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loop_user.py
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loop_user.py
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'''
Receive, Transmit or Loopback. Give the user the power
@author Clament John
@data 09th November 2018
'''
import platform
import time
import sys
import ctypes
from ctypes import *
import signal
import threading
import Queue
class ProcessThread(threading.Thread):
def __init__(self, in_q):
threading.Thread.__init__(self)
self.in_queue = in_q
def run(self):
while True:
msg = self.in_queue.get()
result = self.process(msg)
if result == -1:
libCAN.CloseCANMate(handle)
print('Tx failed')
sys.exit(0)
def process(self, msg):
ret_check = libCAN.WriteCANMessage(handle, byref(msg))
return ret_check
def putCanTx(message, delay, queue_in):
while True:
queue_in.put(message)
time.sleep(delay)
def signal_handler(sig, frame):
#close the HW before exiting
libCAN.CloseCANMate(handle)
print('You pressed Ctrl+C!')
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
libCAN = cdll.LoadLibrary("libcanmate.so")
libc = CDLL("libc.so.6")
printf = libc.printf
# Define the CAN Message struct
class CANMsg(Structure):
_pack_ = 1
_fields_ = [('bExtended', ctypes.c_ubyte),
('chTmStmpH', ctypes.c_ubyte),
('chTmStmpL', ctypes.c_ubyte),
('EArbId1', ctypes.c_ubyte),
('EArbId0', ctypes.c_ubyte),
('SArbId1', ctypes.c_ubyte),
('SArbId0', ctypes.c_ubyte),
('DLC', ctypes.c_ubyte),
('D0', ctypes.c_ubyte),
('D1', ctypes.c_ubyte),
('D2', ctypes.c_ubyte),
('D3', ctypes.c_ubyte),
('D4', ctypes.c_ubyte),
('D5', ctypes.c_ubyte),
('D6', ctypes.c_ubyte),
('D7', ctypes.c_ubyte)]
def from_param(self):
return ctypes.c_void_p(self.c_ptr)
# Define the CAN Event struct
class CANEvent(Structure):
_fields_ = [('chErr', ctypes.c_ubyte),
('chTxErrCnt', ctypes.c_ubyte),
('chRxErrCnt', ctypes.c_ubyte)]
#Datacallback function
def Datacalbk(a, b):
#print "Received: "
printf("Recv Value: %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X\n",
a[0].bExtended, a[0].chTmStmpH, a[0].chTmStmpL, a[0].EArbId1, a[0].EArbId0, a[0].SArbId1, a[0].SArbId0,
a[0].DLC, a[0].D0, a[0].D1, a[0].D2, a[0].D3, a[0].D4, a[0].D5, a[0].D6, a[0].D7)
return 0
#Eventcallback function
def Eventcalbk(a):
print "Event Occured\n"
print a[0].chErr, a[0].chTxErrCnt, a[0].chRxErrCnt
return 0
def Help():
print "Possible Option are :"
print "loop-read, loop-write, loopback, canopen, Ctrl+C\n"
#Variables
ret_check = c_int(0)
handle = c_void_p()
num = c_int(1)
#Index no for Baudrate
"""
BAUD_RATE33K 1
BAUD_RATE50K 2
BAUD_RATE80K 3
BAUD_RATE83K 4
BAUD_RATE100K 5
BAUD_RATE125K 6
BAUD_RATE200K 7
BAUD_RATE250K 8
BAUD_RATE500K 9
BAUD_RATE625K 10
BAUD_RATE800K 11
BAUD_RATE1000K 12
"""
chBaudRate = c_int(8) #BAUD_RATE250K 8
pmsg = CANMsg(0, 0, 0, 0, 0, 0, 8, 8, 9, 10, 12, 99, 51, 34, 73, 45) # initially memset to {0}
pdo1 = CANMsg(0, 0, 0, 0, 0, 1, 138, 8, 0, 0, 0, 0, 0, 0, 1, 1)
heartBeat = CANMsg(0, 0, 0, 0, 0, 7, 10, 8, 0, 0, 0, 0, 0, 0, 2, 2)
#specify the required arg types
libCAN.WriteCANMessage.argtypes = [handle, POINTER(CANMsg)]
#Datacallback and Eventcallback function declaration
DataCB = CFUNCTYPE(c_int, POINTER(CANMsg), POINTER(c_int))
EventCB = CFUNCTYPE(c_int, POINTER(CANEvent))
_data_fn = DataCB(Datacalbk)
_event_fn = EventCB(Eventcalbk)
libCAN.OpenCANMate.argtypes = [DataCB, EventCB]
#GetBaudRate function declaration
GetBRate = libCAN.GetCurrentBaudRate
GetBRate.restype = c_int
