From c469ce9449025cd79199c43464899866050e7d82 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 13 Dec 2021 11:24:37 +0100 Subject: [PATCH 001/475] Implement check for minimum version of pcan library --- can/interfaces/pcan/pcan.py | 19 +++++++++++++++++++ setup.py | 1 + 2 files changed, 20 insertions(+) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 959874a64..b1fef17d1 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -9,6 +9,8 @@ from typing import Optional +from packaging import version + from ...message import Message from ...bus import BusABC, BusState from ...util import len2dlc, dlc2len @@ -19,6 +21,7 @@ PCAN_BITRATES, PCAN_FD_PARAMETER_LIST, PCAN_CHANNEL_NAMES, + PCAN_NONEBUS, PCAN_BAUD_500K, PCAN_TYPE_ISA, PCANBasic, @@ -26,6 +29,7 @@ PCAN_ALLOW_ERROR_FRAMES, PCAN_PARAMETER_ON, PCAN_RECEIVE_EVENT, + PCAN_API_VERSION, PCAN_DEVICE_NUMBER, PCAN_ERROR_QRCVEMPTY, PCAN_ERROR_BUSLIGHT, @@ -58,6 +62,8 @@ # Set up logging log = logging.getLogger("can.pcan") +MIN_PCAN_API_VERSION = version.parse("4.2.0") + try: # use the "uptime" library if available @@ -206,6 +212,19 @@ def __init__( self.m_objPCANBasic = PCANBasic() self.m_PcanHandle = channel + error, value = self.m_objPCANBasic.GetValue(PCAN_NONEBUS, PCAN_API_VERSION) + if error != PCAN_ERROR_OK: + raise CanInitializationError( + F"Failed to read pcan basic api version" + ) + + apv = version.parse(value.decode('ascii')) + if apv < MIN_PCAN_API_VERSION: + raise CanInitializationError( + F"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." + F" Installed version is {apv}. Consider upgrade of pcan basic package" + ) + if state is BusState.ACTIVE or state is BusState.PASSIVE: self.state = state else: diff --git a/setup.py b/setup.py index 31318ac06..fe0557d30 100644 --- a/setup.py +++ b/setup.py @@ -90,6 +90,7 @@ "typing_extensions>=3.10.0.0", 'pywin32;platform_system=="Windows" and platform_python_implementation=="CPython"', 'msgpack~=1.0.0;platform_system!="Windows"', + "packaging", ], extras_require=extras_require, ) From 56ad81c03205f53c104132ce0fbb504b3dac036b Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 13 Dec 2021 10:25:16 +0000 Subject: [PATCH 002/475] Format code with black --- can/interfaces/pcan/pcan.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index b1fef17d1..27e8e4875 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -106,7 +106,7 @@ def __init__( state=BusState.ACTIVE, bitrate=500000, *args, - **kwargs + **kwargs, ): """A PCAN USB interface to CAN. @@ -214,15 +214,13 @@ def __init__( error, value = self.m_objPCANBasic.GetValue(PCAN_NONEBUS, PCAN_API_VERSION) if error != PCAN_ERROR_OK: - raise CanInitializationError( - F"Failed to read pcan basic api version" - ) + raise CanInitializationError(f"Failed to read pcan basic api version") - apv = version.parse(value.decode('ascii')) + apv = version.parse(value.decode("ascii")) if apv < MIN_PCAN_API_VERSION: raise CanInitializationError( - F"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." - F" Installed version is {apv}. Consider upgrade of pcan basic package" + f"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." + f" Installed version is {apv}. Consider upgrade of pcan basic package" ) if state is BusState.ACTIVE or state is BusState.PASSIVE: From 0f80d2548cfd6aaab124966f87b2424346d12715 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 09:50:42 +0100 Subject: [PATCH 003/475] Mover read of api version to separate function --- can/interfaces/pcan/pcan.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 27e8e4875..9380e0663 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -212,11 +212,7 @@ def __init__( self.m_objPCANBasic = PCANBasic() self.m_PcanHandle = channel - error, value = self.m_objPCANBasic.GetValue(PCAN_NONEBUS, PCAN_API_VERSION) - if error != PCAN_ERROR_OK: - raise CanInitializationError(f"Failed to read pcan basic api version") - - apv = version.parse(value.decode("ascii")) + apv = self.get_api_version() if apv < MIN_PCAN_API_VERSION: raise CanInitializationError( f"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." @@ -321,6 +317,13 @@ def bits(n): return complete_text + def get_api_version(self): + error, value = self.m_objPCANBasic.GetValue(PCAN_NONEBUS, PCAN_API_VERSION) + if error != PCAN_ERROR_OK: + raise CanInitializationError(f"Failed to read pcan basic api version") + + return version.parse(value.decode("ascii")) + def status(self): """ Query the PCAN bus status. From ae260cdf3a1776dd863ad096bcde619da91d9deb Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 09:52:30 +0100 Subject: [PATCH 004/475] Move check of api version to separate method --- can/interfaces/pcan/pcan.py | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 9380e0663..5ffcb94bc 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -212,12 +212,7 @@ def __init__( self.m_objPCANBasic = PCANBasic() self.m_PcanHandle = channel - apv = self.get_api_version() - if apv < MIN_PCAN_API_VERSION: - raise CanInitializationError( - f"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." - f" Installed version is {apv}. Consider upgrade of pcan basic package" - ) + self.check_api_version() if state is BusState.ACTIVE or state is BusState.PASSIVE: self.state = state @@ -324,6 +319,14 @@ def get_api_version(self): return version.parse(value.decode("ascii")) + def check_api_version(self): + apv = self.get_api_version() + if apv < MIN_PCAN_API_VERSION: + raise CanInitializationError( + f"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." + f" Installed version is {apv}. Consider upgrade of pcan basic package" + ) + def status(self): """ Query the PCAN bus status. From bc66b5758d238794a29ff08073305689635a8eec Mon Sep 17 00:00:00 2001 From: Simon Tegelid Date: Fri, 17 Dec 2021 12:40:49 +0100 Subject: [PATCH 005/475] Add preserve timestamps to virtual Add an option to virtual interfaces to preserve message timestamps on transmissions. This is useful in test setups fed by log files. --- can/interfaces/virtual.py | 4 +++- doc/interfaces/virtual.rst | 29 +++++++++++++++++++++++- test/test_interface_virtual.py | 40 ++++++++++++++++++++++++++++++++++ 3 files changed, 71 insertions(+), 2 deletions(-) create mode 100644 test/test_interface_virtual.py diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index a903435ac..ffd5b0241 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -59,6 +59,7 @@ def __init__( channel: Any = None, receive_own_messages: bool = False, rx_queue_size: int = 0, + preserve_timestamps: bool = False, **kwargs: Any, ) -> None: super().__init__( @@ -69,6 +70,7 @@ def __init__( self.channel_id = channel self.channel_info = f"Virtual bus channel {self.channel_id}" self.receive_own_messages = receive_own_messages + self.preserve_timestamps = preserve_timestamps self._open = True with channels_lock: @@ -103,7 +105,7 @@ def _recv_internal( def send(self, msg: Message, timeout: Optional[float] = None) -> None: self._check_if_open() - timestamp = time.time() + timestamp = msg.timestamp if self.preserve_timestamps else time.time() # Add message to all listening on this channel all_sent = True for bus_queue in self.channel: diff --git a/doc/interfaces/virtual.rst b/doc/interfaces/virtual.rst index b3fa7b38e..9258c9bbd 100644 --- a/doc/interfaces/virtual.rst +++ b/doc/interfaces/virtual.rst @@ -85,7 +85,7 @@ Example ------- .. code-block:: python - + import can bus1 = can.interface.Bus('test', bustype='virtual') @@ -100,6 +100,33 @@ Example assert msg1.data == msg2.data assert msg1.timestamp != msg2.timestamp +.. code-block:: python + + import can + + bus1 = can.interface.Bus('test', bustype='virtual', preserve_timestamps=True) + bus2 = can.interface.Bus('test', bustype='virtual') + + msg1 = can.Message(timestamp=1639740470.051948, arbitration_id=0xabcde, data=[1,2,3]) + + # Messages sent on bus1 will have their timestamps preserved when received + # on bus2 + bus1.send(msg1) + msg2 = bus2.recv() + + assert msg1.arbitration_id == msg2.arbitration_id + assert msg1.data == msg2.data + assert msg1.timestamp == msg2.timestamp + + # Messages sent on bus2 will not have their timestamps preserved when + # received on bus1 + bus2.send(msg1) + msg3 = bus1.recv() + + assert msg1.arbitration_id == msg3.arbitration_id + assert msg1.data == msg3.data + assert msg1.timestamp != msg3.timestamp + Bus Class Documentation ----------------------- diff --git a/test/test_interface_virtual.py b/test/test_interface_virtual.py new file mode 100644 index 000000000..009722779 --- /dev/null +++ b/test/test_interface_virtual.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python +# coding: utf-8 + +""" +This module tests :meth:`can.interface.virtual`. +""" + +import unittest + +from can import Bus, Message + +EXAMPLE_MSG1 = Message(timestamp=1639739471.5565314, arbitration_id=0x481, data=b"\x01") + + +class TestMessageFiltering(unittest.TestCase): + def setUp(self): + self.node1 = Bus("test", bustype="virtual", preserve_timestamps=True) + self.node2 = Bus("test", bustype="virtual") + + def tearDown(self): + self.node1.shutdown() + self.node2.shutdown() + + def test_sendmsg(self): + self.node2.send(EXAMPLE_MSG1) + r = self.node1.recv(0.1) + assert r.timestamp != EXAMPLE_MSG1.timestamp + assert r.arbitration_id == EXAMPLE_MSG1.arbitration_id + assert r.data == EXAMPLE_MSG1.data + + def test_sendmsg_preserve_timestamp(self): + self.node1.send(EXAMPLE_MSG1) + r = self.node2.recv(0.1) + assert r.timestamp == EXAMPLE_MSG1.timestamp + assert r.arbitration_id == EXAMPLE_MSG1.arbitration_id + assert r.data == EXAMPLE_MSG1.data + + +if __name__ == "__main__": + unittest.main() From 4addd5f094c3760048d271b2bdc3c25ba8581e4a Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 09:57:10 +0100 Subject: [PATCH 006/475] Add mock for pcan tests to suppress check of api version --- test/test_pcan.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/test/test_pcan.py b/test/test_pcan.py index b9cecff26..7d93781c0 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -26,6 +26,7 @@ def setUp(self) -> None: self.mock_pcan.Initialize.return_value = PCAN_ERROR_OK self.mock_pcan.InitializeFD = Mock(return_value=PCAN_ERROR_OK) self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_OK) + self.mock_pcan.GetValue = self._mockGetValue self.bus = None @@ -34,6 +35,17 @@ def tearDown(self) -> None: self.bus.shutdown() self.bus = None + def _mockGetValue(self, Channel, Parameter): + """ + This method is used as mock for GetValue method of PCANBasic object. + Only a subset of parameters are supported. + """ + if Parameter == PCAN_API_VERSION: + return PCAN_ERROR_OK, "4.2".encode("ascii") + raise NotImplementedError( + f"No mock return value specified for parameter {Parameter}" + ) + def test_bus_creation(self) -> None: self.bus = can.Bus(bustype="pcan") self.assertIsInstance(self.bus, PcanBus) From 16e35f1fc291f80a9932c52f99f706d6de873fa2 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 21:11:14 +0100 Subject: [PATCH 007/475] Change mock/init order to make tests run --- test/test_pcan.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/test/test_pcan.py b/test/test_pcan.py index 7d93781c0..74d3e4d6c 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -120,8 +120,11 @@ def test_reset(self, name, status, expected_result) -> None: ) def test_get_device_number(self, name, status, expected_result) -> None: with self.subTest(name): - self.mock_pcan.GetValue = Mock(return_value=(status, 1)) self.bus = can.Bus(bustype="pcan", fd=True) + # Mock GetValue after creation of bus to use first mock of + # GetValue in constructor + self.mock_pcan.GetValue = Mock(return_value=(status, 1)) + self.assertEqual(self.bus.get_device_number(), expected_result) self.mock_pcan.GetValue.assert_called_once_with( PCAN_USBBUS1, PCAN_DEVICE_NUMBER From 1dcc736f8f61164ca68c6ce098b90a4b4aae3bd2 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 21:17:45 +0100 Subject: [PATCH 008/475] Put simulated version to object attribute --- test/test_pcan.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test/test_pcan.py b/test/test_pcan.py index 74d3e4d6c..452161c07 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -27,6 +27,7 @@ def setUp(self) -> None: self.mock_pcan.InitializeFD = Mock(return_value=PCAN_ERROR_OK) self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_OK) self.mock_pcan.GetValue = self._mockGetValue + self.PCAN_API_VERSION_SIM = "4.2" self.bus = None @@ -41,7 +42,7 @@ def _mockGetValue(self, Channel, Parameter): Only a subset of parameters are supported. """ if Parameter == PCAN_API_VERSION: - return PCAN_ERROR_OK, "4.2".encode("ascii") + return PCAN_ERROR_OK, self.PCAN_API_VERSION_SIM.encode("ascii") raise NotImplementedError( f"No mock return value specified for parameter {Parameter}" ) From 5a43bb8dc958d25b70309ce7ac466190a7d75690 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 21:22:10 +0100 Subject: [PATCH 009/475] Add test for wrong api version --- test/test_pcan.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/test/test_pcan.py b/test/test_pcan.py index 452161c07..2d1a67486 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -12,6 +12,7 @@ import can from can.bus import BusState +from can.exceptions import CanInitializationError from can.interfaces.pcan.basic import * from can.interfaces.pcan import PcanBus, PcanError @@ -65,6 +66,11 @@ def test_bus_creation_fd(self) -> None: self.mock_pcan.Initialize.assert_not_called() self.mock_pcan.InitializeFD.assert_called_once() + def test_api_version_error(self) -> None: + self.PCAN_API_VERSION_SIM = "1.0" + with self.assertRaises(CanInitializationError): + self.bus = can.Bus(bustype="pcan") + @parameterized.expand( [ ("no_error", PCAN_ERROR_OK, PCAN_ERROR_OK, "some ok text 1"), From 0ee529cb79a8729c3992c652ccc0315eb83f874f Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Fri, 17 Dec 2021 21:26:53 +0100 Subject: [PATCH 010/475] Add testcase test_api_version_read_fail --- test/test_pcan.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/test/test_pcan.py b/test/test_pcan.py index 2d1a67486..459320de8 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -71,6 +71,11 @@ def test_api_version_error(self) -> None: with self.assertRaises(CanInitializationError): self.bus = can.Bus(bustype="pcan") + def test_api_version_read_fail(self) -> None: + self.mock_pcan.GetValue = Mock(return_value=(PCAN_ERROR_ILLOPERATION, None)) + with self.assertRaises(CanInitializationError): + self.bus = can.Bus(bustype="pcan") + @parameterized.expand( [ ("no_error", PCAN_ERROR_OK, PCAN_ERROR_OK, "some ok text 1"), From f1c5c0bd672c8a2195b2027323593afb1694438d Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 07:43:33 +0100 Subject: [PATCH 011/475] Log warning instead of raise error when pcan api is to old --- can/interfaces/pcan/pcan.py | 2 +- test/test_pcan.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 5ffcb94bc..b8a0ebee5 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -322,7 +322,7 @@ def get_api_version(self): def check_api_version(self): apv = self.get_api_version() if apv < MIN_PCAN_API_VERSION: - raise CanInitializationError( + log.warning( f"Minimum version of pcan api is {MIN_PCAN_API_VERSION}." f" Installed version is {apv}. Consider upgrade of pcan basic package" ) diff --git a/test/test_pcan.py b/test/test_pcan.py index 459320de8..b9f318c6f 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -66,9 +66,9 @@ def test_bus_creation_fd(self) -> None: self.mock_pcan.Initialize.assert_not_called() self.mock_pcan.InitializeFD.assert_called_once() - def test_api_version_error(self) -> None: + def test_api_version_low(self) -> None: self.PCAN_API_VERSION_SIM = "1.0" - with self.assertRaises(CanInitializationError): + with self.assertLogs('can.pcan', level='WARNING') as cm: self.bus = can.Bus(bustype="pcan") def test_api_version_read_fail(self) -> None: From 8f0136a57bcf26db57cf31388d533c9189394c4a Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 07:49:25 +0100 Subject: [PATCH 012/475] Add test for log output --- test/test_pcan.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/test/test_pcan.py b/test/test_pcan.py index b9f318c6f..e8c960f6b 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -68,8 +68,16 @@ def test_bus_creation_fd(self) -> None: def test_api_version_low(self) -> None: self.PCAN_API_VERSION_SIM = "1.0" - with self.assertLogs('can.pcan', level='WARNING') as cm: + with self.assertLogs("can.pcan", level="WARNING") as cm: self.bus = can.Bus(bustype="pcan") + found_version_warning = False + for i in cm.output: + if "version" in i and "pcan" in i: + found_version_warning = True + self.assertTrue( + found_version_warning, + f"No warning was logged for incompatible api version {cm.output}", + ) def test_api_version_read_fail(self) -> None: self.mock_pcan.GetValue = Mock(return_value=(PCAN_ERROR_ILLOPERATION, None)) From 89deff5434b8dab404e2d4a4dd320712672b56b6 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Mon, 20 Dec 2021 19:03:00 +0100 Subject: [PATCH 013/475] Fix syntax highlighting in bus.rst --- doc/bus.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/bus.rst b/doc/bus.rst index 1fbe771cb..bbe52cbd6 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -80,7 +80,9 @@ This thread safe version of the :class:`~can.BusABC` class can be used by multip Sending and receiving is locked separately to avoid unnecessary delays. Conflicting calls are executed by blocking until the bus is accessible. -It can be used exactly like the normal :class:`~can.BusABC`:: +It can be used exactly like the normal :class:`~can.BusABC`: + +.. code-block:: python # 'socketcan' is only an example interface, it works with all the others too my_bus = can.ThreadSafeBus(interface='socketcan', channel='vcan0') From 0362acbcae9dcdcb97474cc97788fd1983184b84 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 19:05:51 +0100 Subject: [PATCH 014/475] Add test case for player.py --- test/test_player.py | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100755 test/test_player.py diff --git a/test/test_player.py b/test/test_player.py new file mode 100755 index 000000000..62fdd0271 --- /dev/null +++ b/test/test_player.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 +# coding: utf-8 + +""" +This module tests the functions inside of player.py +""" + +import unittest +from unittest import mock +from unittest.mock import Mock +import os +import sys +import can +import can.player + +from .config import * + + +class TestPlayerScriptModule(unittest.TestCase): + def setUp(self) -> None: + # Patch VirtualBus object + patcher_virtual_bus = mock.patch("can.interfaces.virtual.VirtualBus", spec=True) + self.MockVirtualBus = patcher_virtual_bus.start() + self.addCleanup(patcher_virtual_bus.stop) + self.mock_virtual_bus = self.MockVirtualBus.return_value + self.mock_virtual_bus.shutdown = Mock() + + self.baseargs = [sys.argv[0], "-i", "virtual"] + self.logfile = os.path.join(os.path.dirname(__file__), "data", "test_CanMessage.asc") + + def assertSuccessfullCleanup(self): + self.MockVirtualBus.assert_called_once() + + def test_play_virtual(self): + sys.argv = self.baseargs + [self.logfile] + can.player.main() + self.assertSuccessfullCleanup() + + +if __name__ == "__main__": + unittest.main() From ee069470224686764445cf8e8cd8e62a960a375e Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 18:06:52 +0000 Subject: [PATCH 015/475] Format code with black --- test/test_player.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/test/test_player.py b/test/test_player.py index 62fdd0271..1af48e429 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -26,7 +26,9 @@ def setUp(self) -> None: self.mock_virtual_bus.shutdown = Mock() self.baseargs = [sys.argv[0], "-i", "virtual"] - self.logfile = os.path.join(os.path.dirname(__file__), "data", "test_CanMessage.asc") + self.logfile = os.path.join( + os.path.dirname(__file__), "data", "test_CanMessage.asc" + ) def assertSuccessfullCleanup(self): self.MockVirtualBus.assert_called_once() From 5c72735a0d42fd10a159fec1f3cc1fb3a25da283 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 19:29:39 +0100 Subject: [PATCH 016/475] Add mock for sleep function to fasten up testing --- test/test_player.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/test/test_player.py b/test/test_player.py index 1af48e429..70a507ebe 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -25,6 +25,11 @@ def setUp(self) -> None: self.mock_virtual_bus = self.MockVirtualBus.return_value self.mock_virtual_bus.shutdown = Mock() + # Patch time sleep object + patcher_sleep = mock.patch("can.io.player.sleep", spec=True) + self.MockSleep = patcher_sleep.start() + self.addCleanup(patcher_sleep.stop) + self.baseargs = [sys.argv[0], "-i", "virtual"] self.logfile = os.path.join( os.path.dirname(__file__), "data", "test_CanMessage.asc" From fec26fbdd6bf8008ea67ac12029ed6ec64b558ae Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 19:30:33 +0100 Subject: [PATCH 017/475] Add test for verbose mode --- test/test_player.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/test/test_player.py b/test/test_player.py index 70a507ebe..aeb63764b 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -43,6 +43,11 @@ def test_play_virtual(self): can.player.main() self.assertSuccessfullCleanup() + def test_play_virtual_verbose(self): + sys.argv = self.baseargs + ["-v", self.logfile] + can.player.main() + self.assertSuccessfullCleanup() + if __name__ == "__main__": unittest.main() From fefdd53972a5cbf2697b99df7211522b1b51e6ae Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 19:42:18 +0100 Subject: [PATCH 018/475] Add call count assert --- test/test_player.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/test/test_player.py b/test/test_player.py index aeb63764b..8fa1e45ef 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -41,11 +41,13 @@ def assertSuccessfullCleanup(self): def test_play_virtual(self): sys.argv = self.baseargs + [self.logfile] can.player.main() + self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() def test_play_virtual_verbose(self): sys.argv = self.baseargs + ["-v", self.logfile] can.player.main() + self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() From 0907785c9025e49bcff09f77a2c7e9ba70475309 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 19:42:42 +0100 Subject: [PATCH 019/475] Add test for Keyboard interrupt during execution --- test/test_player.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/test/test_player.py b/test/test_player.py index 8fa1e45ef..12a20ccd8 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -50,6 +50,14 @@ def test_play_virtual_verbose(self): self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() + def test_play_virtual_exit(self): + self.MockSleep.side_effect = KeyboardInterrupt + + sys.argv = self.baseargs + [self.logfile] + can.player.main() + self.assertEqual(self.MockSleep.call_count, 1) + self.assertSuccessfullCleanup() + if __name__ == "__main__": unittest.main() From 4721134c40fbd33465f923ee2beae37b79ee3a34 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 20 Dec 2021 19:53:43 +0100 Subject: [PATCH 020/475] Add todos --- test/test_player.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/test/test_player.py b/test/test_player.py index 12a20ccd8..625c2842e 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -41,12 +41,15 @@ def assertSuccessfullCleanup(self): def test_play_virtual(self): sys.argv = self.baseargs + [self.logfile] can.player.main() + # TODO: add test two messages sent self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() def test_play_virtual_verbose(self): sys.argv = self.baseargs + ["-v", self.logfile] can.player.main() + # TODO: add test two messages sent + # TODO: add test message was printed self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() @@ -55,9 +58,15 @@ def test_play_virtual_exit(self): sys.argv = self.baseargs + [self.logfile] can.player.main() + # TODO: add test one message sent self.assertEqual(self.MockSleep.call_count, 1) self.assertSuccessfullCleanup() + def test_play_error_frame(self): + # TODO: implement + sys.argv = self.baseargs + ["--error-frames", self.logfile] + can.player.main() + if __name__ == "__main__": unittest.main() From 1d11a04d3fbb4eb9529d5180ac6fe28a6cc6931c Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 26 Dec 2021 14:28:24 +0100 Subject: [PATCH 021/475] Implement check for successfull cleanup and send message call count --- test/test_player.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index 625c2842e..eb8697a36 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -23,7 +23,7 @@ def setUp(self) -> None: self.MockVirtualBus = patcher_virtual_bus.start() self.addCleanup(patcher_virtual_bus.stop) self.mock_virtual_bus = self.MockVirtualBus.return_value - self.mock_virtual_bus.shutdown = Mock() + self.mock_virtual_bus.__enter__ = Mock(return_value=self.mock_virtual_bus) # Patch time sleep object patcher_sleep = mock.patch("can.io.player.sleep", spec=True) @@ -37,11 +37,12 @@ def setUp(self) -> None: def assertSuccessfullCleanup(self): self.MockVirtualBus.assert_called_once() + self.mock_virtual_bus.__exit__.assert_called_once() def test_play_virtual(self): sys.argv = self.baseargs + [self.logfile] can.player.main() - # TODO: add test two messages sent + self.assertEqual(self.mock_virtual_bus.send.call_count, 2) self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() From bae496efa8f5de98f8d4c1f991a87636515791c0 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 26 Dec 2021 14:31:37 +0100 Subject: [PATCH 022/475] Add assumptions for test cases --- test/test_player.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index eb8697a36..214f017c9 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -49,18 +49,18 @@ def test_play_virtual(self): def test_play_virtual_verbose(self): sys.argv = self.baseargs + ["-v", self.logfile] can.player.main() - # TODO: add test two messages sent # TODO: add test message was printed + self.assertEqual(self.mock_virtual_bus.send.call_count, 2) self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() def test_play_virtual_exit(self): - self.MockSleep.side_effect = KeyboardInterrupt + self.MockSleep.side_effect = [None, KeyboardInterrupt] sys.argv = self.baseargs + [self.logfile] can.player.main() - # TODO: add test one message sent - self.assertEqual(self.MockSleep.call_count, 1) + self.assertEqual(self.mock_virtual_bus.send.call_count, 1) + self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() def test_play_error_frame(self): From c41845fb96c6611b99364c3480ed991bbe3889b8 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 26 Dec 2021 14:42:28 +0100 Subject: [PATCH 023/475] Add check for output on screen --- test/test_player.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index 214f017c9..65fa5b6b9 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -10,6 +10,7 @@ from unittest.mock import Mock import os import sys +import io import can import can.player @@ -48,8 +49,10 @@ def test_play_virtual(self): def test_play_virtual_verbose(self): sys.argv = self.baseargs + ["-v", self.logfile] - can.player.main() - # TODO: add test message was printed + with unittest.mock.patch('sys.stdout', new_callable=io.StringIO) as mock_stdout: + can.player.main() + self.assertIn('09 08 07 06 05 04 03 02', mock_stdout.getvalue()) + self.assertIn('05 0c 00 00 00 00 00 00', mock_stdout.getvalue()) self.assertEqual(self.mock_virtual_bus.send.call_count, 2) self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() From f6816b90f7f493e49bec7a97fea7a8c503e6308c Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 26 Dec 2021 14:56:10 +0100 Subject: [PATCH 024/475] Implement test for replay with error frames --- test/data/logfile_errorframes.asc | 21 +++++++++++++++++++++ test/test_player.py | 19 +++++++++++++++++-- 2 files changed, 38 insertions(+), 2 deletions(-) create mode 100644 test/data/logfile_errorframes.asc diff --git a/test/data/logfile_errorframes.asc b/test/data/logfile_errorframes.asc new file mode 100644 index 000000000..bcb5584a7 --- /dev/null +++ b/test/data/logfile_errorframes.asc @@ -0,0 +1,21 @@ +date Sam Sep 30 15:06:13.191 2017 +base hex timestamps absolute +internal events logged +// version 9.0.0 +Begin Triggerblock Sam Sep 30 15:06:13.191 2017 + 0.000000 Start of measurement + 0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0 + 0.015991 CAN 2 Status:chip status error active + 2.501000 1 ErrorFrame + 2.501010 1 ErrorFrame ECC: 10100010 + 2.501020 2 ErrorFrame Flags = 0xe CodeExt = 0x20a2 Code = 0x82 ID = 0 DLC = 0 Position = 5 Length = 11300 + 2.520002 3 200 Tx r Length = 1704000 BitCount = 145 ID = 88888888x + 2.584921 4 300 Tx r 8 Length = 1704000 BitCount = 145 ID = 88888888x + 3.098426 1 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273910 BitCount = 141 ID = 418119424x + 3.197693 1 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x + 17.876976 1 6F8 Rx d 8 FF 00 0C FE 00 00 00 00 Length = 239910 BitCount = 124 ID = 1784 + 20.105214 2 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273925 BitCount = 141 ID = 418119424x + 20.155119 2 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 272152 BitCount = 140 ID = 418119424x + 20.204671 2 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x + 20.248887 2 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283925 BitCount = 146 ID = 418119424x +End TriggerBlock diff --git a/test/test_player.py b/test/test_player.py index 65fa5b6b9..ab275b81a 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -66,10 +66,25 @@ def test_play_virtual_exit(self): self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() + def test_play_skip_error_frame(self): + logfile = os.path.join( + os.path.dirname(__file__), "data", "logfile_errorframes.asc" + ) + sys.argv = self.baseargs + ["-v", logfile] + can.player.main() + self.assertEqual(self.mock_virtual_bus.send.call_count, 9) + self.assertEqual(self.MockSleep.call_count, 12) + self.assertSuccessfullCleanup() + def test_play_error_frame(self): - # TODO: implement - sys.argv = self.baseargs + ["--error-frames", self.logfile] + logfile = os.path.join( + os.path.dirname(__file__), "data", "logfile_errorframes.asc" + ) + sys.argv = self.baseargs + ["-v", "--error-frames", logfile] can.player.main() + self.assertEqual(self.mock_virtual_bus.send.call_count, 12) + self.assertEqual(self.MockSleep.call_count, 12) + self.assertSuccessfullCleanup() if __name__ == "__main__": From dcbb9631a742a8951ca19f3f8083300217abfae9 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 26 Dec 2021 13:57:12 +0000 Subject: [PATCH 025/475] Format code with black --- test/test_player.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index ab275b81a..c1048aae6 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -49,10 +49,10 @@ def test_play_virtual(self): def test_play_virtual_verbose(self): sys.argv = self.baseargs + ["-v", self.logfile] - with unittest.mock.patch('sys.stdout', new_callable=io.StringIO) as mock_stdout: + with unittest.mock.patch("sys.stdout", new_callable=io.StringIO) as mock_stdout: can.player.main() - self.assertIn('09 08 07 06 05 04 03 02', mock_stdout.getvalue()) - self.assertIn('05 0c 00 00 00 00 00 00', mock_stdout.getvalue()) + self.assertIn("09 08 07 06 05 04 03 02", mock_stdout.getvalue()) + self.assertIn("05 0c 00 00 00 00 00 00", mock_stdout.getvalue()) self.assertEqual(self.mock_virtual_bus.send.call_count, 2) self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfullCleanup() From 558b2974187d65911c0ba19e9f6893cece20745d Mon Sep 17 00:00:00 2001 From: TJ Date: Sat, 1 Jan 2022 12:53:21 -0800 Subject: [PATCH 026/475] Add str conversion to config val --- can/util.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/util.py b/can/util.py index e43a4d09d..9400259ce 100644 --- a/can/util.py +++ b/can/util.py @@ -232,7 +232,7 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: "btr1", ): if key in config: - timing_conf[key] = int(config[key], base=0) + timing_conf[key] = int(str(config[key]), base=0) del config[key] if timing_conf: timing_conf["bitrate"] = config["bitrate"] From eb8d92d797ad3517eb79743e6477392a56a1dc2e Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 10 Jan 2022 19:58:17 +0100 Subject: [PATCH 027/475] Fix typo --- can/logger.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/logger.py b/can/logger.py index d078cf2d3..053001968 100644 --- a/can/logger.py +++ b/can/logger.py @@ -61,7 +61,7 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: "extra_args", nargs=argparse.REMAINDER, help="""\ - The remainding arguments will be used for the interface initialisation. + The remaining arguments will be used for the interface initialisation. For example, `-i vector -c 1 --app-name=MyCanApp` is the equivalent to opening the bus with `Bus('vector', channel=1, app_name='MyCanApp')` """, From 2e24af08326ecd69fba9f02fed7b9c26f233c92b Mon Sep 17 00:00:00 2001 From: Daniel Hrisca Date: Tue, 11 Jan 2022 00:33:38 +0200 Subject: [PATCH 028/475] Fix vector get application config (#977) * fixes #732: add support for VN8900 xlGetChannelTime function * add another level of try/except according to the review * format using black * the application channels needs to be provided as a ctypes variable * fix mock in test_vector.py Co-authored-by: zariiii9003 --- can/interfaces/vector/canlib.py | 1 + test/test_vector.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 21c6d0f1f..1313b00b7 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -688,6 +688,7 @@ def get_application_config( hw_type = ctypes.c_uint() hw_index = ctypes.c_uint() hw_channel = ctypes.c_uint() + app_channel = ctypes.c_uint(app_channel) xldriver.xlGetApplConfig( app_name.encode(), diff --git a/test/test_vector.py b/test/test_vector.py index fc77dd48d..f7b1f99ce 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -356,7 +356,7 @@ def xlGetApplConfig( bus_type: ctypes.c_uint, ) -> int: hw_type.value = 1 - hw_channel.value = app_channel + hw_channel.value = 0 return 0 From 7da73032752a9aee22ac1e1d2717ae4fd78171df Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Tue, 11 Jan 2022 20:27:34 +0100 Subject: [PATCH 029/475] Remove useless import Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- test/test_player.py | 1 - 1 file changed, 1 deletion(-) diff --git a/test/test_player.py b/test/test_player.py index c1048aae6..ca590a898 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -14,7 +14,6 @@ import can import can.player -from .config import * class TestPlayerScriptModule(unittest.TestCase): From 2cb76b51f8178d5c5b35d3a0a41e4651e35ef493 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Tue, 11 Jan 2022 19:28:31 +0000 Subject: [PATCH 030/475] Format code with black --- test/test_player.py | 1 - 1 file changed, 1 deletion(-) diff --git a/test/test_player.py b/test/test_player.py index ca590a898..a3b88d65a 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -15,7 +15,6 @@ import can.player - class TestPlayerScriptModule(unittest.TestCase): def setUp(self) -> None: # Patch VirtualBus object From 5c6480bd03c3e0daf6891bd06baf8ca642ea304c Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Tue, 11 Jan 2022 20:31:59 +0100 Subject: [PATCH 031/475] Correct spell error --- test/test_player.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index a3b88d65a..d510a3d00 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -34,7 +34,7 @@ def setUp(self) -> None: os.path.dirname(__file__), "data", "test_CanMessage.asc" ) - def assertSuccessfullCleanup(self): + def assertSuccessfulCleanup(self): self.MockVirtualBus.assert_called_once() self.mock_virtual_bus.__exit__.assert_called_once() @@ -43,7 +43,7 @@ def test_play_virtual(self): can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 2) self.assertEqual(self.MockSleep.call_count, 2) - self.assertSuccessfullCleanup() + self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): sys.argv = self.baseargs + ["-v", self.logfile] @@ -53,7 +53,7 @@ def test_play_virtual_verbose(self): self.assertIn("05 0c 00 00 00 00 00 00", mock_stdout.getvalue()) self.assertEqual(self.mock_virtual_bus.send.call_count, 2) self.assertEqual(self.MockSleep.call_count, 2) - self.assertSuccessfullCleanup() + self.assertSuccessfulCleanup() def test_play_virtual_exit(self): self.MockSleep.side_effect = [None, KeyboardInterrupt] @@ -62,7 +62,7 @@ def test_play_virtual_exit(self): can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 1) self.assertEqual(self.MockSleep.call_count, 2) - self.assertSuccessfullCleanup() + self.assertSuccessfulCleanup() def test_play_skip_error_frame(self): logfile = os.path.join( @@ -72,7 +72,7 @@ def test_play_skip_error_frame(self): can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 9) self.assertEqual(self.MockSleep.call_count, 12) - self.assertSuccessfullCleanup() + self.assertSuccessfulCleanup() def test_play_error_frame(self): logfile = os.path.join( @@ -82,7 +82,7 @@ def test_play_error_frame(self): can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 12) self.assertEqual(self.MockSleep.call_count, 12) - self.assertSuccessfullCleanup() + self.assertSuccessfulCleanup() if __name__ == "__main__": From 07855c83ba4da8202bf17c4867fa1f6ecb62a683 Mon Sep 17 00:00:00 2001 From: TJ Date: Thu, 13 Jan 2022 20:40:51 -0800 Subject: [PATCH 032/475] Add unittest for timing conf --- test/test_util.py | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/test/test_util.py b/test/test_util.py index bbfb9d580..7e3b10604 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -1,7 +1,7 @@ import unittest import warnings -from can.util import _rename_kwargs +from can.util import _create_bus_config, _rename_kwargs class RenameKwargsTest(unittest.TestCase): @@ -47,3 +47,18 @@ def test_with_new_and_alias_present(self): aliases = {"old_a": "a", "old_b": "b", "z": None} with self.assertRaises(TypeError): self._test(kwargs, aliases) + + +class TestBusConfig(unittest.TestCase): + base_config = dict(interface="socketcan", bitrate=500_000) + + def test_timing_can_use_int(self): + """ + Test that an exception is not raised when using + integers for timing values in config. + """ + timing_conf = dict(tseg1=5, tseg2=10, sjw=25) + try: + _create_bus_config({**self.base_config, **timing_conf}) + except TypeError as e: + self.fail(e) From 6f94d6b2791bda91bb80a332bd59c66dc11617ad Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 15 Jan 2022 11:43:15 +0100 Subject: [PATCH 033/475] Update workflow versions, platforms, library and tool versions and README to Python 3.7 --- .github/workflows/build.yml | 16 ++++++---------- .github/workflows/format-code.yml | 2 +- README.rst | 4 ++-- requirements-lint.txt | 6 +++--- setup.py | 5 ++--- tox.ini | 6 +++--- 6 files changed, 17 insertions(+), 22 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index bb4c9a03b..95b295f90 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -13,16 +13,12 @@ jobs: matrix: os: [ubuntu-latest, macos-latest, windows-latest] experimental: [false] - python-version: ["3.6", "3.7", "3.8", "3.9", "pypy-3.7"] + python-version: ["3.7", "3.8", "3.9", "3.10", "pypy-3.7", "pypy-3.8"] include: - # Skipping Py 3.10 on Windows until windows-curses has a cp310 wheel, - # see https://github.com/zephyrproject-rtos/windows-curses/issues/26 + # Only test on a single configuration while there are just pre-releases - os: ubuntu-latest - experimental: false - python-version: "3.10" - - os: macos-latest - experimental: false - python-version: "3.10" + experimental: true + python-version: "3.11.0-alpha.3" fail-fast: false steps: - uses: actions/checkout@v2 @@ -38,7 +34,7 @@ jobs: run: | tox -e gh - name: Upload coverage to Codecov - uses: codecov/codecov-action@v1 + uses: codecov/codecov-action@v2 with: fail_ci_if_error: true @@ -46,7 +42,7 @@ jobs: runs-on: ubuntu-latest steps: - uses: actions/checkout@v2 - - name: Set up Python 3.10 + - name: Set up Python uses: actions/setup-python@v2 with: python-version: "3.10" diff --git a/.github/workflows/format-code.yml b/.github/workflows/format-code.yml index 81e8fdf03..c3356e211 100644 --- a/.github/workflows/format-code.yml +++ b/.github/workflows/format-code.yml @@ -13,7 +13,7 @@ jobs: - name: Set up Python uses: actions/setup-python@v2 with: - python-version: 3.9 + python-version: 3.10 - name: Install dependencies run: | python -m pip install --upgrade pip diff --git a/README.rst b/README.rst index ac5537f7e..ebfa8431f 100644 --- a/README.rst +++ b/README.rst @@ -51,7 +51,7 @@ Python developers; providing common abstractions to different hardware devices, and a suite of utilities for sending and receiving messages on a can bus. -The library currently supports Python 3.6+ as well as PyPy 3 and runs +The library currently supports Python 3.7+ as well as PyPy 3 and runs on Mac, Linux and Windows. ============================== =========== @@ -59,7 +59,7 @@ Library Version Python ------------------------------ ----------- 2.x 2.6+, 3.4+ 3.x 2.7+, 3.5+ - 4.x *(currently on develop)* 3.6+ + 4.x *(currently on develop)* 3.7+ ============================== =========== diff --git a/requirements-lint.txt b/requirements-lint.txt index 9aefb7415..55d985d54 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,4 +1,4 @@ -pylint==2.11.1 -black==21.10b0 -mypy==0.910 +pylint==2.12.2 +black==21.12b0 +mypy==0.931 mypy-extensions==0.4.3 diff --git a/setup.py b/setup.py index 31318ac06..af47ecd4f 100644 --- a/setup.py +++ b/setup.py @@ -44,7 +44,6 @@ classifiers=[ # a list of all available ones: https://pypi.org/classifiers/ "Programming Language :: Python", - "Programming Language :: Python :: 3.6", "Programming Language :: Python :: 3.7", "Programming Language :: Python :: 3.8", "Programming Language :: Python :: 3.9", @@ -73,7 +72,7 @@ version=version, packages=find_packages(exclude=["test*", "doc", "scripts", "examples"]), scripts=list(filter(isfile, (join("scripts/", f) for f in listdir("scripts/")))), - author="Python CAN contributors", + author="python-can contributors", license="LGPL v3", package_data={ "": ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.txt"], @@ -82,7 +81,7 @@ }, # Installation # see https://www.python.org/dev/peps/pep-0345/#version-specifiers - python_requires=">=3.6", + python_requires=">=3.7", install_requires=[ "setuptools", "wrapt~=1.10", diff --git a/tox.ini b/tox.ini index 9964fb1e6..6b407dfeb 100644 --- a/tox.ini +++ b/tox.ini @@ -3,11 +3,11 @@ [testenv] deps = pytest==6.2.*,>=6.2.5 - pytest-timeout==2.0.1 + pytest-timeout==2.0.2 pytest-cov==3.0.0 - coverage==6.0.2 + coverage==6.2 codecov==2.1.12 - hypothesis~=6.24.0 + hypothesis~=6.35.0 pyserial~=3.5 parameterized~=0.8 From dd25e4b6feb7300028af4c5ce89a7646f85e684a Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 15 Jan 2022 11:52:40 +0100 Subject: [PATCH 034/475] Fix code formatting job --- .github/workflows/format-code.yml | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/.github/workflows/format-code.yml b/.github/workflows/format-code.yml index c3356e211..b86789662 100644 --- a/.github/workflows/format-code.yml +++ b/.github/workflows/format-code.yml @@ -13,7 +13,7 @@ jobs: - name: Set up Python uses: actions/setup-python@v2 with: - python-version: 3.10 + python-version: "3.10" - name: Install dependencies run: | python -m pip install --upgrade pip @@ -22,10 +22,7 @@ jobs: run: | black --verbose . - name: Commit Formated Code - uses: EndBug/add-and-commit@v5 - env: - # This is necessary in order to push a commit to the repo - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + uses: EndBug/add-and-commit@v7 with: message: "Format code with black" # Ref https://git-scm.com/docs/git-add#_examples From 46ad7d46b92b3f1192c1511e67e3739becadf99f Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 15 Jan 2022 12:00:27 +0100 Subject: [PATCH 035/475] Disable Python 3.11 pre-releases --- .github/workflows/build.yml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 95b295f90..be222751c 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -14,11 +14,12 @@ jobs: os: [ubuntu-latest, macos-latest, windows-latest] experimental: [false] python-version: ["3.7", "3.8", "3.9", "3.10", "pypy-3.7", "pypy-3.8"] - include: + # Do not test on Python 3.11 pre-releases since wrapt causes problems: https://github.com/GrahamDumpleton/wrapt/issues/196 + # include: # Only test on a single configuration while there are just pre-releases - - os: ubuntu-latest - experimental: true - python-version: "3.11.0-alpha.3" + # - os: ubuntu-latest + # experimental: true + # python-version: "3.11.0-alpha.3" fail-fast: false steps: - uses: actions/checkout@v2 From 8641f5e02ec084b6754e38a7674aa72808a8de5c Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 15 Jan 2022 12:01:07 +0100 Subject: [PATCH 036/475] Test that the auto-formatting tool can still commit --- can/ctypesutil.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/ctypesutil.py b/can/ctypesutil.py index 7c1e1f573..ab4cb11b5 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -14,7 +14,7 @@ try: - _LibBase = ctypes.WinDLL # type: ignore + _LibBase = ctypes.WinDLL # type: ignore _FUNCTION_TYPE = ctypes.WINFUNCTYPE # type: ignore except AttributeError: _LibBase = ctypes.CDLL From 0acabbff21248b5c76039f026d31053711918147 Mon Sep 17 00:00:00 2001 From: felixdivo Date: Sat, 15 Jan 2022 11:01:42 +0000 Subject: [PATCH 037/475] Format code with black --- can/ctypesutil.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/ctypesutil.py b/can/ctypesutil.py index ab4cb11b5..7c1e1f573 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -14,7 +14,7 @@ try: - _LibBase = ctypes.WinDLL # type: ignore + _LibBase = ctypes.WinDLL # type: ignore _FUNCTION_TYPE = ctypes.WINFUNCTYPE # type: ignore except AttributeError: _LibBase = ctypes.CDLL From 954bb0295a845573d56a198c4b6c0d2d0fb8fdb7 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 15 Jan 2022 21:37:48 +0100 Subject: [PATCH 038/475] Update README.rst This way, the information is not given twice and we actually mention **C**Python. --- README.rst | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/README.rst b/README.rst index ac5537f7e..2d7f615e7 100644 --- a/README.rst +++ b/README.rst @@ -51,8 +51,7 @@ Python developers; providing common abstractions to different hardware devices, and a suite of utilities for sending and receiving messages on a can bus. -The library currently supports Python 3.6+ as well as PyPy 3 and runs -on Mac, Linux and Windows. +The library currently supports CPython as well as PyPy and runs on Mac, Linux and Windows. ============================== =========== Library Version Python From 1dd4581dc36352ffa374caccdcdd068dde03af29 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sat, 15 Jan 2022 21:57:18 +0100 Subject: [PATCH 039/475] Implement test of function calls --- test/test_player.py | 23 ++++++++++++++++++++++- 1 file changed, 22 insertions(+), 1 deletion(-) diff --git a/test/test_player.py b/test/test_player.py index d510a3d00..c73623c05 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -41,8 +41,29 @@ def assertSuccessfulCleanup(self): def test_play_virtual(self): sys.argv = self.baseargs + [self.logfile] can.player.main() - self.assertEqual(self.mock_virtual_bus.send.call_count, 2) + msg1 = can.Message( + timestamp=2.501, + arbitration_id=0xC8, + is_extended_id=False, + is_fd=False, + is_rx=False, + channel=1, + dlc=8, + data=[0x9, 0x8, 0x7, 0x6, 0x5, 0x4, 0x3, 0x2], + ) + msg2 = can.Message( + timestamp=17.876708, + arbitration_id=0x6F9, + is_extended_id=False, + is_fd=False, + is_rx=True, + channel=0, + dlc=8, + data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], + ) self.assertEqual(self.MockSleep.call_count, 2) + self.assertTrue(msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0])) + self.assertTrue(msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0])) self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): From e7842f4fbff7ff45a56f061c180300809ce81238 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 15 Jan 2022 22:01:46 +0100 Subject: [PATCH 040/475] Add TL;DR --- CHANGELOG.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.txt b/CHANGELOG.txt index cf2a8b027..bcb2189cd 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.txt @@ -1,7 +1,7 @@ Version 4.0.0 ==== -(In development) +TL;DR: This release includes a ton of improvements from 2.5 years of development! 🎉 Test thoroughly after switching. Version 3.3.4 From 3382d5310db30359c387889ca2f76b8c71b031e2 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sat, 15 Jan 2022 22:45:00 +0100 Subject: [PATCH 041/475] Limit test for correct calls to python versions >= 3.8 --- test/test_player.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index c73623c05..a4f9ed4ad 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -62,8 +62,10 @@ def test_play_virtual(self): data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], ) self.assertEqual(self.MockSleep.call_count, 2) - self.assertTrue(msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0])) - self.assertTrue(msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0])) + if sys.version_info.major > 3 or sys.version_info.minor >= 8: + # The args argument was introduced with python 3.8 + self.assertTrue(msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0])) + self.assertTrue(msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0])) self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): From 67e409805e306fef778442d8c5d65d4c185324ee Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sat, 15 Jan 2022 21:45:54 +0000 Subject: [PATCH 042/475] Format code with black --- test/test_player.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index a4f9ed4ad..c58ff936e 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -64,8 +64,12 @@ def test_play_virtual(self): self.assertEqual(self.MockSleep.call_count, 2) if sys.version_info.major > 3 or sys.version_info.minor >= 8: # The args argument was introduced with python 3.8 - self.assertTrue(msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0])) - self.assertTrue(msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0])) + self.assertTrue( + msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0]) + ) + self.assertTrue( + msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0]) + ) self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): From 81827517ee24fc3ddc3fc464574611ec054a2c06 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sat, 15 Jan 2022 22:50:04 +0100 Subject: [PATCH 043/475] Use lowercase parameter names Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> --- test/test_pcan.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/test/test_pcan.py b/test/test_pcan.py index e8c960f6b..6fc21184a 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -37,15 +37,15 @@ def tearDown(self) -> None: self.bus.shutdown() self.bus = None - def _mockGetValue(self, Channel, Parameter): + def _mockGetValue(self, channel, parameter): """ This method is used as mock for GetValue method of PCANBasic object. Only a subset of parameters are supported. """ - if Parameter == PCAN_API_VERSION: + if parameter == PCAN_API_VERSION: return PCAN_ERROR_OK, self.PCAN_API_VERSION_SIM.encode("ascii") raise NotImplementedError( - f"No mock return value specified for parameter {Parameter}" + f"No mock return value specified for parameter {parameter}" ) def test_bus_creation(self) -> None: From a5f0ef80d604643a21f6c4880564143adfcbf9fb Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 16 Jan 2022 00:01:07 +0100 Subject: [PATCH 044/475] simplify version check --- test/test_player.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/test_player.py b/test/test_player.py index c58ff936e..efb446e9e 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -62,7 +62,7 @@ def test_play_virtual(self): data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], ) self.assertEqual(self.MockSleep.call_count, 2) - if sys.version_info.major > 3 or sys.version_info.minor >= 8: + if sys.version_info >= (3, 8): # The args argument was introduced with python 3.8 self.assertTrue( msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0]) From 7a20405c5be293e7c293862fd096f126a4d20b89 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 16 Jan 2022 11:33:19 +0100 Subject: [PATCH 045/475] Change shebang and remove coding Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> --- test/test_player.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/test/test_player.py b/test/test_player.py index efb446e9e..2f3307420 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -1,5 +1,4 @@ -#!/usr/bin/env python3 -# coding: utf-8 +#!/usr/bin/env python """ This module tests the functions inside of player.py From 99d352ab6a22ad2c1e9212c76d5b4db927cbde93 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Sun, 16 Jan 2022 11:41:21 +0100 Subject: [PATCH 046/475] Correct shebang and remove coding from all tests --- test/test_bit_timing.py | 2 ++ test/test_cantact.py | 1 - test/test_cyclic_socketcan.py | 2 ++ test/test_detect_available_configs.py | 1 - test/test_interface_ixxat.py | 2 ++ test/test_interface_ixxat_fd.py | 2 ++ test/test_load_file_config.py | 1 - test/test_logger.py | 1 - test/test_message_class.py | 1 - test/test_message_filtering.py | 1 - test/test_message_sync.py | 1 - test/test_neousys.py | 1 - test/test_robotell.py | 1 - test/test_scripts.py | 1 - test/test_slcan.py | 1 - test/test_socketcan.py | 2 ++ test/test_socketcan_helpers.py | 1 - test/test_socketcan_loopback.py | 2 ++ test/test_util.py | 2 ++ test/test_vector.py | 1 - test/test_viewer.py | 3 +-- test/zero_dlc_test.py | 1 - 22 files changed, 15 insertions(+), 16 deletions(-) diff --git a/test/test_bit_timing.py b/test/test_bit_timing.py index 0b22e308f..2a9b1ac79 100644 --- a/test/test_bit_timing.py +++ b/test/test_bit_timing.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + import can diff --git a/test/test_cantact.py b/test/test_cantact.py index 51bf569bb..e361ad1ad 100644 --- a/test/test_cantact.py +++ b/test/test_cantact.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ Tests for CANtact interfaces diff --git a/test/test_cyclic_socketcan.py b/test/test_cyclic_socketcan.py index 4e3887ad6..ca1db6bfc 100644 --- a/test/test_cyclic_socketcan.py +++ b/test/test_cyclic_socketcan.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + """ This module tests multiple message cyclic send tasks. """ diff --git a/test/test_detect_available_configs.py b/test/test_detect_available_configs.py index 6e92ad9aa..f6590c276 100644 --- a/test/test_detect_available_configs.py +++ b/test/test_detect_available_configs.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ This module tests :meth:`can.BusABC._detect_available_configs` and diff --git a/test/test_interface_ixxat.py b/test/test_interface_ixxat.py index ccd985051..76285e422 100644 --- a/test/test_interface_ixxat.py +++ b/test/test_interface_ixxat.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + """ Unittest for ixxat interface. diff --git a/test/test_interface_ixxat_fd.py b/test/test_interface_ixxat_fd.py index 0aa999a21..80060a7ed 100644 --- a/test/test_interface_ixxat_fd.py +++ b/test/test_interface_ixxat_fd.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + """ Unittest for ixxat interface using fd option. diff --git a/test/test_load_file_config.py b/test/test_load_file_config.py index 79b2e6c4b..c71e6ccd6 100644 --- a/test/test_load_file_config.py +++ b/test/test_load_file_config.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 import shutil import tempfile diff --git a/test/test_logger.py b/test/test_logger.py index a046b919f..9b749b859 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ This module tests the functions inside of logger.py diff --git a/test/test_message_class.py b/test/test_message_class.py index d0908e363..688cda24f 100644 --- a/test/test_message_class.py +++ b/test/test_message_class.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 import unittest import sys diff --git a/test/test_message_filtering.py b/test/test_message_filtering.py index 18ddf9e19..addea13fd 100644 --- a/test/test_message_filtering.py +++ b/test/test_message_filtering.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ This module tests :meth:`can.BusABC._matches_filters`. diff --git a/test/test_message_sync.py b/test/test_message_sync.py index 6e6a89a4d..1e2d61b24 100644 --- a/test/test_message_sync.py +++ b/test/test_message_sync.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ This module tests :class:`can.MessageSync`. diff --git a/test/test_neousys.py b/test/test_neousys.py index c2ae535f5..f61c37655 100644 --- a/test/test_neousys.py +++ b/test/test_neousys.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 import ctypes import os diff --git a/test/test_robotell.py b/test/test_robotell.py index 58e2d9a7f..86e053f2d 100644 --- a/test/test_robotell.py +++ b/test/test_robotell.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 import unittest import can diff --git a/test/test_scripts.py b/test/test_scripts.py index 8efd70eff..a22820bd8 100644 --- a/test/test_scripts.py +++ b/test/test_scripts.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ This module tests that the scripts are all callable. diff --git a/test/test_slcan.py b/test/test_slcan.py index 781fa75df..1e6282d41 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 import unittest import can diff --git a/test/test_socketcan.py b/test/test_socketcan.py index c322bbf75..a2c4faed3 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + """ Test functions in `can.interfaces.socketcan.socketcan`. """ diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py index 669491f43..f3fbe6d26 100644 --- a/test/test_socketcan_helpers.py +++ b/test/test_socketcan_helpers.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ Tests helpers in `can.interfaces.socketcan.socketcan_common`. diff --git a/test/test_socketcan_loopback.py b/test/test_socketcan_loopback.py index 17b83b268..2934eb9ea 100644 --- a/test/test_socketcan_loopback.py +++ b/test/test_socketcan_loopback.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + """ This module tests sending messages on socketcan with and without local_loopback flag diff --git a/test/test_util.py b/test/test_util.py index 7e3b10604..5768da282 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + import unittest import warnings diff --git a/test/test_vector.py b/test/test_vector.py index f7b1f99ce..b1626b18c 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ Test for Vector Interface diff --git a/test/test_viewer.py b/test/test_viewer.py index 004877d7a..f2e3ef0e8 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -1,5 +1,4 @@ -#!/usr/bin/python -# coding: utf-8 +#!/usr/bin/env python # # Copyright (C) 2018 Kristian Sloth Lauszus. # diff --git a/test/zero_dlc_test.py b/test/zero_dlc_test.py index 350d6aa4e..dd7c0dd49 100644 --- a/test/zero_dlc_test.py +++ b/test/zero_dlc_test.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ """ From 80352164b6530fa1691b974c5c84d0953bb9b7f5 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sun, 16 Jan 2022 17:15:38 +0100 Subject: [PATCH 047/475] Add changelog for 4.0.0 Also change the changelog file extension to Markdown --- CHANGELOG.txt => CHANGELOG.md | 181 ++++++++++++++++++++++++++++++++++ setup.py | 2 +- 2 files changed, 182 insertions(+), 1 deletion(-) rename CHANGELOG.txt => CHANGELOG.md (50%) diff --git a/CHANGELOG.txt b/CHANGELOG.md similarity index 50% rename from CHANGELOG.txt rename to CHANGELOG.md index bcb2189cd..52b04e510 100644 --- a/CHANGELOG.txt +++ b/CHANGELOG.md @@ -3,6 +3,187 @@ Version 4.0.0 TL;DR: This release includes a ton of improvements from 2.5 years of development! 🎉 Test thoroughly after switching. +For more than two years, there was no major release of *python-can*. +However, development was very much active over most of this time, and many parts were switched out and improved. +Over this time, over 530 issues and PRs have been resolved or merged, and discussions took place in even more. +Statistics of the final diff: About 200 files changed due to ~22k additions and ~7k deletions from more than thirty contributors. + +This changelog diligently lists the major changes but does not promise to be the complete list of changes. +Therefore, users are strongly advised to thoroughly test their programs against this new version. +Re-reading the documentation for you interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. +While we did try to avoid breaking changes, in some cases it was not feasible and in particular many implementation details have changed. + +Major features +-------------- + +* Type hints for the core library and some interfaces (#652 and many others) +* Support for Python 3.7-3.10+ only (dropped support for Python 2.* and 3.5-3.6) (#528 and many others) +* [Granular and unified exceptions](https://python-can.readthedocs.io/en/develop/api.html#errors) (#356, #562, #1025; overview in #1046) +* [Support for automatic configuration detection](https://python-can.readthedocs.io/en/develop/api.html#can.detect_available_configs) in most interfaces (#303, #640, #641, #811, #1077, #1085) +* Better alignment of interfaces and IO to common conventions and semantics + +New interfaces +-------------- + +* udp_multicast (#644) +* robotell (#731) +* cantact (#853) +* gs_usb (#905) +* nixnet (#968, #1154) +* neousys (#980, #1076) +* socketcand (#1140) +* etas (#1144) + +Improved interfaces +------------------- + +* socketcan + * Support for multiple Cyclic Messages in Tasks (#610) + * Socketcan crash when attempting to stop CyclicSendTask with same arbitration ID (#605, #638, #720) + * Relax restriction of arbitration ID uniqueness for CyclicSendTask (#721, #785, #930) + * Add nanosecond resolution time stamping to socketcan (#938, #1015) + * Add support for changing the loopback flag (#960) + * Socketcan timestamps are missing sub-second precision (#1021, #1029) + * Add parameter to ignore CAN error frames (#1128) +* socketcan_ctypes + * Removed and replaced by socketcan after deprecation period +* socketcan_native + * Removed and replaced by socketcan after deprecation period +* vector + * Add chip state API (#635) + * Add methods to handle non message events (#708) + * Implement XLbusParams (#718) + * Add support for VN8900 xlGetChannelTime function (#732, #733) + * Add vector hardware config popup (#774) + * Fix Vector CANlib treatment of empty app name (#796, #814) + * Make VectorError pickleable (#848) + * Add methods get_application_config(), set_application_config() and set_timer_rate() to VectorBus (#849) + * Interface arguments are now lowercase (#858) + * Fix errors using multiple Vector devices (#898, #971, #977) + * Add more interface information to channel config (#917) + * Improve timestamp accuracy on Windows (#934, #936) + * Fix error with VN8900 (#1184) +* PCAN + * Do not incorrectly reset CANMsg.MSGTYPE on remote frame (#659, #681) + * Add support for error frames (#711) + * Added keycheck for windows platform for better error message (#724) + * Added status_string method to return simple status strings (#725) + * Fix timestamp timezone offset (#777, #778) + * Add [Cygwin](https://www.cygwin.com/) support (#840) + * Update PCAN basic Python file to February 7, 2020 (#929) + * Fix compatibility with the latest macOS SDK (#947, #948, #957, #976) + * Allow numerical channel specifier (#981, #982) + * macOS: Try to find libPCBUSB.dylib before loading it (#983, #984) + * Disable command PCAN_ALLOW_ERROR_FRAMES on macOS (#985) + * Force english error messages (#986, #993, #994) + * Add set/get device number (#987) + * Timestamps are silently incorrect on Windows without uptime installed (#1053, #1093) + * Implement check for minimum version of pcan library (#1065, #1188) + * Handle case where uptime is imported successfully but returns None (#1102, #1103) +* slcan + * Fix bitrate setting (#691) + * Fix fileno crash on Windows (#924) +* ics_neovi + * Filter out Tx error messages (#854) + * Adding support for send timeout (#855) + * Raising more precise API error when set bitrate fails (#865) + * Omit the transmit exception cause for brevity (#1086) + * Raise ValueError if message data is over max frame length (#1177, #1181) + * Setting is_error_frame message property (#1189) +* ixxat + * Raise exception on busoff in recv() (#856) + * Add support for 666 kbit/s bitrate (#911) + * Add function to list hwids of available devices (#926) + * Add CAN FD support (#1119) +* seeed + * Fix fileno crash on Windows (#902) +* kvaser + * Improve timestamp accuracy on Windows (#934, #936) +* usb2can + * Fix "Error 8" on Windows and provide better error messages (#989) +* serial + * Fix "TypeError: cannot unpack non-iterable NoneType" and more robust error handling (#1000, #1010) +* canalystii + * Fix is_extended_id (#1006) + * Fix transmitting onto a busy bus (#1114) + * Replace binary library with python driver (#726, #1127) + +Other API changes and improvements +---------------------------------- + +* CAN FD frame support is pretty complete (#963) + * ASCWriter (#604) and ASCReader (#741) + * Canutils reader and writer (#1042) + * Logger, viewer and player tools can handle CAN FD (#632) + * Many bugfixes and more testing coverage +* IO + * Log rotation (#648, #874, #881, #1147) + * Add [plugin support to can.io Reader/Writer](https://python-can.readthedocs.io/en/develop/listeners.html#listener) (#783) + * ASCReader/Writer enhancements (#820) + * Adding absolute timestamps to ASC reader (#761) + * Support other base number (radix) at ASCReader (#764) + * Add [logconvert script](https://python-can.readthedocs.io/en/develop/scripts.html#can-logconvert) (#1072, #1194) + * Adding support for gzipped ASC logging file (.asc.gz) (#1138) + * Improve [IO class hierarchy](https://python-can.readthedocs.io/en/develop/internal-api.html#module-can.io.generic) (#1147) +* An [overview over various "virtual" interfaces](https://python-can.readthedocs.io/en/develop/interfaces/virtual.html#other-virtual-interfaces) (#644) +* Make ThreadBasedCyclicSendTask event based & improve timing accuracy (#656) +* Ignore error frames in can.player by default, add --error-frames option (#690) +* Add __eq__ method to can.Message (#737, #747) +* Add an error callback to ThreadBasedCyclicSendTask (#743, #781) +* Add direction to CAN messages (#773, #779, #780, #852, #966) +* Notifier no longer raises handled exceptions in rx_thread (#775, #789) but does so if no listener handles them (#1039, #1040) +* Changes to serial device number decoding (#869) +* Add a default fileno function to the BusABC (#877) +* Disallow Messages to simultaneously be "FD" and "remote" (#1049) +* Speed up interface plugin imports by removing pkg_resources (#1110) +* Avoid flooding the logger with many errors when they are the same (#1125) +* Allowing for extra config arguments in can.logger (#1142, #1170) +* Add changed byte highlighting to viewer.py (#1159) + +Other Bugfixes +-------------- + +* BLF PDU padding (#459) +* stop_all_periodic_tasks skipping every other task (#634, #637, #645) +* Preserve capitalization when reading config files (#702, #1062) +* ASCReader: Skip J1939Tp messages (#701) +* Fix crash in Canutils Log Reader when parsing RTR frames (#713) +* Various problems with the installation of the library +* ASCWriter: Fix date format to show correct day of month (#754) +* Fixes that some BLF files can't be read ( #763, #765) +* Seek for start of object instead of calculating it (#786, #803, #806) +* Only import winreg when on Windows (#800, #802) +* Find the correct Reader/Writer independently of the file extension case (#895) +* RecursionError when unpickling message object (#804, #885, #904) +* Move "filelock" to neovi dependencies (#943) +* Bus() with "fd" parameter as type bool always resolved to fd-enabled configuration (#954, #956) +* Asyncio code hits error due to deprecated loop parameter (#1005, #1013) +* Catch time before 1970 in ASCReader (#1034) +* Fix a bug where error handlers were not called correctly (#1116) +* Improved user interface of viewer script (#1118) +* Correct app_name argument in logger (#1151) +* Calling stop_all_periodic_tasks() in BusABC.shutdown() and all interfaces call it on shutdown (#1174) +* Timing configurations do not allow int (#1175) +* Some smaller bugfixes are not listed here since the problems were never part of a proper release + +Behind the scenes & Quality assurance +------------------------------------- + +* We publish both source distributions (`sdist`) and binary wheels (`bdist_wheel`) (#1059, #1071) +* Many interfaces were partly rewritten to modernize the code or to better handle errors +* Performance improvements +* Dependencies have changed +* Derive type information in Sphinx docs directly from type hints (#654) +* Better documentation in many, many places; This includes the examples, README and python-can developer resources +* Add issue templates (#1008, #1017, #1018, #1178) +* Many continuous integration (CI) discussions & improvements (for example: #951, #940, #1032) + * Use the [mypy](https://github.com/python/mypy) static type checker (#598, #651) + * Use [tox](https://tox.wiki/en/latest/) for testing (#582, #833, #870) + * Use [Mergify](https://mergify.com/) (#821, #835, #937) + * Switch between various CI providers, abandoned [AppVeyor](https://www.appveyor.com/) (#1009) and [Travis CI](https://travis-ci.org/), ended up with [GitHub Actions](https://docs.github.com/en/actions) only (#827) + * Use the [black](https://black.readthedocs.io/en/stable/) auto-formatter (#950) + * [Good test coverage](https://app.codecov.io/gh/hardbyte/python-can/branch/develop) for all but the interfaces +* Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: #1031, #581, #585, #586, #942, #1196, #1198) Version 3.3.4 ==== diff --git a/setup.py b/setup.py index 31318ac06..1fa5c7f6b 100644 --- a/setup.py +++ b/setup.py @@ -76,7 +76,7 @@ author="Python CAN contributors", license="LGPL v3", package_data={ - "": ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.txt"], + "": ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.md"], "doc": ["*.*"], "examples": ["*.py"], }, From 2ba9bd39e8a57afb68f1ac5de5208e925f86adb5 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sun, 16 Jan 2022 20:13:03 +0100 Subject: [PATCH 048/475] React to #1219 --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 52b04e510..80c765f93 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -180,7 +180,7 @@ Behind the scenes & Quality assurance * Use the [mypy](https://github.com/python/mypy) static type checker (#598, #651) * Use [tox](https://tox.wiki/en/latest/) for testing (#582, #833, #870) * Use [Mergify](https://mergify.com/) (#821, #835, #937) - * Switch between various CI providers, abandoned [AppVeyor](https://www.appveyor.com/) (#1009) and [Travis CI](https://travis-ci.org/), ended up with [GitHub Actions](https://docs.github.com/en/actions) only (#827) + * Switch between various CI providers, abandoned [AppVeyor](https://www.appveyor.com/) (#1009) and partly [Travis CI](https://travis-ci.org/), ended up with [GitHub Actions](https://docs.github.com/en/actions) only (#827) * Use the [black](https://black.readthedocs.io/en/stable/) auto-formatter (#950) * [Good test coverage](https://app.codecov.io/gh/hardbyte/python-can/branch/develop) for all but the interfaces * Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: #1031, #581, #585, #586, #942, #1196, #1198) From 7226fa373ee51800ef7a77867af1e8155c14ebc5 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sun, 16 Jan 2022 20:35:31 +0100 Subject: [PATCH 049/475] Typos --- CHANGELOG.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 80c765f93..829f70ac4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -10,8 +10,8 @@ Statistics of the final diff: About 200 files changed due to ~22k additions and This changelog diligently lists the major changes but does not promise to be the complete list of changes. Therefore, users are strongly advised to thoroughly test their programs against this new version. -Re-reading the documentation for you interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. -While we did try to avoid breaking changes, in some cases it was not feasible and in particular many implementation details have changed. +Re-reading the documentation for your interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. +While we did try to avoid breaking changes, in some cases it was not feasible and in particular, many implementation details have changed. Major features -------------- From e86b8656b2d22fd2ca1f407ca5c448534ffd7b02 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Mon, 17 Jan 2022 14:14:40 -0500 Subject: [PATCH 050/475] Moved #1125 to the neovi section --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 829f70ac4..b5676c96d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -87,6 +87,7 @@ Improved interfaces * Filter out Tx error messages (#854) * Adding support for send timeout (#855) * Raising more precise API error when set bitrate fails (#865) + * Avoid flooding the logger with many errors when they are the same (#1125) * Omit the transmit exception cause for brevity (#1086) * Raise ValueError if message data is over max frame length (#1177, #1181) * Setting is_error_frame message property (#1189) @@ -136,7 +137,6 @@ Other API changes and improvements * Add a default fileno function to the BusABC (#877) * Disallow Messages to simultaneously be "FD" and "remote" (#1049) * Speed up interface plugin imports by removing pkg_resources (#1110) -* Avoid flooding the logger with many errors when they are the same (#1125) * Allowing for extra config arguments in can.logger (#1142, #1170) * Add changed byte highlighting to viewer.py (#1159) From a4154975696c171118115438884547be0ca8f977 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Tue, 18 Jan 2022 10:29:16 +0100 Subject: [PATCH 051/475] Update CHANGELOG.md Message.__eq__ is gone. No need to mention it here. Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- CHANGELOG.md | 1 - 1 file changed, 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index b5676c96d..da451f157 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -129,7 +129,6 @@ Other API changes and improvements * An [overview over various "virtual" interfaces](https://python-can.readthedocs.io/en/develop/interfaces/virtual.html#other-virtual-interfaces) (#644) * Make ThreadBasedCyclicSendTask event based & improve timing accuracy (#656) * Ignore error frames in can.player by default, add --error-frames option (#690) -* Add __eq__ method to can.Message (#737, #747) * Add an error callback to ThreadBasedCyclicSendTask (#743, #781) * Add direction to CAN messages (#773, #779, #780, #852, #966) * Notifier no longer raises handled exceptions in rx_thread (#775, #789) but does so if no listener handles them (#1039, #1040) From f7f9a8db3c137584fee48fba14e8589e71942bb4 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 20 Jan 2022 15:27:50 +0100 Subject: [PATCH 052/475] move static code analysis to Github actions --- .github/workflows/build.yml | 39 +++++++++++++++++++++++++++++++++++++ .travis.yml | 17 ---------------- requirements-lint.txt | 1 + setup.cfg | 2 +- 4 files changed, 41 insertions(+), 18 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index be222751c..21eec2048 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -39,6 +39,45 @@ jobs: with: fail_ci_if_error: true + static-code-analysis: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - name: Set up Python + uses: actions/setup-python@v2 + with: + python-version: "3.10" + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install -e . + pip install -r requirements-lint.txt + - name: mypy 3.7 + continue-on-error: true + run: | + mypy --python-version 3.7 . + - name: mypy 3.8 + continue-on-error: true + run: | + mypy --python-version 3.8 . + - name: mypy 3.9 + continue-on-error: true + run: | + mypy --python-version 3.9 . + - name: mypy 3.10 + continue-on-error: true + run: | + mypy --python-version 3.10 . + - name: pylint + continue-on-error: true + run: | + pylint --rcfile=.pylintrc \ + can/**.py \ + setup.py \ + doc.conf \ + scripts/**.py \ + examples/**.py + format: runs-on: ubuntu-latest steps: diff --git a/.travis.yml b/.travis.yml index 77eef3699..fb24f8e9a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -74,23 +74,6 @@ jobs: # -a Write all files # -n nitpicky - python -m sphinx -an doc build - - stage: linter - name: "Linter Checks" - python: "3.9" - before_install: - - travis_retry pip install -r requirements-lint.txt - script: - # ------------- - # pylint checking: - # check the entire main codebase (except the tests) - - pylint --rcfile=.pylintrc can/**.py setup.py doc.conf scripts/**.py examples/**.py - # ------------- - # mypy checking: - - mypy - can/*.py - can/io/**.py - scripts/**.py - examples/**.py - stage: deploy name: "PyPi Deployment" python: "3.9" diff --git a/requirements-lint.txt b/requirements-lint.txt index 55d985d54..e9ad9106c 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -2,3 +2,4 @@ pylint==2.12.2 black==21.12b0 mypy==0.931 mypy-extensions==0.4.3 +types-setuptools diff --git a/setup.cfg b/setup.cfg index 84d734573..48a688026 100644 --- a/setup.cfg +++ b/setup.cfg @@ -2,7 +2,6 @@ license_file = LICENSE.txt [mypy] -python_version = 3.7 warn_return_any = True warn_unused_configs = True ignore_missing_imports = True @@ -10,3 +9,4 @@ no_implicit_optional = True disallow_incomplete_defs = True warn_redundant_casts = True warn_unused_ignores = True +exclude = (^venv|^test|^can/interfaces|^setup.py$) \ No newline at end of file From bc14b95ce354025e3aed7a8b4c6e3e668a91ceb1 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 20 Jan 2022 15:35:10 +0100 Subject: [PATCH 053/475] move continue-on-error --- .github/workflows/build.yml | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 21eec2048..1f57103a5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -41,6 +41,7 @@ jobs: static-code-analysis: runs-on: ubuntu-latest + continue-on-error: true steps: - uses: actions/checkout@v2 - name: Set up Python @@ -53,23 +54,18 @@ jobs: pip install -e . pip install -r requirements-lint.txt - name: mypy 3.7 - continue-on-error: true run: | mypy --python-version 3.7 . - name: mypy 3.8 - continue-on-error: true run: | mypy --python-version 3.8 . - name: mypy 3.9 - continue-on-error: true run: | mypy --python-version 3.9 . - name: mypy 3.10 - continue-on-error: true run: | mypy --python-version 3.10 . - name: pylint - continue-on-error: true run: | pylint --rcfile=.pylintrc \ can/**.py \ From c0da4c857b796178807531e4ea1c1887a03281bb Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 20 Jan 2022 16:43:26 +0100 Subject: [PATCH 054/475] make mypy happy --- can/ctypesutil.py | 8 ++++---- can/exceptions.py | 10 +++++++--- can/io/asc.py | 17 +++++++++-------- can/io/blf.py | 6 +++++- can/io/canutils.py | 4 +++- can/io/csv.py | 3 +++ can/io/generic.py | 9 +++++---- can/io/logger.py | 7 +++++-- can/io/printer.py | 7 ++++--- can/typechecking.py | 2 +- 10 files changed, 46 insertions(+), 27 deletions(-) diff --git a/can/ctypesutil.py b/can/ctypesutil.py index 7c1e1f573..4cfebb5b8 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -1,7 +1,7 @@ +# type: ignore """ This module contains common `ctypes` utils. """ - import ctypes import logging import sys @@ -14,14 +14,14 @@ try: - _LibBase = ctypes.WinDLL # type: ignore - _FUNCTION_TYPE = ctypes.WINFUNCTYPE # type: ignore + _LibBase = ctypes.WinDLL + _FUNCTION_TYPE = ctypes.WINFUNCTYPE except AttributeError: _LibBase = ctypes.CDLL _FUNCTION_TYPE = ctypes.CFUNCTYPE -class CLibrary(_LibBase): # type: ignore +class CLibrary(_LibBase): def __init__(self, library_or_path: Union[str, ctypes.CDLL]) -> None: self.func_name: Any diff --git a/can/exceptions.py b/can/exceptions.py index e8731737c..aec0dfd1d 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -14,13 +14,17 @@ For example, validating typical arguments and parameters might result in a :class:`ValueError`. This should always be documented for the function at hand. """ - - +import sys from contextlib import contextmanager from typing import Optional from typing import Type +if sys.version_info >= (3, 9): + from collections.abc import Generator +else: + from typing import Generator + class CanError(Exception): """Base class for all CAN related exceptions. @@ -106,7 +110,7 @@ class CanTimeoutError(CanError, TimeoutError): def error_check( error_message: Optional[str] = None, exception_type: Type[CanError] = CanOperationError, -) -> None: +) -> Generator[None, None, None]: """Catches any exceptions and turns them into the new type while preserving the stack trace.""" try: yield diff --git a/can/io/asc.py b/can/io/asc.py index 4e78d7528..74f630f43 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -6,7 +6,7 @@ - under `test/data/logfile.asc` """ import gzip -from typing import cast, Any, Generator, IO, List, Optional, Dict, Union +from typing import cast, Any, Generator, IO, List, Optional, Dict, Union, TextIO from datetime import datetime import time @@ -34,6 +34,8 @@ class ASCReader(BaseIOHandler): bus statistics, J1939 Transport Protocol messages) is ignored. """ + file: TextIO + FORMAT_START_OF_FILE_DATE = "%a %b %d %I:%M:%S.%f %p %Y" def __init__( @@ -205,8 +207,6 @@ def _process_fd_can_frame(self, line: str, msg_kwargs: Dict[str, Any]) -> Messag return Message(**msg_kwargs) def __iter__(self) -> Generator[Message, None, None]: - # This is guaranteed to not be None since we raise ValueError in __init__ - self.file = cast(IO[Any], self.file) self._extract_header() for line in self.file: @@ -214,10 +214,11 @@ def __iter__(self) -> Generator[Message, None, None]: if not temp or not temp[0].isdigit(): # Could be a comment continue - msg_kwargs = {} + + msg_kwargs: Dict[str, Union[float, bool, int]] = {} try: - timestamp, channel, rest_of_message = temp.split(None, 2) - timestamp = float(timestamp) + self.start_time + _timestamp, channel, rest_of_message = temp.split(None, 2) + timestamp = float(_timestamp) + self.start_time msg_kwargs["timestamp"] = timestamp if channel == "CANFD": msg_kwargs["is_fd"] = True @@ -250,6 +251,8 @@ class ASCWriter(FileIOMessageWriter, Listener): It the first message does not have a timestamp, it is set to zero. """ + file: TextIO + FORMAT_MESSAGE = "{channel} {id:<15} {dir:<4} {dtype} {data}" FORMAT_MESSAGE_FD = " ".join( [ @@ -319,8 +322,6 @@ def log_event(self, message: str, timestamp: Optional[float] = None) -> None: if not message: # if empty or None logger.debug("ASCWriter: ignoring empty message") return - # This is guaranteed to not be None since we raise ValueError in __init__ - self.file = cast(IO[Any], self.file) # this is the case for the very first message: if not self.header_written: diff --git a/can/io/blf.py b/can/io/blf.py index 9bb54d984..346d66cf6 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,7 +17,7 @@ import datetime import time import logging -from typing import List +from typing import List, BinaryIO from ..message import Message from ..listener import Listener @@ -139,6 +139,8 @@ class BLFReader(BaseIOHandler): silently ignored. """ + file: BinaryIO + def __init__(self, file: AcceptedIOType) -> None: """ :param file: a path-like object or as file-like object to read from @@ -352,6 +354,8 @@ class BLFWriter(FileIOMessageWriter, Listener): Logs CAN data to a Binary Logging File compatible with Vector's tools. """ + file: BinaryIO + #: Max log container size of uncompressed data max_container_size = 128 * 1024 diff --git a/can/io/canutils.py b/can/io/canutils.py index 5aa4ad53b..d3e122ae5 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -114,7 +114,9 @@ class CanutilsLogWriter(FileIOMessageWriter, Listener): It the first message does not have a timestamp, it is set to zero. """ - def __init__(self, file: AcceptedIOType, channel="vcan0", append=False): + def __init__( + self, file: AcceptedIOType, channel: str = "vcan0", append: bool = False + ): """ :param file: a path-like object or as file-like object to write to If this is a file-like object, is has to opened in text diff --git a/can/io/csv.py b/can/io/csv.py index 6e39e0096..fa3175a2d 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -10,6 +10,7 @@ """ from base64 import b64encode, b64decode +from typing import TextIO from can.message import Message from can.listener import Listener @@ -82,6 +83,8 @@ class CSVWriter(FileIOMessageWriter, Listener): Each line is terminated with a platform specific line separator. """ + file: TextIO + def __init__(self, file: AcceptedIOType, append: bool = False) -> None: """ :param file: a path-like object or a file-like object to write to. diff --git a/can/io/generic.py b/can/io/generic.py index 1606c444d..96ff91abf 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -45,7 +45,10 @@ def __init__( else: # pylint: disable=consider-using-with # file is some path-like object - self.file = open(cast(can.typechecking.StringPathLike, file), mode) + self.file = cast( + can.typechecking.FileLike, + open(cast(can.typechecking.StringPathLike, file), mode), + ) # for multiple inheritance super().__init__() @@ -80,9 +83,7 @@ class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): file: Union[TextIO, BinaryIO] - def __init__( - self, file: Union[can.typechecking.FileLike, TextIO, BinaryIO], mode: str = "rt" - ) -> None: + def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "rt") -> None: # Not possible with the type signature, but be verbose for user friendliness if file is None: raise ValueError("The given file cannot be None") diff --git a/can/io/logger.py b/can/io/logger.py index 3890e7432..6c3933294 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -15,7 +15,7 @@ ) from types import TracebackType - +from typing_extensions import Literal from pkg_resources import iter_entry_points from ..message import Message @@ -95,6 +95,9 @@ def __new__( # type: ignore f'No write support for this unknown log format "{suffix}"' ) from None + def on_message_received(self, msg: Message) -> None: + pass + class BaseRotatingLogger(Listener, BaseIOHandler, ABC): """ @@ -232,7 +235,7 @@ def __exit__( exc_type: Optional[Type[BaseException]], exc_val: Optional[BaseException], exc_tb: Optional[TracebackType], - ) -> bool: + ) -> Literal[False]: return self._writer.__exit__(exc_type, exc_val, exc_tb) @abstractmethod diff --git a/can/io/printer.py b/can/io/printer.py index ec003e0eb..09c86f81f 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -4,7 +4,7 @@ import logging -from typing import Optional +from typing import Optional, cast, TextIO from ..message import Message from ..listener import Listener @@ -24,6 +24,8 @@ class Printer(BaseIOHandler, Listener): standard out """ + file: Optional[TextIO] + def __init__( self, file: Optional[AcceptedIOType] = None, append: bool = False ) -> None: @@ -35,12 +37,11 @@ def __init__( :param append: If set to `True` messages, are appended to the file, else the file is truncated """ - self.write_to_file = file is not None mode = "a" if append else "w" super().__init__(file, mode=mode) def on_message_received(self, msg: Message) -> None: - if self.write_to_file: + if self.file is not None: self.file.write(str(msg) + "\n") else: print(msg) diff --git a/can/typechecking.py b/can/typechecking.py index 627e1a86a..3e3cca833 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -27,7 +27,7 @@ Channel = typing.Union[ChannelInt, ChannelStr] # Used by the IO module -FileLike = typing.IO[typing.Any] +FileLike = typing.Union[typing.TextIO, typing.BinaryIO] StringPathLike = typing.Union[str, "os.PathLike[str]"] AcceptedIOType = typing.Union[FileLike, StringPathLike] From b75e214d6d266566094e4164b8294f06a6b949a4 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 20 Jan 2022 16:54:26 +0100 Subject: [PATCH 055/475] add newline at end --- setup.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.cfg b/setup.cfg index 48a688026..068badd4c 100644 --- a/setup.cfg +++ b/setup.cfg @@ -9,4 +9,4 @@ no_implicit_optional = True disallow_incomplete_defs = True warn_redundant_casts = True warn_unused_ignores = True -exclude = (^venv|^test|^can/interfaces|^setup.py$) \ No newline at end of file +exclude = (^venv|^test|^can/interfaces|^setup.py$) From 53e5e116177b3a4751d900fc4a6a1170fea20163 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jan 2022 10:15:06 +0100 Subject: [PATCH 056/475] Add Github Actions badge --- README.rst | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/README.rst b/README.rst index 84c270e0f..5eec029b2 100644 --- a/README.rst +++ b/README.rst @@ -3,7 +3,7 @@ python-can |release| |python_implementation| |downloads| |downloads_monthly| |formatter| -|docs| |build_travis| |coverage| |mergify| +|docs| |github-actions| |build_travis| |coverage| |mergify| .. |release| image:: https://img.shields.io/pypi/v/python-can.svg :target: https://pypi.python.org/pypi/python-can/ @@ -29,6 +29,10 @@ python-can :target: https://python-can.readthedocs.io/en/stable/ :alt: Documentation +.. |github-actions| image:: https://github.com/hardbyte/python-can/actions/workflows/build.yml/badge.svg?branch=develop + :target: https://github.com/hardbyte/python-can/actions/workflows/build.yml + :alt: Github Actions workflow status + .. |build_travis| image:: https://img.shields.io/travis/com/hardbyte/python-can/develop.svg?label=Travis%20CI :target: https://travis-ci.com/hardbyte/python-can :alt: Travis CI Server for develop branch From b66ea80d567892c7475192af9d51c71d35b39efd Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jan 2022 10:27:11 +0100 Subject: [PATCH 057/475] remove continue-on-error so workflow fails --- .github/workflows/build.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 1f57103a5..993247868 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -41,7 +41,6 @@ jobs: static-code-analysis: runs-on: ubuntu-latest - continue-on-error: true steps: - uses: actions/checkout@v2 - name: Set up Python From 88cb3bbe38ffd6a989bde207f1aaeedc49f8090a Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jan 2022 10:38:17 +0100 Subject: [PATCH 058/475] improve ASCReader robustness --- can/io/asc.py | 19 ++++++++++++------- test/data/logfile.asc | 1 + test/logformats_test.py | 3 +++ 3 files changed, 16 insertions(+), 7 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index 74f630f43..5e59483c5 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -6,7 +6,8 @@ - under `test/data/logfile.asc` """ import gzip -from typing import cast, Any, Generator, IO, List, Optional, Dict, Union, TextIO +import re +from typing import Any, Generator, List, Optional, Dict, Union, TextIO from datetime import datetime import time @@ -85,8 +86,8 @@ def _extract_header(self): self.timestamps_format = timestamp_format elif lower_case.endswith("internal events logged"): self.internal_events_logged = not lower_case.startswith("no") - elif lower_case.startswith("// version"): - # the test files include `// version 9.0.0` - not sure what this is + elif lower_case.startswith("//"): + # ignore comments continue # grab absolute timestamp elif lower_case.startswith("begin triggerblock"): @@ -210,14 +211,18 @@ def __iter__(self) -> Generator[Message, None, None]: self._extract_header() for line in self.file: - temp = line.strip() - if not temp or not temp[0].isdigit(): - # Could be a comment + line = line.strip() + + if not re.match( + r"\d+\.\d+\s+(\d+\s+(\w+\s+(Tx|Rx)|ErrorFrame)|CANFD)", + line, + re.ASCII | re.IGNORECASE, + ): continue msg_kwargs: Dict[str, Union[float, bool, int]] = {} try: - _timestamp, channel, rest_of_message = temp.split(None, 2) + _timestamp, channel, rest_of_message = line.split(None, 2) timestamp = float(_timestamp) + self.start_time msg_kwargs["timestamp"] = timestamp if channel == "CANFD": diff --git a/test/data/logfile.asc b/test/data/logfile.asc index 77ebdb78a..8e6ac0464 100644 --- a/test/data/logfile.asc +++ b/test/data/logfile.asc @@ -2,6 +2,7 @@ date Sam Sep 30 15:06:13.191 2017 base hex timestamps absolute internal events logged // version 9.0.0 +//0.000000 previous log file: logfile_errorframes.asc Begin Triggerblock Sam Sep 30 15:06:13.191 2017 0.000000 Start of measurement 0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0 diff --git a/test/logformats_test.py b/test/logformats_test.py index 400bf369d..a7417fa5d 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -554,6 +554,9 @@ def test_can_and_canfd_error_frames(self): actual = self._read_log_file("test_CanErrorFrames.asc") self.assertMessagesEqual(actual, expected_messages) + def test_ignore_comments(self): + _msg_list = self._read_log_file("logfile.asc") + class TestGzipASCFileFormat(ReaderWriterTest): """Tests can.GzipASCWriter and can.GzipASCReader""" From 2bc44be4da22089ed779c8c3c9990516bacf54ef Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jan 2022 11:39:13 +0100 Subject: [PATCH 059/475] add comment --- can/io/asc.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/can/io/asc.py b/can/io/asc.py index 5e59483c5..db8f66358 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -218,6 +218,8 @@ def __iter__(self) -> Generator[Message, None, None]: line, re.ASCII | re.IGNORECASE, ): + # line might be a comment, chip status, + # J1939 message or some other unsupported event continue msg_kwargs: Dict[str, Union[float, bool, int]] = {} From 57bc62c58f2e8968c84ecfb33ae1c8e8fa87070d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 14 Jan 2022 16:03:35 +0100 Subject: [PATCH 060/475] change DLC to DL --- can/message.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/message.py b/can/message.py index 854d211a1..87cb6a199 100644 --- a/can/message.py +++ b/can/message.py @@ -130,7 +130,7 @@ def __str__(self) -> str: field_strings.append(flag_string) - field_strings.append(f"DLC: {self.dlc:2d}") + field_strings.append(f"DL: {self.dlc:2d}") data_strings = [] if self.data is not None: for index in range(0, min(self.dlc, len(self.data))): From 30c421a625436c7c7e07949bec9633eddb6c5dbb Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jan 2022 12:56:36 +0100 Subject: [PATCH 061/475] update CHANGELOG.md --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index da451f157..d1428075d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -138,6 +138,7 @@ Other API changes and improvements * Speed up interface plugin imports by removing pkg_resources (#1110) * Allowing for extra config arguments in can.logger (#1142, #1170) * Add changed byte highlighting to viewer.py (#1159) +* Change DLC to DL in Message.\_\_str\_\_() (#1212) Other Bugfixes -------------- From 2185f27977e19b9914b7b49f3ee620b2cd6f011e Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sun, 23 Jan 2022 09:20:24 +0100 Subject: [PATCH 062/475] Moderinze README code --- README.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.rst b/README.rst index 5eec029b2..956033de1 100644 --- a/README.rst +++ b/README.rst @@ -90,7 +90,7 @@ Example usage import can # create a bus instance - # many other interfaces are supported as well (see below) + # many other interfaces are supported as well (see documentation) bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True) @@ -102,7 +102,7 @@ Example usage # iterate over received messages for msg in bus: - print("{:X}: {}".format(msg.arbitration_id, msg.data)) + print(f"{msg.arbitration_id:X}: {msg.data}") # or use an asynchronous notifier notifier = can.Notifier(bus, [can.Logger("recorded.log"), can.Printer()]) From 5088ec2d07f13894b67c327be6b5d4b4ed0c4f17 Mon Sep 17 00:00:00 2001 From: TJ Date: Mon, 17 Jan 2022 18:14:56 -0800 Subject: [PATCH 063/475] Add unzip method to logreader --- can/io/player.py | 31 ++++++++++++++++++++++++++----- 1 file changed, 26 insertions(+), 5 deletions(-) diff --git a/can/io/player.py b/can/io/player.py index f710e15d5..6712089dd 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -3,7 +3,7 @@ well as :class:`MessageSync` which plays back messages in the recorded order an time intervals. """ - +import gzip import pathlib from time import time, sleep import typing @@ -14,7 +14,7 @@ import can from .generic import BaseIOHandler, MessageReader -from .asc import ASCReader, GzipASCReader +from .asc import ASCReader from .blf import BLFReader from .canutils import CanutilsLogReader from .csv import CSVReader @@ -27,12 +27,13 @@ class LogReader(BaseIOHandler): The format is determined from the file format which can be one of: * .asc - * .asc.gz * .blf * .csv * .db * .log + Or any of the above compressed using gzip (.gz) + Exposes a simple iterator interface, to use simply: >>> for msg in LogReader("some/path/to/my_file.log"): @@ -50,7 +51,6 @@ class LogReader(BaseIOHandler): fetched_plugins = False message_readers = { ".asc": ASCReader, - ".asc.gz": GzipASCReader, ".blf": BLFReader, ".csv": CSVReader, ".db": SqliteReader, @@ -77,7 +77,11 @@ def __new__( # type: ignore ) LogReader.fetched_plugins = True - suffix = "".join(s.lower() for s in pathlib.PurePath(filename).suffixes) + suffix = pathlib.PurePath(filename).suffix.lower() + + if suffix == ".gz": + suffix, filename = LogReader.unzip(filename) + try: return typing.cast( MessageReader, @@ -88,6 +92,23 @@ def __new__( # type: ignore f'No read support for this unknown log format "{suffix}"' ) from None + @staticmethod + def unzip(zipfile: "can.typechecking.StringPathLike"): + """ + Return the suffix and io object of the decompressed file. + """ + real_suffix = pathlib.Path(zipfile).suffixes[-2].lower() + file = gzip.open(zipfile, "rt") + + # Re-open in binary mode if file not readable. + try: + file.read() + file.seek(0) + except UnicodeDecodeError: + file = gzip.open(zipfile, "rb") + + return real_suffix, file + class MessageSync: # pylint: disable=too-few-public-methods """ From 7e59007fb8e3aa9d07bec105ad0a7b42e9093f9f Mon Sep 17 00:00:00 2001 From: Teejay Date: Thu, 20 Jan 2022 20:16:54 -0800 Subject: [PATCH 064/475] Apply PR feedback Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> Rename method to decompress Add protection against memory error --- can/io/player.py | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/can/io/player.py b/can/io/player.py index 6712089dd..96d3a5b7c 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -80,7 +80,7 @@ def __new__( # type: ignore suffix = pathlib.PurePath(filename).suffix.lower() if suffix == ".gz": - suffix, filename = LogReader.unzip(filename) + suffix, filename = LogReader.decompress(filename) try: return typing.cast( @@ -93,21 +93,16 @@ def __new__( # type: ignore ) from None @staticmethod - def unzip(zipfile: "can.typechecking.StringPathLike"): + def decompress( + filename: "can.typechecking.StringPathLike", + ) -> typing.Tuple[str, typing.IO[typing.Any]]: """ Return the suffix and io object of the decompressed file. """ - real_suffix = pathlib.Path(zipfile).suffixes[-2].lower() - file = gzip.open(zipfile, "rt") - - # Re-open in binary mode if file not readable. - try: - file.read() - file.seek(0) - except UnicodeDecodeError: - file = gzip.open(zipfile, "rb") + real_suffix = pathlib.Path(filename).suffixes[-2].lower() + mode = "rb" if real_suffix == ".blf" else "rt" - return real_suffix, file + return real_suffix, gzip.open(filename, mode) class MessageSync: # pylint: disable=too-few-public-methods From 56c579159b07cca7b3da203141ff2c65876ab759 Mon Sep 17 00:00:00 2001 From: TJ Date: Thu, 20 Jan 2022 20:59:09 -0800 Subject: [PATCH 065/475] Add player unittest --- test/data/test_CanMessage.asc.gz | Bin 0 -> 277 bytes test/test_player.py | 14 +++++++++++--- 2 files changed, 11 insertions(+), 3 deletions(-) create mode 100644 test/data/test_CanMessage.asc.gz diff --git a/test/data/test_CanMessage.asc.gz b/test/data/test_CanMessage.asc.gz new file mode 100644 index 0000000000000000000000000000000000000000..25375d1b80fcf39afe18534e6fd792b4ee4cc2e0 GIT binary patch literal 277 zcmV+w0qXuAiwFpT3*}(|19W9`bYDYZZcSx#b75y?E@5+H09}vWYQr!LM(^_!-xH*A z{!{2pvJD0sjHNH&ELs|t*u{3r9)HTlN;hGIuyi=mpaY}R3pzd{C8&H)#a^YcsudDa zWz=iWIPoVCriFdb%h^Ns-p*^_XflDF(KGnMCV0$t9C?U#J6zcL$r{u##S}F>P6kIe zN!#_aeftn=xLWDP`ttlE1|Z~jpbOds*mo?f{pxrT*){+qaZZYmNZD4njiaoL0TrkQ zNiIPJCy;O#g>3Qf;fc){PB None: # Patch VirtualBus object patcher_virtual_bus = mock.patch("can.interfaces.virtual.VirtualBus", spec=True) @@ -29,9 +32,6 @@ def setUp(self) -> None: self.addCleanup(patcher_sleep.stop) self.baseargs = [sys.argv[0], "-i", "virtual"] - self.logfile = os.path.join( - os.path.dirname(__file__), "data", "test_CanMessage.asc" - ) def assertSuccessfulCleanup(self): self.MockVirtualBus.assert_called_once() @@ -111,5 +111,13 @@ def test_play_error_frame(self): self.assertSuccessfulCleanup() +class TestPlayerCompressedFile(TestPlayerScriptModule): + """ + Re-run tests using a compressed file. + """ + + logfile = os.path.join(os.path.dirname(__file__), "data", "test_CanMessage.asc.gz") + + if __name__ == "__main__": unittest.main() From 5e5ca2b75455ed3d1d5c9d8803ace069fb0886e6 Mon Sep 17 00:00:00 2001 From: TJ Date: Sat, 22 Jan 2022 12:25:26 -0800 Subject: [PATCH 066/475] Add compress method to logger --- can/io/logger.py | 26 ++++++++++++++++++++++---- 1 file changed, 22 insertions(+), 4 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index 3890e7432..8dbd14f32 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -6,12 +6,15 @@ import pathlib from abc import ABC, abstractmethod from datetime import datetime +import gzip from typing import ( Any, Optional, Callable, cast, + IO, Type, + Tuple, ) from types import TracebackType @@ -21,7 +24,7 @@ from ..message import Message from ..listener import Listener from .generic import BaseIOHandler, FileIOMessageWriter -from .asc import ASCWriter, GzipASCWriter +from .asc import ASCWriter from .blf import BLFWriter from .canutils import CanutilsLogWriter from .csv import CSVWriter @@ -36,13 +39,14 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method The format is determined from the file format which can be one of: * .asc: :class:`can.ASCWriter` - * .asc.gz: :class:`can.CompressedASCWriter` * .blf :class:`can.BLFWriter` * .csv: :class:`can.CSVWriter` * .db: :class:`can.SqliteWriter` * .log :class:`can.CanutilsLogWriter` * .txt :class:`can.Printer` + Or any of the above compressed using gzip (.gz) + The **filename** may also be *None*, to fall back to :class:`can.Printer`. The log files may be incomplete until `stop()` is called due to buffering. @@ -55,7 +59,6 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method fetched_plugins = False message_writers = { ".asc": ASCWriter, - ".asc.gz": GzipASCWriter, ".blf": BLFWriter, ".csv": CSVWriter, ".db": SqliteWriter, @@ -85,7 +88,11 @@ def __new__( # type: ignore ) Logger.fetched_plugins = True - suffix = "".join(s.lower() for s in pathlib.PurePath(filename).suffixes) + suffix = pathlib.PurePath(filename).suffix.lower() + + if suffix == ".gz": + suffix, filename = Logger.compress(filename) + try: return cast( Listener, Logger.message_writers[suffix](filename, *args, **kwargs) @@ -95,6 +102,17 @@ def __new__( # type: ignore f'No write support for this unknown log format "{suffix}"' ) from None + @staticmethod + def compress(filename: StringPathLike) -> Tuple[str, IO[Any]]: + """ + Return the suffix and io object of the decompressed file. + File will automatically recompress upon close. + """ + real_suffix = pathlib.Path(filename).suffixes[-2].lower() + mode = "ab" if real_suffix == ".blf" else "at" + + return real_suffix, gzip.open(filename, mode) + class BaseRotatingLogger(Listener, BaseIOHandler, ABC): """ From c56ff406531d9ef0d3a469a0be482d05784a82b7 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 25 Jan 2022 18:39:36 +0100 Subject: [PATCH 067/475] check vector with mypy --- can/interfaces/vector/canlib.py | 121 ++++++++++++++++-------------- can/interfaces/vector/xldriver.py | 1 + setup.cfg | 23 +++++- test/test_vector.py | 10 +-- 4 files changed, 92 insertions(+), 63 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 1313b00b7..4d81e8299 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -10,7 +10,8 @@ import logging import time import os -from typing import List, NamedTuple, Optional, Tuple, Sequence, Union +from types import ModuleType +from typing import List, NamedTuple, Optional, Tuple, Sequence, Union, Any, Dict try: # Try builtin Python 3 Windows API @@ -18,14 +19,7 @@ HAS_EVENTS = True except ImportError: - try: - # Try pywin32 package - from win32event import WaitForSingleObject, INFINITE - - HAS_EVENTS = True - except ImportError: - # Use polling instead - HAS_EVENTS = False + HAS_EVENTS = False # Import Modules # ============== @@ -36,7 +30,7 @@ deprecated_args_alias, time_perfcounter_correlation, ) -from can.typechecking import AutoDetectedConfig, CanFilters +from can.typechecking import AutoDetectedConfig, CanFilters, Channel # Define Module Logger # ==================== @@ -48,7 +42,7 @@ from . import xldefine, xlclass # Import safely Vector API module for Travis tests -xldriver = None +xldriver: Optional[ModuleType] = None try: from . import xldriver except Exception as exc: @@ -73,20 +67,20 @@ def __init__( channel: Union[int, Sequence[int], str], can_filters: Optional[CanFilters] = None, poll_interval: float = 0.01, - receive_own_messages: bool = False, - bitrate: int = None, + receive_own_messages: Optional[bool] = False, + bitrate: Optional[int] = None, rx_queue_size: int = 2 ** 14, - app_name: str = "CANalyzer", - serial: int = None, - fd: bool = False, - data_bitrate: int = None, + app_name: Optional[str] = "CANalyzer", + serial: Optional[int] = None, + fd: Optional[bool] = False, + data_bitrate: Optional[int] = None, sjw_abr: int = 2, tseg1_abr: int = 6, tseg2_abr: int = 3, sjw_dbr: int = 2, tseg1_dbr: int = 6, tseg2_dbr: int = 3, - **kwargs, + **kwargs: Any, ) -> None: """ :param channel: @@ -144,16 +138,18 @@ def __init__( if xldriver is None: raise CanInterfaceNotImplementedError("The Vector API has not been loaded") + self.xldriver = xldriver # keep reference so mypy knows it is not None self.poll_interval = poll_interval - if isinstance(channel, str): # must be checked before generic Sequence + self.channels: Sequence[int] + if isinstance(channel, int): + self.channels = [channel] + elif isinstance(channel, str): # must be checked before generic Sequence # Assume comma separated string of channels self.channels = [int(ch.strip()) for ch in channel.split(",")] - elif isinstance(channel, int): - self.channels = [channel] elif isinstance(channel, Sequence): - self.channels = channel + self.channels = [int(ch) for ch in channel] else: raise TypeError( f"Invalid type for channels parameter: {type(channel).__name__}" @@ -185,12 +181,12 @@ def __init__( "None of the configured channels could be found on the specified hardware." ) - xldriver.xlOpenDriver() + self.xldriver.xlOpenDriver() self.port_handle = xlclass.XLportHandle(xldefine.XL_INVALID_PORTHANDLE) self.mask = 0 self.fd = fd # Get channels masks - self.channel_masks = {} + self.channel_masks: Dict[Optional[Channel], int] = {} self.index_to_channel = {} for channel in self.channels: @@ -200,7 +196,7 @@ def __init__( app_name, channel ) LOG.debug("Channel index %d found", channel) - idx = xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) + idx = self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) if idx < 0: # Undocumented behavior! See issue #353. # If hardware is unavailable, this function returns -1. @@ -224,7 +220,7 @@ def __init__( if bitrate or fd: permission_mask.value = self.mask if fd: - xldriver.xlOpenPort( + self.xldriver.xlOpenPort( self.port_handle, self._app_name, self.mask, @@ -234,7 +230,7 @@ def __init__( xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, ) else: - xldriver.xlOpenPort( + self.xldriver.xlOpenPort( self.port_handle, self._app_name, self.mask, @@ -267,7 +263,7 @@ def __init__( self.canFdConf.tseg1Dbr = int(tseg1_dbr) self.canFdConf.tseg2Dbr = int(tseg2_dbr) - xldriver.xlCanFdSetConfiguration( + self.xldriver.xlCanFdSetConfiguration( self.port_handle, self.mask, self.canFdConf ) LOG.info( @@ -289,7 +285,7 @@ def __init__( ) else: if bitrate: - xldriver.xlCanSetChannelBitrate( + self.xldriver.xlCanSetChannelBitrate( self.port_handle, permission_mask, bitrate ) LOG.info("SetChannelBitrate: baudr.=%u", bitrate) @@ -298,16 +294,16 @@ def __init__( # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 - xldriver.xlCanSetChannelMode(self.port_handle, self.mask, tx_receipts, 0) + self.xldriver.xlCanSetChannelMode(self.port_handle, self.mask, tx_receipts, 0) if HAS_EVENTS: self.event_handle = xlclass.XLhandle() - xldriver.xlSetNotification(self.port_handle, self.event_handle, 1) + self.xldriver.xlSetNotification(self.port_handle, self.event_handle, 1) else: LOG.info("Install pywin32 to avoid polling") try: - xldriver.xlActivateChannel( + self.xldriver.xlActivateChannel( self.port_handle, self.mask, xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, 0 ) except VectorOperationError as error: @@ -320,17 +316,17 @@ def __init__( if time.get_clock_info("time").resolution > 1e-5: ts, perfcounter = time_perfcounter_correlation() try: - xldriver.xlGetSyncTime(self.port_handle, offset) + self.xldriver.xlGetSyncTime(self.port_handle, offset) except VectorInitializationError: - xldriver.xlGetChannelTime(self.port_handle, self.mask, offset) + self.xldriver.xlGetChannelTime(self.port_handle, self.mask, offset) current_perfcounter = time.perf_counter() now = ts + (current_perfcounter - perfcounter) self._time_offset = now - offset.value * 1e-9 else: try: - xldriver.xlGetSyncTime(self.port_handle, offset) + self.xldriver.xlGetSyncTime(self.port_handle, offset) except VectorInitializationError: - xldriver.xlGetChannelTime(self.port_handle, self.mask, offset) + self.xldriver.xlGetChannelTime(self.port_handle, self.mask, offset) self._time_offset = time.time() - offset.value * 1e-9 except VectorInitializationError: @@ -339,7 +335,7 @@ def __init__( self._is_filtered = False super().__init__(channel=channel, can_filters=can_filters, **kwargs) - def _apply_filters(self, filters) -> None: + def _apply_filters(self, filters: Optional[CanFilters]) -> None: if filters: # Only up to one filter per ID type allowed if len(filters) == 1 or ( @@ -348,7 +344,7 @@ def _apply_filters(self, filters) -> None: ): try: for can_filter in filters: - xldriver.xlCanSetChannelAcceptance( + self.xldriver.xlCanSetChannelAcceptance( self.port_handle, self.mask, can_filter["can_id"], @@ -370,14 +366,14 @@ def _apply_filters(self, filters) -> None: # fallback: reset filters self._is_filtered = False try: - xldriver.xlCanSetChannelAcceptance( + self.xldriver.xlCanSetChannelAcceptance( self.port_handle, self.mask, 0x0, 0x0, xldefine.XL_AcceptanceFilter.XL_CAN_EXT, ) - xldriver.xlCanSetChannelAcceptance( + self.xldriver.xlCanSetChannelAcceptance( self.port_handle, self.mask, 0x0, @@ -417,14 +413,14 @@ def _recv_internal( else: time_left = end_time - time.time() time_left_ms = max(0, int(time_left * 1000)) - WaitForSingleObject(self.event_handle.value, time_left_ms) + WaitForSingleObject(self.event_handle.value, time_left_ms) # type: ignore else: # Wait a short time until we try again time.sleep(self.poll_interval) def _recv_canfd(self) -> Optional[Message]: xl_can_rx_event = xlclass.XLcanRxEvent() - xldriver.xlCanReceive(self.port_handle, xl_can_rx_event) + self.xldriver.xlCanReceive(self.port_handle, xl_can_rx_event) if xl_can_rx_event.tag == xldefine.XL_CANFD_RX_EventTags.XL_CAN_EV_TAG_RX_OK: is_rx = True @@ -470,7 +466,7 @@ def _recv_canfd(self) -> Optional[Message]: def _recv_can(self) -> Optional[Message]: xl_event = xlclass.XLevent() event_count = ctypes.c_uint(1) - xldriver.xlReceive(self.port_handle, event_count, xl_event) + self.xldriver.xlReceive(self.port_handle, event_count, xl_event) if xl_event.tag != xldefine.XL_EventTags.XL_RECEIVE_MSG: self.handle_can_event(xl_event) @@ -523,7 +519,7 @@ def handle_canfd_event(self, event: xlclass.XLcanRxEvent) -> None: `XL_CAN_EV_TAG_TX_ERROR`, `XL_TIMER` or `XL_CAN_EV_TAG_CHIP_STATE` tag. """ - def send(self, msg: Message, timeout: Optional[float] = None): + def send(self, msg: Message, timeout: Optional[float] = None) -> None: self._send_sequence([msg]) def _send_sequence(self, msgs: Sequence[Message]) -> int: @@ -548,7 +544,9 @@ def _send_can_msg_sequence(self, msgs: Sequence[Message]) -> int: *map(self._build_xl_event, msgs) ) - xldriver.xlCanTransmit(self.port_handle, mask, message_count, xl_event_array) + self.xldriver.xlCanTransmit( + self.port_handle, mask, message_count, xl_event_array + ) return message_count.value @staticmethod @@ -580,7 +578,7 @@ def _send_can_fd_msg_sequence(self, msgs: Sequence[Message]) -> int: ) msg_count_sent = ctypes.c_uint(0) - xldriver.xlCanTransmitEx( + self.xldriver.xlCanTransmitEx( self.port_handle, mask, message_count, msg_count_sent, xl_can_tx_event_array ) return msg_count_sent.value @@ -611,17 +609,17 @@ def _build_xl_can_tx_event(msg: Message) -> xlclass.XLcanTxEvent: return xl_can_tx_event def flush_tx_buffer(self) -> None: - xldriver.xlCanFlushTransmitQueue(self.port_handle, self.mask) + self.xldriver.xlCanFlushTransmitQueue(self.port_handle, self.mask) def shutdown(self) -> None: super().shutdown() - xldriver.xlDeactivateChannel(self.port_handle, self.mask) - xldriver.xlClosePort(self.port_handle) - xldriver.xlCloseDriver() + self.xldriver.xlDeactivateChannel(self.port_handle, self.mask) + self.xldriver.xlClosePort(self.port_handle) + self.xldriver.xlCloseDriver() def reset(self) -> None: - xldriver.xlDeactivateChannel(self.port_handle, self.mask) - xldriver.xlActivateChannel( + self.xldriver.xlDeactivateChannel(self.port_handle, self.mask) + self.xldriver.xlActivateChannel( self.port_handle, self.mask, xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, 0 ) @@ -657,7 +655,7 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: "vector_channel_config": channel_config, } ) - return configs + return configs # type: ignore @staticmethod def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @@ -666,6 +664,9 @@ def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: :param wait_for_finish: Time to wait for user input in milliseconds. """ + if xldriver is None: + raise CanInterfaceNotImplementedError("The Vector API has not been loaded") + xldriver.xlPopupHwConfig(ctypes.c_char_p(), ctypes.c_uint(wait_for_finish)) @staticmethod @@ -685,14 +686,17 @@ def get_application_config( :raises can.interfaces.vector.VectorInitializationError: If the application name does not exist in the Vector hardware configuration. """ + if xldriver is None: + raise CanInterfaceNotImplementedError("The Vector API has not been loaded") + hw_type = ctypes.c_uint() hw_index = ctypes.c_uint() hw_channel = ctypes.c_uint() - app_channel = ctypes.c_uint(app_channel) + _app_channel = ctypes.c_uint(app_channel) xldriver.xlGetApplConfig( app_name.encode(), - app_channel, + _app_channel, hw_type, hw_index, hw_channel, @@ -707,7 +711,7 @@ def set_application_config( hw_type: xldefine.XL_HardwareType, hw_index: int, hw_channel: int, - **kwargs, + **kwargs: Any, ) -> None: """Modify the application settings in Vector Hardware Configuration. @@ -737,6 +741,9 @@ def set_application_config( :raises can.interfaces.vector.VectorInitializationError: If the application name does not exist in the Vector hardware configuration. """ + if xldriver is None: + raise CanInterfaceNotImplementedError("The Vector API has not been loaded") + xldriver.xlSetApplConfig( app_name.encode(), app_channel, @@ -758,7 +765,7 @@ def set_timer_rate(self, timer_rate_ms: int) -> None: the timer events. """ timer_rate_10us = timer_rate_ms * 100 - xldriver.xlSetTimerRate(self.port_handle, timer_rate_10us) + self.xldriver.xlSetTimerRate(self.port_handle, timer_rate_10us) class VectorChannelConfig(NamedTuple): diff --git a/can/interfaces/vector/xldriver.py b/can/interfaces/vector/xldriver.py index db57d5911..3243fa4a0 100644 --- a/can/interfaces/vector/xldriver.py +++ b/can/interfaces/vector/xldriver.py @@ -1,3 +1,4 @@ +# type: ignore """ Ctypes wrapper module for Vector CAN Interface on win32/win64 systems. diff --git a/setup.cfg b/setup.cfg index 068badd4c..7df42541f 100644 --- a/setup.cfg +++ b/setup.cfg @@ -9,4 +9,25 @@ no_implicit_optional = True disallow_incomplete_defs = True warn_redundant_casts = True warn_unused_ignores = True -exclude = (^venv|^test|^can/interfaces|^setup.py$) +exclude = + (?x)( + venv + |^test + |^setup.py$ + |^can/interfaces/etas + |^can/interfaces/gs_usb + |^can/interfaces/ics_neovi + |^can/interfaces/iscan + |^can/interfaces/ixxat + |^can/interfaces/kvaser + |^can/interfaces/nican + |^can/interfaces/neousys + |^can/interfaces/pcan + |^can/interfaces/serial + |^can/interfaces/slcan + |^can/interfaces/socketcan + |^can/interfaces/systec + |^can/interfaces/udp_multicast + |^can/interfaces/usb2can + |^can/interfaces/virtual + ) diff --git a/test/test_vector.py b/test/test_vector.py index b1626b18c..800b8614c 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -309,7 +309,7 @@ def test_vector_error_pickle(self) -> None: with pytest.raises(error_type): raise exc_unpickled - def test_vector_subteype_error_from_generic(self) -> None: + def test_vector_subtype_error_from_generic(self) -> None: for error_type in [VectorInitializationError, VectorOperationError]: with self.subTest(f"error_type = {error_type.__name__}"): @@ -320,13 +320,13 @@ def test_vector_subteype_error_from_generic(self) -> None: generic = VectorError(error_code, error_string, function) # pickle and unpickle - specififc: VectorError = error_type.from_generic(generic) + specific: VectorError = error_type.from_generic(generic) - self.assertEqual(str(generic), str(specififc)) - self.assertEqual(error_code, specififc.error_code) + self.assertEqual(str(generic), str(specific)) + self.assertEqual(error_code, specific.error_code) with pytest.raises(error_type): - raise specififc + raise specific class TestVectorChannelConfig: From 473939121442f88daf8c48abffe4c13d92004a33 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 25 Jan 2022 23:02:01 +0100 Subject: [PATCH 068/475] add test and correct type annotations --- can/interfaces/vector/canlib.py | 5 +++-- setup.cfg | 1 + test/test_vector.py | 6 ++++++ 3 files changed, 10 insertions(+), 2 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 4d81e8299..c3bc5413b 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -19,6 +19,7 @@ HAS_EVENTS = True except ImportError: + WaitForSingleObject, INFINITE = None, None HAS_EVENTS = False # Import Modules @@ -67,12 +68,12 @@ def __init__( channel: Union[int, Sequence[int], str], can_filters: Optional[CanFilters] = None, poll_interval: float = 0.01, - receive_own_messages: Optional[bool] = False, + receive_own_messages: bool = False, bitrate: Optional[int] = None, rx_queue_size: int = 2 ** 14, app_name: Optional[str] = "CANalyzer", serial: Optional[int] = None, - fd: Optional[bool] = False, + fd: bool = False, data_bitrate: Optional[int] = None, sjw_abr: int = 2, tseg1_abr: int = 6, diff --git a/setup.cfg b/setup.cfg index 7df42541f..b402ee645 100644 --- a/setup.cfg +++ b/setup.cfg @@ -14,6 +14,7 @@ exclude = venv |^test |^setup.py$ + |^can/interfaces/__init__.py |^can/interfaces/etas |^can/interfaces/gs_usb |^can/interfaces/ics_neovi diff --git a/test/test_vector.py b/test/test_vector.py index 800b8614c..338783136 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -22,6 +22,7 @@ VectorOperationError, VectorChannelConfig, ) +from test.config import IS_WINDOWS class TestVectorBus(unittest.TestCase): @@ -328,6 +329,11 @@ def test_vector_subtype_error_from_generic(self) -> None: with pytest.raises(error_type): raise specific + @unittest.skipUnless(IS_WINDOWS, "Windows specific test") + def test_winapi_availability(self) -> None: + self.assertIsNotNone(canlib.WaitForSingleObject) + self.assertIsNotNone(canlib.INFINITE) + class TestVectorChannelConfig: def test_attributes(self): From 42348084febb6d9784b0772bf422ae56edf5af1f Mon Sep 17 00:00:00 2001 From: TJ Date: Sat, 22 Jan 2022 13:18:09 -0800 Subject: [PATCH 069/475] Add logger unittest --- test/test_logger.py | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/test/test_logger.py b/test/test_logger.py index a046b919f..6a4472f43 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -8,7 +8,9 @@ import unittest from unittest import mock from unittest.mock import Mock +import gzip import sys +import tempfile import can import can.logger @@ -105,5 +107,38 @@ def test_log_virtual_sizedlogger(self): self.mock_logger_sized.assert_called_once() +class TestLoggerCompressedFile(unittest.TestCase): + def setUp(self) -> None: + # Patch VirtualBus object + self.patcher_virtual_bus = mock.patch( + "can.interfaces.virtual.VirtualBus", spec=True + ) + self.MockVirtualBus = self.patcher_virtual_bus.start() + self.mock_virtual_bus = self.MockVirtualBus.return_value + + self.testmsg = can.Message( + arbitration_id=0xC0FFEE, data=[0, 25, 0, 1, 3, 1, 4, 1], is_extended_id=True + ) + + self.baseargs = [sys.argv[0], "-i", "virtual"] + + def test_compressed_logfile(self): + """ + Basic test to verify Logger is able to write gzip files. + """ + self.mock_virtual_bus.recv = Mock(side_effect=[self.testmsg, KeyboardInterrupt]) + + with tempfile.NamedTemporaryFile(suffix=".log.gz", delete=True) as compressed: + sys.argv = self.baseargs + ["--file_name", compressed.name] + can.logger.main() + with gzip.open(compressed.name, "rt") as decompressed: + last_line = decompressed.readlines()[-1] + + self.assertEqual(last_line, "(0.000000) vcan0 00C0FFEE#0019000103010401\n") + + def tearDown(self) -> None: + self.patcher_virtual_bus.stop() + + if __name__ == "__main__": unittest.main() From 57a955e06ac1e6077d998003b57bc9274f8c7d35 Mon Sep 17 00:00:00 2001 From: TJ Date: Sun, 23 Jan 2022 22:14:27 -0800 Subject: [PATCH 070/475] Add multiple dot suffix variant --- test/logformats_test.py | 1 + 1 file changed, 1 insertion(+) diff --git a/test/logformats_test.py b/test/logformats_test.py index 400bf369d..669567e47 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -48,6 +48,7 @@ def test_extension_matching(self): suffix_variants = [ suffix.upper(), suffix.lower(), + f"can.msg.ext{suffix}", "".join([c.upper() if i % 2 else c for i, c in enumerate(suffix)]), ] for suffix_variant in suffix_variants: From a2b840d63f525bd375200beb43785d62b72c85f6 Mon Sep 17 00:00:00 2001 From: Tbruno25 Date: Wed, 26 Jan 2022 04:43:14 +0000 Subject: [PATCH 071/475] Format code with black --- can/io/logger.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index 15e8bc0c5..8f2611794 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -102,7 +102,6 @@ def __new__( # type: ignore f'No write support for this unknown log format "{suffix}"' ) from None - @staticmethod def compress(filename: StringPathLike) -> Tuple[str, IO[Any]]: """ @@ -114,7 +113,6 @@ def compress(filename: StringPathLike) -> Tuple[str, IO[Any]]: return real_suffix, gzip.open(filename, mode) - def on_message_received(self, msg: Message) -> None: pass From ac1df031cfc9a7e597cd3c4fc504b001ef9df394 Mon Sep 17 00:00:00 2001 From: TJ Date: Tue, 25 Jan 2022 20:51:00 -0800 Subject: [PATCH 072/475] Remove gzip classes --- can/__init__.py | 2 +- can/io/__init__.py | 2 +- can/io/asc.py | 67 ---------------------------------------------- 3 files changed, 2 insertions(+), 69 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index c95b19ebf..618ef347f 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -25,7 +25,7 @@ ) from .io import Logger, SizedRotatingLogger, Printer, LogReader, MessageSync -from .io import ASCWriter, ASCReader, GzipASCWriter, GzipASCReader +from .io import ASCWriter, ASCReader from .io import BLFReader, BLFWriter from .io import CanutilsLogReader, CanutilsLogWriter from .io import CSVWriter, CSVReader diff --git a/can/io/__init__.py b/can/io/__init__.py index 66e3a8c56..0d3741b05 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -8,7 +8,7 @@ from .player import LogReader, MessageSync # Format specific -from .asc import ASCWriter, ASCReader, GzipASCWriter, GzipASCReader +from .asc import ASCWriter, ASCReader from .blf import BLFReader, BLFWriter from .canutils import CanutilsLogReader, CanutilsLogWriter from .csv import CSVWriter, CSVReader diff --git a/can/io/asc.py b/can/io/asc.py index db8f66358..16eaaa178 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -5,7 +5,6 @@ - https://bitbucket.org/tobylorenz/vector_asc/src/47556e1a6d32c859224ca62d075e1efcc67fa690/src/Vector/ASC/tests/unittests/data/CAN_Log_Trigger_3_2.asc?at=master&fileviewer=file-view-default - under `test/data/logfile.asc` """ -import gzip import re from typing import Any, Generator, List, Optional, Dict, Union, TextIO @@ -405,69 +404,3 @@ def on_message_received(self, msg: Message) -> None: data=" ".join(data), ) self.log_event(serialized, msg.timestamp) - - -class GzipASCReader(ASCReader): - """Gzipped version of :class:`~can.ASCReader`""" - - def __init__( - self, - file: Union[typechecking.FileLike, typechecking.StringPathLike], - base: str = "hex", - relative_timestamp: bool = True, - ): - """ - :param file: a path-like object or as file-like object to read from - If this is a file-like object, is has to opened in text - read mode, not binary read mode. - :param base: Select the base(hex or dec) of id and data. - If the header of the asc file contains base information, - this value will be overwritten. Default "hex". - :param relative_timestamp: Select whether the timestamps are - `relative` (starting at 0.0) or `absolute` (starting at - the system time). Default `True = relative`. - """ - self._fileobj = None - if file is not None and (hasattr(file, "read") and hasattr(file, "write")): - # file is None or some file-like object - self._fileobj = file - super(GzipASCReader, self).__init__( - gzip.open(file, mode="rt"), base, relative_timestamp - ) - - def stop(self) -> None: - super(GzipASCReader, self).stop() - if self._fileobj is not None: - self._fileobj.close() - - -class GzipASCWriter(ASCWriter): - """Gzipped version of :class:`~can.ASCWriter`""" - - def __init__( - self, - file: Union[typechecking.FileLike, typechecking.StringPathLike], - channel: int = 1, - compresslevel: int = 6, - ): - """ - :param file: a path-like object or as file-like object to write to - If this is a file-like object, is has to opened in text - write mode, not binary write mode. - :param channel: a default channel to use when the message does not - have a channel set - :param compresslevel: Gzip compresslevel, see - :class:`~gzip.GzipFile` for details. The default is 6. - """ - self._fileobj = None - if file is not None and (hasattr(file, "read") and hasattr(file, "write")): - # file is None or some file-like object - self._fileobj = file - super(GzipASCWriter, self).__init__( - gzip.open(file, mode="wt", compresslevel=compresslevel), channel - ) - - def stop(self) -> None: - super(GzipASCWriter, self).stop() - if self._fileobj is not None: - self._fileobj.close() From 9b563bf9c69166ccd8a6a10639d2b1e5ad2e9ee4 Mon Sep 17 00:00:00 2001 From: TJ Date: Tue, 25 Jan 2022 21:13:28 -0800 Subject: [PATCH 073/475] Remove unittests --- test/logformats_test.py | 29 ----------------------------- 1 file changed, 29 deletions(-) diff --git a/test/logformats_test.py b/test/logformats_test.py index 3d4368a47..ffb7a75a3 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -11,7 +11,6 @@ TODO: correctly set preserves_channel and adds_default_channel """ -import gzip import logging import unittest import tempfile @@ -559,34 +558,6 @@ def test_ignore_comments(self): _msg_list = self._read_log_file("logfile.asc") -class TestGzipASCFileFormat(ReaderWriterTest): - """Tests can.GzipASCWriter and can.GzipASCReader""" - - def _setup_instance(self): - super()._setup_instance_helper( - can.GzipASCWriter, - can.GzipASCReader, - binary_file=True, - check_comments=True, - preserves_channel=False, - adds_default_channel=0, - ) - - def assertIncludesComments(self, filename): - """ - Ensures that all comments are literally contained in the given file. - - :param filename: the path-like object to use - """ - if self.original_comments: - # read the entire outout file - with gzip.open(filename, "rt" if self.binary_file else "r") as file: - output_contents = file.read() - # check each, if they can be found in there literally - for comment in self.original_comments: - self.assertIn(comment, output_contents) - - class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. From caeab0e80a355c2eba7de9950b5371c8eab3be5d Mon Sep 17 00:00:00 2001 From: TJ Date: Tue, 25 Jan 2022 21:54:17 -0800 Subject: [PATCH 074/475] fix mypy errors --- can/io/logger.py | 13 +++---------- can/io/player.py | 2 +- 2 files changed, 4 insertions(+), 11 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index 8f2611794..aff19f068 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -7,15 +7,8 @@ from abc import ABC, abstractmethod from datetime import datetime import gzip -from typing import ( - Any, - Optional, - Callable, - cast, - IO, - Type, - Tuple, -) +from typing import Any, Optional, Callable, TextIO, Type, Tuple, Union, cast + from types import TracebackType from typing_extensions import Literal @@ -103,7 +96,7 @@ def __new__( # type: ignore ) from None @staticmethod - def compress(filename: StringPathLike) -> Tuple[str, IO[Any]]: + def compress(filename: StringPathLike) -> Tuple[str, Union[str, Any]]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. diff --git a/can/io/player.py b/can/io/player.py index 96d3a5b7c..e9a700bc0 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -95,7 +95,7 @@ def __new__( # type: ignore @staticmethod def decompress( filename: "can.typechecking.StringPathLike", - ) -> typing.Tuple[str, typing.IO[typing.Any]]: + ) -> typing.Tuple[str, typing.Union[str, typing.Any]]: """ Return the suffix and io object of the decompressed file. """ From c546bd03d6e8e6de1fdc2d2beed8df49965519c9 Mon Sep 17 00:00:00 2001 From: TJ Date: Tue, 25 Jan 2022 22:28:37 -0800 Subject: [PATCH 075/475] edit unittest to work on windows --- test/test_logger.py | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/test/test_logger.py b/test/test_logger.py index bb3de8524..07cf17d37 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -8,8 +8,8 @@ from unittest import mock from unittest.mock import Mock import gzip +import os import sys -import tempfile import can import can.logger @@ -118,24 +118,25 @@ def setUp(self) -> None: self.testmsg = can.Message( arbitration_id=0xC0FFEE, data=[0, 25, 0, 1, 3, 1, 4, 1], is_extended_id=True ) - self.baseargs = [sys.argv[0], "-i", "virtual"] + self.testfile = open("coffee.log.gz", "w+") + def test_compressed_logfile(self): """ Basic test to verify Logger is able to write gzip files. """ self.mock_virtual_bus.recv = Mock(side_effect=[self.testmsg, KeyboardInterrupt]) - - with tempfile.NamedTemporaryFile(suffix=".log.gz", delete=True) as compressed: - sys.argv = self.baseargs + ["--file_name", compressed.name] - can.logger.main() - with gzip.open(compressed.name, "rt") as decompressed: - last_line = decompressed.readlines()[-1] + sys.argv = self.baseargs + ["--file_name", self.testfile.name] + can.logger.main() + with gzip.open(self.testfile.name, "rt") as testlog: + last_line = testlog.readlines()[-1] self.assertEqual(last_line, "(0.000000) vcan0 00C0FFEE#0019000103010401\n") def tearDown(self) -> None: + self.testfile.close() + os.remove(self.testfile.name) self.patcher_virtual_bus.stop() From 50071cc3b94faeede9a2136000bff059391ee4a0 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 26 Jan 2022 09:12:07 +0100 Subject: [PATCH 076/475] add missing type annotation --- can/interfaces/vector/canlib.py | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index c3bc5413b..4a90ea1bc 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -11,8 +11,20 @@ import time import os from types import ModuleType -from typing import List, NamedTuple, Optional, Tuple, Sequence, Union, Any, Dict +from typing import ( + List, + NamedTuple, + Optional, + Tuple, + Sequence, + Union, + Any, + Dict, + Callable, +) +WaitForSingleObject: Optional[Callable[[int, int], int]] +INFINITE: Optional[int] try: # Try builtin Python 3 Windows API from _winapi import WaitForSingleObject, INFINITE From 72408e5b5a0875e0313c6457ff49e669cad4bfa6 Mon Sep 17 00:00:00 2001 From: Teejay Date: Wed, 26 Jan 2022 17:35:01 -0800 Subject: [PATCH 077/475] Update can/io/logger.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/io/logger.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/can/io/logger.py b/can/io/logger.py index aff19f068..8d8026e72 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -38,7 +38,9 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method * .log :class:`can.CanutilsLogWriter` * .txt :class:`can.Printer` - Or any of the above compressed using gzip (.gz) + Any of these formats can be used with gzip compression by appending + the suffix .gz (e.g. filename.asc.gz). However, third-party tools might not + be able to read these files. The **filename** may also be *None*, to fall back to :class:`can.Printer`. From 3bdd60a6cf71e7e2d704d12c9289eda884cf4013 Mon Sep 17 00:00:00 2001 From: Teejay Date: Wed, 26 Jan 2022 17:35:12 -0800 Subject: [PATCH 078/475] Update can/io/logger.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/io/logger.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/io/logger.py b/can/io/logger.py index 8d8026e72..e9e1f7e77 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -30,7 +30,7 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method """ Logs CAN messages to a file. - The format is determined from the file format which can be one of: + The format is determined from the file suffix which can be one of: * .asc: :class:`can.ASCWriter` * .blf :class:`can.BLFWriter` * .csv: :class:`can.CSVWriter` From 9e1fe3ae6d518e44a835fabea54eea344bdb79c0 Mon Sep 17 00:00:00 2001 From: Teejay Date: Wed, 26 Jan 2022 17:35:27 -0800 Subject: [PATCH 079/475] Update can/io/player.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/io/player.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/io/player.py b/can/io/player.py index e9a700bc0..d68b4d236 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -25,7 +25,7 @@ class LogReader(BaseIOHandler): """ Replay logged CAN messages from a file. - The format is determined from the file format which can be one of: + The format is determined from the file suffix which can be one of: * .asc * .blf * .csv From fe740504817c534fd459e252b54af8113e99837c Mon Sep 17 00:00:00 2001 From: Tbruno25 Date: Thu, 27 Jan 2022 01:37:52 +0000 Subject: [PATCH 080/475] Format code with black --- can/io/logger.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index e9e1f7e77..ec73a62ec 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -38,8 +38,8 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method * .log :class:`can.CanutilsLogWriter` * .txt :class:`can.Printer` - Any of these formats can be used with gzip compression by appending - the suffix .gz (e.g. filename.asc.gz). However, third-party tools might not + Any of these formats can be used with gzip compression by appending + the suffix .gz (e.g. filename.asc.gz). However, third-party tools might not be able to read these files. The **filename** may also be *None*, to fall back to :class:`can.Printer`. From bfc3283e65225524d54fa81527e7775716b2a3ac Mon Sep 17 00:00:00 2001 From: TJ Date: Wed, 26 Jan 2022 21:17:30 -0800 Subject: [PATCH 081/475] Update can/io/player.py --- can/io/player.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/can/io/player.py b/can/io/player.py index d68b4d236..dc60cf115 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -32,7 +32,9 @@ class LogReader(BaseIOHandler): * .db * .log - Or any of the above compressed using gzip (.gz) + Gzip compressed files can be used as long as the original + files suffix is one of the above (e.g. filename.asc.gz). + Exposes a simple iterator interface, to use simply: From 9f7842a909f3238a992a6e00b02271637cb191da Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Thu, 27 Jan 2022 07:38:16 +0100 Subject: [PATCH 082/475] Remove unnssesary conversion to list --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 65a9cb859..a60f3ac2f 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -51,4 +51,4 @@ } ) -VALID_INTERFACES = frozenset(list(BACKENDS.keys())) +VALID_INTERFACES = frozenset(BACKENDS.keys()) From 55c5fdfdac7e19b6662301e3ed52058b9e466c56 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 27 Jan 2022 10:35:29 +0100 Subject: [PATCH 083/475] improve io typing --- can/__init__.py | 14 +++++------ can/io/asc.py | 14 +++++------ can/io/blf.py | 17 ++++++------- can/io/canutils.py | 60 ++++++++++++++++++++++++++------------------- can/io/csv.py | 21 +++++++++------- can/io/generic.py | 11 ++++----- can/io/logger.py | 21 ++++++++-------- can/io/player.py | 33 ++++++++++++------------- can/io/printer.py | 11 ++++----- can/io/sqlite.py | 20 ++++++++------- can/listener.py | 28 ++++++++++----------- can/typechecking.py | 4 +-- 12 files changed, 131 insertions(+), 123 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index 618ef347f..f21ffcc09 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -24,13 +24,6 @@ CanTimeoutError, ) -from .io import Logger, SizedRotatingLogger, Printer, LogReader, MessageSync -from .io import ASCWriter, ASCReader -from .io import BLFReader, BLFWriter -from .io import CanutilsLogReader, CanutilsLogWriter -from .io import CSVWriter, CSVReader -from .io import SqliteWriter, SqliteReader - from .util import set_logging_level from .message import Message @@ -42,6 +35,13 @@ from .interface import Bus, detect_available_configs from .bit_timing import BitTiming +from .io import Logger, SizedRotatingLogger, Printer, LogReader, MessageSync +from .io import ASCWriter, ASCReader +from .io import BLFReader, BLFWriter +from .io import CanutilsLogReader, CanutilsLogWriter +from .io import CSVWriter, CSVReader +from .io import SqliteWriter, SqliteReader + from .broadcastmanager import ( CyclicSendTaskABC, LimitedDurationCyclicSendTaskABC, diff --git a/can/io/asc.py b/can/io/asc.py index 16eaaa178..f8607d061 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -12,12 +12,10 @@ import time import logging -from .. import typechecking from ..message import Message -from ..listener import Listener from ..util import channel2int -from .generic import BaseIOHandler, FileIOMessageWriter -from ..typechecking import AcceptedIOType +from .generic import FileIOMessageWriter, MessageReader +from ..typechecking import StringPathLike CAN_MSG_EXT = 0x80000000 @@ -28,7 +26,7 @@ logger = logging.getLogger("can.io.asc") -class ASCReader(BaseIOHandler): +class ASCReader(MessageReader): """ Iterator of CAN messages from a ASC logging file. Meta data (comments, bus statistics, J1939 Transport Protocol messages) is ignored. @@ -40,7 +38,7 @@ class ASCReader(BaseIOHandler): def __init__( self, - file: AcceptedIOType, + file: Union[StringPathLike, TextIO], base: str = "hex", relative_timestamp: bool = True, ) -> None: @@ -248,7 +246,7 @@ def __iter__(self) -> Generator[Message, None, None]: self.stop() -class ASCWriter(FileIOMessageWriter, Listener): +class ASCWriter(FileIOMessageWriter): """Logs CAN data to an ASCII log file (.asc). The measurement starts with the timestamp of the first registered message. @@ -287,7 +285,7 @@ class ASCWriter(FileIOMessageWriter, Listener): def __init__( self, - file: AcceptedIOType, + file: Union[StringPathLike, TextIO], channel: int = 1, ) -> None: """ diff --git a/can/io/blf.py b/can/io/blf.py index 346d66cf6..e7be8979f 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,13 +17,12 @@ import datetime import time import logging -from typing import List, BinaryIO +from typing import List, BinaryIO, Generator, Union from ..message import Message -from ..listener import Listener from ..util import len2dlc, dlc2len, channel2int -from ..typechecking import AcceptedIOType -from .generic import BaseIOHandler, FileIOMessageWriter +from ..typechecking import StringPathLike +from .generic import FileIOMessageWriter, MessageReader class BLFParseError(Exception): @@ -131,7 +130,7 @@ def systemtime_to_timestamp(systemtime): return 0 -class BLFReader(BaseIOHandler): +class BLFReader(MessageReader): """ Iterator of CAN messages from a Binary Logging File. @@ -141,7 +140,7 @@ class BLFReader(BaseIOHandler): file: BinaryIO - def __init__(self, file: AcceptedIOType) -> None: + def __init__(self, file: Union[StringPathLike, BinaryIO]) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to opened in binary @@ -162,7 +161,7 @@ def __init__(self, file: AcceptedIOType) -> None: self._tail = b"" self._pos = 0 - def __iter__(self): + def __iter__(self) -> Generator[Message, None, None]: while True: data = self.file.read(OBJ_HEADER_BASE_STRUCT.size) if not data: @@ -349,7 +348,7 @@ def _parse_data(self, data): pos = next_pos -class BLFWriter(FileIOMessageWriter, Listener): +class BLFWriter(FileIOMessageWriter): """ Logs CAN data to a Binary Logging File compatible with Vector's tools. """ @@ -364,7 +363,7 @@ class BLFWriter(FileIOMessageWriter, Listener): def __init__( self, - file: AcceptedIOType, + file: Union[StringPathLike, BinaryIO], append: bool = False, channel: int = 1, compression_level: int = -1, diff --git a/can/io/canutils.py b/can/io/canutils.py index d3e122ae5..69793212c 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -5,11 +5,11 @@ """ import logging +from typing import Generator, TextIO, Union from can.message import Message -from can.listener import Listener -from .generic import BaseIOHandler, FileIOMessageWriter -from ..typechecking import AcceptedIOType +from .generic import FileIOMessageWriter, MessageReader +from ..typechecking import AcceptedIOType, StringPathLike log = logging.getLogger("can.io.canutils") @@ -22,7 +22,7 @@ CANFD_ESI = 0x02 -class CanutilsLogReader(BaseIOHandler): +class CanutilsLogReader(MessageReader): """ Iterator over CAN messages from a .log Logging File (candump -L). @@ -32,7 +32,9 @@ class CanutilsLogReader(BaseIOHandler): ``(0.0) vcan0 001#8d00100100820100`` """ - def __init__(self, file: AcceptedIOType) -> None: + file: TextIO + + def __init__(self, file: Union[StringPathLike, TextIO]) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to opened in text @@ -40,7 +42,7 @@ def __init__(self, file: AcceptedIOType) -> None: """ super().__init__(file, mode="r") - def __iter__(self): + def __iter__(self) -> Generator[Message, None, None]: for line in self.file: # skip empty lines @@ -48,14 +50,19 @@ def __iter__(self): if not temp: continue - timestamp, channel, frame = temp.split() - timestamp = float(timestamp[1:-1]) - canId, data = frame.split("#", maxsplit=1) - if channel.isdigit(): - channel = int(channel) + channel_string: str + timestamp_string, channel_string, frame = temp.split() + timestamp = float(timestamp_string[1:-1]) + can_id_string, data = frame.split("#", maxsplit=1) + + channel: Union[int, str] + if channel_string.isdigit(): + channel = int(channel_string) + else: + channel = channel_string - isExtended = len(canId) > 3 - canId = int(canId, 16) + is_extended = len(can_id_string) > 3 + can_id = int(can_id_string, 16) is_fd = False brs = False @@ -69,35 +76,35 @@ def __iter__(self): data = data[2:] if data and data[0].lower() == "r": - isRemoteFrame = True + is_remote_frame = True if len(data) > 1: dlc = int(data[1:]) else: dlc = 0 - dataBin = None + data_bin = None else: - isRemoteFrame = False + is_remote_frame = False dlc = len(data) // 2 - dataBin = bytearray() + data_bin = bytearray() for i in range(0, len(data), 2): - dataBin.append(int(data[i : (i + 2)], 16)) + data_bin.append(int(data[i : (i + 2)], 16)) - if canId & CAN_ERR_FLAG and canId & CAN_ERR_BUSERROR: + if can_id & CAN_ERR_FLAG and can_id & CAN_ERR_BUSERROR: msg = Message(timestamp=timestamp, is_error_frame=True) else: msg = Message( timestamp=timestamp, - arbitration_id=canId & 0x1FFFFFFF, - is_extended_id=isExtended, - is_remote_frame=isRemoteFrame, + arbitration_id=can_id & 0x1FFFFFFF, + is_extended_id=is_extended, + is_remote_frame=is_remote_frame, is_fd=is_fd, bitrate_switch=brs, error_state_indicator=esi, dlc=dlc, - data=dataBin, + data=data_bin, channel=channel, ) yield msg @@ -105,7 +112,7 @@ def __iter__(self): self.stop() -class CanutilsLogWriter(FileIOMessageWriter, Listener): +class CanutilsLogWriter(FileIOMessageWriter): """Logs CAN data to an ASCII log file (.log). This class is is compatible with "candump -L". @@ -115,7 +122,10 @@ class CanutilsLogWriter(FileIOMessageWriter, Listener): """ def __init__( - self, file: AcceptedIOType, channel: str = "vcan0", append: bool = False + self, + file: Union[StringPathLike, TextIO], + channel: str = "vcan0", + append: bool = False, ): """ :param file: a path-like object or as file-like object to write to diff --git a/can/io/csv.py b/can/io/csv.py index fa3175a2d..0161b4f55 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -10,15 +10,14 @@ """ from base64 import b64encode, b64decode -from typing import TextIO +from typing import TextIO, Generator, Union from can.message import Message -from can.listener import Listener -from .generic import BaseIOHandler, FileIOMessageWriter -from ..typechecking import AcceptedIOType +from .generic import FileIOMessageWriter, MessageReader +from ..typechecking import StringPathLike -class CSVReader(BaseIOHandler): +class CSVReader(MessageReader): """Iterator over CAN messages from a .csv file that was generated by :class:`~can.CSVWriter` or that uses the same format as described there. Assumes that there is a header @@ -27,7 +26,9 @@ class CSVReader(BaseIOHandler): Any line separator is accepted. """ - def __init__(self, file: AcceptedIOType) -> None: + file: TextIO + + def __init__(self, file: Union[StringPathLike, TextIO]) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to opened in text @@ -35,7 +36,7 @@ def __init__(self, file: AcceptedIOType) -> None: """ super().__init__(file, mode="r") - def __iter__(self): + def __iter__(self) -> Generator[Message, None, None]: # skip the header line try: next(self.file) @@ -62,7 +63,7 @@ def __iter__(self): self.stop() -class CSVWriter(FileIOMessageWriter, Listener): +class CSVWriter(FileIOMessageWriter): """Writes a comma separated text file with a line for each message. Includes a header line. @@ -85,7 +86,9 @@ class CSVWriter(FileIOMessageWriter, Listener): file: TextIO - def __init__(self, file: AcceptedIOType, append: bool = False) -> None: + def __init__( + self, file: Union[StringPathLike, TextIO], append: bool = False + ) -> None: """ :param file: a path-like object or a file-like object to write to. If this is a file-like object, is has to open in text diff --git a/can/io/generic.py b/can/io/generic.py index 96ff91abf..6f18fbe65 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -5,9 +5,6 @@ Optional, cast, Iterable, - Union, - TextIO, - BinaryIO, Type, ContextManager, ) @@ -76,15 +73,17 @@ def stop(self) -> None: class MessageWriter(BaseIOHandler, can.Listener, metaclass=ABCMeta): """The base class for all writers.""" + file: Optional[can.typechecking.FileLike] + # pylint: disable=abstract-method,too-few-public-methods class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): """A specialized base class for all writers with file descriptors.""" - file: Union[TextIO, BinaryIO] + file: can.typechecking.FileLike def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "rt") -> None: - # Not possible with the type signature, but be verbose for user friendliness + # Not possible with the type signature, but be verbose for user-friendliness if file is None: raise ValueError("The given file cannot be None") @@ -92,5 +91,5 @@ def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "rt") -> N # pylint: disable=too-few-public-methods -class MessageReader(BaseIOHandler, Iterable, metaclass=ABCMeta): +class MessageReader(BaseIOHandler, Iterable[can.Message], metaclass=ABCMeta): """The base class for all readers.""" diff --git a/can/io/logger.py b/can/io/logger.py index ec73a62ec..cbed054ac 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -7,7 +7,7 @@ from abc import ABC, abstractmethod from datetime import datetime import gzip -from typing import Any, Optional, Callable, TextIO, Type, Tuple, Union, cast +from typing import Any, Optional, Callable, Type, Tuple, cast, Dict from types import TracebackType @@ -16,17 +16,17 @@ from ..message import Message from ..listener import Listener -from .generic import BaseIOHandler, FileIOMessageWriter +from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter from .asc import ASCWriter from .blf import BLFWriter from .canutils import CanutilsLogWriter from .csv import CSVWriter from .sqlite import SqliteWriter from .printer import Printer -from ..typechecking import StringPathLike +from ..typechecking import StringPathLike, FileLike, AcceptedIOType -class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method +class Logger(MessageWriter): # pylint: disable=abstract-method """ Logs CAN messages to a file. @@ -52,7 +52,7 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method """ fetched_plugins = False - message_writers = { + message_writers: Dict[str, Type[MessageWriter]] = { ".asc": ASCWriter, ".blf": BLFWriter, ".csv": CSVWriter, @@ -64,7 +64,7 @@ class Logger(BaseIOHandler, Listener): # pylint: disable=abstract-method @staticmethod def __new__( # type: ignore cls: Any, filename: Optional[StringPathLike], *args: Any, **kwargs: Any - ) -> Listener: + ) -> MessageWriter: """ :param filename: the filename/path of the file to write to, may be a path-like object or None to @@ -85,20 +85,19 @@ def __new__( # type: ignore suffix = pathlib.PurePath(filename).suffix.lower() + file_or_filename: AcceptedIOType = filename if suffix == ".gz": - suffix, filename = Logger.compress(filename) + suffix, file_or_filename = Logger.compress(filename) try: - return cast( - Listener, Logger.message_writers[suffix](filename, *args, **kwargs) - ) + return Logger.message_writers[suffix](file_or_filename, *args, **kwargs) except KeyError: raise ValueError( f'No write support for this unknown log format "{suffix}"' ) from None @staticmethod - def compress(filename: StringPathLike) -> Tuple[str, Union[str, Any]]: + def compress(filename: StringPathLike) -> Tuple[str, FileLike]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. diff --git a/can/io/player.py b/can/io/player.py index dc60cf115..132751f4d 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -10,18 +10,17 @@ from pkg_resources import iter_entry_points -if typing.TYPE_CHECKING: - import can - -from .generic import BaseIOHandler, MessageReader +from .generic import MessageReader from .asc import ASCReader from .blf import BLFReader from .canutils import CanutilsLogReader from .csv import CSVReader from .sqlite import SqliteReader +from ..typechecking import StringPathLike, FileLike, AcceptedIOType +from ..message import Message -class LogReader(BaseIOHandler): +class LogReader(MessageReader): """ Replay logged CAN messages from a file. @@ -51,7 +50,7 @@ class LogReader(BaseIOHandler): """ fetched_plugins = False - message_readers = { + message_readers: typing.Dict[str, typing.Type[MessageReader]] = { ".asc": ASCReader, ".blf": BLFReader, ".csv": CSVReader, @@ -62,7 +61,7 @@ class LogReader(BaseIOHandler): @staticmethod def __new__( # type: ignore cls: typing.Any, - filename: "can.typechecking.StringPathLike", + filename: StringPathLike, *args: typing.Any, **kwargs: typing.Any, ) -> MessageReader: @@ -81,14 +80,11 @@ def __new__( # type: ignore suffix = pathlib.PurePath(filename).suffix.lower() + file_or_filename: AcceptedIOType = filename if suffix == ".gz": - suffix, filename = LogReader.decompress(filename) - + suffix, file_or_filename = LogReader.decompress(filename) try: - return typing.cast( - MessageReader, - LogReader.message_readers[suffix](filename, *args, **kwargs), - ) + return LogReader.message_readers[suffix](file_or_filename, *args, **kwargs) except KeyError: raise ValueError( f'No read support for this unknown log format "{suffix}"' @@ -96,8 +92,8 @@ def __new__( # type: ignore @staticmethod def decompress( - filename: "can.typechecking.StringPathLike", - ) -> typing.Tuple[str, typing.Union[str, typing.Any]]: + filename: StringPathLike, + ) -> typing.Tuple[str, typing.Union[str, FileLike]]: """ Return the suffix and io object of the decompressed file. """ @@ -106,6 +102,9 @@ def decompress( return real_suffix, gzip.open(filename, mode) + def __iter__(self) -> typing.Generator[Message, None, None]: + pass + class MessageSync: # pylint: disable=too-few-public-methods """ @@ -114,7 +113,7 @@ class MessageSync: # pylint: disable=too-few-public-methods def __init__( self, - messages: typing.Iterable["can.Message"], + messages: typing.Iterable[Message], timestamps: bool = True, gap: float = 0.0001, skip: float = 60.0, @@ -132,7 +131,7 @@ def __init__( self.gap = gap self.skip = skip - def __iter__(self) -> typing.Generator["can.Message", None, None]: + def __iter__(self) -> typing.Generator[Message, None, None]: playback_start_time = time() recorded_start_time = None diff --git a/can/io/printer.py b/can/io/printer.py index 09c86f81f..cafab3815 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -4,17 +4,16 @@ import logging -from typing import Optional, cast, TextIO +from typing import Optional, TextIO, Union from ..message import Message -from ..listener import Listener -from .generic import BaseIOHandler -from ..typechecking import AcceptedIOType +from .generic import MessageWriter +from ..typechecking import StringPathLike log = logging.getLogger("can.io.printer") -class Printer(BaseIOHandler, Listener): +class Printer(MessageWriter): """ The Printer class is a subclass of :class:`~can.Listener` which simply prints any messages it receives to the terminal (stdout). A message is turned into a @@ -27,7 +26,7 @@ class Printer(BaseIOHandler, Listener): file: Optional[TextIO] def __init__( - self, file: Optional[AcceptedIOType] = None, append: bool = False + self, file: Optional[Union[StringPathLike, TextIO]] = None, append: bool = False ) -> None: """ :param file: An optional path-like object or a file-like object to "print" diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 8d184bce1..5f05764d5 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -8,15 +8,17 @@ import threading import logging import sqlite3 +from typing import Generator from can.listener import BufferedReader from can.message import Message -from .generic import BaseIOHandler +from .generic import MessageWriter, MessageReader +from ..typechecking import StringPathLike log = logging.getLogger("can.io.sqlite") -class SqliteReader(BaseIOHandler): +class SqliteReader(MessageReader): """ Reads recorded CAN messages from a simple SQL database. @@ -30,9 +32,9 @@ class SqliteReader(BaseIOHandler): .. note:: The database schema is given in the documentation of the loggers. """ - def __init__(self, file, table_name="messages"): + def __init__(self, file: StringPathLike, table_name: str = "messages") -> None: """ - :param file: a `str` or since Python 3.7 a path like object that points + :param file: a `str` path like object that points to the database file to use :param str table_name: the name of the table to look for the messages @@ -45,7 +47,7 @@ def __init__(self, file, table_name="messages"): self._cursor = self._conn.cursor() self.table_name = table_name - def __iter__(self): + def __iter__(self) -> Generator[Message, None, None]: for frame_data in self._cursor.execute(f"SELECT * FROM {self.table_name}"): yield SqliteReader._assemble_message(frame_data) @@ -81,7 +83,7 @@ def stop(self): self._conn.close() -class SqliteWriter(BaseIOHandler, BufferedReader): +class SqliteWriter(MessageWriter, BufferedReader): """Logs received CAN data to a simple SQL database. The sqlite database may already exist, otherwise it will @@ -126,9 +128,9 @@ class SqliteWriter(BaseIOHandler, BufferedReader): MAX_BUFFER_SIZE_BEFORE_WRITES = 500 """Maximum number of messages to buffer before writing to the database""" - def __init__(self, file, table_name="messages"): + def __init__(self, file: StringPathLike, table_name: str = "messages") -> None: """ - :param file: a `str` or since Python 3.7 a path like object that points + :param file: a `str` or path like object that points to the database file to use :param str table_name: the name of the table to store messages in @@ -229,4 +231,4 @@ def stop(self): BufferedReader.stop(self) self._stop_running_event.set() self._writer_thread.join() - BaseIOHandler.stop(self) + MessageReader.stop(self) diff --git a/can/listener.py b/can/listener.py index 8ed4f7b77..8b90fc79e 100644 --- a/can/listener.py +++ b/can/listener.py @@ -4,22 +4,14 @@ import sys import warnings +import asyncio +from abc import ABCMeta, abstractmethod +from queue import SimpleQueue, Empty from typing import Any, AsyncIterator, Awaitable, Optional from can.message import Message from can.bus import BusABC -from abc import ABCMeta, abstractmethod - -try: - # Python 3.7 - from queue import SimpleQueue, Empty -except ImportError: - # Python 3.0 - 3.6 - from queue import Queue as SimpleQueue, Empty # type: ignore - -import asyncio - class Listener(metaclass=ABCMeta): """The basic listener that can be called directly to handle some @@ -37,6 +29,9 @@ class Listener(metaclass=ABCMeta): listener.stop() """ + def __init__(self, *args: Any, **kwargs: Any) -> None: + pass + @abstractmethod def on_message_received(self, msg: Message) -> None: """This method is called to handle the given message. @@ -68,7 +63,8 @@ class RedirectReader(Listener): A RedirectReader sends all received messages to another Bus. """ - def __init__(self, bus: BusABC) -> None: + def __init__(self, bus: BusABC, *args: Any, **kwargs: Any) -> None: + super().__init__(*args, **kwargs) self.bus = bus def on_message_received(self, msg: Message) -> None: @@ -89,7 +85,9 @@ class BufferedReader(Listener): :attr is_stopped: ``True`` if the reader has been stopped """ - def __init__(self) -> None: + def __init__(self, *args: Any, **kwargs: Any) -> None: + super().__init__(*args, **kwargs) + # set to "infinite" size self.buffer: SimpleQueue[Message] = SimpleQueue() self.is_stopped: bool = False @@ -139,7 +137,9 @@ class AsyncBufferedReader(Listener): print(msg) """ - def __init__(self, **kwargs: Any) -> None: + def __init__(self, *args: Any, **kwargs: Any) -> None: + super().__init__(*args, **kwargs) + self.buffer: "asyncio.Queue[Message]" if "loop" in kwargs: diff --git a/can/typechecking.py b/can/typechecking.py index 3e3cca833..ed76b6c85 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -1,6 +1,6 @@ """Types for mypy type-checking """ - +import gzip import typing if typing.TYPE_CHECKING: @@ -27,7 +27,7 @@ Channel = typing.Union[ChannelInt, ChannelStr] # Used by the IO module -FileLike = typing.Union[typing.TextIO, typing.BinaryIO] +FileLike = typing.Union[typing.TextIO, typing.BinaryIO, gzip.GzipFile] StringPathLike = typing.Union[str, "os.PathLike[str]"] AcceptedIOType = typing.Union[FileLike, StringPathLike] From f1808ed5e8e20ebbf489713fe5da4a44fea079f0 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Thu, 27 Jan 2022 16:34:07 +0100 Subject: [PATCH 084/475] Address pylint issues (#1239) * Adress pylint issues * Format code with black * Fix line-too-long * Fix abstract-method * Fix line-too-long Co-authored-by: felixdivo --- can/broadcastmanager.py | 4 ++-- can/exceptions.py | 3 ++- can/interface.py | 11 ++++------- can/listener.py | 6 +++--- can/logconvert.py | 2 +- can/viewer.py | 19 ++++++++++--------- 6 files changed, 22 insertions(+), 23 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 90cf0ce60..c15186e2c 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -19,7 +19,7 @@ import threading import time -# try to import win32event for event-based cyclic send task(needs pywin32 package) +# try to import win32event for event-based cyclic send task (needs the pywin32 package) try: import win32event @@ -260,7 +260,7 @@ def stop(self) -> None: def start(self) -> None: self.stopped = False if self.thread is None or not self.thread.is_alive(): - name = "Cyclic send task for 0x%X" % (self.messages[0].arbitration_id) + name = f"Cyclic send task for 0x{self.messages[0].arbitration_id:X}" self.thread = threading.Thread(target=self._run, name=name) self.thread.daemon = True diff --git a/can/exceptions.py b/can/exceptions.py index aec0dfd1d..5a7aa0b7c 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -14,6 +14,7 @@ For example, validating typical arguments and parameters might result in a :class:`ValueError`. This should always be documented for the function at hand. """ + import sys from contextlib import contextmanager @@ -114,7 +115,7 @@ def error_check( """Catches any exceptions and turns them into the new type while preserving the stack trace.""" try: yield - except Exception as error: + except Exception as error: # pylint: disable=broad-except if error_message is None: raise exception_type(str(error)) from error else: diff --git a/can/interface.py b/can/interface.py index 5282d77bf..e217f2fb6 100644 --- a/can/interface.py +++ b/can/interface.py @@ -32,7 +32,7 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: module_name, class_name = BACKENDS[interface] except KeyError: raise NotImplementedError( - "CAN interface '{}' not supported".format(interface) + f"CAN interface '{interface}' not supported" ) from None # Import the correct interface module @@ -40,9 +40,7 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: module = importlib.import_module(module_name) except Exception as e: raise CanInterfaceNotImplementedError( - "Cannot import module {} for CAN interface '{}': {}".format( - module_name, interface, e - ) + f"Cannot import module {module_name} for CAN interface '{interface}': {e}" ) from None # Get the correct class @@ -50,9 +48,8 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: bus_class = getattr(module, class_name) except Exception as e: raise CanInterfaceNotImplementedError( - "Cannot import class {} from module {} for CAN interface '{}': {}".format( - class_name, module_name, interface, e - ) + f"Cannot import class {class_name} from module {module_name} for CAN interface " + f"'{interface}': {e}" ) from None return cast(Type[BusABC], bus_class) diff --git a/can/listener.py b/can/listener.py index 8b90fc79e..12836a83c 100644 --- a/can/listener.py +++ b/can/listener.py @@ -58,7 +58,7 @@ def stop(self) -> None: """ -class RedirectReader(Listener): +class RedirectReader(Listener): # pylint: disable=abstract-method """ A RedirectReader sends all received messages to another Bus. """ @@ -71,7 +71,7 @@ def on_message_received(self, msg: Message) -> None: self.bus.send(msg) -class BufferedReader(Listener): +class BufferedReader(Listener): # pylint: disable=abstract-method """ A BufferedReader is a subclass of :class:`~can.Listener` which implements a **message buffer**: that is, when the :class:`can.BufferedReader` instance is @@ -126,7 +126,7 @@ def stop(self) -> None: self.is_stopped = True -class AsyncBufferedReader(Listener): +class AsyncBufferedReader(Listener): # pylint: disable=abstract-method """A message buffer for use with :mod:`asyncio`. See :ref:`asyncio` for how to use with :class:`can.Notifier`. diff --git a/can/logconvert.py b/can/logconvert.py index 6a2f52341..730e82304 100644 --- a/can/logconvert.py +++ b/can/logconvert.py @@ -12,7 +12,7 @@ class ArgumentParser(argparse.ArgumentParser): def error(self, message): self.print_help(sys.stderr) - self.exit(errno.EINVAL, "%s: error: %s\n" % (self.prog, message)) + self.exit(errno.EINVAL, f"{self.prog}: error: {message}\n") def main(): diff --git a/can/viewer.py b/can/viewer.py index b74e954a0..9cd5246fb 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -29,7 +29,6 @@ import time from typing import Dict, List, Tuple, Union -import can from can import __version__ from .logger import ( _create_bus, @@ -53,7 +52,7 @@ curses = None # type: ignore -class CanViewer: +class CanViewer: # pylint: disable=too-many-instance-attributes def __init__(self, stdscr, bus, data_structs, testing=False): self.stdscr = stdscr self.bus = bus @@ -89,7 +88,7 @@ def run(self): # Clear the terminal and draw the header self.draw_header() - while 1: + while True: # Do not read the CAN-Bus when in paused mode if not self.paused: # Read the CAN-Bus and draw it in the terminal window @@ -237,8 +236,11 @@ def draw_can_bus_message(self, msg, sorting=False): self.ids[key]["count"] += 1 # Format the CAN-Bus ID as a hex value - arbitration_id_string = "0x{0:0{1}X}".format( - msg.arbitration_id, 8 if msg.is_extended_id else 3 + arbitration_id_string = ( + "0x{0:0{1}X}".format( # pylint: disable=consider-using-f-string + msg.arbitration_id, + 8 if msg.is_extended_id else 3, + ) ) # Use red for error frames @@ -263,7 +265,7 @@ def draw_can_bus_message(self, msg, sorting=False): previous_byte_values = self.previous_values[key] except KeyError: # no row of previous values exists for the current message ID # initialise a row to store the values for comparison next time - self.previous_values[key] = dict() + self.previous_values[key] = {} previous_byte_values = self.previous_values[key] for i, b in enumerate(msg.data): col = 52 + i * 3 @@ -279,7 +281,7 @@ def draw_can_bus_message(self, msg, sorting=False): else: data_color = color except KeyError: - # previous entry for byte didnt exist - default to rest of line colour + # previous entry for byte didn't exist - default to rest of line colour data_color = color finally: # write the new value to the previous values dict for next time @@ -336,7 +338,7 @@ def draw_header(self): def redraw_screen(self): # Trigger a complete redraw self.draw_header() - for key, ids in self.ids.items(): + for ids in self.ids.values(): self.draw_can_bus_message(ids["msg"]) @@ -545,7 +547,6 @@ def main() -> None: if can_filters: additional_config.update({"can_filters": can_filters}) bus = _create_bus(parsed_args, **additional_config) - # print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}") curses.wrapper(CanViewer, bus, data_structs) From 48f9c271a80993bc5649de6e19e6dabf547949e9 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Thu, 27 Jan 2022 17:05:41 +0100 Subject: [PATCH 085/475] Fix deprecation of asyncio.get_event_loop() (#1235) * Fix deprecation in test case * Modernize example * Better test_asyncio_notifier() * Format code with black * Attempt to fix typing; improve docs * try to fix mypy failure with type annotation * Better bus handling * Doc fix * Fix type errors in notifier.py * Format code with black * Fix example typing * Fix too long line in doc * Switch name from Listenable to MessageRecipient Co-authored-by: felixdivo --- can/interface.py | 2 +- can/notifier.py | 38 +++++++++++-------- examples/asyncio_demo.py | 80 +++++++++++++++++++--------------------- examples/serial_com.py | 6 +-- test/notifier_test.py | 70 +++++++++++++++++------------------ 5 files changed, 98 insertions(+), 98 deletions(-) diff --git a/can/interface.py b/can/interface.py index e217f2fb6..f1a0087e3 100644 --- a/can/interface.py +++ b/can/interface.py @@ -103,7 +103,7 @@ def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg # resolve the bus class to use for that interface cls = _get_class_for_interface(kwargs["interface"]) - # remove the 'interface' key so it doesn't get passed to the backend + # remove the "interface" key, so it doesn't get passed to the backend del kwargs["interface"] # make sure the bus can handle this config format diff --git a/can/notifier.py b/can/notifier.py index 2554fb4fc..f7c004c4e 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -2,29 +2,30 @@ This module contains the implementation of :class:`~can.Notifier`. """ -from typing import Any, cast, Iterable, List, Optional, Union, Awaitable +import asyncio +import logging +import threading +import time +from typing import Any, Callable, cast, Iterable, List, Optional, Union, Awaitable from can.bus import BusABC from can.listener import Listener from can.message import Message -import threading -import logging -import time -import asyncio - logger = logging.getLogger("can.Notifier") +MessageRecipient = Union[Listener, Callable[[Message], None]] + class Notifier: def __init__( self, bus: Union[BusABC, List[BusABC]], - listeners: Iterable[Listener], + listeners: Iterable[MessageRecipient], timeout: float = 1.0, loop: Optional[asyncio.AbstractEventLoop] = None, ) -> None: - """Manages the distribution of :class:`can.Message` instances to listeners. + """Manages the distribution of :class:`~can.Message` instances to listeners. Supports multiple buses and listeners. @@ -35,11 +36,13 @@ def __init__( :param bus: A :ref:`bus` or a list of buses to listen to. - :param listeners: An iterable of :class:`~can.Listener` - :param timeout: An optional maximum number of seconds to wait for any message. - :param loop: An :mod:`asyncio` event loop to schedule listeners in. + :param listeners: + An iterable of :class:`~can.Listener` or callables that receive a :class:`~can.Message` + and return nothing. + :param timeout: An optional maximum number of seconds to wait for any :class:`~can.Message`. + :param loop: An :mod:`asyncio` event loop to schedule the ``listeners`` in. """ - self.listeners: List[Listener] = list(listeners) + self.listeners: List[MessageRecipient] = list(listeners) self.bus = bus self.timeout = timeout self._loop = loop @@ -101,8 +104,8 @@ def stop(self, timeout: float = 5) -> None: # reader is a file descriptor self._loop.remove_reader(reader) for listener in self.listeners: - if hasattr(listener, "stop"): - listener.stop() + # Mypy prefers this over a hasattr(...) check + getattr(listener, "stop", lambda: None)() def _rx_thread(self, bus: BusABC) -> None: msg = None @@ -150,9 +153,12 @@ def _on_error(self, exc: Exception) -> bool: was_handled = False for listener in self.listeners: - if hasattr(listener, "on_error"): + on_error = getattr( + listener, "on_error", None + ) # Mypy prefers this over hasattr(...) + if on_error is not None: try: - listener.on_error(exc) + on_error(exc) except NotImplementedError: pass else: diff --git a/examples/asyncio_demo.py b/examples/asyncio_demo.py index d501d1aaf..0f37d6573 100755 --- a/examples/asyncio_demo.py +++ b/examples/asyncio_demo.py @@ -5,57 +5,53 @@ """ import asyncio +from typing import List + import can +from can.notifier import MessageRecipient -def print_message(msg): +def print_message(msg: can.Message) -> None: """Regular callback function. Can also be a coroutine.""" print(msg) -async def main(): +async def main() -> None: """The main function that runs in the loop.""" - bus = can.Bus("vcan0", bustype="virtual", receive_own_messages=True) - reader = can.AsyncBufferedReader() - logger = can.Logger("logfile.asc") - - listeners = [ - print_message, # Callback function - reader, # AsyncBufferedReader() listener - logger, # Regular Listener object - ] - # Create Notifier with an explicit loop to use for scheduling of callbacks - loop = asyncio.get_event_loop() - notifier = can.Notifier(bus, listeners, loop=loop) - # Start sending first message - bus.send(can.Message(arbitration_id=0)) - - print("Bouncing 10 messages...") - for _ in range(10): - # Wait for next message from AsyncBufferedReader - msg = await reader.get_message() - # Delay response - await asyncio.sleep(0.5) - msg.arbitration_id += 1 - bus.send(msg) - # Wait for last message to arrive - await reader.get_message() - print("Done!") - - # Clean-up - notifier.stop() - bus.shutdown() + with can.Bus( # type: ignore + interface="virtual", channel="my_channel_0", receive_own_messages=True + ) as bus: + reader = can.AsyncBufferedReader() + logger = can.Logger("logfile.asc") + + listeners: List[MessageRecipient] = [ + print_message, # Callback function + reader, # AsyncBufferedReader() listener + logger, # Regular Listener object + ] + # Create Notifier with an explicit loop to use for scheduling of callbacks + loop = asyncio.get_running_loop() + notifier = can.Notifier(bus, listeners, loop=loop) + # Start sending first message + bus.send(can.Message(arbitration_id=0)) + + print("Bouncing 10 messages...") + for _ in range(10): + # Wait for next message from AsyncBufferedReader + msg = await reader.get_message() + # Delay response + await asyncio.sleep(0.5) + msg.arbitration_id += 1 + bus.send(msg) + + # Wait for last message to arrive + await reader.get_message() + print("Done!") + + # Clean-up + notifier.stop() if __name__ == "__main__": - try: - # Get the default event loop - LOOP = asyncio.get_event_loop() - # Run until main coroutine finishes - LOOP.run_until_complete(main()) - finally: - LOOP.close() - - # or on Python 3.7+ simply - # asyncio.run(main()) + asyncio.run(main()) diff --git a/examples/serial_com.py b/examples/serial_com.py index 1fbc997b2..c57207a77 100755 --- a/examples/serial_com.py +++ b/examples/serial_com.py @@ -47,9 +47,9 @@ def receive(bus, stop_event): def main(): - """Controles the sender and receiver.""" - with can.interface.Bus(bustype="serial", channel="/dev/ttyS10") as server: - with can.interface.Bus(bustype="serial", channel="/dev/ttyS11") as client: + """Controls the sender and receiver.""" + with can.interface.Bus(interface="serial", channel="/dev/ttyS10") as server: + with can.interface.Bus(interface="serial", channel="/dev/ttyS11") as client: tx_msg = can.Message( arbitration_id=0x01, diff --git a/test/notifier_test.py b/test/notifier_test.py index c9d8f4a27..ca2093f55 100644 --- a/test/notifier_test.py +++ b/test/notifier_test.py @@ -9,48 +9,46 @@ class NotifierTest(unittest.TestCase): def test_single_bus(self): - bus = can.Bus("test", bustype="virtual", receive_own_messages=True) - reader = can.BufferedReader() - notifier = can.Notifier(bus, [reader], 0.1) - msg = can.Message() - bus.send(msg) - self.assertIsNotNone(reader.get_message(1)) - notifier.stop() - bus.shutdown() + with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: + reader = can.BufferedReader() + notifier = can.Notifier(bus, [reader], 0.1) + msg = can.Message() + bus.send(msg) + self.assertIsNotNone(reader.get_message(1)) + notifier.stop() def test_multiple_bus(self): - bus1 = can.Bus(0, bustype="virtual", receive_own_messages=True) - bus2 = can.Bus(1, bustype="virtual", receive_own_messages=True) - reader = can.BufferedReader() - notifier = can.Notifier([bus1, bus2], [reader], 0.1) - msg = can.Message() - bus1.send(msg) - time.sleep(0.1) - bus2.send(msg) - recv_msg = reader.get_message(1) - self.assertIsNotNone(recv_msg) - self.assertEqual(recv_msg.channel, 0) - recv_msg = reader.get_message(1) - self.assertIsNotNone(recv_msg) - self.assertEqual(recv_msg.channel, 1) - notifier.stop() - bus1.shutdown() - bus2.shutdown() + with can.Bus(0, interface="virtual", receive_own_messages=True) as bus1: + with can.Bus(1, interface="virtual", receive_own_messages=True) as bus2: + reader = can.BufferedReader() + notifier = can.Notifier([bus1, bus2], [reader], 0.1) + msg = can.Message() + bus1.send(msg) + time.sleep(0.1) + bus2.send(msg) + recv_msg = reader.get_message(1) + self.assertIsNotNone(recv_msg) + self.assertEqual(recv_msg.channel, 0) + recv_msg = reader.get_message(1) + self.assertIsNotNone(recv_msg) + self.assertEqual(recv_msg.channel, 1) + notifier.stop() class AsyncNotifierTest(unittest.TestCase): def test_asyncio_notifier(self): - loop = asyncio.get_event_loop() - bus = can.Bus("test", bustype="virtual", receive_own_messages=True) - reader = can.AsyncBufferedReader() - notifier = can.Notifier(bus, [reader], 0.1, loop=loop) - msg = can.Message() - bus.send(msg) - future = asyncio.wait_for(reader.get_message(), 1.0) - recv_msg = loop.run_until_complete(future) - self.assertIsNotNone(recv_msg) - notifier.stop() - bus.shutdown() + async def run_it(): + with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: + reader = can.AsyncBufferedReader() + notifier = can.Notifier( + bus, [reader], 0.1, loop=asyncio.get_running_loop() + ) + bus.send(can.Message()) + recv_msg = await asyncio.wait_for(reader.get_message(), 0.5) + self.assertIsNotNone(recv_msg) + notifier.stop() + + asyncio.run(run_it()) if __name__ == "__main__": From c7ba84a012d9e56fa3d29a8cf2b87d3706f12988 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Thu, 27 Jan 2022 17:06:21 +0100 Subject: [PATCH 086/475] Fix entry_points deprecation (#1233) * Fix entry_points deprectaion * Format code with black * Undo change that shall be in a separate PR Co-authored-by: felixdivo --- can/interfaces/__init__.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index a60f3ac2f..90a05d7bc 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -32,14 +32,16 @@ try: from importlib.metadata import entry_points - entry = entry_points() - if "can.interface" in entry: - BACKENDS.update( - { - interface.name: tuple(interface.value.split(":")) - for interface in entry["can.interface"] - } - ) + try: + entries = entry_points(group="can.interface") + except TypeError: + # Fallback for Python <3.10 + # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note" + entries = entry_points().get("can.interface", []) + + BACKENDS.update( + {interface.name: tuple(interface.value.split(":")) for interface in entries} + ) except ImportError: from pkg_resources import iter_entry_points From 24ea2f2a4dbb6e72b41dc88646d0fc22ac1e10da Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Fri, 28 Jan 2022 09:12:56 +0100 Subject: [PATCH 087/475] Update changelog (#1240) --- CHANGELOG.md | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index d1428075d..1f57a4b17 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -63,6 +63,7 @@ Improved interfaces * Add more interface information to channel config (#917) * Improve timestamp accuracy on Windows (#934, #936) * Fix error with VN8900 (#1184) + * Add static typing (#1229) * PCAN * Do not incorrectly reset CANMsg.MSGTYPE on remote frame (#659, #681) * Add support for error frames (#711) @@ -118,9 +119,10 @@ Other API changes and improvements * Logger, viewer and player tools can handle CAN FD (#632) * Many bugfixes and more testing coverage * IO - * Log rotation (#648, #874, #881, #1147) + * [Log rotation](https://python-can.readthedocs.io/en/develop/listeners.html#can.SizedRotatingLogger) (#648, #874, #881, #1147) + * Transparent (de)compression of [gzip](https://docs.python.org/3/library/gzip.html) files for all formats (#1221) * Add [plugin support to can.io Reader/Writer](https://python-can.readthedocs.io/en/develop/listeners.html#listener) (#783) - * ASCReader/Writer enhancements (#820) + * ASCReader/Writer enhancements like increased robustness (#820, #1223) * Adding absolute timestamps to ASC reader (#761) * Support other base number (radix) at ASCReader (#764) * Add [logconvert script](https://python-can.readthedocs.io/en/develop/scripts.html#can-logconvert) (#1072, #1194) @@ -135,7 +137,7 @@ Other API changes and improvements * Changes to serial device number decoding (#869) * Add a default fileno function to the BusABC (#877) * Disallow Messages to simultaneously be "FD" and "remote" (#1049) -* Speed up interface plugin imports by removing pkg_resources (#1110) +* Speed up interface plugin imports by avoiding pkg_resources (#1110) * Allowing for extra config arguments in can.logger (#1142, #1170) * Add changed byte highlighting to viewer.py (#1159) * Change DLC to DL in Message.\_\_str\_\_() (#1212) @@ -180,7 +182,7 @@ Behind the scenes & Quality assurance * Use the [mypy](https://github.com/python/mypy) static type checker (#598, #651) * Use [tox](https://tox.wiki/en/latest/) for testing (#582, #833, #870) * Use [Mergify](https://mergify.com/) (#821, #835, #937) - * Switch between various CI providers, abandoned [AppVeyor](https://www.appveyor.com/) (#1009) and partly [Travis CI](https://travis-ci.org/), ended up with [GitHub Actions](https://docs.github.com/en/actions) only (#827) + * Switch between various CI providers, abandoned [AppVeyor](https://www.appveyor.com/) (#1009) and partly [Travis CI](https://travis-ci.org/), ended up with mostly [GitHub Actions](https://docs.github.com/en/actions) (#827, #1224) * Use the [black](https://black.readthedocs.io/en/stable/) auto-formatter (#950) * [Good test coverage](https://app.codecov.io/gh/hardbyte/python-can/branch/develop) for all but the interfaces * Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: #1031, #581, #585, #586, #942, #1196, #1198) From a2c012899301f0863dd91e3657960d3cd245be73 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Fri, 4 Feb 2022 20:10:39 +0100 Subject: [PATCH 088/475] Prepare 4.0.0-rc.0 (#1241) --- can/__init__.py | 2 +- doc/history.rst | 3 ++- doc/pycanlib.pml | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index f21ffcc09..037c407f0 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.0.0-dev.2" +__version__ = "4.0.0-rc.0" log = logging.getLogger("can") diff --git a/doc/history.rst b/doc/history.rst index caed67baa..659f18dda 100644 --- a/doc/history.rst +++ b/doc/history.rst @@ -49,7 +49,7 @@ The CANalyst-II interface was contributed by Shaoyu Meng in 2018. Support for CAN within Python ----------------------------- -Python natively supports the CAN protocol from version 3.3 on, if running on Linux: +Python natively supports the CAN protocol from version 3.3 on, if running on Linux (with a sufficiently new kernel): ============== ============================================================== ==== Python version Feature Link @@ -58,4 +58,5 @@ Python version Feature 3.4 Broadcast Management (BCM) commands are natively supported `Docs `__ 3.5 CAN FD support `Docs `__ 3.7 Support for CAN ISO-TP `Docs `__ +3.9 Native support for joining CAN filters `Docs `__ ============== ============================================================== ==== diff --git a/doc/pycanlib.pml b/doc/pycanlib.pml index 0ddcf25e5..907fadabb 100644 --- a/doc/pycanlib.pml +++ b/doc/pycanlib.pml @@ -1,4 +1,4 @@ -/* This promela model was used to verify the concurrent design of the bus object. */ +/* This promela model was used to verify a past design of the bus object. */ bool lock = false; From 257d57d44c2b0b308ba3a7d455e50b0b15c81a5b Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Fri, 4 Feb 2022 21:19:02 +0100 Subject: [PATCH 089/475] Fix guaranteed crash when using usb2can (#1249) --- can/interfaces/usb2can/usb2canInterface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index 258853425..0d3323f9e 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -103,7 +103,7 @@ def __init__( self.can = Usb2CanAbstractionLayer(dll) # get the serial number of the device - device_id = kwargs.get("serial", d=channel) + device_id = kwargs.get("serial", channel) # search for a serial number if the device_id is None or empty if not device_id: From 207be4b9520ef036cb89dd6114f73b162f825e88 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Tue, 8 Feb 2022 10:19:10 +1300 Subject: [PATCH 090/475] Update history & contributors (#1251) * Adds a CONTRIBUTING.md file which links to our docs * Remove email addresses from contributors.txt * Add github handles for new contributors * Update history.rst --- CONTRIBUTING.md | 1 + CONTRIBUTORS.txt | 76 ++++++++++++++++++++++++++++++++++++++++-------- doc/history.rst | 28 ++++++++++++++++++ 3 files changed, 93 insertions(+), 12 deletions(-) create mode 100644 CONTRIBUTING.md diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 000000000..c00e9bd32 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1 @@ +Please read the [Development - Contributing](https://python-can.readthedocs.io/en/stable/development.html#contributing) guidelines in the documentation site. diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt index b446489ae..ae7792e42 100644 --- a/CONTRIBUTORS.txt +++ b/CONTRIBUTORS.txt @@ -1,11 +1,13 @@ +https://github.com/hardbyte/python-can/graphs/contributors + Ben Powell -Brian Thorne +Brian Thorne Geert Linders Mark Catley -Phillip Dixon +Phillip Dixon Rose Lu Karl van Workum -Albert Bloomfield +Albert Bloomfield Sam Bristow Ethan Zonca Robert Kaye @@ -15,18 +17,68 @@ Tynan McAuley Bruno Pennati Jack Jester-Weinstein Joshua Villyard -Giuseppe Corbelli +Giuseppe Corbelli Christian Sandberg -Eduard Bröcker +Eduard Bröcker Boris Wenzlaff Pierre-Luc Tessier Gagné -Felix Divo -Kristian Sloth Lauszus -Shaoyu Meng -Alexander Mueller +Felix Divo +Kristian Sloth Lauszus +Shaoyu Meng +Alexander Mueller Jan Goeteyn -"ykzheng" +ykzheng Lear Corporation -Nick Black +Nick Black Francisco Javier Burgos Macia -Felix Nieuwenhuizen +Felix Nieuwenhuizen +@marcel-kanter +@bessman +@koberbe +@tamenol +@deonvdw +@ptoews +@chrisoro +@sou1hacker +@auden-rovellequartz +@typecprint +@tysonite +@Joey5337 +@Aajn +@josko7452 +@leventerevesz +@ericevenchick +@ixygo +@Gussy +@altendky +@philsc +@rliebscher +@jxltom +@kdschlosser +@tojoh511 +@s0kr4t3s +@jaesc +@NiallDarwin +@sdorre +@gordon-epc +@willson556 +@jjguti +@wiboticalex +@illuusio +@cperkulator +@simontegelid +@DawidRosinski +@fabiocrestani +@ChrisSweetKT +@ausserlesh +@wbarnha +@projectgus +@samsmith94 +@alexey +@MattWoodhead +@nbusser +@domologic +@fjburgos +@pkess +@felixn +@Tbruno25 \ No newline at end of file diff --git a/doc/history.rst b/doc/history.rst index 659f18dda..9ae0581b0 100644 --- a/doc/history.rst +++ b/doc/history.rst @@ -46,6 +46,34 @@ The CAN viewer terminal script was contributed by Kristian Sloth Lauszus in 2018 The CANalyst-II interface was contributed by Shaoyu Meng in 2018. +@deonvdw added support for the Robotell interface in 2019. + +Felix Divo and Karl Ding added type hints for the core library and many +interfaces leading up to the 4.0 release. + +Eric Evenchick added support for the CANtact devices in 2020. + +Felix Divo added an interprocess virtual bus interface in 2020. + +@jxltom added the gs_usb interface in 2020 supporting Geschwister Schneider USB/CAN devices +and bytewerk.org candleLight USB CAN devices such as candlelight, canable, cantact, etc. + +@jaesc added the nixnet interface in 2021 supporting NI-XNET devices from National Instruments. + +Tuukka Pasanen @illuusio added the neousys interface in 2021. + +Francisco Javier Burgos Maciá @fjburgos added ixxat FD support. + +@domologic contributed a socketcand interface in 2021. + +Felix N @felixn contributed the ETAS interface in 2021. + +Felix Divo unified exception handling across every interface in the lead up to +the 4.0 release. + +Felix Divo prepared the python-can 4.0 release. + + Support for CAN within Python ----------------------------- From 1142299ab5c6d7aa5ecb3d0fba561dc72e9a9f54 Mon Sep 17 00:00:00 2001 From: Simon Kerscher Date: Tue, 8 Feb 2022 10:01:17 +0100 Subject: [PATCH 091/475] If parsed data has shortened, overwrite end of line with spaces (#1201) * If parsed data has shortened, overwrite end of line with spaces This bug could easily be replicated by running: `python can_viewer.py -c vcan0 -i socketcan -d "123:>BB"` In another terminal send: `cansend vcan0 123#FFFF` Followed by: `cansend vcan0 123#0001` * Fill until end of available line after parsed data as suggedted by @zariiii9003 --- can/viewer.py | 3 +++ test/test_viewer.py | 17 +++++++++++++++++ 2 files changed, 20 insertions(+) diff --git a/can/viewer.py b/can/viewer.py index 9cd5246fb..a84c865f5 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -302,6 +302,9 @@ def draw_can_bus_message(self, msg, sorting=False): else: values_list.append(str(x)) values_string = " ".join(values_list) + self.ids[key]["values_string_length"] = len(values_string) + values_string += " " * (self.x - len(values_string)) + self.draw_line(self.ids[key]["row"], 77, values_string, color) except (ValueError, struct.error): pass diff --git a/test/test_viewer.py b/test/test_viewer.py index f2e3ef0e8..20c3d2faa 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -188,6 +188,16 @@ def test_send(self): msg = can.Message(arbitration_id=0x101, data=data, is_extended_id=False) self.can_viewer.bus.send(msg) + # Send non-CANopen message with long parsed data length + data = [255, 255] + msg = can.Message(arbitration_id=0x102, data=data, is_extended_id=False) + self.can_viewer.bus.send(msg) + + # Send the same command, but with shorter parsed data length + data = [0, 0] + msg = can.Message(arbitration_id=0x102, data=data, is_extended_id=False) + self.can_viewer.bus.send(msg) + # Message with extended id data = [1, 2, 3, 4, 5, 6, 7, 8] msg = can.Message(arbitration_id=0x123456, data=data, is_extended_id=True) @@ -210,6 +220,8 @@ def test_receive(self): # For converting the EMCY and HEARTBEAT messages 0x080 + 0x01: struct.Struct("ff"), } @@ -229,6 +241,11 @@ def test_receive(self): for col, v in self.stdscr_dummy.draw_buffer[_id["row"]].items(): if col >= 52 + _id["msg"].dlc * 3: self.assertEqual(v, " ") + elif _id["msg"].arbitration_id == 0x102: + # Make sure the parsed values have been cleared after the shorted message was send + for col, v in self.stdscr_dummy.draw_buffer[_id["row"]].items(): + if col >= 77 + _id["values_string_length"]: + self.assertEqual(v, " ") elif _id["msg"].arbitration_id == 0x123456: # Check if the counter is incremented if _id["dt"] == 0: From 20b3138ea297c524b476e70c4727226f179ac6eb Mon Sep 17 00:00:00 2001 From: jacobian91 Date: Fri, 11 Feb 2022 12:46:11 -0800 Subject: [PATCH 092/475] Pass flags instead of flags_t type for USB2CAN (#1252) * Pass flags instead of flags_t type for USB2CAN * Remove usb2can unused open arguments for super Co-authored-by: Jacob Erickson --- can/interfaces/usb2can/usb2canInterface.py | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index 0d3323f9e..e51d485cd 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -9,7 +9,6 @@ from can import BusABC, Message, CanInitializationError, CanOperationError from .usb2canabstractionlayer import Usb2CanAbstractionLayer, CanalMsg, CanalError from .usb2canabstractionlayer import ( - flags_t, IS_ERROR_FRAME, IS_REMOTE_FRAME, IS_ID_TYPE, @@ -95,7 +94,7 @@ def __init__( channel=None, dll="usb2can.dll", flags=0x00000008, - *args, + *_, bitrate=500000, **kwargs, ): @@ -118,11 +117,9 @@ def __init__( self.channel_info = f"USB2CAN device {device_id}" connector = f"{device_id}; {baudrate}" - self.handle = self.can.open(connector, flags_t) + self.handle = self.can.open(connector, flags) - super().__init__( - channel=channel, dll=dll, flags_t=flags_t, bitrate=bitrate, *args, **kwargs - ) + super().__init__(channel=channel, **kwargs) def send(self, msg, timeout=None): tx = message_convert_tx(msg) From f1a012cf88c6845ae9afbde9348ddfa7e67da02a Mon Sep 17 00:00:00 2001 From: Nadhmi JAZI <38762095+jazi007@users.noreply.github.com> Date: Fri, 11 Feb 2022 21:46:35 +0100 Subject: [PATCH 093/475] [IO][ASC]: fix data length (#1246) Co-authored-by: Nadhmi JAZI --- can/io/asc.py | 23 ++++++++++++++++------- test/logformats_test.py | 4 ++-- 2 files changed, 18 insertions(+), 9 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index f8607d061..c45192f75 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -13,7 +13,7 @@ import logging from ..message import Message -from ..util import channel2int +from ..util import channel2int, len2dlc, dlc2len from .generic import FileIOMessageWriter, MessageReader from ..typechecking import StringPathLike @@ -194,11 +194,20 @@ def _process_fd_can_frame(self, line: str, msg_kwargs: Dict[str, Any]) -> Messag msg_kwargs["bitrate_switch"] = brs == "1" msg_kwargs["error_state_indicator"] = esi == "1" dlc = int(dlc_str, self._converted_base) - msg_kwargs["dlc"] = dlc data_length = int(data_length_str) - - # CAN remote Frame - msg_kwargs["is_remote_frame"] = data_length == 0 + if data_length == 0: + # CAN remote Frame + msg_kwargs["is_remote_frame"] = True + msg_kwargs["dlc"] = dlc + else: + if dlc2len(dlc) != data_length: + logger.warning( + "DLC vs Data Length mismatch %d[%d] != %d", + dlc, + dlc2len(dlc), + data_length, + ) + msg_kwargs["dlc"] = data_length self._process_data_string(data, data_length, msg_kwargs) @@ -381,8 +390,8 @@ def on_message_received(self, msg: Message) -> None: symbolic_name="", brs=1 if msg.bitrate_switch else 0, esi=1 if msg.error_state_indicator else 0, - dlc=msg.dlc, - data_length=len(data), + dlc=len2dlc(msg.dlc), + data_length=len(msg.data), data=" ".join(data), message_duration=0, message_length=0, diff --git a/test/logformats_test.py b/test/logformats_test.py index ffb7a75a3..40ecd8ba3 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -520,7 +520,7 @@ def test_can_fd_message_64(self): arbitration_id=0x4EE, is_extended_id=False, channel=3, - dlc=0xF, + dlc=64, data=[0xA1, 2, 3, 4] + 59 * [0] + [0x64], is_fd=True, error_state_indicator=True, @@ -529,7 +529,7 @@ def test_can_fd_message_64(self): timestamp=31.506898, arbitration_id=0x1C4D80A7, channel=3, - dlc=0xF, + dlc=64, data=[0xB1, 2, 3, 4] + 59 * [0] + [0x64], is_fd=True, bitrate_switch=True, From 7fcc813d59fe815ae27db9d1195f8136a5bc6c01 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 11 Feb 2022 21:47:07 +0100 Subject: [PATCH 094/475] bugfix ASCReader (#1257) --- can/io/asc.py | 128 +++- test/data/issue_1256.asc | 1461 ++++++++++++++++++++++++++++++++++++++ test/logformats_test.py | 3 + 3 files changed, 1556 insertions(+), 36 deletions(-) create mode 100644 test/data/issue_1256.asc diff --git a/can/io/asc.py b/can/io/asc.py index c45192f75..1a97f6b72 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -34,8 +34,6 @@ class ASCReader(MessageReader): file: TextIO - FORMAT_START_OF_FILE_DATE = "%a %b %d %I:%M:%S.%f %p %Y" - def __init__( self, file: Union[StringPathLike, TextIO], @@ -60,51 +58,95 @@ def __init__( self.base = base self._converted_base = self._check_base(base) self.relative_timestamp = relative_timestamp - self.date = None + self.date: Optional[str] = None + self.start_time = 0.0 # TODO - what is this used for? The ASC Writer only prints `absolute` - self.timestamps_format = None - self.internal_events_logged = None + self.timestamps_format: Optional[str] = None + self.internal_events_logged = False - def _extract_header(self): + def _extract_header(self) -> None: for line in self.file: line = line.strip() - lower_case = line.lower() - if lower_case.startswith("date"): - self.date = line[5:] - elif lower_case.startswith("base"): - try: - _, base, _, timestamp_format = line.split() - except ValueError as exception: - raise Exception( - f"Unsupported header string format: {line}" - ) from exception + + datetime_match = re.match( + r"date\s+\w+\s+(?P.+)", line, re.IGNORECASE + ) + base_match = re.match( + r"base\s+(?Phex|dec)(?:\s+timestamps\s+" + r"(?Pabsolute|relative))?", + line, + re.IGNORECASE, + ) + comment_match = re.match(r"//.*", line) + events_match = re.match( + r"(?Pno)?\s*internal\s+events\s+logged", line, re.IGNORECASE + ) + + if datetime_match: + self.date = datetime_match.group("datetime_string") + self.start_time = ( + 0.0 + if self.relative_timestamp + else self._datetime_to_timestamp(self.date) + ) + continue + + elif base_match: + base = base_match.group("base") + timestamp_format = base_match.group("timestamp_format") self.base = base self._converted_base = self._check_base(self.base) - self.timestamps_format = timestamp_format - elif lower_case.endswith("internal events logged"): - self.internal_events_logged = not lower_case.startswith("no") - elif lower_case.startswith("//"): - # ignore comments + self.timestamps_format = timestamp_format or "absolute" continue - # grab absolute timestamp - elif lower_case.startswith("begin triggerblock"): - if self.relative_timestamp: - self.start_time = 0.0 - else: - try: - _, _, start_time = lower_case.split(None, 2) - start_time = datetime.strptime( - start_time, self.FORMAT_START_OF_FILE_DATE - ).timestamp() - except (ValueError, OSError): - # `OSError` to handle non-POSIX capable timestamps - start_time = 0.0 - self.start_time = start_time - # Currently the last line in the header which is parsed + + elif comment_match: + continue + + elif events_match: + self.internal_events_logged = events_match.group("no_events") is None break + else: break + @staticmethod + def _datetime_to_timestamp(datetime_string: str) -> float: + # ugly locale independent solution + month_map = { + "Jan": 1, + "Feb": 2, + "Mar": 3, + "Apr": 4, + "May": 5, + "Jun": 6, + "Jul": 7, + "Aug": 8, + "Sep": 9, + "Oct": 10, + "Nov": 11, + "Dec": 12, + "Mär": 3, + "Mai": 5, + "Okt": 10, + "Dez": 12, + } + for name, number in month_map.items(): + datetime_string = datetime_string.replace(name, str(number).zfill(2)) + + datetime_formats = ( + "%m %d %I:%M:%S.%f %p %Y", + "%m %d %I:%M:%S %p %Y", + "%m %d %H:%M:%S.%f %Y", + "%m %d %H:%M:%S %Y", + ) + for format_str in datetime_formats: + try: + return datetime.strptime(datetime_string, format_str).timestamp() + except ValueError: + continue + + raise ValueError(f"Incompatible datetime string {datetime_string}") + def _extract_can_id(self, str_can_id: str, msg_kwargs: Dict[str, Any]) -> None: if str_can_id[-1:].lower() == "x": msg_kwargs["is_extended_id"] = True @@ -219,6 +261,20 @@ def __iter__(self) -> Generator[Message, None, None]: for line in self.file: line = line.strip() + trigger_match = re.match( + r"begin\s+triggerblock\s+\w+\s+(?P.+)", + line, + re.IGNORECASE, + ) + if trigger_match: + datetime_str = trigger_match.group("datetime_string") + self.start_time = ( + 0.0 + if self.relative_timestamp + else self._datetime_to_timestamp(datetime_str) + ) + continue + if not re.match( r"\d+\.\d+\s+(\d+\s+(\w+\s+(Tx|Rx)|ErrorFrame)|CANFD)", line, diff --git a/test/data/issue_1256.asc b/test/data/issue_1256.asc new file mode 100644 index 000000000..c3eb55199 --- /dev/null +++ b/test/data/issue_1256.asc @@ -0,0 +1,1461 @@ +date Tue May 27 04:09:35.000 pm 2014 +base hex timestamps absolute +internal events logged +// version 10.0.1 + 0.019968 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.029964 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.039943 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.039977 1 11 Rx d 8 4A 28 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.049949 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.059945 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.059976 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.060015 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 0.069970 1 11 Rx d 8 84 29 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.070001 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.079951 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.089947 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.099951 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.099982 1 11 Rx d 8 BD 2A CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.109949 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.109983 1 10 Rx d 8 10 27 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.110014 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.110032 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 0.110053 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.129997 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.130036 1 11 Rx d 8 F5 2B 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.139949 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.149954 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.159951 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.159983 1 11 Rx d 8 2C 2D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.160095 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 0.160132 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.169955 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.180007 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.189956 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.189991 1 11 Rx d 8 62 2E 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.199956 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.209970 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 0.210004 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.210026 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 0.210084 1 10 Rx d 8 F3 28 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.219957 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.219987 1 11 Rx d 8 95 2F 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.229990 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.240004 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.249954 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.249988 1 11 Rx d 8 C7 30 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.259976 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.260138 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 0.260170 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.269974 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.279956 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.279989 1 11 Rx d 8 F6 31 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.289959 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.299963 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.309957 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.309989 1 11 Rx d 8 22 33 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.310012 1 10 Rx d 8 D5 2A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.310075 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.310097 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 0.319936 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.329956 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.339973 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.339993 1 11 Rx d 8 4B 34 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.349918 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.359922 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.359957 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 0.360032 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.360102 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.360114 1 11 Rx d 8 71 35 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.380012 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.389965 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.399981 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.400017 1 11 Rx d 8 93 36 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.409967 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.410001 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.410024 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 0.410086 1 10 Rx d 8 B5 2C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.419955 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.429968 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.430001 1 11 Rx d 8 B2 37 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.439986 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.440148 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.459928 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.459970 1 11 Rx d 8 CC 38 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.459991 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 0.460048 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.469963 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.479988 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.489926 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.489959 1 11 Rx d 8 E2 39 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.499927 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.509930 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.509963 1 10 Rx d 8 91 2E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.510027 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 0.510057 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.519946 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.519980 1 11 Rx d 8 F2 3A 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.529932 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 0.540023 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.549926 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.549958 1 11 Rx d 8 FE 3B D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.559975 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.560137 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.560200 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 0.560231 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.579988 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.580022 1 11 Rx d 8 05 3D DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.589973 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.599972 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.609972 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.610004 1 11 Rx d 8 06 3E F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.610115 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 0.610151 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.610162 1 10 Rx d 8 69 30 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.610188 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.629991 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.639991 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.640026 1 11 Rx d 8 01 3F F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.649975 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.659977 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.660010 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.660144 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 0.669992 1 11 Rx d 8 F6 3F F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.670076 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.680000 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.689982 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.690146 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.690159 1 11 Rx d 8 E5 40 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.709978 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.710013 1 10 Rx d 8 3B 32 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.710079 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.710100 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 0.720010 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.729980 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.730013 1 11 Rx d 8 CD 41 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.739981 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.749983 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.759997 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.760030 1 11 Rx d 8 AF 42 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.760052 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 0.760113 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.769999 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.779998 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.789982 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.790003 1 11 Rx d 8 8A 43 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.799976 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.809974 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.810125 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.810139 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 0.810168 1 10 Rx d 8 07 34 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.819974 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.820007 1 11 Rx d 8 5D 44 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.829974 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.839975 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.849974 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 0.850006 1 11 Rx d 8 29 45 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.860028 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.860065 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 0.860138 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.860201 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.880033 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.880170 1 11 Rx d 8 EE 45 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.889961 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.900008 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.909943 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.909976 1 11 Rx d 8 AA 46 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.910071 1 10 Rx d 8 CB 35 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 0.910101 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.910113 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 0.919950 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.929950 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.939955 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.940093 1 11 Rx d 8 5F 47 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.940105 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.959949 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.959982 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 0.960053 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 0.969947 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.969981 1 11 Rx d 8 0B 48 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 0.979953 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.990010 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 0.999991 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.000156 1 11 Rx d 8 AF 48 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.009977 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.010014 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.010037 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 1.010107 1 10 Rx d 8 86 37 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.019975 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.030073 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.030111 1 11 Rx d 8 4B 49 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.040047 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.050030 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.060044 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.060181 1 11 Rx d 8 DE 49 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.060194 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 1.060223 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.060283 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.080019 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.089998 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.090034 1 11 Rx d 8 68 4A 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.100056 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.110002 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.110041 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 1.110098 1 10 Rx d 8 37 39 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.110132 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.110145 1 11 Rx d 8 EA 4A 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.110155 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.130015 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.140014 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.150012 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.150061 1 11 Rx d 8 62 4B D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.150160 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.150173 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.150238 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 1.169969 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.179968 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.180014 1 11 Rx d 8 D1 4B DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.189955 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.200037 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.209998 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 1.210021 1 11 Rx d 8 37 4C F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.210151 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 1.210196 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.210251 1 10 Rx d 8 DE 3A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.220057 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.230061 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.240062 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.240099 1 11 Rx d 8 93 4C F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.250061 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.260053 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.260090 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.260113 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 1.270063 1 11 Rx d 8 E6 4C F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.270179 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.270193 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.289924 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.300009 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.300037 1 11 Rx d 8 2F 4D CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.309979 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.310113 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.310183 1 10 Rx d 8 78 3C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.310217 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 1.310249 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.329968 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.330021 1 11 Rx d 8 6F 4D 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.339962 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.349962 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.359966 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.359992 1 11 Rx d 8 A5 4D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.360009 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 1.360074 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.370015 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.380032 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.390025 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.390058 1 11 Rx d 8 D1 4D 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.400054 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.400094 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.400116 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 1.400176 1 10 Rx d 8 06 3E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.400209 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.420035 1 11 Rx d 8 F4 4D 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.420068 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.430012 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.439963 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.449976 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.450009 1 11 Rx d 8 0C 4E D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.459963 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.459986 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.460057 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 1.469973 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.480036 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.480071 1 11 Rx d 8 1B 4E DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.489976 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.500035 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.509978 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.510010 1 11 Rx d 8 20 4E F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.510100 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 1.510131 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 1.510142 1 10 Rx d 8 86 3F 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.519982 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.530039 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 1.540022 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.540051 1 11 Rx d 8 1B 4E F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.550046 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.560021 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.560057 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.560181 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 1.570020 1 11 Rx d 8 0C 4E F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.570138 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.580022 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.590043 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.600024 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.600055 1 11 Rx d 8 F4 4D CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.610019 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.610179 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.610191 1 10 Rx d 8 F7 40 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.610217 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 1.620027 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.630024 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.630055 1 11 Rx d 8 D1 4D 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.640032 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.650055 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.650094 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.650119 1 11 Rx d 8 A5 4D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.650135 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 1.650190 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.670103 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.680104 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.690059 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.690097 1 11 Rx d 8 6F 4D 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.690212 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.710033 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.710070 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 1.710139 1 10 Rx d 8 59 42 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.710189 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.720025 1 11 Rx d 8 2F 4D 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.720057 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.730027 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.730186 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.750028 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.750060 1 11 Rx d 8 E6 4C D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.760049 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.760080 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.760095 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 1.770032 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.780053 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.780087 1 11 Rx d 8 93 4C DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.790032 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.800013 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.810033 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.810068 1 11 Rx d 8 37 4C F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.810178 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 1.810211 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.810263 1 10 Rx d 8 AB 43 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.810292 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.830028 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.840037 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.840069 1 11 Rx d 8 D1 4B F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.850034 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 1.860036 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.860070 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.860091 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 1.870040 1 11 Rx d 8 62 4B F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.870173 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.880039 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.890037 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.900074 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.900111 1 11 Rx d 8 EA 4A CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.900134 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.900151 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.900246 1 10 Rx d 8 EB 44 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 1.900276 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 1.920089 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.930090 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.930127 1 11 Rx d 8 68 4A 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.940093 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.940132 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.960058 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.960096 1 11 Rx d 8 DE 49 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 1.960118 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 1.960187 1 12 Rx d 4 01 01 00 00 Length = 0 BitCount = 0 ID = 18 + 1.970038 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.980044 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.990002 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 1.990149 1 11 Rx d 8 4B 49 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.000000 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.010062 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.010100 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 2.010143 1 10 Rx d 8 1A 46 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.010182 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.020003 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.020035 1 11 Rx d 8 AF 48 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.030002 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.040047 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.050003 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.050137 1 11 Rx d 8 0B 48 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.060035 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.060072 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.060166 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 2.070114 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.080034 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.080071 1 11 Rx d 8 5F 47 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.090050 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.100064 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.110044 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.110208 1 11 Rx d 8 AA 46 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.110260 1 10 Rx d 8 36 47 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.110289 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 2.110316 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.110327 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.130053 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.140028 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.140060 1 11 Rx d 8 EE 45 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.150070 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.150102 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.150125 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.150231 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 2.170064 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.170211 1 11 Rx d 8 29 45 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.180053 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.190065 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.200058 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.200095 1 11 Rx d 8 5D 44 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.210053 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 2.210089 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 2.210158 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.210227 1 10 Rx d 8 3F 48 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.220056 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.230054 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.230215 1 11 Rx d 8 8A 43 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.230267 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.250051 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.260053 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.260089 1 11 Rx d 8 AF 42 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.260111 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.260127 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 2.270057 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.280069 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.290077 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.290234 1 11 Rx d 8 CD 41 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.300073 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.310053 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.310096 1 10 Rx d 8 34 49 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.310167 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.310239 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 2.310268 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.310280 1 11 Rx d 8 E5 40 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.330060 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.340074 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.350083 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.350234 1 11 Rx d 8 F6 3F D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.350288 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.350300 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 2.350330 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.370081 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.380078 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.380119 1 11 Rx d 8 01 3F DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.390063 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.400062 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.400097 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.400120 1 11 Rx d 8 06 3E F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.400136 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.400236 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 2.400266 1 10 Rx d 8 14 4A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.420096 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.430063 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.440083 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.440116 1 11 Rx d 8 05 3D F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.440230 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.460066 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.460101 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 2.460172 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.470079 1 11 Rx d 8 FE 3B F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.470111 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.480072 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.480232 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.500067 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.500100 1 11 Rx d 8 F2 3A CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.510082 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.510117 1 10 Rx d 8 E0 4A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.510181 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 2.510237 1 12 Rx d 4 01 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.520174 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.520211 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 2.520234 1 11 Rx d 8 E2 39 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.540030 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.550072 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.560027 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.560060 1 11 Rx d 8 CC 38 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.560141 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.560196 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 2.560227 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.580070 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.590075 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.590111 1 11 Rx d 8 B2 37 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.600069 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.610070 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.610104 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 2.610168 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.610189 1 10 Rx d 8 96 4B 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.620075 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.620108 1 11 Rx d 8 93 36 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.630077 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.640065 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.650071 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.650103 1 11 Rx d 8 71 35 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.650124 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.650141 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.650240 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 2.670078 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.680091 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.680126 1 11 Rx d 8 4B 34 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.690092 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.690126 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.710092 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.710128 1 11 Rx d 8 22 33 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.710154 1 10 Rx d 8 37 4C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.710214 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 2.710259 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.720071 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.730075 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.730236 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.730256 1 11 Rx d 8 F6 31 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.750078 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.760095 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.760128 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.760150 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 2.770101 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.770139 1 11 Rx d 8 C7 30 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.770253 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.790118 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.800075 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.800113 1 11 Rx d 8 95 2F CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.810084 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.810116 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 2.810185 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.810272 1 10 Rx d 8 C1 4C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.810301 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.830087 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.830122 1 11 Rx d 8 62 2E 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.840105 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.850098 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 2.860076 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.860114 1 11 Rx d 8 2C 2D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.860136 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.860153 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 2.870100 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.880131 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.890145 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.890182 1 11 Rx d 8 F5 2B 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.900088 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.900125 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.900150 1 10 Rx d 8 34 4D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 2.900213 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.900283 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 2.920086 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.920229 1 11 Rx d 8 BD 2A 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.930105 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.940094 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.940128 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.940151 1 11 Rx d 8 84 29 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.960131 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.960153 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 2.960199 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 2.970084 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.980091 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 2.980263 1 11 Rx d 8 4A 28 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 2.980317 