS_CANLIB.CAN_Start(channel) == 0:
raise CanInitializationError("Neousys CAN bus Start Error")

def send(self, msg, timeout=None):
def send(self, msg, timeout=None) -> None:
"""
:param msg: message to send
:param timeout: timeout is not used here
:return:
"""

if NEOUSYS_CANLIB is None:
logger.error("Can't send msg as Neousys DLL/SO is not loaded")
else:
tx_msg = NeousysCanMsg(
msg.arbitration_id, 0, 0, msg.dlc, (c_ubyte * 8)(*msg.data)
)
tx_msg = NeousysCanMsg(
msg.arbitration_id, 0, 0, msg.dlc, (c_ubyte * 8)(*msg.data)
)

if (
NEOUSYS_CANLIB.CAN_Send(self.channel, byref(tx_msg), sizeof(tx_msg))
== 0
):
logger.error("Neousys Can can't send message")
if NEOUSYS_CANLIB.CAN_Send(self.channel, byref(tx_msg), sizeof(tx_msg)) == 0:
raise CanOperationError("Neousys Can can't send message")

def _recv_internal(self, timeout):
msg = None

if not self.queue.empty():
msg = self.queue.get()
try:
return self.queue.get(block=True, timeout=timeout), False
except queue.Empty:
return None, False

return msg, False

def _neousys_recv_cb(self, msg, sizeof_msg):
def _neousys_recv_cb(self, msg, sizeof_msg) -> None:
"""
:param msg struct CAN_MSG
:param sizeof_msg message number
:return:
:param msg: struct CAN_MSG
:param sizeof_msg: message number
"""
remote_frame = False
extended_frame = False

msg_bytes = bytearray(msg.contents.data)

if msg.contents.flags & NEOUSYS_CAN_MSG_REMOTE_FRAME:
remote_frame = True

if msg.contents.flags & NEOUSYS_CAN_MSG_EXTENDED_ID:
extended_frame = True
remote_frame = bool(msg.contents.flags & NEOUSYS_CAN_MSG_REMOTE_FRAME)
extended_frame = bool(msg.contents.flags & NEOUSYS_CAN_MSG_EXTENDED_ID)

if msg.contents.flags & NEOUSYS_CAN_MSG_DATA_LOST:
logger.error("_neousys_recv_cb flag CAN_MSG_DATA_LOST")

msg = Message(
timestamp=time.time(),
timestamp=time(),
arbitration_id=msg.contents.id,
is_remote_frame=remote_frame,
is_extended_id=extended_frame,
Expand All @@ -242,30 +221,21 @@ def _neousys_recv_cb(self, msg, sizeof_msg):
# Reading happens in Callback function and
# with Python-CAN it happens polling
# so cache stuff in array to for poll
if not self.queue.full():
try:
self.queue.put(msg)
else:
logger.error("Neousys message Queue is full")
except queue.Full:
raise CanOperationError("Neousys message Queue is full") from None
Comment on lines +226 to +227
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@hardbyte hardbyte Jun 8, 2021

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👍🏼


def _neousys_status_cb(self, status):
def _neousys_status_cb(self, status) -> None:
"""
:param status BUS Status
:return:
:param status: BUS Status
"""
logger.info("%s _neousys_status_cb: %d", self.init_config, status)

def shutdown(self):
if NEOUSYS_CANLIB is not None:
NEOUSYS_CANLIB.CAN_Stop(self.channel)

def fileno(self):
# Return an invalid file descriptor as not used
return -1
NEOUSYS_CANLIB.CAN_Stop(self.channel)

@staticmethod
def _detect_available_configs():
channels = []

# There is only one channel
channels.append({"interface": "neousys", "channel": 0})
return channels
return [{"interface": "neousys", "channel": 0}]
4 changes: 2 additions & 2 deletions test/test_neousys.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def setUp(self) -> None:
can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Start = Mock(return_value=1)
can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Send = Mock(return_value=1)
can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Stop = Mock(return_value=1)
self.bus = can.Bus(channel=0, bustype="neousys", _testing=True)
self.bus = can.Bus(channel=0, bustype="neousys")

def tearDown(self) -> None:
if self.bus:
Expand Down Expand Up @@ -67,7 +67,7 @@ def test_bus_creation(self) -> None:
)

def test_bus_creation_bitrate(self) -> None:
self.bus = can.Bus(channel=0, bustype="neousys", bitrate=200000, _testing=True)
self.bus = can.Bus(channel=0, bustype="neousys", bitrate=200000)
self.assertIsInstance(self.bus, neousys.NeousysBus)
CAN_Start_args = (
can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0]
Expand Down