GetBRate.argtypes = [handle, POINTER(c_int)]
Data = c_int()
#GetFirmware Version
GetVer = libCAN.GetFirmwareVersion
GetVer.restype = c_int
GetVer.argtypes = [handle, POINTER(c_int)]
Ver = c_int()
Help()
while True:
input = raw_input("Enter the command : ")
if input == "loop-read":
handle = libCAN.OpenCANMate(_data_fn, _event_fn)
#print handle
if (handle > 0):
print "Open Sucess"
else:
print "Error Opening"
#set the baud rate
ret_check = libCAN.SetCANBaudRate(handle, chBaudRate)
if (ret_check == 0):
print "CAN Baudrate of 500K Configured"
else:
print "CAN Baudrate Config failed"
#set to receive
ret_check = libCAN.StartReception(handle)
if (ret_check == 0):
print "Reception Started"
else:
print "Reception failed"
if input == "loop-write":
handle = libCAN.OpenCANMate(_data_fn, _event_fn)
#print handle
if (handle > 0):
print "Open Sucess"
else:
print "Error Opening"
#set the baud rate
ret_check = libCAN.SetCANBaudRate(handle, chBaudRate)
if (ret_check == 0):
print "CAN Baudrate of 250K Configured"
else:
print "CAN Baudrate Config failed"
#write in a loop
while True:
printf("Send Value: %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X\n",
pmsg.bExtended, pmsg.chTmStmpH, pmsg.chTmStmpL, pmsg.EArbId1, pmsg.EArbId0, pmsg.SArbId1, pmsg.SArbId0,
pmsg.DLC, pmsg.D0, pmsg.D1, pmsg.D2, pmsg.D3, pmsg.D4, pmsg.D5, pmsg.D6, pmsg.D7)
ret_check = libCAN.WriteCANMessage(handle, byref(pmsg))
time.sleep(0.5)
if ret_check == -1:
break
if input == "loopback":
handle = libCAN.OpenCANMate(_data_fn, _event_fn)
#print handle
if (handle > 0):
print "Open Sucess"
else:
print "Error Opening"
break
#set the baud rate
ret_check = libCAN.SetCANBaudRate(handle, chBaudRate)
if (ret_check == 0):
print "CAN Baudrate of 500K Configured"
else:
print "CAN Baudrate Config failed"
break
#set reception
ret_check = libCAN.StartReception(handle)
if ret_check == 0:
print("reception started\n")
else:
print("reception failed\n")
break
#enable loopback
ret_check = libCAN.SetLoopbackMode(handle)
if ret_check == 0:
print "Loop Back Mode Configured"
else:
print "Loop Back Mode failed"
break
#write in a loop
while True:
printf("Send Value: %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X\n",
pmsg.bExtended, pmsg.chTmStmpH, pmsg.chTmStmpL, pmsg.EArbId1, pmsg.EArbId0, pmsg.SArbId1, pmsg.SArbId0,
pmsg.DLC, pmsg.D0, pmsg.D1, pmsg.D2, pmsg.D3, pmsg.D4, pmsg.D5, pmsg.D6, pmsg.D7)
ret_check = libCAN.WriteCANMessage(handle, byref(pmsg))
time.sleep(0.5)
if ret_check == -1:
break
if input == "canopen":
handle = libCAN.OpenCANMate(_data_fn, _event_fn)
#print handle
if (handle > 0):
print "Open Sucess"
else:
print "Error Opening"
break
#set the baud rate
ret_check = libCAN.SetCANBaudRate(handle, chBaudRate)
if (ret_check == 0):
print "CAN Baudrate of 500K Configured"
else:
print "CAN Baudrate Config failed"
break
#set reception
ret_check = libCAN.StartReception(handle)
if ret_check == 0:
print("reception started\n")
else:
print("reception failed\n")
break
#enable loopback
ret_check = libCAN.SetLoopbackMode(handle)
if ret_check == 0:
print "Loop Back Mode Configured"
else:
print "Loop Back Mode failed"
break
#write in a loop
print("Threaded runs")
g_in_queue = Queue.Queue()
t = ProcessThread(g_in_queue)
t.setDaemon(True)
t.start()
threading.Thread(target=putCanTx, args=(pmsg, 10, g_in_queue)).start()
threading.Thread(target=putCanTx, args=(pdo1, 1, g_in_queue)).start()
threading.Thread(target=putCanTx, args=(heartBeat, 0.1, g_in_queue)).start()