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.000106 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.010158 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.010195 1 11 Rx d 8 10 27 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.010218 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.010234 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 3.010278 1 10 Rx d 8 91 4D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.020129 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.030126 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.040128 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.040267 1 11 Rx d 8 D6 25 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.050098 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.060086 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.060119 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 3.060193 1 12 Rx d 4 01 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.060269 1 11 Rx d 8 9C 24 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.060280 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.080052 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.090013 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.100011 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.100139 1 11 Rx d 8 63 23 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.110014 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.110044 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 3.110104 1 10 Rx d 8 D7 4D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.110134 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.120011 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.130110 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.130139 1 11 Rx d 8 2B 22 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.140015 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.150013 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.160153 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.160290 1 11 Rx d 8 F4 20 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.160342 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.160395 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 3.170068 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.180094 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.190101 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.190134 1 11 Rx d 8 BE 1F 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.190157 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.210102 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 3.210135 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.210157 1 10 Rx d 8 06 4E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.210223 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 3.220098 1 11 Rx d 8 8B 1E 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.220219 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.230103 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.230137 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.250083 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.250118 1 11 Rx d 8 59 1D D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.260090 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.260122 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 3.260194 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.270103 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.280074 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.280241 1 11 Rx d 8 2A 1C DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.290127 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.300105 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.310145 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.310178 1 11 Rx d 8 FE 1A F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.310201 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.310217 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 3.310282 1 10 Rx d 8 1D 4E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.310326 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.330117 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.340106 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.340272 1 11 Rx d 8 D5 19 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.350133 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.360104 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.360136 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 3.360206 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.370111 1 11 Rx d 8 AF 18 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.370143 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.380073 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.390099 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.400128 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.400301 1 11 Rx d 8 8D 17 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.400355 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.400367 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 3.400394 1 10 Rx d 8 1D 4E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.400422 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.420127 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.430111 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.430143 1 11 Rx d 8 6E 16 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.440133 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.440164 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.460133 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.460291 1 11 Rx d 8 54 15 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.460343 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.460396 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 3.470130 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.480128 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.480160 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.480184 1 11 Rx d 8 3E 14 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.500107 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.510123 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.510160 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.510183 1 10 Rx d 8 06 4E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.510246 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 3.520133 1 11 Rx d 8 2E 13 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.520256 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.520336 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 3.540135 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.550123 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.550154 1 11 Rx d 8 22 12 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.560132 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.560163 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 3.560234 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.560312 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.580132 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.580289 1 11 Rx d 8 1B 11 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.590114 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.600140 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.610137 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.610168 1 11 Rx d 8 1A 10 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.610191 1 12 Rx d 4 01 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.610209 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 3.610267 1 10 Rx d 8 D7 4D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.620042 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.630075 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.640082 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.640213 1 11 Rx d 8 1F 0F F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.650082 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.650118 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.650142 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 3.650202 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.670166 1 11 Rx d 8 2A 0E F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.670202 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.680120 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.690128 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.690160 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.690184 1 11 Rx d 8 3B 0D CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.710127 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.710271 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 3.710304 1 10 Rx d 8 91 4D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.710332 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.720163 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.730129 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.730166 1 11 Rx d 8 53 0C 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.730283 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.750126 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.760173 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.760210 1 11 Rx d 8 71 0B 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.760233 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.760249 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 3.770116 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.770268 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.790150 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.790184 1 11 Rx d 8 96 0A 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.800152 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.810126 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.810151 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.810225 1 10 Rx d 8 34 4D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.810258 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 3.810288 1 11 Rx d 8 C3 09 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.810300 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.830121 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.840131 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.850150 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 3.850182 1 11 Rx d 8 F7 08 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.850304 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.850318 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 3.850348 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.870134 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.880155 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.880187 1 11 Rx d 8 32 08 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.890156 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.890314 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.900151 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.900184 1 11 Rx d 8 76 07 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.900206 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.900308 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 3.900337 1 10 Rx d 8 C1 4C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 3.920150 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.930141 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.940146 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.940177 1 11 Rx d 8 C1 06 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.940289 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.960155 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.960321 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 3.960353 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 3.970143 1 11 Rx d 8 15 06 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 3.970175 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.980155 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 3.980187 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.000161 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.000193 1 11 Rx d 8 71 05 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.010222 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.010262 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 4.010319 1 10 Rx d 8 37 4C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.010350 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.020171 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.020337 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.020350 1 11 Rx d 8 D5 04 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.040172 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.050149 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.060159 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.060196 1 11 Rx d 8 42 04 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.060314 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.060367 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 4.060397 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.080148 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.090164 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.090198 1 11 Rx d 8 B8 03 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.100207 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.110147 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.110185 1 10 Rx d 8 96 4B 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.110267 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.110291 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 4.120175 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.120209 1 11 Rx d 8 36 03 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.130179 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.140158 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.140314 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.140327 1 11 Rx d 8 BE 02 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.150166 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.150201 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 4.150271 1 12 Rx d 4 01 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.170105 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.180168 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.180203 1 11 Rx d 8 4F 02 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.190075 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.190107 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.210114 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 4.210252 1 11 Rx d 8 E9 01 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.210265 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.210307 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 4.210336 1 10 Rx d 8 E0 4A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.220109 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.230170 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.230205 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.230222 1 11 Rx d 8 8D 01 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.250120 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.260111 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.260144 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 4.260213 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.270185 1 11 Rx d 8 3A 01 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.270317 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.270392 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.290125 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.300176 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.300208 1 11 Rx d 8 F1 00 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.310134 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.310165 1 10 Rx d 8 14 4A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.310231 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 4.310286 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.310347 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.330186 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.330343 1 11 Rx d 8 B1 00 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.340151 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.350181 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.360178 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.360210 1 11 Rx d 8 7B 00 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.360232 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.360249 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 4.370158 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.380181 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.390169 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.390287 1 11 Rx d 8 4F 00 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.390342 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.400204 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.400241 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 4.400310 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.400388 1 10 Rx d 8 34 49 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.420206 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.420243 1 11 Rx d 8 2C 00 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.430163 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.440152 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.440184 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.440208 1 11 Rx d 8 14 00 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.460180 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.460345 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.460388 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 4.470164 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.480182 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.480216 1 11 Rx d 8 05 00 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.480327 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.500107 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.510152 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.510187 1 11 Rx d 8 00 00 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.510205 1 10 Rx d 8 3F 48 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.510259 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 4.510290 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 4.520188 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.520347 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 4.540146 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.540175 1 11 Rx d 8 05 00 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.550167 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.560189 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.560224 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.560343 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 4.560373 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.560385 1 11 Rx d 8 14 00 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.580185 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.590144 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.600191 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.600219 1 11 Rx d 8 2C 00 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.600293 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.600307 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 4.600335 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.600346 1 10 Rx d 8 36 47 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.620191 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.630170 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.630202 1 11 Rx d 8 4F 00 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.640194 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.640338 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.650180 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.650215 1 11 Rx d 8 7B 00 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.650237 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.650349 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 4.670204 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.680196 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.690196 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.690216 1 11 Rx d 8 B1 00 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.690288 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.710150 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.710187 1 10 Rx d 8 1A 46 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.710208 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.710224 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 4.720179 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.720293 1 11 Rx d 8 F1 00 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.730133 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.730167 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.750198 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.750232 1 11 Rx d 8 3A 01 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.760140 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.760173 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 4.760240 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.770140 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.770174 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.770197 1 11 Rx d 8 8D 01 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.790183 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.800136 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.810198 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.810231 1 11 Rx d 8 E9 01 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.810306 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.810320 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 4.810345 1 10 Rx d 8 EB 44 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.810374 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.830181 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.840222 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.840254 1 11 Rx d 8 4F 02 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.850262 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 4.850399 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.850413 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 4.850442 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.870188 1 11 Rx d 8 BE 02 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.870319 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.880199 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.890186 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.900200 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.900232 1 11 Rx d 8 36 03 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.900255 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.900274 1 10 Rx d 8 AB 43 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 4.900333 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 4.900379 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.920200 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.930189 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.930226 1 11 Rx d 8 B8 03 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.930343 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.940195 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.960198 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.960231 1 11 Rx d 8 42 04 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 4.960253 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 4.960364 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 4.970188 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.980200 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.980360 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 4.980377 1 11 Rx d 8 D5 04 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.000197 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.010190 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.010223 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 5.010289 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.010310 1 10 Rx d 8 59 42 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.020239 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.020276 1 11 Rx d 8 71 05 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.020367 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.040200 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.050214 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.050249 1 11 Rx d 8 15 06 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.060174 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.060206 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.060338 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 5.060374 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.080201 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.080233 1 11 Rx d 8 C1 06 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.090209 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.100201 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.100357 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.100370 1 11 Rx d 8 76 07 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.100377 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 5.100404 1 10 Rx d 8 F7 40 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.100433 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.120199 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.130213 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.140201 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.140232 1 11 Rx d 8 32 08 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.140341 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.150214 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.150251 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.150351 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 5.170256 1 11 Rx d 8 F7 08 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.170292 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.180234 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.190222 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.190259 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.190284 1 11 Rx d 8 C3 09 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.210201 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 5.210237 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.210344 1 10 Rx d 8 86 3F 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.210373 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 5.220196 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.230215 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.230373 1 11 Rx d 8 96 0A 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.230426 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.250211 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.260116 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.260139 1 11 Rx d 8 71 0B 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.260154 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 5.260198 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.270165 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.270200 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.290162 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.290299 1 11 Rx d 8 53 0C 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.300164 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.310223 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.310257 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 5.310301 1 10 Rx d 8 06 3E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.310340 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.310404 1 11 Rx d 8 3B 0D 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.310415 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.330168 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.340163 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.350165 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.350300 1 11 Rx d 8 2A 0E D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.350353 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.350365 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.350373 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 5.370212 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.380203 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.380237 1 11 Rx d 8 1F 0F DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.390213 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.400203 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.400242 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.400266 1 11 Rx d 8 1A 10 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.400283 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 5.400347 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.400410 1 10 Rx d 8 78 3C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.420202 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.430213 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.440203 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.440238 1 11 Rx d 8 1B 11 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.440352 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.460203 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.460238 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.460344 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 5.470230 1 11 Rx d 8 22 12 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.470257 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.480180 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.480355 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.500216 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.500252 1 11 Rx d 8 2E 13 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.510235 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.510269 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.510291 1 10 Rx d 8 DE 3A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.510349 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 5.510403 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.520203 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 5.520240 1 11 Rx d 8 3E 14 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.540232 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.550219 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.560240 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.560273 1 11 Rx d 8 54 15 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.560385 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 5.560417 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.560477 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.580241 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.590253 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.590290 1 11 Rx d 8 6E 16 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.600261 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.600398 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.600412 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 5.600439 1 10 Rx d 8 37 39 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.600467 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.620237 1 11 Rx d 8 8D 17 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.620368 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.630250 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.640286 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.640323 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.640346 1 11 Rx d 8 AF 18 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.650275 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.650312 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.650411 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 5.670301 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.680244 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.680281 1 11 Rx d 8 D5 19 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.680398 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.690241 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.710227 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.710266 1 11 Rx d 8 FE 1A F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.710289 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 5.710355 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.710408 1 10 Rx d 8 86 37 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.720247 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.730242 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.730400 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.730413 1 11 Rx d 8 2A 1C F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.750231 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.760248 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.760281 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.760303 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 5.770228 1 11 Rx d 8 59 1D F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.770350 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.770373 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.790239 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.800150 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.800188 1 11 Rx d 8 8B 1E CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.810189 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.810224 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.810337 1 10 Rx d 8 CB 35 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.810367 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 5.810396 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.830234 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.830270 1 11 Rx d 8 BE 1F 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.840299 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.850194 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 5.850341 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.850354 1 11 Rx d 8 F4 20 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.850362 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 5.850392 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.870185 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.880196 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.890274 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.890311 1 11 Rx d 8 2B 22 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.890425 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.900288 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.900326 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 5.900394 1 10 Rx d 8 07 34 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 5.900429 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.920258 1 11 Rx d 8 63 23 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.920295 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.930234 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.940252 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.940284 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.940307 1 11 Rx d 8 9C 24 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.960253 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.960285 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 5.960389 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 5.970257 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.980257 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 5.980424 1 11 Rx d 8 D6 25 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 5.980476 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.000260 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.010259 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.010291 1 11 Rx d 8 10 27 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.010316 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 6.010375 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.010396 1 10 Rx d 8 3B 32 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.010437 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.020264 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.040254 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.040431 1 11 Rx d 8 4A 28 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.050267 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.060287 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.060329 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.060459 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 6.060490 1 11 Rx d 8 84 29 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.060501 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.080264 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.090264 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.100264 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.100426 1 11 Rx d 8 BD 2A CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.100478 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.100490 1 10 Rx d 8 69 30 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.100516 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.100527 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 6.120259 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.130240 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.130278 1 11 Rx d 8 F5 2B 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.140262 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.140294 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.150266 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.150298 1 11 Rx d 8 2C 2D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.150320 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 6.150390 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.170276 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.180295 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.180332 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.180356 1 11 Rx d 8 62 2E 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.190293 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.210248 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 6.210286 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.210397 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 6.210437 1 10 Rx d 8 91 2E 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.220267 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.220301 1 11 Rx d 8 95 2F 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.230228 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.230392 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.250275 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.250312 1 11 Rx d 8 C7 30 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.260277 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.260314 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 6.260390 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.260402 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.270300 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.270338 1 11 Rx d 8 F6 31 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.290288 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.300282 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.310272 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.310305 1 11 Rx d 8 22 33 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.310417 1 10 Rx d 8 B5 2C 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.310449 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.310511 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 6.310539 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.330273 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.340288 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.340319 1 11 Rx d 8 4B 34 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.350201 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.350238 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.350258 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 6.350266 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.370218 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.370357 1 11 Rx d 8 71 35 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.380217 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.390218 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.400189 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.400212 1 11 Rx d 8 93 36 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.400228 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.400243 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.400303 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 6.400334 1 10 Rx d 8 D5 2A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.420281 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.430259 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.430419 1 11 Rx d 8 B2 37 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.430471 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.440281 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.460278 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.460316 1 11 Rx d 8 CC 38 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.460339 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 6.460410 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.470284 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.480284 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.480317 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.480340 1 11 Rx d 8 E2 39 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.500285 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.510262 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.510296 1 10 Rx d 8 F3 28 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.510359 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 6.510415 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.510427 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.510436 1 11 Rx d 8 F2 3A 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.520278 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 6.540273 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.550261 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.550299 1 11 Rx d 8 FE 3B D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.560258 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.560405 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.560469 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 6.560500 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.580285 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.580323 1 11 Rx d 8 05 3D DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.590290 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.600283 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.600320 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.600343 1 11 Rx d 8 06 3E F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.600359 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 6.600416 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.600427 1 10 Rx d 8 10 27 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.620260 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.630273 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.640290 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.640326 1 11 Rx d 8 01 3F F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.640439 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.650286 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.650319 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.650449 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 6.670354 1 11 Rx d 8 F6 3F F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.670389 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.680295 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.680459 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.690274 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.690306 1 11 Rx d 8 E5 40 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.710273 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.710311 1 10 Rx d 8 2D 25 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.710380 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.710451 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 6.720295 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.730276 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.730308 1 11 Rx d 8 CD 41 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.730420 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.750294 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.760296 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.760330 1 11 Rx d 8 AF 42 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.760352 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 6.760414 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.760434 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.770281 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.790280 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.790318 1 11 Rx d 8 8A 43 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.800301 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.810282 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.810447 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.810510 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 6.810539 1 10 Rx d 8 4B 23 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.810567 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.810579 1 11 Rx d 8 5D 44 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.830296 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.840298 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.850278 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 6.850309 1 11 Rx d 8 29 45 D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.850404 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.850417 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 6.850450 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.870283 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.870861 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.870893 1 11 Rx d 8 EE 45 DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.890260 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.890295 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.900196 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.900215 1 11 Rx d 8 AA 46 F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.900225 1 10 Rx d 8 6B 21 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 6.900260 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.900326 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 6.920201 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.930203 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.930351 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.930363 1 11 Rx d 8 5F 47 F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.940201 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.960203 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.960231 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 6.960293 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 6.970202 1 64 Rx d 4 5C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.970229 1 11 Rx d 8 0B 48 F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 6.980204 1 64 Rx d 4 64 03 00 00 Length = 0 BitCount = 0 ID = 100 + 6.980229 1 64 Rx d 4 6C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.000335 1 64 Rx d 4 74 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.000507 1 11 Rx d 8 AF 48 CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.010287 1 64 Rx d 4 7C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.010320 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.010343 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 7.010400 1 10 Rx d 8 8F 1F 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.010457 1 64 Rx d 4 64 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.020304 1 64 Rx d 4 6C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.020339 1 11 Rx d 8 4B 49 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.040311 1 64 Rx d 4 74 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.050320 1 64 Rx d 4 7C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.060309 1 64 Rx d 4 84 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.060477 1 11 Rx d 8 DE 49 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.060529 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 7.060560 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.060620 1 64 Rx d 4 8C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.080310 1 64 Rx d 4 94 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.090297 1 64 Rx d 4 9C 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.090329 1 11 Rx d 8 68 4A 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.100292 1 64 Rx d 4 A4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.100312 1 64 Rx d 4 AC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.100328 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 7.100387 1 10 Rx d 8 B7 1D 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.100419 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.120312 1 11 Rx d 8 EA 4A 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.120444 1 64 Rx d 4 B4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.130326 1 64 Rx d 4 BC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.140333 1 64 Rx d 4 C4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.140370 1 64 Rx d 4 CC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.140394 1 11 Rx d 8 62 4B D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.150338 1 64 Rx d 4 D4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.150376 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.150480 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 7.170318 1 64 Rx d 4 DC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.180302 1 64 Rx d 4 E4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.180442 1 11 Rx d 8 D1 4B DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.180498 1 64 Rx d 4 EC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.190295 1 64 Rx d 4 F4 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.210313 1 64 Rx d 4 FC 00 00 00 Length = 0 BitCount = 0 ID = 100 + 7.210347 1 11 Rx d 8 37 4C F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.210370 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 7.210430 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.210497 1 10 Rx d 8 E5 1B 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.220304 1 64 Rx d 4 04 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.230303 1 64 Rx d 4 0C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.230336 1 64 Rx d 4 14 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.230360 1 11 Rx d 8 93 4C F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.250319 1 64 Rx d 4 1C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.260301 1 64 Rx d 4 24 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.260335 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.260357 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 7.260418 1 11 Rx d 8 E6 4C F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.260497 1 64 Rx d 4 2C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.270301 1 64 Rx d 4 34 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.290306 1 64 Rx d 4 3C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.300306 1 64 Rx d 4 44 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.300341 1 11 Rx d 8 2F 4D CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.310325 1 64 Rx d 4 4C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.310486 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.310548 1 10 Rx d 8 19 1A 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.310577 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 7.310605 1 64 Rx d 4 54 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.330337 1 64 Rx d 4 5C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.330375 1 11 Rx d 8 6F 4D 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.340304 1 64 Rx d 4 64 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.350330 1 64 Rx d 4 6C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.350362 1 64 Rx d 4 74 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.350386 1 11 Rx d 8 A5 4D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.350404 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 7.350467 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.370323 1 64 Rx d 4 7C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.380343 1 64 Rx d 4 84 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.390331 1 64 Rx d 4 8C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.390368 1 11 Rx d 8 D1 4D 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.390484 1 64 Rx d 4 94 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.400313 1 64 Rx d 4 9C 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.400345 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 7.400406 1 10 Rx d 8 55 18 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.400462 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.420308 1 11 Rx d 8 F4 4D 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.420344 1 64 Rx d 4 A4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.430307 1 64 Rx d 4 AC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.430471 1 64 Rx d 4 B4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.440263 1 64 Rx d 4 BC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.440286 1 11 Rx d 8 0C 4E D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.460271 1 64 Rx d 4 C4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.460305 1 12 Rx d 4 01 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.460395 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 7.470270 1 64 Rx d 4 CC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.480274 1 64 Rx d 4 D4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.480307 1 11 Rx d 8 1B 4E DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.480398 1 64 Rx d 4 DC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.500279 1 64 Rx d 4 E4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.510321 1 64 Rx d 4 EC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.510356 1 11 Rx d 8 20 4E F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.510371 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 7.510413 1 12 Rx d 4 00 00 00 00 Length = 0 BitCount = 0 ID = 18 + 7.510426 1 10 Rx d 8 9A 16 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.510455 1 64 Rx d 4 F4 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.520273 1 64 Rx d 4 FC 01 00 00 Length = 0 BitCount = 0 ID = 100 + 7.540273 1 64 Rx d 4 04 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.540306 1 11 Rx d 8 1B 4E F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.550279 1 64 Rx d 4 0C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.560279 1 64 Rx d 4 14 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.560427 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.560491 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 7.560522 1 11 Rx d 8 0C 4E F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.560534 1 64 Rx d 4 1C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.580317 1 64 Rx d 4 24 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.590327 1 64 Rx d 4 2C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.600338 1 64 Rx d 4 34 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.600371 1 11 Rx d 8 F4 4D CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.600492 1 64 Rx d 4 3C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.600510 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.600518 1 10 Rx d 8 E9 14 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.600546 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 7.620313 1 64 Rx d 4 44 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.630335 1 64 Rx d 4 4C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.630369 1 11 Rx d 8 D1 4D 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.640340 1 64 Rx d 4 54 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.640372 1 64 Rx d 4 5C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.650332 1 64 Rx d 4 64 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.650364 1 11 Rx d 8 A5 4D 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.650386 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 7.650450 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.670400 1 64 Rx d 4 6C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.680343 1 64 Rx d 4 74 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.680511 1 64 Rx d 4 7C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.680525 1 11 Rx d 8 6F 4D 64 16 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.690328 1 64 Rx d 4 84 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.710318 1 64 Rx d 4 8C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.710351 1 65 Rx d 3 01 00 00 Length = 0 BitCount = 0 ID = 101 + 7.710419 1 10 Rx d 8 42 13 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.710479 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.720345 1 11 Rx d 8 2F 4D 99 05 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.720376 1 64 Rx d 4 94 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.720401 1 64 Rx d 4 9C 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.730346 1 64 Rx d 4 A4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.750372 1 64 Rx d 4 AC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.750536 1 11 Rx d 8 E6 4C D7 18 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.760370 1 64 Rx d 4 B4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.760408 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.760431 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 7.760479 1 64 Rx d 4 BC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.770375 1 64 Rx d 4 C4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.770413 1 11 Rx d 8 93 4C DD 2C 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.790333 1 64 Rx d 4 CC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.800344 1 64 Rx d 4 D4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.810334 1 64 Rx d 4 DC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.810496 1 11 Rx d 8 37 4C F1 14 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.810548 1 65 Rx d 3 19 00 00 Length = 0 BitCount = 0 ID = 101 + 7.810577 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.810629 1 10 Rx d 8 A8 11 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.810658 1 64 Rx d 4 E4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.830335 1 64 Rx d 4 EC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.840350 1 64 Rx d 4 F4 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.840382 1 11 Rx d 8 D1 4B F6 07 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.850350 1 64 Rx d 4 FC 02 00 00 Length = 0 BitCount = 0 ID = 100 + 7.850381 1 64 Rx d 4 04 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.850410 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.850429 1 66 Rx d 1 02 Length = 0 BitCount = 0 ID = 102 + 7.870348 1 11 Rx d 8 62 4B F9 0A 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.870470 1 64 Rx d 4 0C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.880353 1 64 Rx d 4 14 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.890353 1 64 Rx d 4 1C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.890391 1 64 Rx d 4 24 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.890416 1 11 Rx d 8 EA 4A CD 11 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.900349 1 64 Rx d 4 2C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.900381 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 + 7.900501 1 10 Rx d 8 1A 10 00 00 00 00 00 00 Length = 0 BitCount = 0 ID = 16 + 7.900533 1 65 Rx d 3 32 00 00 Length = 0 BitCount = 0 ID = 101 + 7.920354 1 64 Rx d 4 34 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.930328 1 64 Rx d 4 3C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.930488 1 11 Rx d 8 68 4A 4D 22 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.930546 1 64 Rx d 4 44 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.940352 1 64 Rx d 4 4C 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.960354 1 64 Rx d 4 54 03 00 00 Length = 0 BitCount = 0 ID = 100 + 7.960389 1 11 Rx d 8 DE 49 20 1D 00 00 00 00 Length = 0 BitCount = 0 ID = 17 + 7.960411 1 66 Rx d 1 04 Length = 0 BitCount = 0 ID = 102 + 7.960498 1 12 Rx d 4 00 01 00 00 Length = 0 BitCount = 0 ID = 18 diff --git a/test/logformats_test.py b/test/logformats_test.py index 40ecd8ba3..d7fb92f81 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -557,6 +557,9 @@ def test_can_and_canfd_error_frames(self): def test_ignore_comments(self): _msg_list = self._read_log_file("logfile.asc") + def test_no_triggerblock(self): + _msg_list = self._read_log_file("issue_1256.asc") + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. From cbc5294ac7e4dbbb9b71b202723d80b3ce1d60bf Mon Sep 17 00:00:00 2001 From: Felix Divo Date: Fri, 18 Feb 2022 23:41:27 +0100 Subject: [PATCH 095/475] Finalize changelog for 4.0.0 --- CHANGELOG.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 1f57a4b17..86612f9b9 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -103,6 +103,8 @@ Improved interfaces * Improve timestamp accuracy on Windows (#934, #936) * usb2can * Fix "Error 8" on Windows and provide better error messages (#989) + * Fix crash on initialization (#1248, #1249) + * Pass flags instead of flags_t type upon initialization (#1252) * serial * Fix "TypeError: cannot unpack non-iterable NoneType" and more robust error handling (#1000, #1010) * canalystii @@ -122,7 +124,7 @@ Other API changes and improvements * [Log rotation](https://python-can.readthedocs.io/en/develop/listeners.html#can.SizedRotatingLogger) (#648, #874, #881, #1147) * Transparent (de)compression of [gzip](https://docs.python.org/3/library/gzip.html) files for all formats (#1221) * Add [plugin support to can.io Reader/Writer](https://python-can.readthedocs.io/en/develop/listeners.html#listener) (#783) - * ASCReader/Writer enhancements like increased robustness (#820, #1223) + * ASCReader/Writer enhancements like increased robustness (#820, #1223, #1256, #1257) * Adding absolute timestamps to ASC reader (#761) * Support other base number (radix) at ASCReader (#764) * Add [logconvert script](https://python-can.readthedocs.io/en/develop/scripts.html#can-logconvert) (#1072, #1194) @@ -167,6 +169,7 @@ Other Bugfixes * Calling stop_all_periodic_tasks() in BusABC.shutdown() and all interfaces call it on shutdown (#1174) * Timing configurations do not allow int (#1175) * Some smaller bugfixes are not listed here since the problems were never part of a proper release +* ASCReader & ASCWriter using DLC as data length (#1245, #1246) Behind the scenes & Quality assurance ------------------------------------- From d177a821bb10333aa546e601116f71dbafd11252 Mon Sep 17 00:00:00 2001 From: Felix Divo Date: Fri, 18 Feb 2022 23:42:26 +0100 Subject: [PATCH 096/475] Update version to 4.0.0 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index 037c407f0..2a0b805ac 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.0.0-rc.0" +__version__ = "4.0.0" log = logging.getLogger("can") From 4d9b32c99c333ce9a0cac89afa9aeb324b3b4f7f Mon Sep 17 00:00:00 2001 From: Nadhmi JAZI <38762095+jazi007@users.noreply.github.com> Date: Tue, 1 Mar 2022 19:15:06 +0100 Subject: [PATCH 097/475] [IO][canutils]: add direction support (#1244) Co-authored-by: Nadhmi JAZI --- can/io/canutils.py | 17 ++++++++++++++--- test/test_logger.py | 2 +- 2 files changed, 15 insertions(+), 4 deletions(-) diff --git a/can/io/canutils.py b/can/io/canutils.py index 69793212c..fa96fcb9d 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -51,7 +51,12 @@ def __iter__(self) -> Generator[Message, None, None]: continue channel_string: str - timestamp_string, channel_string, frame = temp.split() + if temp[-2:].lower() in (" r", " t"): + timestamp_string, channel_string, frame, is_rx_string = temp.split() + is_rx = is_rx_string.strip().lower() == "r" + else: + timestamp_string, channel_string, frame = temp.split() + is_rx = True timestamp = float(timestamp_string[1:-1]) can_id_string, data = frame.split("#", maxsplit=1) @@ -101,6 +106,7 @@ def __iter__(self) -> Generator[Message, None, None]: is_extended_id=is_extended, is_remote_frame=is_remote_frame, is_fd=is_fd, + is_rx=is_rx, bitrate_switch=brs, error_state_indicator=esi, dlc=dlc, @@ -164,8 +170,13 @@ def on_message_received(self, msg): else: framestr += " %03X#" % (msg.arbitration_id) + if msg.is_error_frame: + eol = "\n" + else: + eol = " R\n" if msg.is_rx else " T\n" + if msg.is_remote_frame: - framestr += "R\n" + framestr += f"R{eol}" else: if msg.is_fd: fd_flags = 0 @@ -174,6 +185,6 @@ def on_message_received(self, msg): if msg.error_state_indicator: fd_flags |= CANFD_ESI framestr += "#%X" % fd_flags - framestr += "%s\n" % (msg.data.hex().upper()) + framestr += f"{msg.data.hex().upper()}{eol}" self.file.write(framestr) diff --git a/test/test_logger.py b/test/test_logger.py index 07cf17d37..b694f06bb 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -132,7 +132,7 @@ def test_compressed_logfile(self): with gzip.open(self.testfile.name, "rt") as testlog: last_line = testlog.readlines()[-1] - self.assertEqual(last_line, "(0.000000) vcan0 00C0FFEE#0019000103010401\n") + self.assertEqual(last_line, "(0.000000) vcan0 00C0FFEE#0019000103010401 R\n") def tearDown(self) -> None: self.testfile.close() From 56fb131131fcf2a07f4aabc70fba711a7f7843a0 Mon Sep 17 00:00:00 2001 From: Oliver Hartkopp Date: Wed, 2 Mar 2022 18:01:15 +0100 Subject: [PATCH 098/475] [IO][canutils]: use common CAN interface names in generated logfile CAN interfaces in canutils logfiles are usually named 'can0', 'can32' or 'vcan8'. This allows to split logfiles just by performing 'grep' or to rename CAN interfaces easily with 'sed'. The current implementation of the canutils log file writer just provides channel numbers for CAN interfaces. This patch adds the string 'can' to the channel number to make it look like a usual canutils logfiles that can be preprocessed as described above. The string 'can' is added when the provided CAN channel is only a number. Author: Brian Thorne Suggested-by: Oliver Hartkopp Tested-by: Oliver Hartkopp --- can/io/canutils.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/can/io/canutils.py b/can/io/canutils.py index fa96fcb9d..0cca82eb8 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -160,6 +160,8 @@ def on_message_received(self, msg): timestamp = msg.timestamp channel = msg.channel if msg.channel is not None else self.channel + if isinstance(channel, int) or isinstance(channel, str) and channel.isdigit(): + channel = f"can{channel}" framestr = "(%f) %s" % (timestamp, channel) From 8ffdcbcbf3361ac937ab8cf9f5cd6709733c4e16 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 8 Mar 2022 11:16:54 +0100 Subject: [PATCH 099/475] Fix BLF timestamp conversion (#1273) * fix rounding error * fix test and add type annotations --- can/io/blf.py | 29 ++++++++++++++++++----------- test/logformats_test.py | 13 +++++++++++++ 2 files changed, 31 insertions(+), 11 deletions(-) diff --git a/can/io/blf.py b/can/io/blf.py index e7be8979f..efeba9488 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,7 +17,7 @@ import datetime import time import logging -from typing import List, BinaryIO, Generator, Union +from typing import List, BinaryIO, Generator, Union, Tuple, Optional, cast from ..message import Message from ..util import len2dlc, dlc2len, channel2int @@ -25,6 +25,9 @@ from .generic import FileIOMessageWriter, MessageReader +TSystemTime = Tuple[int, int, int, int, int, int, int, int] + + class BLFParseError(Exception): """BLF file could not be parsed correctly.""" @@ -97,11 +100,11 @@ class BLFParseError(Exception): TIME_ONE_NANS = 0x00000002 -def timestamp_to_systemtime(timestamp): +def timestamp_to_systemtime(timestamp: float) -> TSystemTime: if timestamp is None or timestamp < 631152000: # Probably not a Unix timestamp - return (0, 0, 0, 0, 0, 0, 0, 0) - t = datetime.datetime.fromtimestamp(timestamp) + return 0, 0, 0, 0, 0, 0, 0, 0 + t = datetime.datetime.fromtimestamp(round(timestamp, 3)) return ( t.year, t.month, @@ -110,11 +113,11 @@ def timestamp_to_systemtime(timestamp): t.hour, t.minute, t.second, - int(round(t.microsecond / 1000.0)), + t.microsecond // 1000, ) -def systemtime_to_timestamp(systemtime): +def systemtime_to_timestamp(systemtime: TSystemTime) -> float: try: t = datetime.datetime( systemtime[0], @@ -125,7 +128,7 @@ def systemtime_to_timestamp(systemtime): systemtime[6], systemtime[7] * 1000, ) - return time.mktime(t.timetuple()) + systemtime[7] / 1000.0 + return t.timestamp() except ValueError: return 0 @@ -154,8 +157,8 @@ def __init__(self, file: Union[StringPathLike, BinaryIO]) -> None: self.file_size = header[10] self.uncompressed_size = header[11] self.object_count = header[12] - self.start_timestamp = systemtime_to_timestamp(header[14:22]) - self.stop_timestamp = systemtime_to_timestamp(header[22:30]) + self.start_timestamp = systemtime_to_timestamp(cast(TSystemTime, header[14:22])) + self.stop_timestamp = systemtime_to_timestamp(cast(TSystemTime, header[22:30])) # Read rest of header self.file.read(header[1] - FILE_HEADER_STRUCT.size) self._tail = b"" @@ -405,8 +408,12 @@ def __init__( raise BLFParseError("Unexpected file format") self.uncompressed_size = header[11] self.object_count = header[12] - self.start_timestamp = systemtime_to_timestamp(header[14:22]) - self.stop_timestamp = systemtime_to_timestamp(header[22:30]) + self.start_timestamp: Optional[float] = systemtime_to_timestamp( + cast(TSystemTime, header[14:22]) + ) + self.stop_timestamp: Optional[float] = systemtime_to_timestamp( + cast(TSystemTime, header[22:30]) + ) # Jump to the end of the file self.file.seek(0, 2) else: diff --git a/test/logformats_test.py b/test/logformats_test.py index d7fb92f81..eb8984ef6 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -20,6 +20,7 @@ from datetime import datetime import can +from can.io import blf from .data.example_data import ( TEST_MESSAGES_BASE, @@ -659,6 +660,18 @@ def test_can_error_frame_ext(self): self.assertMessagesEqual(actual, [expected] * 2) self.assertEqual(actual[0].channel, expected.channel) + def test_timestamp_to_systemtime(self): + self.assertAlmostEqual( + 1636485425.999, + blf.systemtime_to_timestamp(blf.timestamp_to_systemtime(1636485425.998908)), + places=3, + ) + self.assertAlmostEqual( + 1636485426.0, + blf.systemtime_to_timestamp(blf.timestamp_to_systemtime(1636485425.999908)), + places=3, + ) + class TestCanutilsFileFormat(ReaderWriterTest): """Tests can.CanutilsLogWriter and can.CanutilsLogReader""" From b92ee5ad25a55e78638306071d65f60de82c46f8 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 9 Mar 2022 08:54:34 +0100 Subject: [PATCH 100/475] Fix channel2int conversion (#1269) * make regex dot non-greedy * Update test/test_util.py Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> --- can/util.py | 2 +- test/test_util.py | 14 +++++++++++++- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/can/util.py b/can/util.py index 9400259ce..a9d08c469 100644 --- a/can/util.py +++ b/can/util.py @@ -292,7 +292,7 @@ def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: if isinstance(channel, int): return channel if isinstance(channel, str): - match = re.match(r".*(\d+)$", channel) + match = re.match(r".*?(\d+)$", channel) if match: return int(match.group(1)) return None diff --git a/test/test_util.py b/test/test_util.py index 5768da282..e151e3d63 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -3,7 +3,7 @@ import unittest import warnings -from can.util import _create_bus_config, _rename_kwargs +from can.util import _create_bus_config, _rename_kwargs, channel2int class RenameKwargsTest(unittest.TestCase): @@ -64,3 +64,15 @@ def test_timing_can_use_int(self): _create_bus_config({**self.base_config, **timing_conf}) except TypeError as e: self.fail(e) + + +class TestChannel2Int(unittest.TestCase): + def test_channel2int(self) -> None: + self.assertEqual(0, channel2int("can0")) + self.assertEqual(0, channel2int("vcan0")) + self.assertEqual(1, channel2int("vcan1")) + self.assertEqual(12, channel2int("vcan12")) + self.assertEqual(3, channel2int(3)) + self.assertEqual(42, channel2int("42")) + self.assertEqual(None, channel2int("can")) + self.assertEqual(None, channel2int("can0a")) From ae0bc1746c04b3c1ccd8b56aba99895d50c87d2d Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 9 Mar 2022 21:44:16 +0100 Subject: [PATCH 101/475] Update the black formatter to stable release It is finally stable and we should therefore use that version from now on. --- can/interfaces/socketcan/constants.py | 4 ++-- can/interfaces/socketcan/socketcan.py | 2 +- can/interfaces/systec/ucan.py | 2 +- can/interfaces/vector/canlib.py | 2 +- requirements-lint.txt | 2 +- test/data/example_data.py | 2 +- test/network_test.py | 2 +- 7 files changed, 8 insertions(+), 8 deletions(-) diff --git a/can/interfaces/socketcan/constants.py b/can/interfaces/socketcan/constants.py index 37d4847c4..3144a2cfa 100644 --- a/can/interfaces/socketcan/constants.py +++ b/can/interfaces/socketcan/constants.py @@ -58,8 +58,8 @@ CANFD_MTU = 72 -STD_ACCEPTANCE_MASK_ALL_BITS = 2 ** 11 - 1 +STD_ACCEPTANCE_MASK_ALL_BITS = 2**11 - 1 MAX_11_BIT_ID = STD_ACCEPTANCE_MASK_ALL_BITS -EXT_ACCEPTANCE_MASK_ALL_BITS = 2 ** 29 - 1 +EXT_ACCEPTANCE_MASK_ALL_BITS = 2**29 - 1 MAX_29_BIT_ID = EXT_ACCEPTANCE_MASK_ALL_BITS diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 5355378ab..082bbcf19 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -829,7 +829,7 @@ def _send_periodic_internal( def _get_next_task_id(self) -> int: with self._task_id_guard: - self._task_id = (self._task_id + 1) % (2 ** 32 - 1) + self._task_id = (self._task_id + 1) % (2**32 - 1) return self._task_id def _get_bcm_socket(self, channel: str) -> socket.socket: diff --git a/can/interfaces/systec/ucan.py b/can/interfaces/systec/ucan.py index 6e150f7b1..a6de4e9f5 100644 --- a/can/interfaces/systec/ucan.py +++ b/can/interfaces/systec/ucan.py @@ -120,7 +120,7 @@ def check_result(result, func, arguments): try: # Select the proper dll architecture - lib = WinDLL("usbcan64.dll" if sys.maxsize > 2 ** 32 else "usbcan32.dll") + lib = WinDLL("usbcan64.dll" if sys.maxsize > 2**32 else "usbcan32.dll") # BOOL PUBLIC UcanSetDebugMode (DWORD dwDbgLevel_p, _TCHAR* pszFilePathName_p, DWORD dwFlags_p); UcanSetDebugMode = lib.UcanSetDebugMode diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 4a90ea1bc..9cecaa83d 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -82,7 +82,7 @@ def __init__( poll_interval: float = 0.01, receive_own_messages: bool = False, bitrate: Optional[int] = None, - rx_queue_size: int = 2 ** 14, + rx_queue_size: int = 2**14, app_name: Optional[str] = "CANalyzer", serial: Optional[int] = None, fd: bool = False, diff --git a/requirements-lint.txt b/requirements-lint.txt index e9ad9106c..68caecd03 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,5 +1,5 @@ pylint==2.12.2 -black==21.12b0 +black~=22.1.0 mypy==0.931 mypy-extensions==0.4.3 types-setuptools diff --git a/test/data/example_data.py b/test/data/example_data.py index d41544334..0fa70993a 100644 --- a/test/data/example_data.py +++ b/test/data/example_data.py @@ -179,7 +179,7 @@ def generate_message(arbitration_id): Generates a new message with the given ID, some random data and a non-extended ID. """ - data = bytearray([random.randrange(0, 2 ** 8 - 1) for _ in range(8)]) + data = bytearray([random.randrange(0, 2**8 - 1) for _ in range(8)]) return Message( arbitration_id=arbitration_id, data=data, diff --git a/test/network_test.py b/test/network_test.py index a4e40e901..5900cd10f 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -38,7 +38,7 @@ class ControllerAreaNetworkTestCase(unittest.TestCase): ids = list(range(num_messages)) data = list( - bytearray([random.randrange(0, 2 ** 8 - 1) for a in range(random.randrange(9))]) + bytearray([random.randrange(0, 2**8 - 1) for a in range(random.randrange(9))]) for b in range(num_messages) ) From af55b0a33d30096cb001c168dafb0c3b81ac9fcc Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Mon, 14 Mar 2022 08:34:21 -0400 Subject: [PATCH 102/475] %d format is for a number, not str (#1281) --- can/interfaces/neousys/neousys.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/neousys/neousys.py b/can/interfaces/neousys/neousys.py index 05e1a4418..57f947aa4 100644 --- a/can/interfaces/neousys/neousys.py +++ b/can/interfaces/neousys/neousys.py @@ -131,7 +131,7 @@ class NeousysCanBitClk(Structure): NEOUSYS_CANLIB = CDLL("libwdt_dio.so") logger.info("Loaded Neousys WDT_DIO Can driver") except OSError as error: - logger.info("Cannot load Neousys CAN bus dll or shared object: %d", format(error)) + logger.info("Cannot load Neousys CAN bus dll or shared object: %s", error) class NeousysBus(BusABC): From ed6cd668b9d81df27bcc6a747047d9cba228a682 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 20 Apr 2022 09:19:01 +0200 Subject: [PATCH 103/475] fix #1292 (#1293) --- can/interfaces/iscan.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index 0e51ddd12..e76d9d060 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -187,12 +187,12 @@ class IscanError(CanError): def __init__(self, function, error_code: int, arguments) -> None: try: - description = ": " + self.ERROR_CODES[self.error_code] + description = ": " + self.ERROR_CODES[error_code] except KeyError: description = "" super().__init__( - f"Function {self.function.__name__} failed{description}", + f"Function {function.__name__} failed{description}", error_code=error_code, ) From fe18a34be7e2c0f8aae073663e4e3dc73f74f47d Mon Sep 17 00:00:00 2001 From: chrisoro <4160557+chrisoro@users.noreply.github.com> Date: Wed, 20 Apr 2022 13:27:16 +0200 Subject: [PATCH 104/475] add missing vector devices (#1296) --- can/interfaces/vector/xldefine.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/can/interfaces/vector/xldefine.py b/can/interfaces/vector/xldefine.py index be40a15a9..032f08318 100644 --- a/can/interfaces/vector/xldefine.py +++ b/can/interfaces/vector/xldefine.py @@ -283,9 +283,11 @@ class XL_HardwareType(IntEnum): XL_HWTYPE_VN1640 = 59 XL_HWTYPE_VN8970 = 61 XL_HWTYPE_VN1611 = 63 + XL_HWTYPE_VN5240 = 64 XL_HWTYPE_VN5610 = 65 XL_HWTYPE_VN5620 = 66 XL_HWTYPE_VN7570 = 67 + XL_HWTYPE_VN5650 = 68 XL_HWTYPE_IPCLIENT = 69 XL_HWTYPE_IPSERVER = 71 XL_HWTYPE_VX1121 = 73 From 638d81ac361aef9334b14748a02667d53bf9c987 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 29 Apr 2022 13:08:40 +0200 Subject: [PATCH 105/475] Update black to fix CI --- requirements-lint.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements-lint.txt b/requirements-lint.txt index 68caecd03..f62eeb189 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,5 +1,5 @@ pylint==2.12.2 -black~=22.1.0 +black~=22.3.0 mypy==0.931 mypy-extensions==0.4.3 types-setuptools From 19cf49a728e8b0b0818336c298a6a7bcc1f0e0c7 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Sat, 30 Apr 2022 01:22:49 +0200 Subject: [PATCH 106/475] Fix timestamp handling in udp_multicast on macOS (#1278) * Fix timestamp handling in udp_multicast on macOS * Fix import on Windows * Fix test conditions for BasicTestUdpMulticastBusIPv4/6 * Fix attribute init * Fix exceptions (don't use asserts, always raise CAN errors) --- can/interfaces/udp_multicast/bus.py | 95 ++++++++++++++++++++++------- doc/interfaces/udp_multicast.rst | 2 +- test/back2back_test.py | 6 +- 3 files changed, 76 insertions(+), 27 deletions(-) diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 8fc286627..6b7e57bd9 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -1,8 +1,14 @@ +import errno import logging import select import socket import struct +try: + from fcntl import ioctl +except ModuleNotFoundError: # Missing on Windows + pass + from typing import List, Optional, Tuple, Union log = logging.getLogger(__name__) @@ -21,6 +27,7 @@ # Additional constants for the interaction with Unix kernels SO_TIMESTAMPNS = 35 +SIOCGSTAMP = 0x8906 class UdpMulticastBus(BusABC): @@ -174,6 +181,9 @@ def __init__( self.hop_limit = hop_limit self.max_buffer = max_buffer + # `False` will always work, no matter the setup. This might be changed by _create_socket(). + self.timestamp_nanosecond = False + # Look up multicast group address in name server and find out IP version of the first suitable target # and then get the address family of it (socket.AF_INET or socket.AF_INET6) connection_candidates = socket.getaddrinfo( # type: ignore @@ -200,8 +210,15 @@ def __init__( # used in recv() self.received_timestamp_struct = "@ll" - ancillary_data_size = struct.calcsize(self.received_timestamp_struct) - self.received_ancillary_buffer_size = socket.CMSG_SPACE(ancillary_data_size) + self.received_timestamp_struct_size = struct.calcsize( + self.received_timestamp_struct + ) + if self.timestamp_nanosecond: + self.received_ancillary_buffer_size = socket.CMSG_SPACE( + self.received_timestamp_struct_size + ) + else: + self.received_ancillary_buffer_size = 0 # used by send() self._send_destination = (self.group, self.port) @@ -238,7 +255,15 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) # set how to receive timestamps - sock.setsockopt(socket.SOL_SOCKET, SO_TIMESTAMPNS, 1) + try: + sock.setsockopt(socket.SOL_SOCKET, SO_TIMESTAMPNS, 1) + except OSError as error: + if error.errno == errno.ENOPROTOOPT: # It is unavailable on macOS + self.timestamp_nanosecond = False + else: + raise error + else: + self.timestamp_nanosecond = True # Bind it to the port (on any interface) sock.bind(("", self.port)) @@ -272,18 +297,22 @@ def send(self, data: bytes, timeout: Optional[float] = None) -> None: :param timeout: the timeout in seconds after which an Exception is raised is sending has failed :param data: the data to be sent - :raises OSError: if an error occurred while writing to the underlying socket - :raises socket.timeout: if the timeout ran out before sending was completed (this is a subclass of - *OSError*) + :raises can.CanOperationError: if an error occurred while writing to the underlying socket + :raises can.CanTimeoutError: if the timeout ran out before sending was completed """ if timeout != self._last_send_timeout: self._last_send_timeout = timeout # this applies to all blocking calls on the socket, but sending is the only one that is blocking self._socket.settimeout(timeout) - bytes_sent = self._socket.sendto(data, self._send_destination) - if bytes_sent < len(data): - raise socket.timeout() + try: + bytes_sent = self._socket.sendto(data, self._send_destination) + if bytes_sent < len(data): + raise TimeoutError() + except TimeoutError: + raise can.CanTimeoutError() from None + except OSError as error: + raise can.CanOperationError("failed to send via socket") from error def recv( self, timeout: Optional[float] = None @@ -320,21 +349,41 @@ def recv( self.max_buffer, self.received_ancillary_buffer_size ) - # fetch timestamp; this is configured in in _create_socket() - assert len(ancillary_data) == 1, "only requested a single extra field" - cmsg_level, cmsg_type, cmsg_data = ancillary_data[0] - assert ( - cmsg_level == socket.SOL_SOCKET and cmsg_type == SO_TIMESTAMPNS - ), "received control message type that was not requested" - # see https://man7.org/linux/man-pages/man3/timespec.3.html -> struct timespec for details - seconds, nanoseconds = struct.unpack( - self.received_timestamp_struct, cmsg_data - ) - if nanoseconds >= 1e9: - raise can.CanError( - f"Timestamp nanoseconds field was out of range: {nanoseconds} not less than 1e9" + # fetch timestamp; this is configured in _create_socket() + if self.timestamp_nanosecond: + # Very similar to timestamp handling in can/interfaces/socketcan/socketcan.py -> capture_message() + if len(ancillary_data) != 1: + raise can.CanOperationError( + "Only requested a single extra field but got a different amount" + ) + cmsg_level, cmsg_type, cmsg_data = ancillary_data[0] + if cmsg_level != socket.SOL_SOCKET or cmsg_type != SO_TIMESTAMPNS: + raise can.CanOperationError( + "received control message type that was not requested" + ) + # see https://man7.org/linux/man-pages/man3/timespec.3.html -> struct timespec for details + seconds, nanoseconds = struct.unpack( + self.received_timestamp_struct, cmsg_data + ) + if nanoseconds >= 1e9: + raise can.CanOperationError( + f"Timestamp nanoseconds field was out of range: {nanoseconds} not less than 1e9" + ) + timestamp = seconds + nanoseconds * 1.0e-9 + else: + result_buffer = ioctl( + self._socket.fileno(), + SIOCGSTAMP, + bytes(self.received_timestamp_struct_size), + ) + seconds, microseconds = struct.unpack( + self.received_timestamp_struct, result_buffer ) - timestamp = seconds + nanoseconds * 1.0e-9 + if microseconds >= 1e6: + raise can.CanOperationError( + f"Timestamp microseconds field was out of range: {microseconds} not less than 1e6" + ) + timestamp = seconds + microseconds * 1e-6 return raw_message_data, sender_address, timestamp diff --git a/doc/interfaces/udp_multicast.rst b/doc/interfaces/udp_multicast.rst index be5882f20..f2775727c 100644 --- a/doc/interfaces/udp_multicast.rst +++ b/doc/interfaces/udp_multicast.rst @@ -25,7 +25,7 @@ for specifying multicast IP addresses. Supported Platforms ------------------- -It should work on most Unix systems (including Linux with kernel 2.6.22+) but currently not on Windows. +It should work on most Unix systems (including Linux with kernel 2.6.22+ and macOS) but currently not on Windows. Example ------- diff --git a/test/back2back_test.py b/test/back2back_test.py index 479274343..b5ae4e27c 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -285,7 +285,7 @@ class BasicTestSocketCan(Back2BackTestCase): # this doesn't even work on Travis CI for macOS; for example, see # https://travis-ci.org/github/hardbyte/python-can/jobs/745389871 @unittest.skipUnless( - IS_UNIX and not IS_OSX, + IS_UNIX and not (IS_CI and IS_OSX), "only supported on Unix systems (but not on macOS at Travis CI and GitHub Actions)", ) class BasicTestUdpMulticastBusIPv4(Back2BackTestCase): @@ -303,8 +303,8 @@ def test_unique_message_instances(self): # this doesn't even work for loopback multicast addresses on Travis CI; for example, see # https://travis-ci.org/github/hardbyte/python-can/builds/745065503 @unittest.skipUnless( - IS_UNIX and not (IS_TRAVIS or IS_OSX), - "only supported on Unix systems (but not on Travis CI; and not an macOS at GitHub Actions)", + IS_UNIX and not (IS_TRAVIS or (IS_CI and IS_OSX)), + "only supported on Unix systems (but not on Travis CI; and not on macOS at GitHub Actions)", ) class BasicTestUdpMulticastBusIPv6(Back2BackTestCase): From 1693c27ea751958260a9c162727af1790c28b006 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 30 Apr 2022 21:34:20 +0200 Subject: [PATCH 107/475] test python 3.11 (#1302) --- .github/workflows/build.yml | 14 +++++++------- test/test_viewer.py | 15 ++++++++------- tox.ini | 5 +++-- 3 files changed, 18 insertions(+), 16 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 993247868..7e37b4ad5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -15,16 +15,16 @@ jobs: experimental: [false] python-version: ["3.7", "3.8", "3.9", "3.10", "pypy-3.7", "pypy-3.8"] # Do not test on Python 3.11 pre-releases since wrapt causes problems: https://github.com/GrahamDumpleton/wrapt/issues/196 - # include: + include: # Only test on a single configuration while there are just pre-releases - # - os: ubuntu-latest - # experimental: true - # python-version: "3.11.0-alpha.3" + - os: ubuntu-latest + experimental: true + python-version: "3.11.0-alpha - 3.11.0" fail-fast: false steps: - uses: actions/checkout@v2 - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v2 + uses: actions/setup-python@v3 with: python-version: ${{ matrix.python-version }} - name: Install dependencies @@ -44,7 +44,7 @@ jobs: steps: - uses: actions/checkout@v2 - name: Set up Python - uses: actions/setup-python@v2 + uses: actions/setup-python@v3 with: python-version: "3.10" - name: Install dependencies @@ -78,7 +78,7 @@ jobs: steps: - uses: actions/checkout@v2 - name: Set up Python - uses: actions/setup-python@v2 + uses: actions/setup-python@v3 with: python-version: "3.10" - name: Install dependencies diff --git a/test/test_viewer.py b/test/test_viewer.py index 20c3d2faa..5633a3bc1 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -37,7 +37,7 @@ import can from can.viewer import CanViewer, parse_args - +from test.config import IS_CI # Allow the curses module to be missing (e.g. on PyPy on Windows) try: @@ -251,9 +251,10 @@ def test_receive(self): if _id["dt"] == 0: self.assertEqual(_id["count"], 1) else: - self.assertTrue( - pytest.approx(_id["dt"], 0.1) - ) # dt should be ~0.1 s + if not IS_CI: # do not test timing in CI + assert _id["dt"] == pytest.approx( + 0.1, abs=5e-2 + ) # dt should be ~0.1 s self.assertEqual(_id["count"], 2) else: # Make sure dt is 0 @@ -347,7 +348,7 @@ def test_pack_unpack(self): raw_data = self.pack_data(CANOPEN_TPDO2 + 1, data_structs, 12.34, 4.5, 6) parsed_data = CanViewer.unpack_data(CANOPEN_TPDO2 + 1, data_structs, raw_data) - self.assertTrue(pytest.approx(parsed_data, [12.34, 4.5, 6])) + assert parsed_data == pytest.approx([12.34, 4.5, 6]) self.assertTrue( isinstance(parsed_data[0], float) and isinstance(parsed_data[1], float) @@ -356,14 +357,14 @@ def test_pack_unpack(self): raw_data = self.pack_data(CANOPEN_TPDO3 + 1, data_structs, 123.45, 67.89) parsed_data = CanViewer.unpack_data(CANOPEN_TPDO3 + 1, data_structs, raw_data) - self.assertTrue(pytest.approx(parsed_data, [123.45, 67.89])) + assert parsed_data == pytest.approx([123.45, 67.89]) self.assertTrue(all(isinstance(d, float) for d in parsed_data)) raw_data = self.pack_data( CANOPEN_TPDO4 + 1, data_structs, math.pi / 2.0, math.pi ) parsed_data = CanViewer.unpack_data(CANOPEN_TPDO4 + 1, data_structs, raw_data) - self.assertTrue(pytest.approx(parsed_data, [math.pi / 2.0, math.pi])) + assert parsed_data == pytest.approx([math.pi / 2.0, math.pi]) self.assertTrue(all(isinstance(d, float) for d in parsed_data)) raw_data = self.pack_data(CANOPEN_TPDO1 + 2, data_structs) diff --git a/tox.ini b/tox.ini index 6b407dfeb..248a6fd37 100644 --- a/tox.ini +++ b/tox.ini @@ -1,11 +1,12 @@ [tox] +isolated_build = true [testenv] deps = - pytest==6.2.*,>=6.2.5 + pytest==7.1.*,>=7.1.2 pytest-timeout==2.0.2 pytest-cov==3.0.0 - coverage==6.2 + coverage==6.3 codecov==2.1.12 hypothesis~=6.35.0 pyserial~=3.5 From 796b52586a5d891e4e2077b423de40cba07f8b44 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Mon, 2 May 2022 18:35:29 -0400 Subject: [PATCH 108/475] Default mode for FileIOMessageWriter should be wt (#1303) Default mode for FileIOMessageWriter should be `wt` instead of `rt`. --- can/io/generic.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/io/generic.py b/can/io/generic.py index 6f18fbe65..b45e4dd1f 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -82,7 +82,7 @@ class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): file: can.typechecking.FileLike - def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "rt") -> None: + def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "wt") -> None: # Not possible with the type signature, but be verbose for user-friendliness if file is None: raise ValueError("The given file cannot be None") From 4cb2f2f6fbf6bd378a4e804b5c737a6128caea1d Mon Sep 17 00:00:00 2001 From: Gonzalo Ribera Date: Wed, 25 May 2022 06:05:36 -0300 Subject: [PATCH 109/475] Fix fileno error on Windows (robotell bus) (#1313) * Fix fileno error on Windows (robotell bus) * Fix format * Add test * format --- can/interfaces/robotell.py | 11 ++++++++--- test/test_robotell.py | 4 ++++ 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 88cee26d1..709fad78d 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -2,6 +2,7 @@ Interface for Chinese Robotell compatible interfaces (win32/linux). """ +import io import time import logging @@ -367,10 +368,14 @@ def shutdown(self): self.serialPortOrig.close() def fileno(self): - if hasattr(self.serialPortOrig, "fileno"): + try: return self.serialPortOrig.fileno() - # Return an invalid file descriptor on Windows - return -1 + except io.UnsupportedOperation: + raise NotImplementedError( + "fileno is not implemented using current CAN bus on this platform" + ) + except Exception as exception: + raise CanOperationError("Cannot fetch fileno") from exception def get_serial_number(self, timeout): """Get serial number of the slcan interface. diff --git a/test/test_robotell.py b/test/test_robotell.py index 86e053f2d..8250b7ada 100644 --- a/test/test_robotell.py +++ b/test/test_robotell.py @@ -940,6 +940,10 @@ def test_set_hw_filter(self): ), ) + def test_when_no_fileno(self): + with self.assertRaises(NotImplementedError): + self.bus.fileno() + if __name__ == "__main__": unittest.main() From 97302b9db9ff621a97fbe7a280ec12a261bbff20 Mon Sep 17 00:00:00 2001 From: Jurgis Date: Wed, 1 Jun 2022 10:13:12 +0300 Subject: [PATCH 110/475] Improve gs_usb usability and fix loopback frames (#1270) * Improve gs_usb usability and fix loopback frames * Fix extended id parsing * Fix formatting --- can/interfaces/gs_usb.py | 39 ++++++++++++++++++++++++++++++++------- doc/interfaces/gs_usb.rst | 10 +++++++++- 2 files changed, 41 insertions(+), 8 deletions(-) diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 7731d797d..185d28acf 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -1,7 +1,7 @@ from typing import Optional, Tuple from gs_usb.gs_usb import GsUsb -from gs_usb.gs_usb_frame import GsUsbFrame +from gs_usb.gs_usb_frame import GsUsbFrame, GS_USB_NONE_ECHO_ID from gs_usb.constants import CAN_ERR_FLAG, CAN_RTR_FLAG, CAN_EFF_FLAG, CAN_MAX_DLC import can import usb @@ -14,17 +14,42 @@ class GsUsbBus(can.BusABC): - def __init__(self, channel, bus, address, bitrate, can_filters=None, **kwargs): + def __init__( + self, + channel, + bitrate, + index=None, + bus=None, + address=None, + can_filters=None, + **kwargs, + ): """ :param channel: usb device name + :param index: device number if using automatic scan, starting from 0. + If specified, bus/address shall not be provided. :param bus: number of the bus that the device is connected to :param address: address of the device on the bus it is connected to :param can_filters: not supported :param bitrate: CAN network bandwidth (bits/s) """ - gs_usb = GsUsb.find(bus=bus, address=address) - if not gs_usb: - raise CanInitializationError(f"Cannot find device {channel}") + if (index is not None) and ((bus or address) is not None): + raise CanInitializationError( + f"index and bus/address cannot be used simultaneously" + ) + + if index is not None: + devs = GsUsb.scan() + if len(devs) <= index: + raise CanInitializationError( + f"Cannot find device {index}. Devices found: {len(devs)}" + ) + gs_usb = devs[index] + else: + gs_usb = GsUsb.find(bus=bus, address=address) + if not gs_usb: + raise CanInitializationError(f"Cannot find device {channel}") + self.gs_usb = gs_usb self.channel_info = channel @@ -100,13 +125,13 @@ def _recv_internal( msg = can.Message( timestamp=frame.timestamp, arbitration_id=frame.arbitration_id, - is_extended_id=frame.can_dlc, + is_extended_id=frame.is_extended_id, is_remote_frame=frame.is_remote_frame, is_error_frame=frame.is_error_frame, channel=self.channel_info, dlc=frame.can_dlc, data=bytearray(frame.data)[0 : frame.can_dlc], - is_rx=True, + is_rx=frame.echo_id == GS_USB_NONE_ECHO_ID, ) return msg, False diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index aae6c39f5..232786fb7 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -7,7 +7,15 @@ Windows/Linux/Mac CAN driver based on usbfs or WinUSB WCID for Geschwister Schne Install: ``pip install "python-can[gs_usb]"`` -Usage: pass ``bus`` and ``address`` to open the device. The parameters can be got by ``pyusb`` as shown below: +Usage: pass device ``index`` (starting from 0) if using automatic device detection: + +:: + + import can + + bus = can.Bus(bustype="gs_usb", channel=dev.product, index=0, bitrate=250000) + +Alternatively, pass ``bus`` and ``address`` to open a specific device. The parameters can be got by ``pyusb`` as shown below: :: From 47f673b47dcffa335ee10016052475f8af534b3d Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Wed, 1 Jun 2022 03:03:15 -0500 Subject: [PATCH 111/475] Remove redundant writer.stop call that throws error (#1317) * Remove redundant writer.stop call that throws error The issue is that the writer has already previously been told to stop. * Remove commented lines and update docstring The _get_new_writer function was previously calling `self._writer.close()`. The `self.writer` function is already being closed in the call stack. Due to `self.writer` and `self._writer` being linked, there was an error that the IO file was closed. The `self._writer.close()` was commented out in a prior commit as a proposal for the change. That comment is now removed. The docstring is updated. --- can/io/logger.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index cbed054ac..37ba1e736 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -208,7 +208,10 @@ def on_message_received(self, msg: Message) -> None: self.writer.on_message_received(msg) def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: - """Instantiate a new writer after stopping the old one. + """Instantiate a new writer. + + .. note:: + The :attr:`self.writer` should be closed prior to calling this function. :param filename: Path-like object that specifies the location and name of the log file. @@ -216,9 +219,6 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: :return: An instance of a writer class. """ - # Close the old writer first - if self._writer is not None: - self._writer.stop() logger = Logger(filename, *self.writer_args, **self.writer_kwargs) if isinstance(logger, FileIOMessageWriter): From 0d7f65f74b8b015fb650e9910a920323023f310d Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 1 Jun 2022 16:07:11 +0200 Subject: [PATCH 112/475] Clean up comment after !1302 (#1322) --- .github/workflows/build.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 7e37b4ad5..5365620cd 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -14,7 +14,6 @@ jobs: os: [ubuntu-latest, macos-latest, windows-latest] experimental: [false] python-version: ["3.7", "3.8", "3.9", "3.10", "pypy-3.7", "pypy-3.8"] - # Do not test on Python 3.11 pre-releases since wrapt causes problems: https://github.com/GrahamDumpleton/wrapt/issues/196 include: # Only test on a single configuration while there are just pre-releases - os: ubuntu-latest From 0c4dee01a00a9bdd82b71071627b8f2fd2fc929d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 7 Jun 2022 08:49:57 +0200 Subject: [PATCH 113/475] fix #1299 (#1301) --- can/io/asc.py | 4 ++-- test/data/issue_1299.asc | 11 +++++++++++ test/logformats_test.py | 3 +++ 3 files changed, 16 insertions(+), 2 deletions(-) create mode 100644 test/data/issue_1299.asc diff --git a/can/io/asc.py b/can/io/asc.py index 1a97f6b72..3a320f007 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -202,9 +202,9 @@ def _process_classic_can_frame( _, dlc_str = rest_of_message.split(None, 1) data = "" - dlc = int(dlc_str, self._converted_base) + dlc = dlc2len(int(dlc_str, self._converted_base)) msg_kwargs["dlc"] = dlc - self._process_data_string(data, dlc, msg_kwargs) + self._process_data_string(data, min(8, dlc), msg_kwargs) return Message(**msg_kwargs) diff --git a/test/data/issue_1299.asc b/test/data/issue_1299.asc new file mode 100644 index 000000000..43c29302e --- /dev/null +++ b/test/data/issue_1299.asc @@ -0,0 +1,11 @@ +date Thu Apr 28 10:44:52.480 am 2022 +base hex timestamps absolute +internal events logged +// version 12.0.0 +Begin TriggerBlock Thu Apr 28 10:44:52.480 am 2022 + 0.000000 Start of measurement + 13.258199 1 180 Tx d 8 6A 00 00 00 00 00 00 00 Length = 244016 BitCount = 125 ID = 384 + 13.258433 1 221 Tx d 8 C2 4A 05 81 00 00 15 10 Length = 228016 BitCount = 117 ID = 545 + 13.258671 1 3FF Tx d D 55 AA 01 02 03 04 05 06 Length = 232016 BitCount = 119 ID = 1023 + 13.258907 1 F4 Tx d 8 8A 1A 0D F2 13 00 00 07 Length = 230016 BitCount = 118 ID = 244 +End TriggerBlock diff --git a/test/logformats_test.py b/test/logformats_test.py index eb8984ef6..49e9c563e 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -561,6 +561,9 @@ def test_ignore_comments(self): def test_no_triggerblock(self): _msg_list = self._read_log_file("issue_1256.asc") + def test_can_dlc_greater_than_8(self): + _msg_list = self._read_log_file("issue_1299.asc") + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. From 14301543424a490d1607b2d0ed56c059cdff3d09 Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Fri, 10 Jun 2022 02:28:06 -0500 Subject: [PATCH 114/475] Enhance `can.logger` to consider the `append` option (#1327) * Add passage of **options to the logger initialization * Add -a boolean option to the parser * Add manual arg parse for boolean variables This solution is only required until Python>=3.9. * Fix the index-error check * Bolster help documentation for new -a option * Clean up variable names, notes, etc. * Whitespace formatting (PEP-8 style) * Make formatting recomendations based on `pylint logger.py` * Format code with black logger.py to stop failing the `black` check * Reduce complexity of append arg parse incorporation * Fix format with `black can/logger.py` * Change append argparse access from `results.a` to `results.append` * Add `dest` option to append argument --- can/logger.py | 41 +++++++++++++++++++++++++++-------------- 1 file changed, 27 insertions(+), 14 deletions(-) diff --git a/can/logger.py b/can/logger.py index 053001968..3594427e6 100644 --- a/can/logger.py +++ b/can/logger.py @@ -31,9 +31,10 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: parser.add_argument( "-c", "--channel", - help='''Most backend interfaces require some sort of channel. - For example with the serial interface the channel might be a rfcomm device: "/dev/rfcomm0" - With the socketcan interfaces valid channel examples include: "can0", "vcan0"''', + help=r"Most backend interfaces require some sort of channel. For " + r"example with the serial interface the channel might be a rfcomm" + r' device: "/dev/rfcomm0". With the socketcan interface valid ' + r'channel examples include: "can0", "vcan0".', ) parser.add_argument( @@ -60,11 +61,10 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: parser.add_argument( "extra_args", nargs=argparse.REMAINDER, - help="""\ - The remaining arguments will be used for the interface initialisation. - For example, `-i vector -c 1 --app-name=MyCanApp` is the equivalent to - opening the bus with `Bus('vector', channel=1, app_name='MyCanApp')` - """, + help=r"The remaining arguments will be used for the interface " + r"initialisation. For example, `-i vector -c 1 --app-name=" + r"MyCanApp` is the equivalent to opening the bus with `Bus(" + r"'vector', channel=1, app_name='MyCanApp')", ) @@ -82,8 +82,10 @@ def _append_filter_argument( *args, "--filter", help="R|Space separated CAN filters for the given CAN interface:" - "\n : (matches when & mask == can_id & mask)" - "\n ~ (matches when & mask != can_id & mask)" + "\n : (matches when & mask ==" + " can_id & mask)" + "\n ~ (matches when & mask !=" + " can_id & mask)" "\nFx to show only frames with ID 0x100 to 0x103 and 0x200 to 0x20F:" "\n python -m can.viewer -f 100:7FC 200:7F0" "\nNote that the ID and mask are always interpreted as hex values", @@ -141,7 +143,8 @@ def _parse_additonal_config(unknown_args): def main() -> None: parser = argparse.ArgumentParser( - description="Log CAN traffic, printing messages to stdout or to a given file.", + description="Log CAN traffic, printing messages to stdout or to a " + "given file.", ) _create_base_argument_parser(parser) @@ -154,12 +157,21 @@ def main() -> None: default=None, ) + parser.add_argument( + "-a", + "--append", + dest="append", + help="Append to the log file if it already exists.", + action="store_true", + ) + parser.add_argument( "-s", "--file_size", dest="file_size", type=int, - help="Maximum file size in bytes. Rotate log file when size threshold is reached.", + help="Maximum file size in bytes. Rotate log file when size threshold " + "is reached.", default=None, ) @@ -201,12 +213,13 @@ def main() -> None: print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}") print(f"Can Logger (Started on {datetime.now()})") + options = {"append": results.append} if results.file_size: logger = SizedRotatingLogger( - base_filename=results.log_file, max_bytes=results.file_size + base_filename=results.log_file, max_bytes=results.file_size, **options ) else: - logger = Logger(filename=results.log_file) # type: ignore + logger = Logger(filename=results.log_file, **options) # type: ignore try: while True: From cb3d4dcce7794ab3a22cf8f1e69aea33fa837c15 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 20 Jun 2022 14:12:08 +0200 Subject: [PATCH 115/475] fix broken badges --- README.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.rst b/README.rst index 956033de1..0e5d79e3f 100644 --- a/README.rst +++ b/README.rst @@ -33,15 +33,15 @@ python-can :target: https://github.com/hardbyte/python-can/actions/workflows/build.yml :alt: Github Actions workflow status -.. |build_travis| image:: https://img.shields.io/travis/com/hardbyte/python-can/develop.svg?label=Travis%20CI - :target: https://travis-ci.com/hardbyte/python-can +.. |build_travis| image:: https://img.shields.io/travis/hardbyte/python-can/develop.svg?label=Travis%20CI + :target: https://app.travis-ci.com/github/hardbyte/python-can :alt: Travis CI Server for develop branch .. |coverage| image:: https://codecov.io/gh/hardbyte/python-can/branch/develop/graph/badge.svg :target: https://codecov.io/gh/hardbyte/python-can/branch/develop :alt: Test coverage reports on Codecov.io -.. |mergify| image:: https://img.shields.io/endpoint.svg?url=https://gh.mergify.io/badges/hardbyte/python-can&style=flat +.. |mergify| image:: https://img.shields.io/endpoint.svg?url=https://api.mergify.com/v1/badges/hardbyte/python-can&style=flat :target: https://mergify.io :alt: Mergify Status From ec064529b8acffe7f6d9a3494442b6b1c6152e97 Mon Sep 17 00:00:00 2001 From: MattWoodhead Date: Wed, 22 Jun 2022 09:38:37 +0100 Subject: [PATCH 116/475] Fix fileno error on Windows (Serial bus) (#1333) * Add conda-forge badge to readme * Update fileno method in serial_can.py Change implemented similar to that made in #1313. This means notifiers will now work with the Serial interface. * Format serial_test.py with black * Revert "Add conda-forge badge to readme" This reverts commit 59d0b3cbf876a16ae4781e607071665a2df7b7a4. --- can/interfaces/serial/serial_can.py | 11 ++++++++--- test/serial_test.py | 18 ++++++++++++++++++ 2 files changed, 26 insertions(+), 3 deletions(-) diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index c214d8559..ec4bb8671 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -7,6 +7,7 @@ See the interface documentation for the format being used. """ +import io import logging import struct from typing import Any, List, Tuple, Optional @@ -212,10 +213,14 @@ def _recv_internal( raise CanOperationError("could not read from serial") from error def fileno(self) -> int: - if hasattr(self._ser, "fileno"): + try: return self._ser.fileno() - # Return an invalid file descriptor on Windows - return -1 + except io.UnsupportedOperation: + raise NotImplementedError( + "fileno is not implemented using current CAN bus on this platform" + ) + except Exception as exception: + raise CanOperationError("Cannot fetch fileno") from exception @staticmethod def _detect_available_configs() -> List[AutoDetectedConfig]: diff --git a/test/serial_test.py b/test/serial_test.py index c9c035634..aa6c71994 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -136,6 +136,24 @@ def test_rx_tx_min_timestamp_error(self): msg = can.Message(timestamp=-1) self.assertRaises(ValueError, self.bus.send, msg) + def test_when_no_fileno(self): + """ + Tests for the fileno method catching the missing pyserial implementeation on the Windows platform + """ + try: + fileno = self.bus.fileno() + except NotImplementedError: + pass # allow it to be left non-implemented for Windows platform + else: + fileno.__gt__ = ( + lambda self, compare: True + ) # Current platform implements fileno, so get the mock to respond to a greater than comparison + self.assertIsNotNone(fileno) + self.assertFalse( + fileno == -1 + ) # forcing the value to -1 is the old way of managing fileno on Windows but it is not compatible with notifiers + self.assertTrue(fileno > 0) + class SimpleSerialTest(unittest.TestCase, SimpleSerialTestBase): def __init__(self, *args, **kwargs): From d3305225330c2585cf1671532344afe5500352ee Mon Sep 17 00:00:00 2001 From: tamenol <37591107+tamenol@users.noreply.github.com> Date: Wed, 22 Jun 2022 11:28:12 +0200 Subject: [PATCH 117/475] fix typing in add_listener and remove_listener (#1335) * fix typing in add_listener and remove_listener Use the union to typecheck these functions * add awaitable to MessageRecipient definition; remove unneeded cast * remove unused imports --- can/notifier.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/can/notifier.py b/can/notifier.py index f7c004c4e..2adae431e 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -6,7 +6,7 @@ import logging import threading import time -from typing import Any, Callable, cast, Iterable, List, Optional, Union, Awaitable +from typing import Callable, Iterable, List, Optional, Union, Awaitable from can.bus import BusABC from can.listener import Listener @@ -14,7 +14,7 @@ logger = logging.getLogger("can.Notifier") -MessageRecipient = Union[Listener, Callable[[Message], None]] +MessageRecipient = Union[Listener, Callable[[Message], Union[Awaitable[None], None]]] class Notifier: @@ -140,7 +140,7 @@ def _on_message_available(self, bus: BusABC) -> None: def _on_message_received(self, msg: Message) -> None: for callback in self.listeners: - res = cast(Union[None, Optional[Awaitable[Any]]], callback(msg)) + res = callback(msg) if res is not None and self._loop is not None and asyncio.iscoroutine(res): # Schedule coroutine self._loop.create_task(res) @@ -166,7 +166,7 @@ def _on_error(self, exc: Exception) -> bool: return was_handled - def add_listener(self, listener: Listener) -> None: + def add_listener(self, listener: MessageRecipient) -> None: """Add new Listener to the notification list. If it is already present, it will be called two times each time a message arrives. @@ -175,7 +175,7 @@ def add_listener(self, listener: Listener) -> None: """ self.listeners.append(listener) - def remove_listener(self, listener: Listener) -> None: + def remove_listener(self, listener: MessageRecipient) -> None: """Remove a listener from the notification list. This method throws an exception if the given listener is not part of the stored listeners. From 5bca2d71a7a41692cb1899cd7daa2ecc3710e859 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Tue, 28 Jun 2022 14:52:47 -0400 Subject: [PATCH 118/475] Allow ICSApiError to be pickled and un-pickled (#1341) --- can/interfaces/ics_neovi/neovi_bus.py | 9 +++++++++ test/test_neovi.py | 25 +++++++++++++++++++++++++ 2 files changed, 34 insertions(+) create mode 100644 test/test_neovi.py diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 95a5bc4c5..5366f8155 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -95,6 +95,15 @@ def __init__( self.severity = severity self.restart_needed = restart_needed == 1 + def __reduce__(self): + return type(self), ( + self.error_code, + self.description_short, + self.description_long, + self.severity, + self.restart_needed, + ) + @property def error_number(self) -> int: """Deprecated. Renamed to :attr:`can.CanError.error_code`.""" diff --git a/test/test_neovi.py b/test/test_neovi.py new file mode 100644 index 000000000..181f92377 --- /dev/null +++ b/test/test_neovi.py @@ -0,0 +1,25 @@ +#!/usr/bin/env python + +""" +""" +import pickle +import unittest +from can.interfaces.ics_neovi import ICSApiError + + +class ICSApiErrorTest(unittest.TestCase): + def test_error_pickling(self): + iae = ICSApiError( + 0xF00, + "description_short", + "description_long", + severity=ICSApiError.ICS_SPY_ERR_CRITICAL, + restart_needed=1, + ) + pickled_iae = pickle.dumps(iae) + un_pickled_iae = pickle.loads(pickled_iae) + assert iae.__dict__ == un_pickled_iae.__dict__ + + +if __name__ == "__main__": + unittest.main() From 7b1893d4c7d5654426dcfec4ebcd28ecb5951a85 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?uml=C3=A4ute?= Date: Sun, 10 Jul 2022 16:05:18 +0200 Subject: [PATCH 119/475] Sort interface names, to make documentation reproducible (#1342) --- can/logger.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/logger.py b/can/logger.py index 3594427e6..5aff5e4e1 100644 --- a/can/logger.py +++ b/can/logger.py @@ -43,7 +43,7 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: dest="interface", help="""Specify the backend CAN interface to use. If left blank, fall back to reading from configuration files.""", - choices=can.VALID_INTERFACES, + choices=sorted(can.VALID_INTERFACES), ) parser.add_argument( From f59fe4f8a1f27f202d1a4419b3153dccdfeca68e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?uml=C3=A4ute?= Date: Mon, 11 Jul 2022 09:55:15 +0200 Subject: [PATCH 120/475] Exclude repository-configuration from git-archive (#1343) --- .gitattributes | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 .gitattributes diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 000000000..a661f6235 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +.git* export-ignore +.*.yml export-ignore From 3ae087963295cd08146cd6b377bcc1f401276018 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 13 Jul 2022 12:34:03 +0200 Subject: [PATCH 121/475] Add py.typed file and distribute it upon installation (#1344) --- can/py.typed | 0 setup.py | 1 + 2 files changed, 1 insertion(+) create mode 100644 can/py.typed diff --git a/can/py.typed b/can/py.typed new file mode 100644 index 000000000..e69de29bb diff --git a/setup.py b/setup.py index 9dd6153c7..c9defecab 100644 --- a/setup.py +++ b/setup.py @@ -78,6 +78,7 @@ "": ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.md"], "doc": ["*.*"], "examples": ["*.py"], + "can": ["py.typed"], }, # Installation # see https://www.python.org/dev/peps/pep-0345/#version-specifiers From b9d9d01c1c87bc2a4d08b709a0763cdc850f8c35 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Sun, 24 Jul 2022 19:16:58 +0200 Subject: [PATCH 122/475] Add device_id parameter to PcanBus constructor (#1346) * Add device_id parameter to PcanBus constructor The new device_id parameter can be used to select a PCAN channel based on the freely programmable device ID of a PCAN USB device. This change allows for a more deterministic channel selection since the device ID does not change between restarts. * Change wording of PCAN _find_channel_by_dev_id docstring Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Apply black code formatting Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/pcan/pcan.py | 41 ++++++++++++++++++++++++++++++++++++- test/test_pcan.py | 19 +++++++++++++++++ 2 files changed, 59 insertions(+), 1 deletion(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index b8a0ebee5..2fea74e77 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -103,6 +103,7 @@ class PcanBus(BusABC): def __init__( self, channel="PCAN_USBBUS1", + device_id=None, state=BusState.ACTIVE, bitrate=500000, *args, @@ -119,6 +120,14 @@ def __init__( Alternatively the value can be an int with the numerical value. Default is 'PCAN_USBBUS1' + :param int device_id: + Select the PCAN interface based on its ID. The device ID is a 8/32bit + value that can be configured for each PCAN device. If you set the + device_id parameter, it takes precedence over the channel parameter. + The constructor searches all connected interfaces and initializes the + first one that matches the parameter value. If no device is found, + an exception is raised. + :param can.bus.BusState state: BusState of the channel. Default is ACTIVE @@ -198,6 +207,15 @@ def __init__( Ignored if not using CAN-FD. """ + self.m_objPCANBasic = PCANBasic() + + if device_id is not None: + channel = self._find_channel_by_dev_id(device_id) + + if channel is None: + err_msg = "Cannot find a channel with ID {:08x}".format(device_id) + raise ValueError(err_msg) + self.channel_info = str(channel) self.fd = kwargs.get("fd", False) pcan_bitrate = PCAN_BITRATES.get(bitrate, PCAN_BAUD_500K) @@ -209,7 +227,6 @@ def __init__( if not isinstance(channel, int): channel = PCAN_CHANNEL_NAMES[channel] - self.m_objPCANBasic = PCANBasic() self.m_PcanHandle = channel self.check_api_version() @@ -269,6 +286,28 @@ def __init__( super().__init__(channel=channel, state=state, bitrate=bitrate, *args, **kwargs) + def _find_channel_by_dev_id(self, device_id): + """ + Iterate over all possible channels to find a channel that matches the device + ID. This method is somewhat brute force, but the Basic API only offers a + suitable API call since V4.4.0. + + :param device_id: The device_id for which to search for + :return: The name of a PCAN channel that matches the device ID, or None if + no channel can be found. + """ + for ch_name, ch_handle in PCAN_CHANNEL_NAMES.items(): + err, cur_dev_id = self.m_objPCANBasic.GetValue( + ch_handle, PCAN_DEVICE_NUMBER + ) + if err != PCAN_ERROR_OK: + continue + + if cur_dev_id == device_id: + return ch_name + + return None + def _get_formatted_error(self, error): """ Gets the text using the GetErrorText API function. diff --git a/test/test_pcan.py b/test/test_pcan.py index 6fc21184a..eba42d7e1 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -344,6 +344,25 @@ def test_status_string(self, name, status, expected_result) -> None: self.assertEqual(self.bus.status_string(), expected_result) self.mock_pcan.GetStatus.assert_called() + @parameterized.expand([(0x0, "error"), (0x42, "PCAN_USBBUS8")]) + def test_constructor_with_device_id(self, dev_id, expected_result): + def get_value_side_effect(handle, param): + if param == PCAN_API_VERSION: + return PCAN_ERROR_OK, self.PCAN_API_VERSION_SIM.encode("ascii") + + if handle in (PCAN_USBBUS8, PCAN_USBBUS14): + return 0, 0x42 + else: + return PCAN_ERROR_ILLHW, 0x0 + + self.mock_pcan.GetValue = Mock(side_effect=get_value_side_effect) + + if expected_result == "error": + self.assertRaises(ValueError, can.Bus, bustype="pcan", device_id=dev_id) + else: + self.bus = can.Bus(bustype="pcan", device_id=dev_id) + self.assertEqual(expected_result, self.bus.channel_info) + if __name__ == "__main__": unittest.main() From 788dd048264ca4f82a2c8f994b6dad19655365de Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 6 Aug 2022 23:26:40 +0200 Subject: [PATCH 123/475] Detect types in _parse_additonal_config (#1328) * detect types in _parse_additonal_config * check argument format * fix typo * recognize extra_args * fix typo again --- can/logger.py | 37 ++++++++++++++++++++++++++++-------- can/player.py | 7 ++++--- can/viewer.py | 4 ++-- test/test_logger.py | 46 +++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 81 insertions(+), 13 deletions(-) diff --git a/can/logger.py b/can/logger.py index 5aff5e4e1..209c1381c 100644 --- a/can/logger.py +++ b/can/logger.py @@ -13,12 +13,12 @@ Dynamic Controls 2010 """ - +import re import sys import argparse from datetime import datetime import errno -from typing import Any, Dict, List, Union +from typing import Any, Dict, List, Union, Sequence, Tuple import can from . import Bus, BusState, Logger, SizedRotatingLogger @@ -134,11 +134,32 @@ def _parse_filters(parsed_args: Any) -> CanFilters: return can_filters -def _parse_additonal_config(unknown_args): - return dict( - (arg.split("=", 1)[0].lstrip("--").replace("-", "_"), arg.split("=", 1)[1]) - for arg in unknown_args - ) +def _parse_additional_config( + unknown_args: Sequence[str], +) -> Dict[str, Union[str, int, float, bool]]: + for arg in unknown_args: + if not re.match(r"^--[a-zA-Z\-]*?=\S*?$", arg): + raise ValueError(f"Parsing argument {arg} failed") + + def _split_arg(_arg: str) -> Tuple[str, str]: + left, right = _arg.split("=", 1) + return left.lstrip("--").replace("-", "_"), right + + args: Dict[str, Union[str, int, float, bool]] = {} + for key, string_val in map(_split_arg, unknown_args): + if re.match(r"^[-+]?\d+$", string_val): + # value is integer + args[key] = int(string_val) + elif re.match(r"^[-+]?\d*\.\d+$", string_val): + # value is float + args[key] = float(string_val) + elif re.match(r"^(?:True|False)$", string_val): + # value is bool + args[key] = string_val == "True" + else: + # value is string + args[key] = string_val + return args def main() -> None: @@ -202,7 +223,7 @@ def main() -> None: raise SystemExit(errno.EINVAL) results, unknown_args = parser.parse_known_args() - additional_config = _parse_additonal_config(unknown_args) + additional_config = _parse_additional_config(unknown_args) bus = _create_bus(results, can_filters=_parse_filters(results), **additional_config) if results.active: diff --git a/can/player.py b/can/player.py index 632cc331b..72faa892a 100644 --- a/can/player.py +++ b/can/player.py @@ -13,7 +13,7 @@ from can import LogReader, Message, MessageSync -from .logger import _create_base_argument_parser, _create_bus +from .logger import _create_base_argument_parser, _create_bus, _parse_additional_config def main() -> None: @@ -78,13 +78,14 @@ def main() -> None: parser.print_help(sys.stderr) raise SystemExit(errno.EINVAL) - results = parser.parse_args() + results, unknown_args = parser.parse_known_args() + additional_config = _parse_additional_config(unknown_args) verbosity = results.verbosity error_frames = results.error_frames - with _create_bus(results) as bus: + with _create_bus(results, **additional_config) as bus: with LogReader(results.infile) as reader: in_sync = MessageSync( diff --git a/can/viewer.py b/can/viewer.py index a84c865f5..7be04949d 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -35,7 +35,7 @@ _parse_filters, _append_filter_argument, _create_base_argument_parser, - _parse_additonal_config, + _parse_additional_config, ) @@ -540,7 +540,7 @@ def parse_args(args): else: data_structs[key] = struct.Struct(fmt) - additional_config = _parse_additonal_config(unknown_args) + additional_config = _parse_additional_config(unknown_args) return parsed_args, can_filters, data_structs, additional_config diff --git a/test/test_logger.py b/test/test_logger.py index b694f06bb..bb0015a89 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -10,6 +10,9 @@ import gzip import os import sys + +import pytest + import can import can.logger @@ -105,6 +108,49 @@ def test_log_virtual_sizedlogger(self): self.assertSuccessfullCleanup() self.mock_logger_sized.assert_called_once() + def test_parse_additional_config(self): + unknown_args = [ + "--app-name=CANalyzer", + "--serial=5555", + "--receive-own-messages=True", + "--false-boolean=False", + "--offset=1.5", + ] + parsed_args = can.logger._parse_additional_config(unknown_args) + + assert "app_name" in parsed_args + assert parsed_args["app_name"] == "CANalyzer" + + assert "serial" in parsed_args + assert parsed_args["serial"] == 5555 + + assert "receive_own_messages" in parsed_args + assert ( + isinstance(parsed_args["receive_own_messages"], bool) + and parsed_args["receive_own_messages"] is True + ) + + assert "false_boolean" in parsed_args + assert ( + isinstance(parsed_args["false_boolean"], bool) + and parsed_args["false_boolean"] is False + ) + + assert "offset" in parsed_args + assert parsed_args["offset"] == 1.5 + + with pytest.raises(ValueError): + can.logger._parse_additional_config(["--wrong-format"]) + + with pytest.raises(ValueError): + can.logger._parse_additional_config(["-wrongformat=value"]) + + with pytest.raises(ValueError): + can.logger._parse_additional_config(["--wrongformat=value1 value2"]) + + with pytest.raises(ValueError): + can.logger._parse_additional_config(["wrongformat="]) + class TestLoggerCompressedFile(unittest.TestCase): def setUp(self) -> None: From 616b00e82b4e9f148ddf3799d9edcad525a8deb6 Mon Sep 17 00:00:00 2001 From: Andrew Date: Sat, 6 Aug 2022 14:32:05 -0700 Subject: [PATCH 124/475] Finds USB2CAN Serial Number by USB Name (#1129) * Finds usb2can serial numbers by name * Cleaned up variable names --- can/interfaces/usb2can/serial_selector.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index fcc951262..c6b9053d6 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -40,7 +40,7 @@ def WMIDateStringToDate(dtmDate) -> str: return strDateTime -def find_serial_devices(serial_matcher: str = "ED") -> List[str]: +def find_serial_devices(serial_matcher: str = "") -> List[str]: """ Finds a list of USB devices where the serial number (partially) matches the given string. @@ -49,6 +49,9 @@ def find_serial_devices(serial_matcher: str = "ED") -> List[str]: """ objWMIService = win32com.client.Dispatch("WbemScripting.SWbemLocator") objSWbemServices = objWMIService.ConnectServer(".", "root\\cimv2") - items = objSWbemServices.ExecQuery("SELECT * FROM Win32_USBControllerDevice") - ids = (item.Dependent.strip('"')[-8:] for item in items) - return [e for e in ids if e.startswith(serial_matcher)] + query = "SELECT * FROM CIM_LogicalDevice where Name LIKE '%USB2CAN%'" + devices = objSWbemServices.ExecQuery(query) + serial_numbers = [device.DeviceID.split("\\")[-1] for device in devices] + if serial_matcher: + return [sn for sn in serial_numbers if serial_matcher in sn] + return serial_numbers From 73663b6bdd98f7d7aed1cbfb75c9a919d22217a4 Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Mon, 8 Aug 2022 01:52:30 -0500 Subject: [PATCH 125/475] Raise appropriate error message when append is not possible (#1361) * Raise appropriate error messages when SqliteWriter is requested to roll - Handle "append" by adding **options to SqlWriter - Check logger instance for SqliteWriter in rotating logger setup and raise appropriate error. * Change **options to **kwargs in can/io/sqlite.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Better error handling for Sqlite rollover and append option * Add type to **kwargs in asc * Raise type error rather than exception so tests pass * Changes to kwargs lookup and rolling log unavailability * Updates based on black and mypy feedback * Reformat exception by black * Handle multiple suffixes in exception * Replace ValueError with TypeError * Update append test to handle ValueError Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/io/asc.py | 6 ++++++ can/io/logger.py | 5 +++-- can/io/sqlite.py | 11 +++++++++-- test/logformats_test.py | 2 +- 4 files changed, 19 insertions(+), 5 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index 3a320f007..2826a22a6 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -352,6 +352,7 @@ def __init__( self, file: Union[StringPathLike, TextIO], channel: int = 1, + **kwargs: Any, ) -> None: """ :param file: a path-like object or as file-like object to write to @@ -360,6 +361,11 @@ def __init__( :param channel: a default channel to use when the message does not have a channel set """ + if kwargs.get("append", False): + raise ValueError( + f"{self.__class__.__name__} is currently not equipped to " + f"append messages to an existing file." + ) super().__init__(file, mode="w") self.channel = channel diff --git a/can/io/logger.py b/can/io/logger.py index 37ba1e736..5e46f6dc2 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -14,6 +14,7 @@ from typing_extensions import Literal from pkg_resources import iter_entry_points +import can.io from ..message import Message from ..listener import Listener from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter @@ -227,8 +228,8 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: return cast(FileIOMessageWriter, logger) else: raise Exception( - "The Logger corresponding to the arguments is not a FileIOMessageWriter or " - "can.Printer" + f"The log format \"{''.join(pathlib.Path(filename).suffixes[-2:])}" + f'" is not supported by {self.__class__.__name__}' ) def stop(self) -> None: diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 5f05764d5..98e870a84 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -8,7 +8,7 @@ import threading import logging import sqlite3 -from typing import Generator +from typing import Generator, Any from can.listener import BufferedReader from can.message import Message @@ -128,7 +128,9 @@ class SqliteWriter(MessageWriter, BufferedReader): MAX_BUFFER_SIZE_BEFORE_WRITES = 500 """Maximum number of messages to buffer before writing to the database""" - def __init__(self, file: StringPathLike, table_name: str = "messages") -> None: + def __init__( + self, file: StringPathLike, table_name: str = "messages", **kwargs: Any + ) -> None: """ :param file: a `str` or path like object that points to the database file to use @@ -137,6 +139,11 @@ def __init__(self, file: StringPathLike, table_name: str = "messages") -> None: .. warning:: In contrary to all other readers/writers the Sqlite handlers do not accept file-like objects as the `file` parameter. """ + if kwargs.get("append", False): + raise ValueError( + f"The append argument should not be used in " + f"conjunction with the {self.__class__.__name__}." + ) super().__init__(file=None) self.table_name = table_name self._db_filename = file diff --git a/test/logformats_test.py b/test/logformats_test.py index 49e9c563e..6a0eafac1 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -311,7 +311,7 @@ def test_append_mode(self): # use append mode for second half try: writer = self.writer_constructor(self.test_file_name, append=True) - except TypeError as e: + except ValueError as e: # maybe "append" is not a formal parameter (this is the case for SqliteWriter) try: writer = self.writer_constructor(self.test_file_name) From c1736ccfbc49e27178cded7e4c21bf5ac4e11e1e Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 10 Aug 2022 08:34:25 +0200 Subject: [PATCH 126/475] Add file_size() function to FileIOMessageWriter (#1367) * Add file_size() function to FileIOMessageWriter * Modify help statement for -s to indicate blf behaves differently * Open max_container_size in blf writer to API via kwargs Co-authored-by: j-c-cook --- can/io/blf.py | 11 ++++++++++- can/io/generic.py | 4 ++++ can/io/logger.py | 2 +- can/logger.py | 5 +++-- 4 files changed, 18 insertions(+), 4 deletions(-) diff --git a/can/io/blf.py b/can/io/blf.py index efeba9488..911177d20 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,7 +17,7 @@ import datetime import time import logging -from typing import List, BinaryIO, Generator, Union, Tuple, Optional, cast +from typing import List, BinaryIO, Generator, Union, Tuple, Optional, cast, Any from ..message import Message from ..util import len2dlc, dlc2len, channel2int @@ -370,6 +370,8 @@ def __init__( append: bool = False, channel: int = 1, compression_level: int = -1, + *args: Any, + **kwargs: Any ) -> None: """ :param file: a path-like object or as file-like object to write to @@ -400,6 +402,9 @@ def __init__( self.compression_level = compression_level self._buffer: List[bytes] = [] self._buffer_size = 0 + # If max container size is located in kwargs, then update the instance + if kwargs.get("max_container_size", False): + self.max_container_size = kwargs["max_container_size"] if append: # Parse file header data = self.file.read(FILE_HEADER_STRUCT.size) @@ -566,6 +571,10 @@ def _flush(self): self.uncompressed_size += LOG_CONTAINER_STRUCT.size self.uncompressed_size += len(uncompressed_data) + def file_size(self) -> int: + """Return an estimate of the current file size in bytes.""" + return self.file.tell() + self._buffer_size + def stop(self): """Stops logging and closes the file.""" self._flush() diff --git a/can/io/generic.py b/can/io/generic.py index b45e4dd1f..acdf367d6 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -89,6 +89,10 @@ def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "wt") -> N super().__init__(file, mode) + def file_size(self) -> int: + """Return an estimate of the current file size in bytes.""" + return self.file.tell() + # pylint: disable=too-few-public-methods class MessageReader(BaseIOHandler, Iterable[can.Message], metaclass=ABCMeta): diff --git a/can/io/logger.py b/can/io/logger.py index 5e46f6dc2..071eeb300 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -326,7 +326,7 @@ def should_rollover(self, msg: Message) -> bool: if self.max_bytes <= 0: return False - if self.writer.file.tell() >= self.max_bytes: + if self.writer.file_size() >= self.max_bytes: return True return False diff --git a/can/logger.py b/can/logger.py index 209c1381c..dbf78e408 100644 --- a/can/logger.py +++ b/can/logger.py @@ -191,8 +191,9 @@ def main() -> None: "--file_size", dest="file_size", type=int, - help="Maximum file size in bytes. Rotate log file when size threshold " - "is reached.", + help="Maximum file size in bytes (or for the case of blf, maximum " + "buffer size before compression and flush to file). Rotate log " + "file when size threshold is reached.", default=None, ) From 88fc8e5bcf56ab2f9f2041242733ad90bb7101b4 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Wed, 10 Aug 2022 11:02:34 +0200 Subject: [PATCH 127/475] Fix race condition in back2back_test for UDP multicast bus (#1349) * Add debug prints to back2back_test to analyze race condition Might fail if pytest does not print stdout * Update IPv6 back2back test to use interface-local multicast address Under unknown conditions the IPv6 multicast frames sent during the test are reflected back to the sender twice. This causes the test to fail. With this commit, the multicast frames sent during the test are constrained to the local interface to potentially avoid a double reception. * Revert "Add debug prints to back2back_test to analyze race condition" This reverts commit a830c0900dee465d3d7ffa9697f49791dde722da. --- test/back2back_test.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/test/back2back_test.py b/test/back2back_test.py index b5ae4e27c..ab4d57dc1 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -307,11 +307,12 @@ def test_unique_message_instances(self): "only supported on Unix systems (but not on Travis CI; and not on macOS at GitHub Actions)", ) class BasicTestUdpMulticastBusIPv6(Back2BackTestCase): + HOST_LOCAL_MCAST_GROUP_IPv6 = "ff11:7079:7468:6f6e:6465:6d6f:6d63:6173" INTERFACE_1 = "udp_multicast" - CHANNEL_1 = UdpMulticastBus.DEFAULT_GROUP_IPv6 + CHANNEL_1 = HOST_LOCAL_MCAST_GROUP_IPv6 INTERFACE_2 = "udp_multicast" - CHANNEL_2 = UdpMulticastBus.DEFAULT_GROUP_IPv6 + CHANNEL_2 = HOST_LOCAL_MCAST_GROUP_IPv6 def test_unique_message_instances(self): with self.assertRaises(NotImplementedError): From 9e795de62166c37c19770fb4aaf1a5ac966dff9c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 11 Aug 2022 23:26:57 +0200 Subject: [PATCH 128/475] refactor for mypy friendly version checks (#1371) --- can/interfaces/__init__.py | 21 +++++++++------------ 1 file changed, 9 insertions(+), 12 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 90a05d7bc..755e8675c 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -2,8 +2,11 @@ Interfaces contain low level implementations that interact with CAN hardware. """ +import sys +from typing import Dict, Tuple + # interface_name => (module, classname) -BACKENDS = { +BACKENDS: Dict[str, Tuple[str, ...]] = { "kvaser": ("can.interfaces.kvaser", "KvaserBus"), "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), "serial": ("can.interfaces.serial.serial_can", "SerialBus"), @@ -29,27 +32,21 @@ "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), } -try: +if sys.version_info >= (3, 8): from importlib.metadata import entry_points - try: - entries = entry_points(group="can.interface") - except TypeError: - # Fallback for Python <3.10 - # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note" - entries = entry_points().get("can.interface", []) - + entries = entry_points().get("can.interface", ()) BACKENDS.update( {interface.name: tuple(interface.value.split(":")) for interface in entries} ) -except ImportError: +else: from pkg_resources import iter_entry_points - entry = iter_entry_points("can.interface") + entries = iter_entry_points("can.interface") BACKENDS.update( { interface.name: (interface.module_name, interface.attrs[0]) - for interface in entry + for interface in entries } ) From 3a7c80eb24d253b092b038f45be9d36942c2ab2d Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Thu, 11 Aug 2022 17:00:38 -0500 Subject: [PATCH 129/475] Write 3 ms digits to ascii to resolve CANoe bug (#1362) * Write 3 ms to ascii for CANoe and fix append error The ascii format currently is not setup to append. I recenly added in **options to the logger script. **options are only required for the rolling logger. * Black and mypy fixes * Revert "Write 3 ms to ascii for CANoe and fix append error" This reverts commit 57af021eba6218186a30af684e0b96fbbcac209d. --- can/io/asc.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/can/io/asc.py b/can/io/asc.py index 2826a22a6..ba2214c71 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -372,6 +372,10 @@ def __init__( # write start of file header now = datetime.now().strftime(self.FORMAT_START_OF_FILE_DATE) + # Note: CANoe requires that the microsecond field only have 3 digits + idx = now.index(".") # Find the index in the string of the decimal + # Keep decimal and first three ms digits (4), remove remaining digits + now = now.replace(now[idx + 4 : now[idx:].index(" ") + idx], "") self.file.write(f"date {now}\n") self.file.write("base hex timestamps absolute\n") self.file.write("internal events logged\n") From c4f0789afb756abaa57efe83d222b28b9343d8ab Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 12 Aug 2022 19:03:35 +0200 Subject: [PATCH 130/475] Pass CLI extra_args to Logger initialisation (#1366) * pass CLI extra_args to Logger * pass extra_args to player --- can/io/asc.py | 3 +++ can/io/blf.py | 9 +++++++-- can/io/canutils.py | 13 ++++++++++--- can/io/csv.py | 15 ++++++++++++--- can/io/generic.py | 15 +++++++++++++-- can/io/logger.py | 2 +- can/io/printer.py | 8 ++++++-- can/io/sqlite.py | 14 ++++++++++++-- can/logger.py | 25 +++++++++++++++++-------- can/player.py | 4 ++-- can/viewer.py | 4 +++- 11 files changed, 86 insertions(+), 26 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index ba2214c71..7cefa5b76 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -39,6 +39,8 @@ def __init__( file: Union[StringPathLike, TextIO], base: str = "hex", relative_timestamp: bool = True, + *args: Any, + **kwargs: Any, ) -> None: """ :param file: a path-like object or as file-like object to read from @@ -352,6 +354,7 @@ def __init__( self, file: Union[StringPathLike, TextIO], channel: int = 1, + *args: Any, **kwargs: Any, ) -> None: """ diff --git a/can/io/blf.py b/can/io/blf.py index 911177d20..93fa54ca2 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -143,7 +143,12 @@ class BLFReader(MessageReader): file: BinaryIO - def __init__(self, file: Union[StringPathLike, BinaryIO]) -> None: + def __init__( + self, + file: Union[StringPathLike, BinaryIO], + *args: Any, + **kwargs: Any, + ) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to opened in binary @@ -371,7 +376,7 @@ def __init__( channel: int = 1, compression_level: int = -1, *args: Any, - **kwargs: Any + **kwargs: Any, ) -> None: """ :param file: a path-like object or as file-like object to write to diff --git a/can/io/canutils.py b/can/io/canutils.py index 0cca82eb8..f63df3f6b 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -5,11 +5,11 @@ """ import logging -from typing import Generator, TextIO, Union +from typing import Generator, TextIO, Union, Any from can.message import Message from .generic import FileIOMessageWriter, MessageReader -from ..typechecking import AcceptedIOType, StringPathLike +from ..typechecking import StringPathLike log = logging.getLogger("can.io.canutils") @@ -34,7 +34,12 @@ class CanutilsLogReader(MessageReader): file: TextIO - def __init__(self, file: Union[StringPathLike, TextIO]) -> None: + def __init__( + self, + file: Union[StringPathLike, TextIO], + *args: Any, + **kwargs: Any, + ) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to opened in text @@ -132,6 +137,8 @@ def __init__( file: Union[StringPathLike, TextIO], channel: str = "vcan0", append: bool = False, + *args: Any, + **kwargs: Any, ): """ :param file: a path-like object or as file-like object to write to diff --git a/can/io/csv.py b/can/io/csv.py index 0161b4f55..2e2f46699 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -10,7 +10,7 @@ """ from base64 import b64encode, b64decode -from typing import TextIO, Generator, Union +from typing import TextIO, Generator, Union, Any from can.message import Message from .generic import FileIOMessageWriter, MessageReader @@ -28,7 +28,12 @@ class CSVReader(MessageReader): file: TextIO - def __init__(self, file: Union[StringPathLike, TextIO]) -> None: + def __init__( + self, + file: Union[StringPathLike, TextIO], + *args: Any, + **kwargs: Any, + ) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to opened in text @@ -87,7 +92,11 @@ class CSVWriter(FileIOMessageWriter): file: TextIO def __init__( - self, file: Union[StringPathLike, TextIO], append: bool = False + self, + file: Union[StringPathLike, TextIO], + append: bool = False, + *args: Any, + **kwargs: Any, ) -> None: """ :param file: a path-like object or a file-like object to write to. diff --git a/can/io/generic.py b/can/io/generic.py index acdf367d6..d5c7a2057 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -7,6 +7,7 @@ Iterable, Type, ContextManager, + Any, ) from typing_extensions import Literal from types import TracebackType @@ -28,7 +29,11 @@ class BaseIOHandler(ContextManager, metaclass=ABCMeta): file: Optional[can.typechecking.FileLike] def __init__( - self, file: Optional[can.typechecking.AcceptedIOType], mode: str = "rt" + self, + file: Optional[can.typechecking.AcceptedIOType], + mode: str = "rt", + *args: Any, + **kwargs: Any ) -> None: """ :param file: a path-like object to open a file, a file-like object @@ -82,7 +87,13 @@ class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): file: can.typechecking.FileLike - def __init__(self, file: can.typechecking.AcceptedIOType, mode: str = "wt") -> None: + def __init__( + self, + file: can.typechecking.AcceptedIOType, + mode: str = "wt", + *args: Any, + **kwargs: Any + ) -> None: # Not possible with the type signature, but be verbose for user-friendliness if file is None: raise ValueError("The given file cannot be None") diff --git a/can/io/logger.py b/can/io/logger.py index 071eeb300..b50825d3f 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -303,8 +303,8 @@ class SizedRotatingLogger(BaseRotatingLogger): def __init__( self, base_filename: StringPathLike, - *args: Any, max_bytes: int = 0, + *args: Any, **kwargs: Any, ) -> None: """ diff --git a/can/io/printer.py b/can/io/printer.py index cafab3815..61871e8ad 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -4,7 +4,7 @@ import logging -from typing import Optional, TextIO, Union +from typing import Optional, TextIO, Union, Any from ..message import Message from .generic import MessageWriter @@ -26,7 +26,11 @@ class Printer(MessageWriter): file: Optional[TextIO] def __init__( - self, file: Optional[Union[StringPathLike, TextIO]] = None, append: bool = False + self, + file: Optional[Union[StringPathLike, TextIO]] = None, + append: bool = False, + *args: Any, + **kwargs: Any ) -> None: """ :param file: An optional path-like object or a file-like object to "print" diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 98e870a84..b9cbf9f93 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -32,7 +32,13 @@ class SqliteReader(MessageReader): .. note:: The database schema is given in the documentation of the loggers. """ - def __init__(self, file: StringPathLike, table_name: str = "messages") -> None: + def __init__( + self, + file: StringPathLike, + table_name: str = "messages", + *args: Any, + **kwargs: Any, + ) -> None: """ :param file: a `str` path like object that points to the database file to use @@ -129,7 +135,11 @@ class SqliteWriter(MessageWriter, BufferedReader): """Maximum number of messages to buffer before writing to the database""" def __init__( - self, file: StringPathLike, table_name: str = "messages", **kwargs: Any + self, + file: StringPathLike, + table_name: str = "messages", + *args: Any, + **kwargs: Any, ) -> None: """ :param file: a `str` or path like object that points diff --git a/can/logger.py b/can/logger.py index dbf78e408..0b73dd785 100644 --- a/can/logger.py +++ b/can/logger.py @@ -21,6 +21,8 @@ from typing import Any, Dict, List, Union, Sequence, Tuple import can +from can.io import BaseRotatingLogger +from can.io.generic import MessageWriter from . import Bus, BusState, Logger, SizedRotatingLogger from .typechecking import CanFilter, CanFilters @@ -61,10 +63,10 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: parser.add_argument( "extra_args", nargs=argparse.REMAINDER, - help=r"The remaining arguments will be used for the interface " - r"initialisation. For example, `-i vector -c 1 --app-name=" - r"MyCanApp` is the equivalent to opening the bus with `Bus(" - r"'vector', channel=1, app_name='MyCanApp')", + help="The remaining arguments will be used for the interface and " + "logger/player initialisation. " + "For example, `-i vector -c 1 --app-name=MyCanApp` is the equivalent " + "to opening the bus with `Bus('vector', channel=1, app_name='MyCanApp')", ) @@ -224,7 +226,7 @@ def main() -> None: raise SystemExit(errno.EINVAL) results, unknown_args = parser.parse_known_args() - additional_config = _parse_additional_config(unknown_args) + additional_config = _parse_additional_config([*results.extra_args, *unknown_args]) bus = _create_bus(results, can_filters=_parse_filters(results), **additional_config) if results.active: @@ -235,13 +237,20 @@ def main() -> None: print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}") print(f"Can Logger (Started on {datetime.now()})") - options = {"append": results.append} + logger: Union[MessageWriter, BaseRotatingLogger] if results.file_size: logger = SizedRotatingLogger( - base_filename=results.log_file, max_bytes=results.file_size, **options + base_filename=results.log_file, + max_bytes=results.file_size, + append=results.append, + **additional_config, ) else: - logger = Logger(filename=results.log_file, **options) # type: ignore + logger = Logger( + filename=results.log_file, + append=results.append, + **additional_config, + ) try: while True: diff --git a/can/player.py b/can/player.py index 72faa892a..c029981be 100644 --- a/can/player.py +++ b/can/player.py @@ -79,14 +79,14 @@ def main() -> None: raise SystemExit(errno.EINVAL) results, unknown_args = parser.parse_known_args() - additional_config = _parse_additional_config(unknown_args) + additional_config = _parse_additional_config([*results.extra_args, *unknown_args]) verbosity = results.verbosity error_frames = results.error_frames with _create_bus(results, **additional_config) as bus: - with LogReader(results.infile) as reader: + with LogReader(results.infile, **additional_config) as reader: in_sync = MessageSync( cast(Iterable[Message], reader), diff --git a/can/viewer.py b/can/viewer.py index 7be04949d..6773a0acd 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -540,7 +540,9 @@ def parse_args(args): else: data_structs[key] = struct.Struct(fmt) - additional_config = _parse_additional_config(unknown_args) + additional_config = _parse_additional_config( + [*parsed_args.extra_args, *unknown_args] + ) return parsed_args, can_filters, data_structs, additional_config From ed124c92f38b454ca2f485ca4c9557eb47b44951 Mon Sep 17 00:00:00 2001 From: Atabey <55498083+1atabey1@users.noreply.github.com> Date: Fri, 12 Aug 2022 19:26:26 +0200 Subject: [PATCH 131/475] Add Parameter for Enabling PCAN Auto Bus-Off Reset (#1345) * parametrise pcan auto reset * add unit tests, fix build error * formatting Co-authored-by: Atabey --- can/interfaces/pcan/pcan.py | 13 +++++++++++++ test/test_pcan.py | 10 ++++++++++ 2 files changed, 23 insertions(+) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 2fea74e77..e5b877762 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -56,6 +56,7 @@ PCAN_CHANNEL_FEATURES, FEATURE_FD_CAPABLE, PCAN_DICT_STATUS, + PCAN_BUSOFF_AUTORESET, ) @@ -206,6 +207,10 @@ def __init__( In the range (1..16). Ignored if not using CAN-FD. + :param bool auto_reset: + Enable automatic recovery in bus off scenario. + Resetting the driver takes ~500ms during which + it will not be responsive. """ self.m_objPCANBasic = PCANBasic() @@ -276,6 +281,14 @@ def __init__( "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.10" ) + if kwargs.get("auto_reset", False): + result = self.m_objPCANBasic.SetValue( + self.m_PcanHandle, PCAN_BUSOFF_AUTORESET, PCAN_PARAMETER_ON + ) + + if result != PCAN_ERROR_OK: + raise PcanCanInitializationError(self._get_formatted_error(result)) + if HAS_EVENTS: self._recv_event = CreateEvent(None, 0, 0, None) result = self.m_objPCANBasic.SetValue( diff --git a/test/test_pcan.py b/test/test_pcan.py index eba42d7e1..0a680fea0 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -363,6 +363,16 @@ def get_value_side_effect(handle, param): self.bus = can.Bus(bustype="pcan", device_id=dev_id) self.assertEqual(expected_result, self.bus.channel_info) + def test_bus_creation_auto_reset(self): + self.bus = can.Bus(bustype="pcan", auto_reset=True) + self.assertIsInstance(self.bus, PcanBus) + self.MockPCANBasic.assert_called_once() + + def test_auto_reset_init_fault(self): + self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_INITIALIZE) + with self.assertRaises(CanInitializationError): + self.bus = can.Bus(bustype="pcan", auto_reset=True) + if __name__ == "__main__": unittest.main() From f6d8fe0432d46ea48027511bd38ae4c141a9a5e4 Mon Sep 17 00:00:00 2001 From: "Fede.Breg" <44495483+Thepowa753@users.noreply.github.com> Date: Fri, 12 Aug 2022 19:47:54 +0200 Subject: [PATCH 132/475] fix: conversion for port number (#1309) * fix: conversion for port number * fix: correct order for valid port range * refactor: tabs and spaces Sorry * fix: calling port within if in dict * fix: forcing int to bypass wrong error * feat: add util port tests * fix: tests assertRaises with correct syntax * refactor: using black * make mypy happy Co-authored-by: Federico Bregant Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/util.py | 14 ++++++++++++++ test/test_util.py | 14 ++++++++++++++ 2 files changed, 28 insertions(+) diff --git a/can/util.py b/can/util.py index a9d08c469..d1ff643de 100644 --- a/can/util.py +++ b/can/util.py @@ -211,6 +211,20 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: raise CanInterfaceNotImplementedError( f'Unknown interface type "{config["interface"]}"' ) + if "port" in config: + # convert port to integer if necessary + if isinstance(config["port"], int): + port = config["port"] + elif isinstance(config["port"], str): + if config["port"].isnumeric(): + config["port"] = port = int(config["port"]) + else: + raise ValueError("Port config must be a number!") + else: + raise TypeError("Port config must be string or integer!") + + if not 0 < port < 65535: + raise ValueError("Port config must be inside 0-65535 range!") if "bitrate" in config: config["bitrate"] = int(config["bitrate"]) diff --git a/test/test_util.py b/test/test_util.py index e151e3d63..7048d6151 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -53,6 +53,9 @@ def test_with_new_and_alias_present(self): class TestBusConfig(unittest.TestCase): base_config = dict(interface="socketcan", bitrate=500_000) + port_alpha_config = dict(interface="socketcan", bitrate=500_000, port="fail123") + port_to_high_config = dict(interface="socketcan", bitrate=500_000, port="999999") + port_wrong_type_config = dict(interface="socketcan", bitrate=500_000, port=(1234,)) def test_timing_can_use_int(self): """ @@ -64,6 +67,17 @@ def test_timing_can_use_int(self): _create_bus_config({**self.base_config, **timing_conf}) except TypeError as e: self.fail(e) + self.assertRaises( + ValueError, _create_bus_config, {**self.port_alpha_config, **timing_conf} + ) + self.assertRaises( + ValueError, _create_bus_config, {**self.port_to_high_config, **timing_conf} + ) + self.assertRaises( + TypeError, + _create_bus_config, + {**self.port_wrong_type_config, **timing_conf}, + ) class TestChannel2Int(unittest.TestCase): From ae41b3e145a6b2ca6d0c6834cf5f0a54096472bc Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 12 Aug 2022 19:59:04 +0200 Subject: [PATCH 133/475] replace socket.error with OSError (#1373) --- can/interfaces/socketcan/socketcan.py | 16 ++++++++-------- can/interfaces/socketcand/socketcand.py | 2 +- can/interfaces/udp_multicast/bus.py | 2 +- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 082bbcf19..c7c038520 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -530,7 +530,7 @@ def capture_message( channel = addr[0] if isinstance(addr, tuple) else addr else: channel = None - except socket.error as error: + except OSError as error: raise can.CanOperationError(f"Error receiving: {error.strerror}", error.errno) can_id, can_dlc, flags, data = dissect_can_frame(cf) @@ -656,7 +656,7 @@ def __init__( self.socket.setsockopt( SOL_CAN_RAW, CAN_RAW_LOOPBACK, 1 if local_loopback else 0 ) - except socket.error as error: + except OSError as error: log.error("Could not set local loopback flag(%s)", error) # set the receive_own_messages parameter @@ -664,21 +664,21 @@ def __init__( self.socket.setsockopt( SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, 1 if receive_own_messages else 0 ) - except socket.error as error: + except OSError as error: log.error("Could not receive own messages (%s)", error) # enable CAN-FD frames if desired if fd: try: self.socket.setsockopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, 1) - except socket.error as error: + except OSError as error: log.error("Could not enable CAN-FD frames (%s)", error) if not ignore_rx_error_frames: # enable error frames try: self.socket.setsockopt(SOL_CAN_RAW, CAN_RAW_ERR_FILTER, 0x1FFFFFFF) - except socket.error as error: + except OSError as error: log.error("Could not enable error frames (%s)", error) # enable nanosecond resolution timestamping @@ -714,7 +714,7 @@ def _recv_internal( # get all sockets that are ready (can be a list with a single value # being self.socket or an empty list if self.socket is not ready) ready_receive_sockets, _, _ = select.select([self.socket], [], [], timeout) - except socket.error as error: + except OSError as error: # something bad happened (e.g. the interface went down) raise can.CanOperationError( f"Failed to receive: {error.strerror}", error.errno @@ -776,7 +776,7 @@ def _send_once(self, data: bytes, channel: Optional[str] = None) -> int: sent = self.socket.sendto(data, (channel,)) else: sent = self.socket.send(data) - except socket.error as error: + except OSError as error: raise can.CanOperationError( f"Failed to transmit: {error.strerror}", error.errno ) @@ -840,7 +840,7 @@ def _get_bcm_socket(self, channel: str) -> socket.socket: def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: try: self.socket.setsockopt(SOL_CAN_RAW, CAN_RAW_FILTER, pack_filters(filters)) - except socket.error as error: + except OSError as error: # fall back to "software filtering" (= not in kernel) self._is_filtered = False log.error( diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 6b74b59e0..327df9e73 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -93,7 +93,7 @@ def _recv_internal(self, timeout): ready_receive_sockets, _, _ = select.select( [self.__socket], [], [], timeout ) - except socket.error as exc: + except OSError as exc: # something bad happened (e.g. the interface went down) log.error(f"Failed to receive: {exc}") raise can.CanError(f"Failed to receive: {exc}") diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 6b7e57bd9..7f74c685f 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -332,7 +332,7 @@ def recv( # get all sockets that are ready (can be a list with a single value # being self.socket or an empty list if self.socket is not ready) ready_receive_sockets, _, _ = select.select([self._socket], [], [], timeout) - except socket.error as exc: + except OSError as exc: # something bad (not a timeout) happened (e.g. the interface went down) raise can.CanOperationError( f"Failed to wait for IP/UDP socket: {exc}" From 2da28c1a1c87776618a60218b0b97800cf2deb34 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 15 Aug 2022 08:33:15 +0200 Subject: [PATCH 134/475] improve MessageSync timings (#1374) --- can/io/player.py | 25 ++++++++++++++---------- test/test_message_sync.py | 40 ++++++++++++++++++--------------------- test/test_player.py | 9 ++------- 3 files changed, 35 insertions(+), 39 deletions(-) diff --git a/can/io/player.py b/can/io/player.py index 132751f4d..8eb4ba24f 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -5,7 +5,7 @@ """ import gzip import pathlib -from time import time, sleep +import time import typing from pkg_resources import iter_entry_points @@ -132,8 +132,9 @@ def __init__( self.skip = skip def __iter__(self) -> typing.Generator[Message, None, None]: - playback_start_time = time() + t_wakeup = playback_start_time = time.perf_counter() recorded_start_time = None + t_skipped = 0.0 for message in self.raw_messages: @@ -142,15 +143,19 @@ def __iter__(self) -> typing.Generator[Message, None, None]: if recorded_start_time is None: recorded_start_time = message.timestamp - now = time() - current_offset = now - playback_start_time - recorded_offset_from_start = message.timestamp - recorded_start_time - remaining_gap = max(0.0, recorded_offset_from_start - current_offset) - - sleep_period = max(self.gap, min(self.skip, remaining_gap)) + t_wakeup = playback_start_time + ( + message.timestamp - t_skipped - recorded_start_time + ) else: - sleep_period = self.gap + t_wakeup += self.gap + + sleep_period = t_wakeup - time.perf_counter() + + if self.skip and sleep_period > self.skip: + t_skipped += sleep_period - self.skip + sleep_period = self.skip - sleep(sleep_period) + if sleep_period > 1e-4: + time.sleep(sleep_period) yield message diff --git a/test/test_message_sync.py b/test/test_message_sync.py index 1e2d61b24..8750dd416 100644 --- a/test/test_message_sync.py +++ b/test/test_message_sync.py @@ -5,7 +5,7 @@ """ from copy import copy -from time import time +import time import gc import unittest @@ -49,43 +49,40 @@ def teardown_method(self, _): # we need to reenable the garbage collector again gc.enable() - @pytest.mark.timeout(inc(0.2)) def test_general(self): messages = [ Message(timestamp=50.0), Message(timestamp=50.0), Message(timestamp=50.0 + 0.05), - Message(timestamp=50.0 + 0.05 + 0.08), + Message(timestamp=50.0 + 0.13), Message(timestamp=50.0), # back in time ] - sync = MessageSync(messages, gap=0.0) + sync = MessageSync(messages, gap=0.0, skip=0.0) - start = time() + t_start = time.perf_counter() collected = [] timings = [] for message in sync: + t_now = time.perf_counter() collected.append(message) - now = time() - timings.append(now - start) - start = now + timings.append(t_now - t_start) self.assertMessagesEqual(messages, collected) self.assertEqual(len(timings), len(messages), "programming error in test code") - self.assertTrue(0.0 <= timings[0] < inc(0.005), str(timings[0])) - self.assertTrue(0.0 <= timings[1] < inc(0.005), str(timings[1])) - self.assertTrue(0.045 <= timings[2] < inc(0.055), str(timings[2])) - self.assertTrue(0.075 <= timings[3] < inc(0.085), str(timings[3])) - self.assertTrue(0.0 <= timings[4] < inc(0.005), str(timings[4])) + self.assertTrue(0.0 <= timings[0] < 0.0 + inc(0.02), str(timings[0])) + self.assertTrue(0.0 <= timings[1] < 0.0 + inc(0.02), str(timings[1])) + self.assertTrue(0.045 <= timings[2] < 0.05 + inc(0.02), str(timings[2])) + self.assertTrue(0.125 <= timings[3] < 0.13 + inc(0.02), str(timings[3])) + self.assertTrue(0.125 <= timings[4] < 0.13 + inc(0.02), str(timings[4])) - @pytest.mark.timeout(inc(0.1) * len(TEST_FEWER_MESSAGES)) # very conservative def test_skip(self): messages = copy(TEST_FEWER_MESSAGES) sync = MessageSync(messages, skip=0.005, gap=0.0) - before = time() + before = time.perf_counter() collected = list(sync) - after = time() + after = time.perf_counter() took = after - before # the handling of the messages itself also takes some time: @@ -96,9 +93,8 @@ def test_skip(self): @skip_on_unreliable_platforms -@pytest.mark.timeout(inc(0.3)) @pytest.mark.parametrize( - "timestamp_1,timestamp_2", [(0.0, 0.0), (0.0, 0.01), (0.01, 0.0)] + "timestamp_1,timestamp_2", [(0.0, 0.0), (0.0, 0.01), (0.01, 1.5)] ) def test_gap(timestamp_1, timestamp_2): """This method is alone so it can be parameterized.""" @@ -106,16 +102,16 @@ def test_gap(timestamp_1, timestamp_2): Message(arbitration_id=0x1, timestamp=timestamp_1), Message(arbitration_id=0x2, timestamp=timestamp_2), ] - sync = MessageSync(messages, gap=0.1) + sync = MessageSync(messages, timestamps=False, gap=0.1) gc.disable() - before = time() + before = time.perf_counter() collected = list(sync) - after = time() + after = time.perf_counter() gc.enable() took = after - before - assert 0.1 <= took < inc(0.3) + assert 0.195 <= took < 0.2 + inc(0.02) assert messages == collected diff --git a/test/test_player.py b/test/test_player.py index 0001ae678..c15bf82e2 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -27,7 +27,7 @@ def setUp(self) -> None: self.mock_virtual_bus.__enter__ = Mock(return_value=self.mock_virtual_bus) # Patch time sleep object - patcher_sleep = mock.patch("can.io.player.sleep", spec=True) + patcher_sleep = mock.patch("can.io.player.time.sleep", spec=True) self.MockSleep = patcher_sleep.start() self.addCleanup(patcher_sleep.stop) @@ -60,7 +60,6 @@ def test_play_virtual(self): dlc=8, data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], ) - self.assertEqual(self.MockSleep.call_count, 2) if sys.version_info >= (3, 8): # The args argument was introduced with python 3.8 self.assertTrue( @@ -78,7 +77,6 @@ def test_play_virtual_verbose(self): self.assertIn("09 08 07 06 05 04 03 02", mock_stdout.getvalue()) self.assertIn("05 0c 00 00 00 00 00 00", mock_stdout.getvalue()) self.assertEqual(self.mock_virtual_bus.send.call_count, 2) - self.assertEqual(self.MockSleep.call_count, 2) self.assertSuccessfulCleanup() def test_play_virtual_exit(self): @@ -86,8 +84,7 @@ def test_play_virtual_exit(self): sys.argv = self.baseargs + [self.logfile] can.player.main() - self.assertEqual(self.mock_virtual_bus.send.call_count, 1) - self.assertEqual(self.MockSleep.call_count, 2) + assert self.mock_virtual_bus.send.call_count <= 2 self.assertSuccessfulCleanup() def test_play_skip_error_frame(self): @@ -97,7 +94,6 @@ def test_play_skip_error_frame(self): sys.argv = self.baseargs + ["-v", logfile] can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 9) - self.assertEqual(self.MockSleep.call_count, 12) self.assertSuccessfulCleanup() def test_play_error_frame(self): @@ -107,7 +103,6 @@ def test_play_error_frame(self): sys.argv = self.baseargs + ["-v", "--error-frames", logfile] can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 12) - self.assertEqual(self.MockSleep.call_count, 12) self.assertSuccessfulCleanup() From 9d9cb16f474f837bd46eabb1350ecf86e8d2c42b Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Sun, 28 Aug 2022 08:37:00 -0500 Subject: [PATCH 135/475] Fix _default_name for compressed files (#1383) * Fix _default_name for compressed files * Handle a filepath that contains "." prior to stem * Reuse local path variable --- can/io/logger.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index b50825d3f..478651953 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -345,11 +345,11 @@ def _default_name(self) -> StringPathLike: """Generate the default rotation filename.""" path = pathlib.Path(self.base_filename) new_name = ( - path.stem + path.stem.split(".")[0] + "_" + datetime.now().strftime("%Y-%m-%dT%H%M%S") + "_" + f"#{self.rollover_count:03}" - + path.suffix + + "".join(path.suffixes[-2:]) ) return str(path.parent / new_name) From ad8b9482ba9fe76f1a4b746f20a9e7a216f6d9f9 Mon Sep 17 00:00:00 2001 From: Maksim Salau Date: Sat, 3 Sep 2022 19:59:06 +0200 Subject: [PATCH 136/475] socketcan: Make find_available_interfaces() find slcanX interfaces (#1369) * socketcan: Make find_available_interfaces() find slcanX interfaces * doc: socketcan: Fix external link to can-utils on github * socketcan: Extend name interface pattern to match vxcan\d+ --- can/interfaces/socketcan/utils.py | 2 +- doc/interfaces/socketcan.rst | 22 ++++++++++++++++++++++ test/open_vcan.sh | 4 ++++ test/test_socketcan_helpers.py | 6 ++++-- 4 files changed, 31 insertions(+), 3 deletions(-) diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index b718bb69e..55e7eb392 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -38,7 +38,7 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes return struct.pack(can_filter_fmt, *filter_data) -_PATTERN_CAN_INTERFACE = re.compile(r"v?can\d+") +_PATTERN_CAN_INTERFACE = re.compile(r"(sl|v|vx)?can\d+") def find_available_interfaces() -> Iterable[str]: diff --git a/doc/interfaces/socketcan.rst b/doc/interfaces/socketcan.rst index d3a583d75..1e82d8827 100644 --- a/doc/interfaces/socketcan.rst +++ b/doc/interfaces/socketcan.rst @@ -57,6 +57,28 @@ existing ``can0`` interface with a bitrate of 1MB: sudo ip link set can0 up type can bitrate 1000000 +CAN over Serial / SLCAN +~~~~~~~~~~~~~~~~~~~~~~~ + +SLCAN adapters can be used directly via :doc:`/interfaces/slcan`, or +via :doc:`/interfaces/socketcan` with some help from the ``slcand`` utility +which can be found in the `can-utils `_ package. + +To create a socketcan interface for an SLCAN adapter run the following: + +.. code-block:: bash + + slcand -f -o -c -s5 /dev/ttyAMA0 + ip link set up slcan0 + +Names of the interfaces created by ``slcand`` match the ``slcan\d+`` regex. +If a custom name is required, it can be specified as the last argument. E.g.: + +.. code-block:: bash + + slcand -f -o -c -s5 /dev/ttyAMA0 can0 + ip link set up can0 + .. _socketcan-pcan: PCAN diff --git a/test/open_vcan.sh b/test/open_vcan.sh index bd02ad752..b6f4676b7 100755 --- a/test/open_vcan.sh +++ b/test/open_vcan.sh @@ -5,3 +5,7 @@ modprobe vcan ip link add dev vcan0 type vcan ip link set up vcan0 mtu 72 +ip link add dev vxcan0 type vcan +ip link set up vxcan0 mtu 72 +ip link add dev slcan0 type vcan +ip link set up slcan0 mtu 72 diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py index f3fbe6d26..ad53836f2 100644 --- a/test/test_socketcan_helpers.py +++ b/test/test_socketcan_helpers.py @@ -31,10 +31,12 @@ def test_find_available_interfaces(self): result = list(find_available_interfaces()) self.assertGreaterEqual(len(result), 0) for entry in result: - self.assertRegex(entry, r"v?can\d+") + self.assertRegex(entry, r"(sl|v|vx)?can\d+") if TEST_INTERFACE_SOCKETCAN: - self.assertGreaterEqual(len(result), 1) + self.assertGreaterEqual(len(result), 3) self.assertIn("vcan0", result) + self.assertIn("vxcan0", result) + self.assertIn("slcan0", result) if __name__ == "__main__": From 40f6cce796ef5969764e18e746d0dab8d1adab63 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 3 Sep 2022 20:48:06 +0200 Subject: [PATCH 137/475] extend XL api wrapper (#1387) --- can/interfaces/vector/xlclass.py | 13 ++++++++++++- can/interfaces/vector/xldefine.py | 8 +++++++- can/interfaces/vector/xldriver.py | 15 +++++++++++++++ 3 files changed, 34 insertions(+), 2 deletions(-) diff --git a/can/interfaces/vector/xlclass.py b/can/interfaces/vector/xlclass.py index c0ef9fa48..6441ad4e5 100644 --- a/can/interfaces/vector/xlclass.py +++ b/can/interfaces/vector/xlclass.py @@ -45,6 +45,13 @@ class s_xl_chip_state(ctypes.Structure): ] +class s_xl_sync_pulse(ctypes.Structure): + _fields_ = [ + ("pulseCode", ctypes.c_ubyte), + ("time", XLuint64), + ] + + class s_xl_can_ev_chip_state(ctypes.Structure): _fields_ = [ ("busStatus", ctypes.c_ubyte), @@ -65,7 +72,11 @@ class s_xl_can_ev_sync_pulse(ctypes.Structure): # BASIC bus message structure class s_xl_tag_data(ctypes.Union): - _fields_ = [("msg", s_xl_can_msg), ("chipState", s_xl_chip_state)] + _fields_ = [ + ("msg", s_xl_can_msg), + ("chipState", s_xl_chip_state), + ("syncPulse", s_xl_sync_pulse), + ] # CAN FD messages diff --git a/can/interfaces/vector/xldefine.py b/can/interfaces/vector/xldefine.py index 032f08318..5a1084f48 100644 --- a/can/interfaces/vector/xldefine.py +++ b/can/interfaces/vector/xldefine.py @@ -64,7 +64,7 @@ class XL_BusTypes(IntFlag): XL_BUS_TYPE_A429 = 8192 # =0x00002000 -class XL_CANFD_BusParams_CanOpMode(IntEnum): +class XL_CANFD_BusParams_CanOpMode(IntFlag): XL_BUS_PARAMS_CANOPMODE_CAN20 = 1 XL_BUS_PARAMS_CANOPMODE_CANFD = 2 XL_BUS_PARAMS_CANOPMODE_CANFD_NO_ISO = 8 @@ -318,3 +318,9 @@ class XL_HardwareType(IntEnum): XL_HWTYPE_VX1161A = 114 XL_HWTYPE_VX1161B = 115 XL_MAX_HWTYPE = 120 + + +class XL_SyncPulseSource(IntEnum): + XL_SYNC_PULSE_EXTERNAL = 0 + XL_SYNC_PULSE_OUR = 1 + XL_SYNC_PULSE_OUR_SHARED = 2 diff --git a/can/interfaces/vector/xldriver.py b/can/interfaces/vector/xldriver.py index 3243fa4a0..8df39e9dc 100644 --- a/can/interfaces/vector/xldriver.py +++ b/can/interfaces/vector/xldriver.py @@ -272,3 +272,18 @@ def check_status_initialization(result, function, arguments): xlCanGetEventString = _xlapi_dll.xlCanGetEventString xlCanGetEventString.argtypes = [ctypes.POINTER(xlclass.XLcanRxEvent)] xlCanGetEventString.restype = xlclass.XLstringType + +xlGetReceiveQueueLevel = _xlapi_dll.xlGetReceiveQueueLevel +xlGetReceiveQueueLevel.argtypes = [xlclass.XLportHandle, ctypes.POINTER(ctypes.c_int)] +xlGetReceiveQueueLevel.restype = xlclass.XLstatus +xlGetReceiveQueueLevel.errcheck = check_status_operation + +xlGenerateSyncPulse = _xlapi_dll.xlGenerateSyncPulse +xlGenerateSyncPulse.argtypes = [xlclass.XLportHandle, xlclass.XLaccess] +xlGenerateSyncPulse.restype = xlclass.XLstatus +xlGenerateSyncPulse.errcheck = check_status_operation + +xlFlushReceiveQueue = _xlapi_dll.xlFlushReceiveQueue +xlFlushReceiveQueue.argtypes = [xlclass.XLportHandle] +xlFlushReceiveQueue.restype = xlclass.XLstatus +xlFlushReceiveQueue.errcheck = check_status_operation From 1e11f21189a297cc08c3e24df52dff9f762a1b60 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 11 Sep 2022 20:14:52 +0200 Subject: [PATCH 138/475] VectorBus init refactoring (#1389) * refactor VectorBus.__init__() * move bitrate methods below __init__(), fix typo * refactor channel index search into method '_find_global_channel_idx', improve error messages --- can/interfaces/vector/canlib.py | 316 ++++++++++++++++++++------------ 1 file changed, 200 insertions(+), 116 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 9cecaa83d..333380a6f 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -21,6 +21,7 @@ Any, Dict, Callable, + cast, ) WaitForSingleObject: Optional[Callable[[int, int], int]] @@ -43,7 +44,7 @@ deprecated_args_alias, time_perfcounter_correlation, ) -from can.typechecking import AutoDetectedConfig, CanFilters, Channel +from can.typechecking import AutoDetectedConfig, CanFilters # Define Module Logger # ==================== @@ -152,6 +153,7 @@ def __init__( if xldriver is None: raise CanInterfaceNotImplementedError("The Vector API has not been loaded") self.xldriver = xldriver # keep reference so mypy knows it is not None + self.xldriver.xlOpenDriver() self.poll_interval = poll_interval @@ -165,7 +167,7 @@ def __init__( self.channels = [int(ch) for ch in channel] else: raise TypeError( - f"Invalid type for channels parameter: {type(channel).__name__}" + f"Invalid type for parameter 'channel': {type(channel).__name__}" ) self._app_name = app_name.encode() if app_name is not None else b"" @@ -174,136 +176,71 @@ def __init__( ", ".join(f"CAN {ch + 1}" for ch in self.channels), ) - if serial is not None: - app_name = None - channel_index = [] - channel_configs = get_channel_configs() - for channel_config in channel_configs: - if channel_config.serialNumber == serial: - if channel_config.hwChannel in self.channels: - channel_index.append(channel_config.channelIndex) - if channel_index: - if len(channel_index) != len(self.channels): - LOG.info( - "At least one defined channel wasn't found on the specified hardware." - ) - self.channels = channel_index - else: - # Is there any better way to raise the error? - raise CanInitializationError( - "None of the configured channels could be found on the specified hardware." - ) + channel_configs = get_channel_configs() - self.xldriver.xlOpenDriver() - self.port_handle = xlclass.XLportHandle(xldefine.XL_INVALID_PORTHANDLE) self.mask = 0 self.fd = fd - # Get channels masks - self.channel_masks: Dict[Optional[Channel], int] = {} - self.index_to_channel = {} + self.channel_masks: Dict[int, int] = {} + self.index_to_channel: Dict[int, int] = {} for channel in self.channels: - if app_name: - # Get global channel index from application channel - hw_type, hw_index, hw_channel = self.get_application_config( - app_name, channel - ) - LOG.debug("Channel index %d found", channel) - idx = self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) - if idx < 0: - # Undocumented behavior! See issue #353. - # If hardware is unavailable, this function returns -1. - # Raise an exception as if the driver - # would have signalled XL_ERR_HW_NOT_PRESENT. - raise VectorInitializationError( - xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT, - xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT.name, - "xlGetChannelIndex", - ) - else: - # Channel already given as global channel - idx = channel - mask = 1 << idx - self.channel_masks[channel] = mask - self.index_to_channel[idx] = channel - self.mask |= mask + channel_index = self._find_global_channel_idx( + channel=channel, + serial=serial, + app_name=app_name, + channel_configs=channel_configs, + ) + LOG.debug("Channel index %d found", channel) + + channel_mask = 1 << channel_index + self.channel_masks[channel] = channel_mask + self.index_to_channel[channel_index] = channel + self.mask |= channel_mask permission_mask = xlclass.XLaccess() # Set mask to request channel init permission if needed if bitrate or fd: permission_mask.value = self.mask - if fd: - self.xldriver.xlOpenPort( - self.port_handle, - self._app_name, - self.mask, - permission_mask, - rx_queue_size, - xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4, - xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, - ) - else: - self.xldriver.xlOpenPort( - self.port_handle, - self._app_name, - self.mask, - permission_mask, - rx_queue_size, - xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, - xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, - ) + + interface_version = ( + xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4 + if fd + else xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION + ) + + self.port_handle = xlclass.XLportHandle(xldefine.XL_INVALID_PORTHANDLE) + self.xldriver.xlOpenPort( + self.port_handle, + self._app_name, + self.mask, + permission_mask, + rx_queue_size, + interface_version, + xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, + ) + LOG.debug( "Open Port: PortHandle: %d, PermissionMask: 0x%X", self.port_handle.value, permission_mask.value, ) - if permission_mask.value == self.mask: - if fd: - self.canFdConf = xlclass.XLcanFdConf() - if bitrate: - self.canFdConf.arbitrationBitRate = int(bitrate) - else: - self.canFdConf.arbitrationBitRate = 500000 - self.canFdConf.sjwAbr = int(sjw_abr) - self.canFdConf.tseg1Abr = int(tseg1_abr) - self.canFdConf.tseg2Abr = int(tseg2_abr) - if data_bitrate: - self.canFdConf.dataBitRate = int(data_bitrate) - else: - self.canFdConf.dataBitRate = self.canFdConf.arbitrationBitRate - self.canFdConf.sjwDbr = int(sjw_dbr) - self.canFdConf.tseg1Dbr = int(tseg1_dbr) - self.canFdConf.tseg2Dbr = int(tseg2_dbr) - - self.xldriver.xlCanFdSetConfiguration( - self.port_handle, self.mask, self.canFdConf - ) - LOG.info( - "SetFdConfig.: ABaudr.=%u, DBaudr.=%u", - self.canFdConf.arbitrationBitRate, - self.canFdConf.dataBitRate, - ) - LOG.info( - "SetFdConfig.: sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", - self.canFdConf.sjwAbr, - self.canFdConf.tseg1Abr, - self.canFdConf.tseg2Abr, - ) - LOG.info( - "SetFdConfig.: sjwDbr=%u, tseg1Dbr=%u, tseg2Dbr=%u", - self.canFdConf.sjwDbr, - self.canFdConf.tseg1Dbr, - self.canFdConf.tseg2Dbr, - ) - else: - if bitrate: - self.xldriver.xlCanSetChannelBitrate( - self.port_handle, permission_mask, bitrate + for channel in self.channels: + if permission_mask.value & self.channel_masks[channel]: + if fd: + self._set_bitrate_canfd( + channel=channel, + bitrate=bitrate, + data_bitrate=data_bitrate, + sjw_abr=sjw_abr, + tseg1_abr=tseg1_abr, + tseg2_abr=tseg2_abr, + sjw_dbr=sjw_dbr, + tseg1_dbr=tseg1_dbr, + tseg2_dbr=tseg2_dbr, ) - LOG.info("SetChannelBitrate: baudr.=%u", bitrate) - else: - LOG.info("No init access!") + elif bitrate: + self._set_bitrate_can(channel=channel, bitrate=bitrate) # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 @@ -348,6 +285,153 @@ def __init__( self._is_filtered = False super().__init__(channel=channel, can_filters=can_filters, **kwargs) + def _find_global_channel_idx( + self, + channel: int, + serial: Optional[int], + app_name: Optional[str], + channel_configs: List["VectorChannelConfig"], + ) -> int: + if serial is not None: + hw_type: Optional[xldefine.XL_HardwareType] = None + for channel_config in channel_configs: + if channel_config.serialNumber != serial: + continue + + hw_type = xldefine.XL_HardwareType(channel_config.hwType) + if channel_config.hwChannel == channel: + return channel_config.channelIndex + + if hw_type is None: + err_msg = f"No interface with serial {serial} found." + else: + err_msg = f"Channel {channel} not found on interface {hw_type.name} ({serial})." + raise CanInitializationError( + err_msg, error_code=xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT + ) + + if app_name: + hw_type, hw_index, hw_channel = self.get_application_config( + app_name, channel + ) + idx = cast( + int, self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) + ) + if idx < 0: + # Undocumented behavior! See issue #353. + # If hardware is unavailable, this function returns -1. + # Raise an exception as if the driver + # would have signalled XL_ERR_HW_NOT_PRESENT. + raise VectorInitializationError( + xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT, + xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT.name, + "xlGetChannelIndex", + ) + return idx + + # check if channel is a valid global channel index + for channel_config in channel_configs: + if channel == channel_config.channelIndex: + return channel + + raise CanInitializationError( + f"Channel {channel} not found. The 'channel' parameter must be " + f"a valid global channel index if neither 'app_name' nor 'serial' were given.", + error_code=xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT, + ) + + def _set_bitrate_can( + self, + channel: int, + bitrate: int, + sjw: Optional[int] = None, + tseg1: Optional[int] = None, + tseg2: Optional[int] = None, + sam: int = 1, + ) -> None: + kwargs = [sjw, tseg1, tseg2] + if any(kwargs) and not all(kwargs): + raise ValueError( + f"Either all of sjw, tseg1, tseg2 must be set or none of them." + ) + + # set parameters if channel has init access + if any(kwargs): + chip_params = xlclass.XLchipParams() + chip_params.bitRate = bitrate + chip_params.sjw = sjw + chip_params.tseg1 = tseg1 + chip_params.tseg2 = tseg2 + chip_params.sam = sam + self.xldriver.xlCanSetChannelParams( + self.port_handle, + self.channel_masks[channel], + chip_params, + ) + LOG.info( + "xlCanSetChannelParams: baudr.=%u, sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", + chip_params.bitRate, + chip_params.sjw, + chip_params.tseg1, + chip_params.tseg2, + ) + else: + self.xldriver.xlCanSetChannelBitrate( + self.port_handle, + self.channel_masks[channel], + bitrate, + ) + LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate) + + def _set_bitrate_canfd( + self, + channel: int, + bitrate: Optional[int] = None, + data_bitrate: Optional[int] = None, + sjw_abr: int = 2, + tseg1_abr: int = 6, + tseg2_abr: int = 3, + sjw_dbr: int = 2, + tseg1_dbr: int = 6, + tseg2_dbr: int = 3, + ) -> None: + # set parameters if channel has init access + canfd_conf = xlclass.XLcanFdConf() + if bitrate: + canfd_conf.arbitrationBitRate = int(bitrate) + else: + canfd_conf.arbitrationBitRate = 500_000 + canfd_conf.sjwAbr = int(sjw_abr) + canfd_conf.tseg1Abr = int(tseg1_abr) + canfd_conf.tseg2Abr = int(tseg2_abr) + if data_bitrate: + canfd_conf.dataBitRate = int(data_bitrate) + else: + canfd_conf.dataBitRate = int(canfd_conf.arbitrationBitRate) + canfd_conf.sjwDbr = int(sjw_dbr) + canfd_conf.tseg1Dbr = int(tseg1_dbr) + canfd_conf.tseg2Dbr = int(tseg2_dbr) + self.xldriver.xlCanFdSetConfiguration( + self.port_handle, self.channel_masks[channel], canfd_conf + ) + LOG.info( + "xlCanFdSetConfiguration.: ABaudr.=%u, DBaudr.=%u", + canfd_conf.arbitrationBitRate, + canfd_conf.dataBitRate, + ) + LOG.info( + "xlCanFdSetConfiguration.: sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", + canfd_conf.sjwAbr, + canfd_conf.tseg1Abr, + canfd_conf.tseg2Abr, + ) + LOG.info( + "xlCanFdSetConfiguration.: sjwDbr=%u, tseg1Dbr=%u, tseg2Dbr=%u", + canfd_conf.sjwDbr, + canfd_conf.tseg1Dbr, + canfd_conf.tseg2Dbr, + ) + def _apply_filters(self, filters: Optional[CanFilters]) -> None: if filters: # Only up to one filter per ID type allowed @@ -544,7 +628,7 @@ def _send_sequence(self, msgs: Sequence[Message]) -> int: def _get_tx_channel_mask(self, msgs: Sequence[Message]) -> int: if len(msgs) == 1: - return self.channel_masks.get(msgs[0].channel, self.mask) + return self.channel_masks.get(msgs[0].channel, self.mask) # type: ignore[arg-type] else: return self.mask From 366e2391a517c3b828e90925508a9ea3c1bfd6f2 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 12 Sep 2022 15:02:58 +0200 Subject: [PATCH 139/475] Test on vector virtual bus if XL API is available (#1390) * refactoring for easier testing * use the vector virtual bus if XL driver is available * check xldriver to satisfy mypy * fix assertion --- can/interfaces/vector/canlib.py | 21 +- test/test_vector.py | 1118 ++++++++++++++++++++++--------- 2 files changed, 802 insertions(+), 337 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 333380a6f..ae60c5754 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -881,16 +881,25 @@ class VectorChannelConfig(NamedTuple): transceiverName: str -def get_channel_configs() -> List[VectorChannelConfig]: +def _get_xl_driver_config() -> xlclass.XLdriverConfig: if xldriver is None: - return [] + raise VectorError( + error_code=xldefine.XL_Status.XL_ERR_DLL_NOT_FOUND, + error_string="xldriver is unavailable", + function="_get_xl_driver_config", + ) driver_config = xlclass.XLdriverConfig() + xldriver.xlOpenDriver() + xldriver.xlGetDriverConfig(driver_config) + xldriver.xlCloseDriver() + return driver_config + + +def get_channel_configs() -> List[VectorChannelConfig]: try: - xldriver.xlOpenDriver() - xldriver.xlGetDriverConfig(driver_config) - xldriver.xlCloseDriver() + driver_config = _get_xl_driver_config() except VectorError: - pass + return [] channel_list: List[VectorChannelConfig] = [] for i in range(driver_config.channelCount): diff --git a/test/test_vector.py b/test/test_vector.py index 338783136..c4ae21f4e 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -5,9 +5,9 @@ """ import ctypes -import os +import functools import pickle -import unittest +import time from unittest.mock import Mock import pytest @@ -24,332 +24,792 @@ ) from test.config import IS_WINDOWS +XLDRIVER_FOUND = canlib.xldriver is not None -class TestVectorBus(unittest.TestCase): - def setUp(self) -> None: - # basic mock for XLDriver - can.interfaces.vector.canlib.xldriver = Mock() - - # bus creation functions - can.interfaces.vector.canlib.xldriver.xlOpenDriver = Mock() - can.interfaces.vector.canlib.xldriver.xlGetApplConfig = Mock( - side_effect=xlGetApplConfig - ) - can.interfaces.vector.canlib.xldriver.xlGetChannelIndex = Mock( - side_effect=xlGetChannelIndex - ) - can.interfaces.vector.canlib.xldriver.xlOpenPort = Mock(side_effect=xlOpenPort) - can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration = Mock( - return_value=0 - ) - can.interfaces.vector.canlib.xldriver.xlCanSetChannelMode = Mock(return_value=0) - can.interfaces.vector.canlib.xldriver.xlActivateChannel = Mock(return_value=0) - can.interfaces.vector.canlib.xldriver.xlGetSyncTime = Mock( - side_effect=xlGetSyncTime - ) - can.interfaces.vector.canlib.xldriver.xlCanSetChannelAcceptance = Mock( - return_value=0 - ) - can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate = Mock( - return_value=0 - ) - can.interfaces.vector.canlib.xldriver.xlSetNotification = Mock( - side_effect=xlSetNotification - ) - - # bus deactivation functions - can.interfaces.vector.canlib.xldriver.xlDeactivateChannel = Mock(return_value=0) - can.interfaces.vector.canlib.xldriver.xlClosePort = Mock(return_value=0) - can.interfaces.vector.canlib.xldriver.xlCloseDriver = Mock() - - # sender functions - can.interfaces.vector.canlib.xldriver.xlCanTransmit = Mock(return_value=0) - can.interfaces.vector.canlib.xldriver.xlCanTransmitEx = Mock(return_value=0) - - # various functions - can.interfaces.vector.canlib.xldriver.xlCanFlushTransmitQueue = Mock() - can.interfaces.vector.canlib.WaitForSingleObject = Mock() - - self.bus = None - - def tearDown(self) -> None: - if self.bus: - self.bus.shutdown() - self.bus = None - - def test_bus_creation(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - self.assertIsInstance(self.bus, canlib.VectorBus) - can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() - can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() - - can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() - xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] - self.assertEqual( - xlOpenPort_args[5], xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value - ) - self.assertEqual(xlOpenPort_args[6], xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value) - - can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called() - can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() - - def test_bus_creation_bitrate(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", bitrate=200000, _testing=True) - self.assertIsInstance(self.bus, canlib.VectorBus) - can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() - can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() - - can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() - xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] - self.assertEqual( - xlOpenPort_args[5], xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value - ) - self.assertEqual(xlOpenPort_args[6], xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value) - - can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called() - can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_called() - xlCanSetChannelBitrate_args = ( - can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.call_args[0] - ) - self.assertEqual(xlCanSetChannelBitrate_args[2], 200000) - - def test_bus_creation_fd(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) - self.assertIsInstance(self.bus, canlib.VectorBus) - can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() - can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() - - can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() - xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] - self.assertEqual( - xlOpenPort_args[5], - xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value, - ) - self.assertEqual(xlOpenPort_args[6], xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value) - - can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called() - can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() - - def test_bus_creation_fd_bitrate_timings(self) -> None: - self.bus = can.Bus( - channel=0, - bustype="vector", - fd=True, - bitrate=500000, - data_bitrate=2000000, - sjw_abr=10, - tseg1_abr=11, - tseg2_abr=12, - sjw_dbr=13, - tseg1_dbr=14, - tseg2_dbr=15, - _testing=True, - ) - self.assertIsInstance(self.bus, canlib.VectorBus) - can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() - can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() - - can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() - xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] - self.assertEqual( - xlOpenPort_args[5], - xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value, - ) - self.assertEqual(xlOpenPort_args[6], xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value) - - can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called() - can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() - - xlCanFdSetConfiguration_args = ( - can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.call_args[0] - ) - canFdConf = xlCanFdSetConfiguration_args[2] - self.assertEqual(canFdConf.arbitrationBitRate, 500000) - self.assertEqual(canFdConf.dataBitRate, 2000000) - self.assertEqual(canFdConf.sjwAbr, 10) - self.assertEqual(canFdConf.tseg1Abr, 11) - self.assertEqual(canFdConf.tseg2Abr, 12) - self.assertEqual(canFdConf.sjwDbr, 13) - self.assertEqual(canFdConf.tseg1Dbr, 14) - self.assertEqual(canFdConf.tseg2Dbr, 15) - - def test_receive(self) -> None: - can.interfaces.vector.canlib.xldriver.xlReceive = Mock(side_effect=xlReceive) - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - self.bus.recv(timeout=0.05) - can.interfaces.vector.canlib.xldriver.xlReceive.assert_called() - can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called() - - def test_receive_fd(self) -> None: - can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock( - side_effect=xlCanReceive - ) - self.bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) - self.bus.recv(timeout=0.05) - can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called() - can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called() - - def test_receive_non_msg_event(self) -> None: - can.interfaces.vector.canlib.xldriver.xlReceive = Mock( - side_effect=xlReceive_chipstate - ) - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - self.bus.handle_can_event = Mock() - self.bus.recv(timeout=0.05) - can.interfaces.vector.canlib.xldriver.xlReceive.assert_called() - can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called() - self.bus.handle_can_event.assert_called() - - def test_receive_fd_non_msg_event(self) -> None: - can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock( - side_effect=xlCanReceive_chipstate - ) - self.bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) - self.bus.handle_canfd_event = Mock() - self.bus.recv(timeout=0.05) - can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called() - can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called() - self.bus.handle_canfd_event.assert_called() - - def test_send(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - msg = can.Message( - arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True - ) - self.bus.send(msg) - can.interfaces.vector.canlib.xldriver.xlCanTransmit.assert_called() - can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.assert_not_called() - - def test_send_fd(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) - msg = can.Message( - arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True - ) - self.bus.send(msg) - can.interfaces.vector.canlib.xldriver.xlCanTransmit.assert_not_called() - can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.assert_called() - - def test_flush_tx_buffer(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - self.bus.flush_tx_buffer() - can.interfaces.vector.canlib.xldriver.xlCanFlushTransmitQueue.assert_called() - - def test_shutdown(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - self.bus.shutdown() - can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called() - can.interfaces.vector.canlib.xldriver.xlClosePort.assert_called() - can.interfaces.vector.canlib.xldriver.xlCloseDriver.assert_called() - - def test_reset(self) -> None: - self.bus = can.Bus(channel=0, bustype="vector", _testing=True) - self.bus.reset() - can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called() - can.interfaces.vector.canlib.xldriver.xlActivateChannel.assert_called() - - def test_popup_hw_cfg(self) -> None: - canlib.xldriver.xlPopupHwConfig = Mock() - canlib.VectorBus.popup_vector_hw_configuration(10) - assert canlib.xldriver.xlPopupHwConfig.called - args, kwargs = canlib.xldriver.xlPopupHwConfig.call_args - assert isinstance(args[0], ctypes.c_char_p) - assert isinstance(args[1], ctypes.c_uint) - - def test_get_application_config(self) -> None: - canlib.xldriver.xlGetApplConfig = Mock() - canlib.VectorBus.get_application_config(app_name="CANalyzer", app_channel=0) - assert canlib.xldriver.xlGetApplConfig.called - - def test_set_application_config(self) -> None: - canlib.xldriver.xlSetApplConfig = Mock() - canlib.VectorBus.set_application_config( - app_name="CANalyzer", - app_channel=0, - hw_type=xldefine.XL_HardwareType.XL_HWTYPE_VN1610, - hw_index=0, - hw_channel=0, - ) - assert canlib.xldriver.xlSetApplConfig.called - - def test_set_timer_rate(self) -> None: - canlib.xldriver.xlSetTimerRate = Mock() - bus: canlib.VectorBus = can.Bus( - channel=0, bustype="vector", fd=True, _testing=True - ) - bus.set_timer_rate(timer_rate_ms=1) - assert canlib.xldriver.xlSetTimerRate.called - - def test_called_without_testing_argument(self) -> None: - """This tests if an exception is thrown when we are not running on Windows.""" - if os.name != "nt": - with self.assertRaises(can.CanInterfaceNotImplementedError): - # do not set the _testing argument, since it would suppress the exception - can.Bus(channel=0, bustype="vector") - - def test_vector_error_pickle(self) -> None: - for error_type in [ - VectorError, - VectorInitializationError, - VectorOperationError, - ]: - with self.subTest(f"error_type = {error_type.__name__}"): - - error_code = 118 - error_string = "XL_ERROR" - function = "function_name" - - exc = error_type(error_code, error_string, function) - - # pickle and unpickle - p = pickle.dumps(exc) - exc_unpickled: VectorError = pickle.loads(p) - - self.assertEqual(str(exc), str(exc_unpickled)) - self.assertEqual(error_code, exc_unpickled.error_code) - - with pytest.raises(error_type): - raise exc_unpickled - - def test_vector_subtype_error_from_generic(self) -> None: - for error_type in [VectorInitializationError, VectorOperationError]: - with self.subTest(f"error_type = {error_type.__name__}"): - - error_code = 118 - error_string = "XL_ERROR" - function = "function_name" - - generic = VectorError(error_code, error_string, function) - - # pickle and unpickle - specific: VectorError = error_type.from_generic(generic) - - self.assertEqual(str(generic), str(specific)) - self.assertEqual(error_code, specific.error_code) - - with pytest.raises(error_type): - raise specific - - @unittest.skipUnless(IS_WINDOWS, "Windows specific test") - def test_winapi_availability(self) -> None: - self.assertIsNotNone(canlib.WaitForSingleObject) - self.assertIsNotNone(canlib.INFINITE) - - -class TestVectorChannelConfig: - def test_attributes(self): - assert hasattr(VectorChannelConfig, "name") - assert hasattr(VectorChannelConfig, "hwType") - assert hasattr(VectorChannelConfig, "hwIndex") - assert hasattr(VectorChannelConfig, "hwChannel") - assert hasattr(VectorChannelConfig, "channelIndex") - assert hasattr(VectorChannelConfig, "channelMask") - assert hasattr(VectorChannelConfig, "channelCapabilities") - assert hasattr(VectorChannelConfig, "channelBusCapabilities") - assert hasattr(VectorChannelConfig, "isOnBus") - assert hasattr(VectorChannelConfig, "connectedBusType") - assert hasattr(VectorChannelConfig, "serialNumber") - assert hasattr(VectorChannelConfig, "articleNumber") - assert hasattr(VectorChannelConfig, "transceiverName") + +@pytest.fixture() +def mock_xldriver() -> None: + # basic mock for XLDriver + xldriver_mock = Mock() + + # bus creation functions + xldriver_mock.xlOpenDriver = Mock() + xldriver_mock.xlGetApplConfig = Mock(side_effect=xlGetApplConfig) + xldriver_mock.xlGetChannelIndex = Mock(side_effect=xlGetChannelIndex) + xldriver_mock.xlOpenPort = Mock(side_effect=xlOpenPort) + xldriver_mock.xlCanFdSetConfiguration = Mock(return_value=0) + xldriver_mock.xlCanSetChannelMode = Mock(return_value=0) + xldriver_mock.xlActivateChannel = Mock(return_value=0) + xldriver_mock.xlGetSyncTime = Mock(side_effect=xlGetSyncTime) + xldriver_mock.xlCanSetChannelAcceptance = Mock(return_value=0) + xldriver_mock.xlCanSetChannelBitrate = Mock(return_value=0) + xldriver_mock.xlSetNotification = Mock(side_effect=xlSetNotification) + + # bus deactivation functions + xldriver_mock.xlDeactivateChannel = Mock(return_value=0) + xldriver_mock.xlClosePort = Mock(return_value=0) + xldriver_mock.xlCloseDriver = Mock() + + # sender functions + xldriver_mock.xlCanTransmit = Mock(return_value=0) + xldriver_mock.xlCanTransmitEx = Mock(return_value=0) + + # various functions + xldriver_mock.xlCanFlushTransmitQueue = Mock() + + # backup unmodified values + real_xldriver = canlib.xldriver + real_waitforsingleobject = canlib.WaitForSingleObject + + # set mock + canlib.xldriver = xldriver_mock + canlib.HAS_EVENTS = False + + yield + + # cleanup + canlib.xldriver = real_xldriver + canlib.WaitForSingleObject = real_waitforsingleobject + + +def test_bus_creation_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", _testing=True) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation() -> None: + bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + assert isinstance(bus, canlib.VectorBus) + bus.shutdown() + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert bus.channel_masks[0] == xl_channel_config.channelMask + assert ( + xl_channel_config.busParams.data.can.canOpMode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 + ) + + bus = canlib.VectorBus(channel=0, serial=_find_virtual_can_serial()) + assert isinstance(bus, canlib.VectorBus) + bus.shutdown() + + +def test_bus_creation_bitrate_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", bitrate=200_000, _testing=True) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_called() + xlCanSetChannelBitrate_args = ( + can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.call_args[0] + ) + assert xlCanSetChannelBitrate_args[2] == 200_000 + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_bitrate() -> None: + bus = can.Bus( + channel=0, serial=_find_virtual_can_serial(), bustype="vector", bitrate=200_000 + ) + assert isinstance(bus, canlib.VectorBus) + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert xl_channel_config.busParams.data.can.bitRate == 200_000 + + bus.shutdown() + + +def test_bus_creation_fd_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert ( + xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value + ) + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_fd() -> None: + bus = can.Bus( + channel=0, serial=_find_virtual_can_serial(), bustype="vector", fd=True + ) + assert isinstance(bus, canlib.VectorBus) + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert ( + xl_channel_config.interfaceVersion + == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4 + ) + assert ( + xl_channel_config.busParams.data.canFD.canOpMode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ) + bus.shutdown() + + +def test_bus_creation_fd_bitrate_timings_mocked(mock_xldriver) -> None: + bus = can.Bus( + channel=0, + bustype="vector", + fd=True, + bitrate=500_000, + data_bitrate=2_000_000, + sjw_abr=10, + tseg1_abr=11, + tseg2_abr=12, + sjw_dbr=13, + tseg1_dbr=14, + tseg2_dbr=15, + _testing=True, + ) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert ( + xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value + ) + + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() + + xlCanFdSetConfiguration_args = ( + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.call_args[0] + ) + canFdConf = xlCanFdSetConfiguration_args[2] + assert canFdConf.arbitrationBitRate == 500000 + assert canFdConf.dataBitRate == 2000000 + assert canFdConf.sjwAbr == 10 + assert canFdConf.tseg1Abr == 11 + assert canFdConf.tseg2Abr == 12 + assert canFdConf.sjwDbr == 13 + assert canFdConf.tseg1Dbr == 14 + assert canFdConf.tseg2Dbr == 15 + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_fd_bitrate_timings() -> None: + bus = can.Bus( + channel=0, + serial=_find_virtual_can_serial(), + bustype="vector", + fd=True, + bitrate=500_000, + data_bitrate=2_000_000, + sjw_abr=10, + tseg1_abr=11, + tseg2_abr=12, + sjw_dbr=13, + tseg1_dbr=14, + tseg2_dbr=15, + ) + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert ( + xl_channel_config.interfaceVersion + == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4 + ) + assert ( + xl_channel_config.busParams.data.canFD.canOpMode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ) + assert xl_channel_config.busParams.data.canFD.arbitrationBitRate == 500_000 + assert xl_channel_config.busParams.data.canFD.sjwAbr == 10 + assert xl_channel_config.busParams.data.canFD.tseg1Abr == 11 + assert xl_channel_config.busParams.data.canFD.tseg2Abr == 12 + assert xl_channel_config.busParams.data.canFD.sjwDbr == 13 + assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 14 + assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 15 + assert xl_channel_config.busParams.data.canFD.dataBitRate == 2_000_000 + + bus.shutdown() + + +def test_send_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", _testing=True) + msg = can.Message( + arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True + ) + bus.send(msg) + can.interfaces.vector.canlib.xldriver.xlCanTransmit.assert_called() + can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.assert_not_called() + + +def test_send_fd_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + msg = can.Message( + arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True + ) + bus.send(msg) + can.interfaces.vector.canlib.xldriver.xlCanTransmit.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.assert_called() + + +def test_receive_mocked(mock_xldriver) -> None: + can.interfaces.vector.canlib.xldriver.xlReceive = Mock(side_effect=xlReceive) + bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus.recv(timeout=0.05) + can.interfaces.vector.canlib.xldriver.xlReceive.assert_called() + can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called() + + +def test_receive_fd_mocked(mock_xldriver) -> None: + can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock(side_effect=xlCanReceive) + bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + bus.recv(timeout=0.05) + can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_send_and_receive() -> None: + bus1 = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + bus2 = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + + msg_std = can.Message( + channel=0, arbitration_id=0xFF, data=list(range(8)), is_extended_id=False + ) + msg_ext = can.Message( + channel=0, arbitration_id=0xFFFFFF, data=list(range(8)), is_extended_id=True + ) + + bus1.send(msg_std) + msg_std_recv = bus2.recv(None) + assert msg_std.equals(msg_std_recv, timestamp_delta=None) + + bus1.send(msg_ext) + msg_ext_recv = bus2.recv(None) + assert msg_ext.equals(msg_ext_recv, timestamp_delta=None) + + bus1.shutdown() + bus2.shutdown() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_send_and_receive_fd() -> None: + bus1 = can.Bus( + channel=0, serial=_find_virtual_can_serial(), fd=True, bustype="vector" + ) + bus2 = can.Bus( + channel=0, serial=_find_virtual_can_serial(), fd=True, bustype="vector" + ) + + msg_std = can.Message( + channel=0, + arbitration_id=0xFF, + data=list(range(64)), + is_extended_id=False, + is_fd=True, + ) + msg_ext = can.Message( + channel=0, + arbitration_id=0xFFFFFF, + data=list(range(64)), + is_extended_id=True, + is_fd=True, + ) + + bus1.send(msg_std) + msg_std_recv = bus2.recv(None) + assert msg_std.equals(msg_std_recv, timestamp_delta=None) + + bus1.send(msg_ext) + msg_ext_recv = bus2.recv(None) + assert msg_ext.equals(msg_ext_recv, timestamp_delta=None) + + bus1.shutdown() + bus2.shutdown() + + +def test_receive_non_msg_event_mocked(mock_xldriver) -> None: + can.interfaces.vector.canlib.xldriver.xlReceive = Mock( + side_effect=xlReceive_chipstate + ) + bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus.handle_can_event = Mock() + bus.recv(timeout=0.05) + can.interfaces.vector.canlib.xldriver.xlReceive.assert_called() + can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called() + bus.handle_can_event.assert_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_receive_non_msg_event() -> None: + bus = canlib.VectorBus( + channel=0, serial=_find_virtual_can_serial(), bustype="vector" + ) + bus.handle_can_event = Mock() + bus.xldriver.xlCanRequestChipState(bus.port_handle, bus.channel_masks[0]) + bus.recv(timeout=0.5) + bus.handle_can_event.assert_called() + bus.shutdown() + + +def test_receive_fd_non_msg_event_mocked(mock_xldriver) -> None: + can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock( + side_effect=xlCanReceive_chipstate + ) + bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + bus.handle_canfd_event = Mock() + bus.recv(timeout=0.05) + can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called() + bus.handle_canfd_event.assert_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_receive_fd_non_msg_event() -> None: + bus = canlib.VectorBus( + channel=0, serial=_find_virtual_can_serial(), fd=True, bustype="vector" + ) + bus.handle_canfd_event = Mock() + bus.xldriver.xlCanRequestChipState(bus.port_handle, bus.channel_masks[0]) + bus.recv(timeout=0.5) + bus.handle_canfd_event.assert_called() + bus.shutdown() + + +def test_flush_tx_buffer_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus.flush_tx_buffer() + can.interfaces.vector.canlib.xldriver.xlCanFlushTransmitQueue.assert_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_flush_tx_buffer() -> None: + bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + bus.flush_tx_buffer() + bus.shutdown() + + +def test_shutdown_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus.shutdown() + can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called() + can.interfaces.vector.canlib.xldriver.xlClosePort.assert_called() + can.interfaces.vector.canlib.xldriver.xlCloseDriver.assert_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_shutdown() -> None: + bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert xl_channel_config.isOnBus != 0 + bus.shutdown() + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert xl_channel_config.isOnBus == 0 + + +def test_reset_mocked(mock_xldriver) -> None: + bus = canlib.VectorBus(channel=0, bustype="vector", _testing=True) + bus.reset() + can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called() + can.interfaces.vector.canlib.xldriver.xlActivateChannel.assert_called() + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_reset_mocked() -> None: + bus = canlib.VectorBus( + channel=0, serial=_find_virtual_can_serial(), bustype="vector" + ) + bus.reset() + bus.shutdown() + + +def test_popup_hw_cfg_mocked(mock_xldriver) -> None: + canlib.xldriver.xlPopupHwConfig = Mock() + canlib.VectorBus.popup_vector_hw_configuration(10) + assert canlib.xldriver.xlPopupHwConfig.called + args, kwargs = canlib.xldriver.xlPopupHwConfig.call_args + assert isinstance(args[0], ctypes.c_char_p) + assert isinstance(args[1], ctypes.c_uint) + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_popup_hw_cfg() -> None: + with pytest.raises(VectorOperationError): + canlib.VectorBus.popup_vector_hw_configuration(1) + + +def test_get_application_config_mocked(mock_xldriver) -> None: + canlib.xldriver.xlGetApplConfig = Mock() + canlib.VectorBus.get_application_config(app_name="CANalyzer", app_channel=0) + assert canlib.xldriver.xlGetApplConfig.called + + +def test_set_application_config_mocked(mock_xldriver) -> None: + canlib.xldriver.xlSetApplConfig = Mock() + canlib.VectorBus.set_application_config( + app_name="CANalyzer", + app_channel=0, + hw_type=xldefine.XL_HardwareType.XL_HWTYPE_VN1610, + hw_index=0, + hw_channel=0, + ) + assert canlib.xldriver.xlSetApplConfig.called + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_set_and_get_application_config() -> None: + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=1 + ) + canlib.VectorBus.set_application_config( + app_name="python-can::test_vector", + app_channel=5, + hw_channel=xl_channel_config.hwChannel, + hw_index=xl_channel_config.hwIndex, + hw_type=xldefine.XL_HardwareType(xl_channel_config.hwType), + ) + hw_type, hw_index, hw_channel = canlib.VectorBus.get_application_config( + app_name="python-can::test_vector", + app_channel=5, + ) + assert hw_type == xldefine.XL_HardwareType(xl_channel_config.hwType) + assert hw_index == xl_channel_config.hwIndex + assert hw_channel == xl_channel_config.hwChannel + + +def test_set_timer_mocked(mock_xldriver) -> None: + canlib.xldriver.xlSetTimerRate = Mock() + bus = canlib.VectorBus(channel=0, bustype="vector", fd=True, _testing=True) + bus.set_timer_rate(timer_rate_ms=1) + assert canlib.xldriver.xlSetTimerRate.called + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_set_timer() -> None: + bus = canlib.VectorBus( + channel=0, serial=_find_virtual_can_serial(), bustype="vector" + ) + bus.handle_can_event = Mock() + bus.set_timer_rate(timer_rate_ms=1) + t0 = time.perf_counter() + while time.perf_counter() - t0 < 0.5: + bus.recv(timeout=-1) + + # call_count is incorrect when using virtual bus + # assert bus.handle_can_event.call_count > 498 + # assert bus.handle_can_event.call_count < 502 + + +@pytest.mark.skipif(IS_WINDOWS, reason="Not relevant for Windows.") +def test_called_without_testing_argument() -> None: + """This tests if an exception is thrown when we are not running on Windows.""" + with pytest.raises(can.CanInterfaceNotImplementedError): + # do not set the _testing argument, since it would suppress the exception + can.Bus(channel=0, bustype="vector") + + +def test_vector_error_pickle() -> None: + for error_type in [ + VectorError, + VectorInitializationError, + VectorOperationError, + ]: + error_code = 118 + error_string = "XL_ERROR" + function = "function_name" + + exc = error_type(error_code, error_string, function) + + # pickle and unpickle + p = pickle.dumps(exc) + exc_unpickled: VectorError = pickle.loads(p) + + assert str(exc) == str(exc_unpickled) + assert error_code == exc_unpickled.error_code + + with pytest.raises(error_type): + raise exc_unpickled + + +def test_vector_subtype_error_from_generic() -> None: + for error_type in [VectorInitializationError, VectorOperationError]: + error_code = 118 + error_string = "XL_ERROR" + function = "function_name" + + generic = VectorError(error_code, error_string, function) + + # pickle and unpickle + specific: VectorError = error_type.from_generic(generic) + + assert str(generic) == str(specific) + assert error_code == specific.error_code + + with pytest.raises(error_type): + raise specific + + +def test_get_channel_configs() -> None: + _original_func = canlib._get_xl_driver_config + canlib._get_xl_driver_config = _get_predefined_xl_driver_config + + channel_configs = canlib.get_channel_configs() + assert len(channel_configs) == 12 + + canlib._get_xl_driver_config = _original_func + + +@pytest.mark.skipif(not IS_WINDOWS, reason="Windows specific test") +def test_winapi_availability() -> None: + assert canlib.WaitForSingleObject is not None + assert canlib.INFINITE is not None + + +def test_vector_channel_config_attributes(): + assert hasattr(VectorChannelConfig, "name") + assert hasattr(VectorChannelConfig, "hwType") + assert hasattr(VectorChannelConfig, "hwIndex") + assert hasattr(VectorChannelConfig, "hwChannel") + assert hasattr(VectorChannelConfig, "channelIndex") + assert hasattr(VectorChannelConfig, "channelMask") + assert hasattr(VectorChannelConfig, "channelCapabilities") + assert hasattr(VectorChannelConfig, "channelBusCapabilities") + assert hasattr(VectorChannelConfig, "isOnBus") + assert hasattr(VectorChannelConfig, "connectedBusType") + assert hasattr(VectorChannelConfig, "serialNumber") + assert hasattr(VectorChannelConfig, "articleNumber") + assert hasattr(VectorChannelConfig, "transceiverName") + + +# ***************************************************************************** +# Utility functions +# ***************************************************************************** + + +def _find_xl_channel_config(serial: int, channel: int) -> xlclass.XLchannelConfig: + """Helper function""" + xl_driver_config = xlclass.XLdriverConfig() + canlib.xldriver.xlOpenDriver() + canlib.xldriver.xlGetDriverConfig(xl_driver_config) + canlib.xldriver.xlCloseDriver() + + for i in range(xl_driver_config.channelCount): + xl_channel_config: xlclass.XLchannelConfig = xl_driver_config.channel[i] + + if xl_channel_config.serialNumber != serial: + continue + + if xl_channel_config.hwChannel != channel: + continue + + return xl_channel_config + + raise LookupError("XLchannelConfig not found.") + + +@functools.lru_cache() +def _find_virtual_can_serial() -> int: + """Serial number might be 0 or 100 depending on driver version.""" + xl_driver_config = xlclass.XLdriverConfig() + canlib.xldriver.xlOpenDriver() + canlib.xldriver.xlGetDriverConfig(xl_driver_config) + canlib.xldriver.xlCloseDriver() + + for i in range(xl_driver_config.channelCount): + xl_channel_config: xlclass.XLchannelConfig = xl_driver_config.channel[i] + + if xl_channel_config.transceiverName.decode() == "Virtual CAN": + return xl_channel_config.serialNumber + + raise LookupError("Vector virtual CAN not found") + + +XL_DRIVER_CONFIG_EXAMPLE = ( + b"\x0E\x00\x1E\x14\x0C\x00\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E" + b"\x65\x6C\x20\x53\x74\x72\x65\x61\x6D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x2D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x04" + b"\x0A\x40\x00\x02\x00\x02\x00\x00\x02\x00\x00\x00\x02\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00\x8E" + b"\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08" + b"\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31" + b"\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x31\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x01\x03\x02\x00\x00\x00\x00\x01\x02\x00\x00" + b"\x00\x00\x00\x00\x00\x02\x10\x00\x08\x07\x01\x04\x00\x00\x00\x00\x00\x00\x04\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x04\x00" + b"\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x46\x52\x70\x69\x67\x67\x79\x20\x31\x30" + b"\x38\x30\x41\x6D\x61\x67\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x03\x05\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x32\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x02\x3C\x01\x00" + b"\x00\x00\x00\x02\x04\x00\x00\x00\x00\x00\x00\x00\x12\x00\x00\xA2\x03\x05\x01\x00" + b"\x00\x00\x04\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01\x00\x00" + b"\x00\x00\x00\x00\x00\x01\x80\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00" + b"\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x4F\x6E\x20" + b"\x62\x6F\x61\x72\x64\x20\x43\x41\x4E\x20\x31\x30\x35\x31\x63\x61\x70\x28\x48\x69" + b"\x67\x68\x73\x70\x65\x65\x64\x29\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x03" + b"\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E" + b"\x6E\x65\x6C\x20\x33\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x2D\x00\x03\x3C\x01\x00\x00\x00\x00\x03\x08\x00\x00\x00\x00\x00\x00\x00\x12" + b"\x00\x00\xA2\x03\x09\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00" + b"\x01\x04\x03\x01\x01\x00\x00\x00\x00\x00\x00\x00\x01\x9B\x00\x00\x00\x68\x89\x09" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00" + b"\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00" + b"\x08\x1C\x00\x00\x4F\x6E\x20\x62\x6F\x61\x72\x64\x20\x43\x41\x4E\x20\x31\x30\x35" + b"\x31\x63\x61\x70\x28\x48\x69\x67\x68\x73\x70\x65\x65\x64\x29\x00\x04\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39" + b"\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x34\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x04\x33\x01\x00\x00\x00\x00\x04\x10\x00" + b"\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x03\x09\x02\x08\x00\x00\x00\x00\x00\x02" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x03" + b"\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x4C\x49\x4E\x70\x69\x67\x67\x79\x20" + b"\x37\x32\x36\x39\x6D\x61\x67\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x07\x00\x00\x00\x70\x17\x00\x00\x0C\x09\x03\x04\x58\x02\x10\x0E\x30" + b"\x57\x05\x00\x00\x00\x00\x00\x88\x13\x88\x13\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x35\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x05\x00\x00" + b"\x00\x00\x02\x00\x05\x20\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x0C\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00" + b"\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61" + b"\x6E\x6E\x65\x6C\x20\x36\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x2D\x00\x06\x00\x00\x00\x00\x02\x00\x06\x40\x00\x00\x00\x00\x00\x00\x00" + b"\x02\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00" + b"\x00\x08\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38" + b"\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x37\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x07\x00\x00\x00\x00\x02\x00\x07\x80" + b"\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x38" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x08\x3C" + b"\x01\x00\x00\x00\x00\x08\x00\x01\x00\x00\x00\x00\x00\x00\x12\x00\x00\xA2\x01\x00" + b"\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01" + b"\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00" + b"\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x4F" + b"\x6E\x20\x62\x6F\x61\x72\x64\x20\x43\x41\x4E\x20\x31\x30\x35\x31\x63\x61\x70\x28" + b"\x48\x69\x67\x68\x73\x70\x65\x65\x64\x29\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68" + b"\x61\x6E\x6E\x65\x6C\x20\x39\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x2D\x00\x09\x80\x02\x00\x00\x00\x00\x09\x00\x02\x00\x00\x00\x00\x00" + b"\x00\x02\x00\x00\x00\x40\x00\x40\x00\x00\x00\x00\x00\x00\x40\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x03\x00\x00\x00\x00\x00" + b"\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03" + b"\x00\x00\x08\x1C\x00\x00\x44\x2F\x41\x20\x49\x4F\x70\x69\x67\x67\x79\x20\x38\x36" + b"\x34\x32\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69" + b"\x72\x74\x75\x61\x6C\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x31\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x16\x00\x00\x00\x00\x00\x0A" + b"\x00\x04\x00\x00\x00\x00\x00\x00\x07\x00\x00\xA0\x01\x00\x01\x00\x00\x00\x00\x00" + b"\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01\x00\x00\x00\x00\x00\x00" + b"\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00\x00\x00\x00\x10\x00\x1E" + b"\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6C" + b"\x20\x43\x41\x4E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6C\x20\x43\x68\x61\x6E\x6E\x65\x6C" + b"\x20\x32\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01" + b"\x16\x00\x00\x00\x00\x00\x0B\x00\x08\x00\x00\x00\x00\x00\x00\x07\x00\x00\xA0\x01" + b"\x00\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01" + b"\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x10\x00\x1E\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x56\x69\x72\x74\x75\x61\x6C\x20\x43\x41\x4E\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x02" + 11832 * b"\x00" +) + + +def _get_predefined_xl_driver_config() -> xlclass.XLdriverConfig: + return xlclass.XLdriverConfig.from_buffer_copy(XL_DRIVER_CONFIG_EXAMPLE) + + +# ***************************************************************************** +# Mock functions/side effects +# ***************************************************************************** def xlGetApplConfig( @@ -454,7 +914,3 @@ def xlCanReceive_chipstate( event.timeStamp = 0 event.chanIndex = 2 return 0 - - -if __name__ == "__main__": - unittest.main() From c3a5c7ab969cd40711dba992e6a95ec8df4551b6 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 13 Sep 2022 17:15:38 +0200 Subject: [PATCH 140/475] Provide meaningful error message for xlGetApplConfig error (#1392) --- can/interfaces/vector/canlib.py | 26 ++++++++++++++++++-------- 1 file changed, 18 insertions(+), 8 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index ae60c5754..7737a99d3 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -791,14 +791,24 @@ def get_application_config( hw_channel = ctypes.c_uint() _app_channel = ctypes.c_uint(app_channel) - xldriver.xlGetApplConfig( - app_name.encode(), - _app_channel, - hw_type, - hw_index, - hw_channel, - xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, - ) + try: + xldriver.xlGetApplConfig( + app_name.encode(), + _app_channel, + hw_type, + hw_index, + hw_channel, + xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, + ) + except VectorError as e: + raise VectorInitializationError( + error_code=e.error_code, + error_string=( + f"Vector HW Config: Channel '{app_channel}' of " + f"application '{app_name}' is not assigned to any interface" + ), + function="xlGetApplConfig", + ) from None return xldefine.XL_HardwareType(hw_type.value), hw_index.value, hw_channel.value @staticmethod From b2b2a80486bb2c165b710baed509a6654df76703 Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Tue, 13 Sep 2022 13:27:26 -0500 Subject: [PATCH 141/475] Pass file mode to compress function (#1384) --- can/io/logger.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index 478651953..ec34079b4 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -88,7 +88,7 @@ def __new__( # type: ignore file_or_filename: AcceptedIOType = filename if suffix == ".gz": - suffix, file_or_filename = Logger.compress(filename) + suffix, file_or_filename = Logger.compress(filename, *args, **kwargs) try: return Logger.message_writers[suffix](file_or_filename, *args, **kwargs) @@ -98,13 +98,18 @@ def __new__( # type: ignore ) from None @staticmethod - def compress(filename: StringPathLike) -> Tuple[str, FileLike]: + def compress( + filename: StringPathLike, *args: Any, **kwargs: Any + ) -> Tuple[str, FileLike]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. """ real_suffix = pathlib.Path(filename).suffixes[-2].lower() - mode = "ab" if real_suffix == ".blf" else "at" + if kwargs.get("append", False): + mode = "ab" if real_suffix == ".blf" else "at" + else: + mode = "wb" if real_suffix == ".blf" else "wt" return real_suffix, gzip.open(filename, mode) From 23b6b1916532b6e6ba2e5cc6f2e0d139c428a02a Mon Sep 17 00:00:00 2001 From: Brent Barbachem Date: Mon, 3 Oct 2022 09:16:57 -0400 Subject: [PATCH 142/475] Update BufferedReader.get_message docstring (#1397) ** Docstring now states that the `get_message` method utilizes a FIFO ordering for grabbing messages from the queue. --- can/listener.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/can/listener.py b/can/listener.py index 12836a83c..6c9cdf0be 100644 --- a/can/listener.py +++ b/can/listener.py @@ -105,13 +105,13 @@ def on_message_received(self, msg: Message) -> None: def get_message(self, timeout: float = 0.5) -> Optional[Message]: """ - Attempts to retrieve the latest message received by the instance. If no message is - available it blocks for given timeout or until a message is received, or else - returns None (whichever is shorter). This method does not block after - :meth:`can.BufferedReader.stop` has been called. + Attempts to retrieve the message that has been in the queue for the longest amount + of time (FIFO). If no message is available, it blocks for given timeout or until a + message is received (whichever is shorter), or else returns None. This method does + not block after :meth:`can.BufferedReader.stop` has been called. :param timeout: The number of seconds to wait for a new message. - :return: the Message if there is one, or None if there is not. + :return: the received :class:`can.Message` or `None`, if the queue is empty. """ try: if self.is_stopped: From 89c395fd315179b1eb2ca8e21a852c825bb385b8 Mon Sep 17 00:00:00 2001 From: Nazia Povey Date: Mon, 3 Oct 2022 09:43:41 -0400 Subject: [PATCH 143/475] Move windows-curses dependency to an optional extra (#1395) * Move windows-curses dependency to an optional extra Python 3.11 wheels for windows-curses are [not yet available][1], and this meant that python-can could not be installed on windows with Python 3.11. Since windows-curses is only used in viewer.py, change the dependnecy to an optional extra. [1]: https://github.com/zephyrproject-rtos/windows-curses/issues/31 * change python3 to python for Windows Co-authored-by: Hashem Nasarat Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- doc/installation.rst | 10 ++++++++++ setup.py | 4 +++- 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/doc/installation.rst b/doc/installation.rst index fe7204ba6..bfce72180 100644 --- a/doc/installation.rst +++ b/doc/installation.rst @@ -103,6 +103,16 @@ If ``python-can`` is already installed, the CANtact backend can be installed sep Additional CANtact documentation is available at `cantact.io `__. +CanViewer +~~~~~~~~~ + +``python-can`` has support for showing a simple CAN viewer terminal application +by running ``python -m can.viewer``. On Windows, this depends on the +`windows-curses library `__ which can +be installed with: + +``python -m pip install "python-can[viewer]"`` + Installing python-can in development mode ----------------------------------------- diff --git a/setup.py b/setup.py index c9defecab..adbd61f91 100644 --- a/setup.py +++ b/setup.py @@ -33,6 +33,9 @@ "gs_usb": ["gs_usb>=0.2.1"], "nixnet": ["nixnet>=0.3.1"], "pcan": ["uptime~=3.0.1"], + "viewer": [ + 'windows-curses;platform_system=="Windows" and platform_python_implementation=="CPython"' + ], } setup( @@ -86,7 +89,6 @@ install_requires=[ "setuptools", "wrapt~=1.10", - 'windows-curses;platform_system=="Windows" and platform_python_implementation=="CPython"', "typing_extensions>=3.10.0.0", 'pywin32;platform_system=="Windows" and platform_python_implementation=="CPython"', 'msgpack~=1.0.0;platform_system!="Windows"', From a144f25689728bad7ed39de4a70f2260c04df9be Mon Sep 17 00:00:00 2001 From: Martin Kletzander Date: Fri, 7 Oct 2022 20:32:47 +0200 Subject: [PATCH 144/475] Test load_config() (#1396) * listener_test: Do not modify environment for other tests * network_test: Do not modify environment for other tests Also do not skip the test since there will always be an interface (previously set globally and now prepared in setUp function. * test_load_file_config: Test with different values Testing with the same interface values would not show possible issues in case there were any. * tests: Add test for load_config Add tests for load_config with contexts and environment variables. Closes #345 Signed-off-by: Martin Kletzander Signed-off-by: Martin Kletzander --- test/listener_test.py | 8 ++-- test/network_test.py | 11 ++++- test/test_load_config.py | 86 +++++++++++++++++++++++++++++++++++ test/test_load_file_config.py | 2 +- 4 files changed, 101 insertions(+), 6 deletions(-) create mode 100644 test/test_load_config.py diff --git a/test/listener_test.py b/test/listener_test.py index e5abd94a2..0e64a266a 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -15,9 +15,6 @@ from .data.example_data import generate_message -channel = "virtual_channel_0" -can.rc["interface"] = "virtual" - logging.basicConfig(level=logging.DEBUG) # makes the random number generator deterministic @@ -55,10 +52,15 @@ def testClassesImportable(self): class BusTest(unittest.TestCase): def setUp(self): + # Save all can.rc defaults + self._can_rc = can.rc + can.rc = {"interface": "virtual"} self.bus = can.interface.Bus() def tearDown(self): self.bus.shutdown() + # Restore the defaults + can.rc = self._can_rc class ListenerTest(BusTest): diff --git a/test/network_test.py b/test/network_test.py index 5900cd10f..58c305a38 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -14,10 +14,8 @@ import can channel = "vcan0" -can.rc["interface"] = "virtual" -@unittest.skipIf("interface" not in can.rc, "Need a CAN interface") class ControllerAreaNetworkTestCase(unittest.TestCase): """ This test ensures that what messages go in to the bus is what comes out. @@ -42,6 +40,15 @@ class ControllerAreaNetworkTestCase(unittest.TestCase): for b in range(num_messages) ) + def setUp(self): + # Save all can.rc defaults + self._can_rc = can.rc + can.rc = {"interface": "virtual"} + + def tearDown(self): + # Restore the defaults + can.rc = self._can_rc + def producer(self, ready_event, msg_read): self.client_bus = can.interface.Bus(channel=channel) ready_event.wait() diff --git a/test/test_load_config.py b/test/test_load_config.py new file mode 100644 index 000000000..a2969b0a5 --- /dev/null +++ b/test/test_load_config.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python + +import os +import shutil +import tempfile +import unittest +from tempfile import NamedTemporaryFile + +import can + + +class LoadConfigTest(unittest.TestCase): + configuration = { + "default": {"interface": "serial", "channel": "0"}, + "one": {"interface": "kvaser", "channel": "1", "bitrate": 100000}, + "two": {"channel": "2"}, + } + + def setUp(self): + # Create a temporary directory + self.test_dir = tempfile.mkdtemp() + + def tearDown(self): + # Remove the directory after the test + shutil.rmtree(self.test_dir) + + def _gen_configration_file(self, sections): + with NamedTemporaryFile( + mode="w", dir=self.test_dir, delete=False + ) as tmp_config_file: + content = [] + for section in sections: + content.append("[{}]".format(section)) + for k, v in self.configuration[section].items(): + content.append("{} = {}".format(k, v)) + tmp_config_file.write("\n".join(content)) + return tmp_config_file.name + + def _dict_to_env(self, d): + return {f"CAN_{k.upper()}": str(v) for k, v in d.items()} + + def test_config_default(self): + tmp_config = self._gen_configration_file(["default"]) + config = can.util.load_config(path=tmp_config) + self.assertEqual(config, self.configuration["default"]) + + def test_config_whole_default(self): + tmp_config = self._gen_configration_file(self.configuration) + config = can.util.load_config(path=tmp_config) + self.assertEqual(config, self.configuration["default"]) + + def test_config_whole_context(self): + tmp_config = self._gen_configration_file(self.configuration) + config = can.util.load_config(path=tmp_config, context="one") + self.assertEqual(config, self.configuration["one"]) + + def test_config_merge_context(self): + tmp_config = self._gen_configration_file(self.configuration) + config = can.util.load_config(path=tmp_config, context="two") + expected = self.configuration["default"] + expected.update(self.configuration["two"]) + self.assertEqual(config, expected) + + def test_config_merge_environment_to_context(self): + tmp_config = self._gen_configration_file(self.configuration) + env_data = {"interface": "serial", "bitrate": 125000} + env_dict = self._dict_to_env(env_data) + with unittest.mock.patch.dict("os.environ", env_dict): + config = can.util.load_config(path=tmp_config, context="one") + expected = self.configuration["one"] + expected.update(env_data) + self.assertEqual(config, expected) + + def test_config_whole_environment(self): + tmp_config = self._gen_configration_file(self.configuration) + env_data = {"interface": "socketcan", "channel": "3", "bitrate": 250000} + env_dict = self._dict_to_env(env_data) + with unittest.mock.patch.dict("os.environ", env_dict): + config = can.util.load_config(path=tmp_config, context="one") + expected = self.configuration["one"] + expected.update(env_data) + self.assertEqual(config, expected) + + +if __name__ == "__main__": + unittest.main() diff --git a/test/test_load_file_config.py b/test/test_load_file_config.py index c71e6ccd6..6b1d5a382 100644 --- a/test/test_load_file_config.py +++ b/test/test_load_file_config.py @@ -11,7 +11,7 @@ class LoadFileConfigTest(unittest.TestCase): configuration = { "default": {"interface": "virtual", "channel": "0"}, - "one": {"interface": "virtual", "channel": "1"}, + "one": {"interface": "kvaser", "channel": "1"}, "two": {"channel": "2"}, "three": {"extra": "extra value"}, } From b639560594d9dbb570efd67d64877b743fdf9aef Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Fri, 7 Oct 2022 16:20:31 -0500 Subject: [PATCH 145/475] Modify `file_size` help doc string (#1401) * Modify `file_size` help doc string * Add note to BLFWriter * Revert "Add note to BLFWriter" This reverts commit 18241acc527b82ee81aa0e546410a158b18ad1d1. * Add in a note about the nuanced file size in help statement based on input from @zariiii9003 * Modify help statement to clarify consistency * Minor tweak * Control BLFWriter max container size * Fix formatting * Update can/logger.