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Merged
pierreluctg merged 7 commits into from
Feb 21, 2020
Merged

Changes to add direction to CAN messages #773

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cbe1883
Changes to add direction to CAN messages
Feb 20, 2020
ce790ef
Adding relevant changes to ascii reader
Feb 20, 2020
fe3c45e
Reverting accidental change
Feb 20, 2020
05a2df5
Black changes
Feb 20, 2020
151589e
Adding more changes needed for rx_attribute & documentation
Feb 21, 2020
413cb45
Adding more changes needed for rx_attribute & documentation2
Feb 21, 2020
9219db4
Adding changes to __repr__ and adding rx to equals
Feb 21, 2020
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2 changes: 2 additions & 0 deletions can/interfaces/ics_neovi/neovi_bus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -306,6 +306,7 @@ def _ics_msg_to_message(self, ics_msg):
dlc=ics_msg.NumberBytesData,
is_extended_id=bool(ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME),
is_fd=is_fd,
is_rx=not bool(ics_msg.StatusBitField & ics.SPY_STATUS_TX_MSG),
is_remote_frame=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_REMOTE_FRAME
),
Expand All @@ -325,6 +326,7 @@ def _ics_msg_to_message(self, ics_msg):
dlc=ics_msg.NumberBytesData,
is_extended_id=bool(ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME),
is_fd=is_fd,
is_rx=not bool(ics_msg.StatusBitField & ics.SPY_STATUS_TX_MSG),
is_remote_frame=bool(
ics_msg.StatusBitField & ics.SPY_STATUS_REMOTE_FRAME
),
Expand Down
21 changes: 15 additions & 6 deletions can/io/asc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -71,13 +71,15 @@ def __iter__(self):
if not temp or not temp[0].isdigit():
continue
is_fd = False
is_rx = True
try:
timestamp, channel, dummy = temp.split(
None, 2
) # , frameType, dlc, frameData
if channel == "CANFD":
timestamp, _, channel, _, dummy = temp.split(None, 4)
timestamp, _, channel, direction, dummy = temp.split(None, 4)
is_fd = True
is_rx = direction == "Rx"
except ValueError:
# we parsed an empty comment
continue
Expand All @@ -97,13 +99,14 @@ def __iter__(self):
):
pass
elif dummy[-1:].lower() == "r":
can_id_str, _ = dummy.split(None, 1)
can_id_str, direction, _ = dummy.split(None, 2)
can_id_num, is_extended_id = self._extract_can_id(can_id_str, base)
msg = Message(
timestamp=timestamp,
arbitration_id=can_id_num & CAN_ID_MASK,
is_extended_id=is_extended_id,
is_remote_frame=True,
is_rx=direction == "Rx",
channel=channel,
)
yield msg
Expand All @@ -114,7 +117,8 @@ def __iter__(self):
try:
# this only works if dlc > 0 and thus data is available
if not is_fd:
can_id_str, _, _, dlc, data = dummy.split(None, 4)
can_id_str, direction, _, dlc, data = dummy.split(None, 4)
is_rx = direction == "Rx"
else:
can_id_str, frame_name, brs, esi, dlc, data_length, data = dummy.split(
None, 6
Expand Down Expand Up @@ -148,6 +152,7 @@ def __iter__(self):
dlc=dlc,
data=frame,
is_fd=is_fd,
is_rx=is_rx,
channel=channel,
bitrate_switch=is_fd and brs == "1",
error_state_indicator=is_fd and esi == "1",
Expand All @@ -164,7 +169,7 @@ class ASCWriter(BaseIOHandler, Listener):
It the first message does not have a timestamp, it is set to zero.
"""

FORMAT_MESSAGE = "{channel} {id:<15} Rx {dtype} {data}"
FORMAT_MESSAGE = "{channel} {id:<15} {dir:<4} {dtype} {data}"
FORMAT_MESSAGE_FD = " ".join(
[
"CANFD",
Expand Down Expand Up @@ -276,7 +281,7 @@ def on_message_received(self, msg):
serialized = self.FORMAT_MESSAGE_FD.format(
channel=channel,
id=arb_id,
dir="Rx",
dir="Rx" if msg.is_rx else "Tx",
symbolic_name="",
brs=1 if msg.bitrate_switch else 0,
esi=1 if msg.error_state_indicator else 0,
Expand All @@ -294,6 +299,10 @@ def on_message_received(self, msg):
)
else:
serialized = self.FORMAT_MESSAGE.format(
channel=channel, id=arb_id, dtype=dtype, data=" ".join(data)
channel=channel,
id=arb_id,
dir="Rx" if msg.is_rx else "Tx",
dtype=dtype,
data=" ".join(data),
)
self.log_event(serialized, msg.timestamp)
5 changes: 5 additions & 0 deletions can/io/blf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,7 @@ class BLFParseError(Exception):
EDL = 0x1
BRS = 0x2
ESI = 0x4
DIR = 0x1

