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Merged
felixdivo merged 4 commits into from
Jun 14, 2018
Merged

Adding proper bitrate and timestamp support for neovi #324

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d2998ba
Adding bitrate settings for neoVI interface
pierreluctg Mar 23, 2018
8ec7c2b
Adding proper bitrate and timestamp support for neovi
pierreluctg Jun 11, 2018
58ae7d0
Update python-ics to 2.12
pierreluctg Jun 11, 2018
e88a5ae
Removing dead code
pierreluctg Jun 13, 2018
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108 changes: 19 additions & 89 deletions can/interfaces/ics_neovi/neovi_bus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,10 @@ class ICSApiError(CanError):
# An error which probably does not need attention.
ICS_SPY_ERR_INFORMATION = 0x40

def __init__(self, error_number, description_short, description_long,
severity, restart_needed):
def __init__(
self, error_number, description_short, description_long,
severity, restart_needed
):
super(ICSApiError, self).__init__(description_short)
self.error_number = error_number
self.description_short = description_short
Expand All @@ -59,23 +61,6 @@ def is_critical(self):
return self.severity == self.ICS_SPY_ERR_CRITICAL


BAUDRATE_SETTING = {
20000: 0,
33333: 1,
50000: 2,
62500: 3,
83333: 4,
100000: 5,
125000: 6,
250000: 7,
500000: 8,
800000: 9,
1000000: 10,
}
VALID_BITRATES = list(BAUDRATE_SETTING.keys())
VALID_BITRATES.sort()


class NeoViBus(BusABC):
"""
The CAN Bus implemented for the python_ics interface
Expand All @@ -84,6 +69,7 @@ class NeoViBus(BusABC):

def __init__(self, channel, can_filters=None, **config):
"""

:param int channel:
The Channel id to create this bus with.
:param list can_filters:
Expand All @@ -102,14 +88,15 @@ def __init__(self, channel, can_filters=None, **config):
if ics is None:
raise ImportError('Please install python-ics')

super(NeoViBus, self).__init__(channel=channel, can_filters=can_filters, **config)
super(NeoViBus, self).__init__(
channel=channel, can_filters=can_filters, **config)

logger.info("CAN Filters: {}".format(can_filters))
logger.info("Got configuration of: {}".format(config))

self._use_system_timestamp = bool(config.get('use_system_timestamp', False))

# TODO: Add support for multiple channels
self._use_system_timestamp = bool(
config.get('use_system_timestamp', False)
)
try:
channel = int(channel)
except ValueError:
Expand All @@ -120,30 +107,8 @@ def __init__(self, channel, can_filters=None, **config):
self.dev = self._find_device(type_filter, serial)
ics.open_device(self.dev)

bitrate = config.get('bitrate')

# Default auto baud setting
settings = {
'SetBaudrate': ics.AUTO,
'Baudrate': BAUDRATE_SETTING[500000], # Default baudrate setting
'auto_baud': 1
}

if bitrate is not None:
bitrate = int(bitrate)
if bitrate not in VALID_BITRATES:
raise ValueError(
'Invalid bitrate. Valid bitrates are {}'.format(
VALID_BITRATES
)
)
baud_rate_setting = BAUDRATE_SETTING[bitrate]
settings = {
'SetBaudrate': ics.AUTO,
'Baudrate': baud_rate_setting,
'auto_baud': 0,
}
self._set_can_settings(channel, settings)
if 'bitrate' in config:
ics.set_bit_rate(self.dev, config.get('bitrate'), channel)

self.channel_info = '%s %s CH:%s' % (
self.dev.Name,
Expand All @@ -153,15 +118,8 @@ def __init__(self, channel, can_filters=None, **config):
logger.info("Using device: {}".format(self.channel_info))

self.rx_buffer = deque()
self.opened = True

self.network = channel if channel is not None else None

# TODO: Change the scaling based on the device type
self.ts_scaling = (
ics.NEOVI6_VCAN_TIMESTAMP_1, ics.NEOVI6_VCAN_TIMESTAMP_2
)

@staticmethod
def get_serial_number(device):
"""Decode (if needed) and return the ICS device serial string
Expand All @@ -177,7 +135,6 @@ def get_serial_number(device):

def shutdown(self):
super(NeoViBus, self).shutdown()
self.opened = False
ics.close_device(self.dev)

def _find_device(self, type_filter=None, serial=None):
Expand All @@ -201,29 +158,7 @@ def _find_device(self, type_filter=None, serial=None):
raise Exception(' '.join(msg))
return dev

def _get_can_settings(self, channel):
"""Return the CanSettings for channel

:param channel: can channel number
:return: ics.CanSettings
"""
device_settings = ics.get_device_settings(self.dev)
return getattr(device_settings, 'can{}'.format(channel))

def _set_can_settings(self, channel, setting):
"""Applies can settings to channel

:param channel: can channel number
:param setting: settings dictionary (only the settings to update)
:return: None
"""
device_settings = ics.get_device_settings(self.dev)
channel_settings = getattr(device_settings, 'can{}'.format(channel))
for setting, value in setting.items():
setattr(channel_settings, setting, value)
ics.set_device_settings(self.dev, device_settings)

def _process_msg_queue(self, timeout):
def _process_msg_queue(self, timeout=0.1):
try:
messages, errors = ics.get_messages(self.dev, False, timeout)
except ics.RuntimeError:
Expand Down Expand Up @@ -257,11 +192,7 @@ def _get_timestamp_for_msg(self, ics_msg):
return ics_msg.TimeSystem
else:
# This is the hardware time stamp.
# The TimeStamp is reset to zero every time the OpenPort method is
# called.
return \
float(ics_msg.TimeHardware2) * self.ts_scaling[1] + \
float(ics_msg.TimeHardware) * self.ts_scaling[0]
return ics.get_timestamp_for_msg(self.dev, ics_msg)

def _ics_msg_to_message(self, ics_msg):
return Message(
Expand All @@ -278,20 +209,19 @@ def _ics_msg_to_message(self, ics_msg):
channel=ics_msg.NetworkID
)

def _recv_internal(self, timeout):
def _recv_internal(self, timeout=0.1):
if not self.rx_buffer:
self._process_msg_queue(timeout)
self._process_msg_queue(timeout=timeout)
try:
ics_msg = self.rx_buffer.popleft()
msg = self._ics_msg_to_message(ics_msg)
except IndexError:
return None, False
else:
return msg, False
return msg, False

def send(self, msg, timeout=None):
if not self.opened:
raise CanError("bus not yet opened")
if not self.dev.IsOpen:
raise CanError("bus not open")

flags = 0
if msg.is_extended_id:
Expand Down
2 changes: 1 addition & 1 deletion setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@
] + (['subprocess32 ~= 3.2.7'] if version_info.major < 3 else []),
extras_require={
'serial': ['pyserial >= 3.0'],
'neovi': ['python-ics >= 2.8'],
'neovi': ['python-ics >= 2.12'],
'test': tests_require
},

Expand Down