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Revert "Fix formatting" This reverts commit 3afb140a09c4c0a5394f5a89d7e0d49397c4a37d. * Revert "Control BLFWriter max container size" This reverts commit c39719ccf88ef9c6eae8facffcac063a10f519c5. Co-authored-by: j-c-cook Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/logger.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/can/logger.py b/can/logger.py index 0b73dd785..8cb201987 100644 --- a/can/logger.py +++ b/can/logger.py @@ -193,9 +193,10 @@ def main() -> None: "--file_size", dest="file_size", type=int, - help="Maximum file size in bytes (or for the case of blf, maximum " - "buffer size before compression and flush to file). Rotate log " - "file when size threshold is reached.", + help="Maximum file size in bytes. Rotate log file when size threshold " + "is reached. (The resulting file sizes will be consistent, but are not " + "guaranteed to be exactly what is specified here due to the rollover " + "conditions being logger implementation specific.)", default=None, ) From 451ce48eacd529453c14ec59fe6bc5d142f2e65a Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 9 Oct 2022 23:08:36 +0200 Subject: [PATCH 146/475] Fix Sphinx warnings (#1405) * fix most sphinx warnings * build docs in CI * install package * fix extlink caption string deprecation warning * add Seeed Studio to title * update readthedocs configuration * add mocks for windows specifics * mypy should ignore conf.py * upload sphinx artifact * set retention to 5 days * set type annotation location --- .github/workflows/build.yml | 22 +++++++++++ .readthedocs.yml | 31 +++++++++++++++ can/broadcastmanager.py | 2 +- can/bus.py | 31 +++++++++------ can/exceptions.py | 2 +- can/interfaces/ixxat/canlib_vcinpl.py | 6 +-- can/interfaces/ixxat/canlib_vcinpl2.py | 5 +-- can/interfaces/kvaser/canlib.py | 3 +- can/interfaces/kvaser/structures.py | 7 +--- can/interfaces/nican.py | 10 ++--- can/interfaces/pcan/pcan.py | 4 +- can/interfaces/robotell.py | 8 ++-- can/interfaces/serial/serial_can.py | 10 +++-- can/interfaces/slcan.py | 4 +- can/interfaces/socketcan/socketcan.py | 13 ++++--- can/interfaces/systec/ucanbus.py | 8 ++-- can/interfaces/usb2can/usb2canInterface.py | 21 +++++----- .../usb2can/usb2canabstractionlayer.py | 22 +++++++---- can/interfaces/vector/canlib.py | 6 +-- can/interfaces/virtual.py | 4 +- can/io/logger.py | 39 ++++++++++--------- can/io/sqlite.py | 2 +- can/message.py | 2 +- can/typechecking.py | 4 +- can/util.py | 9 +++-- doc/bcm.rst | 4 ++ doc/bus.rst | 11 +++++- doc/conf.py | 29 ++++++++++++-- doc/doc-requirements.txt | 4 +- doc/interfaces.rst | 1 + doc/interfaces/etas.rst | 4 +- doc/interfaces/ixxat.rst | 19 ++++++++- doc/interfaces/kvaser.rst | 2 + doc/interfaces/neovi.rst | 5 ++- doc/interfaces/nican.rst | 1 + doc/interfaces/pcan.rst | 1 + doc/interfaces/seeedstudio.rst | 5 +-- doc/interfaces/serial.rst | 2 + doc/interfaces/socketcan.rst | 6 ++- doc/interfaces/socketcand.rst | 13 ++++--- doc/interfaces/usb2can.rst | 2 + doc/interfaces/vector.rst | 6 +-- doc/interfaces/virtual.rst | 6 ++- doc/internal-api.rst | 2 +- doc/message.rst | 2 + doc/scripts.rst | 2 +- setup.cfg | 1 + 47 files changed, 267 insertions(+), 136 deletions(-) create mode 100644 .readthedocs.yml diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 5365620cd..aad9274fe 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -87,3 +87,25 @@ jobs: - name: Code Format Check with Black run: | black --check --verbose . + + docs: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - name: Set up Python + uses: actions/setup-python@v3 + with: + python-version: "3.10" + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install -e .[canalystii,gs_usb] + pip install -r doc/doc-requirements.txt + - name: Build documentation + run: | + python -m sphinx -an doc build + - uses: actions/upload-artifact@v3 + with: + name: sphinx-out + path: ./build/ + retention-days: 5 diff --git a/.readthedocs.yml b/.readthedocs.yml new file mode 100644 index 000000000..74cb9dbdd --- /dev/null +++ b/.readthedocs.yml @@ -0,0 +1,31 @@ +# .readthedocs.yaml +# Read the Docs configuration file +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +# Set the version of Python and other tools you might need +build: + os: ubuntu-22.04 + tools: + python: "3.10" + +# Build documentation in the docs/ directory with Sphinx +sphinx: + configuration: doc/conf.py + +# If using Sphinx, optionally build your docs in additional formats such as PDF +formats: + - pdf + - epub + +# Optionally declare the Python requirements required to build your docs +python: + install: + - requirements: doc/doc-requirements.txt + - method: pip + path: . + extra_requirements: + - canalystii + - gs_usb diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index c15186e2c..239d1d7d5 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -39,7 +39,7 @@ class CyclicTask(abc.ABC): def stop(self) -> None: """Cancel this periodic task. - :raises can.CanError: + :raises ~can.exceptions.CanError: If stop is called on an already stopped task. """ diff --git a/can/bus.py b/can/bus.py index b9ccfcfad..c0793c5f7 100644 --- a/can/bus.py +++ b/can/bus.py @@ -66,8 +66,10 @@ def __init__( Any backend dependent configurations are passed in this dictionary :raises ValueError: If parameters are out of range - :raises can.CanInterfaceNotImplementedError: If the driver cannot be accessed - :raises can.CanInitializationError: If the bus cannot be initialized + :raises ~can.exceptions.CanInterfaceNotImplementedError: + If the driver cannot be accessed + :raises ~can.exceptions.CanInitializationError: + If the bus cannot be initialized """ self._periodic_tasks: List[_SelfRemovingCyclicTask] = [] self.set_filters(can_filters) @@ -81,9 +83,11 @@ def recv(self, timeout: Optional[float] = None) -> Optional[Message]: :param timeout: seconds to wait for a message or None to wait indefinitely - :return: ``None`` on timeout or a :class:`Message` object. + :return: + :obj:`None` on timeout or a :class:`~can.Message` object. - :raises can.CanOperationError: If an error occurred while reading + :raises ~can.exceptions.CanOperationError: + If an error occurred while reading """ start = time() time_left = timeout @@ -148,7 +152,8 @@ def _recv_internal( 2. a bool that is True if message filtering has already been done and else False - :raises can.CanOperationError: If an error occurred while reading + :raises ~can.exceptions.CanOperationError: + If an error occurred while reading :raises NotImplementedError: if the bus provides it's own :meth:`~can.BusABC.recv` implementation (legacy implementation) @@ -171,7 +176,8 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: Might not be supported by all interfaces. None blocks indefinitely. - :raises can.CanOperationError: If an error occurred while sending + :raises ~can.exceptions.CanOperationError: + If an error occurred while sending """ raise NotImplementedError("Trying to write to a readonly bus?") @@ -189,8 +195,8 @@ def send_periodic( - the (optional) duration expires - the Bus instance goes out of scope - the Bus instance is shutdown - - :meth:`BusABC.stop_all_periodic_tasks()` is called - - the task's :meth:`CyclicTask.stop()` method is called. + - :meth:`stop_all_periodic_tasks` is called + - the task's :meth:`~can.broadcastmanager.CyclicTask.stop` method is called. :param msgs: Message(s) to transmit @@ -204,7 +210,8 @@ def send_periodic( Disable to instead manage tasks manually. :return: A started task instance. Note the task can be stopped (and depending on - the backend modified) by calling the task's :meth:`stop` method. + the backend modified) by calling the task's + :meth:`~can.broadcastmanager.CyclicTask.stop` method. .. note:: @@ -274,8 +281,8 @@ def _send_periodic_internal( no duration is provided, the task will continue indefinitely. :return: A started task instance. Note the task can be stopped (and - depending on the backend modified) by calling the :meth:`stop` - method. + depending on the backend modified) by calling the + :meth:`~can.broadcastmanager.CyclicTask.stop` method. """ if not hasattr(self, "_lock_send_periodic"): # Create a send lock for this bus, but not for buses which override this method @@ -288,7 +295,7 @@ def _send_periodic_internal( return task def stop_all_periodic_tasks(self, remove_tasks: bool = True) -> None: - """Stop sending any messages that were started using **bus.send_periodic**. + """Stop sending any messages that were started using :meth:`send_periodic`. .. note:: The result is undefined if a single task throws an exception while being stopped. diff --git a/can/exceptions.py b/can/exceptions.py index 5a7aa0b7c..dc08be3b8 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -74,7 +74,7 @@ class CanInitializationError(CanError): """Indicates an error the occurred while initializing a :class:`can.BusABC`. If initialization fails due to a driver or platform missing/being unsupported, - a :class:`can.CanInterfaceNotImplementedError` is raised instead. + a :exc:`~can.exceptions.CanInterfaceNotImplementedError` is raised instead. If initialization fails due to a value being out of range, a :class:`ValueError` is raised. diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index cb0447b49..bdb05cda5 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -372,10 +372,8 @@ class IXXATBus(BusABC): .. warning:: This interface does implement efficient filtering of messages, but - the filters have to be set in :meth:`~can.interfaces.ixxat.IXXATBus.__init__` - using the ``can_filters`` parameter. Using :meth:`~can.interfaces.ixxat.IXXATBus.set_filters` - does not work. - + the filters have to be set in ``__init__`` using the ``can_filters`` parameter. + Using :meth:`~can.BusABC.set_filters` does not work. """ CHANNEL_BITRATES = { diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 37085d74a..802168630 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -411,9 +411,8 @@ class IXXATBus(BusABC): .. warning:: This interface does implement efficient filtering of messages, but - the filters have to be set in :meth:`~can.interfaces.ixxat.IXXATBus.__init__` - using the ``can_filters`` parameter. Using :meth:`~can.interfaces.ixxat.IXXATBus.set_filters` - does not work. + the filters have to be set in ``__init__`` using the ``can_filters`` parameter. + Using :meth:`~can.BusABC.set_filters` does not work. """ diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index a951e39de..f60a43bc5 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -657,7 +657,7 @@ def shutdown(self): canBusOff(self._write_handle) canClose(self._write_handle) - def get_stats(self): + def get_stats(self) -> structures.BusStatistics: """Retrieves the bus statistics. Use like so: @@ -667,7 +667,6 @@ def get_stats(self): std_data: 0, std_remote: 0, ext_data: 0, ext_remote: 0, err_frame: 0, bus_load: 0.0%, overruns: 0 :returns: bus statistics. - :rtype: can.interfaces.kvaser.structures.BusStatistics """ canRequestBusStatistics(self._write_handle) stats = structures.BusStatistics() diff --git a/can/interfaces/kvaser/structures.py b/can/interfaces/kvaser/structures.py index c7d363dd4..996f16c37 100644 --- a/can/interfaces/kvaser/structures.py +++ b/can/interfaces/kvaser/structures.py @@ -7,11 +7,8 @@ class BusStatistics(ctypes.Structure): - """ - This structure is used with the method :meth:`KvaserBus.get_stats`. - - .. seealso:: :meth:`KvaserBus.get_stats` - + """This structure is used with the method + :meth:`~can.interfaces.kvaser.canlib.KvaserBus.get_stats`. """ _fields_ = [ diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index 0beeee429..ea13e28e8 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -179,10 +179,8 @@ class NicanBus(BusABC): .. warning:: This interface does implement efficient filtering of messages, but - the filters have to be set in :meth:`~can.interfaces.nican.NicanBus.__init__` - using the ``can_filters`` parameter. Using :meth:`~can.interfaces.nican.NicanBus.set_filters` - does not work. - + the filters have to be set in ``__init__`` using the ``can_filters`` parameter. + Using :meth:`~can.BusABC.set_filters` does not work. """ def __init__( @@ -208,9 +206,9 @@ def __init__( ``is_error_frame`` set to True and ``arbitration_id`` will identify the error (default True) - :raise can.CanInterfaceNotImplementedError: + :raise ~can.exceptions.CanInterfaceNotImplementedError: If the current operating system is not supported or the driver could not be loaded. - :raise can.interfaces.nican.NicanInitializationError: + :raise ~can.interfaces.nican.NicanInitializationError: If the bus could not be set up. """ if nican is None: diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index e5b877762..c60b9e6c9 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -113,8 +113,8 @@ def __init__( """A PCAN USB interface to CAN. On top of the usual :class:`~can.Bus` methods provided, - the PCAN interface includes the :meth:`~can.interface.pcan.PcanBus.flash` - and :meth:`~can.interface.pcan.PcanBus.status` methods. + the PCAN interface includes the :meth:`flash` + and :meth:`status` methods. :param str channel: The can interface name. An example would be 'PCAN_USBBUS1'. diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 709fad78d..0d3ad1b77 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -5,9 +5,10 @@ import io import time import logging +from typing import Optional from can import BusABC, Message -from ..exceptions import CanInterfaceNotImplementedError +from ..exceptions import CanInterfaceNotImplementedError, CanOperationError logger = logging.getLogger(__name__) @@ -377,12 +378,11 @@ def fileno(self): except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception - def get_serial_number(self, timeout): + def get_serial_number(self, timeout: Optional[int]) -> Optional[str]: """Get serial number of the slcan interface. - :type timeout: int or None + :param timeout: seconds to wait for serial number or None to wait indefinitely - :rtype str or None :return: None on timeout or a str object. """ diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index ec4bb8671..c1507b4fa 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -74,8 +74,10 @@ def __init__( :param rtscts: turn hardware handshake (RTS/CTS) on and off - :raises can.CanInitializationError: If the given parameters are invalid. - :raises can.CanInterfaceNotImplementedError: If the serial module is not installed. + :raises ~can.exceptions.CanInitializationError: + If the given parameters are invalid. + :raises ~can.exceptions.CanInterfaceNotImplementedError: + If the serial module is not installed. """ if not serial: @@ -163,10 +165,10 @@ def _recv_internal( This parameter will be ignored. The timeout value of the channel is used. :returns: - Received message and `False` (because no filtering as taken place). + Received message and :obj:`False` (because no filtering as taken place). .. warning:: - Flags like is_extended_id, is_remote_frame and is_error_frame + Flags like ``is_extended_id``, ``is_remote_frame`` and ``is_error_frame`` will not be set over this function, the flags in the return message are the default values. """ diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 63ea4ca42..212c4c85c 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -323,10 +323,10 @@ def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: """Get serial number of the slcan interface. :param timeout: - seconds to wait for serial number or ``None`` to wait indefinitely + seconds to wait for serial number or :obj:`None` to wait indefinitely :return: - ``None`` on timeout or a :class:`~builtin.str` object. + :obj:`None` on timeout or a :class:`str` object. """ cmd = "N" self._write(cmd) diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index c7c038520..549998dc8 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -402,7 +402,7 @@ def stop(self) -> None: """Stop a task by sending TX_DELETE message to Linux kernel. This will delete the entry for the transmission of the CAN-message - with the specified :attr:`~task_id` identifier. The message length + with the specified ``task_id`` identifier. The message length for the command TX_DELETE is {[bcm_msg_head]} (only the header). """ log.debug("Stopping periodic task") @@ -444,7 +444,7 @@ def start(self) -> None: message to Linux kernel prior to scheduling. :raises ValueError: - If the task referenced by :attr:`~task_id` is already running. + If the task referenced by ``task_id`` is already running. """ self._tx_setup(self.messages) @@ -617,9 +617,10 @@ def __init__( If setting some socket options fails, an error will be printed but no exception will be thrown. This includes enabling: - - that own messages should be received, - - CAN-FD frames and - - error frames. + + - that own messages should be received, + - CAN-FD frames and + - error frames. :param channel: The can interface name with which to create this bus. @@ -739,7 +740,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: Wait up to this many seconds for the transmit queue to be ready. If not given, the call may fail immediately. - :raises can.CanError: + :raises ~can.exceptions.CanError: if the message could not be written. """ log.debug("We've been asked to write a message to the bus") diff --git a/can/interfaces/systec/ucanbus.py b/can/interfaces/systec/ucanbus.py index 88224b856..fee110b08 100644 --- a/can/interfaces/systec/ucanbus.py +++ b/can/interfaces/systec/ucanbus.py @@ -88,10 +88,10 @@ def __init__(self, channel, can_filters=None, **kwargs): :raises ValueError: If invalid input parameter were passed. - :raises can.CanInterfaceNotImplementedError: + :raises ~can.exceptions.CanInterfaceNotImplementedError: If the platform is not supported. - :raises can.CanInitializationError: + :raises ~can.exceptions.CanInitializationError: If hardware or CAN interface initialization failed. """ try: @@ -181,7 +181,7 @@ def send(self, msg, timeout=None): :param float timeout: Transmit timeout in seconds (value 0 switches off the "auto delete") - :raises can.CanOperationError: + :raises ~can.exceptions.CanOperationError: If the message could not be sent. """ try: @@ -243,7 +243,7 @@ def flush_tx_buffer(self): """ Flushes the transmit buffer. - :raises can.CanError: + :raises ~can.exceptions.CanError: If flushing of the transmit buffer failed. """ log.info("Flushing transmit buffer") diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index e51d485cd..504b61c7b 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -67,22 +67,22 @@ class Usb2canBus(BusABC): This interface only works on Windows. Please use socketcan on Linux. - :param str channel (optional): + :param channel: The device's serial number. If not provided, Windows Management Instrumentation will be used to identify the first such device. - :param int bitrate (optional): + :param bitrate: Bitrate of channel in bit/s. Values will be limited to a maximum of 1000 Kb/s. Default is 500 Kbs - :param int flags (optional): + :param flags: Flags to directly pass to open function of the usb2can abstraction layer. - :param str dll (optional): + :param dll: Path to the DLL with the CANAL API to load Defaults to 'usb2can.dll' - :param str serial (optional): + :param serial: Alias for `channel` that is provided for legacy reasons. If both `serial` and `channel` are set, `serial` will be used and channel will be ignored. @@ -91,18 +91,19 @@ class Usb2canBus(BusABC): def __init__( self, - channel=None, - dll="usb2can.dll", - flags=0x00000008, + channel: Optional[str] = None, + dll: str = "usb2can.dll", + flags: int = 0x00000008, *_, - bitrate=500000, + bitrate: int = 500000, + serial: Optional[str] = None, **kwargs, ): self.can = Usb2CanAbstractionLayer(dll) # get the serial number of the device - device_id = kwargs.get("serial", channel) + device_id = serial or channel # search for a serial number if the device_id is None or empty if not device_id: diff --git a/can/interfaces/usb2can/usb2canabstractionlayer.py b/can/interfaces/usb2can/usb2canabstractionlayer.py index 8a3ae34ca..a6708cb42 100644 --- a/can/interfaces/usb2can/usb2canabstractionlayer.py +++ b/can/interfaces/usb2can/usb2canabstractionlayer.py @@ -9,6 +9,7 @@ import can from ...exceptions import error_check +from ...typechecking import StringPathLike log = logging.getLogger("can.usb2can") @@ -108,12 +109,13 @@ class Usb2CanAbstractionLayer: Documentation: http://www.8devices.com/media/products/usb2can/downloads/CANAL_API.pdf """ - def __init__(self, dll="usb2can.dll"): + def __init__(self, dll: StringPathLike = "usb2can.dll") -> None: """ - :type dll: str or path-like - :param dll (optional): the path to the usb2can DLL to load + :param dll: + the path to the usb2can DLL to load - :raises can.CanInterfaceNotImplementedError: if the DLL could not be loaded + :raises ~can.exceptions.CanInterfaceNotImplementedError: + if the DLL could not be loaded """ try: self.__m_dllBasic = windll.LoadLibrary(dll) @@ -128,11 +130,15 @@ def open(self, configuration: str, flags: int): """ Opens a CAN connection using `CanalOpen()`. - :param configuration: the configuration: "device_id; baudrate" - :param flags: the flags to be set + :param configuration: + the configuration: "device_id; baudrate" + :param flags: + the flags to be set + :returns: + Valid handle for CANAL API functions on success - :raises can.CanInitializationError: if any error occurred - :returns: Valid handle for CANAL API functions on success + :raises ~can.exceptions.CanInterfaceNotImplementedError: + if any error occurred """ try: # we need to convert this into bytes, since the underlying DLL cannot diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 7737a99d3..a36f67e9e 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -138,11 +138,11 @@ def __init__( :param tseg2_dbr: Bus timing value tseg2 (data) - :raise can.CanInterfaceNotImplementedError: + :raise ~can.exceptions.CanInterfaceNotImplementedError: If the current operating system is not supported or the driver could not be loaded. - :raise can.CanInitializationError: + :raise can.exceptions.CanInitializationError: If the bus could not be set up. - This may or may not be a :class:`can.interfaces.vector.VectorInitializationError`. + This may or may not be a :class:`~can.interfaces.vector.VectorInitializationError`. """ if os.name != "nt" and not kwargs.get("_testing", False): raise CanInterfaceNotImplementedError( diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index ffd5b0241..cc71469b5 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -40,7 +40,7 @@ class VirtualBus(BusABC): an identifier for connected buses. Implements :meth:`can.BusABC._detect_available_configs`; see - :meth:`can.VirtualBus._detect_available_configs` for how it + :meth:`_detect_available_configs` for how it behaves here. .. note:: @@ -84,7 +84,7 @@ def __init__( self.channel.append(self.queue) def _check_if_open(self) -> None: - """Raises :class:`~can.CanOperationError` if the bus is not open. + """Raises :exc:`~can.exceptions.CanOperationError` if the bus is not open. Has to be called in every method that accesses the bus. """ diff --git a/can/io/logger.py b/can/io/logger.py index ec34079b4..df13c6256 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -120,32 +120,31 @@ def on_message_received(self, msg: Message) -> None: class BaseRotatingLogger(Listener, BaseIOHandler, ABC): """ Base class for rotating CAN loggers. This class is not meant to be - instantiated directly. Subclasses must implement the :attr:`should_rollover` - and `do_rollover` methods according to their rotation strategy. + instantiated directly. Subclasses must implement the :meth:`should_rollover` + and :meth:`do_rollover` methods according to their rotation strategy. The rotation behavior can be further customized by the user by setting the :attr:`namer` and :attr:`rotator` attributes after instantiating the subclass. - These attributes as well as the methods `rotation_filename` and `rotate` + These attributes as well as the methods :meth:`rotation_filename` and :meth:`rotate` and the corresponding docstrings are carried over from the python builtin - `BaseRotatingHandler`. + :class:`~logging.handlers.BaseRotatingHandler`. Subclasses must set the `_writer` attribute upon initialization. - :attr namer: - If this attribute is set to a callable, the :meth:`rotation_filename` method - delegates to this callable. The parameters passed to the callable are - those passed to :meth:`rotation_filename`. - :attr rotator: - If this attribute is set to a callable, the :meth:`rotate` method delegates - to this callable. The parameters passed to the callable are those - passed to :meth:`rotate`. - :attr rollover_count: - An integer counter to track the number of rollovers. """ + #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotation_filename` + #: method delegates to this callable. The parameters passed to the callable are + #: those passed to :meth:`~BaseRotatingLogger.rotation_filename`. namer: Optional[Callable[[StringPathLike], StringPathLike]] = None + + #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotate` method + #: delegates to this callable. The parameters passed to the callable are those + #: passed to :meth:`~BaseRotatingLogger.rotate`. rotator: Optional[Callable[[StringPathLike, StringPathLike], None]] = None + + #: An integer counter to track the number of rollovers. rollover_count: int = 0 def __init__(self, *args: Any, **kwargs: Any) -> None: @@ -169,7 +168,7 @@ def rotation_filename(self, default_name: StringPathLike) -> StringPathLike: This is provided so that a custom filename can be provided. The default implementation calls the :attr:`namer` attribute of the handler, if it's callable, passing the default name to - it. If the attribute isn't callable (the default is `None`), the name + it. If the attribute isn't callable (the default is :obj:`None`), the name is returned unchanged. :param default_name: @@ -184,8 +183,8 @@ def rotate(self, source: StringPathLike, dest: StringPathLike) -> None: """When rotating, rotate the current log. The default implementation calls the :attr:`rotator` attribute of the - handler, if it's callable, passing the source and dest arguments to - it. If the attribute isn't callable (the default is `None`), the source + handler, if it's callable, passing the `source` and `dest` arguments to + it. If the attribute isn't callable (the default is :obj:`None`), the source is simply renamed to the destination. :param source: @@ -273,8 +272,10 @@ class SizedRotatingLogger(BaseRotatingLogger): by adding a timestamp and the rollover count. A new log file is then created and written to. - This behavior can be customized by setting the :attr:`namer` and - :attr:`rotator` attribute. + This behavior can be customized by setting the + :attr:`~can.io.BaseRotatingLogger.namer` and + :attr:`~can.io.BaseRotatingLogger.rotator` + attribute. Example:: diff --git a/can/io/sqlite.py b/can/io/sqlite.py index b9cbf9f93..0a4de85f2 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -25,7 +25,7 @@ class SqliteReader(MessageReader): This class can be iterated over or used to fetch all messages in the database with :meth:`~SqliteReader.read_all`. - Calling :func:`~builtin.len` on this object might not run in constant time. + Calling :func:`len` on this object might not run in constant time. :attr str table_name: the name of the database table used for storing the messages diff --git a/can/message.py b/can/message.py index 87cb6a199..8e0c4deee 100644 --- a/can/message.py +++ b/can/message.py @@ -29,7 +29,7 @@ class Message: # pylint: disable=too-many-instance-attributes; OK for a datacla :func:`~copy.copy`/:func:`~copy.deepcopy` is supported as well. Messages do not support "dynamic" attributes, meaning any others than the - documented ones, since it uses :attr:`~object.__slots__`. + documented ones, since it uses :obj:`~object.__slots__`. """ __slots__ = ( diff --git a/can/typechecking.py b/can/typechecking.py index ed76b6c85..b3a513a3a 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -8,7 +8,9 @@ import typing_extensions -CanFilter = typing_extensions.TypedDict("CanFilter", {"can_id": int, "can_mask": int}) +CanFilter: typing_extensions = typing_extensions.TypedDict( + "CanFilter", {"can_id": int, "can_mask": int} +) CanFilterExtended = typing_extensions.TypedDict( "CanFilterExtended", {"can_id": int, "can_mask": int, "extended": bool} ) diff --git a/can/util.py b/can/util.py index d1ff643de..e64eb13b5 100644 --- a/can/util.py +++ b/can/util.py @@ -258,8 +258,10 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: def set_logging_level(level_name: str) -> None: """Set the logging level for the `"can"` logger. - :param level_name: One of: `'critical'`, `'error'`, `'warning'`, `'info'`, - `'debug'`, `'subdebug'`, or the value `None` (=default). Defaults to `'debug'`. + :param level_name: + One of: `'critical'`, `'error'`, `'warning'`, `'info'`, + `'debug'`, `'subdebug'`, or the value :obj:`None` (=default). + Defaults to `'debug'`. """ can_logger = logging.getLogger("can") @@ -316,7 +318,7 @@ def deprecated_args_alias(**aliases): """Allows to rename/deprecate a function kwarg(s) and optionally have the deprecated kwarg(s) set as alias(es) - Example: + Example:: @deprecated_args_alias(oldArg="new_arg", anotherOldArg="another_new_arg") def library_function(new_arg, another_new_arg): @@ -325,6 +327,7 @@ def library_function(new_arg, another_new_arg): @deprecated_args_alias(oldArg="new_arg", obsoleteOldArg=None) def library_function(new_arg): pass + """ def deco(f): diff --git a/doc/bcm.rst b/doc/bcm.rst index 549b06edd..94cde0e60 100644 --- a/doc/bcm.rst +++ b/doc/bcm.rst @@ -42,3 +42,7 @@ which inherits from :class:`~can.broadcastmanager.CyclicTask`. .. autoclass:: can.RestartableCyclicTaskABC :members: + +.. autoclass:: can.broadcastmanager.ThreadBasedCyclicSendTask + :members: + diff --git a/doc/bus.rst b/doc/bus.rst index bbe52cbd6..9f7077cc1 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -20,7 +20,6 @@ Autoconfig Bus .. autoclass:: can.Bus :members: - :undoc-members: API @@ -28,9 +27,17 @@ API .. autoclass:: can.BusABC :members: - :undoc-members: .. automethod:: __iter__ + .. automethod:: _recv_internal + .. automethod:: _apply_filters + .. automethod:: _detect_available_configs + .. automethod:: _send_periodic_internal + +.. autoclass:: can.bus.BusState + :members: + :undoc-members: + Transmitting '''''''''''' diff --git a/doc/conf.py b/doc/conf.py index 14390d5ad..495416078 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -8,6 +8,8 @@ import sys import os +import ctypes +from unittest.mock import MagicMock # If extensions (or modules to document with autodoc) are in another directory, # add these directories to sys.path here. If the directory is relative to the @@ -15,6 +17,7 @@ sys.path.insert(0, os.path.abspath("..")) import can # pylint: disable=wrong-import-position +from can import ctypesutil # -- General configuration ----------------------------------------------------- @@ -45,11 +48,11 @@ "sphinx.ext.viewcode", "sphinx.ext.graphviz", "sphinxcontrib.programoutput", - "sphinx_autodoc_typehints", + "sphinx_rtd_theme", ] # Now, you can use the alias name as a new role, e.g. :issue:`123`. -extlinks = {"issue": ("https://github.com/hardbyte/python-can/issues/%s/", "issue ")} +extlinks = {"issue": ("https://github.com/hardbyte/python-can/issues/%s/", "issue #%s")} intersphinx_mapping = {"python": ("https://docs.python.org/3/", None)} @@ -111,11 +114,31 @@ # Keep cached intersphinx inventories indefinitely intersphinx_cache_limit = -1 +# location of typehints +autodoc_typehints = "description" + +# disable specific warnings +nitpick_ignore = [ + # Ignore warnings for type aliases. Remove once Sphinx supports PEP613 + ("py:class", "can.typechecking.BusConfig"), + ("py:class", "can.typechecking.CanFilter"), + ("py:class", "can.typechecking.CanFilterExtended"), + ("py:class", "can.typechecking.AutoDetectedConfig"), + # intersphinx fails to reference some builtins + ("py:class", "asyncio.events.AbstractEventLoop"), + ("py:class", "_thread.allocate_lock"), +] + +# mock windows specific attributes +autodoc_mock_imports = ["win32com"] +ctypes.windll = MagicMock() +ctypesutil.HRESULT = ctypes.c_long + # -- Options for HTML output -------------------------------------------------- # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. -html_theme = "default" +html_theme = "sphinx_rtd_theme" # Theme options are theme-specific and customize the look and feel of a theme # further. For a list of options available for each theme, see the diff --git a/doc/doc-requirements.txt b/doc/doc-requirements.txt index dead5e2e5..9732ea4ef 100644 --- a/doc/doc-requirements.txt +++ b/doc/doc-requirements.txt @@ -1,3 +1,3 @@ -sphinx>=1.8.1 +sphinx>=5.2.3 sphinxcontrib-programoutput -sphinx-autodoc-typehints +sphinx_rtd_theme diff --git a/doc/interfaces.rst b/doc/interfaces.rst index 757cf67b4..dbe4ad426 100644 --- a/doc/interfaces.rst +++ b/doc/interfaces.rst @@ -26,6 +26,7 @@ The available interfaces are: interfaces/serial interfaces/slcan interfaces/socketcan + interfaces/socketcand interfaces/systec interfaces/udp_multicast interfaces/usb2can diff --git a/doc/interfaces/etas.rst b/doc/interfaces/etas.rst index cc3cbdea4..2b59a4eee 100644 --- a/doc/interfaces/etas.rst +++ b/doc/interfaces/etas.rst @@ -6,7 +6,7 @@ The ETAS BOA_ (Basic Open API) is used. Install the "ETAS ECU and Bus Interfaces – Distribution Package". Only Windows is supported by this interface. The Linux kernel v5.13 (and greater) natively supports ETAS ES581.4, ES582.1 and ES584.1 USB modules. -To use these under Linux, please refer to :ref:`socketcan`. +To use these under Linux, please refer to :ref:`SocketCAN`. Bus --- @@ -25,7 +25,7 @@ The simplest configuration file would be:: Channels are the URIs used by the underlying API. -To find available URIs, use :meth:`~can.interface.detect_available_configs`:: +To find available URIs, use :meth:`~can.detect_available_configs`:: configs = can.interface.detect_available_configs(interfaces="etas") for c in configs: diff --git a/doc/interfaces/ixxat.rst b/doc/interfaces/ixxat.rst index 28fb6f314..02e707c1c 100644 --- a/doc/interfaces/ixxat.rst +++ b/doc/interfaces/ixxat.rst @@ -8,7 +8,7 @@ Interface to `IXXAT `__ Virtual CAN Interface V3 SDK. Wor The Linux ECI SDK is currently unsupported, however on Linux some devices are supported with :doc:`socketcan`. -The :meth:`~can.interfaces.ixxat.canlib.IXXATBus.send_periodic` method is supported +The :meth:`~can.BusABC.send_periodic` method is supported natively through the on-board cyclic transmit list. Modifying cyclic messages is not possible. You will need to stop it, and then start a new periodic message. @@ -20,7 +20,22 @@ Bus .. autoclass:: can.interfaces.ixxat.IXXATBus :members: -.. autoclass:: can.interfaces.ixxat.canlib.CyclicSendTask +Implementation based on vcinpl.dll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl.IXXATBus + :members: + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl.CyclicSendTask + :members: + +Implementation based on vcinpl2.dll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl2.IXXATBus + :members: + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl2.CyclicSendTask :members: diff --git a/doc/interfaces/kvaser.rst b/doc/interfaces/kvaser.rst index a4a51ad09..4e0062cfa 100644 --- a/doc/interfaces/kvaser.rst +++ b/doc/interfaces/kvaser.rst @@ -46,3 +46,5 @@ This section contains Kvaser driver specific methods. .. automethod:: can.interfaces.kvaser.canlib.KvaserBus.get_stats +.. autoclass:: can.interfaces.kvaser.structures.BusStatistics + :members: diff --git a/doc/interfaces/neovi.rst b/doc/interfaces/neovi.rst index 05423ac8e..588c5e914 100644 --- a/doc/interfaces/neovi.rst +++ b/doc/interfaces/neovi.rst @@ -42,5 +42,6 @@ Bus --- .. autoclass:: can.interfaces.ics_neovi.NeoViBus - - +.. autoexception:: can.interfaces.ics_neovi.ICSApiError +.. autoexception:: can.interfaces.ics_neovi.ICSInitializationError +.. autoexception:: can.interfaces.ics_neovi.ICSOperationError diff --git a/doc/interfaces/nican.rst b/doc/interfaces/nican.rst index b2214371f..4d2a40717 100644 --- a/doc/interfaces/nican.rst +++ b/doc/interfaces/nican.rst @@ -21,6 +21,7 @@ Bus .. autoclass:: can.interfaces.nican.NicanBus .. autoexception:: can.interfaces.nican.NicanError +.. autoexception:: can.interfaces.nican.NicanInitializationError .. _National Instruments: http://www.ni.com/can/ diff --git a/doc/interfaces/pcan.rst b/doc/interfaces/pcan.rst index ff82ba9f4..feb40b195 100644 --- a/doc/interfaces/pcan.rst +++ b/doc/interfaces/pcan.rst @@ -48,3 +48,4 @@ Bus --- .. autoclass:: can.interfaces.pcan.PcanBus + :members: diff --git a/doc/interfaces/seeedstudio.rst b/doc/interfaces/seeedstudio.rst index 5c86fa688..da4d86995 100644 --- a/doc/interfaces/seeedstudio.rst +++ b/doc/interfaces/seeedstudio.rst @@ -1,9 +1,8 @@ .. _seeeddoc: -USB-CAN Analyzer -================ -...by Seeed Studio +Seeed Studio USB-CAN Analyzer +============================= SKU: 114991193 diff --git a/doc/interfaces/serial.rst b/doc/interfaces/serial.rst index 59ffef21a..99ee54df6 100644 --- a/doc/interfaces/serial.rst +++ b/doc/interfaces/serial.rst @@ -21,6 +21,8 @@ Bus .. autoclass:: can.interfaces.serial.serial_can.SerialBus + .. automethod:: _recv_internal + Internals --------- The frames that will be sent and received over the serial interface consist of diff --git a/doc/interfaces/socketcan.rst b/doc/interfaces/socketcan.rst index 1e82d8827..f6cc1ba5f 100644 --- a/doc/interfaces/socketcan.rst +++ b/doc/interfaces/socketcan.rst @@ -1,7 +1,9 @@ +.. _SocketCAN: + SocketCAN ========= -The `SocketCAN`_ documentation can be found in the Linux kernel docs at +The SocketCAN documentation can be found in the `Linux kernel docs`_ at ``networking`` directory. Quoting from the SocketCAN Linux documentation:: > The socketcan package is an implementation of CAN protocols @@ -284,7 +286,7 @@ to ensure usage of SocketCAN Linux API. The most important differences are: .. External references -.. _SocketCAN: https://www.kernel.org/doc/Documentation/networking/can.txt +.. _Linux kernel docs: https://www.kernel.org/doc/Documentation/networking/can.txt .. _Intrepid kernel module: https://github.com/intrepidcs/intrepid-socketcan-kernel-module .. _Intrepid user-space daemon: https://github.com/intrepidcs/icsscand .. _can-utils: https://github.com/linux-can/can-utils diff --git a/doc/interfaces/socketcand.rst b/doc/interfaces/socketcand.rst index e50f134e1..3c05bcc85 100644 --- a/doc/interfaces/socketcand.rst +++ b/doc/interfaces/socketcand.rst @@ -28,8 +28,8 @@ daemon running on a remote Raspberry Pi: except KeyboardInterrupt: pass -The output may look like this: -:: +The output may look like this:: + Timestamp: 1637791111.209224 ID: 000006fd X Rx DLC: 8 c4 10 e3 2d 96 ff 25 6b Timestamp: 1637791111.233951 ID: 000001ad X Rx DLC: 4 4d 47 c7 64 Timestamp: 1637791111.409415 ID: 000005f7 X Rx DLC: 8 86 de e6 0f 42 55 5d 39 @@ -47,8 +47,9 @@ However, it will also work with any other socketcan device. Install CAN Interface for a MCP2515 based interface on a Raspberry Pi ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -Add the following lines to ``/boot/config.txt``. Please take care on the frequency of the crystal on your MCP2515 board: -:: +Add the following lines to ``/boot/config.txt``. +Please take care on the frequency of the crystal on your MCP2515 board:: + dtparam=spi=on dtoverlay=mcp2515-can0,oscillator=12000000,interrupt=25,spimaxfrequency=1000000 @@ -106,8 +107,8 @@ Run socketcand ./socketcand -v -i can0 -During start, socketcand will prompt its IP address and port it listens to: -:: +During start, socketcand will prompt its IP address and port it listens to:: + Verbose output activated Using network interface 'eth0' diff --git a/doc/interfaces/usb2can.rst b/doc/interfaces/usb2can.rst index e2e8d7517..56243d41d 100644 --- a/doc/interfaces/usb2can.rst +++ b/doc/interfaces/usb2can.rst @@ -86,3 +86,5 @@ Internals .. autoclass:: can.interfaces.usb2can.Usb2CanAbstractionLayer :members: :undoc-members: + +.. autoexception:: can.interfaces.usb2can.usb2canabstractionlayer.CanalError diff --git a/doc/interfaces/vector.rst b/doc/interfaces/vector.rst index dcd45f1bf..7b5ede616 100644 --- a/doc/interfaces/vector.rst +++ b/doc/interfaces/vector.rst @@ -19,8 +19,6 @@ application named "python-can":: channel = 0, 1 app_name = python-can -If you are using Python 2.7 it is recommended to install pywin32_, otherwise a -slow and CPU intensive polling will be used when waiting for new messages. Bus @@ -29,7 +27,7 @@ Bus .. autoclass:: can.interfaces.vector.VectorBus .. autoexception:: can.interfaces.vector.VectorError - +.. autoexception:: can.interfaces.vector.VectorInitializationError +.. autoexception:: can.interfaces.vector.VectorOperationError .. _Vector: https://vector.com/ -.. _pywin32: https://sourceforge.net/projects/pywin32/ diff --git a/doc/interfaces/virtual.rst b/doc/interfaces/virtual.rst index 9258c9bbd..29976ed47 100644 --- a/doc/interfaces/virtual.rst +++ b/doc/interfaces/virtual.rst @@ -70,8 +70,8 @@ arrive at the recipients exactly once. Both is not guaranteed to hold for the be these guarantees of message delivery and message ordering. The central servers receive and distribute the CAN messages to all other bus participants, unlike in a real physical CAN network. The first intra-process ``virtual`` interface only runs within one Python process, effectively the -Python instance of :class:`VirtualBus` acts as a central server. Notably the ``udp_multicast`` bus -does not require a central server. +Python instance of :class:`~can.interfaces.virtual.VirtualBus` acts as a central server. +Notably the ``udp_multicast`` bus does not require a central server. **Arbitration and throughput** are two interrelated functions/properties of CAN networks which are typically abstracted in virtual interfaces. In all four interfaces, an unlimited amount @@ -133,3 +133,5 @@ Bus Class Documentation .. autoclass:: can.interfaces.virtual.VirtualBus :members: + + .. automethod:: _detect_available_configs diff --git a/doc/internal-api.rst b/doc/internal-api.rst index c43db3394..1367dca50 100644 --- a/doc/internal-api.rst +++ b/doc/internal-api.rst @@ -70,7 +70,7 @@ methods: About the IO module ------------------- -Handling of the different file formats is implemented in :mod:`can.io`. +Handling of the different file formats is implemented in ``can.io``. Each file/IO type is within a separate module and ideally implements both a *Reader* and a *Writer*. The reader usually extends :class:`can.io.generic.BaseIOHandler`, while the writer often additionally extends :class:`can.Listener`, diff --git a/doc/message.rst b/doc/message.rst index e5745f6b5..78ccc0b50 100644 --- a/doc/message.rst +++ b/doc/message.rst @@ -200,3 +200,5 @@ Message Each of the bytes in the data field (when present) are represented as two-digit hexadecimal numbers. + + .. automethod:: equals diff --git a/doc/scripts.rst b/doc/scripts.rst index ace8c1e39..6b9bdf504 100644 --- a/doc/scripts.rst +++ b/doc/scripts.rst @@ -55,6 +55,6 @@ The full usage page can be seen below: can.logconvert ----------- +-------------- .. command-output:: python -m can.logconvert -h diff --git a/setup.cfg b/setup.cfg index b402ee645..043fff73a 100644 --- a/setup.cfg +++ b/setup.cfg @@ -12,6 +12,7 @@ warn_unused_ignores = True exclude = (?x)( venv + |^doc/conf.py$ |^test |^setup.py$ |^can/interfaces/__init__.py From 99fea55f1aea868a64b9d6ba34ec3b713c26170b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 10 Oct 2022 17:19:39 +0200 Subject: [PATCH 147/475] explicitly set supported file formats (#1406) --- can/io/logger.py | 34 ++++++++++++++++++++-------------- can/io/printer.py | 13 ++++++++++--- test/test_rotating_loggers.py | 2 ++ 3 files changed, 32 insertions(+), 17 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index df13c6256..09312101b 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -7,14 +7,13 @@ from abc import ABC, abstractmethod from datetime import datetime import gzip -from typing import Any, Optional, Callable, Type, Tuple, cast, Dict +from typing import Any, Optional, Callable, Type, Tuple, cast, Dict, Set from types import TracebackType from typing_extensions import Literal from pkg_resources import iter_entry_points -import can.io from ..message import Message from ..listener import Listener from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter @@ -131,9 +130,10 @@ class BaseRotatingLogger(Listener, BaseIOHandler, ABC): :class:`~logging.handlers.BaseRotatingHandler`. Subclasses must set the `_writer` attribute upon initialization. - """ + _supported_formats: Set[str] = set() + #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotation_filename` #: method delegates to this callable. The parameters passed to the callable are #: those passed to :meth:`~BaseRotatingLogger.rotation_filename`. @@ -224,17 +224,21 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: :return: An instance of a writer class. """ - - logger = Logger(filename, *self.writer_args, **self.writer_kwargs) - if isinstance(logger, FileIOMessageWriter): - return logger - elif isinstance(logger, Printer) and logger.file is not None: - return cast(FileIOMessageWriter, logger) - else: - raise Exception( - f"The log format \"{''.join(pathlib.Path(filename).suffixes[-2:])}" - f'" is not supported by {self.__class__.__name__}' - ) + suffix = "".join(pathlib.Path(filename).suffixes[-2:]).lower() + + if suffix in self._supported_formats: + logger = Logger(filename, *self.writer_args, **self.writer_kwargs) + if isinstance(logger, FileIOMessageWriter): + return logger + elif isinstance(logger, Printer) and logger.file is not None: + return cast(FileIOMessageWriter, logger) + + raise Exception( + f'The log format "{suffix}" ' + f"is not supported by {self.__class__.__name__}. " + f"{self.__class__.__name__} supports the following formats: " + f"{', '.join(self._supported_formats)}" + ) def stop(self) -> None: """Stop handling new messages. @@ -306,6 +310,8 @@ class SizedRotatingLogger(BaseRotatingLogger): :meth:`~can.Listener.stop` is called. """ + _supported_formats = {".asc", ".blf", ".csv", ".log", ".txt"} + def __init__( self, base_filename: StringPathLike, diff --git a/can/io/printer.py b/can/io/printer.py index 61871e8ad..6a43c63b9 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -4,7 +4,7 @@ import logging -from typing import Optional, TextIO, Union, Any +from typing import Optional, TextIO, Union, Any, cast from ..message import Message from .generic import MessageWriter @@ -40,11 +40,18 @@ def __init__( :param append: If set to `True` messages, are appended to the file, else the file is truncated """ + self.write_to_file = file is not None mode = "a" if append else "w" super().__init__(file, mode=mode) def on_message_received(self, msg: Message) -> None: - if self.file is not None: - self.file.write(str(msg) + "\n") + if self.write_to_file: + cast(TextIO, self.file).write(str(msg) + "\n") else: print(msg) + + def file_size(self) -> int: + """Return an estimate of the current file size in bytes.""" + if self.file is not None: + return self.file.tell() + return 0 diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index d900f4f23..ad4388bf7 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -18,6 +18,8 @@ def _get_instance(path, *args, **kwargs) -> can.io.BaseRotatingLogger: class SubClass(can.io.BaseRotatingLogger): """Subclass that implements abstract methods for testing.""" + _supported_formats = {".asc", ".blf", ".csv", ".log", ".txt"} + def __init__(self, *args, **kwargs) -> None: super().__init__(*args, **kwargs) self._writer = can.Printer(file=path / "__unused.txt") From b587878554fda1c9476788c27ffa1f9881870442 Mon Sep 17 00:00:00 2001 From: Martin Kletzander Date: Mon, 10 Oct 2022 22:41:25 +0200 Subject: [PATCH 148/475] setup.cfg: Use license_files instead of license_file (#1408) Without this (and recent enough setuptools) I get this warning: /home/nert/dev/python-can/.tox/.package/lib/python3.10/site-packages/setuptools/config/setupcfg.py:508: SetuptoolsDeprecationWarning: The license_file parameter is deprecated, use license_files instead. --- setup.cfg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.cfg b/setup.cfg index 043fff73a..2f3ee032f 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,5 +1,5 @@ [metadata] -license_file = LICENSE.txt +license_files = LICENSE.txt [mypy] warn_return_any = True From 0c82d2c442811291c5748306f6767c9a093723d6 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 11 Oct 2022 00:43:52 +0200 Subject: [PATCH 149/475] update github actions (#1409) --- .github/workflows/build.yml | 47 +++++++++++++++++++++---------- .github/workflows/format-code.yml | 6 ++-- setup.py | 1 + 3 files changed, 36 insertions(+), 18 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index aad9274fe..93094017f 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -13,17 +13,21 @@ jobs: matrix: os: [ubuntu-latest, macos-latest, windows-latest] experimental: [false] - python-version: ["3.7", "3.8", "3.9", "3.10", "pypy-3.7", "pypy-3.8"] - include: - # Only test on a single configuration while there are just pre-releases - - os: ubuntu-latest - experimental: true - python-version: "3.11.0-alpha - 3.11.0" + python-version: [ + "3.7", + "3.8", + "3.9", + "3.10", + "3.11.0-alpha - 3.11.0", + "pypy-3.7", + "pypy-3.8", + "pypy-3.9", + ] fail-fast: false steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v3 + uses: actions/setup-python@v4 with: python-version: ${{ matrix.python-version }} - name: Install dependencies @@ -34,16 +38,16 @@ jobs: run: | tox -e gh - name: Upload coverage to Codecov - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 with: fail_ci_if_error: true static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 - name: Set up Python - uses: actions/setup-python@v3 + uses: actions/setup-python@v4 with: python-version: "3.10" - name: Install dependencies @@ -75,9 +79,9 @@ jobs: format: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 - name: Set up Python - uses: actions/setup-python@v3 + uses: actions/setup-python@v4 with: python-version: "3.10" - name: Install dependencies @@ -91,9 +95,9 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 - name: Set up Python - uses: actions/setup-python@v3 + uses: actions/setup-python@v4 with: python-version: "3.10" - name: Install dependencies @@ -109,3 +113,16 @@ jobs: name: sphinx-out path: ./build/ retention-days: 5 + + build: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - name: Set up Python + uses: actions/setup-python@v4 + with: + python-version: "3.10" + - name: Build wheel and sdist + run: pipx run build + - name: Check build artifacts + run: pipx run twine check --strict dist/* diff --git a/.github/workflows/format-code.yml b/.github/workflows/format-code.yml index b86789662..68c6f56d8 100644 --- a/.github/workflows/format-code.yml +++ b/.github/workflows/format-code.yml @@ -9,9 +9,9 @@ jobs: build: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v2 + - uses: actions/checkout@v3 - name: Set up Python - uses: actions/setup-python@v2 + uses: actions/setup-python@v4 with: python-version: "3.10" - name: Install dependencies @@ -22,7 +22,7 @@ jobs: run: | black --verbose . - name: Commit Formated Code - uses: EndBug/add-and-commit@v7 + uses: EndBug/add-and-commit@v9 with: message: "Format code with black" # Ref https://git-scm.com/docs/git-add#_examples diff --git a/setup.py b/setup.py index adbd61f91..841425482 100644 --- a/setup.py +++ b/setup.py @@ -44,6 +44,7 @@ url="https://github.com/hardbyte/python-can", description="Controller Area Network interface module for Python", long_description=long_description, + long_description_content_type="text/x-rst", classifiers=[ # a list of all available ones: https://pypi.org/classifiers/ "Programming Language :: Python", From 4b43f337878091bce1a737b0acf98a4fa2bbd968 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 28 Oct 2022 15:38:44 +0200 Subject: [PATCH 150/475] improve vector documentation (#1420) --- can/interfaces/vector/__init__.py | 2 +- can/interfaces/vector/canlib.py | 3 ++ doc/interfaces/vector.rst | 65 +++++++++++++++++++++++++++++-- 3 files changed, 66 insertions(+), 4 deletions(-) diff --git a/can/interfaces/vector/__init__.py b/can/interfaces/vector/__init__.py index cdeb1d3cb..f543a6109 100644 --- a/can/interfaces/vector/__init__.py +++ b/can/interfaces/vector/__init__.py @@ -1,5 +1,5 @@ """ """ -from .canlib import VectorBus, VectorChannelConfig +from .canlib import VectorBus, VectorChannelConfig, get_channel_configs from .exceptions import VectorError, VectorOperationError, VectorInitializationError diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index a36f67e9e..8f5c557d6 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -876,6 +876,8 @@ def set_timer_rate(self, timer_rate_ms: int) -> None: class VectorChannelConfig(NamedTuple): + """NamedTuple which contains the channel properties from Vector XL API.""" + name: str hwType: xldefine.XL_HardwareType hwIndex: int @@ -906,6 +908,7 @@ def _get_xl_driver_config() -> xlclass.XLdriverConfig: def get_channel_configs() -> List[VectorChannelConfig]: + """Read channel properties from Vector XL API.""" try: driver_config = _get_xl_driver_config() except VectorError: diff --git a/doc/interfaces/vector.rst b/doc/interfaces/vector.rst index 7b5ede616..a4708c28f 100644 --- a/doc/interfaces/vector.rst +++ b/doc/interfaces/vector.rst @@ -4,7 +4,7 @@ Vector This interface adds support for CAN controllers by `Vector`_. Only Windows is supported. By default this library uses the channel configuration for CANalyzer. -To use a different application, open Vector Hardware Config program and create +To use a different application, open **Vector Hardware Configuration** program and create a new application and assign the channels you may want to use. Specify the application name as ``app_name='Your app name'`` when constructing the bus or in a config file. @@ -21,13 +21,72 @@ application named "python-can":: -Bus ---- +VectorBus +--------- .. autoclass:: can.interfaces.vector.VectorBus + :show-inheritance: + :member-order: bysource + :members: + set_filters, + recv, + send, + send_periodic, + stop_all_periodic_tasks, + flush_tx_buffer, + reset, + shutdown, + popup_vector_hw_configuration, + get_application_config, + set_application_config + +Exceptions +---------- .. autoexception:: can.interfaces.vector.VectorError + :show-inheritance: .. autoexception:: can.interfaces.vector.VectorInitializationError + :show-inheritance: .. autoexception:: can.interfaces.vector.VectorOperationError + :show-inheritance: + +Miscellaneous +------------- + +.. autofunction:: can.interfaces.vector.get_channel_configs + +.. autoclass:: can.interfaces.vector.VectorChannelConfig + :show-inheritance: + :class-doc-from: class + +.. autoclass:: can.interfaces.vector.xldefine.XL_HardwareType + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: + +.. autoclass:: can.interfaces.vector.xldefine.XL_ChannelCapabilities + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: + +.. autoclass:: can.interfaces.vector.xldefine.XL_BusCapabilities + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: + +.. autoclass:: can.interfaces.vector.xldefine.XL_BusTypes + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: + +.. autoclass:: can.interfaces.vector.xldefine.XL_Status + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: .. _Vector: https://vector.com/ From d3103d83813e4f077d1b0c010e3b063bc5ad5f58 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 30 Oct 2022 23:25:05 +0100 Subject: [PATCH 151/475] update docs (#1421) --- can/interface.py | 51 ++++++++++++++++------------ can/interfaces/cantact.py | 2 +- doc/api.rst | 2 +- doc/bus.rst | 21 +++--------- doc/conf.py | 1 + doc/configuration.rst | 45 +++++++++++++++++++------ doc/development.rst | 12 ++++--- doc/doc-requirements.txt | 1 + doc/interfaces.rst | 65 ++++++++++++++++++++++++++++++------ doc/interfaces/cantact.rst | 8 +++++ doc/interfaces/neousys.rst | 13 ++++++++ doc/internal-api.rst | 4 +-- examples/receive_all.py | 10 +++--- examples/send_one.py | 10 +++--- examples/serial_com.py | 4 +-- examples/vcan_filtered.py | 2 +- examples/virtual_can_demo.py | 4 +-- 17 files changed, 170 insertions(+), 85 deletions(-) create mode 100644 doc/interfaces/cantact.rst create mode 100644 doc/interfaces/neousys.rst diff --git a/can/interface.py b/can/interface.py index f1a0087e3..527f84d20 100644 --- a/can/interface.py +++ b/can/interface.py @@ -60,37 +60,44 @@ class Bus(BusABC): # pylint: disable=abstract-method Instantiates a CAN Bus of the given ``interface``, falls back to reading a configuration file from default locations. - """ - @staticmethod - def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg - cls: Any, channel: Optional[Channel] = None, *args: Any, **kwargs: Any - ) -> BusABC: - """ - Takes the same arguments as :class:`can.BusABC.__init__`. - Some might have a special meaning, see below. + :param channel: + Channel identification. Expected type is backend dependent. + Set to ``None`` to let it be resolved automatically from the default + :ref:`configuration`. - :param channel: - Set to ``None`` to let it be resolved automatically from the default - configuration. That might fail, see below. + :param interface: + See :ref:`interface names` for a list of supported interfaces. + Set to ``None`` to let it be resolved automatically from the default + :ref:`configuration`. - Expected type is backend dependent. + :param args: + ``interface`` specific positional arguments. - :param dict kwargs: - Should contain an ``interface`` key with a valid interface name. If not, - it is completed using :meth:`can.util.load_config`. + :param kwargs: + ``interface`` specific keyword arguments. - :raises: can.CanInterfaceNotImplementedError - if the ``interface`` isn't recognized or cannot be loaded + :raises ~can.exceptions.CanInterfaceNotImplementedError: + if the ``interface`` isn't recognized or cannot be loaded - :raises: can.CanInitializationError - if the bus cannot be instantiated + :raises ~can.exceptions.CanInitializationError: + if the bus cannot be instantiated - :raises: ValueError - if the ``channel`` could not be determined - """ + :raises ValueError: + if the ``channel`` could not be determined + """ + @staticmethod + def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg + cls: Any, + channel: Optional[Channel] = None, + interface: Optional[str] = None, + *args: Any, + **kwargs: Any, + ) -> BusABC: # figure out the rest of the configuration; this might raise an error + if interface is not None: + kwargs["interface"] = interface if channel is not None: kwargs["channel"] = channel if "context" in kwargs: diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 056a64a6b..9ad7fbef8 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -59,7 +59,7 @@ def __init__( Bitrate in bits/s :param bool monitor: If true, operate in listen-only monitoring mode - :param BitTiming bit_timing + :param BitTiming bit_timing: Optional BitTiming to use for custom bit timing setting. Overrides bitrate if not None. """ diff --git a/doc/api.rst b/doc/api.rst index 011553b1b..23342f992 100644 --- a/doc/api.rst +++ b/doc/api.rst @@ -1,7 +1,7 @@ Library API =========== -The main objects are the :class:`~can.BusABC` and the :class:`~can.Message`. +The main objects are the :class:`~can.Bus` and the :class:`~can.Message`. A form of CAN interface is also required. .. hint:: diff --git a/doc/bus.rst b/doc/bus.rst index 9f7077cc1..4db49ee29 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -15,24 +15,11 @@ and implements the :class:`~can.BusABC` API. A thread safe bus wrapper is also available, see `Thread safe bus`_. -Autoconfig Bus -'''''''''''''' - .. autoclass:: can.Bus + :class-doc-from: class + :show-inheritance: :members: - - -API -''' - -.. autoclass:: can.BusABC - :members: - - .. automethod:: __iter__ - .. automethod:: _recv_internal - .. automethod:: _apply_filters - .. automethod:: _detect_available_configs - .. automethod:: _send_periodic_internal + :inherited-members: .. autoclass:: can.bus.BusState :members: @@ -81,7 +68,7 @@ Example defining two filters, one to pass 11-bit ID ``0x451``, the other to pass See :meth:`~can.BusABC.set_filters` for the implementation. Thread safe bus ---------------- +''''''''''''''' This thread safe version of the :class:`~can.BusABC` class can be used by multiple threads at once. Sending and receiving is locked separately to avoid unnecessary delays. diff --git a/doc/conf.py b/doc/conf.py index 495416078..c1409b8c2 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -48,6 +48,7 @@ "sphinx.ext.viewcode", "sphinx.ext.graphviz", "sphinxcontrib.programoutput", + "sphinx_inline_tabs", "sphinx_rtd_theme", ] diff --git a/doc/configuration.rst b/doc/configuration.rst index 9bda3030f..d92d6164f 100644 --- a/doc/configuration.rst +++ b/doc/configuration.rst @@ -1,3 +1,5 @@ +.. _configuration: + Configuration ============= @@ -100,6 +102,7 @@ For example: ``CAN_INTERFACE=socketcan CAN_CONFIG={"receive_own_messages": true, "fd": true}`` +.. _interface names: Interface Names --------------- @@ -109,31 +112,51 @@ Lookup table of interface names: +---------------------+-------------------------------------+ | Name | Documentation | +=====================+=====================================+ -| ``"socketcan"`` | :doc:`interfaces/socketcan` | +| ``"canalystii"`` | :doc:`interfaces/canalystii` | +---------------------+-------------------------------------+ -| ``"kvaser"`` | :doc:`interfaces/kvaser` | +| ``"cantact"`` | :doc:`interfaces/cantact` | +---------------------+-------------------------------------+ -| ``"serial"`` | :doc:`interfaces/serial` | +| ``"etas"`` | :doc:`interfaces/etas` | +---------------------+-------------------------------------+ -| ``"slcan"`` | :doc:`interfaces/slcan` | +| ``"gs_usb"`` | :doc:`interfaces/gs_usb` | ++---------------------+-------------------------------------+ +| ``"iscan"`` | :doc:`interfaces/iscan` | +---------------------+-------------------------------------+ | ``"ixxat"`` | :doc:`interfaces/ixxat` | +---------------------+-------------------------------------+ -| ``"pcan"`` | :doc:`interfaces/pcan` | +| ``"kvaser"`` | :doc:`interfaces/kvaser` | +---------------------+-------------------------------------+ -| ``"usb2can"`` | :doc:`interfaces/usb2can` | +| ``"neousys"`` | :doc:`interfaces/neousys` | ++---------------------+-------------------------------------+ +| ``"neovi"`` | :doc:`interfaces/neovi` | +---------------------+-------------------------------------+ | ``"nican"`` | :doc:`interfaces/nican` | +---------------------+-------------------------------------+ -| ``"iscan"`` | :doc:`interfaces/iscan` | +| ``"nixnet"`` | :doc:`interfaces/nixnet` | +---------------------+-------------------------------------+ -| ``"neovi"`` | :doc:`interfaces/neovi` | +| ``"pcan"`` | :doc:`interfaces/pcan` | +---------------------+-------------------------------------+ -| ``"vector"`` | :doc:`interfaces/vector` | +| ``"robotell"`` | :doc:`interfaces/robotell` | +---------------------+-------------------------------------+ -| ``"virtual"`` | :doc:`interfaces/virtual` | +| ``"seeedstudio"`` | :doc:`interfaces/seeedstudio` | +---------------------+-------------------------------------+ -| ``"canalystii"`` | :doc:`interfaces/canalystii` | +| ``"serial"`` | :doc:`interfaces/serial` | ++---------------------+-------------------------------------+ +| ``"slcan"`` | :doc:`interfaces/slcan` | ++---------------------+-------------------------------------+ +| ``"socketcan"`` | :doc:`interfaces/socketcan` | ++---------------------+-------------------------------------+ +| ``"socketcand"`` | :doc:`interfaces/socketcand` | +---------------------+-------------------------------------+ | ``"systec"`` | :doc:`interfaces/systec` | +---------------------+-------------------------------------+ +| ``"udp_multicast"`` | :doc:`interfaces/udp_multicast` | ++---------------------+-------------------------------------+ +| ``"usb2can"`` | :doc:`interfaces/usb2can` | ++---------------------+-------------------------------------+ +| ``"vector"`` | :doc:`interfaces/vector` | ++---------------------+-------------------------------------+ +| ``"virtual"`` | :doc:`interfaces/virtual` | ++---------------------+-------------------------------------+ + +Additional interface types can be added via the :ref:`plugin interface`. \ No newline at end of file diff --git a/doc/development.rst b/doc/development.rst index 03bf9a374..055401bdc 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -35,8 +35,8 @@ The following assumes that the commands are executed from the root of the reposi The project can be built with:: - pip install wheel - python setup.py sdist bdist_wheel + pipx run build + pipx run twine check dist/* The project can be installed in editable mode with:: @@ -44,8 +44,7 @@ The project can be installed in editable mode with:: The unit tests can be run with:: - pip install tox - tox -e py + pipx run tox -e py The documentation can be built with:: @@ -79,6 +78,11 @@ These steps are a guideline on how to add a new backend to python-can. To get started, have a look at ``back2back_test.py``: Simply add a test case like ``BasicTestSocketCan`` and some basic tests will be executed for the new interface. +.. attention:: + We strongly recommend using the :ref:`plugin interface` to extend python-can. + Publish a python package that contains your :class:`can.BusABC` subclass and use + it within the python-can API. We will mention your package inside this documentation + and add it as an optional dependency. Code Structure -------------- diff --git a/doc/doc-requirements.txt b/doc/doc-requirements.txt index 9732ea4ef..b1c2da632 100644 --- a/doc/doc-requirements.txt +++ b/doc/doc-requirements.txt @@ -1,3 +1,4 @@ sphinx>=5.2.3 sphinxcontrib-programoutput sphinx_rtd_theme +sphinx-inline-tabs diff --git a/doc/interfaces.rst b/doc/interfaces.rst index dbe4ad426..c25ea8bea 100644 --- a/doc/interfaces.rst +++ b/doc/interfaces.rst @@ -1,3 +1,5 @@ +.. _can interface modules: + CAN Interface Modules --------------------- @@ -12,11 +14,13 @@ The available interfaces are: :maxdepth: 1 interfaces/canalystii + interfaces/cantact interfaces/etas interfaces/gs_usb interfaces/iscan interfaces/ixxat interfaces/kvaser + interfaces/neousys interfaces/neovi interfaces/nican interfaces/nixnet @@ -33,19 +37,58 @@ The available interfaces are: interfaces/vector interfaces/virtual -Additional interfaces can be added via a plugin interface. An external package -can register a new interface by using the ``can.interface`` entry point in its setup.py. +The *Interface Names* are listed in :doc:`configuration`. -The format of the entry point is ``interface_name=module:classname`` where -``classname`` is a concrete :class:`can.BusABC` implementation. -:: +.. _plugin interface: - entry_points={ - 'can.interface': [ - "interface_name=module:classname", - ] - }, +Plugin Interface +^^^^^^^^^^^^^^^^ +External packages can register a new interfaces by using the ``can.interface`` entry point +in its project configuration. The format of the entry point depends on your project +configuration format (*pyproject.toml*, *setup.cfg* or *setup.py*). -The *Interface Names* are listed in :doc:`configuration`. +In the following example ``module`` defines the location of your bus class inside your +package e.g. ``my_package.subpackage.bus_module`` and ``classname`` is the name of +your :class:`can.BusABC` subclass. + +.. tab:: pyproject.toml (PEP 621) + + .. code-block:: toml + + # Note the quotes around can.interface in order to escape the dot . + [project.entry-points."can.interface"] + interface_name = "module:classname" + +.. tab:: setup.cfg + + .. code-block:: ini + + [options.entry_points] + can.interface = + interface_name = module:classname + +.. tab:: setup.py + + .. code-block:: python + + from setuptools import setup + + setup( + # ..., + entry_points = { + 'can.interface': [ + 'interface_name = module:classname' + ] + } + ) + +The ``interface_name`` can be used to +create an instance of the bus in the **python-can** API: + +.. code-block:: python + + import can + + bus = can.Bus(interface="interface_name", channel=0) diff --git a/doc/interfaces/cantact.rst b/doc/interfaces/cantact.rst new file mode 100644 index 000000000..dc9667218 --- /dev/null +++ b/doc/interfaces/cantact.rst @@ -0,0 +1,8 @@ +CANtact CAN Interface +===================== + +Interface for CANtact devices from Linklayer Labs + +.. autoclass:: can.interfaces.cantact.CantactBus + :show-inheritance: + :members: diff --git a/doc/interfaces/neousys.rst b/doc/interfaces/neousys.rst new file mode 100644 index 000000000..97a37868c --- /dev/null +++ b/doc/interfaces/neousys.rst @@ -0,0 +1,13 @@ +Neousys CAN Interface +===================== + +This kind of interface can be found for example on Neousys POC-551VTC +One needs to have correct drivers and DLL (Share object for Linux) from +`Neousys `_. + +Beware this is only tested on Linux kernel higher than v5.3. This should be drop in +with Windows but you have to replace with correct named DLL + +.. autoclass:: can.interfaces.neousys.NeousysBus + :show-inheritance: + :members: diff --git a/doc/internal-api.rst b/doc/internal-api.rst index 1367dca50..3ef599598 100644 --- a/doc/internal-api.rst +++ b/doc/internal-api.rst @@ -55,15 +55,15 @@ configuration into account. Bus Internals ~~~~~~~~~~~~~ -Several methods are not documented in the main :class:`can.BusABC` +Several methods are not documented in the main :class:`can.Bus` as they are primarily useful for library developers as opposed to library users. This is the entire ABC bus class with all internal methods: .. autoclass:: can.BusABC + :members: :private-members: :special-members: - :noindex: diff --git a/examples/receive_all.py b/examples/receive_all.py index 7ff532079..7b94d526f 100755 --- a/examples/receive_all.py +++ b/examples/receive_all.py @@ -1,7 +1,7 @@ #!/usr/bin/env python """ -Shows how the receive messages via polling. +Shows how to receive messages via polling. """ import can @@ -11,11 +11,9 @@ def receive_all(): """Receives all messages and prints them to the console until Ctrl+C is pressed.""" - with can.interface.Bus( - bustype="pcan", channel="PCAN_USBBUS1", bitrate=250000 - ) as bus: - # bus = can.interface.Bus(bustype='ixxat', channel=0, bitrate=250000) - # bus = can.interface.Bus(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000) + with can.Bus(interface="pcan", channel="PCAN_USBBUS1", bitrate=250000) as bus: + # bus = can.Bus(interface='ixxat', channel=0, bitrate=250000) + # bus = can.Bus(interface='vector', app_name='CANalyzer', channel=0, bitrate=250000) # set to read-only, only supported on some interfaces bus.state = BusState.PASSIVE diff --git a/examples/send_one.py b/examples/send_one.py index 49a4f1ee1..7e3fb8a4c 100755 --- a/examples/send_one.py +++ b/examples/send_one.py @@ -12,13 +12,13 @@ def send_one(): # this uses the default configuration (for example from the config file) # see https://python-can.readthedocs.io/en/stable/configuration.html - with can.interface.Bus() as bus: + with can.Bus() as bus: # Using specific buses works similar: - # bus = can.interface.Bus(bustype='socketcan', channel='vcan0', bitrate=250000) - # bus = can.interface.Bus(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000) - # bus = can.interface.Bus(bustype='ixxat', channel=0, bitrate=250000) - # bus = can.interface.Bus(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000) + # bus = can.Bus(interface='socketcan', channel='vcan0', bitrate=250000) + # bus = can.Bus(interface='pcan', channel='PCAN_USBBUS1', bitrate=250000) + # bus = can.Bus(interface='ixxat', channel=0, bitrate=250000) + # bus = can.Bus(interface='vector', app_name='CANalyzer', channel=0, bitrate=250000) # ... msg = can.Message( diff --git a/examples/serial_com.py b/examples/serial_com.py index c57207a77..76b95c3e7 100755 --- a/examples/serial_com.py +++ b/examples/serial_com.py @@ -48,8 +48,8 @@ def receive(bus, stop_event): def main(): """Controls the sender and receiver.""" - with can.interface.Bus(interface="serial", channel="/dev/ttyS10") as server: - with can.interface.Bus(interface="serial", channel="/dev/ttyS11") as client: + with can.Bus(interface="serial", channel="/dev/ttyS10") as server: + with can.Bus(interface="serial", channel="/dev/ttyS11") as client: tx_msg = can.Message( arbitration_id=0x01, diff --git a/examples/vcan_filtered.py b/examples/vcan_filtered.py index fa6c71547..a43fbe821 100755 --- a/examples/vcan_filtered.py +++ b/examples/vcan_filtered.py @@ -11,7 +11,7 @@ def main(): """Send some messages to itself and apply filtering.""" - with can.Bus(bustype="virtual", receive_own_messages=True) as bus: + with can.Bus(interface="virtual", receive_own_messages=True) as bus: can_filters = [{"can_id": 1, "can_mask": 0xF, "extended": True}] bus.set_filters(can_filters) diff --git a/examples/virtual_can_demo.py b/examples/virtual_can_demo.py index d0d6a4a6a..af50a87a7 100755 --- a/examples/virtual_can_demo.py +++ b/examples/virtual_can_demo.py @@ -14,9 +14,9 @@ def producer(thread_id: int, message_count: int = 16) -> None: """Spam the bus with messages including the data id. :param thread_id: the id of the thread/process - :param message_count: the number of messages that shall be send + :param message_count: the number of messages that shall be sent """ - with can.Bus(bustype="socketcan", channel="vcan0") as bus: # type: ignore + with can.Bus(interface="socketcan", channel="vcan0") as bus: # type: ignore for i in range(message_count): msg = can.Message( arbitration_id=0x0CF02200 + thread_id, From fb892d6f3b24ad57ad37e97ed7031950009ad423 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 31 Oct 2022 01:51:32 +0100 Subject: [PATCH 152/475] add busParams and use snake case for VectorChannelConfig (#1422) --- can/interfaces/vector/__init__.py | 9 +- can/interfaces/vector/canlib.py | 140 ++++++++++++++++++++++-------- doc/interfaces/vector.rst | 24 +++++ test/test_vector.py | 56 +++++++++--- 4 files changed, 179 insertions(+), 50 deletions(-) diff --git a/can/interfaces/vector/__init__.py b/can/interfaces/vector/__init__.py index f543a6109..c5eae7140 100644 --- a/can/interfaces/vector/__init__.py +++ b/can/interfaces/vector/__init__.py @@ -1,5 +1,12 @@ """ """ -from .canlib import VectorBus, VectorChannelConfig, get_channel_configs +from .canlib import ( + VectorBus, + get_channel_configs, + VectorChannelConfig, + VectorBusParams, + VectorCanParams, + VectorCanFdParams, +) from .exceptions import VectorError, VectorOperationError, VectorInitializationError diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 8f5c557d6..d015f2407 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -295,12 +295,12 @@ def _find_global_channel_idx( if serial is not None: hw_type: Optional[xldefine.XL_HardwareType] = None for channel_config in channel_configs: - if channel_config.serialNumber != serial: + if channel_config.serial_number != serial: continue - hw_type = xldefine.XL_HardwareType(channel_config.hwType) - if channel_config.hwChannel == channel: - return channel_config.channelIndex + hw_type = xldefine.XL_HardwareType(channel_config.hw_type) + if channel_config.hw_channel == channel: + return channel_config.channel_index if hw_type is None: err_msg = f"No interface with serial {serial} found." @@ -331,7 +331,7 @@ def _find_global_channel_idx( # check if channel is a valid global channel index for channel_config in channel_configs: - if channel == channel_config.channelIndex: + if channel == channel_config.channel_index: return channel raise CanInitializationError( @@ -727,26 +727,28 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: LOG.info("Found %d channels", len(channel_configs)) for channel_config in channel_configs: if ( - not channel_config.channelBusCapabilities + not channel_config.channel_bus_capabilities & xldefine.XL_BusCapabilities.XL_BUS_ACTIVE_CAP_CAN ): continue LOG.info( - "Channel index %d: %s", channel_config.channelIndex, channel_config.name + "Channel index %d: %s", + channel_config.channel_index, + channel_config.name, ) configs.append( { # data for use in VectorBus.__init__(): "interface": "vector", - "channel": channel_config.hwChannel, - "serial": channel_config.serialNumber, + "channel": channel_config.hw_channel, + "serial": channel_config.serial_number, # data for use in VectorBus.set_application_config(): - "hw_type": channel_config.hwType, - "hw_index": channel_config.hwIndex, - "hw_channel": channel_config.hwChannel, + "hw_type": channel_config.hw_type, + "hw_index": channel_config.hw_index, + "hw_channel": channel_config.hw_channel, # additional information: "supports_fd": bool( - channel_config.channelCapabilities + channel_config.channel_capabilities & xldefine.XL_ChannelCapabilities.XL_CHANNEL_FLAG_CANFD_ISO_SUPPORT ), "vector_channel_config": channel_config, @@ -875,22 +877,53 @@ def set_timer_rate(self, timer_rate_ms: int) -> None: self.xldriver.xlSetTimerRate(self.port_handle, timer_rate_10us) +class VectorCanParams(NamedTuple): + bitrate: int + sjw: int + tseg1: int + tseg2: int + sam: int + output_mode: xldefine.XL_OutputMode + can_op_mode: xldefine.XL_CANFD_BusParams_CanOpMode + + +class VectorCanFdParams(NamedTuple): + bitrate: int + data_bitrate: int + sjw_abr: int + tseg1_abr: int + tseg2_abr: int + sam_abr: int + sjw_dbr: int + tseg1_dbr: int + tseg2_dbr: int + output_mode: xldefine.XL_OutputMode + can_op_mode: xldefine.XL_CANFD_BusParams_CanOpMode + + +class VectorBusParams(NamedTuple): + bus_type: xldefine.XL_BusTypes + can: VectorCanParams + canfd: VectorCanFdParams + + class VectorChannelConfig(NamedTuple): """NamedTuple which contains the channel properties from Vector XL API.""" name: str - hwType: xldefine.XL_HardwareType - hwIndex: int - hwChannel: int - channelIndex: int - channelMask: int - channelCapabilities: xldefine.XL_ChannelCapabilities - channelBusCapabilities: xldefine.XL_BusCapabilities - isOnBus: bool - connectedBusType: xldefine.XL_BusTypes - serialNumber: int - articleNumber: int - transceiverName: str + hw_type: xldefine.XL_HardwareType + hw_index: int + hw_channel: int + channel_index: int + channel_mask: int + channel_capabilities: xldefine.XL_ChannelCapabilities + channel_bus_capabilities: xldefine.XL_BusCapabilities + is_on_bus: bool + connected_bus_type: xldefine.XL_BusTypes + bus_params: VectorBusParams + serial_number: int + article_number: int + transceiver_name: str def _get_xl_driver_config() -> xlclass.XLdriverConfig: @@ -907,6 +940,38 @@ def _get_xl_driver_config() -> xlclass.XLdriverConfig: return driver_config +def _read_bus_params_from_c_struct(bus_params: xlclass.XLbusParams) -> VectorBusParams: + return VectorBusParams( + bus_type=xldefine.XL_BusTypes(bus_params.busType), + can=VectorCanParams( + bitrate=bus_params.data.can.bitRate, + sjw=bus_params.data.can.sjw, + tseg1=bus_params.data.can.tseg1, + tseg2=bus_params.data.can.tseg2, + sam=bus_params.data.can.sam, + output_mode=xldefine.XL_OutputMode(bus_params.data.can.outputMode), + can_op_mode=xldefine.XL_CANFD_BusParams_CanOpMode( + bus_params.data.can.canOpMode + ), + ), + canfd=VectorCanFdParams( + bitrate=bus_params.data.canFD.arbitrationBitRate, + data_bitrate=bus_params.data.canFD.dataBitRate, + sjw_abr=bus_params.data.canFD.sjwAbr, + tseg1_abr=bus_params.data.canFD.tseg1Abr, + tseg2_abr=bus_params.data.canFD.tseg2Abr, + sam_abr=bus_params.data.canFD.samAbr, + sjw_dbr=bus_params.data.canFD.sjwDbr, + tseg1_dbr=bus_params.data.canFD.tseg1Dbr, + tseg2_dbr=bus_params.data.canFD.tseg2Dbr, + output_mode=xldefine.XL_OutputMode(bus_params.data.canFD.outputMode), + can_op_mode=xldefine.XL_CANFD_BusParams_CanOpMode( + bus_params.data.canFD.canOpMode + ), + ), + ) + + def get_channel_configs() -> List[VectorChannelConfig]: """Read channel properties from Vector XL API.""" try: @@ -919,22 +984,23 @@ def get_channel_configs() -> List[VectorChannelConfig]: xlcc: xlclass.XLchannelConfig = driver_config.channel[i] vcc = VectorChannelConfig( name=xlcc.name.decode(), - hwType=xldefine.XL_HardwareType(xlcc.hwType), - hwIndex=xlcc.hwIndex, - hwChannel=xlcc.hwChannel, - channelIndex=xlcc.channelIndex, - channelMask=xlcc.channelMask, - channelCapabilities=xldefine.XL_ChannelCapabilities( + hw_type=xldefine.XL_HardwareType(xlcc.hwType), + hw_index=xlcc.hwIndex, + hw_channel=xlcc.hwChannel, + channel_index=xlcc.channelIndex, + channel_mask=xlcc.channelMask, + channel_capabilities=xldefine.XL_ChannelCapabilities( xlcc.channelCapabilities ), - channelBusCapabilities=xldefine.XL_BusCapabilities( + channel_bus_capabilities=xldefine.XL_BusCapabilities( xlcc.channelBusCapabilities ), - isOnBus=bool(xlcc.isOnBus), - connectedBusType=xldefine.XL_BusTypes(xlcc.connectedBusType), - serialNumber=xlcc.serialNumber, - articleNumber=xlcc.articleNumber, - transceiverName=xlcc.transceiverName.decode(), + is_on_bus=bool(xlcc.isOnBus), + bus_params=_read_bus_params_from_c_struct(xlcc.busParams), + connected_bus_type=xldefine.XL_BusTypes(xlcc.connectedBusType), + serial_number=xlcc.serialNumber, + article_number=xlcc.articleNumber, + transceiver_name=xlcc.transceiverName.decode(), ) channel_list.append(vcc) return channel_list diff --git a/doc/interfaces/vector.rst b/doc/interfaces/vector.rst index a4708c28f..7f9aa1f3f 100644 --- a/doc/interfaces/vector.rst +++ b/doc/interfaces/vector.rst @@ -59,6 +59,18 @@ Miscellaneous :show-inheritance: :class-doc-from: class +.. autoclass:: can.interfaces.vector.canlib.VectorBusParams + :show-inheritance: + :class-doc-from: class + +.. autoclass:: can.interfaces.vector.canlib.VectorCanParams + :show-inheritance: + :class-doc-from: class + +.. autoclass:: can.interfaces.vector.canlib.VectorCanFdParams + :show-inheritance: + :class-doc-from: class + .. autoclass:: can.interfaces.vector.xldefine.XL_HardwareType :show-inheritance: :member-order: bysource @@ -83,6 +95,18 @@ Miscellaneous :members: :undoc-members: +.. autoclass:: can.interfaces.vector.xldefine.XL_OutputMode + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: + +.. autoclass:: can.interfaces.vector.xldefine.XL_CANFD_BusParams_CanOpMode + :show-inheritance: + :member-order: bysource + :members: + :undoc-members: + .. autoclass:: can.interfaces.vector.xldefine.XL_Status :show-inheritance: :member-order: bysource diff --git a/test/test_vector.py b/test/test_vector.py index c4ae21f4e..9aea76281 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -22,6 +22,7 @@ VectorOperationError, VectorChannelConfig, ) +from can.interfaces.vector import VectorBusParams, VectorCanParams, VectorCanFdParams from test.config import IS_WINDOWS XLDRIVER_FOUND = canlib.xldriver is not None @@ -604,18 +605,49 @@ def test_winapi_availability() -> None: def test_vector_channel_config_attributes(): assert hasattr(VectorChannelConfig, "name") - assert hasattr(VectorChannelConfig, "hwType") - assert hasattr(VectorChannelConfig, "hwIndex") - assert hasattr(VectorChannelConfig, "hwChannel") - assert hasattr(VectorChannelConfig, "channelIndex") - assert hasattr(VectorChannelConfig, "channelMask") - assert hasattr(VectorChannelConfig, "channelCapabilities") - assert hasattr(VectorChannelConfig, "channelBusCapabilities") - assert hasattr(VectorChannelConfig, "isOnBus") - assert hasattr(VectorChannelConfig, "connectedBusType") - assert hasattr(VectorChannelConfig, "serialNumber") - assert hasattr(VectorChannelConfig, "articleNumber") - assert hasattr(VectorChannelConfig, "transceiverName") + assert hasattr(VectorChannelConfig, "hw_type") + assert hasattr(VectorChannelConfig, "hw_index") + assert hasattr(VectorChannelConfig, "hw_channel") + assert hasattr(VectorChannelConfig, "channel_index") + assert hasattr(VectorChannelConfig, "channel_mask") + assert hasattr(VectorChannelConfig, "channel_capabilities") + assert hasattr(VectorChannelConfig, "channel_bus_capabilities") + assert hasattr(VectorChannelConfig, "is_on_bus") + assert hasattr(VectorChannelConfig, "bus_params") + assert hasattr(VectorChannelConfig, "connected_bus_type") + assert hasattr(VectorChannelConfig, "serial_number") + assert hasattr(VectorChannelConfig, "article_number") + assert hasattr(VectorChannelConfig, "transceiver_name") + + +def test_vector_bus_params_attributes(): + assert hasattr(VectorBusParams, "bus_type") + assert hasattr(VectorBusParams, "can") + assert hasattr(VectorBusParams, "canfd") + + +def test_vector_can_params_attributes(): + assert hasattr(VectorCanParams, "bitrate") + assert hasattr(VectorCanParams, "sjw") + assert hasattr(VectorCanParams, "tseg1") + assert hasattr(VectorCanParams, "tseg2") + assert hasattr(VectorCanParams, "sam") + assert hasattr(VectorCanParams, "output_mode") + assert hasattr(VectorCanParams, "can_op_mode") + + +def test_vector_canfd_params_attributes(): + assert hasattr(VectorCanFdParams, "bitrate") + assert hasattr(VectorCanFdParams, "data_bitrate") + assert hasattr(VectorCanFdParams, "sjw_abr") + assert hasattr(VectorCanFdParams, "tseg1_abr") + assert hasattr(VectorCanFdParams, "tseg2_abr") + assert hasattr(VectorCanFdParams, "sam_abr") + assert hasattr(VectorCanFdParams, "sjw_dbr") + assert hasattr(VectorCanFdParams, "tseg1_dbr") + assert hasattr(VectorCanFdParams, "tseg2_dbr") + assert hasattr(VectorCanFdParams, "output_mode") + assert hasattr(VectorCanFdParams, "can_op_mode") # ***************************************************************************** From 9d2620bea467352def01e3898e5da9e63a2a82e4 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 31 Oct 2022 02:00:30 +0100 Subject: [PATCH 153/475] Add python 3.11 to supported versions (#1423) --- .github/workflows/build.yml | 5 ++++- setup.py | 1 + 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 93094017f..39eae343f 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -18,7 +18,7 @@ jobs: "3.8", "3.9", "3.10", - "3.11.0-alpha - 3.11.0", + "3.11", "pypy-3.7", "pypy-3.8", "pypy-3.9", @@ -67,6 +67,9 @@ jobs: - name: mypy 3.10 run: | mypy --python-version 3.10 . + - name: mypy 3.11 + run: | + mypy --python-version 3.11 . - name: pylint run: | pylint --rcfile=.pylintrc \ diff --git a/setup.py b/setup.py index 841425482..a32471844 100644 --- a/setup.py +++ b/setup.py @@ -52,6 +52,7 @@ "Programming Language :: Python :: 3.8", "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", "Natural Language :: English", "Programming Language :: Python :: Implementation :: CPython", "Programming Language :: Python :: Implementation :: PyPy", From c9d6d4e287975154d776f555aa509edbda1a3e66 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 31 Oct 2022 03:40:50 +0100 Subject: [PATCH 154/475] fix typo --- doc/interfaces.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/interfaces.rst b/doc/interfaces.rst index c25ea8bea..54d70ca86 100644 --- a/doc/interfaces.rst +++ b/doc/interfaces.rst @@ -45,7 +45,7 @@ The *Interface Names* are listed in :doc:`configuration`. Plugin Interface ^^^^^^^^^^^^^^^^ -External packages can register a new interfaces by using the ``can.interface`` entry point +External packages can register new interfaces by using the ``can.interface`` entry point in its project configuration. The format of the entry point depends on your project configuration format (*pyproject.toml*, *setup.cfg* or *setup.py*). From a344a1305d248a9a065aada119ef90ef4951c491 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 31 Oct 2022 14:08:19 +0100 Subject: [PATCH 155/475] Fix #1376 (#1412) * try to fix test * find u32 --- test/test_socketcan.py | 61 +++++++++++------------------------------- 1 file changed, 16 insertions(+), 45 deletions(-) diff --git a/test/test_socketcan.py b/test/test_socketcan.py index a2c4faed3..1c38e1583 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -3,13 +3,10 @@ """ Test functions in `can.interfaces.socketcan.socketcan`. """ +import ctypes +import struct import unittest - -from unittest.mock import Mock from unittest.mock import patch -from unittest.mock import call - -import ctypes from can.interfaces.socketcan.socketcan import ( bcm_header_factory, @@ -240,51 +237,25 @@ def side_effect_ctypes_alignment(value): ] self.assertEqual(expected_fields, BcmMsgHead._fields_) - @unittest.skipIf( - not ( - ctypes.sizeof(ctypes.c_long) == 4 and ctypes.alignment(ctypes.c_long) == 4 - ), - "Should only run on platforms where sizeof(long) == 4 and alignof(long) == 4", - ) - def test_build_bcm_header_sizeof_long_4_alignof_long_4(self): - expected_result = ( - b"\x02\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x01\x04\x00\x00" - b"\x01\x00\x00\x00\x00\x00\x00\x00" - ) + def test_build_bcm_header(self): + def _find_u32_fmt_char() -> str: + for _fmt in ("H", "I", "L", "Q"): + if struct.calcsize(_fmt) == 4: + return _fmt - self.assertEqual( - expected_result, - build_bcm_header( - opcode=CAN_BCM_TX_DELETE, - flags=0, - count=0, - ival1_seconds=0, - ival1_usec=0, - ival2_seconds=0, - ival2_usec=0, - can_id=0x401, - nframes=1, - ), - ) + def _standard_size_little_endian_to_native(data: bytes) -> bytes: + std_le_fmt = " Date: Mon, 31 Oct 2022 14:39:14 +0100 Subject: [PATCH 156/475] Fix #1424 (#1425) --- test/test_vector.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/test/test_vector.py b/test/test_vector.py index 9aea76281..619277443 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -7,6 +7,7 @@ import ctypes import functools import pickle +import sys import time from unittest.mock import Mock @@ -587,6 +588,9 @@ def test_vector_subtype_error_from_generic() -> None: raise specific +@pytest.mark.skipif( + sys.byteorder != "little", reason="Test relies on little endian data." +) def test_get_channel_configs() -> None: _original_func = canlib._get_xl_driver_config canlib._get_xl_driver_config = _get_predefined_xl_driver_config From cd51ec4c07041c7b3a15b999aa4be5ec3829b05e Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 31 Oct 2022 15:47:32 +0100 Subject: [PATCH 157/475] check whether CAN settings were correctly applied (#1426) --- can/interfaces/vector/canlib.py | 66 ++++++++++++++++++++++++++++++++- test/test_vector.py | 7 +++- 2 files changed, 69 insertions(+), 4 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index d015f2407..8f699f3f7 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -140,7 +140,7 @@ def __init__( :raise ~can.exceptions.CanInterfaceNotImplementedError: If the current operating system is not supported or the driver could not be loaded. - :raise can.exceptions.CanInitializationError: + :raise ~can.exceptions.CanInitializationError: If the bus could not be set up. This may or may not be a :class:`~can.interfaces.vector.VectorInitializationError`. """ @@ -218,6 +218,7 @@ def __init__( interface_version, xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, ) + self.permission_mask = permission_mask.value LOG.debug( "Open Port: PortHandle: %d, PermissionMask: 0x%X", @@ -225,8 +226,9 @@ def __init__( permission_mask.value, ) + # set CAN settings for channel in self.channels: - if permission_mask.value & self.channel_masks[channel]: + if self._has_init_access(channel): if fd: self._set_bitrate_canfd( channel=channel, @@ -242,6 +244,51 @@ def __init__( elif bitrate: self._set_bitrate_can(channel=channel, bitrate=bitrate) + # Check CAN settings + for channel in self.channels: + if kwargs.get("_testing", False): + # avoid check if xldriver is mocked for testing + break + + bus_params = self._read_bus_params(channel) + if fd: + _canfd = bus_params.canfd + if not all( + [ + bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, + _canfd.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD, + _canfd.bitrate == bitrate if bitrate else True, + _canfd.sjw_abr == sjw_abr if bitrate else True, + _canfd.tseg1_abr == tseg1_abr if bitrate else True, + _canfd.tseg2_abr == tseg2_abr if bitrate else True, + _canfd.data_bitrate == data_bitrate if data_bitrate else True, + _canfd.sjw_dbr == sjw_dbr if data_bitrate else True, + _canfd.tseg1_dbr == tseg1_dbr if data_bitrate else True, + _canfd.tseg2_dbr == tseg2_dbr if data_bitrate else True, + ] + ): + raise CanInitializationError( + f"The requested CAN FD settings could not be set for channel {channel}. " + f"Another application might have set incompatible settings. " + f"These are the currently active settings: {_canfd._asdict()}" + ) + else: + _can = bus_params.can + if not all( + [ + bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, + _can.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20, + _can.bitrate == bitrate if bitrate else True, + ] + ): + raise CanInitializationError( + f"The requested CAN settings could not be set for channel {channel}. " + f"Another application might have set incompatible settings. " + f"These are the currently active settings: {_can._asdict()}" + ) + # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 self.xldriver.xlCanSetChannelMode(self.port_handle, self.mask, tx_receipts, 0) @@ -340,6 +387,21 @@ def _find_global_channel_idx( error_code=xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT, ) + def _has_init_access(self, channel: int) -> bool: + return bool(self.permission_mask & self.channel_masks[channel]) + + def _read_bus_params(self, channel: int) -> "VectorBusParams": + channel_mask = self.channel_masks[channel] + + vcc_list = get_channel_configs() + for vcc in vcc_list: + if vcc.channel_mask == channel_mask: + return vcc.bus_params + + raise CanInitializationError( + f"Channel configuration for channel {channel} not found." + ) + def _set_bitrate_can( self, channel: int, diff --git a/test/test_vector.py b/test/test_vector.py index 619277443..b0f305821 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -62,6 +62,7 @@ def mock_xldriver() -> None: # backup unmodified values real_xldriver = canlib.xldriver real_waitforsingleobject = canlib.WaitForSingleObject + real_has_events = canlib.HAS_EVENTS # set mock canlib.xldriver = xldriver_mock @@ -72,6 +73,7 @@ def mock_xldriver() -> None: # cleanup canlib.xldriver = real_xldriver canlib.WaitForSingleObject = real_waitforsingleobject + canlib.HAS_EVENTS = real_has_events def test_bus_creation_mocked(mock_xldriver) -> None: @@ -870,13 +872,14 @@ def xlGetChannelIndex( def xlOpenPort( port_handle_p: ctypes.POINTER(xlclass.XLportHandle), app_name_p: ctypes.c_char_p, - access_mask: xlclass.XLaccess, - permission_mask_p: ctypes.POINTER(xlclass.XLaccess), + access_mask: int, + permission_mask: xlclass.XLaccess, rx_queue_size: ctypes.c_uint, xl_interface_version: ctypes.c_uint, bus_type: ctypes.c_uint, ) -> int: port_handle_p.value = 0 + permission_mask.value = access_mask return 0 From 5f485dbeffaa4fd729dc2576625ec73bfda0011b Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Wed, 9 Nov 2022 12:08:04 -0500 Subject: [PATCH 158/475] Fixing memory leak in neoVI bus where message_receipts grows (#1427) message_receipts was growing without bound on msg Rx side --- can/interfaces/ics_neovi/neovi_bus.py | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 5366f8155..bd4fc5445 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -318,8 +318,9 @@ def _process_msg_queue(self, timeout=0.1): if is_tx: if bool(ics_msg.StatusBitField & ics.SPY_STATUS_GLOBAL_ERR): continue - if ics_msg.DescriptionID: - receipt_key = (ics_msg.ArbIDOrHeader, ics_msg.DescriptionID) + + receipt_key = (ics_msg.ArbIDOrHeader, ics_msg.DescriptionID) + if ics_msg.DescriptionID and receipt_key in self.message_receipts: self.message_receipts[receipt_key].set() if not self._receive_own_messages: continue @@ -477,11 +478,10 @@ def send(self, msg, timeout=0): else: raise ValueError("msg.channel must be set when using multiple channels.") - msg_desc_id = next(description_id) - message.DescriptionID = msg_desc_id - receipt_key = (msg.arbitration_id, msg_desc_id) - if timeout != 0: + msg_desc_id = next(description_id) + message.DescriptionID = msg_desc_id + receipt_key = (msg.arbitration_id, msg_desc_id) self.message_receipts[receipt_key].clear() try: @@ -492,5 +492,9 @@ def send(self, msg, timeout=0): # If timeout is set, wait for ACK # This requires a notifier for the bus or # some other thread calling recv periodically - if timeout != 0 and not self.message_receipts[receipt_key].wait(timeout): - raise CanTimeoutError("Transmit timeout") + if timeout != 0: + got_receipt = self.message_receipts[receipt_key].wait(timeout) + # We no longer need this receipt, so no point keeping it in memory + del self.message_receipts[receipt_key] + if not got_receipt: + raise CanTimeoutError("Transmit timeout") From f739bccf7ffd882c42f4409948bf60ccd8a7dc4a Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Sun, 13 Nov 2022 12:50:08 -0600 Subject: [PATCH 159/475] Add gzip check to compress method (#1429) * Add gzip check to compress method Addresses @zariiii9003 from https://github.com/hardbyte/python-can/pull/1385#issuecomment-1297372655 * Update can/io/logger.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update logger.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/io/logger.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/can/io/logger.py b/can/io/logger.py index 09312101b..a254fb146 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -105,6 +105,10 @@ def compress( File will automatically recompress upon close. """ real_suffix = pathlib.Path(filename).suffixes[-2].lower() + if real_suffix in (".blf", ".db"): + raise ValueError( + f"The file type {real_suffix} is currently incompatible with gzip." + ) if kwargs.get("append", False): mode = "ab" if real_suffix == ".blf" else "at" else: From 8c4ed5ffe61617daafbc9418929a37aeadc989d8 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 14 Nov 2022 09:12:06 +0100 Subject: [PATCH 160/475] Update CHANGELOG for v4.1.0 release (#1363) --- CHANGELOG.md | 74 +++++++++++++++++++++++++++++++++++++++++++++++++ can/__init__.py | 2 +- 2 files changed, 75 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 86612f9b9..1f10e2b78 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,77 @@ +Version 4.1.0 +==== + +Features +-------- + +### IO + +* The canutils logger preserves message direction (#1244) + and uses common interface names (e.g. can0) instead of just + channel numbers (#1271). +* The ``can.logger`` script accepts the ``-a, --append`` option + to add new data to an existing log file (#1326, #1327, #1361). + Currently only the blf-, canutils- and csv-formats are supported. +* All CLI ``extra_args`` are passed to the bus, logger + and player initialisation (#1366). + +### Type Annotations +* python-can now includes the ``py.typed`` marker to support type checking + according to PEP 561 (#1344). + +### Interface Improvements +* The gs_usb interface can be selected by device index instead + of USB bus/address. Loopback frames are now correctly marked + with the ``is_rx`` flag (#1270). +* The PCAN interface can be selected by its device ID instead + of just the channel name (#1346). +* The PCAN Bus implementation supports auto bus-off reset (#1345). +* SocketCAN: Make ``find_available_interfaces()`` find slcanX interfaces (#1369). +* Vector: Add xlGetReceiveQueueLevel, xlGenerateSyncPulse and + xlFlushReceiveQueue to xldriver (#1387). +* Vector: Raise a CanInitializationError, if the CAN settings can not + be applied according to the arguments of ``VectorBus.__init__`` (#1426). + +Bug Fixes +--------- + +* Improve robustness of USB2CAN serial number detection (#1129). +* Fix channel2int conversion (#1268, #1269). +* Fix BLF timestamp conversion (#1266, #1273). +* Fix timestamp handling in udp_multicast on macOS (#1275, #1278). +* Fix failure to initiate the Neousys DLL (#1281). +* Fix AttributeError in IscanError (#1292, #1293). +* Add missing vector devices (#1296). +* Fix error for DLC > 8 in ASCReader (#1299, #1301). +* Set default mode for FileIOMessageWriter to wt instead of rt (#1303). +* Fix conversion for port number from config file (#1309). +* Fix fileno error on Windows (#1312, #1313, #1333). +* Remove redundant ``writer.stop()`` call that throws error (#1316, #1317). +* Detect and cast types of CLI ``extra_args`` (#1280, #1328). +* Fix ASC/CANoe incompatibility due to timestamp format (#1315, #1362). +* Fix MessageSync timings (#1372, #1374). +* Fix file name for compressed files in SizedRotatingLogger (#1382, #1683). +* Fix memory leak in neoVI bus where message_receipts grows with no limit (#1427). +* Raise ValueError if gzip is used with incompatible log formats (#1429). + +Miscellaneous +------------- + +* Allow ICSApiError to be pickled and un-pickled (#1341) +* Sort interface names in CLI API to make documentation reproducible (#1342) +* Exclude repository-configuration from git-archive (#1343) +* Improve documentation (#1397, #1401, #1405, #1420, #1421) +* Officially support Python 3.11 (#1423) + +Breaking Changes +---------------- + +* ``windows-curses`` was moved to optional dependencies (#1395). + Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` + script on Windows. +* The attributes of ``can.interfaces.vector.VectorChannelConfig`` were renamed + from camelCase to snake_case (#1422). + Version 4.0.0 ==== diff --git a/can/__init__.py b/can/__init__.py index 2a0b805ac..18d226867 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.0.0" +__version__ = "4.1.0.dev0" log = logging.getLogger("can") From 4b1acdee8dbf6557f71911275106fff06287bb5b Mon Sep 17 00:00:00 2001 From: Giuseppe Corbelli Date: Mon, 14 Nov 2022 10:04:53 +0100 Subject: [PATCH 161/475] Ixxat bus state and hardware errors detection (#1141) * Added comment to CAN_MSGFLAGS_* and CAN_MSGFLAGS2_* constants * CANMSGINFO.bAddFlags has been renamed to bFlags2 in IXXAT VCI4 * Added a comment that CANMSGINFO.Bytes.bAddFlags is called bFlags2 in VCI v4. * Implementation is now tested against VCI v4 * Dropped manual timeout handling as it is a job done by BusABC.read(). Better handling of CAN error messages: - In case of HW errors (overrun, warning limit exceeded, bus coupling error) raise VCIError - In case of error log IXXAT-specific error codes * Fixed unbound variable usage. Use log.warning instead of deprecated log.warn. * Now wrapping IXXAT VCI v4 * Added CAN_OPMODE_AUTOBAUD controller operating mode. * Mapped symbol canChannelGetStatus, used to implement the 'state' property. Hardware error checking in _recv_internal() handles BUS OFF situation. * Use CANMSGINFO.bAddFlags instead of CANMSGINFO.bFlags2 * Call canControlClose() AFTER canControlReset() or it will always fail * Added CANMSG.__str__ * Removed conflict marker * Renamed parameter 'msg' to 'msgs' in _send_periodic_internal(), consistent with BusABC * Changed plain format() calls to f-strings as per review * Removed binascii module dependency using memoryview Co-authored-by: Giuseppe Corbelli --- can/interfaces/ixxat/__init__.py | 4 +- can/interfaces/ixxat/canlib.py | 19 ++- can/interfaces/ixxat/canlib_vcinpl.py | 205 +++++++++++++++---------- can/interfaces/ixxat/canlib_vcinpl2.py | 12 +- can/interfaces/ixxat/constants.py | 30 ++-- can/interfaces/ixxat/exceptions.py | 2 +- can/interfaces/ixxat/structures.py | 33 ++-- 7 files changed, 183 insertions(+), 122 deletions(-) diff --git a/can/interfaces/ixxat/__init__.py b/can/interfaces/ixxat/__init__.py index 347caed50..1419d97a1 100644 --- a/can/interfaces/ixxat/__init__.py +++ b/can/interfaces/ixxat/__init__.py @@ -1,7 +1,7 @@ """ -Ctypes wrapper module for IXXAT Virtual CAN Interface V3 on win32 systems +Ctypes wrapper module for IXXAT Virtual CAN Interface V4 on win32 systems -Copyright (C) 2016 Giuseppe Corbelli +Copyright (C) 2016-2021 Giuseppe Corbelli """ from can.interfaces.ixxat.canlib import IXXATBus diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 4dc0d3e6e..1e4055f89 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -2,6 +2,8 @@ import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 from can import BusABC, Message +from can.bus import BusState + from typing import Optional @@ -11,7 +13,8 @@ class IXXATBus(BusABC): Based on the C implementation of IXXAT, two different dlls are provided by IXXAT, one to work with CAN, the other with CAN-FD. - This class only delegates to related implementation (in calib_vcinpl or canlib_vcinpl2) class depending on fd user option. + This class only delegates to related implementation (in calib_vcinpl or canlib_vcinpl2) + class depending on fd user option. """ def __init__( @@ -140,8 +143,18 @@ def _recv_internal(self, timeout): def send(self, msg: Message, timeout: Optional[float] = None) -> None: return self.bus.send(msg, timeout) - def _send_periodic_internal(self, msg, period, duration=None): - return self.bus._send_periodic_internal(msg, period, duration) + def _send_periodic_internal(self, msgs, period, duration=None): + return self.bus._send_periodic_internal(msgs, period, duration) def shutdown(self): return self.bus.shutdown() + + @property + def state(self) -> BusState: + """ + Return the current state of the hardware + """ + return self.bus.state + + +# ~class IXXATBus(BusABC): --------------------------------------------------- diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index bdb05cda5..fa88e5f90 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -1,5 +1,5 @@ """ -Ctypes wrapper module for IXXAT Virtual CAN Interface V3 on win32 systems +Ctypes wrapper module for IXXAT Virtual CAN Interface V4 on win32 systems TODO: We could implement this interface such that setting other filters could work when the initial filters were set to zero using the @@ -16,6 +16,7 @@ from typing import Optional, Callable, Tuple from can import BusABC, Message +from can.bus import BusState from can.exceptions import CanInterfaceNotImplementedError, CanInitializationError from can.broadcastmanager import ( LimitedDurationCyclicSendTaskABC, @@ -38,7 +39,6 @@ log = logging.getLogger("can.ixxat") -from time import perf_counter # Hack to have vciFormatError as a free function, see below vciFormatError = None @@ -225,6 +225,13 @@ def __check_status(result, function, args): (HANDLE, ctypes.c_uint32, structures.PCANMSG), __check_status, ) + # HRESULT canChannelGetStatus (HANDLE hCanChn, PCANCHANSTATUS pStatus ); + _canlib.map_symbol( + "canChannelGetStatus", + ctypes.c_long, + (HANDLE, structures.PCANCHANSTATUS), + __check_status, + ) # EXTERN_C HRESULT VCIAPI canControlOpen( IN HANDLE hDevice, IN UINT32 dwCanNo, OUT PHANDLE phCanCtl ); _canlib.map_symbol( @@ -509,11 +516,11 @@ def __init__( == bytes(unique_hardware_id, "ascii") ): break - else: - log.debug( - "Ignoring IXXAT with hardware id '%s'.", - self._device_info.UniqueHardwareId.AsChar.decode("ascii"), - ) + + log.debug( + "Ignoring IXXAT with hardware id '%s'.", + self._device_info.UniqueHardwareId.AsChar.decode("ascii"), + ) _canlib.vciEnumDeviceClose(self._device_handle) try: @@ -522,7 +529,9 @@ def __init__( ctypes.byref(self._device_handle), ) except Exception as exception: - raise CanInitializationError(f"Could not open device: {exception}") + raise CanInitializationError( + f"Could not open device: {exception}" + ) from exception log.info("Using unique HW ID %s", self._device_info.UniqueHardwareId.AsChar) @@ -543,7 +552,7 @@ def __init__( except Exception as exception: raise CanInitializationError( f"Could not open and initialize channel: {exception}" - ) + ) from exception # Signal TX/RX events when at least one frame has been handled _canlib.canChannelInitialize( @@ -637,85 +646,88 @@ def flush_tx_buffer(self): def _recv_internal(self, timeout): """Read a message from IXXAT device.""" - - # TODO: handling CAN error messages? data_received = False - if timeout == 0: + if self._inWaiting() or timeout == 0: # Peek without waiting - try: - _canlib.canChannelPeekMessage( - self._channel_handle, ctypes.byref(self._message) - ) - except (VCITimeout, VCIRxQueueEmptyError): - return None, True - else: - if self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_DATA: - data_received = True + recv_function = functools.partial( + _canlib.canChannelPeekMessage, + self._channel_handle, + ctypes.byref(self._message), + ) else: # Wait if no message available - if timeout is None or timeout < 0: - remaining_ms = constants.INFINITE - t0 = None - else: - timeout_ms = int(timeout * 1000) - remaining_ms = timeout_ms - t0 = perf_counter() - - while True: - try: - _canlib.canChannelReadMessage( - self._channel_handle, remaining_ms, ctypes.byref(self._message) + timeout = ( + constants.INFINITE + if (timeout is None or timeout < 0) + else int(timeout * 1000) + ) + recv_function = functools.partial( + _canlib.canChannelReadMessage, + self._channel_handle, + timeout, + ctypes.byref(self._message), + ) + + try: + recv_function() + except (VCITimeout, VCIRxQueueEmptyError): + # Ignore the 2 errors, overall timeout is handled by BusABC.recv + pass + else: + # See if we got a data or info/error messages + if self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_DATA: + data_received = True + elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_INFO: + log.info( + CAN_INFO_MESSAGES.get( + self._message.abData[0], + f"Unknown CAN info message code {self._message.abData[0]}", ) - except (VCITimeout, VCIRxQueueEmptyError): - # Ignore the 2 errors, the timeout is handled manually with the perf_counter() - pass + ) + elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR: + if self._message.uMsgInfo.Bytes.bFlags & constants.CAN_MSGFLAGS_OVR: + log.warning("CAN error: data overrun") else: - # See if we got a data or info/error messages - if self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_DATA: - data_received = True - break - elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_INFO: - log.info( - CAN_INFO_MESSAGES.get( - self._message.abData[0], - "Unknown CAN info message code {}".format( - self._message.abData[0] - ), - ) - ) - - elif ( - self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR - ): - log.warning( - CAN_ERROR_MESSAGES.get( - self._message.abData[0], - "Unknown CAN error message code {}".format( - self._message.abData[0] - ), - ) + log.warning( + CAN_ERROR_MESSAGES.get( + self._message.abData[0], + f"Unknown CAN error message code {self._message.abData[0]}", ) - - elif ( - self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_STATUS - ): - log.info(_format_can_status(self._message.abData[0])) - if self._message.abData[0] & constants.CAN_STATUS_BUSOFF: - raise VCIBusOffError() - - elif ( - self._message.uMsgInfo.Bits.type - == constants.CAN_MSGTYPE_TIMEOVR - ): - pass - else: - log.warning("Unexpected message info type") - - if t0 is not None: - remaining_ms = timeout_ms - int((perf_counter() - t0) * 1000) - if remaining_ms < 0: - break + ) + log.warning( + "CAN message flags bAddFlags/bFlags2 0x%02X bflags 0x%02X", + self._message.uMsgInfo.Bytes.bAddFlags, + self._message.uMsgInfo.Bytes.bFlags, + ) + elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_TIMEOVR: + pass + else: + log.warning( + "Unexpected message info type 0x%X", + self._message.uMsgInfo.Bits.type, + ) + finally: + if not data_received: + # Check hard errors + status = structures.CANLINESTATUS() + _canlib.canControlGetStatus(self._control_handle, ctypes.byref(status)) + error_byte_1 = status.dwStatus & 0x0F + error_byte_2 = status.dwStatus & 0xF0 + if error_byte_1 > constants.CAN_STATUS_TXPEND: + # CAN_STATUS_OVRRUN = 0x02 # data overrun occurred + # CAN_STATUS_ERRLIM = 0x04 # error warning limit exceeded + # CAN_STATUS_BUSOFF = 0x08 # bus off status + if error_byte_1 & constants.CAN_STATUS_OVRRUN: + raise VCIError("Data overrun occurred") + elif error_byte_1 & constants.CAN_STATUS_ERRLIM: + raise VCIError("Error warning limit exceeded") + elif error_byte_1 & constants.CAN_STATUS_BUSOFF: + raise VCIError("Bus off status") + elif error_byte_2 > constants.CAN_STATUS_ININIT: + # CAN_STATUS_BUSCERR = 0x20 # bus coupling error + if error_byte_2 & constants.CAN_STATUS_BUSCERR: + raise VCIError("Bus coupling error") if not data_received: # Timed out / can message type is not DATA @@ -764,11 +776,12 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: _canlib.canChannelSendMessage( self._channel_handle, int(timeout * 1000), message ) - else: _canlib.canChannelPostMessage(self._channel_handle, message) + # Want to log outgoing messages? + # log.log(self.RECV_LOGGING_LEVEL, "Sent: %s", message) - def _send_periodic_internal(self, msg, period, duration=None): + def _send_periodic_internal(self, msgs, period, duration=None): """Send a message using built-in cyclic transmit list functionality.""" if self._scheduler is None: self._scheduler = HANDLE() @@ -778,7 +791,7 @@ def _send_periodic_internal(self, msg, period, duration=None): self._scheduler_resolution = caps.dwClockFreq / caps.dwCmsDivisor _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) return CyclicSendTask( - self._scheduler, msg, period, duration, self._scheduler_resolution + self._scheduler, msgs, period, duration, self._scheduler_resolution ) def shutdown(self): @@ -786,9 +799,35 @@ def shutdown(self): _canlib.canSchedulerClose(self._scheduler) _canlib.canChannelClose(self._channel_handle) _canlib.canControlStart(self._control_handle, constants.FALSE) + _canlib.canControlReset(self._control_handle) _canlib.canControlClose(self._control_handle) _canlib.vciDeviceClose(self._device_handle) + @property + def state(self) -> BusState: + """ + Return the current state of the hardware + """ + status = structures.CANLINESTATUS() + _canlib.canControlGetStatus(self._control_handle, ctypes.byref(status)) + if status.bOpMode == constants.CAN_OPMODE_LISTONLY: + return BusState.PASSIVE + + error_byte_1 = status.dwStatus & 0x0F + # CAN_STATUS_BUSOFF = 0x08 # bus off status + if error_byte_1 & constants.CAN_STATUS_BUSOFF: + return BusState.ERROR + + error_byte_2 = status.dwStatus & 0xF0 + # CAN_STATUS_BUSCERR = 0x20 # bus coupling error + if error_byte_2 & constants.CAN_STATUS_BUSCERR: + raise BusState.ERROR + + return BusState.ACTIVE + + +# ~class IXXATBus(BusABC): --------------------------------------------------- + class CyclicSendTask(LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC): """A message in the cyclic transmit list.""" diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 802168630..108ad2c02 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -825,9 +825,7 @@ def _recv_internal(self, timeout): log.info( CAN_INFO_MESSAGES.get( self._message.abData[0], - "Unknown CAN info message code {}".format( - self._message.abData[0] - ), + f"Unknown CAN info message code {self._message.abData[0]}", ) ) @@ -837,9 +835,7 @@ def _recv_internal(self, timeout): log.warning( CAN_ERROR_MESSAGES.get( self._message.abData[0], - "Unknown CAN error message code {}".format( - self._message.abData[0] - ), + f"Unknown CAN error message code {self._message.abData[0]}", ) ) @@ -933,7 +929,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: else: _canlib.canChannelPostMessage(self._channel_handle, message) - def _send_periodic_internal(self, msg, period, duration=None): + def _send_periodic_internal(self, msgs, period, duration=None): """Send a message using built-in cyclic transmit list functionality.""" if self._scheduler is None: self._scheduler = HANDLE() @@ -945,7 +941,7 @@ def _send_periodic_internal(self, msg, period, duration=None): ) # TODO: confirm _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) return CyclicSendTask( - self._scheduler, msg, period, duration, self._scheduler_resolution + self._scheduler, msgs, period, duration, self._scheduler_resolution ) def shutdown(self): diff --git a/can/interfaces/ixxat/constants.py b/can/interfaces/ixxat/constants.py index 1dbc22a44..3bc1aa42e 100644 --- a/can/interfaces/ixxat/constants.py +++ b/can/interfaces/ixxat/constants.py @@ -1,5 +1,5 @@ """ -Ctypes wrapper module for IXXAT Virtual CAN Interface V3 on win32 systems +Ctypes wrapper module for IXXAT Virtual CAN Interface V4 on win32 systems Copyright (C) 2016 Giuseppe Corbelli """ @@ -106,20 +106,21 @@ VCI_E_WRONG_FLASHFWVERSION = SEV_VCI_ERROR | 0x001A # Controller status -CAN_STATUS_TXPEND = 0x01 -CAN_STATUS_OVRRUN = 0x02 -CAN_STATUS_ERRLIM = 0x04 -CAN_STATUS_BUSOFF = 0x08 -CAN_STATUS_ININIT = 0x10 -CAN_STATUS_BUSCERR = 0x20 +CAN_STATUS_TXPEND = 0x01 # transmission pending +CAN_STATUS_OVRRUN = 0x02 # data overrun occurred +CAN_STATUS_ERRLIM = 0x04 # error warning limit exceeded +CAN_STATUS_BUSOFF = 0x08 # bus off status +CAN_STATUS_ININIT = 0x10 # init mode active +CAN_STATUS_BUSCERR = 0x20 # bus coupling error # Controller operating modes -CAN_OPMODE_UNDEFINED = 0x00 -CAN_OPMODE_STANDARD = 0x01 -CAN_OPMODE_EXTENDED = 0x02 -CAN_OPMODE_ERRFRAME = 0x04 -CAN_OPMODE_LISTONLY = 0x08 -CAN_OPMODE_LOWSPEED = 0x10 +CAN_OPMODE_UNDEFINED = 0x00 # undefined +CAN_OPMODE_STANDARD = 0x01 # reception of 11-bit id messages +CAN_OPMODE_EXTENDED = 0x02 # reception of 29-bit id messages +CAN_OPMODE_ERRFRAME = 0x04 # reception of error frames +CAN_OPMODE_LISTONLY = 0x08 # listen only mode (TX passive) +CAN_OPMODE_LOWSPEED = 0x10 # use low speed bus interface +CAN_OPMODE_AUTOBAUD = 0x20 # automatic bit rate detection # Extended operating modes CAN_EXMODE_DISABLED = 0x00 @@ -167,13 +168,14 @@ CAN_FILTER_EXCL = 0x04 # exclusive filtering (inhibit registered IDs) +# message information flags (used by ) CAN_MSGFLAGS_DLC = 0x0F # [bit 0] data length code CAN_MSGFLAGS_OVR = 0x10 # [bit 4] data overrun flag CAN_MSGFLAGS_SRR = 0x20 # [bit 5] self reception request CAN_MSGFLAGS_RTR = 0x40 # [bit 6] remote transmission request CAN_MSGFLAGS_EXT = 0x80 # [bit 7] frame format (0=11-bit, 1=29-bit) - +# extended message information flags (used by ) CAN_MSGFLAGS2_SSM = 0x01 # [bit 0] single shot mode CAN_MSGFLAGS2_HPM = 0x02 # [bit 1] high priority message CAN_MSGFLAGS2_EDL = 0x04 # [bit 2] extended data length diff --git a/can/interfaces/ixxat/exceptions.py b/can/interfaces/ixxat/exceptions.py index babe08e3b..50b84dfa4 100644 --- a/can/interfaces/ixxat/exceptions.py +++ b/can/interfaces/ixxat/exceptions.py @@ -1,5 +1,5 @@ """ -Ctypes wrapper module for IXXAT Virtual CAN Interface V3 on win32 systems +Ctypes wrapper module for IXXAT Virtual CAN Interface V4 on win32 systems Copyright (C) 2016 Giuseppe Corbelli Copyright (C) 2019 Marcel Kanter diff --git a/can/interfaces/ixxat/structures.py b/can/interfaces/ixxat/structures.py index f76a39a38..b784437e0 100644 --- a/can/interfaces/ixxat/structures.py +++ b/can/interfaces/ixxat/structures.py @@ -1,5 +1,5 @@ """ -Ctypes wrapper module for IXXAT Virtual CAN Interface V3 on win32 systems +Ctypes wrapper module for IXXAT Virtual CAN Interface V4 on win32 systems Copyright (C) 2016 Giuseppe Corbelli """ @@ -70,11 +70,13 @@ def __str__(self): class CANLINESTATUS(ctypes.Structure): _fields_ = [ + # current CAN operating mode. Value is a logical combination of + # one or more CAN_OPMODE_xxx constants ("bOpMode", ctypes.c_uint8), - ("bBtReg0", ctypes.c_uint8), - ("bBtReg1", ctypes.c_uint8), - ("bBusLoad", ctypes.c_uint8), - ("dwStatus", ctypes.c_uint32), + ("bBtReg0", ctypes.c_uint8), # current bus timing register 0 value + ("bBtReg1", ctypes.c_uint8), # current bus timing register 1 value + ("bBusLoad", ctypes.c_uint8), # average bus load in percent (0..100) + ("dwStatus", ctypes.c_uint32), # status of the CAN controller (see CAN_STATUS_) ] @@ -83,11 +85,11 @@ class CANLINESTATUS(ctypes.Structure): class CANCHANSTATUS(ctypes.Structure): _fields_ = [ - ("sLineStatus", CANLINESTATUS), - ("fActivated", ctypes.c_uint32), - ("fRxOverrun", ctypes.c_uint32), - ("bRxFifoLoad", ctypes.c_uint8), - ("bTxFifoLoad", ctypes.c_uint8), + ("sLineStatus", CANLINESTATUS), # current CAN line status + ("fActivated", ctypes.c_uint32), # TRUE if the channel is activated + ("fRxOverrun", ctypes.c_uint32), # TRUE if receive FIFO overrun occurred + ("bRxFifoLoad", ctypes.c_uint8), # receive FIFO load in percent (0..100) + ("bTxFifoLoad", ctypes.c_uint8), # transmit FIFO load in percent (0..100) ] @@ -118,7 +120,7 @@ class Bytes(ctypes.Structure): ( "bAddFlags", ctypes.c_uint8, - ), # extended flags (see CAN_MSGFLAGS2_ constants) + ), # extended flags (see CAN_MSGFLAGS2_ constants). AKA bFlags2 in VCI v4 ("bFlags", ctypes.c_uint8), # flags (see CAN_MSGFLAGS_ constants) ("bAccept", ctypes.c_uint8), # accept code (see CAN_ACCEPT_ constants) ] @@ -153,11 +155,20 @@ class Bits(ctypes.Structure): class CANMSG(ctypes.Structure): _fields_ = [ ("dwTime", ctypes.c_uint32), + # CAN ID of the message in Intel format (aligned right) without RTR bit. ("dwMsgId", ctypes.c_uint32), ("uMsgInfo", CANMSGINFO), ("abData", ctypes.c_uint8 * 8), ] + def __str__(self) -> str: + return """ID: 0x{0:04x}{1} DLC: {2:02d} DATA: {3}""".format( + self.dwMsgId, + "[RTR]" if self.uMsgInfo.Bits.rtr else "", + self.uMsgInfo.Bits.dlc, + memoryview(self.abData)[: self.uMsgInfo.Bits.dlc].hex(sep=" "), + ) + PCANMSG = ctypes.POINTER(CANMSG) From b0a44001c68d6e30c3b308f558c78685de8460bd Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Tue, 15 Nov 2022 18:47:43 +1300 Subject: [PATCH 162/475] Switch from codecov to coveralls (#1430) --- .github/workflows/build.yml | 20 +++++++++++++++++--- README.rst | 6 +++--- doc/development.rst | 2 +- test/test_message_class.py | 5 +++-- tox.ini | 12 +++++------- 5 files changed, 29 insertions(+), 16 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 39eae343f..2ed1742c6 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -37,10 +37,24 @@ jobs: - name: Test with pytest via tox run: | tox -e gh - - name: Upload coverage to Codecov - uses: codecov/codecov-action@v3 + + - name: Coveralls Parallel + uses: coverallsapp/github-action@master + with: + github-token: ${{ secrets.github_token }} + flag-name: Unittests-${{ matrix.os }}-${{ matrix.python-version }} + parallel: true + path-to-lcov: ./coverage.lcov + + coveralls: + needs: test + runs-on: ubuntu-latest + steps: + - name: Coveralls Finished + uses: coverallsapp/github-action@master with: - fail_ci_if_error: true + github-token: ${{ secrets.github_token }} + parallel-finished: true static-code-analysis: runs-on: ubuntu-latest diff --git a/README.rst b/README.rst index 0e5d79e3f..11404785a 100644 --- a/README.rst +++ b/README.rst @@ -37,9 +37,9 @@ python-can :target: https://app.travis-ci.com/github/hardbyte/python-can :alt: Travis CI Server for develop branch -.. |coverage| image:: https://codecov.io/gh/hardbyte/python-can/branch/develop/graph/badge.svg - :target: https://codecov.io/gh/hardbyte/python-can/branch/develop - :alt: Test coverage reports on Codecov.io +.. |coverage| image:: https://coveralls.io/repos/github/hardbyte/python-can/badge.svg?branch=develop + :target: https://coveralls.io/github/hardbyte/python-can?branch=develop + :alt: Test coverage reports on Coveralls.io .. |mergify| image:: https://img.shields.io/endpoint.svg?url=https://api.mergify.com/v1/badges/hardbyte/python-can&style=flat :target: https://mergify.io diff --git a/doc/development.rst b/doc/development.rst index 055401bdc..cfb8dbe5d 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -108,7 +108,7 @@ The modules in ``python-can`` are: Creating a new Release ---------------------- -- Release from the ``master`` branch (except for pre-releases). +- Release from the ``main`` branch (except for pre-releases). - Update the library version in ``__init__.py`` using `semantic versioning `__. - Check if any deprecations are pending. - Run all tests and examples against available hardware. diff --git a/test/test_message_class.py b/test/test_message_class.py index 688cda24f..9fae7262e 100644 --- a/test/test_message_class.py +++ b/test/test_message_class.py @@ -7,7 +7,7 @@ import pickle from datetime import timedelta -from hypothesis import given, settings +from hypothesis import HealthCheck, given, settings import hypothesis.errors import hypothesis.strategies as st @@ -42,12 +42,13 @@ class TestMessageClass(unittest.TestCase): # The first run may take a second on CI runners and will hit the deadline @settings( max_examples=2000, + suppress_health_check=[HealthCheck.too_slow], deadline=None if IS_GITHUB_ACTIONS else timedelta(milliseconds=500), ) @pytest.mark.xfail( IS_WINDOWS and IS_PYPY, raises=hypothesis.errors.Flaky, - reason="Hypothesis generates inconistent timestamp floats on Windows+PyPy-3.7", + reason="Hypothesis generates inconsistent timestamp floats on Windows+PyPy-3.7", ) def test_methods(self, **kwargs): is_valid = not ( diff --git a/tox.ini b/tox.ini index 248a6fd37..0dbd6423e 100644 --- a/tox.ini +++ b/tox.ini @@ -5,9 +5,9 @@ isolated_build = true deps = pytest==7.1.*,>=7.1.2 pytest-timeout==2.0.2 - pytest-cov==3.0.0 - coverage==6.3 - codecov==2.1.12 + coveralls==3.3.1 + pytest-cov==4.0.0 + coverage==6.5.0 hypothesis~=6.35.0 pyserial~=3.5 parameterized~=0.8 @@ -24,6 +24,7 @@ recreate = True passenv = CI GITHUB_* + COVERALLS_* PY_COLORS [testenv:travis] @@ -31,15 +32,12 @@ passenv = CI TRAVIS TRAVIS_* - CODECOV_* TEST_SOCKETCAN -commands_post = - codecov -X gcov [pytest] testpaths = test -addopts = -v --timeout=300 --cov=can --cov-config=tox.ini --cov-report=xml --cov-report=term +addopts = -v --timeout=300 --cov=can --cov-config=tox.ini --cov-report=lcov --cov-report=term [coverage:run] From 2d6e996a7efda5fbf7da51642422ca49b315dfa1 Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Tue, 15 Nov 2022 07:20:25 +0100 Subject: [PATCH 163/475] Trc file support (#1217) * Added file for implementation of trc file read and write * Added trc file header template * Added link where to lookup the trc file format description * Add trc reader and writer to backends * Add example trace file as conversion from asc log * Add TRCWriter and TRCReader to can package * Basic header extraction in reader * Implement read of file version * Remove useless format string * Implement basic message parsing * Move message parsing to separate function * Implement parse of first message * Handle none rx messages * Handle empty files * Add test method for trc files * Format code with black * Implement stop at end of log file * Implement basic write of header version 2.1 * Add newline after header * Implement write of messages * Enable test for trace file writing * Add test files for different pcan trace file versions * Use binary mode for write to ensure correct line ending on all platforms * Add handler for file write * Move some header lines to specific write function * Move lines to function * Move write of file header to class * Use new function for better code readability * Add enum for file versions * Handle text io streams correctly * send line ending setting to logger * Add check for file version in writer * Add TRCFileVersion as export * Add test for wrong file version * Add format and header for version 1 trace file format * Use correct format according to selected version * Introduce handler method _parse_line * Skip empty lines * Add check for type before eval message * Print info on unsupported types * Add test for new test data files trc format * Implement file version reading * More flexible implementation of line parsing for different versions * Implement Version 1 trace file parsing * Add test case for Version 1.0 trc file * Implement parsing for version 1.1 trace files * Add test for version 1.1 reading * Add test case for version 1.0 trace files * Avoid multi test runs with same input and output by separate generic tests from file version tests * Correct first timestamp * Add type information for file attribute * Add type definitions for init function * Add type for first_timestamp * Add info for return types * Drop type casting for file. Should already be done in init * Add type info * Always use text read write * Update types for initialization * Use text io mode by default --- can/__init__.py | 1 + can/io/__init__.py | 1 + can/io/logger.py | 3 + can/io/player.py | 3 + can/io/trc.py | 368 ++++++++++++++++++++++++ test/data/test_CanMessage.trc | 23 ++ test/data/test_CanMessage_V1_0_BUS1.trc | 28 ++ test/data/test_CanMessage_V1_1.trc | 25 ++ test/data/test_CanMessage_V2_0_BUS1.trc | 28 ++ test/data/test_CanMessage_V2_1.trc | 29 ++ test/logformats_test.py | 128 +++++++++ 11 files changed, 637 insertions(+) create mode 100644 can/io/trc.py create mode 100644 test/data/test_CanMessage.trc create mode 100644 test/data/test_CanMessage_V1_0_BUS1.trc create mode 100644 test/data/test_CanMessage_V1_1.trc create mode 100644 test/data/test_CanMessage_V2_0_BUS1.trc create mode 100644 test/data/test_CanMessage_V2_1.trc diff --git a/can/__init__.py b/can/__init__.py index 18d226867..8af42009a 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -41,6 +41,7 @@ from .io import CanutilsLogReader, CanutilsLogWriter from .io import CSVWriter, CSVReader from .io import SqliteWriter, SqliteReader +from .io import TRCReader, TRCWriter, TRCFileVersion from .broadcastmanager import ( CyclicSendTaskABC, diff --git a/can/io/__init__.py b/can/io/__init__.py index 0d3741b05..6dc9ac1af 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -14,3 +14,4 @@ from .csv import CSVWriter, CSVReader from .sqlite import SqliteReader, SqliteWriter from .printer import Printer +from .trc import TRCReader, TRCWriter, TRCFileVersion diff --git a/can/io/logger.py b/can/io/logger.py index a254fb146..a08cf9869 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -23,6 +23,7 @@ from .csv import CSVWriter from .sqlite import SqliteWriter from .printer import Printer +from .trc import TRCWriter from ..typechecking import StringPathLike, FileLike, AcceptedIOType @@ -36,6 +37,7 @@ class Logger(MessageWriter): # pylint: disable=abstract-method * .csv: :class:`can.CSVWriter` * .db: :class:`can.SqliteWriter` * .log :class:`can.CanutilsLogWriter` + * .trc :class:`can.TRCWriter` * .txt :class:`can.Printer` Any of these formats can be used with gzip compression by appending @@ -58,6 +60,7 @@ class Logger(MessageWriter): # pylint: disable=abstract-method ".csv": CSVWriter, ".db": SqliteWriter, ".log": CanutilsLogWriter, + ".trc": TRCWriter, ".txt": Printer, } diff --git a/can/io/player.py b/can/io/player.py index 8eb4ba24f..82f851502 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -16,6 +16,7 @@ from .canutils import CanutilsLogReader from .csv import CSVReader from .sqlite import SqliteReader +from .trc import TRCReader from ..typechecking import StringPathLike, FileLike, AcceptedIOType from ..message import Message @@ -30,6 +31,7 @@ class LogReader(MessageReader): * .csv * .db * .log + * .trc Gzip compressed files can be used as long as the original files suffix is one of the above (e.g. filename.asc.gz). @@ -56,6 +58,7 @@ class LogReader(MessageReader): ".csv": CSVReader, ".db": SqliteReader, ".log": CanutilsLogReader, + ".trc": TRCReader, } @staticmethod diff --git a/can/io/trc.py b/can/io/trc.py new file mode 100644 index 000000000..25ba0f5c6 --- /dev/null +++ b/can/io/trc.py @@ -0,0 +1,368 @@ +# coding: utf-8 + +""" +Reader and writer for can logging files in peak trc format + +See https://www.peak-system.com/produktcd/Pdf/English/PEAK_CAN_TRC_File_Format.pdf +for file format description + +Version 1.1 will be implemented as it is most commonly used +""" # noqa + +from typing import Generator, Optional, Union, TextIO +from datetime import datetime, timedelta +from enum import Enum +from io import TextIOWrapper +import os +import logging + +from ..message import Message +from ..util import channel2int +from .generic import FileIOMessageWriter, MessageReader +from ..typechecking import StringPathLike + + +logger = logging.getLogger("can.io.trc") + + +class TRCFileVersion(Enum): + UNKNOWN = 0 + V1_0 = 100 + V1_1 = 101 + V1_2 = 102 + V1_3 = 103 + V2_0 = 200 + V2_1 = 201 + + +class TRCReader(MessageReader): + """ + Iterator of CAN messages from a TRC logging file. + """ + + file: TextIO + + def __init__( + self, + file: Union[StringPathLike, TextIO], + ) -> None: + """ + :param file: a path-like object or as file-like object to read from + If this is a file-like object, is has to opened in text + read mode, not binary read mode. + """ + super(TRCReader, self).__init__(file, mode="r") + self.file_version = TRCFileVersion.UNKNOWN + + if not self.file: + raise ValueError("The given file cannot be None") + + def _extract_header(self): + for line in self.file: + line = line.strip() + if line.startswith(";$FILEVERSION"): + logger.debug(f"TRCReader: Found file version '{line}'") + try: + file_version = line.split("=")[1] + if file_version == "1.1": + self.file_version = TRCFileVersion.V1_1 + elif file_version == "2.1": + self.file_version = TRCFileVersion.V2_1 + else: + self.file_version = TRCFileVersion.UNKNOWN + except IndexError: + logger.debug("TRCReader: Failed to parse version") + elif line.startswith(";"): + continue + else: + break + + if self.file_version == TRCFileVersion.UNKNOWN: + logger.info( + "TRCReader: No file version was found, so version 1.0 is assumed" + ) + self._parse_cols = self._parse_msg_V1_0 + elif self.file_version == TRCFileVersion.V1_0: + self._parse_cols = self._parse_msg_V1_0 + elif self.file_version == TRCFileVersion.V1_1: + self._parse_cols = self._parse_cols_V1_1 + elif self.file_version == TRCFileVersion.V2_1: + self._parse_cols = self._parse_cols_V2_1 + else: + raise NotImplementedError("File version not fully implemented for reading") + + return line + + def _parse_msg_V1_0(self, cols): + arbit_id = cols[2] + if arbit_id == "FFFFFFFF": + logger.info("TRCReader: Dropping bus info line") + return None + + msg = Message() + msg.timestamp = float(cols[1]) / 1000 + msg.arbitration_id = int(arbit_id, 16) + msg.is_extended_id = len(arbit_id) > 4 + msg.channel = 1 + msg.dlc = int(cols[3]) + msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) + return msg + + def _parse_msg_V1_1(self, cols): + arbit_id = cols[3] + + msg = Message() + msg.timestamp = float(cols[1]) / 1000 + msg.arbitration_id = int(arbit_id, 16) + msg.is_extended_id = len(arbit_id) > 4 + msg.channel = 1 + msg.dlc = int(cols[4]) + msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)]) + msg.is_rx = cols[2] == "Rx" + return msg + + def _parse_msg_V2_1(self, cols): + msg = Message() + msg.timestamp = float(cols[1]) / 1000 + msg.arbitration_id = int(cols[4], 16) + msg.is_extended_id = len(cols[4]) > 4 + msg.channel = int(cols[3]) + msg.dlc = int(cols[7]) + msg.data = bytearray([int(cols[i + 8], 16) for i in range(msg.dlc)]) + msg.is_rx = cols[5] == "Rx" + return msg + + def _parse_cols_V1_1(self, cols): + dtype = cols[2] + if dtype == "Tx" or dtype == "Rx": + return self._parse_msg_V1_1(cols) + else: + logger.info(f"TRCReader: Unsupported type '{dtype}'") + return None + + def _parse_cols_V2_1(self, cols): + dtype = cols[2] + if dtype == "DT": + return self._parse_msg_V2_1(cols) + else: + logger.info(f"TRCReader: Unsupported type '{dtype}'") + return None + + def _parse_line(self, line): + logger.debug(f"TRCReader: Parse '{line}'") + try: + cols = line.split() + return self._parse_cols(cols) + except IndexError: + logger.warning(f"TRCReader: Failed to parse message '{line}'") + return None + + def __iter__(self) -> Generator[Message, None, None]: + first_line = self._extract_header() + + if first_line is not None: + msg = self._parse_line(first_line) + if msg is not None: + yield msg + + for line in self.file: + temp = line.strip() + if temp.startswith(";"): + # Comment line + continue + + if len(temp) == 0: + # Empty line + continue + + msg = self._parse_line(temp) + if msg is not None: + yield msg + + self.stop() + + +class TRCWriter(FileIOMessageWriter): + """Logs CAN data to text file (.trc). + + The measurement starts with the timestamp of the first registered message. + If a message has a timestamp smaller than the previous one or None, + it gets assigned the timestamp that was written for the last message. + If the first message does not have a timestamp, it is set to zero. + """ + + file: TextIO + first_timestamp: Optional[float] + + FORMAT_MESSAGE = ( + "{msgnr:>7} {time:13.3f} DT {channel:>2} {id:>8} {dir:>2} - {dlc:<4} {data}" + ) + FORMAT_MESSAGE_V1_0 = "{msgnr:>6}) {time:7.0f} {id:>8} {dlc:<1} {data}" + + def __init__( + self, + file: Union[StringPathLike, TextIO], + channel: int = 1, + ) -> None: + """ + :param file: a path-like object or as file-like object to write to + If this is a file-like object, is has to opened in text + write mode, not binary write mode. + :param channel: a default channel to use when the message does not + have a channel set + """ + super(TRCWriter, self).__init__(file, mode="w") + self.channel = channel + if type(file) is str: + self.filepath = os.path.abspath(file) + elif type(file) is TextIOWrapper: + self.filepath = "Unknown" + logger.warning("TRCWriter: Text mode io can result in wrong line endings") + logger.debug( + f"TRCWriter: Text mode io line ending setting: {file.newlines}" + ) + else: + self.filepath = "Unknown" + + self.header_written = False + self.msgnr = 0 + self.first_timestamp = None + self.file_version = TRCFileVersion.V2_1 + self._format_message = self._format_message_init + + def _write_line(self, line: str) -> None: + self.file.write(line + "\r\n") + + def _write_lines(self, lines: list) -> None: + for line in lines: + self._write_line(line) + + def _write_header_V1_0(self, start_time: timedelta) -> None: + self._write_line( + ";##########################################################################" + ) + self._write_line(f"; {self.filepath}") + self._write_line(";") + self._write_line("; Generated by python-can TRCWriter") + self._write_line(f"; Start time: {start_time}") + self._write_line("; PCAN-Net: N/A") + self._write_line(";") + self._write_line("; Columns description:") + self._write_line("; ~~~~~~~~~~~~~~~~~~~~~") + self._write_line("; +-current number in actual sample") + self._write_line("; | +time offset of message (ms)") + self._write_line("; | | +ID of message (hex)") + self._write_line("; | | | +data length code") + self._write_line("; | | | | +data bytes (hex) ...") + self._write_line("; | | | | |") + self._write_line(";----+- ---+--- ----+--- + -+ -- -- ...") + + def _write_header_V2_1(self, header_time: timedelta, start_time: datetime) -> None: + milliseconds = int( + (header_time.seconds * 1000) + (header_time.microseconds / 1000) + ) + + self._write_line(";$FILEVERSION=2.1") + self._write_line(f";$STARTTIME={header_time.days}.{milliseconds}") + self._write_line(";$COLUMNS=N,O,T,B,I,d,R,L,D") + self._write_line(";") + self._write_line(f"; {self.filepath}") + self._write_line(";") + self._write_line(f"; Start time: {start_time}") + self._write_line("; Generated by python-can TRCWriter") + self._write_line( + ";-------------------------------------------------------------------------------" + ) + self._write_line("; Bus Name Connection Protocol") + self._write_line("; N/A N/A N/A N/A") + self._write_line( + ";-------------------------------------------------------------------------------" + ) + self._write_lines( + [ + "; Message Time Type ID Rx/Tx", + "; Number Offset | Bus [hex] | Reserved", + "; | [ms] | | | | | Data Length Code", + "; | | | | | | | | Data [hex] ...", + "; | | | | | | | | |", + ";---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- --", + ] + ) + + def _format_message_by_format(self, msg, channel): + if msg.is_extended_id: + arb_id = f"{msg.arbitration_id:07X}" + else: + arb_id = f"{msg.arbitration_id:04X}" + + data = [f"{byte:02X}" for byte in msg.data] + + serialized = self._msg_fmt_string.format( + msgnr=self.msgnr, + time=(msg.timestamp - self.first_timestamp) * 1000, + channel=channel, + id=arb_id, + dir="Rx" if msg.is_rx else "Tx", + dlc=msg.dlc, + data=" ".join(data), + ) + return serialized + + def _format_message_init(self, msg, channel): + if self.file_version == TRCFileVersion.V1_0: + self._format_message = self._format_message_by_format + self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 + elif self.file_version == TRCFileVersion.V2_1: + self._format_message = self._format_message_by_format + self._msg_fmt_string = self.FORMAT_MESSAGE + else: + raise NotImplementedError("File format is not supported") + + return self._format_message(msg, channel) + + def write_header(self, timestamp: float) -> None: + # write start of file header + ref_time = datetime(year=1899, month=12, day=30) + start_time = datetime.now() + timedelta(seconds=timestamp) + header_time = start_time - ref_time + + if self.file_version == TRCFileVersion.V1_0: + self._write_header_V1_0(header_time) + elif self.file_version == TRCFileVersion.V2_1: + self._write_header_V2_1(header_time, start_time) + else: + raise NotImplementedError("File format is not supported") + self.header_written = True + + def log_event(self, message: str, timestamp: float) -> None: + if not self.header_written: + self.write_header(timestamp) + + self._write_line(message) + + def on_message_received(self, msg: Message) -> None: + if self.first_timestamp is None: + self.first_timestamp = msg.timestamp + + if msg.is_error_frame: + logger.warning("TRCWriter: Logging error frames is not implemented") + return + + if msg.is_remote_frame: + logger.warning("TRCWriter: Logging remote frames is not implemented") + return + + channel = channel2int(msg.channel) + if channel is None: + channel = self.channel + else: + # Many interfaces start channel numbering at 0 which is invalid + channel += 1 + + if msg.is_fd: + logger.warning("TRCWriter: Logging CAN FD is not implemented") + return + else: + serialized = self._format_message(msg, channel) + self.msgnr += 1 + self.log_event(serialized, msg.timestamp) diff --git a/test/data/test_CanMessage.trc b/test/data/test_CanMessage.trc new file mode 100644 index 000000000..215997b57 --- /dev/null +++ b/test/data/test_CanMessage.trc @@ -0,0 +1,23 @@ +;$FILEVERSION=2.1 +;$STARTTIME=0 +;$COLUMNS=N,O,T,B,I,d,R,L,D +; +; C:\Users\User\Desktop\python-can\test\data\test_CanMessage.trc +; Start time: 30.09.2017 22:06:13.191.000 +; Generated by PEAK-Converter Version 2.2.4.136 +; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage.asc +;------------------------------------------------------------------------------- +; Bus Name Connection Protocol +; N/A N/A N/A N/A +;------------------------------------------------------------------------------- +; Message Time Type ID Rx/Tx +; Number Offset | Bus [hex] | Reserved +; | [ms] | | | | | Data Length Code +; | | | | | | | | Data [hex] ... +; | | | | | | | | | +;---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- -- +;Begin Triggerblock Sat Sep 30 10:06:13.191 PM 2017 +; 0.000000 Start of measurement + 1 2501.000 DT 2 00C8 Tx - 8 09 08 07 06 05 04 03 02 + 2 17876.708 DT 1 06F9 Rx - 8 05 0C 00 00 00 00 00 00 +;End TriggerBlock diff --git a/test/data/test_CanMessage_V1_0_BUS1.trc b/test/data/test_CanMessage_V1_0_BUS1.trc new file mode 100644 index 000000000..8985db188 --- /dev/null +++ b/test/data/test_CanMessage_V1_0_BUS1.trc @@ -0,0 +1,28 @@ +;########################################################################## +; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_0_BUS1.trc +; +; CAN activities imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; Start time: 18.12.2021 14:28:07.062 +; PCAN-Net: N/A +; Generated by PEAK-Converter Version 2.2.4.136 +; +; Columns description: +; ~~~~~~~~~~~~~~~~~~~~~ +; +-current number in actual sample +; | +time offset of message (ms) +; | | +ID of message (hex) +; | | | +data length code +; | | | | +data bytes (hex) ... +; | | | | | +;----+- ---+--- ----+--- + -+ -- -- ... + 1) 17535 00000100 8 00 00 00 00 00 00 00 00 + 2) 17540 FFFFFFFF 4 00 00 00 08 -- -- -- -- BUSHEAVY + 3) 17700 00000100 8 00 00 00 00 00 00 00 00 + 4) 17873 00000100 8 00 00 00 00 00 00 00 00 + 5) 19295 0000 8 00 00 00 00 00 00 00 00 + 6) 19500 0000 8 00 00 00 00 00 00 00 00 + 7) 19705 0000 8 00 00 00 00 00 00 00 00 + 8) 20592 00000100 8 00 00 00 00 00 00 00 00 + 9) 20798 00000100 8 00 00 00 00 00 00 00 00 + 10) 20956 00000100 8 00 00 00 00 00 00 00 00 + 11) 21097 00000100 8 00 00 00 00 00 00 00 00 diff --git a/test/data/test_CanMessage_V1_1.trc b/test/data/test_CanMessage_V1_1.trc new file mode 100644 index 000000000..5a02cd59b --- /dev/null +++ b/test/data/test_CanMessage_V1_1.trc @@ -0,0 +1,25 @@ +;$FILEVERSION=1.1 +;$STARTTIME=44548.6028595139 +; +; Start time: 18.12.2021 14:28:07.062.0 +; Generated by PCAN-View v5.0.0.814 +; +; Message Number +; | Time Offset (ms) +; | | Type +; | | | ID (hex) +; | | | | Data Length +; | | | | | Data Bytes (hex) ... +; | | | | | | +;---+-- ----+---- --+-- ----+--- + -+ -- -- -- -- -- -- -- + 1) 17535.4 Tx 00000100 8 00 00 00 00 00 00 00 00 + 2) 17540.3 Warng FFFFFFFF 4 00 00 00 08 BUSHEAVY + 3) 17700.3 Tx 00000100 8 00 00 00 00 00 00 00 00 + 4) 17873.8 Tx 00000100 8 00 00 00 00 00 00 00 00 + 5) 19295.4 Tx 0000 8 00 00 00 00 00 00 00 00 + 6) 19500.6 Tx 0000 8 00 00 00 00 00 00 00 00 + 7) 19705.2 Tx 0000 8 00 00 00 00 00 00 00 00 + 8) 20592.7 Tx 00000100 8 00 00 00 00 00 00 00 00 + 9) 20798.6 Tx 00000100 8 00 00 00 00 00 00 00 00 + 10) 20956.0 Tx 00000100 8 00 00 00 00 00 00 00 00 + 11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00 diff --git a/test/data/test_CanMessage_V2_0_BUS1.trc b/test/data/test_CanMessage_V2_0_BUS1.trc new file mode 100644 index 000000000..cf2384df0 --- /dev/null +++ b/test/data/test_CanMessage_V2_0_BUS1.trc @@ -0,0 +1,28 @@ +;$FILEVERSION=2.0 +;$STARTTIME=44548.6028595139 +;$COLUMNS=N,O,T,I,d,l,D +; +; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_0_BUS1.trc +; Start time: 18.12.2021 14:28:07.062.001 +; Generated by PEAK-Converter Version 2.2.4.136 +; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +;------------------------------------------------------------------------------- +; Connection Bit rate +; N/A N/A +;------------------------------------------------------------------------------- +; Message Time Type ID Rx/Tx +; Number Offset | [hex] | Data Length +; | [ms] | | | | Data [hex] ... +; | | | | | | | +;---+-- ------+------ +- --+----- +- +- +- -- -- -- -- -- -- -- + 1 17535.400 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 2 17540.300 ST Rx 00 00 00 08 + 3 17700.300 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 4 17873.800 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 5 19295.400 DT 0000 Tx 8 00 00 00 00 00 00 00 00 + 6 19500.600 DT 0000 Tx 8 00 00 00 00 00 00 00 00 + 7 19705.200 DT 0000 Tx 8 00 00 00 00 00 00 00 00 + 8 20592.700 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 9 20798.600 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 10 20956.000 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 11 21097.100 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 diff --git a/test/data/test_CanMessage_V2_1.trc b/test/data/test_CanMessage_V2_1.trc new file mode 100644 index 000000000..55ceefaf1 --- /dev/null +++ b/test/data/test_CanMessage_V2_1.trc @@ -0,0 +1,29 @@ +;$FILEVERSION=2.1 +;$STARTTIME=44548.6028595139 +;$COLUMNS=N,O,T,B,I,d,R,L,D +; +; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_1.trc +; Start time: 18.12.2021 14:28:07.062.001 +; Generated by PEAK-Converter Version 2.2.4.136 +; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +;------------------------------------------------------------------------------- +; Bus Name Connection Protocol +; N/A N/A N/A N/A +;------------------------------------------------------------------------------- +; Message Time Type ID Rx/Tx +; Number Offset | Bus [hex] | Reserved +; | [ms] | | | | | Data Length Code +; | | | | | | | | Data [hex] ... +; | | | | | | | | | +;---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- -- + 1 17535.400 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 2 17540.300 ST 1 - Rx - 4 00 00 00 08 + 3 17700.300 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 4 17873.800 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 5 19295.400 DT 1 0000 Tx - 8 00 00 00 00 00 00 00 00 + 6 19500.600 DT 1 0000 Tx - 8 00 00 00 00 00 00 00 00 + 7 19705.200 DT 1 0000 Tx - 8 00 00 00 00 00 00 00 00 + 8 20592.700 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 9 20798.600 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 10 20956.000 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 11 21097.100 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 diff --git a/test/logformats_test.py b/test/logformats_test.py index 6a0eafac1..435b651b6 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -13,6 +13,7 @@ """ import logging import unittest +from parameterized import parameterized import tempfile import os from abc import abstractmethod, ABCMeta @@ -777,8 +778,135 @@ def test_not_crashes_with_file(self): printer(message) +class TestTrcFileFormatBase(ReaderWriterTest): + """ + Base class for Tests with can.TRCWriter and can.TRCReader + + .. note:: + This class is prevented from being executed as a test + case itself by a *del* statement in at the end of the file. + """ + + def _setup_instance(self): + super()._setup_instance_helper( + can.TRCWriter, + can.TRCReader, + check_remote_frames=False, + check_error_frames=False, + check_fd=False, + check_comments=False, + preserves_channel=False, + allowed_timestamp_delta=0.001, + adds_default_channel=0, + ) + + def _read_log_file(self, filename, **kwargs): + logfile = os.path.join(os.path.dirname(__file__), "data", filename) + with can.TRCReader(logfile, **kwargs) as reader: + return list(reader) + + +class TestTrcFileFormatGen(TestTrcFileFormatBase): + """Generic tests for can.TRCWriter and can.TRCReader with different file versions""" + + def test_can_message(self): + expected_messages = [ + can.Message( + timestamp=2.5010, + arbitration_id=0xC8, + is_extended_id=False, + is_rx=False, + channel=1, + dlc=8, + data=[9, 8, 7, 6, 5, 4, 3, 2], + ), + can.Message( + timestamp=17.876708, + arbitration_id=0x6F9, + is_extended_id=False, + channel=0, + dlc=0x8, + data=[5, 0xC, 0, 0, 0, 0, 0, 0], + ), + ] + actual = self._read_log_file("test_CanMessage.trc") + self.assertMessagesEqual(actual, expected_messages) + + @parameterized.expand( + [ + ("V1_0", "test_CanMessage_V1_0_BUS1.trc", False), + ("V1_1", "test_CanMessage_V1_1.trc", True), + ("V2_1", "test_CanMessage_V2_1.trc", True), + ] + ) + def test_can_message_versions(self, name, filename, is_rx_support): + with self.subTest(name): + + def msg_std(timestamp): + msg = can.Message( + timestamp=timestamp, + arbitration_id=0x000, + is_extended_id=False, + channel=1, + dlc=8, + data=[0, 0, 0, 0, 0, 0, 0, 0], + ) + if is_rx_support: + msg.is_rx = False + return msg + + def msg_ext(timestamp): + msg = can.Message( + timestamp=timestamp, + arbitration_id=0x100, + is_extended_id=True, + channel=1, + dlc=8, + data=[0, 0, 0, 0, 0, 0, 0, 0], + ) + if is_rx_support: + msg.is_rx = False + return msg + + expected_messages = [ + msg_ext(17.5354), + msg_ext(17.7003), + msg_ext(17.8738), + msg_std(19.2954), + msg_std(19.5006), + msg_std(19.7052), + msg_ext(20.5927), + msg_ext(20.7986), + msg_ext(20.9560), + msg_ext(21.0971), + ] + actual = self._read_log_file(filename) + self.assertMessagesEqual(actual, expected_messages) + + def test_not_supported_version(self): + with self.assertRaises(NotImplementedError): + writer = can.TRCWriter("test.trc") + writer.file_version = can.TRCFileVersion.UNKNOWN + writer.on_message_received(can.Message()) + + +class TestTrcFileFormatV1_0(TestTrcFileFormatBase): + """Tests can.TRCWriter and can.TRCReader with file version 1.0""" + + @staticmethod + def Writer(filename): + writer = can.TRCWriter(filename) + writer.file_version = can.TRCFileVersion.V1_0 + return writer + + def _setup_instance(self): + super()._setup_instance() + self.writer_constructor = TestTrcFileFormatV1_0.Writer + + # this excludes the base class from being executed as a test case itself del ReaderWriterTest +del TestTrcFileFormatBase if __name__ == "__main__": From 42549c810f3b85ecbc5c01e0639e8523d30b2370 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Piotr=20Szl=C4=99g?= Date: Tue, 15 Nov 2022 11:56:52 +0100 Subject: [PATCH 164/475] Add with statement to example in README.md Not using with expression in code might cause lack of cleanup and hard to trace errors, also because Bus doesn't override __del__. So it's a good idea to provide a 100% percent correct example in README for people who don't go into examples folder and read into the code. --- README.rst | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/README.rst b/README.rst index 11404785a..cd2731696 100644 --- a/README.rst +++ b/README.rst @@ -91,21 +91,21 @@ Example usage # create a bus instance # many other interfaces are supported as well (see documentation) - bus = can.Bus(interface='socketcan', + with can.Bus(interface='socketcan', channel='vcan0', - receive_own_messages=True) + receive_own_messages=True) as bus: - # send a message - message = can.Message(arbitration_id=123, is_extended_id=True, - data=[0x11, 0x22, 0x33]) - bus.send(message, timeout=0.2) + # send a message + message = can.Message(arbitration_id=123, is_extended_id=True, + data=[0x11, 0x22, 0x33]) + bus.send(message, timeout=0.2) - # iterate over received messages - for msg in bus: - print(f"{msg.arbitration_id:X}: {msg.data}") + # iterate over received messages + for msg in bus: + print(f"{msg.arbitration_id:X}: {msg.data}") - # or use an asynchronous notifier - notifier = can.Notifier(bus, [can.Logger("recorded.log"), can.Printer()]) + # or use an asynchronous notifier + notifier = can.Notifier(bus, [can.Logger("recorded.log"), can.Printer()]) You can find more information in the documentation, online at `python-can.readthedocs.org `__. From 2e2f157eb02c0505c4e38ca8cbbc54433c65351c Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 21:43:10 +1300 Subject: [PATCH 165/475] Documentation update for 4.1.0 (#1434) * Quick pass through all interface docs * Move plugin and virtual interface docs up * Minor doc spring cleaning * Update readme to include basic installation * Remove (mostly unused) mailing list from the readme * Include TRC section in listener docs * Fix broken links to virtual interfaces * Add to changelog * Refactor api docs * Fix bug in bus example * Doc updates after review --- CHANGELOG.md | 1 + README.rst | 9 ++-- can/interfaces/cantact.py | 2 +- can/interfaces/udp_multicast/bus.py | 2 +- can/interfaces/virtual.py | 2 +- doc/api.rst | 28 +--------- doc/bus.rst | 65 +++++++++++++++-------- doc/errors.rst | 8 +++ doc/history.rst | 4 +- doc/index.rst | 16 +++--- doc/installation.rst | 21 +++++--- doc/interfaces.rst | 67 +++--------------------- doc/interfaces/canalystii.rst | 2 +- doc/interfaces/etas.rst | 29 +++++++---- doc/interfaces/gs_usb.rst | 37 +++++++++---- doc/interfaces/ixxat.rst | 61 +++++++++++----------- doc/interfaces/kvaser.rst | 4 +- doc/interfaces/neovi.rst | 12 ++--- doc/interfaces/nican.rst | 6 +-- doc/interfaces/nixnet.rst | 8 +-- doc/interfaces/pcan.rst | 24 +++++---- doc/interfaces/robotell.rst | 14 +---- doc/interfaces/seeedstudio.rst | 17 ++---- doc/interfaces/socketcan.rst | 26 ++++----- doc/interfaces/socketcand.rst | 4 +- doc/interfaces/systec.rst | 14 ++--- doc/interfaces/udp_multicast.rst | 2 +- doc/interfaces/usb2can.rst | 81 ++++++++++++++++------------- doc/interfaces/vector.rst | 3 ++ doc/interfaces/virtual.rst | 72 +------------------------ doc/internal-api.rst | 9 ++++ doc/listeners.rst | 40 +++++++++++++- doc/plugin-interface.rst | 54 +++++++++++++++++++ doc/scripts.rst | 2 +- doc/utils.rst | 7 +++ doc/virtual-interfaces.rst | 77 +++++++++++++++++++++++++++ examples/print_notifier.py | 19 +++++++ examples/vcan_filtered.py | 2 +- 38 files changed, 486 insertions(+), 365 deletions(-) create mode 100644 doc/errors.rst create mode 100644 doc/plugin-interface.rst create mode 100644 doc/utils.rst create mode 100644 doc/virtual-interfaces.rst create mode 100755 examples/print_notifier.py diff --git a/CHANGELOG.md b/CHANGELOG.md index 1f10e2b78..04ffb9b57 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -31,6 +31,7 @@ Features xlFlushReceiveQueue to xldriver (#1387). * Vector: Raise a CanInitializationError, if the CAN settings can not be applied according to the arguments of ``VectorBus.__init__`` (#1426). +* Ixxat bus now implements BusState api and detects errors (#1141) Bug Fixes --------- diff --git a/README.rst b/README.rst index 11404785a..79b985129 100644 --- a/README.rst +++ b/README.rst @@ -62,7 +62,7 @@ Library Version Python ------------------------------ ----------- 2.x 2.6+, 3.4+ 3.x 2.7+, 3.5+ - 4.x *(currently on develop)* 3.7+ + 4.x 3.7+ ============================== =========== @@ -74,7 +74,7 @@ Features - receiving, sending, and periodically sending messages - normal and extended arbitration IDs - `CAN FD `__ support -- many different loggers and readers supporting playback: ASC (CANalyzer format), BLF (Binary Logging Format by Vector), CSV, SQLite and Canutils log +- many different loggers and readers supporting playback: ASC (CANalyzer format), BLF (Binary Logging Format by Vector), TRC, CSV, SQLite, and Canutils log - efficient in-kernel or in-hardware filtering of messages on supported interfaces - bus configuration reading from a file or from environment variables - command line tools for working with CAN buses (see the `docs `__) @@ -84,6 +84,8 @@ Features Example usage ------------- +``pip install python-can`` + .. code:: python # import the library @@ -117,9 +119,6 @@ Discussion If you run into bugs, you can file them in our `issue tracker `__ on GitHub. -There is also a `python-can `__ -mailing list for development discussion. - `Stackoverflow `__ has several questions and answers tagged with ``python+can``. diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 9ad7fbef8..d735b7ee3 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -20,7 +20,7 @@ except ImportError: cantact = None logger.warning( - "The CANtact module is not installed. Install it using `python -m pip install cantact`" + "The CANtact module is not installed. Install it using `pip install cantact`" ) diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 7f74c685f..2ba1205b1 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -55,7 +55,7 @@ class UdpMulticastBus(BusABC): .. warning:: This interface does not make guarantees on reliable delivery and message ordering, and also does not implement rate limiting or ID arbitration/prioritization under high loads. Please refer to the section - :ref:`other_virtual_interfaces` for more information on this and a comparison to alternatives. + :ref:`virtual_interfaces_doc` for more information on this and a comparison to alternatives. :param channel: A multicast IPv4 address (in `224.0.0.0/4`) or an IPv6 address (in `ff00::/8`). This defines which version of IP is used. See diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index cc71469b5..25b7abfb0 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -51,7 +51,7 @@ class VirtualBus(BusABC): .. warning:: This interface guarantees reliable delivery and message ordering, but does *not* implement rate limiting or ID arbitration/prioritization under high loads. Please refer to the section - :ref:`other_virtual_interfaces` for more information on this and a comparison to alternatives. + :ref:`virtual_interfaces_doc` for more information on this and a comparison to alternatives. """ def __init__( diff --git a/doc/api.rst b/doc/api.rst index 23342f992..053bd34a4 100644 --- a/doc/api.rst +++ b/doc/api.rst @@ -17,33 +17,9 @@ A form of CAN interface is also required. listeners asyncio bcm + errors bit_timing + utils internal-api -Utilities ---------- - - -.. autofunction:: can.detect_available_configs - - -.. _notifier: - -Notifier --------- - -The Notifier object is used as a message distributor for a bus. Notifier creates a thread to read messages from the bus and distributes them to listeners. - -.. autoclass:: can.Notifier - :members: - - -.. _errors: - -Errors ------- - -.. automodule:: can.exceptions - :members: - :show-inheritance: diff --git a/doc/bus.rst b/doc/bus.rst index 4db49ee29..06a740829 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -3,48 +3,55 @@ Bus --- -The :class:`~can.BusABC` class, as the name suggests, provides an abstraction of a CAN bus. -The bus provides a wrapper around a physical or virtual CAN Bus. -An interface specific instance of the :class:`~can.BusABC` is created by the :class:`~can.Bus` -class, for example:: +The :class:`~can.Bus` provides a wrapper around a physical or virtual CAN Bus. + +An interface specific instance is created by instantiating the :class:`~can.Bus` +class with a particular ``interface``, for example:: vector_bus = can.Bus(interface='vector', ...) -That bus is then able to handle the interface specific software/hardware interactions -and implements the :class:`~can.BusABC` API. +The created bus is then able to handle the interface specific software/hardware interactions +while giving the user the same top level API. A thread safe bus wrapper is also available, see `Thread safe bus`_. -.. autoclass:: can.Bus - :class-doc-from: class - :show-inheritance: - :members: - :inherited-members: - -.. autoclass:: can.bus.BusState - :members: - :undoc-members: - Transmitting '''''''''''' Writing individual messages to the bus is done by calling the :meth:`~can.BusABC.send` method -and passing a :class:`~can.Message` instance. Periodic sending is controlled by the -:ref:`broadcast manager `. +and passing a :class:`~can.Message` instance. + +.. code-block:: python + :emphasize-lines: 8 + + with can.Bus() as bus: + msg = can.Message( + arbitration_id=0xC0FFEE, + data=[0, 25, 0, 1, 3, 1, 4, 1], + is_extended_id=True + ) + try: + bus.send(msg) + print(f"Message sent on {bus.channel_info}") + except can.CanError: + print("Message NOT sent") +Periodic sending is controlled by the :ref:`broadcast manager `. + Receiving ''''''''' Reading from the bus is achieved by either calling the :meth:`~can.BusABC.recv` method or by directly iterating over the bus:: - for msg in bus: - print(msg.data) + with can.Bus() as bus: + for msg in bus: + print(msg.data) -Alternatively the :class:`~can.Listener` api can be used, which is a list of :class:`~can.Listener` -subclasses that receive notifications when new messages arrive. +Alternatively the :ref:`listeners_doc` api can be used, which is a list of various +:class:`~can.Listener` implementations that receive and handle messages from a :class:`~can.Notifier`. Filtering @@ -67,6 +74,20 @@ Example defining two filters, one to pass 11-bit ID ``0x451``, the other to pass See :meth:`~can.BusABC.set_filters` for the implementation. +Bus API +''''''' + +.. autoclass:: can.Bus + :class-doc-from: class + :show-inheritance: + :members: + :inherited-members: + +.. autoclass:: can.bus.BusState + :members: + :undoc-members: + + Thread safe bus ''''''''''''''' diff --git a/doc/errors.rst b/doc/errors.rst new file mode 100644 index 000000000..bc954738a --- /dev/null +++ b/doc/errors.rst @@ -0,0 +1,8 @@ +.. _errors: + +Error Handling +============== + +.. automodule:: can.exceptions + :members: + :show-inheritance: diff --git a/doc/history.rst b/doc/history.rst index 9ae0581b0..73371af4c 100644 --- a/doc/history.rst +++ b/doc/history.rst @@ -1,5 +1,5 @@ -History and Roadmap -=================== +History +======= Background ---------- diff --git a/doc/index.rst b/doc/index.rst index f24831c7c..505c8b87b 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -8,22 +8,22 @@ different hardware devices, and a suite of utilities for sending and receiving messages on a CAN bus. **python-can** runs any where Python runs; from high powered computers -with commercial `CAN to usb` devices right down to low powered devices running +with commercial `CAN to USB` devices right down to low powered devices running linux such as a BeagleBone or RaspberryPi. More concretely, some example uses of the library: -- Passively logging what occurs on a CAN bus. For example monitoring a +* Passively logging what occurs on a CAN bus. For example monitoring a commercial vehicle using its **OBD-II** port. -- Testing of hardware that interacts via CAN. Modules found in - modern cars, motocycles, boats, and even wheelchairs have had components tested +* Testing of hardware that interacts via CAN. Modules found in + modern cars, motorcycles, boats, and even wheelchairs have had components tested from Python using this library. -- Prototyping new hardware modules or software algorithms in-the-loop. Easily +* Prototyping new hardware modules or software algorithms in-the-loop. Easily interact with an existing bus. -- Creating virtual modules to prototype CAN bus communication. +* Creating virtual modules to prototype CAN bus communication. Brief example of the library in action: connecting to a CAN bus, creating and sending a message: @@ -37,12 +37,14 @@ Brief example of the library in action: connecting to a CAN bus, creating and se Contents: .. toctree:: - :maxdepth: 2 + :maxdepth: 1 installation configuration api interfaces + virtual-interfaces + plugin-interface scripts development history diff --git a/doc/installation.rst b/doc/installation.rst index bfce72180..6b2a2cfb2 100644 --- a/doc/installation.rst +++ b/doc/installation.rst @@ -2,15 +2,24 @@ Installation ============ -Install ``can`` with ``pip``: -:: +Install the ``can`` package from PyPi with ``pip`` or similar:: $ pip install python-can -As most likely you will want to interface with some hardware, you may -also have to install platform dependencies. Be sure to check any other -specifics for your hardware in :doc:`interfaces`. + + +.. warning:: + As most likely you will want to interface with some hardware, you may + also have to install platform dependencies. Be sure to check any other + specifics for your hardware in :doc:`interfaces`. + + Many interfaces can install their dependencies at the same time as ``python-can``, + for instance the interface ``serial`` includes the ``pyserial`` dependency which can + be installed with the ``serial`` extra:: + + $ pip install python-can[serial] + GNU/Linux dependencies @@ -99,7 +108,7 @@ To install ``python-can`` using the CANtact driver backend: If ``python-can`` is already installed, the CANtact backend can be installed separately: -``python3 -m pip install cantact`` +``pip install cantact`` Additional CANtact documentation is available at `cantact.io `__. diff --git a/doc/interfaces.rst b/doc/interfaces.rst index 54d70ca86..cc686d2d5 100644 --- a/doc/interfaces.rst +++ b/doc/interfaces.rst @@ -1,14 +1,18 @@ .. _can interface modules: -CAN Interface Modules ---------------------- +Hardware Interfaces +=================== **python-can** hides the low-level, device-specific interfaces to controller area network adapters in interface dependant modules. However as each hardware device is different, you should carefully go through your interface's documentation. -The available interfaces are: +.. note:: + The *Interface Names* are listed in :doc:`configuration`. + + +The available hardware interfaces are: .. toctree:: :maxdepth: 1 @@ -32,63 +36,6 @@ The available interfaces are: interfaces/socketcan interfaces/socketcand interfaces/systec - interfaces/udp_multicast interfaces/usb2can interfaces/vector - interfaces/virtual - -The *Interface Names* are listed in :doc:`configuration`. - - -.. _plugin interface: - -Plugin Interface -^^^^^^^^^^^^^^^^ - -External packages can register new interfaces by using the ``can.interface`` entry point -in its project configuration. The format of the entry point depends on your project -configuration format (*pyproject.toml*, *setup.cfg* or *setup.py*). - -In the following example ``module`` defines the location of your bus class inside your -package e.g. ``my_package.subpackage.bus_module`` and ``classname`` is the name of -your :class:`can.BusABC` subclass. - -.. tab:: pyproject.toml (PEP 621) - - .. code-block:: toml - - # Note the quotes around can.interface in order to escape the dot . - [project.entry-points."can.interface"] - interface_name = "module:classname" - -.. tab:: setup.cfg - - .. code-block:: ini - - [options.entry_points] - can.interface = - interface_name = module:classname - -.. tab:: setup.py - - .. code-block:: python - - from setuptools import setup - - setup( - # ..., - entry_points = { - 'can.interface': [ - 'interface_name = module:classname' - ] - } - ) - -The ``interface_name`` can be used to -create an instance of the bus in the **python-can** API: - -.. code-block:: python - - import can - bus = can.Bus(interface="interface_name", channel=0) diff --git a/doc/interfaces/canalystii.rst b/doc/interfaces/canalystii.rst index 375e1b754..b48782259 100644 --- a/doc/interfaces/canalystii.rst +++ b/doc/interfaces/canalystii.rst @@ -12,7 +12,7 @@ Windows, Linux and Mac. .. note:: - The backend driver depends on `pyusb ` so a ``pyusb`` backend driver library such as ``libusb`` must be installed. On Windows a tool such as `Zadig ` can be used to set the Canalyst-II USB device driver to ``libusb-win32``. + The backend driver depends on `pyusb `_ so a ``pyusb`` backend driver library such as ``libusb`` must be installed. On Windows a tool such as `Zadig `_ can be used to set the Canalyst-II USB device driver to ``libusb-win32``. Limitations ----------- diff --git a/doc/interfaces/etas.rst b/doc/interfaces/etas.rst index 2b59a4eee..7986142be 100644 --- a/doc/interfaces/etas.rst +++ b/doc/interfaces/etas.rst @@ -3,19 +3,22 @@ ETAS This interface adds support for CAN interfaces by `ETAS`_. The ETAS BOA_ (Basic Open API) is used. + +Installation +------------ + Install the "ETAS ECU and Bus Interfaces – Distribution Package". -Only Windows is supported by this interface. -The Linux kernel v5.13 (and greater) natively supports ETAS ES581.4, ES582.1 and ES584.1 USB modules. -To use these under Linux, please refer to :ref:`SocketCAN`. -Bus ---- +.. warning:: + Only Windows is supported by this interface. -.. autoclass:: can.interfaces.etas.EtasBus - :members: + The Linux kernel v5.13 (and greater) natively supports ETAS ES581.4, ES582.1 and ES584.1 + USB modules. To use these under Linux, please refer to the :ref:`SocketCAN` interface + documentation. -Configuration file ------------------- + +Configuration +------------- The simplest configuration file would be:: @@ -31,5 +34,13 @@ To find available URIs, use :meth:`~can.detect_available_configs`:: for c in configs: print(c) + +Bus +--- + +.. autoclass:: can.interfaces.etas.EtasBus + :members: + + .. _ETAS: https://www.etas.com/ .. _BOA: https://www.etas.com/de/downloadcenter/18102.php diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index 232786fb7..af69581be 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -1,9 +1,10 @@ .. _gs_usb: -CAN driver for Geschwister Schneider USB/CAN devices and bytewerk.org candleLight USB CAN interfaces -================================================================================================================== +Geschwister Schneider and candleLight +===================================== -Windows/Linux/Mac CAN driver based on usbfs or WinUSB WCID for Geschwister Schneider USB/CAN devices and candleLight USB CAN interfaces. +Windows/Linux/Mac CAN driver based on usbfs or WinUSB WCID for Geschwister Schneider USB/CAN devices +and candleLight USB CAN interfaces. Install: ``pip install "python-can[gs_usb]"`` @@ -17,13 +18,19 @@ Usage: pass device ``index`` (starting from 0) if using automatic device detecti Alternatively, pass ``bus`` and ``address`` to open a specific device. The parameters can be got by ``pyusb`` as shown below: -:: +.. code-block:: python import usb import can dev = usb.core.find(idVendor=0x1D50, idProduct=0x606F) - bus = can.Bus(bustype="gs_usb", channel=dev.product, bus=dev.bus, address=dev.address, bitrate=250000) + bus = can.Bus( + bustype="gs_usb", + channel=dev.product, + bus=dev.bus, + address=dev.address, + bitrate=250000 + ) Supported devices @@ -39,21 +46,29 @@ Windows, Linux and Mac. .. note:: - The backend driver depends on `pyusb ` so a ``pyusb`` backend driver library such as ``libusb`` must be installed. On Windows a tool such as `Zadig ` can be used to set the USB device driver to ``libusb-win32``. + The backend driver depends on `pyusb `_ so a ``pyusb`` backend driver library such as + ``libusb`` must be installed. + + On Windows a tool such as `Zadig `_ can be used to set the USB device driver to + ``libusb-win32``. -Supplementary Info on ``gs_usb`` ------------------------------------ +Supplementary Info +------------------ The firmware implementation for Geschwister Schneider USB/CAN devices and candleLight USB CAN can be found in `candle-usb/candleLight_fw `_. The Linux kernel driver can be found in `linux/drivers/net/can/usb/gs_usb.c `_. -The ``gs_usb`` interface in ``PythonCan`` relys on upstream ``gs_usb`` package, which can be found in `https://pypi.org/project/gs-usb/ `_ or `https://github.com/jxltom/gs_usb `_. -The ``gs_usb`` package is using ``pyusb`` as backend, which brings better crossplatform compatibility. +The ``gs_usb`` interface in ``python-can`` relies on upstream ``gs_usb`` package, which can be found in +`https://pypi.org/project/gs-usb/ `_ or +`https://github.com/jxltom/gs_usb `_. + +The ``gs_usb`` package uses ``pyusb`` as backend, which brings better cross-platform compatibility. Note: The bitrate ``10K``, ``20K``, ``50K``, ``83.333K``, ``100K``, ``125K``, ``250K``, ``500K``, ``800K`` and ``1M`` are supported in this interface, as implemented in the upstream ``gs_usb`` package's ``set_bitrate`` method. -Note: Message filtering is not supported in Geschwister Schneider USB/CAN devices and bytewerk.org candleLight USB CAN interfaces. +.. warning:: + Message filtering is not supported in Geschwister Schneider USB/CAN devices and bytewerk.org candleLight USB CAN interfaces. Bus --- diff --git a/doc/interfaces/ixxat.rst b/doc/interfaces/ixxat.rst index 02e707c1c..61df70638 100644 --- a/doc/interfaces/ixxat.rst +++ b/doc/interfaces/ixxat.rst @@ -1,9 +1,9 @@ .. _ixxatdoc: -IXXAT Virtual CAN Interface -=========================== +IXXAT Virtual Communication Interface +===================================== -Interface to `IXXAT `__ Virtual CAN Interface V3 SDK. Works on Windows. +Interface to `IXXAT `__ Virtual Communication Interface V3 SDK. Works on Windows. The Linux ECI SDK is currently unsupported, however on Linux some devices are supported with :doc:`socketcan`. @@ -14,33 +14,8 @@ Modifying cyclic messages is not possible. You will need to stop it, and then start a new periodic message. -Bus ---- - -.. autoclass:: can.interfaces.ixxat.IXXATBus - :members: - -Implementation based on vcinpl.dll -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -.. autoclass:: can.interfaces.ixxat.canlib_vcinpl.IXXATBus - :members: - -.. autoclass:: can.interfaces.ixxat.canlib_vcinpl.CyclicSendTask - :members: - -Implementation based on vcinpl2.dll -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -.. autoclass:: can.interfaces.ixxat.canlib_vcinpl2.IXXATBus - :members: - -.. autoclass:: can.interfaces.ixxat.canlib_vcinpl2.CyclicSendTask - :members: - - -Configuration file ------------------- +Configuration +------------- The simplest configuration file would be:: [default] @@ -91,6 +66,32 @@ To get a list of all connected IXXAT you can use the function ``get_ixxat_hwids( Found IXXAT with hardware id 'HW107422'. +Bus +--- + +.. autoclass:: can.interfaces.ixxat.IXXATBus + :members: + +Implementation based on vcinpl.dll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl.IXXATBus + :members: + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl.CyclicSendTask + :members: + +Implementation based on vcinpl2.dll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl2.IXXATBus + :members: + +.. autoclass:: can.interfaces.ixxat.canlib_vcinpl2.CyclicSendTask + :members: + + + Internals --------- diff --git a/doc/interfaces/kvaser.rst b/doc/interfaces/kvaser.rst index 4e0062cfa..f2c93f85b 100644 --- a/doc/interfaces/kvaser.rst +++ b/doc/interfaces/kvaser.rst @@ -20,7 +20,7 @@ Internals The Kvaser :class:`~can.Bus` object with a physical CAN Bus can be operated in two modes; ``single_handle`` mode with one shared bus handle used for both reading and writing to the CAN bus, or with two separate bus handles. -Two separate handles are needed if receiving and sending messages are done in +Two separate handles are needed if receiving and sending messages in different threads (see `Kvaser documentation `_). @@ -40,7 +40,7 @@ in the ``recv`` method. If a message does not match any of the filters, Custom methods -~~~~~~~~~~~~~~~~~ +~~~~~~~~~~~~~~ This section contains Kvaser driver specific methods. diff --git a/doc/interfaces/neovi.rst b/doc/interfaces/neovi.rst index 588c5e914..0baf08055 100644 --- a/doc/interfaces/neovi.rst +++ b/doc/interfaces/neovi.rst @@ -1,7 +1,7 @@ -neoVI -===== +Intrepid Control Systems neoVI +============================== -.. warning:: +.. note:: This ``ICS neoVI`` documentation is a work in progress. Feedback and revisions are most welcome! @@ -14,16 +14,16 @@ wrapper on Windows. Installation ------------ -This neoVI interface requires the installation of the ICS neoVI DLL and python-ics +This neoVI interface requires the installation of the ICS neoVI DLL and ``python-ics`` package. - Download and install the Intrepid Product Drivers `Intrepid Product Drivers `__ -- Install python-ics +- Install ``python-can`` with the ``neovi`` extras: .. code-block:: bash - pip install python-ics + pip install python-ics[neovi] Configuration diff --git a/doc/interfaces/nican.rst b/doc/interfaces/nican.rst index 4d2a40717..6e802a3d4 100644 --- a/doc/interfaces/nican.rst +++ b/doc/interfaces/nican.rst @@ -1,7 +1,7 @@ -NI-CAN -====== +National Instruments NI-CAN +=========================== -This interface adds support for CAN controllers by `National Instruments`_. +This interface adds support for NI-CAN controllers by `National Instruments`_. .. warning:: diff --git a/doc/interfaces/nixnet.rst b/doc/interfaces/nixnet.rst index 36d1a8ef0..8cf2ee72d 100644 --- a/doc/interfaces/nixnet.rst +++ b/doc/interfaces/nixnet.rst @@ -1,12 +1,12 @@ -NI-XNET -======= +National Instruments NI-XNET +============================ This interface adds support for NI-XNET CAN controllers by `National Instruments`_. -.. warning:: +.. note:: - NI-XNET only seems to support windows platforms. + NI-XNET only supports windows platforms. Bus diff --git a/doc/interfaces/pcan.rst b/doc/interfaces/pcan.rst index feb40b195..790264627 100644 --- a/doc/interfaces/pcan.rst +++ b/doc/interfaces/pcan.rst @@ -3,7 +3,7 @@ PCAN Basic API ============== -Interface to `Peak-System `__'s PCAN-Basic API. +Interface to `Peak-System `__'s PCAN-Basic API. Configuration ------------- @@ -18,15 +18,9 @@ Here is an example configuration file for using `PCAN-USB The socketcan package is an implementation of CAN protocols -> (Controller Area Network) for Linux. CAN is a networking technology -> which has widespread use in automation, embedded devices, and -> automotive fields. While there have been other CAN implementations -> for Linux based on character devices, SocketCAN uses the Berkeley -> socket API, the Linux network stack and implements the CAN device -> drivers as network interfaces. The CAN socket API has been designed -> as similar as possible to the TCP/IP protocols to allow programmers, -> familiar with network programming, to easily learn how to use CAN -> sockets. +The SocketCAN documentation can be found in the `Linux kernel docs`_ in the +``networking`` directory. Quoting from the SocketCAN Linux documentation: + + The socketcan package is an implementation of CAN protocols + (Controller Area Network) for Linux. CAN is a networking technology + which has widespread use in automation, embedded devices, and + automotive fields. While there have been other CAN implementations + for Linux based on character devices, SocketCAN uses the Berkeley + socket API, the Linux network stack and implements the CAN device + drivers as network interfaces. The CAN socket API has been designed + as similar as possible to the TCP/IP protocols to allow programmers, + familiar with network programming, to easily learn how to use CAN + sockets. .. important:: diff --git a/doc/interfaces/socketcand.rst b/doc/interfaces/socketcand.rst index 3c05bcc85..2f313470c 100644 --- a/doc/interfaces/socketcand.rst +++ b/doc/interfaces/socketcand.rst @@ -4,7 +4,7 @@ socketcand Interface ==================== `Socketcand `__ is part of the `Linux-CAN `__ project, providing a -Network-to-CAN bridge as Linux damon. It implements a specific +Network-to-CAN bridge as a Linux damon. It implements a specific `TCP/IP based communication protocol `__ to transfer CAN frames and control commands. @@ -24,7 +24,7 @@ daemon running on a remote Raspberry Pi: try: while True: msg = bus.recv() - print (msg) + print(msg) except KeyboardInterrupt: pass diff --git a/doc/interfaces/systec.rst b/doc/interfaces/systec.rst index 0aa4d9444..6b04fdfe0 100644 --- a/doc/interfaces/systec.rst +++ b/doc/interfaces/systec.rst @@ -28,12 +28,6 @@ The interface supports following devices: - USB-CANmodul1 G4, - USB-CANmodul2 G4. -Bus ---- - -.. autoclass:: can.interfaces.systec.ucanbus.UcanBus - :members: - Configuration ------------- @@ -57,6 +51,14 @@ Optional parameters: * ``state`` (default BusState.ACTIVE) BusState of the channel * ``receive_own_messages`` (default False) If messages transmitted should also be received back + +Bus +--- + +.. autoclass:: can.interfaces.systec.ucanbus.UcanBus + :members: + + Internals --------- diff --git a/doc/interfaces/udp_multicast.rst b/doc/interfaces/udp_multicast.rst index f2775727c..b15354ed5 100644 --- a/doc/interfaces/udp_multicast.rst +++ b/doc/interfaces/udp_multicast.rst @@ -16,7 +16,7 @@ sufficiently reliable for this interface to function properly. .. note:: For an overview over the different virtual buses in this library and beyond, please refer - to the section :ref:`other_virtual_interfaces`. It also describes important limitations + to the section :ref:`virtual_interfaces_doc`. It also describes important limitations of this interface. Please refer to the `Bus class documentation`_ below for configuration options and useful resources diff --git a/doc/interfaces/usb2can.rst b/doc/interfaces/usb2can.rst index 56243d41d..1ac9dd61f 100644 --- a/doc/interfaces/usb2can.rst +++ b/doc/interfaces/usb2can.rst @@ -1,36 +1,35 @@ USB2CAN Interface ================= -OVERVIEW --------- - The `USB2CAN `_ is a cheap CAN interface based on an ARM7 chip (STR750FV2). There is support for this device on Linux through the :doc:`socketcan` interface and for Windows using this ``usb2can`` interface. - -WINDOWS SUPPORT ---------------- - Support though windows is achieved through a DLL very similar to the way the PCAN functions. The API is called CANAL (CAN Abstraction Layer) which is a separate project designed to be used with VSCP which is a socket like messaging system -that is not only cross platform but also supports other types of devices. This device can be used through one of three ways -1)Through python-can -2)CANAL API either using the DLL and C/C++ or through the python wrapper that has been added to this project -3)VSCP -Using python-can is strongly suggested as with little extra work the same interface can be used on both Windows and Linux. +that is not only cross platform but also supports other types of devices. + + +Installation +------------ + +1. To install on Windows download the USB2CAN Windows driver. It is compatible with XP, Vista, Win7, Win8/8.1. (Written against driver version v1.0.2.1) + +2. Install the appropriate version of `pywin32 `_ (win32com) + +3. Download the USB2CAN CANAL DLL from the USB2CAN website. + Place this in either the same directory you are running usb2can.py from or your DLL folder in your python install. + Note that only a 32-bit version is currently available, so this only works in a 32-bit Python environment. + + +Internals +--------- -WINDOWS INSTALL ---------------- +This interface originally written against CANAL DLL version ``v1.0.6``. - 1. To install on Windows download the USB2CAN Windows driver. It is compatible with XP, Vista, Win7, Win8/8.1. (Written against driver version v1.0.2.1) - 2. Install the appropriate version of `pywin32 `_ (win32com) - 3. Download the USB2CAN CANAL DLL from the USB2CAN website. Place this in either the same directory you are running usb2can.py from or your DLL folder in your python install. - Note that only a 32-bit version is currently available, so this only works in a 32-bit Python environment. - (Written against CANAL DLL version v1.0.6) Interface Layout ----------------- +~~~~~~~~~~~~~~~~ - ``usb2canabstractionlayer.py`` This file is only a wrapper for the CANAL API that the interface expects. There are also a couple of constants here to try and make dealing with the @@ -50,20 +49,26 @@ Interface Layout Interface Specific Items ------------------------ -There are a few things that are kinda strange about this device and are not overly obvious about the code or things that are not done being implemented in the DLL. - -1. You need the Serial Number to connect to the device under Windows. This is part of the "setup string" that configures the device. There are a few options for how to get this. - 1. Use usb2canWin.py to find the serial number - 2. Look on the device and enter it either through a prompt/barcode scanner/hardcode it.(Not recommended) - 3. Reprogram the device serial number to something and do that for all the devices you own. (Really Not Recommended, can no longer use multiple devices on one computer) +There are a few things that are kinda strange about this device and are not overly obvious about the code or things that +are not done being implemented in the DLL. + +1. You need the Serial Number to connect to the device under Windows. This is part of the "setup string" that configures the device. There are a few options for how to get this. + + 1. Use ``usb2canWin.py`` to find the serial number. + 2. Look on the device and enter it either through a prompt/barcode scanner/hardcode it. (Not recommended) + 3. Reprogram the device serial number to something and do that for all the devices you own. (Really Not Recommended, can no longer use multiple devices on one computer) -2. In usb2canabstractionlayer.py there is a structure called CanalMsg which has a unsigned byte array of size 8. In the usb2canInterface file it passes in an unsigned byte array of - size 8 also which if you pass less than 8 bytes in it stuffs it with extra zeros. So if the data "01020304" is sent the message would look like "0102030400000000". - There is also a part of this structure called sizeData which is the actual length of the data that was sent not the stuffed message (in this case would be 4). - What then happens is although a message of size 8 is sent to the device only the length of information so the first 4 bytes of information would be sent. This - is done because the DLL expects a length of 8 and nothing else. So to make it compatible that has to be sent through the wrapper. If usb2canInterface sent an - array of length 4 with sizeData of 4 as well the array would throw an incompatible data type error. There is a Wireshark file posted in Issue #36 that demonstrates - that the bus is only sending the data and not the extra zeros. +2. In ``usb2canabstractionlayer.py`` there is a structure called ``CanalMsg`` which has a unsigned byte array of size 8. + In the ``usb2canInterface`` file it passes in an unsigned byte array of size 8 also which if you pass less than 8 + bytes in it stuffs it with extra zeros. So if the data ``"01020304"`` is sent the message would look like + ``"0102030400000000"``. + + There is also a part of this structure called ``sizeData`` which is the actual length of the data that was sent not + the stuffed message (in this case would be 4). What then happens is although a message of size 8 is sent to the device + only the first 4 bytes of information would be sent. This is done because the DLL expects a length of 8 and nothing + else. So to make it compatible that has to be sent through the wrapper. If ``usb2canInterface`` sent an + array of length 4 with sizeData of 4 as well the array would throw an incompatible data type error. + 3. The masking features have not been implemented currently in the CANAL interface in the version currently on the USB2CAN website. @@ -79,12 +84,16 @@ Bus .. autoclass:: can.interfaces.usb2can.Usb2canBus +Exceptions +---------- + +.. autoexception:: can.interfaces.usb2can.usb2canabstractionlayer.CanalError -Internals ---------- + +Miscellaneous +------------- .. autoclass:: can.interfaces.usb2can.Usb2CanAbstractionLayer :members: :undoc-members: -.. autoexception:: can.interfaces.usb2can.usb2canabstractionlayer.CanalError diff --git a/doc/interfaces/vector.rst b/doc/interfaces/vector.rst index 7f9aa1f3f..56961e7e2 100644 --- a/doc/interfaces/vector.rst +++ b/doc/interfaces/vector.rst @@ -3,6 +3,9 @@ Vector This interface adds support for CAN controllers by `Vector`_. Only Windows is supported. +Configuration +------------- + By default this library uses the channel configuration for CANalyzer. To use a different application, open **Vector Hardware Configuration** program and create a new application and assign the channels you may want to use. diff --git a/doc/interfaces/virtual.rst b/doc/interfaces/virtual.rst index 29976ed47..7569ffeb9 100644 --- a/doc/interfaces/virtual.rst +++ b/doc/interfaces/virtual.rst @@ -8,79 +8,9 @@ Any `VirtualBus` instances connecting to the same channel (from within the same process) will receive each others messages. If messages shall be sent across process or host borders, consider using the -:ref:`udp_multicast_doc` and refer to (:ref:`the next section `) +:ref:`udp_multicast_doc` and refer to :ref:`virtual_interfaces_doc` for a comparison and general discussion of different virtual interfaces. -.. _other_virtual_interfaces: - -Other Virtual Interfaces ------------------------- - -There are quite a few implementations for CAN networks that do not require physical -CAN hardware. -This section also describes common limitations of current virtual interfaces. - -Comparison -'''''''''' - -The following table compares some known virtual interfaces: - -+----------------------------------------------------+-----------------------------------------------------------------------+---------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------+ -| **Name** | **Availability** | **Applicability** | **Implementation** | -| | +-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ -| | | **Within | **Between | **Via (IP) | **Without Central | **Transport | **Serialization | -| | | Process** | Processes** | Networks** | Server** | Technology** | Format** | -+----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ -| ``virtual`` (this) | *included* | ✓ | ✗ | ✗ | ✓ | Singleton & Mutex | none | -| | | | | | | (reliable) | | -+----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ -| ``udp_multicast`` (:ref:`doc `) | *included* | ✓ | ✓ | ✓ | ✓ | UDP via IP multicast | custom using `msgpack `__ | -| | | | | | | (unreliable) | | -+----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ -| *christiansandberg/ | `external `__ | ✓ | ✓ | ✓ | ✗ | Websockets via TCP/IP | custom binary | -| python-can-remote* | | | | | | (reliable) | | -+----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ -| *windelbouwman/ | `external `__ | ✓ | ✓ | ✓ | ✗ | `ZeroMQ `__ via TCP/IP | custom binary [#f1]_ | -| virtualcan* | | | | | | (reliable) | | -+----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ - -.. [#f1] - The only option in this list that implements interoperability with other languages - out of the box. For the others (except the first intra-process one), other programs written - in potentially different languages could effortlessly interface with the bus - once they mimic the serialization format. The last one, however, has already implemented - the entire bus functionality in *C++* and *Rust*, besides the Python variant. - -Common Limitations -'''''''''''''''''' - -**Guaranteed delivery** and **message ordering** is one major point of difference: -While in a physical CAN network, a message is either sent or in queue (or an explicit error occurred), -this may not be the case for virtual networks. -The ``udp_multicast`` bus for example, drops this property for the benefit of lower -latencies by using unreliable UDP/IP instead of reliable TCP/IP (and because normal IP multicast -is inherently unreliable, as the recipients are unknown by design). The other three buses faithfully -model a physical CAN network in this regard: They ensure that all recipients actually receive -(and acknowledge each message), much like in a physical CAN network. They also ensure that -messages are relayed in the order they have arrived at the central server and that messages -arrive at the recipients exactly once. Both is not guaranteed to hold for the best-effort -``udp_multicast`` bus as it uses UDP/IP as a transport layer. - -**Central servers** are, however, required by interfaces 3 and 4 (the external tools) to provide -these guarantees of message delivery and message ordering. The central servers receive and distribute -the CAN messages to all other bus participants, unlike in a real physical CAN network. -The first intra-process ``virtual`` interface only runs within one Python process, effectively the -Python instance of :class:`~can.interfaces.virtual.VirtualBus` acts as a central server. -Notably the ``udp_multicast`` bus does not require a central server. - -**Arbitration and throughput** are two interrelated functions/properties of CAN networks which -are typically abstracted in virtual interfaces. In all four interfaces, an unlimited amount -of messages can be sent per unit of time (given the computational power of the machines and -networks that are involved). In a real CAN/CAN FD networks, however, throughput is usually much -more restricted and prioritization of arbitration IDs is thus an important feature once the bus -is starting to get saturated. None of the interfaces presented above support any sort of throttling -or ID arbitration under high loads. - Example ------- diff --git a/doc/internal-api.rst b/doc/internal-api.rst index 3ef599598..b8c108fb5 100644 --- a/doc/internal-api.rst +++ b/doc/internal-api.rst @@ -7,6 +7,15 @@ Here we document the odds and ends that are more helpful for creating your own i or listeners but generally shouldn't be required to interact with python-can. +BusABC +------ + +The :class:`~can.BusABC` class, as the name suggests, provides an abstraction of a CAN bus. +The bus provides a wrapper around a physical or virtual CAN Bus. + +An interface specific instance of the :class:`~can.BusABC` is created by the :class:`~can.Bus` +class, see :ref:`bus` for the user facing API. + .. _businternals: diff --git a/doc/listeners.rst b/doc/listeners.rst index ad18aff24..260854d2a 100644 --- a/doc/listeners.rst +++ b/doc/listeners.rst @@ -1,5 +1,18 @@ -Listeners -========= + +Reading and Writing Messages +============================ + +.. _notifier: + +Notifier +-------- + +The Notifier object is used as a message distributor for a bus. Notifier creates a thread to read messages from the bus and distributes them to listeners. + +.. autoclass:: can.Notifier + :members: + +.. _listeners_doc: Listener -------- @@ -12,6 +25,12 @@ message, or by calling the method **on_message_received**. Listeners are registered with :ref:`notifier` object(s) which ensure they are notified whenever a new message is received. +.. literalinclude:: ../examples/print_notifier.py + :language: python + :linenos: + :emphasize-lines: 8,9 + + Subclasses of Listener that do not override **on_message_received** will cause :class:`NotImplementedError` to be thrown when a message is received on the CAN bus. @@ -191,3 +210,20 @@ The following class can be used to read messages from BLF file: .. autoclass:: can.BLFReader :members: + +TRC +---- + +Implements basic support for the TRC file format. + + +.. note:: + Comments and contributions are welcome on what file versions might be relevant. + +.. autoclass:: can.TRCWriter + :members: + +The following class can be used to read messages from TRC file: + +.. autoclass:: can.TRCReader + :members: diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst new file mode 100644 index 000000000..14c3f51d5 --- /dev/null +++ b/doc/plugin-interface.rst @@ -0,0 +1,54 @@ + +.. _plugin interface: + +Plugin Interface +================ + +External packages can register new interfaces by using the ``can.interface`` entry point +in its project configuration. The format of the entry point depends on your project +configuration format (*pyproject.toml*, *setup.cfg* or *setup.py*). + +In the following example ``module`` defines the location of your bus class inside your +package e.g. ``my_package.subpackage.bus_module`` and ``classname`` is the name of +your :class:`can.BusABC` subclass. + +.. tab:: pyproject.toml (PEP 621) + + .. code-block:: toml + + # Note the quotes around can.interface in order to escape the dot . + [project.entry-points."can.interface"] + interface_name = "module:classname" + +.. tab:: setup.cfg + + .. code-block:: ini + + [options.entry_points] + can.interface = + interface_name = module:classname + +.. tab:: setup.py + + .. code-block:: python + + from setuptools import setup + + setup( + # ..., + entry_points = { + 'can.interface': [ + 'interface_name = module:classname' + ] + } + ) + +The ``interface_name`` can be used to +create an instance of the bus in the **python-can** API: + +.. code-block:: python + + import can + + bus = can.Bus(interface="interface_name", channel=0) + diff --git a/doc/scripts.rst b/doc/scripts.rst index 6b9bdf504..5a615afa7 100644 --- a/doc/scripts.rst +++ b/doc/scripts.rst @@ -1,7 +1,7 @@ Scripts ======= -The following modules are callable from python-can. +The following modules are callable from ``python-can``. They can be called for example by ``python -m can.logger`` or ``can_logger.py`` (if installed using pip). diff --git a/doc/utils.rst b/doc/utils.rst new file mode 100644 index 000000000..a87d411a9 --- /dev/null +++ b/doc/utils.rst @@ -0,0 +1,7 @@ +Utilities +--------- + + +.. autofunction:: can.detect_available_configs + + diff --git a/doc/virtual-interfaces.rst b/doc/virtual-interfaces.rst new file mode 100644 index 000000000..70ac601fa --- /dev/null +++ b/doc/virtual-interfaces.rst @@ -0,0 +1,77 @@ + +.. _virtual_interfaces_doc: + +Virtual Interfaces +================== + +There are quite a few implementations for CAN networks that do not require physical +CAN hardware. The built in virtual interfaces are: + +.. toctree:: + :maxdepth: 1 + + interfaces/virtual + interfaces/udp_multicast + + +Comparison +---------- + +The following table compares some known virtual interfaces: + ++----------------------------------------------------+-----------------------------------------------------------------------+---------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------+ +| **Name** | **Availability** | **Applicability** | **Implementation** | +| | +-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ +| | | **Within | **Between | **Via (IP) | **Without Central | **Transport | **Serialization | +| | | Process** | Processes** | Networks** | Server** | Technology** | Format** | ++----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ +| ``virtual`` (this) | *included* | ✓ | ✗ | ✗ | ✓ | Singleton & Mutex | none | +| | | | | | | (reliable) | | ++----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ +| ``udp_multicast`` (:ref:`doc `) | *included* | ✓ | ✓ | ✓ | ✓ | UDP via IP multicast | custom using `msgpack `__ | +| | | | | | | (unreliable) | | ++----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ +| *christiansandberg/ | `external `__ | ✓ | ✓ | ✓ | ✗ | Websockets via TCP/IP | custom binary | +| python-can-remote* | | | | | | (reliable) | | ++----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ +| *windelbouwman/ | `external `__ | ✓ | ✓ | ✓ | ✗ | `ZeroMQ `__ via TCP/IP | custom binary [#f1]_ | +| virtualcan* | | | | | | (reliable) | | ++----------------------------------------------------+-----------------------------------------------------------------------+-----------+-------------+-------------+--------------------+---------------------------------------------+---------------------------------------------------------------------+ + +.. [#f1] + The only option in this list that implements interoperability with other languages + out of the box. For the others (except the first intra-process one), other programs written + in potentially different languages could effortlessly interface with the bus + once they mimic the serialization format. The last one, however, has already implemented + the entire bus functionality in *C++* and *Rust*, besides the Python variant. + +Common Limitations +------------------ + +**Guaranteed delivery** and **message ordering** is one major point of difference: +While in a physical CAN network, a message is either sent or in queue (or an explicit error occurred), +this may not be the case for virtual networks. +The ``udp_multicast`` bus for example, drops this property for the benefit of lower +latencies by using unreliable UDP/IP instead of reliable TCP/IP (and because normal IP multicast +is inherently unreliable, as the recipients are unknown by design). The other three buses faithfully +model a physical CAN network in this regard: They ensure that all recipients actually receive +(and acknowledge each message), much like in a physical CAN network. They also ensure that +messages are relayed in the order they have arrived at the central server and that messages +arrive at the recipients exactly once. Both is not guaranteed to hold for the best-effort +``udp_multicast`` bus as it uses UDP/IP as a transport layer. + +**Central servers** are, however, required by interfaces 3 and 4 (the external tools) to provide +these guarantees of message delivery and message ordering. The central servers receive and distribute +the CAN messages to all other bus participants, unlike in a real physical CAN network. +The first intra-process ``virtual`` interface only runs within one Python process, effectively the +Python instance of :class:`~can.interfaces.virtual.VirtualBus` acts as a central server. +Notably the ``udp_multicast`` bus does not require a central server. + +**Arbitration and throughput** are two interrelated functions/properties of CAN networks which +are typically abstracted in virtual interfaces. In all four interfaces, an unlimited amount +of messages can be sent per unit of time (given the computational power of the machines and +networks that are involved). In a real CAN/CAN FD networks, however, throughput is usually much +more restricted and prioritization of arbitration IDs is thus an important feature once the bus +is starting to get saturated. None of the interfaces presented above support any sort of throttling +or ID arbitration under high loads. + diff --git a/examples/print_notifier.py b/examples/print_notifier.py new file mode 100755 index 000000000..bbead7d15 --- /dev/null +++ b/examples/print_notifier.py @@ -0,0 +1,19 @@ +import time +import can + + +def main(): + + with can.Bus(receive_own_messages=True) as bus: + print_listener = can.Printer() + can.Notifier(bus, [print_listener]) + + bus.send(can.Message(arbitration_id=1, is_extended_id=True)) + bus.send(can.Message(arbitration_id=2, is_extended_id=True)) + bus.send(can.Message(arbitration_id=1, is_extended_id=False)) + + time.sleep(1.0) + + +if __name__ == "__main__": + main() diff --git a/examples/vcan_filtered.py b/examples/vcan_filtered.py index a43fbe821..d48a9d8cb 100755 --- a/examples/vcan_filtered.py +++ b/examples/vcan_filtered.py @@ -16,7 +16,7 @@ def main(): can_filters = [{"can_id": 1, "can_mask": 0xF, "extended": True}] bus.set_filters(can_filters) - # print all incoming messages, wich includes the ones sent, + # print all incoming messages, which includes the ones sent, # since we set receive_own_messages to True # assign to some variable so it does not garbage collected notifier = can.Notifier(bus, [can.Printer()]) # pylint: disable=unused-variable From 71ba9dd24ccf179b8ff0f474c1bd1ddc0ed85a04 Mon Sep 17 00:00:00 2001 From: szlegp Date: Mon, 21 Nov 2022 23:33:43 +0100 Subject: [PATCH 166/475] Comment about bus.shutdown call in README.rst --- README.rst | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.rst b/README.rst index cd2731696..a558957de 100644 --- a/README.rst +++ b/README.rst @@ -89,7 +89,8 @@ Example usage # import the library import can - # create a bus instance + # create a bus instance using 'with' statement, + # this will cause bus.shutdown() to be called on the block exit; # many other interfaces are supported as well (see documentation) with can.Bus(interface='socketcan', channel='vcan0', From 50b1709e77b7b50a92a5f565fe8891918acd3bd9 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 22 Nov 2022 11:46:57 +0100 Subject: [PATCH 167/475] Use furo html theme for documentation (#1443) --- doc/conf.py | 3 +-- doc/doc-requirements.txt | 2 +- doc/interfaces/vector.rst | 4 +++- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/doc/conf.py b/doc/conf.py index c1409b8c2..de08fc300 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -49,7 +49,6 @@ "sphinx.ext.graphviz", "sphinxcontrib.programoutput", "sphinx_inline_tabs", - "sphinx_rtd_theme", ] # Now, you can use the alias name as a new role, e.g. :issue:`123`. @@ -139,7 +138,7 @@ # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. -html_theme = "sphinx_rtd_theme" +html_theme = "furo" # Theme options are theme-specific and customize the look and feel of a theme # further. For a list of options available for each theme, see the diff --git a/doc/doc-requirements.txt b/doc/doc-requirements.txt index b1c2da632..c61b55683 100644 --- a/doc/doc-requirements.txt +++ b/doc/doc-requirements.txt @@ -1,4 +1,4 @@ sphinx>=5.2.3 sphinxcontrib-programoutput -sphinx_rtd_theme sphinx-inline-tabs +furo diff --git a/doc/interfaces/vector.rst b/doc/interfaces/vector.rst index 56961e7e2..d3e2bed45 100644 --- a/doc/interfaces/vector.rst +++ b/doc/interfaces/vector.rst @@ -15,7 +15,9 @@ the bus or in a config file. Channel should be given as a list of channels starting at 0. Here is an example configuration file connecting to CAN 1 and CAN 2 for an -application named "python-can":: +application named "python-can": + +:: [default] interface = vector From 7ca2aad4d09d73a34a72266f620005c10a2d1fee Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Tue, 15 Nov 2022 19:13:03 +1300 Subject: [PATCH 168/475] Editing changelog for 4.1.0 --- CHANGELOG.md | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 04ffb9b57..fc0fb84b3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,16 @@ Version 4.1.0 ==== +Breaking Changes +---------------- + +* ``windows-curses`` was moved to optional dependencies (#1395). + Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` + script on Windows. +* The attributes of ``can.interfaces.vector.VectorChannelConfig`` were renamed + from camelCase to snake_case (#1422). + + Features -------- @@ -14,6 +24,7 @@ Features Currently only the blf-, canutils- and csv-formats are supported. * All CLI ``extra_args`` are passed to the bus, logger and player initialisation (#1366). +* Initial support for TRC files (#1217) ### Type Annotations * python-can now includes the ``py.typed`` marker to support type checking @@ -63,15 +74,7 @@ Miscellaneous * Exclude repository-configuration from git-archive (#1343) * Improve documentation (#1397, #1401, #1405, #1420, #1421) * Officially support Python 3.11 (#1423) - -Breaking Changes ----------------- - -* ``windows-curses`` was moved to optional dependencies (#1395). - Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` - script on Windows. -* The attributes of ``can.interfaces.vector.VectorChannelConfig`` were renamed - from camelCase to snake_case (#1422). +* Migrate code coverage reporting from Codecov to Coveralls (#1430) Version 4.0.0 ==== From 488454561a03bea952fef7da7f93f9cbbce912aa Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Tue, 15 Nov 2022 19:24:34 +1300 Subject: [PATCH 169/475] Bump version for alpha release of 4.1.0 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index 8af42009a..68a309e31 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.1.0.dev0" +__version__ = "4.1.0a0" log = logging.getLogger("can") From e07142d423b1c97fdc050cd6912da8a7a07d367d Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Tue, 15 Nov 2022 20:28:54 +1300 Subject: [PATCH 170/475] Remove codecov config file --- .codecov.yml | 21 --------------------- 1 file changed, 21 deletions(-) delete mode 100644 .codecov.yml diff --git a/.codecov.yml b/.codecov.yml deleted file mode 100644 index b9b9b52b6..000000000 --- a/.codecov.yml +++ /dev/null @@ -1,21 +0,0 @@ -# Validate with curl --data-binary @.codecov.yml https://codecov.io/validate -codecov: - archive: - uploads: yes - -coverage: - precision: 2 - round: down - range: 50...100 - status: - project: - default: - # coverage may fall by <1.0% and still be considered "passing" - threshold: 1.0% - patch: - default: - # coverage may fall by <1.0% and still be considered "passing" - threshold: 1.0% - -comment: - layout: "header, diff, changes" From 3ea6eee5089289dcae97d3f49ab5e6924f87ebc4 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:06:31 +1300 Subject: [PATCH 171/475] Get github actions to publish releases to pypi --- .github/workflows/{build.yml => ci.yml} | 22 ++++++++++++++++++++++ .travis.yml | 24 ------------------------ requirements-lint.txt | 6 +++--- 3 files changed, 25 insertions(+), 27 deletions(-) rename .github/workflows/{build.yml => ci.yml} (86%) diff --git a/.github/workflows/build.yml b/.github/workflows/ci.yml similarity index 86% rename from .github/workflows/build.yml rename to .github/workflows/ci.yml index 2ed1742c6..0162b4d95 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/ci.yml @@ -143,3 +143,25 @@ jobs: run: pipx run build - name: Check build artifacts run: pipx run twine check --strict dist/* + - name: Save artifacts + uses: actions/upload-artifact@v3 + with: + name: python-can-dist + path: ./dist + + upload_pypi: + needs: [build] + runs-on: ubuntu-latest + + # upload to PyPI only on release + if: github.event.release && github.event.action == 'published' + steps: + - uses: actions/download-artifact@v3 + with: + name: python-can-dist + path: dist + + - uses: pypa/gh-action-pypi-publish@v1.4.2 + with: + user: __token__ + password: ${{ secrets.PYPI_API_TOKEN }} diff --git a/.travis.yml b/.travis.yml index fb24f8e9a..9bd1920e0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -63,27 +63,3 @@ jobs: travis_retry sudo pip install tox # Run the tests sudo tox -e travis - - - stage: documentation - name: "Sphinx Build" - python: "3.9" - before_install: - - travis_retry pip install -r doc/doc-requirements.txt - script: - # Build the docs with Sphinx - # -a Write all files - # -n nitpicky - - python -m sphinx -an doc build - - stage: deploy - name: "PyPi Deployment" - python: "3.9" - deploy: - provider: pypi - distributions: "sdist bdist_wheel" - user: hardbyte - password: - secure: oQ9XpEkcilkZgKp+rKvPb2J1GrZe2ZvtOq/IjzCpiA8NeWixl/ai3BkPrLbd8t1wNIFoGwx7IQ7zxWL79aPYeG6XrljEomv3g45NR6dkQewUH+dQFlnT75Rm96Ycxvme0w1+71vM4PqxIuzyXUrF2n7JjC0XCCxHdTuYmPGbxVO1fOsE5R5b9inAbpEUtJuWz5AIrDEZ0OgoQpLSC8fLwbymTThX3JZ5GBLpRScVvLazjIYfRkZxvCqQ4mp1UNTdoMzekxsvxOOcEW6+j3fQO+Q/8uvMksKP0RgT8HE69oeYOeVic4Q4wGqORw+ur4A56NvBqVKtizVLCzzEG9ZfoSDy7ryvGWGZykkh8HX0PFQAEykC3iYihHK8ZFz5bEqRMegTmuRYZwPsel61wVd5posxnQkGm0syIoJNKuuRc5sUK+E3GviYcT8NntdR+4WBrvpQAYa1ZHpVrfnQXyaDmGzOjwCRGPoIDJweEqGVmLycEC5aT8rX3/W9tie9iPnjmFJh4CwNMxDgVQRo80m6Gtlf/DQpA3mH39IvWGqd5fHdTPxYPs32EQSCsaYLJV5pM8xBNv6M2S/KriGnGZU0xT7MEr46da0LstKsK/U8O0yamjyugMvQoC3zQcKLrDzWFSBsT7/vG+AuV5SK8yzfEHugo7jkPQQ+NTw29xzk4dY= - on: - # Have travis deploy tagged commits to PyPi - tags: true - skip_cleanup: true diff --git a/requirements-lint.txt b/requirements-lint.txt index f62eeb189..92af74fa0 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,5 +1,5 @@ -pylint==2.12.2 -black~=22.3.0 -mypy==0.931 +pylint==2.15.5 +black~=22.10.0 +mypy==0.991 mypy-extensions==0.4.3 types-setuptools From f697eb5bdd3ee77464b44b15d21a84e7321f1c31 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:08:54 +1300 Subject: [PATCH 172/475] Run the CI on releases, pull requests and every push to develop --- .github/workflows/ci.yml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0162b4d95..b97d05332 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -1,7 +1,11 @@ name: Tests -on: [push, pull_request] - +on: + release: + types: [ published ] + pull_request: + push: + branches: [ develop, main ] env: PY_COLORS: "1" From 717be7e31a6dbdb8c33fc0a95da26429531e86ff Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:09:57 +1300 Subject: [PATCH 173/475] Bump version to 4.1.0a1 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index 68a309e31..2398f4fdc 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.1.0a0" +__version__ = "4.1.0a1" log = logging.getLogger("can") From 786bdbfce940167cc5448a6ee59168cb60f10ce4 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:18:40 +1300 Subject: [PATCH 174/475] Fix mypy's complaints --- can/interfaces/vector/canlib.py | 2 +- can/io/player.py | 2 +- can/viewer.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 8f699f3f7..6abb26d40 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -28,7 +28,7 @@ INFINITE: Optional[int] try: # Try builtin Python 3 Windows API - from _winapi import WaitForSingleObject, INFINITE + from _winapi import WaitForSingleObject, INFINITE # type: ignore HAS_EVENTS = True except ImportError: diff --git a/can/io/player.py b/can/io/player.py index 82f851502..21d1964bb 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -106,7 +106,7 @@ def decompress( return real_suffix, gzip.open(filename, mode) def __iter__(self) -> typing.Generator[Message, None, None]: - pass + raise NotImplementedError() class MessageSync: # pylint: disable=too-few-public-methods diff --git a/can/viewer.py b/can/viewer.py index 6773a0acd..202f8d546 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -390,7 +390,7 @@ def _fill_text(self, text, width, indent): return super()._fill_text(text, width, indent) -def parse_args(args): +def parse_args(args: List[str]) -> Tuple: # Parse command line arguments parser = argparse.ArgumentParser( "python -m can.viewer", From a963fccb17db04a4ee0150a50feee3f337abfd13 Mon Sep 17 00:00:00 2001 From: hardbyte Date: Wed, 16 Nov 2022 10:19:13 +0000 Subject: [PATCH 175/475] Format code with black --- can/interfaces/vector/canlib.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 6abb26d40..fea23fb54 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -28,7 +28,7 @@ INFINITE: Optional[int] try: # Try builtin Python 3 Windows API - from _winapi import WaitForSingleObject, INFINITE # type: ignore + from _winapi import WaitForSingleObject, INFINITE # type: ignore HAS_EVENTS = True except ImportError: From 16ab05042937fd1cab12c58f917155b3ec8af75e Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:27:54 +1300 Subject: [PATCH 176/475] Remove pylint unrecognized option --- .pylintrc | 6 ------ 1 file changed, 6 deletions(-) diff --git a/.pylintrc b/.pylintrc index 8144d5d8f..a42935e6a 100644 --- a/.pylintrc +++ b/.pylintrc @@ -395,12 +395,6 @@ max-line-length=100 # Maximum number of lines in a module. max-module-lines=1000 -# List of optional constructs for which whitespace checking is disabled. `dict- -# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}. -# `trailing-comma` allows a space between comma and closing bracket: (a, ). -# `empty-line` allows space-only lines. -no-space-check=trailing-comma, - dict-separator # Allow the body of a class to be on the same line as the declaration if body # contains single statement. From a2cb2adec70b5e433c2660e1dad7f6485f695904 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:31:33 +1300 Subject: [PATCH 177/475] Don't install in local virtual env before running pylint --- .github/workflows/ci.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index b97d05332..5ea3076f2 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -71,7 +71,6 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -e . pip install -r requirements-lint.txt - name: mypy 3.7 run: | From 1a1b119637d2d8d4bcf984ab0718b32fd6491509 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 16 Nov 2022 23:58:35 +1300 Subject: [PATCH 178/475] Revert pylint version bump --- requirements-lint.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements-lint.txt b/requirements-lint.txt index 92af74fa0..2952103c3 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,4 +1,4 @@ -pylint==2.15.5 +pylint==2.12.2 black~=22.10.0 mypy==0.991 mypy-extensions==0.4.3 From 9f68b7af921a92b4f9af244842e2e1a41cc3bced Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Fri, 18 Nov 2022 10:26:26 +1300 Subject: [PATCH 179/475] Update examples to use default configured Bus where it makes sense --- examples/cyclic.py | 4 +++- examples/receive_all.py | 11 +++++++---- examples/{virtual_can_demo.py => send_multiple.py} | 5 ++++- 3 files changed, 14 insertions(+), 6 deletions(-) rename examples/{virtual_can_demo.py => send_multiple.py} (80%) diff --git a/examples/cyclic.py b/examples/cyclic.py index 573465d78..bdd69eef2 100755 --- a/examples/cyclic.py +++ b/examples/cyclic.py @@ -114,7 +114,9 @@ def main(): arbitration_id=0x00, data=[0, 0, 0, 0, 0, 0], is_extended_id=False ) - with can.Bus(interface="virtual") as bus: + # this uses the default configuration (for example from environment variables, or a + # config file) see https://python-can.readthedocs.io/en/stable/configuration.html + with can.Bus() as bus: bus.send(reset_msg) simple_periodic_send(bus) diff --git a/examples/receive_all.py b/examples/receive_all.py index 7b94d526f..d8d8714fc 100755 --- a/examples/receive_all.py +++ b/examples/receive_all.py @@ -11,12 +11,15 @@ def receive_all(): """Receives all messages and prints them to the console until Ctrl+C is pressed.""" - with can.Bus(interface="pcan", channel="PCAN_USBBUS1", bitrate=250000) as bus: - # bus = can.Bus(interface='ixxat', channel=0, bitrate=250000) - # bus = can.Bus(interface='vector', app_name='CANalyzer', channel=0, bitrate=250000) + # this uses the default configuration (for example from environment variables, or a + # config file) see https://python-can.readthedocs.io/en/stable/configuration.html + with can.Bus() as bus: # set to read-only, only supported on some interfaces - bus.state = BusState.PASSIVE + try: + bus.state = BusState.PASSIVE + except NotImplementedError: + pass try: while True: diff --git a/examples/virtual_can_demo.py b/examples/send_multiple.py similarity index 80% rename from examples/virtual_can_demo.py rename to examples/send_multiple.py index af50a87a7..240b3d1cf 100755 --- a/examples/virtual_can_demo.py +++ b/examples/send_multiple.py @@ -16,7 +16,10 @@ def producer(thread_id: int, message_count: int = 16) -> None: :param thread_id: the id of the thread/process :param message_count: the number of messages that shall be sent """ - with can.Bus(interface="socketcan", channel="vcan0") as bus: # type: ignore + + # this uses the default configuration (for example from environment variables, or a + # config file) see https://python-can.readthedocs.io/en/stable/configuration.html + with can.Bus() as bus: # type: ignore for i in range(message_count): msg = can.Message( arbitration_id=0x0CF02200 + thread_id, From 3af52709d59dc0933e791f18211361d30bce0d6c Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Fri, 18 Nov 2022 19:28:00 +1300 Subject: [PATCH 180/475] Allow restarting of transmission tasks for socketcan (#1440) * Allow restarting of transmission tasks for socketcan * Update can/interfaces/socketcan/socketcan.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/socketcan/socketcan.py | 20 +++++++++++++++----- 1 file changed, 15 insertions(+), 5 deletions(-) diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 549998dc8..f7b9a9ae4 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -349,7 +349,9 @@ def __init__( self.task_id = task_id self._tx_setup(self.messages) - def _tx_setup(self, messages: Sequence[Message]) -> None: + def _tx_setup( + self, messages: Sequence[Message], raise_if_task_exists: bool = True + ) -> None: # Create a low level packed frame to pass to the kernel body = bytearray() self.flags = CAN_FD_FRAME if messages[0].is_fd else 0 @@ -363,7 +365,8 @@ def _tx_setup(self, messages: Sequence[Message]) -> None: ival1 = 0.0 ival2 = self.period - self._check_bcm_task() + if raise_if_task_exists: + self._check_bcm_task() header = build_bcm_transmit_header( self.task_id, count, ival1, ival2, self.flags, nframes=len(messages) @@ -375,7 +378,7 @@ def _tx_setup(self, messages: Sequence[Message]) -> None: def _check_bcm_task(self) -> None: # Do a TX_READ on a task ID, and check if we get EINVAL. If so, - # then we are referring to a CAN message with the existing ID + # then we are referring to a CAN message with an existing ID check_header = build_bcm_header( opcode=CAN_BCM_TX_READ, flags=0, @@ -387,12 +390,19 @@ def _check_bcm_task(self) -> None: can_id=self.task_id, nframes=0, ) + log.debug( + f"Reading properties of (cyclic) transmission task id={self.task_id}", + ) try: self.bcm_socket.send(check_header) except OSError as error: if error.errno != errno.EINVAL: raise can.CanOperationError("failed to check", error.errno) from error + else: + log.debug("Invalid argument - transmission task not known to kernel") else: + # No exception raised - transmission task with this ID exists in kernel. + # Existence of an existing transmission task might not be a problem! raise can.CanOperationError( f"A periodic task for task ID {self.task_id} is already in progress " "by the SocketCAN Linux layer" @@ -438,7 +448,7 @@ def modify_data(self, messages: Union[Sequence[Message], Message]) -> None: send_bcm(self.bcm_socket, header + body) def start(self) -> None: - """Start a periodic task by sending TX_SETUP message to Linux kernel. + """Restart a periodic task by sending TX_SETUP message to Linux kernel. It verifies presence of the particular BCM task through sending TX_READ message to Linux kernel prior to scheduling. @@ -446,7 +456,7 @@ def start(self) -> None: :raises ValueError: If the task referenced by ``task_id`` is already running. """ - self._tx_setup(self.messages) + self._tx_setup(self.messages, raise_if_task_exists=False) class MultiRateCyclicSendTask(CyclicSendTask): From e44833442819411ff725e434682007eb7cf7b18d Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Fri, 18 Nov 2022 19:34:07 +1300 Subject: [PATCH 181/475] 4.1.0-a2 version bump --- can/__init__.py | 2 +- can/logger.py | 15 --------------- 2 files changed, 1 insertion(+), 16 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index 2398f4fdc..edaf7278b 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.1.0a1" +__version__ = "4.1.0a2" log = logging.getLogger("can") diff --git a/can/logger.py b/can/logger.py index 8cb201987..f13b78bfc 100644 --- a/can/logger.py +++ b/can/logger.py @@ -1,18 +1,3 @@ -""" -logger.py logs CAN traffic to the terminal and to a file on disk. - - logger.py can0 - -See candump in the can-utils package for a C implementation. -Efficient filtering has been implemented for the socketcan backend. -For example the command - - logger.py can0 F03000:FFF000 - -Will filter for can frames with a can_id containing XXF03XXX. - -Dynamic Controls 2010 -""" import re import sys import argparse From 881606150316f3fce37b5605ea2cbdd4620a811f Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Mon, 21 Nov 2022 10:26:46 +1300 Subject: [PATCH 182/475] Update changelog and set version to 4.1.0 --- CHANGELOG.md | 4 +++- can/__init__.py | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index fc0fb84b3..c6ff2bbbf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -65,6 +65,7 @@ Bug Fixes * Fix file name for compressed files in SizedRotatingLogger (#1382, #1683). * Fix memory leak in neoVI bus where message_receipts grows with no limit (#1427). * Raise ValueError if gzip is used with incompatible log formats (#1429). +* Allow restarting of transmission tasks for socketcan (#1440) Miscellaneous ------------- @@ -72,9 +73,10 @@ Miscellaneous * Allow ICSApiError to be pickled and un-pickled (#1341) * Sort interface names in CLI API to make documentation reproducible (#1342) * Exclude repository-configuration from git-archive (#1343) -* Improve documentation (#1397, #1401, #1405, #1420, #1421) +* Improve documentation (#1397, #1401, #1405, #1420, #1421, #1434) * Officially support Python 3.11 (#1423) * Migrate code coverage reporting from Codecov to Coveralls (#1430) +* Migrate building docs and publishing releases to PyPi from Travis-CI to GitHub Actions (#1433) Version 4.0.0 ==== diff --git a/can/__init__.py b/can/__init__.py index edaf7278b..773e94022 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Dict, Any -__version__ = "4.1.0a2" +__version__ = "4.1.0" log = logging.getLogger("can") From 9f5af3fafd8c8b80e82ad5d6e390c62ac7682784 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Thu, 24 Nov 2022 21:00:52 +0100 Subject: [PATCH 183/475] Run pyupgrade --py37-plus (#1447) * Run pyupgrade --py37-plus * Format code with black * Fix useless dict comprehension * Add missing type hint Co-authored-by: felixdivo --- can/interfaces/ics_neovi/neovi_bus.py | 14 +++++++------- can/interfaces/ixxat/canlib_vcinpl.py | 6 +++--- can/interfaces/ixxat/canlib_vcinpl2.py | 4 ++-- can/interfaces/ixxat/structures.py | 2 +- can/interfaces/kvaser/canlib.py | 4 ++-- can/interfaces/nixnet.py | 2 +- can/interfaces/pcan/basic.py | 2 +- can/interfaces/pcan/pcan.py | 6 +++--- can/interfaces/robotell.py | 4 ++-- can/interfaces/socketcan/socketcan.py | 4 ++-- can/interfaces/socketcan/utils.py | 4 ++-- can/interfaces/socketcand/socketcand.py | 2 +- can/interfaces/systec/ucanbus.py | 2 +- can/interfaces/vector/canlib.py | 2 +- can/io/canutils.py | 2 +- can/io/trc.py | 6 ++---- can/typechecking.py | 19 +++++++++++++------ can/util.py | 4 ++-- can/viewer.py | 2 +- setup.py | 4 ++-- test/config.py | 4 ++-- test/listener_test.py | 4 ++-- test/logformats_test.py | 2 +- test/message_helper.py | 8 ++++---- test/test_interface_virtual.py | 1 - test/test_load_config.py | 4 ++-- test/test_load_file_config.py | 4 ++-- test/test_message_class.py | 4 ++-- test/test_message_sync.py | 2 +- test/test_viewer.py | 2 +- 30 files changed, 67 insertions(+), 63 deletions(-) diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index bd4fc5445..4972ed479 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -171,8 +171,8 @@ def __init__(self, channel, can_filters=None, **kwargs): super().__init__(channel=channel, can_filters=can_filters, **kwargs) - logger.info("CAN Filters: {}".format(can_filters)) - logger.info("Got configuration of: {}".format(kwargs)) + logger.info(f"CAN Filters: {can_filters}") + logger.info(f"Got configuration of: {kwargs}") if "override_library_name" in kwargs: ics.override_library_name(kwargs.get("override_library_name")) @@ -215,12 +215,12 @@ def __init__(self, channel, can_filters=None, **kwargs): self._use_system_timestamp = bool(kwargs.get("use_system_timestamp", False)) self._receive_own_messages = kwargs.get("receive_own_messages", True) - self.channel_info = "%s %s CH:%s" % ( + self.channel_info = "{} {} CH:{}".format( self.dev.Name, self.get_serial_number(self.dev), self.channels, ) - logger.info("Using device: {}".format(self.channel_info)) + logger.info(f"Using device: {self.channel_info}") self.rx_buffer = deque() self.message_receipts = defaultdict(Event) @@ -230,7 +230,7 @@ def channel_to_netid(channel_name_or_id): try: channel = int(channel_name_or_id) except ValueError: - netid = "NETID_{}".format(channel_name_or_id.upper()) + netid = f"NETID_{channel_name_or_id.upper()}" if hasattr(ics, netid): channel = getattr(ics, netid) else: @@ -298,9 +298,9 @@ def _find_device(self, type_filter=None, serial=None): msg = ["No device"] if type_filter is not None: - msg.append("with type {}".format(type_filter)) + msg.append(f"with type {type_filter}") if serial is not None: - msg.append("with serial {}".format(serial)) + msg.append(f"with serial {serial}") msg.append("found.") raise CanInitializationError(" ".join(msg)) diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index fa88e5f90..d74da2539 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -119,7 +119,7 @@ def __check_status(result, function, args): result = ctypes.c_ulong(result).value if result == constants.VCI_E_TIMEOUT: - raise VCITimeout("Function {} timed out".format(function._name)) + raise VCITimeout(f"Function {function._name} timed out") elif result == constants.VCI_E_RXQUEUE_EMPTY: raise VCIRxQueueEmptyError() elif result == constants.VCI_E_NO_MORE_ITEMS: @@ -469,7 +469,7 @@ def __init__( channel = int(channel) if bitrate not in self.CHANNEL_BITRATES[0]: - raise ValueError("Invalid bitrate {}".format(bitrate)) + raise ValueError(f"Invalid bitrate {bitrate}") if rx_fifo_size <= 0: raise ValueError("rx_fifo_size must be > 0") @@ -887,7 +887,7 @@ def _format_can_status(status_flags: int): status_flags &= ~flag if status_flags: - states.append("unknown state 0x{:02x}".format(status_flags)) + states.append(f"unknown state 0x{status_flags:02x}") if states: return "CAN status message: {}".format(", ".join(states)) diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 108ad2c02..2e3125e9b 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -117,7 +117,7 @@ def __check_status(result, function, args): :class:VCIError """ if result == constants.VCI_E_TIMEOUT: - raise VCITimeout("Function {} timed out".format(function._name)) + raise VCITimeout(f"Function {function._name} timed out") elif result == constants.VCI_E_RXQUEUE_EMPTY: raise VCIRxQueueEmptyError() elif result == constants.VCI_E_NO_MORE_ITEMS: @@ -1011,7 +1011,7 @@ def _format_can_status(status_flags: int): status_flags &= ~flag if status_flags: - states.append("unknown state 0x{:02x}".format(status_flags)) + states.append(f"unknown state 0x{status_flags:02x}") if states: return "CAN status message: {}".format(", ".join(states)) diff --git a/can/interfaces/ixxat/structures.py b/can/interfaces/ixxat/structures.py index b784437e0..419a52973 100644 --- a/can/interfaces/ixxat/structures.py +++ b/can/interfaces/ixxat/structures.py @@ -162,7 +162,7 @@ class CANMSG(ctypes.Structure): ] def __str__(self) -> str: - return """ID: 0x{0:04x}{1} DLC: {2:02d} DATA: {3}""".format( + return """ID: 0x{:04x}{} DLC: {:02d} DATA: {}""".format( self.dwMsgId, "[RTR]" if self.uMsgInfo.Bits.rtr else "", self.uMsgInfo.Bits.dlc, diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index f60a43bc5..a8bb7bac7 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -410,8 +410,8 @@ def __init__(self, channel, can_filters=None, **kwargs): """ - log.info("CAN Filters: {}".format(can_filters)) - log.info("Got configuration of: {}".format(kwargs)) + log.info(f"CAN Filters: {can_filters}") + log.info(f"Got configuration of: {kwargs}") bitrate = kwargs.get("bitrate", 500000) tseg1 = kwargs.get("tseg1", 0) tseg2 = kwargs.get("tseg2", 0) diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index f1def62ad..1eba09b31 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -124,7 +124,7 @@ def __init__( ) from None self._is_filtered = False - super(NiXNETcanBus, self).__init__( + super().