TIME_TEN_MICS = 0x00000001
TIME_ONE_NANS = 0x00000002
Expand Down Expand Up @@ -258,6 +259,7 @@ def _parse_data(self, data):
arbitration_id=can_id & 0x1FFFFFFF,
is_extended_id=bool(can_id & CAN_MSG_EXT),
is_remote_frame=bool(flags & REMOTE_FLAG),
is_rx=not bool(flags & DIR),
dlc=dlc,
data=can_data[:dlc],
channel=channel - 1,
Expand Down Expand Up @@ -288,6 +290,7 @@ def _parse_data(self, data):
is_extended_id=bool(can_id & CAN_MSG_EXT),
is_remote_frame=bool(flags & REMOTE_FLAG),
is_fd=bool(fd_flags & 0x1),
is_rx=not bool(flags & DIR),
bitrate_switch=bool(fd_flags & 0x2),
error_state_indicator=bool(fd_flags & 0x4),
dlc=dlc2len(dlc),
Expand Down Expand Up @@ -399,6 +402,8 @@ def on_message_received(self, msg):
if msg.is_extended_id:
arb_id |= CAN_MSG_EXT
flags = REMOTE_FLAG if msg.is_remote_frame else 0
if not msg.is_rx:
flags |= DIR
can_data = bytes(msg.data)

if msg.is_error_frame:
Expand Down
17 changes: 16 additions & 1 deletion can/message.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ class Message:
"dlc",
"data",
"is_fd",
"is_rx",
"bitrate_switch",
"error_state_indicator",
"__weakref__", # support weak references to messages
Expand All @@ -58,6 +59,7 @@ def __init__(
dlc: Optional[int] = None,
data: Optional[typechecking.CanData] = None,
is_fd: bool = False,
is_rx: bool = True,
bitrate_switch: bool = False,
error_state_indicator: bool = False,
check: bool = False,
Expand All @@ -81,6 +83,7 @@ def __init__(
self.is_error_frame = is_error_frame
self.channel = channel
self.is_fd = is_fd
self.is_rx = is_rx
self.bitrate_switch = bitrate_switch
self.error_state_indicator = error_state_indicator

Expand Down Expand Up @@ -114,6 +117,7 @@ def __str__(self) -> str:
flag_string = " ".join(
[
"X" if self.is_extended_id else "S",
"Rx" if self.is_rx else "Tx",
"E" if self.is_error_frame else " ",
"R" if self.is_remote_frame else " ",
"F" if self.is_fd else " ",
Expand Down Expand Up @@ -159,6 +163,9 @@ def __repr__(self) -> str:
"is_extended_id={}".format(self.is_extended_id),
]

if not self.is_rx:
args.append("is_rx=False")

if self.is_remote_frame:
args.append("is_remote_frame={}".format(self.is_remote_frame))

Expand Down Expand Up @@ -198,6 +205,7 @@ def __copy__(self) -> "Message":
dlc=self.dlc,
data=self.data,
is_fd=self.is_fd,
is_rx=self.is_rx,
bitrate_switch=self.bitrate_switch,
error_state_indicator=self.error_state_indicator,
)
Expand All @@ -214,6 +222,7 @@ def __deepcopy__(self, memo: dict) -> "Message":
dlc=self.dlc,
data=deepcopy(self.data, memo),
is_fd=self.is_fd,
is_rx=self.is_rx,
bitrate_switch=self.bitrate_switch,
error_state_indicator=self.error_state_indicator,
)
Expand Down Expand Up @@ -280,7 +289,10 @@ def _check(self):
)

def equals(
self, other: "Message", timestamp_delta: Optional[Union[float, int]] = 1.0e-6
self,
other: "Message",
timestamp_delta: Optional[Union[float, int]] = 1.0e-6,
check_direction: bool = True,
) -> bool:
"""
Compares a given message with this one.
Expand All @@ -290,6 +302,8 @@ def equals(
:param timestamp_delta: the maximum difference at which two timestamps are
still considered equal or None to not compare timestamps

:param check_direction: do we compare the messages' directions (Tx/Rx)

:return: True iff the given message equals this one
"""
# see https://github.com/hardbyte/python-can/pull/413 for a discussion
Expand All @@ -304,6 +318,7 @@ def equals(
timestamp_delta is None
or abs(self.timestamp - other.timestamp) <= timestamp_delta
)
and (self.is_rx == other.is_rx or not check_direction)
and self.arbitration_id == other.arbitration_id
and self.is_extended_id == other.is_extended_id
and self.dlc == other.dlc
Expand Down
7 changes: 7 additions & 0 deletions doc/message.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,13 @@ Message
Indicates that this message is a CAN FD message.


.. attribute:: is_rx

:type: bool

Indicates whether this message is a transmitted (Tx) or received (Rx) frame


.. attribute:: bitrate_switch

:type: bool
Expand Down