__init__( channel=channel, can_filters=can_filters, bitrate=bitrate, diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 38ded44f6..743fb55ee 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -663,7 +663,7 @@ def __init__(self): try: aKey = winreg.OpenKey(aReg, r"SOFTWARE\PEAK-System\PEAK-Drivers") winreg.CloseKey(aKey) - except WindowsError: + except OSError: logger.error("Exception: The PEAK-driver couldn't be found!") finally: winreg.CloseKey(aReg) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index c60b9e6c9..cd0349c99 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -218,7 +218,7 @@ def __init__( channel = self._find_channel_by_dev_id(device_id) if channel is None: - err_msg = "Cannot find a channel with ID {:08x}".format(device_id) + err_msg = f"Cannot find a channel with ID {device_id:08x}" raise ValueError(err_msg) self.channel_info = str(channel) @@ -249,7 +249,7 @@ def __init__( f_clock = "{}={}".format("f_clock", kwargs.get("f_clock", None)) fd_parameters_values = [f_clock] + [ - "{}={}".format(key, kwargs.get(key, None)) + f"{key}={kwargs.get(key, None)}" for key in PCAN_FD_PARAMETER_LIST if kwargs.get(key, None) is not None ] @@ -350,7 +350,7 @@ def bits(n): for b in bits(error): stsReturn = self.m_objPCANBasic.GetErrorText(b, 0x9) if stsReturn[0] != PCAN_ERROR_OK: - text = "An error occurred. Error-code's text ({0:X}h) couldn't be retrieved".format( + text = "An error occurred. Error-code's text ({:X}h) couldn't be retrieved".format( error ) else: diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 0d3ad1b77..4d82c1922 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -396,7 +396,7 @@ def get_serial_number(self, timeout: Optional[int]) -> Optional[str]: serial = "" for idx in range(0, 8, 2): - serial += "{:02X}{:02X}-".format(sn1[idx], sn1[idx + 1]) + serial += f"{sn1[idx]:02X}{sn1[idx + 1]:02X}-" for idx in range(0, 4, 2): - serial += "{:02X}{:02X}-".format(sn2[idx], sn2[idx + 1]) + serial += f"{sn2[idx]:02X}{sn2[idx + 1]:02X}-" return serial[:-1] diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index f7b9a9ae4..f0545f7df 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -68,7 +68,7 @@ def bcm_header_factory( # requirements of this field, then we must add padding bytes until we # are aligned while curr_stride % field_alignment != 0: - results.append(("pad_{}".format(pad_index), ctypes.c_uint8)) + results.append((f"pad_{pad_index}", ctypes.c_uint8)) pad_index += 1 curr_stride += 1 @@ -84,7 +84,7 @@ def bcm_header_factory( # Add trailing padding to align to a multiple of the largest scalar member # in the structure while curr_stride % alignment != 0: - results.append(("pad_{}".format(pad_index), ctypes.c_uint8)) + results.append((f"pad_{pad_index}", ctypes.c_uint8)) pad_index += 1 curr_stride += 1 diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 55e7eb392..ecc870ca4 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -21,7 +21,7 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes # Pass all messages can_filters = [{"can_id": 0, "can_mask": 0}] - can_filter_fmt = "={}I".format(2 * len(can_filters)) + can_filter_fmt = f"={2 * len(can_filters)}I" filter_data = [] for can_filter in can_filters: can_id = can_filter["can_id"] @@ -50,7 +50,7 @@ def find_available_interfaces() -> Iterable[str]: try: # adding "type vcan" would exclude physical can devices command = ["ip", "-o", "link", "list", "up"] - output = subprocess.check_output(command, universal_newlines=True) + output = subprocess.check_output(command, text=True) except Exception as e: # subprocess.CalledProcessError is too specific log.error("failed to fetch opened can devices: %s", e) diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 327df9e73..28f0c700f 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -43,7 +43,7 @@ def convert_can_message_to_ascii_message(can_message: can.Message) -> str: # Note: seems like we cannot add CANFD_BRS (bitrate_switch) and CANFD_ESI (error_state_indicator) flags data = can_message.data length = can_message.dlc - bytes_string = " ".join("{:x}".format(x) for x in data[0:length]) + bytes_string = " ".join(f"{x:x}" for x in data[0:length]) return f"< send {can_id:X} {length:X} {bytes_string} >" diff --git a/can/interfaces/systec/ucanbus.py b/can/interfaces/systec/ucanbus.py index fee110b08..7d8b6133a 100644 --- a/can/interfaces/systec/ucanbus.py +++ b/can/interfaces/systec/ucanbus.py @@ -134,7 +134,7 @@ def __init__(self, channel, can_filters=None, **kwargs): self._ucan.init_hardware(device_number=device_number) self._ucan.init_can(self.channel, **self._params) hw_info_ex, _, _ = self._ucan.get_hardware_info() - self.channel_info = "%s, S/N %s, CH %s, BTR %s" % ( + self.channel_info = "{}, S/N {}, CH {}, BTR {}".format( self._ucan.get_product_code_message(hw_info_ex.product_code), hw_info_ex.serial, self.channel, diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index fea23fb54..ff72d262a 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -171,7 +171,7 @@ def __init__( ) self._app_name = app_name.encode() if app_name is not None else b"" - self.channel_info = "Application %s: %s" % ( + self.channel_info = "Application {}: {}".format( app_name, ", ".join(f"CAN {ch + 1}" for ch in self.channels), ) diff --git a/can/io/canutils.py b/can/io/canutils.py index f63df3f6b..e159ecdf4 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -170,7 +170,7 @@ def on_message_received(self, msg): if isinstance(channel, int) or isinstance(channel, str) and channel.isdigit(): channel = f"can{channel}" - framestr = "(%f) %s" % (timestamp, channel) + framestr = f"({timestamp:f}) {channel}" if msg.is_error_frame: framestr += " %08X#" % (CAN_ERR_FLAG | CAN_ERR_BUSERROR) diff --git a/can/io/trc.py b/can/io/trc.py index 25ba0f5c6..0a07f01c9 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -1,5 +1,3 @@ -# coding: utf-8 - """ Reader and writer for can logging files in peak trc format @@ -51,7 +49,7 @@ def __init__( If this is a file-like object, is has to opened in text read mode, not binary read mode. """ - super(TRCReader, self).__init__(file, mode="r") + super().__init__(file, mode="r") self.file_version = TRCFileVersion.UNKNOWN if not self.file: @@ -211,7 +209,7 @@ def __init__( :param channel: a default channel to use when the message does not have a channel set """ - super(TRCWriter, self).__init__(file, mode="w") + super().__init__(file, mode="w") self.channel = channel if type(file) is str: self.filepath = os.path.abspath(file) diff --git a/can/typechecking.py b/can/typechecking.py index b3a513a3a..31a298995 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -11,9 +11,14 @@ CanFilter: typing_extensions = typing_extensions.TypedDict( "CanFilter", {"can_id": int, "can_mask": int} ) -CanFilterExtended = typing_extensions.TypedDict( - "CanFilterExtended", {"can_id": int, "can_mask": int, "extended": bool} -) + + +class CanFilterExtended(typing_extensions.TypedDict): + can_id: int + can_mask: int + extended: bool + + CanFilters = typing.Sequence[typing.Union[CanFilter, CanFilterExtended]] # TODO: Once buffer protocol support lands in typing, we should switch to that, @@ -35,8 +40,10 @@ BusConfig = typing.NewType("BusConfig", typing.Dict[str, typing.Any]) -AutoDetectedConfig = typing_extensions.TypedDict( - "AutoDetectedConfig", {"interface": str, "channel": Channel} -) + +class AutoDetectedConfig(typing_extensions.TypedDict): + interface: str + channel: Channel + ReadableBytesLike = typing.Union[bytes, bytearray, memoryview] diff --git a/can/util.py b/can/util.py index e64eb13b5..41467542d 100644 --- a/can/util.py +++ b/can/util.py @@ -61,10 +61,10 @@ def load_file_config( else: config.read(path) - _config = {} + _config: Dict[str, str] = {} if config.has_section(section): - _config.update(dict((key, val) for key, val in config.items(section))) + _config.update(config.items(section)) return _config diff --git a/can/viewer.py b/can/viewer.py index 202f8d546..e87684485 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -515,7 +515,7 @@ def parse_args(args: List[str]) -> Tuple: ] = {} if parsed_args.decode: if os.path.isfile(parsed_args.decode[0]): - with open(parsed_args.decode[0], "r", encoding="utf-8") as f: + with open(parsed_args.decode[0], encoding="utf-8") as f: structs = f.readlines() else: structs = parsed_args.decode diff --git a/setup.py b/setup.py index a32471844..b3d99f612 100644 --- a/setup.py +++ b/setup.py @@ -15,12 +15,12 @@ logging.basicConfig(level=logging.WARNING) -with open("can/__init__.py", "r", encoding="utf-8") as fd: +with open("can/__init__.py", encoding="utf-8") as fd: version = re.search( r'^__version__\s*=\s*[\'"]([^\'"]*)[\'"]', fd.read(), re.MULTILINE ).group(1) -with open("README.rst", "r", encoding="utf-8") as f: +with open("README.rst", encoding="utf-8") as f: long_description = f.read() # Dependencies diff --git a/test/config.py b/test/config.py index fc1bca6c2..d308a8cc8 100644 --- a/test/config.py +++ b/test/config.py @@ -27,7 +27,7 @@ def env(name: str) -> bool: IS_CI = IS_TRAVIS or IS_GITHUB_ACTIONS or env("CI") or env("CONTINUOUS_INTEGRATION") if IS_TRAVIS and IS_GITHUB_ACTIONS: - raise EnvironmentError( + raise OSError( f"only one of IS_TRAVIS ({IS_TRAVIS}) and IS_GITHUB_ACTIONS ({IS_GITHUB_ACTIONS}) may be True at the " "same time" ) @@ -43,7 +43,7 @@ def env(name: str) -> bool: del _sys if (IS_WINDOWS and IS_LINUX) or (IS_LINUX and IS_OSX) or (IS_WINDOWS and IS_OSX): - raise EnvironmentError( + raise OSError( f"only one of IS_WINDOWS ({IS_WINDOWS}), IS_LINUX ({IS_LINUX}) and IS_OSX ({IS_OSX}) " f'can be True at the same time (platform.system() == "{platform.system()}")' ) diff --git a/test/listener_test.py b/test/listener_test.py index 0e64a266a..9b2e9e93b 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -88,7 +88,7 @@ def testRemoveListenerFromNotifier(self): def testPlayerTypeResolution(self): def test_filetype_to_instance(extension, klass): - print("testing: {}".format(extension)) + print(f"testing: {extension}") try: if extension == ".blf": delete = False @@ -123,7 +123,7 @@ def testPlayerTypeResolutionUnsupportedFileTypes(self): def testLoggerTypeResolution(self): def test_filetype_to_instance(extension, klass): - print("testing: {}".format(extension)) + print(f"testing: {extension}") try: with tempfile.NamedTemporaryFile( suffix=extension, delete=False diff --git a/test/logformats_test.py b/test/logformats_test.py index 435b651b6..05c8b986f 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -141,7 +141,7 @@ def _setup_instance_helper( ] assert ( "log_event" in attrs - ), "cannot check comments with this writer: {}".format(writer_constructor) + ), f"cannot check comments with this writer: {writer_constructor}" # get all test comments self.original_comments = TEST_COMMENTS if check_comments else () diff --git a/test/message_helper.py b/test/message_helper.py index 1e7989156..fe193097b 100644 --- a/test/message_helper.py +++ b/test/message_helper.py @@ -31,8 +31,8 @@ def assertMessageEqual(self, message_1, message_2): if message_1.equals(message_2, timestamp_delta=self.allowed_timestamp_delta): return elif self.preserves_channel: - print("Comparing: message 1: {!r}".format(message_1)) - print(" message 2: {!r}".format(message_2)) + print(f"Comparing: message 1: {message_1!r}") + print(f" message 2: {message_2!r}") self.fail( "messages are unequal with allowed timestamp delta {}".format( self.allowed_timestamp_delta @@ -46,8 +46,8 @@ def assertMessageEqual(self, message_1, message_2): ): return else: - print("Comparing: message 1: {!r}".format(message_1)) - print(" message 2: {!r}".format(message_2)) + print(f"Comparing: message 1: {message_1!r}") + print(f" message 2: {message_2!r}") self.fail( "messages are unequal with allowed timestamp delta {} even when ignoring channels".format( self.allowed_timestamp_delta diff --git a/test/test_interface_virtual.py b/test/test_interface_virtual.py index 009722779..94833fdcb 100644 --- a/test/test_interface_virtual.py +++ b/test/test_interface_virtual.py @@ -1,5 +1,4 @@ #!/usr/bin/env python -# coding: utf-8 """ This module tests :meth:`can.interface.virtual`. diff --git a/test/test_load_config.py b/test/test_load_config.py index a2969b0a5..1bfba450a 100644 --- a/test/test_load_config.py +++ b/test/test_load_config.py @@ -30,9 +30,9 @@ def _gen_configration_file(self, sections): ) as tmp_config_file: content = [] for section in sections: - content.append("[{}]".format(section)) + content.append(f"[{section}]") for k, v in self.configuration[section].items(): - content.append("{} = {}".format(k, v)) + content.append(f"{k} = {v}") tmp_config_file.write("\n".join(content)) return tmp_config_file.name diff --git a/test/test_load_file_config.py b/test/test_load_file_config.py index 6b1d5a382..afedf58d4 100644 --- a/test/test_load_file_config.py +++ b/test/test_load_file_config.py @@ -30,9 +30,9 @@ def _gen_configration_file(self, sections): ) as tmp_config_file: content = [] for section in sections: - content.append("[{}]".format(section)) + content.append(f"[{section}]") for k, v in self.configuration[section].items(): - content.append("{} = {}".format(k, v)) + content.append(f"{k} = {v}") tmp_config_file.write("\n".join(content)) return tmp_config_file.name diff --git a/test/test_message_class.py b/test/test_message_class.py index 9fae7262e..4840402ff 100644 --- a/test/test_message_class.py +++ b/test/test_message_class.py @@ -87,8 +87,8 @@ def test_methods(self, **kwargs): if is_valid: self.assertEqual(len(message), kwargs["dlc"]) self.assertTrue(bool(message)) - self.assertGreater(len("{}".format(message)), 0) - _ = "{}".format(message) + self.assertGreater(len(f"{message}"), 0) + _ = f"{message}" with self.assertRaises(Exception): _ = "{somespec}".format( message diff --git a/test/test_message_sync.py b/test/test_message_sync.py index 8750dd416..7552915e7 100644 --- a/test/test_message_sync.py +++ b/test/test_message_sync.py @@ -87,7 +87,7 @@ def test_skip(self): # the handling of the messages itself also takes some time: # ~0.001 s/message on a ThinkPad T560 laptop (Ubuntu 18.04, i5-6200U) - assert 0 < took < inc(len(messages) * (0.005 + 0.003)), "took: {}s".format(took) + assert 0 < took < inc(len(messages) * (0.005 + 0.003)), f"took: {took}s" self.assertMessagesEqual(messages, collected) diff --git a/test/test_viewer.py b/test/test_viewer.py index 5633a3bc1..baef10bda 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -302,7 +302,7 @@ def pack_data( return struct_t.pack(*data) else: - raise ValueError("Unknown command: 0x{:02X}".format(cmd)) + raise ValueError(f"Unknown command: 0x{cmd:02X}") def test_pack_unpack(self): CANOPEN_TPDO1 = 0x180 From cc7f81e8b7d07d58ee44fcd0f1641b0fbaeb97f6 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 26 Nov 2022 23:47:31 +0100 Subject: [PATCH 184/475] Use high resolution timer on Windows (#1449) * use high resolution timer * enable CI for feature branches --- .github/workflows/ci.yml | 2 +- can/broadcastmanager.py | 10 +++++++++- setup.py | 2 +- 3 files changed, 11 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5ea3076f2..577ccd97d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -5,7 +5,7 @@ on: types: [ published ] pull_request: push: - branches: [ develop, main ] + env: PY_COLORS: "1" diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 239d1d7d5..cfa4c658d 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -248,7 +248,15 @@ def __init__( if HAS_EVENTS: self.period_ms = int(round(period * 1000, 0)) - self.event = win32event.CreateWaitableTimer(None, False, None) + try: + self.event = win32event.CreateWaitableTimerEx( + None, + None, + win32event.CREATE_WAITABLE_TIMER_HIGH_RESOLUTION, + win32event.TIMER_ALL_ACCESS, + ) + except (AttributeError, OSError): + self.event = win32event.CreateWaitableTimer(None, False, None) self.start() diff --git a/setup.py b/setup.py index b3d99f612..dc4c7e11f 100644 --- a/setup.py +++ b/setup.py @@ -92,7 +92,7 @@ "setuptools", "wrapt~=1.10", "typing_extensions>=3.10.0.0", - 'pywin32;platform_system=="Windows" and platform_python_implementation=="CPython"', + 'pywin32>=305;platform_system=="Windows" and platform_python_implementation=="CPython"', 'msgpack~=1.0.0;platform_system!="Windows"', "packaging", ], From 486dafb3fd01f428d030ec2c4bf5d944fd77a146 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?uml=C3=A4ute?= Date: Tue, 29 Nov 2022 22:51:16 +0100 Subject: [PATCH 185/475] executable examples (#1452) * Fix permissions of executable scripts * Add shebang to examples/print_notifier.py - it's executable - it has a __name__=='__main__' section * dos2unix * make sure all python-files have a consistent line-ending * make sure all ASC-files have a consistent line-ending --- can/exceptions.py | 244 +++++++++++++++--------------- examples/crc.py | 168 ++++++++++---------- examples/cyclic_multiple.py | 0 examples/print_notifier.py | 2 + test/data/logfile.asc | 78 +++++----- test/data/logfile_errorframes.asc | 42 ++--- test/test_interface_ixxat.py | 128 ++++++++-------- 7 files changed, 332 insertions(+), 330 deletions(-) mode change 100644 => 100755 examples/crc.py mode change 100644 => 100755 examples/cyclic_multiple.py diff --git a/can/exceptions.py b/can/exceptions.py index dc08be3b8..7496c6c0e 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -1,122 +1,122 @@ -""" -There are several specific :class:`Exception` classes to allow user -code to react to specific scenarios related to CAN busses:: - - Exception (Python standard library) - +-- ... - +-- CanError (python-can) - +-- CanInterfaceNotImplementedError - +-- CanInitializationError - +-- CanOperationError - +-- CanTimeoutError - -Keep in mind that some functions and methods may raise different exceptions. -For example, validating typical arguments and parameters might result in a -:class:`ValueError`. This should always be documented for the function at hand. -""" - -import sys -from contextlib import contextmanager - -from typing import Optional -from typing import Type - -if sys.version_info >= (3, 9): - from collections.abc import Generator -else: - from typing import Generator - - -class CanError(Exception): - """Base class for all CAN related exceptions. - - If specified, the error code is automatically appended to the message: - - >>> # With an error code (it also works with a specific error): - >>> error = CanOperationError(message="Failed to do the thing", error_code=42) - >>> str(error) - 'Failed to do the thing [Error Code 42]' - >>> - >>> # Missing the error code: - >>> plain_error = CanError(message="Something went wrong ...") - >>> str(plain_error) - 'Something went wrong ...' - - :param error_code: - An optional error code to narrow down the cause of the fault - - :arg error_code: - An optional error code to narrow down the cause of the fault - """ - - def __init__( - self, - message: str = "", - error_code: Optional[int] = None, - ) -> None: - self.error_code = error_code - super().__init__( - message if error_code is None else f"{message} [Error Code {error_code}]" - ) - - -class CanInterfaceNotImplementedError(CanError, NotImplementedError): - """Indicates that the interface is not supported on the current platform. - - Example scenarios: - - No interface with that name exists - - The interface is unsupported on the current operating system or interpreter - - The driver could not be found or has the wrong version - """ - - -class CanInitializationError(CanError): - """Indicates an error the occurred while initializing a :class:`can.BusABC`. - - If initialization fails due to a driver or platform missing/being unsupported, - a :exc:`~can.exceptions.CanInterfaceNotImplementedError` is raised instead. - If initialization fails due to a value being out of range, a :class:`ValueError` - is raised. - - Example scenarios: - - Try to open a non-existent device and/or channel - - Try to use an invalid setting, which is ok by value, but not ok for the interface - - The device or other resources are already used - """ - - -class CanOperationError(CanError): - """Indicates an error while in operation. - - Example scenarios: - - A call to a library function results in an unexpected return value - - An invalid message was received - - The driver rejected a message that was meant to be sent - - Cyclic redundancy check (CRC) failed - - A message remained unacknowledged - - A buffer is full - """ - - -class CanTimeoutError(CanError, TimeoutError): - """Indicates the timeout of an operation. - - Example scenarios: - - Some message could not be sent after the timeout elapsed - - No message was read within the given time - """ - - -@contextmanager -def error_check( - error_message: Optional[str] = None, - exception_type: Type[CanError] = CanOperationError, -) -> Generator[None, None, None]: - """Catches any exceptions and turns them into the new type while preserving the stack trace.""" - try: - yield - except Exception as error: # pylint: disable=broad-except - if error_message is None: - raise exception_type(str(error)) from error - else: - raise exception_type(error_message) from error +""" +There are several specific :class:`Exception` classes to allow user +code to react to specific scenarios related to CAN busses:: + + Exception (Python standard library) + +-- ... + +-- CanError (python-can) + +-- CanInterfaceNotImplementedError + +-- CanInitializationError + +-- CanOperationError + +-- CanTimeoutError + +Keep in mind that some functions and methods may raise different exceptions. +For example, validating typical arguments and parameters might result in a +:class:`ValueError`. This should always be documented for the function at hand. +""" + +import sys +from contextlib import contextmanager + +from typing import Optional +from typing import Type + +if sys.version_info >= (3, 9): + from collections.abc import Generator +else: + from typing import Generator + + +class CanError(Exception): + """Base class for all CAN related exceptions. + + If specified, the error code is automatically appended to the message: + + >>> # With an error code (it also works with a specific error): + >>> error = CanOperationError(message="Failed to do the thing", error_code=42) + >>> str(error) + 'Failed to do the thing [Error Code 42]' + >>> + >>> # Missing the error code: + >>> plain_error = CanError(message="Something went wrong ...") + >>> str(plain_error) + 'Something went wrong ...' + + :param error_code: + An optional error code to narrow down the cause of the fault + + :arg error_code: + An optional error code to narrow down the cause of the fault + """ + + def __init__( + self, + message: str = "", + error_code: Optional[int] = None, + ) -> None: + self.error_code = error_code + super().__init__( + message if error_code is None else f"{message} [Error Code {error_code}]" + ) + + +class CanInterfaceNotImplementedError(CanError, NotImplementedError): + """Indicates that the interface is not supported on the current platform. + + Example scenarios: + - No interface with that name exists + - The interface is unsupported on the current operating system or interpreter + - The driver could not be found or has the wrong version + """ + + +class CanInitializationError(CanError): + """Indicates an error the occurred while initializing a :class:`can.BusABC`. + + If initialization fails due to a driver or platform missing/being unsupported, + a :exc:`~can.exceptions.CanInterfaceNotImplementedError` is raised instead. + If initialization fails due to a value being out of range, a :class:`ValueError` + is raised. + + Example scenarios: + - Try to open a non-existent device and/or channel + - Try to use an invalid setting, which is ok by value, but not ok for the interface + - The device or other resources are already used + """ + + +class CanOperationError(CanError): + """Indicates an error while in operation. + + Example scenarios: + - A call to a library function results in an unexpected return value + - An invalid message was received + - The driver rejected a message that was meant to be sent + - Cyclic redundancy check (CRC) failed + - A message remained unacknowledged + - A buffer is full + """ + + +class CanTimeoutError(CanError, TimeoutError): + """Indicates the timeout of an operation. + + Example scenarios: + - Some message could not be sent after the timeout elapsed + - No message was read within the given time + """ + + +@contextmanager +def error_check( + error_message: Optional[str] = None, + exception_type: Type[CanError] = CanOperationError, +) -> Generator[None, None, None]: + """Catches any exceptions and turns them into the new type while preserving the stack trace.""" + try: + yield + except Exception as error: # pylint: disable=broad-except + if error_message is None: + raise exception_type(str(error)) from error + else: + raise exception_type(error_message) from error diff --git a/examples/crc.py b/examples/crc.py old mode 100644 new mode 100755 index 4344fb2ea..18d22681a --- a/examples/crc.py +++ b/examples/crc.py @@ -1,84 +1,84 @@ -#!/usr/bin/env python - -""" -This example exercises the periodic task's multiple message sending capabilities -to send a message containing a counter and a checksum. - -Expects a vcan0 interface: - - python3 -m examples.crc - -""" - -import logging -import time - -import can - -logging.basicConfig(level=logging.INFO) - - -def crc_send(bus): - """ - Sends periodic messages every 1 s with no explicit timeout. Modifies messages - after 8 seconds, sends for 10 more seconds, then stops. - """ - msg = can.Message(arbitration_id=0x12345678, data=[1, 2, 3, 4, 5, 6, 7, 0]) - messages = build_crc_msgs(msg) - - print( - "Starting to send a message with updating counter and checksum every 1 s for 8 s" - ) - task = bus.send_periodic(messages, 1) - assert isinstance(task, can.CyclicSendTaskABC) - time.sleep(8) - - msg = can.Message(arbitration_id=0x12345678, data=[8, 9, 10, 11, 12, 13, 14, 0]) - messages = build_crc_msgs(msg) - - print("Sending modified message data every 1 s for 10 s") - task.modify_data(messages) - time.sleep(10) - task.stop() - print("stopped cyclic send") - - -def build_crc_msgs(msg): - """ - Using the input message as base, create 16 messages with SAE J1939 SPN 3189 counters - and SPN 3188 checksums placed in the final byte. - """ - messages = [] - - for counter in range(16): - checksum = compute_xbr_checksum(msg, counter) - msg.data[7] = counter + (checksum << 4) - messages.append( - can.Message(arbitration_id=msg.arbitration_id, data=msg.data[:]) - ) - - return messages - - -def compute_xbr_checksum(message, counter): - """ - Computes an XBR checksum per SAE J1939 SPN 3188. - """ - checksum = sum(message.data[:7]) - checksum += sum(message.arbitration_id.to_bytes(length=4, byteorder="big")) - checksum += counter & 0x0F - xbr_checksum = ((checksum >> 4) + checksum) & 0x0F - - return xbr_checksum - - -if __name__ == "__main__": - for interface, channel in [("socketcan", "vcan0")]: - print(f"Carrying out crc test with {interface} interface") - - with can.Bus( # type: ignore - interface=interface, channel=channel, bitrate=500000 - ) as BUS: - crc_send(BUS) - - time.sleep(2) +#!/usr/bin/env python + +""" +This example exercises the periodic task's multiple message sending capabilities +to send a message containing a counter and a checksum. + +Expects a vcan0 interface: + + python3 -m examples.crc + +""" + +import logging +import time + +import can + +logging.basicConfig(level=logging.INFO) + + +def crc_send(bus): + """ + Sends periodic messages every 1 s with no explicit timeout. Modifies messages + after 8 seconds, sends for 10 more seconds, then stops. + """ + msg = can.Message(arbitration_id=0x12345678, data=[1, 2, 3, 4, 5, 6, 7, 0]) + messages = build_crc_msgs(msg) + + print( + "Starting to send a message with updating counter and checksum every 1 s for 8 s" + ) + task = bus.send_periodic(messages, 1) + assert isinstance(task, can.CyclicSendTaskABC) + time.sleep(8) + + msg = can.Message(arbitration_id=0x12345678, data=[8, 9, 10, 11, 12, 13, 14, 0]) + messages = build_crc_msgs(msg) + + print("Sending modified message data every 1 s for 10 s") + task.modify_data(messages) + time.sleep(10) + task.stop() + print("stopped cyclic send") + + +def build_crc_msgs(msg): + """ + Using the input message as base, create 16 messages with SAE J1939 SPN 3189 counters + and SPN 3188 checksums placed in the final byte. + """ + messages = [] + + for counter in range(16): + checksum = compute_xbr_checksum(msg, counter) + msg.data[7] = counter + (checksum << 4) + messages.append( + can.Message(arbitration_id=msg.arbitration_id, data=msg.data[:]) + ) + + return messages + + +def compute_xbr_checksum(message, counter): + """ + Computes an XBR checksum per SAE J1939 SPN 3188. + """ + checksum = sum(message.data[:7]) + checksum += sum(message.arbitration_id.to_bytes(length=4, byteorder="big")) + checksum += counter & 0x0F + xbr_checksum = ((checksum >> 4) + checksum) & 0x0F + + return xbr_checksum + + +if __name__ == "__main__": + for interface, channel in [("socketcan", "vcan0")]: + print(f"Carrying out crc test with {interface} interface") + + with can.Bus( # type: ignore + interface=interface, channel=channel, bitrate=500000 + ) as BUS: + crc_send(BUS) + + time.sleep(2) diff --git a/examples/cyclic_multiple.py b/examples/cyclic_multiple.py old mode 100644 new mode 100755 diff --git a/examples/print_notifier.py b/examples/print_notifier.py index bbead7d15..b6554ccd2 100755 --- a/examples/print_notifier.py +++ b/examples/print_notifier.py @@ -1,3 +1,5 @@ +#!/usr/bin/env python + import time import can diff --git a/test/data/logfile.asc b/test/data/logfile.asc index 8e6ac0464..13274a4c4 100644 --- a/test/data/logfile.asc +++ b/test/data/logfile.asc @@ -1,39 +1,39 @@ -date Sam Sep 30 15:06:13.191 2017 -base hex timestamps absolute -internal events logged -// version 9.0.0 -//0.000000 previous log file: logfile_errorframes.asc -Begin Triggerblock Sam Sep 30 15:06:13.191 2017 - 0.000000 Start of measurement - 0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0 - 0.015991 CAN 2 Status:chip status error active - 1.015991 1 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% - 1.015991 2 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% - 2.015992 1 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% - 2.501000 1 ErrorFrame - 2.501010 1 ErrorFrame ECC: 10100010 - 2.501020 2 ErrorFrame Flags = 0xe CodeExt = 0x20a2 Code = 0x82 ID = 0 DLC = 0 Position = 5 Length = 11300 - 2.510001 2 100 Tx r - 2.520002 3 200 Tx r Length = 1704000 BitCount = 145 ID = 88888888x - 2.584921 4 300 Tx r 8 Length = 1704000 BitCount = 145 ID = 88888888x - 3.098426 1 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273910 BitCount = 141 ID = 418119424x - 3.148421 1 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 271910 BitCount = 140 ID = 418119424x - 3.197693 1 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x - 3.248765 1 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283910 BitCount = 146 ID = 418119424x - 3.297743 1 J1939TP FEE3p 6 0 0 - Rx d 23 A0 0F A6 60 3B D1 40 1F DE 80 25 DF C0 2B E1 00 4B FF FF 3C 0F 00 4B FF FF FF FF FF FF FF FF FF FF FF FF - 17.876707 CAN 1 Status:chip status error passive - TxErr: 131 RxErr: 0 - 17.876708 1 6F9 Rx d 8 05 0C 00 00 00 00 00 00 Length = 240015 BitCount = 124 ID = 1785 - 17.876976 1 6F8 Rx d 8 FF 00 0C FE 00 00 00 00 Length = 239910 BitCount = 124 ID = 1784 - 18.015997 1 Statistic: D 2 R 0 XD 0 XR 0 E 0 O 0 B 0.04% - 20.105214 2 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273925 BitCount = 141 ID = 418119424x - 20.155119 2 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 272152 BitCount = 140 ID = 418119424x - 20.204671 2 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x - 20.248887 2 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283925 BitCount = 146 ID = 418119424x - 20.305233 2 J1939TP FEE3p 6 0 0 - Rx d 23 A0 0F A6 60 3B D1 40 1F DE 80 25 DF C0 2B E1 00 4B FF FF 3C 0F 00 4B FF FF FF FF FF FF FF FF FF FF FF FF - 30.005071 CANFD 2 Rx 300 Generic_Name_12 1 0 8 8 01 02 03 04 05 06 07 08 102203 133 303000 e0006659 46500250 4b140250 20011736 2001040d - 30.300981 CANFD 3 Tx 50005x 0 0 5 0 140000 73 200050 7a60 46500250 460a0250 20011736 20010205 - 30.506898 CANFD 4 Rx 4EE 0 0 f 64 01 02 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 1331984 11 0 46500250 460a0250 20011736 20010205 - 30.806898 CANFD 5 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31ca Arb. 556 44 0 0 f 64 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1331984 11 0 46500250 460a0250 20011736 20010205 - 113.016026 1 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% - 113.016026 2 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% -End TriggerBlock +date Sam Sep 30 15:06:13.191 2017 +base hex timestamps absolute +internal events logged +// version 9.0.0 +//0.000000 previous log file: logfile_errorframes.asc +Begin Triggerblock Sam Sep 30 15:06:13.191 2017 + 0.000000 Start of measurement + 0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0 + 0.015991 CAN 2 Status:chip status error active + 1.015991 1 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% + 1.015991 2 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% + 2.015992 1 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% + 2.501000 1 ErrorFrame + 2.501010 1 ErrorFrame ECC: 10100010 + 2.501020 2 ErrorFrame Flags = 0xe CodeExt = 0x20a2 Code = 0x82 ID = 0 DLC = 0 Position = 5 Length = 11300 + 2.510001 2 100 Tx r + 2.520002 3 200 Tx r Length = 1704000 BitCount = 145 ID = 88888888x + 2.584921 4 300 Tx r 8 Length = 1704000 BitCount = 145 ID = 88888888x + 3.098426 1 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273910 BitCount = 141 ID = 418119424x + 3.148421 1 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 271910 BitCount = 140 ID = 418119424x + 3.197693 1 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x + 3.248765 1 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283910 BitCount = 146 ID = 418119424x + 3.297743 1 J1939TP FEE3p 6 0 0 - Rx d 23 A0 0F A6 60 3B D1 40 1F DE 80 25 DF C0 2B E1 00 4B FF FF 3C 0F 00 4B FF FF FF FF FF FF FF FF FF FF FF FF + 17.876707 CAN 1 Status:chip status error passive - TxErr: 131 RxErr: 0 + 17.876708 1 6F9 Rx d 8 05 0C 00 00 00 00 00 00 Length = 240015 BitCount = 124 ID = 1785 + 17.876976 1 6F8 Rx d 8 FF 00 0C FE 00 00 00 00 Length = 239910 BitCount = 124 ID = 1784 + 18.015997 1 Statistic: D 2 R 0 XD 0 XR 0 E 0 O 0 B 0.04% + 20.105214 2 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273925 BitCount = 141 ID = 418119424x + 20.155119 2 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 272152 BitCount = 140 ID = 418119424x + 20.204671 2 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x + 20.248887 2 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283925 BitCount = 146 ID = 418119424x + 20.305233 2 J1939TP FEE3p 6 0 0 - Rx d 23 A0 0F A6 60 3B D1 40 1F DE 80 25 DF C0 2B E1 00 4B FF FF 3C 0F 00 4B FF FF FF FF FF FF FF FF FF FF FF FF + 30.005071 CANFD 2 Rx 300 Generic_Name_12 1 0 8 8 01 02 03 04 05 06 07 08 102203 133 303000 e0006659 46500250 4b140250 20011736 2001040d + 30.300981 CANFD 3 Tx 50005x 0 0 5 0 140000 73 200050 7a60 46500250 460a0250 20011736 20010205 + 30.506898 CANFD 4 Rx 4EE 0 0 f 64 01 02 03 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 64 1331984 11 0 46500250 460a0250 20011736 20010205 + 30.806898 CANFD 5 Tx ErrorFrame Not Acknowledge error, dominant error flag fffe c7 31ca Arb. 556 44 0 0 f 64 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 1331984 11 0 46500250 460a0250 20011736 20010205 + 113.016026 1 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% + 113.016026 2 Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00% +End TriggerBlock diff --git a/test/data/logfile_errorframes.asc b/test/data/logfile_errorframes.asc index bcb5584a7..6f751bfac 100644 --- a/test/data/logfile_errorframes.asc +++ b/test/data/logfile_errorframes.asc @@ -1,21 +1,21 @@ -date Sam Sep 30 15:06:13.191 2017 -base hex timestamps absolute -internal events logged -// version 9.0.0 -Begin Triggerblock Sam Sep 30 15:06:13.191 2017 - 0.000000 Start of measurement - 0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0 - 0.015991 CAN 2 Status:chip status error active - 2.501000 1 ErrorFrame - 2.501010 1 ErrorFrame ECC: 10100010 - 2.501020 2 ErrorFrame Flags = 0xe CodeExt = 0x20a2 Code = 0x82 ID = 0 DLC = 0 Position = 5 Length = 11300 - 2.520002 3 200 Tx r Length = 1704000 BitCount = 145 ID = 88888888x - 2.584921 4 300 Tx r 8 Length = 1704000 BitCount = 145 ID = 88888888x - 3.098426 1 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273910 BitCount = 141 ID = 418119424x - 3.197693 1 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x - 17.876976 1 6F8 Rx d 8 FF 00 0C FE 00 00 00 00 Length = 239910 BitCount = 124 ID = 1784 - 20.105214 2 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273925 BitCount = 141 ID = 418119424x - 20.155119 2 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 272152 BitCount = 140 ID = 418119424x - 20.204671 2 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x - 20.248887 2 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283925 BitCount = 146 ID = 418119424x -End TriggerBlock +date Sam Sep 30 15:06:13.191 2017 +base hex timestamps absolute +internal events logged +// version 9.0.0 +Begin Triggerblock Sam Sep 30 15:06:13.191 2017 + 0.000000 Start of measurement + 0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0 + 0.015991 CAN 2 Status:chip status error active + 2.501000 1 ErrorFrame + 2.501010 1 ErrorFrame ECC: 10100010 + 2.501020 2 ErrorFrame Flags = 0xe CodeExt = 0x20a2 Code = 0x82 ID = 0 DLC = 0 Position = 5 Length = 11300 + 2.520002 3 200 Tx r Length = 1704000 BitCount = 145 ID = 88888888x + 2.584921 4 300 Tx r 8 Length = 1704000 BitCount = 145 ID = 88888888x + 3.098426 1 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273910 BitCount = 141 ID = 418119424x + 3.197693 1 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x + 17.876976 1 6F8 Rx d 8 FF 00 0C FE 00 00 00 00 Length = 239910 BitCount = 124 ID = 1784 + 20.105214 2 18EBFF00x Rx d 8 01 A0 0F A6 60 3B D1 40 Length = 273925 BitCount = 141 ID = 418119424x + 20.155119 2 18EBFF00x Rx d 8 02 1F DE 80 25 DF C0 2B Length = 272152 BitCount = 140 ID = 418119424x + 20.204671 2 18EBFF00x Rx d 8 03 E1 00 4B FF FF 3C 0F Length = 283910 BitCount = 146 ID = 418119424x + 20.248887 2 18EBFF00x Rx d 8 04 00 4B FF FF FF FF FF Length = 283925 BitCount = 146 ID = 418119424x +End TriggerBlock diff --git a/test/test_interface_ixxat.py b/test/test_interface_ixxat.py index 76285e422..484a88b58 100644 --- a/test/test_interface_ixxat.py +++ b/test/test_interface_ixxat.py @@ -1,64 +1,64 @@ -#!/usr/bin/env python - -""" -Unittest for ixxat interface. - -Run only this test: -python setup.py test --addopts "--verbose -s test/test_interface_ixxat.py" -""" - -import unittest -import can - - -class SoftwareTestCase(unittest.TestCase): - """ - Test cases that test the software only and do not rely on an existing/connected hardware. - """ - - def setUp(self): - try: - bus = can.Bus(interface="ixxat", channel=0) - bus.shutdown() - except can.CanInterfaceNotImplementedError: - raise unittest.SkipTest("not available on this platform") - - def test_bus_creation(self): - # channel must be >= 0 - with self.assertRaises(ValueError): - can.Bus(interface="ixxat", channel=-1) - - # rx_fifo_size must be > 0 - with self.assertRaises(ValueError): - can.Bus(interface="ixxat", channel=0, rx_fifo_size=0) - - # tx_fifo_size must be > 0 - with self.assertRaises(ValueError): - can.Bus(interface="ixxat", channel=0, tx_fifo_size=0) - - -class HardwareTestCase(unittest.TestCase): - """ - Test cases that rely on an existing/connected hardware. - """ - - def setUp(self): - try: - bus = can.Bus(interface="ixxat", channel=0) - bus.shutdown() - except can.CanInterfaceNotImplementedError: - raise unittest.SkipTest("not available on this platform") - - def test_bus_creation(self): - # non-existent channel -> use arbitrary high value - with self.assertRaises(can.CanInitializationError): - can.Bus(interface="ixxat", channel=0xFFFF) - - def test_send_after_shutdown(self): - with can.Bus(interface="ixxat", channel=0) as bus: - with self.assertRaises(can.CanOperationError): - bus.send(can.Message(arbitration_id=0x3FF, dlc=0)) - - -if __name__ == "__main__": - unittest.main() +#!/usr/bin/env python + +""" +Unittest for ixxat interface. + +Run only this test: +python setup.py test --addopts "--verbose -s test/test_interface_ixxat.py" +""" + +import unittest +import can + + +class SoftwareTestCase(unittest.TestCase): + """ + Test cases that test the software only and do not rely on an existing/connected hardware. + """ + + def setUp(self): + try: + bus = can.Bus(interface="ixxat", channel=0) + bus.shutdown() + except can.CanInterfaceNotImplementedError: + raise unittest.SkipTest("not available on this platform") + + def test_bus_creation(self): + # channel must be >= 0 + with self.assertRaises(ValueError): + can.Bus(interface="ixxat", channel=-1) + + # rx_fifo_size must be > 0 + with self.assertRaises(ValueError): + can.Bus(interface="ixxat", channel=0, rx_fifo_size=0) + + # tx_fifo_size must be > 0 + with self.assertRaises(ValueError): + can.Bus(interface="ixxat", channel=0, tx_fifo_size=0) + + +class HardwareTestCase(unittest.TestCase): + """ + Test cases that rely on an existing/connected hardware. + """ + + def setUp(self): + try: + bus = can.Bus(interface="ixxat", channel=0) + bus.shutdown() + except can.CanInterfaceNotImplementedError: + raise unittest.SkipTest("not available on this platform") + + def test_bus_creation(self): + # non-existent channel -> use arbitrary high value + with self.assertRaises(can.CanInitializationError): + can.Bus(interface="ixxat", channel=0xFFFF) + + def test_send_after_shutdown(self): + with can.Bus(interface="ixxat", channel=0) as bus: + with self.assertRaises(can.CanOperationError): + bus.send(can.Message(arbitration_id=0x3FF, dlc=0)) + + +if __name__ == "__main__": + unittest.main() From 25d30b529dcc28cbe75320d8315b57233fd10cc1 Mon Sep 17 00:00:00 2001 From: Hugo SERRAT Date: Wed, 7 Dec 2022 16:11:09 +0100 Subject: [PATCH 186/475] fix: canfilter typing (#1456) Co-authored-by: hugo --- can/typechecking.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/can/typechecking.py b/can/typechecking.py index 31a298995..7aa4f7e5c 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -8,9 +8,10 @@ import typing_extensions -CanFilter: typing_extensions = typing_extensions.TypedDict( - "CanFilter", {"can_id": int, "can_mask": int} -) + +class CanFilter(typing_extensions.TypedDict): + can_id: int + can_mask: int class CanFilterExtended(typing_extensions.TypedDict): From f3136fb5e85f11ecb9ba83744a955a706f9dbde2 Mon Sep 17 00:00:00 2001 From: MattWoodhead Date: Mon, 19 Dec 2022 12:39:19 +0000 Subject: [PATCH 187/475] Update documentation with plugins, related tools etc. (#1457) * Update interfaces.rst Add a note regarding the ability to use plugins or installing external modules to extend the functionality of python-can. * Update plugin-interface.rst Add examples of modules using the plugin api * Update index.rst * Create other-tools.rst * Update other-tools.rst * Add optional deps to setup.py * Format code with black * Update other-tools.rst * Update plugin-interface.rst * Update doc/other-tools.rst fix note block Co-authored-by: Brian Thorne * Update doc/other-tools.rst Co-authored-by: Brian Thorne * Address sphinx warnings * Update doc/interfaces.rst Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update doc/interfaces.rst Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update doc/other-tools.rst Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update doc/plugin-interface.rst Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update doc/interfaces.rst Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update doc/plugin-interface.rst Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Remove extra installation tag out of scope of PR * Fix numbering & spelling Fix numbering of lists. Correct careless spelling errors. Co-authored-by: MattWoodhead Co-authored-by: Brian Thorne Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- doc/index.rst | 1 + doc/interfaces.rst | 4 +- doc/other-tools.rst | 79 ++++++++++++++++++++++++++++++++++++++++ doc/plugin-interface.rst | 23 ++++++++++++ setup.py | 3 ++ 5 files changed, 109 insertions(+), 1 deletion(-) create mode 100644 doc/other-tools.rst diff --git a/doc/index.rst b/doc/index.rst index 505c8b87b..c55108d97 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -45,6 +45,7 @@ Contents: interfaces virtual-interfaces plugin-interface + other-tools scripts development history diff --git a/doc/interfaces.rst b/doc/interfaces.rst index cc686d2d5..6645ec338 100644 --- a/doc/interfaces.rst +++ b/doc/interfaces.rst @@ -12,7 +12,7 @@ documentation. The *Interface Names* are listed in :doc:`configuration`. -The available hardware interfaces are: +The following hardware interfaces are included in python-can: .. toctree:: :maxdepth: 1 @@ -39,3 +39,5 @@ The available hardware interfaces are: interfaces/usb2can interfaces/vector + +Additional interface types can be added via the :ref:`plugin interface`, or by installing a third party package that utilises the :ref:`plugin interface`. diff --git a/doc/other-tools.rst b/doc/other-tools.rst new file mode 100644 index 000000000..56ec21083 --- /dev/null +++ b/doc/other-tools.rst @@ -0,0 +1,79 @@ +Other CAN bus tools +=================== + +In order to keep the project maintainable, the scope of the package is limited to providing common +abstractions to different hardware devices, and a basic suite of utilities for sending and +receiving messages on a CAN bus. Other tools are available that either extend the functionality +of python-can, or provide complementary features that python-can users might find useful. + +Some of these tools are listed below for convenience. + +CAN Message protocols (implemented in Python) +--------------------------------------------- + +#. SAE J1939 Message Protocol + * The `can-j1939`_ module provides an implementation of the CAN SAE J1939 standard for Python, + including J1939-22. `can-j1939`_ uses python-can to provide support for multiple hardware + interfaces. +#. CIA CANopen + * The `canopen`_ module provides an implementation of the CIA CANopen protocol, aiming to be + used for automation and testing purposes +#. ISO 15765-2 (ISO TP) + * The `can-isotp`_ module provides an implementation of the ISO TP CAN protocol for sending + data packets via a CAN transport layer. + +#. UDS + * The `python-uds`_ module is a communication protocol agnostic implementation of the Unified + Diagnostic Services (UDS) protocol defined in ISO 14229-1, although it does have extensions + for performing UDS over CAN utilising the ISO TP protocol. This module has not been updated + for some time. + * The `uds`_ module is another tool that implements the UDS protocol, although it does have + extensions for performing UDS over CAN utilising the ISO TP protocol. This module has not + been updated for some time. +#. XCP + * The `pyxcp`_ module implements the Universal Measurement and Calibration Protocol (XCP). + The purpose of XCP is to adjust parameters and acquire current values of internal + variables in an ECU. + +.. _can-j1939: https://github.com/juergenH87/python-can-j1939 +.. _canopen: https://canopen.readthedocs.io/en/latest/ +.. _can-isotp: https://can-isotp.readthedocs.io/en/latest/ +.. _python-uds: https://python-uds.readthedocs.io/en/latest/index.html +.. _uds: https://uds.readthedocs.io/en/latest/ +.. _pyxcp: https://pyxcp.readthedocs.io/en/latest/ + +CAN Frame Parsing tools etc. (implemented in Python) +---------------------------------------------------- + +#. CAN Message / Database scripting + * The `cantools`_ package provides multiple methods for interacting with can message database + files, and using these files to monitor live busses with a command line monitor tool. +#. CAN Message / Log Decoding + * The `canmatrix`_ module provides methods for converting between multiple popular message + frame definition file formats (e.g. .DBC files, .KCD files, .ARXML files etc.). + * The `pretty_j1939`_ module can be used to post-process CAN logs of J1939 traffic into human + readable terminal prints or into a JSON file for consumption elsewhere in your scripts. + +.. _cantools: https://cantools.readthedocs.io/en/latest/ +.. _canmatrix: https://canmatrix.readthedocs.io/en/latest/ +.. _pretty_j1939: https://github.com/nmfta-repo/pretty_j1939 + +Other CAN related tools, programs etc. +-------------------------------------- + +#. Micropython CAN class + * A `CAN class`_ is available for the original micropython pyboard, with much of the same + functionality as is available with python-can (but with a different API!). +#. ASAM MDF Files + * The `asammdf`_ module provides many methods for processing ASAM (Association for + Standardization of Automation and Measuring Systems) MDF (Measurement Data Format) files. + +.. _`CAN class`: https://docs.micropython.org/en/latest/library/pyb.CAN.html +.. _`asammdf`: https://asammdf.readthedocs.io/en/master/ + +| +| + +.. note:: + See also the available plugins for python-can in :ref:`plugin interface`. + diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index 14c3f51d5..bab8c85a9 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -52,3 +52,26 @@ create an instance of the bus in the **python-can** API: bus = can.Bus(interface="interface_name", channel=0) + + +Example Interface Plugins +------------------------- + +The table below lists interface drivers that can be added by installing additional packages that utilise the plugin API. These modules are optional dependencies of python-can. + +.. note:: + The packages listed below are maintained by other authors. Any issues should be reported in their corresponding repository and **not** in the python-can repository. + ++----------------------------+-------------------------------------------------------+ +| Name | Description | ++============================+=======================================================+ +| `python-can-cvector`_ | Cython based version of the 'VectorBus' | ++----------------------------+-------------------------------------------------------+ +| `python-can-remote`_ | CAN over network bridge | ++----------------------------+-------------------------------------------------------+ +| `python-can-sontheim`_ | CAN Driver for Sontheim CAN interfaces (e.g. CANfox) | ++----------------------------+-------------------------------------------------------+ + +.. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector +.. _python-can-remote: https://github.com/christiansandberg/python-can-remote +.. _python-can-sontheim: https://github.com/MattWoodhead/python-can-sontheim diff --git a/setup.py b/setup.py index dc4c7e11f..bada45b77 100644 --- a/setup.py +++ b/setup.py @@ -30,9 +30,12 @@ "neovi": ["filelock", "python-ics>=2.12"], "canalystii": ["canalystii>=0.1.0"], "cantact": ["cantact>=0.0.7"], + "cvector": ["python-can-cvector"], "gs_usb": ["gs_usb>=0.2.1"], "nixnet": ["nixnet>=0.3.1"], "pcan": ["uptime~=3.0.1"], + "remote": ["python-can-remote"], + "sontheim": ["python-can-sontheim>=0.1.2"], "viewer": [ 'windows-curses;platform_system=="Windows" and platform_python_implementation=="CPython"' ], From 4136f37c115e59d3c6cd7f6f2c9dbba706b51056 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Wed, 21 Dec 2022 01:33:54 +0100 Subject: [PATCH 188/475] Fix Bus.__new__ for PEAK CAN-FD interfaces (#1460) * Add failing unit test to verify that issue #1485 is fixed https://github.com/hardbyte/python-can/issues/1458 * Remove unused generic BitTiming creation in Bus.__new__ The BitTiming class is an attempt at unifying the various timing parameters of the individual interfaces. The idea is that instead of manually supplying multiple parameters that make up the timing definition of the interface, one can instead supply a single instance of the BitTiming class, which will also automatically calculate derivative values from its input. At the moment, this class is only used by two interfaces: CANtact and CANanalystii. Both either accept a single bitrate or a BitTiming instance. The latter will overrule the former. The code that is removed with this commit is part of the generic Bus.__new__ constructor. The removed code searches the set of kwargs parameters for timing-related values. If it finds at least one such value, it creates a BitTiming class instance and adds it to the list of parameters. However, it breaks compatibility with the PEAK interface, see issue #1458. Additionally, the code in question is generic and applies to all interfaces. Instantiating a class here is prone to issues since it must be generic enough to fit all use cases. A better approach would be to simply forward the parameters as was done previously and leave it up to the individual interfaces to handle things properly. * Format code with black Co-authored-by: lumagi --- can/util.py | 19 ------------------- test/test_pcan.py | 20 ++++++++++++++++++++ 2 files changed, 20 insertions(+), 19 deletions(-) diff --git a/can/util.py b/can/util.py index 41467542d..aa4a28d15 100644 --- a/can/util.py +++ b/can/util.py @@ -233,25 +233,6 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: if "data_bitrate" in config: config["data_bitrate"] = int(config["data_bitrate"]) - # Create bit timing configuration if given - timing_conf = {} - for key in ( - "f_clock", - "brp", - "tseg1", - "tseg2", - "sjw", - "nof_samples", - "btr0", - "btr1", - ): - if key in config: - timing_conf[key] = int(str(config[key]), base=0) - del config[key] - if timing_conf: - timing_conf["bitrate"] = config["bitrate"] - config["timing"] = can.BitTiming(**timing_conf) - return cast(typechecking.BusConfig, config) diff --git a/test/test_pcan.py b/test/test_pcan.py index 0a680fea0..ab03bf0a1 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -373,6 +373,26 @@ def test_auto_reset_init_fault(self): with self.assertRaises(CanInitializationError): self.bus = can.Bus(bustype="pcan", auto_reset=True) + def test_peak_fd_bus_constructor_regression(self): + # Tests that the following issue has been fixed: + # https://github.com/hardbyte/python-can/issues/1458 + params = { + "interface": "pcan", + "fd": True, + "f_clock": 80000000, + "nom_brp": 1, + "nom_tseg1": 129, + "nom_tseg2": 30, + "nom_sjw": 1, + "data_brp": 1, + "data_tseg1": 9, + "data_tseg2": 6, + "data_sjw": 1, + "channel": "PCAN_USBBUS1", + } + + can.Bus(**params) + if __name__ == "__main__": unittest.main() From 1046c8c50cb388e6550a93de8f5aeb053f0703e0 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 16:20:16 +0100 Subject: [PATCH 189/475] Tiny type narrowing --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 755e8675c..bb206e72b 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -6,7 +6,7 @@ from typing import Dict, Tuple # interface_name => (module, classname) -BACKENDS: Dict[str, Tuple[str, ...]] = { +BACKENDS: Dict[str, Tuple[str, str]] = { "kvaser": ("can.interfaces.kvaser", "KvaserBus"), "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), "serial": ("can.interfaces.serial.serial_can", "SerialBus"), From be29fc97070fa2ba80f5f047aa58bf08fce86aaa Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 16:28:44 +0100 Subject: [PATCH 190/475] Fix "DeprecationWarning: SelectableGroups dict interface is deprecated. Use select." Previously, the change line issued the above deprecation warning. This code fixes it. I also tested it locally. To reproduce the error before the change, simply run `python -W error -c 'import can.interfaces'`. --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 755e8675c..8f74a114c 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -35,7 +35,7 @@ if sys.version_info >= (3, 8): from importlib.metadata import entry_points - entries = entry_points().get("can.interface", ()) + entries = entry_points(group="can.interface") BACKENDS.update( {interface.name: tuple(interface.value.split(":")) for interface in entries} ) From 6cb1af1d05561ccce3e7dab03b4fb66472e6883a Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 16:37:29 +0100 Subject: [PATCH 191/475] Add required cast Apparently, this is required for mypy to accept it .... --- can/interfaces/__init__.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index bb206e72b..f686f7633 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -6,7 +6,7 @@ from typing import Dict, Tuple # interface_name => (module, classname) -BACKENDS: Dict[str, Tuple[str, str]] = { +BACKENDS: Dict[str, Tuple[str, str]] = cast(Dict[str, Tuple[str, str]], { "kvaser": ("can.interfaces.kvaser", "KvaserBus"), "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), "serial": ("can.interfaces.serial.serial_can", "SerialBus"), @@ -30,7 +30,7 @@ "neousys": ("can.interfaces.neousys", "NeousysBus"), "etas": ("can.interfaces.etas", "EtasBus"), "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), -} +}) if sys.version_info >= (3, 8): from importlib.metadata import entry_points From e2071431ab544a36c19f3c12b35033e87da8b68d Mon Sep 17 00:00:00 2001 From: felixdivo Date: Wed, 21 Dec 2022 15:38:08 +0000 Subject: [PATCH 192/475] Format code with black --- can/interfaces/__init__.py | 53 ++++++++++++++++++++------------------ 1 file changed, 28 insertions(+), 25 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index f686f7633..5162360b9 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -6,31 +6,34 @@ from typing import Dict, Tuple # interface_name => (module, classname) -BACKENDS: Dict[str, Tuple[str, str]] = cast(Dict[str, Tuple[str, str]], { - "kvaser": ("can.interfaces.kvaser", "KvaserBus"), - "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), - "serial": ("can.interfaces.serial.serial_can", "SerialBus"), - "pcan": ("can.interfaces.pcan", "PcanBus"), - "usb2can": ("can.interfaces.usb2can", "Usb2canBus"), - "ixxat": ("can.interfaces.ixxat", "IXXATBus"), - "nican": ("can.interfaces.nican", "NicanBus"), - "iscan": ("can.interfaces.iscan", "IscanBus"), - "virtual": ("can.interfaces.virtual", "VirtualBus"), - "udp_multicast": ("can.interfaces.udp_multicast", "UdpMulticastBus"), - "neovi": ("can.interfaces.ics_neovi", "NeoViBus"), - "vector": ("can.interfaces.vector", "VectorBus"), - "slcan": ("can.interfaces.slcan", "slcanBus"), - "robotell": ("can.interfaces.robotell", "robotellBus"), - "canalystii": ("can.interfaces.canalystii", "CANalystIIBus"), - "systec": ("can.interfaces.systec", "UcanBus"), - "seeedstudio": ("can.interfaces.seeedstudio", "SeeedBus"), - "cantact": ("can.interfaces.cantact", "CantactBus"), - "gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"), - "nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"), - "neousys": ("can.interfaces.neousys", "NeousysBus"), - "etas": ("can.interfaces.etas", "EtasBus"), - "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), -}) +BACKENDS: Dict[str, Tuple[str, str]] = cast( + Dict[str, Tuple[str, str]], + { + "kvaser": ("can.interfaces.kvaser", "KvaserBus"), + "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), + "serial": ("can.interfaces.serial.serial_can", "SerialBus"), + "pcan": ("can.interfaces.pcan", "PcanBus"), + "usb2can": ("can.interfaces.usb2can", "Usb2canBus"), + "ixxat": ("can.interfaces.ixxat", "IXXATBus"), + "nican": ("can.interfaces.nican", "NicanBus"), + "iscan": ("can.interfaces.iscan", "IscanBus"), + "virtual": ("can.interfaces.virtual", "VirtualBus"), + "udp_multicast": ("can.interfaces.udp_multicast", "UdpMulticastBus"), + "neovi": ("can.interfaces.ics_neovi", "NeoViBus"), + "vector": ("can.interfaces.vector", "VectorBus"), + "slcan": ("can.interfaces.slcan", "slcanBus"), + "robotell": ("can.interfaces.robotell", "robotellBus"), + "canalystii": ("can.interfaces.canalystii", "CANalystIIBus"), + "systec": ("can.interfaces.systec", "UcanBus"), + "seeedstudio": ("can.interfaces.seeedstudio", "SeeedBus"), + "cantact": ("can.interfaces.cantact", "CantactBus"), + "gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"), + "nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"), + "neousys": ("can.interfaces.neousys", "NeousysBus"), + "etas": ("can.interfaces.etas", "EtasBus"), + "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), + }, +) if sys.version_info >= (3, 8): from importlib.metadata import entry_points From 05e3283c08d0c2a1426c4a9a04c6c0fecba8eba9 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 16:41:15 +0100 Subject: [PATCH 193/475] Restore compatibility with Python version < 3.10 --- can/interfaces/__init__.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 8f74a114c..f3a6e94cf 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -35,7 +35,8 @@ if sys.version_info >= (3, 8): from importlib.metadata import entry_points - entries = entry_points(group="can.interface") + # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". + entries = entry_points(group="can.interface") if sys.version_info >= (3, 10) else entry_points().get("can.interface", ()) BACKENDS.update( {interface.name: tuple(interface.value.split(":")) for interface in entries} ) From 6885ca41d8fcaed8a711f5773fa6d847ec6145f4 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 16:42:43 +0100 Subject: [PATCH 194/475] Add missing import --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 5162360b9..edb58b228 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -3,7 +3,7 @@ """ import sys -from typing import Dict, Tuple +from typing import cast, Dict, Tuple # interface_name => (module, classname) BACKENDS: Dict[str, Tuple[str, str]] = cast( From 41d8c0e0d2680e9f018279d0ba87262aa17732ae Mon Sep 17 00:00:00 2001 From: felixdivo Date: Wed, 21 Dec 2022 15:46:01 +0000 Subject: [PATCH 195/475] Format code with black --- can/interfaces/__init__.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index f3a6e94cf..1f115b5ad 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -36,7 +36,11 @@ from importlib.metadata import entry_points # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". - entries = entry_points(group="can.interface") if sys.version_info >= (3, 10) else entry_points().get("can.interface", ()) + entries = ( + entry_points(group="can.interface") + if sys.version_info >= (3, 10) + else entry_points().get("can.interface", ()) + ) BACKENDS.update( {interface.name: tuple(interface.value.split(":")) for interface in entries} ) From ab58780b4b776b7738a624a407d52fe08bebb221 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 16:55:48 +0100 Subject: [PATCH 196/475] Try to fix typing --- can/interfaces/__init__.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 1f115b5ad..093c21d81 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -3,7 +3,7 @@ """ import sys -from typing import Dict, Tuple +from typing import Dict, Iterable, Tuple # interface_name => (module, classname) BACKENDS: Dict[str, Tuple[str, ...]] = { @@ -33,13 +33,13 @@ } if sys.version_info >= (3, 8): - from importlib.metadata import entry_points + from importlib.metadata import entry_points, EntryPoint # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". - entries = ( + entries: Iterable[EntryPoint] = ( entry_points(group="can.interface") if sys.version_info >= (3, 10) - else entry_points().get("can.interface", ()) + else entry_points().get("can.interface", []) ) BACKENDS.update( {interface.name: tuple(interface.value.split(":")) for interface in entries} From 41a958d7fad9f6f76cd4e5868d34a5b7322b5487 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 17:04:41 +0100 Subject: [PATCH 197/475] Update __init__.py --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index edb58b228..9e03b126c 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -40,7 +40,7 @@ entries = entry_points().get("can.interface", ()) BACKENDS.update( - {interface.name: tuple(interface.value.split(":")) for interface in entries} + {interface.name: (interface.module, interface.attr) for interface in entries} ) else: from pkg_resources import iter_entry_points From 551e1c391bbb5b4a1334bd9edc1807b693ec3dee Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 17:19:24 +0100 Subject: [PATCH 198/475] Try to make mypy happy --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 093c21d81..2c6973b12 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -36,7 +36,7 @@ from importlib.metadata import entry_points, EntryPoint # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". - entries: Iterable[EntryPoint] = ( + entries: Iterable[EntryPoint] = ( # type: ignore entry_points(group="can.interface") if sys.version_info >= (3, 10) else entry_points().get("can.interface", []) From f5df2733791659f2b7acd6b9ca336960e187a69a Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 17:29:22 +0100 Subject: [PATCH 199/475] Update __init__.py --- can/interfaces/__init__.py | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index eec099294..f9aee6112 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -39,14 +39,15 @@ from importlib.metadata import entry_points, EntryPoint # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". - entries: Iterable[EntryPoint] = ( # type: ignore - entry_points(group="can.interface") - if sys.version_info >= (3, 10) - else entry_points().get("can.interface", []) - ) - BACKENDS.update( - {interface.name: (interface.module, interface.attr) for interface in entries} - ) + # The second variant causes a deprecation warning on Python >= 3.10. + if sys.version_info >= (3, 10): + BACKENDS.update( + {interface.name: (interface.module, interface.attr) for interface in entry_points(group="can.interface")} + ) + else: + BACKENDS.update( + {interface.name: tuple(interface.value.split(":")) for interface in entry_points().get("can.interface", [])} + ) else: from pkg_resources import iter_entry_points From 66a5d2a1466b060a32ce04909fd6057ad26facfd Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 21 Dec 2022 17:43:05 +0100 Subject: [PATCH 200/475] Add deprecation warning for 'bustype' parameter (#1462) * deprecate bustype parameter * Add comment Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> --- can/interface.py | 3 +- doc/bus.rst | 2 +- doc/configuration.rst | 2 +- doc/interfaces/gs_usb.rst | 4 +-- doc/interfaces/seeedstudio.rst | 2 +- doc/interfaces/socketcan.rst | 4 +-- doc/interfaces/socketcand.rst | 2 +- doc/interfaces/udp_multicast.rst | 2 +- doc/interfaces/virtual.rst | 8 ++--- examples/asyncio_demo.py | 2 +- examples/crc.py | 4 +-- examples/cyclic_multiple.py | 4 +-- examples/send_multiple.py | 2 +- test/back2back_test.py | 16 ++++----- test/simplecyclic_test.py | 12 +++---- test/test_cantact.py | 12 +++---- test/test_interface_virtual.py | 4 +-- test/test_kvaser.py | 8 ++--- test/test_message_filtering.py | 2 +- test/test_neousys.py | 4 +-- test/test_pcan.py | 52 +++++++++++++-------------- test/test_robotell.py | 2 +- test/test_slcan.py | 2 +- test/test_systec.py | 18 +++++----- test/test_vector.py | 61 +++++++++++++++++--------------- test/zero_dlc_test.py | 10 +++--- 26 files changed, 122 insertions(+), 122 deletions(-) diff --git a/can/interface.py b/can/interface.py index 527f84d20..76d0dd1a5 100644 --- a/can/interface.py +++ b/can/interface.py @@ -9,7 +9,7 @@ from typing import Any, cast, Iterable, Type, Optional, Union, List from .bus import BusABC -from .util import load_config +from .util import load_config, deprecated_args_alias from .interfaces import BACKENDS from .exceptions import CanInterfaceNotImplementedError from .typechecking import AutoDetectedConfig, Channel @@ -88,6 +88,7 @@ class Bus(BusABC): # pylint: disable=abstract-method """ @staticmethod + @deprecated_args_alias(bustype="interface") # Deprecated since python-can 4.2 def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg cls: Any, channel: Optional[Channel] = None, diff --git a/doc/bus.rst b/doc/bus.rst index 06a740829..51ed0220b 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -69,7 +69,7 @@ Example defining two filters, one to pass 11-bit ID ``0x451``, the other to pass {"can_id": 0x451, "can_mask": 0x7FF, "extended": False}, {"can_id": 0xA0000, "can_mask": 0x1FFFFFFF, "extended": True}, ] - bus = can.interface.Bus(channel="can0", bustype="socketcan", can_filters=filters) + bus = can.interface.Bus(channel="can0", interface="socketcan", can_filters=filters) See :meth:`~can.BusABC.set_filters` for the implementation. diff --git a/doc/configuration.rst b/doc/configuration.rst index d92d6164f..494351350 100644 --- a/doc/configuration.rst +++ b/doc/configuration.rst @@ -30,7 +30,7 @@ You can also specify the interface and channel for each Bus instance:: import can - bus = can.interface.Bus(bustype='socketcan', channel='vcan0', bitrate=500000) + bus = can.interface.Bus(interface='socketcan', channel='vcan0', bitrate=500000) Configuration File diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index af69581be..3a869911c 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -14,7 +14,7 @@ Usage: pass device ``index`` (starting from 0) if using automatic device detecti import can - bus = can.Bus(bustype="gs_usb", channel=dev.product, index=0, bitrate=250000) + bus = can.Bus(interface="gs_usb", channel=dev.product, index=0, bitrate=250000) Alternatively, pass ``bus`` and ``address`` to open a specific device. The parameters can be got by ``pyusb`` as shown below: @@ -25,7 +25,7 @@ Alternatively, pass ``bus`` and ``address`` to open a specific device. The param dev = usb.core.find(idVendor=0x1D50, idProduct=0x606F) bus = can.Bus( - bustype="gs_usb", + interface="gs_usb", channel=dev.product, bus=dev.bus, address=dev.address, diff --git a/doc/interfaces/seeedstudio.rst b/doc/interfaces/seeedstudio.rst index 98ea352c5..ae07b0545 100644 --- a/doc/interfaces/seeedstudio.rst +++ b/doc/interfaces/seeedstudio.rst @@ -31,7 +31,7 @@ Interface A bus example:: - bus = can.interface.Bus(bustype='seeedstudio', channel='/dev/ttyUSB0', bitrate=500000) + bus = can.interface.Bus(interface='seeedstudio', channel='/dev/ttyUSB0', bitrate=500000) diff --git a/doc/interfaces/socketcan.rst b/doc/interfaces/socketcan.rst index b07f4f78e..ddc965678 100644 --- a/doc/interfaces/socketcan.rst +++ b/doc/interfaces/socketcan.rst @@ -177,12 +177,12 @@ To spam a bus: import time import can - bustype = 'socketcan' + interface = 'socketcan' channel = 'vcan0' def producer(id): """:param id: Spam the bus with messages including the data id.""" - bus = can.Bus(channel=channel, interface=bustype) + bus = can.Bus(channel=channel, interface=interface) for i in range(10): msg = can.Message(arbitration_id=0xc0ffee, data=[id, i, 0, 1, 3, 1, 4, 1], is_extended_id=False) bus.send(msg) diff --git a/doc/interfaces/socketcand.rst b/doc/interfaces/socketcand.rst index 2f313470c..0214f094a 100644 --- a/doc/interfaces/socketcand.rst +++ b/doc/interfaces/socketcand.rst @@ -18,7 +18,7 @@ daemon running on a remote Raspberry Pi: import can - bus = can.interface.Bus(bustype='socketcand', host="10.0.16.15", port=29536, channel="can0") + bus = can.interface.Bus(interface='socketcand', host="10.0.16.15", port=29536, channel="can0") # loop until Ctrl-C try: diff --git a/doc/interfaces/udp_multicast.rst b/doc/interfaces/udp_multicast.rst index b15354ed5..4f9745615 100644 --- a/doc/interfaces/udp_multicast.rst +++ b/doc/interfaces/udp_multicast.rst @@ -40,7 +40,7 @@ from ``bus_1`` to ``bus_2``: from can.interfaces.udp_multicast import UdpMulticastBus # The bus can be created using the can.Bus wrapper class or using UdpMulticastBus directly - with can.Bus(channel=UdpMulticastBus.DEFAULT_GROUP_IPv6, bustype='udp_multicast') as bus_1, \ + with can.Bus(channel=UdpMulticastBus.DEFAULT_GROUP_IPv6, interface='udp_multicast') as bus_1, \ UdpMulticastBus(channel=UdpMulticastBus.DEFAULT_GROUP_IPv6) as bus_2: # register a callback on the second bus that prints messages to the standard out diff --git a/doc/interfaces/virtual.rst b/doc/interfaces/virtual.rst index 7569ffeb9..bdadcb08d 100644 --- a/doc/interfaces/virtual.rst +++ b/doc/interfaces/virtual.rst @@ -18,8 +18,8 @@ Example import can - bus1 = can.interface.Bus('test', bustype='virtual') - bus2 = can.interface.Bus('test', bustype='virtual') + bus1 = can.interface.Bus('test', interface='virtual') + bus2 = can.interface.Bus('test', interface='virtual') msg1 = can.Message(arbitration_id=0xabcde, data=[1,2,3]) bus1.send(msg1) @@ -34,8 +34,8 @@ Example import can - bus1 = can.interface.Bus('test', bustype='virtual', preserve_timestamps=True) - bus2 = can.interface.Bus('test', bustype='virtual') + bus1 = can.interface.Bus('test', interface='virtual', preserve_timestamps=True) + bus2 = can.interface.Bus('test', interface='virtual') msg1 = can.Message(timestamp=1639740470.051948, arbitration_id=0xabcde, data=[1,2,3]) diff --git a/examples/asyncio_demo.py b/examples/asyncio_demo.py index 0f37d6573..d29f03bc5 100755 --- a/examples/asyncio_demo.py +++ b/examples/asyncio_demo.py @@ -19,7 +19,7 @@ def print_message(msg: can.Message) -> None: async def main() -> None: """The main function that runs in the loop.""" - with can.Bus( # type: ignore + with can.Bus( interface="virtual", channel="my_channel_0", receive_own_messages=True ) as bus: reader = can.AsyncBufferedReader() diff --git a/examples/crc.py b/examples/crc.py index 18d22681a..fff3dce25 100755 --- a/examples/crc.py +++ b/examples/crc.py @@ -76,9 +76,7 @@ def compute_xbr_checksum(message, counter): for interface, channel in [("socketcan", "vcan0")]: print(f"Carrying out crc test with {interface} interface") - with can.Bus( # type: ignore - interface=interface, channel=channel, bitrate=500000 - ) as BUS: + with can.Bus(interface=interface, channel=channel, bitrate=500000) as BUS: crc_send(BUS) time.sleep(2) diff --git a/examples/cyclic_multiple.py b/examples/cyclic_multiple.py index 64f0862d7..43dc0cd17 100755 --- a/examples/cyclic_multiple.py +++ b/examples/cyclic_multiple.py @@ -133,9 +133,7 @@ def cyclic_multiple_send_modify(bus): for interface, channel in [("socketcan", "vcan0")]: print(f"Carrying out cyclic multiple tests with {interface} interface") - with can.Bus( # type: ignore - interface=interface, channel=channel, bitrate=500000 - ) as BUS: + with can.Bus(interface=interface, channel=channel, bitrate=500000) as BUS: cyclic_multiple_send(BUS) cyclic_multiple_send_modify(BUS) diff --git a/examples/send_multiple.py b/examples/send_multiple.py index 240b3d1cf..fdcaa5b59 100755 --- a/examples/send_multiple.py +++ b/examples/send_multiple.py @@ -19,7 +19,7 @@ def producer(thread_id: int, message_count: int = 16) -> None: # this uses the default configuration (for example from environment variables, or a # config file) see https://python-can.readthedocs.io/en/stable/configuration.html - with can.Bus() as bus: # type: ignore + with can.Bus() as bus: for i in range(message_count): msg = can.Message( arbitration_id=0x0CF02200 + thread_id, diff --git a/test/back2back_test.py b/test/back2back_test.py index ab4d57dc1..54d619878 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -43,14 +43,14 @@ class Back2BackTestCase(unittest.TestCase): def setUp(self): self.bus1 = can.Bus( channel=self.CHANNEL_1, - bustype=self.INTERFACE_1, + interface=self.INTERFACE_1, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, ) self.bus2 = can.Bus( channel=self.CHANNEL_2, - bustype=self.INTERFACE_2, + interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, @@ -166,7 +166,7 @@ def test_message_is_rx_receive_own_messages(self): """The same as `test_message_direction` but testing with `receive_own_messages=True`.""" bus3 = can.Bus( channel=self.CHANNEL_2, - bustype=self.INTERFACE_2, + interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, @@ -188,7 +188,7 @@ def test_unique_message_instances(self): """ bus3 = can.Bus( channel=self.CHANNEL_2, - bustype=self.INTERFACE_2, + interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, @@ -347,8 +347,8 @@ def test_unique_message_instances(self): @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan") class SocketCanBroadcastChannel(unittest.TestCase): def setUp(self): - self.broadcast_bus = can.Bus(channel="", bustype="socketcan") - self.regular_bus = can.Bus(channel="vcan0", bustype="socketcan") + self.broadcast_bus = can.Bus(channel="", interface="socketcan") + self.regular_bus = can.Bus(channel="vcan0", interface="socketcan") def tearDown(self): self.broadcast_bus.shutdown() @@ -370,14 +370,14 @@ class TestThreadSafeBus(Back2BackTestCase): def setUp(self): self.bus1 = can.ThreadSafeBus( channel=self.CHANNEL_1, - bustype=self.INTERFACE_1, + interface=self.INTERFACE_1, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, ) self.bus2 = can.ThreadSafeBus( channel=self.CHANNEL_2, - bustype=self.INTERFACE_2, + interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 4b9ded43f..639694bfa 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -31,8 +31,8 @@ def test_cycle_time(self): is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] ) - with can.interface.Bus(bustype="virtual") as bus1: - with can.interface.Bus(bustype="virtual") as bus2: + with can.interface.Bus(interface="virtual") as bus1: + with can.interface.Bus(interface="virtual") as bus2: # disabling the garbage collector makes the time readings more reliable gc.disable() @@ -67,7 +67,7 @@ def test_cycle_time(self): self.assertMessageEqual(msg, last_msg) def test_removing_bus_tasks(self): - bus = can.interface.Bus(bustype="virtual") + bus = can.interface.Bus(interface="virtual") tasks = [] for task_i in range(10): msg = can.Message( @@ -90,7 +90,7 @@ def test_removing_bus_tasks(self): bus.shutdown() def test_managed_tasks(self): - bus = can.interface.Bus(bustype="virtual", receive_own_messages=True) + bus = can.interface.Bus(interface="virtual", receive_own_messages=True) tasks = [] for task_i in range(3): msg = can.Message( @@ -120,7 +120,7 @@ def test_managed_tasks(self): bus.shutdown() def test_stopping_perodic_tasks(self): - bus = can.interface.Bus(bustype="virtual") + bus = can.interface.Bus(interface="virtual") tasks = [] for task_i in range(10): msg = can.Message( @@ -153,7 +153,7 @@ def test_stopping_perodic_tasks(self): @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_thread_based_cyclic_send_task(self): - bus = can.ThreadSafeBus(bustype="virtual") + bus = can.ThreadSafeBus(interface="virtual") msg = can.Message( is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] ) diff --git a/test/test_cantact.py b/test/test_cantact.py index e361ad1ad..4383fab37 100644 --- a/test/test_cantact.py +++ b/test/test_cantact.py @@ -12,7 +12,7 @@ class CantactTest(unittest.TestCase): def test_bus_creation(self): - bus = can.Bus(channel=0, bustype="cantact", _testing=True) + bus = can.Bus(channel=0, interface="cantact", _testing=True) self.assertIsInstance(bus, cantact.CantactBus) cantact.MockInterface.set_bitrate.assert_called() cantact.MockInterface.set_bit_timing.assert_not_called() @@ -24,7 +24,7 @@ def test_bus_creation_bittiming(self): cantact.MockInterface.set_bitrate.reset_mock() bt = can.BitTiming(tseg1=13, tseg2=2, brp=6, sjw=1) - bus = can.Bus(channel=0, bustype="cantact", bit_timing=bt, _testing=True) + bus = can.Bus(channel=0, interface="cantact", bit_timing=bt, _testing=True) self.assertIsInstance(bus, cantact.CantactBus) cantact.MockInterface.set_bitrate.assert_not_called() cantact.MockInterface.set_bit_timing.assert_called() @@ -33,7 +33,7 @@ def test_bus_creation_bittiming(self): cantact.MockInterface.start.assert_called() def test_transmit(self): - bus = can.Bus(channel=0, bustype="cantact", _testing=True) + bus = can.Bus(channel=0, interface="cantact", _testing=True) msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) @@ -41,18 +41,18 @@ def test_transmit(self): cantact.MockInterface.send.assert_called() def test_recv(self): - bus = can.Bus(channel=0, bustype="cantact", _testing=True) + bus = can.Bus(channel=0, interface="cantact", _testing=True) frame = bus.recv(timeout=0.5) cantact.MockInterface.recv.assert_called() self.assertIsInstance(frame, can.Message) def test_recv_timeout(self): - bus = can.Bus(channel=0, bustype="cantact", _testing=True) + bus = can.Bus(channel=0, interface="cantact", _testing=True) frame = bus.recv(timeout=0.0) cantact.MockInterface.recv.assert_called() self.assertIsNone(frame) def test_shutdown(self): - bus = can.Bus(channel=0, bustype="cantact", _testing=True) + bus = can.Bus(channel=0, interface="cantact", _testing=True) bus.shutdown() cantact.MockInterface.stop.assert_called() diff --git a/test/test_interface_virtual.py b/test/test_interface_virtual.py index 94833fdcb..c1d842180 100644 --- a/test/test_interface_virtual.py +++ b/test/test_interface_virtual.py @@ -13,8 +13,8 @@ class TestMessageFiltering(unittest.TestCase): def setUp(self): - self.node1 = Bus("test", bustype="virtual", preserve_timestamps=True) - self.node2 = Bus("test", bustype="virtual") + self.node1 = Bus("test", interface="virtual", preserve_timestamps=True) + self.node2 = Bus("test", interface="virtual") def tearDown(self): self.node1.shutdown() diff --git a/test/test_kvaser.py b/test/test_kvaser.py index 0efdfd643..fda8b8316 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -37,7 +37,7 @@ def setUp(self): self.msg = {} self.msg_in_cue = None - self.bus = can.Bus(channel=0, bustype="kvaser") + self.bus = can.Bus(channel=0, interface="kvaser") def tearDown(self): if self.bus: @@ -149,7 +149,7 @@ def test_available_configs(self): def test_canfd_default_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() - can.Bus(channel=0, bustype="kvaser", fd=True) + can.Bus(channel=0, interface="kvaser", fd=True) canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 ) @@ -161,7 +161,7 @@ def test_canfd_nondefault_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() data_bitrate = 2000000 - can.Bus(channel=0, bustype="kvaser", fd=True, data_bitrate=data_bitrate) + can.Bus(channel=0, interface="kvaser", fd=True, data_bitrate=data_bitrate) bitrate_constant = canlib.BITRATE_FD[data_bitrate] canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 @@ -172,7 +172,7 @@ def test_canfd_custom_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() data_bitrate = 123456 - can.Bus(channel=0, bustype="kvaser", fd=True, data_bitrate=data_bitrate) + can.Bus(channel=0, interface="kvaser", fd=True, data_bitrate=data_bitrate) canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 ) diff --git a/test/test_message_filtering.py b/test/test_message_filtering.py index addea13fd..e6fe16d46 100644 --- a/test/test_message_filtering.py +++ b/test/test_message_filtering.py @@ -21,7 +21,7 @@ class TestMessageFiltering(unittest.TestCase): def setUp(self): - self.bus = Bus(bustype="virtual", channel="testy") + self.bus = Bus(interface="virtual", channel="testy") def tearDown(self): self.bus.shutdown() diff --git a/test/test_neousys.py b/test/test_neousys.py index f61c37655..26a220048 100644 --- a/test/test_neousys.py +++ b/test/test_neousys.py @@ -33,7 +33,7 @@ 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") + self.bus = can.Bus(channel=0, interface="neousys") def tearDown(self) -> None: if self.bus: @@ -66,7 +66,7 @@ def test_bus_creation(self) -> None: ) def test_bus_creation_bitrate(self) -> None: - self.bus = can.Bus(channel=0, bustype="neousys", bitrate=200000) + self.bus = can.Bus(channel=0, interface="neousys", bitrate=200000) self.assertIsInstance(self.bus, neousys.NeousysBus) CAN_Start_args = ( can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0] diff --git a/test/test_pcan.py b/test/test_pcan.py index ab03bf0a1..7e8e27cf6 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -49,7 +49,7 @@ def _mockGetValue(self, channel, parameter): ) def test_bus_creation(self) -> None: - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.assertIsInstance(self.bus, PcanBus) self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_called_once() @@ -57,10 +57,10 @@ def test_bus_creation(self) -> None: def test_bus_creation_state_error(self) -> None: with self.assertRaises(ValueError): - can.Bus(bustype="pcan", state=BusState.ERROR) + can.Bus(interface="pcan", state=BusState.ERROR) def test_bus_creation_fd(self) -> None: - self.bus = can.Bus(bustype="pcan", fd=True) + self.bus = can.Bus(interface="pcan", fd=True) self.assertIsInstance(self.bus, PcanBus) self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_not_called() @@ -69,7 +69,7 @@ def test_bus_creation_fd(self) -> None: def test_api_version_low(self) -> None: self.PCAN_API_VERSION_SIM = "1.0" with self.assertLogs("can.pcan", level="WARNING") as cm: - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") found_version_warning = False for i in cm.output: if "version" in i and "pcan" in i: @@ -82,7 +82,7 @@ def test_api_version_low(self) -> None: def test_api_version_read_fail(self) -> None: self.mock_pcan.GetValue = Mock(return_value=(PCAN_ERROR_ILLOPERATION, None)) with self.assertRaises(CanInitializationError): - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") @parameterized.expand( [ @@ -98,7 +98,7 @@ def test_api_version_read_fail(self) -> None: ) def test_get_formatted_error(self, name, status1, status2, expected_result: str): with self.subTest(name): - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.mock_pcan.GetErrorText = Mock( side_effect=[ (status1, expected_result.encode("utf-8", errors="replace")), @@ -111,7 +111,7 @@ def test_get_formatted_error(self, name, status1, status2, expected_result: str) self.assertEqual(complete_text, expected_result) def test_status(self) -> None: - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.bus.status() self.mock_pcan.GetStatus.assert_called_once_with(PCAN_USBBUS1) @@ -121,7 +121,7 @@ def test_status(self) -> None: def test_status_is_ok(self, name, status, expected_result) -> None: with self.subTest(name): self.mock_pcan.GetStatus = Mock(return_value=status) - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.assertEqual(self.bus.status_is_ok(), expected_result) self.mock_pcan.GetStatus.assert_called_once_with(PCAN_USBBUS1) @@ -131,7 +131,7 @@ def test_status_is_ok(self, name, status, expected_result) -> None: def test_reset(self, name, status, expected_result) -> None: with self.subTest(name): self.mock_pcan.Reset = Mock(return_value=status) - self.bus = can.Bus(bustype="pcan", fd=True) + self.bus = can.Bus(interface="pcan", fd=True) self.assertEqual(self.bus.reset(), expected_result) self.mock_pcan.Reset.assert_called_once_with(PCAN_USBBUS1) @@ -140,7 +140,7 @@ def test_reset(self, name, status, expected_result) -> None: ) def test_get_device_number(self, name, status, expected_result) -> None: with self.subTest(name): - self.bus = can.Bus(bustype="pcan", fd=True) + self.bus = can.Bus(interface="pcan", fd=True) # Mock GetValue after creation of bus to use first mock of # GetValue in constructor self.mock_pcan.GetValue = Mock(return_value=(status, 1)) @@ -155,7 +155,7 @@ def test_get_device_number(self, name, status, expected_result) -> None: ) def test_set_device_number(self, name, status, expected_result) -> None: with self.subTest(name): - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.mock_pcan.SetValue = Mock(return_value=status) self.assertEqual(self.bus.set_device_number(3), expected_result) # check last SetValue call @@ -170,7 +170,7 @@ def test_recv(self): timestamp = TPCANTimestamp() self.mock_pcan.Read = Mock(return_value=(PCAN_ERROR_OK, msg, timestamp)) - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") recv_msg = self.bus.recv() self.assertEqual(recv_msg.arbitration_id, msg.ID) @@ -193,7 +193,7 @@ def test_recv_fd(self): self.mock_pcan.ReadFD = Mock(return_value=(PCAN_ERROR_OK, msg, timestamp)) - self.bus = can.Bus(bustype="pcan", fd=True) + self.bus = can.Bus(interface="pcan", fd=True) recv_msg = self.bus.recv() self.assertEqual(recv_msg.arbitration_id, msg.ID) @@ -206,12 +206,12 @@ def test_recv_fd(self): @pytest.mark.timeout(3.0) def test_recv_no_message(self): self.mock_pcan.Read = Mock(return_value=(PCAN_ERROR_QRCVEMPTY, None, None)) - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.assertEqual(self.bus.recv(timeout=0.5), None) def test_send(self) -> None: self.mock_pcan.Write = Mock(return_value=PCAN_ERROR_OK) - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) @@ -221,7 +221,7 @@ def test_send(self) -> None: def test_send_fd(self) -> None: self.mock_pcan.WriteFD = Mock(return_value=PCAN_ERROR_OK) - self.bus = can.Bus(bustype="pcan", fd=True) + self.bus = can.Bus(interface="pcan", fd=True) msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) @@ -269,7 +269,7 @@ def test_send_type(self, name, msg_type, expected_value) -> None: self.mock_pcan.Write = Mock(return_value=PCAN_ERROR_OK) - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], @@ -287,7 +287,7 @@ def test_send_type(self, name, msg_type, expected_value) -> None: def test_send_error(self) -> None: self.mock_pcan.Write = Mock(return_value=PCAN_ERROR_BUSHEAVY) - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) @@ -298,7 +298,7 @@ def test_send_error(self) -> None: @parameterized.expand([("on", True), ("off", False)]) def test_flash(self, name, flash) -> None: with self.subTest(name): - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.bus.flash(flash) call_list = self.mock_pcan.SetValue.call_args_list last_call_args_list = call_list[-1][0] @@ -307,7 +307,7 @@ def test_flash(self, name, flash) -> None: ) def test_shutdown(self) -> None: - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.bus.shutdown() self.mock_pcan.Uninitialize.assert_called_once_with(PCAN_USBBUS1) @@ -319,7 +319,7 @@ def test_shutdown(self) -> None: ) def test_state(self, name, bus_state: BusState, expected_parameter) -> None: with self.subTest(name): - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.bus.state = bus_state call_list = self.mock_pcan.SetValue.call_args_list @@ -339,7 +339,7 @@ def test_detect_available_configs(self) -> None: @parameterized.expand([("valid", PCAN_ERROR_OK, "OK"), ("invalid", 0x00005, None)]) def test_status_string(self, name, status, expected_result) -> None: with self.subTest(name): - self.bus = can.Bus(bustype="pcan") + self.bus = can.Bus(interface="pcan") self.mock_pcan.GetStatus = Mock(return_value=status) self.assertEqual(self.bus.status_string(), expected_result) self.mock_pcan.GetStatus.assert_called() @@ -358,20 +358,20 @@ def get_value_side_effect(handle, param): self.mock_pcan.GetValue = Mock(side_effect=get_value_side_effect) if expected_result == "error": - self.assertRaises(ValueError, can.Bus, bustype="pcan", device_id=dev_id) + self.assertRaises(ValueError, can.Bus, interface="pcan", device_id=dev_id) else: - self.bus = can.Bus(bustype="pcan", device_id=dev_id) + self.bus = can.Bus(interface="pcan", device_id=dev_id) self.assertEqual(expected_result, self.bus.channel_info) def test_bus_creation_auto_reset(self): - self.bus = can.Bus(bustype="pcan", auto_reset=True) + self.bus = can.Bus(interface="pcan", auto_reset=True) self.assertIsInstance(self.bus, PcanBus) self.MockPCANBasic.assert_called_once() def test_auto_reset_init_fault(self): self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_INITIALIZE) with self.assertRaises(CanInitializationError): - self.bus = can.Bus(bustype="pcan", auto_reset=True) + self.bus = can.Bus(interface="pcan", auto_reset=True) def test_peak_fd_bus_constructor_regression(self): # Tests that the following issue has been fixed: diff --git a/test/test_robotell.py b/test/test_robotell.py index 8250b7ada..64f4acaf1 100644 --- a/test/test_robotell.py +++ b/test/test_robotell.py @@ -7,7 +7,7 @@ class robotellTestCase(unittest.TestCase): def setUp(self): # will log timeout messages since we are not feeding ack messages to the serial port at this stage - self.bus = can.Bus("loop://", bustype="robotell") + self.bus = can.Bus("loop://", interface="robotell") self.serial = self.bus.serialPortOrig self.serial.read(self.serial.in_waiting) diff --git a/test/test_slcan.py b/test/test_slcan.py index 1e6282d41..aa97e518b 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -6,7 +6,7 @@ class slcanTestCase(unittest.TestCase): def setUp(self): - self.bus = can.Bus("loop://", bustype="slcan", sleep_after_open=0) + self.bus = can.Bus("loop://", interface="slcan", sleep_after_open=0) self.serial = self.bus.serialPortOrig self.serial.read(self.serial.in_waiting) diff --git a/test/test_systec.py b/test/test_systec.py index 5e8b30dcf..7495f75eb 100644 --- a/test/test_systec.py +++ b/test/test_systec.py @@ -32,7 +32,7 @@ def setUp(self): ucan.UcanWriteCanMsgEx = Mock() ucan.UcanResetCanEx = Mock() ucan._UCAN_INITIALIZED = True # Fake this - self.bus = can.Bus(bustype="systec", channel=0, bitrate=125000) + self.bus = can.Bus(interface="systec", channel=0, bitrate=125000) def test_bus_creation(self): self.assertIsInstance(self.bus, ucanbus.UcanBus) @@ -136,7 +136,7 @@ def test_recv_standard(self, mock_read_can_msg, mock_get_msg_pending): @staticmethod def test_bus_defaults(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=0) + bus = can.Bus(interface="systec", channel=0) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 0, @@ -155,7 +155,7 @@ def test_bus_defaults(): @staticmethod def test_bus_channel(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=1) + bus = can.Bus(interface="systec", channel=1) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 1, @@ -174,7 +174,7 @@ def test_bus_channel(): @staticmethod def test_bus_bitrate(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=0, bitrate=125000) + bus = can.Bus(interface="systec", channel=0, bitrate=125000) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 0, @@ -192,12 +192,12 @@ def test_bus_bitrate(): def test_bus_custom_bitrate(self): with self.assertRaises(ValueError): - can.Bus(bustype="systec", channel=0, bitrate=123456) + can.Bus(interface="systec", channel=0, bitrate=123456) @staticmethod def test_receive_own_messages(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=0, receive_own_messages=True) + bus = can.Bus(interface="systec", channel=0, receive_own_messages=True) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 0, @@ -216,7 +216,7 @@ def test_receive_own_messages(): @staticmethod def test_bus_passive_state(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=0, state=can.BusState.PASSIVE) + bus = can.Bus(interface="systec", channel=0, state=can.BusState.PASSIVE) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 0, @@ -235,7 +235,7 @@ def test_bus_passive_state(): @staticmethod def test_rx_buffer_entries(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=0, rx_buffer_entries=1024) + bus = can.Bus(interface="systec", channel=0, rx_buffer_entries=1024) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 0, @@ -254,7 +254,7 @@ def test_rx_buffer_entries(): @staticmethod def test_tx_buffer_entries(): ucan.UcanInitCanEx2.reset_mock() - bus = can.Bus(bustype="systec", channel=0, tx_buffer_entries=1024) + bus = can.Bus(interface="systec", channel=0, tx_buffer_entries=1024) ucan.UcanInitCanEx2.assert_called_once_with( bus._ucan._handle, 0, diff --git a/test/test_vector.py b/test/test_vector.py index b0f305821..21125cc18 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -77,7 +77,7 @@ def mock_xldriver() -> None: def test_bus_creation_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus = can.Bus(channel=0, interface="vector", _testing=True) assert isinstance(bus, canlib.VectorBus) can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -93,7 +93,7 @@ def test_bus_creation_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_bus_creation() -> None: - bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector") assert isinstance(bus, canlib.VectorBus) bus.shutdown() @@ -112,7 +112,7 @@ def test_bus_creation() -> None: def test_bus_creation_bitrate_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", bitrate=200_000, _testing=True) + bus = can.Bus(channel=0, interface="vector", bitrate=200_000, _testing=True) assert isinstance(bus, canlib.VectorBus) can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -133,7 +133,10 @@ def test_bus_creation_bitrate_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_bus_creation_bitrate() -> None: bus = can.Bus( - channel=0, serial=_find_virtual_can_serial(), bustype="vector", bitrate=200_000 + channel=0, + serial=_find_virtual_can_serial(), + interface="vector", + bitrate=200_000, ) assert isinstance(bus, canlib.VectorBus) @@ -146,7 +149,7 @@ def test_bus_creation_bitrate() -> None: def test_bus_creation_fd_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True) assert isinstance(bus, canlib.VectorBus) can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -165,7 +168,7 @@ def test_bus_creation_fd_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_bus_creation_fd() -> None: bus = can.Bus( - channel=0, serial=_find_virtual_can_serial(), bustype="vector", fd=True + channel=0, serial=_find_virtual_can_serial(), interface="vector", fd=True ) assert isinstance(bus, canlib.VectorBus) @@ -186,7 +189,7 @@ def test_bus_creation_fd() -> None: def test_bus_creation_fd_bitrate_timings_mocked(mock_xldriver) -> None: bus = can.Bus( channel=0, - bustype="vector", + interface="vector", fd=True, bitrate=500_000, data_bitrate=2_000_000, @@ -232,7 +235,7 @@ def test_bus_creation_fd_bitrate_timings() -> None: bus = can.Bus( channel=0, serial=_find_virtual_can_serial(), - bustype="vector", + interface="vector", fd=True, bitrate=500_000, data_bitrate=2_000_000, @@ -268,7 +271,7 @@ def test_bus_creation_fd_bitrate_timings() -> None: def test_send_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus = can.Bus(channel=0, interface="vector", _testing=True) msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) @@ -278,7 +281,7 @@ def test_send_mocked(mock_xldriver) -> None: def test_send_fd_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True) msg = can.Message( arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True ) @@ -289,7 +292,7 @@ def test_send_fd_mocked(mock_xldriver) -> None: def test_receive_mocked(mock_xldriver) -> None: can.interfaces.vector.canlib.xldriver.xlReceive = Mock(side_effect=xlReceive) - bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus = can.Bus(channel=0, interface="vector", _testing=True) bus.recv(timeout=0.05) can.interfaces.vector.canlib.xldriver.xlReceive.assert_called() can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_not_called() @@ -297,7 +300,7 @@ def test_receive_mocked(mock_xldriver) -> None: def test_receive_fd_mocked(mock_xldriver) -> None: can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock(side_effect=xlCanReceive) - bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True) bus.recv(timeout=0.05) can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called() can.interfaces.vector.canlib.xldriver.xlCanReceive.assert_called() @@ -305,8 +308,8 @@ def test_receive_fd_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_send_and_receive() -> None: - bus1 = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") - bus2 = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + bus1 = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector") + bus2 = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector") msg_std = can.Message( channel=0, arbitration_id=0xFF, data=list(range(8)), is_extended_id=False @@ -330,10 +333,10 @@ def test_send_and_receive() -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_send_and_receive_fd() -> None: bus1 = can.Bus( - channel=0, serial=_find_virtual_can_serial(), fd=True, bustype="vector" + channel=0, serial=_find_virtual_can_serial(), fd=True, interface="vector" ) bus2 = can.Bus( - channel=0, serial=_find_virtual_can_serial(), fd=True, bustype="vector" + channel=0, serial=_find_virtual_can_serial(), fd=True, interface="vector" ) msg_std = can.Message( @@ -367,7 +370,7 @@ def test_receive_non_msg_event_mocked(mock_xldriver) -> None: can.interfaces.vector.canlib.xldriver.xlReceive = Mock( side_effect=xlReceive_chipstate ) - bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus = can.Bus(channel=0, interface="vector", _testing=True) bus.handle_can_event = Mock() bus.recv(timeout=0.05) can.interfaces.vector.canlib.xldriver.xlReceive.assert_called() @@ -378,7 +381,7 @@ def test_receive_non_msg_event_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_receive_non_msg_event() -> None: bus = canlib.VectorBus( - channel=0, serial=_find_virtual_can_serial(), bustype="vector" + channel=0, serial=_find_virtual_can_serial(), interface="vector" ) bus.handle_can_event = Mock() bus.xldriver.xlCanRequestChipState(bus.port_handle, bus.channel_masks[0]) @@ -391,7 +394,7 @@ def test_receive_fd_non_msg_event_mocked(mock_xldriver) -> None: can.interfaces.vector.canlib.xldriver.xlCanReceive = Mock( side_effect=xlCanReceive_chipstate ) - bus = can.Bus(channel=0, bustype="vector", fd=True, _testing=True) + bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True) bus.handle_canfd_event = Mock() bus.recv(timeout=0.05) can.interfaces.vector.canlib.xldriver.xlReceive.assert_not_called() @@ -402,7 +405,7 @@ def test_receive_fd_non_msg_event_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_receive_fd_non_msg_event() -> None: bus = canlib.VectorBus( - channel=0, serial=_find_virtual_can_serial(), fd=True, bustype="vector" + channel=0, serial=_find_virtual_can_serial(), fd=True, interface="vector" ) bus.handle_canfd_event = Mock() bus.xldriver.xlCanRequestChipState(bus.port_handle, bus.channel_masks[0]) @@ -412,20 +415,20 @@ def test_receive_fd_non_msg_event() -> None: def test_flush_tx_buffer_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus = can.Bus(channel=0, interface="vector", _testing=True) bus.flush_tx_buffer() can.interfaces.vector.canlib.xldriver.xlCanFlushTransmitQueue.assert_called() @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_flush_tx_buffer() -> None: - bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector") bus.flush_tx_buffer() bus.shutdown() def test_shutdown_mocked(mock_xldriver) -> None: - bus = can.Bus(channel=0, bustype="vector", _testing=True) + bus = can.Bus(channel=0, interface="vector", _testing=True) bus.shutdown() can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called() can.interfaces.vector.canlib.xldriver.xlClosePort.assert_called() @@ -434,7 +437,7 @@ def test_shutdown_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_shutdown() -> None: - bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), bustype="vector") + bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector") xl_channel_config = _find_xl_channel_config( serial=_find_virtual_can_serial(), channel=0 @@ -449,7 +452,7 @@ def test_shutdown() -> None: def test_reset_mocked(mock_xldriver) -> None: - bus = canlib.VectorBus(channel=0, bustype="vector", _testing=True) + bus = canlib.VectorBus(channel=0, interface="vector", _testing=True) bus.reset() can.interfaces.vector.canlib.xldriver.xlDeactivateChannel.assert_called() can.interfaces.vector.canlib.xldriver.xlActivateChannel.assert_called() @@ -458,7 +461,7 @@ def test_reset_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_reset_mocked() -> None: bus = canlib.VectorBus( - channel=0, serial=_find_virtual_can_serial(), bustype="vector" + channel=0, serial=_find_virtual_can_serial(), interface="vector" ) bus.reset() bus.shutdown() @@ -520,7 +523,7 @@ def test_set_and_get_application_config() -> None: def test_set_timer_mocked(mock_xldriver) -> None: canlib.xldriver.xlSetTimerRate = Mock() - bus = canlib.VectorBus(channel=0, bustype="vector", fd=True, _testing=True) + bus = canlib.VectorBus(channel=0, interface="vector", fd=True, _testing=True) bus.set_timer_rate(timer_rate_ms=1) assert canlib.xldriver.xlSetTimerRate.called @@ -528,7 +531,7 @@ def test_set_timer_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_set_timer() -> None: bus = canlib.VectorBus( - channel=0, serial=_find_virtual_can_serial(), bustype="vector" + channel=0, serial=_find_virtual_can_serial(), interface="vector" ) bus.handle_can_event = Mock() bus.set_timer_rate(timer_rate_ms=1) @@ -546,7 +549,7 @@ def test_called_without_testing_argument() -> None: """This tests if an exception is thrown when we are not running on Windows.""" with pytest.raises(can.CanInterfaceNotImplementedError): # do not set the _testing argument, since it would suppress the exception - can.Bus(channel=0, bustype="vector") + can.Bus(channel=0, interface="vector") def test_vector_error_pickle() -> None: diff --git a/test/zero_dlc_test.py b/test/zero_dlc_test.py index dd7c0dd49..cd5e7895e 100644 --- a/test/zero_dlc_test.py +++ b/test/zero_dlc_test.py @@ -14,8 +14,8 @@ class ZeroDLCTest(unittest.TestCase): def test_recv_non_zero_dlc(self): - bus_send = can.interface.Bus(bustype="virtual") - bus_recv = can.interface.Bus(bustype="virtual") + bus_send = can.interface.Bus(interface="virtual") + bus_recv = can.interface.Bus(interface="virtual") data = [0, 1, 2, 3, 4, 5, 6, 7] msg_send = can.Message(is_extended_id=False, arbitration_id=0x100, data=data) @@ -26,7 +26,7 @@ def test_recv_non_zero_dlc(self): self.assertTrue(msg_recv) def test_recv_none(self): - bus_recv = can.interface.Bus(bustype="virtual") + bus_recv = can.interface.Bus(interface="virtual") msg_recv = bus_recv.recv(timeout=0) @@ -34,8 +34,8 @@ def test_recv_none(self): self.assertFalse(msg_recv) def test_recv_zero_dlc(self): - bus_send = can.interface.Bus(bustype="virtual") - bus_recv = can.interface.Bus(bustype="virtual") + bus_send = can.interface.Bus(interface="virtual") + bus_recv = can.interface.Bus(interface="virtual") msg_send = can.Message(is_extended_id=False, arbitration_id=0x100, data=[]) bus_send.send(msg_send) From 11f983aae4b4975bcdbc1a85ad077adf12f68b63 Mon Sep 17 00:00:00 2001 From: felixdivo Date: Wed, 21 Dec 2022 17:00:18 +0000 Subject: [PATCH 201/475] Format code with black --- can/interfaces/__init__.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index f9aee6112..626a85f8b 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -42,11 +42,17 @@ # The second variant causes a deprecation warning on Python >= 3.10. if sys.version_info >= (3, 10): BACKENDS.update( - {interface.name: (interface.module, interface.attr) for interface in entry_points(group="can.interface")} + { + interface.name: (interface.module, interface.attr) + for interface in entry_points(group="can.interface") + } ) else: BACKENDS.update( - {interface.name: tuple(interface.value.split(":")) for interface in entry_points().get("can.interface", [])} + { + interface.name: tuple(interface.value.split(":")) + for interface in entry_points().get("can.interface", []) + } ) else: from pkg_resources import iter_entry_points From 5a202c9d1d87273f6535a347dd683daa49aa8b22 Mon Sep 17 00:00:00 2001 From: Felix Divo Date: Wed, 21 Dec 2022 18:27:39 +0100 Subject: [PATCH 202/475] Finally fix typing --- can/interfaces/__init__.py | 58 ++++++++++++++++++-------------------- 1 file changed, 28 insertions(+), 30 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 626a85f8b..24d592abb 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -6,37 +6,34 @@ from typing import cast, Dict, Iterable, Tuple # interface_name => (module, classname) -BACKENDS: Dict[str, Tuple[str, str]] = cast( - Dict[str, Tuple[str, str]], - { - "kvaser": ("can.interfaces.kvaser", "KvaserBus"), - "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), - "serial": ("can.interfaces.serial.serial_can", "SerialBus"), - "pcan": ("can.interfaces.pcan", "PcanBus"), - "usb2can": ("can.interfaces.usb2can", "Usb2canBus"), - "ixxat": ("can.interfaces.ixxat", "IXXATBus"), - "nican": ("can.interfaces.nican", "NicanBus"), - "iscan": ("can.interfaces.iscan", "IscanBus"), - "virtual": ("can.interfaces.virtual", "VirtualBus"), - "udp_multicast": ("can.interfaces.udp_multicast", "UdpMulticastBus"), - "neovi": ("can.interfaces.ics_neovi", "NeoViBus"), - "vector": ("can.interfaces.vector", "VectorBus"), - "slcan": ("can.interfaces.slcan", "slcanBus"), - "robotell": ("can.interfaces.robotell", "robotellBus"), - "canalystii": ("can.interfaces.canalystii", "CANalystIIBus"), - "systec": ("can.interfaces.systec", "UcanBus"), - "seeedstudio": ("can.interfaces.seeedstudio", "SeeedBus"), - "cantact": ("can.interfaces.cantact", "CantactBus"), - "gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"), - "nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"), - "neousys": ("can.interfaces.neousys", "NeousysBus"), - "etas": ("can.interfaces.etas", "EtasBus"), - "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), - }, -) +BACKENDS: Dict[str, Tuple[str, str]] = { + "kvaser": ("can.interfaces.kvaser", "KvaserBus"), + "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), + "serial": ("can.interfaces.serial.serial_can", "SerialBus"), + "pcan": ("can.interfaces.pcan", "PcanBus"), + "usb2can": ("can.interfaces.usb2can", "Usb2canBus"), + "ixxat": ("can.interfaces.ixxat", "IXXATBus"), + "nican": ("can.interfaces.nican", "NicanBus"), + "iscan": ("can.interfaces.iscan", "IscanBus"), + "virtual": ("can.interfaces.virtual", "VirtualBus"), + "udp_multicast": ("can.interfaces.udp_multicast", "UdpMulticastBus"), + "neovi": ("can.interfaces.ics_neovi", "NeoViBus"), + "vector": ("can.interfaces.vector", "VectorBus"), + "slcan": ("can.interfaces.slcan", "slcanBus"), + "robotell": ("can.interfaces.robotell", "robotellBus"), + "canalystii": ("can.interfaces.canalystii", "CANalystIIBus"), + "systec": ("can.interfaces.systec", "UcanBus"), + "seeedstudio": ("can.interfaces.seeedstudio", "SeeedBus"), + "cantact": ("can.interfaces.cantact", "CantactBus"), + "gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"), + "nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"), + "neousys": ("can.interfaces.neousys", "NeousysBus"), + "etas": ("can.interfaces.etas", "EtasBus"), + "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), +} if sys.version_info >= (3, 8): - from importlib.metadata import entry_points, EntryPoint + from importlib.metadata import entry_points # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". # The second variant causes a deprecation warning on Python >= 3.10. @@ -50,7 +47,8 @@ else: BACKENDS.update( { - interface.name: tuple(interface.value.split(":")) + # This cast in wrong if interface.value is formatted badly, but we just fail later + interface.name: cast(Tuple[str, str], tuple(interface.value.split(":"))) for interface in entry_points().get("can.interface", []) } ) From 18b86bab92dd03e1f8d775e9cd5cacdad5fe2be5 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Wed, 21 Dec 2022 18:34:28 +0100 Subject: [PATCH 203/475] Update can/interfaces/__init__.py Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 24d592abb..8754666a0 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -48,7 +48,7 @@ BACKENDS.update( { # This cast in wrong if interface.value is formatted badly, but we just fail later - interface.name: cast(Tuple[str, str], tuple(interface.value.split(":"))) + interface.name: cast(Tuple[str, str], tuple(interface.value.split(":", maxsplit=1))) for interface in entry_points().get("can.interface", []) } ) From 057b67770b8b786aff886ee143f3946b6fbc092f Mon Sep 17 00:00:00 2001 From: felixdivo Date: Wed, 21 Dec 2022 17:35:06 +0000 Subject: [PATCH 204/475] Format code with black --- can/interfaces/__init__.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 8754666a0..5936819e0 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -48,7 +48,9 @@ BACKENDS.update( { # This cast in wrong if interface.value is formatted badly, but we just fail later - interface.name: cast(Tuple[str, str], tuple(interface.value.split(":", maxsplit=1))) + interface.name: cast( + Tuple[str, str], tuple(interface.value.split(":", maxsplit=1)) + ) for interface in entry_points().get("can.interface", []) } ) From e968bcbb506555349839c4e1ed299aa0211450b2 Mon Sep 17 00:00:00 2001 From: Felix Divo Date: Wed, 21 Dec 2022 18:41:09 +0100 Subject: [PATCH 205/475] Cleanup --- can/interfaces/__init__.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 5936819e0..8c7d016bc 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -3,7 +3,7 @@ """ import sys -from typing import cast, Dict, Iterable, Tuple +from typing import cast, Dict, Tuple # interface_name => (module, classname) BACKENDS: Dict[str, Tuple[str, str]] = { @@ -36,7 +36,6 @@ from importlib.metadata import entry_points # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". - # The second variant causes a deprecation warning on Python >= 3.10. if sys.version_info >= (3, 10): BACKENDS.update( { @@ -45,6 +44,7 @@ } ) else: + # The entry_points().get(...) causes a deprecation warning on Python >= 3.10. BACKENDS.update( { # This cast in wrong if interface.value is formatted badly, but we just fail later @@ -57,11 +57,10 @@ else: from pkg_resources import iter_entry_points - entries = iter_entry_points("can.interface") BACKENDS.update( { interface.name: (interface.module_name, interface.attrs[0]) - for interface in entries + for interface in iter_entry_points("can.interface") } ) From e50490c8029bda301bdbf54d28c03ed95968a5a2 Mon Sep 17 00:00:00 2001 From: Felix Divo Date: Wed, 21 Dec 2022 18:45:14 +0100 Subject: [PATCH 206/475] Cleanup --- can/interfaces/__init__.py | 1 - 1 file changed, 1 deletion(-) diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 8c7d016bc..3065e9bfd 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -47,7 +47,6 @@ # The entry_points().get(...) causes a deprecation warning on Python >= 3.10. BACKENDS.update( { - # This cast in wrong if interface.value is formatted badly, but we just fail later interface.name: cast( Tuple[str, str], tuple(interface.value.split(":", maxsplit=1)) ) From e9252de77f8dceccf9d8249ff86088396ace8d11 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ren=C3=A9=20Schwaiger?= Date: Wed, 21 Dec 2022 19:22:58 +0100 Subject: [PATCH 207/475] PCAN: Fix detection of lib on Windows on ARM (#1463) Before this commit detection of the PCAN DLL would fail on Windows on ARM, regardless if you used the native Python version, or the x64 version of Python. After this fix detection should work properly as long as the PCAN library for your version of Python is listed first in the `PATH` variable. The default: 1. `C:\Program Files\PEAK-System\PEAK-Drivers 4\APIs\ARM64\` before 2. `C:\Program Files\PEAK-System\PEAK-Drivers 4\APIs\x64\` should work if you use the (native) ARM version of Python. If you reorder these paths, then loading the library works in the x64 version of Python. This commit closes #1461. --- can/interfaces/pcan/basic.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 743fb55ee..171fae96d 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -658,7 +658,7 @@ def __init__(self): # if platform.system() == "Windows": # Loads the API on Windows - self.__m_dllBasic = windll.LoadLibrary("PCANBasic") + self.__m_dllBasic = windll.LoadLibrary(find_library("PCANBasic")) aReg = winreg.ConnectRegistry(None, winreg.HKEY_LOCAL_MACHINE) try: aKey = winreg.OpenKey(aReg, r"SOFTWARE\PEAK-System\PEAK-Drivers") From b77527865bc2ca1da415111d5c4e7d6ae6bf5a5b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 21 Dec 2022 19:50:03 +0100 Subject: [PATCH 208/475] fix TypeError (#1466) --- can/interfaces/pcan/basic.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 171fae96d..e9fc5029a 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -658,7 +658,8 @@ def __init__(self): # if platform.system() == "Windows": # Loads the API on Windows - self.__m_dllBasic = windll.LoadLibrary(find_library("PCANBasic")) + _dll_path = find_library("PCANBasic") + self.__m_dllBasic = windll.LoadLibrary(_dll_path) if _dll_path else None aReg = winreg.ConnectRegistry(None, winreg.HKEY_LOCAL_MACHINE) try: aKey = winreg.OpenKey(aReg, r"SOFTWARE\PEAK-System\PEAK-Drivers") From 3f314dc6582572446cbc33458a53c8eb47860d0b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 21 Dec 2022 21:47:01 +0100 Subject: [PATCH 209/475] Add conda badge and fix GHA badge (#1467) --- README.rst | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/README.rst b/README.rst index ba32607d4..6e65e505c 100644 --- a/README.rst +++ b/README.rst @@ -1,14 +1,18 @@ python-can ========== -|release| |python_implementation| |downloads| |downloads_monthly| |formatter| +|pypi| |conda| |python_implementation| |downloads| |downloads_monthly| -|docs| |github-actions| |build_travis| |coverage| |mergify| +|docs| |github-actions| |build_travis| |coverage| |mergify| |formatter| -.. |release| image:: https://img.shields.io/pypi/v/python-can.svg +.. |pypi| image:: https://img.shields.io/pypi/v/python-can.svg :target: https://pypi.python.org/pypi/python-can/ :alt: Latest Version on PyPi +.. |conda| image:: https://img.shields.io/conda/v/conda-forge/python-can + :target: https://github.com/conda-forge/python-can-feedstock + :alt: Latest Version on conda-forge + .. |python_implementation| image:: https://img.shields.io/pypi/implementation/python-can :target: https://pypi.python.org/pypi/python-can/ :alt: Supported Python implementations @@ -29,8 +33,8 @@ python-can :target: https://python-can.readthedocs.io/en/stable/ :alt: Documentation -.. |github-actions| image:: https://github.com/hardbyte/python-can/actions/workflows/build.yml/badge.svg?branch=develop - :target: https://github.com/hardbyte/python-can/actions/workflows/build.yml +.. |github-actions| image:: https://github.com/hardbyte/python-can/actions/workflows/ci.yml/badge.svg + :target: https://github.com/hardbyte/python-can/actions/workflows/ci.yml :alt: Github Actions workflow status .. |build_travis| image:: https://img.shields.io/travis/hardbyte/python-can/develop.svg?label=Travis%20CI From ddeef2e9672065673e55805faf1d4c3bfabb344d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 21 Dec 2022 22:44:26 +0100 Subject: [PATCH 210/475] fix indentation --- doc/other-tools.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/other-tools.rst b/doc/other-tools.rst index 56ec21083..eab3c4f43 100644 --- a/doc/other-tools.rst +++ b/doc/other-tools.rst @@ -28,8 +28,8 @@ CAN Message protocols (implemented in Python) for performing UDS over CAN utilising the ISO TP protocol. This module has not been updated for some time. * The `uds`_ module is another tool that implements the UDS protocol, although it does have - extensions for performing UDS over CAN utilising the ISO TP protocol. This module has not - been updated for some time. + extensions for performing UDS over CAN utilising the ISO TP protocol. This module has not + been updated for some time. #. XCP * The `pyxcp`_ module implements the Universal Measurement and Calibration Protocol (XCP). The purpose of XCP is to adjust parameters and acquire current values of internal From 9977c71b5ec143d0883170fc7df2201ae03b4843 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 28 Dec 2022 06:40:20 +0100 Subject: [PATCH 211/475] Turn sphinx warnings into errors (#1472) * fix nixnet sphinx warnings * treat sphinx warnings as errors * fix mypy --- .github/workflows/ci.yml | 2 +- can/interfaces/nixnet.py | 90 ++++++++++++++++++++------------------- doc/interfaces/nixnet.rst | 7 +-- 3 files changed, 52 insertions(+), 47 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 577ccd97d..8bcc273ab 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -127,7 +127,7 @@ jobs: pip install -r doc/doc-requirements.txt - name: Build documentation run: | - python -m sphinx -an doc build + python -m sphinx -Wan doc build - uses: actions/upload-artifact@v3 with: name: sphinx-out diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index 1eba09b31..e304fbc1f 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -9,31 +9,24 @@ """ import logging -import sys -import time -import struct +import os +from types import ModuleType +from typing import Optional from can import BusABC, Message -from ..exceptions import CanInitializationError, CanOperationError - +from ..exceptions import ( + CanInitializationError, + CanOperationError, + CanInterfaceNotImplementedError, +) logger = logging.getLogger(__name__) -if sys.platform == "win32": - try: - from nixnet import ( - session, - types, - constants, - errors, - system, - database, - XnetError, - ) - except ImportError as error: - raise ImportError("NIXNET python module cannot be loaded") from error -else: - raise NotImplementedError("NiXNET only supported on Win32 platforms") +nixnet: Optional[ModuleType] = None +try: + import nixnet # type: ignore +except Exception as exc: + logger.warning("Could not import nixnet: %s", exc) class NiXNETcanBus(BusABC): @@ -68,9 +61,18 @@ def __init__( ``is_error_frame`` set to True and ``arbitration_id`` will identify the error (default True) - :raises can.exceptions.CanInitializationError: + :raises ~can.exceptions.CanInitializationError: If starting communication fails """ + if os.name != "nt" and not kwargs.get("_testing", False): + raise CanInterfaceNotImplementedError( + f"The NI-XNET interface is only supported on Windows, " + f'but you are running "{os.name}"' + ) + + if nixnet is None: + raise CanInterfaceNotImplementedError("The NI-XNET API has not been loaded") + self._rx_queue = [] self.channel = channel self.channel_info = "NI-XNET: " + channel @@ -88,10 +90,10 @@ def __init__( # We need two sessions for this application, one to send frames and another to receive them - self.__session_send = session.FrameOutStreamSession( + self.__session_send = nixnet.session.FrameOutStreamSession( channel, database_name=database_name ) - self.__session_receive = session.FrameInStreamSession( + self.__session_receive = nixnet.session.FrameInStreamSession( channel, database_name=database_name ) @@ -110,15 +112,15 @@ def __init__( self.__session_receive.intf.can_fd_baud_rate = fd_bitrate if can_termination: - self.__session_send.intf.can_term = constants.CanTerm.ON - self.__session_receive.intf.can_term = constants.CanTerm.ON + self.__session_send.intf.can_term = nixnet.constants.CanTerm.ON + self.__session_receive.intf.can_term = nixnet.constants.CanTerm.ON self.__session_receive.queue_size = 512 # Once that all the parameters have been restarted, we start the sessions self.__session_send.start() self.__session_receive.start() - except errors.XnetError as error: + except nixnet.errors.XnetError as error: raise CanInitializationError( f"{error.args[0]} ({error.error_type})", error.error_code ) from None @@ -145,13 +147,15 @@ def _recv_internal(self, timeout): msg = Message( timestamp=can_frame.timestamp / 10000000.0 - 11644473600, channel=self.channel, - is_remote_frame=can_frame.type == constants.FrameType.CAN_REMOTE, - is_error_frame=can_frame.type == constants.FrameType.CAN_BUS_ERROR, + is_remote_frame=can_frame.type == nixnet.constants.FrameType.CAN_REMOTE, + is_error_frame=can_frame.type + == nixnet.constants.FrameType.CAN_BUS_ERROR, is_fd=( - can_frame.type == constants.FrameType.CANFD_DATA - or can_frame.type == constants.FrameType.CANFDBRS_DATA + can_frame.type == nixnet.constants.FrameType.CANFD_DATA + or can_frame.type == nixnet.constants.FrameType.CANFDBRS_DATA ), - bitrate_switch=can_frame.type == constants.FrameType.CANFDBRS_DATA, + bitrate_switch=can_frame.type + == nixnet.constants.FrameType.CANFDBRS_DATA, is_extended_id=can_frame.identifier.extended, # Get identifier from CanIdentifier structure arbitration_id=can_frame.identifier.identifier, @@ -178,29 +182,29 @@ def send(self, msg, timeout=None): It does not wait for message to be ACKed currently. """ if timeout is None: - timeout = constants.TIMEOUT_INFINITE + timeout = nixnet.constants.TIMEOUT_INFINITE if msg.is_remote_frame: - type_message = constants.FrameType.CAN_REMOTE + type_message = nixnet.constants.FrameType.CAN_REMOTE elif msg.is_error_frame: - type_message = constants.FrameType.CAN_BUS_ERROR + type_message = nixnet.constants.FrameType.CAN_BUS_ERROR elif msg.is_fd: if msg.bitrate_switch: - type_message = constants.FrameType.CANFDBRS_DATA + type_message = nixnet.constants.FrameType.CANFDBRS_DATA else: - type_message = constants.FrameType.CANFD_DATA + type_message = nixnet.constants.FrameType.CANFD_DATA else: - type_message = constants.FrameType.CAN_DATA + type_message = nixnet.constants.FrameType.CAN_DATA - can_frame = types.CanFrame( - types.CanIdentifier(msg.arbitration_id, msg.is_extended_id), + can_frame = nixnet.types.CanFrame( + nixnet.types.CanIdentifier(msg.arbitration_id, msg.is_extended_id), type=type_message, payload=msg.data, ) try: self.__session_send.frames.write([can_frame], timeout) - except errors.XnetError as error: + except nixnet.errors.XnetError as error: raise CanOperationError( f"{error.args[0]} ({error.error_type})", error.error_code ) from None @@ -237,7 +241,7 @@ def _detect_available_configs(): configs = [] try: - with system.System() as nixnet_system: + with nixnet.system.System() as nixnet_system: for interface in nixnet_system.intf_refs_can: cahnnel = str(interface) logger.debug( @@ -248,10 +252,10 @@ def _detect_available_configs(): "interface": "nixnet", "channel": cahnnel, "can_term_available": interface.can_term_cap - == constants.CanTermCap.YES, + == nixnet.constants.CanTermCap.YES, } ) - except XnetError as error: + except Exception as error: logger.debug("An error occured while searching for configs: %s", str(error)) return configs diff --git a/doc/interfaces/nixnet.rst b/doc/interfaces/nixnet.rst index 8cf2ee72d..5a17e7e8d 100644 --- a/doc/interfaces/nixnet.rst +++ b/doc/interfaces/nixnet.rst @@ -12,9 +12,10 @@ This interface adds support for NI-XNET CAN controllers by `National Instruments Bus --- -.. autoclass:: can.interfaces.nican.NiXNETcanBus - -.. autoexception:: can.interfaces.nican.NiXNETError +.. autoclass:: can.interfaces.nixnet.NiXNETcanBus + :show-inheritance: + :member-order: bysource + :members: .. _National Instruments: http://www.ni.com/can/ From eb0331d140afd9ee940d57a5a5f324e6da9fbb15 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 31 Dec 2022 19:42:57 +0100 Subject: [PATCH 212/475] Update pylint (#1471) * update pylint version * add coverage.lcov to .gitignore * check can/io with pylint * check can/interfaces/socketcan with pylint * address review comments * replace wildcard import * fix TRCWriter line endings Co-authored-by: zariiii9003 --- .github/workflows/ci.yml | 6 +- .gitignore | 1 + .pylintrc | 3 +- can/bus.py | 4 +- can/interfaces/socketcan/socketcan.py | 94 +++++++++-------- can/interfaces/socketcan/utils.py | 3 +- can/io/asc.py | 13 +-- can/io/blf.py | 2 - can/io/canutils.py | 10 +- can/io/csv.py | 2 - can/io/generic.py | 25 +++-- can/io/logger.py | 28 +++-- can/io/player.py | 5 +- can/io/printer.py | 1 - can/io/sqlite.py | 2 - can/io/trc.py | 142 ++++++++++++-------------- can/listener.py | 10 +- can/logconvert.py | 2 +- can/logger.py | 2 +- can/message.py | 4 +- requirements-lint.txt | 2 +- 21 files changed, 170 insertions(+), 191 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8bcc273ab..c6a5c4253 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -91,10 +91,12 @@ jobs: run: | pylint --rcfile=.pylintrc \ can/**.py \ + can/io \ setup.py \ - doc.conf \ + doc/conf.py \ scripts/**.py \ - examples/**.py + examples/**.py \ + can/interfaces/socketcan format: runs-on: ubuntu-latest diff --git a/.gitignore b/.gitignore index 258ca73ea..03775bd7c 100644 --- a/.gitignore +++ b/.gitignore @@ -52,6 +52,7 @@ htmlcov/ .cache nosetests.xml coverage.xml +coverage.lcov *,cover .hypothesis/ test.* diff --git a/.pylintrc b/.pylintrc index a42935e6a..cc4c50d88 100644 --- a/.pylintrc +++ b/.pylintrc @@ -81,7 +81,8 @@ disable=invalid-name, # either give multiple identifier separated by comma (,) or put this option # multiple time (only on the command line, not in the configuration file where # it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member +enable=c-extension-no-member, + useless-suppression, [REPORTS] diff --git a/can/bus.py b/can/bus.py index c0793c5f7..d0192fc2d 100644 --- a/can/bus.py +++ b/can/bus.py @@ -464,7 +464,5 @@ class _SelfRemovingCyclicTask(CyclicSendTaskABC, ABC): Only needed for typing :meth:`Bus._periodic_tasks`. Do not instantiate. """ - def stop( # pylint: disable=arguments-differ - self, remove_task: bool = True - ) -> None: + def stop(self, remove_task: bool = True) -> None: raise NotImplementedError() diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index f0545f7df..74fbe8197 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -21,12 +21,6 @@ log_tx = log.getChild("tx") log_rx = log.getChild("rx") -try: - import fcntl -except ImportError: - log.error("fcntl not available on this platform") - - try: from socket import CMSG_SPACE @@ -44,7 +38,7 @@ LimitedDurationCyclicSendTaskABC, ) from can.typechecking import CanFilters -from can.interfaces.socketcan.constants import * # CAN_RAW, CAN_*_FLAG +from can.interfaces.socketcan import constants from can.interfaces.socketcan.utils import pack_filters, find_available_interfaces @@ -177,9 +171,9 @@ def build_can_frame(msg: Message) -> bytes: can_id = _compose_arbitration_id(msg) flags = 0 if msg.bitrate_switch: - flags |= CANFD_BRS + flags |= constants.CANFD_BRS if msg.error_state_indicator: - flags |= CANFD_ESI + flags |= constants.CANFD_ESI max_len = 64 if msg.is_fd else 8 data = bytes(msg.data).ljust(max_len, b"\x00") return CAN_FRAME_HEADER_STRUCT.pack(can_id, msg.dlc, flags) + data @@ -211,7 +205,7 @@ def build_bcm_header( def build_bcm_tx_delete_header(can_id: int, flags: int) -> bytes: - opcode = CAN_BCM_TX_DELETE + opcode = constants.CAN_BCM_TX_DELETE return build_bcm_header(opcode, flags, 0, 0, 0, 0, 0, can_id, 1) @@ -223,13 +217,13 @@ def build_bcm_transmit_header( msg_flags: int, nframes: int = 1, ) -> bytes: - opcode = CAN_BCM_TX_SETUP + opcode = constants.CAN_BCM_TX_SETUP - flags = msg_flags | SETTIMER | STARTTIMER + flags = msg_flags | constants.SETTIMER | constants.STARTTIMER if initial_period > 0: # Note `TX_COUNTEVT` creates the message TX_EXPIRED when count expires - flags |= TX_COUNTEVT + flags |= constants.TX_COUNTEVT def split_time(value: float) -> Tuple[int, int]: """Given seconds as a float, return whole seconds and microseconds""" @@ -254,12 +248,14 @@ def split_time(value: float) -> Tuple[int, int]: def build_bcm_update_header(can_id: int, msg_flags: int, nframes: int = 1) -> bytes: - return build_bcm_header(CAN_BCM_TX_SETUP, msg_flags, 0, 0, 0, 0, 0, can_id, nframes) + return build_bcm_header( + constants.CAN_BCM_TX_SETUP, msg_flags, 0, 0, 0, 0, 0, can_id, nframes + ) def dissect_can_frame(frame: bytes) -> Tuple[int, int, int, bytes]: can_id, can_dlc, flags = CAN_FRAME_HEADER_STRUCT.unpack_from(frame) - if len(frame) != CANFD_MTU: + if len(frame) != constants.CANFD_MTU: # Flags not valid in non-FD frames flags = 0 return can_id, can_dlc, flags, frame[8 : 8 + can_dlc] @@ -267,7 +263,7 @@ def dissect_can_frame(frame: bytes) -> Tuple[int, int, int, bytes]: def create_bcm_socket(channel: str) -> socket.socket: """create a broadcast manager socket and connect to the given interface""" - s = socket.socket(PF_CAN, socket.SOCK_DGRAM, CAN_BCM) + s = socket.socket(constants.PF_CAN, socket.SOCK_DGRAM, constants.CAN_BCM) s.connect((channel,)) return s @@ -297,13 +293,13 @@ def _compose_arbitration_id(message: Message) -> int: can_id = message.arbitration_id if message.is_extended_id: log.debug("sending an extended id type message") - can_id |= CAN_EFF_FLAG + can_id |= constants.CAN_EFF_FLAG if message.is_remote_frame: log.debug("requesting a remote frame") - can_id |= CAN_RTR_FLAG + can_id |= constants.CAN_RTR_FLAG if message.is_error_frame: log.debug("sending error frame") - can_id |= CAN_ERR_FLAG + can_id |= constants.CAN_ERR_FLAG return can_id @@ -354,7 +350,7 @@ def _tx_setup( ) -> None: # Create a low level packed frame to pass to the kernel body = bytearray() - self.flags = CAN_FD_FRAME if messages[0].is_fd else 0 + self.flags = constants.CAN_FD_FRAME if messages[0].is_fd else 0 if self.duration: count = int(self.duration / self.period) @@ -380,7 +376,7 @@ def _check_bcm_task(self) -> None: # Do a TX_READ on a task ID, and check if we get EINVAL. If so, # then we are referring to a CAN message with an existing ID check_header = build_bcm_header( - opcode=CAN_BCM_TX_READ, + opcode=constants.CAN_BCM_TX_READ, flags=0, count=0, ival1_seconds=0, @@ -391,7 +387,7 @@ def _check_bcm_task(self) -> None: nframes=0, ) log.debug( - f"Reading properties of (cyclic) transmission task id={self.task_id}", + "Reading properties of (cyclic) transmission task id=%d", self.task_id ) try: self.bcm_socket.send(check_header) @@ -495,7 +491,7 @@ def create_socket() -> socket.socket: """Creates a raw CAN socket. The socket will be returned unbound to any interface. """ - sock = socket.socket(PF_CAN, socket.SOCK_RAW, CAN_RAW) + sock = socket.socket(constants.PF_CAN, socket.SOCK_RAW, constants.CAN_RAW) log.info("Created a socket") @@ -534,7 +530,7 @@ def capture_message( # Fetching the Arb ID, DLC and Data try: cf, ancillary_data, msg_flags, addr = sock.recvmsg( - CANFD_MTU, RECEIVED_ANCILLARY_BUFFER_SIZE + constants.CANFD_MTU, RECEIVED_ANCILLARY_BUFFER_SIZE ) if get_channel: channel = addr[0] if isinstance(addr, tuple) else addr @@ -549,7 +545,7 @@ def capture_message( assert len(ancillary_data) == 1, "only requested a single extra field" cmsg_level, cmsg_type, cmsg_data = ancillary_data[0] assert ( - cmsg_level == socket.SOL_SOCKET and cmsg_type == SO_TIMESTAMPNS + cmsg_level == socket.SOL_SOCKET and cmsg_type == constants.SO_TIMESTAMPNS ), "received control message type that was not requested" # see https://man7.org/linux/man-pages/man3/timespec.3.html -> struct timespec for details seconds, nanoseconds = RECEIVED_TIMESTAMP_STRUCT.unpack_from(cmsg_data) @@ -564,12 +560,12 @@ def capture_message( # #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ # #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ # #define CAN_ERR_FLAG 0x20000000U /* error frame */ - is_extended_frame_format = bool(can_id & CAN_EFF_FLAG) - is_remote_transmission_request = bool(can_id & CAN_RTR_FLAG) - is_error_frame = bool(can_id & CAN_ERR_FLAG) - is_fd = len(cf) == CANFD_MTU - bitrate_switch = bool(flags & CANFD_BRS) - error_state_indicator = bool(flags & CANFD_ESI) + is_extended_frame_format = bool(can_id & constants.CAN_EFF_FLAG) + is_remote_transmission_request = bool(can_id & constants.CAN_RTR_FLAG) + is_error_frame = bool(can_id & constants.CAN_ERR_FLAG) + is_fd = len(cf) == constants.CANFD_MTU + bitrate_switch = bool(flags & constants.CANFD_BRS) + error_state_indicator = bool(flags & constants.CANFD_ESI) # Section 4.7.1: MSG_DONTROUTE: set when the received frame was created on the local host. is_rx = not bool(msg_flags & socket.MSG_DONTROUTE) @@ -625,8 +621,8 @@ def __init__( ) -> None: """Creates a new socketcan bus. - If setting some socket options fails, an error will be printed but no exception will be thrown. - This includes enabling: + If setting some socket options fails, an error will be printed + but no exception will be thrown. This includes enabling: - that own messages should be received, - CAN-FD frames and @@ -656,7 +652,7 @@ def __init__( """ self.socket = create_socket() self.channel = channel - self.channel_info = "socketcan channel '%s'" % channel + self.channel_info = f"socketcan channel '{channel}'" self._bcm_sockets: Dict[str, socket.socket] = {} self._is_filtered = False self._task_id = 0 @@ -665,7 +661,9 @@ def __init__( # set the local_loopback parameter try: self.socket.setsockopt( - SOL_CAN_RAW, CAN_RAW_LOOPBACK, 1 if local_loopback else 0 + constants.SOL_CAN_RAW, + constants.CAN_RAW_LOOPBACK, + 1 if local_loopback else 0, ) except OSError as error: log.error("Could not set local loopback flag(%s)", error) @@ -673,7 +671,9 @@ def __init__( # set the receive_own_messages parameter try: self.socket.setsockopt( - SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, 1 if receive_own_messages else 0 + constants.SOL_CAN_RAW, + constants.CAN_RAW_RECV_OWN_MSGS, + 1 if receive_own_messages else 0, ) except OSError as error: log.error("Could not receive own messages (%s)", error) @@ -681,23 +681,27 @@ def __init__( # enable CAN-FD frames if desired if fd: try: - self.socket.setsockopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, 1) + self.socket.setsockopt( + constants.SOL_CAN_RAW, constants.CAN_RAW_FD_FRAMES, 1 + ) except OSError as error: log.error("Could not enable CAN-FD frames (%s)", error) if not ignore_rx_error_frames: # enable error frames try: - self.socket.setsockopt(SOL_CAN_RAW, CAN_RAW_ERR_FILTER, 0x1FFFFFFF) + self.socket.setsockopt( + constants.SOL_CAN_RAW, constants.CAN_RAW_ERR_FILTER, 0x1FFFFFFF + ) except OSError as error: log.error("Could not enable error frames (%s)", error) # enable nanosecond resolution timestamping # we can always do this since - # 1) is is guaranteed to be at least as precise as without + # 1) it is guaranteed to be at least as precise as without # 2) it is available since Linux 2.6.22, and CAN support was only added afterward # so this is always supported by the kernel - self.socket.setsockopt(socket.SOL_SOCKET, SO_TIMESTAMPNS, 1) + self.socket.setsockopt(socket.SOL_SOCKET, constants.SO_TIMESTAMPNS, 1) bind_socket(self.socket, channel) kwargs.update( @@ -830,7 +834,9 @@ def _send_periodic_internal( general the message will be sent at the given rate until at least *duration* seconds. """ - msgs = LimitedDurationCyclicSendTaskABC._check_and_convert_messages(msgs) + msgs = LimitedDurationCyclicSendTaskABC._check_and_convert_messages( # pylint: disable=protected-access + msgs + ) msgs_channel = str(msgs[0].channel) if msgs[0].channel else None bcm_socket = self._get_bcm_socket(msgs_channel or self.channel) @@ -850,7 +856,9 @@ def _get_bcm_socket(self, channel: str) -> socket.socket: def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: try: - self.socket.setsockopt(SOL_CAN_RAW, CAN_RAW_FILTER, pack_filters(filters)) + self.socket.setsockopt( + constants.SOL_CAN_RAW, constants.CAN_RAW_FILTER, pack_filters(filters) + ) except OSError as error: # fall back to "software filtering" (= not in kernel) self._is_filtered = False @@ -899,8 +907,6 @@ def sender(event: threading.Event) -> None: sender_socket.send(build_can_frame(msg)) print("Sender sent a message.") - import threading - e = threading.Event() threading.Thread(target=receiver, args=(e,)).start() threading.Thread(target=sender, args=(e,)).start() diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index ecc870ca4..25f04617f 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -52,7 +52,8 @@ def find_available_interfaces() -> Iterable[str]: command = ["ip", "-o", "link", "list", "up"] output = subprocess.check_output(command, text=True) - except Exception as e: # subprocess.CalledProcessError is too specific + except Exception as e: # pylint: disable=broad-except + # subprocess.CalledProcessError is too specific log.error("failed to fetch opened can devices: %s", e) return [] diff --git a/can/io/asc.py b/can/io/asc.py index 7cefa5b76..eb59c0471 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -2,7 +2,7 @@ Contains handling of ASC logging files. Example .asc files: - - https://bitbucket.org/tobylorenz/vector_asc/src/47556e1a6d32c859224ca62d075e1efcc67fa690/src/Vector/ASC/tests/unittests/data/CAN_Log_Trigger_3_2.asc?at=master&fileviewer=file-view-default + - https://bitbucket.org/tobylorenz/vector_asc/src/master/src/Vector/ASC/tests/unittests/data/ - under `test/data/logfile.asc` """ import re @@ -39,7 +39,6 @@ def __init__( file: Union[StringPathLike, TextIO], base: str = "hex", relative_timestamp: bool = True, - *args: Any, **kwargs: Any, ) -> None: """ @@ -93,7 +92,7 @@ def _extract_header(self) -> None: ) continue - elif base_match: + if base_match: base = base_match.group("base") timestamp_format = base_match.group("timestamp_format") self.base = base @@ -101,15 +100,14 @@ def _extract_header(self) -> None: self.timestamps_format = timestamp_format or "absolute" continue - elif comment_match: + if comment_match: continue - elif events_match: + if events_match: self.internal_events_logged = events_match.group("no_events") is None break - else: - break + break @staticmethod def _datetime_to_timestamp(datetime_string: str) -> float: @@ -354,7 +352,6 @@ def __init__( self, file: Union[StringPathLike, TextIO], channel: int = 1, - *args: Any, **kwargs: Any, ) -> None: """ diff --git a/can/io/blf.py b/can/io/blf.py index 93fa54ca2..8d5ade8c8 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -146,7 +146,6 @@ class BLFReader(MessageReader): def __init__( self, file: Union[StringPathLike, BinaryIO], - *args: Any, **kwargs: Any, ) -> None: """ @@ -375,7 +374,6 @@ def __init__( append: bool = False, channel: int = 1, compression_level: int = -1, - *args: Any, **kwargs: Any, ) -> None: """ diff --git a/can/io/canutils.py b/can/io/canutils.py index e159ecdf4..c57a6ca97 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -37,7 +37,6 @@ class CanutilsLogReader(MessageReader): def __init__( self, file: Union[StringPathLike, TextIO], - *args: Any, **kwargs: Any, ) -> None: """ @@ -137,7 +136,6 @@ def __init__( file: Union[StringPathLike, TextIO], channel: str = "vcan0", append: bool = False, - *args: Any, **kwargs: Any, ): """ @@ -173,11 +171,11 @@ def on_message_received(self, msg): framestr = f"({timestamp:f}) {channel}" if msg.is_error_frame: - framestr += " %08X#" % (CAN_ERR_FLAG | CAN_ERR_BUSERROR) + framestr += f" {CAN_ERR_FLAG | CAN_ERR_BUSERROR:08X}#" elif msg.is_extended_id: - framestr += " %08X#" % (msg.arbitration_id) + framestr += f" {msg.arbitration_id:08X}#" else: - framestr += " %03X#" % (msg.arbitration_id) + framestr += f" {msg.arbitration_id:03X}#" if msg.is_error_frame: eol = "\n" @@ -193,7 +191,7 @@ def on_message_received(self, msg): fd_flags |= CANFD_BRS if msg.error_state_indicator: fd_flags |= CANFD_ESI - framestr += "#%X" % fd_flags + framestr += f"#{fd_flags:X}" framestr += f"{msg.data.hex().upper()}{eol}" self.file.write(framestr) diff --git a/can/io/csv.py b/can/io/csv.py index 2e2f46699..ecfc5de35 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -31,7 +31,6 @@ class CSVReader(MessageReader): def __init__( self, file: Union[StringPathLike, TextIO], - *args: Any, **kwargs: Any, ) -> None: """ @@ -95,7 +94,6 @@ def __init__( self, file: Union[StringPathLike, TextIO], append: bool = False, - *args: Any, **kwargs: Any, ) -> None: """ diff --git a/can/io/generic.py b/can/io/generic.py index d5c7a2057..77bba4501 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -1,5 +1,5 @@ """Contains generic base classes for file IO.""" - +import locale from abc import ABCMeta from typing import ( Optional, @@ -32,8 +32,7 @@ def __init__( self, file: Optional[can.typechecking.AcceptedIOType], mode: str = "rt", - *args: Any, - **kwargs: Any + **kwargs: Any, ) -> None: """ :param file: a path-like object to open a file, a file-like object @@ -45,11 +44,18 @@ def __init__( # file is None or some file-like object self.file = cast(Optional[can.typechecking.FileLike], file) else: + encoding: Optional[str] = ( + None + if "b" in mode + else kwargs.get("encoding", locale.getpreferredencoding(False)) + ) # pylint: disable=consider-using-with # file is some path-like object self.file = cast( can.typechecking.FileLike, - open(cast(can.typechecking.StringPathLike, file), mode), + open( + cast(can.typechecking.StringPathLike, file), mode, encoding=encoding + ), ) # for multiple inheritance @@ -74,37 +80,30 @@ def stop(self) -> None: self.file.close() -# pylint: disable=abstract-method,too-few-public-methods class MessageWriter(BaseIOHandler, can.Listener, metaclass=ABCMeta): """The base class for all writers.""" file: Optional[can.typechecking.FileLike] -# pylint: disable=abstract-method,too-few-public-methods class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): """A specialized base class for all writers with file descriptors.""" file: can.typechecking.FileLike def __init__( - self, - file: can.typechecking.AcceptedIOType, - mode: str = "wt", - *args: Any, - **kwargs: Any + self, file: can.typechecking.AcceptedIOType, mode: str = "wt", **kwargs: Any ) -> None: # Not possible with the type signature, but be verbose for user-friendliness if file is None: raise ValueError("The given file cannot be None") - super().__init__(file, mode) + super().__init__(file, mode, **kwargs) def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" return self.file.tell() -# pylint: disable=too-few-public-methods class MessageReader(BaseIOHandler, Iterable[can.Message], metaclass=ABCMeta): """The base class for all readers.""" diff --git a/can/io/logger.py b/can/io/logger.py index a08cf9869..b6ea23380 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -27,7 +27,7 @@ from ..typechecking import StringPathLike, FileLike, AcceptedIOType -class Logger(MessageWriter): # pylint: disable=abstract-method +class Logger(MessageWriter): """ Logs CAN messages to a file. @@ -66,7 +66,7 @@ class Logger(MessageWriter): # pylint: disable=abstract-method @staticmethod def __new__( # type: ignore - cls: Any, filename: Optional[StringPathLike], *args: Any, **kwargs: Any + cls: Any, filename: Optional[StringPathLike], **kwargs: Any ) -> MessageWriter: """ :param filename: the filename/path of the file to write to, @@ -75,7 +75,7 @@ def __new__( # type: ignore :raises ValueError: if the filename's suffix is of an unknown file type """ if filename is None: - return Printer(*args, **kwargs) + return Printer(**kwargs) if not Logger.fetched_plugins: Logger.message_writers.update( @@ -90,19 +90,17 @@ def __new__( # type: ignore file_or_filename: AcceptedIOType = filename if suffix == ".gz": - suffix, file_or_filename = Logger.compress(filename, *args, **kwargs) + suffix, file_or_filename = Logger.compress(filename, **kwargs) try: - return Logger.message_writers[suffix](file_or_filename, *args, **kwargs) + return Logger.message_writers[suffix](file=file_or_filename, **kwargs) except KeyError: raise ValueError( f'No write support for this unknown log format "{suffix}"' ) from None @staticmethod - def compress( - filename: StringPathLike, *args: Any, **kwargs: Any - ) -> Tuple[str, FileLike]: + def compress(filename: StringPathLike, **kwargs: Any) -> Tuple[str, FileLike]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. @@ -154,11 +152,10 @@ class BaseRotatingLogger(Listener, BaseIOHandler, ABC): #: An integer counter to track the number of rollovers. rollover_count: int = 0 - def __init__(self, *args: Any, **kwargs: Any) -> None: + def __init__(self, **kwargs: Any) -> None: Listener.__init__(self) - BaseIOHandler.__init__(self, None) + BaseIOHandler.__init__(self, file=None) - self.writer_args = args self.writer_kwargs = kwargs # Expected to be set by the subclass @@ -184,7 +181,7 @@ def rotation_filename(self, default_name: StringPathLike) -> StringPathLike: if not callable(self.namer): return default_name - return self.namer(default_name) + return self.namer(default_name) # pylint: disable=not-callable def rotate(self, source: StringPathLike, dest: StringPathLike) -> None: """When rotating, rotate the current log. @@ -205,7 +202,7 @@ def rotate(self, source: StringPathLike, dest: StringPathLike) -> None: if os.path.exists(source): os.rename(source, dest) else: - self.rotator(source, dest) + self.rotator(source, dest) # pylint: disable=not-callable def on_message_received(self, msg: Message) -> None: """This method is called to handle the given message. @@ -234,7 +231,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: suffix = "".join(pathlib.Path(filename).suffixes[-2:]).lower() if suffix in self._supported_formats: - logger = Logger(filename, *self.writer_args, **self.writer_kwargs) + logger = Logger(filename=filename, **self.writer_kwargs) if isinstance(logger, FileIOMessageWriter): return logger elif isinstance(logger, Printer) and logger.file is not None: @@ -323,7 +320,6 @@ def __init__( self, base_filename: StringPathLike, max_bytes: int = 0, - *args: Any, **kwargs: Any, ) -> None: """ @@ -334,7 +330,7 @@ def __init__( The size threshold at which a new log file shall be created. If set to 0, no rollover will be performed. """ - super().__init__(*args, **kwargs) + super().__init__(**kwargs) self.base_filename = os.path.abspath(base_filename) self.max_bytes = max_bytes diff --git a/can/io/player.py b/can/io/player.py index 21d1964bb..0e062ecb7 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -65,7 +65,6 @@ class LogReader(MessageReader): def __new__( # type: ignore cls: typing.Any, filename: StringPathLike, - *args: typing.Any, **kwargs: typing.Any, ) -> MessageReader: """ @@ -87,7 +86,7 @@ def __new__( # type: ignore if suffix == ".gz": suffix, file_or_filename = LogReader.decompress(filename) try: - return LogReader.message_readers[suffix](file_or_filename, *args, **kwargs) + return LogReader.message_readers[suffix](file=file_or_filename, **kwargs) except KeyError: raise ValueError( f'No read support for this unknown log format "{suffix}"' @@ -109,7 +108,7 @@ def __iter__(self) -> typing.Generator[Message, None, None]: raise NotImplementedError() -class MessageSync: # pylint: disable=too-few-public-methods +class MessageSync: """ Used to iterate over some given messages in the recorded time. """ diff --git a/can/io/printer.py b/can/io/printer.py index 6a43c63b9..01da12e84 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -29,7 +29,6 @@ def __init__( self, file: Optional[Union[StringPathLike, TextIO]] = None, append: bool = False, - *args: Any, **kwargs: Any ) -> None: """ diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 0a4de85f2..33f5d293f 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -36,7 +36,6 @@ def __init__( self, file: StringPathLike, table_name: str = "messages", - *args: Any, **kwargs: Any, ) -> None: """ @@ -138,7 +137,6 @@ def __init__( self, file: StringPathLike, table_name: str = "messages", - *args: Any, **kwargs: Any, ) -> None: """ diff --git a/can/io/trc.py b/can/io/trc.py index 0a07f01c9..ec08d1af1 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -7,12 +7,12 @@ Version 1.1 will be implemented as it is most commonly used """ # noqa -from typing import Generator, Optional, Union, TextIO from datetime import datetime, timedelta from enum import Enum -from io import TextIOWrapper +import io import os import logging +from typing import Generator, Optional, Union, TextIO, Callable, List from ..message import Message from ..util import channel2int @@ -55,11 +55,14 @@ def __init__( if not self.file: raise ValueError("The given file cannot be None") + self._parse_cols: Callable[[List[str]], Optional[Message]] = lambda x: None + def _extract_header(self): + line = "" for line in self.file: line = line.strip() if line.startswith(";$FILEVERSION"): - logger.debug(f"TRCReader: Found file version '{line}'") + logger.debug("TRCReader: Found file version '%s'", line) try: file_version = line.split("=")[1] if file_version == "1.1": @@ -91,7 +94,7 @@ def _extract_header(self): return line - def _parse_msg_V1_0(self, cols): + def _parse_msg_V1_0(self, cols: List[str]) -> Optional[Message]: arbit_id = cols[2] if arbit_id == "FFFFFFFF": logger.info("TRCReader: Dropping bus info line") @@ -106,7 +109,7 @@ def _parse_msg_V1_0(self, cols): msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg - def _parse_msg_V1_1(self, cols): + def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]: arbit_id = cols[3] msg = Message() @@ -119,7 +122,7 @@ def _parse_msg_V1_1(self, cols): msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_V2_1(self, cols): + def _parse_msg_V2_1(self, cols: List[str]) -> Optional[Message]: msg = Message() msg.timestamp = float(cols[1]) / 1000 msg.arbitration_id = int(cols[4], 16) @@ -130,29 +133,29 @@ def _parse_msg_V2_1(self, cols): msg.is_rx = cols[5] == "Rx" return msg - def _parse_cols_V1_1(self, cols): + def _parse_cols_V1_1(self, cols: List[str]) -> Optional[Message]: dtype = cols[2] - if dtype == "Tx" or dtype == "Rx": + if dtype in ("Tx", "Rx"): return self._parse_msg_V1_1(cols) else: - logger.info(f"TRCReader: Unsupported type '{dtype}'") + logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_V2_1(self, cols): + def _parse_cols_V2_1(self, cols: List[str]) -> Optional[Message]: dtype = cols[2] if dtype == "DT": return self._parse_msg_V2_1(cols) else: - logger.info(f"TRCReader: Unsupported type '{dtype}'") + logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_line(self, line): - logger.debug(f"TRCReader: Parse '{line}'") + def _parse_line(self, line: str) -> Optional[Message]: + logger.debug("TRCReader: Parse '%s'", line) try: cols = line.split() return self._parse_cols(cols) except IndexError: - logger.warning(f"TRCReader: Failed to parse message '{line}'") + logger.warning("TRCReader: Failed to parse message '%s'", line) return None def __iter__(self) -> Generator[Message, None, None]: @@ -211,81 +214,66 @@ def __init__( """ super().__init__(file, mode="w") self.channel = channel - if type(file) is str: - self.filepath = os.path.abspath(file) - elif type(file) is TextIOWrapper: - self.filepath = "Unknown" - logger.warning("TRCWriter: Text mode io can result in wrong line endings") - logger.debug( - f"TRCWriter: Text mode io line ending setting: {file.newlines}" - ) + + if isinstance(self.file, io.TextIOWrapper): + self.file.reconfigure(newline="\r\n") else: - self.filepath = "Unknown" + raise TypeError("File must be opened in text mode.") + self.filepath = os.path.abspath(self.file.name) self.header_written = False self.msgnr = 0 self.first_timestamp = None self.file_version = TRCFileVersion.V2_1 + self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 self._format_message = self._format_message_init - def _write_line(self, line: str) -> None: - self.file.write(line + "\r\n") - - def _write_lines(self, lines: list) -> None: - for line in lines: - self._write_line(line) - def _write_header_V1_0(self, start_time: timedelta) -> None: - self._write_line( - ";##########################################################################" - ) - self._write_line(f"; {self.filepath}") - self._write_line(";") - self._write_line("; Generated by python-can TRCWriter") - self._write_line(f"; Start time: {start_time}") - self._write_line("; PCAN-Net: N/A") - self._write_line(";") - self._write_line("; Columns description:") - self._write_line("; ~~~~~~~~~~~~~~~~~~~~~") - self._write_line("; +-current number in actual sample") - self._write_line("; | +time offset of message (ms)") - self._write_line("; | | +ID of message (hex)") - self._write_line("; | | | +data length code") - self._write_line("; | | | | +data bytes (hex) ...") - self._write_line("; | | | | |") - self._write_line(";----+- ---+--- ----+--- + -+ -- -- ...") + lines = [ + ";##########################################################################", + f"; {self.filepath}", + ";", + "; Generated by python-can TRCWriter", + f"; Start time: {start_time}", + "; PCAN-Net: N/A", + ";", + "; Columns description:", + "; ~~~~~~~~~~~~~~~~~~~~~", + "; +-current number in actual sample", + "; | +time offset of message (ms", + "; | | +ID of message (hex", + "; | | | +data length code", + "; | | | | +data bytes (hex ...", + "; | | | | |", + ";----+- ---+--- ----+--- + -+ -- -- ...", + ] + self.file.writelines(line + "\n" for line in lines) def _write_header_V2_1(self, header_time: timedelta, start_time: datetime) -> None: milliseconds = int( (header_time.seconds * 1000) + (header_time.microseconds / 1000) ) - - self._write_line(";$FILEVERSION=2.1") - self._write_line(f";$STARTTIME={header_time.days}.{milliseconds}") - self._write_line(";$COLUMNS=N,O,T,B,I,d,R,L,D") - self._write_line(";") - self._write_line(f"; {self.filepath}") - self._write_line(";") - self._write_line(f"; Start time: {start_time}") - self._write_line("; Generated by python-can TRCWriter") - self._write_line( - ";-------------------------------------------------------------------------------" - ) - self._write_line("; Bus Name Connection Protocol") - self._write_line("; N/A N/A N/A N/A") - self._write_line( - ";-------------------------------------------------------------------------------" - ) - self._write_lines( - [ - "; Message Time Type ID Rx/Tx", - "; Number Offset | Bus [hex] | Reserved", - "; | [ms] | | | | | Data Length Code", - "; | | | | | | | | Data [hex] ...", - "; | | | | | | | | |", - ";---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- --", - ] - ) + lines = [ + ";$FILEVERSION=2.1", + f";$STARTTIME={header_time.days}.{milliseconds}", + ";$COLUMNS=N,O,T,B,I,d,R,L,D", + ";", + f"; {self.filepath}", + ";", + f"; Start time: {start_time}", + "; Generated by python-can TRCWriter", + ";-------------------------------------------------------------------------------", + "; Bus Name Connection Protocol", + "; N/A N/A N/A N/A", + ";-------------------------------------------------------------------------------", + "; Message Time Type ID Rx/Tx", + "; Number Offset | Bus [hex] | Reserved", + "; | [ms] | | | | | Data Length Code", + "; | | | | | | | | Data [hex] ...", + "; | | | | | | | | |", + ";---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- --", + ] + self.file.writelines(line + "\n" for line in lines) def _format_message_by_format(self, msg, channel): if msg.is_extended_id: @@ -316,7 +304,7 @@ def _format_message_init(self, msg, channel): else: raise NotImplementedError("File format is not supported") - return self._format_message(msg, channel) + return self._format_message_by_format(msg, channel) def write_header(self, timestamp: float) -> None: # write start of file header @@ -336,7 +324,7 @@ def log_event(self, message: str, timestamp: float) -> None: if not self.header_written: self.write_header(timestamp) - self._write_line(message) + self.file.write(message + "\n") def on_message_received(self, msg: Message) -> None: if self.first_timestamp is None: diff --git a/can/listener.py b/can/listener.py index 6c9cdf0be..e68d813d1 100644 --- a/can/listener.py +++ b/can/listener.py @@ -7,7 +7,7 @@ import asyncio from abc import ABCMeta, abstractmethod from queue import SimpleQueue, Empty -from typing import Any, AsyncIterator, Awaitable, Optional +from typing import Any, AsyncIterator, Optional from can.message import Message from can.bus import BusABC @@ -126,7 +126,9 @@ def stop(self) -> None: self.is_stopped = True -class AsyncBufferedReader(Listener): # pylint: disable=abstract-method +class AsyncBufferedReader( + Listener, AsyncIterator[Message] +): # pylint: disable=abstract-method """A message buffer for use with :mod:`asyncio`. See :ref:`asyncio` for how to use with :class:`can.Notifier`. @@ -174,5 +176,5 @@ async def get_message(self) -> Message: def __aiter__(self) -> AsyncIterator[Message]: return self - def __anext__(self) -> Awaitable[Message]: - return self.buffer.get() + async def __anext__(self) -> Message: + return await self.buffer.get() diff --git a/can/logconvert.py b/can/logconvert.py index 730e82304..d89155758 100644 --- a/can/logconvert.py +++ b/can/logconvert.py @@ -56,7 +56,7 @@ def main(): with logger: try: - for m in reader: # pylint: disable=not-an-iterable + for m in reader: logger(m) except KeyboardInterrupt: sys.exit(1) diff --git a/can/logger.py b/can/logger.py index f13b78bfc..55e67b27e 100644 --- a/can/logger.py +++ b/can/logger.py @@ -58,7 +58,7 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: def _append_filter_argument( parser: Union[ argparse.ArgumentParser, - argparse._ArgumentGroup, # pylint: disable=protected-access + argparse._ArgumentGroup, ], *args: str, **kwargs: Any, diff --git a/can/message.py b/can/message.py index 8e0c4deee..48933b2da 100644 --- a/can/message.py +++ b/can/message.py @@ -228,9 +228,7 @@ def __deepcopy__(self, memo: dict) -> "Message": error_state_indicator=self.error_state_indicator, ) - def _check( - self, - ) -> None: # pylint: disable=too-many-branches; it's still simple code + def _check(self) -> None: """Checks if the message parameters are valid. Assumes that the attribute types are already correct. diff --git a/requirements-lint.txt b/requirements-lint.txt index 2952103c3..28bcf2aa2 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,4 +1,4 @@ -pylint==2.12.2 +pylint==2.15.9 black~=22.10.0 mypy==0.991 mypy-extensions==0.4.3 From 7013796ad8341e627ea0f46cada2a82506be4562 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 2 Jan 2023 00:40:55 +0100 Subject: [PATCH 213/475] add `ignore_config` parameter to can.Bus --- can/interface.py | 45 +++++++++++++++++++++++++-------------------- test/test_bus.py | 14 ++++++++++++++ 2 files changed, 39 insertions(+), 20 deletions(-) create mode 100644 test/test_bus.py diff --git a/can/interface.py b/can/interface.py index 76d0dd1a5..83ead4021 100644 --- a/can/interface.py +++ b/can/interface.py @@ -8,8 +8,8 @@ import logging from typing import Any, cast, Iterable, Type, Optional, Union, List +from . import util from .bus import BusABC -from .util import load_config, deprecated_args_alias from .interfaces import BACKENDS from .exceptions import CanInterfaceNotImplementedError from .typechecking import AutoDetectedConfig, Channel @@ -61,6 +61,13 @@ class Bus(BusABC): # pylint: disable=abstract-method Instantiates a CAN Bus of the given ``interface``, falls back to reading a configuration file from default locations. + .. note:: + Please note that while the arguments provided to this class take precedence + over any existing values from configuration, it is possible that other parameters + from the configuration may be added to the bus instantiation. + This could potentially have unintended consequences. To prevent this, + you may use the *ignore_config* parameter to ignore any existing configurations. + :param channel: Channel identification. Expected type is backend dependent. Set to ``None`` to let it be resolved automatically from the default @@ -71,8 +78,13 @@ class Bus(BusABC): # pylint: disable=abstract-method Set to ``None`` to let it be resolved automatically from the default :ref:`configuration`. - :param args: - ``interface`` specific positional arguments. + :param context: + Extra 'context', that is passed to config sources. + This can be used to select a section other than 'default' in the configuration file. + + :param ignore_config: + If ``True``, only the given arguments will be used for the bus instantiation. Existing + configuration sources will be ignored. :param kwargs: ``interface`` specific keyword arguments. @@ -88,12 +100,13 @@ class Bus(BusABC): # pylint: disable=abstract-method """ @staticmethod - @deprecated_args_alias(bustype="interface") # Deprecated since python-can 4.2 - def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg + @util.deprecated_args_alias(bustype="interface") # Deprecated since python-can 4.2 + def __new__( # type: ignore cls: Any, channel: Optional[Channel] = None, interface: Optional[str] = None, - *args: Any, + context: Optional[str] = None, + ignore_config: bool = False, **kwargs: Any, ) -> BusABC: # figure out the rest of the configuration; this might raise an error @@ -101,12 +114,9 @@ def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg kwargs["interface"] = interface if channel is not None: kwargs["channel"] = channel - if "context" in kwargs: - context = kwargs["context"] - del kwargs["context"] - else: - context = None - kwargs = load_config(config=kwargs, context=context) + + if not ignore_config: + kwargs = util.load_config(config=kwargs, context=context) # resolve the bus class to use for that interface cls = _get_class_for_interface(kwargs["interface"]) @@ -115,17 +125,12 @@ def __new__( # type: ignore # pylint: disable=keyword-arg-before-vararg del kwargs["interface"] # make sure the bus can handle this config format - if "channel" not in kwargs: - raise ValueError("'channel' argument missing") - else: - channel = kwargs["channel"] - del kwargs["channel"] - + channel = kwargs.pop("channel", channel) if channel is None: # Use the default channel for the backend - bus = cls(*args, **kwargs) + bus = cls(**kwargs) else: - bus = cls(channel, *args, **kwargs) + bus = cls(channel, **kwargs) return cast(BusABC, bus) diff --git a/test/test_bus.py b/test/test_bus.py new file mode 100644 index 000000000..e11d829d3 --- /dev/null +++ b/test/test_bus.py @@ -0,0 +1,14 @@ +from unittest.mock import patch + +import can + + +def test_bus_ignore_config(): + with patch.object( + target=can.util, attribute="load_config", side_effect=can.util.load_config + ): + _ = can.Bus(interface="virtual", ignore_config=True) + assert not can.util.load_config.called + + _ = can.Bus(interface="virtual") + assert can.util.load_config.called From 2f50efdc03960d5247dff5c4be957d26458912bb Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 2 Jan 2023 12:38:17 +0100 Subject: [PATCH 214/475] rename context -> config_context --- can/interface.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/can/interface.py b/can/interface.py index 83ead4021..2bc8820f5 100644 --- a/can/interface.py +++ b/can/interface.py @@ -78,7 +78,7 @@ class Bus(BusABC): # pylint: disable=abstract-method Set to ``None`` to let it be resolved automatically from the default :ref:`configuration`. - :param context: + :param config_context: Extra 'context', that is passed to config sources. This can be used to select a section other than 'default' in the configuration file. @@ -100,12 +100,14 @@ class Bus(BusABC): # pylint: disable=abstract-method """ @staticmethod - @util.deprecated_args_alias(bustype="interface") # Deprecated since python-can 4.2 + @util.deprecated_args_alias( # Deprecated since python-can 4.2 + bustype="interface", context="config_context" + ) def __new__( # type: ignore cls: Any, channel: Optional[Channel] = None, interface: Optional[str] = None, - context: Optional[str] = None, + config_context: Optional[str] = None, ignore_config: bool = False, **kwargs: Any, ) -> BusABC: @@ -116,7 +118,7 @@ def __new__( # type: ignore kwargs["channel"] = channel if not ignore_config: - kwargs = util.load_config(config=kwargs, context=context) + kwargs = util.load_config(config=kwargs, context=config_context) # resolve the bus class to use for that interface cls = _get_class_for_interface(kwargs["interface"]) From 1278a0f1accde270b7fdd5d1ff9127456820a794 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 4 Jan 2023 20:27:30 +0100 Subject: [PATCH 215/475] Run doctest in CI (#1476) --- .github/workflows/ci.yml | 5 ++++- can/bus.py | 10 ++++++---- can/exceptions.py | 24 +++++++++++++++--------- can/interfaces/kvaser/canlib.py | 15 ++++++++++++--- doc/interfaces/ixxat.rst | 19 ++++++++++++++----- doc/message.rst | 20 ++++++++++---------- 6 files changed, 61 insertions(+), 32 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c6a5c4253..c610c6a76 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -129,7 +129,10 @@ jobs: pip install -r doc/doc-requirements.txt - name: Build documentation run: | - python -m sphinx -Wan doc build + python -m sphinx -Wan --keep-going doc build + - name: Run doctest + run: | + python -m sphinx -b doctest -W --keep-going doc build - uses: actions/upload-artifact@v3 with: name: sphinx-out diff --git a/can/bus.py b/can/bus.py index d0192fc2d..f29b8ea6e 100644 --- a/can/bus.py +++ b/can/bus.py @@ -314,8 +314,10 @@ def stop_all_periodic_tasks(self, remove_tasks: bool = True) -> None: def __iter__(self) -> Iterator[Message]: """Allow iteration on messages as they are received. - >>> for msg in bus: - ... print(msg) + .. code-block:: python + + for msg in bus: + print(msg) :yields: @@ -352,9 +354,9 @@ def set_filters( :param filters: A iterable of dictionaries each containing a "can_id", - a "can_mask", and an optional "extended" key. + a "can_mask", and an optional "extended" key:: - >>> [{"can_id": 0x11, "can_mask": 0x21, "extended": False}] + [{"can_id": 0x11, "can_mask": 0x21, "extended": False}] A filter matches, when `` & can_mask == can_id & can_mask``. diff --git a/can/exceptions.py b/can/exceptions.py index 7496c6c0e..57130082a 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -32,15 +32,21 @@ class CanError(Exception): If specified, the error code is automatically appended to the message: - >>> # With an error code (it also works with a specific error): - >>> error = CanOperationError(message="Failed to do the thing", error_code=42) - >>> str(error) - 'Failed to do the thing [Error Code 42]' - >>> - >>> # Missing the error code: - >>> plain_error = CanError(message="Something went wrong ...") - >>> str(plain_error) - 'Something went wrong ...' + .. testsetup:: canerror + + from can import CanError, CanOperationError + + .. doctest:: canerror + + >>> # With an error code (it also works with a specific error): + >>> error = CanOperationError(message="Failed to do the thing", error_code=42) + >>> str(error) + 'Failed to do the thing [Error Code 42]' + >>> + >>> # Missing the error code: + >>> plain_error = CanError(message="Something went wrong ...") + >>> str(plain_error) + 'Something went wrong ...' :param error_code: An optional error code to narrow down the cause of the fault diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index a8bb7bac7..2bbf8f0bf 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -662,9 +662,18 @@ def get_stats(self) -> structures.BusStatistics: 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 + .. testsetup:: kvaser + + from unittest.mock import Mock + from can.interfaces.kvaser.structures import BusStatistics + bus = Mock() + bus.get_stats = Mock(side_effect=lambda: BusStatistics()) + + .. doctest:: kvaser + + >>> 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. """ diff --git a/doc/interfaces/ixxat.rst b/doc/interfaces/ixxat.rst index 61df70638..f73a01036 100644 --- a/doc/interfaces/ixxat.rst +++ b/doc/interfaces/ixxat.rst @@ -59,11 +59,20 @@ List available devices In case you have connected multiple IXXAT devices, you have to select them by using their unique hardware id. To get a list of all connected IXXAT you can use the function ``get_ixxat_hwids()`` as demonstrated below: - >>> from can.interfaces.ixxat import get_ixxat_hwids - >>> for hwid in get_ixxat_hwids(): - ... print("Found IXXAT with hardware id '%s'." % hwid) - Found IXXAT with hardware id 'HW441489'. - Found IXXAT with hardware id 'HW107422'. + .. testsetup:: ixxat + + from unittest.mock import Mock + import can.interfaces.ixxat + assert hasattr(can.interfaces.ixxat, "get_ixxat_hwids") + can.interfaces.ixxat.get_ixxat_hwids = Mock(side_effect=lambda: ['HW441489', 'HW107422']) + + .. doctest:: ixxat + + >>> from can.interfaces.ixxat import get_ixxat_hwids + >>> for hwid in get_ixxat_hwids(): + ... print("Found IXXAT with hardware id '%s'." % hwid) + Found IXXAT with hardware id 'HW441489'. + Found IXXAT with hardware id 'HW107422'. Bus diff --git a/doc/message.rst b/doc/message.rst index 78ccc0b50..d47473e17 100644 --- a/doc/message.rst +++ b/doc/message.rst @@ -15,7 +15,7 @@ Message >>> test.dlc 5 >>> print(test) - Timestamp: 0.000000 ID: 00000000 010 DLC: 5 01 02 03 04 05 + Timestamp: 0.000000 ID: 00000000 X Rx DL: 5 01 02 03 04 05 The :attr:`~can.Message.arbitration_id` field in a CAN message may be either @@ -44,7 +44,7 @@ Message 2\ :sup:`29` - 1 for 29-bit identifiers). >>> print(Message(is_extended_id=False, arbitration_id=100)) - Timestamp: 0.000000 ID: 0064 S DLC: 0 + Timestamp: 0.000000 ID: 0064 S Rx DL: 0 .. attribute:: data @@ -56,7 +56,7 @@ Message >>> example_data = bytearray([1, 2, 3]) >>> print(Message(data=example_data)) - Timestamp: 0.000000 ID: 00000000 X DLC: 3 01 02 03 + Timestamp: 0.000000 ID: 00000000 X Rx DL: 3 01 02 03 A :class:`~can.Message` can also be created with bytes, or lists of ints: @@ -106,9 +106,9 @@ Message Previously this was exposed as `id_type`. >>> print(Message(is_extended_id=False)) - Timestamp: 0.000000 ID: 0000 S DLC: 0 + Timestamp: 0.000000 ID: 0000 S Rx DL: 0 >>> print(Message(is_extended_id=True)) - Timestamp: 0.000000 ID: 00000000 X DLC: 0 + Timestamp: 0.000000 ID: 00000000 X Rx DL: 0 .. note:: @@ -124,7 +124,7 @@ Message This boolean parameter indicates if the message is an error frame or not. >>> print(Message(is_error_frame=True)) - Timestamp: 0.000000 ID: 00000000 X E DLC: 0 + Timestamp: 0.000000 ID: 00000000 X Rx E DL: 0 .. attribute:: is_remote_frame @@ -135,7 +135,7 @@ Message modifies the bit in the CAN message's flags field indicating this. >>> print(Message(is_remote_frame=True)) - Timestamp: 0.000000 ID: 00000000 X R DLC: 0 + Timestamp: 0.000000 ID: 00000000 X Rx R DL: 0 .. attribute:: is_fd @@ -174,17 +174,17 @@ Message >>> from can import Message >>> test = Message() >>> print(test) - Timestamp: 0.000000 ID: 00000000 X DLC: 0 + Timestamp: 0.000000 ID: 00000000 X Rx DL: 0 >>> test2 = Message(data=[1, 2, 3, 4, 5]) >>> print(test2) - Timestamp: 0.000000 ID: 00000000 X DLC: 5 01 02 03 04 05 + Timestamp: 0.000000 ID: 00000000 X Rx DL: 5 01 02 03 04 05 The fields in the printed message are (in order): - timestamp, - arbitration ID, - flags, - - dlc, + - data length (DL), - and data. From 5e5b950228302c21529ca1bb6f234f9bd7e0a372 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 5 Jan 2023 23:36:03 +0100 Subject: [PATCH 216/475] add deprecation period to deprecated_args_alias (#1477) --- can/interface.py | 7 +- can/interfaces/ixxat/canlib_vcinpl.py | 2 + can/interfaces/ixxat/canlib_vcinpl2.py | 2 + can/interfaces/vector/canlib.py | 6 +- can/util.py | 53 +++++++++++--- test/test_util.py | 95 +++++++++++++++++++++++--- 6 files changed, 144 insertions(+), 21 deletions(-) diff --git a/can/interface.py b/can/interface.py index 2bc8820f5..04fc84ae9 100644 --- a/can/interface.py +++ b/can/interface.py @@ -100,8 +100,11 @@ class Bus(BusABC): # pylint: disable=abstract-method """ @staticmethod - @util.deprecated_args_alias( # Deprecated since python-can 4.2 - bustype="interface", context="config_context" + @util.deprecated_args_alias( + deprecation_start="4.2.0", + deprecation_end="5.0.0", + bustype="interface", + context="config_context", ) def __new__( # type: ignore cls: Any, diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index d74da2539..8304a6dd7 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -417,6 +417,8 @@ class IXXATBus(BusABC): } @deprecated_args_alias( + deprecation_start="4.0.0", + deprecation_end="5.0.0", UniqueHardwareId="unique_hardware_id", rxFifoSize="rx_fifo_size", txFifoSize="tx_fifo_size", diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 2e3125e9b..b8ed916dc 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -417,6 +417,8 @@ class IXXATBus(BusABC): """ @deprecated_args_alias( + deprecation_start="4.0.0", + deprecation_end="5.0.0", UniqueHardwareId="unique_hardware_id", rxFifoSize="rx_fifo_size", txFifoSize="tx_fifo_size", diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index ff72d262a..7c1ffac64 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -75,7 +75,11 @@ class VectorBus(BusABC): tseg2Dbr="tseg2_dbr", ) - @deprecated_args_alias(**deprecated_args) + @deprecated_args_alias( + deprecation_start="4.0.0", + deprecation_end="5.0.0", + **deprecated_args, + ) def __init__( self, channel: Union[int, Sequence[int], str], diff --git a/can/util.py b/can/util.py index aa4a28d15..e4a45f2d5 100644 --- a/can/util.py +++ b/can/util.py @@ -295,26 +295,47 @@ def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: return None -def deprecated_args_alias(**aliases): +def deprecated_args_alias( # type: ignore + deprecation_start: str, deprecation_end: Optional[str] = None, **aliases +): """Allows to rename/deprecate a function kwarg(s) and optionally have the deprecated kwarg(s) set as alias(es) Example:: - @deprecated_args_alias(oldArg="new_arg", anotherOldArg="another_new_arg") + @deprecated_args_alias("1.2.0", oldArg="new_arg", anotherOldArg="another_new_arg") def library_function(new_arg, another_new_arg): pass - @deprecated_args_alias(oldArg="new_arg", obsoleteOldArg=None) + @deprecated_args_alias( + deprecation_start="1.2.0", + deprecation_end="3.0.0", + oldArg="new_arg", + obsoleteOldArg=None, + ) def library_function(new_arg): pass + :param deprecation_start: + The *python-can* version, that introduced the :class:`DeprecationWarning`. + :param deprecation_end: + The *python-can* version, that marks the end of the deprecation period. + :param aliases: + keyword arguments, that map the deprecated argument names + to the new argument names or ``None``. + """ def deco(f): @functools.wraps(f) def wrapper(*args, **kwargs): - _rename_kwargs(f.__name__, kwargs, aliases) + _rename_kwargs( + func_name=f.__name__, + start=deprecation_start, + end=deprecation_end, + kwargs=kwargs, + aliases=aliases, + ) return f(*args, **kwargs) return wrapper @@ -323,21 +344,35 @@ def wrapper(*args, **kwargs): def _rename_kwargs( - func_name: str, kwargs: Dict[str, str], aliases: Dict[str, str] + func_name: str, + start: str, + end: Optional[str], + kwargs: Dict[str, str], + aliases: Dict[str, str], ) -> None: """Helper function for `deprecated_args_alias`""" for alias, new in aliases.items(): if alias in kwargs: + deprecation_notice = ( + f"The '{alias}' argument is deprecated since python-can v{start}" + ) + if end: + deprecation_notice += ( + f", and scheduled for removal in python-can v{end}" + ) + deprecation_notice += "." + value = kwargs.pop(alias) if new is not None: - warnings.warn(f"{alias} is deprecated; use {new}", DeprecationWarning) + deprecation_notice += f" Use '{new}' instead." + if new in kwargs: raise TypeError( - f"{func_name} received both {alias} (deprecated) and {new}" + f"{func_name} received both '{alias}' (deprecated) and '{new}'." ) kwargs[new] = value - else: - warnings.warn(f"{alias} is deprecated", DeprecationWarning) + + warnings.warn(deprecation_notice, DeprecationWarning) def time_perfcounter_correlation() -> Tuple[float, float]: diff --git a/test/test_util.py b/test/test_util.py index 7048d6151..70941f23f 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -3,17 +3,26 @@ import unittest import warnings -from can.util import _create_bus_config, _rename_kwargs, channel2int +import pytest + +from can.util import ( + _create_bus_config, + _rename_kwargs, + channel2int, + deprecated_args_alias, +) class RenameKwargsTest(unittest.TestCase): expected_kwargs = dict(a=1, b=2, c=3, d=4) - def _test(self, kwargs, aliases): + def _test(self, start: str, end: str, kwargs, aliases): # Test that we do get the DeprecationWarning when called with deprecated kwargs - with self.assertWarnsRegex(DeprecationWarning, "is deprecated"): - _rename_kwargs("unit_test", kwargs, aliases) + with self.assertWarnsRegex( + DeprecationWarning, "is deprecated.*?" + start + ".*?" + end + ): + _rename_kwargs("unit_test", start, end, kwargs, aliases) # Test that the aliases contains the deprecated values and # the obsolete kwargs have been removed @@ -25,30 +34,98 @@ def _test(self, kwargs, aliases): # Cause all warnings to always be triggered. warnings.simplefilter("error", DeprecationWarning) try: - _rename_kwargs("unit_test", kwargs, aliases) + _rename_kwargs("unit_test", start, end, kwargs, aliases) finally: warnings.resetwarnings() def test_rename(self): kwargs = dict(old_a=1, old_b=2, c=3, d=4) aliases = {"old_a": "a", "old_b": "b"} - self._test(kwargs, aliases) + self._test("1.0", "2.0", kwargs, aliases) def test_obsolete(self): kwargs = dict(a=1, b=2, c=3, d=4, z=10) aliases = {"z": None} - self._test(kwargs, aliases) + self._test("1.0", "2.0", kwargs, aliases) def test_rename_and_obsolete(self): kwargs = dict(old_a=1, old_b=2, c=3, d=4, z=10) aliases = {"old_a": "a", "old_b": "b", "z": None} - self._test(kwargs, aliases) + self._test("1.0", "2.0", kwargs, aliases) def test_with_new_and_alias_present(self): kwargs = dict(old_a=1, a=1, b=2, c=3, d=4, z=10) aliases = {"old_a": "a", "old_b": "b", "z": None} with self.assertRaises(TypeError): - self._test(kwargs, aliases) + self._test("1.0", "2.0", kwargs, aliases) + + +class DeprecatedArgsAliasTest(unittest.TestCase): + def test_decorator(self): + @deprecated_args_alias("1.0.0", old_a="a") + def _test_func1(a): + pass + + with pytest.warns(DeprecationWarning) as record: + _test_func1(old_a=1) + assert len(record) == 1 + assert ( + record[0].message.args[0] + == "The 'old_a' argument is deprecated since python-can v1.0.0. Use 'a' instead." + ) + + @deprecated_args_alias("1.6.0", "3.4.0", old_a="a", old_b=None) + def _test_func2(a): + pass + + with pytest.warns(DeprecationWarning) as record: + _test_func2(old_a=1, old_b=2) + assert len(record) == 2 + assert record[0].message.args[0] == ( + "The 'old_a' argument is deprecated since python-can v1.6.0, and scheduled for " + "removal in python-can v3.4.0. Use 'a' instead." + ) + assert record[1].message.args[0] == ( + "The 'old_b' argument is deprecated since python-can v1.6.0, and scheduled for " + "removal in python-can v3.4.0." + ) + + @deprecated_args_alias("1.6.0", "3.4.0", old_a="a") + @deprecated_args_alias("2.0.0", "4.0.0", old_b=None) + def _test_func3(a): + pass + + with pytest.warns(DeprecationWarning) as record: + _test_func3(old_a=1, old_b=2) + assert len(record) == 2 + assert record[0].message.args[0] == ( + "The 'old_a' argument is deprecated since python-can v1.6.0, and scheduled " + "for removal in python-can v3.4.0. Use 'a' instead." + ) + assert record[1].message.args[0] == ( + "The 'old_b' argument is deprecated since python-can v2.0.0, and scheduled " + "for removal in python-can v4.0.0." + ) + + with pytest.warns(DeprecationWarning) as record: + _test_func3(old_a=1) + assert len(record) == 1 + assert record[0].message.args[0] == ( + "The 'old_a' argument is deprecated since python-can v1.6.0, and scheduled " + "for removal in python-can v3.4.0. Use 'a' instead." + ) + + with pytest.warns(DeprecationWarning) as record: + _test_func3(a=1, old_b=2) + assert len(record) == 1 + assert record[0].message.args[0] == ( + "The 'old_b' argument is deprecated since python-can v2.0.0, and scheduled " + "for removal in python-can v4.0.0." + ) + + with warnings.catch_warnings(): + warnings.simplefilter("error") + _test_func3(a=1) class TestBusConfig(unittest.TestCase): From 15b8af00af5869f7ed6b48f3e022576caab169ab Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Sat, 7 Jan 2023 07:01:47 +0100 Subject: [PATCH 217/475] Use ip link JSON output for SocketCAN find_available_interfaces (#1478) * Update find_available_interfaces to use ip link JSON output * Add unit test with known JSON output for find_available_interfaces * Add except clause for JSON decoding * Fix pylint complaints --- can/interfaces/socketcan/utils.py | 49 ++++++++++++++-------------- test/test_socketcan_helpers.py | 54 +++++++++++++++++++++++++------ 2 files changed, 69 insertions(+), 34 deletions(-) diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 25f04617f..7a8538135 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -3,15 +3,15 @@ """ import errno +import json import logging import os -import re import struct import subprocess -from typing import cast, Iterable, Optional +from typing import cast, Optional, List -from can.interfaces.socketcan.constants import CAN_EFF_FLAG from can import typechecking +from can.interfaces.socketcan.constants import CAN_EFF_FLAG log = logging.getLogger(__name__) @@ -38,35 +38,36 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes return struct.pack(can_filter_fmt, *filter_data) -_PATTERN_CAN_INTERFACE = re.compile(r"(sl|v|vx)?can\d+") - +def find_available_interfaces() -> List[str]: + """Returns the names of all open can/vcan interfaces -def find_available_interfaces() -> Iterable[str]: - """Returns the names of all open can/vcan interfaces using - the ``ip link list`` command. If the lookup fails, an error + The function calls the ``ip link list`` command. If the lookup fails, an error is logged to the console and an empty list is returned. + + :return: The list of available and active CAN interfaces or an empty list of the command failed """ try: - # adding "type vcan" would exclude physical can devices - command = ["ip", "-o", "link", "list", "up"] - output = subprocess.check_output(command, text=True) - - except Exception as e: # pylint: disable=broad-except + command = ["ip", "-json", "link", "list", "up"] + output_str = subprocess.check_output(command, text=True) + except Exception: # pylint: disable=broad-except # subprocess.CalledProcessError is too specific - log.error("failed to fetch opened can devices: %s", e) + log.exception("failed to fetch opened can devices from ip link") return [] - else: - # log.debug("find_available_interfaces(): output=\n%s", output) - # output contains some lines like "1: vcan42: ..." - # extract the "vcan42" of each line - interfaces = [line.split(": ", 3)[1] for line in output.splitlines()] - log.debug( - "find_available_interfaces(): detected these interfaces (before filtering): %s", - interfaces, - ) - return filter(_PATTERN_CAN_INTERFACE.match, interfaces) + try: + output_json = json.loads(output_str) + except json.JSONDecodeError: + log.exception("Failed to parse ip link JSON output: %s", output_str) + return [] + + log.debug( + "find_available_interfaces(): detected these interfaces (before filtering): %s", + output_json, + ) + + interfaces = [i["ifname"] for i in output_json if i["link_type"] == "can"] + return interfaces def error_code_to_str(code: Optional[int]) -> str: diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py index ad53836f2..29ceb11c0 100644 --- a/test/test_socketcan_helpers.py +++ b/test/test_socketcan_helpers.py @@ -4,7 +4,12 @@ Tests helpers in `can.interfaces.socketcan.socketcan_common`. """ +import gzip +from base64 import b64decode import unittest +from unittest import mock + +from subprocess import CalledProcessError from can.interfaces.socketcan.utils import find_available_interfaces, error_code_to_str @@ -26,17 +31,46 @@ def test_error_code_to_str(self): string = error_code_to_str(error_code) self.assertTrue(string) # not None or empty - @unittest.skipUnless(IS_LINUX, "socketcan is only available on Linux") + @unittest.skipUnless( + TEST_INTERFACE_SOCKETCAN, "socketcan is only available on Linux" + ) def test_find_available_interfaces(self): - result = list(find_available_interfaces()) - self.assertGreaterEqual(len(result), 0) - for entry in result: - self.assertRegex(entry, r"(sl|v|vx)?can\d+") - if TEST_INTERFACE_SOCKETCAN: - self.assertGreaterEqual(len(result), 3) - self.assertIn("vcan0", result) - self.assertIn("vxcan0", result) - self.assertIn("slcan0", result) + result = find_available_interfaces() + + self.assertGreaterEqual(len(result), 3) + self.assertIn("vcan0", result) + self.assertIn("vxcan0", result) + self.assertIn("slcan0", result) + + def test_find_available_interfaces_w_patch(self): + # Contains lo, eth0, wlan0, vcan0, mycustomCan123 + ip_output_gz_b64 = ( + "H4sIAAAAAAAAA+2UzW+CMBjG7/wVhrNL+BC29IboEqNSwzQejDEViiMC5aNsmmX/+wpZTGUwDAcP" + "y5qmh+d5++bN80u7EXpsfZRnsUTf8yMXn0TQk/u8GqEQM1EMiMjpXoAOGZM3F6mUZxAuhoY55UpL" + "fbWoKjO4Hts7pl/kLdc+pDlrrmuaqnNq4vqZU8wSkSTHOeYHIjFOM4poOevKmlpwbfF+4EfHkLil" + "PRo/G6vZkrcPKcnjwnOxh/KA8h49JQGOimAkSaq03NFz/B0PiffIOfIXkeumOCtiEiUJXG++bp8S" + "5Dooo/WVZeFnvxmYUgsM01fpBmQWfDAN256M7SqioQ2NkWm8LKvGnIU3qTN+xylrV/FdaHrJzmFk" + "gkacozuzZMnhtAGkLANFAaoKBgOgaUDXG0F6Hrje7SDVWpDvAYpuIdmJV4dn2cSx9VUuGiFCe25Y" + "fwTi4KmW4ptzG0ULGvYPLN1APSqdMN3/82TRtOeqSbW5hmcnzygJTRTJivofcEvAgrAVvgD8aLkv" + "/AcAAA==" + ) + ip_output = gzip.decompress(b64decode(ip_output_gz_b64)).decode("ascii") + + with mock.patch("subprocess.check_output") as check_output: + check_output.return_value = ip_output + ifs = find_available_interfaces() + + self.assertEqual(["vcan0", "mycustomCan123"], ifs) + + def test_find_available_interfaces_exception(self): + with mock.patch("subprocess.check_output") as check_output: + check_output.return_value = "

Not JSON

" + result = find_available_interfaces() + self.assertEqual([], result) + + check_output.side_effect = Exception("Something went wrong :-/") + result = find_available_interfaces() + self.assertEqual([], result) if __name__ == "__main__": From c4c396b9a2441606a40c21ab0dedb54278e70149 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Wed, 11 Jan 2023 10:33:45 -0500 Subject: [PATCH 218/475] Avoid using root logger in usb2can (#1483) Replace the logger used to raise import error in usb2can serial selector --- can/interfaces/usb2can/serial_selector.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index c6b9053d6..22a95ae7c 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -4,10 +4,12 @@ import logging from typing import List +log = logging.getLogger("can.usb2can") + try: import win32com.client except ImportError: - logging.warning("win32com.client module required for usb2can") + log.warning("win32com.client module required for usb2can") raise From fabcdf7d175a320fa63b0f515ac7f5adcd4c184c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 12 Jan 2023 17:55:17 +0100 Subject: [PATCH 219/475] Vector: Check sample point instead of tseg & sjw (#1486) * check sample point instead of tseg & sjw * improve error message --- can/interfaces/vector/canlib.py | 310 ++++++++++++++++++++------------ test/test_vector.py | 4 +- 2 files changed, 196 insertions(+), 118 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 7c1ffac64..5c7f1a8ad 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -148,7 +148,8 @@ def __init__( If the bus could not be set up. This may or may not be a :class:`~can.interfaces.vector.VectorInitializationError`. """ - if os.name != "nt" and not kwargs.get("_testing", False): + self.__testing = kwargs.get("_testing", False) + if os.name != "nt" and not self.__testing: raise CanInterfaceNotImplementedError( f"The Vector interface is only supported on Windows, " f'but you are running "{os.name}"' @@ -232,66 +233,20 @@ def __init__( # set CAN settings for channel in self.channels: - if self._has_init_access(channel): - if fd: - self._set_bitrate_canfd( - channel=channel, - bitrate=bitrate, - data_bitrate=data_bitrate, - sjw_abr=sjw_abr, - tseg1_abr=tseg1_abr, - tseg2_abr=tseg2_abr, - sjw_dbr=sjw_dbr, - tseg1_dbr=tseg1_dbr, - tseg2_dbr=tseg2_dbr, - ) - elif bitrate: - self._set_bitrate_can(channel=channel, bitrate=bitrate) - - # Check CAN settings - for channel in self.channels: - if kwargs.get("_testing", False): - # avoid check if xldriver is mocked for testing - break - - bus_params = self._read_bus_params(channel) if fd: - _canfd = bus_params.canfd - if not all( - [ - bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, - _canfd.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD, - _canfd.bitrate == bitrate if bitrate else True, - _canfd.sjw_abr == sjw_abr if bitrate else True, - _canfd.tseg1_abr == tseg1_abr if bitrate else True, - _canfd.tseg2_abr == tseg2_abr if bitrate else True, - _canfd.data_bitrate == data_bitrate if data_bitrate else True, - _canfd.sjw_dbr == sjw_dbr if data_bitrate else True, - _canfd.tseg1_dbr == tseg1_dbr if data_bitrate else True, - _canfd.tseg2_dbr == tseg2_dbr if data_bitrate else True, - ] - ): - raise CanInitializationError( - f"The requested CAN FD settings could not be set for channel {channel}. " - f"Another application might have set incompatible settings. " - f"These are the currently active settings: {_canfd._asdict()}" - ) - else: - _can = bus_params.can - if not all( - [ - bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, - _can.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20, - _can.bitrate == bitrate if bitrate else True, - ] - ): - raise CanInitializationError( - f"The requested CAN settings could not be set for channel {channel}. " - f"Another application might have set incompatible settings. " - f"These are the currently active settings: {_can._asdict()}" - ) + self._set_bitrate_canfd( + channel=channel, + bitrate=bitrate, + data_bitrate=data_bitrate, + sjw_abr=sjw_abr, + tseg1_abr=tseg1_abr, + tseg2_abr=tseg2_abr, + sjw_dbr=sjw_dbr, + tseg1_dbr=tseg1_dbr, + tseg2_dbr=tseg2_dbr, + ) + elif bitrate: + self._set_bitrate_can(channel=channel, bitrate=bitrate) # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 @@ -422,32 +377,85 @@ def _set_bitrate_can( ) # set parameters if channel has init access - if any(kwargs): - chip_params = xlclass.XLchipParams() - chip_params.bitRate = bitrate - chip_params.sjw = sjw - chip_params.tseg1 = tseg1 - chip_params.tseg2 = tseg2 - chip_params.sam = sam - self.xldriver.xlCanSetChannelParams( - self.port_handle, - self.channel_masks[channel], - chip_params, + if self._has_init_access(channel): + if any(kwargs): + chip_params = xlclass.XLchipParams() + chip_params.bitRate = bitrate + chip_params.sjw = sjw + chip_params.tseg1 = tseg1 + chip_params.tseg2 = tseg2 + chip_params.sam = sam + self.xldriver.xlCanSetChannelParams( + self.port_handle, + self.channel_masks[channel], + chip_params, + ) + LOG.info( + "xlCanSetChannelParams: baudr.=%u, sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", + chip_params.bitRate, + chip_params.sjw, + chip_params.tseg1, + chip_params.tseg2, + ) + else: + self.xldriver.xlCanSetChannelBitrate( + self.port_handle, + self.channel_masks[channel], + bitrate, + ) + LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate) + + if self.__testing: + return + + # Compare requested CAN settings to active settings + bus_params = self._read_bus_params(channel) + settings_acceptable = True + + # check bus type + settings_acceptable &= ( + bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN + ) + + # check CAN operation mode. For CANcaseXL can_op_mode remains 0 + if bus_params.can.can_op_mode != 0: + settings_acceptable &= bool( + bus_params.can.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 ) - LOG.info( - "xlCanSetChannelParams: baudr.=%u, sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", - chip_params.bitRate, - chip_params.sjw, - chip_params.tseg1, - chip_params.tseg2, + + # check bitrate + settings_acceptable &= abs(bus_params.can.bitrate - bitrate) < bitrate / 256 + + # check sample point + if all(kwargs): + requested_sample_point = ( + 100 + * (1 + tseg1) # type: ignore[operator] + / (1 + tseg1 + tseg2) # type: ignore[operator] ) - else: - self.xldriver.xlCanSetChannelBitrate( - self.port_handle, - self.channel_masks[channel], - bitrate, + actual_sample_point = ( + 100 + * (1 + bus_params.can.tseg1) + / (1 + bus_params.can.tseg1 + bus_params.can.tseg2) + ) + settings_acceptable &= ( + abs(actual_sample_point - requested_sample_point) + < 1.0 # 1 percent threshold + ) + + if not settings_acceptable: + active_settings = ", ".join( + [ + f"{key}: {getattr(val, 'name', val)}" # print int or Enum/Flag name + for key, val in bus_params.can._asdict().items() + ] + ) + raise CanInitializationError( + f"The requested CAN settings could not be set for channel {channel}. " + f"Another application might have set incompatible settings. " + f"These are the currently active settings: {active_settings}" ) - LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate) def _set_bitrate_canfd( self, @@ -462,42 +470,112 @@ def _set_bitrate_canfd( tseg2_dbr: int = 3, ) -> None: # set parameters if channel has init access - canfd_conf = xlclass.XLcanFdConf() - if bitrate: - canfd_conf.arbitrationBitRate = int(bitrate) - else: - canfd_conf.arbitrationBitRate = 500_000 - canfd_conf.sjwAbr = int(sjw_abr) - canfd_conf.tseg1Abr = int(tseg1_abr) - canfd_conf.tseg2Abr = int(tseg2_abr) - if data_bitrate: - canfd_conf.dataBitRate = int(data_bitrate) - else: - canfd_conf.dataBitRate = int(canfd_conf.arbitrationBitRate) - canfd_conf.sjwDbr = int(sjw_dbr) - canfd_conf.tseg1Dbr = int(tseg1_dbr) - canfd_conf.tseg2Dbr = int(tseg2_dbr) - self.xldriver.xlCanFdSetConfiguration( - self.port_handle, self.channel_masks[channel], canfd_conf - ) - LOG.info( - "xlCanFdSetConfiguration.: ABaudr.=%u, DBaudr.=%u", - canfd_conf.arbitrationBitRate, - canfd_conf.dataBitRate, - ) - LOG.info( - "xlCanFdSetConfiguration.: sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", - canfd_conf.sjwAbr, - canfd_conf.tseg1Abr, - canfd_conf.tseg2Abr, + if self._has_init_access(channel): + canfd_conf = xlclass.XLcanFdConf() + if bitrate: + canfd_conf.arbitrationBitRate = int(bitrate) + else: + canfd_conf.arbitrationBitRate = 500_000 + canfd_conf.sjwAbr = int(sjw_abr) + canfd_conf.tseg1Abr = int(tseg1_abr) + canfd_conf.tseg2Abr = int(tseg2_abr) + if data_bitrate: + canfd_conf.dataBitRate = int(data_bitrate) + else: + canfd_conf.dataBitRate = int(canfd_conf.arbitrationBitRate) + canfd_conf.sjwDbr = int(sjw_dbr) + canfd_conf.tseg1Dbr = int(tseg1_dbr) + canfd_conf.tseg2Dbr = int(tseg2_dbr) + self.xldriver.xlCanFdSetConfiguration( + self.port_handle, self.channel_masks[channel], canfd_conf + ) + LOG.info( + "xlCanFdSetConfiguration.: ABaudr.=%u, DBaudr.=%u", + canfd_conf.arbitrationBitRate, + canfd_conf.dataBitRate, + ) + LOG.info( + "xlCanFdSetConfiguration.: sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u", + canfd_conf.sjwAbr, + canfd_conf.tseg1Abr, + canfd_conf.tseg2Abr, + ) + LOG.info( + "xlCanFdSetConfiguration.: sjwDbr=%u, tseg1Dbr=%u, tseg2Dbr=%u", + canfd_conf.sjwDbr, + canfd_conf.tseg1Dbr, + canfd_conf.tseg2Dbr, + ) + + if self.__testing: + return + + # Compare requested CAN settings to active settings + bus_params = self._read_bus_params(channel) + settings_acceptable = True + + # check bus type + settings_acceptable &= ( + bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN ) - LOG.info( - "xlCanFdSetConfiguration.: sjwDbr=%u, tseg1Dbr=%u, tseg2Dbr=%u", - canfd_conf.sjwDbr, - canfd_conf.tseg1Dbr, - canfd_conf.tseg2Dbr, + + # check CAN operation mode + settings_acceptable &= bool( + bus_params.canfd.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD ) + # check bitrates + if bitrate: + settings_acceptable &= ( + abs(bus_params.canfd.bitrate - bitrate) < bitrate / 256 + ) + if data_bitrate: + settings_acceptable &= ( + abs(bus_params.canfd.data_bitrate - data_bitrate) < data_bitrate / 256 + ) + + # check sample points + if bitrate: + requested_nom_sample_point = ( + 100 * (1 + tseg1_abr) / (1 + tseg1_abr + tseg2_abr) + ) + actual_nom_sample_point = ( + 100 + * (1 + bus_params.canfd.tseg1_abr) + / (1 + bus_params.canfd.tseg1_abr + bus_params.canfd.tseg2_abr) + ) + settings_acceptable &= ( + abs(actual_nom_sample_point - requested_nom_sample_point) + < 1.0 # 1 percent threshold + ) + if data_bitrate: + requested_data_sample_point = ( + 100 * (1 + tseg1_dbr) / (1 + tseg1_dbr + tseg2_dbr) + ) + actual_data_sample_point = ( + 100 + * (1 + bus_params.canfd.tseg1_dbr) + / (1 + bus_params.canfd.tseg1_dbr + bus_params.canfd.tseg2_dbr) + ) + settings_acceptable &= ( + abs(actual_data_sample_point - requested_data_sample_point) + < 1.0 # 1 percent threshold + ) + + if not settings_acceptable: + active_settings = ", ".join( + [ + f"{key}: {getattr(val, 'name', val)}" # print int or Enum/Flag name + for key, val in bus_params.canfd._asdict().items() + ] + ) + raise CanInitializationError( + f"The requested CAN FD settings could not be set for channel {channel}. " + f"Another application might have set incompatible settings. " + f"These are the currently active settings: {active_settings}." + ) + def _apply_filters(self, filters: Optional[CanFilters]) -> None: if filters: # Only up to one filter per ID type allowed diff --git a/test/test_vector.py b/test/test_vector.py index 21125cc18..02c3c336d 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -459,7 +459,7 @@ def test_reset_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") -def test_reset_mocked() -> None: +def test_reset() -> None: bus = canlib.VectorBus( channel=0, serial=_find_virtual_can_serial(), interface="vector" ) @@ -696,7 +696,7 @@ def _find_virtual_can_serial() -> int: for i in range(xl_driver_config.channelCount): xl_channel_config: xlclass.XLchannelConfig = xl_driver_config.channel[i] - if xl_channel_config.transceiverName.decode() == "Virtual CAN": + if "Virtual CAN" in xl_channel_config.transceiverName.decode(): return xl_channel_config.serialNumber raise LookupError("Vector virtual CAN not found") From 4713c2ccda821f1fe39238361ed6b30692b70f7d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 12 Jan 2023 17:56:52 +0100 Subject: [PATCH 220/475] USB2CAN: Faster channel detection on Windows (#1480) Co-authored-by: zariiii9003 --- can/interfaces/usb2can/serial_selector.py | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index 22a95ae7c..c2e48ff97 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -49,11 +49,13 @@ def find_serial_devices(serial_matcher: str = "") -> List[str]: :param serial_matcher: only device IDs starting with this string are returned """ - objWMIService = win32com.client.Dispatch("WbemScripting.SWbemLocator") - objSWbemServices = objWMIService.ConnectServer(".", "root\\cimv2") - query = "SELECT * FROM CIM_LogicalDevice where Name LIKE '%USB2CAN%'" - devices = objSWbemServices.ExecQuery(query) - serial_numbers = [device.DeviceID.split("\\")[-1] for device in devices] + serial_numbers = [] + wmi = win32com.client.GetObject("winmgmts:") + for usb_controller in wmi.InstancesOf("Win32_USBControllerDevice"): + usb_device = wmi.Get(usb_controller.Dependent) + if "USB2CAN" in usb_device.Name: + serial_numbers.append(usb_device.DeviceID.split("\\")[-1]) + if serial_matcher: return [sn for sn in serial_numbers if serial_matcher in sn] return serial_numbers From ef803a57adac6e74b6a3af81ad52d1a7042814f9 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 12 Jan 2023 18:09:47 +0100 Subject: [PATCH 221/475] Fix logger name --- can/viewer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/viewer.py b/can/viewer.py index e87684485..5539ee3fb 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -39,7 +39,7 @@ ) -logger = logging.getLogger("can.serial") +logger = logging.getLogger("can.viewer") try: import curses From 69a5209edb893413d932d8881ad93b5cd599af95 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Sat, 14 Jan 2023 16:34:29 +0100 Subject: [PATCH 222/475] Enable SocketCAN interface tests in GitHub CI (#1484) * Update CI to set up vcan and run SocketCAN tests * Add test to document PyPy raw CAN socket implementation status * Update test for restarting of SocketCAN SendTask Previously, it was not permitted to restart an already started period send task for SocketCAN. This behavior was changed in PR #1440. This commit adjusts the test to reflect this change. * Update PyPy raw CAN socket test failure into warning --- .github/workflows/ci.yml | 10 +++++++++- test/test_cyclic_socketcan.py | 10 ++-------- test/test_socketcan.py | 35 ++++++++++++++++++++++++++++------- tox.ini | 1 + 4 files changed, 40 insertions(+), 16 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c610c6a76..4f96578e5 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -38,10 +38,18 @@ jobs: run: | python -m pip install --upgrade pip pip install tox + - name: Setup SocketCAN + if: ${{ matrix.os == 'ubuntu-latest' }} + run: | + sudo apt-get -y install linux-modules-extra-$(uname -r) + sudo ./test/open_vcan.sh - name: Test with pytest via tox run: | tox -e gh - + env: + # SocketCAN tests currently fail with PyPy because it does not support raw CAN sockets + # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 + TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.python-version, 'pypy' ) }}" - name: Coveralls Parallel uses: coverallsapp/github-action@master with: diff --git a/test/test_cyclic_socketcan.py b/test/test_cyclic_socketcan.py index ca1db6bfc..30c86d6a5 100644 --- a/test/test_cyclic_socketcan.py +++ b/test/test_cyclic_socketcan.py @@ -256,14 +256,8 @@ def test_start_already_started_task(self): task_a = self._send_bus.send_periodic(messages_a, self.PERIOD) time.sleep(0.1) - # Try to start it again, task_id is not incremented in this case - with self.assertRaises(can.CanOperationError) as ctx: - task_a.start() - self.assertEqual( - "A periodic task for task ID 1 is already in progress by the SocketCAN Linux layer", - str(ctx.exception), - ) - + # Task restarting is permitted as of #1440 + task_a.start() task_a.stop() def test_create_same_id(self): diff --git a/test/test_socketcan.py b/test/test_socketcan.py index 1c38e1583..324890dad 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -6,8 +6,17 @@ import ctypes import struct import unittest +import warnings from unittest.mock import patch +import can +from can.interfaces.socketcan.constants import ( + CAN_BCM_TX_DELETE, + CAN_BCM_TX_SETUP, + SETTIMER, + STARTTIMER, + TX_COUNTEVT, +) from can.interfaces.socketcan.socketcan import ( bcm_header_factory, build_bcm_header, @@ -16,13 +25,7 @@ build_bcm_update_header, BcmMsgHead, ) -from can.interfaces.socketcan.constants import ( - CAN_BCM_TX_DELETE, - CAN_BCM_TX_SETUP, - SETTIMER, - STARTTIMER, - TX_COUNTEVT, -) +from .config import IS_LINUX, IS_PYPY class SocketCANTest(unittest.TestCase): @@ -353,6 +356,24 @@ def test_build_bcm_update_header(self): self.assertEqual(can_id, result.can_id) self.assertEqual(1, result.nframes) + @unittest.skipUnless(IS_LINUX and IS_PYPY, "Only test when run on Linux with PyPy") + def test_pypy_socketcan_support(self): + """Wait for PyPy raw CAN socket support + + This test shall document raw CAN socket support under PyPy. Once this test fails, it is likely that PyPy + either implemented raw CAN socket support or at least changed the error that is thrown. + https://foss.heptapod.net/pypy/pypy/-/issues/3809 + https://github.com/hardbyte/python-can/issues/1479 + """ + try: + can.Bus(interface="socketcan", channel="vcan0", bitrate=500000) + except OSError as e: + if "unknown address family" not in str(e): + warnings.warn( + "Please check if PyPy has implemented raw CAN socket support! " + "See: https://foss.heptapod.net/pypy/pypy/-/issues/3809" + ) + if __name__ == "__main__": unittest.main() diff --git a/tox.ini b/tox.ini index 0dbd6423e..96cc82425 100644 --- a/tox.ini +++ b/tox.ini @@ -26,6 +26,7 @@ passenv = GITHUB_* COVERALLS_* PY_COLORS + TEST_SOCKETCAN [testenv:travis] passenv = From 35de98eccfa84f86f4754abec58d52037b4e8ffa Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 20 Jan 2023 15:50:33 +0100 Subject: [PATCH 223/475] Update PCAN Basic to 4.6.2.753 (#1481) * update PCAN Basic to 4.6.2.753 * faster channel detection * fix PcanBus._detect_available_configs * remove TODO * add more information to pcan channel detection Co-authored-by: zariiii9003 --- can/interfaces/pcan/basic.py | 82 ++++++++++++++++++++++++------------ can/interfaces/pcan/pcan.py | 50 ++++++++++++++++++---- test/test_pcan.py | 30 ++++++++++--- 3 files changed, 120 insertions(+), 42 deletions(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index e9fc5029a..77be2c854 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -8,15 +8,15 @@ # # ------------------------------------------------------------------ # Author : Keneth Wagner +# Last change: 2022-07-06 # ------------------------------------------------------------------ # -# Copyright (C) 1999-2021 PEAK-System Technik GmbH, Darmstadt +# Copyright (C) 1999-2022 PEAK-System Technik GmbH, Darmstadt # more Info at http://www.peak-system.com # Module Imports from ctypes import * from ctypes.util import find_library -from string import * import platform import logging @@ -282,6 +282,12 @@ PCAN_ATTACHED_CHANNELS = TPCANParameter( 0x2B ) # Get information about PCAN channels attached to a system +PCAN_ALLOW_ECHO_FRAMES = TPCANParameter( + 0x2C +) # Echo messages reception status within a PCAN-Channel +PCAN_DEVICE_PART_NUMBER = TPCANParameter( + 0x2D +) # Get the part number associated to a device # DEPRECATED parameters # @@ -354,8 +360,8 @@ 33 ) # Maximum length of the name of a device: 32 characters + terminator MAX_LENGTH_VERSION_STRING = int( - 18 -) # Maximum length of a version string: 17 characters + terminator + 256 +) # Maximum length of a version string: 255 characters + terminator # PCAN message types # @@ -377,6 +383,9 @@ PCAN_MESSAGE_ESI = TPCANMessageType( 0x10 ) # The PCAN message represents a FD error state indicator(CAN FD transmitter was error active) +PCAN_MESSAGE_ECHO = TPCANMessageType( + 0x20 +) # The PCAN message represents an echo CAN Frame PCAN_MESSAGE_ERRFRAME = TPCANMessageType( 0x40 ) # The PCAN message represents an error frame @@ -654,33 +663,38 @@ class PCANBasic: """PCAN-Basic API class implementation""" def __init__(self): - # Loads the PCANBasic API - # if platform.system() == "Windows": - # Loads the API on Windows - _dll_path = find_library("PCANBasic") - self.__m_dllBasic = windll.LoadLibrary(_dll_path) if _dll_path else None - aReg = winreg.ConnectRegistry(None, winreg.HKEY_LOCAL_MACHINE) - try: - aKey = winreg.OpenKey(aReg, r"SOFTWARE\PEAK-System\PEAK-Drivers") - winreg.CloseKey(aKey) - except OSError: - logger.error("Exception: The PEAK-driver couldn't be found!") - finally: - winreg.CloseKey(aReg) - elif "CYGWIN" in platform.system(): - self.__m_dllBasic = cdll.LoadLibrary("PCANBasic.dll") - # Unfortunately cygwin python has no winreg module, so we can't - # check for the registry key. - elif platform.system() == "Linux": - # Loads the API on Linux - self.__m_dllBasic = cdll.LoadLibrary("libpcanbasic.so") + load_library_func = windll.LoadLibrary + + # look for Peak drivers in Windows registry + with winreg.ConnectRegistry(None, winreg.HKEY_LOCAL_MACHINE) as reg: + try: + with winreg.OpenKey(reg, r"SOFTWARE\PEAK-System\PEAK-Drivers"): + pass + except OSError: + raise OSError("The PEAK-driver could not be found!") from None + else: + load_library_func = cdll.LoadLibrary + + if platform.system() == "Windows" or "CYGWIN" in platform.system(): + lib_name = "PCANBasic.dll" elif platform.system() == "Darwin": - self.__m_dllBasic = cdll.LoadLibrary(find_library("libPCBUSB.dylib")) + # PCBUSB library is a third-party software created + # and maintained by the MacCAN project + lib_name = "libPCBUSB.dylib" else: - self.__m_dllBasic = cdll.LoadLibrary("libpcanbasic.so") - if self.__m_dllBasic is None: - logger.error("Exception: The PCAN-Basic DLL couldn't be loaded!") + lib_name = "libpcanbasic.so" + + lib_path = find_library(lib_name) + if not lib_path: + raise OSError(f"{lib_name} library not found.") + + try: + self.__m_dllBasic = load_library_func(lib_path) + except OSError: + raise OSError( + f"The PCAN-Basic API could not be loaded. ({lib_path})" + ) from None # Initializes a PCAN Channel # @@ -965,6 +979,7 @@ def GetValue(self, Channel, Parameter): or Parameter == PCAN_BITRATE_INFO_FD or Parameter == PCAN_IP_ADDRESS or Parameter == PCAN_FIRMWARE_VERSION + or Parameter == PCAN_DEVICE_PART_NUMBER ): mybuffer = create_string_buffer(256) @@ -974,6 +989,12 @@ def GetValue(self, Channel, Parameter): return (TPCANStatus(res[0]),) mybuffer = (TPCANChannelInformation * res[1])() + elif ( + Parameter == PCAN_ACCEPTANCE_FILTER_11BIT + or PCAN_ACCEPTANCE_FILTER_29BIT + ): + mybuffer = c_int64(0) + else: mybuffer = c_int(0) @@ -1017,6 +1038,11 @@ def SetValue(self, Channel, Parameter, Buffer): or Parameter == PCAN_TRACE_LOCATION ): mybuffer = create_string_buffer(256) + elif ( + Parameter == PCAN_ACCEPTANCE_FILTER_11BIT + or PCAN_ACCEPTANCE_FILTER_29BIT + ): + mybuffer = c_int64(0) else: mybuffer = c_int(0) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index cd0349c99..7f9b31f2f 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -6,16 +6,19 @@ import time from datetime import datetime import platform - -from typing import Optional +from typing import Optional, List from packaging import version -from ...message import Message -from ...bus import BusABC, BusState -from ...util import len2dlc, dlc2len -from ...exceptions import CanError, CanOperationError, CanInitializationError - +from can import ( + BusABC, + BusState, + CanError, + CanOperationError, + CanInitializationError, + Message, +) +from can.util import len2dlc, dlc2len from .basic import ( PCAN_BITRATES, @@ -57,6 +60,8 @@ FEATURE_FD_CAPABLE, PCAN_DICT_STATUS, PCAN_BUSOFF_AUTORESET, + PCAN_ATTACHED_CHANNELS, + TPCANChannelInformation, ) @@ -78,7 +83,6 @@ except ImportError as error: log.warning( "uptime library not available, timestamps are relative to boot time and not to Epoch UTC", - exc_info=True, ) boottimeEpoch = 0 @@ -278,7 +282,7 @@ def __init__( # TODO Remove Filter when MACCan actually supports it: # https://github.com/mac-can/PCBUSB-Library/ log.debug( - "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.10" + "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.11.2" ) if kwargs.get("auto_reset", False): @@ -624,7 +628,35 @@ def _detect_available_configs(): library_handle = PCANBasic() except OSError: return channels + interfaces = [] + + if platform.system() != "Darwin": + res, value = library_handle.GetValue(PCAN_NONEBUS, PCAN_ATTACHED_CHANNELS) + if res != PCAN_ERROR_OK: + return interfaces + channel_information: List[TPCANChannelInformation] = list(value) + for channel in channel_information: + # find channel name in PCAN_CHANNEL_NAMES by value + channel_name = next( + _channel_name + for _channel_name, channel_id in PCAN_CHANNEL_NAMES.items() + if channel_id.value == channel.channel_handle + ) + channel_config = { + "interface": "pcan", + "channel": channel_name, + "supports_fd": bool(channel.device_features & FEATURE_FD_CAPABLE), + "controller_number": channel.controller_number, + "device_features": channel.device_features, + "device_id": channel.device_id, + "device_name": channel.device_name.decode("latin-1"), + "device_type": channel.device_type, + "channel_condition": channel.channel_condition, + } + interfaces.append(channel_config) + return interfaces + for i in range(16): interfaces.append( { diff --git a/test/test_pcan.py b/test/test_pcan.py index 7e8e27cf6..10a69d7b9 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -3,6 +3,7 @@ """ import ctypes +import platform import unittest from unittest import mock from unittest.mock import Mock @@ -330,11 +331,30 @@ def test_state(self, name, bus_state: BusState, expected_parameter) -> None: ) def test_detect_available_configs(self) -> None: - self.mock_pcan.GetValue = Mock( - return_value=(PCAN_ERROR_OK, PCAN_CHANNEL_AVAILABLE) - ) - configs = PcanBus._detect_available_configs() - self.assertEqual(len(configs), 50) + if platform.system() == "Darwin": + self.mock_pcan.GetValue = Mock( + return_value=(PCAN_ERROR_OK, PCAN_CHANNEL_AVAILABLE) + ) + configs = PcanBus._detect_available_configs() + self.assertEqual(len(configs), 50) + else: + value = (TPCANChannelInformation * 1).from_buffer_copy( + b"Q\x00\x05\x00\x01\x00\x00\x00PCAN-USB FD\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b'\x00\x00\x00\x00\x00\x00\x003"\x11\x00\x01\x00\x00\x00' + ) + self.mock_pcan.GetValue = Mock(return_value=(PCAN_ERROR_OK, value)) + configs = PcanBus._detect_available_configs() + assert len(configs) == 1 + assert configs[0]["interface"] == "pcan" + assert configs[0]["channel"] == "PCAN_USBBUS1" + assert configs[0]["supports_fd"] + assert configs[0]["controller_number"] == 0 + assert configs[0]["device_features"] == 1 + assert configs[0]["device_id"] == 1122867 + assert configs[0]["device_name"] == "PCAN-USB FD" + assert configs[0]["device_type"] == 5 + assert configs[0]["channel_condition"] == 1 @parameterized.expand([("valid", PCAN_ERROR_OK, "OK"), ("invalid", 0x00005, None)]) def test_status_string(self, name, status, expected_result) -> None: From 5c523ec9cc5ab3badbb6def6fb3750d228c7c7c0 Mon Sep 17 00:00:00 2001 From: BKaDamien <94377088+BKaDamien@users.noreply.github.com> Date: Mon, 23 Jan 2023 09:26:13 +0100 Subject: [PATCH 224/475] Add usage of select instead of polling for Linux based platform (PCAN Interface) (#1410) * - integrate handling of Linux based event using select for pcan interface * - adapt pcan unit tests regarding PCAN_RECEIVE_EVENT GetValue call * - add the case HAS_EVENTS = FALSE whne no special event basic mechanism is importes * - force select mock for test_recv_no_message * - just for testing : see what is going wrong with CI testing and my setup * - correct patch on pcan test test_recv_no_message - run black * - remove debug log * -just reformat test_pcan * - move global variable IS_WINDOW and IS_LINUX from pcan to basic module * - remove redundant comment in pcan _recv_internal * refactor _recv_internal Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/pcan/basic.py | 7 +- can/interfaces/pcan/pcan.py | 178 ++++++++++++++++++++--------------- test/test_pcan.py | 9 +- 3 files changed, 113 insertions(+), 81 deletions(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 77be2c854..5f161eecc 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -21,9 +21,12 @@ import logging -if platform.system() == "Windows": - import winreg +PLATFORM = platform.system() +IS_WINDOWS = PLATFORM == "Windows" +IS_LINUX = PLATFORM == "Linux" +if IS_WINDOWS: + import winreg logger = logging.getLogger("can.pcan") diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 7f9b31f2f..01adbe0c2 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -1,12 +1,11 @@ """ Enable basic CAN over a PCAN USB device. """ - import logging import time from datetime import datetime import platform -from typing import Optional, List +from typing import Optional, List, Tuple from packaging import version @@ -50,6 +49,8 @@ PCAN_LISTEN_ONLY, PCAN_PARAMETER_OFF, TPCANHandle, + IS_LINUX, + IS_WINDOWS, PCAN_PCIBUS1, PCAN_USBBUS1, PCAN_PCCBUS1, @@ -70,7 +71,6 @@ MIN_PCAN_API_VERSION = version.parse("4.2.0") - try: # use the "uptime" library if available import uptime @@ -86,22 +86,27 @@ ) boottimeEpoch = 0 -try: - # Try builtin Python 3 Windows API - from _overlapped import CreateEvent - from _winapi import WaitForSingleObject, WAIT_OBJECT_0, INFINITE +HAS_EVENTS = False - HAS_EVENTS = True -except ImportError: +if IS_WINDOWS: try: - # Try pywin32 package - from win32event import CreateEvent - from win32event import WaitForSingleObject, WAIT_OBJECT_0, INFINITE + # Try builtin Python 3 Windows API + from _overlapped import CreateEvent + from _winapi import WaitForSingleObject, WAIT_OBJECT_0, INFINITE HAS_EVENTS = True except ImportError: - # Use polling instead - HAS_EVENTS = False + pass + +elif IS_LINUX: + try: + import errno + import os + import select + + HAS_EVENTS = True + except Exception: + pass class PcanBus(BusABC): @@ -294,10 +299,16 @@ def __init__( raise PcanCanInitializationError(self._get_formatted_error(result)) if HAS_EVENTS: - self._recv_event = CreateEvent(None, 0, 0, None) - result = self.m_objPCANBasic.SetValue( - self.m_PcanHandle, PCAN_RECEIVE_EVENT, self._recv_event - ) + if IS_WINDOWS: + self._recv_event = CreateEvent(None, 0, 0, None) + result = self.m_objPCANBasic.SetValue( + self.m_PcanHandle, PCAN_RECEIVE_EVENT, self._recv_event + ) + elif IS_LINUX: + result, self._recv_event = self.m_objPCANBasic.GetValue( + self.m_PcanHandle, PCAN_RECEIVE_EVENT + ) + if result != PCAN_ERROR_OK: raise PcanCanInitializationError(self._get_formatted_error(result)) @@ -441,84 +452,96 @@ def set_device_number(self, device_number): return False return True - def _recv_internal(self, timeout): + def _recv_internal( + self, timeout: Optional[float] + ) -> Tuple[Optional[Message], bool]: + end_time = time.time() + timeout if timeout is not None else None - if HAS_EVENTS: - # We will utilize events for the timeout handling - timeout_ms = int(timeout * 1000) if timeout is not None else INFINITE - elif timeout is not None: - # Calculate max time - end_time = time.perf_counter() + timeout - - # log.debug("Trying to read a msg") - - result = None - while result is None: + while True: if self.fd: - result = self.m_objPCANBasic.ReadFD(self.m_PcanHandle) + result, pcan_msg, pcan_timestamp = self.m_objPCANBasic.ReadFD( + self.m_PcanHandle + ) else: - result = self.m_objPCANBasic.Read(self.m_PcanHandle) - if result[0] == PCAN_ERROR_QRCVEMPTY: - if HAS_EVENTS: - result = None - val = WaitForSingleObject(self._recv_event, timeout_ms) - if val != WAIT_OBJECT_0: - return None, False - elif timeout is not None and time.perf_counter() >= end_time: - return None, False + result, pcan_msg, pcan_timestamp = self.m_objPCANBasic.Read( + self.m_PcanHandle + ) + + if result == PCAN_ERROR_OK: + # message received + break + + if result == PCAN_ERROR_QRCVEMPTY: + # receive queue is empty, wait or return on timeout + + if end_time is None: + time_left: Optional[float] = None + timed_out = False else: - result = None + time_left = max(0.0, end_time - time.time()) + timed_out = time_left == 0.0 + + if timed_out: + return None, False + + if not HAS_EVENTS: + # polling mode time.sleep(0.001) - elif result[0] & (PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY): - log.warning(self._get_formatted_error(result[0])) - return None, False - elif result[0] != PCAN_ERROR_OK: - raise PcanCanOperationError(self._get_formatted_error(result[0])) - - theMsg = result[1] - itsTimeStamp = result[2] - - # log.debug("Received a message") - - is_extended_id = ( - theMsg.MSGTYPE & PCAN_MESSAGE_EXTENDED.value - ) == PCAN_MESSAGE_EXTENDED.value - is_remote_frame = ( - theMsg.MSGTYPE & PCAN_MESSAGE_RTR.value - ) == PCAN_MESSAGE_RTR.value - is_fd = (theMsg.MSGTYPE & PCAN_MESSAGE_FD.value) == PCAN_MESSAGE_FD.value - bitrate_switch = ( - theMsg.MSGTYPE & PCAN_MESSAGE_BRS.value - ) == PCAN_MESSAGE_BRS.value - error_state_indicator = ( - theMsg.MSGTYPE & PCAN_MESSAGE_ESI.value - ) == PCAN_MESSAGE_ESI.value - is_error_frame = ( - theMsg.MSGTYPE & PCAN_MESSAGE_ERRFRAME.value - ) == PCAN_MESSAGE_ERRFRAME.value + continue + + if IS_WINDOWS: + # Windows with event + if time_left is None: + time_left_ms = INFINITE + else: + time_left_ms = int(time_left * 1000) + _ret = WaitForSingleObject(self._recv_event, time_left_ms) + if _ret == WAIT_OBJECT_0: + continue + + elif IS_LINUX: + # Linux with event + recv, _, _ = select.select([self._recv_event], [], [], time_left) + if self._recv_event in recv: + continue + + elif result & (PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY): + log.warning(self._get_formatted_error(result)) + + else: + raise PcanCanOperationError(self._get_formatted_error(result)) + + return None, False + + is_extended_id = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_EXTENDED.value) + is_remote_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_RTR.value) + is_fd = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_FD.value) + bitrate_switch = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_BRS.value) + error_state_indicator = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ESI.value) + is_error_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ERRFRAME.value) if self.fd: - dlc = dlc2len(theMsg.DLC) - timestamp = boottimeEpoch + (itsTimeStamp.value / (1000.0 * 1000.0)) + dlc = dlc2len(pcan_msg.DLC) + timestamp = boottimeEpoch + (pcan_timestamp.value / (1000.0 * 1000.0)) else: - dlc = theMsg.LEN + dlc = pcan_msg.LEN timestamp = boottimeEpoch + ( ( - itsTimeStamp.micros - + 1000 * itsTimeStamp.millis - + 0x100000000 * 1000 * itsTimeStamp.millis_overflow + pcan_timestamp.micros + + 1000 * pcan_timestamp.millis + + 0x100000000 * 1000 * pcan_timestamp.millis_overflow ) / (1000.0 * 1000.0) ) rx_msg = Message( timestamp=timestamp, - arbitration_id=theMsg.ID, + arbitration_id=pcan_msg.ID, is_extended_id=is_extended_id, is_remote_frame=is_remote_frame, is_error_frame=is_error_frame, dlc=dlc, - data=theMsg.DATA[:dlc], + data=pcan_msg.DATA[:dlc], is_fd=is_fd, bitrate_switch=bitrate_switch, error_state_indicator=error_state_indicator, @@ -597,6 +620,9 @@ def flash(self, flash): def shutdown(self): super().shutdown() + if HAS_EVENTS and IS_LINUX: + self.m_objPCANBasic.SetValue(self.m_PcanHandle, PCAN_RECEIVE_EVENT, 0) + self.m_objPCANBasic.Uninitialize(self.m_PcanHandle) @property diff --git a/test/test_pcan.py b/test/test_pcan.py index 10a69d7b9..01dac848c 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -6,7 +6,8 @@ import platform import unittest from unittest import mock -from unittest.mock import Mock +from unittest.mock import Mock, patch + import pytest from parameterized import parameterized @@ -30,7 +31,6 @@ def setUp(self) -> None: self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_OK) self.mock_pcan.GetValue = self._mockGetValue self.PCAN_API_VERSION_SIM = "4.2" - self.bus = None def tearDown(self) -> None: @@ -45,6 +45,8 @@ def _mockGetValue(self, channel, parameter): """ if parameter == PCAN_API_VERSION: return PCAN_ERROR_OK, self.PCAN_API_VERSION_SIM.encode("ascii") + elif parameter == PCAN_RECEIVE_EVENT: + return PCAN_ERROR_OK, int.from_bytes(PCAN_RECEIVE_EVENT, "big") raise NotImplementedError( f"No mock return value specified for parameter {parameter}" ) @@ -205,7 +207,8 @@ def test_recv_fd(self): self.assertEqual(recv_msg.timestamp, 0) @pytest.mark.timeout(3.0) - def test_recv_no_message(self): + @patch("select.select", return_value=([], [], [])) + def test_recv_no_message(self, mock_select): self.mock_pcan.Read = Mock(return_value=(PCAN_ERROR_QRCVEMPTY, None, None)) self.bus = can.Bus(interface="pcan") self.assertEqual(self.bus.recv(timeout=0.5), None) From 3c7520e91d70ea2b825ddc58102ad9eec122be74 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:24:24 +0100 Subject: [PATCH 225/475] Add ODB II url to docs (#1497) --- doc/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/index.rst b/doc/index.rst index c55108d97..402a485e7 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -14,7 +14,7 @@ linux such as a BeagleBone or RaspberryPi. More concretely, some example uses of the library: * Passively logging what occurs on a CAN bus. For example monitoring a - commercial vehicle using its **OBD-II** port. + commercial vehicle using its `OBD-II port `__. * Testing of hardware that interacts via CAN. Modules found in modern cars, motorcycles, boats, and even wheelchairs have had components tested From 48b18f1b8f4836e657407df1761ea9d0e3efd18b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 25 Jan 2023 22:16:48 +0100 Subject: [PATCH 226/475] Unify bit timings with separate class for CAN FD (#1468) * rework bit timings * fix pylint * convert config values to int * simplify instantiation from sample point * add docstrings * update bit timing docs and tests * fix wrong info * remove links * adapt CANalystIIBus * adapt CantactBus * try to set correct f_clock before raising exception * improve bit timing docs * turn `oscillator_tolerance` into function, improve `from_sample_point` * add tests * cleanup * Remove BitTimingFd Co-authored-by: Lukas Magel * Update can/interfaces/cantact.py Co-authored-by: Lukas Magel * Add test_btr_persistence suggestion Co-authored-by: Lukas Magel * Format code with black * move imports up * undo type hint change * mention dict conversion in docs * change member order for docs * use bitrate prescaler as ground truth * avoid repetition * Add utility method to validate and adjust the timing clock value * Fix ZeroDivisionError * improve tests and docs * add deprecation period * check if "timing" already exists * add bit timing figure to docs Co-authored-by: zariiii9003 Co-authored-by: Lukas Magel Co-authored-by: Lukas Magel --- can/__init__.py | 2 +- can/bit_timing.py | 1136 +++++++++++++++++++++++++---- can/interfaces/canalystii.py | 45 +- can/interfaces/cantact.py | 58 +- can/typechecking.py | 21 + can/util.py | 86 ++- doc/bit_timing.rst | 113 ++- doc/conf.py | 2 + doc/images/bit_timing_dark.svg | 96 +++ doc/images/bit_timing_light.svg | 92 +++ test/test_bit_timing.py | 397 +++++++++- test/test_cantact.py | 4 +- test/test_interface_canalystii.py | 14 +- test/test_util.py | 95 +++ 14 files changed, 1901 insertions(+), 260 deletions(-) create mode 100644 doc/images/bit_timing_dark.svg create mode 100644 doc/images/bit_timing_light.svg diff --git a/can/__init__.py b/can/__init__.py index 773e94022..d9ff5ffcd 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -33,7 +33,7 @@ from .interfaces import VALID_INTERFACES from . import interface from .interface import Bus, detect_available_configs -from .bit_timing import BitTiming +from .bit_timing import BitTiming, BitTimingFd from .io import Logger, SizedRotatingLogger, Printer, LogReader, MessageSync from .io import ASCWriter, ASCReader diff --git a/can/bit_timing.py b/can/bit_timing.py index b0ad762fb..2dc78064b 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -1,50 +1,125 @@ -from typing import Optional, Union +# pylint: disable=too-many-lines +import math +from typing import List, Mapping, Iterator, cast +from can.typechecking import BitTimingFdDict, BitTimingDict -class BitTiming: - """Representation of a bit timing configuration. - The class can be constructed in various ways, depending on the information - available or the capabilities of the interfaces that need to be supported. +class BitTiming(Mapping): + """Representation of a bit timing configuration for a CAN 2.0 bus. - The preferred way is using bitrate, CAN clock frequency, TSEG1, TSEG2, SJW:: + The class can be constructed in multiple ways, depending on the information + available. The preferred way is using CAN clock frequency, prescaler, tseg1, tseg2 and sjw:: - can.BitTiming(bitrate=1000000, f_clock=8000000, tseg1=5, tseg2=1, sjw=1) + can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=1, sjw=1) - If the clock frequency is unknown it may be omitted but some interfaces may - require it. + Alternatively you can set the bitrate instead of the bit rate prescaler:: - Alternatively the BRP can be given instead of bitrate and clock frequency but this - will limit the number of supported interfaces. + can.BitTiming.from_bitrate_and_segments( + f_clock=8_000_000, bitrate=1_000_000, tseg1=5, tseg2=1, sjw=1 + ) - It is also possible specify BTR registers directly, - but will not work for all interfaces:: + It is also possible to specify BTR registers:: - can.BitTiming(btr0=0x00, btr1=0x14) - """ + can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x00, btr1=0x14) + + or to calculate the timings for a given sample point:: - sync_seg = 1 + can.BitTiming.from_sample_point(f_clock=8_000_000, bitrate=1_000_000, sample_point=75.0) + """ def __init__( self, - bitrate: Optional[int] = None, - f_clock: Optional[int] = None, - brp: Optional[int] = None, - tseg1: Optional[int] = None, - tseg2: Optional[int] = None, - sjw: Optional[int] = None, + f_clock: int, + brp: int, + tseg1: int, + tseg2: int, + sjw: int, nof_samples: int = 1, - btr0: Optional[int] = None, - btr1: Optional[int] = None, - ): + ) -> None: """ - :param int bitrate: - Bitrate in bits/s. :param int f_clock: The CAN system clock frequency in Hz. - Usually the oscillator frequency divided by 2. :param int brp: - Bit Rate Prescaler. Prefer to use bitrate and f_clock instead. + Bit rate prescaler. + :param int tseg1: + Time segment 1, that is, the number of quanta from (but not including) + the Sync Segment to the sampling point. + :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 nof_samples: + 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. + :raises ValueError: + if the arguments are invalid. + """ + self._data: BitTimingDict = { + "f_clock": f_clock, + "brp": brp, + "tseg1": tseg1, + "tseg2": tseg2, + "sjw": sjw, + "nof_samples": nof_samples, + } + self._validate() + + def _validate(self) -> None: + if not 8 <= self.nbt <= 25: + raise ValueError(f"nominal bit time (={self.nbt}) must be in [8...25].") + + if not 1 <= self.brp <= 64: + raise ValueError(f"bitrate prescaler (={self.brp}) must be in [1...64].") + + if not 5_000 <= self.bitrate <= 2_000_000: + raise ValueError( + f"bitrate (={self.bitrate}) must be in [5,000...2,000,000]." + ) + + if not 1 <= self.tseg1 <= 16: + raise ValueError(f"tseg1 (={self.tseg1}) must be in [1...16].") + + if not 1 <= self.tseg2 <= 8: + raise ValueError(f"tseg2 (={self.tseg2}) must be in [1...8].") + + if not 1 <= self.sjw <= 4: + raise ValueError(f"sjw (={self.sjw}) must be in [1...4].") + + if self.sjw > self.tseg2: + raise ValueError( + f"sjw (={self.sjw}) must not be greater than tseg2 (={self.tseg2})." + ) + + if self.sample_point < 50.0: + raise ValueError( + f"The sample point must be greater than or equal to 50% " + f"(sample_point={self.sample_point:.2f}%)." + ) + + if self.nof_samples not in (1, 3): + raise ValueError("nof_samples must be 1 or 3") + + @classmethod + def from_bitrate_and_segments( + cls, + f_clock: int, + bitrate: int, + tseg1: int, + tseg2: int, + sjw: int, + nof_samples: int = 1, + ) -> "BitTiming": + """Create a :class:`~can.BitTiming` instance from bitrate and segment lengths. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int bitrate: + Bitrate in bit/s. :param int tseg1: Time segment 1, that is, the number of quanta from (but not including) the Sync Segment to the sampling point. @@ -59,59 +134,154 @@ def __init__( 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. + :raises ValueError: + if the arguments are invalid. + """ + try: + brp = int(round(f_clock / (bitrate * (1 + tseg1 + tseg2)))) + except ZeroDivisionError: + raise ValueError("Invalid inputs") from None + + bt = cls( + f_clock=f_clock, + brp=brp, + tseg1=tseg1, + tseg2=tseg2, + sjw=sjw, + nof_samples=nof_samples, + ) + if abs(bt.bitrate - bitrate) > bitrate / 256: + raise ValueError( + f"the effective bitrate (={bt.bitrate}) diverges " + f"from the requested bitrate (={bitrate})" + ) + return bt + + @classmethod + def from_registers( + cls, + f_clock: int, + btr0: int, + btr1: int, + ) -> "BitTiming": + """Create a :class:`~can.BitTiming` instance from registers btr0 and btr1. + + :param int f_clock: + The CAN system clock frequency in Hz. :param int btr0: The BTR0 register value used by many CAN controllers. :param int btr1: The BTR1 register value used by many CAN controllers. + :raises ValueError: + if the arguments are invalid. """ - self._bitrate = bitrate - self._brp = brp - self._sjw = sjw - self._tseg1 = tseg1 - self._tseg2 = tseg2 - self._nof_samples = nof_samples - self._f_clock = f_clock - - if btr0 is not None: - self._brp = (btr0 & 0x3F) + 1 - self._sjw = (btr0 >> 6) + 1 - if btr1 is not None: - self._tseg1 = (btr1 & 0xF) + 1 - self._tseg2 = ((btr1 >> 4) & 0x7) + 1 - self._nof_samples = 3 if btr1 & 0x80 else 1 - - if nof_samples not in (1, 3): - raise ValueError("nof_samples must be 1 or 3") + brp = (btr0 & 0x3F) + 1 + sjw = (btr0 >> 6) + 1 + tseg1 = (btr1 & 0xF) + 1 + tseg2 = ((btr1 >> 4) & 0x7) + 1 + nof_samples = 3 if btr1 & 0x80 else 1 + return cls( + brp=brp, + f_clock=f_clock, + tseg1=tseg1, + tseg2=tseg2, + sjw=sjw, + nof_samples=nof_samples, + ) + + @classmethod + def from_sample_point( + cls, f_clock: int, bitrate: int, sample_point: float = 69.0 + ) -> "BitTiming": + """Create a :class:`~can.BitTiming` instance for a sample point. + + This function tries to find bit timings, which are close to the requested + sample point. It does not take physical bus properties into account, so the + calculated bus timings might not work properly for you. + + The :func:`oscillator_tolerance` function might be helpful to evaluate the + bus timings. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int bitrate: + Bitrate in bit/s. + :param int sample_point: + The sample point value in percent. + :raises ValueError: + if the arguments are invalid. + """ + + if sample_point < 50.0: + raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") + + possible_solutions: List[BitTiming] = [] + for brp in range(1, 65): + nbt = round(int(f_clock / (bitrate * brp))) + if nbt < 8: + break + + effective_bitrate = f_clock / (nbt * brp) + if abs(effective_bitrate - bitrate) > bitrate / 256: + continue + + tseg1 = int(round(sample_point / 100 * nbt)) - 1 + # limit tseg1, so tseg2 is at least 1 TQ + tseg1 = min(tseg1, nbt - 2) + + tseg2 = nbt - tseg1 - 1 + sjw = min(tseg2, 4) + + try: + bt = BitTiming( + f_clock=f_clock, + brp=brp, + tseg1=tseg1, + tseg2=tseg2, + sjw=sjw, + ) + possible_solutions.append(bt) + except ValueError: + continue + + if not possible_solutions: + raise ValueError("No suitable bit timings found.") + + # sort solutions + for key, reverse in ( + # prefer low prescaler + (lambda x: x.brp, False), + # prefer low sample point deviation from requested values + (lambda x: abs(x.sample_point - sample_point), False), + ): + possible_solutions.sort(key=key, reverse=reverse) + + return possible_solutions[0] @property - def nbt(self) -> int: - """Nominal Bit Time.""" - return self.sync_seg + self.tseg1 + self.tseg2 + def f_clock(self) -> int: + """The CAN system clock frequency in Hz.""" + return self._data["f_clock"] @property - def bitrate(self) -> Union[int, float]: + def bitrate(self) -> int: """Bitrate in bits/s.""" - if self._bitrate: - return self._bitrate - if self._f_clock and self._brp: - return self._f_clock / (self._brp * self.nbt) - raise ValueError("bitrate must be specified") + return int(round(self.f_clock / (self.nbt * self.brp))) @property def brp(self) -> int: """Bit Rate Prescaler.""" - if self._brp: - return self._brp - if self._f_clock and self._bitrate: - return round(self._f_clock / (self._bitrate * self.nbt)) - raise ValueError("Either bitrate and f_clock or brp must be specified") + return self._data["brp"] @property - def sjw(self) -> int: - """Synchronization Jump Width.""" - if not self._sjw: - raise ValueError("sjw must be specified") - return self._sjw + def tq(self) -> int: + """Time quantum in nanoseconds""" + return int(round(self.brp / self.f_clock * 1e9)) + + @property + def nbt(self) -> int: + """Nominal Bit Time.""" + return 1 + self.tseg1 + self.tseg2 @property def tseg1(self) -> int: @@ -119,9 +289,7 @@ def tseg1(self) -> int: The number of quanta from (but not including) the Sync Segment to the sampling point. """ - if not self._tseg1: - raise ValueError("tseg1 must be specified") - return self._tseg1 + return self._data["tseg1"] @property def tseg2(self) -> int: @@ -129,104 +297,788 @@ def tseg2(self) -> int: The number of quanta from the sampling point to the end of the bit. """ - if not self._tseg2: - raise ValueError("tseg2 must be specified") - return self._tseg2 + return self._data["tseg2"] @property - def nof_samples(self) -> int: - """Number of samples (1 or 3).""" - if not self._nof_samples: - raise ValueError("nof_samples must be specified") - return self._nof_samples + def sjw(self) -> int: + """Synchronization Jump Width.""" + return self._data["sjw"] @property - def f_clock(self) -> int: - """The CAN system clock frequency in Hz. - - Usually the oscillator frequency divided by 2. - """ - if not self._f_clock: - raise ValueError("f_clock must be specified") - return self._f_clock + def nof_samples(self) -> int: + """Number of samples (1 or 3).""" + return self._data["nof_samples"] @property def sample_point(self) -> float: """Sample point in percent.""" - return 100.0 * (self.nbt - self.tseg2) / self.nbt + return 100.0 * (1 + self.tseg1) / (1 + self.tseg1 + self.tseg2) @property def btr0(self) -> int: - sjw = self.sjw - brp = self.brp - - if brp < 1 or brp > 64: - raise ValueError("brp must be 1 - 64") - if sjw < 1 or sjw > 4: - raise ValueError("sjw must be 1 - 4") - - return (sjw - 1) << 6 | brp - 1 + """Bit timing register 0.""" + return (self.sjw - 1) << 6 | self.brp - 1 @property def btr1(self) -> int: + """Bit timing register 1.""" sam = 1 if self.nof_samples == 3 else 0 - tseg1 = self.tseg1 - tseg2 = self.tseg2 + return sam << 7 | (self.tseg2 - 1) << 4 | self.tseg1 - 1 - if tseg1 < 1 or tseg1 > 16: - raise ValueError("tseg1 must be 1 - 16") - if tseg2 < 1 or tseg2 > 8: - raise ValueError("tseg2 must be 1 - 8") + def oscillator_tolerance( + self, + node_loop_delay_ns: float = 250.0, + bus_length_m: float = 10.0, + ) -> float: + """Oscillator tolerance in percent according to ISO 11898-1. - return sam << 7 | (tseg2 - 1) << 4 | tseg1 - 1 + :param float node_loop_delay_ns: + Transceiver loop delay in nanoseconds. + :param float bus_length_m: + Bus length in meters. + """ + delay_per_meter = 5 + bidirectional_propagation_delay_ns = 2 * ( + node_loop_delay_ns + delay_per_meter * bus_length_m + ) - def __str__(self) -> str: - segments = [] - try: - segments.append(f"{self.bitrate} bits/s") - except ValueError: - pass - try: - segments.append(f"sample point: {self.sample_point:.2f}%") - except ValueError: - pass - try: - segments.append(f"BRP: {self.brp}") - except ValueError: - pass - try: - segments.append(f"TSEG1: {self.tseg1}") - except ValueError: - pass + prop_seg = math.ceil(bidirectional_propagation_delay_ns / self.tq) + nom_phase_seg1 = self.tseg1 - prop_seg + nom_phase_seg2 = self.tseg2 + df_clock_list = [ + _oscillator_tolerance_condition_1(nom_sjw=self.sjw, nbt=self.nbt), + _oscillator_tolerance_condition_2( + nbt=self.nbt, + nom_phase_seg1=nom_phase_seg1, + nom_phase_seg2=nom_phase_seg2, + ), + ] + return max(0.0, min(df_clock_list) * 100) + + def recreate_with_f_clock(self, f_clock: int) -> "BitTiming": + """Return a new :class:`~can.BitTiming` instance with the given *f_clock* but the same + bit rate and sample point. + + :param int f_clock: + The CAN system clock frequency in Hz. + :raises ValueError: + if no suitable bit timings were found. + """ + # try the most simple solution first: another bitrate prescaler try: - segments.append(f"TSEG2: {self.tseg2}") + return BitTiming.from_bitrate_and_segments( + f_clock=f_clock, + bitrate=self.bitrate, + tseg1=self.tseg1, + tseg2=self.tseg2, + sjw=self.sjw, + nof_samples=self.nof_samples, + ) except ValueError: pass + + # create a new timing instance with the same sample point + bt = BitTiming.from_sample_point( + f_clock=f_clock, bitrate=self.bitrate, sample_point=self.sample_point + ) + if abs(bt.sample_point - self.sample_point) > 1.0: + raise ValueError( + "f_clock change failed because of sample point discrepancy." + ) + # adapt synchronization jump width, so it has the same size relative to bit time as self + sjw = int(round(self.sjw / self.nbt * bt.nbt)) + sjw = max(1, min(4, bt.tseg2, sjw)) + bt._data["sjw"] = sjw # pylint: disable=protected-access + bt._data["nof_samples"] = self.nof_samples # pylint: disable=protected-access + bt._validate() # pylint: disable=protected-access + return bt + + def __str__(self) -> str: + segments = [ + f"BR {self.bitrate} bit/s", + f"SP: {self.sample_point:.2f}%", + f"BRP: {self.brp}", + f"TSEG1: {self.tseg1}", + f"TSEG2: {self.tseg2}", + f"SJW: {self.sjw}", + f"BTR: {self.btr0:02X}{self.btr1:02X}h", + f"f_clock: {self.f_clock / 1e6:.0f}MHz", + ] + return ", ".join(segments) + + def __repr__(self) -> str: + args = ", ".join(f"{key}={value}" for key, value in self.items()) + return f"can.{self.__class__.__name__}({args})" + + def __getitem__(self, key: str) -> int: + return cast(int, self._data.__getitem__(key)) + + def __len__(self) -> int: + return self._data.__len__() + + def __iter__(self) -> Iterator[str]: + return self._data.__iter__() + + def __eq__(self, other: object) -> bool: + if not isinstance(other, BitTiming): + return False + + return self._data == other._data + + +class BitTimingFd(Mapping): + """Representation of a bit timing configuration for a CAN FD bus. + + The class can be constructed in multiple ways, depending on the information + available. The preferred way is using CAN clock frequency, bit rate prescaler, tseg1, + tseg2 and sjw for both the arbitration (nominal) and data phase:: + + can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=59, + nom_tseg2=20, + nom_sjw=10, + data_brp=1, + data_tseg1=6, + data_tseg2=3, + data_sjw=2, + ) + + Alternatively you can set the bit rates instead of the bit rate prescalers:: + + can.BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=1_000_000, + nom_tseg1=59, + nom_tseg2=20, + nom_sjw=10, + data_bitrate=8_000_000, + data_tseg1=6, + data_tseg2=3, + data_sjw=2, + ) + + It is also possible to calculate the timings for a given + pair of arbitration and data sample points:: + + can.BitTimingFd.from_sample_point( + f_clock=80_000_000, + nom_bitrate=1_000_000, + nom_sample_point=75.0, + data_bitrate=8_000_000, + data_sample_point=70.0, + ) + """ + + def __init__( + self, + f_clock: int, + nom_brp: int, + nom_tseg1: int, + nom_tseg2: int, + nom_sjw: int, + data_brp: int, + data_tseg1: int, + data_tseg2: int, + data_sjw: int, + ) -> None: + """ + Initialize a BitTimingFd instance with the specified parameters. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int nom_brp: + Nominal (arbitration) phase bitrate prescaler. + :param int nom_tseg1: + Nominal phase Time segment 1, that is, the number of quanta from (but not including) + the Sync Segment to the sampling point. + :param int nom_tseg2: + Nominal phase Time segment 2, that is, the number of quanta from the sampling + point to the end of the bit. + :param int nom_sjw: + The Synchronization Jump Width for the nominal phase. This value determines + the maximum number of time quanta that the controller can resynchronize every bit. + :param int data_brp: + Data phase bitrate prescaler. + :param int data_tseg1: + Data phase Time segment 1, that is, the number of quanta from (but not including) + the Sync Segment to the sampling point. + :param int data_tseg2: + Data phase Time segment 2, that is, the number of quanta from the sampling + point to the end of the bit. + :param int data_sjw: + The Synchronization Jump Width for the data phase. This value determines + the maximum number of time quanta that the controller can resynchronize every bit. + :raises ValueError: + if the arguments are invalid. + """ + self._data: BitTimingFdDict = { + "f_clock": f_clock, + "nom_brp": nom_brp, + "nom_tseg1": nom_tseg1, + "nom_tseg2": nom_tseg2, + "nom_sjw": nom_sjw, + "data_brp": data_brp, + "data_tseg1": data_tseg1, + "data_tseg2": data_tseg2, + "data_sjw": data_sjw, + } + self._validate() + + def _validate(self) -> None: + if self.nbt < 8: + raise ValueError(f"nominal bit time (={self.nbt}) must be at least 8.") + + if self.dbt < 8: + raise ValueError(f"data bit time (={self.dbt}) must be at least 8.") + + if not 1 <= self.nom_brp <= 256: + raise ValueError( + f"nominal bitrate prescaler (={self.nom_brp}) must be in [1...256]." + ) + + if not 1 <= self.data_brp <= 256: + raise ValueError( + f"data bitrate prescaler (={self.data_brp}) must be in [1...256]." + ) + + if not 5_000 <= self.nom_bitrate <= 2_000_000: + raise ValueError( + f"nom_bitrate (={self.nom_bitrate}) must be in [5,000...2,000,000]." + ) + + if not 25_000 <= self.data_bitrate <= 8_000_000: + raise ValueError( + f"data_bitrate (={self.data_bitrate}) must be in [25,000...8,000,000]." + ) + + if self.data_bitrate < self.nom_bitrate: + raise ValueError( + f"data_bitrate (={self.data_bitrate}) must be greater than or " + f"equal to nom_bitrate (={self.nom_bitrate})" + ) + + if not 2 <= self.nom_tseg1 <= 256: + raise ValueError(f"nom_tseg1 (={self.nom_tseg1}) must be in [2...256].") + + if not 1 <= self.nom_tseg2 <= 128: + raise ValueError(f"nom_tseg2 (={self.nom_tseg2}) must be in [1...128].") + + if not 1 <= self.data_tseg1 <= 32: + raise ValueError(f"data_tseg1 (={self.data_tseg1}) must be in [1...32].") + + if not 1 <= self.data_tseg2 <= 16: + raise ValueError(f"data_tseg2 (={self.data_tseg2}) must be in [1...16].") + + if not 1 <= self.nom_sjw <= 128: + raise ValueError(f"nom_sjw (={self.nom_sjw}) must be in [1...128].") + + if self.nom_sjw > self.nom_tseg2: + raise ValueError( + f"nom_sjw (={self.nom_sjw}) must not be " + f"greater than nom_tseg2 (={self.nom_tseg2})." + ) + + if not 1 <= self.data_sjw <= 16: + raise ValueError(f"data_sjw (={self.data_sjw}) must be in [1...128].") + + if self.data_sjw > self.data_tseg2: + raise ValueError( + f"data_sjw (={self.data_sjw}) must not be " + f"greater than data_tseg2 (={self.data_tseg2})." + ) + + if self.nom_sample_point < 50.0: + raise ValueError( + f"The arbitration sample point must be greater than or equal to 50% " + f"(nom_sample_point={self.nom_sample_point:.2f}%)." + ) + + if self.data_sample_point < 50.0: + raise ValueError( + f"The data sample point must be greater than or equal to 50% " + f"(data_sample_point={self.data_sample_point:.2f}%)." + ) + + @classmethod + def from_bitrate_and_segments( + cls, + f_clock: int, + nom_bitrate: int, + nom_tseg1: int, + nom_tseg2: int, + nom_sjw: int, + data_bitrate: int, + data_tseg1: int, + data_tseg2: int, + data_sjw: int, + ) -> "BitTimingFd": + """ + Create a :class:`~can.BitTimingFd` instance with the bitrates and segments lengths. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int nom_bitrate: + Nominal (arbitration) phase bitrate in bit/s. + :param int nom_tseg1: + Nominal phase Time segment 1, that is, the number of quanta from (but not including) + the Sync Segment to the sampling point. + :param int nom_tseg2: + Nominal phase Time segment 2, that is, the number of quanta from the sampling + point to the end of the bit. + :param int nom_sjw: + The Synchronization Jump Width for the nominal phase. This value determines + the maximum number of time quanta that the controller can resynchronize every bit. + :param int data_bitrate: + Data phase bitrate in bit/s. + :param int data_tseg1: + Data phase Time segment 1, that is, the number of quanta from (but not including) + the Sync Segment to the sampling point. + :param int data_tseg2: + Data phase Time segment 2, that is, the number of quanta from the sampling + point to the end of the bit. + :param int data_sjw: + The Synchronization Jump Width for the data phase. This value determines + the maximum number of time quanta that the controller can resynchronize every bit. + :raises ValueError: + if the arguments are invalid. + """ try: - segments.append(f"SJW: {self.sjw}") - except ValueError: - pass + nom_brp = int(round(f_clock / (nom_bitrate * (1 + nom_tseg1 + nom_tseg2)))) + data_brp = int( + round(f_clock / (data_bitrate * (1 + data_tseg1 + data_tseg2))) + ) + except ZeroDivisionError: + raise ValueError("Invalid inputs.") from None + + bt = cls( + f_clock=f_clock, + nom_brp=nom_brp, + nom_tseg1=nom_tseg1, + nom_tseg2=nom_tseg2, + nom_sjw=nom_sjw, + data_brp=data_brp, + data_tseg1=data_tseg1, + data_tseg2=data_tseg2, + data_sjw=data_sjw, + ) + + if abs(bt.nom_bitrate - nom_bitrate) > nom_bitrate / 256: + raise ValueError( + f"the effective nom. bitrate (={bt.nom_bitrate}) diverges " + f"from the requested nom. bitrate (={nom_bitrate})" + ) + + if abs(bt.data_bitrate - data_bitrate) > data_bitrate / 256: + raise ValueError( + f"the effective data bitrate (={bt.data_bitrate}) diverges " + f"from the requested data bitrate (={data_bitrate})" + ) + + return bt + + @classmethod + def from_sample_point( + cls, + f_clock: int, + nom_bitrate: int, + nom_sample_point: float, + data_bitrate: int, + data_sample_point: float, + ) -> "BitTimingFd": + """Create a :class:`~can.BitTimingFd` instance for a given nominal/data sample point pair. + + This function tries to find bit timings, which are close to the requested + sample points. It does not take physical bus properties into account, so the + calculated bus timings might not work properly for you. + + The :func:`oscillator_tolerance` function might be helpful to evaluate the + bus timings. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int nom_bitrate: + Nominal bitrate in bit/s. + :param int nom_sample_point: + The sample point value of the arbitration phase in percent. + :param int data_bitrate: + Data bitrate in bit/s. + :param int data_sample_point: + The sample point value of the data phase in percent. + :raises ValueError: + if the arguments are invalid. + """ + if nom_sample_point < 50.0: + raise ValueError( + f"nom_sample_point (={nom_sample_point}) must not be below 50%." + ) + + if data_sample_point < 50.0: + raise ValueError( + f"data_sample_point (={data_sample_point}) must not be below 50%." + ) + + possible_solutions: List[BitTimingFd] = [] + + for nom_brp in range(1, 257): + nbt = round(int(f_clock / (nom_bitrate * nom_brp))) + if nbt < 8: + break + + effective_nom_bitrate = f_clock / (nbt * nom_brp) + if abs(effective_nom_bitrate - nom_bitrate) > nom_bitrate / 256: + continue + + nom_tseg1 = int(round(nom_sample_point / 100 * nbt)) - 1 + # limit tseg1, so tseg2 is at least 1 TQ + nom_tseg1 = min(nom_tseg1, nbt - 2) + nom_tseg2 = nbt - nom_tseg1 - 1 + + nom_sjw = min(nom_tseg2, 128) + + for data_brp in range(1, 257): + dbt = round(int(f_clock / (data_bitrate * data_brp))) + if dbt < 8: + break + + effective_data_bitrate = f_clock / (dbt * data_brp) + if abs(effective_data_bitrate - data_bitrate) > data_bitrate / 256: + continue + + data_tseg1 = int(round(data_sample_point / 100 * dbt)) - 1 + # limit tseg1, so tseg2 is at least 1 TQ + data_tseg1 = min(data_tseg1, dbt - 2) + data_tseg2 = dbt - data_tseg1 - 1 + + data_sjw = min(data_tseg2, 16) + + try: + bt = BitTimingFd( + f_clock=f_clock, + nom_brp=nom_brp, + nom_tseg1=nom_tseg1, + nom_tseg2=nom_tseg2, + nom_sjw=nom_sjw, + data_brp=data_brp, + data_tseg1=data_tseg1, + data_tseg2=data_tseg2, + data_sjw=data_sjw, + ) + possible_solutions.append(bt) + except ValueError: + continue + + if not possible_solutions: + raise ValueError("No suitable bit timings found.") + + # prefer using the same prescaler for arbitration and data phase + same_prescaler = list( + filter(lambda x: x.nom_brp == x.data_brp, possible_solutions) + ) + if same_prescaler: + possible_solutions = same_prescaler + + # sort solutions + for key, reverse in ( + # prefer low prescaler + (lambda x: x.nom_brp + x.data_brp, False), + # prefer same prescaler for arbitration and data + (lambda x: abs(x.nom_brp - x.data_brp), False), + # prefer low sample point deviation from requested values + ( + lambda x: ( + abs(x.nom_sample_point - nom_sample_point) + + abs(x.data_sample_point - data_sample_point) + ), + False, + ), + ): + possible_solutions.sort(key=key, reverse=reverse) + + return possible_solutions[0] + + @property + def f_clock(self) -> int: + """The CAN system clock frequency in Hz.""" + return self._data["f_clock"] + + @property + def nom_bitrate(self) -> int: + """Nominal (arbitration phase) bitrate.""" + return int(round(self.f_clock / (self.nbt * self.nom_brp))) + + @property + def nom_brp(self) -> int: + """Prescaler value for the arbitration phase.""" + return self._data["nom_brp"] + + @property + def nom_tq(self) -> int: + """Nominal time quantum in nanoseconds""" + return int(round(self.nom_brp / self.f_clock * 1e9)) + + @property + def nbt(self) -> int: + """Number of time quanta in a bit of the arbitration phase.""" + return 1 + self.nom_tseg1 + self.nom_tseg2 + + @property + def nom_tseg1(self) -> int: + """Time segment 1 value of the arbitration phase. + + This is the sum of the propagation time segment and the phase buffer segment 1. + """ + return self._data["nom_tseg1"] + + @property + def nom_tseg2(self) -> int: + """Time segment 2 value of the arbitration phase. Also known as phase buffer segment 2.""" + return self._data["nom_tseg2"] + + @property + def nom_sjw(self) -> int: + """Synchronization jump width of the arbitration phase. + + The phase buffer segments may be shortened or lengthened by this value. + """ + return self._data["nom_sjw"] + + @property + def nom_sample_point(self) -> float: + """Sample point of the arbitration phase in percent.""" + return 100.0 * (1 + self.nom_tseg1) / (1 + self.nom_tseg1 + self.nom_tseg2) + + @property + def data_bitrate(self) -> int: + """Bitrate of the data phase in bit/s.""" + return int(round(self.f_clock / (self.dbt * self.data_brp))) + + @property + def data_brp(self) -> int: + """Prescaler value for the data phase.""" + return self._data["data_brp"] + + @property + def data_tq(self) -> int: + """Data time quantum in nanoseconds""" + return int(round(self.data_brp / self.f_clock * 1e9)) + + @property + def dbt(self) -> int: + """Number of time quanta in a bit of the data phase.""" + return 1 + self.data_tseg1 + self.data_tseg2 + + @property + def data_tseg1(self) -> int: + """TSEG1 value of the data phase. + + This is the sum of the propagation time segment and the phase buffer segment 1. + """ + return self._data["data_tseg1"] + + @property + def data_tseg2(self) -> int: + """TSEG2 value of the data phase. Also known as phase buffer segment 2.""" + return self._data["data_tseg2"] + + @property + def data_sjw(self) -> int: + """Synchronization jump width of the data phase. + + The phase buffer segments may be shortened or lengthened by this value. + """ + return self._data["data_sjw"] + + @property + def data_sample_point(self) -> float: + """Sample point of the data phase in percent.""" + return 100.0 * (1 + self.data_tseg1) / (1 + self.data_tseg1 + self.data_tseg2) + + def oscillator_tolerance( + self, + node_loop_delay_ns: float = 250.0, + bus_length_m: float = 10.0, + ) -> float: + """Oscillator tolerance in percent according to ISO 11898-1. + + :param float node_loop_delay_ns: + Transceiver loop delay in nanoseconds. + :param float bus_length_m: + Bus length in meters. + """ + delay_per_meter = 5 + bidirectional_propagation_delay_ns = 2 * ( + node_loop_delay_ns + delay_per_meter * bus_length_m + ) + + prop_seg = math.ceil(bidirectional_propagation_delay_ns / self.nom_tq) + nom_phase_seg1 = self.nom_tseg1 - prop_seg + nom_phase_seg2 = self.nom_tseg2 + + data_phase_seg2 = self.data_tseg2 + + df_clock_list = [ + _oscillator_tolerance_condition_1(nom_sjw=self.nom_sjw, nbt=self.nbt), + _oscillator_tolerance_condition_2( + nbt=self.nbt, + nom_phase_seg1=nom_phase_seg1, + nom_phase_seg2=nom_phase_seg2, + ), + _oscillator_tolerance_condition_3(data_sjw=self.data_sjw, dbt=self.dbt), + _oscillator_tolerance_condition_4( + nom_phase_seg1=nom_phase_seg1, + nom_phase_seg2=nom_phase_seg2, + data_phase_seg2=data_phase_seg2, + nbt=self.nbt, + dbt=self.dbt, + data_brp=self.data_brp, + nom_brp=self.nom_brp, + ), + _oscillator_tolerance_condition_5( + data_sjw=self.data_sjw, + data_brp=self.data_brp, + nom_brp=self.nom_brp, + data_phase_seg2=data_phase_seg2, + nom_phase_seg2=nom_phase_seg2, + nbt=self.nbt, + dbt=self.dbt, + ), + ] + return max(0.0, min(df_clock_list) * 100) + + def recreate_with_f_clock(self, f_clock: int) -> "BitTimingFd": + """Return a new :class:`~can.BitTimingFd` instance with the given *f_clock* but the same + bit rates and sample points. + + :param int f_clock: + The CAN system clock frequency in Hz. + :raises ValueError: + if no suitable bit timings were found. + """ + # try the most simple solution first: another bitrate prescaler try: - segments.append(f"BTR: {self.btr0:02X}{self.btr1:02X}h") + return BitTimingFd.from_bitrate_and_segments( + f_clock=f_clock, + nom_bitrate=self.nom_bitrate, + nom_tseg1=self.nom_tseg1, + nom_tseg2=self.nom_tseg2, + nom_sjw=self.nom_sjw, + data_bitrate=self.data_bitrate, + data_tseg1=self.data_tseg1, + data_tseg2=self.data_tseg2, + data_sjw=self.data_sjw, + ) except ValueError: pass + + # create a new timing instance with the same sample points + bt = BitTimingFd.from_sample_point( + f_clock=f_clock, + nom_bitrate=self.nom_bitrate, + nom_sample_point=self.nom_sample_point, + data_bitrate=self.data_bitrate, + data_sample_point=self.data_sample_point, + ) + if ( + abs(bt.nom_sample_point - self.nom_sample_point) > 1.0 + or abs(bt.data_sample_point - self.data_sample_point) > 1.0 + ): + raise ValueError( + "f_clock change failed because of sample point discrepancy." + ) + # adapt synchronization jump width, so it has the same size relative to bit time as self + nom_sjw = int(round(self.nom_sjw / self.nbt * bt.nbt)) + nom_sjw = max(1, min(bt.nom_tseg2, nom_sjw)) + bt._data["nom_sjw"] = nom_sjw # pylint: disable=protected-access + data_sjw = int(round(self.data_sjw / self.dbt * bt.dbt)) + data_sjw = max(1, min(bt.data_tseg2, data_sjw)) + bt._data["data_sjw"] = data_sjw # pylint: disable=protected-access + bt._validate() # pylint: disable=protected-access + return bt + + def __str__(self) -> str: + segments = [ + f"NBR: {self.nom_bitrate} bit/s", + f"NSP: {self.nom_sample_point:.2f}%", + f"NBRP: {self.nom_brp}", + f"NTSEG1: {self.nom_tseg1}", + f"NTSEG2: {self.nom_tseg2}", + f"NSJW: {self.nom_sjw}", + f"DBR: {self.data_bitrate} bit/s", + f"DSP: {self.data_sample_point:.2f}%", + f"DBRP: {self.data_brp}", + f"DTSEG1: {self.data_tseg1}", + f"DTSEG2: {self.data_tseg2}", + f"DSJW: {self.data_sjw}", + f"f_clock: {self.f_clock / 1e6:.0f}MHz", + ] return ", ".join(segments) def __repr__(self) -> str: - kwargs = {} - if self._f_clock: - kwargs["f_clock"] = self._f_clock - if self._bitrate: - kwargs["bitrate"] = self._bitrate - if self._brp: - kwargs["brp"] = self._brp - if self._tseg1: - kwargs["tseg1"] = self._tseg1 - if self._tseg2: - kwargs["tseg2"] = self._tseg2 - if self._sjw: - kwargs["sjw"] = self._sjw - if self._nof_samples != 1: - kwargs["nof_samples"] = self._nof_samples - args = ", ".join(f"{key}={value}" for key, value in kwargs.items()) - return f"can.BitTiming({args})" + args = ", ".join(f"{key}={value}" for key, value in self.items()) + return f"can.{self.__class__.__name__}({args})" + + def __getitem__(self, key: str) -> int: + return cast(int, self._data.__getitem__(key)) + + def __len__(self) -> int: + return self._data.__len__() + + def __iter__(self) -> Iterator[str]: + return self._data.__iter__() + + def __eq__(self, other: object) -> bool: + if not isinstance(other, BitTimingFd): + return False + + return self._data == other._data + + +def _oscillator_tolerance_condition_1(nom_sjw: int, nbt: int) -> float: + """Arbitration phase - resynchronization""" + return nom_sjw / (2 * 10 * nbt) + + +def _oscillator_tolerance_condition_2( + nbt: int, nom_phase_seg1: int, nom_phase_seg2: int +) -> float: + """Arbitration phase - sampling of bit after error flag""" + return min(nom_phase_seg1, nom_phase_seg2) / (2 * (13 * nbt - nom_phase_seg2)) + + +def _oscillator_tolerance_condition_3(data_sjw: int, dbt: int) -> float: + """Data phase - resynchronization""" + return data_sjw / (2 * 10 * dbt) + + +def _oscillator_tolerance_condition_4( + nom_phase_seg1: int, + nom_phase_seg2: int, + data_phase_seg2: int, + nbt: int, + dbt: int, + data_brp: int, + nom_brp: int, +) -> float: + """Data phase - sampling of bit after error flag""" + return min(nom_phase_seg1, nom_phase_seg2) / ( + 2 * ((6 * dbt - data_phase_seg2) * data_brp / nom_brp + 7 * nbt) + ) + + +def _oscillator_tolerance_condition_5( + data_sjw: int, + data_brp: int, + nom_brp: int, + nom_phase_seg2: int, + data_phase_seg2: int, + nbt: int, + dbt: int, +) -> float: + """Data phase - bit rate switch""" + max_correctable_phase_shift = data_sjw - max(0.0, nom_brp / data_brp - 1) + time_between_resync = 2 * ( + (2 * nbt - nom_phase_seg2) * nom_brp / data_brp + data_phase_seg2 + 4 * dbt + ) + return max_correctable_phase_shift / time_between_resync diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index 395e4b399..7150a60bd 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -1,24 +1,29 @@ import collections from ctypes import c_ubyte import logging -import canalystii as driver import time -import warnings from typing import Any, Dict, Optional, Deque, Sequence, Tuple, Union -from can import BitTiming, BusABC, Message -from can.exceptions import CanTimeoutError + +from can import BitTiming, BusABC, Message, BitTimingFd +from can.exceptions import CanTimeoutError, CanInitializationError from can.typechecking import CanFilters +from can.util import deprecated_args_alias, check_or_adjust_timing_clock + +import canalystii as driver logger = logging.getLogger(__name__) class CANalystIIBus(BusABC): + @deprecated_args_alias( + deprecation_start="4.2.0", deprecation_end="5.0.0", bit_timing="timing" + ) def __init__( self, channel: Union[int, Sequence[int], str] = (0, 1), device: int = 0, bitrate: Optional[int] = None, - bit_timing: Optional[BitTiming] = None, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, can_filters: Optional[CanFilters] = None, rx_queue_size: Optional[int] = None, **kwargs: Dict[str, Any], @@ -33,9 +38,12 @@ def __init__( Optional USB device number. Default is 0 (first device found). :param bitrate: CAN bitrate in bits/second. Required unless the bit_timing argument is set. - :param bit_timing: - Optional BitTiming instance to use for custom bit timing setting. - If this argument is set then it overrides the bitrate argument. + :param timing: + Optional :class:`~can.BitTiming` instance to use for custom bit timing setting. + If this argument is set then it overrides the bitrate argument. The + `f_clock` value of the timing instance must be set to 8_000_000 (8MHz) + for standard CAN. + CAN FD and the :class:`~can.BitTimingFd` class are not supported. :param can_filters: Optional filters for received CAN messages. :param rx_queue_size: @@ -44,8 +52,8 @@ def __init__( """ super().__init__(channel=channel, can_filters=can_filters, **kwargs) - if not (bitrate or bit_timing): - raise ValueError("Either bitrate or bit_timing argument is required") + if not (bitrate or timing): + raise ValueError("Either bitrate or timing argument is required") if isinstance(channel, str): # Assume comma separated string of channels @@ -63,17 +71,12 @@ def __init__( self.device = driver.CanalystDevice(device_index=device) for channel in self.channels: - if bit_timing: - try: - if bit_timing.f_clock != 8_000_000: - warnings.warn( - f"bit_timing.f_clock value {bit_timing.f_clock} " - "doesn't match expected device f_clock 8MHz." - ) - except ValueError: - pass # f_clock not specified - self.device.init( - channel, timing0=bit_timing.btr0, timing1=bit_timing.btr1 + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, valid_clocks=[8_000_000]) + self.device.init(channel, timing0=timing.btr0, timing1=timing.btr1) + elif isinstance(timing, BitTimingFd): + raise NotImplementedError( + f"CAN FD is not supported by {self.__class__.__name__}." ) else: self.device.init(channel, bitrate=bitrate) diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index d735b7ee3..20e4d0cb7 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -4,14 +4,16 @@ import time import logging +from typing import Optional, Union, Any from unittest.mock import Mock -from can import BusABC, Message +from can import BusABC, Message, BitTiming, BitTimingFd from ..exceptions import ( CanInitializationError, CanInterfaceNotImplementedError, error_check, ) +from ..util import deprecated_args_alias, check_or_adjust_timing_clock logger = logging.getLogger(__name__) @@ -42,16 +44,18 @@ def _detect_available_configs(): channels.append({"interface": "cantact", "channel": f"ch:{i}"}) return channels + @deprecated_args_alias( + deprecation_start="4.2.0", deprecation_end="5.0.0", bit_timing="timing" + ) def __init__( self, - channel, - bitrate=500000, - poll_interval=0.01, - monitor=False, - bit_timing=None, - _testing=False, - **kwargs, - ): + channel: int, + bitrate: int = 500_000, + poll_interval: float = 0.01, + monitor: bool = False, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, + **kwargs: Any, + ) -> None: """ :param int channel: Channel number (zero indexed, labeled on multi-channel devices) @@ -59,16 +63,21 @@ def __init__( Bitrate in bits/s :param bool monitor: If true, operate in listen-only monitoring mode - :param BitTiming bit_timing: - Optional BitTiming to use for custom bit timing setting. Overrides bitrate if not None. + :param timing: + Optional :class:`~can.BitTiming` instance to use for custom bit timing setting. + If this argument is set then it overrides the bitrate argument. The + `f_clock` value of the timing instance must be set to 24_000_000 (24MHz) + for standard CAN. + CAN FD and the :class:`~can.BitTimingFd` class are not supported. """ - if _testing: + if kwargs.get("_testing", False): self.interface = MockInterface() else: if cantact is None: raise CanInterfaceNotImplementedError( - "The CANtact module is not installed. Install it using `python -m pip install cantact`" + "The CANtact module is not installed. " + "Install it using `python -m pip install cantact`" ) with error_check( "Cannot create the cantact.Interface", CanInitializationError @@ -80,18 +89,25 @@ def __init__( # Configure the interface with error_check("Cannot setup the cantact.Interface", CanInitializationError): - if bit_timing is None: - # use bitrate - self.interface.set_bitrate(int(channel), int(bitrate)) - else: + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, valid_clocks=[24_000_000]) + # use custom bit timing self.interface.set_bit_timing( int(channel), - int(bit_timing.brp), - int(bit_timing.tseg1), - int(bit_timing.tseg2), - int(bit_timing.sjw), + int(timing.brp), + int(timing.tseg1), + int(timing.tseg2), + int(timing.sjw), ) + elif isinstance(timing, BitTimingFd): + raise NotImplementedError( + f"CAN FD is not supported by {self.__class__.__name__}." + ) + else: + # use bitrate + self.interface.set_bitrate(int(channel), int(bitrate)) + self.interface.set_enabled(int(channel), True) self.interface.set_monitor(int(channel), monitor) self.interface.start() diff --git a/can/typechecking.py b/can/typechecking.py index 7aa4f7e5c..dc5c22270 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -48,3 +48,24 @@ class AutoDetectedConfig(typing_extensions.TypedDict): ReadableBytesLike = typing.Union[bytes, bytearray, memoryview] + + +class BitTimingDict(typing_extensions.TypedDict): + f_clock: int + brp: int + tseg1: int + tseg2: int + sjw: int + nof_samples: int + + +class BitTimingFdDict(typing_extensions.TypedDict): + f_clock: int + nom_brp: int + nom_tseg1: int + nom_tseg2: int + nom_sjw: int + data_brp: int + data_tseg1: int + data_tseg2: int + data_sjw: int diff --git a/can/util.py b/can/util.py index e4a45f2d5..8f5cea0c4 100644 --- a/can/util.py +++ b/can/util.py @@ -1,23 +1,35 @@ """ Utilities and configuration file parsing. """ - +import copy import functools -import warnings -from typing import Any, Callable, cast, Dict, Iterable, Tuple, Optional, Union -from time import time, perf_counter, get_clock_info import json +import logging import os import os.path import platform import re -import logging +import warnings from configparser import ConfigParser +from time import time, perf_counter, get_clock_info +from typing import ( + Any, + Callable, + cast, + Dict, + Iterable, + Tuple, + Optional, + Union, + TypeVar, +) import can -from .interfaces import VALID_INTERFACES from . import typechecking +from .bit_timing import BitTiming, BitTimingFd +from .exceptions import CanInitializationError from .exceptions import CanInterfaceNotImplementedError +from .interfaces import VALID_INTERFACES log = logging.getLogger("can.util") @@ -226,6 +238,25 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: if not 0 < port < 65535: raise ValueError("Port config must be inside 0-65535 range!") + if config.get("timing", None) is None: + try: + if set(typechecking.BitTimingFdDict.__annotations__).issubset(config): + config["timing"] = can.BitTimingFd( + **{ + key: int(config[key]) + for key in typechecking.BitTimingFdDict.__annotations__ + } + ) + elif set(typechecking.BitTimingDict.__annotations__).issubset(config): + config["timing"] = can.BitTiming( + **{ + key: int(config[key]) + for key in typechecking.BitTimingDict.__annotations__ + } + ) + except (ValueError, TypeError): + pass + if "bitrate" in config: config["bitrate"] = int(config["bitrate"]) if "fd" in config: @@ -343,6 +374,49 @@ def wrapper(*args, **kwargs): return deco +T = TypeVar("T", BitTiming, BitTimingFd) + + +def check_or_adjust_timing_clock(timing: T, valid_clocks: Iterable[int]) -> T: + """Adjusts the given timing instance to have an *f_clock* value that is within the + allowed values specified by *valid_clocks*. If the *f_clock* value of timing is + already within *valid_clocks*, then *timing* is returned unchanged. + + :param timing: + The :class:`~can.BitTiming` or :class:`~can.BitTimingFd` instance to adjust. + :param valid_clocks: + An iterable of integers representing the valid *f_clock* values that the timing instance + can be changed to. The order of the values in *valid_clocks* determines the priority in + which they are tried, with earlier values being tried before later ones. + :return: + A new :class:`~can.BitTiming` or :class:`~can.BitTimingFd` instance with an + *f_clock* value within *valid_clocks*. + :raises ~can.exceptions.CanInitializationError: + If no compatible *f_clock* value can be found within *valid_clocks*. + """ + if timing.f_clock in valid_clocks: + # create a copy so this function always returns a new instance + return copy.deepcopy(timing) + + for clock in valid_clocks: + try: + # Try to use a different f_clock + adjusted_timing = timing.recreate_with_f_clock(clock) + warnings.warn( + f"Adjusted f_clock in {timing.__class__.__name__} from " + f"{timing.f_clock} to {adjusted_timing.f_clock}" + ) + return adjusted_timing + except ValueError: + pass + + raise CanInitializationError( + f"The specified timing.f_clock value {timing.f_clock} " + f"doesn't match any of the allowed device f_clock values: " + f"{', '.join([str(f) for f in valid_clocks])}" + ) from None + + def _rename_kwargs( func_name: str, start: str, diff --git a/doc/bit_timing.rst b/doc/bit_timing.rst index e1d2feeeb..b48a133b8 100644 --- a/doc/bit_timing.rst +++ b/doc/bit_timing.rst @@ -1,49 +1,112 @@ Bit Timing Configuration ======================== -The CAN protocol allows the bitrate, sample point and number of samples to be -optimized for a given application. You can read more on Wikipedia_, Kvaser_ -and other sources. - -In most cases the recommended settings for a predefined set of common -bitrates will work just fine. In some cases it may however be necessary to specify -custom settings. The :class:`can.BitTiming` class can be used for this purpose to -specify them in a relatively interface agnostic manner. - -It is also possible to specify the same settings for a CAN 2.0 bus +.. attention:: + This feature is experimental. The implementation might change in future + versions. + +The CAN protocol, specified in ISO 11898, allows the bitrate, sample point +and number of samples to be optimized for a given application. These +parameters, known as bit timings, can be adjusted to meet the requirements +of the communication system and the physical communication channel. + +These parameters include: + +* **tseg1**: The time segment 1 (TSEG1) is the amount of time from the end + of the sync segment until the sample point. It is expressed in time quanta (TQ). +* **tseg2**: The time segment 2 (TSEG2) is the amount of time from the + sample point until the end of the bit. It is expressed in TQ. +* **sjw**: The synchronization jump width (SJW) is the maximum number + of TQ that the controller can resynchronize every bit. +* **sample point**: The sample point is defined as the point in time + within a bit where the bus controller samples the bus for dominant or + recessive levels. It is typically expressed as a percentage of the bit time. + The sample point depends on the bus length and propagation time as well + as the information processing time of the nodes. + +.. figure:: images/bit_timing_light.svg + :align: center + :class: only-light + +.. figure:: images/bit_timing_dark.svg + :align: center + :class: only-dark + + Bit Timing and Sample Point + + +For example, consider a bit with a total duration of 8 TQ and a sample +point at 75%. The values for TSEG1, TSEG2 and SJW would be 5, 2, and 2, +respectively. The sample point would be 6 TQ after the start of the bit, +leaving 2 TQ for the information processing by the bus nodes. + +.. note:: + The values for TSEG1, TSEG2 and SJW are chosen such that the + sample point is at least 50% of the total bit time. This ensures that + there is sufficient time for the signal to stabilize before it is sampled. + +.. note:: + In CAN FD, the arbitration (nominal) phase and the data phase can have + different bit rates. As a result, there are two separate sample points + to consider. + +Another important parameter is **f_clock**: The CAN system clock frequency +in Hz. This frequency is used to derive the TQ size from the bit rate. +The relationship is ``f_clock = (tseg1+tseg2+1) * bitrate * brp``. +The bit rate prescaler value **brp** is usually determined by the controller +and is chosen to ensure that the resulting bit time is an integer value. +Typical CAN clock frequencies are 8-80 MHz. + +In most cases, the recommended settings for a predefined set of common +bit rates will work just fine. In some cases, however, it may be necessary +to specify custom bit timings. The :class:`~can.BitTiming` and +:class:`~can.BitTimingFd` classes can be used for this purpose to specify +bit timings in a relatively interface agnostic manner. + +It is possible to specify CAN 2.0 bit timings using the config file: .. code-block:: none [default] - bitrate=1000000 f_clock=8000000 - tseg1=5 - tseg2=2 - sjw=1 - nof_samples=1 - - -.. code-block:: none - - [default] brp=1 tseg1=5 tseg2=2 sjw=1 nof_samples=1 +The same is possible for CAN FD: .. code-block:: none [default] - btr0=0x00 - btr1=0x14 + f_clock=80000000 + nom_brp=1 + nom_tseg1=119 + nom_tseg2=40 + nom_sjw=40 + data_brp=1 + data_tseg1=29 + data_tseg2=10 + data_sjw=10 +A :class:`dict` of the relevant config parameters can be easily obtained by calling +``dict(timing)`` or ``{**timing}`` where ``timing`` is the :class:`~can.BitTiming` or +:class:`~can.BitTimingFd` instance. -.. autoclass:: can.BitTiming +Check :doc:`configuration` for more information about saving and loading configurations. -.. _Wikipedia: https://en.wikipedia.org/wiki/CAN_bus#Bit_timing -.. _Kvaser: https://www.kvaser.com/about-can/the-can-protocol/can-bit-timing/ +.. autoclass:: can.BitTiming + :class-doc-from: both + :show-inheritance: + :members: + :member-order: bysource + +.. autoclass:: can.BitTimingFd + :class-doc-from: both + :show-inheritance: + :members: + :member-order: bysource diff --git a/doc/conf.py b/doc/conf.py index de08fc300..6ba661a30 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -120,10 +120,12 @@ # disable specific warnings nitpick_ignore = [ # Ignore warnings for type aliases. Remove once Sphinx supports PEP613 + ("py:class", "BusConfig"), ("py:class", "can.typechecking.BusConfig"), ("py:class", "can.typechecking.CanFilter"), ("py:class", "can.typechecking.CanFilterExtended"), ("py:class", "can.typechecking.AutoDetectedConfig"), + ("py:class", "can.util.T"), # intersphinx fails to reference some builtins ("py:class", "asyncio.events.AbstractEventLoop"), ("py:class", "_thread.allocate_lock"), diff --git a/doc/images/bit_timing_dark.svg b/doc/images/bit_timing_dark.svg new file mode 100644 index 000000000..cc54a3f51 --- /dev/null +++ b/doc/images/bit_timing_dark.svg @@ -0,0 +1,96 @@ + + + + + + + + + sync_seg + + prop_seg + + phase_seg1 + + phase_seg2 + + + Nominal Bit Time + + + + + + + tseg1 + + + tseg2 + + + 1 TQ + + + + 75% Sample Point + + + \ No newline at end of file diff --git a/doc/images/bit_timing_light.svg b/doc/images/bit_timing_light.svg new file mode 100644 index 000000000..eb021ea34 --- /dev/null +++ b/doc/images/bit_timing_light.svg @@ -0,0 +1,92 @@ + + + + + + + + + sync_seg + + prop_seg + + phase_seg1 + + phase_seg2 + + + Nominal Bit Time + + + + + + + tseg1 + + + tseg2 + + + 1 TQ + + + + 75% Sample Point + + + \ No newline at end of file diff --git a/test/test_bit_timing.py b/test/test_bit_timing.py index 2a9b1ac79..669308f9d 100644 --- a/test/test_bit_timing.py +++ b/test/test_bit_timing.py @@ -1,15 +1,20 @@ #!/usr/bin/env python +import struct + +import pytest + import can +from can.interfaces.pcan.pcan import PCAN_BITRATES def test_sja1000(): """Test some values obtained using other bit timing calculators.""" timing = can.BitTiming( - f_clock=8000000, bitrate=125000, tseg1=11, tseg2=4, sjw=2, nof_samples=3 + f_clock=8_000_000, brp=4, tseg1=11, tseg2=4, sjw=2, nof_samples=3 ) - assert timing.f_clock == 8000000 - assert timing.bitrate == 125000 + assert timing.f_clock == 8_000_000 + assert timing.bitrate == 125_000 assert timing.brp == 4 assert timing.nbt == 16 assert timing.tseg1 == 11 @@ -20,9 +25,9 @@ def test_sja1000(): assert timing.btr0 == 0x43 assert timing.btr1 == 0xBA - timing = can.BitTiming(f_clock=8000000, bitrate=500000, tseg1=13, tseg2=2, sjw=1) - assert timing.f_clock == 8000000 - assert timing.bitrate == 500000 + timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=13, tseg2=2, sjw=1) + assert timing.f_clock == 8_000_000 + assert timing.bitrate == 500_000 assert timing.brp == 1 assert timing.nbt == 16 assert timing.tseg1 == 13 @@ -33,9 +38,9 @@ def test_sja1000(): assert timing.btr0 == 0x00 assert timing.btr1 == 0x1C - timing = can.BitTiming(f_clock=8000000, bitrate=1000000, tseg1=5, tseg2=2, sjw=1) - assert timing.f_clock == 8000000 - assert timing.bitrate == 1000000 + timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) + assert timing.f_clock == 8_000_000 + assert timing.bitrate == 1_000_000 assert timing.brp == 1 assert timing.nbt == 8 assert timing.tseg1 == 5 @@ -47,35 +52,116 @@ def test_sja1000(): assert timing.btr1 == 0x14 -def test_can_fd(): - timing = can.BitTiming( - f_clock=80000000, bitrate=500000, tseg1=119, tseg2=40, sjw=40 +def test_from_bitrate_and_segments(): + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=8_000_000, bitrate=125_000, tseg1=11, tseg2=4, sjw=2, nof_samples=3 ) - assert timing.f_clock == 80000000 - assert timing.bitrate == 500000 - assert timing.brp == 1 - assert timing.nbt == 160 - assert timing.tseg1 == 119 - assert timing.tseg2 == 40 - assert timing.sjw == 40 + assert timing.f_clock == 8_000_000 + assert timing.bitrate == 125_000 + assert timing.brp == 4 + assert timing.nbt == 16 + assert timing.tseg1 == 11 + assert timing.tseg2 == 4 + assert timing.sjw == 2 + assert timing.nof_samples == 3 assert timing.sample_point == 75 + assert timing.btr0 == 0x43 + assert timing.btr1 == 0xBA - timing = can.BitTiming( - f_clock=80000000, bitrate=2000000, tseg1=29, tseg2=10, sjw=10 + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=8_000_000, bitrate=500_000, tseg1=13, tseg2=2, sjw=1 + ) + assert timing.f_clock == 8_000_000 + assert timing.bitrate == 500_000 + assert timing.brp == 1 + assert timing.nbt == 16 + assert timing.tseg1 == 13 + assert timing.tseg2 == 2 + assert timing.sjw == 1 + assert timing.nof_samples == 1 + assert timing.sample_point == 87.5 + assert timing.btr0 == 0x00 + assert timing.btr1 == 0x1C + + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=8_000_000, bitrate=1_000_000, tseg1=5, tseg2=2, sjw=1 ) - assert timing.f_clock == 80000000 - assert timing.bitrate == 2000000 + assert timing.f_clock == 8_000_000 + assert timing.bitrate == 1_000_000 assert timing.brp == 1 - assert timing.nbt == 40 - assert timing.tseg1 == 29 - assert timing.tseg2 == 10 - assert timing.sjw == 10 + assert timing.nbt == 8 + assert timing.tseg1 == 5 + assert timing.tseg2 == 2 + assert timing.sjw == 1 + assert timing.nof_samples == 1 assert timing.sample_point == 75 + assert timing.btr0 == 0x00 + assert timing.btr1 == 0x14 + + timing = can.BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_bitrate=2_000_000, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + + assert timing.f_clock == 80_000_000 + assert timing.nom_bitrate == 500_000 + assert timing.nom_brp == 1 + assert timing.nbt == 160 + assert timing.nom_tseg1 == 119 + assert timing.nom_tseg2 == 40 + assert timing.nom_sjw == 40 + assert timing.nom_sample_point == 75 + assert timing.f_clock == 80_000_000 + assert timing.data_bitrate == 2_000_000 + assert timing.data_brp == 1 + assert timing.dbt == 40 + assert timing.data_tseg1 == 29 + assert timing.data_tseg2 == 10 + assert timing.data_sjw == 10 + assert timing.data_sample_point == 75 + + +def test_can_fd(): + timing = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + + assert timing.f_clock == 80_000_000 + assert timing.nom_bitrate == 500_000 + assert timing.nom_brp == 1 + assert timing.nbt == 160 + assert timing.nom_tseg1 == 119 + assert timing.nom_tseg2 == 40 + assert timing.nom_sjw == 40 + assert timing.nom_sample_point == 75 + assert timing.f_clock == 80_000_000 + assert timing.data_bitrate == 2_000_000 + assert timing.data_brp == 1 + assert timing.dbt == 40 + assert timing.data_tseg1 == 29 + assert timing.data_tseg2 == 10 + assert timing.data_sjw == 10 + assert timing.data_sample_point == 75 def test_from_btr(): - timing = can.BitTiming(f_clock=8000000, btr0=0x00, btr1=0x14) - assert timing.bitrate == 1000000 + timing = can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x00, btr1=0x14) + assert timing.bitrate == 1_000_000 assert timing.brp == 1 assert timing.nbt == 8 assert timing.tseg1 == 5 @@ -86,9 +172,254 @@ def test_from_btr(): assert timing.btr1 == 0x14 +def test_btr_persistence(): + f_clock = 8_000_000 + for btr0btr1 in PCAN_BITRATES.values(): + btr1, btr0 = struct.unpack("BB", btr0btr1) + + t = can.BitTiming.from_registers(f_clock, btr0, btr1) + assert t.btr0 == btr0 + assert t.btr1 == btr1 + + +def test_from_sample_point(): + timing = can.BitTiming.from_sample_point( + f_clock=16_000_000, + bitrate=500_000, + sample_point=69.0, + ) + assert timing.f_clock == 16_000_000 + assert timing.bitrate == 500_000 + assert 68 < timing.sample_point < 70 + + fd_timing = can.BitTimingFd.from_sample_point( + f_clock=80_000_000, + nom_bitrate=1_000_000, + nom_sample_point=75.0, + data_bitrate=8_000_000, + data_sample_point=70.0, + ) + assert fd_timing.f_clock == 80_000_000 + assert fd_timing.nom_bitrate == 1_000_000 + assert 74 < fd_timing.nom_sample_point < 76 + assert fd_timing.data_bitrate == 8_000_000 + assert 69 < fd_timing.data_sample_point < 71 + + # check that there is a solution for every sample point + for sp in range(50, 100): + can.BitTiming.from_sample_point( + f_clock=16_000_000, bitrate=500_000, sample_point=sp + ) + + # check that there is a solution for every sample point + for nsp in range(50, 100): + for dsp in range(50, 100): + can.BitTimingFd.from_sample_point( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_sample_point=nsp, + data_bitrate=2_000_000, + data_sample_point=dsp, + ) + + +def test_equality(): + t1 = can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x00, btr1=0x14) + t2 = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1, nof_samples=1) + t3 = can.BitTiming( + f_clock=16_000_000, brp=2, tseg1=5, tseg2=2, sjw=1, nof_samples=1 + ) + assert t1 == t2 + assert t1 != t3 + assert t2 != t3 + assert t1 != 10 + + t4 = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + t5 = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + t6 = can.BitTimingFd.from_sample_point( + f_clock=80_000_000, + nom_bitrate=1_000_000, + nom_sample_point=75.0, + data_bitrate=8_000_000, + data_sample_point=70.0, + ) + assert t4 == t5 + assert t4 != t6 + assert t4 != t1 + + def test_string_representation(): - timing = can.BitTiming(f_clock=8000000, bitrate=1000000, tseg1=5, tseg2=2, sjw=1) - assert ( - str(timing) - == "1000000 bits/s, sample point: 75.00%, BRP: 1, TSEG1: 5, TSEG2: 2, SJW: 1, BTR: 0014h" + timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) + assert str(timing) == ( + "BR 1000000 bit/s, SP: 75.00%, BRP: 1, TSEG1: 5, TSEG2: 2, SJW: 1, " + "BTR: 0014h, f_clock: 8MHz" + ) + + fd_timing = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + assert str(fd_timing) == ( + "NBR: 500000 bit/s, NSP: 75.00%, NBRP: 1, NTSEG1: 119, NTSEG2: 40, NSJW: 40, " + "DBR: 2000000 bit/s, DSP: 75.00%, DBRP: 1, DTSEG1: 29, DTSEG2: 10, DSJW: 10, " + "f_clock: 80MHz" + ) + + +def test_repr(): + timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) + assert repr(timing) == ( + "can.BitTiming(f_clock=8000000, brp=1, tseg1=5, tseg2=2, sjw=1, nof_samples=1)" + ) + + fd_timing = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + assert repr(fd_timing) == ( + "can.BitTimingFd(f_clock=80000000, nom_brp=1, nom_tseg1=119, nom_tseg2=40, " + "nom_sjw=40, data_brp=1, data_tseg1=29, data_tseg2=10, data_sjw=10)" + ) + + +def test_mapping(): + timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) + timing_dict = dict(timing) + assert timing_dict["f_clock"] == timing["f_clock"] + assert timing_dict["brp"] == timing["brp"] + assert timing_dict["tseg1"] == timing["tseg1"] + assert timing_dict["tseg2"] == timing["tseg2"] + assert timing_dict["sjw"] == timing["sjw"] + assert timing == can.BitTiming(**timing_dict) + + fd_timing = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + fd_timing_dict = dict(fd_timing) + assert fd_timing_dict["f_clock"] == fd_timing["f_clock"] + assert fd_timing_dict["nom_brp"] == fd_timing["nom_brp"] + assert fd_timing_dict["nom_tseg1"] == fd_timing["nom_tseg1"] + assert fd_timing_dict["nom_tseg2"] == fd_timing["nom_tseg2"] + assert fd_timing_dict["nom_sjw"] == fd_timing["nom_sjw"] + assert fd_timing_dict["data_brp"] == fd_timing["data_brp"] + assert fd_timing_dict["data_tseg1"] == fd_timing["data_tseg1"] + assert fd_timing_dict["data_tseg2"] == fd_timing["data_tseg2"] + assert fd_timing_dict["data_sjw"] == fd_timing["data_sjw"] + assert fd_timing == can.BitTimingFd(**fd_timing_dict) + + +def test_oscillator_tolerance(): + timing = can.BitTiming(f_clock=16_000_000, brp=2, tseg1=10, tseg2=5, sjw=4) + osc_tol = timing.oscillator_tolerance( + node_loop_delay_ns=250, + bus_length_m=10.0, + ) + assert osc_tol == pytest.approx(1.23, abs=1e-2) + + fd_timing = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=5, + nom_tseg1=27, + nom_tseg2=4, + nom_sjw=4, + data_brp=5, + data_tseg1=6, + data_tseg2=1, + data_sjw=1, + ) + osc_tol = fd_timing.oscillator_tolerance( + node_loop_delay_ns=250, + bus_length_m=10.0, + ) + assert osc_tol == pytest.approx(0.48, abs=1e-2) + + +def test_recreate_with_f_clock(): + timing_8mhz = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) + timing_16mhz = timing_8mhz.recreate_with_f_clock(f_clock=16_000_000) + assert timing_8mhz.bitrate == timing_16mhz.bitrate + assert timing_8mhz.sample_point == timing_16mhz.sample_point + assert (timing_8mhz.sjw / timing_8mhz.nbt) == pytest.approx( + timing_16mhz.sjw / timing_16mhz.nbt, abs=1e-3 + ) + assert timing_8mhz.nof_samples == timing_16mhz.nof_samples + + timing_16mhz = can.BitTiming( + f_clock=16000000, brp=2, tseg1=12, tseg2=3, sjw=3, nof_samples=1 + ) + timing_8mhz = timing_16mhz.recreate_with_f_clock(f_clock=8_000_000) + assert timing_8mhz.bitrate == timing_16mhz.bitrate + assert timing_8mhz.sample_point == timing_16mhz.sample_point + assert (timing_8mhz.sjw / timing_8mhz.nbt) == pytest.approx( + timing_16mhz.sjw / timing_16mhz.nbt, abs=1e-2 + ) + assert timing_8mhz.nof_samples == timing_16mhz.nof_samples + + fd_timing_80mhz = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=5, + nom_tseg1=27, + nom_tseg2=4, + nom_sjw=4, + data_brp=5, + data_tseg1=6, + data_tseg2=1, + data_sjw=1, + ) + fd_timing_60mhz = fd_timing_80mhz.recreate_with_f_clock(f_clock=60_000_000) + assert fd_timing_80mhz.nom_bitrate == fd_timing_60mhz.nom_bitrate + assert fd_timing_80mhz.nom_sample_point == pytest.approx( + fd_timing_60mhz.nom_sample_point, abs=1.0 + ) + assert (fd_timing_80mhz.nom_sjw / fd_timing_80mhz.nbt) == pytest.approx( + fd_timing_60mhz.nom_sjw / fd_timing_60mhz.nbt, abs=1e-2 + ) + assert fd_timing_80mhz.data_bitrate == fd_timing_60mhz.data_bitrate + assert fd_timing_80mhz.data_sample_point == pytest.approx( + fd_timing_60mhz.data_sample_point, abs=1.0 + ) + assert (fd_timing_80mhz.data_sjw / fd_timing_80mhz.dbt) == pytest.approx( + fd_timing_60mhz.data_sjw / fd_timing_60mhz.dbt, abs=1e-2 ) diff --git a/test/test_cantact.py b/test/test_cantact.py index 4383fab37..2cc3e479c 100644 --- a/test/test_cantact.py +++ b/test/test_cantact.py @@ -23,8 +23,8 @@ def test_bus_creation(self): def test_bus_creation_bittiming(self): cantact.MockInterface.set_bitrate.reset_mock() - bt = can.BitTiming(tseg1=13, tseg2=2, brp=6, sjw=1) - bus = can.Bus(channel=0, interface="cantact", bit_timing=bt, _testing=True) + bt = can.BitTiming(f_clock=24_000_000, brp=3, tseg1=13, tseg2=2, sjw=1) + bus = can.Bus(channel=0, interface="cantact", timing=bt, _testing=True) self.assertIsInstance(bus, cantact.CantactBus) cantact.MockInterface.set_bitrate.assert_not_called() cantact.MockInterface.set_bit_timing.assert_called() diff --git a/test/test_interface_canalystii.py b/test/test_interface_canalystii.py index 467473671..4d1d3eb84 100755 --- a/test/test_interface_canalystii.py +++ b/test/test_interface_canalystii.py @@ -39,8 +39,10 @@ def test_initialize_single_channel_only(self): def test_initialize_with_timing_registers(self): with create_mock_device() as mock_device: instance = mock_device.return_value - timing = can.BitTiming(btr0=0x03, btr1=0x6F) - bus = CANalystIIBus(bitrate=None, bit_timing=timing) + timing = can.BitTiming.from_registers( + f_clock=8_000_000, btr0=0x03, btr1=0x6F + ) + bus = CANalystIIBus(bitrate=None, timing=timing) instance.init.assert_has_calls( [ call(0, timing0=0x03, timing1=0x6F), @@ -50,15 +52,9 @@ def test_initialize_with_timing_registers(self): def test_missing_bitrate(self): with self.assertRaises(ValueError) as cm: - bus = CANalystIIBus(0, bitrate=None, bit_timing=None) + bus = CANalystIIBus(0, bitrate=None, timing=None) self.assertIn("bitrate", str(cm.exception)) - def test_invalid_bit_timing(self): - with create_mock_device() as mock_device: - with self.assertRaises(ValueError) as cm: - invalid_timings = can.BitTiming() - CANalystIIBus(0, bit_timing=invalid_timings) - def test_receive_message(self): driver_message = driver.Message( can_id=0x333, diff --git a/test/test_util.py b/test/test_util.py index 70941f23f..a738e5c6a 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -5,11 +5,14 @@ import pytest +from can import BitTiming, BitTimingFd +from can.exceptions import CanInitializationError from can.util import ( _create_bus_config, _rename_kwargs, channel2int, deprecated_args_alias, + check_or_adjust_timing_clock, ) @@ -167,3 +170,95 @@ def test_channel2int(self) -> None: self.assertEqual(42, channel2int("42")) self.assertEqual(None, channel2int("can")) self.assertEqual(None, channel2int("can0a")) + + +class TestCheckAdjustTimingClock(unittest.TestCase): + def test_adjust_timing(self): + timing = BitTiming(f_clock=80_000_000, brp=10, tseg1=13, tseg2=2, sjw=1) + + # Check identity case + new_timing = check_or_adjust_timing_clock(timing, valid_clocks=[80_000_000]) + assert timing == new_timing + + with pytest.warns(UserWarning) as record: + new_timing = check_or_adjust_timing_clock( + timing, valid_clocks=[8_000_000, 24_000_000] + ) + assert len(record) == 1 + assert ( + record[0].message.args[0] + == "Adjusted f_clock in BitTiming from 80000000 to 8000000" + ) + assert new_timing.__class__ == BitTiming + assert new_timing.f_clock == 8_000_000 + assert new_timing.bitrate == timing.bitrate + assert new_timing.tseg1 == timing.tseg1 + assert new_timing.tseg2 == timing.tseg2 + assert new_timing.sjw == timing.sjw + + # Check that order is preserved + with pytest.warns(UserWarning) as record: + new_timing = check_or_adjust_timing_clock( + timing, valid_clocks=[24_000_000, 8_000_000] + ) + assert new_timing.f_clock == 24_000_000 + assert len(record) == 1 + assert ( + record[0].message.args[0] + == "Adjusted f_clock in BitTiming from 80000000 to 24000000" + ) + + # Check that order is preserved for all valid clock rates + with pytest.warns(UserWarning) as record: + new_timing = check_or_adjust_timing_clock( + timing, valid_clocks=[8_000, 24_000_000, 8_000_000] + ) + assert new_timing.f_clock == 24_000_000 + assert len(record) == 1 + assert ( + record[0].message.args[0] + == "Adjusted f_clock in BitTiming from 80000000 to 24000000" + ) + + with pytest.raises(CanInitializationError): + check_or_adjust_timing_clock(timing, valid_clocks=[8_000, 16_000]) + + def test_adjust_timing_fd(self): + timing = BitTimingFd( + f_clock=160_000_000, + nom_brp=2, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=2, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + + # Check identity case + new_timing = check_or_adjust_timing_clock(timing, valid_clocks=[160_000_000]) + assert timing == new_timing + + with pytest.warns(UserWarning) as record: + new_timing = check_or_adjust_timing_clock( + timing, valid_clocks=[8_000, 80_000_000] + ) + assert len(record) == 1 + assert ( + record[0].message.args[0] + == "Adjusted f_clock in BitTimingFd from 160000000 to 80000000" + ) + assert new_timing.__class__ == BitTimingFd + assert new_timing.f_clock == 80_000_000 + assert new_timing.nom_bitrate == 500_000 + assert new_timing.nom_tseg1 == 119 + assert new_timing.nom_tseg2 == 40 + assert new_timing.nom_sjw == 40 + assert new_timing.data_bitrate == 2_000_000 + assert new_timing.data_tseg1 == 29 + assert new_timing.data_tseg2 == 10 + assert new_timing.data_sjw == 10 + + with pytest.raises(CanInitializationError): + check_or_adjust_timing_clock(timing, valid_clocks=[8_000, 16_000]) From 86a91bb25d12a97ec5c7632c6f745cf6c079c288 Mon Sep 17 00:00:00 2001 From: Martin Thompson Date: Wed, 25 Jan 2023 21:42:44 +0000 Subject: [PATCH 227/475] Add VN5611 HWTYPE (#1501) --- can/interfaces/vector/xldefine.py | 1 + 1 file changed, 1 insertion(+) diff --git a/can/interfaces/vector/xldefine.py b/can/interfaces/vector/xldefine.py index 5a1084f48..aa1a6740c 100644 --- a/can/interfaces/vector/xldefine.py +++ b/can/interfaces/vector/xldefine.py @@ -289,6 +289,7 @@ class XL_HardwareType(IntEnum): XL_HWTYPE_VN7570 = 67 XL_HWTYPE_VN5650 = 68 XL_HWTYPE_IPCLIENT = 69 + XL_HWTYPE_VN5611 = 70 XL_HWTYPE_IPSERVER = 71 XL_HWTYPE_VX1121 = 73 XL_HWTYPE_VX1131 = 75 From dcf15c962786b969fa45232e176ed02eabc889b4 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 25 Jan 2023 23:03:01 +0100 Subject: [PATCH 228/475] improve robustness against unknown HardwareType values (#1502) --- can/interfaces/vector/canlib.py | 28 +++++++++++++++++++--------- 1 file changed, 19 insertions(+), 9 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 5c7f1a8ad..ead3ee933 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -299,19 +299,21 @@ def _find_global_channel_idx( channel_configs: List["VectorChannelConfig"], ) -> int: if serial is not None: - hw_type: Optional[xldefine.XL_HardwareType] = None + serial_found = False for channel_config in channel_configs: if channel_config.serial_number != serial: continue - hw_type = xldefine.XL_HardwareType(channel_config.hw_type) + serial_found = True if channel_config.hw_channel == channel: return channel_config.channel_index - if hw_type is None: + if not serial_found: err_msg = f"No interface with serial {serial} found." else: - err_msg = f"Channel {channel} not found on interface {hw_type.name} ({serial})." + err_msg = ( + f"Channel {channel} not found on interface with serial {serial}." + ) raise CanInitializationError( err_msg, error_code=xldefine.XL_Status.XL_ERR_HW_NOT_PRESENT ) @@ -915,7 +917,7 @@ def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @staticmethod def get_application_config( app_name: str, app_channel: int - ) -> Tuple[xldefine.XL_HardwareType, int, int]: + ) -> Tuple[Union[int, xldefine.XL_HardwareType], int, int]: """Retrieve information for an application in Vector Hardware Configuration. :param app_name: @@ -955,13 +957,13 @@ def get_application_config( ), function="xlGetApplConfig", ) from None - return xldefine.XL_HardwareType(hw_type.value), hw_index.value, hw_channel.value + return _hw_type(hw_type.value), hw_index.value, hw_channel.value @staticmethod def set_application_config( app_name: str, app_channel: int, - hw_type: xldefine.XL_HardwareType, + hw_type: Union[int, xldefine.XL_HardwareType], hw_index: int, hw_channel: int, **kwargs: Any, @@ -1055,7 +1057,7 @@ class VectorChannelConfig(NamedTuple): """NamedTuple which contains the channel properties from Vector XL API.""" name: str - hw_type: xldefine.XL_HardwareType + hw_type: Union[int, xldefine.XL_HardwareType] hw_index: int hw_channel: int channel_index: int @@ -1128,7 +1130,7 @@ def get_channel_configs() -> List[VectorChannelConfig]: xlcc: xlclass.XLchannelConfig = driver_config.channel[i] vcc = VectorChannelConfig( name=xlcc.name.decode(), - hw_type=xldefine.XL_HardwareType(xlcc.hwType), + hw_type=_hw_type(xlcc.hwType), hw_index=xlcc.hwIndex, hw_channel=xlcc.hwChannel, channel_index=xlcc.channelIndex, @@ -1148,3 +1150,11 @@ def get_channel_configs() -> List[VectorChannelConfig]: ) channel_list.append(vcc) return channel_list + + +def _hw_type(hw_type: int) -> Union[int, xldefine.XL_HardwareType]: + try: + return xldefine.XL_HardwareType(hw_type) + except ValueError: + LOG.warning(f'Unknown XL_HardwareType value "{hw_type}"') + return hw_type From 1dddc1dbd748e3854398210aa32ecfc3b33b71ac Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 27 Jan 2023 17:41:42 +0100 Subject: [PATCH 229/475] Automatic type conversion for config values (#1499) --- can/logger.py | 14 ++------------ can/util.py | 37 +++++++++++++++++++++++++++++-------- test/test_load_config.py | 37 +++++++++++++++++++++---------------- test/test_util.py | 25 +++++++++++++++++++++++++ 4 files changed, 77 insertions(+), 36 deletions(-) diff --git a/can/logger.py b/can/logger.py index 55e67b27e..9448fe6b4 100644 --- a/can/logger.py +++ b/can/logger.py @@ -8,6 +8,7 @@ import can from can.io import BaseRotatingLogger from can.io.generic import MessageWriter +from can.util import cast_from_string from . import Bus, BusState, Logger, SizedRotatingLogger from .typechecking import CanFilter, CanFilters @@ -134,18 +135,7 @@ def _split_arg(_arg: str) -> Tuple[str, str]: args: Dict[str, Union[str, int, float, bool]] = {} for key, string_val in map(_split_arg, unknown_args): - if re.match(r"^[-+]?\d+$", string_val): - # value is integer - args[key] = int(string_val) - elif re.match(r"^[-+]?\d*\.\d+$", string_val): - # value is float - args[key] = float(string_val) - elif re.match(r"^(?:True|False)$", string_val): - # value is bool - args[key] = string_val == "True" - else: - # value is string - args[key] = string_val + args[key] = cast_from_string(string_val) return args diff --git a/can/util.py b/can/util.py index 8f5cea0c4..42d99272e 100644 --- a/can/util.py +++ b/can/util.py @@ -147,7 +147,7 @@ def load_config( It may set other values that are passed through. :param context: - Extra 'context' pass to config sources. This can be use to section + Extra 'context' pass to config sources. This can be used to section other than 'default' in the configuration file. :return: @@ -197,9 +197,12 @@ def load_config( cfg["interface"] = cfg["bustype"] del cfg["bustype"] # copy all new parameters - for key in cfg: + for key, val in cfg.items(): if key not in config: - config[key] = cfg[key] + if isinstance(val, str): + config[key] = cast_from_string(val) + else: + config[key] = cfg[key] bus_config = _create_bus_config(config) can.log.debug("can config: %s", bus_config) @@ -257,12 +260,8 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: except (ValueError, TypeError): pass - if "bitrate" in config: - config["bitrate"] = int(config["bitrate"]) if "fd" in config: - config["fd"] = config["fd"] not in ("0", "False", "false", False) - if "data_bitrate" in config: - config["data_bitrate"] = int(config["data_bitrate"]) + config["fd"] = config["fd"] not in (0, False) return cast(typechecking.BusConfig, config) @@ -478,6 +477,28 @@ def time_perfcounter_correlation() -> Tuple[float, float]: return t1, performance_counter +def cast_from_string(string_val: str) -> Union[str, int, float, bool]: + """Perform trivial type conversion from :class:`str` values. + + :param string_val: + the string, that shall be converted + """ + if re.match(r"^[-+]?\d+$", string_val): + # value is integer + return int(string_val) + + if re.match(r"^[-+]?\d*\.\d+(?:e[-+]?\d+)?$", string_val): + # value is float + return float(string_val) + + if re.match(r"^(?:True|False)$", string_val, re.IGNORECASE): + # value is bool + return string_val.lower() == "true" + + # value is string + return string_val + + if __name__ == "__main__": print("Searching for configuration named:") print("\n".join(CONFIG_FILES)) diff --git a/test/test_load_config.py b/test/test_load_config.py index 1bfba450a..3c850a730 100644 --- a/test/test_load_config.py +++ b/test/test_load_config.py @@ -1,20 +1,25 @@ #!/usr/bin/env python -import os import shutil import tempfile import unittest +import unittest.mock from tempfile import NamedTemporaryFile import can class LoadConfigTest(unittest.TestCase): - configuration = { + configuration_in = { "default": {"interface": "serial", "channel": "0"}, "one": {"interface": "kvaser", "channel": "1", "bitrate": 100000}, "two": {"channel": "2"}, } + configuration_out = { + "default": {"interface": "serial", "channel": 0}, + "one": {"interface": "kvaser", "channel": 1, "bitrate": 100000}, + "two": {"channel": 2}, + } def setUp(self): # Create a temporary directory @@ -31,7 +36,7 @@ def _gen_configration_file(self, sections): content = [] for section in sections: content.append(f"[{section}]") - for k, v in self.configuration[section].items(): + for k, v in self.configuration_in[section].items(): content.append(f"{k} = {v}") tmp_config_file.write("\n".join(content)) return tmp_config_file.name @@ -42,43 +47,43 @@ def _dict_to_env(self, d): def test_config_default(self): tmp_config = self._gen_configration_file(["default"]) config = can.util.load_config(path=tmp_config) - self.assertEqual(config, self.configuration["default"]) + self.assertEqual(config, self.configuration_out["default"]) def test_config_whole_default(self): - tmp_config = self._gen_configration_file(self.configuration) + tmp_config = self._gen_configration_file(self.configuration_in) config = can.util.load_config(path=tmp_config) - self.assertEqual(config, self.configuration["default"]) + self.assertEqual(config, self.configuration_out["default"]) def test_config_whole_context(self): - tmp_config = self._gen_configration_file(self.configuration) + tmp_config = self._gen_configration_file(self.configuration_in) config = can.util.load_config(path=tmp_config, context="one") - self.assertEqual(config, self.configuration["one"]) + self.assertEqual(config, self.configuration_out["one"]) def test_config_merge_context(self): - tmp_config = self._gen_configration_file(self.configuration) + tmp_config = self._gen_configration_file(self.configuration_in) config = can.util.load_config(path=tmp_config, context="two") - expected = self.configuration["default"] - expected.update(self.configuration["two"]) + expected = self.configuration_out["default"].copy() + expected.update(self.configuration_out["two"]) self.assertEqual(config, expected) def test_config_merge_environment_to_context(self): - tmp_config = self._gen_configration_file(self.configuration) + tmp_config = self._gen_configration_file(self.configuration_in) env_data = {"interface": "serial", "bitrate": 125000} env_dict = self._dict_to_env(env_data) with unittest.mock.patch.dict("os.environ", env_dict): config = can.util.load_config(path=tmp_config, context="one") - expected = self.configuration["one"] + expected = self.configuration_out["one"].copy() expected.update(env_data) self.assertEqual(config, expected) def test_config_whole_environment(self): - tmp_config = self._gen_configration_file(self.configuration) + tmp_config = self._gen_configration_file(self.configuration_in) env_data = {"interface": "socketcan", "channel": "3", "bitrate": 250000} env_dict = self._dict_to_env(env_data) with unittest.mock.patch.dict("os.environ", env_dict): config = can.util.load_config(path=tmp_config, context="one") - expected = self.configuration["one"] - expected.update(env_data) + expected = self.configuration_out["one"].copy() + expected.update({"interface": "socketcan", "channel": 3, "bitrate": 250000}) self.assertEqual(config, expected) diff --git a/test/test_util.py b/test/test_util.py index a738e5c6a..88349d974 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -13,6 +13,7 @@ channel2int, deprecated_args_alias, check_or_adjust_timing_clock, + cast_from_string, ) @@ -262,3 +263,27 @@ def test_adjust_timing_fd(self): with pytest.raises(CanInitializationError): check_or_adjust_timing_clock(timing, valid_clocks=[8_000, 16_000]) + + +class TestCastFromString(unittest.TestCase): + def test_cast_from_string(self) -> None: + self.assertEqual(1, cast_from_string("1")) + self.assertEqual(-1, cast_from_string("-1")) + self.assertEqual(0, cast_from_string("-0")) + self.assertEqual(1.1, cast_from_string("1.1")) + self.assertEqual(-1.1, cast_from_string("-1.1")) + self.assertEqual(0.1, cast_from_string(".1")) + self.assertEqual(10.0, cast_from_string(".1e2")) + self.assertEqual(0.001, cast_from_string(".1e-2")) + self.assertEqual(-0.001, cast_from_string("-.1e-2")) + self.assertEqual("text", cast_from_string("text")) + self.assertEqual("", cast_from_string("")) + self.assertEqual("can0", cast_from_string("can0")) + self.assertEqual("0can", cast_from_string("0can")) + self.assertEqual(False, cast_from_string("false")) + self.assertEqual(False, cast_from_string("False")) + self.assertEqual(True, cast_from_string("true")) + self.assertEqual(True, cast_from_string("True")) + + with self.assertRaises(TypeError): + cast_from_string(None) From d2abd34b7868e4b47a7dfc0ebb1fbcd9c3c5a174 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 27 Jan 2023 18:44:56 +0100 Subject: [PATCH 230/475] Update XL_HardwareType (#1509) --- can/interfaces/vector/xldefine.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/can/interfaces/vector/xldefine.py b/can/interfaces/vector/xldefine.py index aa1a6740c..e2fd288b9 100644 --- a/can/interfaces/vector/xldefine.py +++ b/can/interfaces/vector/xldefine.py @@ -291,7 +291,9 @@ class XL_HardwareType(IntEnum): XL_HWTYPE_IPCLIENT = 69 XL_HWTYPE_VN5611 = 70 XL_HWTYPE_IPSERVER = 71 + XL_HWTYPE_VN5612 = 72 XL_HWTYPE_VX1121 = 73 + XL_HWTYPE_VN5601 = 74 XL_HWTYPE_VX1131 = 75 XL_HWTYPE_VT6204 = 77 XL_HWTYPE_VN1630_LOG = 79 @@ -318,6 +320,8 @@ class XL_HardwareType(IntEnum): XL_HWTYPE_VN1531 = 113 XL_HWTYPE_VX1161A = 114 XL_HWTYPE_VX1161B = 115 + XL_HWTYPE_VGNSS = 116 + XL_HWTYPE_VXLAPINIC = 118 XL_MAX_HWTYPE = 120 From 7a4c6f80782add361cf0c95613559ace408f17c4 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 27 Jan 2023 22:19:42 +0100 Subject: [PATCH 231/475] Add BitTiming/BitTimingFd support to VectorBus (#1470) * add BitTiming parameter to VectorBus * use correct interface_version * implement tests for bittiming classes with vector --- can/interfaces/vector/canlib.py | 51 +++++++++-- test/test_vector.py | 148 ++++++++++++++++++++++++++++++++ 2 files changed, 194 insertions(+), 5 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index ead3ee933..287f45437 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -37,12 +37,20 @@ # Import Modules # ============== -from can import BusABC, Message, CanInterfaceNotImplementedError, CanInitializationError +from can import ( + BusABC, + Message, + CanInterfaceNotImplementedError, + CanInitializationError, + BitTiming, + BitTimingFd, +) from can.util import ( len2dlc, dlc2len, deprecated_args_alias, time_perfcounter_correlation, + check_or_adjust_timing_clock, ) from can.typechecking import AutoDetectedConfig, CanFilters @@ -86,6 +94,7 @@ def __init__( can_filters: Optional[CanFilters] = None, poll_interval: float = 0.01, receive_own_messages: bool = False, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, bitrate: Optional[int] = None, rx_queue_size: int = 2**14, app_name: Optional[str] = "CANalyzer", @@ -108,6 +117,15 @@ def __init__( See :class:`can.BusABC`. :param receive_own_messages: See :class:`can.BusABC`. + :param timing: + An instance of :class:`~can.BitTiming` or :class:`~can.BitTimingFd` + to specify the bit timing parameters for the VectorBus interface. The + `f_clock` value of the timing instance must be set to 16.000.000 (16MHz) + for standard CAN or 80.000.000 (80MHz) for CAN FD. If this parameter is provided, + it takes precedence over all other timing-related parameters. + Otherwise, the bit timing can be specified using the following parameters: + `bitrate` for standard CAN or `fd`, `data_bitrate`, `sjw_abr`, `tseg1_abr`, + `tseg2_abr`, `sjw_dbr`, `tseg1_dbr`, and `tseg2_dbr` for CAN FD. :param poll_interval: Poll interval in seconds. :param bitrate: @@ -184,7 +202,7 @@ def __init__( channel_configs = get_channel_configs() self.mask = 0 - self.fd = fd + self.fd = isinstance(timing, BitTimingFd) if timing else fd self.channel_masks: Dict[int, int] = {} self.index_to_channel: Dict[int, int] = {} @@ -204,12 +222,12 @@ def __init__( permission_mask = xlclass.XLaccess() # Set mask to request channel init permission if needed - if bitrate or fd: + if bitrate or fd or timing: permission_mask.value = self.mask interface_version = ( xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4 - if fd + if self.fd else xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION ) @@ -233,7 +251,30 @@ def __init__( # set CAN settings for channel in self.channels: - if fd: + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, [16_000_000]) + self._set_bitrate_can( + channel=channel, + bitrate=timing.bitrate, + sjw=timing.sjw, + tseg1=timing.tseg1, + tseg2=timing.tseg2, + sam=timing.nof_samples, + ) + elif isinstance(timing, BitTimingFd): + timing = check_or_adjust_timing_clock(timing, [80_000_000]) + self._set_bitrate_canfd( + channel=channel, + bitrate=timing.nom_bitrate, + data_bitrate=timing.data_bitrate, + sjw_abr=timing.nom_sjw, + tseg1_abr=timing.nom_tseg1, + tseg2_abr=timing.nom_tseg2, + sjw_dbr=timing.data_sjw, + tseg1_dbr=timing.data_tseg1, + tseg2_dbr=timing.data_tseg2, + ) + elif fd: self._set_bitrate_canfd( channel=channel, bitrate=bitrate, diff --git a/test/test_vector.py b/test/test_vector.py index 02c3c336d..fd95cef8a 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -270,6 +270,154 @@ def test_bus_creation_fd_bitrate_timings() -> None: bus.shutdown() +def test_bus_creation_timing_mocked(mock_xldriver) -> None: + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=16_000_000, + bitrate=125_000, + tseg1=13, + tseg2=2, + sjw=1, + ) + bus = can.Bus(channel=0, interface="vector", timing=timing, _testing=True) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelParams.assert_called() + chip_params = ( + can.interfaces.vector.canlib.xldriver.xlCanSetChannelParams.call_args[0] + )[2] + assert chip_params.bitRate == 125_000 + assert chip_params.sjw == 1 + assert chip_params.tseg1 == 13 + assert chip_params.tseg2 == 2 + assert chip_params.sam == 1 + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_timing() -> None: + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=16_000_000, + bitrate=125_000, + tseg1=13, + tseg2=2, + sjw=1, + ) + bus = can.Bus( + channel=0, + serial=_find_virtual_can_serial(), + interface="vector", + timing=timing, + ) + assert isinstance(bus, canlib.VectorBus) + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert xl_channel_config.busParams.data.can.bitRate == 125_000 + assert xl_channel_config.busParams.data.can.sjw == 1 + assert xl_channel_config.busParams.data.can.tseg1 == 13 + assert xl_channel_config.busParams.data.can.tseg2 == 2 + + bus.shutdown() + + +def test_bus_creation_timingfd_mocked(mock_xldriver) -> None: + timing = can.BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_tseg1=68, + nom_tseg2=11, + nom_sjw=10, + data_bitrate=2_000_000, + data_tseg1=10, + data_tseg2=9, + data_sjw=8, + ) + bus = can.Bus( + channel=0, + interface="vector", + timing=timing, + _testing=True, + ) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert ( + xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value + ) + + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called() + + xlCanFdSetConfiguration_args = ( + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.call_args[0] + ) + canFdConf = xlCanFdSetConfiguration_args[2] + assert canFdConf.arbitrationBitRate == 500_000 + assert canFdConf.dataBitRate == 2_000_000 + assert canFdConf.sjwAbr == 10 + assert canFdConf.tseg1Abr == 68 + assert canFdConf.tseg2Abr == 11 + assert canFdConf.sjwDbr == 8 + assert canFdConf.tseg1Dbr == 10 + assert canFdConf.tseg2Dbr == 9 + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_timingfd() -> None: + timing = can.BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_tseg1=68, + nom_tseg2=11, + nom_sjw=10, + data_bitrate=2_000_000, + data_tseg1=10, + data_tseg2=9, + data_sjw=8, + ) + bus = can.Bus( + channel=0, + serial=_find_virtual_can_serial(), + interface="vector", + timing=timing, + ) + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert ( + xl_channel_config.interfaceVersion + == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4 + ) + assert ( + xl_channel_config.busParams.data.canFD.canOpMode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ) + assert xl_channel_config.busParams.data.canFD.arbitrationBitRate == 500_000 + assert xl_channel_config.busParams.data.canFD.sjwAbr == 10 + assert xl_channel_config.busParams.data.canFD.tseg1Abr == 68 + assert xl_channel_config.busParams.data.canFD.tseg2Abr == 11 + assert xl_channel_config.busParams.data.canFD.sjwDbr == 8 + assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 10 + assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 9 + assert xl_channel_config.busParams.data.canFD.dataBitRate == 2_000_000 + + bus.shutdown() + + def test_send_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", _testing=True) msg = can.Message( From 356f6f9fde3c99d83a9b174d53f092e99a83a45b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 28 Jan 2023 16:02:25 +0100 Subject: [PATCH 232/475] Add code example to BitTiming docs (#1515) * add copy button * make bittiming classes hashable * add code example to show possible bit timings * fix tests * rename variable --- can/bit_timing.py | 16 +++++++++++----- doc/bit_timing.rst | 30 +++++++++++++++++++++++++++++- doc/conf.py | 1 + doc/doc-requirements.txt | 1 + test/test_bit_timing.py | 27 ++++++++++++++++++++++----- 5 files changed, 64 insertions(+), 11 deletions(-) diff --git a/can/bit_timing.py b/can/bit_timing.py index 2dc78064b..4fada145b 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -395,14 +395,14 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming": def __str__(self) -> str: segments = [ - f"BR {self.bitrate} bit/s", + f"BR: {self.bitrate:_} bit/s", f"SP: {self.sample_point:.2f}%", f"BRP: {self.brp}", f"TSEG1: {self.tseg1}", f"TSEG2: {self.tseg2}", f"SJW: {self.sjw}", f"BTR: {self.btr0:02X}{self.btr1:02X}h", - f"f_clock: {self.f_clock / 1e6:.0f}MHz", + f"CLK: {self.f_clock / 1e6:.0f}MHz", ] return ", ".join(segments) @@ -425,6 +425,9 @@ def __eq__(self, other: object) -> bool: return self._data == other._data + def __hash__(self) -> int: + return tuple(self._data.values()).__hash__() + class BitTimingFd(Mapping): """Representation of a bit timing configuration for a CAN FD bus. @@ -999,19 +1002,19 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTimingFd": def __str__(self) -> str: segments = [ - f"NBR: {self.nom_bitrate} bit/s", + f"NBR: {self.nom_bitrate:_} bit/s", f"NSP: {self.nom_sample_point:.2f}%", f"NBRP: {self.nom_brp}", f"NTSEG1: {self.nom_tseg1}", f"NTSEG2: {self.nom_tseg2}", f"NSJW: {self.nom_sjw}", - f"DBR: {self.data_bitrate} bit/s", + f"DBR: {self.data_bitrate:_} bit/s", f"DSP: {self.data_sample_point:.2f}%", f"DBRP: {self.data_brp}", f"DTSEG1: {self.data_tseg1}", f"DTSEG2: {self.data_tseg2}", f"DSJW: {self.data_sjw}", - f"f_clock: {self.f_clock / 1e6:.0f}MHz", + f"CLK: {self.f_clock / 1e6:.0f}MHz", ] return ", ".join(segments) @@ -1034,6 +1037,9 @@ def __eq__(self, other: object) -> bool: return self._data == other._data + def __hash__(self) -> int: + return tuple(self._data.values()).__hash__() + def _oscillator_tolerance_condition_1(nom_sjw: int, nbt: int) -> float: """Arbitration phase - resynchronization""" diff --git a/doc/bit_timing.rst b/doc/bit_timing.rst index b48a133b8..73005a3c6 100644 --- a/doc/bit_timing.rst +++ b/doc/bit_timing.rst @@ -63,10 +63,38 @@ to specify custom bit timings. The :class:`~can.BitTiming` and :class:`~can.BitTimingFd` classes can be used for this purpose to specify bit timings in a relatively interface agnostic manner. +:class:`~can.BitTiming` or :class:`~can.BitTimingFd` can also help you to +produce an overview of possible bit timings for your desired bit rate: + + >>> import contextlib + >>> import can + ... + >>> timings = set() + >>> for sample_point in range(50, 100): + ... with contextlib.suppress(ValueError): + ... timings.add( + ... can.BitTiming.from_sample_point( + ... f_clock=8_000_000, + ... bitrate=250_000, + ... sample_point=sample_point, + ... ) + ... ) + ... + >>> for timing in sorted(timings, key=lambda x: x.sample_point): + ... print(timing) + BR: 250_000 bit/s, SP: 50.00%, BRP: 2, TSEG1: 7, TSEG2: 8, SJW: 4, BTR: C176h, CLK: 8MHz + BR: 250_000 bit/s, SP: 56.25%, BRP: 2, TSEG1: 8, TSEG2: 7, SJW: 4, BTR: C167h, CLK: 8MHz + BR: 250_000 bit/s, SP: 62.50%, BRP: 2, TSEG1: 9, TSEG2: 6, SJW: 4, BTR: C158h, CLK: 8MHz + BR: 250_000 bit/s, SP: 68.75%, BRP: 2, TSEG1: 10, TSEG2: 5, SJW: 4, BTR: C149h, CLK: 8MHz + BR: 250_000 bit/s, SP: 75.00%, BRP: 2, TSEG1: 11, TSEG2: 4, SJW: 4, BTR: C13Ah, CLK: 8MHz + BR: 250_000 bit/s, SP: 81.25%, BRP: 2, TSEG1: 12, TSEG2: 3, SJW: 3, BTR: 812Bh, CLK: 8MHz + BR: 250_000 bit/s, SP: 87.50%, BRP: 2, TSEG1: 13, TSEG2: 2, SJW: 2, BTR: 411Ch, CLK: 8MHz + BR: 250_000 bit/s, SP: 93.75%, BRP: 2, TSEG1: 14, TSEG2: 1, SJW: 1, BTR: 010Dh, CLK: 8MHz + + It is possible to specify CAN 2.0 bit timings using the config file: - .. code-block:: none [default] diff --git a/doc/conf.py b/doc/conf.py index 6ba661a30..cea93440d 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -49,6 +49,7 @@ "sphinx.ext.graphviz", "sphinxcontrib.programoutput", "sphinx_inline_tabs", + "sphinx_copybutton", ] # Now, you can use the alias name as a new role, e.g. :issue:`123`. diff --git a/doc/doc-requirements.txt b/doc/doc-requirements.txt index c61b55683..9a01cf589 100644 --- a/doc/doc-requirements.txt +++ b/doc/doc-requirements.txt @@ -1,4 +1,5 @@ sphinx>=5.2.3 sphinxcontrib-programoutput sphinx-inline-tabs +sphinx-copybutton furo diff --git a/test/test_bit_timing.py b/test/test_bit_timing.py index 669308f9d..a0d4e03a5 100644 --- a/test/test_bit_timing.py +++ b/test/test_bit_timing.py @@ -271,8 +271,8 @@ def test_equality(): def test_string_representation(): timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) assert str(timing) == ( - "BR 1000000 bit/s, SP: 75.00%, BRP: 1, TSEG1: 5, TSEG2: 2, SJW: 1, " - "BTR: 0014h, f_clock: 8MHz" + "BR: 1_000_000 bit/s, SP: 75.00%, BRP: 1, TSEG1: 5, TSEG2: 2, SJW: 1, " + "BTR: 0014h, CLK: 8MHz" ) fd_timing = can.BitTimingFd( @@ -287,9 +287,9 @@ def test_string_representation(): data_sjw=10, ) assert str(fd_timing) == ( - "NBR: 500000 bit/s, NSP: 75.00%, NBRP: 1, NTSEG1: 119, NTSEG2: 40, NSJW: 40, " - "DBR: 2000000 bit/s, DSP: 75.00%, DBRP: 1, DTSEG1: 29, DTSEG2: 10, DSJW: 10, " - "f_clock: 80MHz" + "NBR: 500_000 bit/s, NSP: 75.00%, NBRP: 1, NTSEG1: 119, NTSEG2: 40, NSJW: 40, " + "DBR: 2_000_000 bit/s, DSP: 75.00%, DBRP: 1, DTSEG1: 29, DTSEG2: 10, DSJW: 10, " + "CLK: 80MHz" ) @@ -316,6 +316,23 @@ def test_repr(): ) +def test_hash(): + _timings = { + can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1, nof_samples=1), + can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ), + } + + def test_mapping(): timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) timing_dict = dict(timing) From e96abcf42996d73c30de003b576428e48e27183e Mon Sep 17 00:00:00 2001 From: Faisal Shah <37458679+faisal-shah@users.noreply.github.com> Date: Sat, 28 Jan 2023 09:58:56 -0600 Subject: [PATCH 233/475] Socketcand ext ID bug fixes, and implement channel{_info} and Message attributes (#1508) * Handle extended arbitration id properly socketcand uses the length of the arbitration id field to indicate whether a frame is using extended id or not. 3 characters for standard, 8 for extended. Prior to this fix, the arbitration id would be truncated to the lower 11 bits, or at times even garbage. * Add is_rx attribute * Populate channel{_info} and Message attributes --- can/interfaces/socketcand/socketcand.py | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 28f0c700f..32b9a0edf 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -27,11 +27,17 @@ def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message: frame_string = ascii_msg[8:-2] parts = frame_string.split(" ", 3) can_id, timestamp = int(parts[0], 16), float(parts[1]) + is_ext = len(parts[0]) != 3 data = bytearray.fromhex(parts[2]) can_dlc = len(data) can_message = can.Message( - timestamp=timestamp, arbitration_id=can_id, data=data, dlc=can_dlc + timestamp=timestamp, + arbitration_id=can_id, + data=data, + dlc=can_dlc, + is_extended_id=is_ext, + is_rx=True, ) return can_message @@ -40,11 +46,15 @@ def convert_can_message_to_ascii_message(can_message: can.Message) -> str: # Note: socketcan bus adds extended flag, remote_frame_flag & error_flag to id # not sure if that is necessary here can_id = can_message.arbitration_id + if can_message.is_extended_id: + can_id_string = f"{(can_id&0x1FFFFFFF):08X}" + else: + can_id_string = f"{(can_id&0x7FF):03X}" # Note: seems like we cannot add CANFD_BRS (bitrate_switch) and CANFD_ESI (error_state_indicator) flags data = can_message.data length = can_message.dlc bytes_string = " ".join(f"{x:x}" for x in data[0:length]) - return f"< send {can_id:X} {length:X} {bytes_string} >" + return f"< send {can_id_string} {length:X} {bytes_string} >" def connect_to_server(s, host, port): @@ -70,6 +80,8 @@ def __init__(self, channel, host, port, can_filters=None, **kwargs): self.__socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.__message_buffer = deque() self.__receive_buffer = "" # i know string is not the most efficient here + self.channel = channel + self.channel_info = f"socketcand on {channel}@{host}:{port}" connect_to_server(self.__socket, self.__host, self.__port) self._expect_msg("< hi >") @@ -139,6 +151,7 @@ def _recv_internal(self, timeout): if parsed_can_message is None: log.warning(f"Invalid Frame: {single_message}") else: + parsed_can_message.channel = self.channel self.__message_buffer.append(parsed_can_message) buffer_view = buffer_view[end + 1 :] From 047cbe44d46105d3433f4041edf4ef4a30b3dfd1 Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Mon, 30 Jan 2023 11:01:58 +0100 Subject: [PATCH 234/475] Align ixxat interface's `shutdown()` with `can.BusABC` typing --- can/interfaces/ixxat/canlib.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 1e4055f89..cb7131c57 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -146,8 +146,8 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _send_periodic_internal(self, msgs, period, duration=None): return self.bus._send_periodic_internal(msgs, period, duration) - def shutdown(self): - return self.bus.shutdown() + def shutdown(self) -> None: + self.bus.shutdown() @property def state(self) -> BusState: From 73593762d946ad40e83a5b59f82eea4f4757a5de Mon Sep 17 00:00:00 2001 From: Felix Divo <4403130+felixdivo@users.noreply.github.com> Date: Mon, 30 Jan 2023 14:51:04 +0100 Subject: [PATCH 235/475] Cleanup ixxat interface code (#1517) --- can/interfaces/ixxat/canlib.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index cb7131c57..a20e4f59b 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -155,6 +155,3 @@ def state(self) -> BusState: Return the current state of the hardware """ return self.bus.state - - -# ~class IXXATBus(BusABC): --------------------------------------------------- From 9cd7b49b7bf8c33cf0cdea0ba15cde7cf0ef2fa3 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 2 Feb 2023 22:06:55 +0100 Subject: [PATCH 236/475] print warnings --- test/test_util.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/test/test_util.py b/test/test_util.py index 88349d974..b6c261602 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -245,7 +245,9 @@ def test_adjust_timing_fd(self): new_timing = check_or_adjust_timing_clock( timing, valid_clocks=[8_000, 80_000_000] ) - assert len(record) == 1 + assert len(record) == 1, "; ".join( + [record[i].message.args[0] for i in range(len(record))] + ) # print all warnings, if more than one warning is present assert ( record[0].message.args[0] == "Adjusted f_clock in BitTimingFd from 160000000 to 80000000" From 8b6bfa9c9591fad2ab4f860cb6733c28aaf43f56 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 4 Feb 2023 01:02:22 +0100 Subject: [PATCH 237/475] Vector: refactor bit timing setup (#1516) * add xlCanSetChannelParamsC200 * refactor VectorBus * move check into separate method * improve error message * use Optional instead of | --- can/interfaces/vector/canlib.py | 294 ++++++++++++++---------------- can/interfaces/vector/xldriver.py | 12 +- test/test_vector.py | 126 ++++++++----- 3 files changed, 221 insertions(+), 211 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 287f45437..d53b1418d 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -120,9 +120,10 @@ def __init__( :param timing: An instance of :class:`~can.BitTiming` or :class:`~can.BitTimingFd` to specify the bit timing parameters for the VectorBus interface. The - `f_clock` value of the timing instance must be set to 16.000.000 (16MHz) - for standard CAN or 80.000.000 (80MHz) for CAN FD. If this parameter is provided, - it takes precedence over all other timing-related parameters. + `f_clock` value of the timing instance must be set to 8_000_000 (8MHz) + or 16_000_000 (16MHz) for CAN 2.0 or 80_000_000 (80MHz) for CAN FD. + If this parameter is provided, it takes precedence over all other + timing-related parameters. Otherwise, the bit timing can be specified using the following parameters: `bitrate` for standard CAN or `fd`, `data_bitrate`, `sjw_abr`, `tseg1_abr`, `tseg2_abr`, `sjw_dbr`, `tseg1_dbr`, and `tseg2_dbr` for CAN FD. @@ -252,42 +253,34 @@ def __init__( # set CAN settings for channel in self.channels: if isinstance(timing, BitTiming): - timing = check_or_adjust_timing_clock(timing, [16_000_000]) - self._set_bitrate_can( + timing = check_or_adjust_timing_clock(timing, [16_000_000, 8_000_000]) + self._set_bit_timing( channel=channel, - bitrate=timing.bitrate, - sjw=timing.sjw, - tseg1=timing.tseg1, - tseg2=timing.tseg2, - sam=timing.nof_samples, + timing=timing, ) elif isinstance(timing, BitTimingFd): timing = check_or_adjust_timing_clock(timing, [80_000_000]) - self._set_bitrate_canfd( + self._set_bit_timing_fd( channel=channel, - bitrate=timing.nom_bitrate, - data_bitrate=timing.data_bitrate, - sjw_abr=timing.nom_sjw, - tseg1_abr=timing.nom_tseg1, - tseg2_abr=timing.nom_tseg2, - sjw_dbr=timing.data_sjw, - tseg1_dbr=timing.data_tseg1, - tseg2_dbr=timing.data_tseg2, + timing=timing, ) elif fd: - self._set_bitrate_canfd( + self._set_bit_timing_fd( channel=channel, - bitrate=bitrate, - data_bitrate=data_bitrate, - sjw_abr=sjw_abr, - tseg1_abr=tseg1_abr, - tseg2_abr=tseg2_abr, - sjw_dbr=sjw_dbr, - tseg1_dbr=tseg1_dbr, - tseg2_dbr=tseg2_dbr, + timing=BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=bitrate or 500_000, + nom_tseg1=tseg1_abr, + nom_tseg2=tseg2_abr, + nom_sjw=sjw_abr, + data_bitrate=data_bitrate or bitrate or 500_000, + data_tseg1=tseg1_dbr, + data_tseg2=tseg2_dbr, + data_sjw=sjw_dbr, + ), ) elif bitrate: - self._set_bitrate_can(channel=channel, bitrate=bitrate) + self._set_bitrate(channel=channel, bitrate=bitrate) # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 @@ -404,30 +397,44 @@ def _read_bus_params(self, channel: int) -> "VectorBusParams": f"Channel configuration for channel {channel} not found." ) - def _set_bitrate_can( - self, - channel: int, - bitrate: int, - sjw: Optional[int] = None, - tseg1: Optional[int] = None, - tseg2: Optional[int] = None, - sam: int = 1, - ) -> None: - kwargs = [sjw, tseg1, tseg2] - if any(kwargs) and not all(kwargs): - raise ValueError( - f"Either all of sjw, tseg1, tseg2 must be set or none of them." + def _set_bitrate(self, channel: int, bitrate: int) -> None: + # set parameters if channel has init access + if self._has_init_access(channel): + self.xldriver.xlCanSetChannelBitrate( + self.port_handle, + self.channel_masks[channel], + bitrate, ) + LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate) + if not self.__testing: + self._check_can_settings( + channel=channel, + bitrate=bitrate, + ) + + def _set_bit_timing(self, channel: int, timing: BitTiming) -> None: # set parameters if channel has init access if self._has_init_access(channel): - if any(kwargs): + if timing.f_clock == 8_000_000: + self.xldriver.xlCanSetChannelParamsC200( + self.port_handle, + self.channel_masks[channel], + timing.btr0, + timing.btr1, + ) + LOG.info( + "xlCanSetChannelParamsC200: BTR0=%#02x, BTR1=%#02x", + timing.btr0, + timing.btr1, + ) + elif timing.f_clock == 16_000_000: chip_params = xlclass.XLchipParams() - chip_params.bitRate = bitrate - chip_params.sjw = sjw - chip_params.tseg1 = tseg1 - chip_params.tseg2 = tseg2 - chip_params.sam = sam + chip_params.bitRate = timing.bitrate + chip_params.sjw = timing.sjw + chip_params.tseg1 = timing.tseg1 + chip_params.tseg2 = timing.tseg2 + chip_params.sam = timing.nof_samples self.xldriver.xlCanSetChannelParams( self.port_handle, self.channel_masks[channel], @@ -441,94 +448,33 @@ def _set_bitrate_can( chip_params.tseg2, ) else: - self.xldriver.xlCanSetChannelBitrate( - self.port_handle, - self.channel_masks[channel], - bitrate, + raise CanInitializationError( + f"timing.f_clock must be 8_000_000 or 16_000_000 (is {timing.f_clock})" ) - LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate) - - if self.__testing: - return - # Compare requested CAN settings to active settings - bus_params = self._read_bus_params(channel) - settings_acceptable = True - - # check bus type - settings_acceptable &= ( - bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN - ) - - # check CAN operation mode. For CANcaseXL can_op_mode remains 0 - if bus_params.can.can_op_mode != 0: - settings_acceptable &= bool( - bus_params.can.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 - ) - - # check bitrate - settings_acceptable &= abs(bus_params.can.bitrate - bitrate) < bitrate / 256 - - # check sample point - if all(kwargs): - requested_sample_point = ( - 100 - * (1 + tseg1) # type: ignore[operator] - / (1 + tseg1 + tseg2) # type: ignore[operator] - ) - actual_sample_point = ( - 100 - * (1 + bus_params.can.tseg1) - / (1 + bus_params.can.tseg1 + bus_params.can.tseg2) - ) - settings_acceptable &= ( - abs(actual_sample_point - requested_sample_point) - < 1.0 # 1 percent threshold - ) - - if not settings_acceptable: - active_settings = ", ".join( - [ - f"{key}: {getattr(val, 'name', val)}" # print int or Enum/Flag name - for key, val in bus_params.can._asdict().items() - ] - ) - raise CanInitializationError( - f"The requested CAN settings could not be set for channel {channel}. " - f"Another application might have set incompatible settings. " - f"These are the currently active settings: {active_settings}" + if not self.__testing: + self._check_can_settings( + channel=channel, + bitrate=timing.bitrate, + sample_point=timing.sample_point, ) - def _set_bitrate_canfd( + def _set_bit_timing_fd( self, channel: int, - bitrate: Optional[int] = None, - data_bitrate: Optional[int] = None, - sjw_abr: int = 2, - tseg1_abr: int = 6, - tseg2_abr: int = 3, - sjw_dbr: int = 2, - tseg1_dbr: int = 6, - tseg2_dbr: int = 3, + timing: BitTimingFd, ) -> None: # set parameters if channel has init access if self._has_init_access(channel): canfd_conf = xlclass.XLcanFdConf() - if bitrate: - canfd_conf.arbitrationBitRate = int(bitrate) - else: - canfd_conf.arbitrationBitRate = 500_000 - canfd_conf.sjwAbr = int(sjw_abr) - canfd_conf.tseg1Abr = int(tseg1_abr) - canfd_conf.tseg2Abr = int(tseg2_abr) - if data_bitrate: - canfd_conf.dataBitRate = int(data_bitrate) - else: - canfd_conf.dataBitRate = int(canfd_conf.arbitrationBitRate) - canfd_conf.sjwDbr = int(sjw_dbr) - canfd_conf.tseg1Dbr = int(tseg1_dbr) - canfd_conf.tseg2Dbr = int(tseg2_dbr) + canfd_conf.arbitrationBitRate = timing.nom_bitrate + canfd_conf.sjwAbr = timing.nom_sjw + canfd_conf.tseg1Abr = timing.nom_tseg1 + canfd_conf.tseg2Abr = timing.nom_tseg2 + canfd_conf.dataBitRate = timing.data_bitrate + canfd_conf.sjwDbr = timing.data_sjw + canfd_conf.tseg1Dbr = timing.data_tseg1 + canfd_conf.tseg2Dbr = timing.data_tseg2 self.xldriver.xlCanFdSetConfiguration( self.port_handle, self.channel_masks[channel], canfd_conf ) @@ -550,11 +496,29 @@ def _set_bitrate_canfd( canfd_conf.tseg2Dbr, ) - if self.__testing: - return + if not self.__testing: + self._check_can_settings( + channel=channel, + bitrate=timing.nom_bitrate, + sample_point=timing.nom_sample_point, + fd=True, + data_bitrate=timing.data_bitrate, + data_sample_point=timing.data_sample_point, + ) - # Compare requested CAN settings to active settings + def _check_can_settings( + self, + channel: int, + bitrate: int, + sample_point: Optional[float] = None, + fd: bool = False, + data_bitrate: Optional[int] = None, + data_sample_point: Optional[float] = None, + ) -> None: + """Compare requested CAN settings to active settings in driver.""" bus_params = self._read_bus_params(channel) + # use canfd even if fd==False, bus_params.can and bus_params.canfd are a C union + bus_params_data = bus_params.canfd settings_acceptable = True # check bus type @@ -563,60 +527,68 @@ def _set_bitrate_canfd( ) # check CAN operation mode - settings_acceptable &= bool( - bus_params.canfd.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD - ) + if fd: + settings_acceptable &= bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ) + elif bus_params_data.can_op_mode != 0: # can_op_mode is always 0 for cancaseXL + settings_acceptable &= bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 + ) # check bitrates if bitrate: settings_acceptable &= ( - abs(bus_params.canfd.bitrate - bitrate) < bitrate / 256 + abs(bus_params_data.bitrate - bitrate) < bitrate / 256 ) - if data_bitrate: + if fd and data_bitrate: settings_acceptable &= ( - abs(bus_params.canfd.data_bitrate - data_bitrate) < data_bitrate / 256 + abs(bus_params_data.data_bitrate - data_bitrate) < data_bitrate / 256 ) # check sample points - if bitrate: - requested_nom_sample_point = ( - 100 * (1 + tseg1_abr) / (1 + tseg1_abr + tseg2_abr) - ) - actual_nom_sample_point = ( + if sample_point: + nom_sample_point_act = ( 100 - * (1 + bus_params.canfd.tseg1_abr) - / (1 + bus_params.canfd.tseg1_abr + bus_params.canfd.tseg2_abr) + * (1 + bus_params_data.tseg1_abr) + / (1 + bus_params_data.tseg1_abr + bus_params_data.tseg2_abr) ) settings_acceptable &= ( - abs(actual_nom_sample_point - requested_nom_sample_point) - < 1.0 # 1 percent threshold - ) - if data_bitrate: - requested_data_sample_point = ( - 100 * (1 + tseg1_dbr) / (1 + tseg1_dbr + tseg2_dbr) + abs(nom_sample_point_act - sample_point) < 2.0 # 2 percent tolerance ) - actual_data_sample_point = ( + if fd and data_sample_point: + data_sample_point_act = ( 100 - * (1 + bus_params.canfd.tseg1_dbr) - / (1 + bus_params.canfd.tseg1_dbr + bus_params.canfd.tseg2_dbr) + * (1 + bus_params_data.tseg1_dbr) + / (1 + bus_params_data.tseg1_dbr + bus_params_data.tseg2_dbr) ) settings_acceptable &= ( - abs(actual_data_sample_point - requested_data_sample_point) - < 1.0 # 1 percent threshold + abs(data_sample_point_act - data_sample_point) + < 2.0 # 2 percent tolerance ) if not settings_acceptable: - active_settings = ", ".join( - [ - f"{key}: {getattr(val, 'name', val)}" # print int or Enum/Flag name - for key, val in bus_params.canfd._asdict().items() - ] + # The error message depends on the currently active CAN settings. + # If the active operation mode is CAN FD, show the active CAN FD timings, + # otherwise show CAN 2.0 timings. + if bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ): + active_settings = bus_params.canfd._asdict() + active_settings["can_op_mode"] = "CAN FD" + else: + active_settings = bus_params.can._asdict() + active_settings["can_op_mode"] = "CAN 2.0" + settings_string = ", ".join( + [f"{key}: {val}" for key, val in active_settings.items()] ) raise CanInitializationError( - f"The requested CAN FD settings could not be set for channel {channel}. " + f"The requested settings could not be set for channel {channel}. " f"Another application might have set incompatible settings. " - f"These are the currently active settings: {active_settings}." + f"These are the currently active settings: {settings_string}." ) def _apply_filters(self, filters: Optional[CanFilters]) -> None: diff --git a/can/interfaces/vector/xldriver.py b/can/interfaces/vector/xldriver.py index 8df39e9dc..29791e32f 100644 --- a/can/interfaces/vector/xldriver.py +++ b/can/interfaces/vector/xldriver.py @@ -201,7 +201,17 @@ def check_status_initialization(result, function, arguments): ctypes.POINTER(xlclass.XLchipParams), ] xlCanSetChannelParams.restype = xlclass.XLstatus -xlCanSetChannelParams.errcheck = check_status_operation +xlCanSetChannelParams.errcheck = check_status_initialization + +xlCanSetChannelParamsC200 = _xlapi_dll.xlCanSetChannelParamsC200 +xlCanSetChannelParamsC200.argtypes = [ + xlclass.XLportHandle, + xlclass.XLaccess, + ctypes.c_ubyte, + ctypes.c_ubyte, +] +xlCanSetChannelParams.restype = xlclass.XLstatus +xlCanSetChannelParams.errcheck = check_status_initialization xlCanTransmit = _xlapi_dll.xlCanTransmit xlCanTransmit.argtypes = [ diff --git a/test/test_vector.py b/test/test_vector.py index fd95cef8a..7694b31aa 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -193,12 +193,12 @@ def test_bus_creation_fd_bitrate_timings_mocked(mock_xldriver) -> None: fd=True, bitrate=500_000, data_bitrate=2_000_000, - sjw_abr=10, - tseg1_abr=11, - tseg2_abr=12, - sjw_dbr=13, - tseg1_dbr=14, - tseg2_dbr=15, + sjw_abr=16, + tseg1_abr=127, + tseg2_abr=32, + sjw_dbr=6, + tseg1_dbr=27, + tseg2_dbr=12, _testing=True, ) assert isinstance(bus, canlib.VectorBus) @@ -222,12 +222,12 @@ def test_bus_creation_fd_bitrate_timings_mocked(mock_xldriver) -> None: canFdConf = xlCanFdSetConfiguration_args[2] assert canFdConf.arbitrationBitRate == 500000 assert canFdConf.dataBitRate == 2000000 - assert canFdConf.sjwAbr == 10 - assert canFdConf.tseg1Abr == 11 - assert canFdConf.tseg2Abr == 12 - assert canFdConf.sjwDbr == 13 - assert canFdConf.tseg1Dbr == 14 - assert canFdConf.tseg2Dbr == 15 + assert canFdConf.sjwAbr == 16 + assert canFdConf.tseg1Abr == 127 + assert canFdConf.tseg2Abr == 32 + assert canFdConf.sjwDbr == 6 + assert canFdConf.tseg1Dbr == 27 + assert canFdConf.tseg2Dbr == 12 @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") @@ -239,12 +239,12 @@ def test_bus_creation_fd_bitrate_timings() -> None: fd=True, bitrate=500_000, data_bitrate=2_000_000, - sjw_abr=10, - tseg1_abr=11, - tseg2_abr=12, - sjw_dbr=13, - tseg1_dbr=14, - tseg2_dbr=15, + sjw_abr=16, + tseg1_abr=127, + tseg2_abr=32, + sjw_dbr=6, + tseg1_dbr=27, + tseg2_dbr=12, ) xl_channel_config = _find_xl_channel_config( @@ -259,18 +259,45 @@ def test_bus_creation_fd_bitrate_timings() -> None: & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD ) assert xl_channel_config.busParams.data.canFD.arbitrationBitRate == 500_000 - assert xl_channel_config.busParams.data.canFD.sjwAbr == 10 - assert xl_channel_config.busParams.data.canFD.tseg1Abr == 11 - assert xl_channel_config.busParams.data.canFD.tseg2Abr == 12 - assert xl_channel_config.busParams.data.canFD.sjwDbr == 13 - assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 14 - assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 15 + assert xl_channel_config.busParams.data.canFD.sjwAbr == 16 + assert xl_channel_config.busParams.data.canFD.tseg1Abr == 127 + assert xl_channel_config.busParams.data.canFD.tseg2Abr == 32 + assert xl_channel_config.busParams.data.canFD.sjwDbr == 6 + assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 27 + assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 12 assert xl_channel_config.busParams.data.canFD.dataBitRate == 2_000_000 bus.shutdown() -def test_bus_creation_timing_mocked(mock_xldriver) -> None: +def test_bus_creation_timing_8mhz_mocked(mock_xldriver) -> None: + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=8_000_000, + bitrate=125_000, + tseg1=13, + tseg2=2, + sjw=1, + ) + bus = can.Bus(channel=0, interface="vector", timing=timing, _testing=True) + assert isinstance(bus, canlib.VectorBus) + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() + can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() + + can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called() + xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0] + assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value + assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value + + can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called() + can.interfaces.vector.canlib.xldriver.xlCanSetChannelParamsC200.assert_called() + btr0, btr1 = ( + can.interfaces.vector.canlib.xldriver.xlCanSetChannelParamsC200.call_args[0] + )[2:] + assert btr0 == timing.btr0 + assert btr1 == timing.btr1 + + +def test_bus_creation_timing_16mhz_mocked(mock_xldriver) -> None: timing = can.BitTiming.from_bitrate_and_segments( f_clock=16_000_000, bitrate=125_000, @@ -302,30 +329,31 @@ def test_bus_creation_timing_mocked(mock_xldriver) -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_bus_creation_timing() -> None: - timing = can.BitTiming.from_bitrate_and_segments( - f_clock=16_000_000, - bitrate=125_000, - tseg1=13, - tseg2=2, - sjw=1, - ) - bus = can.Bus( - channel=0, - serial=_find_virtual_can_serial(), - interface="vector", - timing=timing, - ) - assert isinstance(bus, canlib.VectorBus) - - xl_channel_config = _find_xl_channel_config( - serial=_find_virtual_can_serial(), channel=0 - ) - assert xl_channel_config.busParams.data.can.bitRate == 125_000 - assert xl_channel_config.busParams.data.can.sjw == 1 - assert xl_channel_config.busParams.data.can.tseg1 == 13 - assert xl_channel_config.busParams.data.can.tseg2 == 2 - - bus.shutdown() + for f_clock in [8_000_000, 16_000_000]: + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=f_clock, + bitrate=125_000, + tseg1=13, + tseg2=2, + sjw=1, + ) + bus = can.Bus( + channel=0, + serial=_find_virtual_can_serial(), + interface="vector", + timing=timing, + ) + assert isinstance(bus, canlib.VectorBus) + + xl_channel_config = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert xl_channel_config.busParams.data.can.bitRate == 125_000 + assert xl_channel_config.busParams.data.can.sjw == 1 + assert xl_channel_config.busParams.data.can.tseg1 == 13 + assert xl_channel_config.busParams.data.can.tseg2 == 2 + + bus.shutdown() def test_bus_creation_timingfd_mocked(mock_xldriver) -> None: From 814051e489f8008d475c6b6acaaabde2b8842da9 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 4 Feb 2023 01:06:34 +0100 Subject: [PATCH 238/475] Add BitTiming/BitTimingFd support to NiXNETcanBus (#1520) --- can/interfaces/nixnet.py | 295 +++++++++++++++++++++++++-------------- setup.py | 2 +- 2 files changed, 188 insertions(+), 109 deletions(-) diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index e304fbc1f..6c3e63697 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -10,21 +10,28 @@ import logging import os +import time +from queue import SimpleQueue from types import ModuleType -from typing import Optional +from typing import Optional, List, Union, Tuple, Any -from can import BusABC, Message -from ..exceptions import ( +import can.typechecking +from can import BusABC, Message, BitTiming, BitTimingFd +from can.exceptions import ( CanInitializationError, CanOperationError, CanInterfaceNotImplementedError, ) +from can.util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) nixnet: Optional[ModuleType] = None try: import nixnet # type: ignore + import nixnet.constants # type: ignore + import nixnet.system # type: ignore + import nixnet.types # type: ignore except Exception as exc: logger.warning("Could not import nixnet: %s", exc) @@ -34,18 +41,25 @@ class NiXNETcanBus(BusABC): The CAN Bus implemented for the NI-XNET interface. """ + @deprecated_args_alias( + deprecation_start="4.2.0", + deprecation_end="5.0.0", + brs=None, + log_errors=None, + ) def __init__( self, - channel, - can_filters=None, - bitrate=None, - fd=False, - fd_bitrate=None, - brs=False, - can_termination=False, - log_errors=True, - **kwargs, - ): + channel: str = "CAN1", + bitrate: int = 500_000, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, + can_filters: Optional[can.typechecking.CanFilters] = None, + receive_own_messages: bool = False, + can_termination: bool = False, + fd: bool = False, + fd_bitrate: Optional[int] = None, + poll_interval: float = 0.001, + **kwargs: Any, + ) -> None: """ :param str channel: Name of the object to open (e.g. 'CAN0') @@ -53,13 +67,21 @@ def __init__( :param int bitrate: Bitrate in bits/s + :param timing: + Optional :class:`~can.BitTiming` or :class:`~can.BitTimingFd` instance + to use for custom bit timing setting. The `f_clock` value of the timing + instance must be set to 40_000_000 (40MHz). + If this parameter is provided, it takes precedence over all other + timing-related parameters like `bitrate`, `fd_bitrate` and `fd`. + :param list can_filters: See :meth:`can.BusABC.set_filters`. - :param bool log_errors: - If True, communication errors will appear as CAN messages with - ``is_error_frame`` set to True and ``arbitration_id`` will identify - the error (default True) + :param receive_own_messages: + Enable self-reception of sent messages. + + :param poll_interval: + Poll interval in seconds. :raises ~can.exceptions.CanInitializationError: If starting communication fails @@ -73,52 +95,85 @@ def __init__( if nixnet is None: raise CanInterfaceNotImplementedError("The NI-XNET API has not been loaded") - self._rx_queue = [] + self.nixnet = nixnet + + self._rx_queue = SimpleQueue() # type: ignore[var-annotated] self.channel = channel self.channel_info = "NI-XNET: " + channel - # Set database for the initialization - if not fd: - database_name = ":memory:" - else: - if not brs: - database_name = ":can_fd:" - else: - database_name = ":can_fd_brs:" + self.poll_interval = poll_interval - try: + self.fd = isinstance(timing, BitTimingFd) if timing else fd - # We need two sessions for this application, one to send frames and another to receive them + # Set database for the initialization + database_name = ":can_fd_brs:" if self.fd else ":memory:" - self.__session_send = nixnet.session.FrameOutStreamSession( + try: + # We need two sessions for this application, + # one to send frames and another to receive them + self._session_send = nixnet.session.FrameOutStreamSession( channel, database_name=database_name ) - self.__session_receive = nixnet.session.FrameInStreamSession( + self._session_receive = nixnet.session.FrameInStreamSession( channel, database_name=database_name ) + self._interface = self._session_send.intf + + # set interface properties + self._interface.can_lstn_only = kwargs.get("listen_only", False) + self._interface.echo_tx = receive_own_messages + self._interface.bus_err_to_in_strm = True + + if isinstance(timing, BitTimingFd): + timing = check_or_adjust_timing_clock(timing, [40_000_000]) + custom_nom_baud_rate = ( # nxPropSession_IntfBaudRate64 + 0xA0000000 + + (timing.nom_tq << 32) + + (timing.nom_sjw - 1 << 16) + + (timing.nom_tseg1 - 1 << 8) + + (timing.nom_tseg2 - 1) + ) + custom_data_baud_rate = ( # nxPropSession_IntfCanFdBaudRate64 + 0xA0000000 + + (timing.data_tq << 13) + + (timing.data_tseg1 - 1 << 8) + + (timing.data_tseg2 - 1 << 4) + + (timing.data_sjw - 1) + ) + self._interface.baud_rate = custom_nom_baud_rate + self._interface.can_fd_baud_rate = custom_data_baud_rate + elif isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, [40_000_000]) + custom_baud_rate = ( # nxPropSession_IntfBaudRate64 + 0xA0000000 + + (timing.tq << 32) + + (timing.sjw - 1 << 16) + + (timing.tseg1 - 1 << 8) + + (timing.tseg2 - 1) + ) + self._interface.baud_rate = custom_baud_rate + else: + # See page 1017 of NI-XNET Hardware and Software Manual + # to set custom can configuration + if bitrate: + self._interface.baud_rate = bitrate + + if self.fd: + # See page 951 of NI-XNET Hardware and Software Manual + # to set custom can configuration + self._interface.can_fd_baud_rate = fd_bitrate or bitrate + + _can_termination = ( + nixnet.constants.CanTerm.ON + if can_termination + else nixnet.constants.CanTerm.OFF + ) + self._interface.can_term = _can_termination - # We stop the sessions to allow reconfiguration, as by default they autostart at creation - self.__session_send.stop() - self.__session_receive.stop() - - # See page 1017 of NI-XNET Hardware and Software Manual to set custom can configuration - if bitrate: - self.__session_send.intf.baud_rate = bitrate - self.__session_receive.intf.baud_rate = bitrate - - if fd_bitrate: - # See page 951 of NI-XNET Hardware and Software Manual to set custom can configuration - self.__session_send.intf.can_fd_baud_rate = fd_bitrate - self.__session_receive.intf.can_fd_baud_rate = fd_bitrate - - if can_termination: - self.__session_send.intf.can_term = nixnet.constants.CanTerm.ON - self.__session_receive.intf.can_term = nixnet.constants.CanTerm.ON - - self.__session_receive.queue_size = 512 - # Once that all the parameters have been restarted, we start the sessions - self.__session_send.start() - self.__session_receive.start() + # self._session_receive.queue_size = 512 + # Once that all the parameters have been set, we start the sessions + self._session_send.start() + self._session_receive.start() except nixnet.errors.XnetError as error: raise CanInitializationError( @@ -130,44 +185,65 @@ def __init__( channel=channel, can_filters=can_filters, bitrate=bitrate, - log_errors=log_errors, **kwargs, ) - def _recv_internal(self, timeout): - try: - if len(self._rx_queue) == 0: - fr = self.__session_receive.frames.read(4, timeout=0) - for f in fr: - self._rx_queue.append(f) - can_frame = self._rx_queue.pop(0) - - # Timestamp should be converted from raw frame format(100ns increment from(12:00 a.m. January 1 1601 Coordinated - # Universal Time (UTC)) to epoch time(number of seconds from January 1, 1970 (midnight UTC/GMT)) + def _recv_internal( + self, timeout: Optional[float] + ) -> Tuple[Optional[Message], bool]: + end_time = time.perf_counter() + timeout if timeout is not None else None + + while True: + # try to read all available frames + for frame in self._session_receive.frames.read(1024, timeout=0): + self._rx_queue.put_nowait(frame) + + if self._rx_queue.qsize(): + break + + # check for timeout + if end_time is not None and time.perf_counter() > end_time: + return None, False + + # Wait a short time until we try to read again + time.sleep(self.poll_interval) + + can_frame = self._rx_queue.get_nowait() + + # Timestamp should be converted from raw frame format(100ns increment + # from(12:00 a.m. January 1 1601 Coordinated Universal Time (UTC)) + # to epoch time(number of seconds from January 1, 1970 (midnight UTC/GMT)) + timestamp = can_frame.timestamp * 1e-7 - 11_644_473_600 + if can_frame.type is self.nixnet.constants.FrameType.CAN_BUS_ERROR: msg = Message( - timestamp=can_frame.timestamp / 10000000.0 - 11644473600, + timestamp=timestamp, channel=self.channel, - is_remote_frame=can_frame.type == nixnet.constants.FrameType.CAN_REMOTE, - is_error_frame=can_frame.type - == nixnet.constants.FrameType.CAN_BUS_ERROR, + is_error_frame=True, + ) + else: + msg = Message( + timestamp=timestamp, + channel=self.channel, + is_remote_frame=can_frame.type + is self.nixnet.constants.FrameType.CAN_REMOTE, + is_error_frame=False, is_fd=( - can_frame.type == nixnet.constants.FrameType.CANFD_DATA - or can_frame.type == nixnet.constants.FrameType.CANFDBRS_DATA + can_frame.type is self.nixnet.constants.FrameType.CANFD_DATA + or can_frame.type is self.nixnet.constants.FrameType.CANFDBRS_DATA + ), + bitrate_switch=( + can_frame.type is self.nixnet.constants.FrameType.CANFDBRS_DATA ), - bitrate_switch=can_frame.type - == nixnet.constants.FrameType.CANFDBRS_DATA, is_extended_id=can_frame.identifier.extended, # Get identifier from CanIdentifier structure arbitration_id=can_frame.identifier.identifier, dlc=len(can_frame.payload), data=can_frame.payload, + is_rx=not can_frame.echo, ) + return msg, False - return msg, self._filters is None - except Exception: - return None, self._filters is None - - def send(self, msg, timeout=None): + def send(self, msg: Message, timeout: Optional[float] = None) -> None: """ Send a message using NI-XNET. @@ -182,80 +258,83 @@ def send(self, msg, timeout=None): It does not wait for message to be ACKed currently. """ if timeout is None: - timeout = nixnet.constants.TIMEOUT_INFINITE + timeout = self.nixnet.constants.TIMEOUT_INFINITE if msg.is_remote_frame: - type_message = nixnet.constants.FrameType.CAN_REMOTE + type_message = self.nixnet.constants.FrameType.CAN_REMOTE elif msg.is_error_frame: - type_message = nixnet.constants.FrameType.CAN_BUS_ERROR + type_message = self.nixnet.constants.FrameType.CAN_BUS_ERROR elif msg.is_fd: if msg.bitrate_switch: - type_message = nixnet.constants.FrameType.CANFDBRS_DATA + type_message = self.nixnet.constants.FrameType.CANFDBRS_DATA else: - type_message = nixnet.constants.FrameType.CANFD_DATA + type_message = self.nixnet.constants.FrameType.CANFD_DATA else: - type_message = nixnet.constants.FrameType.CAN_DATA + type_message = self.nixnet.constants.FrameType.CAN_DATA - can_frame = nixnet.types.CanFrame( - nixnet.types.CanIdentifier(msg.arbitration_id, msg.is_extended_id), + can_frame = self.nixnet.types.CanFrame( + self.nixnet.types.CanIdentifier(msg.arbitration_id, msg.is_extended_id), type=type_message, payload=msg.data, ) try: - self.__session_send.frames.write([can_frame], timeout) - except nixnet.errors.XnetError as error: + self._session_send.frames.write([can_frame], timeout) + except self.nixnet.errors.XnetError as error: raise CanOperationError( f"{error.args[0]} ({error.error_type})", error.error_code ) from None - def reset(self): + def reset(self) -> None: """ Resets network interface. Stops network interface, then resets the CAN chip to clear the CAN error counters (clear error passive state). Resetting includes clearing all entries from read and write queues. """ - self.__session_send.flush() - self.__session_receive.flush() + self._session_send.flush() + self._session_receive.flush() - self.__session_send.stop() - self.__session_receive.stop() + self._session_send.stop() + self._session_receive.stop() - self.__session_send.start() - self.__session_receive.start() + self._session_send.start() + self._session_receive.start() - def shutdown(self): + def shutdown(self) -> None: """Close object.""" super().shutdown() - self.__session_send.flush() - self.__session_receive.flush() - - self.__session_send.stop() - self.__session_receive.stop() + if hasattr(self, "_session_send"): + self._session_send.flush() + self._session_send.stop() + self._session_send.close() - self.__session_send.close() - self.__session_receive.close() + if hasattr(self, "_session_receive"): + self._session_receive.flush() + self._session_receive.stop() + self._session_receive.close() @staticmethod - def _detect_available_configs(): + def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: configs = [] try: - with nixnet.system.System() as nixnet_system: + with nixnet.system.System() as nixnet_system: # type: ignore[union-attr] for interface in nixnet_system.intf_refs_can: - cahnnel = str(interface) + channel = str(interface) logger.debug( - "Found channel index %d: %s", interface.port_num, cahnnel + "Found channel index %d: %s", interface.port_num, channel ) configs.append( { "interface": "nixnet", - "channel": cahnnel, + "channel": channel, "can_term_available": interface.can_term_cap - == nixnet.constants.CanTermCap.YES, + is nixnet.constants.CanTermCap.YES, # type: ignore[union-attr] + "supports_fd": interface.can_tcvr_cap + is nixnet.constants.CanTcvrCap.HS, # type: ignore[union-attr] } ) except Exception as error: logger.debug("An error occured while searching for configs: %s", str(error)) - return configs + return configs # type: ignore diff --git a/setup.py b/setup.py index bada45b77..8cabc8c02 100644 --- a/setup.py +++ b/setup.py @@ -32,7 +32,7 @@ "cantact": ["cantact>=0.0.7"], "cvector": ["python-can-cvector"], "gs_usb": ["gs_usb>=0.2.1"], - "nixnet": ["nixnet>=0.3.1"], + "nixnet": ["nixnet>=0.3.2"], "pcan": ["uptime~=3.0.1"], "remote": ["python-can-remote"], "sontheim": ["python-can-sontheim>=0.1.2"], From b16f8aa6529cacb4d57736dac77c214328953fca Mon Sep 17 00:00:00 2001 From: mikisama <41532794+mikisama@users.noreply.github.com> Date: Sat, 4 Feb 2023 21:10:45 +0800 Subject: [PATCH 239/475] Improve slcan.py (#1490) * Improve slcan.py 1. Improve receiving performance 2. Fix an issue that the first read may blocking even if the `timeout` parameter is not `None`. * use `read_all` to read out serial port data. * fix when the `timeout` parameter is 0, it cannot enter the while loop. * For performance reason, revert to using `read` to read serial data. * add `size=1` and renamed `new_data` to `new_byte` to make the code easier to understand and read. * fix the issue of returning `None` before receiving the full SLCAN message. * Due to the simplification of the control flow, the class variable `self._buffer` can be replaced by the local variable `buffer`. * Revert "Due to the simplification of the control flow," This reverts commit 3eb80b9f40d021bc8671274e4ad89845b03582f1. * Simplify the control flow for finding the end of a SLCAN message. * improve the `timeout` handling of slcan.py * Change the plain format calls to f-strings. * using `bytearray.fromhex` to parse the frame's data. * change `del self._buffer[:]` to `self._buffer.clear` since it's more readable. * Simplify the timeout handling * fix the issue when the returned string is `None`. * using `pyserial.reset_input_buffer` to discard the data in the input buffer. * fix failing PyPy test * fix failing PyPy test * improve the comments --- can/interfaces/slcan.py | 147 ++++++++++++++++------------------------ test/test_slcan.py | 33 ++++++--- 2 files changed, 81 insertions(+), 99 deletions(-) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 212c4c85c..bcb3121ca 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -64,6 +64,7 @@ def __init__( btr: Optional[str] = None, sleep_after_open: float = _SLEEP_AFTER_SERIAL_OPEN, rtscts: bool = False, + timeout: float = 0.001, **kwargs: Any, ) -> None: """ @@ -82,7 +83,8 @@ def __init__( Time to wait in seconds after opening serial connection :param rtscts: turn hardware handshake (RTS/CTS) on and off - + :param timeout: + Timeout for the serial or usb device in seconds (default 0.001) :raise ValueError: if both ``bitrate`` and ``btr`` are set or the channel is invalid :raise CanInterfaceNotImplementedError: if the serial module is missing :raise CanInitializationError: if the underlying serial connection could not be established @@ -98,7 +100,10 @@ def __init__( with error_check(exception_type=CanInitializationError): self.serialPortOrig = serial.serial_for_url( - channel, baudrate=ttyBaudrate, rtscts=rtscts + channel, + baudrate=ttyBaudrate, + rtscts=rtscts, + timeout=timeout, ) self._buffer = bytearray() @@ -150,46 +155,34 @@ def _write(self, string: str) -> None: self.serialPortOrig.flush() def _read(self, timeout: Optional[float]) -> Optional[str]: + _timeout = serial.Timeout(timeout) with error_check("Could not read from serial device"): - # first read what is already in receive buffer - while self.serialPortOrig.in_waiting: - self._buffer += self.serialPortOrig.read() - # if we still don't have a complete message, do a blocking read - start = time.time() - time_left = timeout - while not ( - ord(self._OK) in self._buffer or ord(self._ERROR) in self._buffer - ): - self.serialPortOrig.timeout = time_left - byte = self.serialPortOrig.read() - if byte: - self._buffer += byte - # if timeout is None, try indefinitely - if timeout is None: - continue - # try next one only if there still is time, and with - # reduced timeout - else: - time_left = timeout - (time.time() - start) - if time_left > 0: - continue + while True: + # Due to accessing `serialPortOrig.in_waiting` too often will reduce the performance. + # We read the `serialPortOrig.in_waiting` only once here. + in_waiting = self.serialPortOrig.in_waiting + for _ in range(max(1, in_waiting)): + new_byte = self.serialPortOrig.read(size=1) + if new_byte: + self._buffer.extend(new_byte) else: - return None + break + + if new_byte in (self._ERROR, self._OK): + string = self._buffer.decode() + self._buffer.clear() + return string + + if _timeout.expired(): + break - # return first message - for i in range(len(self._buffer)): - if self._buffer[i] == ord(self._OK) or self._buffer[i] == ord(self._ERROR): - string = self._buffer[: i + 1].decode() - del self._buffer[: i + 1] - break - return string + return None def flush(self) -> None: - del self._buffer[:] + self._buffer.clear() with error_check("Could not flush"): - while self.serialPortOrig.in_waiting: - self.serialPortOrig.read() + self.serialPortOrig.reset_input_buffer() def open(self) -> None: self._write("O") @@ -204,7 +197,7 @@ def _recv_internal( canId = None remote = False extended = False - frame = [] + data = None string = self._read(timeout) @@ -215,14 +208,12 @@ def _recv_internal( canId = int(string[1:9], 16) dlc = int(string[9]) extended = True - for i in range(0, dlc): - frame.append(int(string[10 + i * 2 : 12 + i * 2], 16)) + data = bytearray.fromhex(string[10 : 10 + dlc * 2]) elif string[0] == "t": # normal frame canId = int(string[1:4], 16) dlc = int(string[4]) - for i in range(0, dlc): - frame.append(int(string[5 + i * 2 : 7 + i * 2], 16)) + data = bytearray.fromhex(string[5 : 5 + dlc * 2]) elif string[0] == "r": # remote frame canId = int(string[1:4], 16) @@ -242,7 +233,7 @@ def _recv_internal( timestamp=time.time(), # Better than nothing... is_remote_frame=remote, dlc=dlc, - data=frame, + data=data, ) return msg, False return None, False @@ -252,15 +243,15 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: self.serialPortOrig.write_timeout = timeout if msg.is_remote_frame: if msg.is_extended_id: - sendStr = "R%08X%d" % (msg.arbitration_id, msg.dlc) + sendStr = f"R{msg.arbitration_id:08X}{msg.dlc:d}" else: - sendStr = "r%03X%d" % (msg.arbitration_id, msg.dlc) + sendStr = f"r{msg.arbitration_id:03X}{msg.dlc:d}" else: if msg.is_extended_id: - sendStr = "T%08X%d" % (msg.arbitration_id, msg.dlc) + sendStr = f"T{msg.arbitration_id:08X}{msg.dlc:d}" else: - sendStr = "t%03X%d" % (msg.arbitration_id, msg.dlc) - sendStr += "".join(["%02X" % b for b in msg.data]) + sendStr = f"t{msg.arbitration_id:03X}{msg.dlc:d}" + sendStr += msg.data.hex().upper() self._write(sendStr) def shutdown(self) -> None: @@ -295,29 +286,17 @@ def get_version( cmd = "V" self._write(cmd) - start = time.time() - time_left = timeout - while True: - string = self._read(time_left) - - if not string: - pass - elif string[0] == cmd and len(string) == 6: - # convert ASCII coded version - hw_version = int(string[1:3]) - sw_version = int(string[3:5]) - return hw_version, sw_version - # if timeout is None, try indefinitely - if timeout is None: - continue - # try next one only if there still is time, and with - # reduced timeout - else: - time_left = timeout - (time.time() - start) - if time_left > 0: - continue - else: - return None, None + string = self._read(timeout) + + if not string: + pass + elif string[0] == cmd and len(string) == 6: + # convert ASCII coded version + hw_version = int(string[1:3]) + sw_version = int(string[3:5]) + return hw_version, sw_version + + return None, None def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: """Get serial number of the slcan interface. @@ -331,24 +310,12 @@ def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: cmd = "N" self._write(cmd) - start = time.time() - time_left = timeout - while True: - string = self._read(time_left) - - if not string: - pass - elif string[0] == cmd and len(string) == 6: - serial_number = string[1:-1] - return serial_number - # if timeout is None, try indefinitely - if timeout is None: - continue - # try next one only if there still is time, and with - # reduced timeout - else: - time_left = timeout - (time.time() - start) - if time_left > 0: - continue - else: - return None + string = self._read(timeout) + + if not string: + pass + elif string[0] == cmd and len(string) == 6: + serial_number = string[1:-1] + return serial_number + + return None diff --git a/test/test_slcan.py b/test/test_slcan.py index aa97e518b..8db2d402a 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -2,11 +2,26 @@ import unittest import can +from .config import IS_PYPY + + +""" +Mentioned in #1010 & #1490 + +> PyPy works best with pure Python applications. Whenever you use a C extension module, +> it runs much slower than in CPython. The reason is that PyPy can't optimize C extension modules since they're not fully supported. +> In addition, PyPy has to emulate reference counting for that part of the code, making it even slower. + +https://realpython.com/pypy-faster-python/#it-doesnt-work-well-with-c-extensions +""" +TIMEOUT = 0.5 if IS_PYPY else 0.001 # 0.001 is the default set in slcanBus class slcanTestCase(unittest.TestCase): def setUp(self): - self.bus = can.Bus("loop://", interface="slcan", sleep_after_open=0) + self.bus = can.Bus( + "loop://", interface="slcan", sleep_after_open=0, timeout=TIMEOUT + ) self.serial = self.bus.serialPortOrig self.serial.read(self.serial.in_waiting) @@ -15,7 +30,7 @@ def tearDown(self): def test_recv_extended(self): self.serial.write(b"T12ABCDEF2AA55\r") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) self.assertEqual(msg.is_extended_id, True) @@ -33,7 +48,7 @@ def test_send_extended(self): def test_recv_standard(self): self.serial.write(b"t4563112233\r") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x456) self.assertEqual(msg.is_extended_id, False) @@ -51,7 +66,7 @@ def test_send_standard(self): def test_recv_standard_remote(self): self.serial.write(b"r1238\r") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x123) self.assertEqual(msg.is_extended_id, False) @@ -68,7 +83,7 @@ def test_send_standard_remote(self): def test_recv_extended_remote(self): self.serial.write(b"R12ABCDEF6\r") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) self.assertEqual(msg.is_extended_id, True) @@ -85,11 +100,11 @@ def test_send_extended_remote(self): def test_partial_recv(self): self.serial.write(b"T12ABCDEF") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNone(msg) self.serial.write(b"2AA55\rT12") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) self.assertEqual(msg.is_extended_id, True) @@ -97,11 +112,11 @@ def test_partial_recv(self): self.assertEqual(msg.dlc, 2) self.assertSequenceEqual(msg.data, [0xAA, 0x55]) - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNone(msg) self.serial.write(b"ABCDEF2AA55\r") - msg = self.bus.recv(0) + msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) def test_version(self): From 75fdfe45c43746532173152a05ac50c647d912bb Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Mon, 6 Feb 2023 09:23:15 +0100 Subject: [PATCH 240/475] Implement BitTiming/BitTimingFD handling for PCAN Bus (#1514) * add BitTiming parameter to PcanBus * Move valid CAN/FD clocks to pcan/basic * Add additional PCAN constructor tests * Add tests for BitTiming with PCAN constructor * Unify PCAN constructor code paths for FD with/without timing --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/pcan/basic.py | 10 +++++ can/interfaces/pcan/pcan.py | 78 +++++++++++++++++++++++------------ test/test_pcan.py | 79 +++++++++++++++++++++++++++++++++--- 3 files changed, 135 insertions(+), 32 deletions(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 5f161eecc..b2624802a 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -655,6 +655,16 @@ class TPCANChannelInformation(Structure): "PCAN_LANBUS16": PCAN_LANBUS16, } +VALID_PCAN_CAN_CLOCKS = [8_000_000] + +VALID_PCAN_FD_CLOCKS = [ + 20_000_000, + 24_000_000, + 30_000_000, + 40_000_000, + 60_000_000, + 80_000_000, +] # /////////////////////////////////////////////////////////// # PCAN-Basic API function declarations diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 01adbe0c2..2ed0ff445 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -5,20 +5,21 @@ import time from datetime import datetime import platform -from typing import Optional, List, Tuple +from typing import Optional, List, Tuple, Union, Any from packaging import version from can import ( BusABC, BusState, + BitTiming, + BitTimingFd, + Message, CanError, CanOperationError, CanInitializationError, - Message, ) -from can.util import len2dlc, dlc2len - +from can.util import check_or_adjust_timing_clock, dlc2len, len2dlc from .basic import ( PCAN_BITRATES, PCAN_FD_PARAMETER_LIST, @@ -61,8 +62,11 @@ FEATURE_FD_CAPABLE, PCAN_DICT_STATUS, PCAN_BUSOFF_AUTORESET, + TPCANBaudrate, PCAN_ATTACHED_CHANNELS, TPCANChannelInformation, + VALID_PCAN_FD_CLOCKS, + VALID_PCAN_CAN_CLOCKS, ) @@ -112,12 +116,12 @@ class PcanBus(BusABC): def __init__( self, - channel="PCAN_USBBUS1", - device_id=None, - state=BusState.ACTIVE, - bitrate=500000, - *args, - **kwargs, + channel: str = "PCAN_USBBUS1", + device_id: Optional[int] = None, + state: BusState = BusState.ACTIVE, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, + bitrate: int = 500000, + **kwargs: Any, ): """A PCAN USB interface to CAN. @@ -142,6 +146,18 @@ def __init__( BusState of the channel. Default is ACTIVE + :param timing: + An instance of :class:`~can.BitTiming` or :class:`~can.BitTimingFd` + to specify the bit timing parameters for the PCAN interface. If this parameter + is provided, it takes precedence over all other timing-related parameters. + If this parameter is not provided, the bit timing parameters can be specified + using the `bitrate` parameter for standard CAN or the `fd`, `f_clock`, + `f_clock_mhz`, `nom_brp`, `nom_tseg1`, `nom_tseg2`, `nom_sjw`, `data_brp`, + `data_tseg1`, `data_tseg2`, and `data_sjw` parameters for CAN FD. + Note that the `f_clock` value of the `timing` instance must be 8_000_000 + for standard CAN or any of the following values for CAN FD: 20_000_000, + 24_000_000, 30_000_000, 40_000_000, 60_000_000, 80_000_000. + :param int bitrate: Bitrate of channel in bit/s. Default is 500 kbit/s. @@ -231,8 +247,7 @@ def __init__( raise ValueError(err_msg) self.channel_info = str(channel) - self.fd = kwargs.get("fd", False) - pcan_bitrate = PCAN_BITRATES.get(bitrate, PCAN_BAUD_500K) + self.fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) hwtype = PCAN_TYPE_ISA ioport = 0x02A0 @@ -245,30 +260,41 @@ def __init__( self.check_api_version() - if state is BusState.ACTIVE or state is BusState.PASSIVE: + if state in [BusState.ACTIVE, BusState.PASSIVE]: self.state = state else: raise ValueError("BusState must be Active or Passive") - if self.fd: - f_clock_val = kwargs.get("f_clock", None) - if f_clock_val is None: - f_clock = "{}={}".format("f_clock_mhz", kwargs.get("f_clock_mhz", None)) - else: - f_clock = "{}={}".format("f_clock", kwargs.get("f_clock", None)) - - fd_parameters_values = [f_clock] + [ - f"{key}={kwargs.get(key, None)}" - for key in PCAN_FD_PARAMETER_LIST - if kwargs.get(key, None) is not None + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, VALID_PCAN_CAN_CLOCKS) + pcan_bitrate = TPCANBaudrate(timing.btr0 << 8 | timing.btr1) + result = self.m_objPCANBasic.Initialize( + self.m_PcanHandle, pcan_bitrate, hwtype, ioport, interrupt + ) + elif self.fd: + if isinstance(timing, BitTimingFd): + timing = check_or_adjust_timing_clock( + timing, sorted(VALID_PCAN_FD_CLOCKS, reverse=True) + ) + # We dump the timing parameters into the kwargs because they have equal names + # as the kwargs parameters and this saves us one additional code path + kwargs.update(timing) + + clock_param = "f_clock" if "f_clock" in kwargs else "f_clock_mhz" + fd_parameters_values = [ + f"{key}={kwargs[key]}" + for key in (clock_param,) + PCAN_FD_PARAMETER_LIST + if key in kwargs ] - self.fd_bitrate = " ,".join(fd_parameters_values).encode("ascii") + self.fd_bitrate = ", ".join(fd_parameters_values).encode("ascii") result = self.m_objPCANBasic.InitializeFD( self.m_PcanHandle, self.fd_bitrate ) + else: + pcan_bitrate = PCAN_BITRATES.get(bitrate, PCAN_BAUD_500K) result = self.m_objPCANBasic.Initialize( self.m_PcanHandle, pcan_bitrate, hwtype, ioport, interrupt ) @@ -312,7 +338,7 @@ def __init__( if result != PCAN_ERROR_OK: raise PcanCanInitializationError(self._get_formatted_error(result)) - super().__init__(channel=channel, state=state, bitrate=bitrate, *args, **kwargs) + super().__init__(channel=channel, state=state, bitrate=bitrate, **kwargs) def _find_channel_by_dev_id(self, device_id): """ diff --git a/test/test_pcan.py b/test/test_pcan.py index 01dac848c..aa0988a48 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -3,20 +3,18 @@ """ import ctypes -import platform import unittest from unittest import mock from unittest.mock import Mock, patch - import pytest from parameterized import parameterized import can from can.bus import BusState from can.exceptions import CanInitializationError -from can.interfaces.pcan.basic import * from can.interfaces.pcan import PcanBus, PcanError +from can.interfaces.pcan.basic import * class TestPCANBus(unittest.TestCase): @@ -53,8 +51,10 @@ def _mockGetValue(self, channel, parameter): def test_bus_creation(self) -> None: self.bus = can.Bus(interface="pcan") + self.assertIsInstance(self.bus, PcanBus) self.MockPCANBasic.assert_called_once() + self.mock_pcan.Initialize.assert_called_once() self.mock_pcan.InitializeFD.assert_not_called() @@ -62,13 +62,41 @@ def test_bus_creation_state_error(self) -> None: with self.assertRaises(ValueError): can.Bus(interface="pcan", state=BusState.ERROR) - def test_bus_creation_fd(self) -> None: - self.bus = can.Bus(interface="pcan", fd=True) + @parameterized.expand([("f_clock", 8_000_000), ("f_clock_mhz", 8)]) + def test_bus_creation_fd(self, clock_param: str, clock_val: int) -> None: + self.bus = can.Bus( + interface="pcan", + fd=True, + nom_brp=1, + nom_tseg1=129, + nom_tseg2=30, + nom_sjw=1, + data_brp=1, + data_tseg1=9, + data_tseg2=6, + data_sjw=1, + channel="PCAN_USBBUS1", + **{clock_param: clock_val}, + ) + self.assertIsInstance(self.bus, PcanBus) self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_not_called() self.mock_pcan.InitializeFD.assert_called_once() + # Retrieve second argument of first call + bitrate_arg = self.mock_pcan.InitializeFD.call_args[0][-1] + + self.assertTrue(f"{clock_param}={clock_val}".encode("ascii") in bitrate_arg) + self.assertTrue(b"nom_brp=1" in bitrate_arg) + self.assertTrue(b"nom_tseg1=129" in bitrate_arg) + self.assertTrue(b"nom_tseg2=30" in bitrate_arg) + self.assertTrue(b"nom_sjw=1" in bitrate_arg) + self.assertTrue(b"data_brp=1" in bitrate_arg) + self.assertTrue(b"data_tseg1=9" in bitrate_arg) + self.assertTrue(b"data_tseg2=6" in bitrate_arg) + self.assertTrue(b"data_sjw=1" in bitrate_arg) + def test_api_version_low(self) -> None: self.PCAN_API_VERSION_SIM = "1.0" with self.assertLogs("can.pcan", level="WARNING") as cm: @@ -333,6 +361,11 @@ def test_state(self, name, bus_state: BusState, expected_parameter) -> None: (PCAN_USBBUS1, PCAN_LISTEN_ONLY, expected_parameter), ) + def test_state_constructor(self): + for state in [BusState.ACTIVE, BusState.PASSIVE]: + bus = can.Bus(interface="pcan", state=state) + assert bus.state == state + def test_detect_available_configs(self) -> None: if platform.system() == "Darwin": self.mock_pcan.GetValue = Mock( @@ -381,7 +414,8 @@ def get_value_side_effect(handle, param): self.mock_pcan.GetValue = Mock(side_effect=get_value_side_effect) if expected_result == "error": - self.assertRaises(ValueError, can.Bus, interface="pcan", device_id=dev_id) + with self.assertRaises(ValueError): + can.Bus(interface="pcan", device_id=dev_id) else: self.bus = can.Bus(interface="pcan", device_id=dev_id) self.assertEqual(expected_result, self.bus.channel_info) @@ -416,6 +450,39 @@ def test_peak_fd_bus_constructor_regression(self): can.Bus(**params) + def test_constructor_bit_timing(self): + timing = can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x47, btr1=0x2F) + can.Bus(interface="pcan", channel="PCAN_USBBUS1", timing=timing) + + bitrate_arg = self.mock_pcan.Initialize.call_args[0][1] + self.assertEqual(bitrate_arg.value, 0x472F) + + def test_constructor_bit_timing_fd(self): + timing = can.BitTimingFd( + f_clock=40_000_000, + nom_brp=1, + nom_tseg1=129, + nom_tseg2=30, + nom_sjw=1, + data_brp=1, + data_tseg1=9, + data_tseg2=6, + data_sjw=1, + ) + can.Bus(interface="pcan", channel="PCAN_USBBUS1", timing=timing) + + bitrate_arg = self.mock_pcan.InitializeFD.call_args[0][-1] + + self.assertTrue(b"f_clock=40000000" in bitrate_arg) + self.assertTrue(b"nom_brp=1" in bitrate_arg) + self.assertTrue(b"nom_tseg1=129" in bitrate_arg) + self.assertTrue(b"nom_tseg2=30" in bitrate_arg) + self.assertTrue(b"nom_sjw=1" in bitrate_arg) + self.assertTrue(b"data_brp=1" in bitrate_arg) + self.assertTrue(b"data_tseg1=9" in bitrate_arg) + self.assertTrue(b"data_tseg2=6" in bitrate_arg) + self.assertTrue(b"data_sjw=1" in bitrate_arg) + if __name__ == "__main__": unittest.main() From 40968170de9ff909f401fb38a9978de162379692 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 7 Mar 2023 08:41:51 +0100 Subject: [PATCH 241/475] Update linters (#1534) * update black to 23.1.0 * update mypy to 1.0.1 * update pylint to 2.16.4 * remove useless suppression * fix warning --- .pylintrc | 4 ++-- can/bus.py | 2 -- can/interface.py | 1 - can/interfaces/__init__.py | 3 ++- can/interfaces/ics_neovi/neovi_bus.py | 1 - can/interfaces/iscan.py | 1 - can/interfaces/pcan/basic.py | 15 +-------------- can/interfaces/serial/serial_can.py | 1 - can/interfaces/slcan.py | 1 - can/interfaces/udp_multicast/bus.py | 1 - can/interfaces/usb2can/usb2canInterface.py | 2 -- can/interfaces/virtual.py | 1 - can/io/asc.py | 2 -- can/io/canutils.py | 1 - can/io/csv.py | 1 - can/io/logger.py | 2 +- can/io/player.py | 1 - can/logconvert.py | 1 - can/player.py | 1 - can/thread_safe_bus.py | 2 -- examples/print_notifier.py | 1 - examples/receive_all.py | 1 - examples/send_one.py | 1 - examples/serial_com.py | 1 - examples/simple_log_converter.py | 3 +-- examples/vcan_filtered.py | 1 - requirements-lint.txt | 6 +++--- setup.py | 2 -- test/back2back_test.py | 3 --- test/serial_test.py | 1 - test/simplecyclic_test.py | 1 - test/test_pcan.py | 3 +-- test/test_player.py | 1 - test/test_util.py | 1 - 34 files changed, 11 insertions(+), 59 deletions(-) diff --git a/.pylintrc b/.pylintrc index cc4c50d88..bdbf47613 100644 --- a/.pylintrc +++ b/.pylintrc @@ -498,5 +498,5 @@ min-public-methods=2 # Exceptions that will emit a warning when being caught. Defaults to # "BaseException, Exception". -overgeneral-exceptions=BaseException, - Exception +overgeneral-exceptions=builtins.BaseException, + builtins.Exception diff --git a/can/bus.py b/can/bus.py index f29b8ea6e..292c754fb 100644 --- a/can/bus.py +++ b/can/bus.py @@ -93,7 +93,6 @@ def recv(self, timeout: Optional[float] = None) -> Optional[Message]: time_left = timeout while True: - # try to get a message msg, already_filtered = self._recv_internal(timeout=time_left) @@ -109,7 +108,6 @@ def recv(self, timeout: Optional[float] = None) -> Optional[Message]: # try next one only if there still is time, and with # reduced timeout else: - time_left = timeout - (time() - start) if time_left > 0: diff --git a/can/interface.py b/can/interface.py index 04fc84ae9..47b44fed1 100644 --- a/can/interface.py +++ b/can/interface.py @@ -171,7 +171,6 @@ def detect_available_configs( result = [] for interface in interfaces: - try: bus_class = _get_class_for_interface(interface) except CanInterfaceNotImplementedError: diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 3065e9bfd..c9ca6ca55 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -35,7 +35,8 @@ if sys.version_info >= (3, 8): from importlib.metadata import entry_points - # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, "Compatibility Note". + # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, + # "Compatibility Note". if sys.version_info >= (3, 10): BACKENDS.update( { diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 4972ed479..c3abc9f67 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -40,7 +40,6 @@ try: from filelock import FileLock except ImportError as ie: - logger.warning( "Using ICS neoVI can backend without the " "filelock module installed may cause some issues!: %s", diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index e76d9d060..a27494b61 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -157,7 +157,6 @@ def shutdown(self) -> None: class IscanError(CanError): - ERROR_CODES = { 0: "Success", 1: "No access to device", diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index b2624802a..d1b2121cb 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -670,6 +670,7 @@ class TPCANChannelInformation(Structure): # PCAN-Basic API function declarations # /////////////////////////////////////////////////////////// + # PCAN-Basic API class implementation # class PCANBasic: @@ -719,7 +720,6 @@ def Initialize( IOPort=c_uint(0), Interrupt=c_ushort(0), ): - """Initializes a PCAN Channel Parameters: @@ -744,7 +744,6 @@ def Initialize( # Initializes a FD capable PCAN Channel # def InitializeFD(self, Channel, BitrateFD): - """Initializes a FD capable PCAN Channel Parameters: @@ -775,7 +774,6 @@ def InitializeFD(self, Channel, BitrateFD): # Uninitializes one or all PCAN Channels initialized by CAN_Initialize # def Uninitialize(self, Channel): - """Uninitializes one or all PCAN Channels initialized by CAN_Initialize Remarks: @@ -797,7 +795,6 @@ def Uninitialize(self, Channel): # Resets the receive and transmit queues of the PCAN Channel # def Reset(self, Channel): - """Resets the receive and transmit queues of the PCAN Channel Remarks: @@ -819,7 +816,6 @@ def Reset(self, Channel): # Gets the current status of a PCAN Channel # def GetStatus(self, Channel): - """Gets the current status of a PCAN Channel Parameters: @@ -838,7 +834,6 @@ def GetStatus(self, Channel): # Reads a CAN message from the receive queue of a PCAN Channel # def Read(self, Channel): - """Reads a CAN message from the receive queue of a PCAN Channel Remarks: @@ -867,7 +862,6 @@ def Read(self, Channel): # Reads a CAN message from the receive queue of a FD capable PCAN Channel # def ReadFD(self, Channel): - """Reads a CAN message from the receive queue of a FD capable PCAN Channel Remarks: @@ -896,7 +890,6 @@ def ReadFD(self, Channel): # Transmits a CAN message # def Write(self, Channel, MessageBuffer): - """Transmits a CAN message Parameters: @@ -916,7 +909,6 @@ def Write(self, Channel, MessageBuffer): # Transmits a CAN message over a FD capable PCAN Channel # def WriteFD(self, Channel, MessageBuffer): - """Transmits a CAN message over a FD capable PCAN Channel Parameters: @@ -936,7 +928,6 @@ def WriteFD(self, Channel, MessageBuffer): # Configures the reception filter # def FilterMessages(self, Channel, FromID, ToID, Mode): - """Configures the reception filter Remarks: @@ -963,7 +954,6 @@ def FilterMessages(self, Channel, FromID, ToID, Mode): # Retrieves a PCAN Channel value # def GetValue(self, Channel, Parameter): - """Retrieves a PCAN Channel value Remarks: @@ -1026,7 +1016,6 @@ def GetValue(self, Channel, Parameter): # error code, in any desired language # def SetValue(self, Channel, Parameter, Buffer): - """Returns a descriptive text of a given TPCANStatus error code, in any desired language @@ -1069,7 +1058,6 @@ def SetValue(self, Channel, Parameter, Buffer): raise def GetErrorText(self, Error, Language=0): - """Configures or sets a PCAN Channel value Remarks: @@ -1098,7 +1086,6 @@ def GetErrorText(self, Error, Language=0): raise def LookUpChannel(self, Parameters): - """Finds a PCAN-Basic channel that matches with the given parameters Remarks: diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index c1507b4fa..d0df88fcd 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -175,7 +175,6 @@ def _recv_internal( try: rx_byte = self._ser.read() if rx_byte and ord(rx_byte) == 0xAA: - s = self._ser.read(4) timestamp = struct.unpack(" None: def _recv_internal( self, timeout: Optional[float] ) -> Tuple[Optional[Message], bool]: - canId = None remote = False extended = False diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 2ba1205b1..5c7bee3e8 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -239,7 +239,6 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: # configure the socket try: - # set hop limit / TTL ttl_as_binary = struct.pack("@I", self.hop_limit) if self.ip_version == 4: diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index 504b61c7b..bca40f8d3 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -99,7 +99,6 @@ def __init__( serial: Optional[str] = None, **kwargs, ): - self.can = Usb2CanAbstractionLayer(dll) # get the serial number of the device @@ -134,7 +133,6 @@ def send(self, msg, timeout=None): raise CanOperationError("could not send message", error_code=status) def _recv_internal(self, timeout): - messagerx = CanalMsg() if timeout == 0: diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index 25b7abfb0..ad8774147 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -74,7 +74,6 @@ def __init__( self._open = True with channels_lock: - # Create a new channel if one does not exist if self.channel_id not in channels: channels[self.channel_id] = [] diff --git a/can/io/asc.py b/can/io/asc.py index eb59c0471..a380f6b16 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -174,7 +174,6 @@ def _process_data_string( def _process_classic_can_frame( self, line: str, msg_kwargs: Dict[str, Any] ) -> Message: - # CAN error frame if line.strip()[0:10].lower() == "errorframe": # Error Frame @@ -423,7 +422,6 @@ def log_event(self, message: str, timestamp: Optional[float] = None) -> None: self.file.write(line) def on_message_received(self, msg: Message) -> None: - if msg.is_error_frame: self.log_event(f"{self.channel} ErrorFrame", msg.timestamp) return diff --git a/can/io/canutils.py b/can/io/canutils.py index c57a6ca97..17d7a193f 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -48,7 +48,6 @@ def __init__( def __iter__(self) -> Generator[Message, None, None]: for line in self.file: - # skip empty lines temp = line.strip() if not temp: diff --git a/can/io/csv.py b/can/io/csv.py index ecfc5de35..7570d4f30 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -49,7 +49,6 @@ def __iter__(self) -> Generator[Message, None, None]: return for line in self.file: - timestamp, arbitration_id, extended, remote, error, dlc, data = line.split( "," ) diff --git a/can/io/logger.py b/can/io/logger.py index b6ea23380..0477fa065 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -237,7 +237,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: elif isinstance(logger, Printer) and logger.file is not None: return cast(FileIOMessageWriter, logger) - raise Exception( + raise ValueError( f'The log format "{suffix}" ' f"is not supported by {self.__class__.__name__}. " f"{self.__class__.__name__} supports the following formats: " diff --git a/can/io/player.py b/can/io/player.py index 0e062ecb7..13a9ce60e 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -139,7 +139,6 @@ def __iter__(self) -> typing.Generator[Message, None, None]: t_skipped = 0.0 for message in self.raw_messages: - # Work out the correct wait time if self.timestamps: if recorded_start_time is None: diff --git a/can/logconvert.py b/can/logconvert.py index d89155758..7a34deb61 100644 --- a/can/logconvert.py +++ b/can/logconvert.py @@ -46,7 +46,6 @@ def main(): args = parser.parse_args() with LogReader(args.input) as reader: - if args.file_size: logger = SizedRotatingLogger( base_filename=args.output, max_bytes=args.file_size diff --git a/can/player.py b/can/player.py index c029981be..fab271824 100644 --- a/can/player.py +++ b/can/player.py @@ -87,7 +87,6 @@ def main() -> None: with _create_bus(results, **additional_config) as bus: with LogReader(results.infile, **additional_config) as reader: - in_sync = MessageSync( cast(Iterable[Message], reader), timestamps=results.timestamps, diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 6cf28fd99..6f16b8b4d 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -58,9 +58,7 @@ def __init__(self, *args, **kwargs): # now, BusABC.send_periodic() does not need a lock anymore, but the # implementation still requires a context manager - # pylint: disable=protected-access self.__wrapped__._lock_send_periodic = nullcontext() - # pylint: enable=protected-access # init locks for sending and receiving separately self._lock_send = RLock() diff --git a/examples/print_notifier.py b/examples/print_notifier.py index b6554ccd2..cb4a02799 100755 --- a/examples/print_notifier.py +++ b/examples/print_notifier.py @@ -5,7 +5,6 @@ def main(): - with can.Bus(receive_own_messages=True) as bus: print_listener = can.Printer() can.Notifier(bus, [print_listener]) diff --git a/examples/receive_all.py b/examples/receive_all.py index d8d8714fc..e9410e49f 100755 --- a/examples/receive_all.py +++ b/examples/receive_all.py @@ -14,7 +14,6 @@ def receive_all(): # this uses the default configuration (for example from environment variables, or a # config file) see https://python-can.readthedocs.io/en/stable/configuration.html with can.Bus() as bus: - # set to read-only, only supported on some interfaces try: bus.state = BusState.PASSIVE diff --git a/examples/send_one.py b/examples/send_one.py index 7e3fb8a4c..41b3a3cd0 100755 --- a/examples/send_one.py +++ b/examples/send_one.py @@ -13,7 +13,6 @@ def send_one(): # this uses the default configuration (for example from the config file) # see https://python-can.readthedocs.io/en/stable/configuration.html with can.Bus() as bus: - # Using specific buses works similar: # bus = can.Bus(interface='socketcan', channel='vcan0', bitrate=250000) # bus = can.Bus(interface='pcan', channel='PCAN_USBBUS1', bitrate=250000) diff --git a/examples/serial_com.py b/examples/serial_com.py index 76b95c3e7..538c8d12f 100755 --- a/examples/serial_com.py +++ b/examples/serial_com.py @@ -50,7 +50,6 @@ def main(): """Controls the sender and receiver.""" with can.Bus(interface="serial", channel="/dev/ttyS10") as server: with can.Bus(interface="serial", channel="/dev/ttyS11") as client: - tx_msg = can.Message( arbitration_id=0x01, data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88], diff --git a/examples/simple_log_converter.py b/examples/simple_log_converter.py index e82669f54..20e8fba75 100755 --- a/examples/simple_log_converter.py +++ b/examples/simple_log_converter.py @@ -17,8 +17,7 @@ def main(): with can.LogReader(sys.argv[1]) as reader: with can.Logger(sys.argv[2]) as writer: - - for msg in reader: # pylint: disable=not-an-iterable + for msg in reader: writer.on_message_received(msg) diff --git a/examples/vcan_filtered.py b/examples/vcan_filtered.py index d48a9d8cb..f022759fa 100755 --- a/examples/vcan_filtered.py +++ b/examples/vcan_filtered.py @@ -12,7 +12,6 @@ def main(): """Send some messages to itself and apply filtering.""" with can.Bus(interface="virtual", receive_own_messages=True) as bus: - can_filters = [{"can_id": 1, "can_mask": 0xF, "extended": True}] bus.set_filters(can_filters) diff --git a/requirements-lint.txt b/requirements-lint.txt index 28bcf2aa2..f1070e1b9 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,5 +1,5 @@ -pylint==2.15.9 -black~=22.10.0 -mypy==0.991 +pylint==2.16.4 +black~=23.1.0 +mypy==1.0.1 mypy-extensions==0.4.3 types-setuptools diff --git a/setup.py b/setup.py index 8cabc8c02..96cbc0c77 100644 --- a/setup.py +++ b/setup.py @@ -5,8 +5,6 @@ Learn more at https://github.com/hardbyte/python-can/ """ -# pylint: disable=invalid-name - from os import listdir from os.path import isfile, join import re diff --git a/test/back2back_test.py b/test/back2back_test.py index 54d619878..ce09b6179 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -275,7 +275,6 @@ def test_sub_second_timestamp_resolution(self): @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan") class BasicTestSocketCan(Back2BackTestCase): - INTERFACE_1 = "socketcan" CHANNEL_1 = "vcan0" INTERFACE_2 = "socketcan" @@ -289,7 +288,6 @@ class BasicTestSocketCan(Back2BackTestCase): "only supported on Unix systems (but not on macOS at Travis CI and GitHub Actions)", ) class BasicTestUdpMulticastBusIPv4(Back2BackTestCase): - INTERFACE_1 = "udp_multicast" CHANNEL_1 = UdpMulticastBus.DEFAULT_GROUP_IPv4 INTERFACE_2 = "udp_multicast" @@ -329,7 +327,6 @@ def test_unique_message_instances(self): @unittest.skipUnless(TEST_INTERFACE_ETAS, "skip testing of etas interface") class BasicTestEtas(Back2BackTestCase): - if TEST_INTERFACE_ETAS: configs = can.interface.detect_available_configs(interfaces="etas") diff --git a/test/serial_test.py b/test/serial_test.py index aa6c71994..e1df96435 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -44,7 +44,6 @@ def reset(self): class SimpleSerialTestBase(ComparingMessagesTestCase): - MAX_TIMESTAMP = 0xFFFFFFFF / 1000 def __init__(self): diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 639694bfa..4454cbd27 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -33,7 +33,6 @@ def test_cycle_time(self): with can.interface.Bus(interface="virtual") as bus1: with can.interface.Bus(interface="virtual") as bus2: - # disabling the garbage collector makes the time readings more reliable gc.disable() diff --git a/test/test_pcan.py b/test/test_pcan.py index aa0988a48..93a5f5ff4 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -19,7 +19,6 @@ class TestPCANBus(unittest.TestCase): def setUp(self) -> None: - patcher = mock.patch("can.interfaces.pcan.pcan.PCANBasic", spec=True) self.MockPCANBasic = patcher.start() self.addCleanup(patcher.stop) @@ -62,7 +61,7 @@ def test_bus_creation_state_error(self) -> None: with self.assertRaises(ValueError): can.Bus(interface="pcan", state=BusState.ERROR) - @parameterized.expand([("f_clock", 8_000_000), ("f_clock_mhz", 8)]) + @parameterized.expand([("f_clock", 80_000_000), ("f_clock_mhz", 80)]) def test_bus_creation_fd(self, clock_param: str, clock_val: int) -> None: self.bus = can.Bus( interface="pcan", diff --git a/test/test_player.py b/test/test_player.py index c15bf82e2..9bdd484b8 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -15,7 +15,6 @@ class TestPlayerScriptModule(unittest.TestCase): - logfile = os.path.join(os.path.dirname(__file__), "data", "test_CanMessage.asc") def setUp(self) -> None: diff --git a/test/test_util.py b/test/test_util.py index b6c261602..e77401688 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -21,7 +21,6 @@ class RenameKwargsTest(unittest.TestCase): expected_kwargs = dict(a=1, b=2, c=3, d=4) def _test(self, start: str, end: str, kwargs, aliases): - # Test that we do get the DeprecationWarning when called with deprecated kwargs with self.assertWarnsRegex( DeprecationWarning, "is deprecated.*?" + start + ".*?" + end From fa5b133a40b7ee87386234249e18c82f1c789672 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 16 Mar 2023 11:50:48 +0100 Subject: [PATCH 242/475] improve ThreadBasedCyclicSendTask timing (#1539) Co-authored-by: zariiii9003 --- can/broadcastmanager.py | 53 +++++++++++++++++++++++++++-------------- 1 file changed, 35 insertions(+), 18 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index cfa4c658d..d795eb1fa 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -5,30 +5,39 @@ :meth:`can.BusABC.send_periodic`. """ +import abc +import logging +import sys +import threading +import time from typing import Optional, Sequence, Tuple, Union, Callable, TYPE_CHECKING +from typing_extensions import Final + from can import typechecking +from can.message import Message if TYPE_CHECKING: from can.bus import BusABC -from can.message import Message - -import abc -import logging -import threading -import time # try to import win32event for event-based cyclic send task (needs the pywin32 package) +USE_WINDOWS_EVENTS = False try: import win32event - HAS_EVENTS = True + # Python 3.11 provides a more precise sleep implementation on Windows, so this is not necessary. + # Put version check here, so mypy does not complain about `win32event` not being defined. + if sys.version_info < (3, 11): + USE_WINDOWS_EVENTS = True except ImportError: - HAS_EVENTS = False + pass log = logging.getLogger("can.bcm") +NANOSECONDS_IN_SECOND: Final[int] = 1_000_000_000 +NANOSECONDS_IN_MILLISECOND: Final[int] = 1_000_000 + class CyclicTask(abc.ABC): """ @@ -64,6 +73,7 @@ def __init__( # Take the Arbitration ID of the first element self.arbitration_id = messages[0].arbitration_id self.period = period + self.period_ns = int(round(period * 1e9)) self.messages = messages @staticmethod @@ -246,7 +256,7 @@ def __init__( ) self.on_error = on_error - if HAS_EVENTS: + if USE_WINDOWS_EVENTS: self.period_ms = int(round(period * 1000, 0)) try: self.event = win32event.CreateWaitableTimerEx( @@ -261,7 +271,7 @@ def __init__( self.start() def stop(self) -> None: - if HAS_EVENTS: + if USE_WINDOWS_EVENTS: win32event.CancelWaitableTimer(self.event.handle) self.stopped = True @@ -272,7 +282,7 @@ def start(self) -> None: self.thread = threading.Thread(target=self._run, name=name) self.thread.daemon = True - if HAS_EVENTS: + if USE_WINDOWS_EVENTS: win32event.SetWaitableTimer( self.event.handle, 0, self.period_ms, None, None, False ) @@ -281,10 +291,11 @@ def start(self) -> None: def _run(self) -> None: msg_index = 0 + msg_due_time_ns = time.perf_counter_ns() + while not self.stopped: # Prevent calling bus.send from multiple threads with self.send_lock: - started = time.perf_counter() try: self.bus.send(self.messages[msg_index]) except Exception as exc: # pylint: disable=broad-except @@ -294,13 +305,19 @@ def _run(self) -> None: break else: break + msg_due_time_ns += self.period_ns if self.end_time is not None and time.perf_counter() >= self.end_time: break msg_index = (msg_index + 1) % len(self.messages) - if HAS_EVENTS: - win32event.WaitForSingleObject(self.event.handle, self.period_ms) - else: - # Compensate for the time it takes to send the message - delay = self.period - (time.perf_counter() - started) - time.sleep(max(0.0, delay)) + # Compensate for the time it takes to send the message + delay_ns = msg_due_time_ns - time.perf_counter_ns() + + if delay_ns > 0: + if USE_WINDOWS_EVENTS: + win32event.WaitForSingleObject( + self.event.handle, + int(round(delay_ns / NANOSECONDS_IN_MILLISECOND)), + ) + else: + time.sleep(delay_ns / NANOSECONDS_IN_SECOND) From 740c50c275ef7ec6d867cc7557b055c6eb12dc84 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tobias=20M=C3=BCller?= Date: Thu, 30 Mar 2023 18:19:07 +0200 Subject: [PATCH 243/475] Improve support for TRC files (#1530) * Improve support for TRC files * Add support for Version 2.0 * Add support for $STARTTIME in Version 1.1 and Version 2.1 * Add support for $COLUMNS in Version 2.1 * Add type annotations * Fix mypy findings * remove assert --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/io/trc.py | 114 +++++++++++++++++++++++++--------- test/data/test_CanMessage.trc | 2 +- test/logformats_test.py | 16 +++-- 3 files changed, 98 insertions(+), 34 deletions(-) diff --git a/can/io/trc.py b/can/io/trc.py index ec08d1af1..d1ee2b72d 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -7,15 +7,15 @@ Version 1.1 will be implemented as it is most commonly used """ # noqa -from datetime import datetime, timedelta +from datetime import datetime, timedelta, timezone from enum import Enum import io import os import logging -from typing import Generator, Optional, Union, TextIO, Callable, List +from typing import Generator, Optional, Union, TextIO, Callable, List, Dict from ..message import Message -from ..util import channel2int +from ..util import channel2int, len2dlc, dlc2len from .generic import FileIOMessageWriter, MessageReader from ..typechecking import StringPathLike @@ -32,6 +32,11 @@ class TRCFileVersion(Enum): V2_0 = 200 V2_1 = 201 + def __ge__(self, other): + if self.__class__ is other.__class__: + return self.value >= other.value + return NotImplemented + class TRCReader(MessageReader): """ @@ -51,6 +56,8 @@ def __init__( """ super().__init__(file, mode="r") self.file_version = TRCFileVersion.UNKNOWN + self.start_time: Optional[datetime] = None + self.columns: Dict[str, int] = {} if not self.file: raise ValueError("The given file cannot be None") @@ -67,17 +74,42 @@ def _extract_header(self): file_version = line.split("=")[1] if file_version == "1.1": self.file_version = TRCFileVersion.V1_1 + elif file_version == "2.0": + self.file_version = TRCFileVersion.V2_0 elif file_version == "2.1": self.file_version = TRCFileVersion.V2_1 else: self.file_version = TRCFileVersion.UNKNOWN except IndexError: logger.debug("TRCReader: Failed to parse version") + elif line.startswith(";$STARTTIME"): + logger.debug("TRCReader: Found start time '%s'", line) + try: + self.start_time = datetime( + 1899, 12, 30, tzinfo=timezone.utc + ) + timedelta(days=float(line.split("=")[1])) + except IndexError: + logger.debug("TRCReader: Failed to parse start time") + elif line.startswith(";$COLUMNS"): + logger.debug("TRCReader: Found columns '%s'", line) + try: + columns = line.split("=")[1].split(",") + self.columns = {column: columns.index(column) for column in columns} + except IndexError: + logger.debug("TRCReader: Failed to parse columns") elif line.startswith(";"): continue else: break + if self.file_version >= TRCFileVersion.V1_1: + if self.start_time is None: + raise ValueError("File has no start time information") + + if self.file_version >= TRCFileVersion.V2_0: + if not self.columns: + raise ValueError("File has no column information") + if self.file_version == TRCFileVersion.UNKNOWN: logger.info( "TRCReader: No file version was found, so version 1.0 is assumed" @@ -87,8 +119,8 @@ def _extract_header(self): self._parse_cols = self._parse_msg_V1_0 elif self.file_version == TRCFileVersion.V1_1: self._parse_cols = self._parse_cols_V1_1 - elif self.file_version == TRCFileVersion.V2_1: - self._parse_cols = self._parse_cols_V2_1 + elif self.file_version in [TRCFileVersion.V2_0, TRCFileVersion.V2_1]: + self._parse_cols = self._parse_cols_V2_x else: raise NotImplementedError("File version not fully implemented for reading") @@ -113,7 +145,12 @@ def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]: arbit_id = cols[3] msg = Message() - msg.timestamp = float(cols[1]) / 1000 + if isinstance(self.start_time, datetime): + msg.timestamp = ( + self.start_time + timedelta(milliseconds=float(cols[1])) + ).timestamp() + else: + msg.timestamp = float(cols[1]) / 1000 msg.arbitration_id = int(arbit_id, 16) msg.is_extended_id = len(arbit_id) > 4 msg.channel = 1 @@ -122,15 +159,38 @@ def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]: msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_V2_1(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_V2_x(self, cols: List[str]) -> Optional[Message]: + type_ = cols[self.columns["T"]] + bus = self.columns.get("B", None) + + if "l" in self.columns: + length = int(cols[self.columns["l"]]) + dlc = len2dlc(length) + elif "L" in self.columns: + dlc = int(cols[self.columns["L"]]) + length = dlc2len(dlc) + else: + raise ValueError("No length/dlc columns present.") + msg = Message() - msg.timestamp = float(cols[1]) / 1000 - msg.arbitration_id = int(cols[4], 16) - msg.is_extended_id = len(cols[4]) > 4 - msg.channel = int(cols[3]) - msg.dlc = int(cols[7]) - msg.data = bytearray([int(cols[i + 8], 16) for i in range(msg.dlc)]) - msg.is_rx = cols[5] == "Rx" + if isinstance(self.start_time, datetime): + msg.timestamp = ( + self.start_time + timedelta(milliseconds=float(cols[self.columns["O"]])) + ).timestamp() + else: + msg.timestamp = float(cols[1]) / 1000 + msg.arbitration_id = int(cols[self.columns["I"]], 16) + msg.is_extended_id = len(cols[self.columns["I"]]) > 4 + msg.channel = int(cols[bus]) if bus is not None else 1 + msg.dlc = dlc + msg.data = bytearray( + [int(cols[i + self.columns["D"]], 16) for i in range(length)] + ) + msg.is_rx = cols[self.columns["d"]] == "Rx" + msg.is_fd = type_ in ["FD", "FB", "FE", "BI"] + msg.bitrate_switch = type_ in ["FB", " FE"] + msg.error_state_indicator = type_ in ["FE", "BI"] + return msg def _parse_cols_V1_1(self, cols: List[str]) -> Optional[Message]: @@ -141,10 +201,10 @@ def _parse_cols_V1_1(self, cols: List[str]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_V2_1(self, cols: List[str]) -> Optional[Message]: - dtype = cols[2] - if dtype == "DT": - return self._parse_msg_V2_1(cols) + def _parse_cols_V2_x(self, cols: List[str]) -> Optional[Message]: + dtype = cols[self.columns["T"]] + if dtype in ["DT", "FD", "FB"]: + return self._parse_msg_V2_x(cols) else: logger.info("TRCReader: Unsupported type '%s'", dtype) return None @@ -228,7 +288,7 @@ def __init__( self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 self._format_message = self._format_message_init - def _write_header_V1_0(self, start_time: timedelta) -> None: + def _write_header_V1_0(self, start_time: datetime) -> None: lines = [ ";##########################################################################", f"; {self.filepath}", @@ -249,13 +309,11 @@ def _write_header_V1_0(self, start_time: timedelta) -> None: ] self.file.writelines(line + "\n" for line in lines) - def _write_header_V2_1(self, header_time: timedelta, start_time: datetime) -> None: - milliseconds = int( - (header_time.seconds * 1000) + (header_time.microseconds / 1000) - ) + def _write_header_V2_1(self, start_time: datetime) -> None: + header_time = start_time - datetime(year=1899, month=12, day=30) lines = [ ";$FILEVERSION=2.1", - f";$STARTTIME={header_time.days}.{milliseconds}", + f";$STARTTIME={header_time/timedelta(days=1)}", ";$COLUMNS=N,O,T,B,I,d,R,L,D", ";", f"; {self.filepath}", @@ -308,14 +366,12 @@ def _format_message_init(self, msg, channel): def write_header(self, timestamp: float) -> None: # write start of file header - ref_time = datetime(year=1899, month=12, day=30) - start_time = datetime.now() + timedelta(seconds=timestamp) - header_time = start_time - ref_time + start_time = datetime.utcfromtimestamp(timestamp) if self.file_version == TRCFileVersion.V1_0: - self._write_header_V1_0(header_time) + self._write_header_V1_0(start_time) elif self.file_version == TRCFileVersion.V2_1: - self._write_header_V2_1(header_time, start_time) + self._write_header_V2_1(start_time) else: raise NotImplementedError("File format is not supported") self.header_written = True diff --git a/test/data/test_CanMessage.trc b/test/data/test_CanMessage.trc index 215997b57..8b1361808 100644 --- a/test/data/test_CanMessage.trc +++ b/test/data/test_CanMessage.trc @@ -1,5 +1,5 @@ ;$FILEVERSION=2.1 -;$STARTTIME=0 +;$STARTTIME=43008.920986006946 ;$COLUMNS=N,O,T,B,I,d,R,L,D ; ; C:\Users\User\Desktop\python-can\test\data\test_CanMessage.trc diff --git a/test/logformats_test.py b/test/logformats_test.py index 05c8b986f..3486827a9 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -810,9 +810,10 @@ class TestTrcFileFormatGen(TestTrcFileFormatBase): """Generic tests for can.TRCWriter and can.TRCReader with different file versions""" def test_can_message(self): + start_time = 1506809173.191 # 30.09.2017 22:06:13.191.000 as timestamp expected_messages = [ can.Message( - timestamp=2.5010, + timestamp=start_time + 2.5010, arbitration_id=0xC8, is_extended_id=False, is_rx=False, @@ -821,7 +822,7 @@ def test_can_message(self): data=[9, 8, 7, 6, 5, 4, 3, 2], ), can.Message( - timestamp=17.876708, + timestamp=start_time + 17.876708, arbitration_id=0x6F9, is_extended_id=False, channel=0, @@ -841,10 +842,17 @@ def test_can_message(self): ) def test_can_message_versions(self, name, filename, is_rx_support): with self.subTest(name): + if name == "V1_0": + # Version 1.0 does not support start time + start_time = 0 + else: + start_time = ( + 1639837687.062001 # 18.12.2021 14:28:07.062.001 as timestamp + ) def msg_std(timestamp): msg = can.Message( - timestamp=timestamp, + timestamp=timestamp + start_time, arbitration_id=0x000, is_extended_id=False, channel=1, @@ -857,7 +865,7 @@ def msg_std(timestamp): def msg_ext(timestamp): msg = can.Message( - timestamp=timestamp, + timestamp=timestamp + start_time, arbitration_id=0x100, is_extended_id=True, channel=1, From 7855da1b4bb32f7bb3a1e733d59be40571fd4f8b Mon Sep 17 00:00:00 2001 From: Teejay Date: Thu, 30 Mar 2023 09:58:18 -0700 Subject: [PATCH 244/475] Add `__del__` method to `BusABC` (#1489) * Add del method * Add unittest * Satisfy black formatter * Satisfy pylint linter * PR feedback Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> * PR feedback Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> * Move to cls attribute * Add unittest * Call parent shutdown from socketcand * Wrap del in try except * Call parent shutdown from ixxat * Black & pylint * PR feedback Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> * Remove try/except & fix ordering * Fix unittest * Call parent shutdown from etas * Add warning filter * Make multicast_udp back2back test more specific * clean up test_interface_canalystii.py * carry over from #1519 * fix AttributeError --------- Co-authored-by: TJ Bruno Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/bus.py | 28 ++++++++++++++--- can/interfaces/canalystii.py | 21 +++++++------ can/interfaces/etas/__init__.py | 1 + can/interfaces/ixxat/canlib.py | 1 + can/interfaces/socketcand/socketcand.py | 2 +- test/back2back_test.py | 7 +++-- test/test_bus.py | 9 ++++++ test/test_interface.py | 42 +++++++++++++++++++++++++ test/test_interface_canalystii.py | 6 +--- 9 files changed, 94 insertions(+), 23 deletions(-) create mode 100644 test/test_interface.py diff --git a/can/bus.py b/can/bus.py index 292c754fb..32a26ebcb 100644 --- a/can/bus.py +++ b/can/bus.py @@ -1,7 +1,7 @@ """ Contains the ABC bus implementation and its documentation. """ - +import contextlib from typing import cast, Any, Iterator, List, Optional, Sequence, Tuple, Union import can.typechecking @@ -44,12 +44,14 @@ class BusABC(metaclass=ABCMeta): #: Log level for received messages RECV_LOGGING_LEVEL = 9 + _is_shutdown: bool = False + @abstractmethod def __init__( self, channel: Any, can_filters: Optional[can.typechecking.CanFilters] = None, - **kwargs: object + **kwargs: object, ): """Construct and open a CAN bus instance of the specified type. @@ -301,6 +303,10 @@ def stop_all_periodic_tasks(self, remove_tasks: bool = True) -> None: :param remove_tasks: Stop tracking the stopped tasks. """ + if not hasattr(self, "_periodic_tasks"): + # avoid AttributeError for partially initialized BusABC instance + return + for task in self._periodic_tasks: # we cannot let `task.stop()` modify `self._periodic_tasks` while we are # iterating over it (#634) @@ -415,9 +421,15 @@ def flush_tx_buffer(self) -> None: def shutdown(self) -> None: """ - Called to carry out any interface specific cleanup required - in shutting down a bus. + Called to carry out any interface specific cleanup required in shutting down a bus. + + This method can be safely called multiple times. """ + if self._is_shutdown: + LOG.debug("%s is already shut down", self.__class__) + return + + self._is_shutdown = True self.stop_all_periodic_tasks() def __enter__(self): @@ -426,6 +438,14 @@ def __enter__(self): def __exit__(self, exc_type, exc_val, exc_tb): self.shutdown() + def __del__(self) -> None: + if not self._is_shutdown: + LOG.warning("%s was not properly shut down", self.__class__) + # We do some best-effort cleanup if the user + # forgot to properly close the bus instance + with contextlib.suppress(AttributeError): + self.shutdown() + @property def state(self) -> BusState: """ diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index 7150a60bd..1e6a7fea4 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -1,11 +1,11 @@ -import collections +from collections import deque from ctypes import c_ubyte import logging import time from typing import Any, Dict, Optional, Deque, Sequence, Tuple, Union from can import BitTiming, BusABC, Message, BitTimingFd -from can.exceptions import CanTimeoutError, CanInitializationError +from can.exceptions import CanTimeoutError from can.typechecking import CanFilters from can.util import deprecated_args_alias, check_or_adjust_timing_clock @@ -50,11 +50,12 @@ def __init__( If set, software received message queue can only grow to this many messages (for all channels) before older messages are dropped """ - super().__init__(channel=channel, can_filters=can_filters, **kwargs) - if not (bitrate or timing): raise ValueError("Either bitrate or timing argument is required") + # Do this after the error handling + super().__init__(channel=channel, can_filters=can_filters, **kwargs) + if isinstance(channel, str): # Assume comma separated string of channels self.channels = [int(ch.strip()) for ch in channel.split(",")] @@ -63,23 +64,23 @@ def __init__( else: # Sequence[int] self.channels = list(channel) - self.rx_queue = collections.deque( - maxlen=rx_queue_size - ) # type: Deque[Tuple[int, driver.Message]] + self.rx_queue: Deque[Tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) self.channel_info = f"CANalyst-II: device {device}, channels {self.channels}" self.device = driver.CanalystDevice(device_index=device) - for channel in self.channels: + for single_channel in self.channels: if isinstance(timing, BitTiming): timing = check_or_adjust_timing_clock(timing, valid_clocks=[8_000_000]) - self.device.init(channel, timing0=timing.btr0, timing1=timing.btr1) + self.device.init( + single_channel, timing0=timing.btr0, timing1=timing.btr1 + ) elif isinstance(timing, BitTimingFd): raise NotImplementedError( f"CAN FD is not supported by {self.__class__.__name__}." ) else: - self.device.init(channel, bitrate=bitrate) + self.device.init(single_channel, bitrate=bitrate) # Delay to use between each poll for new messages # diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 3a203a50d..03dc42bc1 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -248,6 +248,7 @@ def flush_tx_buffer(self) -> None: OCI_ResetQueue(self.txQueue) def shutdown(self) -> None: + super().shutdown() # Cleanup TX if self.txQueue: OCI_DestroyCANTxQueue(self.txQueue) diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index a20e4f59b..01f754115 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -147,6 +147,7 @@ def _send_periodic_internal(self, msgs, period, duration=None): return self.bus._send_periodic_internal(msgs, period, duration) def shutdown(self) -> None: + super().shutdown() self.bus.shutdown() @property diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 32b9a0edf..3f4e2ac86 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -183,5 +183,5 @@ def send(self, msg, timeout=None): self._tcp_send(ascii_msg) def shutdown(self): - self.stop_all_periodic_tasks() + super().shutdown() self.__socket.close() diff --git a/test/back2back_test.py b/test/back2back_test.py index ce09b6179..48c98bf59 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -12,6 +12,7 @@ import pytest import can +from can import CanInterfaceNotImplementedError from can.interfaces.udp_multicast import UdpMulticastBus from .config import ( @@ -294,7 +295,7 @@ class BasicTestUdpMulticastBusIPv4(Back2BackTestCase): CHANNEL_2 = UdpMulticastBus.DEFAULT_GROUP_IPv4 def test_unique_message_instances(self): - with self.assertRaises(NotImplementedError): + with self.assertRaises(CanInterfaceNotImplementedError): super().test_unique_message_instances() @@ -313,7 +314,7 @@ class BasicTestUdpMulticastBusIPv6(Back2BackTestCase): CHANNEL_2 = HOST_LOCAL_MCAST_GROUP_IPv6 def test_unique_message_instances(self): - with self.assertRaises(NotImplementedError): + with self.assertRaises(CanInterfaceNotImplementedError): super().test_unique_message_instances() @@ -321,7 +322,7 @@ def test_unique_message_instances(self): try: bus_class = can.interface._get_class_for_interface("etas") TEST_INTERFACE_ETAS = True -except can.exceptions.CanInterfaceNotImplementedError: +except CanInterfaceNotImplementedError: pass diff --git a/test/test_bus.py b/test/test_bus.py index e11d829d3..24421b2fd 100644 --- a/test/test_bus.py +++ b/test/test_bus.py @@ -1,3 +1,4 @@ +import gc from unittest.mock import patch import can @@ -12,3 +13,11 @@ def test_bus_ignore_config(): _ = can.Bus(interface="virtual") assert can.util.load_config.called + + +@patch.object(can.bus.BusABC, "shutdown") +def test_bus_attempts_self_cleanup(mock_shutdown): + bus = can.Bus(interface="virtual") + del bus + gc.collect() + mock_shutdown.assert_called() diff --git a/test/test_interface.py b/test/test_interface.py new file mode 100644 index 000000000..271e90b1b --- /dev/null +++ b/test/test_interface.py @@ -0,0 +1,42 @@ +import importlib +from unittest.mock import patch + +import pytest + +import can +from can.interfaces import BACKENDS + + +@pytest.fixture(params=(BACKENDS.keys())) +def constructor(request): + mod, cls = BACKENDS[request.param] + + try: + module = importlib.import_module(mod) + constructor = getattr(module, cls) + except: + pytest.skip("Unable to load interface") + + return constructor + + +@pytest.fixture +def interface(constructor): + class MockInterface(constructor): + def __init__(self): + pass + + def __del__(self): + pass + + return MockInterface() + + +@patch.object(can.bus.BusABC, "shutdown") +def test_interface_calls_parent_shutdown(mock_shutdown, interface): + try: + interface.shutdown() + except: + pass + finally: + mock_shutdown.assert_called() diff --git a/test/test_interface_canalystii.py b/test/test_interface_canalystii.py index 4d1d3eb84..4f3033e10 100755 --- a/test/test_interface_canalystii.py +++ b/test/test_interface_canalystii.py @@ -1,11 +1,7 @@ #!/usr/bin/env python -""" -""" - -import time import unittest -from unittest.mock import Mock, patch, call +from unittest.mock import patch, call from ctypes import c_ubyte import canalystii as driver # low-level driver module, mock out this layer From 1188c57a43be6bfa48490c4d2e5f3ea472a5e637 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 1 Apr 2023 23:08:15 +0200 Subject: [PATCH 245/475] Export symbols to satisfy type checkers (#1551) * use ruff with isort, export symbols according to PEP484 * fix CI * fix CI * use __all__ --- .github/workflows/ci.yml | 3 + .pylintrc | 2 + can/__init__.py | 115 +++++++++++++----- can/bit_timing.py | 4 +- can/broadcastmanager.py | 2 +- can/bus.py | 15 ++- can/ctypesutil.py | 1 - can/exceptions.py | 4 +- can/interface.py | 4 +- can/interfaces/__init__.py | 2 +- can/interfaces/canalystii.py | 14 +-- can/interfaces/cantact.py | 9 +- can/interfaces/etas/__init__.py | 4 +- can/interfaces/gs_usb.py | 10 +- can/interfaces/ics_neovi/__init__.py | 12 +- can/interfaces/ics_neovi/neovi_bus.py | 9 +- can/interfaces/iscan.py | 7 +- can/interfaces/ixxat/__init__.py | 11 +- can/interfaces/ixxat/canlib.py | 5 +- can/interfaces/ixxat/canlib_vcinpl.py | 9 +- can/interfaces/ixxat/canlib_vcinpl2.py | 10 +- can/interfaces/kvaser/canlib.py | 10 +- can/interfaces/neousys/__init__.py | 2 + can/interfaces/neousys/neousys.py | 15 ++- can/interfaces/nican.py | 8 +- can/interfaces/nixnet.py | 6 +- can/interfaces/pcan/__init__.py | 5 + can/interfaces/pcan/basic.py | 5 +- can/interfaces/pcan/pcan.py | 86 +++++++------ can/interfaces/robotell.py | 3 +- can/interfaces/seeedstudio/__init__.py | 2 + can/interfaces/seeedstudio/seeedstudio.py | 2 +- can/interfaces/serial/__init__.py | 4 +- can/interfaces/serial/serial_can.py | 7 +- can/interfaces/slcan.py | 12 +- can/interfaces/socketcan/__init__.py | 8 +- can/interfaces/socketcan/socketcan.py | 17 ++- can/interfaces/socketcan/utils.py | 2 +- can/interfaces/socketcand/__init__.py | 2 + can/interfaces/socketcand/socketcand.py | 7 +- can/interfaces/systec/__init__.py | 2 + can/interfaces/systec/constants.py | 4 +- can/interfaces/systec/exceptions.py | 4 +- can/interfaces/systec/structures.py | 16 ++- can/interfaces/systec/ucan.py | 4 +- can/interfaces/systec/ucanbus.py | 4 +- can/interfaces/udp_multicast/__init__.py | 2 + can/interfaces/udp_multicast/bus.py | 3 +- can/interfaces/udp_multicast/utils.py | 7 +- can/interfaces/usb2can/__init__.py | 7 +- can/interfaces/usb2can/usb2canInterface.py | 11 +- .../usb2can/usb2canabstractionlayer.py | 3 +- can/interfaces/vector/__init__.py | 20 ++- can/interfaces/vector/canlib.py | 30 ++--- can/interfaces/vector/xldefine.py | 1 - can/interfaces/vector/xldriver.py | 3 +- can/interfaces/virtual.py | 9 +- can/io/__init__.py | 34 +++++- can/io/asc.py | 12 +- can/io/blf.py | 11 +- can/io/canutils.py | 5 +- can/io/csv.py | 7 +- can/io/generic.py | 38 +++--- can/io/logger.py | 15 ++- can/io/player.py | 6 +- can/io/printer.py | 5 +- can/io/sqlite.py | 9 +- can/io/trc.py | 13 +- can/listener.py | 6 +- can/logconvert.py | 4 +- can/logger.py | 7 +- can/message.py | 5 +- can/notifier.py | 2 +- can/player.py | 6 +- can/thread_safe_bus.py | 1 - can/util.py | 12 +- can/viewer.py | 9 +- doc/conf.py | 4 +- pyproject.toml | 13 ++ requirements-lint.txt | 1 + setup.py | 7 +- test/back2back_test.py | 10 +- test/contextmanager_test.py | 1 + test/listener_test.py | 8 +- test/logformats_test.py | 17 +-- test/network_test.py | 6 +- test/notifier_test.py | 4 +- test/serial_test.py | 3 +- test/simplecyclic_test.py | 4 +- test/test_cyclic_socketcan.py | 2 +- test/test_interface_canalystii.py | 6 +- test/test_interface_ixxat.py | 1 + test/test_interface_ixxat_fd.py | 1 + test/test_kvaser.py | 3 +- test/test_logger.py | 6 +- test/test_message_class.py | 13 +- test/test_message_filtering.py | 1 - test/test_message_sync.py | 13 +- test/test_neousys.py | 12 +- test/test_neovi.py | 1 + test/test_player.py | 7 +- test/test_robotell.py | 1 + test/test_rotating_loggers.py | 1 + test/test_scripts.py | 4 +- test/test_slcan.py | 3 +- test/test_socketcan.py | 7 +- test/test_socketcan_helpers.py | 6 +- test/test_util.py | 4 +- test/test_vector.py | 14 ++- test/test_viewer.py | 3 +- test/zero_dlc_test.py | 3 +- 111 files changed, 567 insertions(+), 415 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 4f96578e5..465d5959b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -95,6 +95,9 @@ jobs: - name: mypy 3.11 run: | mypy --python-version 3.11 . + - name: ruff + run: | + ruff check can - name: pylint run: | pylint --rcfile=.pylintrc \ diff --git a/.pylintrc b/.pylintrc index bdbf47613..de2e82a0d 100644 --- a/.pylintrc +++ b/.pylintrc @@ -438,6 +438,8 @@ known-standard-library= # Force import order to recognize a module as part of a third party library. known-third-party=enchant +# Allow explicit reexports by alias from a package __init__ +allow-reexport-from-package=no [CLASSES] diff --git a/can/__init__.py b/can/__init__.py index d9ff5ffcd..5cc054c19 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -6,47 +6,104 @@ """ import logging -from typing import Dict, Any +from typing import Any, Dict __version__ = "4.1.0" +__all__ = [ + "ASCReader", + "ASCWriter", + "AsyncBufferedReader", + "BitTiming", + "BitTimingFd", + "BLFReader", + "BLFWriter", + "broadcastmanager", + "BufferedReader", + "Bus", + "BusABC", + "BusState", + "CanError", + "CanInitializationError", + "CanInterfaceNotImplementedError", + "CanOperationError", + "CanTimeoutError", + "CanutilsLogReader", + "CanutilsLogWriter", + "CSVReader", + "CSVWriter", + "CyclicSendTaskABC", + "detect_available_configs", + "interface", + "LimitedDurationCyclicSendTaskABC", + "Listener", + "Logger", + "LogReader", + "ModifiableCyclicTaskABC", + "Message", + "MessageSync", + "Notifier", + "Printer", + "RedirectReader", + "RestartableCyclicTaskABC", + "set_logging_level", + "SizedRotatingLogger", + "SqliteReader", + "SqliteWriter", + "ThreadSafeBus", + "typechecking", + "TRCFileVersion", + "TRCReader", + "TRCWriter", + "util", + "VALID_INTERFACES", +] log = logging.getLogger("can") rc: Dict[str, Any] = {} -from .listener import Listener, BufferedReader, RedirectReader, AsyncBufferedReader - +from . import typechecking # isort:skip +from . import util # isort:skip +from . import broadcastmanager, interface +from .bit_timing import BitTiming, BitTimingFd +from .broadcastmanager import ( + CyclicSendTaskABC, + LimitedDurationCyclicSendTaskABC, + ModifiableCyclicTaskABC, + RestartableCyclicTaskABC, +) +from .bus import BusABC, BusState from .exceptions import ( CanError, - CanInterfaceNotImplementedError, CanInitializationError, + CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError, ) - -from .util import set_logging_level - -from .message import Message -from .bus import BusABC, BusState -from .thread_safe_bus import ThreadSafeBus -from .notifier import Notifier -from .interfaces import VALID_INTERFACES -from . import interface from .interface import Bus, detect_available_configs -from .bit_timing import BitTiming, BitTimingFd - -from .io import Logger, SizedRotatingLogger, Printer, LogReader, MessageSync -from .io import ASCWriter, ASCReader -from .io import BLFReader, BLFWriter -from .io import CanutilsLogReader, CanutilsLogWriter -from .io import CSVWriter, CSVReader -from .io import SqliteWriter, SqliteReader -from .io import TRCReader, TRCWriter, TRCFileVersion - -from .broadcastmanager import ( - CyclicSendTaskABC, - LimitedDurationCyclicSendTaskABC, - ModifiableCyclicTaskABC, - MultiRateCyclicSendTaskABC, - RestartableCyclicTaskABC, +from .interfaces import VALID_INTERFACES +from .io import ( + ASCReader, + ASCWriter, + BLFReader, + BLFWriter, + CanutilsLogReader, + CanutilsLogWriter, + CSVReader, + CSVWriter, + Logger, + LogReader, + MessageSync, + Printer, + SizedRotatingLogger, + SqliteReader, + SqliteWriter, + TRCFileVersion, + TRCReader, + TRCWriter, ) +from .listener import AsyncBufferedReader, BufferedReader, Listener, RedirectReader +from .message import Message +from .notifier import Notifier +from .thread_safe_bus import ThreadSafeBus +from .util import set_logging_level diff --git a/can/bit_timing.py b/can/bit_timing.py index 4fada145b..bf76c08af 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -1,8 +1,8 @@ # pylint: disable=too-many-lines import math -from typing import List, Mapping, Iterator, cast +from typing import Iterator, List, Mapping, cast -from can.typechecking import BitTimingFdDict, BitTimingDict +from can.typechecking import BitTimingDict, BitTimingFdDict class BitTiming(Mapping): diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index d795eb1fa..07d93e296 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -10,7 +10,7 @@ import sys import threading import time -from typing import Optional, Sequence, Tuple, Union, Callable, TYPE_CHECKING +from typing import TYPE_CHECKING, Callable, Optional, Sequence, Tuple, Union from typing_extensions import Final diff --git a/can/bus.py b/can/bus.py index 32a26ebcb..3964215d3 100644 --- a/can/bus.py +++ b/can/bus.py @@ -1,19 +1,18 @@ """ Contains the ABC bus implementation and its documentation. """ -import contextlib -from typing import cast, Any, Iterator, List, Optional, Sequence, Tuple, Union - -import can.typechecking -from abc import ABC, ABCMeta, abstractmethod -import can +import contextlib import logging import threading -from time import time +from abc import ABC, ABCMeta, abstractmethod from enum import Enum, auto +from time import time +from typing import Any, Iterator, List, Optional, Sequence, Tuple, Union, cast -from can.broadcastmanager import ThreadBasedCyclicSendTask, CyclicSendTaskABC +import can +import can.typechecking +from can.broadcastmanager import CyclicSendTaskABC, ThreadBasedCyclicSendTask from can.message import Message LOG = logging.getLogger(__name__) diff --git a/can/ctypesutil.py b/can/ctypesutil.py index 4cfebb5b8..e624db6d2 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -5,7 +5,6 @@ import ctypes import logging import sys - from typing import Any, Callable, Optional, Tuple, Union log = logging.getLogger("can.ctypesutil") diff --git a/can/exceptions.py b/can/exceptions.py index 57130082a..e1c970e27 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -17,9 +17,7 @@ import sys from contextlib import contextmanager - -from typing import Optional -from typing import Type +from typing import Optional, Type if sys.version_info >= (3, 9): from collections.abc import Generator diff --git a/can/interface.py b/can/interface.py index 47b44fed1..4c59dab8b 100644 --- a/can/interface.py +++ b/can/interface.py @@ -6,12 +6,12 @@ import importlib import logging -from typing import Any, cast, Iterable, Type, Optional, Union, List +from typing import Any, Iterable, List, Optional, Type, Union, cast from . import util from .bus import BusABC -from .interfaces import BACKENDS from .exceptions import CanInterfaceNotImplementedError +from .interfaces import BACKENDS from .typechecking import AutoDetectedConfig, Channel log = logging.getLogger("can.interface") diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index c9ca6ca55..5089dbf47 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -3,7 +3,7 @@ """ import sys -from typing import cast, Dict, Tuple +from typing import Dict, Tuple, cast # interface_name => (module, classname) BACKENDS: Dict[str, Tuple[str, str]] = { diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index 1e6a7fea4..dd65f5ba0 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -1,15 +1,15 @@ -from collections import deque -from ctypes import c_ubyte import logging import time -from typing import Any, Dict, Optional, Deque, Sequence, Tuple, Union +from collections import deque +from ctypes import c_ubyte +from typing import Any, Deque, Dict, Optional, Sequence, Tuple, Union -from can import BitTiming, BusABC, Message, BitTimingFd +import canalystii as driver + +from can import BitTiming, BitTimingFd, BusABC, Message from can.exceptions import CanTimeoutError from can.typechecking import CanFilters -from can.util import deprecated_args_alias, check_or_adjust_timing_clock - -import canalystii as driver +from can.util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 20e4d0cb7..75e1adbaa 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -2,18 +2,19 @@ Interface for CANtact devices from Linklayer Labs """ -import time import logging -from typing import Optional, Union, Any +import time +from typing import Any, Optional, Union from unittest.mock import Mock -from can import BusABC, Message, BitTiming, BitTimingFd +from can import BitTiming, BitTimingFd, BusABC, Message + from ..exceptions import ( CanInitializationError, CanInterfaceNotImplementedError, error_check, ) -from ..util import deprecated_args_alias, check_or_adjust_timing_clock +from ..util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 03dc42bc1..5f768b3e5 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -3,7 +3,8 @@ from typing import Dict, List, Optional, Tuple import can -from ...exceptions import CanInitializationError +from can.exceptions import CanInitializationError + from .boa import * @@ -290,6 +291,7 @@ def state(self, new_state: can.BusState) -> None: # raise CanOperationError(f"OCI_AdaptCANConfiguration failed with error 0x{ec:X}") raise NotImplementedError("Setting state is not implemented.") + @staticmethod def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: nodeRange = CSI_NodeRange(CSI_NODE_MIN, CSI_NODE_MAX) tree = ctypes.POINTER(CSI_Tree)() diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 185d28acf..fb5ce1d80 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -1,15 +1,15 @@ +import logging from typing import Optional, Tuple +import usb +from gs_usb.constants import CAN_EFF_FLAG, CAN_ERR_FLAG, CAN_MAX_DLC, CAN_RTR_FLAG from gs_usb.gs_usb import GsUsb -from gs_usb.gs_usb_frame import GsUsbFrame, GS_USB_NONE_ECHO_ID -from gs_usb.constants import CAN_ERR_FLAG, CAN_RTR_FLAG, CAN_EFF_FLAG, CAN_MAX_DLC +from gs_usb.gs_usb_frame import GS_USB_NONE_ECHO_ID, GsUsbFrame + import can -import usb -import logging from ..exceptions import CanInitializationError, CanOperationError - logger = logging.getLogger(__name__) diff --git a/can/interfaces/ics_neovi/__init__.py b/can/interfaces/ics_neovi/__init__.py index 548e3ea3f..e221e0840 100644 --- a/can/interfaces/ics_neovi/__init__.py +++ b/can/interfaces/ics_neovi/__init__.py @@ -1,7 +1,11 @@ """ """ -from .neovi_bus import NeoViBus -from .neovi_bus import ICSApiError -from .neovi_bus import ICSInitializationError -from .neovi_bus import ICSOperationError +__all__ = [ + "ICSApiError", + "ICSInitializationError", + "ICSOperationError", + "NeoViBus", +] + +from .neovi_bus import ICSApiError, ICSInitializationError, ICSOperationError, NeoViBus diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index c3abc9f67..848cefcc8 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -11,17 +11,18 @@ import logging import os import tempfile -from collections import deque, defaultdict, Counter +from collections import Counter, defaultdict, deque from itertools import cycle from threading import Event from warnings import warn -from can import Message, BusABC +from can import BusABC, Message + from ...exceptions import ( CanError, - CanTimeoutError, - CanOperationError, CanInitializationError, + CanOperationError, + CanTimeoutError, ) logger = logging.getLogger(__name__) diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index a27494b61..ef3a48215 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -3,16 +3,17 @@ """ import ctypes -import time import logging +import time from typing import Optional, Tuple, Union -from can import BusABC, Message from can import ( + BusABC, CanError, - CanInterfaceNotImplementedError, CanInitializationError, + CanInterfaceNotImplementedError, CanOperationError, + Message, ) logger = logging.getLogger(__name__) diff --git a/can/interfaces/ixxat/__init__.py b/can/interfaces/ixxat/__init__.py index 1419d97a1..bc871b372 100644 --- a/can/interfaces/ixxat/__init__.py +++ b/can/interfaces/ixxat/__init__.py @@ -4,7 +4,12 @@ Copyright (C) 2016-2021 Giuseppe Corbelli """ +__all__ = [ + "get_ixxat_hwids", + "IXXATBus", +] + from can.interfaces.ixxat.canlib import IXXATBus -from can.interfaces.ixxat.canlib_vcinpl import ( - get_ixxat_hwids, -) # import this and not the one from vcinpl2 for backward compatibility + +# import this and not the one from vcinpl2 for backward compatibility +from can.interfaces.ixxat.canlib_vcinpl import get_ixxat_hwids diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 01f754115..3db719f96 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -1,11 +1,10 @@ +from typing import Optional + import can.interfaces.ixxat.canlib_vcinpl as vcinpl import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 - from can import BusABC, Message from can.bus import BusState -from typing import Optional - class IXXATBus(BusABC): """The CAN Bus implemented for the IXXAT interface. diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 8304a6dd7..550484f3e 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -13,16 +13,17 @@ import functools import logging import sys -from typing import Optional, Callable, Tuple +from typing import Callable, Optional, Tuple from can import BusABC, Message -from can.bus import BusState -from can.exceptions import CanInterfaceNotImplementedError, CanInitializationError from can.broadcastmanager import ( LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC, ) -from can.ctypesutil import CLibrary, HANDLE, PHANDLE, HRESULT as ctypes_HRESULT +from can.bus import BusState +from can.ctypesutil import HANDLE, PHANDLE, CLibrary +from can.ctypesutil import HRESULT as ctypes_HRESULT +from can.exceptions import CanInitializationError, CanInterfaceNotImplementedError from can.util import deprecated_args_alias from . import constants, structures diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index b8ed916dc..3e7f2ff91 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -13,17 +13,17 @@ import functools import logging import sys -from typing import Optional, Callable, Tuple +from typing import Callable, Optional, Tuple +import can.util from can import BusABC, Message -from can.exceptions import CanInterfaceNotImplementedError, CanInitializationError from can.broadcastmanager import ( LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC, ) -from can.ctypesutil import CLibrary, HANDLE, PHANDLE, HRESULT as ctypes_HRESULT - -import can.util +from can.ctypesutil import HANDLE, PHANDLE, CLibrary +from can.ctypesutil import HRESULT as ctypes_HRESULT +from can.exceptions import CanInitializationError, CanInterfaceNotImplementedError from can.util import deprecated_args_alias from . import constants, structures diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 2bbf8f0bf..f6b92ccef 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -6,15 +6,15 @@ Copyright (C) 2010 Dynamic Controls """ +import ctypes +import logging import sys import time -import logging -import ctypes -from can import BusABC -from ...exceptions import CanError, CanInitializationError, CanOperationError -from can import Message +from can import BusABC, Message from can.util import time_perfcounter_correlation + +from ...exceptions import CanError, CanInitializationError, CanOperationError from . import constants as canstat from . import structures diff --git a/can/interfaces/neousys/__init__.py b/can/interfaces/neousys/__init__.py index 3aa87332c..6bd503f35 100644 --- a/can/interfaces/neousys/__init__.py +++ b/can/interfaces/neousys/__init__.py @@ -1,3 +1,5 @@ """ Neousys CAN bus driver """ +__all__ = ["NeousysBus"] + from can.interfaces.neousys.neousys import NeousysBus diff --git a/can/interfaces/neousys/neousys.py b/can/interfaces/neousys/neousys.py index 57f947aa4..d57234ddd 100644 --- a/can/interfaces/neousys/neousys.py +++ b/can/interfaces/neousys/neousys.py @@ -14,21 +14,20 @@ # pylint: disable=too-many-instance-attributes # pylint: disable=wrong-import-position -import queue import logging import platform -from time import time - +import queue from ctypes import ( - byref, CFUNCTYPE, + POINTER, + Structure, + byref, c_ubyte, c_uint, c_ushort, - POINTER, sizeof, - Structure, ) +from time import time try: from ctypes import WinDLL @@ -36,13 +35,13 @@ from ctypes import CDLL from can import BusABC, Message + from ...exceptions import ( CanInitializationError, - CanOperationError, CanInterfaceNotImplementedError, + CanOperationError, ) - logger = logging.getLogger(__name__) diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index ea13e28e8..8457a1a38 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -16,17 +16,17 @@ import ctypes import logging import sys +from typing import Optional, Tuple, Type -from can import BusABC, Message import can.typechecking +from can import BusABC, Message + from ..exceptions import ( CanError, + CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, - CanInitializationError, ) -from typing import Optional, Tuple, Type - logger = logging.getLogger(__name__) diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index 6c3e63697..4ddb52455 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -13,14 +13,14 @@ import time from queue import SimpleQueue from types import ModuleType -from typing import Optional, List, Union, Tuple, Any +from typing import Any, List, Optional, Tuple, Union import can.typechecking -from can import BusABC, Message, BitTiming, BitTimingFd +from can import BitTiming, BitTimingFd, BusABC, Message from can.exceptions import ( CanInitializationError, - CanOperationError, CanInterfaceNotImplementedError, + CanOperationError, ) from can.util import check_or_adjust_timing_clock, deprecated_args_alias diff --git a/can/interfaces/pcan/__init__.py b/can/interfaces/pcan/__init__.py index 0f28b0ffe..b46ccb050 100644 --- a/can/interfaces/pcan/__init__.py +++ b/can/interfaces/pcan/__init__.py @@ -1,4 +1,9 @@ """ """ +__all__ = [ + "PcanBus", + "PcanError", +] + from can.interfaces.pcan.pcan import PcanBus, PcanError diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index d1b2121cb..a60b96079 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -15,11 +15,10 @@ # more Info at http://www.peak-system.com # Module Imports +import logging +import platform from ctypes import * from ctypes.util import find_library -import platform - -import logging PLATFORM = platform.system() IS_WINDOWS = PLATFORM == "Windows" diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 2ed0ff445..61d19d1b4 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -2,74 +2,74 @@ Enable basic CAN over a PCAN USB device. """ import logging +import platform import time from datetime import datetime -import platform -from typing import Optional, List, Tuple, Union, Any +from typing import Any, List, Optional, Tuple, Union from packaging import version from can import ( - BusABC, - BusState, BitTiming, BitTimingFd, - Message, + BusABC, + BusState, CanError, - CanOperationError, CanInitializationError, + CanOperationError, + Message, ) from can.util import check_or_adjust_timing_clock, dlc2len, len2dlc + from .basic import ( - PCAN_BITRATES, - PCAN_FD_PARAMETER_LIST, - PCAN_CHANNEL_NAMES, - PCAN_NONEBUS, - PCAN_BAUD_500K, - PCAN_TYPE_ISA, - PCANBasic, - PCAN_ERROR_OK, + FEATURE_FD_CAPABLE, + IS_LINUX, + IS_WINDOWS, PCAN_ALLOW_ERROR_FRAMES, - PCAN_PARAMETER_ON, - PCAN_RECEIVE_EVENT, PCAN_API_VERSION, + PCAN_ATTACHED_CHANNELS, + PCAN_BAUD_500K, + PCAN_BITRATES, + PCAN_BUSOFF_AUTORESET, + PCAN_CHANNEL_AVAILABLE, + PCAN_CHANNEL_CONDITION, + PCAN_CHANNEL_FEATURES, + PCAN_CHANNEL_IDENTIFYING, + PCAN_CHANNEL_NAMES, PCAN_DEVICE_NUMBER, - PCAN_ERROR_QRCVEMPTY, - PCAN_ERROR_BUSLIGHT, + PCAN_DICT_STATUS, PCAN_ERROR_BUSHEAVY, - PCAN_MESSAGE_EXTENDED, - PCAN_MESSAGE_RTR, - PCAN_MESSAGE_FD, + PCAN_ERROR_BUSLIGHT, + PCAN_ERROR_OK, + PCAN_ERROR_QRCVEMPTY, + PCAN_FD_PARAMETER_LIST, + PCAN_LANBUS1, + PCAN_LISTEN_ONLY, PCAN_MESSAGE_BRS, - PCAN_MESSAGE_ESI, PCAN_MESSAGE_ERRFRAME, + PCAN_MESSAGE_ESI, + PCAN_MESSAGE_EXTENDED, + PCAN_MESSAGE_FD, + PCAN_MESSAGE_RTR, PCAN_MESSAGE_STANDARD, - TPCANMsgFD, - TPCANMsg, - PCAN_CHANNEL_IDENTIFYING, - PCAN_LISTEN_ONLY, + PCAN_NONEBUS, PCAN_PARAMETER_OFF, - TPCANHandle, - IS_LINUX, - IS_WINDOWS, + PCAN_PARAMETER_ON, + PCAN_PCCBUS1, PCAN_PCIBUS1, + PCAN_RECEIVE_EVENT, + PCAN_TYPE_ISA, PCAN_USBBUS1, - PCAN_PCCBUS1, - PCAN_LANBUS1, - PCAN_CHANNEL_CONDITION, - PCAN_CHANNEL_AVAILABLE, - PCAN_CHANNEL_FEATURES, - FEATURE_FD_CAPABLE, - PCAN_DICT_STATUS, - PCAN_BUSOFF_AUTORESET, + VALID_PCAN_CAN_CLOCKS, + VALID_PCAN_FD_CLOCKS, + PCANBasic, TPCANBaudrate, - PCAN_ATTACHED_CHANNELS, TPCANChannelInformation, - VALID_PCAN_FD_CLOCKS, - VALID_PCAN_CAN_CLOCKS, + TPCANHandle, + TPCANMsg, + TPCANMsgFD, ) - # Set up logging log = logging.getLogger("can.pcan") @@ -96,7 +96,7 @@ try: # Try builtin Python 3 Windows API from _overlapped import CreateEvent - from _winapi import WaitForSingleObject, WAIT_OBJECT_0, INFINITE + from _winapi import INFINITE, WAIT_OBJECT_0, WaitForSingleObject HAS_EVENTS = True except ImportError: @@ -104,8 +104,6 @@ elif IS_LINUX: try: - import errno - import os import select HAS_EVENTS = True diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 4d82c1922..4d038a38a 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -3,11 +3,12 @@ """ import io -import time import logging +import time from typing import Optional from can import BusABC, Message + from ..exceptions import CanInterfaceNotImplementedError, CanOperationError logger = logging.getLogger(__name__) diff --git a/can/interfaces/seeedstudio/__init__.py b/can/interfaces/seeedstudio/__init__.py index cb1c17f1d..2fc348a17 100644 --- a/can/interfaces/seeedstudio/__init__.py +++ b/can/interfaces/seeedstudio/__init__.py @@ -1,4 +1,6 @@ """ """ +__all__ = ["SeeedBus"] + from can.interfaces.seeedstudio.seeedstudio import SeeedBus diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index 4d09ca0cd..7d7a1e687 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -6,9 +6,9 @@ SKU 114991193 """ +import io import logging import struct -import io from time import time import can diff --git a/can/interfaces/serial/__init__.py b/can/interfaces/serial/__init__.py index bd6a45b9c..1b1d63c49 100644 --- a/can/interfaces/serial/__init__.py +++ b/can/interfaces/serial/__init__.py @@ -1,4 +1,6 @@ """ """ -from can.interfaces.serial.serial_can import SerialBus as Bus +__all__ = ["SerialBus"] + +from can.interfaces.serial.serial_can import SerialBus diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index d0df88fcd..eb336feba 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -10,14 +10,15 @@ import io import logging import struct -from typing import Any, List, Tuple, Optional +from typing import Any, List, Optional, Tuple -from can import BusABC, Message from can import ( - CanInterfaceNotImplementedError, + BusABC, CanInitializationError, + CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError, + Message, ) from can.typechecking import AutoDetectedConfig diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index eed67a5f8..21306f28f 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -2,21 +2,19 @@ Interface for slcan compatible interfaces (win32/linux). """ -from typing import Any, Optional, Tuple - import io -import time import logging +import time +from typing import Any, Optional, Tuple + +from can import BusABC, Message, typechecking -from can import BusABC, Message from ..exceptions import ( - CanInterfaceNotImplementedError, CanInitializationError, + CanInterfaceNotImplementedError, CanOperationError, error_check, ) -from can import typechecking - logger = logging.getLogger(__name__) diff --git a/can/interfaces/socketcan/__init__.py b/can/interfaces/socketcan/__init__.py index e08c18f50..0fbdede58 100644 --- a/can/interfaces/socketcan/__init__.py +++ b/can/interfaces/socketcan/__init__.py @@ -2,4 +2,10 @@ See: https://www.kernel.org/doc/Documentation/networking/can.txt """ -from .socketcan import SocketcanBus, CyclicSendTask, MultiRateCyclicSendTask +__all__ = [ + "CyclicSendTask", + "MultiRateCyclicSendTask", + "SocketcanBus", +] + +from .socketcan import CyclicSendTask, MultiRateCyclicSendTask, SocketcanBus diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 74fbe8197..bdf39f0ab 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -5,17 +5,16 @@ At the end of the file the usage of the internal methods is shown. """ -from typing import Dict, List, Optional, Sequence, Tuple, Type, Union - -import logging import ctypes import ctypes.util +import errno +import logging import select import socket import struct -import time import threading -import errno +import time +from typing import Dict, List, Optional, Sequence, Tuple, Type, Union log = logging.getLogger(__name__) log_tx = log.getChild("tx") @@ -31,15 +30,15 @@ import can -from can import Message, BusABC +from can import BusABC, Message from can.broadcastmanager import ( + LimitedDurationCyclicSendTaskABC, ModifiableCyclicTaskABC, RestartableCyclicTaskABC, - LimitedDurationCyclicSendTaskABC, ) -from can.typechecking import CanFilters from can.interfaces.socketcan import constants -from can.interfaces.socketcan.utils import pack_filters, find_available_interfaces +from can.interfaces.socketcan.utils import find_available_interfaces, pack_filters +from can.typechecking import CanFilters # Setup BCM struct diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 7a8538135..8b2114692 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -8,7 +8,7 @@ import os import struct import subprocess -from typing import cast, Optional, List +from typing import List, Optional, cast from can import typechecking from can.interfaces.socketcan.constants import CAN_EFF_FLAG diff --git a/can/interfaces/socketcand/__init__.py b/can/interfaces/socketcand/__init__.py index 442c06d8b..e6b106918 100644 --- a/can/interfaces/socketcand/__init__.py +++ b/can/interfaces/socketcand/__init__.py @@ -6,4 +6,6 @@ http://www.domologic.de """ +__all__ = ["SocketCanDaemonBus"] + from .socketcand import SocketCanDaemonBus diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 3f4e2ac86..0c6c06ccf 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -7,14 +7,15 @@ Copyright (C) 2021 DOMOLOGIC GmbH http://www.domologic.de """ -import can -import socket -import select import logging +import select +import socket import time import traceback from collections import deque +import can + log = logging.getLogger(__name__) diff --git a/can/interfaces/systec/__init__.py b/can/interfaces/systec/__init__.py index be7004b6a..9a97b3054 100644 --- a/can/interfaces/systec/__init__.py +++ b/can/interfaces/systec/__init__.py @@ -1 +1,3 @@ +__all__ = ["UcanBus"] + from can.interfaces.systec.ucanbus import UcanBus diff --git a/can/interfaces/systec/constants.py b/can/interfaces/systec/constants.py index 96952c17e..8caf9eab4 100644 --- a/can/interfaces/systec/constants.py +++ b/can/interfaces/systec/constants.py @@ -1,4 +1,6 @@ -from ctypes import c_ubyte as BYTE, c_ushort as WORD, c_ulong as DWORD +from ctypes import c_ubyte as BYTE +from ctypes import c_ulong as DWORD +from ctypes import c_ushort as WORD #: Maximum number of modules that are supported. MAX_MODULES = 64 diff --git a/can/interfaces/systec/exceptions.py b/can/interfaces/systec/exceptions.py index 733326194..9f7d4e2e5 100644 --- a/can/interfaces/systec/exceptions.py +++ b/can/interfaces/systec/exceptions.py @@ -1,9 +1,9 @@ +from abc import ABC, abstractmethod from typing import Dict -from abc import ABC, abstractmethod +from can import CanError from .constants import ReturnCode -from can import CanError class UcanException(CanError, ABC): diff --git a/can/interfaces/systec/structures.py b/can/interfaces/systec/structures.py index 841474b80..699763989 100644 --- a/can/interfaces/systec/structures.py +++ b/can/interfaces/systec/structures.py @@ -1,12 +1,20 @@ -from ctypes import Structure, POINTER, sizeof +import os +from ctypes import POINTER, Structure, sizeof +from ctypes import ( + c_long as BOOL, +) from ctypes import ( c_ubyte as BYTE, - c_ushort as WORD, +) +from ctypes import ( c_ulong as DWORD, - c_long as BOOL, +) +from ctypes import ( + c_ushort as WORD, +) +from ctypes import ( c_void_p as LPVOID, ) -import os # Workaround for Unix based platforms to be able to load structures for testing, etc... if os.name == "nt": diff --git a/can/interfaces/systec/ucan.py b/can/interfaces/systec/ucan.py index a6de4e9f5..bbc484314 100644 --- a/can/interfaces/systec/ucan.py +++ b/can/interfaces/systec/ucan.py @@ -1,14 +1,12 @@ import logging import sys - from ctypes import byref from ctypes import c_wchar_p as LPWSTR from ...exceptions import CanInterfaceNotImplementedError - from .constants import * -from .structures import * from .exceptions import * +from .structures import * log = logging.getLogger("can.systec") diff --git a/can/interfaces/systec/ucanbus.py b/can/interfaces/systec/ucanbus.py index 7d8b6133a..da05b38b1 100644 --- a/can/interfaces/systec/ucanbus.py +++ b/can/interfaces/systec/ucanbus.py @@ -2,11 +2,11 @@ from threading import Event from can import BusABC, BusState, Message -from ...exceptions import CanError, CanInitializationError, CanOperationError +from ...exceptions import CanError, CanInitializationError, CanOperationError from .constants import * -from .structures import * from .exceptions import UcanException +from .structures import * from .ucan import UcanServer log = logging.getLogger("can.systec") diff --git a/can/interfaces/udp_multicast/__init__.py b/can/interfaces/udp_multicast/__init__.py index 0ce1ce389..6e11a02c5 100644 --- a/can/interfaces/udp_multicast/__init__.py +++ b/can/interfaces/udp_multicast/__init__.py @@ -1,3 +1,5 @@ """A module to allow CAN over UDP on IPv4/IPv6 multicast.""" +__all__ = ["UdpMulticastBus"] + from .bus import UdpMulticastBus diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 5c7bee3e8..00cbd32c8 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -17,8 +17,7 @@ from can import BusABC from can.typechecking import AutoDetectedConfig -from .utils import pack_message, unpack_message, check_msgpack_installed - +from .utils import check_msgpack_installed, pack_message, unpack_message # see socket.getaddrinfo() IPv4_ADDRESS_INFO = Tuple[str, int] # address, port diff --git a/can/interfaces/udp_multicast/utils.py b/can/interfaces/udp_multicast/utils.py index 2658bf0a9..35a0df185 100644 --- a/can/interfaces/udp_multicast/utils.py +++ b/can/interfaces/udp_multicast/utils.py @@ -2,12 +2,9 @@ Defines common functions. """ -from typing import Any -from typing import Dict -from typing import Optional +from typing import Any, Dict, Optional -from can import Message -from can import CanInterfaceNotImplementedError +from can import CanInterfaceNotImplementedError, Message from can.typechecking import ReadableBytesLike try: diff --git a/can/interfaces/usb2can/__init__.py b/can/interfaces/usb2can/__init__.py index 4ccff1cb0..17f5583f3 100644 --- a/can/interfaces/usb2can/__init__.py +++ b/can/interfaces/usb2can/__init__.py @@ -1,5 +1,10 @@ """ """ -from .usb2canInterface import Usb2canBus +__all__ = [ + "Usb2CanAbstractionLayer", + "Usb2canBus", +] + from .usb2canabstractionlayer import Usb2CanAbstractionLayer +from .usb2canInterface import Usb2canBus diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index bca40f8d3..2c0a0d00f 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -6,14 +6,17 @@ from ctypes import byref from typing import Optional -from can import BusABC, Message, CanInitializationError, CanOperationError -from .usb2canabstractionlayer import Usb2CanAbstractionLayer, CanalMsg, CanalError +from can import BusABC, CanInitializationError, CanOperationError, Message + +from .serial_selector import find_serial_devices from .usb2canabstractionlayer import ( IS_ERROR_FRAME, - IS_REMOTE_FRAME, IS_ID_TYPE, + IS_REMOTE_FRAME, + CanalError, + CanalMsg, + Usb2CanAbstractionLayer, ) -from .serial_selector import find_serial_devices # Set up logging log = logging.getLogger("can.usb2can") diff --git a/can/interfaces/usb2can/usb2canabstractionlayer.py b/can/interfaces/usb2can/usb2canabstractionlayer.py index a6708cb42..a894c3953 100644 --- a/can/interfaces/usb2can/usb2canabstractionlayer.py +++ b/can/interfaces/usb2can/usb2canabstractionlayer.py @@ -3,11 +3,12 @@ Socket CAN is recommended under Unix/Linux systems. """ +import logging from ctypes import * from enum import IntEnum -import logging import can + from ...exceptions import error_check from ...typechecking import StringPathLike diff --git a/can/interfaces/vector/__init__.py b/can/interfaces/vector/__init__.py index c5eae7140..e0c34d88f 100644 --- a/can/interfaces/vector/__init__.py +++ b/can/interfaces/vector/__init__.py @@ -1,12 +1,24 @@ """ """ +__all__ = [ + "get_channel_configs", + "VectorBus", + "VectorBusParams", + "VectorCanFdParams", + "VectorCanParams", + "VectorChannelConfig", + "VectorError", + "VectorInitializationError", + "VectorOperationError", +] + from .canlib import ( VectorBus, - get_channel_configs, - VectorChannelConfig, VectorBusParams, - VectorCanParams, VectorCanFdParams, + VectorCanParams, + VectorChannelConfig, + get_channel_configs, ) -from .exceptions import VectorError, VectorOperationError, VectorInitializationError +from .exceptions import VectorError, VectorInitializationError, VectorOperationError diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index d53b1418d..e60d20b0d 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -8,19 +8,19 @@ # ============================== import ctypes import logging -import time import os +import time from types import ModuleType from typing import ( + Any, + Callable, + Dict, List, NamedTuple, Optional, - Tuple, Sequence, + Tuple, Union, - Any, - Dict, - Callable, cast, ) @@ -28,7 +28,7 @@ INFINITE: Optional[int] try: # Try builtin Python 3 Windows API - from _winapi import WaitForSingleObject, INFINITE # type: ignore + from _winapi import INFINITE, WaitForSingleObject # type: ignore HAS_EVENTS = True except ImportError: @@ -38,21 +38,21 @@ # Import Modules # ============== from can import ( - BusABC, - Message, - CanInterfaceNotImplementedError, - CanInitializationError, BitTiming, BitTimingFd, + BusABC, + CanInitializationError, + CanInterfaceNotImplementedError, + Message, ) +from can.typechecking import AutoDetectedConfig, CanFilters from can.util import ( - len2dlc, - dlc2len, + check_or_adjust_timing_clock, deprecated_args_alias, + dlc2len, + len2dlc, time_perfcounter_correlation, - check_or_adjust_timing_clock, ) -from can.typechecking import AutoDetectedConfig, CanFilters # Define Module Logger # ==================== @@ -60,8 +60,8 @@ # Import Vector API modules # ========================= +from . import xlclass, xldefine from .exceptions import VectorError, VectorInitializationError, VectorOperationError -from . import xldefine, xlclass # Import safely Vector API module for Travis tests xldriver: Optional[ModuleType] = None diff --git a/can/interfaces/vector/xldefine.py b/can/interfaces/vector/xldefine.py index e2fd288b9..ebc0971c1 100644 --- a/can/interfaces/vector/xldefine.py +++ b/can/interfaces/vector/xldefine.py @@ -6,7 +6,6 @@ # ============================== from enum import IntEnum, IntFlag - MAX_MSG_LEN = 8 XL_CAN_MAX_DATA_LEN = 64 XL_INVALID_PORTHANDLE = -1 diff --git a/can/interfaces/vector/xldriver.py b/can/interfaces/vector/xldriver.py index 29791e32f..f84b3cf1d 100644 --- a/can/interfaces/vector/xldriver.py +++ b/can/interfaces/vector/xldriver.py @@ -10,7 +10,8 @@ import ctypes import logging import platform -from .exceptions import VectorOperationError, VectorInitializationError + +from .exceptions import VectorInitializationError, VectorOperationError # Define Module Logger # ==================== diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index ad8774147..3eaefc230 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -6,14 +6,13 @@ and reside in the same process will receive the same messages. """ -from typing import Any, Dict, List, Optional, Tuple, TYPE_CHECKING - -from copy import deepcopy import logging -import time import queue -from threading import RLock +import time +from copy import deepcopy from random import randint +from threading import RLock +from typing import TYPE_CHECKING, Any, Dict, List, Optional, Tuple from can import CanOperationError from can.bus import BusABC diff --git a/can/io/__init__.py b/can/io/__init__.py index 6dc9ac1af..12cebd52c 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -3,15 +3,39 @@ and Writers based off the file extension. """ +__all__ = [ + "ASCReader", + "ASCWriter", + "BaseRotatingLogger", + "BLFReader", + "BLFWriter", + "CanutilsLogReader", + "CanutilsLogWriter", + "CSVReader", + "CSVWriter", + "Logger", + "LogReader", + "MessageSync", + "Printer", + "SizedRotatingLogger", + "SqliteReader", + "SqliteWriter", + "TRCFileVersion", + "TRCReader", + "TRCWriter", +] + # Generic -from .logger import Logger, BaseRotatingLogger, SizedRotatingLogger +from .logger import BaseRotatingLogger, Logger, SizedRotatingLogger from .player import LogReader, MessageSync +# isort: split + # Format specific -from .asc import ASCWriter, ASCReader +from .asc import ASCReader, ASCWriter from .blf import BLFReader, BLFWriter from .canutils import CanutilsLogReader, CanutilsLogWriter -from .csv import CSVWriter, CSVReader -from .sqlite import SqliteReader, SqliteWriter +from .csv import CSVReader, CSVWriter from .printer import Printer -from .trc import TRCReader, TRCWriter, TRCFileVersion +from .sqlite import SqliteReader, SqliteWriter +from .trc import TRCFileVersion, TRCReader, TRCWriter diff --git a/can/io/asc.py b/can/io/asc.py index a380f6b16..b8054ecfc 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -5,18 +5,16 @@ - https://bitbucket.org/tobylorenz/vector_asc/src/master/src/Vector/ASC/tests/unittests/data/ - under `test/data/logfile.asc` """ +import logging import re -from typing import Any, Generator, List, Optional, Dict, Union, TextIO - -from datetime import datetime import time -import logging +from datetime import datetime +from typing import Any, Dict, Generator, List, Optional, TextIO, Union from ..message import Message -from ..util import channel2int, len2dlc, dlc2len -from .generic import FileIOMessageWriter, MessageReader from ..typechecking import StringPathLike - +from ..util import channel2int, dlc2len, len2dlc +from .generic import FileIOMessageWriter, MessageReader CAN_MSG_EXT = 0x80000000 CAN_ID_MASK = 0x1FFFFFFF diff --git a/can/io/blf.py b/can/io/blf.py index 8d5ade8c8..e9dd8380f 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -12,19 +12,18 @@ objects types. """ -import struct -import zlib import datetime -import time import logging -from typing import List, BinaryIO, Generator, Union, Tuple, Optional, cast, Any +import struct +import time +import zlib +from typing import Any, BinaryIO, Generator, List, Optional, Tuple, Union, cast from ..message import Message -from ..util import len2dlc, dlc2len, channel2int from ..typechecking import StringPathLike +from ..util import channel2int, dlc2len, len2dlc from .generic import FileIOMessageWriter, MessageReader - TSystemTime = Tuple[int, int, int, int, int, int, int, int] diff --git a/can/io/canutils.py b/can/io/canutils.py index 17d7a193f..a9dced6a1 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -5,11 +5,12 @@ """ import logging -from typing import Generator, TextIO, Union, Any +from typing import Any, Generator, TextIO, Union from can.message import Message -from .generic import FileIOMessageWriter, MessageReader + from ..typechecking import StringPathLike +from .generic import FileIOMessageWriter, MessageReader log = logging.getLogger("can.io.canutils") diff --git a/can/io/csv.py b/can/io/csv.py index 7570d4f30..b96e69342 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -9,12 +9,13 @@ of a CSV file. """ -from base64 import b64encode, b64decode -from typing import TextIO, Generator, Union, Any +from base64 import b64decode, b64encode +from typing import Any, Generator, TextIO, Union from can.message import Message -from .generic import FileIOMessageWriter, MessageReader + from ..typechecking import StringPathLike +from .generic import FileIOMessageWriter, MessageReader class CSVReader(MessageReader): diff --git a/can/io/generic.py b/can/io/generic.py index 77bba4501..193ec3df2 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -1,19 +1,21 @@ """Contains generic base classes for file IO.""" import locale from abc import ABCMeta +from types import TracebackType from typing import ( - Optional, - cast, + Any, + ContextManager, Iterable, + Optional, Type, - ContextManager, - Any, + cast, ) + from typing_extensions import Literal -from types import TracebackType -import can -import can.typechecking +from .. import typechecking +from ..listener import Listener +from ..message import Message class BaseIOHandler(ContextManager, metaclass=ABCMeta): @@ -26,11 +28,11 @@ class BaseIOHandler(ContextManager, metaclass=ABCMeta): was opened """ - file: Optional[can.typechecking.FileLike] + file: Optional[typechecking.FileLike] def __init__( self, - file: Optional[can.typechecking.AcceptedIOType], + file: Optional[typechecking.AcceptedIOType], mode: str = "rt", **kwargs: Any, ) -> None: @@ -42,7 +44,7 @@ def __init__( """ if file is None or (hasattr(file, "read") and hasattr(file, "write")): # file is None or some file-like object - self.file = cast(Optional[can.typechecking.FileLike], file) + self.file = cast(Optional[typechecking.FileLike], file) else: encoding: Optional[str] = ( None @@ -52,10 +54,8 @@ def __init__( # pylint: disable=consider-using-with # file is some path-like object self.file = cast( - can.typechecking.FileLike, - open( - cast(can.typechecking.StringPathLike, file), mode, encoding=encoding - ), + typechecking.FileLike, + open(cast(typechecking.StringPathLike, file), mode, encoding=encoding), ) # for multiple inheritance @@ -80,19 +80,19 @@ def stop(self) -> None: self.file.close() -class MessageWriter(BaseIOHandler, can.Listener, metaclass=ABCMeta): +class MessageWriter(BaseIOHandler, Listener, metaclass=ABCMeta): """The base class for all writers.""" - file: Optional[can.typechecking.FileLike] + file: Optional[typechecking.FileLike] class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): """A specialized base class for all writers with file descriptors.""" - file: can.typechecking.FileLike + file: typechecking.FileLike def __init__( - self, file: can.typechecking.AcceptedIOType, mode: str = "wt", **kwargs: Any + self, file: typechecking.AcceptedIOType, mode: str = "wt", **kwargs: Any ) -> None: # Not possible with the type signature, but be verbose for user-friendliness if file is None: @@ -105,5 +105,5 @@ def file_size(self) -> int: return self.file.tell() -class MessageReader(BaseIOHandler, Iterable[can.Message], metaclass=ABCMeta): +class MessageReader(BaseIOHandler, Iterable[Message], metaclass=ABCMeta): """The base class for all readers.""" diff --git a/can/io/logger.py b/can/io/logger.py index 0477fa065..de538e866 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -2,29 +2,28 @@ See the :class:`Logger` class. """ +import gzip import os import pathlib from abc import ABC, abstractmethod from datetime import datetime -import gzip -from typing import Any, Optional, Callable, Type, Tuple, cast, Dict, Set - from types import TracebackType +from typing import Any, Callable, Dict, Optional, Set, Tuple, Type, cast -from typing_extensions import Literal from pkg_resources import iter_entry_points +from typing_extensions import Literal -from ..message import Message from ..listener import Listener -from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter +from ..message import Message +from ..typechecking import AcceptedIOType, FileLike, StringPathLike from .asc import ASCWriter from .blf import BLFWriter from .canutils import CanutilsLogWriter from .csv import CSVWriter -from .sqlite import SqliteWriter +from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter from .printer import Printer +from .sqlite import SqliteWriter from .trc import TRCWriter -from ..typechecking import StringPathLike, FileLike, AcceptedIOType class Logger(MessageWriter): diff --git a/can/io/player.py b/can/io/player.py index 13a9ce60e..022ed503b 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -10,15 +10,15 @@ from pkg_resources import iter_entry_points -from .generic import MessageReader +from ..message import Message +from ..typechecking import AcceptedIOType, FileLike, StringPathLike from .asc import ASCReader from .blf import BLFReader from .canutils import CanutilsLogReader from .csv import CSVReader +from .generic import MessageReader from .sqlite import SqliteReader from .trc import TRCReader -from ..typechecking import StringPathLike, FileLike, AcceptedIOType -from ..message import Message class LogReader(MessageReader): diff --git a/can/io/printer.py b/can/io/printer.py index 01da12e84..d0df71db8 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -3,12 +3,11 @@ """ import logging - -from typing import Optional, TextIO, Union, Any, cast +from typing import Any, Optional, TextIO, Union, cast from ..message import Message -from .generic import MessageWriter from ..typechecking import StringPathLike +from .generic import MessageWriter log = logging.getLogger("can.io.printer") diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 33f5d293f..43fd761e9 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -4,16 +4,17 @@ .. note:: The database schema is given in the documentation of the loggers. """ -import time -import threading import logging import sqlite3 -from typing import Generator, Any +import threading +import time +from typing import Any, Generator from can.listener import BufferedReader from can.message import Message -from .generic import MessageWriter, MessageReader + from ..typechecking import StringPathLike +from .generic import MessageReader, MessageWriter log = logging.getLogger("can.io.sqlite") diff --git a/can/io/trc.py b/can/io/trc.py index d1ee2b72d..75c81b502 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -7,18 +7,17 @@ Version 1.1 will be implemented as it is most commonly used """ # noqa -from datetime import datetime, timedelta, timezone -from enum import Enum import io -import os import logging -from typing import Generator, Optional, Union, TextIO, Callable, List, Dict +import os +from datetime import datetime, timedelta, timezone +from enum import Enum +from typing import Callable, Dict, Generator, List, Optional, TextIO, Union from ..message import Message -from ..util import channel2int, len2dlc, dlc2len -from .generic import FileIOMessageWriter, MessageReader from ..typechecking import StringPathLike - +from ..util import channel2int, dlc2len, len2dlc +from .generic import FileIOMessageWriter, MessageReader logger = logging.getLogger("can.io.trc") diff --git a/can/listener.py b/can/listener.py index e68d813d1..d6f252d17 100644 --- a/can/listener.py +++ b/can/listener.py @@ -2,15 +2,15 @@ This module contains the implementation of `can.Listener` and some readers. """ +import asyncio import sys import warnings -import asyncio from abc import ABCMeta, abstractmethod -from queue import SimpleQueue, Empty +from queue import Empty, SimpleQueue from typing import Any, AsyncIterator, Optional -from can.message import Message from can.bus import BusABC +from can.message import Message class Listener(metaclass=ABCMeta): diff --git a/can/logconvert.py b/can/logconvert.py index 7a34deb61..49cdaf4bb 100644 --- a/can/logconvert.py +++ b/can/logconvert.py @@ -2,11 +2,11 @@ Convert a log file from one format to another. """ -import sys import argparse import errno +import sys -from can import LogReader, Logger, SizedRotatingLogger +from can import Logger, LogReader, SizedRotatingLogger class ArgumentParser(argparse.ArgumentParser): diff --git a/can/logger.py b/can/logger.py index 9448fe6b4..42312324a 100644 --- a/can/logger.py +++ b/can/logger.py @@ -1,14 +1,15 @@ +import argparse +import errno import re import sys -import argparse from datetime import datetime -import errno -from typing import Any, Dict, List, Union, Sequence, Tuple +from typing import Any, Dict, List, Sequence, Tuple, Union import can from can.io import BaseRotatingLogger from can.io.generic import MessageWriter from can.util import cast_from_string + from . import Bus, BusState, Logger, SizedRotatingLogger from .typechecking import CanFilter, CanFilters diff --git a/can/message.py b/can/message.py index 48933b2da..05700ef72 100644 --- a/can/message.py +++ b/can/message.py @@ -6,13 +6,12 @@ starting with Python 3.7. """ +from copy import deepcopy +from math import isinf, isnan from typing import Optional from . import typechecking -from copy import deepcopy -from math import isinf, isnan - class Message: # pylint: disable=too-many-instance-attributes; OK for a dataclass """ diff --git a/can/notifier.py b/can/notifier.py index 2adae431e..fce210f49 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -6,7 +6,7 @@ import logging import threading import time -from typing import Callable, Iterable, List, Optional, Union, Awaitable +from typing import Awaitable, Callable, Iterable, List, Optional, Union from can.bus import BusABC from can.listener import Listener diff --git a/can/player.py b/can/player.py index fab271824..40e4cc43a 100644 --- a/can/player.py +++ b/can/player.py @@ -5,11 +5,11 @@ Similar to canplayer in the can-utils package. """ -import sys import argparse -from datetime import datetime import errno -from typing import cast, Iterable +import sys +from datetime import datetime +from typing import Iterable, cast from can import LogReader, Message, MessageSync diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 6f16b8b4d..4793ed1ff 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -12,7 +12,6 @@ from .interface import Bus - try: from contextlib import nullcontext diff --git a/can/util.py b/can/util.py index 42d99272e..2f6fb1957 100644 --- a/can/util.py +++ b/can/util.py @@ -11,24 +11,24 @@ import re import warnings from configparser import ConfigParser -from time import time, perf_counter, get_clock_info +from time import get_clock_info, perf_counter, time from typing import ( Any, Callable, - cast, Dict, Iterable, - Tuple, Optional, - Union, + Tuple, TypeVar, + Union, + cast, ) import can + from . import typechecking from .bit_timing import BitTiming, BitTimingFd -from .exceptions import CanInitializationError -from .exceptions import CanInterfaceNotImplementedError +from .exceptions import CanInitializationError, CanInterfaceNotImplementedError from .interfaces import VALID_INTERFACES log = logging.getLogger("can.util") diff --git a/can/viewer.py b/can/viewer.py index 5539ee3fb..be7f76b73 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -30,20 +30,21 @@ from typing import Dict, List, Tuple, Union from can import __version__ + from .logger import ( - _create_bus, - _parse_filters, _append_filter_argument, _create_base_argument_parser, + _create_bus, _parse_additional_config, + _parse_filters, ) - logger = logging.getLogger("can.viewer") try: import curses - from curses.ascii import ESC as KEY_ESC, SP as KEY_SPACE + from curses.ascii import ESC as KEY_ESC + from curses.ascii import SP as KEY_SPACE except ImportError: # Probably on Windows while windows-curses is not installed (e.g. in PyPy) logger.warning( diff --git a/doc/conf.py b/doc/conf.py index cea93440d..aa61f243b 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -6,9 +6,9 @@ # -- Imports ------------------------------------------------------------------- -import sys -import os import ctypes +import os +import sys from unittest.mock import MagicMock # If extensions (or modules to document with autodoc) are in another directory, diff --git a/pyproject.toml b/pyproject.toml index 17d87f033..af952e51e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,3 +4,16 @@ requires = [ "wheel", ] build-backend = "setuptools.build_meta" + +[tool.ruff] +select = [ + "F401", # unused-imports + "UP", # pyupgrade + "I", # isort +] + +# Assume Python 3.7. +target-version = "py37" + +[tool.ruff.isort] +known-first-party = ["can"] diff --git a/requirements-lint.txt b/requirements-lint.txt index f1070e1b9..829fe5663 100644 --- a/requirements-lint.txt +++ b/requirements-lint.txt @@ -1,4 +1,5 @@ pylint==2.16.4 +ruff==0.0.260 black~=23.1.0 mypy==1.0.1 mypy-extensions==0.4.3 diff --git a/setup.py b/setup.py index 96cbc0c77..b6dfab6f2 100644 --- a/setup.py +++ b/setup.py @@ -5,11 +5,12 @@ Learn more at https://github.com/hardbyte/python-can/ """ +import logging +import re from os import listdir from os.path import isfile, join -import re -import logging -from setuptools import setup, find_packages + +from setuptools import find_packages, setup logging.basicConfig(level=logging.WARNING) diff --git a/test/back2back_test.py b/test/back2back_test.py index 48c98bf59..52bfaf716 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -4,10 +4,10 @@ This module tests two buses attached to each other. """ +import random import unittest -from time import sleep, time from multiprocessing.dummy import Pool as ThreadPool -import random +from time import sleep, time import pytest @@ -17,12 +17,12 @@ from .config import ( IS_CI, - IS_UNIX, IS_OSX, + IS_PYPY, IS_TRAVIS, - TEST_INTERFACE_SOCKETCAN, + IS_UNIX, TEST_CAN_FD, - IS_PYPY, + TEST_INTERFACE_SOCKETCAN, ) diff --git a/test/contextmanager_test.py b/test/contextmanager_test.py index 014dfb121..3adb1e7c6 100644 --- a/test/contextmanager_test.py +++ b/test/contextmanager_test.py @@ -5,6 +5,7 @@ """ import unittest + import can diff --git a/test/listener_test.py b/test/listener_test.py index 9b2e9e93b..b530afa60 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -3,13 +3,13 @@ """ """ import asyncio -import unittest -import random import logging -import tempfile import os +import random +import tempfile +import unittest import warnings -from os.path import join, dirname +from os.path import dirname, join import can diff --git a/test/logformats_test.py b/test/logformats_test.py index 3486827a9..d3b0eb015 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -12,23 +12,24 @@ TODO: correctly set preserves_channel and adds_default_channel """ import logging -import unittest -from parameterized import parameterized -import tempfile import os -from abc import abstractmethod, ABCMeta -from itertools import zip_longest +import tempfile +import unittest +from abc import ABCMeta, abstractmethod from datetime import datetime +from itertools import zip_longest + +from parameterized import parameterized import can from can.io import blf from .data.example_data import ( + TEST_COMMENTS, TEST_MESSAGES_BASE, - TEST_MESSAGES_REMOTE_FRAMES, - TEST_MESSAGES_ERROR_FRAMES, TEST_MESSAGES_CAN_FD, - TEST_COMMENTS, + TEST_MESSAGES_ERROR_FRAMES, + TEST_MESSAGES_REMOTE_FRAMES, sort_messages, ) from .message_helper import ComparingMessagesTestCase diff --git a/test/network_test.py b/test/network_test.py index 58c305a38..61690c1b4 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -1,10 +1,10 @@ #!/usr/bin/env python -import unittest -import threading -import random import logging +import random +import threading +import unittest logging.getLogger(__file__).setLevel(logging.WARNING) diff --git a/test/notifier_test.py b/test/notifier_test.py index ca2093f55..6982130cf 100644 --- a/test/notifier_test.py +++ b/test/notifier_test.py @@ -1,8 +1,8 @@ #!/usr/bin/env python -import unittest -import time import asyncio +import time +import unittest import can diff --git a/test/serial_test.py b/test/serial_test.py index e1df96435..d020d7232 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -12,9 +12,8 @@ import can from can.interfaces.serial.serial_can import SerialBus -from .message_helper import ComparingMessagesTestCase from .config import IS_PYPY - +from .message_helper import ComparingMessagesTestCase # Mentioned in #1010 TIMEOUT = 0.5 if IS_PYPY else 0.1 # 0.1 is the default set in SerialBus diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 4454cbd27..9e01be457 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -4,10 +4,10 @@ This module tests cyclic send tasks. """ -from time import sleep +import gc import unittest +from time import sleep from unittest.mock import MagicMock -import gc import can diff --git a/test/test_cyclic_socketcan.py b/test/test_cyclic_socketcan.py index 30c86d6a5..f19ce95b9 100644 --- a/test/test_cyclic_socketcan.py +++ b/test/test_cyclic_socketcan.py @@ -3,9 +3,9 @@ """ This module tests multiple message cyclic send tasks. """ +import time import unittest -import time import can from .config import TEST_INTERFACE_SOCKETCAN diff --git a/test/test_interface_canalystii.py b/test/test_interface_canalystii.py index 4f3033e10..0a87f40f9 100755 --- a/test/test_interface_canalystii.py +++ b/test/test_interface_canalystii.py @@ -1,10 +1,14 @@ #!/usr/bin/env python +""" +""" + import unittest -from unittest.mock import patch, call from ctypes import c_ubyte +from unittest.mock import call, patch import canalystii as driver # low-level driver module, mock out this layer + import can from can.interfaces.canalystii import CANalystIIBus diff --git a/test/test_interface_ixxat.py b/test/test_interface_ixxat.py index 484a88b58..2ff016d97 100644 --- a/test/test_interface_ixxat.py +++ b/test/test_interface_ixxat.py @@ -8,6 +8,7 @@ """ import unittest + import can diff --git a/test/test_interface_ixxat_fd.py b/test/test_interface_ixxat_fd.py index 80060a7ed..7274498aa 100644 --- a/test/test_interface_ixxat_fd.py +++ b/test/test_interface_ixxat_fd.py @@ -8,6 +8,7 @@ """ import unittest + import can diff --git a/test/test_kvaser.py b/test/test_kvaser.py index fda8b8316..6e7ccea38 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -10,8 +10,7 @@ import pytest import can -from can.interfaces.kvaser import canlib -from can.interfaces.kvaser import constants +from can.interfaces.kvaser import canlib, constants class KvaserTest(unittest.TestCase): diff --git a/test/test_logger.py b/test/test_logger.py index bb0015a89..083e4d19c 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -4,12 +4,12 @@ This module tests the functions inside of logger.py """ -import unittest -from unittest import mock -from unittest.mock import Mock import gzip import os import sys +import unittest +from unittest import mock +from unittest.mock import Mock import pytest diff --git a/test/test_message_class.py b/test/test_message_class.py index 4840402ff..8e2367034 100644 --- a/test/test_message_class.py +++ b/test/test_message_class.py @@ -1,22 +1,21 @@ #!/usr/bin/env python -import unittest +import pickle import sys -from math import isinf, isnan +import unittest from copy import copy, deepcopy -import pickle from datetime import timedelta +from math import isinf, isnan -from hypothesis import HealthCheck, given, settings import hypothesis.errors import hypothesis.strategies as st +import pytest +from hypothesis import HealthCheck, given, settings from can import Message +from .config import IS_GITHUB_ACTIONS, IS_PYPY, IS_WINDOWS from .message_helper import ComparingMessagesTestCase -from .config import IS_GITHUB_ACTIONS, IS_WINDOWS, IS_PYPY - -import pytest class TestMessageClass(unittest.TestCase): diff --git a/test/test_message_filtering.py b/test/test_message_filtering.py index e6fe16d46..a73e07aa2 100644 --- a/test/test_message_filtering.py +++ b/test/test_message_filtering.py @@ -10,7 +10,6 @@ from .data.example_data import TEST_ALL_MESSAGES - EXAMPLE_MSG = Message(arbitration_id=0x123, is_extended_id=True) HIGHEST_MSG = Message(arbitration_id=0x1FFFFFFF, is_extended_id=True) diff --git a/test/test_message_sync.py b/test/test_message_sync.py index 7552915e7..90cbe372c 100644 --- a/test/test_message_sync.py +++ b/test/test_message_sync.py @@ -4,19 +4,18 @@ This module tests :class:`can.MessageSync`. """ -from copy import copy -import time import gc - +import time import unittest +from copy import copy + import pytest -from can import MessageSync, Message +from can import Message, MessageSync -from .config import IS_CI, IS_TRAVIS, IS_OSX, IS_GITHUB_ACTIONS, IS_LINUX -from .message_helper import ComparingMessagesTestCase +from .config import IS_CI, IS_GITHUB_ACTIONS, IS_LINUX, IS_OSX, IS_TRAVIS from .data.example_data import TEST_MESSAGES_BASE - +from .message_helper import ComparingMessagesTestCase TEST_FEWER_MESSAGES = TEST_MESSAGES_BASE[::2] diff --git a/test/test_neousys.py b/test/test_neousys.py index 26a220048..3acbf6389 100644 --- a/test/test_neousys.py +++ b/test/test_neousys.py @@ -1,20 +1,14 @@ #!/usr/bin/env python -import ctypes -import os -import pickle import unittest -from unittest.mock import Mock - from ctypes import ( + POINTER, byref, + c_ubyte, cast, - POINTER, sizeof, - c_ubyte, ) - -import pytest +from unittest.mock import Mock import can from can.interfaces.neousys import neousys diff --git a/test/test_neovi.py b/test/test_neovi.py index 181f92377..d8f54960a 100644 --- a/test/test_neovi.py +++ b/test/test_neovi.py @@ -4,6 +4,7 @@ """ import pickle import unittest + from can.interfaces.ics_neovi import ICSApiError diff --git a/test/test_player.py b/test/test_player.py index 9bdd484b8..5ad6e774c 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -4,12 +4,13 @@ This module tests the functions inside of player.py """ +import io +import os +import sys import unittest from unittest import mock from unittest.mock import Mock -import os -import sys -import io + import can import can.player diff --git a/test/test_robotell.py b/test/test_robotell.py index 64f4acaf1..c0658ef2c 100644 --- a/test/test_robotell.py +++ b/test/test_robotell.py @@ -1,6 +1,7 @@ #!/usr/bin/env python import unittest + import can diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index ad4388bf7..8230168b9 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -9,6 +9,7 @@ from unittest.mock import Mock import can + from .data.example_data import generate_message diff --git a/test/test_scripts.py b/test/test_scripts.py index a22820bd8..e7bd7fd09 100644 --- a/test/test_scripts.py +++ b/test/test_scripts.py @@ -4,10 +4,10 @@ This module tests that the scripts are all callable. """ +import errno import subprocess -import unittest import sys -import errno +import unittest from abc import ABCMeta, abstractmethod from .config import * diff --git a/test/test_slcan.py b/test/test_slcan.py index 8db2d402a..774a2dec5 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -1,9 +1,10 @@ #!/usr/bin/env python import unittest + import can -from .config import IS_PYPY +from .config import IS_PYPY """ Mentioned in #1010 & #1490 diff --git a/test/test_socketcan.py b/test/test_socketcan.py index 324890dad..90a143a36 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -8,8 +8,8 @@ import unittest import warnings from unittest.mock import patch -import can +import can from can.interfaces.socketcan.constants import ( CAN_BCM_TX_DELETE, CAN_BCM_TX_SETUP, @@ -18,13 +18,14 @@ TX_COUNTEVT, ) from can.interfaces.socketcan.socketcan import ( + BcmMsgHead, bcm_header_factory, build_bcm_header, - build_bcm_tx_delete_header, build_bcm_transmit_header, + build_bcm_tx_delete_header, build_bcm_update_header, - BcmMsgHead, ) + from .config import IS_LINUX, IS_PYPY diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py index 29ceb11c0..0f4e1b4ea 100644 --- a/test/test_socketcan_helpers.py +++ b/test/test_socketcan_helpers.py @@ -5,13 +5,11 @@ """ import gzip -from base64 import b64decode import unittest +from base64 import b64decode from unittest import mock -from subprocess import CalledProcessError - -from can.interfaces.socketcan.utils import find_available_interfaces, error_code_to_str +from can.interfaces.socketcan.utils import error_code_to_str, find_available_interfaces from .config import IS_LINUX, TEST_INTERFACE_SOCKETCAN diff --git a/test/test_util.py b/test/test_util.py index e77401688..a4aacdf86 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -10,10 +10,10 @@ from can.util import ( _create_bus_config, _rename_kwargs, + cast_from_string, channel2int, - deprecated_args_alias, check_or_adjust_timing_clock, - cast_from_string, + deprecated_args_alias, ) diff --git a/test/test_vector.py b/test/test_vector.py index 7694b31aa..b6a0632a8 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -9,22 +9,24 @@ import pickle import sys import time +from test.config import IS_WINDOWS from unittest.mock import Mock import pytest import can from can.interfaces.vector import ( - canlib, - xldefine, - xlclass, + VectorBusParams, + VectorCanFdParams, + VectorCanParams, + VectorChannelConfig, VectorError, VectorInitializationError, VectorOperationError, - VectorChannelConfig, + canlib, + xlclass, + xldefine, ) -from can.interfaces.vector import VectorBusParams, VectorCanParams, VectorCanFdParams -from test.config import IS_WINDOWS XLDRIVER_FOUND = canlib.xldriver is not None diff --git a/test/test_viewer.py b/test/test_viewer.py index baef10bda..ecc594915 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -30,14 +30,13 @@ import time import unittest from collections import defaultdict -from typing import Dict, Tuple, Union +from test.config import IS_CI from unittest.mock import patch import pytest import can from can.viewer import CanViewer, parse_args -from test.config import IS_CI # Allow the curses module to be missing (e.g. on PyPy on Windows) try: diff --git a/test/zero_dlc_test.py b/test/zero_dlc_test.py index cd5e7895e..4e7596caf 100644 --- a/test/zero_dlc_test.py +++ b/test/zero_dlc_test.py @@ -3,9 +3,8 @@ """ """ -from time import sleep -import unittest import logging +import unittest import can From ccfd7f30ec538f1fbaa676dd92e62c9b90ec0203 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 3 Apr 2023 13:10:46 +0200 Subject: [PATCH 246/475] Test python 3.12 alpha (#1554) * test 3.12 * fix AttributeError on 3.12 --- .github/workflows/ci.yml | 5 +++++ test/test_neousys.py | 16 ++++++++-------- 2 files changed, 13 insertions(+), 8 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 465d5959b..4d0997473 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -27,6 +27,11 @@ jobs: "pypy-3.8", "pypy-3.9", ] + include: + # Only test on a single configuration while there are just pre-releases + - os: ubuntu-latest + experimental: true + python-version: "3.12.0-alpha - 3.12.0" fail-fast: false steps: - uses: actions/checkout@v3 diff --git a/test/test_neousys.py b/test/test_neousys.py index 3acbf6389..080278d13 100644 --- a/test/test_neousys.py +++ b/test/test_neousys.py @@ -36,12 +36,12 @@ def tearDown(self) -> None: def test_bus_creation(self) -> None: self.assertIsInstance(self.bus, neousys.NeousysBus) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Setup.called) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Start.called) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_RegisterReceived.called) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_RegisterStatus.called) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Send.not_called) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Stop.not_called) + neousys.NEOUSYS_CANLIB.CAN_Setup.assert_called() + neousys.NEOUSYS_CANLIB.CAN_Start.assert_called() + neousys.NEOUSYS_CANLIB.CAN_RegisterReceived.assert_called() + neousys.NEOUSYS_CANLIB.CAN_RegisterStatus.assert_called() + neousys.NEOUSYS_CANLIB.CAN_Send.assert_not_called() + neousys.NEOUSYS_CANLIB.CAN_Stop.assert_not_called() CAN_Start_args = ( can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0] @@ -95,11 +95,11 @@ def test_send(self) -> None: arbitration_id=0x01, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=False ) self.bus.send(msg) - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Send.called) + neousys.NEOUSYS_CANLIB.CAN_Send.assert_called() def test_shutdown(self) -> None: self.bus.shutdown() - self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Stop.called) + neousys.NEOUSYS_CANLIB.CAN_Stop.assert_called() if __name__ == "__main__": From d7d617b7700ef6940e48576bf91b1850a0a4ff0d Mon Sep 17 00:00:00 2001 From: Nick James Kirkby <20824939+driftregion@users.noreply.github.com> Date: Mon, 3 Apr 2023 21:20:07 +0800 Subject: [PATCH 247/475] Add MF4 support (#1289) * add extra dependency * add mf4 io writer * update asammdf requirement * changes after initial review * simplify append call * add MF4Reader class * start testing * passes tests * update documentation * update docs and CI scripts * retrigger build * update setup.py according to review * remove debug save file * changes after review * updates after review * add cython requirement * fixes after review: * fix documentation * fix item access on FD_DLC2LEN dict * add compression argument to MF4Writer stop method * add MF4Writer and MF4Reader to logger and player modules * reformat and change setup.py accordingly * cleanup test file * cleanup docs * cleanups and fix linter problems * re-add change to can.io.Logger; it somehow went lost while rebasing * remove leftover __future__ import * fix typing error in can.io's player.py and logger.py * remove diff noise, remove deprecated appveyor CI * run black * Fix import errors * add acquisition source needed by asammdf to extract bus logging * use correct source type, add md5 digest required by asammdf * refactor test_extension_matching tests to use explicit extensions * satiate mypy * update mf4 implementation * fix AttributeError * format black * refactoring * fix bugs and add direction support * add timestamps to avoid ambiguity * set allowed_timestamp_delta to 1e-4 * read into BytesIO * Add restriction to docstring * implement file_size * constrain mf4 dependencies to pass CI tests * format docstring * add mf4 extra * Update doc/listeners.rst * Remove platform specifiers for asammdf * Format code with black * remove unnecessary parenthesis * install asammdf only for CPython <= 3.12 * fix NameError --------- Co-authored-by: danielhrisca Co-authored-by: Felix Divo Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Co-authored-by: Brian Thorne Co-authored-by: Brian Thorne Co-authored-by: hardbyte --- .github/workflows/ci.yml | 2 +- .readthedocs.yml | 1 + README.rst | 2 +- can/__init__.py | 4 + can/io/__init__.py | 3 + can/io/logger.py | 18 +- can/io/mf4.py | 480 ++++++++++++++++++++++++++++++++++++++ can/io/player.py | 25 +- doc/listeners.rst | 31 +++ setup.cfg | 2 +- setup.py | 1 + test/data/example_data.py | 35 ++- test/logformats_test.py | 93 +++++--- tox.ini | 1 + 14 files changed, 649 insertions(+), 49 deletions(-) create mode 100644 can/io/mf4.py diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 4d0997473..949df6aab 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -141,7 +141,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -e .[canalystii,gs_usb] + pip install -e .[canalystii,gs_usb,mf4] pip install -r doc/doc-requirements.txt - name: Build documentation run: | diff --git a/.readthedocs.yml b/.readthedocs.yml index 74cb9dbdd..32be9c7b5 100644 --- a/.readthedocs.yml +++ b/.readthedocs.yml @@ -29,3 +29,4 @@ python: extra_requirements: - canalystii - gs_usb + - mf4 diff --git a/README.rst b/README.rst index 6e65e505c..3c951e866 100644 --- a/README.rst +++ b/README.rst @@ -78,7 +78,7 @@ Features - receiving, sending, and periodically sending messages - normal and extended arbitration IDs - `CAN FD `__ support -- many different loggers and readers supporting playback: ASC (CANalyzer format), BLF (Binary Logging Format by Vector), TRC, CSV, SQLite, and Canutils log +- many different loggers and readers supporting playback: ASC (CANalyzer format), BLF (Binary Logging Format by Vector), MF4 (Measurement Data Format v4 by ASAM), TRC, CSV, SQLite, and Canutils log - efficient in-kernel or in-hardware filtering of messages on supported interfaces - bus configuration reading from a file or from environment variables - command line tools for working with CAN buses (see the `docs `__) diff --git a/can/__init__.py b/can/__init__.py index 5cc054c19..28416fb61 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -41,6 +41,8 @@ "ModifiableCyclicTaskABC", "Message", "MessageSync", + "MF4Reader", + "MF4Writer", "Notifier", "Printer", "RedirectReader", @@ -94,6 +96,8 @@ Logger, LogReader, MessageSync, + MF4Reader, + MF4Writer, Printer, SizedRotatingLogger, SqliteReader, diff --git a/can/io/__init__.py b/can/io/__init__.py index 12cebd52c..05b8619f2 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -16,6 +16,8 @@ "Logger", "LogReader", "MessageSync", + "MF4Reader", + "MF4Writer", "Printer", "SizedRotatingLogger", "SqliteReader", @@ -36,6 +38,7 @@ from .blf import BLFReader, BLFWriter from .canutils import CanutilsLogReader, CanutilsLogWriter from .csv import CSVReader, CSVWriter +from .mf4 import MF4Reader, MF4Writer from .printer import Printer from .sqlite import SqliteReader, SqliteWriter from .trc import TRCFileVersion, TRCReader, TRCWriter diff --git a/can/io/logger.py b/can/io/logger.py index de538e866..07d288ba3 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -21,6 +21,7 @@ from .canutils import CanutilsLogWriter from .csv import CSVWriter from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter +from .mf4 import MF4Writer from .printer import Printer from .sqlite import SqliteWriter from .trc import TRCWriter @@ -38,6 +39,7 @@ class Logger(MessageWriter): * .log :class:`can.CanutilsLogWriter` * .trc :class:`can.TRCWriter` * .txt :class:`can.Printer` + * .mf4 :class:`can.MF4Writer` (optional, depends on asammdf) Any of these formats can be used with gzip compression by appending the suffix .gz (e.g. filename.asc.gz). However, third-party tools might not @@ -59,6 +61,7 @@ class Logger(MessageWriter): ".csv": CSVWriter, ".db": SqliteWriter, ".log": CanutilsLogWriter, + ".mf4": MF4Writer, ".trc": TRCWriter, ".txt": Printer, } @@ -68,10 +71,12 @@ def __new__( # type: ignore cls: Any, filename: Optional[StringPathLike], **kwargs: Any ) -> MessageWriter: """ - :param filename: the filename/path of the file to write to, - may be a path-like object or None to - instantiate a :class:`~can.Printer` - :raises ValueError: if the filename's suffix is of an unknown file type + :param filename: + the filename/path of the file to write to, + may be a path-like object or None to + instantiate a :class:`~can.Printer` + :raises ValueError: + if the filename's suffix is of an unknown file type """ if filename is None: return Printer(**kwargs) @@ -92,7 +97,10 @@ def __new__( # type: ignore suffix, file_or_filename = Logger.compress(filename, **kwargs) try: - return Logger.message_writers[suffix](file=file_or_filename, **kwargs) + LoggerType = Logger.message_writers[suffix] + if LoggerType is None: + raise ValueError(f'failed to import logger for extension "{suffix}"') + return LoggerType(file=file_or_filename, **kwargs) except KeyError: raise ValueError( f'No write support for this unknown log format "{suffix}"' diff --git a/can/io/mf4.py b/can/io/mf4.py new file mode 100644 index 000000000..faad9c37a --- /dev/null +++ b/can/io/mf4.py @@ -0,0 +1,480 @@ +""" +Contains handling of MF4 logging files. + +MF4 files represent Measurement Data Format (MDF) version 4 as specified by +the ASAM MDF standard (see https://www.asam.net/standards/detail/mdf/) +""" +import logging +from datetime import datetime +from hashlib import md5 +from io import BufferedIOBase, BytesIO +from pathlib import Path +from typing import Any, BinaryIO, Generator, Optional, Union, cast + +from ..message import Message +from ..typechecking import StringPathLike +from ..util import channel2int, dlc2len, len2dlc +from .generic import FileIOMessageWriter, MessageReader + +logger = logging.getLogger("can.io.mf4") + +try: + import asammdf + import numpy as np + from asammdf import Signal + from asammdf.blocks.mdf_v4 import MDF4 + from asammdf.blocks.v4_blocks import SourceInformation + from asammdf.blocks.v4_constants import BUS_TYPE_CAN, SOURCE_BUS + from asammdf.mdf import MDF + + STD_DTYPE = np.dtype( + [ + ("CAN_DataFrame.BusChannel", " None: + """ + :param file: + A path-like object or as file-like object to write to. + If this is a file-like object, is has to be opened in + binary write mode, not text write mode. + :param database: + optional path to a DBC or ARXML file that contains message description. + :param compression_level: + compression option as integer (default 2) + * 0 - no compression + * 1 - deflate (slower, but produces smaller files) + * 2 - transposition + deflate (slowest, but produces the smallest files) + """ + if asammdf is None: + raise NotImplementedError( + "The asammdf package was not found. Install python-can with " + "the optional dependency [mf4] to use the MF4Writer." + ) + + if kwargs.get("append", False): + raise ValueError( + f"{self.__class__.__name__} is currently not equipped to " + f"append messages to an existing file." + ) + + super().__init__(file, mode="w+b") + now = datetime.now() + self._mdf = cast(MDF4, MDF(version="4.10")) + self._mdf.header.start_time = now + self.last_timestamp = self._start_time = now.timestamp() + + self._compression_level = compression_level + + if database: + database = Path(database).resolve() + if database.exists(): + data = database.read_bytes() + attachment = data, database.name, md5(data).digest() + else: + attachment = None + else: + attachment = None + + acquisition_source = SourceInformation( + source_type=SOURCE_BUS, bus_type=BUS_TYPE_CAN + ) + + # standard frames group + self._mdf.append( + Signal( + name="CAN_DataFrame", + samples=np.array([], dtype=STD_DTYPE), + timestamps=np.array([], dtype=" int: + """Return an estimate of the current file size in bytes.""" + # TODO: find solution without accessing private attributes of asammdf + return cast(int, self._mdf._tempfile.tell()) # pylint: disable=protected-access + + def stop(self) -> None: + self._mdf.save(self.file, compression=self._compression_level) + self._mdf.close() + super().stop() + + def on_message_received(self, msg: Message) -> None: + channel = channel2int(msg.channel) + + timestamp = msg.timestamp + if timestamp is None: + timestamp = self.last_timestamp + else: + self.last_timestamp = max(self.last_timestamp, timestamp) + + timestamp -= self._start_time + + if msg.is_remote_frame: + if channel is not None: + self._rtr_buffer["CAN_RemoteFrame.BusChannel"] = channel + + self._rtr_buffer["CAN_RemoteFrame.ID"] = msg.arbitration_id + self._rtr_buffer["CAN_RemoteFrame.IDE"] = int(msg.is_extended_id) + self._rtr_buffer["CAN_RemoteFrame.Dir"] = 0 if msg.is_rx else 1 + self._rtr_buffer["CAN_RemoteFrame.DLC"] = msg.dlc + + sigs = [(np.array([timestamp]), None), (self._rtr_buffer, None)] + self._mdf.extend(2, sigs) + + elif msg.is_error_frame: + if channel is not None: + self._err_buffer["CAN_ErrorFrame.BusChannel"] = channel + + self._err_buffer["CAN_ErrorFrame.ID"] = msg.arbitration_id + self._err_buffer["CAN_ErrorFrame.IDE"] = int(msg.is_extended_id) + self._err_buffer["CAN_ErrorFrame.Dir"] = 0 if msg.is_rx else 1 + data = msg.data + size = len(data) + self._err_buffer["CAN_ErrorFrame.DataLength"] = size + self._err_buffer["CAN_ErrorFrame.DataBytes"][0, :size] = data + if msg.is_fd: + self._err_buffer["CAN_ErrorFrame.DLC"] = len2dlc(msg.dlc) + self._err_buffer["CAN_ErrorFrame.ESI"] = int(msg.error_state_indicator) + self._err_buffer["CAN_ErrorFrame.BRS"] = int(msg.bitrate_switch) + self._err_buffer["CAN_ErrorFrame.EDL"] = 1 + else: + self._err_buffer["CAN_ErrorFrame.DLC"] = msg.dlc + self._err_buffer["CAN_ErrorFrame.ESI"] = 0 + self._err_buffer["CAN_ErrorFrame.BRS"] = 0 + self._err_buffer["CAN_ErrorFrame.EDL"] = 0 + + sigs = [(np.array([timestamp]), None), (self._err_buffer, None)] + self._mdf.extend(1, sigs) + + else: + if channel is not None: + self._std_buffer["CAN_DataFrame.BusChannel"] = channel + + self._std_buffer["CAN_DataFrame.ID"] = msg.arbitration_id + self._std_buffer["CAN_DataFrame.IDE"] = int(msg.is_extended_id) + self._std_buffer["CAN_DataFrame.Dir"] = 0 if msg.is_rx else 1 + data = msg.data + size = len(data) + self._std_buffer["CAN_DataFrame.DataLength"] = size + self._std_buffer["CAN_DataFrame.DataBytes"][0, :size] = data + if msg.is_fd: + self._std_buffer["CAN_DataFrame.DLC"] = len2dlc(msg.dlc) + self._std_buffer["CAN_DataFrame.ESI"] = int(msg.error_state_indicator) + self._std_buffer["CAN_DataFrame.BRS"] = int(msg.bitrate_switch) + self._std_buffer["CAN_DataFrame.EDL"] = 1 + else: + self._std_buffer["CAN_DataFrame.DLC"] = msg.dlc + self._std_buffer["CAN_DataFrame.ESI"] = 0 + self._std_buffer["CAN_DataFrame.BRS"] = 0 + self._std_buffer["CAN_DataFrame.EDL"] = 0 + + sigs = [(np.array([timestamp]), None), (self._std_buffer, None)] + self._mdf.extend(0, sigs) + + # reset buffer structure + self._std_buffer = np.zeros(1, dtype=STD_DTYPE) + self._err_buffer = np.zeros(1, dtype=ERR_DTYPE) + self._rtr_buffer = np.zeros(1, dtype=RTR_DTYPE) + + +class MF4Reader(MessageReader): + """ + Iterator of CAN messages from a MF4 logging file. + + The MF4Reader only supports MF4 files that were recorded with python-can. + """ + + def __init__(self, file: Union[StringPathLike, BinaryIO]) -> None: + """ + :param file: a path-like object or as file-like object to read from + If this is a file-like object, is has to be opened in + binary read mode, not text read mode. + """ + if asammdf is None: + raise NotImplementedError( + "The asammdf package was not found. Install python-can with " + "the optional dependency [mf4] to use the MF4Reader." + ) + + super().__init__(file, mode="rb") + + self._mdf: MDF4 + if isinstance(file, BufferedIOBase): + self._mdf = MDF(BytesIO(file.read())) + else: + self._mdf = MDF(file) + + self.start_timestamp = self._mdf.header.start_time.timestamp() + + masters = [self._mdf.get_master(i) for i in range(3)] + + masters = [ + np.core.records.fromarrays((master, np.ones(len(master)) * i)) + for i, master in enumerate(masters) + ] + + self.masters = np.sort(np.concatenate(masters)) + + def __iter__(self) -> Generator[Message, None, None]: + standard_counter = 0 + error_counter = 0 + rtr_counter = 0 + + for timestamp, group_index in self.masters: + # standard frames + if group_index == 0: + sample = self._mdf.get( + "CAN_DataFrame", + group=group_index, + raw=True, + record_offset=standard_counter, + record_count=1, + ) + + try: + channel = int(sample["CAN_DataFrame.BusChannel"][0]) + except ValueError: + channel = None + + if sample["CAN_DataFrame.EDL"] == 0: + is_extended_id = bool(sample["CAN_DataFrame.IDE"][0]) + arbitration_id = int(sample["CAN_DataFrame.ID"][0]) + is_rx = int(sample["CAN_DataFrame.Dir"][0]) == 0 + size = int(sample["CAN_DataFrame.DataLength"][0]) + dlc = int(sample["CAN_DataFrame.DLC"][0]) + data = sample["CAN_DataFrame.DataBytes"][0, :size].tobytes() + + msg = Message( + timestamp=timestamp + self.start_timestamp, + is_error_frame=False, + is_remote_frame=False, + is_fd=False, + is_extended_id=is_extended_id, + channel=channel, + is_rx=is_rx, + arbitration_id=arbitration_id, + data=data, + dlc=dlc, + ) + + else: + is_extended_id = bool(sample["CAN_DataFrame.IDE"][0]) + arbitration_id = int(sample["CAN_DataFrame.ID"][0]) + is_rx = int(sample["CAN_DataFrame.Dir"][0]) == 0 + size = int(sample["CAN_DataFrame.DataLength"][0]) + dlc = dlc2len(sample["CAN_DataFrame.DLC"][0]) + data = sample["CAN_DataFrame.DataBytes"][0, :size].tobytes() + error_state_indicator = bool(sample["CAN_DataFrame.ESI"][0]) + bitrate_switch = bool(sample["CAN_DataFrame.BRS"][0]) + + msg = Message( + timestamp=timestamp + self.start_timestamp, + is_error_frame=False, + is_remote_frame=False, + is_fd=True, + is_extended_id=is_extended_id, + channel=channel, + arbitration_id=arbitration_id, + is_rx=is_rx, + data=data, + dlc=dlc, + bitrate_switch=bitrate_switch, + error_state_indicator=error_state_indicator, + ) + + yield msg + standard_counter += 1 + + # error frames + elif group_index == 1: + sample = self._mdf.get( + "CAN_ErrorFrame", + group=group_index, + raw=True, + record_offset=error_counter, + record_count=1, + ) + + try: + channel = int(sample["CAN_ErrorFrame.BusChannel"][0]) + except ValueError: + channel = None + + if sample["CAN_ErrorFrame.EDL"] == 0: + is_extended_id = bool(sample["CAN_ErrorFrame.IDE"][0]) + arbitration_id = int(sample["CAN_ErrorFrame.ID"][0]) + is_rx = int(sample["CAN_ErrorFrame.Dir"][0]) == 0 + size = int(sample["CAN_ErrorFrame.DataLength"][0]) + dlc = int(sample["CAN_ErrorFrame.DLC"][0]) + data = sample["CAN_ErrorFrame.DataBytes"][0, :size].tobytes() + + msg = Message( + timestamp=timestamp + self.start_timestamp, + is_error_frame=True, + is_remote_frame=False, + is_fd=False, + is_extended_id=is_extended_id, + channel=channel, + arbitration_id=arbitration_id, + is_rx=is_rx, + data=data, + dlc=dlc, + ) + + else: + is_extended_id = bool(sample["CAN_ErrorFrame.IDE"][0]) + arbitration_id = int(sample["CAN_ErrorFrame.ID"][0]) + is_rx = int(sample["CAN_ErrorFrame.Dir"][0]) == 0 + size = int(sample["CAN_ErrorFrame.DataLength"][0]) + dlc = dlc2len(sample["CAN_ErrorFrame.DLC"][0]) + data = sample["CAN_ErrorFrame.DataBytes"][0, :size].tobytes() + error_state_indicator = bool(sample["CAN_ErrorFrame.ESI"][0]) + bitrate_switch = bool(sample["CAN_ErrorFrame.BRS"][0]) + + msg = Message( + timestamp=timestamp + self.start_timestamp, + is_error_frame=True, + is_remote_frame=False, + is_fd=True, + is_extended_id=is_extended_id, + channel=channel, + arbitration_id=arbitration_id, + is_rx=is_rx, + data=data, + dlc=dlc, + bitrate_switch=bitrate_switch, + error_state_indicator=error_state_indicator, + ) + + yield msg + error_counter += 1 + + # remote frames + else: + sample = self._mdf.get( + "CAN_RemoteFrame", + group=group_index, + raw=True, + record_offset=rtr_counter, + record_count=1, + ) + + try: + channel = int(sample["CAN_RemoteFrame.BusChannel"][0]) + except ValueError: + channel = None + + is_extended_id = bool(sample["CAN_RemoteFrame.IDE"][0]) + arbitration_id = int(sample["CAN_RemoteFrame.ID"][0]) + is_rx = int(sample["CAN_RemoteFrame.Dir"][0]) == 0 + dlc = int(sample["CAN_RemoteFrame.DLC"][0]) + + msg = Message( + timestamp=timestamp + self.start_timestamp, + is_error_frame=False, + is_remote_frame=True, + is_fd=False, + is_extended_id=is_extended_id, + channel=channel, + arbitration_id=arbitration_id, + is_rx=is_rx, + dlc=dlc, + ) + + yield msg + + rtr_counter += 1 + + self.stop() + + def stop(self) -> None: + self._mdf.close() + super().stop() diff --git a/can/io/player.py b/can/io/player.py index 022ed503b..98a556b62 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -1,13 +1,14 @@ """ This module contains the generic :class:`LogReader` as well as :class:`MessageSync` which plays back messages -in the recorded order an time intervals. +in the recorded order and time intervals. """ import gzip import pathlib import time import typing +import typing_extensions from pkg_resources import iter_entry_points from ..message import Message @@ -20,6 +21,19 @@ from .sqlite import SqliteReader from .trc import TRCReader +MF4Reader: typing.Optional[typing.Type[MessageReader]] +try: + from .mf4 import MF4Reader +except ImportError: + MF4Reader = None + + +_OPTIONAL_READERS: typing_extensions.Final[ + typing.Dict[str, typing.Type[MessageReader]] +] = {} +if MF4Reader: + _OPTIONAL_READERS[".mf4"] = MF4Reader + class LogReader(MessageReader): """ @@ -31,6 +45,7 @@ class LogReader(MessageReader): * .csv * .db * .log + * .mf4 (optional, depends on asammdf) * .trc Gzip compressed files can be used as long as the original @@ -52,13 +67,14 @@ class LogReader(MessageReader): """ fetched_plugins = False - message_readers: typing.Dict[str, typing.Type[MessageReader]] = { + message_readers: typing.Dict[str, typing.Optional[typing.Type[MessageReader]]] = { ".asc": ASCReader, ".blf": BLFReader, ".csv": CSVReader, ".db": SqliteReader, ".log": CanutilsLogReader, ".trc": TRCReader, + **_OPTIONAL_READERS, } @staticmethod @@ -86,11 +102,14 @@ def __new__( # type: ignore if suffix == ".gz": suffix, file_or_filename = LogReader.decompress(filename) try: - return LogReader.message_readers[suffix](file=file_or_filename, **kwargs) + ReaderType = LogReader.message_readers[suffix] except KeyError: raise ValueError( f'No read support for this unknown log format "{suffix}"' ) from None + if ReaderType is None: + raise ImportError(f"failed to import reader for extension {suffix}") + return ReaderType(file=file_or_filename, **kwargs) @staticmethod def decompress( diff --git a/doc/listeners.rst b/doc/listeners.rst index 260854d2a..110e960d3 100644 --- a/doc/listeners.rst +++ b/doc/listeners.rst @@ -211,6 +211,37 @@ The following class can be used to read messages from BLF file: .. autoclass:: can.BLFReader :members: + +MF4 (Measurement Data Format v4) +-------------------------------- + +Implements support for MF4 (Measurement Data Format v4) which is a proprietary +format from ASAM (Association for Standardization of Automation and Measuring Systems), widely used in +many automotive software (Vector CANape, ETAS INCA, dSPACE ControlDesk, etc.). + +The data is stored in a compressed format which makes it compact. + +.. note:: MF4 support has to be installed as an extra with for example ``pip install python-can[mf4]``. + +.. note:: Channels will be converted to integers. + +.. note:: MF4Writer does not suppport the append mode. + + +.. autoclass:: can.MF4Writer + :members: + +The MDF format is very flexible regarding the internal structure and it is used to handle data from multiple sources, not just CAN bus logging. +MDF4Writer will always create a fixed internal file structure where there will be three channel groups (for standard, error and remote frames). +Using this fixed file structure allows for a simple implementation of MDF4Writer and MF4Reader classes. +Therefor MF4Reader can only replay files created with MF4Writer. + +The following class can be used to read messages from MF4 file: + +.. autoclass:: can.MF4Reader + :members: + + TRC ---- diff --git a/setup.cfg b/setup.cfg index 2f3ee032f..3e121b650 100644 --- a/setup.cfg +++ b/setup.cfg @@ -8,7 +8,7 @@ ignore_missing_imports = True no_implicit_optional = True disallow_incomplete_defs = True warn_redundant_casts = True -warn_unused_ignores = True +warn_unused_ignores = False exclude = (?x)( venv diff --git a/setup.py b/setup.py index b6dfab6f2..149ce230e 100644 --- a/setup.py +++ b/setup.py @@ -38,6 +38,7 @@ "viewer": [ 'windows-curses;platform_system=="Windows" and platform_python_implementation=="CPython"' ], + "mf4": ["asammdf>=6.0.0"], } setup( diff --git a/test/data/example_data.py b/test/data/example_data.py index 0fa70993a..592556926 100644 --- a/test/data/example_data.py +++ b/test/data/example_data.py @@ -33,48 +33,59 @@ def sort_messages(messages): [ Message( # empty + timestamp=1e-4, ), Message( # only data - data=[0x00, 0x42] + timestamp=2e-4, + data=[0x00, 0x42], ), Message( # no data + timestamp=3e-4, arbitration_id=0xAB, is_extended_id=False, ), Message( # no data + timestamp=4e-4, arbitration_id=0x42, is_extended_id=True, ), Message( # no data - arbitration_id=0xABCDEF + timestamp=5e-4, + arbitration_id=0xABCDEF, ), Message( # empty data - data=[] + timestamp=6e-4, + data=[], ), Message( # empty data - data=[0xFF, 0xFE, 0xFD] + timestamp=7e-4, + data=[0xFF, 0xFE, 0xFD], ), Message( # with channel as integer - channel=0 + timestamp=8e-4, + channel=0, ), Message( # with channel as integer - channel=42 + timestamp=9e-4, + channel=42, ), Message( # with channel as string - channel="vcan0" + timestamp=10e-4, + channel="vcan0", ), Message( # with channel as string - channel="awesome_channel" + timestamp=11e-4, + channel="awesome_channel", ), Message( arbitration_id=0xABCDEF, @@ -109,10 +120,10 @@ def sort_messages(messages): TEST_MESSAGES_CAN_FD = sort_messages( [ - Message(is_fd=True, data=range(64)), - Message(is_fd=True, data=range(8)), - Message(is_fd=True, data=range(8), bitrate_switch=True), - Message(is_fd=True, data=range(8), error_state_indicator=True), + Message(timestamp=12e-4, is_fd=True, data=range(64)), + Message(timestamp=13e-4, is_fd=True, data=range(8)), + Message(timestamp=14e-4, is_fd=True, data=range(8), bitrate_switch=True), + Message(timestamp=15e-4, is_fd=True, data=range(8), error_state_indicator=True), ] ) diff --git a/test/logformats_test.py b/test/logformats_test.py index d3b0eb015..31903f84b 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -36,36 +36,61 @@ logging.basicConfig(level=logging.DEBUG) +try: + import asammdf +except ModuleNotFoundError: + asammdf = None + class ReaderWriterExtensionTest(unittest.TestCase): - message_writers_and_readers = {} - for suffix, writer in can.Logger.message_writers.items(): - message_writers_and_readers[suffix] = ( - writer, - can.LogReader.message_readers.get(suffix), - ) + def _get_suffix_case_variants(self, suffix): + return [ + suffix.upper(), + suffix.lower(), + f"can.msg.ext{suffix}", + "".join([c.upper() if i % 2 else c for i, c in enumerate(suffix)]), + ] - def test_extension_matching(self): - for suffix, (writer, reader) in self.message_writers_and_readers.items(): - suffix_variants = [ - suffix.upper(), - suffix.lower(), - f"can.msg.ext{suffix}", - "".join([c.upper() if i % 2 else c for i, c in enumerate(suffix)]), - ] - for suffix_variant in suffix_variants: - tmp_file = tempfile.NamedTemporaryFile( - suffix=suffix_variant, delete=False - ) - tmp_file.close() - try: + def _test_extension(self, suffix): + WriterType = can.Logger.message_writers.get(suffix) + ReaderType = can.LogReader.message_readers.get(suffix) + for suffix_variant in self._get_suffix_case_variants(suffix): + tmp_file = tempfile.NamedTemporaryFile(suffix=suffix_variant, delete=False) + tmp_file.close() + try: + if WriterType: with can.Logger(tmp_file.name) as logger: - assert type(logger) == writer - if reader is not None: - with can.LogReader(tmp_file.name) as player: - assert type(player) == reader - finally: - os.remove(tmp_file.name) + assert type(logger) == WriterType + if ReaderType: + with can.LogReader(tmp_file.name) as player: + assert type(player) == ReaderType + finally: + os.remove(tmp_file.name) + + def test_extension_matching_asc(self): + self._test_extension(".asc") + + def test_extension_matching_blf(self): + self._test_extension(".blf") + + def test_extension_matching_csv(self): + self._test_extension(".csv") + + def test_extension_matching_db(self): + self._test_extension(".db") + + def test_extension_matching_log(self): + self._test_extension(".log") + + def test_extension_matching_txt(self): + self._test_extension(".txt") + + def test_extension_matching_mf4(self): + try: + self._test_extension(".mf4") + except NotImplementedError: + if asammdf is not None: + raise class ReaderWriterTest(unittest.TestCase, ComparingMessagesTestCase, metaclass=ABCMeta): @@ -708,6 +733,22 @@ def _setup_instance(self): ) +@unittest.skipIf(asammdf is None, "MF4 is unavailable") +class TestMF4FileFormat(ReaderWriterTest): + """Tests can.MF4Writer and can.MF4Reader""" + + def _setup_instance(self): + super()._setup_instance_helper( + can.MF4Writer, + can.MF4Reader, + binary_file=True, + check_comments=False, + preserves_channel=False, + allowed_timestamp_delta=1e-4, + adds_default_channel=0, + ) + + class TestSqliteDatabaseFormat(ReaderWriterTest): """Tests can.SqliteWriter and can.SqliteReader""" diff --git a/tox.ini b/tox.ini index 96cc82425..a41db4248 100644 --- a/tox.ini +++ b/tox.ini @@ -11,6 +11,7 @@ deps = hypothesis~=6.35.0 pyserial~=3.5 parameterized~=0.8 + asammdf>=6.0;platform_python_implementation=="CPython" and python_version < "3.12" commands = pytest {posargs} From 6e5df1ddafad8c1fb427ee92c900152b260d6628 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 3 Apr 2023 15:34:12 +0200 Subject: [PATCH 248/475] mf4 followup (#1555) --- can/io/player.py | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) diff --git a/can/io/player.py b/can/io/player.py index 98a556b62..e4db0e167 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -8,7 +8,6 @@ import time import typing -import typing_extensions from pkg_resources import iter_entry_points from ..message import Message @@ -18,22 +17,10 @@ from .canutils import CanutilsLogReader from .csv import CSVReader from .generic import MessageReader +from .mf4 import MF4Reader from .sqlite import SqliteReader from .trc import TRCReader -MF4Reader: typing.Optional[typing.Type[MessageReader]] -try: - from .mf4 import MF4Reader -except ImportError: - MF4Reader = None - - -_OPTIONAL_READERS: typing_extensions.Final[ - typing.Dict[str, typing.Type[MessageReader]] -] = {} -if MF4Reader: - _OPTIONAL_READERS[".mf4"] = MF4Reader - class LogReader(MessageReader): """ @@ -73,8 +60,8 @@ class LogReader(MessageReader): ".csv": CSVReader, ".db": SqliteReader, ".log": CanutilsLogReader, + ".mf4": MF4Reader, ".trc": TRCReader, - **_OPTIONAL_READERS, } @staticmethod From e0155c781eb6b0ede5e52e939e2d2f006f100d8f Mon Sep 17 00:00:00 2001 From: Yannis Date: Tue, 4 Apr 2023 16:06:12 +0300 Subject: [PATCH 249/475] Optional dependency and docs for the CANine interface (#1556) * optional dependency and docs for the CANine interface * use alphabetical order --- doc/plugin-interface.rst | 3 +++ setup.py | 1 + 2 files changed, 4 insertions(+) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index bab8c85a9..4a08ee9a7 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -65,6 +65,8 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+-------------------------------------------------------+ | Name | Description | +============================+=======================================================+ +| `python-can-canine`_ | CAN Driver for the CANine CAN interface | ++----------------------------+-------------------------------------------------------+ | `python-can-cvector`_ | Cython based version of the 'VectorBus' | +----------------------------+-------------------------------------------------------+ | `python-can-remote`_ | CAN over network bridge | @@ -72,6 +74,7 @@ The table below lists interface drivers that can be added by installing addition | `python-can-sontheim`_ | CAN Driver for Sontheim CAN interfaces (e.g. CANfox) | +----------------------------+-------------------------------------------------------+ +.. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector .. _python-can-remote: https://github.com/christiansandberg/python-can-remote .. _python-can-sontheim: https://github.com/MattWoodhead/python-can-sontheim diff --git a/setup.py b/setup.py index 149ce230e..65298b072 100644 --- a/setup.py +++ b/setup.py @@ -35,6 +35,7 @@ "pcan": ["uptime~=3.0.1"], "remote": ["python-can-remote"], "sontheim": ["python-can-sontheim>=0.1.2"], + "canine": ["python-can-canine>=0.2.2"], "viewer": [ 'windows-curses;platform_system=="Windows" and platform_python_implementation=="CPython"' ], From fd8d0766d29c004865a18a12a2fb58cb52e7b435 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 9 Apr 2023 16:57:15 +0200 Subject: [PATCH 250/475] add modules to __all__ (#1558) --- can/__init__.py | 26 ++++++++++++++++++++------ can/interfaces/__init__.py | 28 ++++++++++++++++++++++++++++ can/io/__init__.py | 11 +++++++++++ 3 files changed, 59 insertions(+), 6 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index 28416fb61..3983c7495 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -17,7 +17,6 @@ "BitTimingFd", "BLFReader", "BLFWriter", - "broadcastmanager", "BufferedReader", "Bus", "BusABC", @@ -32,8 +31,6 @@ "CSVReader", "CSVWriter", "CyclicSendTaskABC", - "detect_available_configs", - "interface", "LimitedDurationCyclicSendTaskABC", "Listener", "Logger", @@ -47,17 +44,34 @@ "Printer", "RedirectReader", "RestartableCyclicTaskABC", - "set_logging_level", "SizedRotatingLogger", "SqliteReader", "SqliteWriter", "ThreadSafeBus", - "typechecking", "TRCFileVersion", "TRCReader", "TRCWriter", - "util", "VALID_INTERFACES", + "bit_timing", + "broadcastmanager", + "bus", + "ctypesutil", + "detect_available_configs", + "exceptions", + "interface", + "interfaces", + "listener", + "logconvert", + "log", + "logger", + "message", + "notifier", + "player", + "set_logging_level", + "thread_safe_bus", + "typechecking", + "util", + "viewer", ] log = logging.getLogger("can") diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index 5089dbf47..b14914230 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -5,6 +5,34 @@ import sys from typing import Dict, Tuple, cast +__all__ = [ + "BACKENDS", + "VALID_INTERFACES", + "canalystii", + "cantact", + "etas", + "gs_usb", + "ics_neovi", + "iscan", + "ixxat", + "kvaser", + "neousys", + "nican", + "nixnet", + "pcan", + "robotell", + "seeedstudio", + "serial", + "slcan", + "socketcan", + "socketcand", + "systec", + "udp_multicast", + "usb2can", + "vector", + "virtual", +] + # interface_name => (module, classname) BACKENDS: Dict[str, Tuple[str, str]] = { "kvaser": ("can.interfaces.kvaser", "KvaserBus"), diff --git a/can/io/__init__.py b/can/io/__init__.py index 05b8619f2..263bbe235 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -25,6 +25,17 @@ "TRCFileVersion", "TRCReader", "TRCWriter", + "asc", + "blf", + "canutils", + "csv", + "generic", + "logger", + "mf4", + "player", + "printer", + "sqlite", + "trc", ] # Generic From d62c97f3963a92effd2a17e763580569d6b4f3f2 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 9 Apr 2023 17:22:33 +0200 Subject: [PATCH 251/475] improve slcanTestCase robustness (#1559) --- test/test_slcan.py | 34 +++++++++++++++++++++------------- 1 file changed, 21 insertions(+), 13 deletions(-) diff --git a/test/test_slcan.py b/test/test_slcan.py index 774a2dec5..a2f8f5d15 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -1,6 +1,9 @@ #!/usr/bin/env python import unittest +from typing import cast + +import serial import can @@ -15,16 +18,17 @@ https://realpython.com/pypy-faster-python/#it-doesnt-work-well-with-c-extensions """ -TIMEOUT = 0.5 if IS_PYPY else 0.001 # 0.001 is the default set in slcanBus +TIMEOUT = 0.5 if IS_PYPY else 0.01 # 0.001 is the default set in slcanBus class slcanTestCase(unittest.TestCase): def setUp(self): - self.bus = can.Bus( - "loop://", interface="slcan", sleep_after_open=0, timeout=TIMEOUT + self.bus = cast( + can.interfaces.slcan.slcanBus, + can.Bus("loop://", interface="slcan", sleep_after_open=0, timeout=TIMEOUT), ) - self.serial = self.bus.serialPortOrig - self.serial.read(self.serial.in_waiting) + self.serial = cast(serial.Serial, self.bus.serialPortOrig) + self.serial.reset_input_buffer() def tearDown(self): self.bus.shutdown() @@ -44,8 +48,9 @@ def test_send_extended(self): arbitration_id=0x12ABCDEF, is_extended_id=True, data=[0xAA, 0x55] ) self.bus.send(msg) - data = self.serial.read(self.serial.in_waiting) - self.assertEqual(data, b"T12ABCDEF2AA55\r") + expected = b"T12ABCDEF2AA55\r" + data = self.serial.read(len(expected)) + self.assertEqual(data, expected) def test_recv_standard(self): self.serial.write(b"t4563112233\r") @@ -62,8 +67,9 @@ def test_send_standard(self): arbitration_id=0x456, is_extended_id=False, data=[0x11, 0x22, 0x33] ) self.bus.send(msg) - data = self.serial.read(self.serial.in_waiting) - self.assertEqual(data, b"t4563112233\r") + expected = b"t4563112233\r" + data = self.serial.read(len(expected)) + self.assertEqual(data, expected) def test_recv_standard_remote(self): self.serial.write(b"r1238\r") @@ -79,8 +85,9 @@ def test_send_standard_remote(self): arbitration_id=0x123, is_extended_id=False, is_remote_frame=True, dlc=8 ) self.bus.send(msg) - data = self.serial.read(self.serial.in_waiting) - self.assertEqual(data, b"r1238\r") + expected = b"r1238\r" + data = self.serial.read(len(expected)) + self.assertEqual(data, expected) def test_recv_extended_remote(self): self.serial.write(b"R12ABCDEF6\r") @@ -96,8 +103,9 @@ def test_send_extended_remote(self): arbitration_id=0x12ABCDEF, is_extended_id=True, is_remote_frame=True, dlc=6 ) self.bus.send(msg) - data = self.serial.read(self.serial.in_waiting) - self.assertEqual(data, b"R12ABCDEF6\r") + expected = b"R12ABCDEF6\r" + data = self.serial.read(len(expected)) + self.assertEqual(data, expected) def test_partial_recv(self): self.serial.write(b"T12ABCDEF") From 39a396541cfd7f0e160bc1ddaf3edde10bdc6928 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 9 Apr 2023 20:03:21 +0200 Subject: [PATCH 252/475] Update CHANGELOG.md for 4.2.0 (#1552) * update CHANGELOG.md * Commit suggestion 1 Co-authored-by: Brian Thorne * Commit suggestion 2 Co-authored-by: Brian Thorne * Commit suggestion 3 Co-authored-by: Brian Thorne * add new entry for MF4 support * update CHANGELOG.md --------- Co-authored-by: Brian Thorne --- CHANGELOG.md | 82 ++++++++++++++++++++++++++++++++++++++++++++++++- can/__init__.py | 2 +- 2 files changed, 82 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c6ff2bbbf..c9767903f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,85 @@ +Version 4.2.0 +============= + +Breaking Changes +---------------- +* The ``can.BitTiming`` class was replaced with the new + ``can.BitTiming`` and `can.BitTimingFd` classes (#1468, #1515). + Early adopters of ``can.BitTiming`` will need to update their code. Check the + [documentation](https://python-can.readthedocs.io/en/develop/bit_timing.html) + for more information. Currently, the following interfaces support the new classes: + * canalystii (#1468) + * cantact (#1468) + * nixnet (#1520) + * pcan (#1514) + * vector (#1470, #1516) + + There are open pull requests for kvaser (#1510), slcan (#1512) and usb2can (#1511). Testing + and reviewing of these open PRs would be most appreciated. + +Features +-------- + +### IO +* Add support for MF4 files (#1289). +* Add support for version 2 TRC files and other TRC file enhancements (#1530). + +### Type Annotations +* Export symbols to satisfy type checkers (#1547, #1551, #1558). + +### Interface Improvements +* Add ``__del__`` method to ``can.BusABC`` to automatically release resources (#1489). +* pcan: Update PCAN Basic to 4.6.2.753 (#1481). +* pcan: Use select instead of polling on Linux (#1410). +* socketcan: Use ip link JSON output in ``find_available_interfaces`` (#1478). +* socketcan: Enable SocketCAN interface tests in GitHub CI (#1484). +* slcan: improve receiving performance (#1490). +* usb2can: Stop using root logger (#1483). +* usb2can: Faster channel detection on Windows (#1480). +* vector: Only check sample point instead of tseg & sjw (#1486). +* vector: add VN5611 hwtype (#1501). + +Documentation +------------- +* Add new section about related tools to documentation. Add a list of + plugin interface packages (#1457). + +Bug Fixes +--------- +* Automatic type conversion for config values (#1498, #1499). +* pcan: Fix ``Bus.__new__`` for CAN-FD interfaces (#1458, #1460). +* pcan: Fix Detection of Library on Windows on ARM (#1463). +* socketcand: extended ID bug fixes (#1504, #1508). +* vector: improve robustness against unknown HardwareType values (#1500, #1502). + +Deprecations +------------ +* The ``bustype`` parameter of ``can.Bus`` is deprecated and will be + removed in version 5.0, use ``interface`` instead. (#1462). +* The ``context`` parameter of ``can.Bus`` is deprecated and will be + removed in version 5.0, use ``config_context`` instead. (#1474). +* The ``bit_timing`` parameter of ``CantactBus`` is deprecated and will be + removed in version 5.0, use ``timing`` instead. (#1468). +* The ``bit_timing`` parameter of ``CANalystIIBus`` is deprecated and will be + removed in version 5.0, use ``timing`` instead. (#1468). +* The ``brs`` and ``log_errors`` parameters of `` NiXNETcanBus`` are deprecated +* and will be removed in version 5.0. (#1520). + +Miscellaneous +------------- +* Use high resolution timer on Windows to improve + timing precision for BroadcastManager (#1449). +* Improve ThreadBasedCyclicSendTask timing (#1539). +* Make code examples executable on Linux (#1452). +* Fix CanFilter type annotation (#1456). +* Fix ``The entry_points().get`` deprecation warning and improve + type annotation of ``can.interfaces.BACKENDS`` (#1465). +* Add ``ignore_config`` parameter to ``can.Bus`` (#1474). +* Add deprecation period to utility function ``deprecated_args_alias`` (#1477). +* Add `ruff` to the CI system (#1551) + Version 4.1.0 -==== +============= Breaking Changes ---------------- diff --git a/can/__init__.py b/can/__init__.py index 3983c7495..e8d7850ca 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.1.0" +__version__ = "4.2.0rc0" __all__ = [ "ASCReader", "ASCWriter", From f004edb4674ffa6308b0bc4f398f726f9ceb2c83 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 9 Apr 2023 21:33:27 +0200 Subject: [PATCH 253/475] Remove asterisk --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c9767903f..33cfc4849 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -63,7 +63,7 @@ Deprecations * The ``bit_timing`` parameter of ``CANalystIIBus`` is deprecated and will be removed in version 5.0, use ``timing`` instead. (#1468). * The ``brs`` and ``log_errors`` parameters of `` NiXNETcanBus`` are deprecated -* and will be removed in version 5.0. (#1520). + and will be removed in version 5.0. (#1520). Miscellaneous ------------- From e522e3914e54f019d17568643ad2ce4e2417bdc7 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 10 Apr 2023 17:43:25 +0200 Subject: [PATCH 254/475] Fix TRC test (#1561) --- can/io/trc.py | 5 ++--- test/logformats_test.py | 9 +++++---- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/can/io/trc.py b/can/io/trc.py index 75c81b502..fc2a9e1f7 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -5,9 +5,8 @@ for file format description Version 1.1 will be implemented as it is most commonly used -""" # noqa +""" -import io import logging import os from datetime import datetime, timedelta, timezone @@ -274,7 +273,7 @@ def __init__( super().__init__(file, mode="w") self.channel = channel - if isinstance(self.file, io.TextIOWrapper): + if hasattr(self.file, "reconfigure"): self.file.reconfigure(newline="\r\n") else: raise TypeError("File must be opened in text mode.") diff --git a/test/logformats_test.py b/test/logformats_test.py index 31903f84b..d6bd13b41 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -934,10 +934,11 @@ def msg_ext(timestamp): self.assertMessagesEqual(actual, expected_messages) def test_not_supported_version(self): - with self.assertRaises(NotImplementedError): - writer = can.TRCWriter("test.trc") - writer.file_version = can.TRCFileVersion.UNKNOWN - writer.on_message_received(can.Message()) + with tempfile.NamedTemporaryFile(mode="w") as f: + with self.assertRaises(NotImplementedError): + writer = can.TRCWriter(f) + writer.file_version = can.TRCFileVersion.UNKNOWN + writer.on_message_received(can.Message()) class TestTrcFileFormatV1_0(TestTrcFileFormatBase): From ef6940031ae430d55a1257aae93880ff3ac77e36 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 10 Apr 2023 18:09:53 +0200 Subject: [PATCH 255/475] remove Travis CI (#1562) --- .travis.yml | 65 ----------------------------------------------------- README.rst | 6 +---- tox.ini | 7 ------ 3 files changed, 1 insertion(+), 77 deletions(-) delete mode 100644 .travis.yml diff --git a/.travis.yml b/.travis.yml deleted file mode 100644 index 9bd1920e0..000000000 --- a/.travis.yml +++ /dev/null @@ -1,65 +0,0 @@ -language: python - -# Linux setup -dist: focal - -cache: - directories: - - "$HOME/.cache/pip" - -install: - - if [[ "$TEST_SOCKETCAN" ]]; then sudo bash test/open_vcan.sh ; fi - - travis_retry python setup.py install - -script: - - | - # install tox - travis_retry pip install tox - # Run the tests - tox -e travis - -jobs: - allow_failures: - # Allow arm64 builds to fail - - arch: arm64 - - include: - # Stages with the same name get run in parallel. - # Jobs within a stage can also be named. - - # testing socketcan on Trusty & Python 3.6, since it is not available on Xenial - - stage: test - name: Socketcan - os: linux - arch: amd64 - dist: trusty - python: "3.6" - sudo: required - env: TEST_SOCKETCAN=TRUE - - # arm64 builds - - stage: test - name: Linux arm64 - os: linux - arch: arm64 - language: generic - sudo: required - addons: - apt: - update: true - env: HOST_ARM64=TRUE - before_install: - - sudo apt install -y python3 python3-pip - # Travis doesn't seem to provide Python binaries yet for this arch - - sudo update-alternatives --install /usr/bin/python python $(which python3) 10 - - sudo update-alternatives --install /usr/bin/pip pip $(which pip3) 10 - # The below is the same as in the Socketcan job but with elevated privileges - install: - - if [[ "$TEST_SOCKETCAN" ]]; then sudo bash test/open_vcan.sh ; fi - - travis_retry sudo python setup.py install - script: - - | - # install tox - travis_retry sudo pip install tox - # Run the tests - sudo tox -e travis diff --git a/README.rst b/README.rst index 3c951e866..e7d40f590 100644 --- a/README.rst +++ b/README.rst @@ -3,7 +3,7 @@ python-can |pypi| |conda| |python_implementation| |downloads| |downloads_monthly| -|docs| |github-actions| |build_travis| |coverage| |mergify| |formatter| +|docs| |github-actions| |coverage| |mergify| |formatter| .. |pypi| image:: https://img.shields.io/pypi/v/python-can.svg :target: https://pypi.python.org/pypi/python-can/ @@ -37,10 +37,6 @@ python-can :target: https://github.com/hardbyte/python-can/actions/workflows/ci.yml :alt: Github Actions workflow status -.. |build_travis| image:: https://img.shields.io/travis/hardbyte/python-can/develop.svg?label=Travis%20CI - :target: https://app.travis-ci.com/github/hardbyte/python-can - :alt: Travis CI Server for develop branch - .. |coverage| image:: https://coveralls.io/repos/github/hardbyte/python-can/badge.svg?branch=develop :target: https://coveralls.io/github/hardbyte/python-can?branch=develop :alt: Test coverage reports on Coveralls.io diff --git a/tox.ini b/tox.ini index a41db4248..b48b5642f 100644 --- a/tox.ini +++ b/tox.ini @@ -29,13 +29,6 @@ passenv = PY_COLORS TEST_SOCKETCAN -[testenv:travis] -passenv = - CI - TRAVIS - TRAVIS_* - TEST_SOCKETCAN - [pytest] testpaths = test From 1f2f29c4eb149d94c071fa2b135c55883822790a Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 12 Apr 2023 16:44:27 +0200 Subject: [PATCH 256/475] Improve __del__ error message (#1564) * avoid "Exception ignored in function BusABC.__del__" * improve error message --- can/bus.py | 2 +- can/interfaces/vector/canlib.py | 9 ++++++--- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/can/bus.py b/can/bus.py index 3964215d3..5bd2d4e30 100644 --- a/can/bus.py +++ b/can/bus.py @@ -439,7 +439,7 @@ def __exit__(self, exc_type, exc_val, exc_tb): def __del__(self) -> None: if not self._is_shutdown: - LOG.warning("%s was not properly shut down", self.__class__) + LOG.warning("%s was not properly shut down", self.__class__.__name__) # We do some best-effort cleanup if the user # forgot to properly close the bus instance with contextlib.suppress(AttributeError): diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index e60d20b0d..03a3d9b1f 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -6,6 +6,7 @@ # Import Standard Python Modules # ============================== +import contextlib import ctypes import logging import os @@ -869,9 +870,11 @@ def flush_tx_buffer(self) -> None: def shutdown(self) -> None: super().shutdown() - self.xldriver.xlDeactivateChannel(self.port_handle, self.mask) - self.xldriver.xlClosePort(self.port_handle) - self.xldriver.xlCloseDriver() + + with contextlib.suppress(VectorError): + self.xldriver.xlDeactivateChannel(self.port_handle, self.mask) + self.xldriver.xlClosePort(self.port_handle) + self.xldriver.xlCloseDriver() def reset(self) -> None: self.xldriver.xlDeactivateChannel(self.port_handle, self.mask) From af52622b0c62e64f0de99a129a15a74ca84bb4a3 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 16 Apr 2023 16:01:23 +0200 Subject: [PATCH 257/475] Add interface modules to __all__ (#1568) --- can/interfaces/ics_neovi/__init__.py | 1 + can/interfaces/ixxat/__init__.py | 8 +++++++- can/interfaces/kvaser/__init__.py | 10 ++++++++++ can/interfaces/neousys/__init__.py | 5 ++++- can/interfaces/pcan/__init__.py | 2 ++ can/interfaces/seeedstudio/__init__.py | 5 ++++- can/interfaces/serial/__init__.py | 5 ++++- can/interfaces/socketcan/__init__.py | 3 +++ can/interfaces/socketcand/__init__.py | 5 ++++- can/interfaces/systec/__init__.py | 9 ++++++++- can/interfaces/udp_multicast/__init__.py | 6 +++++- can/interfaces/usb2can/__init__.py | 3 +++ can/interfaces/vector/__init__.py | 7 ++++++- 13 files changed, 61 insertions(+), 8 deletions(-) diff --git a/can/interfaces/ics_neovi/__init__.py b/can/interfaces/ics_neovi/__init__.py index e221e0840..0252c7345 100644 --- a/can/interfaces/ics_neovi/__init__.py +++ b/can/interfaces/ics_neovi/__init__.py @@ -6,6 +6,7 @@ "ICSInitializationError", "ICSOperationError", "NeoViBus", + "neovi_bus", ] from .neovi_bus import ICSApiError, ICSInitializationError, ICSOperationError, NeoViBus diff --git a/can/interfaces/ixxat/__init__.py b/can/interfaces/ixxat/__init__.py index bc871b372..6fe79adb8 100644 --- a/can/interfaces/ixxat/__init__.py +++ b/can/interfaces/ixxat/__init__.py @@ -5,8 +5,14 @@ """ __all__ = [ - "get_ixxat_hwids", "IXXATBus", + "canlib", + "canlib_vcinpl", + "canlib_vcinpl2", + "constants", + "exceptions", + "get_ixxat_hwids", + "structures", ] from can.interfaces.ixxat.canlib import IXXATBus diff --git a/can/interfaces/kvaser/__init__.py b/can/interfaces/kvaser/__init__.py index 36a21db9f..8e7c3feb9 100644 --- a/can/interfaces/kvaser/__init__.py +++ b/can/interfaces/kvaser/__init__.py @@ -1,4 +1,14 @@ """ """ +__all__ = [ + "CANLIBInitializationError", + "CANLIBOperationError", + "KvaserBus", + "canlib", + "constants", + "get_channel_info", + "structures", +] + from can.interfaces.kvaser.canlib import * diff --git a/can/interfaces/neousys/__init__.py b/can/interfaces/neousys/__init__.py index 6bd503f35..44bd3127f 100644 --- a/can/interfaces/neousys/__init__.py +++ b/can/interfaces/neousys/__init__.py @@ -1,5 +1,8 @@ """ Neousys CAN bus driver """ -__all__ = ["NeousysBus"] +__all__ = [ + "NeousysBus", + "neousys", +] from can.interfaces.neousys.neousys import NeousysBus diff --git a/can/interfaces/pcan/__init__.py b/can/interfaces/pcan/__init__.py index b46ccb050..73e351665 100644 --- a/can/interfaces/pcan/__init__.py +++ b/can/interfaces/pcan/__init__.py @@ -4,6 +4,8 @@ __all__ = [ "PcanBus", "PcanError", + "basic", + "pcan", ] from can.interfaces.pcan.pcan import PcanBus, PcanError diff --git a/can/interfaces/seeedstudio/__init__.py b/can/interfaces/seeedstudio/__init__.py index 2fc348a17..0b3c7b1c9 100644 --- a/can/interfaces/seeedstudio/__init__.py +++ b/can/interfaces/seeedstudio/__init__.py @@ -1,6 +1,9 @@ """ """ -__all__ = ["SeeedBus"] +__all__ = [ + "SeeedBus", + "seeedstudio", +] from can.interfaces.seeedstudio.seeedstudio import SeeedBus diff --git a/can/interfaces/serial/__init__.py b/can/interfaces/serial/__init__.py index 1b1d63c49..beb6457bb 100644 --- a/can/interfaces/serial/__init__.py +++ b/can/interfaces/serial/__init__.py @@ -1,6 +1,9 @@ """ """ -__all__ = ["SerialBus"] +__all__ = [ + "SerialBus", + "serial_can", +] from can.interfaces.serial.serial_can import SerialBus diff --git a/can/interfaces/socketcan/__init__.py b/can/interfaces/socketcan/__init__.py index 0fbdede58..6e279c2fe 100644 --- a/can/interfaces/socketcan/__init__.py +++ b/can/interfaces/socketcan/__init__.py @@ -6,6 +6,9 @@ "CyclicSendTask", "MultiRateCyclicSendTask", "SocketcanBus", + "constants", + "socketcan", + "utils", ] from .socketcan import CyclicSendTask, MultiRateCyclicSendTask, SocketcanBus diff --git a/can/interfaces/socketcand/__init__.py b/can/interfaces/socketcand/__init__.py index e6b106918..ce18441bc 100644 --- a/can/interfaces/socketcand/__init__.py +++ b/can/interfaces/socketcand/__init__.py @@ -6,6 +6,9 @@ http://www.domologic.de """ -__all__ = ["SocketCanDaemonBus"] +__all__ = [ + "SocketCanDaemonBus", + "socketcand", +] from .socketcand import SocketCanDaemonBus diff --git a/can/interfaces/systec/__init__.py b/can/interfaces/systec/__init__.py index 9a97b3054..e38a52fb1 100644 --- a/can/interfaces/systec/__init__.py +++ b/can/interfaces/systec/__init__.py @@ -1,3 +1,10 @@ -__all__ = ["UcanBus"] +__all__ = [ + "UcanBus", + "constants", + "exceptions", + "structures", + "ucan", + "ucanbus", +] from can.interfaces.systec.ucanbus import UcanBus diff --git a/can/interfaces/udp_multicast/__init__.py b/can/interfaces/udp_multicast/__init__.py index 6e11a02c5..d52c028f0 100644 --- a/can/interfaces/udp_multicast/__init__.py +++ b/can/interfaces/udp_multicast/__init__.py @@ -1,5 +1,9 @@ """A module to allow CAN over UDP on IPv4/IPv6 multicast.""" -__all__ = ["UdpMulticastBus"] +__all__ = [ + "UdpMulticastBus", + "bus", + "utils", +] from .bus import UdpMulticastBus diff --git a/can/interfaces/usb2can/__init__.py b/can/interfaces/usb2can/__init__.py index 17f5583f3..a2b587842 100644 --- a/can/interfaces/usb2can/__init__.py +++ b/can/interfaces/usb2can/__init__.py @@ -4,6 +4,9 @@ __all__ = [ "Usb2CanAbstractionLayer", "Usb2canBus", + "serial_selector", + "usb2canabstractionlayer", + "usb2canInterface", ] from .usb2canabstractionlayer import Usb2CanAbstractionLayer diff --git a/can/interfaces/vector/__init__.py b/can/interfaces/vector/__init__.py index e0c34d88f..3a5b13a1f 100644 --- a/can/interfaces/vector/__init__.py +++ b/can/interfaces/vector/__init__.py @@ -2,7 +2,6 @@ """ __all__ = [ - "get_channel_configs", "VectorBus", "VectorBusParams", "VectorCanFdParams", @@ -11,6 +10,12 @@ "VectorError", "VectorInitializationError", "VectorOperationError", + "canlib", + "exceptions", + "get_channel_configs", + "xlclass", + "xldefine", + "xldriver", ] from .canlib import ( From 6c820a137940c27620ab19bdaf1c38c8da6d65d4 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Wed, 26 Apr 2023 10:00:01 +1200 Subject: [PATCH 258/475] Release version 4.2.0 (#1576) * Set version to 4.2.0 * Update CHANGELOG.md --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- CHANGELOG.md | 4 ++-- can/__init__.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 33cfc4849..66ce542ea 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -25,10 +25,10 @@ Features * Add support for version 2 TRC files and other TRC file enhancements (#1530). ### Type Annotations -* Export symbols to satisfy type checkers (#1547, #1551, #1558). +* Export symbols to satisfy type checkers (#1547, #1551, #1558, #1568). ### Interface Improvements -* Add ``__del__`` method to ``can.BusABC`` to automatically release resources (#1489). +* Add ``__del__`` method to ``can.BusABC`` to automatically release resources (#1489, #1564). * pcan: Update PCAN Basic to 4.6.2.753 (#1481). * pcan: Use select instead of polling on Linux (#1410). * socketcan: Use ip link JSON output in ``find_available_interfaces`` (#1478). diff --git a/can/__init__.py b/can/__init__.py index e8d7850ca..870bef73f 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.2.0rc0" +__version__ = "4.2.0" __all__ = [ "ASCReader", "ASCWriter", From f2cb4cbc29b198d65fa78b52fd69db75119e9f56 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 11 May 2023 23:12:02 +0200 Subject: [PATCH 259/475] ASCWriter: use correct channel for error frame (#1583) * use correct channel for error frame * add test --- can/io/asc.py | 15 ++++++++------- can/message.py | 4 +++- test/logformats_test.py | 22 +++++++++++++++++++++- test/message_helper.py | 31 ++++++------------------------- 4 files changed, 38 insertions(+), 34 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index b8054ecfc..5169d7468 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -420,8 +420,15 @@ def log_event(self, message: str, timestamp: Optional[float] = None) -> None: self.file.write(line) def on_message_received(self, msg: Message) -> None: + channel = channel2int(msg.channel) + if channel is None: + channel = self.channel + else: + # Many interfaces start channel numbering at 0 which is invalid + channel += 1 + if msg.is_error_frame: - self.log_event(f"{self.channel} ErrorFrame", msg.timestamp) + self.log_event(f"{channel} ErrorFrame", msg.timestamp) return if msg.is_remote_frame: dtype = f"r {msg.dlc:x}" # New after v8.5 @@ -432,12 +439,6 @@ def on_message_received(self, msg: Message) -> None: arb_id = f"{msg.arbitration_id:X}" if msg.is_extended_id: arb_id += "x" - channel = channel2int(msg.channel) - if channel is None: - channel = self.channel - else: - # Many interfaces start channel numbering at 0 which is invalid - channel += 1 if msg.is_fd: flags = 0 flags |= 1 << 12 diff --git a/can/message.py b/can/message.py index 05700ef72..02706583c 100644 --- a/can/message.py +++ b/can/message.py @@ -291,6 +291,7 @@ def equals( self, other: "Message", timestamp_delta: Optional[float] = 1.0e-6, + check_channel: bool = True, check_direction: bool = True, ) -> bool: """ @@ -299,6 +300,7 @@ def equals( :param other: the message to compare with :param timestamp_delta: the maximum difference in seconds at which two timestamps are still considered equal or `None` to not compare timestamps + :param check_channel: whether to compare the message channel :param check_direction: whether to compare the messages' directions (Tx/Rx) :return: True if and only if the given message equals this one @@ -322,7 +324,7 @@ def equals( and self.data == other.data and self.is_remote_frame == other.is_remote_frame and self.is_error_frame == other.is_error_frame - and self.channel == other.channel + and (self.channel == other.channel or not check_channel) and self.is_fd == other.is_fd and self.bitrate_switch == other.bitrate_switch and self.error_state_indicator == other.error_state_indicator diff --git a/test/logformats_test.py b/test/logformats_test.py index d6bd13b41..50f48c391 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -591,6 +591,26 @@ def test_no_triggerblock(self): def test_can_dlc_greater_than_8(self): _msg_list = self._read_log_file("issue_1299.asc") + def test_error_frame_channel(self): + # gh-issue 1578 + err_frame = can.Message(is_error_frame=True, channel=4) + + temp_file = tempfile.NamedTemporaryFile("w", delete=False) + temp_file.close() + + try: + with can.ASCWriter(temp_file.name) as writer: + writer.on_message_received(err_frame) + + with can.ASCReader(temp_file.name) as reader: + msg_list = list(reader) + assert len(msg_list) == 1 + assert err_frame.equals( + msg_list[0], check_channel=True + ), f"{err_frame!r}!={msg_list[0]!r}" + finally: + os.unlink(temp_file.name) + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. @@ -814,7 +834,7 @@ def test_not_crashes_with_stdout(self): printer(message) def test_not_crashes_with_file(self): - with tempfile.NamedTemporaryFile("w", delete=False) as temp_file: + with tempfile.NamedTemporaryFile("w") as temp_file: with can.Printer(temp_file) as printer: for message in self.messages: printer(message) diff --git a/test/message_helper.py b/test/message_helper.py index fe193097b..d10e9195f 100644 --- a/test/message_helper.py +++ b/test/message_helper.py @@ -4,8 +4,6 @@ This module contains a helper for writing test cases that need to compare messages. """ -from copy import copy - class ComparingMessagesTestCase: """ @@ -28,31 +26,14 @@ def assertMessageEqual(self, message_1, message_2): Checks that two messages are equal, according to the given rules. """ - if message_1.equals(message_2, timestamp_delta=self.allowed_timestamp_delta): - return - elif self.preserves_channel: + if not message_1.equals( + message_2, + check_channel=self.preserves_channel, + timestamp_delta=self.allowed_timestamp_delta, + ): print(f"Comparing: message 1: {message_1!r}") print(f" message 2: {message_2!r}") - self.fail( - "messages are unequal with allowed timestamp delta {}".format( - self.allowed_timestamp_delta - ) - ) - else: - message_2 = copy(message_2) # make sure this method is pure - message_2.channel = message_1.channel - if message_1.equals( - message_2, timestamp_delta=self.allowed_timestamp_delta - ): - return - else: - print(f"Comparing: message 1: {message_1!r}") - print(f" message 2: {message_2!r}") - self.fail( - "messages are unequal with allowed timestamp delta {} even when ignoring channels".format( - self.allowed_timestamp_delta - ) - ) + self.fail(f"messages are unequal: \n{message_1}\n{message_2}") def assertMessagesEqual(self, messages_1, messages_2): """ From efb301ad62ff27787863356ebcef8421c712abda Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 11 May 2023 23:13:30 +0200 Subject: [PATCH 260/475] Fix PCAN OSError (#1580) --- can/interfaces/pcan/basic.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index a60b96079..7c41e2816 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -690,13 +690,13 @@ def __init__(self): load_library_func = cdll.LoadLibrary if platform.system() == "Windows" or "CYGWIN" in platform.system(): - lib_name = "PCANBasic.dll" + lib_name = "PCANBasic" elif platform.system() == "Darwin": # PCBUSB library is a third-party software created # and maintained by the MacCAN project - lib_name = "libPCBUSB.dylib" + lib_name = "PCBUSB" else: - lib_name = "libpcanbasic.so" + lib_name = "pcanbasic" lib_path = find_library(lib_name) if not lib_path: From 1cfd87658e9b84796ffbec3527675cd26f9f6780 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Fri, 12 May 2023 12:17:58 -0400 Subject: [PATCH 261/475] With Windows event the first two periodic frames are sent back without delay (#1590) When the ThreadBasedCyclicSendTask thread starts, the timer event was already set before entering the first loop. This resulted in the first timer wait to not wait. --- can/broadcastmanager.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 07d93e296..39dc1f0ba 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -293,6 +293,10 @@ def _run(self) -> None: msg_index = 0 msg_due_time_ns = time.perf_counter_ns() + if USE_WINDOWS_EVENTS: + # Make sure the timer is non-signaled before entering the loop + win32event.WaitForSingleObject(self.event.handle, 0) + while not self.stopped: # Prevent calling bus.send from multiple threads with self.send_lock: From 7eac6f723d660392ad522a6249f554c478725bdd Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 15 May 2023 11:49:52 +0200 Subject: [PATCH 262/475] update CHANGELOG.md for 4.2.1 (#1593) --- CHANGELOG.md | 10 ++++++++++ can/__init__.py | 2 +- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 66ce542ea..a240cb650 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,13 @@ +Version 4.2.1 +============= + +Bug Fixes +--------- +* The ASCWriter now logs the correct channel for error frames (#1578, #1583). +* Fix PCAN library detection (#1579, #1580). +* On Windows, the first two periodic frames were sent without delay (#1590). + + Version 4.2.0 ============= diff --git a/can/__init__.py b/can/__init__.py index 870bef73f..a14228f62 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.2.0" +__version__ = "4.2.1" __all__ = [ "ASCReader", "ASCWriter", From 25fe56663d9b5798e21bd177192fb2e9f7893838 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 15 May 2023 16:19:01 +0200 Subject: [PATCH 263/475] Improve can.Bus typing (#1557) --- can/interface.py | 79 ++++++++++++++++++++-------------------- can/logger.py | 4 +-- can/util.py | 86 ++++++++++++++++++++++++-------------------- doc/bus.rst | 13 +++---- doc/conf.py | 4 ++- doc/internal-api.rst | 25 ++++++++----- 6 files changed, 114 insertions(+), 97 deletions(-) diff --git a/can/interface.py b/can/interface.py index 4c59dab8b..9c828a608 100644 --- a/can/interface.py +++ b/can/interface.py @@ -55,8 +55,20 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: return cast(Type[BusABC], bus_class) -class Bus(BusABC): # pylint: disable=abstract-method - """Bus wrapper with configuration loading. +@util.deprecated_args_alias( + deprecation_start="4.2.0", + deprecation_end="5.0.0", + bustype="interface", + context="config_context", +) +def Bus( + channel: Optional[Channel] = None, + interface: Optional[str] = None, + config_context: Optional[str] = None, + ignore_config: bool = False, + **kwargs: Any, +) -> BusABC: + """Create a new bus instance with configuration loading. Instantiates a CAN Bus of the given ``interface``, falls back to reading a configuration file from default locations. @@ -99,45 +111,30 @@ class Bus(BusABC): # pylint: disable=abstract-method if the ``channel`` could not be determined """ - @staticmethod - @util.deprecated_args_alias( - deprecation_start="4.2.0", - deprecation_end="5.0.0", - bustype="interface", - context="config_context", - ) - def __new__( # type: ignore - cls: Any, - channel: Optional[Channel] = None, - interface: Optional[str] = None, - config_context: Optional[str] = None, - ignore_config: bool = False, - **kwargs: Any, - ) -> BusABC: - # figure out the rest of the configuration; this might raise an error - if interface is not None: - kwargs["interface"] = interface - if channel is not None: - kwargs["channel"] = channel - - if not ignore_config: - kwargs = util.load_config(config=kwargs, context=config_context) - - # resolve the bus class to use for that interface - cls = _get_class_for_interface(kwargs["interface"]) - - # remove the "interface" key, so it doesn't get passed to the backend - del kwargs["interface"] - - # make sure the bus can handle this config format - channel = kwargs.pop("channel", channel) - if channel is None: - # Use the default channel for the backend - bus = cls(**kwargs) - else: - bus = cls(channel, **kwargs) + # figure out the rest of the configuration; this might raise an error + if interface is not None: + kwargs["interface"] = interface + if channel is not None: + kwargs["channel"] = channel + + if not ignore_config: + kwargs = util.load_config(config=kwargs, context=config_context) + + # resolve the bus class to use for that interface + cls = _get_class_for_interface(kwargs["interface"]) + + # remove the "interface" key, so it doesn't get passed to the backend + del kwargs["interface"] + + # make sure the bus can handle this config format + channel = kwargs.pop("channel", channel) + if channel is None: + # Use the default channel for the backend + bus = cls(**kwargs) + else: + bus = cls(channel, **kwargs) - return cast(BusABC, bus) + return bus def detect_available_configs( @@ -146,7 +143,7 @@ def detect_available_configs( """Detect all configurations/channels that the interfaces could currently connect with. - This might be quite time consuming. + This might be quite time-consuming. Automated configuration detection may not be implemented by every interface on every platform. This method will not raise diff --git a/can/logger.py b/can/logger.py index 42312324a..56f9156a8 100644 --- a/can/logger.py +++ b/can/logger.py @@ -85,7 +85,7 @@ def _append_filter_argument( ) -def _create_bus(parsed_args: Any, **kwargs: Any) -> can.Bus: +def _create_bus(parsed_args: Any, **kwargs: Any) -> can.BusABC: logging_level_names = ["critical", "error", "warning", "info", "debug", "subdebug"] can.set_logging_level(logging_level_names[min(5, parsed_args.verbosity)]) @@ -99,7 +99,7 @@ def _create_bus(parsed_args: Any, **kwargs: Any) -> can.Bus: if parsed_args.data_bitrate: config["data_bitrate"] = parsed_args.data_bitrate - return Bus(parsed_args.channel, **config) # type: ignore + return Bus(parsed_args.channel, **config) def _parse_filters(parsed_args: Any) -> CanFilters: diff --git a/can/util.py b/can/util.py index 2f6fb1957..59abdd579 100644 --- a/can/util.py +++ b/can/util.py @@ -24,6 +24,8 @@ cast, ) +from typing_extensions import ParamSpec + import can from . import typechecking @@ -325,9 +327,15 @@ def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: return None -def deprecated_args_alias( # type: ignore - deprecation_start: str, deprecation_end: Optional[str] = None, **aliases -): +P1 = ParamSpec("P1") +T1 = TypeVar("T1") + + +def deprecated_args_alias( + deprecation_start: str, + deprecation_end: Optional[str] = None, + **aliases: Optional[str], +) -> Callable[[Callable[P1, T1]], Callable[P1, T1]]: """Allows to rename/deprecate a function kwarg(s) and optionally have the deprecated kwarg(s) set as alias(es) @@ -356,9 +364,9 @@ def library_function(new_arg): """ - def deco(f): + def deco(f: Callable[P1, T1]) -> Callable[P1, T1]: @functools.wraps(f) - def wrapper(*args, **kwargs): + def wrapper(*args: P1.args, **kwargs: P1.kwargs) -> T1: _rename_kwargs( func_name=f.__name__, start=deprecation_start, @@ -373,10 +381,42 @@ def wrapper(*args, **kwargs): return deco -T = TypeVar("T", BitTiming, BitTimingFd) +def _rename_kwargs( + func_name: str, + start: str, + end: Optional[str], + kwargs: P1.kwargs, + aliases: Dict[str, Optional[str]], +) -> None: + """Helper function for `deprecated_args_alias`""" + for alias, new in aliases.items(): + if alias in kwargs: + deprecation_notice = ( + f"The '{alias}' argument is deprecated since python-can v{start}" + ) + if end: + deprecation_notice += ( + f", and scheduled for removal in python-can v{end}" + ) + deprecation_notice += "." + + value = kwargs.pop(alias) + if new is not None: + deprecation_notice += f" Use '{new}' instead." + + if new in kwargs: + raise TypeError( + f"{func_name} received both '{alias}' (deprecated) and '{new}'." + ) + kwargs[new] = value + + warnings.warn(deprecation_notice, DeprecationWarning) + +T2 = TypeVar("T2", BitTiming, BitTimingFd) -def check_or_adjust_timing_clock(timing: T, valid_clocks: Iterable[int]) -> T: + +def check_or_adjust_timing_clock(timing: T2, valid_clocks: Iterable[int]) -> T2: """Adjusts the given timing instance to have an *f_clock* value that is within the allowed values specified by *valid_clocks*. If the *f_clock* value of timing is already within *valid_clocks*, then *timing* is returned unchanged. @@ -416,38 +456,6 @@ def check_or_adjust_timing_clock(timing: T, valid_clocks: Iterable[int]) -> T: ) from None -def _rename_kwargs( - func_name: str, - start: str, - end: Optional[str], - kwargs: Dict[str, str], - aliases: Dict[str, str], -) -> None: - """Helper function for `deprecated_args_alias`""" - for alias, new in aliases.items(): - if alias in kwargs: - deprecation_notice = ( - f"The '{alias}' argument is deprecated since python-can v{start}" - ) - if end: - deprecation_notice += ( - f", and scheduled for removal in python-can v{end}" - ) - deprecation_notice += "." - - value = kwargs.pop(alias) - if new is not None: - deprecation_notice += f" Use '{new}' instead." - - if new in kwargs: - raise TypeError( - f"{func_name} received both '{alias}' (deprecated) and '{new}'." - ) - kwargs[new] = value - - warnings.warn(deprecation_notice, DeprecationWarning) - - def time_perfcounter_correlation() -> Tuple[float, float]: """Get the `perf_counter` value nearest to when time.time() is updated diff --git a/doc/bus.rst b/doc/bus.rst index 51ed0220b..e21a9e5f1 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -3,10 +3,10 @@ Bus --- -The :class:`~can.Bus` provides a wrapper around a physical or virtual CAN Bus. +The :class:`~can.BusABC` class provides a wrapper around a physical or virtual CAN Bus. -An interface specific instance is created by instantiating the :class:`~can.Bus` -class with a particular ``interface``, for example:: +An interface specific instance is created by calling the :func:`~can.Bus` +function with a particular ``interface``, for example:: vector_bus = can.Bus(interface='vector', ...) @@ -77,13 +77,14 @@ See :meth:`~can.BusABC.set_filters` for the implementation. Bus API ''''''' -.. autoclass:: can.Bus +.. autofunction:: can.Bus + +.. autoclass:: can.BusABC :class-doc-from: class - :show-inheritance: :members: :inherited-members: -.. autoclass:: can.bus.BusState +.. autoclass:: can.BusState :members: :undoc-members: diff --git a/doc/conf.py b/doc/conf.py index aa61f243b..4b490ee29 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -126,7 +126,9 @@ ("py:class", "can.typechecking.CanFilter"), ("py:class", "can.typechecking.CanFilterExtended"), ("py:class", "can.typechecking.AutoDetectedConfig"), - ("py:class", "can.util.T"), + ("py:class", "can.util.T1"), + ("py:class", "can.util.T2"), + ("py:class", "~P1"), # intersphinx fails to reference some builtins ("py:class", "asyncio.events.AbstractEventLoop"), ("py:class", "_thread.allocate_lock"), diff --git a/doc/internal-api.rst b/doc/internal-api.rst index b8c108fb5..f4b6f875a 100644 --- a/doc/internal-api.rst +++ b/doc/internal-api.rst @@ -57,23 +57,32 @@ They **might** implement the following: and thus might not provide message filtering: -Concrete instances are usually created by :class:`can.Bus` which takes the users +Concrete instances are usually created by :func:`can.Bus` which takes the users configuration into account. Bus Internals ~~~~~~~~~~~~~ -Several methods are not documented in the main :class:`can.Bus` +Several methods are not documented in the main :class:`can.BusABC` as they are primarily useful for library developers as opposed to -library users. This is the entire ABC bus class with all internal -methods: +library users. -.. autoclass:: can.BusABC - :members: - :private-members: - :special-members: +.. automethod:: can.BusABC.__init__ + +.. automethod:: can.BusABC.__iter__ + +.. automethod:: can.BusABC.__str__ + +.. autoattribute:: can.BusABC.__weakref__ + +.. automethod:: can.BusABC._recv_internal + +.. automethod:: can.BusABC._apply_filters + +.. automethod:: can.BusABC._send_periodic_internal +.. automethod:: can.BusABC._detect_available_configs About the IO module From 09213b101adc1775b35dc57788d43902d6de85c9 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Mon, 15 May 2023 16:21:47 +0200 Subject: [PATCH 264/475] Add `protocol` property to BusABC to determine active CAN Protocol (#1532) * Implement is_fd property for BusABC and PCANBus * Implement enum to represent CAN protocol * Implement CANProtocol for VirtualBus * Implement CANProtocol for UDPMulticastBus * Implement CANProtocol for the CANalystIIBus * Implement CANProtocol for the slcanBus * Rename CANProtocol to CanProtocol * Reimplement PcanBus.fd attribute as read-only property The property is scheduled for removal in v5.0 * Reimplement UdpMulticastBus.is_fd attribute as read-only property The property is superseded by BusABC.protocol and scheduled for removal in version 5.0. * Implement CanProtocol for robotellBus * Implement CanProtocol for NicanBus * Implement CanProtocol for IscanBus * Implement CanProtocol for CantactBus * Fix sphinx reference to CanProtocol * Implement CanProtocol for GsUsbBus * Implement CanProtocol for NiXNETcanBus * Implement CanProtocol for EtasBus * Implement CanProtocol for IXXATBus * Implement CanProtocol for KvaserBus * Implement CanProtocol for the SerialBus * Implement CanProtocol for UcanBus * Implement CanProtocol for VectorBus * Implement CanProtocol for NeousysBus * Implement CanProtocol for Usb2canBus * Implement CanProtocol for NeoViBus * Implement CanProtocol for SocketcanBus * Permit passthrough of protocol field for SocketCanDaemonBus * Implement CanProtocol for SeeedBus * Remove CanProtocol attribute from BusABC constructor The attribute is now set as class attribute with default value and can be overridden in the subclass constructor. * Apply suggestions from code review Fix property access and enum comparison Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Fix syntax error * Fix more enum comparisons against BusABC.protocol --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/__init__.py | 3 +- can/bus.py | 18 +++++++++ can/interfaces/canalystii.py | 15 ++++--- can/interfaces/cantact.py | 8 +++- can/interfaces/etas/__init__.py | 8 ++-- can/interfaces/gs_usb.py | 7 +++- can/interfaces/ics_neovi/neovi_bus.py | 13 ++++-- can/interfaces/iscan.py | 7 +++- can/interfaces/ixxat/canlib.py | 3 ++ can/interfaces/ixxat/canlib_vcinpl.py | 3 +- can/interfaces/ixxat/canlib_vcinpl2.py | 10 ++--- can/interfaces/kvaser/canlib.py | 13 ++++-- can/interfaces/neousys/neousys.py | 8 ++-- can/interfaces/nican.py | 8 ++-- can/interfaces/nixnet.py | 19 +++++++-- can/interfaces/pcan/pcan.py | 29 +++++++++++--- can/interfaces/robotell.py | 3 +- can/interfaces/seeedstudio/seeedstudio.py | 4 +- can/interfaces/serial/serial_can.py | 2 + can/interfaces/slcan.py | 9 ++++- can/interfaces/socketcan/socketcan.py | 9 ++++- can/interfaces/socketcand/socketcand.py | 2 +- can/interfaces/systec/ucanbus.py | 19 +++++++-- can/interfaces/udp_multicast/bus.py | 34 +++++++++++----- can/interfaces/usb2can/usb2canInterface.py | 3 +- can/interfaces/vector/canlib.py | 26 +++++++++--- can/interfaces/virtual.py | 46 +++++++++++++++++++--- doc/bus.rst | 4 ++ test/serial_test.py | 3 ++ test/test_cantact.py | 5 +++ test/test_interface_canalystii.py | 7 ++++ test/test_kvaser.py | 7 +++- test/test_neousys.py | 3 ++ test/test_pcan.py | 15 +++++-- test/test_robotell.py | 3 ++ test/test_socketcan.py | 12 ++++++ test/test_systec.py | 2 + test/test_vector.py | 18 +++++++++ 38 files changed, 327 insertions(+), 81 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index a14228f62..a6691eecb 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -25,6 +25,7 @@ "CanInitializationError", "CanInterfaceNotImplementedError", "CanOperationError", + "CanProtocol", "CanTimeoutError", "CanutilsLogReader", "CanutilsLogWriter", @@ -88,7 +89,7 @@ ModifiableCyclicTaskABC, RestartableCyclicTaskABC, ) -from .bus import BusABC, BusState +from .bus import BusABC, BusState, CanProtocol from .exceptions import ( CanError, CanInitializationError, diff --git a/can/bus.py b/can/bus.py index 5bd2d4e30..b7a54dbb1 100644 --- a/can/bus.py +++ b/can/bus.py @@ -26,6 +26,14 @@ class BusState(Enum): ERROR = auto() +class CanProtocol(Enum): + """The CAN protocol type supported by a :class:`can.BusABC` instance""" + + CAN_20 = auto() + CAN_FD = auto() + CAN_XL = auto() + + class BusABC(metaclass=ABCMeta): """The CAN Bus Abstract Base Class that serves as the basis for all concrete interfaces. @@ -44,6 +52,7 @@ class BusABC(metaclass=ABCMeta): RECV_LOGGING_LEVEL = 9 _is_shutdown: bool = False + _can_protocol: CanProtocol = CanProtocol.CAN_20 @abstractmethod def __init__( @@ -459,6 +468,15 @@ def state(self, new_state: BusState) -> None: """ raise NotImplementedError("Property is not implemented.") + @property + def protocol(self) -> CanProtocol: + """Return the CAN protocol used by this bus instance. + + This value is set at initialization time and does not change + during the lifetime of a bus instance. + """ + return self._can_protocol + @staticmethod def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: """Detect all configurations/channels that this interface could diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index dd65f5ba0..2fef19497 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -6,7 +6,7 @@ import canalystii as driver -from can import BitTiming, BitTimingFd, BusABC, Message +from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message from can.exceptions import CanTimeoutError from can.typechecking import CanFilters from can.util import check_or_adjust_timing_clock, deprecated_args_alias @@ -54,8 +54,11 @@ def __init__( raise ValueError("Either bitrate or timing argument is required") # Do this after the error handling - super().__init__(channel=channel, can_filters=can_filters, **kwargs) - + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) if isinstance(channel, str): # Assume comma separated string of channels self.channels = [int(ch.strip()) for ch in channel.split(",")] @@ -64,11 +67,11 @@ def __init__( else: # Sequence[int] self.channels = list(channel) - self.rx_queue: Deque[Tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) - self.channel_info = f"CANalyst-II: device {device}, channels {self.channels}" - + self.rx_queue: Deque[Tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) self.device = driver.CanalystDevice(device_index=device) + self._can_protocol = CanProtocol.CAN_20 + for single_channel in self.channels: if isinstance(timing, BitTiming): timing = check_or_adjust_timing_clock(timing, valid_clocks=[8_000_000]) diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 75e1adbaa..963a9ee3b 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -7,7 +7,7 @@ from typing import Any, Optional, Union from unittest.mock import Mock -from can import BitTiming, BitTimingFd, BusABC, Message +from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message from ..exceptions import ( CanInitializationError, @@ -87,6 +87,7 @@ def __init__( self.channel = int(channel) self.channel_info = f"CANtact: ch:{channel}" + self._can_protocol = CanProtocol.CAN_20 # Configure the interface with error_check("Cannot setup the cantact.Interface", CanInitializationError): @@ -114,7 +115,10 @@ def __init__( self.interface.start() super().__init__( - channel=channel, bitrate=bitrate, poll_interval=poll_interval, **kwargs + channel=channel, + bitrate=bitrate, + poll_interval=poll_interval, + **kwargs, ) def _recv_internal(self, timeout): diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 5f768b3e5..62e060f48 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -1,4 +1,3 @@ -import ctypes import time from typing import Dict, List, Optional, Tuple @@ -17,9 +16,12 @@ def __init__( bitrate: int = 1000000, fd: bool = True, data_bitrate: int = 2000000, - **kwargs: object, + **kwargs: Dict[str, any], ): + super().__init__(channel=channel, **kwargs) + self.receive_own_messages = receive_own_messages + self._can_protocol = can.CanProtocol.CAN_FD if fd else can.CanProtocol.CAN_20 nodeRange = CSI_NodeRange(CSI_NODE_MIN, CSI_NODE_MAX) self.tree = ctypes.POINTER(CSI_Tree)() @@ -297,7 +299,7 @@ def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: tree = ctypes.POINTER(CSI_Tree)() CSI_CreateProtocolTree(ctypes.c_char_p(b""), nodeRange, ctypes.byref(tree)) - nodes: Dict[str, str] = [] + nodes: List[Dict[str, str]] = [] def _findNodes(tree, prefix): uri = f"{prefix}/{tree.contents.item.uriName.decode()}" diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index fb5ce1d80..32ad54e75 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -52,11 +52,16 @@ def __init__( self.gs_usb = gs_usb self.channel_info = channel + self._can_protocol = can.CanProtocol.CAN_20 self.gs_usb.set_bitrate(bitrate) self.gs_usb.start() - super().__init__(channel=channel, can_filters=can_filters, **kwargs) + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) def send(self, msg: can.Message, timeout: Optional[float] = None): """Transmit a message to the CAN bus. diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 848cefcc8..f2dffe0a6 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -16,7 +16,7 @@ from threading import Event from warnings import warn -from can import BusABC, Message +from can import BusABC, CanProtocol, Message from ...exceptions import ( CanError, @@ -169,7 +169,11 @@ def __init__(self, channel, can_filters=None, **kwargs): if ics is None: raise ImportError("Please install python-ics") - super().__init__(channel=channel, can_filters=can_filters, **kwargs) + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) logger.info(f"CAN Filters: {can_filters}") logger.info(f"Got configuration of: {kwargs}") @@ -190,6 +194,9 @@ def __init__(self, channel, can_filters=None, **kwargs): serial = kwargs.get("serial") self.dev = self._find_device(type_filter, serial) + is_fd = kwargs.get("fd", False) + self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 + with open_lock: ics.open_device(self.dev) @@ -198,7 +205,7 @@ def __init__(self, channel, can_filters=None, **kwargs): for channel in self.channels: ics.set_bit_rate(self.dev, kwargs.get("bitrate"), channel) - if kwargs.get("fd", False): + if is_fd: if "data_bitrate" in kwargs: for channel in self.channels: ics.set_fd_bit_rate( diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index ef3a48215..be0b0dae8 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -13,6 +13,7 @@ CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, + CanProtocol, Message, ) @@ -99,6 +100,7 @@ def __init__( self.channel = ctypes.c_ubyte(int(channel)) self.channel_info = f"IS-CAN: {self.channel}" + self._can_protocol = CanProtocol.CAN_20 if bitrate not in self.BAUDRATES: raise ValueError(f"Invalid bitrate, choose one of {set(self.BAUDRATES)}") @@ -107,7 +109,10 @@ def __init__( iscan.isCAN_DeviceInitEx(self.channel, self.BAUDRATES[bitrate]) super().__init__( - channel=channel, bitrate=bitrate, poll_interval=poll_interval, **kwargs + channel=channel, + bitrate=bitrate, + poll_interval=poll_interval, + **kwargs, ) def _recv_internal( diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 3db719f96..b28c93541 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -131,6 +131,9 @@ def __init__( **kwargs ) + super().__init__(channel=channel, **kwargs) + self._can_protocol = self.bus.protocol + def flush_tx_buffer(self): """Flushes the transmit buffer on the IXXAT""" return self.bus.flush_tx_buffer() diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 550484f3e..5a366cc30 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -15,7 +15,7 @@ import sys from typing import Callable, Optional, Tuple -from can import BusABC, Message +from can import BusABC, CanProtocol, Message from can.broadcastmanager import ( LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC, @@ -490,6 +490,7 @@ def __init__( self._channel_capabilities = structures.CANCAPABILITIES() self._message = structures.CANMSG() self._payload = (ctypes.c_byte * 8)() + self._can_protocol = CanProtocol.CAN_20 # Search for supplied device if unique_hardware_id is None: diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 3e7f2ff91..446b3e35c 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -15,8 +15,7 @@ import sys from typing import Callable, Optional, Tuple -import can.util -from can import BusABC, Message +from can import BusABC, CanProtocol, Message from can.broadcastmanager import ( LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC, @@ -24,7 +23,7 @@ from can.ctypesutil import HANDLE, PHANDLE, CLibrary from can.ctypesutil import HRESULT as ctypes_HRESULT from can.exceptions import CanInitializationError, CanInterfaceNotImplementedError -from can.util import deprecated_args_alias +from can.util import deprecated_args_alias, dlc2len, len2dlc from . import constants, structures from .exceptions import * @@ -536,6 +535,7 @@ def __init__( self._channel_capabilities = structures.CANCAPABILITIES2() self._message = structures.CANMSG2() self._payload = (ctypes.c_byte * 64)() + self._can_protocol = CanProtocol.CAN_FD # Search for supplied device if unique_hardware_id is None: @@ -865,7 +865,7 @@ def _recv_internal(self, timeout): # Timed out / can message type is not DATA return None, True - data_len = can.util.dlc2len(self._message.uMsgInfo.Bits.dlc) + data_len = dlc2len(self._message.uMsgInfo.Bits.dlc) # The _message.dwTime is a 32bit tick value and will overrun, # so expect to see the value restarting from 0 rx_msg = Message( @@ -915,7 +915,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: message.uMsgInfo.Bits.edl = 1 if msg.is_fd else 0 message.dwMsgId = msg.arbitration_id if msg.dlc: # this dlc means number of bytes of payload - message.uMsgInfo.Bits.dlc = can.util.len2dlc(msg.dlc) + message.uMsgInfo.Bits.dlc = len2dlc(msg.dlc) data_len_dif = msg.dlc - len(msg.data) data = msg.data + bytearray( [0] * data_len_dif diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index f6b92ccef..32d28059a 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -11,7 +11,7 @@ import sys import time -from can import BusABC, Message +from can import BusABC, CanProtocol, Message from can.util import time_perfcounter_correlation from ...exceptions import CanError, CanInitializationError, CanOperationError @@ -428,11 +428,12 @@ def __init__(self, channel, can_filters=None, **kwargs): channel = int(channel) except ValueError: raise ValueError("channel must be an integer") - self.channel = channel - log.debug("Initialising bus instance") + self.channel = channel self.single_handle = single_handle + self._can_protocol = CanProtocol.CAN_FD if fd else CanProtocol.CAN_20 + log.debug("Initialising bus instance") num_channels = ctypes.c_int(0) canGetNumberOfChannels(ctypes.byref(num_channels)) num_channels = int(num_channels.value) @@ -520,7 +521,11 @@ def __init__(self, channel, can_filters=None, **kwargs): self._timestamp_offset = time.time() - (timer.value * TIMESTAMP_FACTOR) self._is_filtered = False - super().__init__(channel=channel, can_filters=can_filters, **kwargs) + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) def _apply_filters(self, filters): if filters and len(filters) == 1: diff --git a/can/interfaces/neousys/neousys.py b/can/interfaces/neousys/neousys.py index d57234ddd..b7dd2117c 100644 --- a/can/interfaces/neousys/neousys.py +++ b/can/interfaces/neousys/neousys.py @@ -34,12 +34,13 @@ except ImportError: from ctypes import CDLL -from can import BusABC, Message - -from ...exceptions import ( +from can import ( + BusABC, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, + CanProtocol, + Message, ) logger = logging.getLogger(__name__) @@ -150,6 +151,7 @@ def __init__(self, channel, device=0, bitrate=500000, **kwargs): self.channel = channel self.device = device self.channel_info = f"Neousys Can: device {self.device}, channel {self.channel}" + self._can_protocol = CanProtocol.CAN_20 self.queue = queue.Queue() diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index 8457a1a38..f4b1a37f0 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -19,13 +19,14 @@ from typing import Optional, Tuple, Type import can.typechecking -from can import BusABC, Message - -from ..exceptions import ( +from can import ( + BusABC, CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, + CanProtocol, + Message, ) logger = logging.getLogger(__name__) @@ -219,6 +220,7 @@ def __init__( self.channel = channel self.channel_info = f"NI-CAN: {channel}" + self._can_protocol = CanProtocol.CAN_20 channel_bytes = channel.encode("ascii") config = [(NC_ATTR_START_ON_OPEN, True), (NC_ATTR_LOG_COMM_ERRS, log_errors)] diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index 4ddb52455..ba665442e 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -11,12 +11,13 @@ import logging import os import time +import warnings from queue import SimpleQueue from types import ModuleType from typing import Any, List, Optional, Tuple, Union import can.typechecking -from can import BitTiming, BitTimingFd, BusABC, Message +from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message from can.exceptions import ( CanInitializationError, CanInterfaceNotImplementedError, @@ -103,10 +104,11 @@ def __init__( self.poll_interval = poll_interval - self.fd = isinstance(timing, BitTimingFd) if timing else fd + is_fd = isinstance(timing, BitTimingFd) if timing else fd + self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 # Set database for the initialization - database_name = ":can_fd_brs:" if self.fd else ":memory:" + database_name = ":can_fd_brs:" if is_fd else ":memory:" try: # We need two sessions for this application, @@ -158,7 +160,7 @@ def __init__( if bitrate: self._interface.baud_rate = bitrate - if self.fd: + if is_fd: # See page 951 of NI-XNET Hardware and Software Manual # to set custom can configuration self._interface.can_fd_baud_rate = fd_bitrate or bitrate @@ -188,6 +190,15 @@ def __init__( **kwargs, ) + @property + def fd(self) -> bool: + warnings.warn( + "The NiXNETcanBus.fd property is deprecated and superseded by " + "BusABC.protocol. It is scheduled for removal in version 5.0.", + DeprecationWarning, + ) + return self._can_protocol is CanProtocol.CAN_FD + def _recv_internal( self, timeout: Optional[float] ) -> Tuple[Optional[Message], bool]: diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 61d19d1b4..a9b2c016b 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -4,6 +4,7 @@ import logging import platform import time +import warnings from datetime import datetime from typing import Any, List, Optional, Tuple, Union @@ -17,6 +18,7 @@ CanError, CanInitializationError, CanOperationError, + CanProtocol, Message, ) from can.util import check_or_adjust_timing_clock, dlc2len, len2dlc @@ -244,8 +246,9 @@ def __init__( err_msg = f"Cannot find a channel with ID {device_id:08x}" raise ValueError(err_msg) + is_fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) + self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 self.channel_info = str(channel) - self.fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) hwtype = PCAN_TYPE_ISA ioport = 0x02A0 @@ -269,7 +272,7 @@ def __init__( result = self.m_objPCANBasic.Initialize( self.m_PcanHandle, pcan_bitrate, hwtype, ioport, interrupt ) - elif self.fd: + elif is_fd: if isinstance(timing, BitTimingFd): timing = check_or_adjust_timing_clock( timing, sorted(VALID_PCAN_FD_CLOCKS, reverse=True) @@ -336,7 +339,12 @@ def __init__( if result != PCAN_ERROR_OK: raise PcanCanInitializationError(self._get_formatted_error(result)) - super().__init__(channel=channel, state=state, bitrate=bitrate, **kwargs) + super().__init__( + channel=channel, + state=state, + bitrate=bitrate, + **kwargs, + ) def _find_channel_by_dev_id(self, device_id): """ @@ -482,7 +490,7 @@ def _recv_internal( end_time = time.time() + timeout if timeout is not None else None while True: - if self.fd: + if self._can_protocol is CanProtocol.CAN_FD: result, pcan_msg, pcan_timestamp = self.m_objPCANBasic.ReadFD( self.m_PcanHandle ) @@ -544,7 +552,7 @@ def _recv_internal( error_state_indicator = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ESI.value) is_error_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ERRFRAME.value) - if self.fd: + if self._can_protocol is CanProtocol.CAN_FD: dlc = dlc2len(pcan_msg.DLC) timestamp = boottimeEpoch + (pcan_timestamp.value / (1000.0 * 1000.0)) else: @@ -590,7 +598,7 @@ def send(self, msg, timeout=None): if msg.error_state_indicator: msgType |= PCAN_MESSAGE_ESI.value - if self.fd: + if self._can_protocol is CanProtocol.CAN_FD: # create a TPCANMsg message structure CANMsg = TPCANMsgFD() @@ -649,6 +657,15 @@ def shutdown(self): self.m_objPCANBasic.Uninitialize(self.m_PcanHandle) + @property + def fd(self) -> bool: + warnings.warn( + "The PcanBus.fd property is deprecated and superseded by BusABC.protocol. " + "It is scheduled for removal in version 5.0.", + DeprecationWarning, + ) + return self._can_protocol is CanProtocol.CAN_FD + @property def state(self): return self._state diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 4d038a38a..bfe8f5774 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -7,7 +7,7 @@ import time from typing import Optional -from can import BusABC, Message +from can import BusABC, CanProtocol, Message from ..exceptions import CanInterfaceNotImplementedError, CanOperationError @@ -92,6 +92,7 @@ def __init__( if bitrate is not None: self.set_bitrate(bitrate) + self._can_protocol = CanProtocol.CAN_20 self.channel_info = ( f"Robotell USB-CAN s/n {self.get_serial_number(1)} on {channel}" ) diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index 7d7a1e687..0540c78be 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -12,7 +12,7 @@ from time import time import can -from can import BusABC, Message +from can import BusABC, CanProtocol, Message logger = logging.getLogger("seeedbus") @@ -100,6 +100,8 @@ def __init__( self.op_mode = operation_mode self.filter_id = bytearray([0x00, 0x00, 0x00, 0x00]) self.mask_id = bytearray([0x00, 0x00, 0x00, 0x00]) + self._can_protocol = CanProtocol.CAN_20 + if not channel: raise can.CanInitializationError("Must specify a serial port.") diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index eb336feba..9de2da99c 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -17,6 +17,7 @@ CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, + CanProtocol, CanTimeoutError, Message, ) @@ -88,6 +89,7 @@ def __init__( raise TypeError("Must specify a serial port.") self.channel_info = f"Serial interface: {channel}" + self._can_protocol = CanProtocol.CAN_20 try: self._ser = serial.serial_for_url( diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 21306f28f..7ff12ce44 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -7,7 +7,7 @@ import time from typing import Any, Optional, Tuple -from can import BusABC, Message, typechecking +from can import BusABC, CanProtocol, Message, typechecking from ..exceptions import ( CanInitializationError, @@ -105,6 +105,7 @@ def __init__( ) self._buffer = bytearray() + self._can_protocol = CanProtocol.CAN_20 time.sleep(sleep_after_open) @@ -118,7 +119,11 @@ def __init__( self.open() super().__init__( - channel, ttyBaudrate=115200, bitrate=None, rtscts=False, **kwargs + channel, + ttyBaudrate=115200, + bitrate=None, + rtscts=False, + **kwargs, ) def set_bitrate(self, bitrate: int) -> None: diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index bdf39f0ab..a3f74bb82 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -30,7 +30,7 @@ import can -from can import BusABC, Message +from can import BusABC, CanProtocol, Message from can.broadcastmanager import ( LimitedDurationCyclicSendTaskABC, ModifiableCyclicTaskABC, @@ -656,6 +656,7 @@ def __init__( self._is_filtered = False self._task_id = 0 self._task_id_guard = threading.Lock() + self._can_protocol = CanProtocol.CAN_FD if fd else CanProtocol.CAN_20 # set the local_loopback parameter try: @@ -710,7 +711,11 @@ def __init__( "local_loopback": local_loopback, } ) - super().__init__(channel=channel, can_filters=can_filters, **kwargs) + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) def shutdown(self) -> None: """Stops all active periodic tasks and closes the socket.""" diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 0c6c06ccf..183a9ba12 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -93,7 +93,7 @@ def __init__(self, channel, host, port, can_filters=None, **kwargs): self._expect_msg("< ok >") self._tcp_send(f"< rawmode >") self._expect_msg("< ok >") - super().__init__(channel=channel, can_filters=can_filters) + super().__init__(channel=channel, can_filters=can_filters, **kwargs) def _recv_internal(self, timeout): if len(self.__message_buffer) != 0: diff --git a/can/interfaces/systec/ucanbus.py b/can/interfaces/systec/ucanbus.py index da05b38b1..cb0dcc39e 100644 --- a/can/interfaces/systec/ucanbus.py +++ b/can/interfaces/systec/ucanbus.py @@ -1,9 +1,16 @@ import logging from threading import Event -from can import BusABC, BusState, Message +from can import ( + BusABC, + BusState, + CanError, + CanInitializationError, + CanOperationError, + CanProtocol, + Message, +) -from ...exceptions import CanError, CanInitializationError, CanOperationError from .constants import * from .exceptions import UcanException from .structures import * @@ -104,6 +111,8 @@ def __init__(self, channel, can_filters=None, **kwargs): ) from exception self.channel = int(channel) + self._can_protocol = CanProtocol.CAN_20 + device_number = int(kwargs.get("device_number", ANY_MODULE)) # configuration options @@ -145,7 +154,11 @@ def __init__(self, channel, can_filters=None, **kwargs): self._is_filtered = False - super().__init__(channel=channel, can_filters=can_filters, **kwargs) + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) def _recv_internal(self, timeout): try: diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 00cbd32c8..089b8182f 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -3,21 +3,23 @@ import select import socket import struct +import warnings +from typing import List, Optional, Tuple, Union + +import can +from can import BusABC, CanProtocol +from can.typechecking import AutoDetectedConfig + +from .utils import check_msgpack_installed, pack_message, unpack_message try: from fcntl import ioctl except ModuleNotFoundError: # Missing on Windows pass -from typing import List, Optional, Tuple, Union log = logging.getLogger(__name__) -import can -from can import BusABC -from can.typechecking import AutoDetectedConfig - -from .utils import check_msgpack_installed, pack_message, unpack_message # see socket.getaddrinfo() IPv4_ADDRESS_INFO = Tuple[str, int] # address, port @@ -102,10 +104,22 @@ def __init__( "receiving own messages is not yet implemented" ) - super().__init__(channel, **kwargs) + super().__init__( + channel, + **kwargs, + ) - self.is_fd = fd self._multicast = GeneralPurposeUdpMulticastBus(channel, port, hop_limit) + self._can_protocol = CanProtocol.CAN_FD if fd else CanProtocol.CAN_20 + + @property + def is_fd(self) -> bool: + warnings.warn( + "The UdpMulticastBus.is_fd property is deprecated and superseded by " + "BusABC.protocol. It is scheduled for removal in version 5.0.", + DeprecationWarning, + ) + return self._can_protocol is CanProtocol.CAN_FD def _recv_internal(self, timeout: Optional[float]): result = self._multicast.recv(timeout) @@ -122,13 +136,13 @@ def _recv_internal(self, timeout: Optional[float]): "could not unpack received message" ) from exception - if not self.is_fd and can_message.is_fd: + if self._can_protocol is not CanProtocol.CAN_FD and can_message.is_fd: return None, False return can_message, False def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: - if not self.is_fd and msg.is_fd: + if self._can_protocol is not CanProtocol.CAN_FD and msg.is_fd: raise can.CanOperationError( "cannot send FD message over bus with CAN FD disabled" ) diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index 2c0a0d00f..c89e394df 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -6,7 +6,7 @@ from ctypes import byref from typing import Optional -from can import BusABC, CanInitializationError, CanOperationError, Message +from can import BusABC, CanInitializationError, CanOperationError, CanProtocol, Message from .serial_selector import find_serial_devices from .usb2canabstractionlayer import ( @@ -118,6 +118,7 @@ def __init__( baudrate = min(int(bitrate // 1000), 1000) self.channel_info = f"USB2CAN device {device_id}" + self._can_protocol = CanProtocol.CAN_20 connector = f"{device_id}; {baudrate}" self.handle = self.can.open(connector, flags) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 03a3d9b1f..f852fb0ec 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -11,6 +11,7 @@ import logging import os import time +import warnings from types import ModuleType from typing import ( Any, @@ -44,6 +45,7 @@ BusABC, CanInitializationError, CanInterfaceNotImplementedError, + CanProtocol, Message, ) from can.typechecking import AutoDetectedConfig, CanFilters @@ -202,11 +204,12 @@ def __init__( ) channel_configs = get_channel_configs() + is_fd = isinstance(timing, BitTimingFd) if timing else fd self.mask = 0 - self.fd = isinstance(timing, BitTimingFd) if timing else fd self.channel_masks: Dict[int, int] = {} self.index_to_channel: Dict[int, int] = {} + self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 for channel in self.channels: channel_index = self._find_global_channel_idx( @@ -229,7 +232,7 @@ def __init__( interface_version = ( xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4 - if self.fd + if is_fd else xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION ) @@ -324,7 +327,20 @@ def __init__( self._time_offset = 0.0 self._is_filtered = False - super().__init__(channel=channel, can_filters=can_filters, **kwargs) + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) + + @property + def fd(self) -> bool: + warnings.warn( + "The VectorBus.fd property is deprecated and superseded by " + "BusABC.protocol. It is scheduled for removal in version 5.0.", + DeprecationWarning, + ) + return self._can_protocol is CanProtocol.CAN_FD def _find_global_channel_idx( self, @@ -647,7 +663,7 @@ def _recv_internal( while True: try: - if self.fd: + if self._can_protocol is CanProtocol.CAN_FD: msg = self._recv_canfd() else: msg = self._recv_can() @@ -781,7 +797,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _send_sequence(self, msgs: Sequence[Message]) -> int: """Send messages and return number of successful transmissions.""" - if self.fd: + if self._can_protocol is CanProtocol.CAN_FD: return self._send_can_fd_msg_sequence(msgs) else: return self._send_can_msg_sequence(msgs) diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index 3eaefc230..62ad0cfe3 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -15,7 +15,7 @@ from typing import TYPE_CHECKING, Any, Dict, List, Optional, Tuple from can import CanOperationError -from can.bus import BusABC +from can.bus import BusABC, CanProtocol from can.message import Message from can.typechecking import AutoDetectedConfig @@ -33,7 +33,8 @@ class VirtualBus(BusABC): """ - A virtual CAN bus using an internal message queue. It can be used for example for testing. + A virtual CAN bus using an internal message queue. It can be used for + example for testing. In this interface, a channel is an arbitrary object used as an identifier for connected buses. @@ -48,9 +49,11 @@ class VirtualBus(BusABC): if a message is sent to 5 receivers with the timeout set to 1.0. .. warning:: - This interface guarantees reliable delivery and message ordering, but does *not* implement rate - limiting or ID arbitration/prioritization under high loads. Please refer to the section - :ref:`virtual_interfaces_doc` for more information on this and a comparison to alternatives. + This interface guarantees reliable delivery and message ordering, but + does *not* implement rate limiting or ID arbitration/prioritization + under high loads. Please refer to the section + :ref:`virtual_interfaces_doc` for more information on this and a + comparison to alternatives. """ def __init__( @@ -59,14 +62,45 @@ def __init__( receive_own_messages: bool = False, rx_queue_size: int = 0, preserve_timestamps: bool = False, + protocol: CanProtocol = CanProtocol.CAN_20, **kwargs: Any, ) -> None: + """ + The constructed instance has access to the bus identified by the + channel parameter. It is able to see all messages transmitted on the + bus by virtual instances constructed with the same channel identifier. + + :param channel: The channel identifier. This parameter can be an + arbitrary value. The bus instance will be able to see messages + from other virtual bus instances that were created with the same + value. + :param receive_own_messages: If set to True, sent messages will be + reflected back on the input queue. + :param rx_queue_size: The size of the reception queue. The reception + queue stores messages until they are read. If the queue reaches + its capacity, it will start dropping the oldest messages to make + room for new ones. If set to 0, the queue has an infinite capacity. + Be aware that this can cause memory leaks if messages are read + with a lower frequency than they arrive on the bus. + :param preserve_timestamps: If set to True, messages transmitted via + :func:`~can.BusABC.send` will keep the timestamp set in the + :class:`~can.Message` instance. Otherwise, the timestamp value + will be replaced with the current system time. + :param protocol: The protocol implemented by this bus instance. The + value does not affect the operation of the bus instance and can + be set to an arbitrary value for testing purposes. + :param kwargs: Additional keyword arguments passed to the parent + constructor. + """ super().__init__( - channel=channel, receive_own_messages=receive_own_messages, **kwargs + channel=channel, + receive_own_messages=receive_own_messages, + **kwargs, ) # the channel identifier may be an arbitrary object self.channel_id = channel + self._can_protocol = protocol self.channel_info = f"Virtual bus channel {self.channel_id}" self.receive_own_messages = receive_own_messages self.preserve_timestamps = preserve_timestamps diff --git a/doc/bus.rst b/doc/bus.rst index e21a9e5f1..f63c244c2 100644 --- a/doc/bus.rst +++ b/doc/bus.rst @@ -88,6 +88,10 @@ Bus API :members: :undoc-members: +.. autoclass:: can.bus.CanProtocol + :members: + :undoc-members: + Thread safe bus ''''''''''''''' diff --git a/test/serial_test.py b/test/serial_test.py index d020d7232..5fa90704b 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -50,6 +50,9 @@ def __init__(self): self, allowed_timestamp_delta=None, preserves_channel=True ) + def test_can_protocol(self): + self.assertEqual(self.bus.protocol, can.CanProtocol.CAN_20) + def test_rx_tx_min_max_data(self): """ Tests the transfer from 0x00 to 0xFF for a 1 byte payload diff --git a/test/test_cantact.py b/test/test_cantact.py index 2cc3e479c..f90655ae5 100644 --- a/test/test_cantact.py +++ b/test/test_cantact.py @@ -14,6 +14,8 @@ class CantactTest(unittest.TestCase): def test_bus_creation(self): bus = can.Bus(channel=0, interface="cantact", _testing=True) self.assertIsInstance(bus, cantact.CantactBus) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_20) + cantact.MockInterface.set_bitrate.assert_called() cantact.MockInterface.set_bit_timing.assert_not_called() cantact.MockInterface.set_enabled.assert_called() @@ -25,7 +27,10 @@ def test_bus_creation_bittiming(self): bt = can.BitTiming(f_clock=24_000_000, brp=3, tseg1=13, tseg2=2, sjw=1) bus = can.Bus(channel=0, interface="cantact", timing=bt, _testing=True) + self.assertIsInstance(bus, cantact.CantactBus) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_20) + cantact.MockInterface.set_bitrate.assert_not_called() cantact.MockInterface.set_bit_timing.assert_called() cantact.MockInterface.set_enabled.assert_called() diff --git a/test/test_interface_canalystii.py b/test/test_interface_canalystii.py index 0a87f40f9..65d9ee74b 100755 --- a/test/test_interface_canalystii.py +++ b/test/test_interface_canalystii.py @@ -22,6 +22,9 @@ def test_initialize_from_constructor(self): with create_mock_device() as mock_device: instance = mock_device.return_value bus = CANalystIIBus(bitrate=1000000) + + self.assertEqual(bus.protocol, can.CanProtocol.CAN_20) + instance.init.assert_has_calls( [ call(0, bitrate=1000000), @@ -34,6 +37,8 @@ def test_initialize_single_channel_only(self): with create_mock_device() as mock_device: instance = mock_device.return_value bus = CANalystIIBus(channel, bitrate=1000000) + + self.assertEqual(bus.protocol, can.CanProtocol.CAN_20) instance.init.assert_called_once_with(channel, bitrate=1000000) def test_initialize_with_timing_registers(self): @@ -43,6 +48,8 @@ def test_initialize_with_timing_registers(self): f_clock=8_000_000, btr0=0x03, btr1=0x6F ) bus = CANalystIIBus(bitrate=None, timing=timing) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_20) + instance.init.assert_has_calls( [ call(0, timing0=0x03, timing1=0x6F), diff --git a/test/test_kvaser.py b/test/test_kvaser.py index 6e7ccea38..043f86f8c 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -45,6 +45,7 @@ def tearDown(self): def test_bus_creation(self): self.assertIsInstance(self.bus, canlib.KvaserBus) + self.assertEqual(self.bus.protocol, can.CanProtocol.CAN_20) self.assertTrue(canlib.canOpenChannel.called) self.assertTrue(canlib.canBusOn.called) @@ -148,7 +149,8 @@ def test_available_configs(self): def test_canfd_default_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() - can.Bus(channel=0, interface="kvaser", fd=True) + bus = can.Bus(channel=0, interface="kvaser", fd=True) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_FD) canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 ) @@ -160,7 +162,8 @@ def test_canfd_nondefault_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() data_bitrate = 2000000 - can.Bus(channel=0, interface="kvaser", fd=True, data_bitrate=data_bitrate) + bus = can.Bus(channel=0, interface="kvaser", fd=True, data_bitrate=data_bitrate) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_FD) bitrate_constant = canlib.BITRATE_FD[data_bitrate] canlib.canSetBusParams.assert_called_once_with( 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0 diff --git a/test/test_neousys.py b/test/test_neousys.py index 080278d13..69c818869 100644 --- a/test/test_neousys.py +++ b/test/test_neousys.py @@ -36,6 +36,7 @@ def tearDown(self) -> None: def test_bus_creation(self) -> None: self.assertIsInstance(self.bus, neousys.NeousysBus) + self.assertEqual(self.bus.protocol, can.CanProtocol.CAN_20) neousys.NEOUSYS_CANLIB.CAN_Setup.assert_called() neousys.NEOUSYS_CANLIB.CAN_Start.assert_called() neousys.NEOUSYS_CANLIB.CAN_RegisterReceived.assert_called() @@ -62,6 +63,8 @@ def test_bus_creation(self) -> None: def test_bus_creation_bitrate(self) -> None: self.bus = can.Bus(channel=0, interface="neousys", bitrate=200000) self.assertIsInstance(self.bus, neousys.NeousysBus) + self.assertEqual(self.bus.protocol, can.CanProtocol.CAN_20) + CAN_Start_args = ( can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0] ) diff --git a/test/test_pcan.py b/test/test_pcan.py index 93a5f5ff4..19fa44dc7 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -11,7 +11,7 @@ from parameterized import parameterized import can -from can.bus import BusState +from can import BusState, CanProtocol from can.exceptions import CanInitializationError from can.interfaces.pcan import PcanBus, PcanError from can.interfaces.pcan.basic import * @@ -52,8 +52,10 @@ def test_bus_creation(self) -> None: self.bus = can.Bus(interface="pcan") self.assertIsInstance(self.bus, PcanBus) - self.MockPCANBasic.assert_called_once() + self.assertEqual(self.bus.protocol, CanProtocol.CAN_20) + self.assertFalse(self.bus.fd) + self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_called_once() self.mock_pcan.InitializeFD.assert_not_called() @@ -79,6 +81,9 @@ def test_bus_creation_fd(self, clock_param: str, clock_val: int) -> None: ) self.assertIsInstance(self.bus, PcanBus) + self.assertEqual(self.bus.protocol, CanProtocol.CAN_FD) + self.assertTrue(self.bus.fd) + self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_not_called() self.mock_pcan.InitializeFD.assert_called_once() @@ -451,10 +456,11 @@ def test_peak_fd_bus_constructor_regression(self): def test_constructor_bit_timing(self): timing = can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x47, btr1=0x2F) - can.Bus(interface="pcan", channel="PCAN_USBBUS1", timing=timing) + bus = can.Bus(interface="pcan", channel="PCAN_USBBUS1", timing=timing) bitrate_arg = self.mock_pcan.Initialize.call_args[0][1] self.assertEqual(bitrate_arg.value, 0x472F) + self.assertEqual(bus.protocol, CanProtocol.CAN_20) def test_constructor_bit_timing_fd(self): timing = can.BitTimingFd( @@ -468,7 +474,8 @@ def test_constructor_bit_timing_fd(self): data_tseg2=6, data_sjw=1, ) - can.Bus(interface="pcan", channel="PCAN_USBBUS1", timing=timing) + bus = can.Bus(interface="pcan", channel="PCAN_USBBUS1", timing=timing) + self.assertEqual(bus.protocol, CanProtocol.CAN_FD) bitrate_arg = self.mock_pcan.InitializeFD.call_args[0][-1] diff --git a/test/test_robotell.py b/test/test_robotell.py index c0658ef2c..f95139917 100644 --- a/test/test_robotell.py +++ b/test/test_robotell.py @@ -15,6 +15,9 @@ def setUp(self): def tearDown(self): self.bus.shutdown() + def test_protocol(self): + self.assertEqual(self.bus.protocol, can.CanProtocol.CAN_20) + def test_recv_extended(self): self.serial.write( bytearray( diff --git a/test/test_socketcan.py b/test/test_socketcan.py index 90a143a36..f756cb93a 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -9,6 +9,8 @@ import warnings from unittest.mock import patch +from .config import TEST_INTERFACE_SOCKETCAN + import can from can.interfaces.socketcan.constants import ( CAN_BCM_TX_DELETE, @@ -357,6 +359,16 @@ def test_build_bcm_update_header(self): self.assertEqual(can_id, result.can_id) self.assertEqual(1, result.nframes) + @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "Only run when vcan0 is available") + def test_bus_creation_can(self): + bus = can.Bus(interface="socketcan", channel="vcan0", fd=False) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_20) + + @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "Only run when vcan0 is available") + def test_bus_creation_can_fd(self): + bus = can.Bus(interface="socketcan", channel="vcan0", fd=True) + self.assertEqual(bus.protocol, can.CanProtocol.CAN_FD) + @unittest.skipUnless(IS_LINUX and IS_PYPY, "Only test when run on Linux with PyPy") def test_pypy_socketcan_support(self): """Wait for PyPy raw CAN socket support diff --git a/test/test_systec.py b/test/test_systec.py index 7495f75eb..86ed31362 100644 --- a/test/test_systec.py +++ b/test/test_systec.py @@ -36,6 +36,8 @@ def setUp(self): def test_bus_creation(self): self.assertIsInstance(self.bus, ucanbus.UcanBus) + self.assertEqual(self.bus.protocol, can.CanProtocol.CAN_20) + self.assertTrue(ucan.UcanInitHwConnectControlEx.called) self.assertTrue( ucan.UcanInitHardwareEx.called or ucan.UcanInitHardwareEx2.called diff --git a/test/test_vector.py b/test/test_vector.py index b6a0632a8..93aba9c7b 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -81,6 +81,8 @@ def mock_xldriver() -> None: def test_bus_creation_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", _testing=True) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -97,6 +99,8 @@ def test_bus_creation_mocked(mock_xldriver) -> None: def test_bus_creation() -> None: bus = can.Bus(channel=0, serial=_find_virtual_can_serial(), interface="vector") assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + bus.shutdown() xl_channel_config = _find_xl_channel_config( @@ -110,12 +114,15 @@ def test_bus_creation() -> None: bus = canlib.VectorBus(channel=0, serial=_find_virtual_can_serial()) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 bus.shutdown() def test_bus_creation_bitrate_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", bitrate=200_000, _testing=True) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -141,6 +148,7 @@ def test_bus_creation_bitrate() -> None: bitrate=200_000, ) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 xl_channel_config = _find_xl_channel_config( serial=_find_virtual_can_serial(), channel=0 @@ -153,6 +161,8 @@ def test_bus_creation_bitrate() -> None: def test_bus_creation_fd_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_FD + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -173,6 +183,7 @@ def test_bus_creation_fd() -> None: channel=0, serial=_find_virtual_can_serial(), interface="vector", fd=True ) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_FD xl_channel_config = _find_xl_channel_config( serial=_find_virtual_can_serial(), channel=0 @@ -204,6 +215,8 @@ def test_bus_creation_fd_bitrate_timings_mocked(mock_xldriver) -> None: _testing=True, ) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_FD + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -346,6 +359,7 @@ def test_bus_creation_timing() -> None: timing=timing, ) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 xl_channel_config = _find_xl_channel_config( serial=_find_virtual_can_serial(), channel=0 @@ -377,6 +391,8 @@ def test_bus_creation_timingfd_mocked(mock_xldriver) -> None: _testing=True, ) assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_FD + can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called() can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called() @@ -425,6 +441,8 @@ def test_bus_creation_timingfd() -> None: timing=timing, ) + assert bus.protocol == can.CanProtocol.CAN_FD + xl_channel_config = _find_xl_channel_config( serial=_find_virtual_can_serial(), channel=0 ) From 791820953e7d409528e253c08364f35c822ed83c Mon Sep 17 00:00:00 2001 From: Alexander Bessman Date: Mon, 15 May 2023 17:37:43 +0200 Subject: [PATCH 265/475] Add auto-modifying cyclic tasks (#703) * Add auto-modifying cyclic tasks * Make sure self.modifier_callback exists * Don't break socketcan Added modifier_callback arguments where necessary, and changed MRO of sockercan's CyclicSendTask to match that of the fallback. * Remove __init__ from ModifiableCyclicTaskABC This makes several changes to socketcan in previous commits unnecessary. These changes are also removed. * Forgot some brackets... * Reformatting by black * modifier_callback should change one message per send * Forgot to change type hint * fix CI * use mutating callback, adapt SocketcanBus and ixxat, add test * improve docstring * fix ixxat imports --------- Co-authored-by: zariiii9003 Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/broadcastmanager.py | 32 ++++++++----- can/bus.py | 20 ++++++-- can/interfaces/ixxat/canlib.py | 22 +++++++-- can/interfaces/ixxat/canlib_vcinpl.py | 56 ++++++++++++++++------ can/interfaces/ixxat/canlib_vcinpl2.py | 56 ++++++++++++++++------ can/interfaces/socketcan/socketcan.py | 36 +++++++++++---- examples/cyclic_checksum.py | 64 ++++++++++++++++++++++++++ test/simplecyclic_test.py | 59 ++++++++++++++++++++---- 8 files changed, 274 insertions(+), 71 deletions(-) create mode 100644 examples/cyclic_checksum.py diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 39dc1f0ba..ae47fc048 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -53,7 +53,7 @@ def stop(self) -> None: """ -class CyclicSendTaskABC(CyclicTask): +class CyclicSendTaskABC(CyclicTask, abc.ABC): """ Message send task with defined period """ @@ -114,7 +114,7 @@ def _check_and_convert_messages( return messages -class LimitedDurationCyclicSendTaskABC(CyclicSendTaskABC): +class LimitedDurationCyclicSendTaskABC(CyclicSendTaskABC, abc.ABC): def __init__( self, messages: Union[Sequence[Message], Message], @@ -136,7 +136,7 @@ def __init__( self.duration = duration -class RestartableCyclicTaskABC(CyclicSendTaskABC): +class RestartableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): """Adds support for restarting a stopped cyclic task""" @abc.abstractmethod @@ -144,9 +144,7 @@ def start(self) -> None: """Restart a stopped periodic task.""" -class ModifiableCyclicTaskABC(CyclicSendTaskABC): - """Adds support for modifying a periodic message""" - +class ModifiableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): def _check_modified_messages(self, messages: Tuple[Message, ...]) -> None: """Helper function to perform error checking when modifying the data in the cyclic task. @@ -190,7 +188,7 @@ def modify_data(self, messages: Union[Sequence[Message], Message]) -> None: self.messages = messages -class MultiRateCyclicSendTaskABC(CyclicSendTaskABC): +class MultiRateCyclicSendTaskABC(CyclicSendTaskABC, abc.ABC): """A Cyclic send task that supports switches send frequency after a set time.""" def __init__( @@ -218,7 +216,7 @@ def __init__( class ThreadBasedCyclicSendTask( - ModifiableCyclicTaskABC, LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC + LimitedDurationCyclicSendTaskABC, ModifiableCyclicTaskABC, RestartableCyclicTaskABC ): """Fallback cyclic send task using daemon thread.""" @@ -230,6 +228,7 @@ def __init__( period: float, duration: Optional[float] = None, on_error: Optional[Callable[[Exception], bool]] = None, + modifier_callback: Optional[Callable[[Message], None]] = None, ) -> None: """Transmits `messages` with a `period` seconds for `duration` seconds on a `bus`. @@ -255,6 +254,7 @@ def __init__( time.perf_counter() + duration if duration else None ) self.on_error = on_error + self.modifier_callback = modifier_callback if USE_WINDOWS_EVENTS: self.period_ms = int(round(period * 1000, 0)) @@ -301,14 +301,22 @@ def _run(self) -> None: # Prevent calling bus.send from multiple threads with self.send_lock: try: + if self.modifier_callback is not None: + self.modifier_callback(self.messages[msg_index]) self.bus.send(self.messages[msg_index]) except Exception as exc: # pylint: disable=broad-except log.exception(exc) - if self.on_error: - if not self.on_error(exc): - break - else: + + # stop if `on_error` callback was not given + if self.on_error is None: + self.stop() + raise exc + + # stop if `on_error` returns False + if not self.on_error(exc): + self.stop() break + msg_due_time_ns += self.period_ns if self.end_time is not None and time.perf_counter() >= self.end_time: break diff --git a/can/bus.py b/can/bus.py index b7a54dbb1..9c65ad52f 100644 --- a/can/bus.py +++ b/can/bus.py @@ -8,7 +8,7 @@ from abc import ABC, ABCMeta, abstractmethod from enum import Enum, auto from time import time -from typing import Any, Iterator, List, Optional, Sequence, Tuple, Union, cast +from typing import Any, Callable, Iterator, List, Optional, Sequence, Tuple, Union, cast import can import can.typechecking @@ -195,6 +195,7 @@ def send_periodic( period: float, duration: Optional[float] = None, store_task: bool = True, + modifier_callback: Optional[Callable[[Message], None]] = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -216,6 +217,10 @@ def send_periodic( :param store_task: If True (the default) the task will be attached to this Bus instance. Disable to instead manage tasks manually. + :param modifier_callback: + Function which should be used to modify each message's data before + sending. The callback modifies the :attr:`~can.Message.data` of the + message and returns ``None``. :return: A started task instance. Note the task can be stopped (and depending on the backend modified) by calling the task's @@ -230,7 +235,7 @@ def send_periodic( .. note:: - For extremely long running Bus instances with many short lived + For extremely long-running Bus instances with many short-lived tasks the default api with ``store_task==True`` may not be appropriate as the stopped tasks are still taking up memory as they are associated with the Bus instance. @@ -247,9 +252,8 @@ def send_periodic( # Create a backend specific task; will be patched to a _SelfRemovingCyclicTask later task = cast( _SelfRemovingCyclicTask, - self._send_periodic_internal(msgs, period, duration), + self._send_periodic_internal(msgs, period, duration, modifier_callback), ) - # we wrap the task's stop method to also remove it from the Bus's list of tasks periodic_tasks = self._periodic_tasks original_stop_method = task.stop @@ -275,6 +279,7 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + modifier_callback: Optional[Callable[[Message], None]] = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Default implementation of periodic message sending using threading. @@ -298,7 +303,12 @@ def _send_periodic_internal( threading.Lock() ) task = ThreadBasedCyclicSendTask( - self, self._lock_send_periodic, msgs, period, duration + bus=self, + lock=self._lock_send_periodic, + messages=msgs, + period=period, + duration=duration, + modifier_callback=modifier_callback, ) return task diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index b28c93541..d47fc2d6a 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -1,9 +1,13 @@ -from typing import Optional +from typing import Callable, Optional, Sequence, Union import can.interfaces.ixxat.canlib_vcinpl as vcinpl import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 -from can import BusABC, Message -from can.bus import BusState +from can import ( + BusABC, + BusState, + CyclicSendTaskABC, + Message, +) class IXXATBus(BusABC): @@ -145,8 +149,16 @@ def _recv_internal(self, timeout): def send(self, msg: Message, timeout: Optional[float] = None) -> None: return self.bus.send(msg, timeout) - def _send_periodic_internal(self, msgs, period, duration=None): - return self.bus._send_periodic_internal(msgs, period, duration) + def _send_periodic_internal( + self, + msgs: Union[Sequence[Message], Message], + period: float, + duration: Optional[float] = None, + modifier_callback: Optional[Callable[[Message], None]] = None, + ) -> CyclicSendTaskABC: + return self.bus._send_periodic_internal( + msgs, period, duration, modifier_callback + ) def shutdown(self) -> None: super().shutdown() diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 5a366cc30..cbf2fb61c 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -13,14 +13,18 @@ import functools import logging import sys -from typing import Callable, Optional, Tuple - -from can import BusABC, CanProtocol, Message -from can.broadcastmanager import ( +import warnings +from typing import Callable, Optional, Sequence, Tuple, Union + +from can import ( + BusABC, + BusState, + CanProtocol, + CyclicSendTaskABC, LimitedDurationCyclicSendTaskABC, + Message, RestartableCyclicTaskABC, ) -from can.bus import BusState from can.ctypesutil import HANDLE, PHANDLE, CLibrary from can.ctypesutil import HRESULT as ctypes_HRESULT from can.exceptions import CanInitializationError, CanInterfaceNotImplementedError @@ -785,17 +789,39 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: # Want to log outgoing messages? # log.log(self.RECV_LOGGING_LEVEL, "Sent: %s", message) - def _send_periodic_internal(self, msgs, period, duration=None): + def _send_periodic_internal( + self, + msgs: Union[Sequence[Message], Message], + period: float, + duration: Optional[float] = None, + modifier_callback: Optional[Callable[[Message], None]] = None, + ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" - if self._scheduler is None: - self._scheduler = HANDLE() - _canlib.canSchedulerOpen(self._device_handle, self.channel, self._scheduler) - caps = structures.CANCAPABILITIES() - _canlib.canSchedulerGetCaps(self._scheduler, caps) - self._scheduler_resolution = caps.dwClockFreq / caps.dwCmsDivisor - _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) - return CyclicSendTask( - self._scheduler, msgs, period, duration, self._scheduler_resolution + if modifier_callback is None: + if self._scheduler is None: + self._scheduler = HANDLE() + _canlib.canSchedulerOpen( + self._device_handle, self.channel, self._scheduler + ) + caps = structures.CANCAPABILITIES() + _canlib.canSchedulerGetCaps(self._scheduler, caps) + self._scheduler_resolution = caps.dwClockFreq / caps.dwCmsDivisor + _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) + return CyclicSendTask( + self._scheduler, msgs, period, duration, self._scheduler_resolution + ) + + # fallback to thread based cyclic task + warnings.warn( + f"{self.__class__.__name__} falls back to a thread-based cyclic task, " + "when the `modifier_callback` argument is given." + ) + return BusABC._send_periodic_internal( + self, + msgs=msgs, + period=period, + duration=duration, + modifier_callback=modifier_callback, ) def shutdown(self): diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 446b3e35c..b796be744 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -13,11 +13,15 @@ import functools import logging import sys -from typing import Callable, Optional, Tuple +import warnings +from typing import Callable, Optional, Sequence, Tuple, Union -from can import BusABC, CanProtocol, Message -from can.broadcastmanager import ( +from can import ( + BusABC, + CanProtocol, + CyclicSendTaskABC, LimitedDurationCyclicSendTaskABC, + Message, RestartableCyclicTaskABC, ) from can.ctypesutil import HANDLE, PHANDLE, CLibrary @@ -931,19 +935,41 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: else: _canlib.canChannelPostMessage(self._channel_handle, message) - def _send_periodic_internal(self, msgs, period, duration=None): + def _send_periodic_internal( + self, + msgs: Union[Sequence[Message], Message], + period: float, + duration: Optional[float] = None, + modifier_callback: Optional[Callable[[Message], None]] = None, + ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" - if self._scheduler is None: - self._scheduler = HANDLE() - _canlib.canSchedulerOpen(self._device_handle, self.channel, self._scheduler) - caps = structures.CANCAPABILITIES2() - _canlib.canSchedulerGetCaps(self._scheduler, caps) - self._scheduler_resolution = ( - caps.dwCmsClkFreq / caps.dwCmsDivisor - ) # TODO: confirm - _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) - return CyclicSendTask( - self._scheduler, msgs, period, duration, self._scheduler_resolution + if modifier_callback is None: + if self._scheduler is None: + self._scheduler = HANDLE() + _canlib.canSchedulerOpen( + self._device_handle, self.channel, self._scheduler + ) + caps = structures.CANCAPABILITIES2() + _canlib.canSchedulerGetCaps(self._scheduler, caps) + self._scheduler_resolution = ( + caps.dwCmsClkFreq / caps.dwCmsDivisor + ) # TODO: confirm + _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) + return CyclicSendTask( + self._scheduler, msgs, period, duration, self._scheduler_resolution + ) + + # fallback to thread based cyclic task + warnings.warn( + f"{self.__class__.__name__} falls back to a thread-based cyclic task, " + "when the `modifier_callback` argument is given." + ) + return BusABC._send_periodic_internal( + self, + msgs=msgs, + period=period, + duration=duration, + modifier_callback=modifier_callback, ) def shutdown(self): diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index a3f74bb82..44cecec76 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -14,7 +14,8 @@ import struct import threading import time -from typing import Dict, List, Optional, Sequence, Tuple, Type, Union +import warnings +from typing import Callable, Dict, List, Optional, Sequence, Tuple, Type, Union log = logging.getLogger(__name__) log_tx = log.getChild("tx") @@ -806,7 +807,8 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, - ) -> CyclicSendTask: + modifier_callback: Optional[Callable[[Message], None]] = None, + ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. The Linux kernel's Broadcast Manager SocketCAN API is used to schedule @@ -838,15 +840,29 @@ def _send_periodic_internal( general the message will be sent at the given rate until at least *duration* seconds. """ - msgs = LimitedDurationCyclicSendTaskABC._check_and_convert_messages( # pylint: disable=protected-access - msgs - ) + if modifier_callback is None: + msgs = LimitedDurationCyclicSendTaskABC._check_and_convert_messages( # pylint: disable=protected-access + msgs + ) + + msgs_channel = str(msgs[0].channel) if msgs[0].channel else None + bcm_socket = self._get_bcm_socket(msgs_channel or self.channel) + task_id = self._get_next_task_id() + task = CyclicSendTask(bcm_socket, task_id, msgs, period, duration) + return task - msgs_channel = str(msgs[0].channel) if msgs[0].channel else None - bcm_socket = self._get_bcm_socket(msgs_channel or self.channel) - task_id = self._get_next_task_id() - task = CyclicSendTask(bcm_socket, task_id, msgs, period, duration) - return task + # fallback to thread based cyclic task + warnings.warn( + f"{self.__class__.__name__} falls back to a thread-based cyclic task, " + "when the `modifier_callback` argument is given." + ) + return BusABC._send_periodic_internal( + self, + msgs=msgs, + period=period, + duration=duration, + modifier_callback=modifier_callback, + ) def _get_next_task_id(self) -> int: with self._task_id_guard: diff --git a/examples/cyclic_checksum.py b/examples/cyclic_checksum.py new file mode 100644 index 000000000..3ab6c78ac --- /dev/null +++ b/examples/cyclic_checksum.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python + +""" +This example demonstrates how to send a periodic message containing +an automatically updating counter and checksum. + +Expects a virtual interface: + + python3 -m examples.cyclic_checksum +""" + +import logging +import time + +import can + +logging.basicConfig(level=logging.INFO) + + +def cyclic_checksum_send(bus: can.BusABC) -> None: + """ + Sends periodic messages every 1 s with no explicit timeout. + The message's counter and checksum is updated before each send. + Sleeps for 10 seconds then stops the task. + """ + message = can.Message(arbitration_id=0x78, data=[0, 1, 2, 3, 4, 5, 6, 0]) + print("Starting to send an auto-updating message every 100ms for 3 s") + task = bus.send_periodic(msgs=message, period=0.1, modifier_callback=update_message) + time.sleep(3) + task.stop() + print("stopped cyclic send") + + +def update_message(message: can.Message) -> None: + counter = increment_counter(message) + checksum = compute_xbr_checksum(message, counter) + message.data[7] = (checksum << 4) + counter + + +def increment_counter(message: can.Message) -> int: + counter = message.data[7] & 0x0F + counter += 1 + counter %= 16 + + return counter + + +def compute_xbr_checksum(message: can.Message, counter: int) -> int: + """ + Computes an XBR checksum as per SAE J1939 SPN 3188. + """ + checksum = sum(message.data[:7]) + checksum += sum(message.arbitration_id.to_bytes(length=4, byteorder="big")) + checksum += counter & 0x0F + xbr_checksum = ((checksum >> 4) + checksum) & 0x0F + + return xbr_checksum + + +if __name__ == "__main__": + with can.Bus(channel=0, interface="virtual", receive_own_messages=True) as _bus: + notifier = can.Notifier(bus=_bus, listeners=[print]) + cyclic_checksum_send(_bus) + notifier.stop() diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 9e01be457..650a1fddf 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -5,8 +5,10 @@ """ import gc +import time import unittest from time import sleep +from typing import List from unittest.mock import MagicMock import can @@ -160,34 +162,73 @@ def test_thread_based_cyclic_send_task(self): # good case, bus is up on_error_mock = MagicMock(return_value=False) task = can.broadcastmanager.ThreadBasedCyclicSendTask( - bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock + bus=bus, + lock=bus._lock_send_periodic, + messages=msg, + period=0.1, + duration=3, + on_error=on_error_mock, ) - task.start() sleep(1) on_error_mock.assert_not_called() task.stop() bus.shutdown() - # bus has been shutted down + # bus has been shut down on_error_mock = MagicMock(return_value=False) task = can.broadcastmanager.ThreadBasedCyclicSendTask( - bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock + bus=bus, + lock=bus._lock_send_periodic, + messages=msg, + period=0.1, + duration=3, + on_error=on_error_mock, ) - task.start() sleep(1) - self.assertEqual(on_error_mock.call_count, 1) + self.assertEqual(1, on_error_mock.call_count) task.stop() - # bus is still shutted down, but on_error returns True + # bus is still shut down, but on_error returns True on_error_mock = MagicMock(return_value=True) task = can.broadcastmanager.ThreadBasedCyclicSendTask( - bus, bus._lock_send_periodic, msg, 0.1, 3, on_error_mock + bus=bus, + lock=bus._lock_send_periodic, + messages=msg, + period=0.1, + duration=3, + on_error=on_error_mock, ) - task.start() sleep(1) self.assertTrue(on_error_mock.call_count > 1) task.stop() + def test_modifier_callback(self) -> None: + msg_list: List[can.Message] = [] + + def increment_first_byte(msg: can.Message) -> None: + msg.data[0] += 1 + + original_msg = can.Message( + is_extended_id=False, arbitration_id=0x123, data=[0] * 8 + ) + + with can.ThreadSafeBus(interface="virtual", receive_own_messages=True) as bus: + notifier = can.Notifier(bus=bus, listeners=[msg_list.append]) + task = bus.send_periodic( + msgs=original_msg, period=0.001, modifier_callback=increment_first_byte + ) + time.sleep(0.2) + task.stop() + notifier.stop() + + self.assertEqual(b"\x01\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[0].data)) + self.assertEqual(b"\x02\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[1].data)) + self.assertEqual(b"\x03\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[2].data)) + self.assertEqual(b"\x04\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[3].data)) + self.assertEqual(b"\x05\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[4].data)) + self.assertEqual(b"\x06\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[5].data)) + self.assertEqual(b"\x07\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[6].data)) + if __name__ == "__main__": unittest.main() From 97f1e160f19e196871358920ba6d059f6b9663e3 Mon Sep 17 00:00:00 2001 From: Teejay Date: Tue, 16 May 2023 09:57:29 -0700 Subject: [PATCH 266/475] Convert setup.py to pyproject.toml (#1592) * Remove files * Update pyproject * Update ci * Fix ci errors * Apply formatter changes * Fix py312 ci * MR feedback Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- .github/workflows/ci.yml | 4 +- .github/workflows/format-code.yml | 2 +- can/interfaces/ixxat/canlib.py | 6 +- can/interfaces/seeedstudio/seeedstudio.py | 2 +- can/io/printer.py | 2 +- pyproject.toml | 143 ++++++++++++++++++++-- requirements-lint.txt | 6 - setup.cfg | 35 ------ setup.py | 104 ---------------- 9 files changed, 141 insertions(+), 163 deletions(-) delete mode 100644 requirements-lint.txt delete mode 100644 setup.cfg delete mode 100644 setup.py diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 949df6aab..3f143234b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -84,7 +84,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -r requirements-lint.txt + pip install -e .[lint] - name: mypy 3.7 run: | mypy --python-version 3.7 . @@ -125,7 +125,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -r requirements-lint.txt + pip install -e .[lint] - name: Code Format Check with Black run: | black --check --verbose . diff --git a/.github/workflows/format-code.yml b/.github/workflows/format-code.yml index 68c6f56d8..30f95c103 100644 --- a/.github/workflows/format-code.yml +++ b/.github/workflows/format-code.yml @@ -17,7 +17,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -r requirements-lint.txt + pip install -e .[lint] - name: Code Format Check with Black run: | black --verbose . diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index d47fc2d6a..8c07508e4 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -39,7 +39,7 @@ def __init__( tseg1_dbr: int = None, tseg2_dbr: int = None, ssp_dbr: int = None, - **kwargs + **kwargs, ): """ :param channel: @@ -116,7 +116,7 @@ def __init__( tseg1_dbr=tseg1_dbr, tseg2_dbr=tseg2_dbr, ssp_dbr=ssp_dbr, - **kwargs + **kwargs, ) else: if rx_fifo_size is None: @@ -132,7 +132,7 @@ def __init__( rx_fifo_size=rx_fifo_size, tx_fifo_size=tx_fifo_size, bitrate=bitrate, - **kwargs + **kwargs, ) super().__init__(channel=channel, **kwargs) diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index 0540c78be..8e0dca8c7 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -64,7 +64,7 @@ def __init__( operation_mode="normal", bitrate=500000, *args, - **kwargs + **kwargs, ): """ :param str channel: diff --git a/can/io/printer.py b/can/io/printer.py index d0df71db8..40b42862d 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -28,7 +28,7 @@ def __init__( self, file: Optional[Union[StringPathLike, TextIO]] = None, append: bool = False, - **kwargs: Any + **kwargs: Any, ) -> None: """ :param file: An optional path-like object or a file-like object to "print" diff --git a/pyproject.toml b/pyproject.toml index af952e51e..65b8f8aed 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,19 +1,142 @@ [build-system] -requires = [ - "setuptools >= 40.8", - "wheel", -] +requires = ["setuptools >= 67.7.2"] build-backend = "setuptools.build_meta" +[project] +name = "python-can" +dynamic = ["readme", "version"] +description = "Controller Area Network interface module for Python" +authors = [{ name = "python-can contributors" }] +dependencies = [ + "wrapt~=1.10", + "packaging >= 23.1", + "setuptools >= 67.7.2", + "typing_extensions>=3.10.0.0", + "msgpack~=1.0.0; platform_system != 'Windows'", + "pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'", +] +requires-python = ">=3.7" +license = { text = "LGPL v3" } +classifiers = [ + "Development Status :: 5 - Production/Stable", + "Environment :: Console", + "Intended Audience :: Developers", + "Intended Audience :: Education", + "Intended Audience :: Information Technology", + "Intended Audience :: Manufacturing", + "Intended Audience :: Telecommunications Industry", + "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)", + "Natural Language :: English", + "Natural Language :: English", + "Operating System :: MacOS", + "Operating System :: Microsoft :: Windows", + "Operating System :: POSIX :: Linux", + "Programming Language :: Python", + "Programming Language :: Python :: 3.7", + "Programming Language :: Python :: 3.8", + "Programming Language :: Python :: 3.9", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", + "Programming Language :: Python :: Implementation :: CPython", + "Programming Language :: Python :: Implementation :: PyPy", + "Topic :: System :: Hardware :: Hardware Drivers", + "Topic :: System :: Logging", + "Topic :: System :: Monitoring", + "Topic :: System :: Networking", + "Topic :: Utilities", +] + +[project.scripts] +"can_logconvert.py" = "scripts.can_logconvert:main" +"can_logger.py" = "scripts.can_logger:main" +"can_player.py" = "scripts.can_player:main" +"can_viewer.py" = "scripts.can_viewer:main" + +[project.urls] +homepage = "https://github.com/hardbyte/python-can" +documentation = "https://python-can.readthedocs.io" +repository = "https://github.com/hardbyte/python-can" +changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" + +[project.optional-dependencies] +lint = [ + "pylint==2.16.4", + "ruff==0.0.260", + "black~=23.1.0", + "mypy==1.0.1", + "mypy-extensions==0.4.3", + "types-setuptools" +] +seeedstudio = ["pyserial>=3.0"] +serial = ["pyserial~=3.0"] +neovi = ["filelock", "python-ics>=2.12"] +canalystii = ["canalystii>=0.1.0"] +cantact = ["cantact>=0.0.7"] +cvector = ["python-can-cvector"] +gs_usb = ["gs_usb>=0.2.1"] +nixnet = ["nixnet>=0.3.2"] +pcan = ["uptime~=3.0.1"] +remote = ["python-can-remote"] +sontheim = ["python-can-sontheim>=0.1.2"] +canine = ["python-can-canine>=0.2.2"] +viewer = [ + "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" +] +mf4 = ["asammdf>=6.0.0"] + +[tool.setuptools.dynamic] +readme = { file = "README.rst" } +version = { attr = "can.__version__" } + +[tool.setuptools.package-data] +"*" = ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.md"] +doc = ["*.*"] +examples = ["*.py"] +can = ["py.typed"] + +[tool.setuptools.packages.find] +include = ["can*", "scripts"] + +[tool.mypy] +warn_return_any = true +warn_unused_configs = true +ignore_missing_imports = true +no_implicit_optional = true +disallow_incomplete_defs = true +warn_redundant_casts = true +warn_unused_ignores = false +exclude = [ + "venv", + "^doc/conf.py$", + "^build", + "^test", + "^setup.py$", + "^can/interfaces/__init__.py", + "^can/interfaces/etas", + "^can/interfaces/gs_usb", + "^can/interfaces/ics_neovi", + "^can/interfaces/iscan", + "^can/interfaces/ixxat", + "^can/interfaces/kvaser", + "^can/interfaces/nican", + "^can/interfaces/neousys", + "^can/interfaces/pcan", + "^can/interfaces/serial", + "^can/interfaces/slcan", + "^can/interfaces/socketcan", + "^can/interfaces/systec", + "^can/interfaces/udp_multicast", + "^can/interfaces/usb2can", + "^can/interfaces/virtual", +] + [tool.ruff] select = [ - "F401", # unused-imports - "UP", # pyupgrade - "I", # isort -] + "F401", # unused-imports + "UP", # pyupgrade + "I", # isort -# Assume Python 3.7. -target-version = "py37" +] [tool.ruff.isort] known-first-party = ["can"] diff --git a/requirements-lint.txt b/requirements-lint.txt deleted file mode 100644 index 829fe5663..000000000 --- a/requirements-lint.txt +++ /dev/null @@ -1,6 +0,0 @@ -pylint==2.16.4 -ruff==0.0.260 -black~=23.1.0 -mypy==1.0.1 -mypy-extensions==0.4.3 -types-setuptools diff --git a/setup.cfg b/setup.cfg deleted file mode 100644 index 3e121b650..000000000 --- a/setup.cfg +++ /dev/null @@ -1,35 +0,0 @@ -[metadata] -license_files = LICENSE.txt - -[mypy] -warn_return_any = True -warn_unused_configs = True -ignore_missing_imports = True -no_implicit_optional = True -disallow_incomplete_defs = True -warn_redundant_casts = True -warn_unused_ignores = False -exclude = - (?x)( - venv - |^doc/conf.py$ - |^test - |^setup.py$ - |^can/interfaces/__init__.py - |^can/interfaces/etas - |^can/interfaces/gs_usb - |^can/interfaces/ics_neovi - |^can/interfaces/iscan - |^can/interfaces/ixxat - |^can/interfaces/kvaser - |^can/interfaces/nican - |^can/interfaces/neousys - |^can/interfaces/pcan - |^can/interfaces/serial - |^can/interfaces/slcan - |^can/interfaces/socketcan - |^can/interfaces/systec - |^can/interfaces/udp_multicast - |^can/interfaces/usb2can - |^can/interfaces/virtual - ) diff --git a/setup.py b/setup.py deleted file mode 100644 index 65298b072..000000000 --- a/setup.py +++ /dev/null @@ -1,104 +0,0 @@ -#!/usr/bin/env python - -""" -Setup script for the `can` package. -Learn more at https://github.com/hardbyte/python-can/ -""" - -import logging -import re -from os import listdir -from os.path import isfile, join - -from setuptools import find_packages, setup - -logging.basicConfig(level=logging.WARNING) - -with open("can/__init__.py", encoding="utf-8") as fd: - version = re.search( - r'^__version__\s*=\s*[\'"]([^\'"]*)[\'"]', fd.read(), re.MULTILINE - ).group(1) - -with open("README.rst", encoding="utf-8") as f: - long_description = f.read() - -# Dependencies -extras_require = { - "seeedstudio": ["pyserial>=3.0"], - "serial": ["pyserial~=3.0"], - "neovi": ["filelock", "python-ics>=2.12"], - "canalystii": ["canalystii>=0.1.0"], - "cantact": ["cantact>=0.0.7"], - "cvector": ["python-can-cvector"], - "gs_usb": ["gs_usb>=0.2.1"], - "nixnet": ["nixnet>=0.3.2"], - "pcan": ["uptime~=3.0.1"], - "remote": ["python-can-remote"], - "sontheim": ["python-can-sontheim>=0.1.2"], - "canine": ["python-can-canine>=0.2.2"], - "viewer": [ - 'windows-curses;platform_system=="Windows" and platform_python_implementation=="CPython"' - ], - "mf4": ["asammdf>=6.0.0"], -} - -setup( - # Description - name="python-can", - url="https://github.com/hardbyte/python-can", - description="Controller Area Network interface module for Python", - long_description=long_description, - long_description_content_type="text/x-rst", - classifiers=[ - # a list of all available ones: https://pypi.org/classifiers/ - "Programming Language :: Python", - "Programming Language :: Python :: 3.7", - "Programming Language :: Python :: 3.8", - "Programming Language :: Python :: 3.9", - "Programming Language :: Python :: 3.10", - "Programming Language :: Python :: 3.11", - "Natural Language :: English", - "Programming Language :: Python :: Implementation :: CPython", - "Programming Language :: Python :: Implementation :: PyPy", - "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)", - "Operating System :: MacOS", - "Operating System :: POSIX :: Linux", - "Operating System :: Microsoft :: Windows", - "Development Status :: 5 - Production/Stable", - "Environment :: Console", - "Intended Audience :: Developers", - "Intended Audience :: Education", - "Intended Audience :: Information Technology", - "Intended Audience :: Manufacturing", - "Intended Audience :: Telecommunications Industry", - "Natural Language :: English", - "Topic :: System :: Logging", - "Topic :: System :: Monitoring", - "Topic :: System :: Networking", - "Topic :: System :: Hardware :: Hardware Drivers", - "Topic :: Utilities", - ], - version=version, - packages=find_packages(exclude=["test*", "doc", "scripts", "examples"]), - scripts=list(filter(isfile, (join("scripts/", f) for f in listdir("scripts/")))), - author="python-can contributors", - license="LGPL v3", - package_data={ - "": ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.md"], - "doc": ["*.*"], - "examples": ["*.py"], - "can": ["py.typed"], - }, - # Installation - # see https://www.python.org/dev/peps/pep-0345/#version-specifiers - python_requires=">=3.7", - install_requires=[ - "setuptools", - "wrapt~=1.10", - "typing_extensions>=3.10.0.0", - 'pywin32>=305;platform_system=="Windows" and platform_python_implementation=="CPython"', - 'msgpack~=1.0.0;platform_system!="Windows"', - "packaging", - ], - extras_require=extras_require, -) From b61482aa814c80b15527b17c83e3aece360e8d92 Mon Sep 17 00:00:00 2001 From: Robert Imschweiler <50044286+ro-i@users.noreply.github.com> Date: Tue, 16 May 2023 19:01:54 +0200 Subject: [PATCH 267/475] can.io: Distinguish Text/Binary-IO for Reader/Writer classes. (#1585) --- can/io/asc.py | 6 +++--- can/io/blf.py | 4 ++-- can/io/canutils.py | 6 +++--- can/io/csv.py | 6 +++--- can/io/generic.py | 20 ++++++++++++++++++++ can/io/logger.py | 34 +++++++++++++++++++++++++--------- can/io/mf4.py | 6 +++--- can/io/player.py | 23 ++++++++++++++++------- can/io/trc.py | 9 ++++++--- 9 files changed, 81 insertions(+), 33 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index 5169d7468..3114acfbe 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -14,7 +14,7 @@ from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc -from .generic import FileIOMessageWriter, MessageReader +from .generic import TextIOMessageReader, TextIOMessageWriter CAN_MSG_EXT = 0x80000000 CAN_ID_MASK = 0x1FFFFFFF @@ -24,7 +24,7 @@ logger = logging.getLogger("can.io.asc") -class ASCReader(MessageReader): +class ASCReader(TextIOMessageReader): """ Iterator of CAN messages from a ASC logging file. Meta data (comments, bus statistics, J1939 Transport Protocol messages) is ignored. @@ -308,7 +308,7 @@ def __iter__(self) -> Generator[Message, None, None]: self.stop() -class ASCWriter(FileIOMessageWriter): +class ASCWriter(TextIOMessageWriter): """Logs CAN data to an ASCII log file (.asc). The measurement starts with the timestamp of the first registered message. diff --git a/can/io/blf.py b/can/io/blf.py index e9dd8380f..071c089d7 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -22,7 +22,7 @@ from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc -from .generic import FileIOMessageWriter, MessageReader +from .generic import BinaryIOMessageReader, FileIOMessageWriter TSystemTime = Tuple[int, int, int, int, int, int, int, int] @@ -132,7 +132,7 @@ def systemtime_to_timestamp(systemtime: TSystemTime) -> float: return 0 -class BLFReader(MessageReader): +class BLFReader(BinaryIOMessageReader): """ Iterator of CAN messages from a Binary Logging File. diff --git a/can/io/canutils.py b/can/io/canutils.py index a9dced6a1..d7ae99daf 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -10,7 +10,7 @@ from can.message import Message from ..typechecking import StringPathLike -from .generic import FileIOMessageWriter, MessageReader +from .generic import TextIOMessageReader, TextIOMessageWriter log = logging.getLogger("can.io.canutils") @@ -23,7 +23,7 @@ CANFD_ESI = 0x02 -class CanutilsLogReader(MessageReader): +class CanutilsLogReader(TextIOMessageReader): """ Iterator over CAN messages from a .log Logging File (candump -L). @@ -122,7 +122,7 @@ def __iter__(self) -> Generator[Message, None, None]: self.stop() -class CanutilsLogWriter(FileIOMessageWriter): +class CanutilsLogWriter(TextIOMessageWriter): """Logs CAN data to an ASCII log file (.log). This class is is compatible with "candump -L". diff --git a/can/io/csv.py b/can/io/csv.py index b96e69342..2abaeb70e 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -15,10 +15,10 @@ from can.message import Message from ..typechecking import StringPathLike -from .generic import FileIOMessageWriter, MessageReader +from .generic import TextIOMessageReader, TextIOMessageWriter -class CSVReader(MessageReader): +class CSVReader(TextIOMessageReader): """Iterator over CAN messages from a .csv file that was generated by :class:`~can.CSVWriter` or that uses the same format as described there. Assumes that there is a header @@ -67,7 +67,7 @@ def __iter__(self) -> Generator[Message, None, None]: self.stop() -class CSVWriter(FileIOMessageWriter): +class CSVWriter(TextIOMessageWriter): """Writes a comma separated text file with a line for each message. Includes a header line. diff --git a/can/io/generic.py b/can/io/generic.py index 193ec3df2..eb9647474 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -1,13 +1,17 @@ """Contains generic base classes for file IO.""" +import gzip import locale from abc import ABCMeta from types import TracebackType from typing import ( Any, + BinaryIO, ContextManager, Iterable, Optional, + TextIO, Type, + Union, cast, ) @@ -105,5 +109,21 @@ def file_size(self) -> int: return self.file.tell() +class TextIOMessageWriter(FileIOMessageWriter, metaclass=ABCMeta): + file: TextIO + + +class BinaryIOMessageWriter(FileIOMessageWriter, metaclass=ABCMeta): + file: Union[BinaryIO, gzip.GzipFile] + + class MessageReader(BaseIOHandler, Iterable[Message], metaclass=ABCMeta): """The base class for all readers.""" + + +class TextIOMessageReader(MessageReader, metaclass=ABCMeta): + file: TextIO + + +class BinaryIOMessageReader(MessageReader, metaclass=ABCMeta): + file: Union[BinaryIO, gzip.GzipFile] diff --git a/can/io/logger.py b/can/io/logger.py index 07d288ba3..7075a7ee2 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -20,7 +20,12 @@ from .blf import BLFWriter from .canutils import CanutilsLogWriter from .csv import CSVWriter -from .generic import BaseIOHandler, FileIOMessageWriter, MessageWriter +from .generic import ( + BaseIOHandler, + BinaryIOMessageWriter, + FileIOMessageWriter, + MessageWriter, +) from .mf4 import MF4Writer from .printer import Printer from .sqlite import SqliteWriter @@ -94,20 +99,28 @@ def __new__( # type: ignore file_or_filename: AcceptedIOType = filename if suffix == ".gz": - suffix, file_or_filename = Logger.compress(filename, **kwargs) + LoggerType, file_or_filename = Logger.compress(filename, **kwargs) + else: + LoggerType = cls._get_logger_for_suffix(suffix) + + return LoggerType(file=file_or_filename, **kwargs) + @classmethod + def _get_logger_for_suffix(cls, suffix: str) -> Type[MessageWriter]: try: LoggerType = Logger.message_writers[suffix] if LoggerType is None: raise ValueError(f'failed to import logger for extension "{suffix}"') - return LoggerType(file=file_or_filename, **kwargs) + return LoggerType except KeyError: raise ValueError( f'No write support for this unknown log format "{suffix}"' ) from None - @staticmethod - def compress(filename: StringPathLike, **kwargs: Any) -> Tuple[str, FileLike]: + @classmethod + def compress( + cls, filename: StringPathLike, **kwargs: Any + ) -> Tuple[Type[MessageWriter], FileLike]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. @@ -117,12 +130,15 @@ def compress(filename: StringPathLike, **kwargs: Any) -> Tuple[str, FileLike]: raise ValueError( f"The file type {real_suffix} is currently incompatible with gzip." ) - if kwargs.get("append", False): - mode = "ab" if real_suffix == ".blf" else "at" + LoggerType = cls._get_logger_for_suffix(real_suffix) + append = kwargs.get("append", False) + + if issubclass(LoggerType, BinaryIOMessageWriter): + mode = "ab" if append else "wb" else: - mode = "wb" if real_suffix == ".blf" else "wt" + mode = "at" if append else "wt" - return real_suffix, gzip.open(filename, mode) + return LoggerType, gzip.open(filename, mode) def on_message_received(self, msg: Message) -> None: pass diff --git a/can/io/mf4.py b/can/io/mf4.py index faad9c37a..215543e9f 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -14,7 +14,7 @@ from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc -from .generic import FileIOMessageWriter, MessageReader +from .generic import BinaryIOMessageReader, BinaryIOMessageWriter logger = logging.getLogger("can.io.mf4") @@ -75,7 +75,7 @@ CAN_ID_MASK = 0x1FFFFFFF -class MF4Writer(FileIOMessageWriter): +class MF4Writer(BinaryIOMessageWriter): """Logs CAN data to an ASAM Measurement Data File v4 (.mf4). MF4Writer does not support append mode. @@ -265,7 +265,7 @@ def on_message_received(self, msg: Message) -> None: self._rtr_buffer = np.zeros(1, dtype=RTR_DTYPE) -class MF4Reader(MessageReader): +class MF4Reader(BinaryIOMessageReader): """ Iterator of CAN messages from a MF4 logging file. diff --git a/can/io/player.py b/can/io/player.py index e4db0e167..5b9dc060a 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -16,7 +16,7 @@ from .blf import BLFReader from .canutils import CanutilsLogReader from .csv import CSVReader -from .generic import MessageReader +from .generic import BinaryIOMessageReader, MessageReader from .mf4 import MF4Reader from .sqlite import SqliteReader from .trc import TRCReader @@ -87,7 +87,13 @@ def __new__( # type: ignore file_or_filename: AcceptedIOType = filename if suffix == ".gz": - suffix, file_or_filename = LogReader.decompress(filename) + ReaderType, file_or_filename = LogReader.decompress(filename) + else: + ReaderType = cls._get_logger_for_suffix(suffix) + return ReaderType(file=file_or_filename, **kwargs) + + @classmethod + def _get_logger_for_suffix(cls, suffix: str) -> typing.Type[MessageReader]: try: ReaderType = LogReader.message_readers[suffix] except KeyError: @@ -96,19 +102,22 @@ def __new__( # type: ignore ) from None if ReaderType is None: raise ImportError(f"failed to import reader for extension {suffix}") - return ReaderType(file=file_or_filename, **kwargs) + return ReaderType - @staticmethod + @classmethod def decompress( + cls, filename: StringPathLike, - ) -> typing.Tuple[str, typing.Union[str, FileLike]]: + ) -> typing.Tuple[typing.Type[MessageReader], typing.Union[str, FileLike]]: """ Return the suffix and io object of the decompressed file. """ real_suffix = pathlib.Path(filename).suffixes[-2].lower() - mode = "rb" if real_suffix == ".blf" else "rt" + ReaderType = cls._get_logger_for_suffix(real_suffix) + + mode = "rb" if issubclass(ReaderType, BinaryIOMessageReader) else "rt" - return real_suffix, gzip.open(filename, mode) + return ReaderType, gzip.open(filename, mode) def __iter__(self) -> typing.Generator[Message, None, None]: raise NotImplementedError() diff --git a/can/io/trc.py b/can/io/trc.py index fc2a9e1f7..f116bdc04 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -16,7 +16,10 @@ from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc -from .generic import FileIOMessageWriter, MessageReader +from .generic import ( + TextIOMessageReader, + TextIOMessageWriter, +) logger = logging.getLogger("can.io.trc") @@ -36,7 +39,7 @@ def __ge__(self, other): return NotImplemented -class TRCReader(MessageReader): +class TRCReader(TextIOMessageReader): """ Iterator of CAN messages from a TRC logging file. """ @@ -241,7 +244,7 @@ def __iter__(self) -> Generator[Message, None, None]: self.stop() -class TRCWriter(FileIOMessageWriter): +class TRCWriter(TextIOMessageWriter): """Logs CAN data to text file (.trc). The measurement starts with the timestamp of the first registered message. From 1a3f5e3769aa565ada8c27177a94f7db43d019dc Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 20 May 2023 14:41:00 +0200 Subject: [PATCH 268/475] Raise Minimum Python Version to 3.8 (#1597) * raise minimum python version to 3.8 * try to fix entry points * use walrus and hasattr * update supported versions --- .github/workflows/ci.yml | 5 ----- README.rst | 3 ++- can/__init__.py | 1 + can/_entry_points.py | 34 ++++++++++++++++++++++++++++++ can/broadcastmanager.py | 4 +--- can/bus.py | 25 +++++++++++++++++++--- can/interfaces/__init__.py | 43 +++++++++----------------------------- can/io/generic.py | 5 +++-- can/io/logger.py | 30 +++++++++++++------------- can/io/player.py | 43 +++++++++++++++++++------------------- can/notifier.py | 22 +++++++------------ can/thread_safe_bus.py | 21 ++----------------- can/typechecking.py | 12 +++++------ pyproject.toml | 19 +++++++---------- tox.ini | 4 ++-- 15 files changed, 133 insertions(+), 138 deletions(-) create mode 100644 can/_entry_points.py diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 3f143234b..9633398e3 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -18,12 +18,10 @@ jobs: os: [ubuntu-latest, macos-latest, windows-latest] experimental: [false] python-version: [ - "3.7", "3.8", "3.9", "3.10", "3.11", - "pypy-3.7", "pypy-3.8", "pypy-3.9", ] @@ -85,9 +83,6 @@ jobs: run: | python -m pip install --upgrade pip pip install -e .[lint] - - name: mypy 3.7 - run: | - mypy --python-version 3.7 . - name: mypy 3.8 run: | mypy --python-version 3.8 . diff --git a/README.rst b/README.rst index e7d40f590..07d2b0668 100644 --- a/README.rst +++ b/README.rst @@ -62,7 +62,8 @@ Library Version Python ------------------------------ ----------- 2.x 2.6+, 3.4+ 3.x 2.7+, 3.5+ - 4.x 3.7+ + 4.0+ 3.7+ + 4.3+ 3.8+ ============================== =========== diff --git a/can/__init__.py b/can/__init__.py index a6691eecb..34db1727c 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -61,6 +61,7 @@ "exceptions", "interface", "interfaces", + "io", "listener", "logconvert", "log", diff --git a/can/_entry_points.py b/can/_entry_points.py new file mode 100644 index 000000000..6842e3c1a --- /dev/null +++ b/can/_entry_points.py @@ -0,0 +1,34 @@ +import importlib +import sys +from dataclasses import dataclass +from importlib.metadata import entry_points +from typing import Any, List + + +@dataclass +class _EntryPoint: + key: str + module_name: str + class_name: str + + def load(self) -> Any: + module = importlib.import_module(self.module_name) + return getattr(module, self.class_name) + + +# See https://docs.python.org/3/library/importlib.metadata.html#entry-points, +# "Compatibility Note". +if sys.version_info >= (3, 10): + + def read_entry_points(group: str) -> List[_EntryPoint]: + return [ + _EntryPoint(ep.name, ep.module, ep.attr) for ep in entry_points(group=group) + ] + +else: + + def read_entry_points(group: str) -> List[_EntryPoint]: + return [ + _EntryPoint(ep.name, *ep.value.split(":", maxsplit=1)) + for ep in entry_points().get(group, []) + ] diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index ae47fc048..84554a507 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -10,9 +10,7 @@ import sys import threading import time -from typing import TYPE_CHECKING, Callable, Optional, Sequence, Tuple, Union - -from typing_extensions import Final +from typing import TYPE_CHECKING, Callable, Final, Optional, Sequence, Tuple, Union from can import typechecking from can.message import Message diff --git a/can/bus.py b/can/bus.py index 9c65ad52f..555389b0f 100644 --- a/can/bus.py +++ b/can/bus.py @@ -8,7 +8,21 @@ from abc import ABC, ABCMeta, abstractmethod from enum import Enum, auto from time import time -from typing import Any, Callable, Iterator, List, Optional, Sequence, Tuple, Union, cast +from types import TracebackType +from typing import ( + Any, + Callable, + Iterator, + List, + Optional, + Sequence, + Tuple, + Type, + Union, + cast, +) + +from typing_extensions import Self import can import can.typechecking @@ -450,10 +464,15 @@ def shutdown(self) -> None: self._is_shutdown = True self.stop_all_periodic_tasks() - def __enter__(self): + def __enter__(self) -> Self: return self - def __exit__(self, exc_type, exc_val, exc_tb): + def __exit__( + self, + exc_type: Optional[Type[BaseException]], + exc_value: Optional[BaseException], + traceback: Optional[TracebackType], + ) -> None: self.shutdown() def __del__(self) -> None: diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index b14914230..f220d28e5 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -2,8 +2,9 @@ Interfaces contain low level implementations that interact with CAN hardware. """ -import sys -from typing import Dict, Tuple, cast +from typing import Dict, Tuple + +from can._entry_points import read_entry_points __all__ = [ "BACKENDS", @@ -60,36 +61,12 @@ "socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"), } -if sys.version_info >= (3, 8): - from importlib.metadata import entry_points - - # See https://docs.python.org/3/library/importlib.metadata.html#entry-points, - # "Compatibility Note". - if sys.version_info >= (3, 10): - BACKENDS.update( - { - interface.name: (interface.module, interface.attr) - for interface in entry_points(group="can.interface") - } - ) - else: - # The entry_points().get(...) causes a deprecation warning on Python >= 3.10. - BACKENDS.update( - { - interface.name: cast( - Tuple[str, str], tuple(interface.value.split(":", maxsplit=1)) - ) - for interface in entry_points().get("can.interface", []) - } - ) -else: - from pkg_resources import iter_entry_points - BACKENDS.update( - { - interface.name: (interface.module_name, interface.attrs[0]) - for interface in iter_entry_points("can.interface") - } - ) +BACKENDS.update( + { + interface.key: (interface.module_name, interface.class_name) + for interface in read_entry_points(group="can.interface") + } +) -VALID_INTERFACES = frozenset(BACKENDS.keys()) +VALID_INTERFACES = frozenset(sorted(BACKENDS.keys())) diff --git a/can/io/generic.py b/can/io/generic.py index eb9647474..4d877865e 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -8,6 +8,7 @@ BinaryIO, ContextManager, Iterable, + Literal, Optional, TextIO, Type, @@ -15,7 +16,7 @@ cast, ) -from typing_extensions import Literal +from typing_extensions import Self from .. import typechecking from ..listener import Listener @@ -65,7 +66,7 @@ def __init__( # for multiple inheritance super().__init__() - def __enter__(self) -> "BaseIOHandler": + def __enter__(self) -> Self: return self def __exit__( diff --git a/can/io/logger.py b/can/io/logger.py index 7075a7ee2..c3e83c883 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -8,11 +8,11 @@ from abc import ABC, abstractmethod from datetime import datetime from types import TracebackType -from typing import Any, Callable, Dict, Optional, Set, Tuple, Type, cast +from typing import Any, Callable, Dict, Literal, Optional, Set, Tuple, Type, cast -from pkg_resources import iter_entry_points -from typing_extensions import Literal +from typing_extensions import Self +from .._entry_points import read_entry_points from ..listener import Listener from ..message import Message from ..typechecking import AcceptedIOType, FileLike, StringPathLike @@ -89,8 +89,8 @@ def __new__( # type: ignore if not Logger.fetched_plugins: Logger.message_writers.update( { - writer.name: writer.load() - for writer in iter_entry_points("can.io.message_writer") + writer.key: cast(Type[MessageWriter], writer.load()) + for writer in read_entry_points("can.io.message_writer") } ) Logger.fetched_plugins = True @@ -99,19 +99,19 @@ def __new__( # type: ignore file_or_filename: AcceptedIOType = filename if suffix == ".gz": - LoggerType, file_or_filename = Logger.compress(filename, **kwargs) + logger_type, file_or_filename = Logger.compress(filename, **kwargs) else: - LoggerType = cls._get_logger_for_suffix(suffix) + logger_type = cls._get_logger_for_suffix(suffix) - return LoggerType(file=file_or_filename, **kwargs) + return logger_type(file=file_or_filename, **kwargs) @classmethod def _get_logger_for_suffix(cls, suffix: str) -> Type[MessageWriter]: try: - LoggerType = Logger.message_writers[suffix] - if LoggerType is None: + logger_type = Logger.message_writers[suffix] + if logger_type is None: raise ValueError(f'failed to import logger for extension "{suffix}"') - return LoggerType + return logger_type except KeyError: raise ValueError( f'No write support for this unknown log format "{suffix}"' @@ -130,15 +130,15 @@ def compress( raise ValueError( f"The file type {real_suffix} is currently incompatible with gzip." ) - LoggerType = cls._get_logger_for_suffix(real_suffix) + logger_type = cls._get_logger_for_suffix(real_suffix) append = kwargs.get("append", False) - if issubclass(LoggerType, BinaryIOMessageWriter): + if issubclass(logger_type, BinaryIOMessageWriter): mode = "ab" if append else "wb" else: mode = "at" if append else "wt" - return LoggerType, gzip.open(filename, mode) + return logger_type, gzip.open(filename, mode) def on_message_received(self, msg: Message) -> None: pass @@ -275,7 +275,7 @@ def stop(self) -> None: """ self.writer.stop() - def __enter__(self) -> "BaseRotatingLogger": + def __enter__(self) -> Self: return self def __exit__( diff --git a/can/io/player.py b/can/io/player.py index 5b9dc060a..9fd9d9ed3 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -6,10 +6,9 @@ import gzip import pathlib import time -import typing - -from pkg_resources import iter_entry_points +from typing import Any, Dict, Generator, Iterable, Optional, Tuple, Type, Union, cast +from .._entry_points import read_entry_points from ..message import Message from ..typechecking import AcceptedIOType, FileLike, StringPathLike from .asc import ASCReader @@ -54,7 +53,7 @@ class LogReader(MessageReader): """ fetched_plugins = False - message_readers: typing.Dict[str, typing.Optional[typing.Type[MessageReader]]] = { + message_readers: Dict[str, Optional[Type[MessageReader]]] = { ".asc": ASCReader, ".blf": BLFReader, ".csv": CSVReader, @@ -66,9 +65,9 @@ class LogReader(MessageReader): @staticmethod def __new__( # type: ignore - cls: typing.Any, + cls: Any, filename: StringPathLike, - **kwargs: typing.Any, + **kwargs: Any, ) -> MessageReader: """ :param filename: the filename/path of the file to read from @@ -77,8 +76,8 @@ def __new__( # type: ignore if not LogReader.fetched_plugins: LogReader.message_readers.update( { - reader.name: reader.load() - for reader in iter_entry_points("can.io.message_reader") + reader.key: cast(Type[MessageReader], reader.load()) + for reader in read_entry_points("can.io.message_reader") } ) LogReader.fetched_plugins = True @@ -87,39 +86,39 @@ def __new__( # type: ignore file_or_filename: AcceptedIOType = filename if suffix == ".gz": - ReaderType, file_or_filename = LogReader.decompress(filename) + reader_type, file_or_filename = LogReader.decompress(filename) else: - ReaderType = cls._get_logger_for_suffix(suffix) - return ReaderType(file=file_or_filename, **kwargs) + reader_type = cls._get_logger_for_suffix(suffix) + return reader_type(file=file_or_filename, **kwargs) @classmethod - def _get_logger_for_suffix(cls, suffix: str) -> typing.Type[MessageReader]: + def _get_logger_for_suffix(cls, suffix: str) -> Type[MessageReader]: try: - ReaderType = LogReader.message_readers[suffix] + reader_type = LogReader.message_readers[suffix] except KeyError: raise ValueError( f'No read support for this unknown log format "{suffix}"' ) from None - if ReaderType is None: + if reader_type is None: raise ImportError(f"failed to import reader for extension {suffix}") - return ReaderType + return reader_type @classmethod def decompress( cls, filename: StringPathLike, - ) -> typing.Tuple[typing.Type[MessageReader], typing.Union[str, FileLike]]: + ) -> Tuple[Type[MessageReader], Union[str, FileLike]]: """ Return the suffix and io object of the decompressed file. """ real_suffix = pathlib.Path(filename).suffixes[-2].lower() - ReaderType = cls._get_logger_for_suffix(real_suffix) + reader_type = cls._get_logger_for_suffix(real_suffix) - mode = "rb" if issubclass(ReaderType, BinaryIOMessageReader) else "rt" + mode = "rb" if issubclass(reader_type, BinaryIOMessageReader) else "rt" - return ReaderType, gzip.open(filename, mode) + return reader_type, gzip.open(filename, mode) - def __iter__(self) -> typing.Generator[Message, None, None]: + def __iter__(self) -> Generator[Message, None, None]: raise NotImplementedError() @@ -130,7 +129,7 @@ class MessageSync: def __init__( self, - messages: typing.Iterable[Message], + messages: Iterable[Message], timestamps: bool = True, gap: float = 0.0001, skip: float = 60.0, @@ -148,7 +147,7 @@ def __init__( self.gap = gap self.skip = skip - def __iter__(self) -> typing.Generator[Message, None, None]: + def __iter__(self) -> Generator[Message, None, None]: t_wakeup = playback_start_time = time.perf_counter() recorded_start_time = None t_skipped = 0.0 diff --git a/can/notifier.py b/can/notifier.py index fce210f49..92a91f8a9 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -104,14 +104,13 @@ def stop(self, timeout: float = 5) -> None: # reader is a file descriptor self._loop.remove_reader(reader) for listener in self.listeners: - # Mypy prefers this over a hasattr(...) check - getattr(listener, "stop", lambda: None)() + if hasattr(listener, "stop"): + listener.stop() def _rx_thread(self, bus: BusABC) -> None: - msg = None try: while self._running: - if msg is not None: + if msg := bus.recv(self.timeout): with self._lock: if self._loop is not None: self._loop.call_soon_threadsafe( @@ -119,12 +118,11 @@ def _rx_thread(self, bus: BusABC) -> None: ) else: self._on_message_received(msg) - msg = bus.recv(self.timeout) except Exception as exc: # pylint: disable=broad-except self.exception = exc if self._loop is not None: self._loop.call_soon_threadsafe(self._on_error, exc) - # Raise anyways + # Raise anyway raise elif not self._on_error(exc): # If it was not handled, raise the exception here @@ -134,14 +132,13 @@ def _rx_thread(self, bus: BusABC) -> None: logger.info("suppressed exception: %s", exc) def _on_message_available(self, bus: BusABC) -> None: - msg = bus.recv(0) - if msg is not None: + if msg := bus.recv(0): self._on_message_received(msg) def _on_message_received(self, msg: Message) -> None: for callback in self.listeners: res = callback(msg) - if res is not None and self._loop is not None and asyncio.iscoroutine(res): + if res and self._loop and asyncio.iscoroutine(res): # Schedule coroutine self._loop.create_task(res) @@ -153,12 +150,9 @@ def _on_error(self, exc: Exception) -> bool: was_handled = False for listener in self.listeners: - on_error = getattr( - listener, "on_error", None - ) # Mypy prefers this over hasattr(...) - if on_error is not None: + if hasattr(listener, "on_error"): try: - on_error(exc) + listener.on_error(exc) except NotImplementedError: pass else: diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 4793ed1ff..9b008667f 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -10,26 +10,9 @@ ObjectProxy = object import_exc = exc -from .interface import Bus - -try: - from contextlib import nullcontext - -except ImportError: +from contextlib import nullcontext - class nullcontext: # type: ignore - """A context manager that does nothing at all. - A fallback for Python 3.7's :class:`contextlib.nullcontext` manager. - """ - - def __init__(self, enter_result=None): - self.enter_result = enter_result - - def __enter__(self): - return self.enter_result - - def __exit__(self, *args): - pass +from .interface import Bus class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method diff --git a/can/typechecking.py b/can/typechecking.py index dc5c22270..29c760d31 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -6,15 +6,13 @@ if typing.TYPE_CHECKING: import os -import typing_extensions - -class CanFilter(typing_extensions.TypedDict): +class CanFilter(typing.TypedDict): can_id: int can_mask: int -class CanFilterExtended(typing_extensions.TypedDict): +class CanFilterExtended(typing.TypedDict): can_id: int can_mask: int extended: bool @@ -42,7 +40,7 @@ class CanFilterExtended(typing_extensions.TypedDict): BusConfig = typing.NewType("BusConfig", typing.Dict[str, typing.Any]) -class AutoDetectedConfig(typing_extensions.TypedDict): +class AutoDetectedConfig(typing.TypedDict): interface: str channel: Channel @@ -50,7 +48,7 @@ class AutoDetectedConfig(typing_extensions.TypedDict): ReadableBytesLike = typing.Union[bytes, bytearray, memoryview] -class BitTimingDict(typing_extensions.TypedDict): +class BitTimingDict(typing.TypedDict): f_clock: int brp: int tseg1: int @@ -59,7 +57,7 @@ class BitTimingDict(typing_extensions.TypedDict): nof_samples: int -class BitTimingFdDict(typing_extensions.TypedDict): +class BitTimingFdDict(typing.TypedDict): f_clock: int nom_brp: int nom_tseg1: int diff --git a/pyproject.toml b/pyproject.toml index 65b8f8aed..9ae2de98a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,5 +1,5 @@ [build-system] -requires = ["setuptools >= 67.7.2"] +requires = ["setuptools >= 67.7"] build-backend = "setuptools.build_meta" [project] @@ -10,14 +10,13 @@ authors = [{ name = "python-can contributors" }] dependencies = [ "wrapt~=1.10", "packaging >= 23.1", - "setuptools >= 67.7.2", "typing_extensions>=3.10.0.0", "msgpack~=1.0.0; platform_system != 'Windows'", "pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'", ] -requires-python = ">=3.7" +requires-python = ">=3.8" license = { text = "LGPL v3" } -classifiers = [ +classifiers = [ "Development Status :: 5 - Production/Stable", "Environment :: Console", "Intended Audience :: Developers", @@ -32,7 +31,6 @@ classifiers = [ "Operating System :: Microsoft :: Windows", "Operating System :: POSIX :: Linux", "Programming Language :: Python", - "Programming Language :: Python :: 3.7", "Programming Language :: Python :: 3.8", "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", @@ -60,12 +58,10 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ - "pylint==2.16.4", - "ruff==0.0.260", - "black~=23.1.0", - "mypy==1.0.1", - "mypy-extensions==0.4.3", - "types-setuptools" + "pylint==2.17.*", + "ruff==0.0.267", + "black==23.3.*", + "mypy==1.3.*", ] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] @@ -135,7 +131,6 @@ select = [ "F401", # unused-imports "UP", # pyupgrade "I", # isort - ] [tool.ruff.isort] diff --git a/tox.ini b/tox.ini index b48b5642f..477b1d4fc 100644 --- a/tox.ini +++ b/tox.ini @@ -3,8 +3,8 @@ isolated_build = true [testenv] deps = - pytest==7.1.*,>=7.1.2 - pytest-timeout==2.0.2 + pytest==7.3.* + pytest-timeout==2.1.* coveralls==3.3.1 pytest-cov==4.0.0 coverage==6.5.0 From b291f806ec7ce02e3c8256b3102d3a0e7f22f85d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 20 May 2023 19:23:49 +0200 Subject: [PATCH 269/475] Fix socketcan KeyError (#1599) * use get * adapt test for issue #1598 --- can/interfaces/socketcan/utils.py | 2 +- test/data/ip_link_list.json | 91 +++++++++++++++++++++++++++++++ test/test_socketcan_helpers.py | 15 +---- 3 files changed, 94 insertions(+), 14 deletions(-) create mode 100644 test/data/ip_link_list.json diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 8b2114692..91878f9b6 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -66,7 +66,7 @@ def find_available_interfaces() -> List[str]: output_json, ) - interfaces = [i["ifname"] for i in output_json if i["link_type"] == "can"] + interfaces = [i["ifname"] for i in output_json if i.get("link_type") == "can"] return interfaces diff --git a/test/data/ip_link_list.json b/test/data/ip_link_list.json new file mode 100644 index 000000000..a96313b43 --- /dev/null +++ b/test/data/ip_link_list.json @@ -0,0 +1,91 @@ +[ + { + "ifindex": 1, + "ifname": "lo", + "flags": [ + "LOOPBACK", + "UP", + "LOWER_UP" + ], + "mtu": 65536, + "qdisc": "noqueue", + "operstate": "UNKNOWN", + "linkmode": "DEFAULT", + "group": "default", + "txqlen": 1000, + "link_type": "loopback", + "address": "00:00:00:00:00:00", + "broadcast": "00:00:00:00:00:00" + }, + { + "ifindex": 2, + "ifname": "eth0", + "flags": [ + "NO-CARRIER", + "BROADCAST", + "MULTICAST", + "UP" + ], + "mtu": 1500, + "qdisc": "fq_codel", + "operstate": "DOWN", + "linkmode": "DEFAULT", + "group": "default", + "txqlen": 1000, + "link_type": "ether", + "address": "11:22:33:44:55:66", + "broadcast": "ff:ff:ff:ff:ff:ff" + }, + { + "ifindex": 3, + "ifname": "wlan0", + "flags": [ + "BROADCAST", + "MULTICAST", + "UP", + "LOWER_UP" + ], + "mtu": 1500, + "qdisc": "noqueue", + "operstate": "UP", + "linkmode": "DORMANT", + "group": "default", + "txqlen": 1000, + "link_type": "ether", + "address": "11:22:33:44:55:66", + "broadcast": "ff:ff:ff:ff:ff:ff" + }, + { + "ifindex": 48, + "ifname": "vcan0", + "flags": [ + "NOARP", + "UP", + "LOWER_UP" + ], + "mtu": 72, + "qdisc": "noqueue", + "operstate": "UNKNOWN", + "linkmode": "DEFAULT", + "group": "default", + "txqlen": 1000, + "link_type": "can" + }, + { + "ifindex": 50, + "ifname": "mycustomCan123", + "flags": [ + "NOARP", + "UP", + "LOWER_UP" + ], + "mtu": 72, + "qdisc": "noqueue", + "operstate": "UNKNOWN", + "linkmode": "DEFAULT", + "group": "default", + "txqlen": 1000, + "link_type": "can" + }, + {} +] \ No newline at end of file diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py index 0f4e1b4ea..a1d0bc8af 100644 --- a/test/test_socketcan_helpers.py +++ b/test/test_socketcan_helpers.py @@ -4,9 +4,8 @@ Tests helpers in `can.interfaces.socketcan.socketcan_common`. """ -import gzip import unittest -from base64 import b64decode +from pathlib import Path from unittest import mock from can.interfaces.socketcan.utils import error_code_to_str, find_available_interfaces @@ -42,17 +41,7 @@ def test_find_available_interfaces(self): def test_find_available_interfaces_w_patch(self): # Contains lo, eth0, wlan0, vcan0, mycustomCan123 - ip_output_gz_b64 = ( - "H4sIAAAAAAAAA+2UzW+CMBjG7/wVhrNL+BC29IboEqNSwzQejDEViiMC5aNsmmX/+wpZTGUwDAcP" - "y5qmh+d5++bN80u7EXpsfZRnsUTf8yMXn0TQk/u8GqEQM1EMiMjpXoAOGZM3F6mUZxAuhoY55UpL" - "fbWoKjO4Hts7pl/kLdc+pDlrrmuaqnNq4vqZU8wSkSTHOeYHIjFOM4poOevKmlpwbfF+4EfHkLil" - "PRo/G6vZkrcPKcnjwnOxh/KA8h49JQGOimAkSaq03NFz/B0PiffIOfIXkeumOCtiEiUJXG++bp8S" - "5Dooo/WVZeFnvxmYUgsM01fpBmQWfDAN256M7SqioQ2NkWm8LKvGnIU3qTN+xylrV/FdaHrJzmFk" - "gkacozuzZMnhtAGkLANFAaoKBgOgaUDXG0F6Hrje7SDVWpDvAYpuIdmJV4dn2cSx9VUuGiFCe25Y" - "fwTi4KmW4ptzG0ULGvYPLN1APSqdMN3/82TRtOeqSbW5hmcnzygJTRTJivofcEvAgrAVvgD8aLkv" - "/AcAAA==" - ) - ip_output = gzip.decompress(b64decode(ip_output_gz_b64)).decode("ascii") + ip_output = (Path(__file__).parent / "data" / "ip_link_list.json").read_text() with mock.patch("subprocess.check_output") as check_output: check_output.return_value = ip_output From 88a0dbfa03ae8c9f64aa72ce439a95ac549861d5 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 20 May 2023 20:29:37 +0200 Subject: [PATCH 270/475] activate ruff pycodestyle checks (#1602) --- can/__init__.py | 8 +++--- can/interfaces/ixxat/canlib_vcinpl2.py | 9 +++---- can/interfaces/socketcan/socketcan.py | 23 +++++++++-------- can/interfaces/vector/canlib.py | 34 ++++++++++---------------- can/interfaces/vector/xldriver.py | 9 +------ pyproject.toml | 7 +++++- 6 files changed, 39 insertions(+), 51 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index 34db1727c..034f388a1 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -76,10 +76,6 @@ "viewer", ] -log = logging.getLogger("can") - -rc: Dict[str, Any] = {} - from . import typechecking # isort:skip from . import util # isort:skip from . import broadcastmanager, interface @@ -127,3 +123,7 @@ from .notifier import Notifier from .thread_safe_bus import ThreadSafeBus from .util import set_logging_level + +log = logging.getLogger("can") + +rc: Dict[str, Any] = {} diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index b796be744..2e6e9ad8e 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -13,6 +13,7 @@ import functools import logging import sys +import time import warnings from typing import Callable, Optional, Sequence, Tuple, Union @@ -43,8 +44,6 @@ log = logging.getLogger("can.ixxat") -from time import perf_counter - # Hack to have vciFormatError as a free function, see below vciFormatError = None @@ -144,7 +143,7 @@ def __check_status(result, function, args): _canlib.map_symbol( "vciFormatError", None, (ctypes_HRESULT, ctypes.c_char_p, ctypes.c_uint32) ) - except: + except ImportError: _canlib.map_symbol( "vciFormatErrorA", None, (ctypes_HRESULT, ctypes.c_char_p, ctypes.c_uint32) ) @@ -812,7 +811,7 @@ def _recv_internal(self, timeout): else: timeout_ms = int(timeout * 1000) remaining_ms = timeout_ms - t0 = perf_counter() + t0 = time.perf_counter() while True: try: @@ -861,7 +860,7 @@ def _recv_internal(self, timeout): log.warning("Unexpected message info type") if t0 is not None: - remaining_ms = timeout_ms - int((perf_counter() - t0) * 1000) + remaining_ms = timeout_ms - int((time.perf_counter() - t0) * 1000) if remaining_ms < 0: break diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 44cecec76..377fe6478 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -17,6 +17,17 @@ import warnings from typing import Callable, Dict, List, Optional, Sequence, Tuple, Type, Union +import can +from can import BusABC, CanProtocol, Message +from can.broadcastmanager import ( + LimitedDurationCyclicSendTaskABC, + ModifiableCyclicTaskABC, + RestartableCyclicTaskABC, +) +from can.interfaces.socketcan import constants +from can.interfaces.socketcan.utils import find_available_interfaces, pack_filters +from can.typechecking import CanFilters + log = logging.getLogger(__name__) log_tx = log.getChild("tx") log_rx = log.getChild("rx") @@ -30,18 +41,6 @@ log.error("socket.CMSG_SPACE not available on this platform") -import can -from can import BusABC, CanProtocol, Message -from can.broadcastmanager import ( - LimitedDurationCyclicSendTaskABC, - ModifiableCyclicTaskABC, - RestartableCyclicTaskABC, -) -from can.interfaces.socketcan import constants -from can.interfaces.socketcan.utils import find_available_interfaces, pack_filters -from can.typechecking import CanFilters - - # Setup BCM struct def bcm_header_factory( fields: List[Tuple[str, Union[Type[ctypes.c_uint32], Type[ctypes.c_long]]]], diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index f852fb0ec..1a84f3d2a 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -4,8 +4,6 @@ Authors: Julien Grave , Christian Sandberg """ -# Import Standard Python Modules -# ============================== import contextlib import ctypes import logging @@ -26,19 +24,6 @@ cast, ) -WaitForSingleObject: Optional[Callable[[int, int], int]] -INFINITE: Optional[int] -try: - # Try builtin Python 3 Windows API - from _winapi import INFINITE, WaitForSingleObject # type: ignore - - HAS_EVENTS = True -except ImportError: - WaitForSingleObject, INFINITE = None, None - HAS_EVENTS = False - -# Import Modules -# ============== from can import ( BitTiming, BitTimingFd, @@ -57,15 +42,11 @@ time_perfcounter_correlation, ) -# Define Module Logger -# ==================== -LOG = logging.getLogger(__name__) - -# Import Vector API modules -# ========================= from . import xlclass, xldefine from .exceptions import VectorError, VectorInitializationError, VectorOperationError +LOG = logging.getLogger(__name__) + # Import safely Vector API module for Travis tests xldriver: Optional[ModuleType] = None try: @@ -73,6 +54,17 @@ except Exception as exc: LOG.warning("Could not import vxlapi: %s", exc) +WaitForSingleObject: Optional[Callable[[int, int], int]] +INFINITE: Optional[int] +try: + # Try builtin Python 3 Windows API + from _winapi import INFINITE, WaitForSingleObject # type: ignore + + HAS_EVENTS = True +except ImportError: + WaitForSingleObject, INFINITE = None, None + HAS_EVENTS = False + class VectorBus(BusABC): """The CAN Bus implemented for the Vector interface.""" diff --git a/can/interfaces/vector/xldriver.py b/can/interfaces/vector/xldriver.py index f84b3cf1d..2af90c728 100644 --- a/can/interfaces/vector/xldriver.py +++ b/can/interfaces/vector/xldriver.py @@ -5,22 +5,15 @@ Authors: Julien Grave , Christian Sandberg """ -# Import Standard Python Modules -# ============================== import ctypes import logging import platform +from . import xlclass from .exceptions import VectorInitializationError, VectorOperationError -# Define Module Logger -# ==================== LOG = logging.getLogger(__name__) -# Vector XL API Definitions -# ========================= -from . import xlclass - # Load Windows DLL DLL_NAME = "vxlapi64" if platform.architecture()[0] == "64bit" else "vxlapi" _xlapi_dll = ctypes.windll.LoadLibrary(DLL_NAME) diff --git a/pyproject.toml b/pyproject.toml index 9ae2de98a..8427c5655 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,7 +59,7 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==2.17.*", - "ruff==0.0.267", + "ruff==0.0.269", "black==23.3.*", "mypy==1.3.*", ] @@ -131,6 +131,11 @@ select = [ "F401", # unused-imports "UP", # pyupgrade "I", # isort + "E", # pycodestyle errors + "W", # pycodestyle warnings +] +ignore = [ + "E501", # Line too long ] [tool.ruff.isort] From e8aa4e790ed7029a1706134a58242c16662ad761 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 20 May 2023 20:31:24 +0200 Subject: [PATCH 271/475] Update linter instructions in development.rst (#1603) --- doc/development.rst | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/doc/development.rst b/doc/development.rst index cfb8dbe5d..fb717a52d 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -53,9 +53,11 @@ The documentation can be built with:: The linters can be run with:: - pip install -r requirements-lint.txt - pylint --rcfile=.pylintrc-wip can/**.py - black --check --verbose can + pip install -e .[lint] + black --check can + mypy can + ruff check can + pylint --rcfile=.pylintrc can/**.py Creating a new interface/backend From 2582fe975c189471b0c439c1488909d48b219bdf Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 21 May 2023 14:01:08 +0200 Subject: [PATCH 272/475] remove unnecessary script files (#1604) --- doc/scripts.rst | 2 +- pyproject.toml | 8 ++++---- scripts/can_logconvert.py | 11 ----------- scripts/can_logger.py | 11 ----------- scripts/can_player.py | 11 ----------- scripts/can_viewer.py | 11 ----------- test/test_scripts.py | 12 +++--------- 7 files changed, 8 insertions(+), 58 deletions(-) delete mode 100644 scripts/can_logconvert.py delete mode 100644 scripts/can_logger.py delete mode 100644 scripts/can_player.py delete mode 100644 scripts/can_viewer.py diff --git a/doc/scripts.rst b/doc/scripts.rst index 5a615afa7..e3a59a409 100644 --- a/doc/scripts.rst +++ b/doc/scripts.rst @@ -3,7 +3,7 @@ Scripts The following modules are callable from ``python-can``. -They can be called for example by ``python -m can.logger`` or ``can_logger.py`` (if installed using pip). +They can be called for example by ``python -m can.logger`` or ``can_logger`` (if installed using pip). can.logger ---------- diff --git a/pyproject.toml b/pyproject.toml index 8427c5655..6ee1dbadc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -45,10 +45,10 @@ classifiers = [ ] [project.scripts] -"can_logconvert.py" = "scripts.can_logconvert:main" -"can_logger.py" = "scripts.can_logger:main" -"can_player.py" = "scripts.can_player:main" -"can_viewer.py" = "scripts.can_viewer:main" +can_logconvert = "can.logconvert:main" +can_logger = "can.logger:main" +can_player = "can.player:main" +can_viewer = "can.viewer:main" [project.urls] homepage = "https://github.com/hardbyte/python-can" diff --git a/scripts/can_logconvert.py b/scripts/can_logconvert.py deleted file mode 100644 index 3cd8839a2..000000000 --- a/scripts/can_logconvert.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python - -""" -See :mod:`can.logconvert`. -""" - -from can.logconvert import main - - -if __name__ == "__main__": - main() diff --git a/scripts/can_logger.py b/scripts/can_logger.py deleted file mode 100644 index 4202448e6..000000000 --- a/scripts/can_logger.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python - -""" -See :mod:`can.logger`. -""" - -from can.logger import main - - -if __name__ == "__main__": - main() diff --git a/scripts/can_player.py b/scripts/can_player.py deleted file mode 100644 index 1fe44175d..000000000 --- a/scripts/can_player.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python - -""" -See :mod:`can.player`. -""" - -from can.player import main - - -if __name__ == "__main__": - main() diff --git a/scripts/can_viewer.py b/scripts/can_viewer.py deleted file mode 100644 index eef990b0e..000000000 --- a/scripts/can_viewer.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python - -""" -See :mod:`can.viewer`. -""" - -from can.viewer import main - - -if __name__ == "__main__": - main() diff --git a/test/test_scripts.py b/test/test_scripts.py index e7bd7fd09..9d8c059cf 100644 --- a/test/test_scripts.py +++ b/test/test_scripts.py @@ -74,10 +74,8 @@ class TestLoggerScript(CanScriptTest): def _commands(self): commands = [ "python -m can.logger --help", - "python scripts/can_logger.py --help", + "can_logger --help", ] - if IS_UNIX: - commands += ["can_logger.py --help"] return commands def _import(self): @@ -90,10 +88,8 @@ class TestPlayerScript(CanScriptTest): def _commands(self): commands = [ "python -m can.player --help", - "python scripts/can_player.py --help", + "can_player --help", ] - if IS_UNIX: - commands += ["can_player.py --help"] return commands def _import(self): @@ -106,10 +102,8 @@ class TestLogconvertScript(CanScriptTest): def _commands(self): commands = [ "python -m can.logconvert --help", - "python scripts/can_logconvert.py --help", + "can_logconvert --help", ] - if IS_UNIX: - commands += ["can_logconvert.py --help"] return commands def _import(self): From 94125139002af2f1a11d13186ab653821c954ebd Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 1 Jun 2023 00:07:10 +0200 Subject: [PATCH 273/475] fix IXXAT not properly shut down message (#1606) --- can/interfaces/ixxat/canlib_vcinpl.py | 1 + can/interfaces/ixxat/canlib_vcinpl2.py | 1 + 2 files changed, 2 insertions(+) diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index cbf2fb61c..1bb0fd802 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -825,6 +825,7 @@ def _send_periodic_internal( ) def shutdown(self): + super().shutdown() if self._scheduler is not None: _canlib.canSchedulerClose(self._scheduler) _canlib.canChannelClose(self._channel_handle) diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 2e6e9ad8e..b10ac1b94 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -972,6 +972,7 @@ def _send_periodic_internal( ) def shutdown(self): + super().shutdown() if self._scheduler is not None: _canlib.canSchedulerClose(self._scheduler) _canlib.canChannelClose(self._channel_handle) From 1df66043926dfe455b09941cf75dfeb13b2d2bbc Mon Sep 17 00:00:00 2001 From: MattWoodhead Date: Fri, 2 Jun 2023 17:34:26 +0100 Subject: [PATCH 274/475] Can Player compatibility with interfaces that use additional configuration (#1610) * Update mf4.py * Format code with black * Update trc.py * Format code with black * Update ci.yml Remove pylint specs for directories and files that no longer exist. --------- Co-authored-by: MattWoodhead --- .github/workflows/ci.yml | 2 -- can/io/mf4.py | 6 +++++- can/io/trc.py | 4 +++- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 9633398e3..686a5d77b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -103,9 +103,7 @@ jobs: pylint --rcfile=.pylintrc \ can/**.py \ can/io \ - setup.py \ doc/conf.py \ - scripts/**.py \ examples/**.py \ can/interfaces/socketcan diff --git a/can/io/mf4.py b/can/io/mf4.py index 215543e9f..c7e71e816 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -272,7 +272,11 @@ class MF4Reader(BinaryIOMessageReader): The MF4Reader only supports MF4 files that were recorded with python-can. """ - def __init__(self, file: Union[StringPathLike, BinaryIO]) -> None: + def __init__( + self, + file: Union[StringPathLike, BinaryIO], + **kwargs: Any, + ) -> None: """ :param file: a path-like object or as file-like object to read from If this is a file-like object, is has to be opened in diff --git a/can/io/trc.py b/can/io/trc.py index f116bdc04..ccf122d57 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -11,7 +11,7 @@ import os from datetime import datetime, timedelta, timezone from enum import Enum -from typing import Callable, Dict, Generator, List, Optional, TextIO, Union +from typing import Any, Callable, Dict, Generator, List, Optional, TextIO, Union from ..message import Message from ..typechecking import StringPathLike @@ -49,6 +49,7 @@ class TRCReader(TextIOMessageReader): def __init__( self, file: Union[StringPathLike, TextIO], + **kwargs: Any, ) -> None: """ :param file: a path-like object or as file-like object to read from @@ -265,6 +266,7 @@ def __init__( self, file: Union[StringPathLike, TextIO], channel: int = 1, + **kwargs: Any, ) -> None: """ :param file: a path-like object or as file-like object to write to From 67324f158318e613ba3226704a9985124dd3caff Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Tue, 13 Jun 2023 22:15:19 +0200 Subject: [PATCH 275/475] Fix decoding error in Kvaser constructor for non-ASCII product name (#1613) * Implement test to trigger ASCII decoding error in Kvaser bus constructor * Change handling of invalid chars in Kvaser device name Previously, illegal characters triggered an exception. With the new behavior, illegal characters will be replaced with a placeholder value. * Rename variables in test --- can/interfaces/kvaser/canlib.py | 3 ++- test/test_kvaser.py | 21 +++++++++++++++++++++ 2 files changed, 23 insertions(+), 1 deletion(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 32d28059a..4e5e8c51b 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -727,7 +727,8 @@ def get_channel_info(channel): ctypes.sizeof(number), ) - return f"{name.value.decode('ascii')}, S/N {serial.value} (#{number.value + 1})" + name_decoded = name.value.decode("ascii", errors="replace") + return f"{name_decoded}, S/N {serial.value} (#{number.value + 1})" init_kvaser_library() diff --git a/test/test_kvaser.py b/test/test_kvaser.py index 043f86f8c..1254f2fc7 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -3,6 +3,7 @@ """ """ +import ctypes import time import unittest from unittest.mock import Mock @@ -49,6 +50,26 @@ def test_bus_creation(self): self.assertTrue(canlib.canOpenChannel.called) self.assertTrue(canlib.canBusOn.called) + def test_bus_creation_illegal_channel_name(self): + # Test if the bus constructor is able to deal with non-ASCII characters + def canGetChannelDataMock( + channel: ctypes.c_int, + param: ctypes.c_int, + buf: ctypes.c_void_p, + bufsize: ctypes.c_size_t, + ): + if param == constants.canCHANNELDATA_DEVDESCR_ASCII: + buf_char_ptr = ctypes.cast(buf, ctypes.POINTER(ctypes.c_char)) + for i, char in enumerate(b"hello\x7a\xcb"): + buf_char_ptr[i] = char + + canlib.canGetChannelData = canGetChannelDataMock + bus = can.Bus(channel=0, interface="kvaser") + + self.assertTrue(bus.channel_info.startswith("hello")) + + bus.shutdown() + def test_bus_shutdown(self): self.bus.shutdown() self.assertTrue(canlib.canBusOff.called) From dc0ae68acb28f01a503e084718cfa2acf39d1e16 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 18 Jun 2023 17:23:56 +0200 Subject: [PATCH 276/475] update CHANGELOG.md and version to 4.2.2 (#1615) --- CHANGELOG.md | 11 +++++++++++ can/__init__.py | 2 +- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index a240cb650..493ac1966 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,14 @@ +Version 4.2.2 +============= + +Bug Fixes +--------- +* Fix socketcan KeyError (#1598, #1599). +* Fix IXXAT not properly shutdown message (#1606). +* Fix Mf4Reader and TRCReader incompatibility with extra CLI args (#1610). +* Fix decoding error in Kvaser constructor for non-ASCII product name (#1613). + + Version 4.2.1 ============= diff --git a/can/__init__.py b/can/__init__.py index 034f388a1..46a461b38 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.2.1" +__version__ = "4.2.2" __all__ = [ "ASCReader", "ASCWriter", From c5d7a7ce71e5e12cad4682d6c1411f8688de54bd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?uml=C3=A4ute?= Date: Fri, 30 Jun 2023 11:18:46 +0200 Subject: [PATCH 277/475] BigEndian test fixes (#1625) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit PCAN_BITRATES are stored in BIGendian, no use to byteswap on littleendian. Also the TPCANChannelInformation expects data in the native byte order Closes: https://github.com/hardbyte/python-can/issues/1624 Co-authored-by: IOhannes m zmölnig (Debian/GNU) --- test/test_bit_timing.py | 2 +- test/test_pcan.py | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/test/test_bit_timing.py b/test/test_bit_timing.py index a0d4e03a5..d0d0a4a7f 100644 --- a/test/test_bit_timing.py +++ b/test/test_bit_timing.py @@ -175,7 +175,7 @@ def test_from_btr(): def test_btr_persistence(): f_clock = 8_000_000 for btr0btr1 in PCAN_BITRATES.values(): - btr1, btr0 = struct.unpack("BB", btr0btr1) + btr0, btr1 = struct.pack(">H", btr0btr1.value) t = can.BitTiming.from_registers(f_clock, btr0, btr1) assert t.btr0 == btr0 diff --git a/test/test_pcan.py b/test/test_pcan.py index 19fa44dc7..be6c5ad64 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -3,6 +3,7 @@ """ import ctypes +import struct import unittest from unittest import mock from unittest.mock import Mock, patch @@ -379,9 +380,7 @@ def test_detect_available_configs(self) -> None: self.assertEqual(len(configs), 50) else: value = (TPCANChannelInformation * 1).from_buffer_copy( - b"Q\x00\x05\x00\x01\x00\x00\x00PCAN-USB FD\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b'\x00\x00\x00\x00\x00\x00\x003"\x11\x00\x01\x00\x00\x00' + struct.pack("HBBI33sII", 81, 5, 0, 1, b"PCAN-USB FD", 1122867, 1) ) self.mock_pcan.GetValue = Mock(return_value=(PCAN_ERROR_OK, value)) configs = PcanBus._detect_available_configs() From 78d25ff6c9a63a084f8add6976d4bf1817a553be Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Thu, 6 Jul 2023 10:13:34 -0400 Subject: [PATCH 278/475] Enable send and receive on network ID above 255 (#1627) --- can/interfaces/ics_neovi/neovi_bus.py | 55 ++++++++++++--------------- 1 file changed, 24 insertions(+), 31 deletions(-) diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index f2dffe0a6..f78293c86 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -12,6 +12,7 @@ import os import tempfile from collections import Counter, defaultdict, deque +from functools import partial from itertools import cycle from threading import Event from warnings import warn @@ -317,7 +318,8 @@ def _process_msg_queue(self, timeout=0.1): except ics.RuntimeError: return for ics_msg in messages: - if ics_msg.NetworkID not in self.channels: + channel = ics_msg.NetworkID | (ics_msg.NetworkID2 << 8) + if channel not in self.channels: continue is_tx = bool(ics_msg.StatusBitField & ics.SPY_STATUS_TX_MSG) @@ -364,50 +366,37 @@ def _get_timestamp_for_msg(self, ics_msg): def _ics_msg_to_message(self, ics_msg): is_fd = ics_msg.Protocol == ics.SPY_PROTOCOL_CANFD + message_from_ics = partial( + Message, + timestamp=self._get_timestamp_for_msg(ics_msg), + arbitration_id=ics_msg.ArbIDOrHeader, + is_extended_id=bool(ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME), + is_remote_frame=bool(ics_msg.StatusBitField & ics.SPY_STATUS_REMOTE_FRAME), + is_error_frame=bool(ics_msg.StatusBitField2 & ics.SPY_STATUS2_ERROR_FRAME), + channel=ics_msg.NetworkID | (ics_msg.NetworkID2 << 8), + dlc=ics_msg.NumberBytesData, + is_fd=is_fd, + is_rx=not bool(ics_msg.StatusBitField & ics.SPY_STATUS_TX_MSG), + ) + if is_fd: if ics_msg.ExtraDataPtrEnabled: data = ics_msg.ExtraDataPtr[: ics_msg.NumberBytesData] else: data = ics_msg.Data[: ics_msg.NumberBytesData] - return Message( - timestamp=self._get_timestamp_for_msg(ics_msg), - arbitration_id=ics_msg.ArbIDOrHeader, + return message_from_ics( data=data, - 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 - ), - is_error_frame=bool( - ics_msg.StatusBitField2 & ics.SPY_STATUS2_ERROR_FRAME - ), error_state_indicator=bool( ics_msg.StatusBitField3 & ics.SPY_STATUS3_CANFD_ESI ), bitrate_switch=bool( ics_msg.StatusBitField3 & ics.SPY_STATUS3_CANFD_BRS ), - channel=ics_msg.NetworkID, ) else: - return Message( - timestamp=self._get_timestamp_for_msg(ics_msg), - arbitration_id=ics_msg.ArbIDOrHeader, + return message_from_ics( data=ics_msg.Data[: ics_msg.NumberBytesData], - 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 - ), - is_error_frame=bool( - ics_msg.StatusBitField2 & ics.SPY_STATUS2_ERROR_FRAME - ), - channel=ics_msg.NetworkID, ) def _recv_internal(self, timeout=0.1): @@ -479,12 +468,16 @@ def send(self, msg, timeout=0): message.StatusBitField2 = 0 message.StatusBitField3 = flag3 if msg.channel is not None: - message.NetworkID = msg.channel + network_id = msg.channel elif len(self.channels) == 1: - message.NetworkID = self.channels[0] + network_id = self.channels[0] else: raise ValueError("msg.channel must be set when using multiple channels.") + message.NetworkID, message.NetworkID2 = int(network_id & 0xFF), int( + (network_id >> 8) & 0xFF + ) + if timeout != 0: msg_desc_id = next(description_id) message.DescriptionID = msg_desc_id From ddc7c35d9f6cf8bac8da5531fac44dee56ccc90b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 9 Jul 2023 14:00:41 +0200 Subject: [PATCH 279/475] Fix Vector channel detection (#1634) --- can/interfaces/vector/canlib.py | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 1a84f3d2a..55aeb5da4 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -400,7 +400,11 @@ def _read_bus_params(self, channel: int) -> "VectorBusParams": vcc_list = get_channel_configs() for vcc in vcc_list: if vcc.channel_mask == channel_mask: - return vcc.bus_params + bus_params = vcc.bus_params + if bus_params is None: + # for CAN channels, this should never be `None` + raise ValueError("Invalid bus parameters.") + return bus_params raise CanInitializationError( f"Channel configuration for channel {channel} not found." @@ -1090,7 +1094,7 @@ class VectorChannelConfig(NamedTuple): channel_bus_capabilities: xldefine.XL_BusCapabilities is_on_bus: bool connected_bus_type: xldefine.XL_BusTypes - bus_params: VectorBusParams + bus_params: Optional[VectorBusParams] serial_number: int article_number: int transceiver_name: str @@ -1110,9 +1114,14 @@ def _get_xl_driver_config() -> xlclass.XLdriverConfig: return driver_config -def _read_bus_params_from_c_struct(bus_params: xlclass.XLbusParams) -> VectorBusParams: +def _read_bus_params_from_c_struct( + bus_params: xlclass.XLbusParams, +) -> Optional[VectorBusParams]: + bus_type = xldefine.XL_BusTypes(bus_params.busType) + if bus_type is not xldefine.XL_BusTypes.XL_BUS_TYPE_CAN: + return None return VectorBusParams( - bus_type=xldefine.XL_BusTypes(bus_params.busType), + bus_type=bus_type, can=VectorCanParams( bitrate=bus_params.data.can.bitRate, sjw=bus_params.data.can.sjw, From 631f7bea71134e1bc8c1af9d6a87f1b75985ff7c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 11 Jul 2023 20:35:40 +0200 Subject: [PATCH 280/475] align `ID:` in message string (#1635) --- can/message.py | 6 +++--- doc/message.rst | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/can/message.py b/can/message.py index 02706583c..63a4eea41 100644 --- a/can/message.py +++ b/can/message.py @@ -110,10 +110,10 @@ def __init__( # pylint: disable=too-many-locals, too-many-arguments def __str__(self) -> str: field_strings = [f"Timestamp: {self.timestamp:>15.6f}"] if self.is_extended_id: - arbitration_id_string = f"ID: {self.arbitration_id:08x}" + arbitration_id_string = f"{self.arbitration_id:08x}" else: - arbitration_id_string = f"ID: {self.arbitration_id:04x}" - field_strings.append(arbitration_id_string.rjust(12, " ")) + arbitration_id_string = f"{self.arbitration_id:03x}" + field_strings.append(f"ID: {arbitration_id_string:>8}") flag_string = " ".join( [ diff --git a/doc/message.rst b/doc/message.rst index d47473e17..e0003cfe5 100644 --- a/doc/message.rst +++ b/doc/message.rst @@ -44,7 +44,7 @@ Message 2\ :sup:`29` - 1 for 29-bit identifiers). >>> print(Message(is_extended_id=False, arbitration_id=100)) - Timestamp: 0.000000 ID: 0064 S Rx DL: 0 + Timestamp: 0.000000 ID: 064 S Rx DL: 0 .. attribute:: data @@ -106,7 +106,7 @@ Message Previously this was exposed as `id_type`. >>> print(Message(is_extended_id=False)) - Timestamp: 0.000000 ID: 0000 S Rx DL: 0 + Timestamp: 0.000000 ID: 000 S Rx DL: 0 >>> print(Message(is_extended_id=True)) Timestamp: 0.000000 ID: 00000000 X Rx DL: 0 From d81a16b2a85fec16611ed0bdfdcba8ac54bdc02a Mon Sep 17 00:00:00 2001 From: Yann poupon <100286656+yannpoupon@users.noreply.github.com> Date: Thu, 10 Aug 2023 11:32:26 +0200 Subject: [PATCH 281/475] Optimize PCAN send performance (#1640) --- can/interfaces/pcan/pcan.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index a9b2c016b..13775e983 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -608,8 +608,7 @@ def send(self, msg, timeout=None): CANMsg.MSGTYPE = msgType # copy data - for i in range(msg.dlc): - CANMsg.DATA[i] = msg.data[i] + CANMsg.DATA[: msg.dlc] = msg.data[: msg.dlc] log.debug("Data: %s", msg.data) log.debug("Type: %s", type(msg.data)) @@ -628,8 +627,7 @@ def send(self, msg, timeout=None): # if a remote frame will be sent, data bytes are not important. if not msg.is_remote_frame: # copy data - for i in range(CANMsg.LEN): - CANMsg.DATA[i] = msg.data[i] + CANMsg.DATA[: CANMsg.LEN] = msg.data[: CANMsg.LEN] log.debug("Data: %s", msg.data) log.debug("Type: %s", type(msg.data)) From 38142543fb87441532e71c956179e7bdddba8e59 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 17 Aug 2023 09:35:01 +0200 Subject: [PATCH 282/475] Support version string of older PCAN basic API (#1644) --- can/interfaces/pcan/pcan.py | 5 ++++- test/test_pcan.py | 13 +++++++++++++ 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 13775e983..d2973ade6 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -416,7 +416,10 @@ def get_api_version(self): if error != PCAN_ERROR_OK: raise CanInitializationError(f"Failed to read pcan basic api version") - return version.parse(value.decode("ascii")) + # fix https://github.com/hardbyte/python-can/issues/1642 + version_string = value.decode("ascii").replace(",", ".").replace(" ", "") + + return version.parse(version_string) def check_api_version(self): apv = self.get_api_version() diff --git a/test/test_pcan.py b/test/test_pcan.py index be6c5ad64..9f4e36fc4 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -120,6 +120,19 @@ def test_api_version_read_fail(self) -> None: with self.assertRaises(CanInitializationError): self.bus = can.Bus(interface="pcan") + def test_issue1642(self) -> None: + self.PCAN_API_VERSION_SIM = "1, 3, 0, 50" + with self.assertLogs("can.pcan", level="WARNING") as cm: + self.bus = can.Bus(interface="pcan") + found_version_warning = False + for i in cm.output: + if "version" in i and "pcan" in i: + found_version_warning = True + self.assertTrue( + found_version_warning, + f"No warning was logged for incompatible api version {cm.output}", + ) + @parameterized.expand( [ ("no_error", PCAN_ERROR_OK, PCAN_ERROR_OK, "some ok text 1"), From fcf615d4023494f455854a22cdfb8072c35be033 Mon Sep 17 00:00:00 2001 From: Fabian Henze <32638720+henzef@users.noreply.github.com> Date: Fri, 18 Aug 2023 18:38:47 +0200 Subject: [PATCH 283/475] ixxat: Fix exception in 'state' property on bus coupling errors (#1647) BusState is not an exception type and should be raised (especially not in a property). --- can/interfaces/ixxat/canlib_vcinpl.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 1bb0fd802..922c683b8 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -852,7 +852,7 @@ def state(self) -> BusState: error_byte_2 = status.dwStatus & 0xF0 # CAN_STATUS_BUSCERR = 0x20 # bus coupling error if error_byte_2 & constants.CAN_STATUS_BUSCERR: - raise BusState.ERROR + return BusState.ERROR return BusState.ACTIVE From 436a7c3da411c54ee407a6e64477b88e1b6e985f Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 23 Aug 2023 18:13:16 +0200 Subject: [PATCH 284/475] fix pepy badge url (#1649) --- README.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.rst b/README.rst index 07d2b0668..d2f05b2c1 100644 --- a/README.rst +++ b/README.rst @@ -17,11 +17,11 @@ python-can :target: https://pypi.python.org/pypi/python-can/ :alt: Supported Python implementations -.. |downloads| image:: https://pepy.tech/badge/python-can +.. |downloads| image:: https://static.pepy.tech/badge/python-can :target: https://pepy.tech/project/python-can :alt: Downloads on PePy -.. |downloads_monthly| image:: https://pepy.tech/badge/python-can/month +.. |downloads_monthly| image:: https://static.pepy.tech/badge/python-can/month :target: https://pepy.tech/project/python-can :alt: Monthly downloads on PePy From 4267e44e336f66641f9be27c4353cd4df9298961 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 23 Aug 2023 18:14:14 +0200 Subject: [PATCH 285/475] Do not stop notifier if exception was handled (#1645) --- can/notifier.py | 48 +++++++++++++++++++++++++++--------------------- 1 file changed, 27 insertions(+), 21 deletions(-) diff --git a/can/notifier.py b/can/notifier.py index 92a91f8a9..1c8b77c5d 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -3,10 +3,11 @@ """ import asyncio +import functools import logging import threading import time -from typing import Awaitable, Callable, Iterable, List, Optional, Union +from typing import Awaitable, Callable, Iterable, List, Optional, Union, cast from can.bus import BusABC from can.listener import Listener @@ -108,28 +109,33 @@ def stop(self, timeout: float = 5) -> None: listener.stop() def _rx_thread(self, bus: BusABC) -> None: - try: - while self._running: + # determine message handling callable early, not inside while loop + handle_message = cast( + Callable[[Message], None], + self._on_message_received + if self._loop is None + else functools.partial( + self._loop.call_soon_threadsafe, self._on_message_received + ), + ) + + while self._running: + try: if msg := bus.recv(self.timeout): with self._lock: - if self._loop is not None: - self._loop.call_soon_threadsafe( - self._on_message_received, msg - ) - else: - self._on_message_received(msg) - except Exception as exc: # pylint: disable=broad-except - self.exception = exc - if self._loop is not None: - self._loop.call_soon_threadsafe(self._on_error, exc) - # Raise anyway - raise - elif not self._on_error(exc): - # If it was not handled, raise the exception here - raise - else: - # It was handled, so only log it - logger.info("suppressed exception: %s", exc) + handle_message(msg) + except Exception as exc: # pylint: disable=broad-except + self.exception = exc + if self._loop is not None: + self._loop.call_soon_threadsafe(self._on_error, exc) + # Raise anyway + raise + elif not self._on_error(exc): + # If it was not handled, raise the exception here + raise + else: + # It was handled, so only log it + logger.debug("suppressed exception: %s", exc) def _on_message_available(self, bus: BusABC) -> None: if msg := bus.recv(0): From 1774051c3298be2ecb7e374ebb1f088365430c0b Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Fri, 25 Aug 2023 10:21:45 -0400 Subject: [PATCH 286/475] Fixed serial number range (#1650) Fix lower serial number value --- can/interfaces/ics_neovi/neovi_bus.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index f78293c86..0698c1416 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -255,7 +255,7 @@ def get_serial_number(device): :return: ics device serial string :rtype: str """ - if int("AA0000", 36) < device.SerialNumber < int("ZZZZZZ", 36): + if int("0A0000", 36) < device.SerialNumber < int("ZZZZZZ", 36): return ics.base36enc(device.SerialNumber) else: return str(device.SerialNumber) From 4b17b9c0c24e302627e41ea5dce17b86234016b9 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Fri, 8 Sep 2023 09:04:40 -0400 Subject: [PATCH 287/475] Use same configuration file as Linux on macOS (#1657) --- can/util.py | 2 +- doc/configuration.rst | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/can/util.py b/can/util.py index 59abdd579..71980e82f 100644 --- a/can/util.py +++ b/can/util.py @@ -43,7 +43,7 @@ CONFIG_FILES = ["~/can.conf"] -if platform.system() == "Linux": +if platform.system() in ("Linux", "Darwin"): CONFIG_FILES.extend(["/etc/can.conf", "~/.can", "~/.canrc"]) elif platform.system() == "Windows" or platform.python_implementation() == "IronPython": CONFIG_FILES.extend(["can.ini", os.path.join(os.getenv("APPDATA", ""), "can.ini")]) diff --git a/doc/configuration.rst b/doc/configuration.rst index 494351350..7b42017a9 100644 --- a/doc/configuration.rst +++ b/doc/configuration.rst @@ -36,7 +36,7 @@ You can also specify the interface and channel for each Bus instance:: Configuration File ------------------ -On Linux systems the config file is searched in the following paths: +On Linux and macOS systems the config file is searched in the following paths: #. ``~/can.conf`` #. ``/etc/can.conf`` @@ -159,4 +159,4 @@ Lookup table of interface names: | ``"virtual"`` | :doc:`interfaces/virtual` | +---------------------+-------------------------------------+ -Additional interface types can be added via the :ref:`plugin interface`. \ No newline at end of file +Additional interface types can be added via the :ref:`plugin interface`. From 40c779130baac24b3c94ae98696d7fdf99f6a142 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 8 Sep 2023 23:16:30 +0200 Subject: [PATCH 288/475] Fix PCAN timestamp (#1651) * fix PCAN timestamp * remove unused datetime import --- can/interfaces/pcan/pcan.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index d2973ade6..25610a614 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -5,7 +5,6 @@ import platform import time import warnings -from datetime import datetime from typing import Any, List, Optional, Tuple, Union from packaging import version @@ -85,7 +84,7 @@ if uptime.boottime() is None: boottimeEpoch = 0 else: - boottimeEpoch = (uptime.boottime() - datetime.fromtimestamp(0)).total_seconds() + boottimeEpoch = uptime.boottime().timestamp() except ImportError as error: log.warning( "uptime library not available, timestamps are relative to boot time and not to Epoch UTC", From f3fa07107d08c6225b9ab77443df13507c1a9c4b Mon Sep 17 00:00:00 2001 From: luojiaaoo <62821977+luojiaaoo@users.noreply.github.com> Date: Tue, 12 Sep 2023 15:11:04 +0800 Subject: [PATCH 289/475] Kvaser: add parameter exclusive and override_exclusive (#1660) * * For interface Kvaser, add parameter exclusive Don't allow sharing of this CANlib channel. * For interface Kvaser, add parameter override_exclusive Open the channel even if it is opened for exclusive access already. * fix --------- Co-authored-by: luoja --- can/interfaces/kvaser/canlib.py | 17 ++++++++++++++++- can/interfaces/kvaser/constants.py | 2 ++ 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 4e5e8c51b..38949137d 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -404,6 +404,10 @@ def __init__(self, channel, can_filters=None, **kwargs): computer, set this to True or set single_handle to True. :param bool fd: If CAN-FD frames should be supported. + :param bool exclusive: + Don't allow sharing of this CANlib channel. + :param bool override_exclusive: + Open the channel even if it is opened for exclusive access already. :param int data_bitrate: Which bitrate to use for data phase in CAN FD. Defaults to arbitration bitrate. @@ -420,6 +424,8 @@ def __init__(self, channel, can_filters=None, **kwargs): 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) + exclusive = kwargs.get("exclusive", False) + override_exclusive = kwargs.get("override_exclusive", False) accept_virtual = kwargs.get("accept_virtual", True) fd = kwargs.get("fd", False) data_bitrate = kwargs.get("data_bitrate", None) @@ -445,6 +451,10 @@ def __init__(self, channel, can_filters=None, **kwargs): self.channel_info = channel_info flags = 0 + if exclusive: + flags |= canstat.canOPEN_EXCLUSIVE + if override_exclusive: + flags |= canstat.canOPEN_OVERRIDE_EXCLUSIVE if accept_virtual: flags |= canstat.canOPEN_ACCEPT_VIRTUAL if fd: @@ -491,7 +501,12 @@ def __init__(self, channel, can_filters=None, **kwargs): self._write_handle = self._read_handle else: log.debug("Creating separate handle for TX on channel: %s", channel) - self._write_handle = canOpenChannel(channel, flags) + if exclusive: + flags_ = flags & ~canstat.canOPEN_EXCLUSIVE + flags_ |= canstat.canOPEN_OVERRIDE_EXCLUSIVE + else: + flags_ = flags + self._write_handle = canOpenChannel(channel, flags_) canBusOn(self._read_handle) can_driver_mode = ( diff --git a/can/interfaces/kvaser/constants.py b/can/interfaces/kvaser/constants.py index 9dd3a9163..3d01faa84 100644 --- a/can/interfaces/kvaser/constants.py +++ b/can/interfaces/kvaser/constants.py @@ -161,6 +161,8 @@ def CANSTATUS_SUCCESS(status): canDRIVER_SELFRECEPTION = 8 canDRIVER_OFF = 0 +canOPEN_EXCLUSIVE = 0x0008 +canOPEN_REQUIRE_EXTENDED = 0x0010 canOPEN_ACCEPT_VIRTUAL = 0x0020 canOPEN_OVERRIDE_EXCLUSIVE = 0x0040 canOPEN_REQUIRE_INIT_ACCESS = 0x0080 From b794153a5744afecb4113f3f814a5c94695e9f76 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 17 Sep 2023 22:04:43 +0200 Subject: [PATCH 290/475] Catch `pywintypes.error` in broadcast manager (#1659) --- can/broadcastmanager.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 84554a507..a017b7d52 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -22,6 +22,7 @@ # try to import win32event for event-based cyclic send task (needs the pywin32 package) USE_WINDOWS_EVENTS = False try: + import pywintypes import win32event # Python 3.11 provides a more precise sleep implementation on Windows, so this is not necessary. @@ -263,7 +264,7 @@ def __init__( win32event.CREATE_WAITABLE_TIMER_HIGH_RESOLUTION, win32event.TIMER_ALL_ACCESS, ) - except (AttributeError, OSError): + except (AttributeError, OSError, pywintypes.error): self.event = win32event.CreateWaitableTimer(None, False, None) self.start() From e09d35e568cdd32cd3137e6813482988c6925a4e Mon Sep 17 00:00:00 2001 From: ro-id <84511204+ro-id@users.noreply.github.com> Date: Sun, 17 Sep 2023 22:06:17 +0200 Subject: [PATCH 291/475] Fix BLFReader error for incomplete or truncated stream (#1662) * bugfix BLFreader zlib.error: Error -5 while decompressing data: incomplete or truncated stream in Python * delete elif copied on to many lines * Update blf.py shorten line -> comment in next line delete unused variable * fromatting --------- Co-authored-by: Iding Robin --- can/io/blf.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/can/io/blf.py b/can/io/blf.py index 071c089d7..81146233d 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -182,12 +182,13 @@ def __iter__(self) -> Generator[Message, None, None]: self.file.read(obj_size % 4) if obj_type == LOG_CONTAINER: - method, uncompressed_size = LOG_CONTAINER_STRUCT.unpack_from(obj_data) + method, _ = LOG_CONTAINER_STRUCT.unpack_from(obj_data) container_data = obj_data[LOG_CONTAINER_STRUCT.size :] if method == NO_COMPRESSION: data = container_data elif method == ZLIB_DEFLATE: - data = zlib.decompress(container_data, 15, uncompressed_size) + zobj = zlib.decompressobj() + data = zobj.decompress(container_data) else: # Unknown compression method LOG.warning("Unknown compression method (%d)", method) From db177b386e04d6369ea99949a0f1145e58e21868 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 17 Sep 2023 22:06:40 +0200 Subject: [PATCH 292/475] Relax BitTiming & BitTimingFd Validation (#1618) * add `strict` parameter to can.BitTiming * add `strict` parameter to can.BitTimingFd * use `strict` in `from_bitrate_and_segments` and `recreate_with_f_clock` * cover `strict` parameter in tests * pylint: disable=too-many-arguments --- can/bit_timing.py | 160 ++++++++++++++++++++++++++-------------- can/util.py | 6 +- test/test_bit_timing.py | 73 ++++++++++++++++-- test/test_util.py | 12 +-- 4 files changed, 181 insertions(+), 70 deletions(-) diff --git a/can/bit_timing.py b/can/bit_timing.py index bf76c08af..285b1c302 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -36,6 +36,7 @@ def __init__( tseg2: int, sjw: int, nof_samples: int = 1, + strict: bool = False, ) -> None: """ :param int f_clock: @@ -56,6 +57,10 @@ def __init__( 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 strict: + If True, restrict bit timings to the minimum required range as defined in + ISO 11898. This can be used to ensure compatibility across a wide variety + of CAN hardware. :raises ValueError: if the arguments are invalid. """ @@ -68,19 +73,13 @@ def __init__( "nof_samples": nof_samples, } self._validate() + if strict: + self._restrict_to_minimum_range() def _validate(self) -> None: - if not 8 <= self.nbt <= 25: - raise ValueError(f"nominal bit time (={self.nbt}) must be in [8...25].") - if not 1 <= self.brp <= 64: raise ValueError(f"bitrate prescaler (={self.brp}) must be in [1...64].") - if not 5_000 <= self.bitrate <= 2_000_000: - raise ValueError( - f"bitrate (={self.bitrate}) must be in [5,000...2,000,000]." - ) - if not 1 <= self.tseg1 <= 16: raise ValueError(f"tseg1 (={self.tseg1}) must be in [1...16].") @@ -104,6 +103,18 @@ def _validate(self) -> None: if self.nof_samples not in (1, 3): raise ValueError("nof_samples must be 1 or 3") + def _restrict_to_minimum_range(self) -> None: + if not 8 <= self.nbt <= 25: + raise ValueError(f"nominal bit time (={self.nbt}) must be in [8...25].") + + if not 1 <= self.brp <= 32: + raise ValueError(f"bitrate prescaler (={self.brp}) must be in [1...32].") + + if not 5_000 <= self.bitrate <= 1_000_000: + raise ValueError( + f"bitrate (={self.bitrate}) must be in [5,000...1,000,000]." + ) + @classmethod def from_bitrate_and_segments( cls, @@ -113,6 +124,7 @@ def from_bitrate_and_segments( tseg2: int, sjw: int, nof_samples: int = 1, + strict: bool = False, ) -> "BitTiming": """Create a :class:`~can.BitTiming` instance from bitrate and segment lengths. @@ -134,6 +146,10 @@ def from_bitrate_and_segments( 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 strict: + If True, restrict bit timings to the minimum required range as defined in + ISO 11898. This can be used to ensure compatibility across a wide variety + of CAN hardware. :raises ValueError: if the arguments are invalid. """ @@ -149,6 +165,7 @@ def from_bitrate_and_segments( tseg2=tseg2, sjw=sjw, nof_samples=nof_samples, + strict=strict, ) if abs(bt.bitrate - bitrate) > bitrate / 256: raise ValueError( @@ -175,6 +192,11 @@ def from_registers( :raises ValueError: if the arguments are invalid. """ + if not 0 <= btr0 < 2**16: + raise ValueError(f"Invalid btr0 value. ({btr0})") + if not 0 <= btr1 < 2**16: + raise ValueError(f"Invalid btr1 value. ({btr1})") + brp = (btr0 & 0x3F) + 1 sjw = (btr0 >> 6) + 1 tseg1 = (btr1 & 0xF) + 1 @@ -239,6 +261,7 @@ def from_sample_point( tseg1=tseg1, tseg2=tseg2, sjw=sjw, + strict=True, ) possible_solutions.append(bt) except ValueError: @@ -316,12 +339,12 @@ def sample_point(self) -> float: @property def btr0(self) -> int: - """Bit timing register 0.""" + """Bit timing register 0 for SJA1000.""" return (self.sjw - 1) << 6 | self.brp - 1 @property def btr1(self) -> int: - """Bit timing register 1.""" + """Bit timing register 1 for SJA1000.""" sam = 1 if self.nof_samples == 3 else 0 return sam << 7 | (self.tseg2 - 1) << 4 | self.tseg1 - 1 @@ -373,6 +396,7 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming": tseg2=self.tseg2, sjw=self.sjw, nof_samples=self.nof_samples, + strict=True, ) except ValueError: pass @@ -474,7 +498,7 @@ class BitTimingFd(Mapping): ) """ - def __init__( + def __init__( # pylint: disable=too-many-arguments self, f_clock: int, nom_brp: int, @@ -485,6 +509,7 @@ def __init__( data_tseg1: int, data_tseg2: int, data_sjw: int, + strict: bool = False, ) -> None: """ Initialize a BitTimingFd instance with the specified parameters. @@ -513,6 +538,10 @@ def __init__( :param int data_sjw: The Synchronization Jump Width for the data phase. This value determines the maximum number of time quanta that the controller can resynchronize every bit. + :param bool strict: + If True, restrict bit timings to the minimum required range as defined in + ISO 11898. This can be used to ensure compatibility across a wide variety + of CAN hardware. :raises ValueError: if the arguments are invalid. """ @@ -528,32 +557,23 @@ def __init__( "data_sjw": data_sjw, } self._validate() + if strict: + self._restrict_to_minimum_range() def _validate(self) -> None: - if self.nbt < 8: - raise ValueError(f"nominal bit time (={self.nbt}) must be at least 8.") - - if self.dbt < 8: - raise ValueError(f"data bit time (={self.dbt}) must be at least 8.") - - if not 1 <= self.nom_brp <= 256: - raise ValueError( - f"nominal bitrate prescaler (={self.nom_brp}) must be in [1...256]." - ) - - if not 1 <= self.data_brp <= 256: - raise ValueError( - f"data bitrate prescaler (={self.data_brp}) must be in [1...256]." - ) + for param, value in self._data.items(): + if value < 0: # type: ignore[operator] + err_msg = f"'{param}' (={value}) must not be negative." + raise ValueError(err_msg) - if not 5_000 <= self.nom_bitrate <= 2_000_000: + if self.nom_brp < 1: raise ValueError( - f"nom_bitrate (={self.nom_bitrate}) must be in [5,000...2,000,000]." + f"nominal bitrate prescaler (={self.nom_brp}) must be at least 1." ) - if not 25_000 <= self.data_bitrate <= 8_000_000: + if self.data_brp < 1: raise ValueError( - f"data_bitrate (={self.data_bitrate}) must be in [25,000...8,000,000]." + f"data bitrate prescaler (={self.data_brp}) must be at least 1." ) if self.data_bitrate < self.nom_bitrate: @@ -562,30 +582,12 @@ def _validate(self) -> None: f"equal to nom_bitrate (={self.nom_bitrate})" ) - if not 2 <= self.nom_tseg1 <= 256: - raise ValueError(f"nom_tseg1 (={self.nom_tseg1}) must be in [2...256].") - - if not 1 <= self.nom_tseg2 <= 128: - raise ValueError(f"nom_tseg2 (={self.nom_tseg2}) must be in [1...128].") - - if not 1 <= self.data_tseg1 <= 32: - raise ValueError(f"data_tseg1 (={self.data_tseg1}) must be in [1...32].") - - if not 1 <= self.data_tseg2 <= 16: - raise ValueError(f"data_tseg2 (={self.data_tseg2}) must be in [1...16].") - - if not 1 <= self.nom_sjw <= 128: - raise ValueError(f"nom_sjw (={self.nom_sjw}) must be in [1...128].") - if self.nom_sjw > self.nom_tseg2: raise ValueError( f"nom_sjw (={self.nom_sjw}) must not be " f"greater than nom_tseg2 (={self.nom_tseg2})." ) - if not 1 <= self.data_sjw <= 16: - raise ValueError(f"data_sjw (={self.data_sjw}) must be in [1...128].") - if self.data_sjw > self.data_tseg2: raise ValueError( f"data_sjw (={self.data_sjw}) must not be " @@ -604,8 +606,46 @@ def _validate(self) -> None: f"(data_sample_point={self.data_sample_point:.2f}%)." ) + def _restrict_to_minimum_range(self) -> None: + # restrict to minimum required range as defined in ISO 11898 + if not 8 <= self.nbt <= 80: + raise ValueError(f"Nominal bit time (={self.nbt}) must be in [8...80]") + + if not 5 <= self.dbt <= 25: + raise ValueError(f"Nominal bit time (={self.dbt}) must be in [5...25]") + + if not 1 <= self.data_tseg1 <= 16: + raise ValueError(f"data_tseg1 (={self.data_tseg1}) must be in [1...16].") + + if not 2 <= self.data_tseg2 <= 8: + raise ValueError(f"data_tseg2 (={self.data_tseg2}) must be in [2...8].") + + if not 1 <= self.data_sjw <= 8: + raise ValueError(f"data_sjw (={self.data_sjw}) must be in [1...8].") + + if self.nom_brp == self.data_brp: + # shared prescaler + if not 2 <= self.nom_tseg1 <= 128: + raise ValueError(f"nom_tseg1 (={self.nom_tseg1}) must be in [2...128].") + + if not 2 <= self.nom_tseg2 <= 32: + raise ValueError(f"nom_tseg2 (={self.nom_tseg2}) must be in [2...32].") + + if not 1 <= self.nom_sjw <= 32: + raise ValueError(f"nom_sjw (={self.nom_sjw}) must be in [1...32].") + else: + # separate prescaler + if not 2 <= self.nom_tseg1 <= 64: + raise ValueError(f"nom_tseg1 (={self.nom_tseg1}) must be in [2...64].") + + if not 2 <= self.nom_tseg2 <= 16: + raise ValueError(f"nom_tseg2 (={self.nom_tseg2}) must be in [2...16].") + + if not 1 <= self.nom_sjw <= 16: + raise ValueError(f"nom_sjw (={self.nom_sjw}) must be in [1...16].") + @classmethod - def from_bitrate_and_segments( + def from_bitrate_and_segments( # pylint: disable=too-many-arguments cls, f_clock: int, nom_bitrate: int, @@ -616,6 +656,7 @@ def from_bitrate_and_segments( data_tseg1: int, data_tseg2: int, data_sjw: int, + strict: bool = False, ) -> "BitTimingFd": """ Create a :class:`~can.BitTimingFd` instance with the bitrates and segments lengths. @@ -644,6 +685,10 @@ def from_bitrate_and_segments( :param int data_sjw: The Synchronization Jump Width for the data phase. This value determines the maximum number of time quanta that the controller can resynchronize every bit. + :param bool strict: + If True, restrict bit timings to the minimum required range as defined in + ISO 11898. This can be used to ensure compatibility across a wide variety + of CAN hardware. :raises ValueError: if the arguments are invalid. """ @@ -665,6 +710,7 @@ def from_bitrate_and_segments( data_tseg1=data_tseg1, data_tseg2=data_tseg2, data_sjw=data_sjw, + strict=strict, ) if abs(bt.nom_bitrate - nom_bitrate) > nom_bitrate / 256: @@ -724,9 +770,11 @@ def from_sample_point( possible_solutions: List[BitTimingFd] = [] + sync_seg = 1 + for nom_brp in range(1, 257): nbt = round(int(f_clock / (nom_bitrate * nom_brp))) - if nbt < 8: + if nbt < 1: break effective_nom_bitrate = f_clock / (nbt * nom_brp) @@ -734,15 +782,15 @@ def from_sample_point( continue nom_tseg1 = int(round(nom_sample_point / 100 * nbt)) - 1 - # limit tseg1, so tseg2 is at least 1 TQ - nom_tseg1 = min(nom_tseg1, nbt - 2) + # limit tseg1, so tseg2 is at least 2 TQ + nom_tseg1 = min(nom_tseg1, nbt - sync_seg - 2) nom_tseg2 = nbt - nom_tseg1 - 1 nom_sjw = min(nom_tseg2, 128) for data_brp in range(1, 257): dbt = round(int(f_clock / (data_bitrate * data_brp))) - if dbt < 8: + if dbt < 1: break effective_data_bitrate = f_clock / (dbt * data_brp) @@ -750,8 +798,8 @@ def from_sample_point( continue data_tseg1 = int(round(data_sample_point / 100 * dbt)) - 1 - # limit tseg1, so tseg2 is at least 1 TQ - data_tseg1 = min(data_tseg1, dbt - 2) + # limit tseg1, so tseg2 is at least 2 TQ + data_tseg1 = min(data_tseg1, dbt - sync_seg - 2) data_tseg2 = dbt - data_tseg1 - 1 data_sjw = min(data_tseg2, 16) @@ -767,6 +815,7 @@ def from_sample_point( data_tseg1=data_tseg1, data_tseg2=data_tseg2, data_sjw=data_sjw, + strict=True, ) possible_solutions.append(bt) except ValueError: @@ -971,6 +1020,7 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTimingFd": data_tseg1=self.data_tseg1, data_tseg2=self.data_tseg2, data_sjw=self.data_sjw, + strict=True, ) except ValueError: pass diff --git a/can/util.py b/can/util.py index 71980e82f..402934379 100644 --- a/can/util.py +++ b/can/util.py @@ -250,14 +250,16 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: **{ key: int(config[key]) for key in typechecking.BitTimingFdDict.__annotations__ - } + }, + strict=False, ) elif set(typechecking.BitTimingDict.__annotations__).issubset(config): config["timing"] = can.BitTiming( **{ key: int(config[key]) for key in typechecking.BitTimingDict.__annotations__ - } + }, + strict=False, ) except (ValueError, TypeError): pass diff --git a/test/test_bit_timing.py b/test/test_bit_timing.py index d0d0a4a7f..6852687a5 100644 --- a/test/test_bit_timing.py +++ b/test/test_bit_timing.py @@ -11,7 +11,7 @@ def test_sja1000(): """Test some values obtained using other bit timing calculators.""" timing = can.BitTiming( - f_clock=8_000_000, brp=4, tseg1=11, tseg2=4, sjw=2, nof_samples=3 + f_clock=8_000_000, brp=4, tseg1=11, tseg2=4, sjw=2, nof_samples=3, strict=True ) assert timing.f_clock == 8_000_000 assert timing.bitrate == 125_000 @@ -25,7 +25,9 @@ def test_sja1000(): assert timing.btr0 == 0x43 assert timing.btr1 == 0xBA - timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=13, tseg2=2, sjw=1) + timing = can.BitTiming( + f_clock=8_000_000, brp=1, tseg1=13, tseg2=2, sjw=1, strict=True + ) assert timing.f_clock == 8_000_000 assert timing.bitrate == 500_000 assert timing.brp == 1 @@ -38,7 +40,9 @@ def test_sja1000(): assert timing.btr0 == 0x00 assert timing.btr1 == 0x1C - timing = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1) + timing = can.BitTiming( + f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1, strict=True + ) assert timing.f_clock == 8_000_000 assert timing.bitrate == 1_000_000 assert timing.brp == 1 @@ -84,7 +88,7 @@ def test_from_bitrate_and_segments(): assert timing.btr1 == 0x1C timing = can.BitTiming.from_bitrate_and_segments( - f_clock=8_000_000, bitrate=1_000_000, tseg1=5, tseg2=2, sjw=1 + f_clock=8_000_000, bitrate=1_000_000, tseg1=5, tseg2=2, sjw=1, strict=True ) assert timing.f_clock == 8_000_000 assert timing.bitrate == 1_000_000 @@ -127,8 +131,24 @@ def test_from_bitrate_and_segments(): assert timing.data_sjw == 10 assert timing.data_sample_point == 75 + # test strict invalid + with pytest.raises(ValueError): + can.BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_bitrate=2_000_000, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + strict=True, + ) + def test_can_fd(): + # test non-strict timing = can.BitTimingFd( f_clock=80_000_000, nom_brp=1, @@ -149,7 +169,6 @@ def test_can_fd(): assert timing.nom_tseg2 == 40 assert timing.nom_sjw == 40 assert timing.nom_sample_point == 75 - assert timing.f_clock == 80_000_000 assert timing.data_bitrate == 2_000_000 assert timing.data_brp == 1 assert timing.dbt == 40 @@ -158,6 +177,50 @@ def test_can_fd(): assert timing.data_sjw == 10 assert timing.data_sample_point == 75 + # test strict invalid + with pytest.raises(ValueError): + can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + strict=True, + ) + + # test strict valid + timing = can.BitTimingFd( + f_clock=80_000_000, + nom_brp=2, + nom_tseg1=59, + nom_tseg2=20, + nom_sjw=20, + data_brp=2, + data_tseg1=14, + data_tseg2=5, + data_sjw=5, + strict=True, + ) + assert timing.f_clock == 80_000_000 + assert timing.nom_bitrate == 500_000 + assert timing.nom_brp == 2 + assert timing.nbt == 80 + assert timing.nom_tseg1 == 59 + assert timing.nom_tseg2 == 20 + assert timing.nom_sjw == 20 + assert timing.nom_sample_point == 75 + assert timing.data_bitrate == 2_000_000 + assert timing.data_brp == 2 + assert timing.dbt == 20 + assert timing.data_tseg1 == 14 + assert timing.data_tseg2 == 5 + assert timing.data_sjw == 5 + assert timing.data_sample_point == 75 + def test_from_btr(): timing = can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x00, btr1=0x14) diff --git a/test/test_util.py b/test/test_util.py index a4aacdf86..ac8c87d9e 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -253,14 +253,10 @@ def test_adjust_timing_fd(self): ) assert new_timing.__class__ == BitTimingFd assert new_timing.f_clock == 80_000_000 - assert new_timing.nom_bitrate == 500_000 - assert new_timing.nom_tseg1 == 119 - assert new_timing.nom_tseg2 == 40 - assert new_timing.nom_sjw == 40 - assert new_timing.data_bitrate == 2_000_000 - assert new_timing.data_tseg1 == 29 - assert new_timing.data_tseg2 == 10 - assert new_timing.data_sjw == 10 + assert new_timing.nom_bitrate == timing.nom_bitrate + assert new_timing.nom_sample_point == timing.nom_sample_point + assert new_timing.data_bitrate == timing.data_bitrate + assert new_timing.data_sample_point == timing.data_sample_point with pytest.raises(CanInitializationError): check_or_adjust_timing_clock(timing, valid_clocks=[8_000, 16_000]) From 3c3f12313a18f714ebfa21b77fa30b87d4746e98 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Mon, 2 Oct 2023 18:22:04 -0400 Subject: [PATCH 293/475] We do not need to account for drift when we USE_WINDOWS_EVENTS (#1666) --- can/broadcastmanager.py | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index a017b7d52..398114a59 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -35,7 +35,6 @@ log = logging.getLogger("can.bcm") NANOSECONDS_IN_SECOND: Final[int] = 1_000_000_000 -NANOSECONDS_IN_MILLISECOND: Final[int] = 1_000_000 class CyclicTask(abc.ABC): @@ -316,19 +315,19 @@ def _run(self) -> None: self.stop() break - msg_due_time_ns += self.period_ns + if not USE_WINDOWS_EVENTS: + msg_due_time_ns += self.period_ns if self.end_time is not None and time.perf_counter() >= self.end_time: break msg_index = (msg_index + 1) % len(self.messages) - # Compensate for the time it takes to send the message - delay_ns = msg_due_time_ns - time.perf_counter_ns() - - if delay_ns > 0: - if USE_WINDOWS_EVENTS: - win32event.WaitForSingleObject( - self.event.handle, - int(round(delay_ns / NANOSECONDS_IN_MILLISECOND)), - ) - else: + if USE_WINDOWS_EVENTS: + win32event.WaitForSingleObject( + self.event.handle, + win32event.INFINITE, + ) + else: + # Compensate for the time it takes to send the message + delay_ns = msg_due_time_ns - time.perf_counter_ns() + if delay_ns > 0: time.sleep(delay_ns / NANOSECONDS_IN_SECOND) From 237f2be345071325f3f94469b7d3a8912d21077d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 9 Oct 2023 00:02:21 +0200 Subject: [PATCH 294/475] Update linters, activate more ruff rules (#1669) * update ruff to 0.0.286 * activate pyflakes rules * activate flake8-type-checking * activate Ruff-specific rules * activate pylint rules * activate flake8-comprehensions * update ruff to 0.0.292 * remove unnecessary tuple() call * update mypy to 1.5.*, update black to 23.9.* --------- Co-authored-by: zariiii9003 --- can/bit_timing.py | 5 +- can/interfaces/gs_usb.py | 2 +- can/interfaces/ics_neovi/neovi_bus.py | 18 ++-- can/interfaces/ixxat/canlib.py | 18 ++-- can/interfaces/ixxat/canlib_vcinpl2.py | 14 ++-- can/interfaces/pcan/basic.py | 104 +++++++++++------------- can/interfaces/pcan/pcan.py | 6 +- can/interfaces/socketcand/socketcand.py | 2 +- can/interfaces/systec/ucan.py | 2 +- can/interfaces/vector/canlib.py | 18 ++-- can/io/asc.py | 8 +- can/io/trc.py | 4 +- can/logger.py | 8 +- can/util.py | 5 +- can/viewer.py | 2 +- pyproject.toml | 28 ++++--- test/back2back_test.py | 2 +- test/network_test.py | 7 +- test/test_player.py | 10 +-- test/test_slcan.py | 4 +- test/test_socketcan.py | 4 +- test/test_vector.py | 2 +- 22 files changed, 133 insertions(+), 140 deletions(-) diff --git a/can/bit_timing.py b/can/bit_timing.py index 285b1c302..3e8cb1bcd 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -1,8 +1,9 @@ # pylint: disable=too-many-lines import math -from typing import Iterator, List, Mapping, cast +from typing import TYPE_CHECKING, Iterator, List, Mapping, cast -from can.typechecking import BitTimingDict, BitTimingFdDict +if TYPE_CHECKING: + from can.typechecking import BitTimingDict, BitTimingFdDict class BitTiming(Mapping): diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 32ad54e75..38f9fe41a 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -35,7 +35,7 @@ def __init__( """ if (index is not None) and ((bus or address) is not None): raise CanInitializationError( - f"index and bus/address cannot be used simultaneously" + "index and bus/address cannot be used simultaneously" ) if index is not None: diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 0698c1416..9270bfc90 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -302,15 +302,15 @@ def _find_device(self, type_filter=None, serial=None): for device in devices: if serial is None or self.get_serial_number(device) == str(serial): return device - else: - msg = ["No device"] - - if type_filter is not None: - msg.append(f"with type {type_filter}") - if serial is not None: - msg.append(f"with serial {serial}") - msg.append("found.") - raise CanInitializationError(" ".join(msg)) + + msg = ["No device"] + + if type_filter is not None: + msg.append(f"with type {type_filter}") + if serial is not None: + msg.append(f"with serial {serial}") + msg.append("found.") + raise CanInitializationError(" ".join(msg)) def _process_msg_queue(self, timeout=0.1): try: diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 8c07508e4..f18c86acd 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -28,17 +28,17 @@ def __init__( unique_hardware_id: Optional[int] = None, extended: bool = True, fd: bool = False, - rx_fifo_size: int = None, - tx_fifo_size: int = None, + rx_fifo_size: Optional[int] = None, + tx_fifo_size: Optional[int] = None, bitrate: int = 500000, data_bitrate: int = 2000000, - sjw_abr: int = None, - tseg1_abr: int = None, - tseg2_abr: int = None, - sjw_dbr: int = None, - tseg1_dbr: int = None, - tseg2_dbr: int = None, - ssp_dbr: int = None, + sjw_abr: Optional[int] = None, + tseg1_abr: Optional[int] = None, + tseg2_abr: Optional[int] = None, + sjw_dbr: Optional[int] = None, + tseg1_dbr: Optional[int] = None, + tseg2_dbr: Optional[int] = None, + ssp_dbr: Optional[int] = None, **kwargs, ): """ diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index b10ac1b94..2c306c880 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -436,13 +436,13 @@ def __init__( tx_fifo_size: int = 128, bitrate: int = 500000, data_bitrate: int = 2000000, - sjw_abr: int = None, - tseg1_abr: int = None, - tseg2_abr: int = None, - sjw_dbr: int = None, - tseg1_dbr: int = None, - tseg2_dbr: int = None, - ssp_dbr: int = None, + sjw_abr: Optional[int] = None, + tseg1_abr: Optional[int] = None, + tseg2_abr: Optional[int] = None, + sjw_dbr: Optional[int] = None, + tseg1_dbr: Optional[int] = None, + tseg2_dbr: Optional[int] = None, + ssp_dbr: Optional[int] = None, **kwargs, ): """ diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 7c41e2816..a57340955 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -297,73 +297,63 @@ # PCAN parameter values # -PCAN_PARAMETER_OFF = int(0x00) # The PCAN parameter is not set (inactive) -PCAN_PARAMETER_ON = int(0x01) # The PCAN parameter is set (active) -PCAN_FILTER_CLOSE = int(0x00) # The PCAN filter is closed. No messages will be received -PCAN_FILTER_OPEN = int( - 0x01 -) # The PCAN filter is fully opened. All messages will be received -PCAN_FILTER_CUSTOM = int( - 0x02 -) # The PCAN filter is custom configured. Only registered messages will be received -PCAN_CHANNEL_UNAVAILABLE = int( - 0x00 -) # The PCAN-Channel handle is illegal, or its associated hardware is not available -PCAN_CHANNEL_AVAILABLE = int( - 0x01 -) # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in) -PCAN_CHANNEL_OCCUPIED = int( - 0x02 -) # The PCAN-Channel handle is valid, and is already being used +PCAN_PARAMETER_OFF = 0x00 # The PCAN parameter is not set (inactive) +PCAN_PARAMETER_ON = 0x01 # The PCAN parameter is set (active) +PCAN_FILTER_CLOSE = 0x00 # The PCAN filter is closed. No messages will be received +PCAN_FILTER_OPEN = ( + 0x01 # The PCAN filter is fully opened. All messages will be received +) +PCAN_FILTER_CUSTOM = 0x02 # The PCAN filter is custom configured. Only registered messages will be received +PCAN_CHANNEL_UNAVAILABLE = 0x00 # The PCAN-Channel handle is illegal, or its associated hardware is not available +PCAN_CHANNEL_AVAILABLE = 0x01 # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in) +PCAN_CHANNEL_OCCUPIED = ( + 0x02 # The PCAN-Channel handle is valid, and is already being used +) PCAN_CHANNEL_PCANVIEW = ( PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED ) # The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect -LOG_FUNCTION_DEFAULT = int(0x00) # Logs system exceptions / errors -LOG_FUNCTION_ENTRY = int(0x01) # Logs the entries to the PCAN-Basic API functions -LOG_FUNCTION_PARAMETERS = int( - 0x02 -) # Logs the parameters passed to the PCAN-Basic API functions -LOG_FUNCTION_LEAVE = int(0x04) # Logs the exits from the PCAN-Basic API functions -LOG_FUNCTION_WRITE = int(0x08) # Logs the CAN messages passed to the CAN_Write function -LOG_FUNCTION_READ = int( - 0x10 -) # Logs the CAN messages received within the CAN_Read function -LOG_FUNCTION_ALL = int( - 0xFFFF -) # Logs all possible information within the PCAN-Basic API functions +LOG_FUNCTION_DEFAULT = 0x00 # Logs system exceptions / errors +LOG_FUNCTION_ENTRY = 0x01 # Logs the entries to the PCAN-Basic API functions +LOG_FUNCTION_PARAMETERS = ( + 0x02 # Logs the parameters passed to the PCAN-Basic API functions +) +LOG_FUNCTION_LEAVE = 0x04 # Logs the exits from the PCAN-Basic API functions +LOG_FUNCTION_WRITE = 0x08 # Logs the CAN messages passed to the CAN_Write function +LOG_FUNCTION_READ = 0x10 # Logs the CAN messages received within the CAN_Read function +LOG_FUNCTION_ALL = ( + 0xFFFF # Logs all possible information within the PCAN-Basic API functions +) -TRACE_FILE_SINGLE = int( - 0x00 -) # A single file is written until it size reaches PAN_TRACE_SIZE -TRACE_FILE_SEGMENTED = int( - 0x01 -) # Traced data is distributed in several files with size PAN_TRACE_SIZE -TRACE_FILE_DATE = int(0x02) # Includes the date into the name of the trace file -TRACE_FILE_TIME = int(0x04) # Includes the start time into the name of the trace file -TRACE_FILE_OVERWRITE = int( - 0x80 -) # Causes the overwriting of available traces (same name) +TRACE_FILE_SINGLE = ( + 0x00 # A single file is written until it size reaches PAN_TRACE_SIZE +) +TRACE_FILE_SEGMENTED = ( + 0x01 # Traced data is distributed in several files with size PAN_TRACE_SIZE +) +TRACE_FILE_DATE = 0x02 # Includes the date into the name of the trace file +TRACE_FILE_TIME = 0x04 # Includes the start time into the name of the trace file +TRACE_FILE_OVERWRITE = 0x80 # Causes the overwriting of available traces (same name) -FEATURE_FD_CAPABLE = int(0x01) # Device supports flexible data-rate (CAN-FD) -FEATURE_DELAY_CAPABLE = int( - 0x02 -) # Device supports a delay between sending frames (FPGA based USB devices) -FEATURE_IO_CAPABLE = int( - 0x04 -) # Device supports I/O functionality for electronic circuits (USB-Chip devices) +FEATURE_FD_CAPABLE = 0x01 # Device supports flexible data-rate (CAN-FD) +FEATURE_DELAY_CAPABLE = ( + 0x02 # Device supports a delay between sending frames (FPGA based USB devices) +) +FEATURE_IO_CAPABLE = ( + 0x04 # Device supports I/O functionality for electronic circuits (USB-Chip devices) +) -SERVICE_STATUS_STOPPED = int(0x01) # The service is not running -SERVICE_STATUS_RUNNING = int(0x04) # The service is running +SERVICE_STATUS_STOPPED = 0x01 # The service is not running +SERVICE_STATUS_RUNNING = 0x04 # The service is running # Other constants # -MAX_LENGTH_HARDWARE_NAME = int( - 33 -) # Maximum length of the name of a device: 32 characters + terminator -MAX_LENGTH_VERSION_STRING = int( - 256 -) # Maximum length of a version string: 255 characters + terminator +MAX_LENGTH_HARDWARE_NAME = ( + 33 # Maximum length of the name of a device: 32 characters + terminator +) +MAX_LENGTH_VERSION_STRING = ( + 256 # Maximum length of a version string: 255 characters + terminator +) # PCAN message types # diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 25610a614..01a4b1dc3 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -85,7 +85,7 @@ boottimeEpoch = 0 else: boottimeEpoch = uptime.boottime().timestamp() -except ImportError as error: +except ImportError: log.warning( "uptime library not available, timestamps are relative to boot time and not to Epoch UTC", ) @@ -283,7 +283,7 @@ def __init__( clock_param = "f_clock" if "f_clock" in kwargs else "f_clock_mhz" fd_parameters_values = [ f"{key}={kwargs[key]}" - for key in (clock_param,) + PCAN_FD_PARAMETER_LIST + for key in (clock_param, *PCAN_FD_PARAMETER_LIST) if key in kwargs ] @@ -413,7 +413,7 @@ def bits(n): def get_api_version(self): error, value = self.m_objPCANBasic.GetValue(PCAN_NONEBUS, PCAN_API_VERSION) if error != PCAN_ERROR_OK: - raise CanInitializationError(f"Failed to read pcan basic api version") + raise CanInitializationError("Failed to read pcan basic api version") # fix https://github.com/hardbyte/python-can/issues/1642 version_string = value.decode("ascii").replace(",", ".").replace(" ", "") diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 183a9ba12..26ae63ca6 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -91,7 +91,7 @@ def __init__(self, channel, host, port, can_filters=None, **kwargs): ) self._tcp_send(f"< open {channel} >") self._expect_msg("< ok >") - self._tcp_send(f"< rawmode >") + self._tcp_send("< rawmode >") self._expect_msg("< ok >") super().__init__(channel=channel, can_filters=can_filters, **kwargs) diff --git a/can/interfaces/systec/ucan.py b/can/interfaces/systec/ucan.py index bbc484314..f969532d7 100644 --- a/can/interfaces/systec/ucan.py +++ b/can/interfaces/systec/ucan.py @@ -409,7 +409,7 @@ def init_hardware(self, serial=None, device_number=ANY_MODULE): Initializes the device with the corresponding serial or device number. :param int or None serial: Serial number of the USB-CANmodul. - :param int device_number: Device number (0 – 254, or :const:`ANY_MODULE` for the first device). + :param int device_number: Device number (0 - 254, or :const:`ANY_MODULE` for the first device). """ if not self._hw_is_initialized: # initialize hardware either by device number or serial diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 55aeb5da4..cedf25666 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -69,19 +69,17 @@ class VectorBus(BusABC): """The CAN Bus implemented for the Vector interface.""" - deprecated_args = dict( - sjwAbr="sjw_abr", - tseg1Abr="tseg1_abr", - tseg2Abr="tseg2_abr", - sjwDbr="sjw_dbr", - tseg1Dbr="tseg1_dbr", - tseg2Dbr="tseg2_dbr", - ) - @deprecated_args_alias( deprecation_start="4.0.0", deprecation_end="5.0.0", - **deprecated_args, + **{ + "sjwAbr": "sjw_abr", + "tseg1Abr": "tseg1_abr", + "tseg2Abr": "tseg2_abr", + "sjwDbr": "sjw_dbr", + "tseg1Dbr": "tseg1_dbr", + "tseg2Dbr": "tseg2_dbr", + }, ) def __init__( self, diff --git a/can/io/asc.py b/can/io/asc.py index 3114acfbe..f039cda32 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -64,8 +64,8 @@ def __init__( self.internal_events_logged = False def _extract_header(self) -> None: - for line in self.file: - line = line.strip() + for _line in self.file: + line = _line.strip() datetime_match = re.match( r"date\s+\w+\s+(?P.+)", line, re.IGNORECASE @@ -255,8 +255,8 @@ def _process_fd_can_frame(self, line: str, msg_kwargs: Dict[str, Any]) -> Messag def __iter__(self) -> Generator[Message, None, None]: self._extract_header() - for line in self.file: - line = line.strip() + for _line in self.file: + line = _line.strip() trigger_match = re.match( r"begin\s+triggerblock\s+\w+\s+(?P.+)", diff --git a/can/io/trc.py b/can/io/trc.py index ccf122d57..889d55196 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -68,8 +68,8 @@ def __init__( def _extract_header(self): line = "" - for line in self.file: - line = line.strip() + for _line in self.file: + line = _line.strip() if line.startswith(";$FILEVERSION"): logger.debug("TRCReader: Found file version '%s'", line) try: diff --git a/can/logger.py b/can/logger.py index 56f9156a8..f20965b04 100644 --- a/can/logger.py +++ b/can/logger.py @@ -3,16 +3,18 @@ import re import sys from datetime import datetime -from typing import Any, Dict, List, Sequence, Tuple, Union +from typing import TYPE_CHECKING, Any, Dict, List, Sequence, Tuple, Union import can -from can.io import BaseRotatingLogger -from can.io.generic import MessageWriter from can.util import cast_from_string from . import Bus, BusState, Logger, SizedRotatingLogger from .typechecking import CanFilter, CanFilters +if TYPE_CHECKING: + from can.io import BaseRotatingLogger + from can.io.generic import MessageWriter + def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: """Adds common options to an argument parser.""" diff --git a/can/util.py b/can/util.py index 402934379..42b1f49ac 100644 --- a/can/util.py +++ b/can/util.py @@ -190,9 +190,8 @@ def load_config( ) # Slightly complex here to only search for the file config if required - for cfg in config_sources: - if callable(cfg): - cfg = cfg(context) + for _cfg in config_sources: + cfg = _cfg(context) if callable(_cfg) else _cfg # remove legacy operator (and copy to interface if not already present) if "bustype" in cfg: if "interface" not in cfg or not cfg["interface"]: diff --git a/can/viewer.py b/can/viewer.py index be7f76b73..db19fd1f6 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -537,7 +537,7 @@ def parse_args(args: List[str]) -> Tuple: scaling.append(float(t)) if scaling: - data_structs[key] = (struct.Struct(fmt),) + tuple(scaling) + data_structs[key] = (struct.Struct(fmt), *scaling) else: data_structs[key] = struct.Struct(fmt) diff --git a/pyproject.toml b/pyproject.toml index 6ee1dbadc..e20fd2785 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,9 +59,9 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==2.17.*", - "ruff==0.0.269", - "black==23.3.*", - "mypy==1.3.*", + "ruff==0.0.292", + "black==23.9.*", + "mypy==1.5.*", ] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] @@ -91,7 +91,7 @@ examples = ["*.py"] can = ["py.typed"] [tool.setuptools.packages.find] -include = ["can*", "scripts"] +include = ["can*"] [tool.mypy] warn_return_any = true @@ -128,14 +128,22 @@ exclude = [ [tool.ruff] select = [ - "F401", # unused-imports - "UP", # pyupgrade - "I", # isort - "E", # pycodestyle errors - "W", # pycodestyle warnings + "F", # pyflakes + "UP", # pyupgrade + "I", # isort + "E", # pycodestyle errors + "W", # pycodestyle warnings + "PL", # pylint + "RUF", # ruff-specific rules + "C4", # flake8-comprehensions + "TCH", # flake8-type-checking ] ignore = [ - "E501", # Line too long + "E501", # Line too long + "F403", # undefined-local-with-import-star + "F405", # undefined-local-with-import-star-usage + "PLR", # pylint refactor + "RUF012", # mutable-class-default ] [tool.ruff.isort] diff --git a/test/back2back_test.py b/test/back2back_test.py index 52bfaf716..cd5aca6aa 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -116,7 +116,7 @@ def test_timestamp(self): self.assertTrue( 1.75 <= delta_time <= 2.25, "Time difference should have been 2s +/- 250ms." - "But measured {}".format(delta_time), + f"But measured {delta_time}", ) def test_standard_message(self): diff --git a/test/network_test.py b/test/network_test.py index 61690c1b4..250976fb2 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -6,12 +6,15 @@ import threading import unittest +import can + logging.getLogger(__file__).setLevel(logging.WARNING) + # make a random bool: -rbool = lambda: bool(round(random.random())) +def rbool(): + return bool(round(random.random())) -import can channel = "vcan0" diff --git a/test/test_player.py b/test/test_player.py index 5ad6e774c..e5e77fe8a 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -60,14 +60,8 @@ def test_play_virtual(self): dlc=8, data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], ) - if sys.version_info >= (3, 8): - # The args argument was introduced with python 3.8 - self.assertTrue( - msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0]) - ) - self.assertTrue( - msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0]) - ) + self.assertTrue(msg1.equals(self.mock_virtual_bus.send.mock_calls[0].args[0])) + self.assertTrue(msg2.equals(self.mock_virtual_bus.send.mock_calls[1].args[0])) self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): diff --git a/test/test_slcan.py b/test/test_slcan.py index a2f8f5d15..f74207b9f 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -12,8 +12,8 @@ """ Mentioned in #1010 & #1490 -> PyPy works best with pure Python applications. Whenever you use a C extension module, -> it runs much slower than in CPython. The reason is that PyPy can't optimize C extension modules since they're not fully supported. +> PyPy works best with pure Python applications. Whenever you use a C extension module, +> it runs much slower than in CPython. The reason is that PyPy can't optimize C extension modules since they're not fully supported. > In addition, PyPy has to emulate reference counting for that part of the code, making it even slower. https://realpython.com/pypy-faster-python/#it-doesnt-work-well-with-c-extensions diff --git a/test/test_socketcan.py b/test/test_socketcan.py index f756cb93a..af06b8169 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -9,8 +9,6 @@ import warnings from unittest.mock import patch -from .config import TEST_INTERFACE_SOCKETCAN - import can from can.interfaces.socketcan.constants import ( CAN_BCM_TX_DELETE, @@ -28,7 +26,7 @@ build_bcm_update_header, ) -from .config import IS_LINUX, IS_PYPY +from .config import IS_LINUX, IS_PYPY, TEST_INTERFACE_SOCKETCAN class SocketCANTest(unittest.TestCase): diff --git a/test/test_vector.py b/test/test_vector.py index 93aba9c7b..ab9f8a928 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -881,7 +881,7 @@ def _find_xl_channel_config(serial: int, channel: int) -> xlclass.XLchannelConfi raise LookupError("XLchannelConfig not found.") -@functools.lru_cache() +@functools.lru_cache def _find_virtual_can_serial() -> int: """Serial number might be 0 or 100 depending on driver version.""" xl_driver_config = xlclass.XLdriverConfig() From e3d912b0bf5b5f21482d85041d1172af5b622188 Mon Sep 17 00:00:00 2001 From: Mateusz Dionizy <62315827+deronek@users.noreply.github.com> Date: Mon, 9 Oct 2023 00:06:17 +0200 Subject: [PATCH 295/475] Send HighPriority Message to flush VectorBus Tx buffer (#1636) * Refactor flush_tx_queue for VectorBus * Remove test_flush_tx_buffer_mocked Implementation cannot be tested due to Vector TX queue being not accessible * Update formatting in flush_tx_queue * Add tests for VectorBus flush_tx_queue * Refactor docstring for VectorBus flush_tx_queue --- can/interfaces/vector/canlib.py | 35 ++++++++++++++++++++++++++++++++- test/test_vector.py | 33 ++++++++++++++++++++++++++++++- 2 files changed, 66 insertions(+), 2 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index cedf25666..bc564958f 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -876,7 +876,40 @@ def _build_xl_can_tx_event(msg: Message) -> xlclass.XLcanTxEvent: return xl_can_tx_event def flush_tx_buffer(self) -> None: - self.xldriver.xlCanFlushTransmitQueue(self.port_handle, self.mask) + """ + Flush the TX buffer of the bus. + + Implementation does not use function ``xlCanFlushTransmitQueue`` of the XL driver, as it works only + for XL family devices. + + .. warning:: + Using this function will flush the queue and send a high voltage message (ID = 0, DLC = 0, no data). + """ + if self._can_protocol is CanProtocol.CAN_FD: + xl_can_tx_event = xlclass.XLcanTxEvent() + xl_can_tx_event.tag = xldefine.XL_CANFD_TX_EventTags.XL_CAN_EV_TAG_TX_MSG + xl_can_tx_event.tagData.canMsg.msgFlags |= ( + xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_HIGHPRIO + ) + + self.xldriver.xlCanTransmitEx( + self.port_handle, + self.mask, + ctypes.c_uint(1), + ctypes.c_uint(0), + xl_can_tx_event, + ) + else: + xl_event = xlclass.XLevent() + xl_event.tag = xldefine.XL_EventTags.XL_TRANSMIT_MSG + xl_event.tagData.msg.flags |= ( + xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_OVERRUN + | xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_WAKEUP + ) + + self.xldriver.xlCanTransmit( + self.port_handle, self.mask, ctypes.c_uint(1), xl_event + ) def shutdown(self) -> None: super().shutdown() diff --git a/test/test_vector.py b/test/test_vector.py index ab9f8a928..3db43fbbb 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -613,7 +613,38 @@ def test_receive_fd_non_msg_event() -> None: def test_flush_tx_buffer_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", _testing=True) bus.flush_tx_buffer() - can.interfaces.vector.canlib.xldriver.xlCanFlushTransmitQueue.assert_called() + transmit_args = can.interfaces.vector.canlib.xldriver.xlCanTransmit.call_args[0] + + num_msg = transmit_args[2] + assert num_msg.value == ctypes.c_uint(1).value + + event = transmit_args[3] + assert isinstance(event, xlclass.XLevent) + assert event.tag & xldefine.XL_EventTags.XL_TRANSMIT_MSG + assert event.tagData.msg.flags & ( + xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_OVERRUN + | xldefine.XL_MessageFlags.XL_CAN_MSG_FLAG_WAKEUP + ) + + +def test_flush_tx_buffer_fd_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, interface="vector", fd=True, _testing=True) + bus.flush_tx_buffer() + transmit_args = can.interfaces.vector.canlib.xldriver.xlCanTransmitEx.call_args[0] + + num_msg = transmit_args[2] + assert num_msg.value == ctypes.c_uint(1).value + + num_msg_sent = transmit_args[3] + assert num_msg_sent.value == ctypes.c_uint(0).value + + event = transmit_args[4] + assert isinstance(event, xlclass.XLcanTxEvent) + assert event.tag & xldefine.XL_CANFD_TX_EventTags.XL_CAN_EV_TAG_TX_MSG + assert ( + event.tagData.canMsg.msgFlags + & xldefine.XL_CANFD_TX_MessageFlags.XL_CAN_TXMSG_FLAG_HIGHPRIO + ) @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") From b547dfc989f274a75a8ab7d2f3a25f57ff693e0a Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 9 Oct 2023 00:26:49 +0200 Subject: [PATCH 296/475] PCAN: remove Windows registry check (#1672) Co-authored-by: zariiii9003 --- can/interfaces/pcan/basic.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index a57340955..e003e83f9 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -24,9 +24,6 @@ IS_WINDOWS = PLATFORM == "Windows" IS_LINUX = PLATFORM == "Linux" -if IS_WINDOWS: - import winreg - logger = logging.getLogger("can.pcan") # /////////////////////////////////////////////////////////// @@ -668,14 +665,6 @@ class PCANBasic: def __init__(self): if platform.system() == "Windows": load_library_func = windll.LoadLibrary - - # look for Peak drivers in Windows registry - with winreg.ConnectRegistry(None, winreg.HKEY_LOCAL_MACHINE) as reg: - try: - with winreg.OpenKey(reg, r"SOFTWARE\PEAK-System\PEAK-Drivers"): - pass - except OSError: - raise OSError("The PEAK-driver could not be found!") from None else: load_library_func = cdll.LoadLibrary From d2dc07d85a6630a083f3b38df833c6d535d53172 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 9 Oct 2023 00:36:23 +0200 Subject: [PATCH 297/475] Test Python 3.12 (#1673) Co-authored-by: zariiii9003 --- .github/workflows/ci.yml | 15 ++++++++++----- pyproject.toml | 2 +- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 686a5d77b..c1aa8935a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -22,14 +22,16 @@ jobs: "3.9", "3.10", "3.11", + "3.12", "pypy-3.8", "pypy-3.9", ] - include: - # Only test on a single configuration while there are just pre-releases - - os: ubuntu-latest - experimental: true - python-version: "3.12.0-alpha - 3.12.0" + # uncomment when python 3.13.0 alpha is available + #include: + # # Only test on a single configuration while there are just pre-releases + # - os: ubuntu-latest + # experimental: true + # python-version: "3.13.0-alpha - 3.13.0" fail-fast: false steps: - uses: actions/checkout@v3 @@ -95,6 +97,9 @@ jobs: - name: mypy 3.11 run: | mypy --python-version 3.11 . + - name: mypy 3.12 + run: | + mypy --python-version 3.12 . - name: ruff run: | ruff check can diff --git a/pyproject.toml b/pyproject.toml index e20fd2785..a34508ee8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -26,7 +26,6 @@ classifiers = [ "Intended Audience :: Telecommunications Industry", "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)", "Natural Language :: English", - "Natural Language :: English", "Operating System :: MacOS", "Operating System :: Microsoft :: Windows", "Operating System :: POSIX :: Linux", @@ -35,6 +34,7 @@ classifiers = [ "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", + "Programming Language :: Python :: 3.12", "Programming Language :: Python :: Implementation :: CPython", "Programming Language :: Python :: Implementation :: PyPy", "Topic :: System :: Hardware :: Hardware Drivers", From b0ba12fa833e60bc0661cb1e3f325501f6171609 Mon Sep 17 00:00:00 2001 From: Daniel Hrisca Date: Thu, 12 Oct 2023 21:15:04 +0300 Subject: [PATCH 298/475] Vector: Skip the can_op_mode check if the device reports can_op_mode=0 (#1678) --- can/interfaces/vector/canlib.py | 23 +++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index bc564958f..024f6a4c9 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -538,16 +538,19 @@ def _check_can_settings( ) # check CAN operation mode - if fd: - settings_acceptable &= bool( - bus_params_data.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD - ) - elif bus_params_data.can_op_mode != 0: # can_op_mode is always 0 for cancaseXL - settings_acceptable &= bool( - bus_params_data.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 - ) + # skip the check if can_op_mode is 0 + # as it happens for cancaseXL, VN7600 and sometimes on other hardware (VN1640) + if bus_params_data.can_op_mode: + if fd: + settings_acceptable &= bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ) + else: + settings_acceptable &= bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 + ) # check bitrates if bitrate: From b2689ae184363692fc030248e8b55fd0e40ae068 Mon Sep 17 00:00:00 2001 From: Daniel Hrisca Date: Thu, 12 Oct 2023 21:18:20 +0300 Subject: [PATCH 299/475] Add BitTiming.iterate_from_sample_point static methods (#1671) * add the possibility to return all the possible solutions using the from_sample_point static methods * Format code with black * add iterators for timings from sample point * update docstrings * make ruff happy * add a small test for iterate_from_sample_point * Format code with black --------- Co-authored-by: danielhrisca --- can/bit_timing.py | 114 +++++++++++++++++++++++++++++++--------- test/test_bit_timing.py | 26 +++++++++ 2 files changed, 115 insertions(+), 25 deletions(-) diff --git a/can/bit_timing.py b/can/bit_timing.py index 3e8cb1bcd..f5d50eac1 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -213,17 +213,10 @@ def from_registers( ) @classmethod - def from_sample_point( + def iterate_from_sample_point( cls, f_clock: int, bitrate: int, sample_point: float = 69.0 - ) -> "BitTiming": - """Create a :class:`~can.BitTiming` instance for a sample point. - - This function tries to find bit timings, which are close to the requested - sample point. It does not take physical bus properties into account, so the - calculated bus timings might not work properly for you. - - The :func:`oscillator_tolerance` function might be helpful to evaluate the - bus timings. + ) -> Iterator["BitTiming"]: + """Create a :class:`~can.BitTiming` iterator with all the solutions for a sample point. :param int f_clock: The CAN system clock frequency in Hz. @@ -238,7 +231,6 @@ def from_sample_point( if sample_point < 50.0: raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") - possible_solutions: List[BitTiming] = [] for brp in range(1, 65): nbt = round(int(f_clock / (bitrate * brp))) if nbt < 8: @@ -264,10 +256,40 @@ def from_sample_point( sjw=sjw, strict=True, ) - possible_solutions.append(bt) + yield bt except ValueError: continue + @classmethod + def from_sample_point( + cls, f_clock: int, bitrate: int, sample_point: float = 69.0 + ) -> "BitTiming": + """Create a :class:`~can.BitTiming` instance for a sample point. + + This function tries to find bit timings, which are close to the requested + sample point. It does not take physical bus properties into account, so the + calculated bus timings might not work properly for you. + + The :func:`oscillator_tolerance` function might be helpful to evaluate the + bus timings. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int bitrate: + Bitrate in bit/s. + :param int sample_point: + The sample point value in percent. + :raises ValueError: + if the arguments are invalid. + """ + + if sample_point < 50.0: + raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") + + possible_solutions: List[BitTiming] = list( + cls.iterate_from_sample_point(f_clock, bitrate, sample_point) + ) + if not possible_solutions: raise ValueError("No suitable bit timings found.") @@ -729,22 +751,15 @@ def from_bitrate_and_segments( # pylint: disable=too-many-arguments return bt @classmethod - def from_sample_point( + def iterate_from_sample_point( cls, f_clock: int, nom_bitrate: int, nom_sample_point: float, data_bitrate: int, data_sample_point: float, - ) -> "BitTimingFd": - """Create a :class:`~can.BitTimingFd` instance for a given nominal/data sample point pair. - - This function tries to find bit timings, which are close to the requested - sample points. It does not take physical bus properties into account, so the - calculated bus timings might not work properly for you. - - The :func:`oscillator_tolerance` function might be helpful to evaluate the - bus timings. + ) -> Iterator["BitTimingFd"]: + """Create an :class:`~can.BitTimingFd` iterator with all the solutions for a sample point. :param int f_clock: The CAN system clock frequency in Hz. @@ -769,8 +784,6 @@ def from_sample_point( f"data_sample_point (={data_sample_point}) must not be below 50%." ) - possible_solutions: List[BitTimingFd] = [] - sync_seg = 1 for nom_brp in range(1, 257): @@ -818,10 +831,61 @@ def from_sample_point( data_sjw=data_sjw, strict=True, ) - possible_solutions.append(bt) + yield bt except ValueError: continue + @classmethod + def from_sample_point( + cls, + f_clock: int, + nom_bitrate: int, + nom_sample_point: float, + data_bitrate: int, + data_sample_point: float, + ) -> "BitTimingFd": + """Create a :class:`~can.BitTimingFd` instance for a sample point. + + This function tries to find bit timings, which are close to the requested + sample points. It does not take physical bus properties into account, so the + calculated bus timings might not work properly for you. + + The :func:`oscillator_tolerance` function might be helpful to evaluate the + bus timings. + + :param int f_clock: + The CAN system clock frequency in Hz. + :param int nom_bitrate: + Nominal bitrate in bit/s. + :param int nom_sample_point: + The sample point value of the arbitration phase in percent. + :param int data_bitrate: + Data bitrate in bit/s. + :param int data_sample_point: + The sample point value of the data phase in percent. + :raises ValueError: + if the arguments are invalid. + """ + if nom_sample_point < 50.0: + raise ValueError( + f"nom_sample_point (={nom_sample_point}) must not be below 50%." + ) + + if data_sample_point < 50.0: + raise ValueError( + f"data_sample_point (={data_sample_point}) must not be below 50%." + ) + + possible_solutions: List[BitTimingFd] = list( + cls.iterate_from_sample_point( + f_clock, + nom_bitrate, + nom_sample_point, + data_bitrate, + data_sample_point, + ) + ) + if not possible_solutions: raise ValueError("No suitable bit timings found.") diff --git a/test/test_bit_timing.py b/test/test_bit_timing.py index 6852687a5..514c31244 100644 --- a/test/test_bit_timing.py +++ b/test/test_bit_timing.py @@ -286,6 +286,32 @@ def test_from_sample_point(): ) +def test_iterate_from_sample_point(): + for sp in range(50, 100): + solutions = list( + can.BitTiming.iterate_from_sample_point( + f_clock=16_000_000, + bitrate=500_000, + sample_point=sp, + ) + ) + assert len(solutions) >= 2 + + for nsp in range(50, 100): + for dsp in range(50, 100): + solutions = list( + can.BitTimingFd.iterate_from_sample_point( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_sample_point=nsp, + data_bitrate=2_000_000, + data_sample_point=dsp, + ) + ) + + assert len(solutions) >= 2 + + def test_equality(): t1 = can.BitTiming.from_registers(f_clock=8_000_000, btr0=0x00, btr1=0x14) t2 = can.BitTiming(f_clock=8_000_000, brp=1, tseg1=5, tseg2=2, sjw=1, nof_samples=1) From e869fb7242f8a4bf12593f6a37550a462764ca00 Mon Sep 17 00:00:00 2001 From: pierreluctg Date: Mon, 16 Oct 2023 15:47:41 -0400 Subject: [PATCH 300/475] Fix ThreadBasedCyclicSendTask thread not being stopped on Windows (#1679) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Also adding unit test to cover RestartableCyclicTaskABC Co-authored-by: Pierre-Luc Tessier Gagné --- can/broadcastmanager.py | 5 +++-- test/simplecyclic_test.py | 35 +++++++++++++++++++++++++++++++++++ 2 files changed, 38 insertions(+), 2 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 398114a59..0ac9b6adc 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -269,9 +269,10 @@ def __init__( self.start() def stop(self) -> None: - if USE_WINDOWS_EVENTS: - win32event.CancelWaitableTimer(self.event.handle) self.stopped = True + if USE_WINDOWS_EVENTS: + # Reset and signal any pending wait by setting the timer to 0 + win32event.SetWaitableTimer(self.event.handle, 0, 0, None, None, False) def start(self) -> None: self.stopped = False diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 650a1fddf..21e88e9f0 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -152,6 +152,41 @@ def test_stopping_perodic_tasks(self): bus.shutdown() + def test_restart_perodic_tasks(self): + period = 0.01 + safe_timeout = period * 5 + + msg = can.Message( + is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] + ) + + with can.ThreadSafeBus(interface="virtual", receive_own_messages=True) as bus: + task = bus.send_periodic(msg, period) + self.assertIsInstance(task, can.broadcastmanager.RestartableCyclicTaskABC) + + # Test that the task is sending messages + sleep(safe_timeout) + assert not bus.queue.empty(), "messages should have been transmitted" + + # Stop the task and check that messages are no longer being sent + bus.stop_all_periodic_tasks(remove_tasks=False) + sleep(safe_timeout) + while not bus.queue.empty(): + bus.recv(timeout=period) + sleep(safe_timeout) + assert bus.queue.empty(), "messages should not have been transmitted" + + # Restart the task and check that messages are being sent again + task.start() + sleep(safe_timeout) + assert not bus.queue.empty(), "messages should have been transmitted" + + # Stop all tasks and wait for the thread to exit + bus.stop_all_periodic_tasks() + if isinstance(task, can.broadcastmanager.ThreadBasedCyclicSendTask): + # Avoids issues where the thread is still running when the bus is shutdown + task.thread.join(safe_timeout) + @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_thread_based_cyclic_send_task(self): bus = can.ThreadSafeBus(interface="virtual") From 7b353ca240ea2ff73901eabce3996861e17a2deb Mon Sep 17 00:00:00 2001 From: MattWoodhead Date: Mon, 16 Oct 2023 22:12:52 +0100 Subject: [PATCH 301/475] Implement _detect_available_configs for the Ixxat bus. (#1607) * Add _detect_available_configs to ixxat bus * Add typing and cover CI test failure * Format code with black * Format code with black * re-order imports for ruff * Update ixxat docs * fix doctest * Update test_interface_ixxat.py * make ruff happy --------- Co-authored-by: MattWoodhead Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/ixxat/canlib.py | 7 +++- can/interfaces/ixxat/canlib_vcinpl.py | 55 +++++++++++++++++++++++++- can/interfaces/ixxat/canlib_vcinpl2.py | 10 ++--- can/interfaces/pcan/pcan.py | 4 +- doc/interfaces/ixxat.rst | 31 +++++++++++++-- test/test_interface_ixxat.py | 12 ++++++ 6 files changed, 105 insertions(+), 14 deletions(-) diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index f18c86acd..330ccdcd9 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -1,4 +1,4 @@ -from typing import Callable, Optional, Sequence, Union +from typing import Callable, List, Optional, Sequence, Union import can.interfaces.ixxat.canlib_vcinpl as vcinpl import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 @@ -8,6 +8,7 @@ CyclicSendTaskABC, Message, ) +from can.typechecking import AutoDetectedConfig class IXXATBus(BusABC): @@ -170,3 +171,7 @@ def state(self) -> BusState: Return the current state of the hardware """ return self.bus.state + + @staticmethod + def _detect_available_configs() -> List[AutoDetectedConfig]: + return vcinpl._detect_available_configs() diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 922c683b8..334adee11 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -14,7 +14,7 @@ import logging import sys import warnings -from typing import Callable, Optional, Sequence, Tuple, Union +from typing import Callable, List, Optional, Sequence, Tuple, Union from can import ( BusABC, @@ -28,6 +28,7 @@ from can.ctypesutil import HANDLE, PHANDLE, CLibrary from can.ctypesutil import HRESULT as ctypes_HRESULT from can.exceptions import CanInitializationError, CanInterfaceNotImplementedError +from can.typechecking import AutoDetectedConfig from can.util import deprecated_args_alias from . import constants, structures @@ -943,3 +944,55 @@ def get_ixxat_hwids(): _canlib.vciEnumDeviceClose(device_handle) return hwids + + +def _detect_available_configs() -> List[AutoDetectedConfig]: + config_list = [] # list in wich to store the resulting bus kwargs + + # used to detect HWID + device_handle = HANDLE() + device_info = structures.VCIDEVICEINFO() + + # used to attempt to open channels + channel_handle = HANDLE() + device_handle2 = HANDLE() + + try: + _canlib.vciEnumDeviceOpen(ctypes.byref(device_handle)) + while True: + try: + _canlib.vciEnumDeviceNext(device_handle, ctypes.byref(device_info)) + except StopIteration: + break + else: + hwid = device_info.UniqueHardwareId.AsChar.decode("ascii") + _canlib.vciDeviceOpen( + ctypes.byref(device_info.VciObjectId), + ctypes.byref(device_handle2), + ) + for channel in range(4): + try: + _canlib.canChannelOpen( + device_handle2, + channel, + constants.FALSE, + ctypes.byref(channel_handle), + ) + except Exception: + # Array outside of bounds error == accessing a channel not in the hardware + break + else: + _canlib.canChannelClose(channel_handle) + config_list.append( + { + "interface": "ixxat", + "channel": channel, + "unique_hardware_id": hwid, + } + ) + _canlib.vciDeviceClose(device_handle2) + _canlib.vciEnumDeviceClose(device_handle) + except AttributeError: + pass # _canlib is None in the CI tests -> return a blank list + + return config_list diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 2c306c880..aaefa1bf9 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -509,17 +509,15 @@ def __init__( tseg1_abr is None or tseg2_abr is None or sjw_abr is None ): raise ValueError( - "To use bitrate {} (that has not predefined preset) is mandatory to use also parameters tseg1_abr, tseg2_abr and swj_abr".format( - bitrate - ) + f"To use bitrate {bitrate} (that has not predefined preset) is mandatory " + f"to use also parameters tseg1_abr, tseg2_abr and swj_abr" ) if data_bitrate not in constants.CAN_DATABITRATE_PRESETS and ( tseg1_dbr is None or tseg2_dbr is None or sjw_dbr is None ): raise ValueError( - "To use data_bitrate {} (that has not predefined preset) is mandatory to use also parameters tseg1_dbr, tseg2_dbr and swj_dbr".format( - data_bitrate - ) + f"To use data_bitrate {data_bitrate} (that has not predefined preset) is mandatory " + f"to use also parameters tseg1_dbr, tseg2_dbr and swj_dbr" ) if rx_fifo_size <= 0: diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 01a4b1dc3..884c1680b 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -396,9 +396,7 @@ def bits(n): for b in bits(error): stsReturn = self.m_objPCANBasic.GetErrorText(b, 0x9) if stsReturn[0] != PCAN_ERROR_OK: - text = "An error occurred. Error-code's text ({:X}h) couldn't be retrieved".format( - error - ) + text = f"An error occurred. Error-code's text ({error:X}h) couldn't be retrieved" else: text = stsReturn[1].decode("utf-8", errors="replace") diff --git a/doc/interfaces/ixxat.rst b/doc/interfaces/ixxat.rst index f73a01036..1337bf738 100644 --- a/doc/interfaces/ixxat.rst +++ b/doc/interfaces/ixxat.rst @@ -56,17 +56,42 @@ VCI documentation, section "Message filters" for more info. List available devices ---------------------- -In case you have connected multiple IXXAT devices, you have to select them by using their unique hardware id. -To get a list of all connected IXXAT you can use the function ``get_ixxat_hwids()`` as demonstrated below: + +In case you have connected multiple IXXAT devices, you have to select them by using their unique hardware id. +The function :meth:`~can.detect_available_configs` can be used to generate a list of :class:`~can.BusABC` constructors +(including the channel number and unique hardware ID number for the connected devices). .. testsetup:: ixxat + from unittest.mock import Mock + import can + assert hasattr(can, "detect_available_configs") + can.detect_available_configs = Mock( + "interface", + return_value=[{'interface': 'ixxat', 'channel': 0, 'unique_hardware_id': 'HW441489'}, {'interface': 'ixxat', 'channel': 0, 'unique_hardware_id': 'HW107422'}, {'interface': 'ixxat', 'channel': 1, 'unique_hardware_id': 'HW107422'}], + ) + + .. doctest:: ixxat + + >>> import can + >>> configs = can.detect_available_configs("ixxat") + >>> for config in configs: + ... print(config) + {'interface': 'ixxat', 'channel': 0, 'unique_hardware_id': 'HW441489'} + {'interface': 'ixxat', 'channel': 0, 'unique_hardware_id': 'HW107422'} + {'interface': 'ixxat', 'channel': 1, 'unique_hardware_id': 'HW107422'} + + +You may also get a list of all connected IXXAT devices using the function ``get_ixxat_hwids()`` as demonstrated below: + + .. testsetup:: ixxat2 + from unittest.mock import Mock import can.interfaces.ixxat assert hasattr(can.interfaces.ixxat, "get_ixxat_hwids") can.interfaces.ixxat.get_ixxat_hwids = Mock(side_effect=lambda: ['HW441489', 'HW107422']) - .. doctest:: ixxat + .. doctest:: ixxat2 >>> from can.interfaces.ixxat import get_ixxat_hwids >>> for hwid in get_ixxat_hwids(): diff --git a/test/test_interface_ixxat.py b/test/test_interface_ixxat.py index 2ff016d97..90b5f7adc 100644 --- a/test/test_interface_ixxat.py +++ b/test/test_interface_ixxat.py @@ -51,6 +51,18 @@ def setUp(self): raise unittest.SkipTest("not available on this platform") def test_bus_creation(self): + try: + configs = can.detect_available_configs("ixxat") + if configs: + for interface_kwargs in configs: + bus = can.Bus(**interface_kwargs) + bus.shutdown() + else: + raise unittest.SkipTest("No adapters were detected") + except can.CanInterfaceNotImplementedError: + raise unittest.SkipTest("not available on this platform") + + def test_bus_creation_incorrect_channel(self): # non-existent channel -> use arbitrary high value with self.assertRaises(can.CanInitializationError): can.Bus(interface="ixxat", channel=0xFFFF) From 2d609005b2b51391638b86fcb802544411c5e4cc Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 16 Oct 2023 23:14:39 +0200 Subject: [PATCH 302/475] Add BitTiming/BitTimingFd support to KvaserBus (#1510) * add BitTiming parameter to KvaserBus * implement tests for bittiming classes with kvaser * set default number of samples to 1 * undo last change --- can/interfaces/kvaser/canlib.py | 86 +++++++++++++++++++++++++-------- test/test_kvaser.py | 32 ++++++++++++ 2 files changed, 98 insertions(+), 20 deletions(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 38949137d..0983e28dc 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -10,11 +10,13 @@ import logging import sys import time +from typing import Optional, Union -from can import BusABC, CanProtocol, Message -from can.util import time_perfcounter_correlation +from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message +from can.exceptions import CanError, CanInitializationError, CanOperationError +from can.typechecking import CanFilters +from can.util import check_or_adjust_timing_clock, time_perfcounter_correlation -from ...exceptions import CanError, CanInitializationError, CanOperationError from . import constants as canstat from . import structures @@ -199,6 +201,17 @@ def __check_bus_handle_validity(handle, function, arguments): errcheck=__check_status_initialization, ) + canSetBusParamsC200 = __get_canlib_function( + "canSetBusParamsC200", + argtypes=[ + c_canHandle, + ctypes.c_byte, + ctypes.c_byte, + ], + restype=canstat.c_canStatus, + errcheck=__check_status_initialization, + ) + canSetBusParamsFd = __get_canlib_function( "canSetBusParamsFd", argtypes=[ @@ -360,7 +373,13 @@ class KvaserBus(BusABC): The CAN Bus implemented for the Kvaser interface. """ - def __init__(self, channel, can_filters=None, **kwargs): + def __init__( + self, + channel: int, + can_filters: Optional[CanFilters] = None, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, + **kwargs, + ): """ :param int channel: The Channel id to create this bus with. @@ -370,6 +389,12 @@ def __init__(self, channel, can_filters=None, **kwargs): Backend Configuration + :param timing: + An instance of :class:`~can.BitTiming` or :class:`~can.BitTimingFd` + to specify the bit timing parameters for the Kvaser interface. If provided, it + takes precedence over the all other timing-related parameters. + Note that the `f_clock` property of the `timing` instance must be 16_000_000 (16MHz) + for standard CAN or 80_000_000 (80MHz) for CAN FD. :param int bitrate: Bitrate of channel in bit/s :param bool accept_virtual: @@ -427,7 +452,7 @@ def __init__(self, channel, can_filters=None, **kwargs): exclusive = kwargs.get("exclusive", False) override_exclusive = kwargs.get("override_exclusive", False) accept_virtual = kwargs.get("accept_virtual", True) - fd = kwargs.get("fd", False) + fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) data_bitrate = kwargs.get("data_bitrate", None) try: @@ -468,22 +493,43 @@ def __init__(self, channel, can_filters=None, **kwargs): 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) + if isinstance(timing, BitTimingFd): + timing = check_or_adjust_timing_clock(timing, [80_000_000]) + canSetBusParams( + self._read_handle, + timing.nom_bitrate, + timing.nom_tseg1, + timing.nom_tseg2, + timing.nom_sjw, + 1, + 0, + ) + canSetBusParamsFd( + self._read_handle, + timing.data_bitrate, + timing.data_tseg1, + timing.data_tseg2, + timing.data_sjw, + ) + elif isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, [16_000_000]) + canSetBusParamsC200(self._read_handle, timing.btr0, timing.btr1) 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) + 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 diff --git a/test/test_kvaser.py b/test/test_kvaser.py index 1254f2fc7..abaf7b38f 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -21,6 +21,7 @@ def setUp(self): canlib.canIoCtl = Mock(return_value=0) canlib.canIoCtlInit = Mock(return_value=0) canlib.kvReadTimer = Mock() + canlib.canSetBusParamsC200 = Mock() canlib.canSetBusParams = Mock() canlib.canSetBusParamsFd = Mock() canlib.canBusOn = Mock() @@ -179,6 +180,37 @@ def test_canfd_default_data_bitrate(self): 0, constants.canFD_BITRATE_500K_80P, 0, 0, 0 ) + def test_can_timing(self): + canlib.canSetBusParams.reset_mock() + canlib.canSetBusParamsFd.reset_mock() + timing = can.BitTiming.from_bitrate_and_segments( + f_clock=16_000_000, + bitrate=125_000, + tseg1=13, + tseg2=2, + sjw=1, + ) + can.Bus(channel=0, interface="kvaser", timing=timing) + canlib.canSetBusParamsC200.assert_called_once_with(0, timing.btr0, timing.btr1) + + def test_canfd_timing(self): + canlib.canSetBusParams.reset_mock() + canlib.canSetBusParamsFd.reset_mock() + timing = can.BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=500_000, + nom_tseg1=68, + nom_tseg2=11, + nom_sjw=10, + data_bitrate=2_000_000, + data_tseg1=10, + data_tseg2=9, + data_sjw=8, + ) + can.Bus(channel=0, interface="kvaser", timing=timing) + canlib.canSetBusParams.assert_called_once_with(0, 500_000, 68, 11, 10, 1, 0) + canlib.canSetBusParamsFd.assert_called_once_with(0, 2_000_000, 10, 9, 8) + def test_canfd_nondefault_data_bitrate(self): canlib.canSetBusParams.reset_mock() canlib.canSetBusParamsFd.reset_mock() From 61ee42b2ae61c882f40033b97773b59c37acac59 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Tue, 17 Oct 2023 11:47:20 +0200 Subject: [PATCH 303/475] Update Changelog for Release v.4.3.0rc0 (#1680) * Upate Changelog for Release v.4.3.0 * Update CHANGELOG.md Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update CHANGELOG.md Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update CHANGELOG.md Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update CHANGELOG.md Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update CHANGELOG.md Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Update CHANGELOG.md Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Make requested changes to CHANGELOG, sort by PR ID * Fix remaining comments * Add PR for Kvaser BitTiming support * add 1679 (bugfix for 1666) * Add PR #1607, change changelog version to 4.3.0rc * Bump project version to 4.3.0rc0 --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- CHANGELOG.md | 55 +++++++++++++++++++++++++++++++++++++++++++++++++ can/__init__.py | 2 +- 2 files changed, 56 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 493ac1966..651b222fb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,58 @@ +Version 4.3.0rc0 +=========== + +Breaking Changes +---------------- +* Raise Minimum Python Version to 3.8 (#1597) +* Do not stop notifier if exception was handled (#1645) + +Bug Fixes +--------- +* Vector: channel detection fails, if there is an active flexray channel (#1634) +* ixxat: Fix exception in 'state' property on bus coupling errors (#1647) +* NeoVi: Fixed serial number range (#1650) +* PCAN: Fix timestamp offset due to timezone (#1651) +* Catch `pywintypes.error` in broadcast manager (#1659) +* Fix BLFReader error for incomplete or truncated stream (#1662) +* PCAN: remove Windows registry check to fix 32bit compatibility (#1672) +* Vector: Skip the `can_op_mode check` if the device reports `can_op_mode=0` (#1678) + +Features +-------- + +### API +* Add `modifier_callback` parameter to `BusABC.send_periodic` for auto-modifying cyclic tasks (#703) +* Add `protocol` property to BusABC to determine active CAN Protocol (#1532) +* Change Bus constructor implementation and typing (#1557) +* Add optional `strict` parameter to relax BitTiming & BitTimingFd Validation (#1618) +* Add `BitTiming.iterate_from_sample_point` static methods (#1671) + +### IO +* Can Player compatibility with interfaces that use additional configuration (#1610) + +### Interface Improvements +* Kvaser: Add BitTiming/BitTimingFd support to KvaserBus (#1510) +* Ixxat: Implement `detect_available_configs` for the Ixxat bus. (#1607) +* NeoVi: Enable send and receive on network ID above 255 (#1627) +* Vector: Send HighPriority Message to flush Tx buffer (#1636) +* PCAN: Optimize send performance (#1640) +* PCAN: Support version string of older PCAN basic API (#1644) +* Kvaser: add parameter exclusive and `override_exclusive` (#1660) + +### Miscellaneous +* Distinguish Text/Binary-IO for Reader/Writer classes. (#1585) +* Convert setup.py to pyproject.toml (#1592) +* activate ruff pycodestyle checks (#1602) +* Update linter instructions in development.rst (#1603) +* remove unnecessary script files (#1604) +* BigEndian test fixes (#1625) +* align `ID:` in can.Message string (#1635) +* Use same configuration file as Linux on macOS (#1657) +* We do not need to account for drift when we `USE_WINDOWS_EVENTS` (#1666, #1679) +* Update linters, activate more ruff rules (#1669) +* Add Python 3.12 Support / Test Python 3.12 (#1673) + + Version 4.2.2 ============= diff --git a/can/__init__.py b/can/__init__.py index 46a461b38..48dda308d 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.2.2" +__version__ = "4.3.0rc0" __all__ = [ "ASCReader", "ASCWriter", From 38c4dc4b9ff2a932cdd1b776fb6a62df8a3e63b6 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 19 Oct 2023 13:55:23 +0200 Subject: [PATCH 304/475] Vector: use global channel_index if provided (#1681) * fix XL_ERR_INVALID_CHANNEL_MASK for multiple devices with the same serial * add CHANGELOG.md entry --- CHANGELOG.md | 1 + can/interfaces/vector/canlib.py | 21 ++++++++++++----- test/test_vector.py | 41 +++++++++++++++++++++++++++++++++ 3 files changed, 57 insertions(+), 6 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 651b222fb..0220b11a6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,6 +16,7 @@ Bug Fixes * Fix BLFReader error for incomplete or truncated stream (#1662) * PCAN: remove Windows registry check to fix 32bit compatibility (#1672) * Vector: Skip the `can_op_mode check` if the device reports `can_op_mode=0` (#1678) +* Vector: using the config from `detect_available_configs` might raise XL_ERR_INVALID_CHANNEL_MASK error (#1681) Features -------- diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 024f6a4c9..576fa26cf 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -202,12 +202,20 @@ def __init__( self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 for channel in self.channels: - channel_index = self._find_global_channel_idx( - channel=channel, - serial=serial, - app_name=app_name, - channel_configs=channel_configs, - ) + if (_channel_index := kwargs.get("channel_index", None)) is not None: + # VectorBus._detect_available_configs() might return multiple + # devices with the same serial number, e.g. if a VN8900 is connected via both USB and Ethernet + # at the same time. If the VectorBus is instantiated with a config, that was returned from + # VectorBus._detect_available_configs(), then use the contained global channel_index + # to avoid any ambiguities. + channel_index = cast(int, _channel_index) + else: + channel_index = self._find_global_channel_idx( + channel=channel, + serial=serial, + app_name=app_name, + channel_configs=channel_configs, + ) LOG.debug("Channel index %d found", channel) channel_mask = 1 << channel_index @@ -950,6 +958,7 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: "interface": "vector", "channel": channel_config.hw_channel, "serial": channel_config.serial_number, + "channel_index": channel_config.channel_index, # data for use in VectorBus.set_application_config(): "hw_type": channel_config.hw_type, "hw_index": channel_config.hw_index, diff --git a/test/test_vector.py b/test/test_vector.py index 3db43fbbb..3e53bdaff 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -118,6 +118,22 @@ def test_bus_creation() -> None: bus.shutdown() +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_channel_index() -> None: + channel_index = 3 + bus = can.Bus( + channel=0, + serial=_find_virtual_can_serial(), + channel_index=channel_index, + interface="vector", + ) + assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + assert bus.channel_masks[0] == 1 << channel_index + + bus.shutdown() + + def test_bus_creation_bitrate_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", bitrate=200_000, _testing=True) assert isinstance(bus, canlib.VectorBus) @@ -833,6 +849,31 @@ def test_get_channel_configs() -> None: canlib._get_xl_driver_config = _original_func +@pytest.mark.skipif( + sys.byteorder != "little", reason="Test relies on little endian data." +) +def test_detect_available_configs() -> None: + _original_func = canlib._get_xl_driver_config + canlib._get_xl_driver_config = _get_predefined_xl_driver_config + + available_configs = canlib.VectorBus._detect_available_configs() + + assert len(available_configs) == 5 + + assert available_configs[0]["interface"] == "vector" + assert available_configs[0]["channel"] == 2 + assert available_configs[0]["serial"] == 1001 + assert available_configs[0]["channel_index"] == 2 + assert available_configs[0]["hw_type"] == xldefine.XL_HardwareType.XL_HWTYPE_VN8900 + assert available_configs[0]["hw_index"] == 0 + assert available_configs[0]["supports_fd"] is True + assert isinstance( + available_configs[0]["vector_channel_config"], VectorChannelConfig + ) + + canlib._get_xl_driver_config = _original_func + + @pytest.mark.skipif(not IS_WINDOWS, reason="Windows specific test") def test_winapi_availability() -> None: assert canlib.WaitForSingleObject is not None From 5c1c46fdbd5935c5a7a8b34aa6a8df3af201616b Mon Sep 17 00:00:00 2001 From: Faisal Shah <37458679+faisal-shah@users.noreply.github.com> Date: Mon, 30 Oct 2023 04:59:00 -0500 Subject: [PATCH 305/475] Configure socketcand TCP socket to reduce latency (#1683) * Configure TCP socket to reduce latency TCP_NODELAY disables Nagles algorithm. This improves latency (reduces), but worsens overall throughput. For the purpose of bridging a CAN bus over a network connection to socketcand (and given the relatively low overall bandwidth of CAN), optimizing for latency is more important. TCP_QUICKACK disables the default delayed ACK timer. This is ~40ms in linux (not sure about windows). The thing is, TCP_QUICKACK is reset when you send or receive on the socket, so it needs reenabling each time. Also, TCP_QUICKACK doesn't seem to be available in windows. Here's a comment by John Nagle himself that some may find useful: https://news.ycombinator.com/item?id=10608356 "That still irks me. The real problem is not tinygram prevention. It's ACK delays, and that stupid fixed timer. They both went into TCP around the same time, but independently. I did tinygram prevention (the Nagle algorithm) and Berkeley did delayed ACKs, both in the early 1980s. The combination of the two is awful. Unfortunately by the time I found about delayed ACKs, I had changed jobs, was out of networking, and doing a product for Autodesk on non-networked PCs. Delayed ACKs are a win only in certain circumstances - mostly character echo for Telnet. (When Berkeley installed delayed ACKs, they were doing a lot of Telnet from terminal concentrators in student terminal rooms to host VAX machines doing the work. For that particular situation, it made sense.) The delayed ACK timer is scaled to expected human response time. A delayed ACK is a bet that the other end will reply to what you just sent almost immediately. Except for some RPC protocols, this is unlikely. So the ACK delay mechanism loses the bet, over and over, delaying the ACK, waiting for a packet on which the ACK can be piggybacked, not getting it, and then sending the ACK, delayed. There's nothing in TCP to automatically turn this off. However, Linux (and I think Windows) now have a TCP_QUICKACK socket option. Turn that on unless you have a very unusual application. "Turning on TCP_NODELAY has similar effects, but can make throughput worse for small writes. If you write a loop which sends just a few bytes (worst case, one byte) to a socket with "write()", and the Nagle algorithm is disabled with TCP_NODELAY, each write becomes one IP packet. This increases traffic by a factor of 40, with IP and TCP headers for each payload. Tinygram prevention won't let you send a second packet if you have one in flight, unless you have enough data to fill the maximum sized packet. It accumulates bytes for one round trip time, then sends everything in the queue. That's almost always what you want. If you have TCP_NODELAY set, you need to be much more aware of buffering and flushing issues. "None of this matters for bulk one-way transfers, which is most HTTP today. (I've never looked at the impact of this on the SSL handshake, where it might matter.) "Short version: set TCP_QUICKACK. If you find a case where that makes things worse, let me know. John Nagle" * Make tune TCP for low latency optional * Move os check into __init__ * Add docstrings * Add Bus class documentation to docs/interfaces * Update changelog --- CHANGELOG.md | 1 + can/interfaces/socketcand/socketcand.py | 47 ++++++++++++++++++++++++- doc/interfaces/socketcand.rst | 8 +++++ 3 files changed, 55 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0220b11a6..35b3291c8 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -39,6 +39,7 @@ Features * PCAN: Optimize send performance (#1640) * PCAN: Support version string of older PCAN basic API (#1644) * Kvaser: add parameter exclusive and `override_exclusive` (#1660) +* socketcand: Add parameter `tcp_tune` to reduce latency (#1683) ### Miscellaneous * Distinguish Text/Binary-IO for Reader/Writer classes. (#1585) diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 26ae63ca6..8b55eef3a 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -8,6 +8,7 @@ http://www.domologic.de """ import logging +import os import select import socket import time @@ -75,10 +76,42 @@ def connect_to_server(s, host, port): class SocketCanDaemonBus(can.BusABC): - def __init__(self, channel, host, port, can_filters=None, **kwargs): + def __init__(self, channel, host, port, tcp_tune=False, can_filters=None, **kwargs): + """Connects to a CAN bus served by socketcand. + + It will attempt to connect to the server for up to 10s, after which a + TimeoutError exception will be thrown. + + If the handshake with the socketcand server fails, a CanError exception + is thrown. + + :param channel: + The can interface name served by socketcand. + An example channel would be 'vcan0' or 'can0'. + :param host: + The host address of the socketcand server. + :param port: + The port of the socketcand server. + :param tcp_tune: + This tunes the TCP socket for low latency (TCP_NODELAY, and + TCP_QUICKACK). + This option is not available under windows. + :param can_filters: + See :meth:`can.BusABC.set_filters`. + """ self.__host = host self.__port = port + + self.__tcp_tune = tcp_tune self.__socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + + if self.__tcp_tune: + if os.name == "nt": + self.__tcp_tune = False + log.warning("'tcp_tune' not available in Windows. Setting to False") + else: + self.__socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) + self.__message_buffer = deque() self.__receive_buffer = "" # i know string is not the most efficient here self.channel = channel @@ -120,6 +153,8 @@ def _recv_internal(self, timeout): ascii_msg = self.__socket.recv(1024).decode( "ascii" ) # may contain multiple messages + if self.__tcp_tune: + self.__socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_QUICKACK, 1) self.__receive_buffer += ascii_msg log.debug(f"Received Ascii Message: {ascii_msg}") buffer_view = self.__receive_buffer @@ -173,16 +208,26 @@ def _recv_internal(self, timeout): def _tcp_send(self, msg: str): log.debug(f"Sending TCP Message: '{msg}'") self.__socket.sendall(msg.encode("ascii")) + if self.__tcp_tune: + self.__socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_QUICKACK, 1) def _expect_msg(self, msg): ascii_msg = self.__socket.recv(256).decode("ascii") + if self.__tcp_tune: + self.__socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_QUICKACK, 1) if not ascii_msg == msg: raise can.CanError(f"{msg} message expected!") def send(self, msg, timeout=None): + """Transmit a message to the CAN bus. + + :param msg: A message object. + :param timeout: Ignored + """ ascii_msg = convert_can_message_to_ascii_message(msg) self._tcp_send(ascii_msg) def shutdown(self): + """Stops all active periodic tasks and closes the socket.""" super().shutdown() self.__socket.close() diff --git a/doc/interfaces/socketcand.rst b/doc/interfaces/socketcand.rst index 0214f094a..a8a314521 100644 --- a/doc/interfaces/socketcand.rst +++ b/doc/interfaces/socketcand.rst @@ -37,6 +37,14 @@ The output may look like this:: Timestamp: 1637791111.609763 ID: 0000031d X Rx DLC: 8 16 27 d8 3d fe d8 31 24 Timestamp: 1637791111.634630 ID: 00000587 X Rx DLC: 8 4e 06 85 23 6f 81 2b 65 +Bus +--- + +.. autoclass:: can.interfaces.socketcand.SocketCanDaemonBus + :show-inheritance: + :member-order: bysource + :members: + Socketcand Quickstart --------------------- From bc3f95544e7a7dbec0da855a0873c6ea502147fc Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Fri, 17 Nov 2023 10:31:00 +1300 Subject: [PATCH 306/475] Release version 4.3.0 (#1688) --- CHANGELOG.md | 4 ++-- can/__init__.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 35b3291c8..9b3c2cbc5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,5 @@ -Version 4.3.0rc0 -=========== +Version 4.3.0 +============= Breaking Changes ---------------- diff --git a/can/__init__.py b/can/__init__.py index 48dda308d..6f430b11e 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.0rc0" +__version__ = "4.3.0" __all__ = [ "ASCReader", "ASCWriter", From 2e58a21578cf4451538e4e1f45cddbd85d12b488 Mon Sep 17 00:00:00 2001 From: gRant Date: Tue, 28 Nov 2023 02:35:00 -0500 Subject: [PATCH 307/475] Correct install instructions for neovi(#1697) --- doc/interfaces/neovi.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/interfaces/neovi.rst b/doc/interfaces/neovi.rst index 0baf08055..bc711d86b 100644 --- a/doc/interfaces/neovi.rst +++ b/doc/interfaces/neovi.rst @@ -23,7 +23,7 @@ package. - Install ``python-can`` with the ``neovi`` extras: .. code-block:: bash - pip install python-ics[neovi] + pip install python-can[neovi] Configuration From cc72abb370b0aa47ddb82dfe83e86d67673615aa Mon Sep 17 00:00:00 2001 From: Faisal Shah <37458679+faisal-shah@users.noreply.github.com> Date: Tue, 5 Dec 2023 02:40:07 -0600 Subject: [PATCH 308/475] Fix socketcand erroneously discarding frames (#1700) The __receive_buffer is always truncated by [chars_processed_successfully + 1:]. When a partial socketcand frame is received, chars_processed_successfully is 0, and this results in 1 character being discarded. This will be the '<' character, and thus when the rest of the frame is received, it will be treated as a bad frame, and discarded. --- can/interfaces/socketcand/socketcand.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 8b55eef3a..5a1f2570d 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -191,9 +191,7 @@ def _recv_internal(self, timeout): self.__message_buffer.append(parsed_can_message) buffer_view = buffer_view[end + 1 :] - self.__receive_buffer = self.__receive_buffer[ - chars_processed_successfully + 1 : - ] + self.__receive_buffer = self.__receive_buffer[chars_processed_successfully:] can_message = ( None if len(self.__message_buffer) == 0 From 033be12ab150c1c1db34fe5a2f30ac27976e65e0 Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Fri, 8 Dec 2023 09:48:06 +0100 Subject: [PATCH 309/475] Fix initialization order in EtasBus (#1704) super.__init__ calls set_filters, which is only permissible after the corresponding structures have been created in the child constructor. Hence, super.__init__ must be called after the child has finished initialization. Fixes #1693 --- can/interfaces/etas/__init__.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 62e060f48..b40f10b77 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -18,8 +18,6 @@ def __init__( data_bitrate: int = 2000000, **kwargs: Dict[str, any], ): - super().__init__(channel=channel, **kwargs) - self.receive_own_messages = receive_own_messages self._can_protocol = can.CanProtocol.CAN_FD if fd else can.CanProtocol.CAN_20 @@ -119,6 +117,9 @@ def __init__( self.channel_info = channel + # Super call must be after child init since super calls set_filters + super().__init__(channel=channel, **kwargs) + def _recv_internal( self, timeout: Optional[float] ) -> Tuple[Optional[can.Message], bool]: From 3b8ab2e48062183b47f260b7d54d2b891450f3d7 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 10 Dec 2023 14:20:09 +0100 Subject: [PATCH 310/475] Fix vector test (#1705) --- test/test_vector.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/test_vector.py b/test/test_vector.py index 3e53bdaff..16a79c6d1 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -120,7 +120,7 @@ def test_bus_creation() -> None: @pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") def test_bus_creation_channel_index() -> None: - channel_index = 3 + channel_index = 1 bus = can.Bus( channel=0, serial=_find_virtual_can_serial(), From f0634d2445f74f8c5c3b90236975f73fe3d8ba2a Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 12 Dec 2023 17:34:09 +0100 Subject: [PATCH 311/475] Update CHANGELOG.md for 4.3.1 (#1706) --- CHANGELOG.md | 13 +++++++++++++ can/__init__.py | 2 +- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 9b3c2cbc5..8798c19c7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,16 @@ +Version 4.3.1 +============= + +Bug Fixes +--------- +* Fix socketcand erroneously discarding frames (#1700) +* Fix initialization order in EtasBus (#1693, #1704) + +Documentation +------------- +* Fix install instructions for neovi (#1694, #1697) + + Version 4.3.0 ============= diff --git a/can/__init__.py b/can/__init__.py index 6f430b11e..9b6a26f58 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.0" +__version__ = "4.3.1" __all__ = [ "ASCReader", "ASCWriter", From 35eef6e6349ad2b704b53d6c9e179ea2e908b24e Mon Sep 17 00:00:00 2001 From: Alon <110119940+AlonMoradov@users.noreply.github.com> Date: Fri, 29 Dec 2023 18:55:35 +0200 Subject: [PATCH 312/475] Fix typo in error message (#1715) --- can/message.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/message.py b/can/message.py index 63a4eea41..c26733087 100644 --- a/can/message.py +++ b/can/message.py @@ -245,7 +245,7 @@ def _check(self) -> None: if self.is_remote_frame: if self.is_error_frame: raise ValueError( - "a message cannot be a remote and an error frame at the sane time" + "a message cannot be a remote and an error frame at the same time" ) if self.is_fd: raise ValueError("CAN FD does not support remote frames") From 3f6e95148e87af3ce1cba9c79b58a3e184374c10 Mon Sep 17 00:00:00 2001 From: XXIN0 <41498132+XXIN0@users.noreply.github.com> Date: Sun, 31 Dec 2023 04:57:09 +0800 Subject: [PATCH 313/475] Improve the "ASCReader" read performance. (#1717) * Update asc.py improve the "ASCReader" performance. * Update asc.py Fix: the test error "error: Item "None" of "Optional[Match[str]]" has no attribute "group" [union-attr]" * Update asc.py style: format code with "Black Code Formatter" * improvement: make regular expression compile result as module constants. * style:format import --------- Co-authored-by: XXIN --- can/io/asc.py | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/can/io/asc.py b/can/io/asc.py index f039cda32..07243cd5b 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -9,7 +9,7 @@ import re import time from datetime import datetime -from typing import Any, Dict, Generator, List, Optional, TextIO, Union +from typing import Any, Dict, Final, Generator, List, Optional, TextIO, Union from ..message import Message from ..typechecking import StringPathLike @@ -20,6 +20,14 @@ CAN_ID_MASK = 0x1FFFFFFF BASE_HEX = 16 BASE_DEC = 10 +ASC_TRIGGER_REGEX: Final = re.compile( + r"begin\s+triggerblock\s+\w+\s+(?P.+)", re.IGNORECASE +) +ASC_MESSAGE_REGEX: Final = re.compile( + r"\d+\.\d+\s+(\d+\s+(\w+\s+(Tx|Rx)|ErrorFrame)|CANFD)", + re.ASCII | re.IGNORECASE, +) + logger = logging.getLogger("can.io.asc") @@ -258,12 +266,7 @@ def __iter__(self) -> Generator[Message, None, None]: for _line in self.file: line = _line.strip() - trigger_match = re.match( - r"begin\s+triggerblock\s+\w+\s+(?P.+)", - line, - re.IGNORECASE, - ) - if trigger_match: + if trigger_match := ASC_TRIGGER_REGEX.match(line): datetime_str = trigger_match.group("datetime_string") self.start_time = ( 0.0 @@ -272,11 +275,7 @@ def __iter__(self) -> Generator[Message, None, None]: ) continue - if not re.match( - r"\d+\.\d+\s+(\d+\s+(\w+\s+(Tx|Rx)|ErrorFrame)|CANFD)", - line, - re.ASCII | re.IGNORECASE, - ): + if not ASC_MESSAGE_REGEX.match(line): # line might be a comment, chip status, # J1939 message or some other unsupported event continue From c61981399f5cb479ca52019ca0cd4f076d83da5b Mon Sep 17 00:00:00 2001 From: Teejay Date: Wed, 3 Jan 2024 05:03:44 -0800 Subject: [PATCH 314/475] Fix `send_periodic` duration (#1713) * Add test case * Fix bug * Improve unittest * MR feedback --- can/broadcastmanager.py | 6 ++++-- test/back2back_test.py | 17 +++++++++++++++++ 2 files changed, 21 insertions(+), 2 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 0ac9b6adc..a610b7a8a 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -297,6 +297,9 @@ def _run(self) -> None: win32event.WaitForSingleObject(self.event.handle, 0) while not self.stopped: + if self.end_time is not None and time.perf_counter() >= self.end_time: + break + # Prevent calling bus.send from multiple threads with self.send_lock: try: @@ -318,8 +321,7 @@ def _run(self) -> None: if not USE_WINDOWS_EVENTS: msg_due_time_ns += self.period_ns - if self.end_time is not None and time.perf_counter() >= self.end_time: - break + msg_index = (msg_index + 1) % len(self.messages) if USE_WINDOWS_EVENTS: diff --git a/test/back2back_test.py b/test/back2back_test.py index cd5aca6aa..d9896c19f 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -273,6 +273,23 @@ def test_sub_second_timestamp_resolution(self): self.bus2.recv(0) self.bus2.recv(0) + def test_send_periodic_duration(self): + """ + Verify that send_periodic only transmits for the specified duration. + + Regression test for #1713. + """ + for params in [(0.01, 0.003), (0.1, 0.011), (1, 0.4)]: + duration, period = params + messages = [] + + self.bus2.send_periodic(can.Message(), period, duration) + while (msg := self.bus1.recv(period * 1.25)) is not None: + messages.append(msg) + + delta_t = round(messages[-1].timestamp - messages[0].timestamp, 2) + assert delta_t <= duration + @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan") class BasicTestSocketCan(Back2BackTestCase): From bcd2ee5a9479a609bffd4d0674681418c99a353d Mon Sep 17 00:00:00 2001 From: Faisal Shah <37458679+faisal-shah@users.noreply.github.com> Date: Fri, 12 Jan 2024 09:56:00 -0600 Subject: [PATCH 315/475] Add feature to detect socketcand beacon (#1687) * Add feature to detect socketcand beacon * Fix imports and formatting * Return empty list if no beacon detected * Use %-format Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * black format * Use context manager for detect_beacon() udp sock * Add timeout as parameter, and set to 3.1s * Document detect_beacon * detect_beacon return empty if timed out * export detect_beacon * Update documentation for auto config * More documentation fixes * Trigger tests * Set default timeout Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Use default timeout Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Fix docstring indentation * Fix grammar, and make time units consistent in comments --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/socketcand/__init__.py | 3 +- can/interfaces/socketcand/socketcand.py | 114 ++++++++++++++++++++++++ doc/interfaces/socketcand.rst | 35 +++++++- 3 files changed, 148 insertions(+), 4 deletions(-) diff --git a/can/interfaces/socketcand/__init__.py b/can/interfaces/socketcand/__init__.py index ce18441bc..64950f7f4 100644 --- a/can/interfaces/socketcand/__init__.py +++ b/can/interfaces/socketcand/__init__.py @@ -8,7 +8,8 @@ __all__ = [ "SocketCanDaemonBus", + "detect_beacon", "socketcand", ] -from .socketcand import SocketCanDaemonBus +from .socketcand import SocketCanDaemonBus, detect_beacon diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 5a1f2570d..045882388 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -13,12 +13,115 @@ import socket import time import traceback +import urllib.parse as urlparselib +import xml.etree.ElementTree as ET from collections import deque +from typing import List import can log = logging.getLogger(__name__) +DEFAULT_SOCKETCAND_DISCOVERY_ADDRESS = "" +DEFAULT_SOCKETCAND_DISCOVERY_PORT = 42000 + + +def detect_beacon(timeout_ms: int = 3100) -> List[can.typechecking.AutoDetectedConfig]: + """ + Detects socketcand servers + + This is what :meth:`can.detect_available_configs` ends up calling to search + for available socketcand servers with a default timeout of 3100ms + (socketcand sends a beacon packet every 3000ms). + + Using this method directly allows for adjusting the timeout. Extending + the timeout beyond the default time period could be useful if UDP + packet loss is a concern. + + :param timeout_ms: + Timeout in milliseconds to wait for socketcand beacon packets + + :return: + See :meth:`~can.detect_available_configs` + """ + with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock: + sock.bind( + (DEFAULT_SOCKETCAND_DISCOVERY_ADDRESS, DEFAULT_SOCKETCAND_DISCOVERY_PORT) + ) + log.info( + "Listening on for socketcand UDP advertisement on %s:%s", + DEFAULT_SOCKETCAND_DISCOVERY_ADDRESS, + DEFAULT_SOCKETCAND_DISCOVERY_PORT, + ) + + now = time.time() * 1000 + end_time = now + timeout_ms + while (time.time() * 1000) < end_time: + try: + # get all sockets that are ready (can be a list with a single value + # being self.socket or an empty list if self.socket is not ready) + ready_receive_sockets, _, _ = select.select([sock], [], [], 1) + + if not ready_receive_sockets: + log.debug("No advertisement received") + continue + + msg = sock.recv(1024).decode("utf-8") + root = ET.fromstring(msg) + if root.tag != "CANBeacon": + log.debug("Unexpected message received over UDP") + continue + + det_devs = [] + det_host = None + det_port = None + for child in root: + if child.tag == "Bus": + bus_name = child.attrib["name"] + det_devs.append(bus_name) + elif child.tag == "URL": + url = urlparselib.urlparse(child.text) + det_host = url.hostname + det_port = url.port + + if not det_devs: + log.debug( + "Got advertisement, but no SocketCAN devices advertised by socketcand" + ) + continue + + if (det_host is None) or (det_port is None): + det_host = None + det_port = None + log.debug( + "Got advertisement, but no SocketCAN URL advertised by socketcand" + ) + continue + + log.info(f"Found SocketCAN devices: {det_devs}") + return [ + { + "interface": "socketcand", + "host": det_host, + "port": det_port, + "channel": channel, + } + for channel in det_devs + ] + + except ET.ParseError: + log.debug("Unexpected message received over UDP") + continue + + except Exception as exc: + # something bad happened (e.g. the interface went down) + log.error(f"Failed to detect beacon: {exc} {traceback.format_exc()}") + raise OSError( + f"Failed to detect beacon: {exc} {traceback.format_exc()}" + ) + + return [] + def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message: if not ascii_msg.startswith("< frame ") or not ascii_msg.endswith(" >"): @@ -79,6 +182,9 @@ class SocketCanDaemonBus(can.BusABC): def __init__(self, channel, host, port, tcp_tune=False, can_filters=None, **kwargs): """Connects to a CAN bus served by socketcand. + It implements :meth:`can.BusABC._detect_available_configs` to search for + available interfaces. + It will attempt to connect to the server for up to 10s, after which a TimeoutError exception will be thrown. @@ -229,3 +335,11 @@ def shutdown(self): """Stops all active periodic tasks and closes the socket.""" super().shutdown() self.__socket.close() + + @staticmethod + def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + try: + return detect_beacon() + except Exception as e: + log.warning(f"Could not detect socketcand beacon: {e}") + return [] diff --git a/doc/interfaces/socketcand.rst b/doc/interfaces/socketcand.rst index a8a314521..f861c81b9 100644 --- a/doc/interfaces/socketcand.rst +++ b/doc/interfaces/socketcand.rst @@ -2,8 +2,8 @@ socketcand Interface ==================== -`Socketcand `__ is part of the -`Linux-CAN `__ project, providing a +`Socketcand `__ is part of the +`Linux-CAN `__ project, providing a Network-to-CAN bridge as a Linux damon. It implements a specific `TCP/IP based communication protocol `__ to transfer CAN frames and control commands. @@ -11,7 +11,7 @@ to transfer CAN frames and control commands. The main advantage compared to UDP-based protocols (e.g. virtual interface) is, that TCP guarantees delivery and that the message order is kept. -Here is a small example dumping all can messages received by a socketcand +Here is a small example dumping all can messages received by a socketcand daemon running on a remote Raspberry Pi: .. code-block:: python @@ -37,6 +37,33 @@ The output may look like this:: Timestamp: 1637791111.609763 ID: 0000031d X Rx DLC: 8 16 27 d8 3d fe d8 31 24 Timestamp: 1637791111.634630 ID: 00000587 X Rx DLC: 8 4e 06 85 23 6f 81 2b 65 + +This interface also supports :meth:`~can.detect_available_configs`. + +.. code-block:: python + + import can + import can.interfaces.socketcand + + cfg = can.interfaces.socketcand._detect_available_configs() + if cfg: + bus = can.Bus(**cfg[0]) + +The socketcand daemon broadcasts UDP beacons every 3 seconds. The default +detection method waits for slightly more than 3 seconds to receive the beacon +packet. If you want to increase the timeout, you can use +:meth:`can.interfaces.socketcand.detect_beacon` directly. Below is an example +which detects the beacon and uses the configuration to create a socketcand bus. + +.. code-block:: python + + import can + import can.interfaces.socketcand + + cfg = can.interfaces.socketcand.detect_beacon(6000) + if cfg: + bus = can.Bus(**cfg[0]) + Bus --- @@ -45,6 +72,8 @@ Bus :member-order: bysource :members: +.. autofunction:: can.interfaces.socketcand.detect_beacon + Socketcand Quickstart --------------------- From 0178355adbaab454f2451edc2bc23171a69f5b79 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 13 Jan 2024 04:30:32 +0100 Subject: [PATCH 316/475] Extend ruff linter configuration (#1724) * update ruff configuration * skip test_send_periodic_duration on PyPy * remove format-code.yml --- .github/workflows/format-code.yml | 29 ------------ can/bus.py | 7 ++- can/ctypesutil.py | 8 ++-- can/interface.py | 2 +- can/interfaces/etas/__init__.py | 8 ++-- can/interfaces/gs_usb.py | 4 +- can/interfaces/ics_neovi/neovi_bus.py | 10 ++--- can/interfaces/ixxat/canlib_vcinpl.py | 15 +++---- can/interfaces/ixxat/canlib_vcinpl2.py | 21 ++++----- can/interfaces/kvaser/canlib.py | 2 +- can/interfaces/nixnet.py | 6 ++- can/interfaces/pcan/basic.py | 6 +-- can/interfaces/pcan/pcan.py | 6 ++- can/interfaces/robotell.py | 2 +- can/interfaces/seeedstudio/seeedstudio.py | 3 +- can/interfaces/serial/serial_can.py | 8 ++-- can/interfaces/slcan.py | 2 +- can/interfaces/socketcan/socketcan.py | 45 ++++--------------- can/interfaces/socketcand/socketcand.py | 8 ++-- can/interfaces/systec/structures.py | 8 ++-- can/interfaces/udp_multicast/bus.py | 6 ++- .../usb2can/usb2canabstractionlayer.py | 2 +- can/interfaces/vector/canlib.py | 11 +++-- can/io/logger.py | 29 ++++++++---- can/io/mf4.py | 2 +- can/io/player.py | 17 +++++-- can/io/printer.py | 2 +- can/io/trc.py | 30 ++++++------- can/listener.py | 20 ++++----- can/logger.py | 2 +- can/util.py | 15 ++----- can/viewer.py | 8 ++-- pyproject.toml | 35 ++++++++++----- test/back2back_test.py | 1 + test/network_test.py | 6 +-- 35 files changed, 188 insertions(+), 198 deletions(-) delete mode 100644 .github/workflows/format-code.yml diff --git a/.github/workflows/format-code.yml b/.github/workflows/format-code.yml deleted file mode 100644 index 30f95c103..000000000 --- a/.github/workflows/format-code.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Format Code - -on: - push: - paths: - - '**.py' - -jobs: - build: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - name: Set up Python - uses: actions/setup-python@v4 - with: - python-version: "3.10" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install -e .[lint] - - name: Code Format Check with Black - run: | - black --verbose . - - name: Commit Formated Code - uses: EndBug/add-and-commit@v9 - with: - message: "Format code with black" - # Ref https://git-scm.com/docs/git-add#_examples - add: './*.py' diff --git a/can/bus.py b/can/bus.py index 555389b0f..c3a906757 100644 --- a/can/bus.py +++ b/can/bus.py @@ -281,7 +281,7 @@ def wrapped_stop_method(remove_task: bool = True) -> None: pass # allow the task to be already removed original_stop_method() - task.stop = wrapped_stop_method # type: ignore + task.stop = wrapped_stop_method # type: ignore[method-assign] if store_task: self._periodic_tasks.append(task) @@ -401,7 +401,8 @@ def set_filters( messages based only on the arbitration ID and mask. """ self._filters = filters or None - self._apply_filters(self._filters) + with contextlib.suppress(NotImplementedError): + self._apply_filters(self._filters) def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: """ @@ -411,6 +412,7 @@ def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None :param filters: See :meth:`~can.BusABC.set_filters` for details. """ + raise NotImplementedError def _matches_filters(self, msg: Message) -> bool: """Checks whether the given message matches at least one of the @@ -450,6 +452,7 @@ def _matches_filters(self, msg: Message) -> bool: def flush_tx_buffer(self) -> None: """Discard every message that may be queued in the output buffer(s).""" + raise NotImplementedError def shutdown(self) -> None: """ diff --git a/can/ctypesutil.py b/can/ctypesutil.py index e624db6d2..fa59255d1 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -1,4 +1,3 @@ -# type: ignore """ This module contains common `ctypes` utils. """ @@ -11,11 +10,10 @@ __all__ = ["CLibrary", "HANDLE", "PHANDLE", "HRESULT"] - -try: +if sys.platform == "win32": _LibBase = ctypes.WinDLL _FUNCTION_TYPE = ctypes.WINFUNCTYPE -except AttributeError: +else: _LibBase = ctypes.CDLL _FUNCTION_TYPE = ctypes.CFUNCTYPE @@ -60,7 +58,7 @@ def map_symbol( f'Could not map function "{func_name}" from library {self._name}' ) from None - func._name = func_name # pylint: disable=protected-access + func._name = func_name # type: ignore[attr-defined] # pylint: disable=protected-access log.debug( 'Wrapped function "%s", result type: %s, error_check %s', func_name, diff --git a/can/interface.py b/can/interface.py index 9c828a608..2b7e27f8d 100644 --- a/can/interface.py +++ b/can/interface.py @@ -61,7 +61,7 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: bustype="interface", context="config_context", ) -def Bus( +def Bus( # noqa: N802 channel: Optional[Channel] = None, interface: Optional[str] = None, config_context: Optional[str] = None, diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index b40f10b77..2bfcbf427 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -229,10 +229,10 @@ def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None self._oci_filters = (ctypes.POINTER(OCI_CANRxFilterEx) * len(filters))() - for i, filter in enumerate(filters): + for i, filter_ in enumerate(filters): f = OCI_CANRxFilterEx() - f.frameIDValue = filter["can_id"] - f.frameIDMask = filter["can_mask"] + f.frameIDValue = filter_["can_id"] + f.frameIDMask = filter_["can_mask"] f.tag = 0 f.flagsValue = 0 if self.receive_own_messages: @@ -241,7 +241,7 @@ def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None else: # enable the SR bit in the mask. since the bit is 0 in flagsValue -> do not self-receive f.flagsMask = OCI_CAN_MSG_FLAG_SELFRECEPTION - if filter.get("extended"): + if filter_.get("extended"): f.flagsValue |= OCI_CAN_MSG_FLAG_EXTENDED f.flagsMask |= OCI_CAN_MSG_FLAG_EXTENDED self._oci_filters[i].contents = f diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 38f9fe41a..21e199a30 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -95,8 +95,8 @@ def send(self, msg: can.Message, timeout: Optional[float] = None): try: self.gs_usb.send(frame) - except usb.core.USBError: - raise CanOperationError("The message could not be sent") + except usb.core.USBError as exc: + raise CanOperationError("The message could not be sent") from exc def _recv_internal( self, timeout: Optional[float] diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 9270bfc90..66e109c97 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -109,8 +109,10 @@ def __reduce__(self): def error_number(self) -> int: """Deprecated. Renamed to :attr:`can.CanError.error_code`.""" warn( - "ICSApiError::error_number has been renamed to error_code defined by CanError", + "ICSApiError::error_number has been replaced by ICSApiError.error_code in python-can 4.0" + "and will be remove in version 5.0.", DeprecationWarning, + stacklevel=2, ) return self.error_code @@ -223,10 +225,8 @@ def __init__(self, channel, can_filters=None, **kwargs): self._use_system_timestamp = bool(kwargs.get("use_system_timestamp", False)) self._receive_own_messages = kwargs.get("receive_own_messages", True) - self.channel_info = "{} {} CH:{}".format( - self.dev.Name, - self.get_serial_number(self.dev), - self.channels, + self.channel_info = ( + f"{self.dev.Name} {self.get_serial_number(self.dev)} CH:{self.channels}" ) logger.info(f"Using device: {self.channel_info}") diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 334adee11..709780ceb 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -79,8 +79,8 @@ def __vciFormatErrorExtended( Formatted string """ # TODO: make sure we don't generate another exception - return "{} - arguments were {}".format( - __vciFormatError(library_instance, function, vret), args + return ( + f"{__vciFormatError(library_instance, function, vret)} - arguments were {args}" ) @@ -512,13 +512,11 @@ def __init__( if unique_hardware_id is None: raise VCIDeviceNotFoundError( "No IXXAT device(s) connected or device(s) in use by other process(es)." - ) + ) from None else: raise VCIDeviceNotFoundError( - "Unique HW ID {} not connected or not available.".format( - unique_hardware_id - ) - ) + f"Unique HW ID {unique_hardware_id} not connected or not available." + ) from None else: if (unique_hardware_id is None) or ( self._device_info.UniqueHardwareId.AsChar @@ -815,7 +813,8 @@ def _send_periodic_internal( # fallback to thread based cyclic task warnings.warn( f"{self.__class__.__name__} falls back to a thread-based cyclic task, " - "when the `modifier_callback` argument is given." + "when the `modifier_callback` argument is given.", + stacklevel=3, ) return BusABC._send_periodic_internal( self, diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index aaefa1bf9..18b3a1e57 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -77,8 +77,8 @@ def __vciFormatErrorExtended( Formatted string """ # TODO: make sure we don't generate another exception - return "{} - arguments were {}".format( - __vciFormatError(library_instance, function, vret), args + return ( + f"{__vciFormatError(library_instance, function, vret)} - arguments were {args}" ) @@ -553,13 +553,11 @@ def __init__( if unique_hardware_id is None: raise VCIDeviceNotFoundError( "No IXXAT device(s) connected or device(s) in use by other process(es)." - ) + ) from None else: raise VCIDeviceNotFoundError( - "Unique HW ID {} not connected or not available.".format( - unique_hardware_id - ) - ) + f"Unique HW ID {unique_hardware_id} not connected or not available." + ) from None else: if (unique_hardware_id is None) or ( self._device_info.UniqueHardwareId.AsChar @@ -579,7 +577,9 @@ def __init__( ctypes.byref(self._device_handle), ) except Exception as exception: - raise CanInitializationError(f"Could not open device: {exception}") + raise CanInitializationError( + f"Could not open device: {exception}" + ) from exception log.info("Using unique HW ID %s", self._device_info.UniqueHardwareId.AsChar) @@ -600,7 +600,7 @@ def __init__( except Exception as exception: raise CanInitializationError( f"Could not open and initialize channel: {exception}" - ) + ) from exception # Signal TX/RX events when at least one frame has been handled _canlib.canChannelInitialize( @@ -959,7 +959,8 @@ def _send_periodic_internal( # fallback to thread based cyclic task warnings.warn( f"{self.__class__.__name__} falls back to a thread-based cyclic task, " - "when the `modifier_callback` argument is given." + "when the `modifier_callback` argument is given.", + stacklevel=3, ) return BusABC._send_periodic_internal( self, diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 0983e28dc..4c621ecf4 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -458,7 +458,7 @@ def __init__( try: channel = int(channel) except ValueError: - raise ValueError("channel must be an integer") + raise ValueError("channel must be an integer") from None self.channel = channel self.single_handle = single_handle diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index ba665442e..2b3cbd69a 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -192,10 +192,12 @@ def __init__( @property def fd(self) -> bool: + class_name = self.__class__.__name__ warnings.warn( - "The NiXNETcanBus.fd property is deprecated and superseded by " - "BusABC.protocol. It is scheduled for removal in version 5.0.", + f"The {class_name}.fd property is deprecated and superseded by " + f"{class_name}.protocol. It is scheduled for removal in python-can version 5.0.", DeprecationWarning, + stacklevel=2, ) return self._can_protocol is CanProtocol.CAN_FD diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index e003e83f9..b704ca9bd 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -694,9 +694,9 @@ def Initialize( self, Channel, Btr0Btr1, - HwType=TPCANType(0), - IOPort=c_uint(0), - Interrupt=c_ushort(0), + HwType=TPCANType(0), # noqa: B008 + IOPort=c_uint(0), # noqa: B008 + Interrupt=c_ushort(0), # noqa: B008 ): """Initializes a PCAN Channel diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 884c1680b..0fdca51bb 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -657,10 +657,12 @@ def shutdown(self): @property def fd(self) -> bool: + class_name = self.__class__.__name__ warnings.warn( - "The PcanBus.fd property is deprecated and superseded by BusABC.protocol. " - "It is scheduled for removal in version 5.0.", + f"The {class_name}.fd property is deprecated and superseded by {class_name}.protocol. " + "It is scheduled for removal in python-can version 5.0.", DeprecationWarning, + stacklevel=2, ) return self._can_protocol is CanProtocol.CAN_FD diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index bfe8f5774..16668bdda 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -376,7 +376,7 @@ def fileno(self): except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" - ) + ) from None except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index 8e0dca8c7..a0817e932 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -63,7 +63,6 @@ def __init__( frame_type="STD", operation_mode="normal", bitrate=500000, - *args, **kwargs, ): """ @@ -115,7 +114,7 @@ def __init__( "could not create the serial device" ) from error - super().__init__(channel=channel, *args, **kwargs) + super().__init__(channel=channel, **kwargs) self.init_frame() def shutdown(self): diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index 9de2da99c..476cbd624 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -131,13 +131,15 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: try: timestamp = struct.pack(" int: except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" - ) + ) from None except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 7ff12ce44..7851a0322 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -268,7 +268,7 @@ def fileno(self) -> int: except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" - ) + ) from None except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 377fe6478..cdf4afac6 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -536,7 +536,9 @@ def capture_message( else: channel = None except OSError as error: - raise can.CanOperationError(f"Error receiving: {error.strerror}", error.errno) + raise can.CanOperationError( + f"Error receiving: {error.strerror}", error.errno + ) from error can_id, can_dlc, flags, data = dissect_can_frame(cf) @@ -601,7 +603,7 @@ def capture_message( RECEIVED_ANCILLARY_BUFFER_SIZE = CMSG_SPACE(RECEIVED_TIMESTAMP_STRUCT.size) -class SocketcanBus(BusABC): +class SocketcanBus(BusABC): # pylint: disable=abstract-method """A SocketCAN interface to CAN. It implements :meth:`can.BusABC._detect_available_configs` to search for @@ -737,7 +739,7 @@ def _recv_internal( # something bad happened (e.g. the interface went down) raise can.CanOperationError( f"Failed to receive: {error.strerror}", error.errno - ) + ) from error if ready_receive_sockets: # not empty get_channel = self.channel == "" @@ -798,7 +800,7 @@ def _send_once(self, data: bytes, channel: Optional[str] = None) -> int: except OSError as error: raise can.CanOperationError( f"Failed to transmit: {error.strerror}", error.errno - ) + ) from error return sent def _send_periodic_internal( @@ -853,7 +855,8 @@ def _send_periodic_internal( # fallback to thread based cyclic task warnings.warn( f"{self.__class__.__name__} falls back to a thread-based cyclic task, " - "when the `modifier_callback` argument is given." + "when the `modifier_callback` argument is given.", + stacklevel=3, ) return BusABC._send_periodic_internal( self, @@ -897,35 +900,3 @@ def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: {"interface": "socketcan", "channel": channel} for channel in find_available_interfaces() ] - - -if __name__ == "__main__": - # This example demonstrates how to use the internal methods of this module. - # It creates two sockets on vcan0 to test sending and receiving. - # - # If you want to try it out you can do the following (possibly using sudo): - # - # modprobe vcan - # ip link add dev vcan0 type vcan - # ip link set vcan0 up - # - log.setLevel(logging.DEBUG) - - def receiver(event: threading.Event) -> None: - receiver_socket = create_socket() - bind_socket(receiver_socket, "vcan0") - print("Receiver is waiting for a message...") - event.set() - print(f"Receiver got: {capture_message(receiver_socket)}") - - def sender(event: threading.Event) -> None: - event.wait() - sender_socket = create_socket() - bind_socket(sender_socket, "vcan0") - msg = Message(arbitration_id=0x01, data=b"\x01\x02\x03") - sender_socket.send(build_can_frame(msg)) - print("Sender sent a message.") - - e = threading.Event() - threading.Thread(target=receiver, args=(e,)).start() - threading.Thread(target=sender, args=(e,)).start() diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 045882388..e852c5e14 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -118,7 +118,7 @@ def detect_beacon(timeout_ms: int = 3100) -> List[can.typechecking.AutoDetectedC log.error(f"Failed to detect beacon: {exc} {traceback.format_exc()}") raise OSError( f"Failed to detect beacon: {exc} {traceback.format_exc()}" - ) + ) from exc return [] @@ -248,7 +248,7 @@ def _recv_internal(self, timeout): except OSError as exc: # something bad happened (e.g. the interface went down) log.error(f"Failed to receive: {exc}") - raise can.CanError(f"Failed to receive: {exc}") + raise can.CanError(f"Failed to receive: {exc}") from exc try: if not ready_receive_sockets: @@ -307,7 +307,9 @@ def _recv_internal(self, timeout): except Exception as exc: log.error(f"Failed to receive: {exc} {traceback.format_exc()}") - raise can.CanError(f"Failed to receive: {exc} {traceback.format_exc()}") + raise can.CanError( + f"Failed to receive: {exc} {traceback.format_exc()}" + ) from exc def _tcp_send(self, msg: str): log.debug(f"Sending TCP Message: '{msg}'") diff --git a/can/interfaces/systec/structures.py b/can/interfaces/systec/structures.py index 699763989..9acc34c2c 100644 --- a/can/interfaces/systec/structures.py +++ b/can/interfaces/systec/structures.py @@ -52,9 +52,9 @@ class CanMsg(Structure): ), # Receive time stamp in ms (for transmit messages no meaning) ] - def __init__(self, id=0, frame_format=MsgFrameFormat.MSG_FF_STD, data=None): + def __init__(self, id_=0, frame_format=MsgFrameFormat.MSG_FF_STD, data=None): data = [] if data is None else data - super().__init__(id, frame_format, len(data), (BYTE * 8)(*data), 0) + super().__init__(id_, frame_format, len(data), (BYTE * 8)(*data), 0) def __eq__(self, other): if not isinstance(other, CanMsg): @@ -71,8 +71,8 @@ def id(self): return self.m_dwID @id.setter - def id(self, id): - self.m_dwID = id + def id(self, value): + self.m_dwID = value @property def frame_format(self): diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 089b8182f..8ca2d516b 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -114,10 +114,12 @@ def __init__( @property def is_fd(self) -> bool: + class_name = self.__class__.__name__ warnings.warn( - "The UdpMulticastBus.is_fd property is deprecated and superseded by " - "BusABC.protocol. It is scheduled for removal in version 5.0.", + f"The {class_name}.is_fd property is deprecated and superseded by " + f"{class_name}.protocol. It is scheduled for removal in python-can version 5.0.", DeprecationWarning, + stacklevel=2, ) return self._can_protocol is CanProtocol.CAN_FD diff --git a/can/interfaces/usb2can/usb2canabstractionlayer.py b/can/interfaces/usb2can/usb2canabstractionlayer.py index a894c3953..9fbf5c15c 100644 --- a/can/interfaces/usb2can/usb2canabstractionlayer.py +++ b/can/interfaces/usb2can/usb2canabstractionlayer.py @@ -150,7 +150,7 @@ def open(self, configuration: str, flags: int): # catch any errors thrown by this call and re-raise raise can.CanInitializationError( f'CanalOpen() failed, configuration: "{configuration}", error: {ex}' - ) + ) from ex else: # any greater-than-zero return value indicates a success # (see https://grodansparadis.gitbooks.io/the-vscp-daemon/canal_interface_specification.html) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 576fa26cf..797539c88 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -58,7 +58,10 @@ INFINITE: Optional[int] try: # Try builtin Python 3 Windows API - from _winapi import INFINITE, WaitForSingleObject # type: ignore + from _winapi import ( # type: ignore[attr-defined,no-redef,unused-ignore] + INFINITE, + WaitForSingleObject, + ) HAS_EVENTS = True except ImportError: @@ -333,10 +336,12 @@ def __init__( @property def fd(self) -> bool: + class_name = self.__class__.__name__ warnings.warn( - "The VectorBus.fd property is deprecated and superseded by " - "BusABC.protocol. It is scheduled for removal in version 5.0.", + f"The {class_name}.fd property is deprecated and superseded by " + f"{class_name}.protocol. It is scheduled for removal in python-can version 5.0.", DeprecationWarning, + stacklevel=2, ) return self._can_protocol is CanProtocol.CAN_FD diff --git a/can/io/logger.py b/can/io/logger.py index c3e83c883..0da0e25c6 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -8,7 +8,18 @@ from abc import ABC, abstractmethod from datetime import datetime from types import TracebackType -from typing import Any, Callable, Dict, Literal, Optional, Set, Tuple, Type, cast +from typing import ( + Any, + Callable, + ClassVar, + Dict, + Literal, + Optional, + Set, + Tuple, + Type, + cast, +) from typing_extensions import Self @@ -60,7 +71,7 @@ class Logger(MessageWriter): """ fetched_plugins = False - message_writers: Dict[str, Type[MessageWriter]] = { + message_writers: ClassVar[Dict[str, Type[MessageWriter]]] = { ".asc": ASCWriter, ".blf": BLFWriter, ".csv": CSVWriter, @@ -72,7 +83,7 @@ class Logger(MessageWriter): } @staticmethod - def __new__( # type: ignore + def __new__( # type: ignore[misc] cls: Any, filename: Optional[StringPathLike], **kwargs: Any ) -> MessageWriter: """ @@ -160,7 +171,7 @@ class BaseRotatingLogger(Listener, BaseIOHandler, ABC): Subclasses must set the `_writer` attribute upon initialization. """ - _supported_formats: Set[str] = set() + _supported_formats: ClassVar[Set[str]] = set() #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotation_filename` #: method delegates to this callable. The parameters passed to the callable are @@ -182,12 +193,14 @@ def __init__(self, **kwargs: Any) -> None: self.writer_kwargs = kwargs # Expected to be set by the subclass - self._writer: FileIOMessageWriter = None # type: ignore + self._writer: Optional[FileIOMessageWriter] = None @property def writer(self) -> FileIOMessageWriter: """This attribute holds an instance of a writer class which manages the actual file IO.""" - return self._writer + if self._writer is not None: + return self._writer + raise ValueError(f"{self.__class__.__name__}.writer is None.") def rotation_filename(self, default_name: StringPathLike) -> StringPathLike: """Modify the filename of a log file when rotating. @@ -284,7 +297,7 @@ def __exit__( exc_val: Optional[BaseException], exc_tb: Optional[TracebackType], ) -> Literal[False]: - return self._writer.__exit__(exc_type, exc_val, exc_tb) + return self.writer.__exit__(exc_type, exc_val, exc_tb) @abstractmethod def should_rollover(self, msg: Message) -> bool: @@ -337,7 +350,7 @@ class SizedRotatingLogger(BaseRotatingLogger): :meth:`~can.Listener.stop` is called. """ - _supported_formats = {".asc", ".blf", ".csv", ".log", ".txt"} + _supported_formats: ClassVar[Set[str]] = {".asc", ".blf", ".csv", ".log", ".txt"} def __init__( self, diff --git a/can/io/mf4.py b/can/io/mf4.py index c7e71e816..7ab6ba8a7 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -68,7 +68,7 @@ ] ) except ImportError: - asammdf = None # type: ignore + asammdf = None CAN_MSG_EXT = 0x80000000 diff --git a/can/io/player.py b/can/io/player.py index 9fd9d9ed3..73ef3c356 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -6,7 +6,18 @@ import gzip import pathlib import time -from typing import Any, Dict, Generator, Iterable, Optional, Tuple, Type, Union, cast +from typing import ( + Any, + ClassVar, + Dict, + Generator, + Iterable, + Optional, + Tuple, + Type, + Union, + cast, +) from .._entry_points import read_entry_points from ..message import Message @@ -53,7 +64,7 @@ class LogReader(MessageReader): """ fetched_plugins = False - message_readers: Dict[str, Optional[Type[MessageReader]]] = { + message_readers: ClassVar[Dict[str, Optional[Type[MessageReader]]]] = { ".asc": ASCReader, ".blf": BLFReader, ".csv": CSVReader, @@ -64,7 +75,7 @@ class LogReader(MessageReader): } @staticmethod - def __new__( # type: ignore + def __new__( # type: ignore[misc] cls: Any, filename: StringPathLike, **kwargs: Any, diff --git a/can/io/printer.py b/can/io/printer.py index 40b42862d..00e4545df 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -46,7 +46,7 @@ def on_message_received(self, msg: Message) -> None: if self.write_to_file: cast(TextIO, self.file).write(str(msg) + "\n") else: - print(msg) + print(msg) # noqa: T201 def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" diff --git a/can/io/trc.py b/can/io/trc.py index 889d55196..ce7bf6789 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -116,19 +116,19 @@ def _extract_header(self): logger.info( "TRCReader: No file version was found, so version 1.0 is assumed" ) - self._parse_cols = self._parse_msg_V1_0 + self._parse_cols = self._parse_msg_v1_0 elif self.file_version == TRCFileVersion.V1_0: - self._parse_cols = self._parse_msg_V1_0 + self._parse_cols = self._parse_msg_v1_0 elif self.file_version == TRCFileVersion.V1_1: - self._parse_cols = self._parse_cols_V1_1 + self._parse_cols = self._parse_cols_v1_1 elif self.file_version in [TRCFileVersion.V2_0, TRCFileVersion.V2_1]: - self._parse_cols = self._parse_cols_V2_x + self._parse_cols = self._parse_cols_v2_x else: raise NotImplementedError("File version not fully implemented for reading") return line - def _parse_msg_V1_0(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v1_0(self, cols: List[str]) -> Optional[Message]: arbit_id = cols[2] if arbit_id == "FFFFFFFF": logger.info("TRCReader: Dropping bus info line") @@ -143,7 +143,7 @@ def _parse_msg_V1_0(self, cols: List[str]) -> Optional[Message]: msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg - def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v1_1(self, cols: List[str]) -> Optional[Message]: arbit_id = cols[3] msg = Message() @@ -161,7 +161,7 @@ def _parse_msg_V1_1(self, cols: List[str]) -> Optional[Message]: msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_V2_x(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v2_x(self, cols: List[str]) -> Optional[Message]: type_ = cols[self.columns["T"]] bus = self.columns.get("B", None) @@ -195,18 +195,18 @@ def _parse_msg_V2_x(self, cols: List[str]) -> Optional[Message]: return msg - def _parse_cols_V1_1(self, cols: List[str]) -> Optional[Message]: + def _parse_cols_v1_1(self, cols: List[str]) -> Optional[Message]: dtype = cols[2] if dtype in ("Tx", "Rx"): - return self._parse_msg_V1_1(cols) + return self._parse_msg_v1_1(cols) else: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_V2_x(self, cols: List[str]) -> Optional[Message]: + def _parse_cols_v2_x(self, cols: List[str]) -> Optional[Message]: dtype = cols[self.columns["T"]] if dtype in ["DT", "FD", "FB"]: - return self._parse_msg_V2_x(cols) + return self._parse_msg_v2_x(cols) else: logger.info("TRCReader: Unsupported type '%s'", dtype) return None @@ -291,7 +291,7 @@ def __init__( self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 self._format_message = self._format_message_init - def _write_header_V1_0(self, start_time: datetime) -> None: + def _write_header_v1_0(self, start_time: datetime) -> None: lines = [ ";##########################################################################", f"; {self.filepath}", @@ -312,7 +312,7 @@ def _write_header_V1_0(self, start_time: datetime) -> None: ] self.file.writelines(line + "\n" for line in lines) - def _write_header_V2_1(self, start_time: datetime) -> None: + def _write_header_v2_1(self, start_time: datetime) -> None: header_time = start_time - datetime(year=1899, month=12, day=30) lines = [ ";$FILEVERSION=2.1", @@ -372,9 +372,9 @@ def write_header(self, timestamp: float) -> None: start_time = datetime.utcfromtimestamp(timestamp) if self.file_version == TRCFileVersion.V1_0: - self._write_header_V1_0(start_time) + self._write_header_v1_0(start_time) elif self.file_version == TRCFileVersion.V2_1: - self._write_header_V2_1(start_time) + self._write_header_v2_1(start_time) else: raise NotImplementedError("File format is not supported") self.header_written = True diff --git a/can/listener.py b/can/listener.py index d6f252d17..ff3672913 100644 --- a/can/listener.py +++ b/can/listener.py @@ -29,9 +29,6 @@ class Listener(metaclass=ABCMeta): listener.stop() """ - def __init__(self, *args: Any, **kwargs: Any) -> None: - pass - @abstractmethod def on_message_received(self, msg: Message) -> None: """This method is called to handle the given message. @@ -49,6 +46,7 @@ def on_error(self, exc: Exception) -> None: """ raise NotImplementedError() + @abstractmethod def stop(self) -> None: """ Stop handling new messages, carry out any final tasks to ensure @@ -85,9 +83,7 @@ class BufferedReader(Listener): # pylint: disable=abstract-method :attr is_stopped: ``True`` if the reader has been stopped """ - def __init__(self, *args: Any, **kwargs: Any) -> None: - super().__init__(*args, **kwargs) - + def __init__(self) -> None: # set to "infinite" size self.buffer: SimpleQueue[Message] = SimpleQueue() self.is_stopped: bool = False @@ -139,9 +135,7 @@ class AsyncBufferedReader( print(msg) """ - def __init__(self, *args: Any, **kwargs: Any) -> None: - super().__init__(*args, **kwargs) - + def __init__(self, **kwargs: Any) -> None: self.buffer: "asyncio.Queue[Message]" if "loop" in kwargs: @@ -149,19 +143,22 @@ def __init__(self, *args: Any, **kwargs: Any) -> None: "The 'loop' argument is deprecated since python-can 4.0.0 " "and has no effect starting with Python 3.10", DeprecationWarning, + stacklevel=2, ) if sys.version_info < (3, 10): self.buffer = asyncio.Queue(loop=kwargs["loop"]) return self.buffer = asyncio.Queue() + self._is_stopped: bool = False def on_message_received(self, msg: Message) -> None: """Append a message to the buffer. Must only be called inside an event loop! """ - self.buffer.put_nowait(msg) + if not self._is_stopped: + self.buffer.put_nowait(msg) async def get_message(self) -> Message: """ @@ -178,3 +175,6 @@ def __aiter__(self) -> AsyncIterator[Message]: async def __anext__(self) -> Message: return await self.buffer.get() + + def stop(self) -> None: + self._is_stopped = True diff --git a/can/logger.py b/can/logger.py index f20965b04..7d1ae6f66 100644 --- a/can/logger.py +++ b/can/logger.py @@ -134,7 +134,7 @@ def _parse_additional_config( def _split_arg(_arg: str) -> Tuple[str, str]: left, right = _arg.split("=", 1) - return left.lstrip("--").replace("-", "_"), right + return left.lstrip("-").replace("-", "_"), right args: Dict[str, Union[str, int, float, bool]] = {} for key, string_val in map(_split_arg, unknown_args): diff --git a/can/util.py b/can/util.py index 42b1f49ac..c1eeca8b1 100644 --- a/can/util.py +++ b/can/util.py @@ -68,7 +68,7 @@ def load_file_config( config = ConfigParser() # make sure to not transform the entries such that capitalization is preserved - config.optionxform = lambda entry: entry # type: ignore + config.optionxform = lambda optionstr: optionstr # type: ignore[method-assign] if path is None: config.read([os.path.expanduser(path) for path in CONFIG_FILES]) @@ -411,7 +411,7 @@ def _rename_kwargs( ) kwargs[new] = value - warnings.warn(deprecation_notice, DeprecationWarning) + warnings.warn(deprecation_notice, DeprecationWarning, stacklevel=3) T2 = TypeVar("T2", BitTiming, BitTimingFd) @@ -444,7 +444,8 @@ def check_or_adjust_timing_clock(timing: T2, valid_clocks: Iterable[int]) -> T2: adjusted_timing = timing.recreate_with_f_clock(clock) warnings.warn( f"Adjusted f_clock in {timing.__class__.__name__} from " - f"{timing.f_clock} to {adjusted_timing.f_clock}" + f"{timing.f_clock} to {adjusted_timing.f_clock}", + stacklevel=2, ) return adjusted_timing except ValueError: @@ -506,11 +507,3 @@ def cast_from_string(string_val: str) -> Union[str, int, float, bool]: # value is string return string_val - - -if __name__ == "__main__": - print("Searching for configuration named:") - print("\n".join(CONFIG_FILES)) - print() - print("Settings:") - print(load_config()) diff --git a/can/viewer.py b/can/viewer.py index db19fd1f6..07752327d 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -43,14 +43,14 @@ try: import curses - from curses.ascii import ESC as KEY_ESC - from curses.ascii import SP as KEY_SPACE + from curses.ascii import ESC as KEY_ESC # type: ignore[attr-defined,unused-ignore] + from curses.ascii import SP as KEY_SPACE # type: ignore[attr-defined,unused-ignore] except ImportError: # Probably on Windows while windows-curses is not installed (e.g. in PyPy) logger.warning( "You won't be able to use the viewer program without curses installed!" ) - curses = None # type: ignore + curses = None # type: ignore[assignment] class CanViewer: # pylint: disable=too-many-instance-attributes @@ -554,7 +554,7 @@ def main() -> None: additional_config.update({"can_filters": can_filters}) bus = _create_bus(parsed_args, **additional_config) - curses.wrapper(CanViewer, bus, data_structs) + curses.wrapper(CanViewer, bus, data_structs) # type: ignore[attr-defined,unused-ignore] if __name__ == "__main__": diff --git a/pyproject.toml b/pyproject.toml index a34508ee8..209305fba 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,9 +59,9 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==2.17.*", - "ruff==0.0.292", - "black==23.9.*", - "mypy==1.5.*", + "ruff==0.1.13", + "black==23.12.*", + "mypy==1.8.*", ] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] @@ -100,13 +100,12 @@ ignore_missing_imports = true no_implicit_optional = true disallow_incomplete_defs = true warn_redundant_casts = true -warn_unused_ignores = false +warn_unused_ignores = true exclude = [ "venv", "^doc/conf.py$", "^build", "^test", - "^setup.py$", "^can/interfaces/__init__.py", "^can/interfaces/etas", "^can/interfaces/gs_usb", @@ -128,23 +127,39 @@ exclude = [ [tool.ruff] select = [ + "A", # flake8-builtins + "B", # flake8-bugbear + "C4", # flake8-comprehensions "F", # pyflakes - "UP", # pyupgrade - "I", # isort "E", # pycodestyle errors - "W", # pycodestyle warnings + "I", # isort + "N", # pep8-naming + "PGH", # pygrep-hooks "PL", # pylint "RUF", # ruff-specific rules - "C4", # flake8-comprehensions + "T20", # flake8-print "TCH", # flake8-type-checking + "UP", # pyupgrade + "W", # pycodestyle warnings + "YTT", # flake8-2020 ] ignore = [ + "B026", # star-arg-unpacking-after-keyword-arg + "PLR", # pylint refactor +] +line-length = 100 + +[tool.ruff.per-file-ignores] +"can/interfaces/*" = [ "E501", # Line too long "F403", # undefined-local-with-import-star "F405", # undefined-local-with-import-star-usage - "PLR", # pylint refactor + "N", # pep8-naming + "PGH003", # blanket-type-ignore "RUF012", # mutable-class-default ] +"can/logger.py" = ["T20"] # flake8-print +"can/player.py" = ["T20"] # flake8-print [tool.ruff.isort] known-first-party = ["can"] diff --git a/test/back2back_test.py b/test/back2back_test.py index d9896c19f..8269a73a5 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -273,6 +273,7 @@ def test_sub_second_timestamp_resolution(self): self.bus2.recv(0) self.bus2.recv(0) + @unittest.skipIf(IS_PYPY, "fails randomly when run on CI server") def test_send_periodic_duration(self): """ Verify that send_periodic only transmits for the specified duration. diff --git a/test/network_test.py b/test/network_test.py index 250976fb2..b0fcba37f 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -1,6 +1,5 @@ #!/usr/bin/env python - - +import contextlib import logging import random import threading @@ -117,7 +116,8 @@ def testProducerConsumer(self): i += 1 t.join() - self.server_bus.flush_tx_buffer() + with contextlib.suppress(NotImplementedError): + self.server_bus.flush_tx_buffer() self.server_bus.shutdown() From e173bf1179380dc2f5aa3803f738bdc165e53011 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 13 Jan 2024 21:08:55 +0100 Subject: [PATCH 317/475] move pylint config to pyproject.toml (#1725) --- .github/workflows/ci.yml | 2 +- .pylintrc | 504 --------------------------------------- can/io/logger.py | 2 +- can/io/trc.py | 6 +- doc/conf.py | 2 +- doc/development.rst | 2 +- pyproject.toml | 22 +- 7 files changed, 28 insertions(+), 512 deletions(-) delete mode 100644 .pylintrc diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index c1aa8935a..639465176 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -105,7 +105,7 @@ jobs: ruff check can - name: pylint run: | - pylint --rcfile=.pylintrc \ + pylint \ can/**.py \ can/io \ doc/conf.py \ diff --git a/.pylintrc b/.pylintrc deleted file mode 100644 index de2e82a0d..000000000 --- a/.pylintrc +++ /dev/null @@ -1,504 +0,0 @@ -[MASTER] - -# A comma-separated list of package or module names from where C extensions may -# be loaded. Extensions are loading into the active Python interpreter and may -# run arbitrary code. -extension-pkg-whitelist= - -# Add files or directories to be ignored. They should be base names, not -# paths. -ignore=CVS - -# Add files or directories matching the regex patterns to be ignored. The -# regex matches against base names, not paths. -ignore-patterns= - -# Python code to execute, usually for sys.path manipulation such as -# pygtk.require(). -#init-hook= - -# Use multiple processes to speed up Pylint. Specifying 0 will auto-detect the -# number of processors available to use. -jobs=0 - -# Control the amount of potential inferred values when inferring a single -# object. This can help the performance when dealing with large functions or -# complex, nested conditions. -limit-inference-results=100 - -# List of plugins (as comma separated values of python modules names) to load, -# usually to register additional checkers. -load-plugins= - -# Pickle collected data for later comparisons. -persistent=yes - -# Specify a configuration file. -#rcfile= - -# When enabled, pylint would attempt to guess common misconfiguration and emit -# user-friendly hints instead of false-positive error messages. -suggestion-mode=yes - -# Allow loading of arbitrary C extensions. Extensions are imported into the -# active Python interpreter and may run arbitrary code. -unsafe-load-any-extension=no - - -[MESSAGES CONTROL] - -# Only show warnings with the listed confidence levels. Leave empty to show -# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED. -confidence= - -# Disable the message, report, category or checker with the given id(s). You -# can either give multiple identifiers separated by comma (,) or put this -# option multiple times (only on the command line, not in the configuration -# file where it should appear only once). You can also use "--disable=all" to -# disable everything first and then reenable specific checks. For example, if -# you want to run only the similarities checker, you can use "--disable=all -# --enable=similarities". If you want to run only the classes checker, but have -# no Warning level messages displayed, use "--disable=all --enable=classes -# --disable=W". -disable=invalid-name, - missing-docstring, - empty-docstring, - wrong-import-order, - wrong-import-position, - too-few-public-methods, - too-many-public-methods, - too-many-branches, - too-many-locals, - too-many-statements, - no-else-raise, - wildcard-import, - no-else-return, - fixme, # We deliberately use TODO/FIXME inline - abstract-class-instantiated, # Needed for can.Bus - duplicate-code, # Needed due to https://github.com/PyCQA/pylint/issues/214 - -# Enable the message, report, category or checker with the given id(s). You can -# either give multiple identifier separated by comma (,) or put this option -# multiple time (only on the command line, not in the configuration file where -# it should appear only once). See also the "--disable" option for examples. -enable=c-extension-no-member, - useless-suppression, - - -[REPORTS] - -# Python expression which should return a note less than 10 (10 is the highest -# note). You have access to the variables errors warning, statement which -# respectively contain the number of errors / warnings messages and the total -# number of statements analyzed. This is used by the global evaluation report -# (RP0004). -evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10) - -# Template used to display messages. This is a python new-style format string -# used to format the message information. See doc for all details. -#msg-template= - -# Set the output format. Available formats are text, parseable, colorized, json -# and msvs (visual studio). You can also give a reporter class, e.g. -# mypackage.mymodule.MyReporterClass. -output-format=text - -# Tells whether to display a full report or only the messages. -reports=no - -# Activate the evaluation score. -score=yes - - -[REFACTORING] - -# Maximum number of nested blocks for function / method body -max-nested-blocks=5 - -# Complete name of functions that never returns. When checking for -# inconsistent-return-statements if a never returning function is called then -# it will be considered as an explicit return statement and no message will be -# printed. -never-returning-functions=sys.exit - - -[TYPECHECK] - -# List of decorators that produce context managers, such as -# contextlib.contextmanager. Add to this list to register other decorators that -# produce valid context managers. -contextmanager-decorators=contextlib.contextmanager - -# List of members which are set dynamically and missed by pylint inference -# system, and so shouldn't trigger E1101 when accessed. Python regular -# expressions are accepted. -generated-members= - -# Tells whether missing members accessed in mixin class should be ignored. A -# mixin class is detected if its name ends with "mixin" (case insensitive). -ignore-mixin-members=yes - -# Tells whether to warn about missing members when the owner of the attribute -# is inferred to be None. -ignore-none=yes - -# This flag controls whether pylint should warn about no-member and similar -# checks whenever an opaque object is returned when inferring. The inference -# can return multiple potential results while evaluating a Python object, but -# some branches might not be evaluated, which results in partial inference. In -# that case, it might be useful to still emit no-member and other checks for -# the rest of the inferred objects. -ignore-on-opaque-inference=yes - -# List of class names for which member attributes should not be checked (useful -# for classes with dynamically set attributes). This supports the use of -# qualified names. -ignored-classes=optparse.Values,thread._local,_thread._local - -# List of module names for which member attributes should not be checked -# (useful for modules/projects where namespaces are manipulated during runtime -# and thus existing member attributes cannot be deduced by static analysis. It -# supports qualified module names, as well as Unix pattern matching. -ignored-modules= - -# Show a hint with possible names when a member name was not found. The aspect -# of finding the hint is based on edit distance. -missing-member-hint=yes - -# The minimum edit distance a name should have in order to be considered a -# similar match for a missing member name. -missing-member-hint-distance=1 - -# The total number of similar names that should be taken in consideration when -# showing a hint for a missing member. -missing-member-max-choices=1 - - -[SIMILARITIES] - -# Ignore comments when computing similarities. -ignore-comments=yes - -# Ignore docstrings when computing similarities. -ignore-docstrings=yes - -# Ignore imports when computing similarities. -ignore-imports=no - -# Minimum lines number of a similarity. -min-similarity-lines=4 - - -[LOGGING] - -# Format style used to check logging format string. `old` means using % -# formatting, while `new` is for `{}` formatting. -logging-format-style=old - -# Logging modules to check that the string format arguments are in logging -# function parameter format. -logging-modules=logging - - -[STRING] - -# This flag controls whether the implicit-str-concat-in-sequence should -# generate a warning on implicit string concatenation in sequences defined over -# several lines. -check-str-concat-over-line-jumps=no - - -[BASIC] - -# Naming style matching correct argument names. -argument-naming-style=snake_case - -# Regular expression matching correct argument names. Overrides argument- -# naming-style. -#argument-rgx= - -# Naming style matching correct attribute names. -attr-naming-style=snake_case - -# Regular expression matching correct attribute names. Overrides attr-naming- -# style. -#attr-rgx= - -# Bad variable names which should always be refused, separated by a comma. -bad-names=foo, - bar, - baz, - toto, - tutu, - tata - -# Naming style matching correct class attribute names. -class-attribute-naming-style=any - -# Regular expression matching correct class attribute names. Overrides class- -# attribute-naming-style. -#class-attribute-rgx= - -# Naming style matching correct class names. -class-naming-style=PascalCase - -# Regular expression matching correct class names. Overrides class-naming- -# style. -#class-rgx= - -# Naming style matching correct constant names. -const-naming-style=UPPER_CASE - -# Regular expression matching correct constant names. Overrides const-naming- -# style. -#const-rgx= - -# Minimum line length for functions/classes that require docstrings, shorter -# ones are exempt. -docstring-min-length=-1 - -# Naming style matching correct function names. -function-naming-style=snake_case - -# Regular expression matching correct function names. Overrides function- -# naming-style. -#function-rgx= - -# Good variable names which should always be accepted, separated by a comma. -good-names=i, - j, - k, - ex, - Run, - _ - -# Include a hint for the correct naming format with invalid-name. -include-naming-hint=no - -# Naming style matching correct inline iteration names. -inlinevar-naming-style=any - -# Regular expression matching correct inline iteration names. Overrides -# inlinevar-naming-style. -#inlinevar-rgx= - -# Naming style matching correct method names. -method-naming-style=snake_case - -# Regular expression matching correct method names. Overrides method-naming- -# style. -#method-rgx= - -# Naming style matching correct module names. -module-naming-style=snake_case - -# Regular expression matching correct module names. Overrides module-naming- -# style. -#module-rgx= - -# Colon-delimited sets of names that determine each other's naming style when -# the name regexes allow several styles. -name-group= - -# Regular expression which should only match function or class names that do -# not require a docstring. -no-docstring-rgx=^_ - -# List of decorators that produce properties, such as abc.abstractproperty. Add -# to this list to register other decorators that produce valid properties. -# These decorators are taken in consideration only for invalid-name. -property-classes=abc.abstractproperty - -# Naming style matching correct variable names. -variable-naming-style=snake_case - -# Regular expression matching correct variable names. Overrides variable- -# naming-style. -#variable-rgx= - - -[SPELLING] - -# Limits count of emitted suggestions for spelling mistakes. -max-spelling-suggestions=4 - -# Spelling dictionary name. Available dictionaries: none. To make it working -# install python-enchant package.. -spelling-dict= - -# List of comma separated words that should not be checked. -spelling-ignore-words= - -# A path to a file that contains private dictionary; one word per line. -spelling-private-dict-file= - -# Tells whether to store unknown words to indicated private dictionary in -# --spelling-private-dict-file option instead of raising a message. -spelling-store-unknown-words=no - - -[VARIABLES] - -# List of additional names supposed to be defined in builtins. Remember that -# you should avoid defining new builtins when possible. -additional-builtins= - -# Tells whether unused global variables should be treated as a violation. -allow-global-unused-variables=yes - -# List of strings which can identify a callback function by name. A callback -# name must start or end with one of those strings. -callbacks=cb_, - _cb - -# A regular expression matching the name of dummy variables (i.e. expected to -# not be used). -dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_ - -# Argument names that match this expression will be ignored. Default to name -# with leading underscore. -ignored-argument-names=_.*|^ignored_|^unused_ - -# Tells whether we should check for unused import in __init__ files. -init-import=no - -# List of qualified module names which can have objects that can redefine -# builtins. -redefining-builtins-modules=six.moves,past.builtins,future.builtins,builtins,io - - -[MISCELLANEOUS] - -# List of note tags to take in consideration, separated by a comma. -notes=FIXME, - XXX, - TODO - - -[FORMAT] - -# Expected format of line ending, e.g. empty (any line ending), LF or CRLF. -expected-line-ending-format= - -# Regexp for a line that is allowed to be longer than the limit. -ignore-long-lines=^\s*(# )??$ - -# Number of spaces of indent required inside a hanging or continued line. -indent-after-paren=4 - -# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1 -# tab). -indent-string=' ' - -# Maximum number of characters on a single line. -max-line-length=100 - -# Maximum number of lines in a module. -max-module-lines=1000 - - -# Allow the body of a class to be on the same line as the declaration if body -# contains single statement. -single-line-class-stmt=no - -# Allow the body of an if to be on the same line as the test if there is no -# else. -single-line-if-stmt=no - - -[IMPORTS] - -# Allow wildcard imports from modules that define __all__. -allow-wildcard-with-all=no - -# Analyse import fallback blocks. This can be used to support both Python 2 and -# 3 compatible code, which means that the block might have code that exists -# only in one or another interpreter, leading to false positives when analysed. -analyse-fallback-blocks=no - -# Deprecated modules which should not be used, separated by a comma. -deprecated-modules=optparse,tkinter.tix - -# Create a graph of external dependencies in the given file (report RP0402 must -# not be disabled). -ext-import-graph= - -# Create a graph of every (i.e. internal and external) dependencies in the -# given file (report RP0402 must not be disabled). -import-graph= - -# Create a graph of internal dependencies in the given file (report RP0402 must -# not be disabled). -int-import-graph= - -# Force import order to recognize a module as part of the standard -# compatibility libraries. -known-standard-library= - -# Force import order to recognize a module as part of a third party library. -known-third-party=enchant - -# Allow explicit reexports by alias from a package __init__ -allow-reexport-from-package=no - -[CLASSES] - -# List of method names used to declare (i.e. assign) instance attributes. -defining-attr-methods=__init__, - __new__, - setUp - -# List of member names, which should be excluded from the protected access -# warning. -exclude-protected=_asdict, - _fields, - _replace, - _source, - _make - -# List of valid names for the first argument in a class method. -valid-classmethod-first-arg=cls - -# List of valid names for the first argument in a metaclass class method. -valid-metaclass-classmethod-first-arg=cls - - -[DESIGN] - -# Maximum number of arguments for function / method. -max-args=10 - -# Maximum number of attributes for a class (see R0902). -max-attributes=10 - -# Maximum number of boolean expressions in an if statement. -max-bool-expr=5 - -# Maximum number of branch for function / method body. -max-branches=12 - -# Maximum number of locals for function / method body. -max-locals=15 - -# Maximum number of parents for a class (see R0901). -max-parents=7 - -# Maximum number of public methods for a class (see R0904). -max-public-methods=20 - -# Maximum number of return / yield for function / method body. -max-returns=6 - -# Maximum number of statements in function / method body. -max-statements=50 - -# Minimum number of public methods for a class (see R0903). -min-public-methods=2 - - -[EXCEPTIONS] - -# Exceptions that will emit a warning when being caught. Defaults to -# "BaseException, Exception". -overgeneral-exceptions=builtins.BaseException, - builtins.Exception diff --git a/can/io/logger.py b/can/io/logger.py index 0da0e25c6..90e6bfc7c 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -270,7 +270,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: logger = Logger(filename=filename, **self.writer_kwargs) if isinstance(logger, FileIOMessageWriter): return logger - elif isinstance(logger, Printer) and logger.file is not None: + if isinstance(logger, Printer) and logger.file is not None: return cast(FileIOMessageWriter, logger) raise ValueError( diff --git a/can/io/trc.py b/can/io/trc.py index ce7bf6789..a498da992 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -407,7 +407,7 @@ def on_message_received(self, msg: Message) -> None: if msg.is_fd: logger.warning("TRCWriter: Logging CAN FD is not implemented") return - else: - serialized = self._format_message(msg, channel) - self.msgnr += 1 + + serialized = self._format_message(msg, channel) + self.msgnr += 1 self.log_event(serialized, msg.timestamp) diff --git a/doc/conf.py b/doc/conf.py index 4b490ee29..54318883f 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -17,7 +17,7 @@ sys.path.insert(0, os.path.abspath("..")) import can # pylint: disable=wrong-import-position -from can import ctypesutil +from can import ctypesutil # pylint: disable=wrong-import-position # -- General configuration ----------------------------------------------------- diff --git a/doc/development.rst b/doc/development.rst index fb717a52d..484c90c05 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -57,7 +57,7 @@ The linters can be run with:: black --check can mypy can ruff check can - pylint --rcfile=.pylintrc can/**.py + pylint can/**.py can/io doc/conf.py examples/**.py can/interfaces/socketcan Creating a new interface/backend diff --git a/pyproject.toml b/pyproject.toml index 209305fba..d3e496d28 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -58,7 +58,7 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ - "pylint==2.17.*", + "pylint==3.0.*", "ruff==0.1.13", "black==23.12.*", "mypy==1.8.*", @@ -163,3 +163,23 @@ line-length = 100 [tool.ruff.isort] known-first-party = ["can"] + +[tool.pylint] +disable = [ + "cyclic-import", + "duplicate-code", + "fixme", + "invalid-name", + "missing-class-docstring", + "missing-function-docstring", + "missing-module-docstring", + "no-else-raise", + "no-else-return", + "too-few-public-methods", + "too-many-arguments", + "too-many-branches", + "too-many-instance-attributes", + "too-many-locals", + "too-many-public-methods", + "too-many-statements", +] From ec105acea0d08eb0edd3bbfd5503b0a0cded28af Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 14 Jan 2024 13:44:51 +0100 Subject: [PATCH 318/475] Convert `can.Logger` and `can.LogReader` into functions, improve docs (#1703) * turn can.Logger and can.LogReader into functions * improve file io documentation * fix doctest * don't check if class is None, check length of suffixes * fix typo * fix issues after rebase * fix test issues, use context manager to fix random PyPy failures * align can.LogReader docstring to can.Logger * replace deprecated `context` with `config_context` --- can/io/__init__.py | 6 +- can/io/logger.py | 197 ++++++++++++----------- can/io/player.py | 174 +++++++++++---------- can/io/printer.py | 2 +- doc/api.rst | 5 +- doc/configuration.rst | 4 +- doc/development.rst | 4 +- doc/{listeners.rst => file_io.rst} | 142 +++++------------ doc/internal-api.rst | 1 + doc/notifier.rst | 86 ++++++++++ test/logformats_test.py | 4 +- test/test_rotating_loggers.py | 242 ++++++++++++++--------------- 12 files changed, 448 insertions(+), 419 deletions(-) rename doc/{listeners.rst => file_io.rst} (65%) create mode 100644 doc/notifier.rst diff --git a/can/io/__init__.py b/can/io/__init__.py index 263bbe235..5601f2591 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -15,6 +15,8 @@ "CSVWriter", "Logger", "LogReader", + "MESSAGE_READERS", + "MESSAGE_WRITERS", "MessageSync", "MF4Reader", "MF4Writer", @@ -39,8 +41,8 @@ ] # Generic -from .logger import BaseRotatingLogger, Logger, SizedRotatingLogger -from .player import LogReader, MessageSync +from .logger import MESSAGE_WRITERS, BaseRotatingLogger, Logger, SizedRotatingLogger +from .player import MESSAGE_READERS, LogReader, MessageSync # isort: split diff --git a/can/io/logger.py b/can/io/logger.py index 90e6bfc7c..ed7f15bd0 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -13,6 +13,7 @@ Callable, ClassVar, Dict, + Final, Literal, Optional, Set, @@ -24,7 +25,6 @@ from typing_extensions import Self from .._entry_points import read_entry_points -from ..listener import Listener from ..message import Message from ..typechecking import AcceptedIOType, FileLike, StringPathLike from .asc import ASCWriter @@ -32,7 +32,6 @@ from .canutils import CanutilsLogWriter from .csv import CSVWriter from .generic import ( - BaseIOHandler, BinaryIOMessageWriter, FileIOMessageWriter, MessageWriter, @@ -42,20 +41,85 @@ from .sqlite import SqliteWriter from .trc import TRCWriter +#: A map of file suffixes to their corresponding +#: :class:`can.io.generic.MessageWriter` class +MESSAGE_WRITERS: Final[Dict[str, Type[MessageWriter]]] = { + ".asc": ASCWriter, + ".blf": BLFWriter, + ".csv": CSVWriter, + ".db": SqliteWriter, + ".log": CanutilsLogWriter, + ".mf4": MF4Writer, + ".trc": TRCWriter, + ".txt": Printer, +} + + +def _update_writer_plugins() -> None: + """Update available message writer plugins from entry points.""" + for entry_point in read_entry_points("can.io.message_writer"): + if entry_point.key in MESSAGE_WRITERS: + continue + + writer_class = entry_point.load() + if issubclass(writer_class, MessageWriter): + MESSAGE_WRITERS[entry_point.key] = writer_class + + +def _get_logger_for_suffix(suffix: str) -> Type[MessageWriter]: + try: + return MESSAGE_WRITERS[suffix] + except KeyError: + raise ValueError( + f'No write support for unknown log format "{suffix}"' + ) from None + -class Logger(MessageWriter): +def _compress( + filename: StringPathLike, **kwargs: Any +) -> Tuple[Type[MessageWriter], FileLike]: """ - Logs CAN messages to a file. + Return the suffix and io object of the decompressed file. + File will automatically recompress upon close. + """ + suffixes = pathlib.Path(filename).suffixes + if len(suffixes) != 2: + raise ValueError( + f"No write support for unknown log format \"{''.join(suffixes)}\"" + ) from None + + real_suffix = suffixes[-2].lower() + if real_suffix in (".blf", ".db"): + raise ValueError( + f"The file type {real_suffix} is currently incompatible with gzip." + ) + logger_type = _get_logger_for_suffix(real_suffix) + append = kwargs.get("append", False) + + if issubclass(logger_type, BinaryIOMessageWriter): + mode = "ab" if append else "wb" + else: + mode = "at" if append else "wt" + + return logger_type, gzip.open(filename, mode) + + +def Logger( # noqa: N802 + filename: Optional[StringPathLike], **kwargs: Any +) -> MessageWriter: + """Find and return the appropriate :class:`~can.io.generic.MessageWriter` instance + for a given file suffix. The format is determined from the file suffix which can be one of: - * .asc: :class:`can.ASCWriter` + * .asc :class:`can.ASCWriter` * .blf :class:`can.BLFWriter` * .csv: :class:`can.CSVWriter` - * .db: :class:`can.SqliteWriter` + * .db :class:`can.SqliteWriter` * .log :class:`can.CanutilsLogWriter` + * .mf4 :class:`can.MF4Writer` + (optional, depends on `asammdf `_) * .trc :class:`can.TRCWriter` * .txt :class:`can.Printer` - * .mf4 :class:`can.MF4Writer` (optional, depends on asammdf) Any of these formats can be used with gzip compression by appending the suffix .gz (e.g. filename.asc.gz). However, third-party tools might not @@ -65,97 +129,33 @@ class Logger(MessageWriter): The log files may be incomplete until `stop()` is called due to buffering. + :param filename: + the filename/path of the file to write to, + may be a path-like object or None to + instantiate a :class:`~can.Printer` + :raises ValueError: + if the filename's suffix is of an unknown file type + .. note:: - This class itself is just a dispatcher, and any positional and keyword + This function itself is just a dispatcher, and any positional and keyword arguments are passed on to the returned instance. """ - fetched_plugins = False - message_writers: ClassVar[Dict[str, Type[MessageWriter]]] = { - ".asc": ASCWriter, - ".blf": BLFWriter, - ".csv": CSVWriter, - ".db": SqliteWriter, - ".log": CanutilsLogWriter, - ".mf4": MF4Writer, - ".trc": TRCWriter, - ".txt": Printer, - } - - @staticmethod - def __new__( # type: ignore[misc] - cls: Any, filename: Optional[StringPathLike], **kwargs: Any - ) -> MessageWriter: - """ - :param filename: - the filename/path of the file to write to, - may be a path-like object or None to - instantiate a :class:`~can.Printer` - :raises ValueError: - if the filename's suffix is of an unknown file type - """ - if filename is None: - return Printer(**kwargs) - - if not Logger.fetched_plugins: - Logger.message_writers.update( - { - writer.key: cast(Type[MessageWriter], writer.load()) - for writer in read_entry_points("can.io.message_writer") - } - ) - Logger.fetched_plugins = True - - suffix = pathlib.PurePath(filename).suffix.lower() - - file_or_filename: AcceptedIOType = filename - if suffix == ".gz": - logger_type, file_or_filename = Logger.compress(filename, **kwargs) - else: - logger_type = cls._get_logger_for_suffix(suffix) - - return logger_type(file=file_or_filename, **kwargs) - - @classmethod - def _get_logger_for_suffix(cls, suffix: str) -> Type[MessageWriter]: - try: - logger_type = Logger.message_writers[suffix] - if logger_type is None: - raise ValueError(f'failed to import logger for extension "{suffix}"') - return logger_type - except KeyError: - raise ValueError( - f'No write support for this unknown log format "{suffix}"' - ) from None - - @classmethod - def compress( - cls, filename: StringPathLike, **kwargs: Any - ) -> Tuple[Type[MessageWriter], FileLike]: - """ - Return the suffix and io object of the decompressed file. - File will automatically recompress upon close. - """ - real_suffix = pathlib.Path(filename).suffixes[-2].lower() - if real_suffix in (".blf", ".db"): - raise ValueError( - f"The file type {real_suffix} is currently incompatible with gzip." - ) - logger_type = cls._get_logger_for_suffix(real_suffix) - append = kwargs.get("append", False) - - if issubclass(logger_type, BinaryIOMessageWriter): - mode = "ab" if append else "wb" - else: - mode = "at" if append else "wt" + if filename is None: + return Printer(**kwargs) - return logger_type, gzip.open(filename, mode) + _update_writer_plugins() - def on_message_received(self, msg: Message) -> None: - pass + suffix = pathlib.PurePath(filename).suffix.lower() + file_or_filename: AcceptedIOType = filename + if suffix == ".gz": + logger_type, file_or_filename = _compress(filename, **kwargs) + else: + logger_type = _get_logger_for_suffix(suffix) + return logger_type(file=file_or_filename, **kwargs) -class BaseRotatingLogger(Listener, BaseIOHandler, ABC): +class BaseRotatingLogger(MessageWriter, ABC): """ Base class for rotating CAN loggers. This class is not meant to be instantiated directly. Subclasses must implement the :meth:`should_rollover` @@ -187,20 +187,15 @@ class BaseRotatingLogger(Listener, BaseIOHandler, ABC): rollover_count: int = 0 def __init__(self, **kwargs: Any) -> None: - Listener.__init__(self) - BaseIOHandler.__init__(self, file=None) + super().__init__(**{**kwargs, "file": None}) self.writer_kwargs = kwargs - # Expected to be set by the subclass - self._writer: Optional[FileIOMessageWriter] = None - @property + @abstractmethod def writer(self) -> FileIOMessageWriter: """This attribute holds an instance of a writer class which manages the actual file IO.""" - if self._writer is not None: - return self._writer - raise ValueError(f"{self.__class__.__name__}.writer is None.") + raise NotImplementedError def rotation_filename(self, default_name: StringPathLike) -> StringPathLike: """Modify the filename of a log file when rotating. @@ -270,7 +265,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: logger = Logger(filename=filename, **self.writer_kwargs) if isinstance(logger, FileIOMessageWriter): return logger - if isinstance(logger, Printer) and logger.file is not None: + elif isinstance(logger, Printer) and logger.file is not None: return cast(FileIOMessageWriter, logger) raise ValueError( @@ -373,6 +368,10 @@ def __init__( self._writer = self._get_new_writer(self.base_filename) + @property + def writer(self) -> FileIOMessageWriter: + return self._writer + def should_rollover(self, msg: Message) -> bool: if self.max_bytes <= 0: return False diff --git a/can/io/player.py b/can/io/player.py index 73ef3c356..4cbd7ce16 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -8,15 +8,13 @@ import time from typing import ( Any, - ClassVar, Dict, + Final, Generator, Iterable, - Optional, Tuple, Type, Union, - cast, ) from .._entry_points import read_entry_points @@ -31,106 +29,104 @@ from .sqlite import SqliteReader from .trc import TRCReader - -class LogReader(MessageReader): +#: A map of file suffixes to their corresponding +#: :class:`can.io.generic.MessageReader` class +MESSAGE_READERS: Final[Dict[str, Type[MessageReader]]] = { + ".asc": ASCReader, + ".blf": BLFReader, + ".csv": CSVReader, + ".db": SqliteReader, + ".log": CanutilsLogReader, + ".mf4": MF4Reader, + ".trc": TRCReader, +} + + +def _update_reader_plugins() -> None: + """Update available message reader plugins from entry points.""" + for entry_point in read_entry_points("can.io.message_reader"): + if entry_point.key in MESSAGE_READERS: + continue + + reader_class = entry_point.load() + if issubclass(reader_class, MessageReader): + MESSAGE_READERS[entry_point.key] = reader_class + + +def _get_logger_for_suffix(suffix: str) -> Type[MessageReader]: + """Find MessageReader class for given suffix.""" + try: + return MESSAGE_READERS[suffix] + except KeyError: + raise ValueError(f'No read support for unknown log format "{suffix}"') from None + + +def _decompress( + filename: StringPathLike, +) -> Tuple[Type[MessageReader], Union[str, FileLike]]: + """ + Return the suffix and io object of the decompressed file. """ - Replay logged CAN messages from a file. + suffixes = pathlib.Path(filename).suffixes + if len(suffixes) != 2: + raise ValueError( + f"No write support for unknown log format \"{''.join(suffixes)}\"" + ) from None + + real_suffix = suffixes[-2].lower() + reader_type = _get_logger_for_suffix(real_suffix) + + mode = "rb" if issubclass(reader_type, BinaryIOMessageReader) else "rt" + + return reader_type, gzip.open(filename, mode) + + +def LogReader(filename: StringPathLike, **kwargs: Any) -> MessageReader: # noqa: N802 + """Find and return the appropriate :class:`~can.io.generic.MessageReader` instance + for a given file suffix. The format is determined from the file suffix which can be one of: - * .asc - * .blf - * .csv - * .db - * .log - * .mf4 (optional, depends on asammdf) - * .trc + * .asc :class:`can.ASCReader` + * .blf :class:`can.BLFReader` + * .csv :class:`can.CSVReader` + * .db :class:`can.SqliteReader` + * .log :class:`can.CanutilsLogReader` + * .mf4 :class:`can.MF4Reader` + (optional, depends on `asammdf `_) + * .trc :class:`can.TRCReader` Gzip compressed files can be used as long as the original files suffix is one of the above (e.g. filename.asc.gz). - Exposes a simple iterator interface, to use simply: + Exposes a simple iterator interface, to use simply:: + + for msg in can.LogReader("some/path/to/my_file.log"): + print(msg) - >>> for msg in LogReader("some/path/to/my_file.log"): - ... print(msg) + :param filename: + the filename/path of the file to read from + :raises ValueError: + if the filename's suffix is of an unknown file type .. note:: There are no time delays, if you want to reproduce the measured delays between messages look at the :class:`can.MessageSync` class. .. note:: - This class itself is just a dispatcher, and any positional an keyword + This function itself is just a dispatcher, and any positional and keyword arguments are passed on to the returned instance. """ - fetched_plugins = False - message_readers: ClassVar[Dict[str, Optional[Type[MessageReader]]]] = { - ".asc": ASCReader, - ".blf": BLFReader, - ".csv": CSVReader, - ".db": SqliteReader, - ".log": CanutilsLogReader, - ".mf4": MF4Reader, - ".trc": TRCReader, - } - - @staticmethod - def __new__( # type: ignore[misc] - cls: Any, - filename: StringPathLike, - **kwargs: Any, - ) -> MessageReader: - """ - :param filename: the filename/path of the file to read from - :raises ValueError: if the filename's suffix is of an unknown file type - """ - if not LogReader.fetched_plugins: - LogReader.message_readers.update( - { - reader.key: cast(Type[MessageReader], reader.load()) - for reader in read_entry_points("can.io.message_reader") - } - ) - LogReader.fetched_plugins = True - - suffix = pathlib.PurePath(filename).suffix.lower() - - file_or_filename: AcceptedIOType = filename - if suffix == ".gz": - reader_type, file_or_filename = LogReader.decompress(filename) - else: - reader_type = cls._get_logger_for_suffix(suffix) - return reader_type(file=file_or_filename, **kwargs) - - @classmethod - def _get_logger_for_suffix(cls, suffix: str) -> Type[MessageReader]: - try: - reader_type = LogReader.message_readers[suffix] - except KeyError: - raise ValueError( - f'No read support for this unknown log format "{suffix}"' - ) from None - if reader_type is None: - raise ImportError(f"failed to import reader for extension {suffix}") - return reader_type - - @classmethod - def decompress( - cls, - filename: StringPathLike, - ) -> Tuple[Type[MessageReader], Union[str, FileLike]]: - """ - Return the suffix and io object of the decompressed file. - """ - real_suffix = pathlib.Path(filename).suffixes[-2].lower() - reader_type = cls._get_logger_for_suffix(real_suffix) - - mode = "rb" if issubclass(reader_type, BinaryIOMessageReader) else "rt" + _update_reader_plugins() - return reader_type, gzip.open(filename, mode) - - def __iter__(self) -> Generator[Message, None, None]: - raise NotImplementedError() + suffix = pathlib.PurePath(filename).suffix.lower() + file_or_filename: AcceptedIOType = filename + if suffix == ".gz": + reader_type, file_or_filename = _decompress(filename) + else: + reader_type = _get_logger_for_suffix(suffix) + return reader_type(file=file_or_filename, **kwargs) class MessageSync: @@ -152,6 +148,16 @@ def __init__( as the time between messages. :param gap: Minimum time between sent messages in seconds :param skip: Skip periods of inactivity greater than this (in seconds). + + Example:: + + import can + + with can.LogReader("my_logfile.asc") as reader, can.Bus(interface="virtual") as bus: + for msg in can.MessageSync(messages=reader): + print(msg) + bus.send(msg) + """ self.raw_messages = messages self.timestamps = timestamps diff --git a/can/io/printer.py b/can/io/printer.py index 00e4545df..67c353cc6 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -33,7 +33,7 @@ def __init__( """ :param file: An optional path-like object or a file-like object to "print" to instead of writing to standard out (stdout). - If this is a file-like object, is has to be opened in text + If this is a file-like object, it has to be opened in text write mode, not binary write mode. :param append: If set to `True` messages, are appended to the file, else the file is truncated diff --git a/doc/api.rst b/doc/api.rst index 053bd34a4..50095589c 100644 --- a/doc/api.rst +++ b/doc/api.rst @@ -10,11 +10,12 @@ A form of CAN interface is also required. .. toctree:: - :maxdepth: 1 + :maxdepth: 2 bus message - listeners + notifier + file_io asyncio bcm errors diff --git a/doc/configuration.rst b/doc/configuration.rst index 7b42017a9..2951a63b1 100644 --- a/doc/configuration.rst +++ b/doc/configuration.rst @@ -83,8 +83,8 @@ The configuration can also contain additional sections (or context): from can.interface import Bus - hs_bus = Bus(context='HS') - ms_bus = Bus(context='MS') + hs_bus = Bus(config_context='HS') + ms_bus = Bus(config_context='MS') Environment Variables --------------------- diff --git a/doc/development.rst b/doc/development.rst index 484c90c05..ec7b7dc24 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -9,7 +9,7 @@ Contribute to source code, documentation, examples and report issues: https://github.com/hardbyte/python-can Note that the latest released version on PyPi may be significantly behind the -``develop`` branch. Please open any feature requests against the ``develop`` branch +``main`` branch. Please open any feature requests against the ``main`` branch There is also a `python-can `__ mailing list for development discussion. @@ -100,7 +100,7 @@ The modules in ``python-can`` are: +---------------------------------+------------------------------------------------------+ |:doc:`message ` | Contains the interface independent Message object. | +---------------------------------+------------------------------------------------------+ -|:doc:`io ` | Contains a range of file readers and writers. | +|:doc:`io ` | Contains a range of file readers and writers. | +---------------------------------+------------------------------------------------------+ |:doc:`broadcastmanager ` | Contains interface independent broadcast manager | | | code. | diff --git a/doc/listeners.rst b/doc/file_io.rst similarity index 65% rename from doc/listeners.rst rename to doc/file_io.rst index 110e960d3..ff9431695 100644 --- a/doc/listeners.rst +++ b/doc/file_io.rst @@ -1,110 +1,20 @@ +File IO +======= -Reading and Writing Messages -============================ -.. _notifier: - -Notifier --------- - -The Notifier object is used as a message distributor for a bus. Notifier creates a thread to read messages from the bus and distributes them to listeners. - -.. autoclass:: can.Notifier - :members: - -.. _listeners_doc: - -Listener --------- - -The Listener class is an "abstract" base class for any objects which wish to -register to receive notifications of new messages on the bus. A Listener can -be used in two ways; the default is to **call** the Listener with a new -message, or by calling the method **on_message_received**. - -Listeners are registered with :ref:`notifier` object(s) which ensure they are -notified whenever a new message is received. - -.. literalinclude:: ../examples/print_notifier.py - :language: python - :linenos: - :emphasize-lines: 8,9 - - -Subclasses of Listener that do not override **on_message_received** will cause -:class:`NotImplementedError` to be thrown when a message is received on -the CAN bus. - -.. autoclass:: can.Listener - :members: - -There are some listeners that already ship together with `python-can` -and are listed below. -Some of them allow messages to be written to files, and the corresponding file -readers are also documented here. - -.. note :: - - Please note that writing and the reading a message might not always yield a - completely unchanged message again, since some properties are not (yet) - supported by some file formats. - -.. note :: - - Additional file formats for both reading/writing log files can be added via - a plugin reader/writer. An external package can register a new reader - by using the ``can.io.message_reader`` entry point. Similarly, a writer can - be added using the ``can.io.message_writer`` entry point. - - The format of the entry point is ``reader_name=module:classname`` where ``classname`` - is a :class:`can.io.generic.BaseIOHandler` concrete implementation. - - :: - - entry_points={ - 'can.io.message_reader': [ - '.asc = my_package.io.asc:ASCReader' - ] - }, - - -BufferedReader --------------- - -.. autoclass:: can.BufferedReader - :members: - -.. autoclass:: can.AsyncBufferedReader - :members: - - -RedirectReader --------------- - -.. autoclass:: can.RedirectReader - :members: - - -Logger ------- - -The :class:`can.Logger` uses the following :class:`can.Listener` types to -create log files with different file types of the messages received. - -.. autoclass:: can.Logger - :members: - -.. autoclass:: can.io.BaseRotatingLogger - :members: - -.. autoclass:: can.SizedRotatingLogger - :members: +Reading and Writing Files +------------------------- +.. autofunction:: can.LogReader +.. autofunction:: can.Logger +.. autodata:: can.io.logger.MESSAGE_WRITERS +.. autodata:: can.io.player.MESSAGE_READERS Printer ------- .. autoclass:: can.Printer + :show-inheritance: :members: @@ -112,9 +22,11 @@ CSVWriter --------- .. autoclass:: can.CSVWriter + :show-inheritance: :members: .. autoclass:: can.CSVReader + :show-inheritance: :members: @@ -122,9 +34,11 @@ SqliteWriter ------------ .. autoclass:: can.SqliteWriter + :show-inheritance: :members: .. autoclass:: can.SqliteReader + :show-inheritance: :members: @@ -164,6 +78,7 @@ engineered from existing log files. One description of the format can be found ` .. autoclass:: can.ASCWriter + :show-inheritance: :members: ASCReader reads CAN data from ASCII log files .asc, @@ -172,6 +87,7 @@ as further references can-utils can be used: `log2asc `_. .. autoclass:: can.ASCReader + :show-inheritance: :members: @@ -185,11 +101,13 @@ As specification following references can-utils can be used: .. autoclass:: can.CanutilsLogWriter + :show-inheritance: :members: **CanutilsLogReader** reads CAN data from ASCII log files .log .. autoclass:: can.CanutilsLogReader + :show-inheritance: :members: @@ -204,11 +122,13 @@ The data is stored in a compressed format which makes it very compact. .. note:: Channels will be converted to integers. .. autoclass:: can.BLFWriter + :show-inheritance: :members: The following class can be used to read messages from BLF file: .. autoclass:: can.BLFReader + :show-inheritance: :members: @@ -229,6 +149,7 @@ The data is stored in a compressed format which makes it compact. .. autoclass:: can.MF4Writer + :show-inheritance: :members: The MDF format is very flexible regarding the internal structure and it is used to handle data from multiple sources, not just CAN bus logging. @@ -239,6 +160,7 @@ Therefor MF4Reader can only replay files created with MF4Writer. The following class can be used to read messages from MF4 file: .. autoclass:: can.MF4Reader + :show-inheritance: :members: @@ -252,9 +174,31 @@ Implements basic support for the TRC file format. Comments and contributions are welcome on what file versions might be relevant. .. autoclass:: can.TRCWriter + :show-inheritance: :members: The following class can be used to read messages from TRC file: .. autoclass:: can.TRCReader + :show-inheritance: + :members: + + +Rotating Loggers +---------------- + +.. autoclass:: can.io.BaseRotatingLogger + :show-inheritance: + :members: + +.. autoclass:: can.SizedRotatingLogger + :show-inheritance: :members: + + +Replaying Files +--------------- + +.. autoclass:: can.MessageSync + :members: + diff --git a/doc/internal-api.rst b/doc/internal-api.rst index f4b6f875a..73984bf1a 100644 --- a/doc/internal-api.rst +++ b/doc/internal-api.rst @@ -127,6 +127,7 @@ IO Utilities .. automodule:: can.io.generic :members: + :member-order: bysource diff --git a/doc/notifier.rst b/doc/notifier.rst new file mode 100644 index 000000000..05edbd90d --- /dev/null +++ b/doc/notifier.rst @@ -0,0 +1,86 @@ +Notifier and Listeners +====================== + +.. _notifier: + +Notifier +-------- + +The Notifier object is used as a message distributor for a bus. The Notifier +uses an event loop or creates a thread to read messages from the bus and +distributes them to listeners. + +.. autoclass:: can.Notifier + :members: + +.. _listeners_doc: + +Listener +-------- + +The Listener class is an "abstract" base class for any objects which wish to +register to receive notifications of new messages on the bus. A Listener can +be used in two ways; the default is to **call** the Listener with a new +message, or by calling the method **on_message_received**. + +Listeners are registered with :ref:`notifier` object(s) which ensure they are +notified whenever a new message is received. + +.. literalinclude:: ../examples/print_notifier.py + :language: python + :linenos: + :emphasize-lines: 8,9 + + +Subclasses of Listener that do not override **on_message_received** will cause +:class:`NotImplementedError` to be thrown when a message is received on +the CAN bus. + +.. autoclass:: can.Listener + :members: + +There are some listeners that already ship together with `python-can` +and are listed below. +Some of them allow messages to be written to files, and the corresponding file +readers are also documented here. + +.. note :: + + Please note that writing and the reading a message might not always yield a + completely unchanged message again, since some properties are not (yet) + supported by some file formats. + +.. note :: + + Additional file formats for both reading/writing log files can be added via + a plugin reader/writer. An external package can register a new reader + by using the ``can.io.message_reader`` entry point. Similarly, a writer can + be added using the ``can.io.message_writer`` entry point. + + The format of the entry point is ``reader_name=module:classname`` where ``classname`` + is a :class:`can.io.generic.BaseIOHandler` concrete implementation. + + :: + + entry_points={ + 'can.io.message_reader': [ + '.asc = my_package.io.asc:ASCReader' + ] + }, + + +BufferedReader +-------------- + +.. autoclass:: can.BufferedReader + :members: + +.. autoclass:: can.AsyncBufferedReader + :members: + + +RedirectReader +-------------- + +.. autoclass:: can.RedirectReader + :members: diff --git a/test/logformats_test.py b/test/logformats_test.py index 50f48c391..8694fefdc 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -52,8 +52,8 @@ def _get_suffix_case_variants(self, suffix): ] def _test_extension(self, suffix): - WriterType = can.Logger.message_writers.get(suffix) - ReaderType = can.LogReader.message_readers.get(suffix) + WriterType = can.io.MESSAGE_WRITERS.get(suffix) + ReaderType = can.io.MESSAGE_READERS.get(suffix) for suffix_variant in self._get_suffix_case_variants(suffix): tmp_file = tempfile.NamedTemporaryFile(suffix=suffix_variant, delete=False) tmp_file.close() diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index 8230168b9..a6661280d 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -6,24 +6,34 @@ import os from pathlib import Path +from typing import cast from unittest.mock import Mock import can +from can.io.generic import FileIOMessageWriter +from can.typechecking import StringPathLike from .data.example_data import generate_message class TestBaseRotatingLogger: @staticmethod - def _get_instance(path, *args, **kwargs) -> can.io.BaseRotatingLogger: + def _get_instance(file: StringPathLike) -> can.io.BaseRotatingLogger: class SubClass(can.io.BaseRotatingLogger): """Subclass that implements abstract methods for testing.""" _supported_formats = {".asc", ".blf", ".csv", ".log", ".txt"} - def __init__(self, *args, **kwargs) -> None: - super().__init__(*args, **kwargs) - self._writer = can.Printer(file=path / "__unused.txt") + def __init__(self, file: StringPathLike, **kwargs) -> None: + super().__init__(**kwargs) + suffix = Path(file).suffix.lower() + if suffix not in self._supported_formats: + raise ValueError(f"Unsupported file format: {suffix}") + self._writer = can.Printer(file=file) + + @property + def writer(self) -> FileIOMessageWriter: + return cast(FileIOMessageWriter, self._writer) def should_rollover(self, msg: can.Message) -> bool: return False @@ -31,7 +41,7 @@ def should_rollover(self, msg: can.Message) -> bool: def do_rollover(self): ... - return SubClass(*args, **kwargs) + return SubClass(file=file) def test_import(self): assert hasattr(can.io, "BaseRotatingLogger") @@ -50,90 +60,82 @@ def test_attributes(self): assert hasattr(can.io.BaseRotatingLogger, "do_rollover") def test_get_new_writer(self, tmp_path): - logger_instance = self._get_instance(tmp_path) - - writer = logger_instance._get_new_writer(tmp_path / "file.ASC") - assert isinstance(writer, can.ASCWriter) - writer.stop() + with self._get_instance(tmp_path / "__unused.txt") as logger_instance: + writer = logger_instance._get_new_writer(tmp_path / "file.ASC") + assert isinstance(writer, can.ASCWriter) + writer.stop() - writer = logger_instance._get_new_writer(tmp_path / "file.BLF") - assert isinstance(writer, can.BLFWriter) - writer.stop() + writer = logger_instance._get_new_writer(tmp_path / "file.BLF") + assert isinstance(writer, can.BLFWriter) + writer.stop() - writer = logger_instance._get_new_writer(tmp_path / "file.CSV") - assert isinstance(writer, can.CSVWriter) - writer.stop() + writer = logger_instance._get_new_writer(tmp_path / "file.CSV") + assert isinstance(writer, can.CSVWriter) + writer.stop() - writer = logger_instance._get_new_writer(tmp_path / "file.LOG") - assert isinstance(writer, can.CanutilsLogWriter) - writer.stop() + writer = logger_instance._get_new_writer(tmp_path / "file.LOG") + assert isinstance(writer, can.CanutilsLogWriter) + writer.stop() - writer = logger_instance._get_new_writer(tmp_path / "file.TXT") - assert isinstance(writer, can.Printer) - writer.stop() + writer = logger_instance._get_new_writer(tmp_path / "file.TXT") + assert isinstance(writer, can.Printer) + writer.stop() def test_rotation_filename(self, tmp_path): - logger_instance = self._get_instance(tmp_path) + with self._get_instance(tmp_path / "__unused.txt") as logger_instance: + default_name = "default" + assert logger_instance.rotation_filename(default_name) == "default" - default_name = "default" - assert logger_instance.rotation_filename(default_name) == "default" - - logger_instance.namer = lambda x: x + "_by_namer" - assert logger_instance.rotation_filename(default_name) == "default_by_namer" + logger_instance.namer = lambda x: x + "_by_namer" + assert logger_instance.rotation_filename(default_name) == "default_by_namer" def test_rotate_without_rotator(self, tmp_path): - logger_instance = self._get_instance(tmp_path) - - source = str(tmp_path / "source.txt") - dest = str(tmp_path / "dest.txt") + with self._get_instance(tmp_path / "__unused.txt") as logger_instance: + source = str(tmp_path / "source.txt") + dest = str(tmp_path / "dest.txt") - assert os.path.exists(source) is False - assert os.path.exists(dest) is False + assert os.path.exists(source) is False + assert os.path.exists(dest) is False - logger_instance._writer = logger_instance._get_new_writer(source) - logger_instance.stop() + logger_instance._writer = logger_instance._get_new_writer(source) + logger_instance.stop() - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + assert os.path.exists(source) is True + assert os.path.exists(dest) is False - logger_instance.rotate(source, dest) + logger_instance.rotate(source, dest) - assert os.path.exists(source) is False - assert os.path.exists(dest) is True + assert os.path.exists(source) is False + assert os.path.exists(dest) is True def test_rotate_with_rotator(self, tmp_path): - logger_instance = self._get_instance(tmp_path) - - rotator_func = Mock() - logger_instance.rotator = rotator_func + with self._get_instance(tmp_path / "__unused.txt") as logger_instance: + rotator_func = Mock() + logger_instance.rotator = rotator_func - source = str(tmp_path / "source.txt") - dest = str(tmp_path / "dest.txt") + source = str(tmp_path / "source.txt") + dest = str(tmp_path / "dest.txt") - assert os.path.exists(source) is False - assert os.path.exists(dest) is False + assert os.path.exists(source) is False + assert os.path.exists(dest) is False - logger_instance._writer = logger_instance._get_new_writer(source) - logger_instance.stop() + logger_instance._writer = logger_instance._get_new_writer(source) + logger_instance.stop() - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + assert os.path.exists(source) is True + assert os.path.exists(dest) is False - logger_instance.rotate(source, dest) - rotator_func.assert_called_with(source, dest) + logger_instance.rotate(source, dest) + rotator_func.assert_called_with(source, dest) - # assert that no rotation was performed since rotator_func - # does not do anything - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + # assert that no rotation was performed since rotator_func + # does not do anything + assert os.path.exists(source) is True + assert os.path.exists(dest) is False def test_stop(self, tmp_path): """Test if stop() method of writer is called.""" - with self._get_instance(tmp_path) as logger_instance: - logger_instance._writer = logger_instance._get_new_writer( - tmp_path / "file.ASC" - ) - + with self._get_instance(tmp_path / "file.ASC") as logger_instance: # replace stop method of writer with Mock original_stop = logger_instance.writer.stop mock_stop = Mock() @@ -146,44 +148,38 @@ def test_stop(self, tmp_path): original_stop() def test_on_message_received(self, tmp_path): - logger_instance = self._get_instance(tmp_path) + with self._get_instance(tmp_path / "file.ASC") as logger_instance: + # Test without rollover + should_rollover = Mock(return_value=False) + do_rollover = Mock() + writers_on_message_received = Mock() - logger_instance._writer = logger_instance._get_new_writer(tmp_path / "file.ASC") + logger_instance.should_rollover = should_rollover + logger_instance.do_rollover = do_rollover + logger_instance.writer.on_message_received = writers_on_message_received - # Test without rollover - should_rollover = Mock(return_value=False) - do_rollover = Mock() - writers_on_message_received = Mock() - - logger_instance.should_rollover = should_rollover - logger_instance.do_rollover = do_rollover - logger_instance.writer.on_message_received = writers_on_message_received - - msg = generate_message(0x123) - logger_instance.on_message_received(msg) - - should_rollover.assert_called_with(msg) - do_rollover.assert_not_called() - writers_on_message_received.assert_called_with(msg) + msg = generate_message(0x123) + logger_instance.on_message_received(msg) - # Test with rollover - should_rollover = Mock(return_value=True) - do_rollover = Mock() - writers_on_message_received = Mock() + should_rollover.assert_called_with(msg) + do_rollover.assert_not_called() + writers_on_message_received.assert_called_with(msg) - logger_instance.should_rollover = should_rollover - logger_instance.do_rollover = do_rollover - logger_instance.writer.on_message_received = writers_on_message_received + # Test with rollover + should_rollover = Mock(return_value=True) + do_rollover = Mock() + writers_on_message_received = Mock() - msg = generate_message(0x123) - logger_instance.on_message_received(msg) + logger_instance.should_rollover = should_rollover + logger_instance.do_rollover = do_rollover + logger_instance.writer.on_message_received = writers_on_message_received - should_rollover.assert_called_with(msg) - do_rollover.assert_called() - writers_on_message_received.assert_called_with(msg) + msg = generate_message(0x123) + logger_instance.on_message_received(msg) - # stop writer to enable cleanup of temp_dir - logger_instance.stop() + should_rollover.assert_called_with(msg) + do_rollover.assert_called() + writers_on_message_received.assert_called_with(msg) class TestSizedRotatingLogger: @@ -202,54 +198,48 @@ def test_create_instance(self, tmp_path): base_filename = "mylogfile.ASC" max_bytes = 512 - logger_instance = can.SizedRotatingLogger( + with can.SizedRotatingLogger( base_filename=tmp_path / base_filename, max_bytes=max_bytes - ) - assert Path(logger_instance.base_filename).name == base_filename - assert logger_instance.max_bytes == max_bytes - assert logger_instance.rollover_count == 0 - assert isinstance(logger_instance.writer, can.ASCWriter) - - logger_instance.stop() + ) as logger_instance: + assert Path(logger_instance.base_filename).name == base_filename + assert logger_instance.max_bytes == max_bytes + assert logger_instance.rollover_count == 0 + assert isinstance(logger_instance.writer, can.ASCWriter) def test_should_rollover(self, tmp_path): base_filename = "mylogfile.ASC" max_bytes = 512 - logger_instance = can.SizedRotatingLogger( + with can.SizedRotatingLogger( base_filename=tmp_path / base_filename, max_bytes=max_bytes - ) - msg = generate_message(0x123) - do_rollover = Mock() - logger_instance.do_rollover = do_rollover - - logger_instance.writer.file.tell = Mock(return_value=511) - assert logger_instance.should_rollover(msg) is False - logger_instance.on_message_received(msg) - do_rollover.assert_not_called() + ) as logger_instance: + msg = generate_message(0x123) + do_rollover = Mock() + logger_instance.do_rollover = do_rollover - logger_instance.writer.file.tell = Mock(return_value=512) - assert logger_instance.should_rollover(msg) is True - logger_instance.on_message_received(msg) - do_rollover.assert_called() + logger_instance.writer.file.tell = Mock(return_value=511) + assert logger_instance.should_rollover(msg) is False + logger_instance.on_message_received(msg) + do_rollover.assert_not_called() - logger_instance.stop() + logger_instance.writer.file.tell = Mock(return_value=512) + assert logger_instance.should_rollover(msg) is True + logger_instance.on_message_received(msg) + do_rollover.assert_called() def test_logfile_size(self, tmp_path): base_filename = "mylogfile.ASC" max_bytes = 1024 msg = generate_message(0x123) - logger_instance = can.SizedRotatingLogger( + with can.SizedRotatingLogger( base_filename=tmp_path / base_filename, max_bytes=max_bytes - ) - for _ in range(128): - logger_instance.on_message_received(msg) - - for file_path in os.listdir(tmp_path): - assert os.path.getsize(tmp_path / file_path) <= 1100 + ) as logger_instance: + for _ in range(128): + logger_instance.on_message_received(msg) - logger_instance.stop() + for file_path in os.listdir(tmp_path): + assert os.path.getsize(tmp_path / file_path) <= 1100 def test_logfile_size_context_manager(self, tmp_path): base_filename = "mylogfile.ASC" From 4e397684d7ba4851049d5e20a45ad417428b02fc Mon Sep 17 00:00:00 2001 From: tttech-ferdigg <156343150+tttech-ferdigg@users.noreply.github.com> Date: Sat, 20 Jan 2024 23:59:01 +0100 Subject: [PATCH 319/475] Enable echo frames in PCAN driver if receive_own_messages is set (#1723) * Enable echo frames in PCAN driver if receive_own_messages is set * Appease the linter * Set message direction to TX if the received message is an echo frame --- can/interfaces/pcan/pcan.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 0fdca51bb..b1b089690 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -26,6 +26,7 @@ FEATURE_FD_CAPABLE, IS_LINUX, IS_WINDOWS, + PCAN_ALLOW_ECHO_FRAMES, PCAN_ALLOW_ERROR_FRAMES, PCAN_API_VERSION, PCAN_ATTACHED_CHANNELS, @@ -47,6 +48,7 @@ PCAN_LANBUS1, PCAN_LISTEN_ONLY, PCAN_MESSAGE_BRS, + PCAN_MESSAGE_ECHO, PCAN_MESSAGE_ERRFRAME, PCAN_MESSAGE_ESI, PCAN_MESSAGE_EXTENDED, @@ -120,6 +122,7 @@ def __init__( state: BusState = BusState.ACTIVE, timing: Optional[Union[BitTiming, BitTimingFd]] = None, bitrate: int = 500000, + receive_own_messages: bool = False, **kwargs: Any, ): """A PCAN USB interface to CAN. @@ -162,6 +165,9 @@ def __init__( Default is 500 kbit/s. Ignored if using CanFD. + :param receive_own_messages: + Enable self-reception of sent messages. + :param bool fd: Should the Bus be initialized in CAN-FD mode. @@ -316,6 +322,14 @@ def __init__( "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.11.2" ) + if receive_own_messages: + result = self.m_objPCANBasic.SetValue( + self.m_PcanHandle, PCAN_ALLOW_ECHO_FRAMES, PCAN_PARAMETER_ON + ) + + if result != PCAN_ERROR_OK: + raise PcanCanInitializationError(self._get_formatted_error(result)) + if kwargs.get("auto_reset", False): result = self.m_objPCANBasic.SetValue( self.m_PcanHandle, PCAN_BUSOFF_AUTORESET, PCAN_PARAMETER_ON @@ -548,6 +562,7 @@ def _recv_internal( is_extended_id = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_EXTENDED.value) is_remote_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_RTR.value) is_fd = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_FD.value) + is_rx = not bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ECHO.value) bitrate_switch = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_BRS.value) error_state_indicator = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ESI.value) is_error_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ERRFRAME.value) @@ -575,6 +590,7 @@ def _recv_internal( dlc=dlc, data=pcan_msg.DATA[:dlc], is_fd=is_fd, + is_rx=is_rx, bitrate_switch=bitrate_switch, error_state_indicator=error_state_indicator, ) From a2ddb5167ed6be8a58fe4f168f8fc339b41a6e86 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 20 Jan 2024 23:59:50 +0100 Subject: [PATCH 320/475] Use ctypes.util.find_library to find vxlapi.dll (#1731) --- can/interfaces/vector/canlib.py | 2 +- can/interfaces/vector/xldriver.py | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 797539c88..a6d8fb84b 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -51,7 +51,7 @@ xldriver: Optional[ModuleType] = None try: from . import xldriver -except Exception as exc: +except FileNotFoundError as exc: LOG.warning("Could not import vxlapi: %s", exc) WaitForSingleObject: Optional[Callable[[int, int], int]] diff --git a/can/interfaces/vector/xldriver.py b/can/interfaces/vector/xldriver.py index 2af90c728..faed23b36 100644 --- a/can/interfaces/vector/xldriver.py +++ b/can/interfaces/vector/xldriver.py @@ -8,6 +8,7 @@ import ctypes import logging import platform +from ctypes.util import find_library from . import xlclass from .exceptions import VectorInitializationError, VectorOperationError @@ -16,8 +17,10 @@ # Load Windows DLL DLL_NAME = "vxlapi64" if platform.architecture()[0] == "64bit" else "vxlapi" -_xlapi_dll = ctypes.windll.LoadLibrary(DLL_NAME) - +if dll_path := find_library(DLL_NAME): + _xlapi_dll = ctypes.windll.LoadLibrary(dll_path) +else: + raise FileNotFoundError(f"Vector XL library not found: {DLL_NAME}") # ctypes wrapping for API functions xlGetErrorString = _xlapi_dll.xlGetErrorString From 7e2950414c765cb6a6cb399a6142de045b3b205a Mon Sep 17 00:00:00 2001 From: Lukas Magel Date: Sun, 21 Jan 2024 12:52:18 +0100 Subject: [PATCH 321/475] Fix ASCWriter millisecond handling (#1734) * Add _read_ prefix to ASC reader tests * Update the ASCWriter to use a 24h date format * Add test to check handling of ASCWriter date and time * Reimplement datetime formatting in ASCWriter * Use Path read methods for ASCWriter test * Appease ruff linter --- can/io/asc.py | 32 +++++++------- test/data/single_frame_us_locale.asc | 7 +++ test/logformats_test.py | 66 ++++++++++++++++++++++------ 3 files changed, 77 insertions(+), 28 deletions(-) create mode 100644 test/data/single_frame_us_locale.asc diff --git a/can/io/asc.py b/can/io/asc.py index 07243cd5b..ceffaf5cb 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -7,7 +7,6 @@ """ import logging import re -import time from datetime import datetime from typing import Any, Dict, Final, Generator, List, Optional, TextIO, Union @@ -340,8 +339,7 @@ class ASCWriter(TextIOMessageWriter): "{bit_timing_conf_ext_data:>8}", ] ) - FORMAT_START_OF_FILE_DATE = "%a %b %d %I:%M:%S.%f %p %Y" - FORMAT_DATE = "%a %b %d %I:%M:%S.{} %p %Y" + FORMAT_DATE = "%a %b %d %H:%M:%S.{} %Y" FORMAT_EVENT = "{timestamp: 9.6f} {message}\n" def __init__( @@ -367,12 +365,8 @@ def __init__( self.channel = channel # write start of file header - now = datetime.now().strftime(self.FORMAT_START_OF_FILE_DATE) - # Note: CANoe requires that the microsecond field only have 3 digits - idx = now.index(".") # Find the index in the string of the decimal - # Keep decimal and first three ms digits (4), remove remaining digits - now = now.replace(now[idx + 4 : now[idx:].index(" ") + idx], "") - self.file.write(f"date {now}\n") + start_time = self._format_header_datetime(datetime.now()) + self.file.write(f"date {start_time}\n") self.file.write("base hex timestamps absolute\n") self.file.write("internal events logged\n") @@ -381,6 +375,15 @@ def __init__( self.last_timestamp = 0.0 self.started = 0.0 + def _format_header_datetime(self, dt: datetime) -> str: + # Note: CANoe requires that the microsecond field only have 3 digits + # Since Python strftime only supports microsecond formatters, we must + # manually include the millisecond portion before passing the format + # to strftime + msec = dt.microsecond // 1000 % 1000 + format_w_msec = self.FORMAT_DATE.format(msec) + return dt.strftime(format_w_msec) + def stop(self) -> None: # This is guaranteed to not be None since we raise ValueError in __init__ if not self.file.closed: @@ -400,12 +403,11 @@ def log_event(self, message: str, timestamp: Optional[float] = None) -> None: # this is the case for the very first message: if not self.header_written: - self.last_timestamp = timestamp or 0.0 - self.started = self.last_timestamp - mlsec = repr(self.last_timestamp).split(".")[1][:3] - formatted_date = time.strftime( - self.FORMAT_DATE.format(mlsec), time.localtime(self.last_timestamp) - ) + self.started = self.last_timestamp = timestamp or 0.0 + + start_time = datetime.fromtimestamp(self.last_timestamp) + formatted_date = self._format_header_datetime(start_time) + self.file.write(f"Begin Triggerblock {formatted_date}\n") self.header_written = True self.log_event("Start of measurement") # caution: this is a recursive call! diff --git a/test/data/single_frame_us_locale.asc b/test/data/single_frame_us_locale.asc new file mode 100644 index 000000000..f6bfcc3db --- /dev/null +++ b/test/data/single_frame_us_locale.asc @@ -0,0 +1,7 @@ +date Sat Sep 30 15:06:13.191 2017 +base hex timestamps absolute +internal events logged +Begin Triggerblock Sat Sep 30 15:06:13.191 2017 + 0.000000 Start of measurement + 0.000000 1 123x Rx d 1 68 +End TriggerBlock diff --git a/test/logformats_test.py b/test/logformats_test.py index 8694fefdc..a7e75d7c8 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -11,19 +11,22 @@ TODO: correctly set preserves_channel and adds_default_channel """ +import locale import logging import os import tempfile import unittest from abc import ABCMeta, abstractmethod +from contextlib import contextmanager from datetime import datetime from itertools import zip_longest +from pathlib import Path +from unittest.mock import patch from parameterized import parameterized import can from can.io import blf - from .data.example_data import ( TEST_COMMENTS, TEST_MESSAGES_BASE, @@ -42,6 +45,14 @@ asammdf = None +@contextmanager +def override_locale(category: int, locale_str: str) -> None: + prev_locale = locale.getlocale(category) + locale.setlocale(category, locale_str) + yield + locale.setlocale(category, prev_locale) + + class ReaderWriterExtensionTest(unittest.TestCase): def _get_suffix_case_variants(self, suffix): return [ @@ -403,12 +414,16 @@ def _setup_instance(self): adds_default_channel=0, ) + def _get_logfile_location(self, filename: str) -> Path: + my_dir = Path(__file__).parent + return my_dir / "data" / filename + def _read_log_file(self, filename, **kwargs): - logfile = os.path.join(os.path.dirname(__file__), "data", filename) + logfile = self._get_logfile_location(filename) with can.ASCReader(logfile, **kwargs) as reader: return list(reader) - def test_absolute_time(self): + def test_read_absolute_time(self): time_from_file = "Sat Sep 30 10:06:13.191 PM 2017" start_time = datetime.strptime( time_from_file, self.FORMAT_START_OF_FILE_DATE @@ -436,7 +451,7 @@ def test_absolute_time(self): actual = self._read_log_file("test_CanMessage.asc", relative_timestamp=False) self.assertMessagesEqual(actual, expected_messages) - def test_can_message(self): + def test_read_can_message(self): expected_messages = [ can.Message( timestamp=2.5010, @@ -459,7 +474,7 @@ def test_can_message(self): actual = self._read_log_file("test_CanMessage.asc") self.assertMessagesEqual(actual, expected_messages) - def test_can_remote_message(self): + def test_read_can_remote_message(self): expected_messages = [ can.Message( timestamp=2.510001, @@ -488,7 +503,7 @@ def test_can_remote_message(self): actual = self._read_log_file("test_CanRemoteMessage.asc") self.assertMessagesEqual(actual, expected_messages) - def test_can_fd_remote_message(self): + def test_read_can_fd_remote_message(self): expected_messages = [ can.Message( timestamp=30.300981, @@ -504,7 +519,7 @@ def test_can_fd_remote_message(self): actual = self._read_log_file("test_CanFdRemoteMessage.asc") self.assertMessagesEqual(actual, expected_messages) - def test_can_fd_message(self): + def test_read_can_fd_message(self): expected_messages = [ can.Message( timestamp=30.005021, @@ -541,7 +556,7 @@ def test_can_fd_message(self): actual = self._read_log_file("test_CanFdMessage.asc") self.assertMessagesEqual(actual, expected_messages) - def test_can_fd_message_64(self): + def test_read_can_fd_message_64(self): expected_messages = [ can.Message( timestamp=30.506898, @@ -566,7 +581,7 @@ def test_can_fd_message_64(self): actual = self._read_log_file("test_CanFdMessage64.asc") self.assertMessagesEqual(actual, expected_messages) - def test_can_and_canfd_error_frames(self): + def test_read_can_and_canfd_error_frames(self): expected_messages = [ can.Message(timestamp=2.501000, channel=0, is_error_frame=True), can.Message(timestamp=3.501000, channel=0, is_error_frame=True), @@ -582,16 +597,16 @@ def test_can_and_canfd_error_frames(self): actual = self._read_log_file("test_CanErrorFrames.asc") self.assertMessagesEqual(actual, expected_messages) - def test_ignore_comments(self): + def test_read_ignore_comments(self): _msg_list = self._read_log_file("logfile.asc") - def test_no_triggerblock(self): + def test_read_no_triggerblock(self): _msg_list = self._read_log_file("issue_1256.asc") - def test_can_dlc_greater_than_8(self): + def test_read_can_dlc_greater_than_8(self): _msg_list = self._read_log_file("issue_1299.asc") - def test_error_frame_channel(self): + def test_read_error_frame_channel(self): # gh-issue 1578 err_frame = can.Message(is_error_frame=True, channel=4) @@ -611,6 +626,31 @@ def test_error_frame_channel(self): finally: os.unlink(temp_file.name) + def test_write_millisecond_handling(self): + now = datetime( + year=2017, month=9, day=30, hour=15, minute=6, second=13, microsecond=191456 + ) + + # We temporarily set the locale to C to ensure test reproducibility + with override_locale(category=locale.LC_TIME, locale_str="C"): + # We mock datetime.now during ASCWriter __init__ for reproducibility + # Unfortunately, now() is a readonly attribute, so we mock datetime + with patch("can.io.asc.datetime") as mock_datetime: + mock_datetime.now.return_value = now + writer = can.ASCWriter(self.test_file_name) + + msg = can.Message( + timestamp=now.timestamp(), arbitration_id=0x123, data=b"h" + ) + writer.on_message_received(msg) + + writer.stop() + + actual_file = Path(self.test_file_name) + expected_file = self._get_logfile_location("single_frame_us_locale.asc") + + self.assertEqual(expected_file.read_text(), actual_file.read_text()) + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. From 3b6f155148a376d3f28b7e11e5fdb9716b0810a2 Mon Sep 17 00:00:00 2001 From: cfsok <33849525+cfsok@users.noreply.github.com> Date: Mon, 22 Jan 2024 23:51:30 +0900 Subject: [PATCH 322/475] Add "...Embedded Systems" and "...CAN" PyPI classifiers (#1735) --- pyproject.toml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index d3e496d28..ad59469da 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -37,6 +37,8 @@ classifiers = [ "Programming Language :: Python :: 3.12", "Programming Language :: Python :: Implementation :: CPython", "Programming Language :: Python :: Implementation :: PyPy", + "Topic :: Software Development :: Embedded Systems", + "Topic :: Software Development :: Embedded Systems :: Controller Area Network (CAN)", "Topic :: System :: Hardware :: Hardware Drivers", "Topic :: System :: Logging", "Topic :: System :: Monitoring", From d40915cae080716293b7293c9261adfe1fdc2936 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 22 Jan 2024 20:04:31 +0100 Subject: [PATCH 323/475] Vector: Connect to CANFD bus without specifying timings (#1716) * refactor check of timings. Allow to connect to FD bus without setting new timings * add test for bus creation with multiple channels * add test for _iterate_channel_index --- can/interfaces/vector/canlib.py | 306 +++++++++++++++++--------------- test/test_vector.py | 32 ++++ 2 files changed, 194 insertions(+), 144 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index a6d8fb84b..3a25c99d8 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -15,6 +15,7 @@ Any, Callable, Dict, + Iterator, List, NamedTuple, Optional, @@ -205,7 +206,10 @@ def __init__( self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 for channel in self.channels: - if (_channel_index := kwargs.get("channel_index", None)) is not None: + if ( + len(self.channels) == 1 + and (_channel_index := kwargs.get("channel_index", None)) is not None + ): # VectorBus._detect_available_configs() might return multiple # devices with the same serial number, e.g. if a VN8900 is connected via both USB and Ethernet # at the same time. If the VectorBus is instantiated with a config, that was returned from @@ -250,42 +254,62 @@ def __init__( self.permission_mask = permission_mask.value LOG.debug( - "Open Port: PortHandle: %d, PermissionMask: 0x%X", + "Open Port: PortHandle: %d, ChannelMask: 0x%X, PermissionMask: 0x%X", self.port_handle.value, - permission_mask.value, + self.mask, + self.permission_mask, ) + assert_timing = (bitrate or timing) and not self.__testing + # set CAN settings - for channel in self.channels: - if isinstance(timing, BitTiming): - timing = check_or_adjust_timing_clock(timing, [16_000_000, 8_000_000]) - self._set_bit_timing( - channel=channel, - timing=timing, + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, [16_000_000, 8_000_000]) + self._set_bit_timing(channel_mask=self.mask, timing=timing) + if assert_timing: + self._check_can_settings( + channel_mask=self.mask, + bitrate=timing.bitrate, + sample_point=timing.sample_point, ) - elif isinstance(timing, BitTimingFd): - timing = check_or_adjust_timing_clock(timing, [80_000_000]) - self._set_bit_timing_fd( - channel=channel, - timing=timing, + elif isinstance(timing, BitTimingFd): + timing = check_or_adjust_timing_clock(timing, [80_000_000]) + self._set_bit_timing_fd(channel_mask=self.mask, timing=timing) + if assert_timing: + self._check_can_settings( + channel_mask=self.mask, + bitrate=timing.nom_bitrate, + sample_point=timing.nom_sample_point, + fd=True, + data_bitrate=timing.data_bitrate, + data_sample_point=timing.data_sample_point, ) - elif fd: - self._set_bit_timing_fd( - channel=channel, - timing=BitTimingFd.from_bitrate_and_segments( - f_clock=80_000_000, - nom_bitrate=bitrate or 500_000, - nom_tseg1=tseg1_abr, - nom_tseg2=tseg2_abr, - nom_sjw=sjw_abr, - data_bitrate=data_bitrate or bitrate or 500_000, - data_tseg1=tseg1_dbr, - data_tseg2=tseg2_dbr, - data_sjw=sjw_dbr, - ), + elif fd: + timing = BitTimingFd.from_bitrate_and_segments( + f_clock=80_000_000, + nom_bitrate=bitrate or 500_000, + nom_tseg1=tseg1_abr, + nom_tseg2=tseg2_abr, + nom_sjw=sjw_abr, + data_bitrate=data_bitrate or bitrate or 500_000, + data_tseg1=tseg1_dbr, + data_tseg2=tseg2_dbr, + data_sjw=sjw_dbr, + ) + self._set_bit_timing_fd(channel_mask=self.mask, timing=timing) + if assert_timing: + self._check_can_settings( + channel_mask=self.mask, + bitrate=timing.nom_bitrate, + sample_point=timing.nom_sample_point, + fd=True, + data_bitrate=timing.data_bitrate, + data_sample_point=timing.data_sample_point, ) - elif bitrate: - self._set_bitrate(channel=channel, bitrate=bitrate) + elif bitrate: + self._set_bitrate(channel_mask=self.mask, bitrate=bitrate) + if assert_timing: + self._check_can_settings(channel_mask=self.mask, bitrate=bitrate) # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 @@ -405,45 +429,41 @@ def _find_global_channel_idx( def _has_init_access(self, channel: int) -> bool: return bool(self.permission_mask & self.channel_masks[channel]) - def _read_bus_params(self, channel: int) -> "VectorBusParams": - channel_mask = self.channel_masks[channel] - - vcc_list = get_channel_configs() + def _read_bus_params( + self, channel_index: int, vcc_list: List["VectorChannelConfig"] + ) -> "VectorBusParams": for vcc in vcc_list: - if vcc.channel_mask == channel_mask: + if vcc.channel_index == channel_index: bus_params = vcc.bus_params if bus_params is None: # for CAN channels, this should never be `None` raise ValueError("Invalid bus parameters.") return bus_params + channel = self.index_to_channel[channel_index] raise CanInitializationError( f"Channel configuration for channel {channel} not found." ) - def _set_bitrate(self, channel: int, bitrate: int) -> None: - # set parameters if channel has init access - if self._has_init_access(channel): + def _set_bitrate(self, channel_mask: int, bitrate: int) -> None: + # set parameters for channels with init access + channel_mask = channel_mask & self.permission_mask + if channel_mask: self.xldriver.xlCanSetChannelBitrate( self.port_handle, - self.channel_masks[channel], + channel_mask, bitrate, ) LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate) - if not self.__testing: - self._check_can_settings( - channel=channel, - bitrate=bitrate, - ) - - def _set_bit_timing(self, channel: int, timing: BitTiming) -> None: - # set parameters if channel has init access - if self._has_init_access(channel): + def _set_bit_timing(self, channel_mask: int, timing: BitTiming) -> None: + # set parameters for channels with init access + channel_mask = channel_mask & self.permission_mask + if channel_mask: if timing.f_clock == 8_000_000: self.xldriver.xlCanSetChannelParamsC200( self.port_handle, - self.channel_masks[channel], + channel_mask, timing.btr0, timing.btr1, ) @@ -461,7 +481,7 @@ def _set_bit_timing(self, channel: int, timing: BitTiming) -> None: chip_params.sam = timing.nof_samples self.xldriver.xlCanSetChannelParams( self.port_handle, - self.channel_masks[channel], + channel_mask, chip_params, ) LOG.info( @@ -476,20 +496,14 @@ def _set_bit_timing(self, channel: int, timing: BitTiming) -> None: f"timing.f_clock must be 8_000_000 or 16_000_000 (is {timing.f_clock})" ) - if not self.__testing: - self._check_can_settings( - channel=channel, - bitrate=timing.bitrate, - sample_point=timing.sample_point, - ) - def _set_bit_timing_fd( self, - channel: int, + channel_mask: int, timing: BitTimingFd, ) -> None: - # set parameters if channel has init access - if self._has_init_access(channel): + # set parameters for channels with init access + channel_mask = channel_mask & self.permission_mask + if channel_mask: canfd_conf = xlclass.XLcanFdConf() canfd_conf.arbitrationBitRate = timing.nom_bitrate canfd_conf.sjwAbr = timing.nom_sjw @@ -500,7 +514,7 @@ def _set_bit_timing_fd( canfd_conf.tseg1Dbr = timing.data_tseg1 canfd_conf.tseg2Dbr = timing.data_tseg2 self.xldriver.xlCanFdSetConfiguration( - self.port_handle, self.channel_masks[channel], canfd_conf + self.port_handle, channel_mask, canfd_conf ) LOG.info( "xlCanFdSetConfiguration.: ABaudr.=%u, DBaudr.=%u", @@ -520,19 +534,9 @@ def _set_bit_timing_fd( canfd_conf.tseg2Dbr, ) - if not self.__testing: - self._check_can_settings( - channel=channel, - bitrate=timing.nom_bitrate, - sample_point=timing.nom_sample_point, - fd=True, - data_bitrate=timing.data_bitrate, - data_sample_point=timing.data_sample_point, - ) - def _check_can_settings( self, - channel: int, + channel_mask: int, bitrate: int, sample_point: Optional[float] = None, fd: bool = False, @@ -540,83 +544,90 @@ def _check_can_settings( data_sample_point: Optional[float] = None, ) -> None: """Compare requested CAN settings to active settings in driver.""" - bus_params = self._read_bus_params(channel) - # use canfd even if fd==False, bus_params.can and bus_params.canfd are a C union - bus_params_data = bus_params.canfd - settings_acceptable = True - - # check bus type - settings_acceptable &= ( - bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN - ) - - # check CAN operation mode - # skip the check if can_op_mode is 0 - # as it happens for cancaseXL, VN7600 and sometimes on other hardware (VN1640) - if bus_params_data.can_op_mode: - if fd: - settings_acceptable &= bool( - bus_params_data.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD - ) - else: - settings_acceptable &= bool( - bus_params_data.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 - ) - - # check bitrates - if bitrate: - settings_acceptable &= ( - abs(bus_params_data.bitrate - bitrate) < bitrate / 256 - ) - if fd and data_bitrate: - settings_acceptable &= ( - abs(bus_params_data.data_bitrate - data_bitrate) < data_bitrate / 256 + vcc_list = get_channel_configs() + for channel_index in _iterate_channel_index(channel_mask): + bus_params = self._read_bus_params( + channel_index=channel_index, vcc_list=vcc_list ) + # use bus_params.canfd even if fd==False, bus_params.can and bus_params.canfd are a C union + bus_params_data = bus_params.canfd + settings_acceptable = True - # check sample points - if sample_point: - nom_sample_point_act = ( - 100 - * (1 + bus_params_data.tseg1_abr) - / (1 + bus_params_data.tseg1_abr + bus_params_data.tseg2_abr) - ) + # check bus type settings_acceptable &= ( - abs(nom_sample_point_act - sample_point) < 2.0 # 2 percent tolerance - ) - if fd and data_sample_point: - data_sample_point_act = ( - 100 - * (1 + bus_params_data.tseg1_dbr) - / (1 + bus_params_data.tseg1_dbr + bus_params_data.tseg2_dbr) - ) - settings_acceptable &= ( - abs(data_sample_point_act - data_sample_point) - < 2.0 # 2 percent tolerance + bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN ) - if not settings_acceptable: - # The error message depends on the currently active CAN settings. - # If the active operation mode is CAN FD, show the active CAN FD timings, - # otherwise show CAN 2.0 timings. - if bool( - bus_params_data.can_op_mode - & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD - ): - active_settings = bus_params.canfd._asdict() - active_settings["can_op_mode"] = "CAN FD" - else: - active_settings = bus_params.can._asdict() - active_settings["can_op_mode"] = "CAN 2.0" - settings_string = ", ".join( - [f"{key}: {val}" for key, val in active_settings.items()] - ) - raise CanInitializationError( - f"The requested settings could not be set for channel {channel}. " - f"Another application might have set incompatible settings. " - f"These are the currently active settings: {settings_string}." - ) + # check CAN operation mode + # skip the check if can_op_mode is 0 + # as it happens for cancaseXL, VN7600 and sometimes on other hardware (VN1640) + if bus_params_data.can_op_mode: + if fd: + settings_acceptable &= bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ) + else: + settings_acceptable &= bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20 + ) + + # check bitrates + if bitrate: + settings_acceptable &= ( + abs(bus_params_data.bitrate - bitrate) < bitrate / 256 + ) + if fd and data_bitrate: + settings_acceptable &= ( + abs(bus_params_data.data_bitrate - data_bitrate) + < data_bitrate / 256 + ) + + # check sample points + if sample_point: + nom_sample_point_act = ( + 100 + * (1 + bus_params_data.tseg1_abr) + / (1 + bus_params_data.tseg1_abr + bus_params_data.tseg2_abr) + ) + settings_acceptable &= ( + abs(nom_sample_point_act - sample_point) + < 2.0 # 2 percent tolerance + ) + if fd and data_sample_point: + data_sample_point_act = ( + 100 + * (1 + bus_params_data.tseg1_dbr) + / (1 + bus_params_data.tseg1_dbr + bus_params_data.tseg2_dbr) + ) + settings_acceptable &= ( + abs(data_sample_point_act - data_sample_point) + < 2.0 # 2 percent tolerance + ) + + if not settings_acceptable: + # The error message depends on the currently active CAN settings. + # If the active operation mode is CAN FD, show the active CAN FD timings, + # otherwise show CAN 2.0 timings. + if bool( + bus_params_data.can_op_mode + & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD + ): + active_settings = bus_params.canfd._asdict() + active_settings["can_op_mode"] = "CAN FD" + else: + active_settings = bus_params.can._asdict() + active_settings["can_op_mode"] = "CAN 2.0" + settings_string = ", ".join( + [f"{key}: {val}" for key, val in active_settings.items()] + ) + channel = self.index_to_channel[channel_index] + raise CanInitializationError( + f"The requested settings could not be set for channel {channel}. " + f"Another application might have set incompatible settings. " + f"These are the currently active settings: {settings_string}." + ) def _apply_filters(self, filters: Optional[CanFilters]) -> None: if filters: @@ -1239,3 +1250,10 @@ def _hw_type(hw_type: int) -> Union[int, xldefine.XL_HardwareType]: except ValueError: LOG.warning(f'Unknown XL_HardwareType value "{hw_type}"') return hw_type + + +def _iterate_channel_index(channel_mask: int) -> Iterator[int]: + """Iterate over channel indexes in channel mask.""" + for channel_index, bit in enumerate(reversed(bin(channel_mask)[2:])): + if bit == "1": + yield channel_index diff --git a/test/test_vector.py b/test/test_vector.py index 16a79c6d1..99756c41d 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -134,6 +134,32 @@ def test_bus_creation_channel_index() -> None: bus.shutdown() +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_bus_creation_multiple_channels() -> None: + bus = can.Bus( + channel="0, 1", + bitrate=1_000_000, + serial=_find_virtual_can_serial(), + interface="vector", + ) + assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + assert len(bus.channels) == 2 + assert bus.mask == 3 + + xl_channel_config_0 = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=0 + ) + assert xl_channel_config_0.busParams.data.can.bitRate == 1_000_000 + + xl_channel_config_1 = _find_xl_channel_config( + serial=_find_virtual_can_serial(), channel=1 + ) + assert xl_channel_config_1.busParams.data.can.bitRate == 1_000_000 + + bus.shutdown() + + def test_bus_creation_bitrate_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", bitrate=200_000, _testing=True) assert isinstance(bus, canlib.VectorBus) @@ -836,6 +862,12 @@ def test_vector_subtype_error_from_generic() -> None: raise specific +def test_iterate_channel_index() -> None: + channel_mask = 0x23 # 100011 + channels = list(canlib._iterate_channel_index(channel_mask)) + assert channels == [0, 1, 5] + + @pytest.mark.skipif( sys.byteorder != "little", reason="Test relies on little endian data." ) From ffb14a3915a3b8e72742f4465888d0051e6ca07f Mon Sep 17 00:00:00 2001 From: Atabey <55498083+1atabey1@users.noreply.github.com> Date: Tue, 12 Mar 2024 18:36:44 +0100 Subject: [PATCH 324/475] Add trc 1.3 read support (#1753) --- can/io/trc.py | 30 ++++++++++++++++++++++++++++ test/data/test_CanMessage_V1_3.trc | 32 ++++++++++++++++++++++++++++++ test/logformats_test.py | 1 + 3 files changed, 63 insertions(+) create mode 100644 test/data/test_CanMessage_V1_3.trc diff --git a/can/io/trc.py b/can/io/trc.py index a498da992..f568f93a5 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -76,6 +76,8 @@ def _extract_header(self): file_version = line.split("=")[1] if file_version == "1.1": self.file_version = TRCFileVersion.V1_1 + elif file_version == "1.3": + self.file_version = TRCFileVersion.V1_3 elif file_version == "2.0": self.file_version = TRCFileVersion.V2_0 elif file_version == "2.1": @@ -121,6 +123,8 @@ def _extract_header(self): self._parse_cols = self._parse_msg_v1_0 elif self.file_version == TRCFileVersion.V1_1: self._parse_cols = self._parse_cols_v1_1 + elif self.file_version == TRCFileVersion.V1_3: + self._parse_cols = self._parse_cols_v1_3 elif self.file_version in [TRCFileVersion.V2_0, TRCFileVersion.V2_1]: self._parse_cols = self._parse_cols_v2_x else: @@ -161,6 +165,24 @@ def _parse_msg_v1_1(self, cols: List[str]) -> Optional[Message]: msg.is_rx = cols[2] == "Rx" return msg + def _parse_msg_v1_3(self, cols: List[str]) -> Optional[Message]: + arbit_id = cols[4] + + msg = Message() + if isinstance(self.start_time, datetime): + msg.timestamp = ( + self.start_time + timedelta(milliseconds=float(cols[1])) + ).timestamp() + else: + msg.timestamp = float(cols[1]) / 1000 + msg.arbitration_id = int(arbit_id, 16) + msg.is_extended_id = len(arbit_id) > 4 + msg.channel = int(cols[2]) + msg.dlc = int(cols[6]) + msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)]) + msg.is_rx = cols[3] == "Rx" + return msg + def _parse_msg_v2_x(self, cols: List[str]) -> Optional[Message]: type_ = cols[self.columns["T"]] bus = self.columns.get("B", None) @@ -203,6 +225,14 @@ def _parse_cols_v1_1(self, cols: List[str]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None + def _parse_cols_v1_3(self, cols: List[str]) -> Optional[Message]: + dtype = cols[3] + if dtype in ("Tx", "Rx"): + return self._parse_msg_v1_3(cols) + else: + logger.info("TRCReader: Unsupported type '%s'", dtype) + return None + def _parse_cols_v2_x(self, cols: List[str]) -> Optional[Message]: dtype = cols[self.columns["T"]] if dtype in ["DT", "FD", "FB"]: diff --git a/test/data/test_CanMessage_V1_3.trc b/test/data/test_CanMessage_V1_3.trc new file mode 100644 index 000000000..5b0bf060a --- /dev/null +++ b/test/data/test_CanMessage_V1_3.trc @@ -0,0 +1,32 @@ +;$FILEVERSION=1.3 +;$STARTTIME=44548.6028595139 +; +; C:\test.trc +; Start time: 18.12.2021 14:28:07.062.0 +; Generated by PCAN-Explorer v5.4.0 +;------------------------------------------------------------------------------- +; Bus Name Connection Protocol Bit rate +; 1 PCAN Untitled@pcan_usb CAN 500 kbit/s +; 2 PTCAN PCANLight_USB_16@pcan_usb CAN +;------------------------------------------------------------------------------- +; Message Number +; | Time Offset (ms) +; | | Bus +; | | | Type +; | | | | ID (hex) +; | | | | | Reserved +; | | | | | | Data Length Code +; | | | | | | | Data Bytes (hex) ... +; | | | | | | | | +; | | | | | | | | +;---+-- ------+------ +- --+-- ----+--- +- -+-- -+ -- -- -- -- -- -- -- + 1) 17535.4 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 2) 17700.3 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 3) 17873.8 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 4) 19295.4 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 5) 19500.6 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 6) 19705.2 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 7) 20592.7 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 8) 20798.6 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 9) 20956.0 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 10) 21097.1 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 diff --git a/test/logformats_test.py b/test/logformats_test.py index a7e75d7c8..71d392aa8 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -939,6 +939,7 @@ def test_can_message(self): [ ("V1_0", "test_CanMessage_V1_0_BUS1.trc", False), ("V1_1", "test_CanMessage_V1_1.trc", True), + ("V1_3", "test_CanMessage_V1_3.trc", True), ("V2_1", "test_CanMessage_V2_1.trc", True), ] ) From 71f54cc609db85a4468a94f5f74b1fc9427704e9 Mon Sep 17 00:00:00 2001 From: Jack Cook Date: Fri, 15 Mar 2024 13:34:51 -0500 Subject: [PATCH 325/475] Update Neousys available configs detection (#1744) The modification ensures that the Neousys interface's method '_detect_available_configs' function checks if NEOUSYS_CANLIB is None. If it's None, no configuration is returned, and if it's not, the usual configuration with the interface as 'neousys' and channel as 0 is returned. This provides an additional layer of error handling. --- can/interfaces/neousys/neousys.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/can/interfaces/neousys/neousys.py b/can/interfaces/neousys/neousys.py index b7dd2117c..cb9d0174d 100644 --- a/can/interfaces/neousys/neousys.py +++ b/can/interfaces/neousys/neousys.py @@ -239,5 +239,8 @@ def shutdown(self): @staticmethod def _detect_available_configs(): - # There is only one channel - return [{"interface": "neousys", "channel": 0}] + if NEOUSYS_CANLIB is None: + return [] + else: + # There is only one channel + return [{"interface": "neousys", "channel": 0}] From 4a41409de8e1eefaa1aa003da7e4f84f018c6791 Mon Sep 17 00:00:00 2001 From: Duncan Bristow <154448426+dbristow-otc@users.noreply.github.com> Date: Fri, 15 Mar 2024 12:42:00 -0600 Subject: [PATCH 326/475] Add ability to pass explicit dlc value to send() using the SYSTEC interface (#1756) * Add ability to pass explicit dlc value to SYSTEC interface when sending a message (closes #1755) * run linter --- can/interfaces/systec/structures.py | 7 +++++-- can/interfaces/systec/ucanbus.py | 1 + 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/can/interfaces/systec/structures.py b/can/interfaces/systec/structures.py index 9acc34c2c..c80f21d44 100644 --- a/can/interfaces/systec/structures.py +++ b/can/interfaces/systec/structures.py @@ -52,9 +52,12 @@ class CanMsg(Structure): ), # Receive time stamp in ms (for transmit messages no meaning) ] - def __init__(self, id_=0, frame_format=MsgFrameFormat.MSG_FF_STD, data=None): + def __init__( + self, id_=0, frame_format=MsgFrameFormat.MSG_FF_STD, data=None, dlc=None + ): data = [] if data is None else data - super().__init__(id_, frame_format, len(data), (BYTE * 8)(*data), 0) + dlc = len(data) if dlc is None else dlc + super().__init__(id_, frame_format, dlc, (BYTE * 8)(*data), 0) def __eq__(self, other): if not isinstance(other, CanMsg): diff --git a/can/interfaces/systec/ucanbus.py b/can/interfaces/systec/ucanbus.py index cb0dcc39e..3dff7fda5 100644 --- a/can/interfaces/systec/ucanbus.py +++ b/can/interfaces/systec/ucanbus.py @@ -207,6 +207,7 @@ def send(self, msg, timeout=None): | (MsgFrameFormat.MSG_FF_EXT if msg.is_extended_id else 0) | (MsgFrameFormat.MSG_FF_RTR if msg.is_remote_frame else 0), msg.data, + msg.dlc, ) self._ucan.write_can_msg(self.channel, [message]) except UcanException as exception: From 7dba4490c6c61385dc8cbe917e85492b4777b8f6 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Wed, 17 Apr 2024 09:37:03 -0400 Subject: [PATCH 327/475] Raising CanOperationError if the bus is not open on some methods call (#1765) --- can/interfaces/ics_neovi/neovi_bus.py | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 66e109c97..7863fcb65 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -8,6 +8,7 @@ * https://github.com/intrepidcs/python_ics """ +import functools import logging import os import tempfile @@ -129,6 +130,27 @@ class ICSOperationError(ICSApiError, CanOperationError): pass +def check_if_bus_open(func): + """ + Decorator that checks if the bus is open before executing the function. + + If the bus is not open, it raises a CanOperationError. + """ + + @functools.wraps(func) + def wrapper(self, *args, **kwargs): + """ + Wrapper function that checks if the bus is open before executing the function. + + :raises CanOperationError: If the bus is not open. + """ + if self._is_shutdown: + raise CanOperationError("Cannot operate on a closed bus") + return func(self, *args, **kwargs) + + return wrapper + + class NeoViBus(BusABC): """ The CAN Bus implemented for the python_ics interface @@ -312,6 +334,7 @@ def _find_device(self, type_filter=None, serial=None): msg.append("found.") raise CanInitializationError(" ".join(msg)) + @check_if_bus_open def _process_msg_queue(self, timeout=0.1): try: messages, errors = ics.get_messages(self.dev, False, timeout) @@ -409,6 +432,7 @@ def _recv_internal(self, timeout=0.1): return None, False return msg, False + @check_if_bus_open def send(self, msg, timeout=0): """Transmit a message to the CAN bus. From 6e7a684132ec6040017014164ef49be3c8af0ba8 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 24 Apr 2024 15:08:43 +0200 Subject: [PATCH 328/475] fix MacOS CI (#1772) --- .github/workflows/ci.yml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 639465176..e70f0f8cf 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -26,6 +26,14 @@ jobs: "pypy-3.8", "pypy-3.9", ] + # Python 3.9 is on macos-13 but not macos-latest (macos-14-arm64) + # https://github.com/actions/setup-python/issues/696#issuecomment-1637587760 + exclude: + - { python-version: "3.8", os: "macos-latest", experimental: false } + - { python-version: "3.9", os: "macos-latest", experimental: false } + include: + - { python-version: "3.8", os: "macos-13", experimental: false } + - { python-version: "3.9", os: "macos-13", experimental: false } # uncomment when python 3.13.0 alpha is available #include: # # Only test on a single configuration while there are just pre-releases From ed98a0febbb31628c94d1fea242cc0bd3943ed2c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 24 Apr 2024 17:05:08 +0200 Subject: [PATCH 329/475] skip test_send_periodic_duration() in CI (#1773) --- test/back2back_test.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/back2back_test.py b/test/back2back_test.py index 8269a73a5..90cf8a9bf 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -273,7 +273,7 @@ def test_sub_second_timestamp_resolution(self): self.bus2.recv(0) self.bus2.recv(0) - @unittest.skipIf(IS_PYPY, "fails randomly when run on CI server") + @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_send_periodic_duration(self): """ Verify that send_periodic only transmits for the specified duration. From 32c7640d25910aa3cf77e71aa2ac44eb78d68945 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Colomb?= Date: Mon, 29 Apr 2024 11:51:36 +0200 Subject: [PATCH 330/475] Invert default value logic for BusABC._is_shutdown. (#1774) The destructor of BusABC gives a warning when shutdown() was not previously called on the object after construction. However, if the construction fails (e.g. when the derived bus class constructor raises an exception), there is no way to call shutdown() on the unfinished object, and it is not necessary either. Initialize the _is_shutdown flag to False initially and flip it to True only when the parent class constructor runs, which usually happens last in derived classes. That avoids the shutdown warning for objects that failed to initialize at all. --- can/bus.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/can/bus.py b/can/bus.py index c3a906757..0b5c9e762 100644 --- a/can/bus.py +++ b/can/bus.py @@ -65,7 +65,8 @@ class BusABC(metaclass=ABCMeta): #: Log level for received messages RECV_LOGGING_LEVEL = 9 - _is_shutdown: bool = False + #: Assume that no cleanup is needed until something was initialized + _is_shutdown: bool = True _can_protocol: CanProtocol = CanProtocol.CAN_20 @abstractmethod @@ -97,6 +98,10 @@ def __init__( """ self._periodic_tasks: List[_SelfRemovingCyclicTask] = [] self.set_filters(can_filters) + # Flip the class default value when the constructor finishes. That + # usually means the derived class constructor was also successful, + # since it calls this parent constructor last. + self._is_shutdown: bool = False def __str__(self) -> str: return self.channel_info From 7203b65673675f4220bcfd9dec58b6c5b6cfacd2 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 09:01:53 +1300 Subject: [PATCH 331/475] =?UTF-8?q?=F0=9F=94=A7=20Update=20CI?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - update upload/download workflow actions - use OIDC credentials to release to PyPI --- .github/workflows/ci.yml | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e70f0f8cf..e1d26c7c6 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -155,7 +155,7 @@ jobs: - name: Run doctest run: | python -m sphinx -b doctest -W --keep-going doc build - - uses: actions/upload-artifact@v3 + - uses: actions/upload-artifact@v4 with: name: sphinx-out path: ./build/ @@ -174,9 +174,9 @@ jobs: - name: Check build artifacts run: pipx run twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v4 with: - name: python-can-dist + name: "${{ matrix.os }}-${{ matrix.python-version }}" path: ./dist upload_pypi: @@ -186,12 +186,9 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@v3 + - uses: actions/download-artifact@v4 with: - name: python-can-dist path: dist + merge-multiple: true - - uses: pypa/gh-action-pypi-publish@v1.4.2 - with: - user: __token__ - password: ${{ secrets.PYPI_API_TOKEN }} + - uses: pypa/gh-action-pypi-publish@release/v1 From db1d16ad4647e238f0737c4eabb9b0eb886ce8ad Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 13:24:15 +1300 Subject: [PATCH 332/475] Draft release notes for v4.3.2 --- CHANGELOG.md | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 8798c19c7..548f14f0a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,35 @@ +Version 4.3.2 +============= + +Features +-------- + +* TRC 1.3 Support: Added support for .trc log files as generated by PCAN Explorer v5 and other tools, expanding compatibility with common log file formats (#1753). +* ASCReader Performance: Significantly improved the read performance of ASCReader, optimizing log file processing and analysis (#1717). +* SYSTEC Interface Enhancements: Added the ability to pass an explicit DLC value to the send() method when using the SYSTEC interface, enhancing flexibility for message definitions (#1756). +* Socketcand Beacon Detection: Introduced a feature for detecting socketcand beacons, facilitating easier connection and configuration with socketcand servers (#1687). +* PCAN Driver Echo Frames: Enabled echo frames in the PCAN driver when receive_own_messages is set, improving feedback for message transmissions (#1723). +* CAN FD Bus Connection: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (#1716). +* Neousys Configs Detection: Updated the detection mechanism for available Neousys configurations, ensuring more accurate and comprehensive configuration discovery (#1744). + + +Bug Fixes +--------- + +* Send Periodic Messages: Fixed an issue where fixed-duration periodic messages were sent one extra time beyond their intended count (#1713). +* Vector Interface on Windows 11: Addressed compatibility issues with the Vector interface on Windows 11, ensuring stable operation across the latest OS version (#1731). +* ASCWriter Millisecond Handling: Corrected the handling of milliseconds in ASCWriter, ensuring accurate time representation in log files (#1734). +* Various minor bug fixes: Addressed several minor bugs to improve overall stability and performance. + +Miscellaneous +------------- + +* Implemented various logging enhancements to provide more detailed and useful operational insights (#1703). +* Updated CI to use OIDC for connecting GitHub Actions to PyPi, improving security and access control for CI workflows. + +The release also includes various other minor enhancements and bug fixes aimed at improving the reliability and performance of the software. + + Version 4.3.1 ============= From f97ab8469ed7bacf44b4401ae6377c7f60661afc Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 13:27:30 +1300 Subject: [PATCH 333/475] Set version to 4.3.2-rc.1 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index 9b6a26f58..454947192 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.1" +__version__ = "4.3.2-rc.1" __all__ = [ "ASCReader", "ASCWriter", From 651fe17f38af10e3973f0987518e53fc85797ee6 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 13:57:36 +1300 Subject: [PATCH 334/475] Fix CI - Add id-token permission to upload_pypi job --- .github/workflows/ci.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e1d26c7c6..12e7b6f27 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -180,8 +180,10 @@ jobs: path: ./dist upload_pypi: - needs: [build] + needs: [build, test] runs-on: ubuntu-latest + permissions: + id-token: write # upload to PyPI only on release if: github.event.release && github.event.action == 'published' From 28e9061fb6fa78a905214f6af2f9fc68b1716c40 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 14:30:53 +1300 Subject: [PATCH 335/475] 4.3.2-rc.2 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index 454947192..4fc703c72 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.2-rc.1" +__version__ = "4.3.2-rc.2" __all__ = [ "ASCReader", "ASCWriter", From c02a665bba7f864ed5a4f177a21f4bc24ab1cc77 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 14:54:05 +1300 Subject: [PATCH 336/475] Allow release without tests --- .github/workflows/ci.yml | 2 +- can/__init__.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 12e7b6f27..7cf76e934 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -180,7 +180,7 @@ jobs: path: ./dist upload_pypi: - needs: [build, test] + needs: [build] runs-on: ubuntu-latest permissions: id-token: write diff --git a/can/__init__.py b/can/__init__.py index 4fc703c72..42cf2bc5d 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.2-rc.2" +__version__ = "4.3.2-rc.3" __all__ = [ "ASCReader", "ASCWriter", From c1b1152edeba7158dce6aef6b43bb6584727bb0b Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sun, 17 Mar 2024 18:56:50 +1300 Subject: [PATCH 337/475] Update CI.yml workflow --- .github/workflows/ci.yml | 24 +++++++++++------------- can/__init__.py | 2 +- 2 files changed, 12 insertions(+), 14 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 7cf76e934..5c06ee94f 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -42,9 +42,9 @@ jobs: # python-version: "3.13.0-alpha - 3.13.0" fail-fast: false steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v4 + uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - name: Install dependencies @@ -139,9 +139,9 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Set up Python - uses: actions/setup-python@v4 + uses: actions/setup-python@v5 with: python-version: "3.10" - name: Install dependencies @@ -155,18 +155,14 @@ jobs: - name: Run doctest run: | python -m sphinx -b doctest -W --keep-going doc build - - uses: actions/upload-artifact@v4 - with: - name: sphinx-out - path: ./build/ - retention-days: 5 build: + name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Set up Python - uses: actions/setup-python@v4 + uses: actions/setup-python@v5 with: python-version: "3.10" - name: Build wheel and sdist @@ -176,11 +172,12 @@ jobs: - name: Save artifacts uses: actions/upload-artifact@v4 with: - name: "${{ matrix.os }}-${{ matrix.python-version }}" + name: release path: ./dist upload_pypi: needs: [build] + name: Release to PyPi runs-on: ubuntu-latest permissions: id-token: write @@ -193,4 +190,5 @@ jobs: path: dist merge-multiple: true - - uses: pypa/gh-action-pypi-publish@release/v1 + - name: Publish release distributions to PyPI + uses: pypa/gh-action-pypi-publish@release/v1 diff --git a/can/__init__.py b/can/__init__.py index 42cf2bc5d..44c6032f9 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.2-rc.3" +__version__ = "4.3.2-rc.4" __all__ = [ "ASCReader", "ASCWriter", From 9c50c89e52a9d71850f70df3325d392ca79b822a Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Thu, 6 Jun 2024 19:51:01 +1200 Subject: [PATCH 338/475] Update changelog for v4.4.0 --- CHANGELOG.md | 10 ++++++---- can/__init__.py | 2 +- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 548f14f0a..404b68c3e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,15 +1,15 @@ -Version 4.3.2 +Version 4.4.0 ============= Features -------- * TRC 1.3 Support: Added support for .trc log files as generated by PCAN Explorer v5 and other tools, expanding compatibility with common log file formats (#1753). -* ASCReader Performance: Significantly improved the read performance of ASCReader, optimizing log file processing and analysis (#1717). +* ASCReader refactor: improved the ASCReader code (#1717). * SYSTEC Interface Enhancements: Added the ability to pass an explicit DLC value to the send() method when using the SYSTEC interface, enhancing flexibility for message definitions (#1756). * Socketcand Beacon Detection: Introduced a feature for detecting socketcand beacons, facilitating easier connection and configuration with socketcand servers (#1687). * PCAN Driver Echo Frames: Enabled echo frames in the PCAN driver when receive_own_messages is set, improving feedback for message transmissions (#1723). -* CAN FD Bus Connection: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (#1716). +* CAN FD Bus Connection for VectorBus: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (#1716). * Neousys Configs Detection: Updated the detection mechanism for available Neousys configurations, ensuring more accurate and comprehensive configuration discovery (#1744). @@ -24,9 +24,11 @@ Bug Fixes Miscellaneous ------------- +* Invert default value logic for BusABC._is_shutdown. (#1774) * Implemented various logging enhancements to provide more detailed and useful operational insights (#1703). * Updated CI to use OIDC for connecting GitHub Actions to PyPi, improving security and access control for CI workflows. - +* Fix CI to work for MacOS (#1772). +* The release also includes various other minor enhancements and bug fixes aimed at improving the reliability and performance of the software. diff --git a/can/__init__.py b/can/__init__.py index 44c6032f9..d504aa16b 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.3.2-rc.4" +__version__ = "4.4.0-rc.1" __all__ = [ "ASCReader", "ASCWriter", From c8202f6a478013102c21ce1d1abd31cdfa38aea4 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Thu, 6 Jun 2024 20:14:57 +1200 Subject: [PATCH 339/475] Update release docs --- .github/workflows/ci.yml | 1 + can/__init__.py | 2 +- doc/development.rst | 14 ++++++++++---- 3 files changed, 12 insertions(+), 5 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5c06ee94f..742ccca03 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -181,6 +181,7 @@ jobs: runs-on: ubuntu-latest permissions: id-token: write + attestations: write # upload to PyPI only on release if: github.event.release && github.event.action == 'published' diff --git a/can/__init__.py b/can/__init__.py index d504aa16b..86e0f8a6c 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.4.0-rc.1" +__version__ = "4.4.0-rc.2" __all__ = [ "ASCReader", "ASCWriter", diff --git a/doc/development.rst b/doc/development.rst index ec7b7dc24..f635ffc06 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -117,13 +117,19 @@ Creating a new Release - Update ``CONTRIBUTORS.txt`` with any new contributors. - For larger changes update ``doc/history.rst``. - Sanity check that documentation has stayed inline with code. -- Create a temporary virtual environment. Run ``python setup.py install`` and ``tox``. -- Create and upload the distribution: ``python setup.py sdist bdist_wheel``. -- Sign the packages with gpg ``gpg --detach-sign -a dist/python_can-X.Y.Z-py3-none-any.whl``. -- Upload with twine ``twine upload dist/python-can-X.Y.Z*``. - In a new virtual env check that the package can be installed with pip: ``pip install python-can==X.Y.Z``. - Create a new tag in the repository. - Check the release on `PyPi `__, `Read the Docs `__ and `GitHub `__. + + +Manual release steps (deprecated) +--------------------------------- + +- Create a temporary virtual environment. +- Build with ``pipx run build`` +- Create and upload the distribution: ``python setup.py sdist bdist_wheel``. +- Sign the packages with gpg ``gpg --detach-sign -a dist/python_can-X.Y.Z-py3-none-any.whl``. +- Upload with twine ``twine upload dist/python-can-X.Y.Z*``. From 26a3f4bd4890436c5329d9fbd68c865e393bc821 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sat, 8 Jun 2024 08:18:00 +1200 Subject: [PATCH 340/475] Set version to 4.4.0 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index 86e0f8a6c..d0c19f89b 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.4.0-rc.2" +__version__ = "4.4.0" __all__ = [ "ASCReader", "ASCWriter", From 034b400cd41588a154d7b69468ed43a74b5d9c4a Mon Sep 17 00:00:00 2001 From: Tian-Jionglu Date: Fri, 7 Jun 2024 13:20:03 +0800 Subject: [PATCH 341/475] doc update update installation doc since `setup.py` method removed. --- doc/installation.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/installation.rst b/doc/installation.rst index 6b2a2cfb2..ff72ae21b 100644 --- a/doc/installation.rst +++ b/doc/installation.rst @@ -131,5 +131,7 @@ reinstall. Download or clone the source repository then: :: - python setup.py develop + # install in editable mode + cd + python3 -m pip install -e . From fc6ff2235b240117ab1e4ae585f007578e21e57e Mon Sep 17 00:00:00 2001 From: Caleb Perkinson <60443297+cperkulator@users.noreply.github.com> Date: Fri, 7 Jun 2024 16:28:34 -0500 Subject: [PATCH 342/475] add silent mode support for vector (#1764) * add silent mode support for vector * fix: address comments and test works as expected * formatting --- can/interfaces/vector/canlib.py | 40 +++++++++++++++++++++++++++++---- test/test_vector.py | 39 ++++++++++++++++++++++++++++++++ 2 files changed, 75 insertions(+), 4 deletions(-) diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 3a25c99d8..adf7b6c5d 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -104,6 +104,7 @@ def __init__( sjw_dbr: int = 2, tseg1_dbr: int = 6, tseg2_dbr: int = 3, + listen_only: Optional[bool] = False, **kwargs: Any, ) -> None: """ @@ -157,6 +158,8 @@ def __init__( Bus timing value tseg1 (data) :param tseg2_dbr: Bus timing value tseg2 (data) + :param listen_only: + if the bus should be set to listen only mode. :raise ~can.exceptions.CanInterfaceNotImplementedError: If the current operating system is not supported or the driver could not be loaded. @@ -205,6 +208,8 @@ def __init__( self.index_to_channel: Dict[int, int] = {} self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 + self._listen_only = listen_only + for channel in self.channels: if ( len(self.channels) == 1 @@ -232,7 +237,7 @@ def __init__( permission_mask = xlclass.XLaccess() # Set mask to request channel init permission if needed - if bitrate or fd or timing: + if bitrate or fd or timing or self._listen_only: permission_mask.value = self.mask interface_version = ( @@ -311,6 +316,9 @@ def __init__( if assert_timing: self._check_can_settings(channel_mask=self.mask, bitrate=bitrate) + if self._listen_only: + self._set_output_mode(channel_mask=self.mask, listen_only=True) + # Enable/disable TX receipts tx_receipts = 1 if receive_own_messages else 0 self.xldriver.xlCanSetChannelMode(self.port_handle, self.mask, tx_receipts, 0) @@ -445,6 +453,28 @@ def _read_bus_params( f"Channel configuration for channel {channel} not found." ) + def _set_output_mode(self, channel_mask: int, listen_only: bool) -> None: + # set parameters for channels with init access + channel_mask = channel_mask & self.permission_mask + + if channel_mask: + if listen_only: + self.xldriver.xlCanSetChannelOutput( + self.port_handle, + channel_mask, + xldefine.XL_OutputMode.XL_OUTPUT_MODE_SILENT, + ) + else: + self.xldriver.xlCanSetChannelOutput( + self.port_handle, + channel_mask, + xldefine.XL_OutputMode.XL_OUTPUT_MODE_NORMAL, + ) + + LOG.info("xlCanSetChannelOutput: listen_only=%u", listen_only) + else: + LOG.warning("No channels with init access to set listen only mode") + def _set_bitrate(self, channel_mask: int, bitrate: int) -> None: # set parameters for channels with init access channel_mask = channel_mask & self.permission_mask @@ -643,9 +673,11 @@ def _apply_filters(self, filters: Optional[CanFilters]) -> None: self.mask, can_filter["can_id"], can_filter["can_mask"], - xldefine.XL_AcceptanceFilter.XL_CAN_EXT - if can_filter.get("extended") - else xldefine.XL_AcceptanceFilter.XL_CAN_STD, + ( + xldefine.XL_AcceptanceFilter.XL_CAN_EXT + if can_filter.get("extended") + else xldefine.XL_AcceptanceFilter.XL_CAN_STD + ), ) except VectorOperationError as exception: LOG.warning("Could not set filters: %s", exception) diff --git a/test/test_vector.py b/test/test_vector.py index 99756c41d..ca46526fb 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -48,6 +48,7 @@ def mock_xldriver() -> None: xldriver_mock.xlCanSetChannelAcceptance = Mock(return_value=0) xldriver_mock.xlCanSetChannelBitrate = Mock(return_value=0) xldriver_mock.xlSetNotification = Mock(side_effect=xlSetNotification) + xldriver_mock.xlCanSetChannelOutput = Mock(return_value=0) # bus deactivation functions xldriver_mock.xlDeactivateChannel = Mock(return_value=0) @@ -78,6 +79,44 @@ def mock_xldriver() -> None: canlib.HAS_EVENTS = real_has_events +def test_listen_only_mocked(mock_xldriver) -> None: + bus = can.Bus(channel=0, interface="vector", listen_only=True, _testing=True) + assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + + can.interfaces.vector.canlib.xldriver.xlCanSetChannelOutput.assert_called() + xlCanSetChannelOutput_args = ( + can.interfaces.vector.canlib.xldriver.xlCanSetChannelOutput.call_args[0] + ) + assert xlCanSetChannelOutput_args[2] == xldefine.XL_OutputMode.XL_OUTPUT_MODE_SILENT + + +@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable") +def test_listen_only() -> None: + bus = can.Bus( + channel=0, + serial=_find_virtual_can_serial(), + interface="vector", + receive_own_messages=True, + listen_only=True, + ) + assert isinstance(bus, canlib.VectorBus) + assert bus.protocol == can.CanProtocol.CAN_20 + + msg = can.Message( + arbitration_id=0xC0FFEF, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=True + ) + + bus.send(msg) + + received_msg = bus.recv() + + assert received_msg.arbitration_id == msg.arbitration_id + assert received_msg.data == msg.data + + bus.shutdown() + + def test_bus_creation_mocked(mock_xldriver) -> None: bus = can.Bus(channel=0, interface="vector", _testing=True) assert isinstance(bus, canlib.VectorBus) From 96754c1025bd1011d8957cd111ca38dd41414a70 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Mon, 10 Jun 2024 13:35:38 -0400 Subject: [PATCH 343/475] Return timestamps relative to epoch in neovi interface (#1789) --- can/interfaces/ics_neovi/neovi_bus.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py index 7863fcb65..815ed6fa0 100644 --- a/can/interfaces/ics_neovi/neovi_bus.py +++ b/can/interfaces/ics_neovi/neovi_bus.py @@ -13,6 +13,7 @@ import os import tempfile from collections import Counter, defaultdict, deque +from datetime import datetime from functools import partial from itertools import cycle from threading import Event @@ -68,6 +69,9 @@ def __exit__(self, exc_type, exc_val, exc_tb): open_lock = FileLock(os.path.join(tempfile.gettempdir(), "neovi.lock")) description_id = cycle(range(1, 0x8000)) +ICS_EPOCH = datetime.fromisoformat("2007-01-01") +ICS_EPOCH_DELTA = (ICS_EPOCH - datetime.fromisoformat("1970-01-01")).total_seconds() + class ICSApiError(CanError): """ @@ -384,7 +388,7 @@ def _get_timestamp_for_msg(self, ics_msg): return ics_msg.TimeSystem else: # This is the hardware time stamp. - return ics.get_timestamp_for_msg(self.dev, ics_msg) + return ics.get_timestamp_for_msg(self.dev, ics_msg) + ICS_EPOCH_DELTA def _ics_msg_to_message(self, ics_msg): is_fd = ics_msg.Protocol == ics.SPY_PROTOCOL_CANFD From 1ce550c8bf75790eadf23eae4a197588d764fe4f Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 12 Jun 2024 23:17:26 +0200 Subject: [PATCH 344/475] Update linters and gh actions (#1794) * update black * update ruff * update mypy and pylint * make pylint happy * update actions --- .github/workflows/ci.yml | 12 ++++++------ can/ctypesutil.py | 1 + can/interfaces/ixxat/structures.py | 22 +++++++++++----------- can/interfaces/kvaser/canlib.py | 1 - can/interfaces/kvaser/structures.py | 17 +++++++---------- can/interfaces/pcan/pcan.py | 1 + can/interfaces/socketcan/socketcan.py | 13 +++++++------ can/interfaces/socketcand/socketcand.py | 1 + can/interfaces/systec/exceptions.py | 3 +-- can/interfaces/systec/ucanbus.py | 10 +++++----- can/io/asc.py | 1 + can/io/generic.py | 1 + can/io/mf4.py | 1 + can/io/player.py | 1 + can/listener.py | 2 +- can/notifier.py | 10 ++++++---- can/typechecking.py | 1 + can/util.py | 1 + pyproject.toml | 16 +++++++++------- test/test_rotating_loggers.py | 3 +-- 20 files changed, 63 insertions(+), 55 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 742ccca03..4afb4c1ca 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -64,7 +64,7 @@ jobs: # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.python-version, 'pypy' ) }}" - name: Coveralls Parallel - uses: coverallsapp/github-action@master + uses: coverallsapp/github-action@v2 with: github-token: ${{ secrets.github_token }} flag-name: Unittests-${{ matrix.os }}-${{ matrix.python-version }} @@ -76,7 +76,7 @@ jobs: runs-on: ubuntu-latest steps: - name: Coveralls Finished - uses: coverallsapp/github-action@master + uses: coverallsapp/github-action@v2 with: github-token: ${{ secrets.github_token }} parallel-finished: true @@ -84,9 +84,9 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Set up Python - uses: actions/setup-python@v4 + uses: actions/setup-python@v5 with: python-version: "3.10" - name: Install dependencies @@ -123,9 +123,9 @@ jobs: format: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 - name: Set up Python - uses: actions/setup-python@v4 + uses: actions/setup-python@v5 with: python-version: "3.10" - name: Install dependencies diff --git a/can/ctypesutil.py b/can/ctypesutil.py index fa59255d1..0336b03d3 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -1,6 +1,7 @@ """ This module contains common `ctypes` utils. """ + import ctypes import logging import sys diff --git a/can/interfaces/ixxat/structures.py b/can/interfaces/ixxat/structures.py index 419a52973..611955db7 100644 --- a/can/interfaces/ixxat/structures.py +++ b/can/interfaces/ixxat/structures.py @@ -51,17 +51,17 @@ class UniqueHardwareId(ctypes.Union): ] def __str__(self): - return "Mfg: {}, Dev: {} HW: {}.{}.{}.{} Drv: {}.{}.{}.{}".format( - self.Manufacturer, - self.Description, - self.HardwareBranchVersion, - self.HardwareMajorVersion, - self.HardwareMinorVersion, - self.HardwareBuildVersion, - self.DriverReleaseVersion, - self.DriverMajorVersion, - self.DriverMinorVersion, - self.DriverBuildVersion, + return ( + f"Mfg: {self.Manufacturer}, " + f"Dev: {self.Description} " + f"HW: {self.HardwareBranchVersion}" + f".{self.HardwareMajorVersion}" + f".{self.HardwareMinorVersion}" + f".{self.HardwareBuildVersion} " + f"Drv: {self.DriverReleaseVersion}" + f".{self.DriverMajorVersion}" + f".{self.DriverMinorVersion}" + f".{self.DriverBuildVersion}" ) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 4c621ecf4..ccc03a696 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -64,7 +64,6 @@ def __get_canlib_function(func_name, argtypes=None, restype=None, errcheck=None) class CANLIBError(CanError): - """ Try to display errors that occur within the wrapped C library nicely. """ diff --git a/can/interfaces/kvaser/structures.py b/can/interfaces/kvaser/structures.py index 996f16c37..0229cc10a 100644 --- a/can/interfaces/kvaser/structures.py +++ b/can/interfaces/kvaser/structures.py @@ -23,16 +23,13 @@ class BusStatistics(ctypes.Structure): def __str__(self): return ( - "std_data: {}, std_remote: {}, ext_data: {}, ext_remote: {}, " - "err_frame: {}, bus_load: {:.1f}%, overruns: {}" - ).format( - self.std_data, - self.std_remote, - self.ext_data, - self.ext_remote, - self.err_frame, - self.bus_load / 100.0, - self.overruns, + f"std_data: {self.std_data}, " + f"std_remote: {self.std_remote}, " + f"ext_data: {self.ext_data}, " + f"ext_remote: {self.ext_remote}, " + f"err_frame: {self.err_frame}, " + f"bus_load: {self.bus_load / 100.0:.1f}%, " + f"overruns: {self.overruns}" ) @property diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index b1b089690..52dbb49b0 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -1,6 +1,7 @@ """ Enable basic CAN over a PCAN USB device. """ + import logging import platform import time diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index cdf4afac6..79a46ab2c 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -41,6 +41,13 @@ log.error("socket.CMSG_SPACE not available on this platform") +# Constants needed for precise handling of timestamps +RECEIVED_TIMESTAMP_STRUCT = struct.Struct("@ll") +RECEIVED_ANCILLARY_BUFFER_SIZE = ( + CMSG_SPACE(RECEIVED_TIMESTAMP_STRUCT.size) if CMSG_SPACE_available else 0 +) + + # Setup BCM struct def bcm_header_factory( fields: List[Tuple[str, Union[Type[ctypes.c_uint32], Type[ctypes.c_long]]]], @@ -597,12 +604,6 @@ def capture_message( return msg -# Constants needed for precise handling of timestamps -if CMSG_SPACE_available: - RECEIVED_TIMESTAMP_STRUCT = struct.Struct("@ll") - RECEIVED_ANCILLARY_BUFFER_SIZE = CMSG_SPACE(RECEIVED_TIMESTAMP_STRUCT.size) - - class SocketcanBus(BusABC): # pylint: disable=abstract-method """A SocketCAN interface to CAN. diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index e852c5e14..2cfdf54e5 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -7,6 +7,7 @@ Copyright (C) 2021 DOMOLOGIC GmbH http://www.domologic.de """ + import logging import os import select diff --git a/can/interfaces/systec/exceptions.py b/can/interfaces/systec/exceptions.py index 9f7d4e2e5..dcd94bdbf 100644 --- a/can/interfaces/systec/exceptions.py +++ b/can/interfaces/systec/exceptions.py @@ -22,8 +22,7 @@ def __init__(self, result, func, arguments): @property @abstractmethod - def _error_message_mapping(self) -> Dict[ReturnCode, str]: - ... + def _error_message_mapping(self) -> Dict[ReturnCode, str]: ... class UcanError(UcanException): diff --git a/can/interfaces/systec/ucanbus.py b/can/interfaces/systec/ucanbus.py index 3dff7fda5..00f101e4e 100644 --- a/can/interfaces/systec/ucanbus.py +++ b/can/interfaces/systec/ucanbus.py @@ -143,11 +143,11 @@ def __init__(self, channel, can_filters=None, **kwargs): self._ucan.init_hardware(device_number=device_number) self._ucan.init_can(self.channel, **self._params) hw_info_ex, _, _ = self._ucan.get_hardware_info() - self.channel_info = "{}, S/N {}, CH {}, BTR {}".format( - self._ucan.get_product_code_message(hw_info_ex.product_code), - hw_info_ex.serial, - self.channel, - self._ucan.get_baudrate_message(self.BITRATES[bitrate]), + self.channel_info = ( + f"{self._ucan.get_product_code_message(hw_info_ex.product_code)}, " + f"S/N {hw_info_ex.serial}, " + f"CH {self.channel}, " + f"BTR {self._ucan.get_baudrate_message(self.BITRATES[bitrate])}" ) except UcanException as exception: raise CanInitializationError() from exception diff --git a/can/io/asc.py b/can/io/asc.py index ceffaf5cb..2955ad7f9 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -5,6 +5,7 @@ - https://bitbucket.org/tobylorenz/vector_asc/src/master/src/Vector/ASC/tests/unittests/data/ - under `test/data/logfile.asc` """ + import logging import re from datetime import datetime diff --git a/can/io/generic.py b/can/io/generic.py index 4d877865e..55468ff16 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -1,4 +1,5 @@ """Contains generic base classes for file IO.""" + import gzip import locale from abc import ABCMeta diff --git a/can/io/mf4.py b/can/io/mf4.py index 7ab6ba8a7..042bf8765 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -4,6 +4,7 @@ MF4 files represent Measurement Data Format (MDF) version 4 as specified by the ASAM MDF standard (see https://www.asam.net/standards/detail/mdf/) """ + import logging from datetime import datetime from hashlib import md5 diff --git a/can/io/player.py b/can/io/player.py index 4cbd7ce16..214112164 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -3,6 +3,7 @@ well as :class:`MessageSync` which plays back messages in the recorded order and time intervals. """ + import gzip import pathlib import time diff --git a/can/listener.py b/can/listener.py index ff3672913..e0024c683 100644 --- a/can/listener.py +++ b/can/listener.py @@ -136,7 +136,7 @@ class AsyncBufferedReader( """ def __init__(self, **kwargs: Any) -> None: - self.buffer: "asyncio.Queue[Message]" + self.buffer: asyncio.Queue[Message] if "loop" in kwargs: warnings.warn( diff --git a/can/notifier.py b/can/notifier.py index 1c8b77c5d..34fcf74fa 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -112,10 +112,12 @@ def _rx_thread(self, bus: BusABC) -> None: # determine message handling callable early, not inside while loop handle_message = cast( Callable[[Message], None], - self._on_message_received - if self._loop is None - else functools.partial( - self._loop.call_soon_threadsafe, self._on_message_received + ( + self._on_message_received + if self._loop is None + else functools.partial( + self._loop.call_soon_threadsafe, self._on_message_received + ) ), ) diff --git a/can/typechecking.py b/can/typechecking.py index 29c760d31..89f978a1a 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -1,5 +1,6 @@ """Types for mypy type-checking """ + import gzip import typing diff --git a/can/util.py b/can/util.py index c1eeca8b1..23ab142fb 100644 --- a/can/util.py +++ b/can/util.py @@ -1,6 +1,7 @@ """ Utilities and configuration file parsing. """ + import copy import functools import json diff --git a/pyproject.toml b/pyproject.toml index ad59469da..08b501c60 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -60,10 +60,10 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ - "pylint==3.0.*", - "ruff==0.1.13", - "black==23.12.*", - "mypy==1.8.*", + "pylint==3.2.*", + "ruff==0.4.8", + "black==24.4.*", + "mypy==1.10.*", ] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] @@ -128,6 +128,9 @@ exclude = [ ] [tool.ruff] +line-length = 100 + +[tool.ruff.lint] select = [ "A", # flake8-builtins "B", # flake8-bugbear @@ -149,9 +152,8 @@ ignore = [ "B026", # star-arg-unpacking-after-keyword-arg "PLR", # pylint refactor ] -line-length = 100 -[tool.ruff.per-file-ignores] +[tool.ruff.lint.per-file-ignores] "can/interfaces/*" = [ "E501", # Line too long "F403", # undefined-local-with-import-star @@ -163,7 +165,7 @@ line-length = 100 "can/logger.py" = ["T20"] # flake8-print "can/player.py" = ["T20"] # flake8-print -[tool.ruff.isort] +[tool.ruff.lint.isort] known-first-party = ["can"] [tool.pylint] diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index a6661280d..032106e5f 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -38,8 +38,7 @@ def writer(self) -> FileIOMessageWriter: def should_rollover(self, msg: can.Message) -> bool: return False - def do_rollover(self): - ... + def do_rollover(self): ... return SubClass(file=file) From 25d6999c20d6dee3595f586abc55b69c04fb2ea9 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 12 Jun 2024 23:43:02 +0200 Subject: [PATCH 345/475] remove abstractmethod (#1795) --- can/listener.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/can/listener.py b/can/listener.py index e0024c683..1f19c3acd 100644 --- a/can/listener.py +++ b/can/listener.py @@ -46,8 +46,7 @@ def on_error(self, exc: Exception) -> None: """ raise NotImplementedError() - @abstractmethod - def stop(self) -> None: + def stop(self) -> None: # noqa: B027 """ Stop handling new messages, carry out any final tasks to ensure data is persisted and cleanup any open resources. From 35e847f6cb799c4c4ae381f8c0e7cc1ccd791499 Mon Sep 17 00:00:00 2001 From: Federico Spada <160390475+FedericoSpada@users.noreply.github.com> Date: Thu, 13 Jun 2024 09:43:15 +0200 Subject: [PATCH 346/475] Fixed pcan Unpack error (#1767) * Fixed pcan Unpack error PCANBasic.GetValue() must always return a Tuple with 2 elements, otherwise PcanBus._detect_available_configs() raises a "not enough values to unpack" error at line 718. * Fixed typo --- can/interfaces/pcan/basic.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index b704ca9bd..4d175c645 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -967,7 +967,7 @@ def GetValue(self, Channel, Parameter): elif Parameter == PCAN_ATTACHED_CHANNELS: res = self.GetValue(Channel, PCAN_ATTACHED_CHANNELS_COUNT) if TPCANStatus(res[0]) != PCAN_ERROR_OK: - return (TPCANStatus(res[0]),) + return TPCANStatus(res[0]), () mybuffer = (TPCANChannelInformation * res[1])() elif ( From 046af70e7c8aeb377df61768251314c6b714cf42 Mon Sep 17 00:00:00 2001 From: Werner Wolfrum <42910294+wolfraven@users.noreply.github.com> Date: Sun, 16 Jun 2024 13:11:13 +0200 Subject: [PATCH 347/475] Extented slcan.py to use "L" command optional to "O" command. (#1496) * Update slcan.py Added additional parameter "listen_only" to open interface/channel with "L" command (in opposite to "O" command). * make listen_only attribute private --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/slcan.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 7851a0322..f32d82fd0 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -62,6 +62,7 @@ def __init__( btr: Optional[str] = None, sleep_after_open: float = _SLEEP_AFTER_SERIAL_OPEN, rtscts: bool = False, + listen_only: bool = False, timeout: float = 0.001, **kwargs: Any, ) -> None: @@ -81,12 +82,18 @@ def __init__( Time to wait in seconds after opening serial connection :param rtscts: turn hardware handshake (RTS/CTS) on and off + :param listen_only: + If True, open interface/channel in listen mode with ``L`` command. + Otherwise, the (default) ``O`` command is still used. See ``open`` method. :param timeout: Timeout for the serial or usb device in seconds (default 0.001) + :raise ValueError: if both ``bitrate`` and ``btr`` are set or the channel is invalid :raise CanInterfaceNotImplementedError: if the serial module is missing :raise CanInitializationError: if the underlying serial connection could not be established """ + self._listen_only = listen_only + if serial is None: raise CanInterfaceNotImplementedError("The serial module is not installed") @@ -188,7 +195,10 @@ def flush(self) -> None: self.serialPortOrig.reset_input_buffer() def open(self) -> None: - self._write("O") + if self._listen_only: + self._write("L") + else: + self._write("O") def close(self) -> None: self._write("C") From 4fe3881add06faca4062be197bfa82db78e624cd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Colomb?= Date: Wed, 24 Apr 2024 12:46:19 +0200 Subject: [PATCH 348/475] Gracefully handle errors when binding SocketCAN fails. The parent class BusABC expects to be shutdown properly, checked via its self._is_shutdown flag during object deletion. But that flag is only set when the base class shutdown() is called, which doesn't happen if instantiation of the concrete class failed in can.Bus(). So there is no way to avoid the warning message "SocketcanBus was not properly shut down" if the constructor raised an exception. This change addresses that issue for the SocketCAN interface, by catching an OSError exception in bind_socket(), logging it, and calling self.shutdown(). --- can/interfaces/socketcan/socketcan.py | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 79a46ab2c..3c1178ebf 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -706,14 +706,20 @@ def __init__( # so this is always supported by the kernel self.socket.setsockopt(socket.SOL_SOCKET, constants.SO_TIMESTAMPNS, 1) - bind_socket(self.socket, channel) - kwargs.update( - { - "receive_own_messages": receive_own_messages, - "fd": fd, - "local_loopback": local_loopback, - } - ) + try: + bind_socket(self.socket, channel) + kwargs.update( + { + "receive_own_messages": receive_own_messages, + "fd": fd, + "local_loopback": local_loopback, + } + ) + except OSError as error: + log.error("Could not access SocketCAN device %s (%s)", channel, error) + # Clean up so the parent class doesn't complain about not being shut down properly + self.shutdown() + raise super().__init__( channel=channel, can_filters=can_filters, From 2bc87c0155b19bef1364b5e50523e2d1ea5f3ae6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Colomb?= Date: Tue, 30 Apr 2024 15:42:23 +0200 Subject: [PATCH 349/475] Remove shutdown call and obsolete comment. --- can/interfaces/socketcan/socketcan.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 3c1178ebf..03bd8c3f8 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -717,8 +717,6 @@ def __init__( ) except OSError as error: log.error("Could not access SocketCAN device %s (%s)", channel, error) - # Clean up so the parent class doesn't complain about not being shut down properly - self.shutdown() raise super().__init__( channel=channel, From 8ea242593ea341caed03324543fd9c3ebc237d15 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 18 Jun 2024 13:20:33 +0200 Subject: [PATCH 350/475] Fix SizedRotatingLogger file format bug (#1793) --- can/io/logger.py | 10 ++++++---- test/test_rotating_loggers.py | 8 ++++++++ 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index ed7f15bd0..f54223741 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -259,9 +259,11 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: :return: An instance of a writer class. """ - suffix = "".join(pathlib.Path(filename).suffixes[-2:]).lower() - - if suffix in self._supported_formats: + suffixes = pathlib.Path(filename).suffixes + for suffix_length in range(len(suffixes), 0, -1): + suffix = "".join(suffixes[-suffix_length:]).lower() + if suffix not in self._supported_formats: + continue logger = Logger(filename=filename, **self.writer_kwargs) if isinstance(logger, FileIOMessageWriter): return logger @@ -269,7 +271,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: return cast(FileIOMessageWriter, logger) raise ValueError( - f'The log format "{suffix}" ' + f'The log format of "{pathlib.Path(filename).name}" ' f"is not supported by {self.__class__.__name__}. " f"{self.__class__.__name__} supports the following formats: " f"{', '.join(self._supported_formats)}" diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index 032106e5f..ab977e3ce 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -180,6 +180,14 @@ def test_on_message_received(self, tmp_path): do_rollover.assert_called() writers_on_message_received.assert_called_with(msg) + def test_issue_1792(self, tmp_path): + with self._get_instance(tmp_path / "__unused.log") as logger_instance: + writer = logger_instance._get_new_writer( + tmp_path / "2017_Jeep_Grand_Cherokee_3.6L_V6.log" + ) + assert isinstance(writer, can.CanutilsLogWriter) + writer.stop() + class TestSizedRotatingLogger: def test_import(self): From 25c6fe0d2a6daa2bb7520bc4913d0db41854aab3 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jun 2024 19:23:03 +0200 Subject: [PATCH 351/475] avoid logging socketcan exception on non-linux platforms (#1800) --- can/interfaces/socketcan/utils.py | 3 +++ test/test_socketcan_helpers.py | 6 ++++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 91878f9b6..679c9cefc 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -8,6 +8,7 @@ import os import struct import subprocess +import sys from typing import List, Optional, cast from can import typechecking @@ -46,6 +47,8 @@ def find_available_interfaces() -> List[str]: :return: The list of available and active CAN interfaces or an empty list of the command failed """ + if sys.platform != "linux": + return [] try: command = ["ip", "-json", "link", "list", "up"] diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py index a1d0bc8af..710922290 100644 --- a/test/test_socketcan_helpers.py +++ b/test/test_socketcan_helpers.py @@ -45,9 +45,11 @@ def test_find_available_interfaces_w_patch(self): with mock.patch("subprocess.check_output") as check_output: check_output.return_value = ip_output - ifs = find_available_interfaces() - self.assertEqual(["vcan0", "mycustomCan123"], ifs) + with mock.patch("sys.platform", "linux"): + ifs = find_available_interfaces() + + self.assertEqual(["vcan0", "mycustomCan123"], ifs) def test_find_available_interfaces_exception(self): with mock.patch("subprocess.check_output") as check_output: From 7366c4289f7222b61b6d7d0481b7c66522c73930 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jun 2024 19:47:53 +0200 Subject: [PATCH 352/475] fix PCAN test DeprecationWarnings (#1801) --- test/test_pcan.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/test/test_pcan.py b/test/test_pcan.py index 9f4e36fc4..31c541f0a 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -54,7 +54,9 @@ def test_bus_creation(self) -> None: self.assertIsInstance(self.bus, PcanBus) self.assertEqual(self.bus.protocol, CanProtocol.CAN_20) - self.assertFalse(self.bus.fd) + + with pytest.deprecated_call(): + self.assertFalse(self.bus.fd) self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_called_once() @@ -83,7 +85,9 @@ def test_bus_creation_fd(self, clock_param: str, clock_val: int) -> None: self.assertIsInstance(self.bus, PcanBus) self.assertEqual(self.bus.protocol, CanProtocol.CAN_FD) - self.assertTrue(self.bus.fd) + + with pytest.deprecated_call(): + self.assertTrue(self.bus.fd) self.MockPCANBasic.assert_called_once() self.mock_pcan.Initialize.assert_not_called() From 621cd7ddc12400b4f53de84c19b5d04e5c1a9798 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 21 Jun 2024 20:02:09 +0200 Subject: [PATCH 353/475] Activate channel after CAN filters were applied (#1796) --- can/interfaces/kvaser/canlib.py | 11 +++++++---- can/interfaces/vector/canlib.py | 17 +++++++++-------- 2 files changed, 16 insertions(+), 12 deletions(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index ccc03a696..58baa1040 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -552,7 +552,6 @@ def __init__( else: flags_ = flags self._write_handle = canOpenChannel(channel, flags_) - canBusOn(self._read_handle) can_driver_mode = ( canstat.canDRIVER_SILENT @@ -560,8 +559,6 @@ def __init__( 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: @@ -587,6 +584,12 @@ def __init__( **kwargs, ) + # activate channel after CAN filters were applied + log.debug("Go on bus") + if not self.single_handle: + canBusOn(self._read_handle) + canBusOn(self._write_handle) + def _apply_filters(self, filters): if filters and len(filters) == 1: can_id = filters[0]["can_id"] @@ -610,7 +613,7 @@ def _apply_filters(self, filters): 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) + log.error("An error occurred while disabling filtering: %s", e) def flush_tx_buffer(self): """Wipeout the transmit buffer on the Kvaser.""" diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index adf7b6c5d..d307d076f 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -329,14 +329,6 @@ def __init__( else: LOG.info("Install pywin32 to avoid polling") - try: - self.xldriver.xlActivateChannel( - self.port_handle, self.mask, xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, 0 - ) - except VectorOperationError as error: - self.shutdown() - raise VectorInitializationError.from_generic(error) from None - # Calculate time offset for absolute timestamps offset = xlclass.XLuint64() try: @@ -366,6 +358,15 @@ def __init__( **kwargs, ) + # activate channels after CAN filters were applied + try: + self.xldriver.xlActivateChannel( + self.port_handle, self.mask, xldefine.XL_BusTypes.XL_BUS_TYPE_CAN, 0 + ) + except VectorOperationError as error: + self.shutdown() + raise VectorInitializationError.from_generic(error) from None + @property def fd(self) -> bool: class_name = self.__class__.__name__ From 867fd92cc367c1960a32972d1225263de6b8d950 Mon Sep 17 00:00:00 2001 From: Jacob Schaer Date: Sat, 22 Jun 2024 03:02:10 -0700 Subject: [PATCH 354/475] Add non-ISO CANFD support to kvaser (#1752) * Add basic non-iso support * Update test_kvaser.py Add unit test * Update test_kvaser.py Black to pass premerge checklist * Made code changes New enum for non-iso mode Documentation sections fixes Test update * Update bus.py Black cleanup --- can/bus.py | 3 ++- can/interfaces/kvaser/canlib.py | 16 ++++++++++++++-- doc/interfaces/pcan.rst | 7 +++++++ doc/interfaces/socketcan.rst | 5 +++++ test/test_kvaser.py | 27 +++++++++++++++++++++++++++ 5 files changed, 55 insertions(+), 3 deletions(-) diff --git a/can/bus.py b/can/bus.py index 0b5c9e762..954c78c5f 100644 --- a/can/bus.py +++ b/can/bus.py @@ -44,7 +44,8 @@ class CanProtocol(Enum): """The CAN protocol type supported by a :class:`can.BusABC` instance""" CAN_20 = auto() - CAN_FD = auto() + CAN_FD = auto() # ISO Mode + CAN_FD_NON_ISO = auto() CAN_XL = auto() diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 58baa1040..e7409b668 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -428,6 +428,10 @@ def __init__( computer, set this to True or set single_handle to True. :param bool fd: If CAN-FD frames should be supported. + :param bool fd_non_iso: + Open the channel in Non-ISO (Bosch) FD mode. Only applies for FD buses. + This changes the handling of the stuff-bit counter and the CRC. Defaults + to False (ISO mode) :param bool exclusive: Don't allow sharing of this CANlib channel. :param bool override_exclusive: @@ -453,6 +457,7 @@ def __init__( accept_virtual = kwargs.get("accept_virtual", True) fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) data_bitrate = kwargs.get("data_bitrate", None) + fd_non_iso = kwargs.get("fd_non_iso", False) try: channel = int(channel) @@ -461,7 +466,11 @@ def __init__( self.channel = channel self.single_handle = single_handle - self._can_protocol = CanProtocol.CAN_FD if fd else CanProtocol.CAN_20 + self._can_protocol = CanProtocol.CAN_20 + if fd_non_iso: + self._can_protocol = CanProtocol.CAN_FD_NON_ISO + elif fd: + self._can_protocol = CanProtocol.CAN_FD log.debug("Initialising bus instance") num_channels = ctypes.c_int(0) @@ -482,7 +491,10 @@ def __init__( if accept_virtual: flags |= canstat.canOPEN_ACCEPT_VIRTUAL if fd: - flags |= canstat.canOPEN_CAN_FD + if fd_non_iso: + flags |= canstat.canOPEN_CAN_FD_NONISO + else: + flags |= canstat.canOPEN_CAN_FD log.debug("Creating read handle to bus channel: %s", channel) self._read_handle = canOpenChannel(channel, flags) diff --git a/doc/interfaces/pcan.rst b/doc/interfaces/pcan.rst index 790264627..88ab6838d 100644 --- a/doc/interfaces/pcan.rst +++ b/doc/interfaces/pcan.rst @@ -37,7 +37,14 @@ Here is an example configuration file for using `PCAN-USB Date: Sat, 22 Jun 2024 17:23:46 +0700 Subject: [PATCH 355/475] gs_usb: Use BitTiming internally to configure bitrate (#1748) * gs_usb: Use BitTiming to configure bitrate. * use kwargs and format black --------- Co-authored-by: Tuwuh S Wibowo Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/gs_usb.py | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 21e199a30..5efbd3da6 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -54,7 +54,19 @@ def __init__( self.channel_info = channel self._can_protocol = can.CanProtocol.CAN_20 - self.gs_usb.set_bitrate(bitrate) + bit_timing = can.BitTiming.from_sample_point( + f_clock=self.gs_usb.device_capability.fclk_can, + bitrate=bitrate, + sample_point=87.5, + ) + props_seg = 1 + self.gs_usb.set_timing( + prop_seg=props_seg, + phase_seg1=bit_timing.tseg1 - props_seg, + phase_seg2=bit_timing.tseg2, + sjw=bit_timing.sjw, + brp=bit_timing.brp, + ) self.gs_usb.start() super().__init__( From 0de8ca82f1c18afff438a7c0efba5f512ea6581e Mon Sep 17 00:00:00 2001 From: BroderickJack <39026705+BroderickJack@users.noreply.github.com> Date: Sat, 22 Jun 2024 07:03:11 -0400 Subject: [PATCH 356/475] Support CANdapter extended length arbitration ID (#1528) * Support CANdapter extended length arbitration ID * Update can/interfaces/slcan.py More efficient check of arbitration ID Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Add description of x extended arbitration identifier * Add test for CANDapter extended arbitration ID * Update test/test_slcan.py Type fix in slcan test Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * format black --------- Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/slcan.py | 5 ++++- test/test_slcan.py | 10 ++++++++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index f32d82fd0..f023e084c 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -215,7 +215,10 @@ def _recv_internal( if not string: pass - elif string[0] == "T": + elif string[0] in ( + "T", + "x", # x is an alternative extended message identifier for CANDapter + ): # extended frame canId = int(string[1:9], 16) dlc = int(string[9]) diff --git a/test/test_slcan.py b/test/test_slcan.py index f74207b9f..af7ae60c4 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -43,6 +43,16 @@ def test_recv_extended(self): self.assertEqual(msg.dlc, 2) self.assertSequenceEqual(msg.data, [0xAA, 0x55]) + # Ewert Energy Systems CANDapter specific + self.serial.write(b"x12ABCDEF2AA55\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x12ABCDEF) + self.assertEqual(msg.is_extended_id, True) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.dlc, 2) + self.assertSequenceEqual(msg.data, [0xAA, 0x55]) + def test_send_extended(self): msg = can.Message( arbitration_id=0x12ABCDEF, is_extended_id=True, data=[0xAA, 0x55] From 5508f533ab8767fd3b0e6cbdef97d4633fe24bfb Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 23 Jun 2024 14:01:15 +0200 Subject: [PATCH 357/475] Update Changelog for 4.4.1 (#1802) * undo unnecessary changes * update CHANGELOG.md for 4.4.1 --- CHANGELOG.md | 23 +++++++++++++++++++++++ doc/interfaces/pcan.rst | 8 -------- doc/interfaces/socketcan.rst | 4 ---- 3 files changed, 23 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 404b68c3e..0d371c104 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,26 @@ +Version 4.4.1 +============= + +Bug Fixes +--------- +* Remove `abstractmethod` decorator from `Listener.stop()` (#1770, #1795) +* Fix `SizedRotatingLogger` file suffix bug (#1792, #1793) +* gs_usb: Use `BitTiming` class internally to configure bitrate (#1747, #1748) +* pcan: Fix unpack error in `PcanBus._detect_available_configs()` (#1767) +* socketcan: Improve error handling in `SocketcanBus.__init__()` (#1771) +* socketcan: Do not log exception on non-linux platforms (#1800) +* vector, kvaser: Activate channels after CAN filters were applied (#1413, #1708, #1796) + +Features +-------- + +* kvaser: Add support for non-ISO CAN FD (#1752) +* neovi: Return timestamps relative to epoch (#1789) +* slcan: Support CANdapter extended length arbitration ID (#1506, #1528) +* slcan: Add support for `listen_only` mode (#1496) +* vector: Add support for `listen_only` mode (#1764) + + Version 4.4.0 ============= diff --git a/doc/interfaces/pcan.rst b/doc/interfaces/pcan.rst index 88ab6838d..2f73dd3a7 100644 --- a/doc/interfaces/pcan.rst +++ b/doc/interfaces/pcan.rst @@ -37,14 +37,6 @@ Here is an example configuration file for using `PCAN-USB Date: Sun, 23 Jun 2024 14:23:06 +0200 Subject: [PATCH 358/475] bump version to 4.4.1 --- can/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/__init__.py b/can/__init__.py index d0c19f89b..4499edfcc 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.4.0" +__version__ = "4.4.1" __all__ = [ "ASCReader", "ASCWriter", From 478f8b8749ce08906b0386d13db289cf98e3246e Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 23 Jun 2024 14:41:14 +0200 Subject: [PATCH 359/475] set version to 4.4.2 (#1803) --- CHANGELOG.md | 2 +- can/__init__.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 0d371c104..1d2581d9d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,4 +1,4 @@ -Version 4.4.1 +Version 4.4.2 ============= Bug Fixes diff --git a/can/__init__.py b/can/__init__.py index 4499edfcc..53aec7160 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import logging from typing import Any, Dict -__version__ = "4.4.1" +__version__ = "4.4.2" __all__ = [ "ASCReader", "ASCWriter", From 2c90f9f8e548a204e531e427864da6b6240f0b9c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 23 Jun 2024 16:46:12 +0200 Subject: [PATCH 360/475] improve TestBusConfig (#1804) --- can/util.py | 49 ++++++++++++++++++++-------------- test/test_util.py | 68 ++++++++++++++++++++++++++++++++++++++++------- 2 files changed, 88 insertions(+), 29 deletions(-) diff --git a/can/util.py b/can/util.py index 23ab142fb..7f2f824db 100644 --- a/can/util.py +++ b/can/util.py @@ -2,6 +2,7 @@ Utilities and configuration file parsing. """ +import contextlib import copy import functools import json @@ -243,26 +244,9 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: if not 0 < port < 65535: raise ValueError("Port config must be inside 0-65535 range!") - if config.get("timing", None) is None: - try: - if set(typechecking.BitTimingFdDict.__annotations__).issubset(config): - config["timing"] = can.BitTimingFd( - **{ - key: int(config[key]) - for key in typechecking.BitTimingFdDict.__annotations__ - }, - strict=False, - ) - elif set(typechecking.BitTimingDict.__annotations__).issubset(config): - config["timing"] = can.BitTiming( - **{ - key: int(config[key]) - for key in typechecking.BitTimingDict.__annotations__ - }, - strict=False, - ) - except (ValueError, TypeError): - pass + if "timing" not in config: + if timing := _dict2timing(config): + config["timing"] = timing if "fd" in config: config["fd"] = config["fd"] not in (0, False) @@ -270,6 +254,31 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: return cast(typechecking.BusConfig, config) +def _dict2timing(data: Dict[str, Any]) -> Union[BitTiming, BitTimingFd, None]: + """Try to instantiate a :class:`~can.BitTiming` or :class:`~can.BitTimingFd` from + a dictionary. Return `None` if not possible.""" + + with contextlib.suppress(ValueError, TypeError): + if set(typechecking.BitTimingFdDict.__annotations__).issubset(data): + return BitTimingFd( + **{ + key: int(data[key]) + for key in typechecking.BitTimingFdDict.__annotations__ + }, + strict=False, + ) + elif set(typechecking.BitTimingDict.__annotations__).issubset(data): + return BitTiming( + **{ + key: int(data[key]) + for key in typechecking.BitTimingDict.__annotations__ + }, + strict=False, + ) + + return None + + def set_logging_level(level_name: str) -> None: """Set the logging level for the `"can"` logger. diff --git a/test/test_util.py b/test/test_util.py index ac8c87d9e..f3524468b 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -5,6 +5,7 @@ import pytest +import can from can import BitTiming, BitTimingFd from can.exceptions import CanInitializationError from can.util import ( @@ -132,10 +133,7 @@ def _test_func3(a): class TestBusConfig(unittest.TestCase): - base_config = dict(interface="socketcan", bitrate=500_000) - port_alpha_config = dict(interface="socketcan", bitrate=500_000, port="fail123") - port_to_high_config = dict(interface="socketcan", bitrate=500_000, port="999999") - port_wrong_type_config = dict(interface="socketcan", bitrate=500_000, port=(1234,)) + base_config = {"interface": "socketcan", "bitrate": 500_000} def test_timing_can_use_int(self): """ @@ -147,17 +145,69 @@ def test_timing_can_use_int(self): _create_bus_config({**self.base_config, **timing_conf}) except TypeError as e: self.fail(e) + + def test_port_datatype(self): self.assertRaises( - ValueError, _create_bus_config, {**self.port_alpha_config, **timing_conf} + ValueError, _create_bus_config, {**self.base_config, "port": "fail123"} ) self.assertRaises( - ValueError, _create_bus_config, {**self.port_to_high_config, **timing_conf} + ValueError, _create_bus_config, {**self.base_config, "port": "999999"} ) self.assertRaises( - TypeError, - _create_bus_config, - {**self.port_wrong_type_config, **timing_conf}, + TypeError, _create_bus_config, {**self.base_config, "port": (1234,)} + ) + + try: + _create_bus_config({**self.base_config, "port": "1234"}) + except TypeError as e: + self.fail(e) + + def test_bit_timing_cfg(self): + can_cfg = _create_bus_config( + { + **self.base_config, + "f_clock": "8000000", + "brp": "1", + "tseg1": "5", + "tseg2": "2", + "sjw": "1", + "nof_samples": "1", + } + ) + timing = can_cfg["timing"] + assert isinstance(timing, can.BitTiming) + assert timing.f_clock == 8_000_000 + assert timing.brp == 1 + assert timing.tseg1 == 5 + assert timing.tseg2 == 2 + assert timing.sjw == 1 + + def test_bit_timing_fd_cfg(self): + canfd_cfg = _create_bus_config( + { + **self.base_config, + "f_clock": "80000000", + "nom_brp": "1", + "nom_tseg1": "119", + "nom_tseg2": "40", + "nom_sjw": "40", + "data_brp": "1", + "data_tseg1": "29", + "data_tseg2": "10", + "data_sjw": "10", + } ) + timing = canfd_cfg["timing"] + assert isinstance(timing, can.BitTimingFd) + assert timing.f_clock == 80_000_000 + assert timing.nom_brp == 1 + assert timing.nom_tseg1 == 119 + assert timing.nom_tseg2 == 40 + assert timing.nom_sjw == 40 + assert timing.data_brp == 1 + assert timing.data_tseg1 == 29 + assert timing.data_tseg2 == 10 + assert timing.data_sjw == 10 class TestChannel2Int(unittest.TestCase): From b552f1dd64f4cd8a561f83b306a31203c8990c9e Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 25 Jun 2024 12:07:26 +0200 Subject: [PATCH 361/475] Refactor CLI filter parsing, add tests (#1805) * refactor filter parsing, add tests * change chapter title to "Command Line Tools" * upper case --- can/logger.py | 75 ++++++++++++++++++++++++++++++--------------- can/typechecking.py | 15 +++++++++ can/viewer.py | 25 ++++++--------- doc/other-tools.rst | 2 +- doc/scripts.rst | 4 +-- test/test_logger.py | 35 +++++++++++++++++++-- test/test_viewer.py | 75 ++++++++++++++++++++++----------------------- 7 files changed, 147 insertions(+), 84 deletions(-) diff --git a/can/logger.py b/can/logger.py index 7d1ae6f66..35c3db20b 100644 --- a/can/logger.py +++ b/can/logger.py @@ -3,17 +3,26 @@ import re import sys from datetime import datetime -from typing import TYPE_CHECKING, Any, Dict, List, Sequence, Tuple, Union +from typing import ( + TYPE_CHECKING, + Any, + Dict, + List, + Optional, + Sequence, + Tuple, + Union, +) import can +from can import Bus, BusState, Logger, SizedRotatingLogger +from can.typechecking import TAdditionalCliArgs from can.util import cast_from_string -from . import Bus, BusState, Logger, SizedRotatingLogger -from .typechecking import CanFilter, CanFilters - if TYPE_CHECKING: from can.io import BaseRotatingLogger from can.io.generic import MessageWriter + from can.typechecking import CanFilter def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: @@ -60,10 +69,7 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: def _append_filter_argument( - parser: Union[ - argparse.ArgumentParser, - argparse._ArgumentGroup, - ], + parser: Union[argparse.ArgumentParser, argparse._ArgumentGroup], *args: str, **kwargs: Any, ) -> None: @@ -78,16 +84,17 @@ def _append_filter_argument( "\n ~ (matches when & mask !=" " can_id & mask)" "\nFx to show only frames with ID 0x100 to 0x103 and 0x200 to 0x20F:" - "\n python -m can.viewer -f 100:7FC 200:7F0" + "\n python -m can.viewer --filter 100:7FC 200:7F0" "\nNote that the ID and mask are always interpreted as hex values", metavar="{:,~}", nargs=argparse.ONE_OR_MORE, - default="", + action=_CanFilterAction, + dest="can_filters", **kwargs, ) -def _create_bus(parsed_args: Any, **kwargs: Any) -> can.BusABC: +def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC: logging_level_names = ["critical", "error", "warning", "info", "debug", "subdebug"] can.set_logging_level(logging_level_names[min(5, parsed_args.verbosity)]) @@ -100,16 +107,27 @@ def _create_bus(parsed_args: Any, **kwargs: Any) -> can.BusABC: config["fd"] = True if parsed_args.data_bitrate: config["data_bitrate"] = parsed_args.data_bitrate + if getattr(parsed_args, "can_filters", None): + config["can_filters"] = parsed_args.can_filters return Bus(parsed_args.channel, **config) -def _parse_filters(parsed_args: Any) -> CanFilters: - can_filters: List[CanFilter] = [] +class _CanFilterAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: Union[str, Sequence[Any], None], + option_string: Optional[str] = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(None, "Invalid filter argument") + + print(f"Adding filter(s): {values}") + can_filters: List[CanFilter] = [] - if parsed_args.filter: - print(f"Adding filter(s): {parsed_args.filter}") - for filt in parsed_args.filter: + for filt in values: if ":" in filt: parts = filt.split(":") can_id = int(parts[0], base=16) @@ -122,12 +140,10 @@ def _parse_filters(parsed_args: Any) -> CanFilters: raise argparse.ArgumentError(None, "Invalid filter argument") can_filters.append({"can_id": can_id, "can_mask": can_mask}) - return can_filters + setattr(namespace, self.dest, can_filters) -def _parse_additional_config( - unknown_args: Sequence[str], -) -> Dict[str, Union[str, int, float, bool]]: +def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: for arg in unknown_args: if not re.match(r"^--[a-zA-Z\-]*?=\S*?$", arg): raise ValueError(f"Parsing argument {arg} failed") @@ -142,12 +158,18 @@ def _split_arg(_arg: str) -> Tuple[str, str]: return args -def main() -> None: +def _parse_logger_args( + args: List[str], +) -> Tuple[argparse.Namespace, TAdditionalCliArgs]: + """Parse command line arguments for logger script.""" + parser = argparse.ArgumentParser( description="Log CAN traffic, printing messages to stdout or to a " "given file.", ) + # Generate the standard arguments: + # Channel, bitrate, data_bitrate, interface, app_name, CAN-FD support _create_base_argument_parser(parser) parser.add_argument( @@ -200,13 +222,18 @@ def main() -> None: ) # print help message when no arguments were given - if len(sys.argv) < 2: + if not args: parser.print_help(sys.stderr) raise SystemExit(errno.EINVAL) - results, unknown_args = parser.parse_known_args() + results, unknown_args = parser.parse_known_args(args) additional_config = _parse_additional_config([*results.extra_args, *unknown_args]) - bus = _create_bus(results, can_filters=_parse_filters(results), **additional_config) + return results, additional_config + + +def main() -> None: + results, additional_config = _parse_logger_args(sys.argv[1:]) + bus = _create_bus(results, **additional_config) if results.active: bus.state = BusState.ACTIVE diff --git a/can/typechecking.py b/can/typechecking.py index 89f978a1a..284dd8aba 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -2,8 +2,16 @@ """ import gzip +import struct +import sys import typing +if sys.version_info >= (3, 10): + from typing import TypeAlias +else: + from typing_extensions import TypeAlias + + if typing.TYPE_CHECKING: import os @@ -40,6 +48,13 @@ class CanFilterExtended(typing.TypedDict): BusConfig = typing.NewType("BusConfig", typing.Dict[str, typing.Any]) +# Used by CLI scripts +TAdditionalCliArgs: TypeAlias = typing.Dict[str, typing.Union[str, int, float, bool]] +TDataStructs: TypeAlias = typing.Dict[ + typing.Union[int, typing.Tuple[int, ...]], + typing.Union[struct.Struct, typing.Tuple, None], +] + class AutoDetectedConfig(typing.TypedDict): interface: str diff --git a/can/viewer.py b/can/viewer.py index 07752327d..45c313b07 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -27,17 +27,16 @@ import struct import sys import time -from typing import Dict, List, Tuple, Union +from typing import Dict, List, Tuple from can import __version__ - -from .logger import ( +from can.logger import ( _append_filter_argument, _create_base_argument_parser, _create_bus, _parse_additional_config, - _parse_filters, ) +from can.typechecking import TAdditionalCliArgs, TDataStructs logger = logging.getLogger("can.viewer") @@ -391,7 +390,9 @@ def _fill_text(self, text, width, indent): return super()._fill_text(text, width, indent) -def parse_args(args: List[str]) -> Tuple: +def _parse_viewer_args( + args: List[str], +) -> Tuple[argparse.Namespace, TDataStructs, TAdditionalCliArgs]: # Parse command line arguments parser = argparse.ArgumentParser( "python -m can.viewer", @@ -489,8 +490,6 @@ def parse_args(args: List[str]) -> Tuple: parsed_args, unknown_args = parser.parse_known_args(args) - can_filters = _parse_filters(parsed_args) - # Dictionary used to convert between Python values and C structs represented as Python strings. # If the value is 'None' then the message does not contain any data package. # @@ -511,9 +510,7 @@ def parse_args(args: List[str]) -> Tuple: # similarly the values # are divided by the value in order to convert from real units to raw integer values. - data_structs: Dict[ - Union[int, Tuple[int, ...]], Union[struct.Struct, Tuple, None] - ] = {} + data_structs: TDataStructs = {} if parsed_args.decode: if os.path.isfile(parsed_args.decode[0]): with open(parsed_args.decode[0], encoding="utf-8") as f: @@ -544,16 +541,12 @@ def parse_args(args: List[str]) -> Tuple: additional_config = _parse_additional_config( [*parsed_args.extra_args, *unknown_args] ) - return parsed_args, can_filters, data_structs, additional_config + return parsed_args, data_structs, additional_config def main() -> None: - parsed_args, can_filters, data_structs, additional_config = parse_args(sys.argv[1:]) - - if can_filters: - additional_config.update({"can_filters": can_filters}) + parsed_args, data_structs, additional_config = _parse_viewer_args(sys.argv[1:]) bus = _create_bus(parsed_args, **additional_config) - curses.wrapper(CanViewer, bus, data_structs) # type: ignore[attr-defined,unused-ignore] diff --git a/doc/other-tools.rst b/doc/other-tools.rst index eab3c4f43..db06812ca 100644 --- a/doc/other-tools.rst +++ b/doc/other-tools.rst @@ -1,4 +1,4 @@ -Other CAN bus tools +Other CAN Bus Tools =================== In order to keep the project maintainable, the scope of the package is limited to providing common diff --git a/doc/scripts.rst b/doc/scripts.rst index e3a59a409..520b19177 100644 --- a/doc/scripts.rst +++ b/doc/scripts.rst @@ -1,5 +1,5 @@ -Scripts -======= +Command Line Tools +================== The following modules are callable from ``python-can``. diff --git a/test/test_logger.py b/test/test_logger.py index 083e4d19c..32fc987b4 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -16,8 +16,6 @@ import can import can.logger -from .config import * - class TestLoggerScriptModule(unittest.TestCase): def setUp(self) -> None: @@ -108,6 +106,39 @@ def test_log_virtual_sizedlogger(self): self.assertSuccessfullCleanup() self.mock_logger_sized.assert_called_once() + def test_parse_logger_args(self): + args = self.baseargs + [ + "--bitrate", + "250000", + "--fd", + "--data_bitrate", + "2000000", + "--receive-own-messages=True", + ] + results, additional_config = can.logger._parse_logger_args(args[1:]) + assert results.interface == "virtual" + assert results.bitrate == 250_000 + assert results.fd is True + assert results.data_bitrate == 2_000_000 + assert additional_config["receive_own_messages"] is True + + def test_parse_can_filters(self): + expected_can_filters = [{"can_id": 0x100, "can_mask": 0x7FC}] + results, additional_config = can.logger._parse_logger_args( + ["--filter", "100:7FC", "--bitrate", "250000"] + ) + assert results.can_filters == expected_can_filters + + def test_parse_can_filters_list(self): + expected_can_filters = [ + {"can_id": 0x100, "can_mask": 0x7FC}, + {"can_id": 0x200, "can_mask": 0x7F0}, + ] + results, additional_config = can.logger._parse_logger_args( + ["--filter", "100:7FC", "200:7F0", "--bitrate", "250000"] + ) + assert results.can_filters == expected_can_filters + def test_parse_additional_config(self): unknown_args = [ "--app-name=CANalyzer", diff --git a/test/test_viewer.py b/test/test_viewer.py index ecc594915..3bd32b25a 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -36,7 +36,7 @@ import pytest import can -from can.viewer import CanViewer, parse_args +from can.viewer import CanViewer, _parse_viewer_args # Allow the curses module to be missing (e.g. on PyPy on Windows) try: @@ -397,19 +397,19 @@ def test_pack_unpack(self): ) def test_parse_args(self): - parsed_args, _, _, _ = parse_args(["-b", "250000"]) + parsed_args, _, _ = _parse_viewer_args(["-b", "250000"]) self.assertEqual(parsed_args.bitrate, 250000) - parsed_args, _, _, _ = parse_args(["--bitrate", "500000"]) + parsed_args, _, _ = _parse_viewer_args(["--bitrate", "500000"]) self.assertEqual(parsed_args.bitrate, 500000) - parsed_args, _, _, _ = parse_args(["-c", "can0"]) + parsed_args, _, _ = _parse_viewer_args(["-c", "can0"]) self.assertEqual(parsed_args.channel, "can0") - parsed_args, _, _, _ = parse_args(["--channel", "PCAN_USBBUS1"]) + parsed_args, _, _ = _parse_viewer_args(["--channel", "PCAN_USBBUS1"]) self.assertEqual(parsed_args.channel, "PCAN_USBBUS1") - parsed_args, _, data_structs, _ = parse_args(["-d", "100: Date: Wed, 26 Jun 2024 23:00:12 -0700 Subject: [PATCH 362/475] Resolve AttributeError within NicanError (#1806) Co-authored-by: Vijayakumar Subbiah --- can/interfaces/nican.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index f4b1a37f0..8a2efade7 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -89,7 +89,7 @@ class NicanError(CanError): def __init__(self, function, error_code: int, arguments) -> None: super().__init__( - message=f"{function} failed: {get_error_message(self.error_code)}", + message=f"{function} failed: {get_error_message(error_code)}", error_code=error_code, ) From 5cc25344e801b023f6155ef865f8c77f1abda446 Mon Sep 17 00:00:00 2001 From: Liam Kinne Date: Wed, 3 Jul 2024 22:06:07 +1000 Subject: [PATCH 363/475] socketcand: show actual result as well as expectation (#1807) --- can/interfaces/socketcand/socketcand.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 2cfdf54e5..7a2cc6fd0 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -323,7 +323,7 @@ def _expect_msg(self, msg): if self.__tcp_tune: self.__socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_QUICKACK, 1) if not ascii_msg == msg: - raise can.CanError(f"{msg} message expected!") + raise can.CanError(f"Expected '{msg}' got: '{ascii_msg}'") def send(self, msg, timeout=None): """Transmit a message to the CAN bus. From c87db06a456e0c391018fedf3f18bb67f5c9e27c Mon Sep 17 00:00:00 2001 From: Federico Spada <160390475+FedericoSpada@users.noreply.github.com> Date: Wed, 3 Jul 2024 14:40:56 +0200 Subject: [PATCH 364/475] Added extra info for Kvaser dongles (#1797) * Added extra info for Kvaser dongles Changed Kvaser auto-detection function to return additional info regarding the dongles found, such as Serial Number, Name and Dongle Channel number. In this way it's possible to discern between different physical dongles connected to the PC and if they are Virtual Channels or not. * Updated key value for dongle name Changed "name" into "device_name" as suggested by python-can owner. * Fixed retrocompatibility problem Changed " with ' for retrocompatibility problem with older Python versions. * Fixed failed Test I've updated the format using Black and modified test_kvaser.py\test_available_configs to consider the new _detect_available_configs output. * Fixed missed changes --- can/interfaces/kvaser/canlib.py | 23 +++++++++++++++-------- test/test_kvaser.py | 16 ++++++++++++++-- 2 files changed, 29 insertions(+), 10 deletions(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index e7409b668..5501c311d 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -479,6 +479,7 @@ def __init__( log.info("Found %d available channels", num_channels) for idx in range(num_channels): channel_info = get_channel_info(idx) + channel_info = f'{channel_info["device_name"]}, S/N {channel_info["serial"]} (#{channel_info["dongle_channel"]})' log.info("%d: %s", idx, channel_info) if idx == channel: self.channel_info = channel_info @@ -766,16 +767,19 @@ def get_stats(self) -> structures.BusStatistics: @staticmethod def _detect_available_configs(): - num_channels = ctypes.c_int(0) + config_list = [] + try: + num_channels = ctypes.c_int(0) canGetNumberOfChannels(ctypes.byref(num_channels)) + + for channel in range(0, int(num_channels.value)): + info = get_channel_info(channel) + + config_list.append({"interface": "kvaser", "channel": channel, **info}) except (CANLIBError, NameError): pass - - return [ - {"interface": "kvaser", "channel": channel} - for channel in range(num_channels.value) - ] + return config_list def get_channel_info(channel): @@ -802,8 +806,11 @@ def get_channel_info(channel): ctypes.sizeof(number), ) - name_decoded = name.value.decode("ascii", errors="replace") - return f"{name_decoded}, S/N {serial.value} (#{number.value + 1})" + return { + "device_name": name.value.decode("ascii", errors="replace"), + "serial": serial.value, + "dongle_channel": number.value + 1, + } init_kvaser_library() diff --git a/test/test_kvaser.py b/test/test_kvaser.py index d7b43b55b..8d18976aa 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -163,8 +163,20 @@ def test_recv_standard(self): def test_available_configs(self): configs = canlib.KvaserBus._detect_available_configs() expected = [ - {"interface": "kvaser", "channel": 0}, - {"interface": "kvaser", "channel": 1}, + { + "interface": "kvaser", + "channel": 0, + "dongle_channel": 1, + "device_name": "", + "serial": 0, + }, + { + "interface": "kvaser", + "channel": 1, + "dongle_channel": 1, + "device_name": "", + "serial": 0, + }, ] self.assertListEqual(configs, expected) From acc90c6072d7ece0a4afbab2b9dd3d1ba2857275 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 11 Jul 2024 09:00:43 +0200 Subject: [PATCH 365/475] Stop notifier in examples (#1814) --- examples/print_notifier.py | 6 ++++-- examples/vcan_filtered.py | 1 + 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/examples/print_notifier.py b/examples/print_notifier.py index cb4a02799..8d55ca1dc 100755 --- a/examples/print_notifier.py +++ b/examples/print_notifier.py @@ -1,19 +1,21 @@ #!/usr/bin/env python import time + import can def main(): - with can.Bus(receive_own_messages=True) as bus: + with can.Bus(interface="virtual", receive_own_messages=True) as bus: print_listener = can.Printer() - can.Notifier(bus, [print_listener]) + notifier = can.Notifier(bus, [print_listener]) bus.send(can.Message(arbitration_id=1, is_extended_id=True)) bus.send(can.Message(arbitration_id=2, is_extended_id=True)) bus.send(can.Message(arbitration_id=1, is_extended_id=False)) time.sleep(1.0) + notifier.stop() if __name__ == "__main__": diff --git a/examples/vcan_filtered.py b/examples/vcan_filtered.py index f022759fa..9c67390ab 100755 --- a/examples/vcan_filtered.py +++ b/examples/vcan_filtered.py @@ -25,6 +25,7 @@ def main(): bus.send(can.Message(arbitration_id=1, is_extended_id=False)) time.sleep(1.0) + notifier.stop() if __name__ == "__main__": From 78e4f81f9a3bec1ce4e32b5e85e7b5545053a579 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 15 Jul 2024 09:16:03 +0200 Subject: [PATCH 366/475] use setuptools_scm (#1810) --- .github/workflows/ci.yml | 2 ++ can/__init__.py | 6 +++++- doc/conf.py | 7 ++++--- doc/development.rst | 2 +- pyproject.toml | 7 ++++--- 5 files changed, 16 insertions(+), 8 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 4afb4c1ca..de5601ebf 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -161,6 +161,8 @@ jobs: runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 + with: + fetch-depth: 0 # fetch tags for setuptools-scm - name: Set up Python uses: actions/setup-python@v5 with: diff --git a/can/__init__.py b/can/__init__.py index 53aec7160..324803b9e 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -5,10 +5,11 @@ messages on a can bus. """ +import contextlib import logging +from importlib.metadata import PackageNotFoundError, version from typing import Any, Dict -__version__ = "4.4.2" __all__ = [ "ASCReader", "ASCWriter", @@ -124,6 +125,9 @@ from .thread_safe_bus import ThreadSafeBus from .util import set_logging_level +with contextlib.suppress(PackageNotFoundError): + __version__ = version("python-can") + log = logging.getLogger("can") rc: Dict[str, Any] = {} diff --git a/doc/conf.py b/doc/conf.py index 54318883f..1322a2f83 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -9,6 +9,7 @@ import ctypes import os import sys +from importlib.metadata import version as get_version from unittest.mock import MagicMock # If extensions (or modules to document with autodoc) are in another directory, @@ -16,7 +17,6 @@ # documentation root, use os.path.abspath to make it absolute, like shown here. sys.path.insert(0, os.path.abspath("..")) -import can # pylint: disable=wrong-import-position from can import ctypesutil # pylint: disable=wrong-import-position # -- General configuration ----------------------------------------------------- @@ -27,9 +27,10 @@ # |version| and |release|, also used in various other places throughout the # built documents. # +# The full version, including alpha/beta/rc tags. +release: str = get_version("python-can") # The short X.Y version. -version = can.__version__.split("-", maxsplit=1)[0] -release = can.__version__ +version = ".".join(release.split(".")[:2]) # General information about the project. project = "python-can" diff --git a/doc/development.rst b/doc/development.rst index f635ffc06..c83f0f213 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -129,7 +129,7 @@ Manual release steps (deprecated) --------------------------------- - Create a temporary virtual environment. +- Create a new tag in the repository. Use `semantic versioning `__. - Build with ``pipx run build`` -- Create and upload the distribution: ``python setup.py sdist bdist_wheel``. - Sign the packages with gpg ``gpg --detach-sign -a dist/python_can-X.Y.Z-py3-none-any.whl``. - Upload with twine ``twine upload dist/python-can-X.Y.Z*``. diff --git a/pyproject.toml b/pyproject.toml index 08b501c60..99a54a5df 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,5 +1,5 @@ [build-system] -requires = ["setuptools >= 67.7"] +requires = ["setuptools >= 67.7", "setuptools_scm>=8"] build-backend = "setuptools.build_meta" [project] @@ -84,8 +84,6 @@ mf4 = ["asammdf>=6.0.0"] [tool.setuptools.dynamic] readme = { file = "README.rst" } -version = { attr = "can.__version__" } - [tool.setuptools.package-data] "*" = ["README.rst", "CONTRIBUTORS.txt", "LICENSE.txt", "CHANGELOG.md"] doc = ["*.*"] @@ -95,6 +93,9 @@ can = ["py.typed"] [tool.setuptools.packages.find] include = ["can*"] +[tool.setuptools_scm] +# can be empty if no extra settings are needed, presence enables setuptools_scm + [tool.mypy] warn_return_any = true warn_unused_configs = true From a598e22f4d2d8897c943a7ebb909c0c2892fef5d Mon Sep 17 00:00:00 2001 From: RitheeshBaradwaj Date: Mon, 8 Jul 2024 22:38:51 +0900 Subject: [PATCH 367/475] fix: handle "Start of measurement" line in ASCReader --- CONTRIBUTORS.txt | 3 ++- can/io/asc.py | 5 +++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt index ae7792e42..389d26412 100644 --- a/CONTRIBUTORS.txt +++ b/CONTRIBUTORS.txt @@ -81,4 +81,5 @@ Felix Nieuwenhuizen @fjburgos @pkess @felixn -@Tbruno25 \ No newline at end of file +@Tbruno25 +@RitheeshBaradwaj diff --git a/can/io/asc.py b/can/io/asc.py index 2955ad7f9..af9812c43 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -275,6 +275,11 @@ def __iter__(self) -> Generator[Message, None, None]: ) continue + # Handle the "Start of measurement" line + if line.startswith("0.000000") and "Start of measurement" in line: + # Skip this line as it's just an indicator + continue + if not ASC_MESSAGE_REGEX.match(line): # line might be a comment, chip status, # J1939 message or some other unsupported event From d34b2d62fe103d203967e8ce2d3481d89e9afc18 Mon Sep 17 00:00:00 2001 From: RitheeshBaradwaj Date: Tue, 9 Jul 2024 08:44:41 +0900 Subject: [PATCH 368/475] chore: use regex to identify start line --- can/io/asc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/can/io/asc.py b/can/io/asc.py index af9812c43..3a14f0a88 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -276,7 +276,7 @@ def __iter__(self) -> Generator[Message, None, None]: continue # Handle the "Start of measurement" line - if line.startswith("0.000000") and "Start of measurement" in line: + if re.match(r"^\d+\.\d+\s+Start of measurement", line): # Skip this line as it's just an indicator continue From aeff58dc9504c4a1b8d6cdb0a2a08f7a2e7384fa Mon Sep 17 00:00:00 2001 From: Ben Gardiner Date: Sat, 10 Aug 2024 05:44:59 -0400 Subject: [PATCH 369/475] gs_usb command-line support (and documentation updates and stability fixes) (#1790) * gs_usb, doc: correct docs to indicate libusbK not libusb-win32 * gs_usb, interface: fix bug on second .start() by repeating in shutdown() v2: updates as per review https://github.com/hardbyte/python-can/pull/1790#pullrequestreview-2121408123 by @zariiii9003 * gs_usb, interface: set a default bitrate of 500k (like many other interfaces) * gs_usb, interface: support this interface on command-line with e.g. can.logger by treating channel like index when all other arguments are missing * gs_usb: improve docs, don't use dev reference before assignment as requested in review https://github.com/hardbyte/python-can/pull/1790#pullrequestreview-2121408123 by @zariiii9003 * gs_usb: fix bug in transmit when frame timestamp is set (causes failure to pack 64bit host timestamp into gs_usb field) --- can/interfaces/gs_usb.py | 27 +++++++++++++++++++++++++-- doc/interfaces/gs_usb.rst | 7 +++++-- 2 files changed, 30 insertions(+), 4 deletions(-) diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 5efbd3da6..6268350ee 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -17,7 +17,7 @@ class GsUsbBus(can.BusABC): def __init__( self, channel, - bitrate, + bitrate: int = 500_000, index=None, bus=None, address=None, @@ -33,11 +33,16 @@ def __init__( :param can_filters: not supported :param bitrate: CAN network bandwidth (bits/s) """ + self._is_shutdown = False if (index is not None) and ((bus or address) is not None): raise CanInitializationError( "index and bus/address cannot be used simultaneously" ) + if index is None and address is None and bus is None: + index = channel + + self._index = None if index is not None: devs = GsUsb.scan() if len(devs) <= index: @@ -45,6 +50,7 @@ def __init__( f"Cannot find device {index}. Devices found: {len(devs)}" ) gs_usb = devs[index] + self._index = index else: gs_usb = GsUsb.find(bus=bus, address=address) if not gs_usb: @@ -68,6 +74,7 @@ def __init__( brp=bit_timing.brp, ) self.gs_usb.start() + self._bitrate = bitrate super().__init__( channel=channel, @@ -102,7 +109,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None): frame = GsUsbFrame() frame.can_id = can_id frame.can_dlc = msg.dlc - frame.timestamp_us = int(msg.timestamp * 1000000) + frame.timestamp_us = 0 # timestamp frame field is only useful on receive frame.data = list(msg.data) try: @@ -154,5 +161,21 @@ def _recv_internal( return msg, False def shutdown(self): + if self._is_shutdown: + return + super().shutdown() self.gs_usb.stop() + if self._index is not None: + # Avoid errors on subsequent __init() by repeating the .scan() and .start() that would otherwise fail + # the next time the device is opened in __init__() + devs = GsUsb.scan() + if self._index < len(devs): + gs_usb = devs[self._index] + try: + gs_usb.set_bitrate(self._bitrate) + gs_usb.start() + gs_usb.stop() + except usb.core.USBError: + pass + self._is_shutdown = True diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index 3a869911c..e9c0131c5 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -8,13 +8,16 @@ and candleLight USB CAN interfaces. Install: ``pip install "python-can[gs_usb]"`` -Usage: pass device ``index`` (starting from 0) if using automatic device detection: +Usage: pass device ``index`` or ``channel`` (starting from 0) if using automatic device detection: :: import can + import usb + dev = usb.core.find(idVendor=0x1D50, idProduct=0x606F) bus = can.Bus(interface="gs_usb", channel=dev.product, index=0, bitrate=250000) + bus = can.Bus(interface="gs_usb", channel=0, bitrate=250000) # same Alternatively, pass ``bus`` and ``address`` to open a specific device. The parameters can be got by ``pyusb`` as shown below: @@ -50,7 +53,7 @@ Windows, Linux and Mac. ``libusb`` must be installed. On Windows a tool such as `Zadig `_ can be used to set the USB device driver to - ``libusb-win32``. + ``libusbK``. Supplementary Info From 971c3319f6543e461cb6b9205424226d3426222e Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 10 Aug 2024 16:26:45 +0200 Subject: [PATCH 370/475] Test on Python 3.13 (#1833) * update linters * test python 3.13 * make pywin32 optional, refactor broadcastmanager.py * fix pylint * update pytest to fix python3.12 CI * fix test * fix deprecation warning * make _Pywin32Event private * try to fix PyPy * add classifier for 3.13 * reduce scope of send_lock context manager --- .github/workflows/ci.yml | 8 +- can/broadcastmanager.py | 158 ++++++++++++++-------- can/interfaces/usb2can/serial_selector.py | 4 +- can/io/trc.py | 6 +- can/notifier.py | 19 ++- pyproject.toml | 10 +- test/network_test.py | 2 +- test/simplecyclic_test.py | 4 +- tox.ini | 5 +- 9 files changed, 133 insertions(+), 83 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index de5601ebf..cd535d4e6 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -23,6 +23,7 @@ jobs: "3.10", "3.11", "3.12", + "3.13", "pypy-3.8", "pypy-3.9", ] @@ -34,12 +35,6 @@ jobs: include: - { python-version: "3.8", os: "macos-13", experimental: false } - { python-version: "3.9", os: "macos-13", experimental: false } - # uncomment when python 3.13.0 alpha is available - #include: - # # Only test on a single configuration while there are just pre-releases - # - os: ubuntu-latest - # experimental: true - # python-version: "3.13.0-alpha - 3.13.0" fail-fast: false steps: - uses: actions/checkout@v4 @@ -47,6 +42,7 @@ jobs: uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} + allow-prereleases: true - name: Install dependencies run: | python -m pip install --upgrade pip diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index a610b7a8a..6ca9c61b3 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -7,10 +7,21 @@ import abc import logging +import platform import sys import threading import time -from typing import TYPE_CHECKING, Callable, Final, Optional, Sequence, Tuple, Union +import warnings +from typing import ( + TYPE_CHECKING, + Callable, + Final, + Optional, + Sequence, + Tuple, + Union, + cast, +) from can import typechecking from can.message import Message @@ -19,22 +30,61 @@ from can.bus import BusABC -# try to import win32event for event-based cyclic send task (needs the pywin32 package) -USE_WINDOWS_EVENTS = False -try: - import pywintypes - import win32event +log = logging.getLogger("can.bcm") +NANOSECONDS_IN_SECOND: Final[int] = 1_000_000_000 - # Python 3.11 provides a more precise sleep implementation on Windows, so this is not necessary. - # Put version check here, so mypy does not complain about `win32event` not being defined. - if sys.version_info < (3, 11): - USE_WINDOWS_EVENTS = True -except ImportError: - pass -log = logging.getLogger("can.bcm") +class _Pywin32Event: + handle: int -NANOSECONDS_IN_SECOND: Final[int] = 1_000_000_000 + +class _Pywin32: + def __init__(self) -> None: + import pywintypes # pylint: disable=import-outside-toplevel,import-error + import win32event # pylint: disable=import-outside-toplevel,import-error + + self.pywintypes = pywintypes + self.win32event = win32event + + def create_timer(self) -> _Pywin32Event: + try: + event = self.win32event.CreateWaitableTimerEx( + None, + None, + self.win32event.CREATE_WAITABLE_TIMER_HIGH_RESOLUTION, + self.win32event.TIMER_ALL_ACCESS, + ) + except ( + AttributeError, + OSError, + self.pywintypes.error, # pylint: disable=no-member + ): + event = self.win32event.CreateWaitableTimer(None, False, None) + + return cast(_Pywin32Event, event) + + def set_timer(self, event: _Pywin32Event, period_ms: int) -> None: + self.win32event.SetWaitableTimer(event.handle, 0, period_ms, None, None, False) + + def stop_timer(self, event: _Pywin32Event) -> None: + self.win32event.SetWaitableTimer(event.handle, 0, 0, None, None, False) + + def wait_0(self, event: _Pywin32Event) -> None: + self.win32event.WaitForSingleObject(event.handle, 0) + + def wait_inf(self, event: _Pywin32Event) -> None: + self.win32event.WaitForSingleObject( + event.handle, + self.win32event.INFINITE, + ) + + +PYWIN32: Optional[_Pywin32] = None +if sys.platform == "win32" and sys.version_info < (3, 11): + try: + PYWIN32 = _Pywin32() + except ImportError: + pass class CyclicTask(abc.ABC): @@ -254,25 +304,30 @@ def __init__( self.on_error = on_error self.modifier_callback = modifier_callback - if USE_WINDOWS_EVENTS: - self.period_ms = int(round(period * 1000, 0)) - try: - self.event = win32event.CreateWaitableTimerEx( - None, - None, - win32event.CREATE_WAITABLE_TIMER_HIGH_RESOLUTION, - win32event.TIMER_ALL_ACCESS, - ) - except (AttributeError, OSError, pywintypes.error): - self.event = win32event.CreateWaitableTimer(None, False, None) + self.period_ms = int(round(period * 1000, 0)) + + self.event: Optional[_Pywin32Event] = None + if PYWIN32: + self.event = PYWIN32.create_timer() + elif ( + sys.platform == "win32" + and sys.version_info < (3, 11) + and platform.python_implementation() == "CPython" + ): + warnings.warn( + f"{self.__class__.__name__} may achieve better timing accuracy " + f"if the 'pywin32' package is installed.", + RuntimeWarning, + stacklevel=1, + ) self.start() def stop(self) -> None: self.stopped = True - if USE_WINDOWS_EVENTS: + if self.event and PYWIN32: # Reset and signal any pending wait by setting the timer to 0 - win32event.SetWaitableTimer(self.event.handle, 0, 0, None, None, False) + PYWIN32.stop_timer(self.event) def start(self) -> None: self.stopped = False @@ -281,10 +336,8 @@ def start(self) -> None: self.thread = threading.Thread(target=self._run, name=name) self.thread.daemon = True - if USE_WINDOWS_EVENTS: - win32event.SetWaitableTimer( - self.event.handle, 0, self.period_ms, None, None, False - ) + if self.event and PYWIN32: + PYWIN32.set_timer(self.event, self.period_ms) self.thread.start() @@ -292,43 +345,40 @@ def _run(self) -> None: msg_index = 0 msg_due_time_ns = time.perf_counter_ns() - if USE_WINDOWS_EVENTS: + if self.event and PYWIN32: # Make sure the timer is non-signaled before entering the loop - win32event.WaitForSingleObject(self.event.handle, 0) + PYWIN32.wait_0(self.event) while not self.stopped: if self.end_time is not None and time.perf_counter() >= self.end_time: break - # Prevent calling bus.send from multiple threads - with self.send_lock: - try: - if self.modifier_callback is not None: - self.modifier_callback(self.messages[msg_index]) + try: + if self.modifier_callback is not None: + self.modifier_callback(self.messages[msg_index]) + with self.send_lock: + # Prevent calling bus.send from multiple threads self.bus.send(self.messages[msg_index]) - except Exception as exc: # pylint: disable=broad-except - log.exception(exc) + except Exception as exc: # pylint: disable=broad-except + log.exception(exc) - # stop if `on_error` callback was not given - if self.on_error is None: - self.stop() - raise exc + # stop if `on_error` callback was not given + if self.on_error is None: + self.stop() + raise exc - # stop if `on_error` returns False - if not self.on_error(exc): - self.stop() - break + # stop if `on_error` returns False + if not self.on_error(exc): + self.stop() + break - if not USE_WINDOWS_EVENTS: + if not self.event: msg_due_time_ns += self.period_ns msg_index = (msg_index + 1) % len(self.messages) - if USE_WINDOWS_EVENTS: - win32event.WaitForSingleObject( - self.event.handle, - win32event.INFINITE, - ) + if self.event and PYWIN32: + PYWIN32.wait_inf(self.event) else: # Compensate for the time it takes to send the message delay_ns = msg_due_time_ns - time.perf_counter_ns() diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index c2e48ff97..92a3a07a2 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -9,7 +9,9 @@ try: import win32com.client except ImportError: - log.warning("win32com.client module required for usb2can") + log.warning( + "win32com.client module required for usb2can. Install the 'pywin32' package." + ) raise diff --git a/can/io/trc.py b/can/io/trc.py index f568f93a5..f0595c23e 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -343,7 +343,9 @@ def _write_header_v1_0(self, start_time: datetime) -> None: self.file.writelines(line + "\n" for line in lines) def _write_header_v2_1(self, start_time: datetime) -> None: - header_time = start_time - datetime(year=1899, month=12, day=30) + header_time = start_time - datetime( + year=1899, month=12, day=30, tzinfo=timezone.utc + ) lines = [ ";$FILEVERSION=2.1", f";$STARTTIME={header_time/timedelta(days=1)}", @@ -399,7 +401,7 @@ def _format_message_init(self, msg, channel): def write_header(self, timestamp: float) -> None: # write start of file header - start_time = datetime.utcfromtimestamp(timestamp) + start_time = datetime.fromtimestamp(timestamp, timezone.utc) if self.file_version == TRCFileVersion.V1_0: self._write_header_v1_0(start_time) diff --git a/can/notifier.py b/can/notifier.py index 34fcf74fa..088f0802e 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -7,7 +7,7 @@ import logging import threading import time -from typing import Awaitable, Callable, Iterable, List, Optional, Union, cast +from typing import Any, Awaitable, Callable, Iterable, List, Optional, Union from can.bus import BusABC from can.listener import Listener @@ -110,16 +110,13 @@ def stop(self, timeout: float = 5) -> None: def _rx_thread(self, bus: BusABC) -> None: # determine message handling callable early, not inside while loop - handle_message = cast( - Callable[[Message], None], - ( - self._on_message_received - if self._loop is None - else functools.partial( - self._loop.call_soon_threadsafe, self._on_message_received - ) - ), - ) + if self._loop: + handle_message: Callable[[Message], Any] = functools.partial( + self._loop.call_soon_threadsafe, + self._on_message_received, # type: ignore[arg-type] + ) + else: + handle_message = self._on_message_received while self._running: try: diff --git a/pyproject.toml b/pyproject.toml index 99a54a5df..8b76bc5e6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,7 +12,6 @@ dependencies = [ "packaging >= 23.1", "typing_extensions>=3.10.0.0", "msgpack~=1.0.0; platform_system != 'Windows'", - "pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'", ] requires-python = ">=3.8" license = { text = "LGPL v3" } @@ -35,6 +34,7 @@ classifiers = [ "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", + "Programming Language :: Python :: 3.13", "Programming Language :: Python :: Implementation :: CPython", "Programming Language :: Python :: Implementation :: PyPy", "Topic :: Software Development :: Embedded Systems", @@ -61,10 +61,11 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==3.2.*", - "ruff==0.4.8", - "black==24.4.*", - "mypy==1.10.*", + "ruff==0.5.7", + "black==24.8.*", + "mypy==1.11.*", ] +pywin32 = ["pywin32>=305"] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] neovi = ["filelock", "python-ics>=2.12"] @@ -171,6 +172,7 @@ known-first-party = ["can"] [tool.pylint] disable = [ + "c-extension-no-member", "cyclic-import", "duplicate-code", "fixme", diff --git a/test/network_test.py b/test/network_test.py index b0fcba37f..50070ef40 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -84,7 +84,7 @@ def testProducerConsumer(self): ready = threading.Event() msg_read = threading.Event() - self.server_bus = can.interface.Bus(channel=channel) + self.server_bus = can.interface.Bus(channel=channel, interface="virtual") t = threading.Thread(target=self.producer, args=(ready, msg_read)) t.start() diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 21e88e9f0..34d29b8b6 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -154,7 +154,7 @@ def test_stopping_perodic_tasks(self): def test_restart_perodic_tasks(self): period = 0.01 - safe_timeout = period * 5 + safe_timeout = period * 5 if not IS_PYPY else 1.0 msg = can.Message( is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] @@ -241,7 +241,7 @@ def test_modifier_callback(self) -> None: msg_list: List[can.Message] = [] def increment_first_byte(msg: can.Message) -> None: - msg.data[0] += 1 + msg.data[0] = (msg.data[0] + 1) % 256 original_msg = can.Message( is_extended_id=False, arbitration_id=0x123, data=[0] * 8 diff --git a/tox.ini b/tox.ini index 477b1d4fc..1ca07a33f 100644 --- a/tox.ini +++ b/tox.ini @@ -3,7 +3,7 @@ isolated_build = true [testenv] deps = - pytest==7.3.* + pytest==8.3.* pytest-timeout==2.1.* coveralls==3.3.1 pytest-cov==4.0.0 @@ -11,7 +11,8 @@ deps = hypothesis~=6.35.0 pyserial~=3.5 parameterized~=0.8 - asammdf>=6.0;platform_python_implementation=="CPython" and python_version < "3.12" + asammdf>=6.0; platform_python_implementation=="CPython" and python_version<"3.13" + pywin32>=305; platform_system=="Windows" and platform_python_implementation=="CPython" and python_version<"3.13" commands = pytest {posargs} From 30601c70808f3feed533caf76da86b515a9a7d48 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 10 Aug 2024 18:08:40 +0200 Subject: [PATCH 371/475] fix slcan tests (#1834) --- test/test_slcan.py | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) diff --git a/test/test_slcan.py b/test/test_slcan.py index af7ae60c4..e1531e500 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -5,7 +5,7 @@ import serial -import can +import can.interfaces.slcan from .config import IS_PYPY @@ -58,9 +58,8 @@ def test_send_extended(self): arbitration_id=0x12ABCDEF, is_extended_id=True, data=[0xAA, 0x55] ) self.bus.send(msg) - expected = b"T12ABCDEF2AA55\r" - data = self.serial.read(len(expected)) - self.assertEqual(data, expected) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_recv_standard(self): self.serial.write(b"t4563112233\r") @@ -77,9 +76,8 @@ def test_send_standard(self): arbitration_id=0x456, is_extended_id=False, data=[0x11, 0x22, 0x33] ) self.bus.send(msg) - expected = b"t4563112233\r" - data = self.serial.read(len(expected)) - self.assertEqual(data, expected) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_recv_standard_remote(self): self.serial.write(b"r1238\r") @@ -95,9 +93,8 @@ def test_send_standard_remote(self): arbitration_id=0x123, is_extended_id=False, is_remote_frame=True, dlc=8 ) self.bus.send(msg) - expected = b"r1238\r" - data = self.serial.read(len(expected)) - self.assertEqual(data, expected) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_recv_extended_remote(self): self.serial.write(b"R12ABCDEF6\r") @@ -113,9 +110,8 @@ def test_send_extended_remote(self): arbitration_id=0x12ABCDEF, is_extended_id=True, is_remote_frame=True, dlc=6 ) self.bus.send(msg) - expected = b"R12ABCDEF6\r" - data = self.serial.read(len(expected)) - self.assertEqual(data, expected) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_partial_recv(self): self.serial.write(b"T12ABCDEF") From 80164c134d6545e9281f7069f1e695e0499785c0 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Thu, 15 Aug 2024 11:51:32 +0200 Subject: [PATCH 372/475] Undo #1772 (#1837) --- .github/workflows/ci.yml | 8 -------- doc/conf.py | 2 +- 2 files changed, 1 insertion(+), 9 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index cd535d4e6..e71df9aa6 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -27,14 +27,6 @@ jobs: "pypy-3.8", "pypy-3.9", ] - # Python 3.9 is on macos-13 but not macos-latest (macos-14-arm64) - # https://github.com/actions/setup-python/issues/696#issuecomment-1637587760 - exclude: - - { python-version: "3.8", os: "macos-latest", experimental: false } - - { python-version: "3.9", os: "macos-latest", experimental: false } - include: - - { python-version: "3.8", os: "macos-13", experimental: false } - - { python-version: "3.9", os: "macos-13", experimental: false } fail-fast: false steps: - uses: actions/checkout@v4 diff --git a/doc/conf.py b/doc/conf.py index 1322a2f83..34ce385cb 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -68,7 +68,7 @@ graphviz_output_format = "png" # 'svg' # The suffix of source filenames. -source_suffix = ".rst" +source_suffix = {".rst": "restructuredtext"} # The encoding of source files. # source_encoding = 'utf-8-sig' From 3738c4f24f2ed75c0100553a8f2be89b3e75a7fd Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 16 Aug 2024 09:41:32 +0200 Subject: [PATCH 373/475] Replace PyPy3.8 with PyPy3.10 (#1838) --- .github/workflows/ci.yml | 2 +- pyproject.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e71df9aa6..b3e90b445 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -24,8 +24,8 @@ jobs: "3.11", "3.12", "3.13", - "pypy-3.8", "pypy-3.9", + "pypy-3.10", ] fail-fast: false steps: diff --git a/pyproject.toml b/pyproject.toml index 8b76bc5e6..ce2b52f2e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -61,7 +61,7 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==3.2.*", - "ruff==0.5.7", + "ruff==0.6.0", "black==24.8.*", "mypy==1.11.*", ] From e291874d9f1e17f6a206d2fa9460a34450c03299 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 16 Aug 2024 15:59:24 +0200 Subject: [PATCH 374/475] add zlgcan to docs (#1839) --- doc/plugin-interface.rst | 3 +++ pyproject.toml | 1 + 2 files changed, 4 insertions(+) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index 4a08ee9a7..d3e6115fd 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -73,8 +73,11 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+-------------------------------------------------------+ | `python-can-sontheim`_ | CAN Driver for Sontheim CAN interfaces (e.g. CANfox) | +----------------------------+-------------------------------------------------------+ +| `zlgcan-driver-py`_ | Python wrapper for zlgcan-driver-rs | ++----------------------------+-------------------------------------------------------+ .. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector .. _python-can-remote: https://github.com/christiansandberg/python-can-remote .. _python-can-sontheim: https://github.com/MattWoodhead/python-can-sontheim +.. _zlgcan-driver-py: https://github.com/zhuyu4839/zlgcan-driver diff --git a/pyproject.toml b/pyproject.toml index ce2b52f2e..8beb99f5e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -78,6 +78,7 @@ pcan = ["uptime~=3.0.1"] remote = ["python-can-remote"] sontheim = ["python-can-sontheim>=0.1.2"] canine = ["python-can-canine>=0.2.2"] +zlgcan = ["zlgcan-driver-py"] viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] From c7121310253c42c6410a70bc8b4f27a51b8b4411 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Thu, 29 Aug 2024 13:03:38 -0400 Subject: [PATCH 375/475] ThreadBasedCyclicSendTask using WIN32 API cannot handle period smaller than 1 ms (#1847) Using a win32 SetWaitableTimer with a period of `0` means that the timer will only be signaled once. This will make the `ThreadBasedCyclicSendTask` to only send one message. --- can/broadcastmanager.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 6ca9c61b3..0fa94c82c 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -308,6 +308,9 @@ def __init__( self.event: Optional[_Pywin32Event] = None if PYWIN32: + if self.period_ms == 0: + # A period of 0 would mean that the timer is signaled only once + raise ValueError("The period cannot be smaller than 0.001 (1 ms)") self.event = PYWIN32.create_timer() elif ( sys.platform == "win32" From 7302127c88f157b837eae0633eb416250d07a850 Mon Sep 17 00:00:00 2001 From: Tomas Bures Date: Fri, 6 Sep 2024 13:05:45 +0200 Subject: [PATCH 376/475] Fix for #1849 (PCAN fails when PCAN_ERROR_ILLDATA is read via ReadFD) (#1850) * When there is an invalid frame on CAN bus (in our case CAN FD), PCAN first reports result PCAN_ERROR_ILLDATA and then it send the error frame. If the PCAN_ERROR_ILLDATA is not ignored, python-can throws an exception. This fix add the ignore on the PCAN_ERROR_ILLDATA. * Fix for ruff error `can/interfaces/pcan/pcan.py:5:1: I001 [*] Import block is un-sorted or un-formatted` Added comment explaining why to ignore the PCAN_ERROR_ILLDATA. --- can/interfaces/pcan/pcan.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index 52dbb49b0..d0372a83c 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -43,6 +43,7 @@ PCAN_DICT_STATUS, PCAN_ERROR_BUSHEAVY, PCAN_ERROR_BUSLIGHT, + PCAN_ERROR_ILLDATA, PCAN_ERROR_OK, PCAN_ERROR_QRCVEMPTY, PCAN_FD_PARAMETER_LIST, @@ -555,6 +556,12 @@ def _recv_internal( elif result & (PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY): log.warning(self._get_formatted_error(result)) + elif result == PCAN_ERROR_ILLDATA: + # When there is an invalid frame on CAN bus (in our case CAN FD), PCAN first reports result PCAN_ERROR_ILLDATA + # and then it sends the error frame. If the PCAN_ERROR_ILLDATA is not ignored, python-can throws an exception. + # So we ignore any PCAN_ERROR_ILLDATA results here. + pass + else: raise PcanCanOperationError(self._get_formatted_error(result)) From 757370d48104ee14c51867ab9e27c525f5302bb5 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Fri, 13 Sep 2024 08:58:58 -0400 Subject: [PATCH 377/475] Faster Message string representation (#1858) Improved the speed of data conversion to hex string --- can/message.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/can/message.py b/can/message.py index c26733087..6dc6a83bd 100644 --- a/can/message.py +++ b/can/message.py @@ -130,12 +130,11 @@ def __str__(self) -> str: field_strings.append(flag_string) field_strings.append(f"DL: {self.dlc:2d}") - data_strings = [] + data_strings = "" if self.data is not None: - for index in range(0, min(self.dlc, len(self.data))): - data_strings.append(f"{self.data[index]:02x}") + data_strings = self.data[: min(self.dlc, len(self.data))].hex(" ") if data_strings: # if not empty - field_strings.append(" ".join(data_strings).ljust(24, " ")) + field_strings.append(data_strings.ljust(24, " ")) else: field_strings.append(" " * 24) From d4f3954b726e857528d605ea88888aab322f1750 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Fri, 13 Sep 2024 11:14:05 -0400 Subject: [PATCH 378/475] ASCWriter speed improvement (#1856) * ASCWriter speed improvement Changed how the message data is converted to string. This results in and 100% speed improvement. On my PC, before the change, logging 10000 messages was taking ~16 seconds and this change drop it to ~8 seconds. With this change, the ASCWriter is still one of the slowest writer we have in Python-can. * Update asc.py * Update logformats_test.py * Create single_frame.asc * Update logformats_test.py * Update test/logformats_test.py Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> --------- Co-authored-by: Felix Divo <4403130+felixdivo@users.noreply.github.com> --- can/io/asc.py | 10 +++++----- test/data/single_frame.asc | 7 +++++++ test/logformats_test.py | 27 +++++++++++++++++++++++++++ 3 files changed, 39 insertions(+), 5 deletions(-) create mode 100644 test/data/single_frame.asc diff --git a/can/io/asc.py b/can/io/asc.py index 3a14f0a88..deb7d429e 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -9,7 +9,7 @@ import logging import re from datetime import datetime -from typing import Any, Dict, Final, Generator, List, Optional, TextIO, Union +from typing import Any, Dict, Final, Generator, Optional, TextIO, Union from ..message import Message from ..typechecking import StringPathLike @@ -439,10 +439,10 @@ def on_message_received(self, msg: Message) -> None: return if msg.is_remote_frame: dtype = f"r {msg.dlc:x}" # New after v8.5 - data: List[str] = [] + data: str = "" else: dtype = f"d {msg.dlc:x}" - data = [f"{byte:02X}" for byte in msg.data] + data = msg.data.hex(" ").upper() arb_id = f"{msg.arbitration_id:X}" if msg.is_extended_id: arb_id += "x" @@ -462,7 +462,7 @@ def on_message_received(self, msg: Message) -> None: esi=1 if msg.error_state_indicator else 0, dlc=len2dlc(msg.dlc), data_length=len(msg.data), - data=" ".join(data), + data=data, message_duration=0, message_length=0, flags=flags, @@ -478,6 +478,6 @@ def on_message_received(self, msg: Message) -> None: id=arb_id, dir="Rx" if msg.is_rx else "Tx", dtype=dtype, - data=" ".join(data), + data=data, ) self.log_event(serialized, msg.timestamp) diff --git a/test/data/single_frame.asc b/test/data/single_frame.asc new file mode 100644 index 000000000..cae9d1b4d --- /dev/null +++ b/test/data/single_frame.asc @@ -0,0 +1,7 @@ +date Sat Sep 30 15:06:13.191 2017 +base hex timestamps absolute +internal events logged +Begin Triggerblock Sat Sep 30 15:06:13.191 2017 + 0.000000 Start of measurement + 0.000000 1 123x Rx d 40 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F +End TriggerBlock diff --git a/test/logformats_test.py b/test/logformats_test.py index 71d392aa8..0fbe065d2 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -651,6 +651,33 @@ def test_write_millisecond_handling(self): self.assertEqual(expected_file.read_text(), actual_file.read_text()) + def test_write(self): + now = datetime( + year=2017, month=9, day=30, hour=15, minute=6, second=13, microsecond=191456 + ) + + # We temporarily set the locale to C to ensure test reproducibility + with override_locale(category=locale.LC_TIME, locale_str="C"): + # We mock datetime.now during ASCWriter __init__ for reproducibility + # Unfortunately, now() is a readonly attribute, so we mock datetime + with patch("can.io.asc.datetime") as mock_datetime: + mock_datetime.now.return_value = now + writer = can.ASCWriter(self.test_file_name) + + msg = can.Message( + timestamp=now.timestamp(), + arbitration_id=0x123, + data=range(64), + ) + + with writer: + writer.on_message_received(msg) + + actual_file = Path(self.test_file_name) + expected_file = self._get_logfile_location("single_frame.asc") + + self.assertEqual(expected_file.read_text(), actual_file.read_text()) + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. From c5c18dc275613c6af648fd24978b3119344375e7 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Mon, 7 Oct 2024 11:10:12 +0200 Subject: [PATCH 379/475] Fix regex in _parse_additional_config() (#1868) --- can/logger.py | 2 +- test/test_logger.py | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/can/logger.py b/can/logger.py index 35c3db20b..81e9527f0 100644 --- a/can/logger.py +++ b/can/logger.py @@ -145,7 +145,7 @@ def __call__( def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: for arg in unknown_args: - if not re.match(r"^--[a-zA-Z\-]*?=\S*?$", arg): + if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): raise ValueError(f"Parsing argument {arg} failed") def _split_arg(_arg: str) -> Tuple[str, str]: diff --git a/test/test_logger.py b/test/test_logger.py index 32fc987b4..10df2557b 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -146,6 +146,7 @@ def test_parse_additional_config(self): "--receive-own-messages=True", "--false-boolean=False", "--offset=1.5", + "--tseg1-abr=127", ] parsed_args = can.logger._parse_additional_config(unknown_args) @@ -170,6 +171,9 @@ def test_parse_additional_config(self): assert "offset" in parsed_args assert parsed_args["offset"] == 1.5 + assert "tseg1_abr" in parsed_args + assert parsed_args["tseg1_abr"] == 127 + with pytest.raises(ValueError): can.logger._parse_additional_config(["--wrong-format"]) From 950e4b40854ee97e3b771b4049a074af1935f5bc Mon Sep 17 00:00:00 2001 From: Nick Cao Date: Tue, 27 Aug 2024 09:49:41 -0400 Subject: [PATCH 380/475] Use typing_extensions.TypedDict on python < 3.12 for pydantic support Reference: https://docs.pydantic.dev/2.8/errors/usage_errors/#typed-dict-version --- can/typechecking.py | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/can/typechecking.py b/can/typechecking.py index 284dd8aba..b0d1c22ac 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -11,17 +11,22 @@ else: from typing_extensions import TypeAlias +if sys.version_info >= (3, 12): + from typing import TypedDict +else: + from typing_extensions import TypedDict + if typing.TYPE_CHECKING: import os -class CanFilter(typing.TypedDict): +class CanFilter(TypedDict): can_id: int can_mask: int -class CanFilterExtended(typing.TypedDict): +class CanFilterExtended(TypedDict): can_id: int can_mask: int extended: bool @@ -56,7 +61,7 @@ class CanFilterExtended(typing.TypedDict): ] -class AutoDetectedConfig(typing.TypedDict): +class AutoDetectedConfig(TypedDict): interface: str channel: Channel @@ -64,7 +69,7 @@ class AutoDetectedConfig(typing.TypedDict): ReadableBytesLike = typing.Union[bytes, bytearray, memoryview] -class BitTimingDict(typing.TypedDict): +class BitTimingDict(TypedDict): f_clock: int brp: int tseg1: int @@ -73,7 +78,7 @@ class BitTimingDict(typing.TypedDict): nof_samples: int -class BitTimingFdDict(typing.TypedDict): +class BitTimingFdDict(TypedDict): f_clock: int nom_brp: int nom_tseg1: int From 7a3d23fa3ba114a6cd005c726e7815732c566f6e Mon Sep 17 00:00:00 2001 From: Sebastian Wolf Date: Tue, 8 Oct 2024 16:10:46 +0200 Subject: [PATCH 381/475] Add autostart option to BusABC.send_periodic() (#1853) * Add autostart option (kwarg) to BusABC.send_periodic() to fix issue #1848 * Fix for #1849 (PCAN fails when PCAN_ERROR_ILLDATA is read via ReadFD) (#1850) * When there is an invalid frame on CAN bus (in our case CAN FD), PCAN first reports result PCAN_ERROR_ILLDATA and then it send the error frame. If the PCAN_ERROR_ILLDATA is not ignored, python-can throws an exception. This fix add the ignore on the PCAN_ERROR_ILLDATA. * Fix for ruff error `can/interfaces/pcan/pcan.py:5:1: I001 [*] Import block is un-sorted or un-formatted` Added comment explaining why to ignore the PCAN_ERROR_ILLDATA. * Format with black to pass checks * Do not ignore autostart parameter for Bus.send_periodic() on IXXAT devices * Do not ignore autostart parameter for Bis.send_periodic() on socketcan devices * Fix double start socketcan periodic * Fix link methods in docstring for start() methods of the tasks can.broadcastmanager.CyclicTask.start * Change the behaviour of autostart parameter in socketcan implementation of CyclicSendTask to not call _tx_setup() method instead of adding a parameter to it. * Fix code style (max 100 chars per line) Fix wrong docstring reference. --------- Co-authored-by: Tomas Bures Co-authored-by: Sebastian Wolf --- can/broadcastmanager.py | 4 +++- can/bus.py | 15 ++++++++++++++- can/interfaces/ixxat/canlib.py | 3 ++- can/interfaces/ixxat/canlib_vcinpl.py | 22 +++++++++++++++++++--- can/interfaces/ixxat/canlib_vcinpl2.py | 22 +++++++++++++++++++--- can/interfaces/socketcan/socketcan.py | 20 ++++++++++++++++---- 6 files changed, 73 insertions(+), 13 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 0fa94c82c..bc65d3a47 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -276,6 +276,7 @@ def __init__( period: float, duration: Optional[float] = None, on_error: Optional[Callable[[Exception], bool]] = None, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> None: """Transmits `messages` with a `period` seconds for `duration` seconds on a `bus`. @@ -324,7 +325,8 @@ def __init__( stacklevel=1, ) - self.start() + if autostart: + self.start() def stop(self) -> None: self.stopped = True diff --git a/can/bus.py b/can/bus.py index 954c78c5f..a12808ab6 100644 --- a/can/bus.py +++ b/can/bus.py @@ -215,6 +215,7 @@ def send_periodic( period: float, duration: Optional[float] = None, store_task: bool = True, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -237,6 +238,10 @@ def send_periodic( :param store_task: If True (the default) the task will be attached to this Bus instance. Disable to instead manage tasks manually. + :param autostart: + If True (the default) the sending task will immediately start after creation. + Otherwise, the task has to be started by calling the + tasks :meth:`~can.RestartableCyclicTaskABC.start` method on it. :param modifier_callback: Function which should be used to modify each message's data before sending. The callback modifies the :attr:`~can.Message.data` of the @@ -272,7 +277,9 @@ def send_periodic( # Create a backend specific task; will be patched to a _SelfRemovingCyclicTask later task = cast( _SelfRemovingCyclicTask, - self._send_periodic_internal(msgs, period, duration, modifier_callback), + self._send_periodic_internal( + msgs, period, duration, autostart, modifier_callback + ), ) # we wrap the task's stop method to also remove it from the Bus's list of tasks periodic_tasks = self._periodic_tasks @@ -299,6 +306,7 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Default implementation of periodic message sending using threading. @@ -312,6 +320,10 @@ def _send_periodic_internal( :param duration: The duration between sending each message at the given rate. If no duration is provided, the task will continue indefinitely. + :param autostart: + If True (the default) the sending task will immediately start after creation. + Otherwise, the task has to be started by calling the + tasks :meth:`~can.RestartableCyclicTaskABC.start` method on it. :return: A started task instance. Note the task can be stopped (and depending on the backend modified) by calling the @@ -328,6 +340,7 @@ def _send_periodic_internal( messages=msgs, period=period, duration=duration, + autostart=autostart, modifier_callback=modifier_callback, ) return task diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 330ccdcd9..a1693aeed 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -155,10 +155,11 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> CyclicSendTaskABC: return self.bus._send_periodic_internal( - msgs, period, duration, modifier_callback + msgs, period, duration, autostart, modifier_callback ) def shutdown(self) -> None: diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 709780ceb..0579d0942 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -793,6 +793,7 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" @@ -807,7 +808,12 @@ def _send_periodic_internal( self._scheduler_resolution = caps.dwClockFreq / caps.dwCmsDivisor _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) return CyclicSendTask( - self._scheduler, msgs, period, duration, self._scheduler_resolution + self._scheduler, + msgs, + period, + duration, + self._scheduler_resolution, + autostart=autostart, ) # fallback to thread based cyclic task @@ -821,6 +827,7 @@ def _send_periodic_internal( msgs=msgs, period=period, duration=duration, + autostart=autostart, modifier_callback=modifier_callback, ) @@ -863,7 +870,15 @@ def state(self) -> BusState: class CyclicSendTask(LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC): """A message in the cyclic transmit list.""" - def __init__(self, scheduler, msgs, period, duration, resolution): + def __init__( + self, + scheduler, + msgs, + period, + duration, + resolution, + autostart: bool = True, + ): super().__init__(msgs, period, duration) if len(self.messages) != 1: raise ValueError( @@ -883,7 +898,8 @@ def __init__(self, scheduler, msgs, period, duration, resolution): self._msg.uMsgInfo.Bits.dlc = self.messages[0].dlc for i, b in enumerate(self.messages[0].data): self._msg.abData[i] = b - self.start() + if autostart: + self.start() def start(self): """Start transmitting message (add to list if needed).""" diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 18b3a1e57..5872f76b9 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -937,6 +937,7 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" @@ -953,7 +954,12 @@ def _send_periodic_internal( ) # TODO: confirm _canlib.canSchedulerActivate(self._scheduler, constants.TRUE) return CyclicSendTask( - self._scheduler, msgs, period, duration, self._scheduler_resolution + self._scheduler, + msgs, + period, + duration, + self._scheduler_resolution, + autostart=autostart, ) # fallback to thread based cyclic task @@ -967,6 +973,7 @@ def _send_periodic_internal( msgs=msgs, period=period, duration=duration, + autostart=autostart, modifier_callback=modifier_callback, ) @@ -983,7 +990,15 @@ def shutdown(self): class CyclicSendTask(LimitedDurationCyclicSendTaskABC, RestartableCyclicTaskABC): """A message in the cyclic transmit list.""" - def __init__(self, scheduler, msgs, period, duration, resolution): + def __init__( + self, + scheduler, + msgs, + period, + duration, + resolution, + autostart: bool = True, + ): super().__init__(msgs, period, duration) if len(self.messages) != 1: raise ValueError( @@ -1003,7 +1018,8 @@ def __init__(self, scheduler, msgs, period, duration, resolution): self._msg.uMsgInfo.Bits.dlc = self.messages[0].dlc for i, b in enumerate(self.messages[0].data): self._msg.abData[i] = b - self.start() + if autostart: + self.start() def start(self): """Start transmitting message (add to list if needed).""" diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 03bd8c3f8..40da0d094 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -327,6 +327,7 @@ def __init__( messages: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + autostart: bool = True, ) -> None: """Construct and :meth:`~start` a task. @@ -349,10 +350,13 @@ def __init__( self.bcm_socket = bcm_socket self.task_id = task_id - self._tx_setup(self.messages) + if autostart: + self._tx_setup(self.messages) def _tx_setup( - self, messages: Sequence[Message], raise_if_task_exists: bool = True + self, + messages: Sequence[Message], + raise_if_task_exists: bool = True, ) -> None: # Create a low level packed frame to pass to the kernel body = bytearray() @@ -813,6 +817,7 @@ def _send_periodic_internal( msgs: Union[Sequence[Message], Message], period: float, duration: Optional[float] = None, + autostart: bool = True, modifier_callback: Optional[Callable[[Message], None]] = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -823,13 +828,17 @@ def _send_periodic_internal( :class:`CyclicSendTask` within BCM provides flexibility to schedule CAN messages sending with the same CAN ID, but different CAN data. - :param messages: + :param msgs: The message(s) to be sent periodically. :param period: The rate in seconds at which to send the messages. :param duration: Approximate duration in seconds to continue sending messages. If no duration is provided, the task will continue indefinitely. + :param autostart: + If True (the default) the sending task will immediately start after creation. + Otherwise, the task has to be started by calling the + tasks :meth:`~can.RestartableCyclicTaskABC.start` method on it. :raises ValueError: If task identifier passed to :class:`CyclicSendTask` can't be used @@ -854,7 +863,9 @@ def _send_periodic_internal( msgs_channel = str(msgs[0].channel) if msgs[0].channel else None bcm_socket = self._get_bcm_socket(msgs_channel or self.channel) task_id = self._get_next_task_id() - task = CyclicSendTask(bcm_socket, task_id, msgs, period, duration) + task = CyclicSendTask( + bcm_socket, task_id, msgs, period, duration, autostart=autostart + ) return task # fallback to thread based cyclic task @@ -868,6 +879,7 @@ def _send_periodic_internal( msgs=msgs, period=period, duration=duration, + autostart=autostart, modifier_callback=modifier_callback, ) From a39e63eac51ae7fbb872fa997aa4730113ba766c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 9 Oct 2024 16:09:39 +0200 Subject: [PATCH 382/475] Add tox environment for doctest (#1870) * test * use py312 to build docs --- .github/workflows/ci.yml | 18 +++--------------- .readthedocs.yml | 2 +- doc/development.rst | 3 +-- doc/scripts.rst | 4 ++++ tox.ini | 15 ++++++++++++++- 5 files changed, 23 insertions(+), 19 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index b3e90b445..6291994a0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -35,10 +35,6 @@ jobs: with: python-version: ${{ matrix.python-version }} allow-prereleases: true - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install tox - name: Setup SocketCAN if: ${{ matrix.os == 'ubuntu-latest' }} run: | @@ -46,7 +42,7 @@ jobs: sudo ./test/open_vcan.sh - name: Test with pytest via tox run: | - tox -e gh + pipx run tox -e gh env: # SocketCAN tests currently fail with PyPy because it does not support raw CAN sockets # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 @@ -131,18 +127,10 @@ jobs: - name: Set up Python uses: actions/setup-python@v5 with: - python-version: "3.10" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install -e .[canalystii,gs_usb,mf4] - pip install -r doc/doc-requirements.txt + python-version: "3.12" - name: Build documentation run: | - python -m sphinx -Wan --keep-going doc build - - name: Run doctest - run: | - python -m sphinx -b doctest -W --keep-going doc build + pipx run tox -e docs build: name: Packaging diff --git a/.readthedocs.yml b/.readthedocs.yml index 32be9c7b5..dad8c28db 100644 --- a/.readthedocs.yml +++ b/.readthedocs.yml @@ -9,7 +9,7 @@ version: 2 build: os: ubuntu-22.04 tools: - python: "3.10" + python: "3.12" # Build documentation in the docs/ directory with Sphinx sphinx: diff --git a/doc/development.rst b/doc/development.rst index c83f0f213..a8332eeb6 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -48,8 +48,7 @@ The unit tests can be run with:: The documentation can be built with:: - pip install -r doc/doc-requirements.txt - python -m sphinx -an doc build + pipx run tox -e docs The linters can be run with:: diff --git a/doc/scripts.rst b/doc/scripts.rst index 520b19177..2d59b7528 100644 --- a/doc/scripts.rst +++ b/doc/scripts.rst @@ -12,12 +12,14 @@ Command line help, called with ``--help``: .. command-output:: python -m can.logger -h + :shell: can.player ---------- .. command-output:: python -m can.player -h + :shell: can.viewer @@ -52,9 +54,11 @@ By default the ``can.viewer`` uses the :doc:`/interfaces/socketcan` interface. A The full usage page can be seen below: .. command-output:: python -m can.viewer -h + :shell: can.logconvert -------------- .. command-output:: python -m can.logconvert -h + :shell: diff --git a/tox.ini b/tox.ini index 1ca07a33f..1d4e88166 100644 --- a/tox.ini +++ b/tox.ini @@ -1,5 +1,4 @@ [tox] -isolated_build = true [testenv] deps = @@ -30,6 +29,20 @@ passenv = PY_COLORS TEST_SOCKETCAN +[testenv:docs] +description = Build and test the documentation +basepython = py312 +deps = + -r doc/doc-requirements.txt + gs-usb + +extras = + canalystii + +commands = + python -m sphinx -b html -Wan --keep-going doc build + python -m sphinx -b doctest -W --keep-going doc build + [pytest] testpaths = test From abe0db58a2db6052f8d6f9cd4ebf2b2c9f2c1ba4 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 18 Oct 2024 10:21:44 +0200 Subject: [PATCH 383/475] Set end_time in ThreadBasedCyclicSendTask.start() (#1871) --- can/broadcastmanager.py | 9 ++++++--- test/simplecyclic_test.py | 32 ++++++++++++++++++++++++++++---- 2 files changed, 34 insertions(+), 7 deletions(-) diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index bc65d3a47..319fb0f53 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -182,6 +182,7 @@ def __init__( """ super().__init__(messages, period) self.duration = duration + self.end_time: Optional[float] = None class RestartableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): @@ -299,9 +300,6 @@ def __init__( self.send_lock = lock self.stopped = True self.thread: Optional[threading.Thread] = None - self.end_time: Optional[float] = ( - time.perf_counter() + duration if duration else None - ) self.on_error = on_error self.modifier_callback = modifier_callback @@ -341,6 +339,10 @@ def start(self) -> None: self.thread = threading.Thread(target=self._run, name=name) self.thread.daemon = True + self.end_time: Optional[float] = ( + time.perf_counter() + self.duration if self.duration else None + ) + if self.event and PYWIN32: PYWIN32.set_timer(self.event, self.period_ms) @@ -356,6 +358,7 @@ def _run(self) -> None: while not self.stopped: if self.end_time is not None and time.perf_counter() >= self.end_time: + self.stop() break try: diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 34d29b8b6..7116efc9d 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -155,14 +155,21 @@ def test_stopping_perodic_tasks(self): def test_restart_perodic_tasks(self): period = 0.01 safe_timeout = period * 5 if not IS_PYPY else 1.0 + duration = 0.3 msg = can.Message( is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] ) + def _read_all_messages(_bus: can.interfaces.virtual.VirtualBus) -> None: + sleep(safe_timeout) + while not _bus.queue.empty(): + _bus.recv(timeout=period) + sleep(safe_timeout) + with can.ThreadSafeBus(interface="virtual", receive_own_messages=True) as bus: task = bus.send_periodic(msg, period) - self.assertIsInstance(task, can.broadcastmanager.RestartableCyclicTaskABC) + self.assertIsInstance(task, can.broadcastmanager.ThreadBasedCyclicSendTask) # Test that the task is sending messages sleep(safe_timeout) @@ -170,10 +177,27 @@ def test_restart_perodic_tasks(self): # Stop the task and check that messages are no longer being sent bus.stop_all_periodic_tasks(remove_tasks=False) + _read_all_messages(bus) + assert bus.queue.empty(), "messages should not have been transmitted" + + # Restart the task and check that messages are being sent again + task.start() sleep(safe_timeout) - while not bus.queue.empty(): - bus.recv(timeout=period) - sleep(safe_timeout) + assert not bus.queue.empty(), "messages should have been transmitted" + + # Stop the task and check that messages are no longer being sent + bus.stop_all_periodic_tasks(remove_tasks=False) + _read_all_messages(bus) + assert bus.queue.empty(), "messages should not have been transmitted" + + # Restart the task with limited duration and wait until it stops + task.duration = duration + task.start() + sleep(duration + safe_timeout) + assert task.stopped + assert time.time() > task.end_time + assert not bus.queue.empty(), "messages should have been transmitted" + _read_all_messages(bus) assert bus.queue.empty(), "messages should not have been transmitted" # Restart the task and check that messages are being sent again From ff01a8b073f77c184f157e7060d03ce74891e2ba Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 18 Oct 2024 11:14:26 +0200 Subject: [PATCH 384/475] Update msgpack dependency (#1875) --- pyproject.toml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 8beb99f5e..f2b6ac04f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,7 +11,7 @@ dependencies = [ "wrapt~=1.10", "packaging >= 23.1", "typing_extensions>=3.10.0.0", - "msgpack~=1.0.0; platform_system != 'Windows'", + "msgpack~=1.1.0; platform_system != 'Windows'", ] requires-python = ">=3.8" license = { text = "LGPL v3" } @@ -61,9 +61,9 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==3.2.*", - "ruff==0.6.0", - "black==24.8.*", - "mypy==1.11.*", + "ruff==0.7.0", + "black==24.10.*", + "mypy==1.12.*", ] pywin32 = ["pywin32>=305"] seeedstudio = ["pyserial>=3.0"] From 5be89ecf2212c5ebc373ab230d86a686cf9e3911 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 25 Oct 2024 16:34:49 +0200 Subject: [PATCH 385/475] Fix Kvaser timestamp (#1878) * get timestamp offset after canBusOn * update comment --- can/interfaces/kvaser/canlib.py | 36 ++++++++++++++++++--------------- 1 file changed, 20 insertions(+), 16 deletions(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 5501c311d..51a77a567 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -573,6 +573,23 @@ def __init__( ) canSetBusOutputControl(self._write_handle, can_driver_mode) + self._is_filtered = False + super().__init__( + channel=channel, + can_filters=can_filters, + **kwargs, + ) + + # activate channel after CAN filters were applied + log.debug("Go on bus") + if not self.single_handle: + canBusOn(self._read_handle) + canBusOn(self._write_handle) + + # timestamp must be set after bus is online, otherwise kvReadTimer may return erroneous values + self._timestamp_offset = self._update_timestamp_offset() + + def _update_timestamp_offset(self) -> float: timer = ctypes.c_uint(0) try: if time.get_clock_info("time").resolution > 1e-5: @@ -580,28 +597,15 @@ def __init__( 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) + return now - (timer.value * TIMESTAMP_FACTOR) else: kvReadTimer(self._read_handle, ctypes.byref(timer)) - self._timestamp_offset = time.time() - (timer.value * TIMESTAMP_FACTOR) + return 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, - ) - - # activate channel after CAN filters were applied - log.debug("Go on bus") - if not self.single_handle: - canBusOn(self._read_handle) - canBusOn(self._write_handle) + return time.time() - (timer.value * TIMESTAMP_FACTOR) def _apply_filters(self, filters): if filters and len(filters) == 1: From 5ae913e8459cb87d7f45326707b16a850b0a3c99 Mon Sep 17 00:00:00 2001 From: Riccardo Belli <61554895+belliriccardo@users.noreply.github.com> Date: Tue, 5 Nov 2024 21:18:04 +0100 Subject: [PATCH 386/475] Added Netronic's CANdo and CANdoISO to plugin list (#1887) --- doc/plugin-interface.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index d3e6115fd..bfdedf3c6 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -75,9 +75,13 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+-------------------------------------------------------+ | `zlgcan-driver-py`_ | Python wrapper for zlgcan-driver-rs | +----------------------------+-------------------------------------------------------+ +| `python-can-cando`_ | Python wrapper for Netronics' CANdo and CANdoISO | ++----------------------------+-------------------------------------------------------+ .. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector .. _python-can-remote: https://github.com/christiansandberg/python-can-remote .. _python-can-sontheim: https://github.com/MattWoodhead/python-can-sontheim .. _zlgcan-driver-py: https://github.com/zhuyu4839/zlgcan-driver +.. _python-can-cando: https://github.com/belliriccardo/python-can-cando + From 9a766ce01575955341767b925ce937f7aa95d301 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 6 Nov 2024 17:06:45 +0100 Subject: [PATCH 387/475] Fix CI (#1889) --- .github/workflows/ci.yml | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 6291994a0..0ddb3028c 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -35,6 +35,10 @@ jobs: with: python-version: ${{ matrix.python-version }} allow-prereleases: true + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install tox - name: Setup SocketCAN if: ${{ matrix.os == 'ubuntu-latest' }} run: | @@ -42,7 +46,7 @@ jobs: sudo ./test/open_vcan.sh - name: Test with pytest via tox run: | - pipx run tox -e gh + tox -e gh env: # SocketCAN tests currently fail with PyPy because it does not support raw CAN sockets # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 @@ -128,9 +132,13 @@ jobs: uses: actions/setup-python@v5 with: python-version: "3.12" + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install tox - name: Build documentation run: | - pipx run tox -e docs + tox -e docs build: name: Packaging From 805f3fb04e75e0590881d15d62bee5fbe86feb82 Mon Sep 17 00:00:00 2001 From: cssedev <187732701+cssedev@users.noreply.github.com> Date: Fri, 15 Nov 2024 03:46:58 +0100 Subject: [PATCH 388/475] MF4 reader updates (#1892) --- can/io/mf4.py | 416 +++++++++++++++++++++++++++----------------------- 1 file changed, 229 insertions(+), 187 deletions(-) diff --git a/can/io/mf4.py b/can/io/mf4.py index 042bf8765..4f5336b42 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -5,16 +5,18 @@ the ASAM MDF standard (see https://www.asam.net/standards/detail/mdf/) """ +import abc +import heapq import logging from datetime import datetime from hashlib import md5 from io import BufferedIOBase, BytesIO from pathlib import Path -from typing import Any, BinaryIO, Generator, Optional, Union, cast +from typing import Any, BinaryIO, Dict, Generator, Iterator, List, Optional, Union, cast from ..message import Message from ..typechecking import StringPathLike -from ..util import channel2int, dlc2len, len2dlc +from ..util import channel2int, len2dlc from .generic import BinaryIOMessageReader, BinaryIOMessageWriter logger = logging.getLogger("can.io.mf4") @@ -22,10 +24,10 @@ try: import asammdf import numpy as np - from asammdf import Signal + from asammdf import Signal, Source from asammdf.blocks.mdf_v4 import MDF4 - from asammdf.blocks.v4_blocks import SourceInformation - from asammdf.blocks.v4_constants import BUS_TYPE_CAN, SOURCE_BUS + from asammdf.blocks.v4_blocks import ChannelGroup, SourceInformation + from asammdf.blocks.v4_constants import BUS_TYPE_CAN, FLAG_CG_BUS_EVENT, SOURCE_BUS from asammdf.mdf import MDF STD_DTYPE = np.dtype( @@ -70,6 +72,8 @@ ) except ImportError: asammdf = None + MDF4 = None + Signal = None CAN_MSG_EXT = 0x80000000 @@ -266,13 +270,179 @@ def on_message_received(self, msg: Message) -> None: self._rtr_buffer = np.zeros(1, dtype=RTR_DTYPE) +class FrameIterator(metaclass=abc.ABCMeta): + """ + Iterator helper class for common handling among CAN DataFrames, ErrorFrames and RemoteFrames. + """ + + # Number of records to request for each asammdf call + _chunk_size = 1000 + + def __init__(self, mdf: MDF4, group_index: int, start_timestamp: float, name: str): + self._mdf = mdf + self._group_index = group_index + self._start_timestamp = start_timestamp + self._name = name + + # Extract names + channel_group: ChannelGroup = self._mdf.groups[self._group_index] + + self._channel_names = [] + + for channel in channel_group.channels: + if str(channel.name).startswith(f"{self._name}."): + self._channel_names.append(channel.name) + + def _get_data(self, current_offset: int) -> Signal: + # NOTE: asammdf suggests using select instead of get. Select seem to miss converting some + # channels which get does convert as expected. + data_raw = self._mdf.get( + self._name, + self._group_index, + record_offset=current_offset, + record_count=self._chunk_size, + raw=False, + ) + + return data_raw + + @abc.abstractmethod + def __iter__(self) -> Generator[Message, None, None]: + pass + + class MF4Reader(BinaryIOMessageReader): """ Iterator of CAN messages from a MF4 logging file. - The MF4Reader only supports MF4 files that were recorded with python-can. + The MF4Reader only supports MF4 files with CAN bus logging. """ + # NOTE: Readout based on the bus logging code from asammdf GUI + + class _CANDataFrameIterator(FrameIterator): + + def __init__(self, mdf: MDF4, group_index: int, start_timestamp: float): + super().__init__(mdf, group_index, start_timestamp, "CAN_DataFrame") + + def __iter__(self) -> Generator[Message, None, None]: + for current_offset in range( + 0, + self._mdf.groups[self._group_index].channel_group.cycles_nr, + self._chunk_size, + ): + data = self._get_data(current_offset) + names = data.samples[0].dtype.names + + for i in range(len(data)): + data_length = int(data["CAN_DataFrame.DataLength"][i]) + + kv: Dict[str, Any] = { + "timestamp": float(data.timestamps[i]) + self._start_timestamp, + "arbitration_id": int(data["CAN_DataFrame.ID"][i]) & 0x1FFFFFFF, + "data": data["CAN_DataFrame.DataBytes"][i][ + :data_length + ].tobytes(), + } + + if "CAN_DataFrame.BusChannel" in names: + kv["channel"] = int(data["CAN_DataFrame.BusChannel"][i]) + if "CAN_DataFrame.Dir" in names: + kv["is_rx"] = int(data["CAN_DataFrame.Dir"][i]) == 0 + if "CAN_DataFrame.IDE" in names: + kv["is_extended_id"] = bool(data["CAN_DataFrame.IDE"][i]) + if "CAN_DataFrame.EDL" in names: + kv["is_fd"] = bool(data["CAN_DataFrame.EDL"][i]) + if "CAN_DataFrame.BRS" in names: + kv["bitrate_switch"] = bool(data["CAN_DataFrame.BRS"][i]) + if "CAN_DataFrame.ESI" in names: + kv["error_state_indicator"] = bool(data["CAN_DataFrame.ESI"][i]) + + yield Message(**kv) + + class _CANErrorFrameIterator(FrameIterator): + + def __init__(self, mdf: MDF4, group_index: int, start_timestamp: float): + super().__init__(mdf, group_index, start_timestamp, "CAN_ErrorFrame") + + def __iter__(self) -> Generator[Message, None, None]: + for current_offset in range( + 0, + self._mdf.groups[self._group_index].channel_group.cycles_nr, + self._chunk_size, + ): + data = self._get_data(current_offset) + names = data.samples[0].dtype.names + + for i in range(len(data)): + kv: Dict[str, Any] = { + "timestamp": float(data.timestamps[i]) + self._start_timestamp, + "is_error_frame": True, + } + + if "CAN_ErrorFrame.BusChannel" in names: + kv["channel"] = int(data["CAN_ErrorFrame.BusChannel"][i]) + if "CAN_ErrorFrame.Dir" in names: + kv["is_rx"] = int(data["CAN_ErrorFrame.Dir"][i]) == 0 + if "CAN_ErrorFrame.ID" in names: + kv["arbitration_id"] = ( + int(data["CAN_ErrorFrame.ID"][i]) & 0x1FFFFFFF + ) + if "CAN_ErrorFrame.IDE" in names: + kv["is_extended_id"] = bool(data["CAN_ErrorFrame.IDE"][i]) + if "CAN_ErrorFrame.EDL" in names: + kv["is_fd"] = bool(data["CAN_ErrorFrame.EDL"][i]) + if "CAN_ErrorFrame.BRS" in names: + kv["bitrate_switch"] = bool(data["CAN_ErrorFrame.BRS"][i]) + if "CAN_ErrorFrame.ESI" in names: + kv["error_state_indicator"] = bool( + data["CAN_ErrorFrame.ESI"][i] + ) + if "CAN_ErrorFrame.RTR" in names: + kv["is_remote_frame"] = bool(data["CAN_ErrorFrame.RTR"][i]) + if ( + "CAN_ErrorFrame.DataLength" in names + and "CAN_ErrorFrame.DataBytes" in names + ): + data_length = int(data["CAN_ErrorFrame.DataLength"][i]) + kv["data"] = data["CAN_ErrorFrame.DataBytes"][i][ + :data_length + ].tobytes() + + yield Message(**kv) + + class _CANRemoteFrameIterator(FrameIterator): + + def __init__(self, mdf: MDF4, group_index: int, start_timestamp: float): + super().__init__(mdf, group_index, start_timestamp, "CAN_RemoteFrame") + + def __iter__(self) -> Generator[Message, None, None]: + for current_offset in range( + 0, + self._mdf.groups[self._group_index].channel_group.cycles_nr, + self._chunk_size, + ): + data = self._get_data(current_offset) + names = data.samples[0].dtype.names + + for i in range(len(data)): + kv: Dict[str, Any] = { + "timestamp": float(data.timestamps[i]) + self._start_timestamp, + "arbitration_id": int(data["CAN_RemoteFrame.ID"][i]) + & 0x1FFFFFFF, + "dlc": int(data["CAN_RemoteFrame.DLC"][i]), + "is_remote_frame": True, + } + + if "CAN_RemoteFrame.BusChannel" in names: + kv["channel"] = int(data["CAN_RemoteFrame.BusChannel"][i]) + if "CAN_RemoteFrame.Dir" in names: + kv["is_rx"] = int(data["CAN_RemoteFrame.Dir"][i]) == 0 + if "CAN_RemoteFrame.IDE" in names: + kv["is_extended_id"] = bool(data["CAN_RemoteFrame.IDE"][i]) + + yield Message(**kv) + def __init__( self, file: Union[StringPathLike, BinaryIO], @@ -293,193 +463,65 @@ def __init__( self._mdf: MDF4 if isinstance(file, BufferedIOBase): - self._mdf = MDF(BytesIO(file.read())) + self._mdf = cast(MDF4, MDF(BytesIO(file.read()))) else: - self._mdf = MDF(file) - - self.start_timestamp = self._mdf.header.start_time.timestamp() - - masters = [self._mdf.get_master(i) for i in range(3)] - - masters = [ - np.core.records.fromarrays((master, np.ones(len(master)) * i)) - for i, master in enumerate(masters) - ] - - self.masters = np.sort(np.concatenate(masters)) - - def __iter__(self) -> Generator[Message, None, None]: - standard_counter = 0 - error_counter = 0 - rtr_counter = 0 - - for timestamp, group_index in self.masters: - # standard frames - if group_index == 0: - sample = self._mdf.get( - "CAN_DataFrame", - group=group_index, - raw=True, - record_offset=standard_counter, - record_count=1, - ) - - try: - channel = int(sample["CAN_DataFrame.BusChannel"][0]) - except ValueError: - channel = None - - if sample["CAN_DataFrame.EDL"] == 0: - is_extended_id = bool(sample["CAN_DataFrame.IDE"][0]) - arbitration_id = int(sample["CAN_DataFrame.ID"][0]) - is_rx = int(sample["CAN_DataFrame.Dir"][0]) == 0 - size = int(sample["CAN_DataFrame.DataLength"][0]) - dlc = int(sample["CAN_DataFrame.DLC"][0]) - data = sample["CAN_DataFrame.DataBytes"][0, :size].tobytes() - - msg = Message( - timestamp=timestamp + self.start_timestamp, - is_error_frame=False, - is_remote_frame=False, - is_fd=False, - is_extended_id=is_extended_id, - channel=channel, - is_rx=is_rx, - arbitration_id=arbitration_id, - data=data, - dlc=dlc, - ) - - else: - is_extended_id = bool(sample["CAN_DataFrame.IDE"][0]) - arbitration_id = int(sample["CAN_DataFrame.ID"][0]) - is_rx = int(sample["CAN_DataFrame.Dir"][0]) == 0 - size = int(sample["CAN_DataFrame.DataLength"][0]) - dlc = dlc2len(sample["CAN_DataFrame.DLC"][0]) - data = sample["CAN_DataFrame.DataBytes"][0, :size].tobytes() - error_state_indicator = bool(sample["CAN_DataFrame.ESI"][0]) - bitrate_switch = bool(sample["CAN_DataFrame.BRS"][0]) - - msg = Message( - timestamp=timestamp + self.start_timestamp, - is_error_frame=False, - is_remote_frame=False, - is_fd=True, - is_extended_id=is_extended_id, - channel=channel, - arbitration_id=arbitration_id, - is_rx=is_rx, - data=data, - dlc=dlc, - bitrate_switch=bitrate_switch, - error_state_indicator=error_state_indicator, + self._mdf = cast(MDF4, MDF(file)) + + self._start_timestamp = self._mdf.header.start_time.timestamp() + + def __iter__(self) -> Iterator[Message]: + # To handle messages split over multiple channel groups, create a single iterator per + # channel group and merge these iterators into a single iterator using heapq. + iterators: List[FrameIterator] = [] + for group_index, group in enumerate(self._mdf.groups): + channel_group: ChannelGroup = group.channel_group + + if not channel_group.flags & FLAG_CG_BUS_EVENT: + # Not a bus event, skip + continue + + if channel_group.cycles_nr == 0: + # No data, skip + continue + + acquisition_source: Optional[Source] = channel_group.acq_source + + if acquisition_source is None: + # No source information, skip + continue + if not acquisition_source.source_type & Source.SOURCE_BUS: + # Not a bus type (likely already covered by the channel group flag), skip + continue + + channel_names = [channel.name for channel in group.channels] + + if acquisition_source.bus_type == Source.BUS_TYPE_CAN: + if "CAN_DataFrame" in channel_names: + iterators.append( + self._CANDataFrameIterator( + self._mdf, group_index, self._start_timestamp + ) ) - - yield msg - standard_counter += 1 - - # error frames - elif group_index == 1: - sample = self._mdf.get( - "CAN_ErrorFrame", - group=group_index, - raw=True, - record_offset=error_counter, - record_count=1, - ) - - try: - channel = int(sample["CAN_ErrorFrame.BusChannel"][0]) - except ValueError: - channel = None - - if sample["CAN_ErrorFrame.EDL"] == 0: - is_extended_id = bool(sample["CAN_ErrorFrame.IDE"][0]) - arbitration_id = int(sample["CAN_ErrorFrame.ID"][0]) - is_rx = int(sample["CAN_ErrorFrame.Dir"][0]) == 0 - size = int(sample["CAN_ErrorFrame.DataLength"][0]) - dlc = int(sample["CAN_ErrorFrame.DLC"][0]) - data = sample["CAN_ErrorFrame.DataBytes"][0, :size].tobytes() - - msg = Message( - timestamp=timestamp + self.start_timestamp, - is_error_frame=True, - is_remote_frame=False, - is_fd=False, - is_extended_id=is_extended_id, - channel=channel, - arbitration_id=arbitration_id, - is_rx=is_rx, - data=data, - dlc=dlc, + elif "CAN_ErrorFrame" in channel_names: + iterators.append( + self._CANErrorFrameIterator( + self._mdf, group_index, self._start_timestamp + ) ) - - else: - is_extended_id = bool(sample["CAN_ErrorFrame.IDE"][0]) - arbitration_id = int(sample["CAN_ErrorFrame.ID"][0]) - is_rx = int(sample["CAN_ErrorFrame.Dir"][0]) == 0 - size = int(sample["CAN_ErrorFrame.DataLength"][0]) - dlc = dlc2len(sample["CAN_ErrorFrame.DLC"][0]) - data = sample["CAN_ErrorFrame.DataBytes"][0, :size].tobytes() - error_state_indicator = bool(sample["CAN_ErrorFrame.ESI"][0]) - bitrate_switch = bool(sample["CAN_ErrorFrame.BRS"][0]) - - msg = Message( - timestamp=timestamp + self.start_timestamp, - is_error_frame=True, - is_remote_frame=False, - is_fd=True, - is_extended_id=is_extended_id, - channel=channel, - arbitration_id=arbitration_id, - is_rx=is_rx, - data=data, - dlc=dlc, - bitrate_switch=bitrate_switch, - error_state_indicator=error_state_indicator, + elif "CAN_RemoteFrame" in channel_names: + iterators.append( + self._CANRemoteFrameIterator( + self._mdf, group_index, self._start_timestamp + ) ) - - yield msg - error_counter += 1 - - # remote frames else: - sample = self._mdf.get( - "CAN_RemoteFrame", - group=group_index, - raw=True, - record_offset=rtr_counter, - record_count=1, - ) - - try: - channel = int(sample["CAN_RemoteFrame.BusChannel"][0]) - except ValueError: - channel = None - - is_extended_id = bool(sample["CAN_RemoteFrame.IDE"][0]) - arbitration_id = int(sample["CAN_RemoteFrame.ID"][0]) - is_rx = int(sample["CAN_RemoteFrame.Dir"][0]) == 0 - dlc = int(sample["CAN_RemoteFrame.DLC"][0]) - - msg = Message( - timestamp=timestamp + self.start_timestamp, - is_error_frame=False, - is_remote_frame=True, - is_fd=False, - is_extended_id=is_extended_id, - channel=channel, - arbitration_id=arbitration_id, - is_rx=is_rx, - dlc=dlc, - ) - - yield msg - - rtr_counter += 1 - - self.stop() + # Unknown bus type, skip + continue + + # Create merged iterator over all the groups, using the timestamps as comparison key + return iter(heapq.merge(*iterators, key=lambda x: x.timestamp)) def stop(self) -> None: self._mdf.close() + self._mdf = None super().stop() From 33a1ec740137345075390fe5252db69e27668294 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 23 Nov 2024 14:39:43 +0100 Subject: [PATCH 389/475] Fix CI failures (#1898) * implement join_threads helper method * simplify network_test.py * update tox.ini --- test/network_test.py | 103 +++++++++++++++----------------------- test/simplecyclic_test.py | 40 +++++++++++---- tox.ini | 4 +- 3 files changed, 71 insertions(+), 76 deletions(-) diff --git a/test/network_test.py b/test/network_test.py index 50070ef40..3a231dff7 100644 --- a/test/network_test.py +++ b/test/network_test.py @@ -6,16 +6,14 @@ import unittest import can +from test.config import IS_PYPY logging.getLogger(__file__).setLevel(logging.WARNING) # make a random bool: def rbool(): - return bool(round(random.random())) - - -channel = "vcan0" + return random.choice([False, True]) class ControllerAreaNetworkTestCase(unittest.TestCase): @@ -51,74 +49,51 @@ def tearDown(self): # Restore the defaults can.rc = self._can_rc - def producer(self, ready_event, msg_read): - self.client_bus = can.interface.Bus(channel=channel) - ready_event.wait() - for i in range(self.num_messages): - m = can.Message( - arbitration_id=self.ids[i], - is_remote_frame=self.remote_flags[i], - is_error_frame=self.error_flags[i], - is_extended_id=self.extended_flags[i], - data=self.data[i], - ) - # logging.debug("writing message: {}".format(m)) - if msg_read is not None: - # Don't send until the other thread is ready - msg_read.wait() - msg_read.clear() - - self.client_bus.send(m) + def producer(self, channel: str): + with can.interface.Bus(channel=channel) as client_bus: + for i in range(self.num_messages): + m = can.Message( + arbitration_id=self.ids[i], + is_remote_frame=self.remote_flags[i], + is_error_frame=self.error_flags[i], + is_extended_id=self.extended_flags[i], + data=self.data[i], + ) + client_bus.send(m) def testProducer(self): """Verify that we can send arbitrary messages on the bus""" logging.debug("testing producer alone") - ready = threading.Event() - ready.set() - self.producer(ready, None) - + self.producer(channel="testProducer") logging.debug("producer test complete") def testProducerConsumer(self): logging.debug("testing producer/consumer") - ready = threading.Event() - msg_read = threading.Event() - - self.server_bus = can.interface.Bus(channel=channel, interface="virtual") - - t = threading.Thread(target=self.producer, args=(ready, msg_read)) - t.start() - - # Ensure there are no messages on the bus - while True: - m = self.server_bus.recv(timeout=0.5) - if m is None: - print("No messages... lets go") - break - else: - self.fail("received messages before the test has started ...") - ready.set() - i = 0 - while i < self.num_messages: - msg_read.set() - msg = self.server_bus.recv(timeout=0.5) - self.assertIsNotNone(msg, "Didn't receive a message") - # logging.debug("Received message {} with data: {}".format(i, msg.data)) - - self.assertEqual(msg.is_extended_id, self.extended_flags[i]) - if not msg.is_remote_frame: - self.assertEqual(msg.data, self.data[i]) - self.assertEqual(msg.arbitration_id, self.ids[i]) - - self.assertEqual(msg.is_error_frame, self.error_flags[i]) - self.assertEqual(msg.is_remote_frame, self.remote_flags[i]) - - i += 1 - t.join() - - with contextlib.suppress(NotImplementedError): - self.server_bus.flush_tx_buffer() - self.server_bus.shutdown() + read_timeout = 2.0 if IS_PYPY else 0.5 + channel = "testProducerConsumer" + + with can.interface.Bus(channel=channel, interface="virtual") as server_bus: + t = threading.Thread(target=self.producer, args=(channel,)) + t.start() + + i = 0 + while i < self.num_messages: + msg = server_bus.recv(timeout=read_timeout) + self.assertIsNotNone(msg, "Didn't receive a message") + + self.assertEqual(msg.is_extended_id, self.extended_flags[i]) + if not msg.is_remote_frame: + self.assertEqual(msg.data, self.data[i]) + self.assertEqual(msg.arbitration_id, self.ids[i]) + + self.assertEqual(msg.is_error_frame, self.error_flags[i]) + self.assertEqual(msg.is_remote_frame, self.remote_flags[i]) + + i += 1 + t.join() + + with contextlib.suppress(NotImplementedError): + server_bus.flush_tx_buffer() if __name__ == "__main__": diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 7116efc9d..c4c1a2340 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -5,8 +5,11 @@ """ import gc +import sys import time +import traceback import unittest +from threading import Thread from time import sleep from typing import List from unittest.mock import MagicMock @@ -87,6 +90,8 @@ def test_removing_bus_tasks(self): # Note calling task.stop will remove the task from the Bus's internal task management list task.stop() + self.join_threads([task.thread for task in tasks], 5.0) + assert len(bus._periodic_tasks) == 0 bus.shutdown() @@ -115,8 +120,7 @@ def test_managed_tasks(self): for task in tasks: task.stop() - for task in tasks: - assert task.thread.join(5.0) is None, "Task didn't stop before timeout" + self.join_threads([task.thread for task in tasks], 5.0) bus.shutdown() @@ -142,9 +146,7 @@ def test_stopping_perodic_tasks(self): # stop the other half using the bus api bus.stop_all_periodic_tasks(remove_tasks=False) - - for task in tasks: - assert task.thread.join(5.0) is None, "Task didn't stop before timeout" + self.join_threads([task.thread for task in tasks], 5.0) # Tasks stopped via `stop_all_periodic_tasks` with remove_tasks=False should # still be associated with the bus (e.g. for restarting) @@ -161,7 +163,7 @@ def test_restart_perodic_tasks(self): is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] ) - def _read_all_messages(_bus: can.interfaces.virtual.VirtualBus) -> None: + def _read_all_messages(_bus: "can.interfaces.virtual.VirtualBus") -> None: sleep(safe_timeout) while not _bus.queue.empty(): _bus.recv(timeout=period) @@ -207,9 +209,8 @@ def _read_all_messages(_bus: can.interfaces.virtual.VirtualBus) -> None: # Stop all tasks and wait for the thread to exit bus.stop_all_periodic_tasks() - if isinstance(task, can.broadcastmanager.ThreadBasedCyclicSendTask): - # Avoids issues where the thread is still running when the bus is shutdown - task.thread.join(safe_timeout) + # Avoids issues where the thread is still running when the bus is shutdown + self.join_threads([task.thread], 5.0) @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_thread_based_cyclic_send_task(self): @@ -288,6 +289,27 @@ def increment_first_byte(msg: can.Message) -> None: self.assertEqual(b"\x06\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[5].data)) self.assertEqual(b"\x07\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[6].data)) + @staticmethod + def join_threads(threads: List[Thread], timeout: float) -> None: + stuck_threads: List[Thread] = [] + t0 = time.perf_counter() + for thread in threads: + time_left = timeout - (time.perf_counter() - t0) + if time_left > 0.0: + thread.join(time_left) + if thread.is_alive(): + if platform.python_implementation() == "CPython": + # print thread frame to help with debugging + frame = sys._current_frames()[thread.ident] + traceback.print_stack(frame, file=sys.stderr) + stuck_threads.append(thread) + if stuck_threads: + err_message = ( + f"Threads did not stop within {timeout:.1f} seconds: " + f"[{', '.join([str(t) for t in stuck_threads])}]" + ) + raise RuntimeError(err_message) + if __name__ == "__main__": unittest.main() diff --git a/tox.ini b/tox.ini index 1d4e88166..e112c22b4 100644 --- a/tox.ini +++ b/tox.ini @@ -11,7 +11,7 @@ deps = pyserial~=3.5 parameterized~=0.8 asammdf>=6.0; platform_python_implementation=="CPython" and python_version<"3.13" - pywin32>=305; platform_system=="Windows" and platform_python_implementation=="CPython" and python_version<"3.13" + pywin32>=305; platform_system=="Windows" and platform_python_implementation=="CPython" and python_version<"3.14" commands = pytest {posargs} @@ -19,8 +19,6 @@ commands = extras = canalystii -recreate = True - [testenv:gh] passenv = CI From 856fd115da6672cc8821b88d5d3e601ded32c662 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 23 Nov 2024 15:48:55 +0100 Subject: [PATCH 390/475] Add BitTiming/BitTimingFd support to slcanBus (#1512) * add BitTiming parameter to slcanBus * remove btr argument, rename ttyBaudrate --- can/interfaces/slcan.py | 73 +++++++++++++++++++++++++++-------------- 1 file changed, 48 insertions(+), 25 deletions(-) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index f023e084c..4cf8b5e25 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -5,16 +5,17 @@ import io import logging import time -from typing import Any, Optional, Tuple +import warnings +from typing import Any, Optional, Tuple, Union -from can import BusABC, CanProtocol, Message, typechecking - -from ..exceptions import ( +from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message, typechecking +from can.exceptions import ( CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, error_check, ) +from can.util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) @@ -54,12 +55,17 @@ class slcanBus(BusABC): LINE_TERMINATOR = b"\r" + @deprecated_args_alias( + deprecation_start="4.5.0", + deprecation_end="5.0.0", + ttyBaudrate="tty_baudrate", + ) def __init__( self, channel: typechecking.ChannelStr, - ttyBaudrate: int = 115200, + tty_baudrate: int = 115200, bitrate: Optional[int] = None, - btr: Optional[str] = None, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, sleep_after_open: float = _SLEEP_AFTER_SERIAL_OPEN, rtscts: bool = False, listen_only: bool = False, @@ -70,12 +76,16 @@ def __init__( :param str channel: port of underlying serial or usb device (e.g. ``/dev/ttyUSB0``, ``COM8``, ...) Must not be empty. Can also end with ``@115200`` (or similarly) to specify the baudrate. - :param int ttyBaudrate: + :param int tty_baudrate: baudrate of underlying serial or usb device (Ignored if set via the ``channel`` parameter) :param bitrate: Bitrate in bit/s - :param btr: - BTR register value to set custom can speed + :param timing: + Optional :class:`~can.BitTiming` instance to use for custom bit timing setting. + If this argument is set then it overrides the bitrate and btr arguments. The + `f_clock` value of the timing instance must be set to 8_000_000 (8MHz) + for standard CAN. + CAN FD and the :class:`~can.BitTimingFd` class are not supported. :param poll_interval: Poll interval in seconds when reading messages :param sleep_after_open: @@ -97,16 +107,26 @@ def __init__( if serial is None: raise CanInterfaceNotImplementedError("The serial module is not installed") + btr: Optional[str] = kwargs.get("btr", None) + if btr is not None: + warnings.warn( + "The 'btr' argument is deprecated since python-can v4.5.0 " + "and scheduled for removal in v5.0.0. " + "Use the 'timing' argument instead.", + DeprecationWarning, + stacklevel=1, + ) + if not channel: # if None or empty raise ValueError("Must specify a serial port.") if "@" in channel: (channel, baudrate) = channel.split("@") - ttyBaudrate = int(baudrate) + tty_baudrate = int(baudrate) with error_check(exception_type=CanInitializationError): self.serialPortOrig = serial.serial_for_url( channel, - baudrate=ttyBaudrate, + baudrate=tty_baudrate, rtscts=rtscts, timeout=timeout, ) @@ -117,21 +137,23 @@ def __init__( time.sleep(sleep_after_open) with error_check(exception_type=CanInitializationError): - if bitrate is not None and btr is not None: - raise ValueError("Bitrate and btr mutually exclusive.") - if bitrate is not None: - self.set_bitrate(bitrate) - if btr is not None: - self.set_bitrate_reg(btr) + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, valid_clocks=[8_000_000]) + self.set_bitrate_reg(f"{timing.btr0:02X}{timing.btr1:02X}") + elif isinstance(timing, BitTimingFd): + raise NotImplementedError( + f"CAN FD is not supported by {self.__class__.__name__}." + ) + else: + if bitrate is not None and btr is not None: + raise ValueError("Bitrate and btr mutually exclusive.") + if bitrate is not None: + self.set_bitrate(bitrate) + if btr is not None: + self.set_bitrate_reg(btr) self.open() - super().__init__( - channel, - ttyBaudrate=115200, - bitrate=None, - rtscts=False, - **kwargs, - ) + super().__init__(channel, **kwargs) def set_bitrate(self, bitrate: int) -> None: """ @@ -153,7 +175,8 @@ def set_bitrate(self, bitrate: int) -> None: def set_bitrate_reg(self, btr: str) -> None: """ :param btr: - BTR register value to set custom can speed + BTR register value to set custom can speed as a string `xxyy` where + xx is the BTR0 value in hex and yy is the BTR1 value in hex. """ self.close() self._write("s" + btr) From 2eb8f53d97faf14f3924023d26da2c540b5a5052 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 23 Nov 2024 15:49:29 +0100 Subject: [PATCH 391/475] Add BitTiming parameter to Usb2canBus (#1511) --- can/interfaces/usb2can/usb2canInterface.py | 49 ++++++++++++++++++---- 1 file changed, 40 insertions(+), 9 deletions(-) diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index c89e394df..adc16e8b3 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -4,9 +4,18 @@ import logging from ctypes import byref -from typing import Optional - -from can import BusABC, CanInitializationError, CanOperationError, CanProtocol, Message +from typing import Optional, Union + +from can import ( + BitTiming, + BitTimingFd, + BusABC, + CanInitializationError, + CanOperationError, + CanProtocol, + Message, +) +from can.util import check_or_adjust_timing_clock from .serial_selector import find_serial_devices from .usb2canabstractionlayer import ( @@ -78,6 +87,13 @@ class Usb2canBus(BusABC): Bitrate of channel in bit/s. Values will be limited to a maximum of 1000 Kb/s. Default is 500 Kbs + :param timing: + Optional :class:`~can.BitTiming` instance to use for custom bit timing setting. + If this argument is set then it overrides the bitrate argument. The + `f_clock` value of the timing instance must be set to 32_000_000 (32MHz) + for standard CAN. + CAN FD and the :class:`~can.BitTimingFd` class are not supported. + :param flags: Flags to directly pass to open function of the usb2can abstraction layer. @@ -97,8 +113,8 @@ def __init__( channel: Optional[str] = None, dll: str = "usb2can.dll", flags: int = 0x00000008, - *_, bitrate: int = 500000, + timing: Optional[Union[BitTiming, BitTimingFd]] = None, serial: Optional[str] = None, **kwargs, ): @@ -114,13 +130,28 @@ def __init__( raise CanInitializationError("could not automatically find any device") device_id = devices[0] - # convert to kb/s and cap: max rate is 1000 kb/s - baudrate = min(int(bitrate // 1000), 1000) - self.channel_info = f"USB2CAN device {device_id}" - self._can_protocol = CanProtocol.CAN_20 - connector = f"{device_id}; {baudrate}" + if isinstance(timing, BitTiming): + timing = check_or_adjust_timing_clock(timing, valid_clocks=[32_000_000]) + connector = ( + f"{device_id};" + "0;" + f"{timing.tseg1};" + f"{timing.tseg2};" + f"{timing.sjw};" + f"{timing.brp}" + ) + elif isinstance(timing, BitTimingFd): + raise NotImplementedError( + f"CAN FD is not supported by {self.__class__.__name__}." + ) + else: + # convert to kb/s and cap: max rate is 1000 kb/s + baudrate = min(int(bitrate // 1000), 1000) + connector = f"{device_id};{baudrate}" + + self._can_protocol = CanProtocol.CAN_20 self.handle = self.can.open(connector, flags) super().__init__(channel=channel, **kwargs) From 7ba6ddd1af98145493035b1d74a6764c02ba1154 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 23 Nov 2024 21:15:11 +0100 Subject: [PATCH 392/475] Add timing parameter to CLI tools (#1869) --- can/logger.py | 47 ++++++++++++++++++++++++++++++++++++- doc/bit_timing.rst | 4 ---- test/test_logger.py | 57 +++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 103 insertions(+), 5 deletions(-) diff --git a/can/logger.py b/can/logger.py index 81e9527f0..4167558d8 100644 --- a/can/logger.py +++ b/can/logger.py @@ -17,7 +17,7 @@ import can from can import Bus, BusState, Logger, SizedRotatingLogger from can.typechecking import TAdditionalCliArgs -from can.util import cast_from_string +from can.util import _dict2timing, cast_from_string if TYPE_CHECKING: from can.io import BaseRotatingLogger @@ -58,6 +58,19 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: help="Bitrate to use for the data phase in case of CAN-FD.", ) + parser.add_argument( + "--timing", + action=_BitTimingAction, + nargs=argparse.ONE_OR_MORE, + help="Configure bit rate and bit timing. For example, use " + "`--timing f_clock=8_000_000 tseg1=5 tseg2=2 sjw=2 brp=2 nof_samples=1` for classical CAN " + "or `--timing f_clock=80_000_000 nom_tseg1=119 nom_tseg2=40 nom_sjw=40 nom_brp=1 " + "data_tseg1=29 data_tseg2=10 data_sjw=10 data_brp=1` for CAN FD. " + "Check the python-can documentation to verify whether your " + "CAN interface supports the `timing` argument.", + metavar="TIMING_ARG", + ) + parser.add_argument( "extra_args", nargs=argparse.REMAINDER, @@ -109,6 +122,8 @@ def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC: config["data_bitrate"] = parsed_args.data_bitrate if getattr(parsed_args, "can_filters", None): config["can_filters"] = parsed_args.can_filters + if parsed_args.timing: + config["timing"] = parsed_args.timing return Bus(parsed_args.channel, **config) @@ -143,6 +158,36 @@ def __call__( setattr(namespace, self.dest, can_filters) +class _BitTimingAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: Union[str, Sequence[Any], None], + option_string: Optional[str] = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(None, "Invalid --timing argument") + + timing_dict: Dict[str, int] = {} + for arg in values: + try: + key, value_string = arg.split("=") + value = int(value_string) + timing_dict[key] = value + except ValueError: + raise argparse.ArgumentError( + None, f"Invalid timing argument: {arg}" + ) from None + + if not (timing := _dict2timing(timing_dict)): + err_msg = "Invalid --timing argument. Incomplete parameters." + raise argparse.ArgumentError(None, err_msg) + + setattr(namespace, self.dest, timing) + print(timing) + + def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: for arg in unknown_args: if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): diff --git a/doc/bit_timing.rst b/doc/bit_timing.rst index 73005a3c6..bf7aad486 100644 --- a/doc/bit_timing.rst +++ b/doc/bit_timing.rst @@ -1,10 +1,6 @@ Bit Timing Configuration ======================== -.. attention:: - This feature is experimental. The implementation might change in future - versions. - The CAN protocol, specified in ISO 11898, allows the bitrate, sample point and number of samples to be optimized for a given application. These parameters, known as bit timings, can be adjusted to meet the requirements diff --git a/test/test_logger.py b/test/test_logger.py index 10df2557b..d9f200e00 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -139,6 +139,63 @@ def test_parse_can_filters_list(self): ) assert results.can_filters == expected_can_filters + def test_parse_timing(self) -> None: + can20_args = self.baseargs + [ + "--timing", + "f_clock=8_000_000", + "tseg1=5", + "tseg2=2", + "sjw=2", + "brp=2", + "nof_samples=1", + "--app-name=CANalyzer", + ] + results, additional_config = can.logger._parse_logger_args(can20_args[1:]) + assert results.timing == can.BitTiming( + f_clock=8_000_000, brp=2, tseg1=5, tseg2=2, sjw=2, nof_samples=1 + ) + assert additional_config["app_name"] == "CANalyzer" + + canfd_args = self.baseargs + [ + "--timing", + "f_clock=80_000_000", + "nom_tseg1=119", + "nom_tseg2=40", + "nom_sjw=40", + "nom_brp=1", + "data_tseg1=29", + "data_tseg2=10", + "data_sjw=10", + "data_brp=1", + "--app-name=CANalyzer", + ] + results, additional_config = can.logger._parse_logger_args(canfd_args[1:]) + assert results.timing == can.BitTimingFd( + f_clock=80_000_000, + nom_brp=1, + nom_tseg1=119, + nom_tseg2=40, + nom_sjw=40, + data_brp=1, + data_tseg1=29, + data_tseg2=10, + data_sjw=10, + ) + assert additional_config["app_name"] == "CANalyzer" + + # remove f_clock parameter, parsing should fail + incomplete_args = self.baseargs + [ + "--timing", + "tseg1=5", + "tseg2=2", + "sjw=2", + "brp=2", + "nof_samples=1", + "--app-name=CANalyzer", + ] + with self.assertRaises(SystemExit): + can.logger._parse_logger_args(incomplete_args[1:]) + def test_parse_additional_config(self): unknown_args = [ "--app-name=CANalyzer", From 226e040ffa722593add5c763651d1e4504d8387b Mon Sep 17 00:00:00 2001 From: Adrian Immer <62163284+lebuni@users.noreply.github.com> Date: Tue, 26 Nov 2024 19:43:43 +0100 Subject: [PATCH 393/475] Improve speed of TRCReader (#1893) Rewrote some lines in the TRCReader to optimize for speed, mainly for TRC files v2.x. According to cProfile it's double as fast now. --- can/io/trc.py | 83 +++++++++++++++++++++++---------------------------- 1 file changed, 37 insertions(+), 46 deletions(-) diff --git a/can/io/trc.py b/can/io/trc.py index f0595c23e..2dbe3763c 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -11,15 +11,12 @@ import os from datetime import datetime, timedelta, timezone from enum import Enum -from typing import Any, Callable, Dict, Generator, List, Optional, TextIO, Union +from typing import Any, Callable, Dict, Generator, Optional, TextIO, Tuple, Union from ..message import Message from ..typechecking import StringPathLike -from ..util import channel2int, dlc2len, len2dlc -from .generic import ( - TextIOMessageReader, - TextIOMessageWriter, -) +from ..util import channel2int, len2dlc +from .generic import TextIOMessageReader, TextIOMessageWriter logger = logging.getLogger("can.io.trc") @@ -58,13 +55,22 @@ def __init__( """ super().__init__(file, mode="r") self.file_version = TRCFileVersion.UNKNOWN - self.start_time: Optional[datetime] = None + self._start_time: float = 0 self.columns: Dict[str, int] = {} + self._num_columns = -1 if not self.file: raise ValueError("The given file cannot be None") - self._parse_cols: Callable[[List[str]], Optional[Message]] = lambda x: None + self._parse_cols: Callable[[Tuple[str, ...]], Optional[Message]] = ( + lambda x: None + ) + + @property + def start_time(self) -> Optional[datetime]: + if self._start_time: + return datetime.fromtimestamp(self._start_time, timezone.utc) + return None def _extract_header(self): line = "" @@ -89,9 +95,10 @@ def _extract_header(self): elif line.startswith(";$STARTTIME"): logger.debug("TRCReader: Found start time '%s'", line) try: - self.start_time = datetime( - 1899, 12, 30, tzinfo=timezone.utc - ) + timedelta(days=float(line.split("=")[1])) + self._start_time = ( + datetime(1899, 12, 30, tzinfo=timezone.utc) + + timedelta(days=float(line.split("=")[1])) + ).timestamp() except IndexError: logger.debug("TRCReader: Failed to parse start time") elif line.startswith(";$COLUMNS"): @@ -99,6 +106,7 @@ def _extract_header(self): try: columns = line.split("=")[1].split(",") self.columns = {column: columns.index(column) for column in columns} + self._num_columns = len(columns) - 1 except IndexError: logger.debug("TRCReader: Failed to parse columns") elif line.startswith(";"): @@ -107,7 +115,7 @@ def _extract_header(self): break if self.file_version >= TRCFileVersion.V1_1: - if self.start_time is None: + if self._start_time is None: raise ValueError("File has no start time information") if self.file_version >= TRCFileVersion.V2_0: @@ -132,7 +140,7 @@ def _extract_header(self): return line - def _parse_msg_v1_0(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v1_0(self, cols: Tuple[str, ...]) -> Optional[Message]: arbit_id = cols[2] if arbit_id == "FFFFFFFF": logger.info("TRCReader: Dropping bus info line") @@ -147,16 +155,11 @@ def _parse_msg_v1_0(self, cols: List[str]) -> Optional[Message]: msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg - def _parse_msg_v1_1(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: arbit_id = cols[3] msg = Message() - if isinstance(self.start_time, datetime): - msg.timestamp = ( - self.start_time + timedelta(milliseconds=float(cols[1])) - ).timestamp() - else: - msg.timestamp = float(cols[1]) / 1000 + msg.timestamp = float(cols[1]) / 1000 + self._start_time msg.arbitration_id = int(arbit_id, 16) msg.is_extended_id = len(arbit_id) > 4 msg.channel = 1 @@ -165,16 +168,11 @@ def _parse_msg_v1_1(self, cols: List[str]) -> Optional[Message]: msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_v1_3(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: arbit_id = cols[4] msg = Message() - if isinstance(self.start_time, datetime): - msg.timestamp = ( - self.start_time + timedelta(milliseconds=float(cols[1])) - ).timestamp() - else: - msg.timestamp = float(cols[1]) / 1000 + msg.timestamp = float(cols[1]) / 1000 + self._start_time msg.arbitration_id = int(arbit_id, 16) msg.is_extended_id = len(arbit_id) > 4 msg.channel = int(cols[2]) @@ -183,7 +181,7 @@ def _parse_msg_v1_3(self, cols: List[str]) -> Optional[Message]: msg.is_rx = cols[3] == "Rx" return msg - def _parse_msg_v2_x(self, cols: List[str]) -> Optional[Message]: + def _parse_msg_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: type_ = cols[self.columns["T"]] bus = self.columns.get("B", None) @@ -192,32 +190,25 @@ def _parse_msg_v2_x(self, cols: List[str]) -> Optional[Message]: dlc = len2dlc(length) elif "L" in self.columns: dlc = int(cols[self.columns["L"]]) - length = dlc2len(dlc) else: raise ValueError("No length/dlc columns present.") msg = Message() - if isinstance(self.start_time, datetime): - msg.timestamp = ( - self.start_time + timedelta(milliseconds=float(cols[self.columns["O"]])) - ).timestamp() - else: - msg.timestamp = float(cols[1]) / 1000 + msg.timestamp = float(cols[self.columns["O"]]) / 1000 + self._start_time msg.arbitration_id = int(cols[self.columns["I"]], 16) msg.is_extended_id = len(cols[self.columns["I"]]) > 4 msg.channel = int(cols[bus]) if bus is not None else 1 msg.dlc = dlc - msg.data = bytearray( - [int(cols[i + self.columns["D"]], 16) for i in range(length)] - ) + if dlc: + msg.data = bytearray.fromhex(cols[self.columns["D"]]) msg.is_rx = cols[self.columns["d"]] == "Rx" - msg.is_fd = type_ in ["FD", "FB", "FE", "BI"] - msg.bitrate_switch = type_ in ["FB", " FE"] - msg.error_state_indicator = type_ in ["FE", "BI"] + msg.is_fd = type_ in {"FD", "FB", "FE", "BI"} + msg.bitrate_switch = type_ in {"FB", "FE"} + msg.error_state_indicator = type_ in {"FE", "BI"} return msg - def _parse_cols_v1_1(self, cols: List[str]) -> Optional[Message]: + def _parse_cols_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: dtype = cols[2] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_1(cols) @@ -225,7 +216,7 @@ def _parse_cols_v1_1(self, cols: List[str]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v1_3(self, cols: List[str]) -> Optional[Message]: + def _parse_cols_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: dtype = cols[3] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_3(cols) @@ -233,9 +224,9 @@ def _parse_cols_v1_3(self, cols: List[str]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v2_x(self, cols: List[str]) -> Optional[Message]: + def _parse_cols_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: dtype = cols[self.columns["T"]] - if dtype in ["DT", "FD", "FB"]: + if dtype in {"DT", "FD", "FB", "FE", "BI"}: return self._parse_msg_v2_x(cols) else: logger.info("TRCReader: Unsupported type '%s'", dtype) @@ -244,7 +235,7 @@ def _parse_cols_v2_x(self, cols: List[str]) -> Optional[Message]: def _parse_line(self, line: str) -> Optional[Message]: logger.debug("TRCReader: Parse '%s'", line) try: - cols = line.split() + cols = tuple(line.split(maxsplit=self._num_columns)) return self._parse_cols(cols) except IndexError: logger.warning("TRCReader: Failed to parse message '%s'", line) From 654a02ae24bfc50bf1bb1fad7aab4aa88763d302 Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Thu, 28 Nov 2024 18:59:18 +1300 Subject: [PATCH 394/475] Changelog for v4.5.0 (#1897) --- CHANGELOG.md | 45 +++++++++++++++++++++++++++++++++++++++++++++ CONTRIBUTORS.txt | 9 +++++++++ doc/development.rst | 1 - 3 files changed, 54 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 1d2581d9d..39cbaa716 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,48 @@ +Version 4.5.0 +============= + +Features +-------- + +* gs_usb command-line support (and documentation updates and stability fixes) by @BenGardiner in https://github.com/hardbyte/python-can/pull/1790 +* Faster and more general MF4 support by @cssedev in https://github.com/hardbyte/python-can/pull/1892 +* ASCWriter speed improvement by @pierreluctg in https://github.com/hardbyte/python-can/pull/1856 +* Faster Message string representation by @pierreluctg in https://github.com/hardbyte/python-can/pull/1858 +* Added Netronic's CANdo and CANdoISO adapters interface by @belliriccardo in https://github.com/hardbyte/python-can/pull/1887 +* Add autostart option to BusABC.send_periodic() to fix issue #1848 by @SWolfSchunk in https://github.com/hardbyte/python-can/pull/1853 +* Improve TestBusConfig by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1804 +* Improve speed of TRCReader by @lebuni in https://github.com/hardbyte/python-can/pull/1893 + +Bug Fixes +--------- + +* Fix Kvaser timestamp by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1878 +* Set end_time in ThreadBasedCyclicSendTask.start() by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1871 +* Fix regex in _parse_additional_config() by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1868 +* Fix for #1849 (PCAN fails when PCAN_ERROR_ILLDATA is read via ReadFD) by @bures in https://github.com/hardbyte/python-can/pull/1850 +* Period must be >= 1ms for BCM using Win32 API by @pierreluctg in https://github.com/hardbyte/python-can/pull/1847 +* Fix ASCReader Crash on "Start of Measurement" Line by @RitheeshBaradwaj in https://github.com/hardbyte/python-can/pull/1811 +* Resolve AttributeError within NicanError by @vijaysubbiah20 in https://github.com/hardbyte/python-can/pull/1806 + + +Miscellaneous +------------- + +* Fix CI by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1889 +* Update msgpack dependency by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1875 +* Add tox environment for doctest by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1870 +* Use typing_extensions.TypedDict on python < 3.12 for pydantic support by @NickCao in https://github.com/hardbyte/python-can/pull/1845 +* Replace PyPy3.8 with PyPy3.10 by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1838 +* Fix slcan tests by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1834 +* Test on Python 3.13 by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1833 +* Stop notifier in examples by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1814 +* Use setuptools_scm by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1810 +* Added extra info for Kvaser dongles by @FedericoSpada in https://github.com/hardbyte/python-can/pull/1797 +* Socketcand: show actual response as well as expected in error by @liamkinne in https://github.com/hardbyte/python-can/pull/1807 +* Refactor CLI filter parsing, add tests by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1805 +* Add zlgcan to docs by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1839 + + Version 4.4.2 ============= diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt index 389d26412..524908dfc 100644 --- a/CONTRIBUTORS.txt +++ b/CONTRIBUTORS.txt @@ -83,3 +83,12 @@ Felix Nieuwenhuizen @felixn @Tbruno25 @RitheeshBaradwaj +@vijaysubbiah20 +@liamkinne +@RitheeshBaradwaj +@BenGardiner +@bures +@NickCao +@SWolfSchunk +@belliriccardo +@cssedev diff --git a/doc/development.rst b/doc/development.rst index a8332eeb6..31a7ae077 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -110,7 +110,6 @@ Creating a new Release ---------------------- - Release from the ``main`` branch (except for pre-releases). -- Update the library version in ``__init__.py`` using `semantic versioning `__. - Check if any deprecations are pending. - Run all tests and examples against available hardware. - Update ``CONTRIBUTORS.txt`` with any new contributors. From 5526e32d718ae414ea8337128bd16f9b59c06f36 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 2 Feb 2025 14:14:37 +0100 Subject: [PATCH 395/475] Fix slcanBus.get_version() and slcanBus.get_serial_number() (#1904) Co-authored-by: zariiii9003 --- can/interfaces/slcan.py | 53 ++++++++++++--------- pyproject.toml | 1 - test/test_slcan.py | 100 +++++++++++++++++++++++++++++++--------- 3 files changed, 110 insertions(+), 44 deletions(-) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 4cf8b5e25..f0a04e305 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -6,7 +6,8 @@ import logging import time import warnings -from typing import Any, Optional, Tuple, Union +from queue import SimpleQueue +from typing import Any, Optional, Tuple, Union, cast from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message, typechecking from can.exceptions import ( @@ -131,6 +132,7 @@ def __init__( timeout=timeout, ) + self._queue: SimpleQueue[str] = SimpleQueue() self._buffer = bytearray() self._can_protocol = CanProtocol.CAN_20 @@ -196,7 +198,7 @@ def _read(self, timeout: Optional[float]) -> Optional[str]: # We read the `serialPortOrig.in_waiting` only once here. in_waiting = self.serialPortOrig.in_waiting for _ in range(max(1, in_waiting)): - new_byte = self.serialPortOrig.read(size=1) + new_byte = self.serialPortOrig.read(1) if new_byte: self._buffer.extend(new_byte) else: @@ -234,7 +236,10 @@ def _recv_internal( extended = False data = None - string = self._read(timeout) + if self._queue.qsize(): + string: Optional[str] = self._queue.get_nowait() + else: + string = self._read(timeout) if not string: pass @@ -300,7 +305,7 @@ def shutdown(self) -> None: def fileno(self) -> int: try: - return self.serialPortOrig.fileno() + return cast(int, self.serialPortOrig.fileno()) except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" @@ -321,19 +326,21 @@ def get_version( int hw_version is the hardware version or None on timeout int sw_version is the software version or None on timeout """ + _timeout = serial.Timeout(timeout) cmd = "V" self._write(cmd) - string = self._read(timeout) - - if not string: - pass - elif string[0] == cmd and len(string) == 6: - # convert ASCII coded version - hw_version = int(string[1:3]) - sw_version = int(string[3:5]) - return hw_version, sw_version - + while True: + if string := self._read(_timeout.time_left()): + if string[0] == cmd: + # convert ASCII coded version + hw_version = int(string[1:3]) + sw_version = int(string[3:5]) + return hw_version, sw_version + else: + self._queue.put_nowait(string) + if _timeout.expired(): + break return None, None def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: @@ -345,15 +352,17 @@ def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: :return: :obj:`None` on timeout or a :class:`str` object. """ + _timeout = serial.Timeout(timeout) cmd = "N" self._write(cmd) - string = self._read(timeout) - - if not string: - pass - elif string[0] == cmd and len(string) == 6: - serial_number = string[1:-1] - return serial_number - + while True: + if string := self._read(_timeout.time_left()): + if string[0] == cmd: + serial_number = string[1:-1] + return serial_number + else: + self._queue.put_nowait(string) + if _timeout.expired(): + break return None diff --git a/pyproject.toml b/pyproject.toml index f2b6ac04f..4ee463c5d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -122,7 +122,6 @@ exclude = [ "^can/interfaces/neousys", "^can/interfaces/pcan", "^can/interfaces/serial", - "^can/interfaces/slcan", "^can/interfaces/socketcan", "^can/interfaces/systec", "^can/interfaces/udp_multicast", diff --git a/test/test_slcan.py b/test/test_slcan.py index e1531e500..220a6d7e0 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -1,9 +1,9 @@ #!/usr/bin/env python -import unittest -from typing import cast +import unittest.mock +from typing import cast, Optional -import serial +from serial.serialutil import SerialBase import can.interfaces.slcan @@ -21,20 +21,69 @@ TIMEOUT = 0.5 if IS_PYPY else 0.01 # 0.001 is the default set in slcanBus +class SerialMock(SerialBase): + def __init__(self, *args, **kwargs) -> None: + super().__init__(*args, **kwargs) + + self._input_buffer = b"" + self._output_buffer = b"" + + def open(self) -> None: + self.is_open = True + + def close(self) -> None: + self.is_open = False + self._input_buffer = b"" + self._output_buffer = b"" + + def read(self, size: int = -1, /) -> bytes: + if size > 0: + data = self._input_buffer[:size] + self._input_buffer = self._input_buffer[size:] + return data + return b"" + + def write(self, b: bytes, /) -> Optional[int]: + self._output_buffer = b + if b == b"N\r": + self.set_input_buffer(b"NA123\r") + elif b == b"V\r": + self.set_input_buffer(b"V1013\r") + return len(b) + + def set_input_buffer(self, expected: bytes) -> None: + self._input_buffer = expected + + def get_output_buffer(self) -> bytes: + return self._output_buffer + + def reset_input_buffer(self) -> None: + self._input_buffer = b"" + + @property + def in_waiting(self) -> int: + return len(self._input_buffer) + + @classmethod + def serial_for_url(cls, *args, **kwargs) -> SerialBase: + return cls(*args, **kwargs) + + class slcanTestCase(unittest.TestCase): + @unittest.mock.patch("serial.serial_for_url", SerialMock.serial_for_url) def setUp(self): self.bus = cast( can.interfaces.slcan.slcanBus, can.Bus("loop://", interface="slcan", sleep_after_open=0, timeout=TIMEOUT), ) - self.serial = cast(serial.Serial, self.bus.serialPortOrig) + self.serial = cast(SerialMock, self.bus.serialPortOrig) self.serial.reset_input_buffer() def tearDown(self): self.bus.shutdown() def test_recv_extended(self): - self.serial.write(b"T12ABCDEF2AA55\r") + self.serial.set_input_buffer(b"T12ABCDEF2AA55\r") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) @@ -44,7 +93,7 @@ def test_recv_extended(self): self.assertSequenceEqual(msg.data, [0xAA, 0x55]) # Ewert Energy Systems CANDapter specific - self.serial.write(b"x12ABCDEF2AA55\r") + self.serial.set_input_buffer(b"x12ABCDEF2AA55\r") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) @@ -54,15 +103,19 @@ def test_recv_extended(self): self.assertSequenceEqual(msg.data, [0xAA, 0x55]) def test_send_extended(self): + payload = b"T12ABCDEF2AA55\r" msg = can.Message( arbitration_id=0x12ABCDEF, is_extended_id=True, data=[0xAA, 0x55] ) self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) rx_msg = self.bus.recv(TIMEOUT) self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_recv_standard(self): - self.serial.write(b"t4563112233\r") + self.serial.set_input_buffer(b"t4563112233\r") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x456) @@ -72,15 +125,19 @@ def test_recv_standard(self): self.assertSequenceEqual(msg.data, [0x11, 0x22, 0x33]) def test_send_standard(self): + payload = b"t4563112233\r" msg = can.Message( arbitration_id=0x456, is_extended_id=False, data=[0x11, 0x22, 0x33] ) self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) rx_msg = self.bus.recv(TIMEOUT) self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_recv_standard_remote(self): - self.serial.write(b"r1238\r") + self.serial.set_input_buffer(b"r1238\r") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x123) @@ -89,15 +146,19 @@ def test_recv_standard_remote(self): self.assertEqual(msg.dlc, 8) def test_send_standard_remote(self): + payload = b"r1238\r" msg = can.Message( arbitration_id=0x123, is_extended_id=False, is_remote_frame=True, dlc=8 ) self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) rx_msg = self.bus.recv(TIMEOUT) self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_recv_extended_remote(self): - self.serial.write(b"R12ABCDEF6\r") + self.serial.set_input_buffer(b"R12ABCDEF6\r") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) @@ -106,19 +167,23 @@ def test_recv_extended_remote(self): self.assertEqual(msg.dlc, 6) def test_send_extended_remote(self): + payload = b"R12ABCDEF6\r" msg = can.Message( arbitration_id=0x12ABCDEF, is_extended_id=True, is_remote_frame=True, dlc=6 ) self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) rx_msg = self.bus.recv(TIMEOUT) self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) def test_partial_recv(self): - self.serial.write(b"T12ABCDEF") + self.serial.set_input_buffer(b"T12ABCDEF") msg = self.bus.recv(TIMEOUT) self.assertIsNone(msg) - self.serial.write(b"2AA55\rT12") + self.serial.set_input_buffer(b"2AA55\rT12") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) self.assertEqual(msg.arbitration_id, 0x12ABCDEF) @@ -130,28 +195,21 @@ def test_partial_recv(self): msg = self.bus.recv(TIMEOUT) self.assertIsNone(msg) - self.serial.write(b"ABCDEF2AA55\r") + self.serial.set_input_buffer(b"ABCDEF2AA55\r") msg = self.bus.recv(TIMEOUT) self.assertIsNotNone(msg) def test_version(self): - self.serial.write(b"V1013\r") hw_ver, sw_ver = self.bus.get_version(0) + self.assertEqual(b"V\r", self.serial.get_output_buffer()) self.assertEqual(hw_ver, 10) self.assertEqual(sw_ver, 13) - hw_ver, sw_ver = self.bus.get_version(0) - self.assertIsNone(hw_ver) - self.assertIsNone(sw_ver) - def test_serial_number(self): - self.serial.write(b"NA123\r") sn = self.bus.get_serial_number(0) + self.assertEqual(b"N\r", self.serial.get_output_buffer()) self.assertEqual(sn, "A123") - sn = self.bus.get_serial_number(0) - self.assertIsNone(sn) - if __name__ == "__main__": unittest.main() From b323e7753ab95ce97ea08a7673177775e623f61d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 2 Feb 2025 14:15:14 +0100 Subject: [PATCH 396/475] BlfReader: Fix CAN_FD_MESSAGE_64 data padding (#1906) * add padding to CAN_FD_MESSAGE_64 data * set timezone to utc --------- Co-authored-by: zariiii9003 --- can/io/blf.py | 21 ++++++++++++++++----- test/data/issue_1905.blf | Bin 0 -> 524 bytes test/logformats_test.py | 24 ++++++++++++++++++++++++ 3 files changed, 40 insertions(+), 5 deletions(-) create mode 100644 test/data/issue_1905.blf diff --git a/can/io/blf.py b/can/io/blf.py index 81146233d..7d944a846 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -103,7 +103,7 @@ def timestamp_to_systemtime(timestamp: float) -> TSystemTime: if timestamp is None or timestamp < 631152000: # Probably not a Unix timestamp return 0, 0, 0, 0, 0, 0, 0, 0 - t = datetime.datetime.fromtimestamp(round(timestamp, 3)) + t = datetime.datetime.fromtimestamp(round(timestamp, 3), tz=datetime.timezone.utc) return ( t.year, t.month, @@ -126,6 +126,7 @@ def systemtime_to_timestamp(systemtime: TSystemTime) -> float: systemtime[5], systemtime[6], systemtime[7] * 1000, + tzinfo=datetime.timezone.utc, ) return t.timestamp() except ValueError: @@ -239,7 +240,7 @@ def _parse_data(self, data): raise BLFParseError("Could not find next object") from None header = unpack_obj_header_base(data, pos) # print(header) - signature, _, header_version, obj_size, obj_type = header + signature, header_size, header_version, obj_size, obj_type = header if signature != b"LOBJ": raise BLFParseError() @@ -334,10 +335,20 @@ def _parse_data(self, data): _, _, direction, - _, + ext_data_offset, _, ) = unpack_can_fd_64_msg(data, pos) - pos += can_fd_64_msg_size + + # :issue:`1905`: `valid_bytes` can be higher than the actually available data. + # Add zero-byte padding to mimic behavior of CANoe and binlog.dll. + data_field_length = min( + valid_bytes, + (ext_data_offset or obj_size) - header_size - can_fd_64_msg_size, + ) + msg_data_offset = pos + can_fd_64_msg_size + msg_data = data[msg_data_offset : msg_data_offset + data_field_length] + msg_data = msg_data.ljust(valid_bytes, b"\x00") + yield Message( timestamp=timestamp, arbitration_id=can_id & 0x1FFFFFFF, @@ -348,7 +359,7 @@ def _parse_data(self, data): bitrate_switch=bool(fd_flags & 0x2000), error_state_indicator=bool(fd_flags & 0x4000), dlc=dlc2len(dlc), - data=data[pos : pos + valid_bytes], + data=msg_data, channel=channel - 1, ) diff --git a/test/data/issue_1905.blf b/test/data/issue_1905.blf new file mode 100644 index 0000000000000000000000000000000000000000..a896a6d7ca36d8842a0958d26bcf4f66c0593916 GIT binary patch literal 524 zcmebAcXyw_z`*b)!Iy!JlaYak3CID0E!+@V3`j8o@e6hy1||l120jK(1`URLNPKPv z8HP8E9Uw(O5Cg;-U>13VkH3?b0MN#7KAtAwo zHA#()BVyyzYl;GA&%HmeVN!47LB=D72?sd;P3EX6xDh>}@ICKih8x-+{&Y%wX1MWs z;m=czsSIy?U;LhN)QaJoSxf!wLuL%$wB97&IB&=B&5t9Y_M{=hH!qJ)u43MXz4l*H za(A*Hh+}4JEt$u-!ThjWuF`vk8^4_nWtrb+xKaIJ?cLyij2p@s=WFkO;BX`QU9zT$ zz_)*&y~X4@zMPS|s%<3jwXX0<*~P{a?hgz3kFp)O$KQJMju5lpe#4*3CYfvzXK?#8 zrIdjI=I Date: Sun, 2 Feb 2025 13:15:59 +0000 Subject: [PATCH 397/475] Fix `is_rx` for `receive_own_messages` for Kvaser (#1908) * Enable LOCAL_TXACK to fix is_rx for Kvaser * Add missing constant definition * Update comment --- can/interfaces/kvaser/canlib.py | 11 +++++++++++ can/interfaces/kvaser/constants.py | 2 ++ 2 files changed, 13 insertions(+) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 51a77a567..9731a4415 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -554,6 +554,15 @@ def __init__( 1, ) + # enable canMSG_LOCAL_TXACK flag in received messages + + canIoCtlInit( + self._read_handle, + canstat.canIOCTL_SET_LOCAL_TXACK, + 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 @@ -671,6 +680,7 @@ def _recv_internal(self, timeout=None): is_remote_frame = bool(flags & canstat.canMSG_RTR) is_error_frame = bool(flags & canstat.canMSG_ERROR_FRAME) is_fd = bool(flags & canstat.canFDMSG_FDF) + is_rx = not bool(flags & canstat.canMSG_LOCAL_TXACK) bitrate_switch = bool(flags & canstat.canFDMSG_BRS) error_state_indicator = bool(flags & canstat.canFDMSG_ESI) msg_timestamp = timestamp.value * TIMESTAMP_FACTOR @@ -682,6 +692,7 @@ def _recv_internal(self, timeout=None): is_error_frame=is_error_frame, is_remote_frame=is_remote_frame, is_fd=is_fd, + is_rx=is_rx, bitrate_switch=bitrate_switch, error_state_indicator=error_state_indicator, channel=self.channel, diff --git a/can/interfaces/kvaser/constants.py b/can/interfaces/kvaser/constants.py index 3d01faa84..dc710648c 100644 --- a/can/interfaces/kvaser/constants.py +++ b/can/interfaces/kvaser/constants.py @@ -63,6 +63,7 @@ def CANSTATUS_SUCCESS(status): canMSG_ERROR_FRAME = 0x0020 canMSG_TXACK = 0x0040 canMSG_TXRQ = 0x0080 +canMSG_LOCAL_TXACK = 0x1000_0000 canFDMSG_FDF = 0x010000 canFDMSG_BRS = 0x020000 @@ -195,6 +196,7 @@ def CANSTATUS_SUCCESS(status): canIOCTL_GET_USB_THROTTLE = 29 canIOCTL_SET_BUSON_TIME_AUTO_RESET = 30 canIOCTL_SET_LOCAL_TXECHO = 32 +canIOCTL_SET_LOCAL_TXACK = 46 canIOCTL_PREFER_EXT = 1 canIOCTL_PREFER_STD = 2 canIOCTL_CLEAR_ERROR_COUNTERS = 5 From 8e685acc2599c9e1a93322a636301da53e0f8835 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Mon, 3 Feb 2025 09:04:51 -0500 Subject: [PATCH 398/475] Adding env marker to pywin32 requirements (extra) (#1916) As part of #1833, the `pywin32` requirements environment markers got dropped when moving the requirement to an extra. --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 4ee463c5d..67bf9ddd7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -65,7 +65,7 @@ lint = [ "black==24.10.*", "mypy==1.12.*", ] -pywin32 = ["pywin32>=305"] +pywin32 = ["pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'"] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] neovi = ["filelock", "python-ics>=2.12"] From 2bd4758038e1f727a23aa2379378db87e7e83aa9 Mon Sep 17 00:00:00 2001 From: Thomas Seiler Date: Sat, 15 Feb 2025 13:39:07 +0100 Subject: [PATCH 399/475] udp_multicast interface: support windows (#1914) * support windows Neither the SO_TIMESTAMPNS / via recvmsg() method, nor the SIOCGSTAMP / ioctl() method for obtaining the packet timestamp is supported on Windows. This code adds a fallback to datetime, and switches to recvfrom() so that the udp_multicast bus becomes usable on windows. * clean-up example on windows, the example would otherwise cause an _enter_buffered_busy fatal error, notifier shutdown and bus shutdown are racing eachother... * fix double inversion * remove unused import * datetime to time.time() * add msgpack dependency for windows * enable udp_multicast back2back tests on windows * handle WSAEINVAL like EINVAL * avoid potential AttributeError on Linux * simplify unittest skip condition * fix formatting issue --- can/interfaces/udp_multicast/bus.py | 61 ++++++++++++++++++++--------- doc/interfaces/udp_multicast.rst | 3 ++ pyproject.toml | 2 +- test/back2back_test.py | 13 +++--- 4 files changed, 54 insertions(+), 25 deletions(-) diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 8ca2d516b..dd114278c 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -3,6 +3,7 @@ import select import socket import struct +import time import warnings from typing import List, Optional, Tuple, Union @@ -12,9 +13,12 @@ from .utils import check_msgpack_installed, pack_message, unpack_message +ioctl_supported = True + try: from fcntl import ioctl except ModuleNotFoundError: # Missing on Windows + ioctl_supported = False pass @@ -30,6 +34,9 @@ SO_TIMESTAMPNS = 35 SIOCGSTAMP = 0x8906 +# Additional constants for the interaction with the Winsock API +WSAEINVAL = 10022 + class UdpMulticastBus(BusABC): """A virtual interface for CAN communications between multiple processes using UDP over Multicast IP. @@ -272,7 +279,11 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: try: sock.setsockopt(socket.SOL_SOCKET, SO_TIMESTAMPNS, 1) except OSError as error: - if error.errno == errno.ENOPROTOOPT: # It is unavailable on macOS + if ( + error.errno == errno.ENOPROTOOPT + or error.errno == errno.EINVAL + or error.errno == WSAEINVAL + ): # It is unavailable on macOS (ENOPROTOOPT) or windows(EINVAL/WSAEINVAL) self.timestamp_nanosecond = False else: raise error @@ -353,18 +364,18 @@ def recv( ) from exc if ready_receive_sockets: # not empty - # fetch data & source address - ( - raw_message_data, - ancillary_data, - _, # flags - sender_address, - ) = self._socket.recvmsg( - self.max_buffer, self.received_ancillary_buffer_size - ) - # fetch timestamp; this is configured in _create_socket() if self.timestamp_nanosecond: + # fetch data, timestamp & source address + ( + raw_message_data, + ancillary_data, + _, # flags + sender_address, + ) = self._socket.recvmsg( + self.max_buffer, self.received_ancillary_buffer_size + ) + # Very similar to timestamp handling in can/interfaces/socketcan/socketcan.py -> capture_message() if len(ancillary_data) != 1: raise can.CanOperationError( @@ -385,14 +396,28 @@ def recv( ) timestamp = seconds + nanoseconds * 1.0e-9 else: - result_buffer = ioctl( - self._socket.fileno(), - SIOCGSTAMP, - bytes(self.received_timestamp_struct_size), - ) - seconds, microseconds = struct.unpack( - self.received_timestamp_struct, result_buffer + # fetch data & source address + (raw_message_data, sender_address) = self._socket.recvfrom( + self.max_buffer ) + + if ioctl_supported: + result_buffer = ioctl( + self._socket.fileno(), + SIOCGSTAMP, + bytes(self.received_timestamp_struct_size), + ) + seconds, microseconds = struct.unpack( + self.received_timestamp_struct, result_buffer + ) + else: + # fallback to time.time_ns + now = time.time() + + # Extract seconds and microseconds + seconds = int(now) + microseconds = int((now - seconds) * 1000000) + if microseconds >= 1e6: raise can.CanOperationError( f"Timestamp microseconds field was out of range: {microseconds} not less than 1e6" diff --git a/doc/interfaces/udp_multicast.rst b/doc/interfaces/udp_multicast.rst index 4f9745615..e41925cb3 100644 --- a/doc/interfaces/udp_multicast.rst +++ b/doc/interfaces/udp_multicast.rst @@ -53,6 +53,9 @@ from ``bus_1`` to ``bus_2``: # give the notifier enough time to get triggered by the second bus time.sleep(2.0) + # clean-up + notifier.stop() + Bus Class Documentation ----------------------- diff --git a/pyproject.toml b/pyproject.toml index 67bf9ddd7..d41bf6e22 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,7 +11,7 @@ dependencies = [ "wrapt~=1.10", "packaging >= 23.1", "typing_extensions>=3.10.0.0", - "msgpack~=1.1.0; platform_system != 'Windows'", + "msgpack~=1.1.0", ] requires-python = ">=3.8" license = { text = "LGPL v3" } diff --git a/test/back2back_test.py b/test/back2back_test.py index 90cf8a9bf..fc630fb65 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -21,6 +21,7 @@ IS_PYPY, IS_TRAVIS, IS_UNIX, + IS_WINDOWS, TEST_CAN_FD, TEST_INTERFACE_SOCKETCAN, ) @@ -302,9 +303,9 @@ class BasicTestSocketCan(Back2BackTestCase): # this doesn't even work on Travis CI for macOS; for example, see # https://travis-ci.org/github/hardbyte/python-can/jobs/745389871 -@unittest.skipUnless( - IS_UNIX and not (IS_CI and IS_OSX), - "only supported on Unix systems (but not on macOS at Travis CI and GitHub Actions)", +@unittest.skipIf( + IS_CI and IS_OSX, + "not supported for macOS CI", ) class BasicTestUdpMulticastBusIPv4(Back2BackTestCase): INTERFACE_1 = "udp_multicast" @@ -319,9 +320,9 @@ def test_unique_message_instances(self): # this doesn't even work for loopback multicast addresses on Travis CI; for example, see # https://travis-ci.org/github/hardbyte/python-can/builds/745065503 -@unittest.skipUnless( - IS_UNIX and not (IS_TRAVIS or (IS_CI and IS_OSX)), - "only supported on Unix systems (but not on Travis CI; and not on macOS at GitHub Actions)", +@unittest.skipIf( + IS_CI and IS_OSX, + "not supported for macOS CI", ) class BasicTestUdpMulticastBusIPv6(Back2BackTestCase): HOST_LOCAL_MCAST_GROUP_IPv6 = "ff11:7079:7468:6f6e:6465:6d6f:6d63:6173" From 6c9d59c2dedc571fa400b5774131cd8af6a7016f Mon Sep 17 00:00:00 2001 From: Peter Kessen Date: Mon, 24 Feb 2025 21:28:16 +0100 Subject: [PATCH 400/475] Fix typo busses to bus (#1925) --- can/exceptions.py | 2 +- doc/other-tools.rst | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/can/exceptions.py b/can/exceptions.py index e1c970e27..ca2d6c5a3 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -1,6 +1,6 @@ """ There are several specific :class:`Exception` classes to allow user -code to react to specific scenarios related to CAN busses:: +code to react to specific scenarios related to CAN buses:: Exception (Python standard library) +-- ... diff --git a/doc/other-tools.rst b/doc/other-tools.rst index db06812ca..607db6c8a 100644 --- a/doc/other-tools.rst +++ b/doc/other-tools.rst @@ -47,7 +47,7 @@ CAN Frame Parsing tools etc. (implemented in Python) #. CAN Message / Database scripting * The `cantools`_ package provides multiple methods for interacting with can message database - files, and using these files to monitor live busses with a command line monitor tool. + files, and using these files to monitor live buses with a command line monitor tool. #. CAN Message / Log Decoding * The `canmatrix`_ module provides methods for converting between multiple popular message frame definition file formats (e.g. .DBC files, .KCD files, .ARXML files etc.). From 319a9f27ac57973b28580c65f4be2c23ac073ff7 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Tue, 25 Feb 2025 10:34:52 -0500 Subject: [PATCH 401/475] Fix timestamp offset bug in BLFWriter (#1921) Fix timestamp offset bug in BLFWriter In the BLF files, the frame timestamp are stored as a delta from the "start time". The "start time" stored in the file is the first frame timestamp rounded to 3 decimals. When we calculate the timestamp delta for each frame, we were previously calculating it using the non-rounded "start time". This new code, use the "start time" as the first frame timestamp truncated to 3 decimals. --- can/io/blf.py | 5 ++++- test/data/example_data.py | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/can/io/blf.py b/can/io/blf.py index 7d944a846..deefd4736 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -530,7 +530,10 @@ def _add_object(self, obj_type, data, timestamp=None): if timestamp is None: timestamp = self.stop_timestamp or time.time() if self.start_timestamp is None: - self.start_timestamp = timestamp + # Save start timestamp using the same precision as the BLF format + # Truncating to milliseconds to avoid rounding errors when calculating + # the timestamp difference + self.start_timestamp = int(timestamp * 1000) / 1000 self.stop_timestamp = timestamp timestamp = int((timestamp - self.start_timestamp) * 1e9) header_size = OBJ_HEADER_BASE_STRUCT.size + OBJ_HEADER_V1_STRUCT.size diff --git a/test/data/example_data.py b/test/data/example_data.py index 592556926..b78420e4e 100644 --- a/test/data/example_data.py +++ b/test/data/example_data.py @@ -160,7 +160,7 @@ def sort_messages(messages): TEST_MESSAGES_ERROR_FRAMES = sort_messages( [ - Message(is_error_frame=True), + Message(is_error_frame=True, timestamp=TEST_TIME), Message(is_error_frame=True, timestamp=TEST_TIME + 0.170), Message(is_error_frame=True, timestamp=TEST_TIME + 17.157), ] From 613c653f0f1ad5e911901734ab42d843284fd1bb Mon Sep 17 00:00:00 2001 From: eldadcool Date: Mon, 3 Mar 2025 20:43:26 +0200 Subject: [PATCH 402/475] =?UTF-8?q?CC-2174:=20modify=20CAN=20frame=20heade?= =?UTF-8?q?r=20structure=20to=20match=20updated=20struct=20ca=E2=80=A6=20(?= =?UTF-8?q?#1851)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * CC-2174: modify CAN frame header structure to match updated struct can_frame from kernel * allow only valid fd message lengths * add remote message special case for dlc handling * fix pylint issues * verify non FD frame before assigning the len8 DLC * Fix formatting --------- Co-authored-by: Gal Rahamim Co-authored-by: Eldad Sitbon Co-authored-by: rahagal <114643899+rahagal@users.noreply.github.com> --- can/interfaces/socketcan/constants.py | 14 +++- can/interfaces/socketcan/socketcan.py | 106 ++++++++++++++++++++++---- 2 files changed, 105 insertions(+), 15 deletions(-) diff --git a/can/interfaces/socketcan/constants.py b/can/interfaces/socketcan/constants.py index 3144a2cfa..941d52573 100644 --- a/can/interfaces/socketcan/constants.py +++ b/can/interfaces/socketcan/constants.py @@ -53,8 +53,18 @@ SIOCGSTAMP = 0x8906 EXTFLG = 0x0004 -CANFD_BRS = 0x01 -CANFD_ESI = 0x02 +CANFD_BRS = 0x01 # bit rate switch (second bitrate for payload data) +CANFD_ESI = 0x02 # error state indicator of the transmitting node +CANFD_FDF = 0x04 # mark CAN FD for dual use of struct canfd_frame + +# CAN payload length and DLC definitions according to ISO 11898-1 +CAN_MAX_DLC = 8 +CAN_MAX_RAW_DLC = 15 +CAN_MAX_DLEN = 8 + +# CAN FD payload length and DLC definitions according to ISO 11898-7 +CANFD_MAX_DLC = 15 +CANFD_MAX_DLEN = 64 CANFD_MTU = 72 diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 40da0d094..a5819dcb5 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -139,23 +139,68 @@ def bcm_header_factory( # The 32bit can id is directly followed by the 8bit data link count # The data field is aligned on an 8 byte boundary, hence we add padding # which aligns the data field to an 8 byte boundary. -CAN_FRAME_HEADER_STRUCT = struct.Struct("=IBB2x") +CAN_FRAME_HEADER_STRUCT = struct.Struct("=IBB1xB") def build_can_frame(msg: Message) -> bytes: """CAN frame packing/unpacking (see 'struct can_frame' in ) /** - * struct can_frame - basic CAN frame structure - * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above. - * @can_dlc: the data length field of the CAN frame - * @data: the CAN frame payload. - */ + * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) + * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition + * @len: CAN frame payload length in byte (0 .. 8) + * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) + * @__pad: padding + * @__res0: reserved / padding + * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length + * len8_dlc contains values from 9 .. 15 when the payload length is + * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. + * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. + * @data: CAN frame payload (up to 8 byte) + */ struct can_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ - __u8 can_dlc; /* data length code: 0 .. 8 */ - __u8 data[8] __attribute__((aligned(8))); + union { + /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) + * was previously named can_dlc so we need to carry that + * name for legacy support + */ + __u8 len; + __u8 can_dlc; /* deprecated */ + } __attribute__((packed)); /* disable padding added in some ABIs */ + __u8 __pad; /* padding */ + __u8 __res0; /* reserved / padding */ + __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ + __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); }; + /* + * defined bits for canfd_frame.flags + * + * The use of struct canfd_frame implies the FD Frame (FDF) bit to + * be set in the CAN frame bitstream on the wire. The FDF bit switch turns + * the CAN controllers bitstream processor into the CAN FD mode which creates + * two new options within the CAN FD frame specification: + * + * Bit Rate Switch - to indicate a second bitrate is/was used for the payload + * Error State Indicator - represents the error state of the transmitting node + * + * As the CANFD_ESI bit is internally generated by the transmitting CAN + * controller only the CANFD_BRS bit is relevant for real CAN controllers when + * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make + * sense for virtual CAN interfaces to test applications with echoed frames. + * + * The struct can_frame and struct canfd_frame intentionally share the same + * layout to be able to write CAN frame content into a CAN FD frame structure. + * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets + * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of + * using struct canfd_frame for mixed CAN / CAN FD content (dual use). + * Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD + * frame structures provided by the CAN subsystem of the Linux kernel. + */ + #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ + #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ + #define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */ + /** * struct canfd_frame - CAN flexible data rate frame structure * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition @@ -175,14 +220,30 @@ def build_can_frame(msg: Message) -> bytes: }; """ can_id = _compose_arbitration_id(msg) + flags = 0 + + # The socketcan code identify the received FD frame by the packet length. + # So, padding to the data length is performed according to the message type (Classic / FD) + if msg.is_fd: + flags |= constants.CANFD_FDF + max_len = constants.CANFD_MAX_DLEN + else: + max_len = constants.CAN_MAX_DLEN + if msg.bitrate_switch: flags |= constants.CANFD_BRS if msg.error_state_indicator: flags |= constants.CANFD_ESI - max_len = 64 if msg.is_fd else 8 + data = bytes(msg.data).ljust(max_len, b"\x00") - return CAN_FRAME_HEADER_STRUCT.pack(can_id, msg.dlc, flags) + data + + if msg.is_remote_frame: + data_len = msg.dlc + else: + data_len = min(i for i in can.util.CAN_FD_DLC if i >= len(msg.data)) + header = CAN_FRAME_HEADER_STRUCT.pack(can_id, data_len, flags, msg.dlc) + return header + data def build_bcm_header( @@ -259,12 +320,31 @@ def build_bcm_update_header(can_id: int, msg_flags: int, nframes: int = 1) -> by ) +def is_frame_fd(frame: bytes): + # According to the SocketCAN implementation the frame length + # should indicate if the message is FD or not (not the flag value) + return len(frame) == constants.CANFD_MTU + + def dissect_can_frame(frame: bytes) -> Tuple[int, int, int, bytes]: - can_id, can_dlc, flags = CAN_FRAME_HEADER_STRUCT.unpack_from(frame) - if len(frame) != constants.CANFD_MTU: + can_id, data_len, flags, len8_dlc = CAN_FRAME_HEADER_STRUCT.unpack_from(frame) + + if data_len not in can.util.CAN_FD_DLC: + data_len = min(i for i in can.util.CAN_FD_DLC if i >= data_len) + + can_dlc = data_len + + if not is_frame_fd(frame): # Flags not valid in non-FD frames flags = 0 - return can_id, can_dlc, flags, frame[8 : 8 + can_dlc] + + if ( + data_len == constants.CAN_MAX_DLEN + and constants.CAN_MAX_DLEN < len8_dlc <= constants.CAN_MAX_RAW_DLC + ): + can_dlc = len8_dlc + + return can_id, can_dlc, flags, frame[8 : 8 + data_len] def create_bcm_socket(channel: str) -> socket.socket: From 1a200c9acf44334eed070c7a6fd609052d53af43 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Wed, 5 Mar 2025 21:05:54 -0500 Subject: [PATCH 403/475] Fix float arithmetic in BLF reader (#1927) * Fix float arithmetic in BLF reader Using the Python decimal module for fast correctly rounded decimal floating-point arithmetic when applying the timestamp factor. * Remove the allowed_timestamp_delta from the BLF UT Now that the BLF float arithmetic issue is fixed we no longer need to tweek the `allowed_timestamp_delta` in the BLF unit tests --- can/io/blf.py | 5 +++-- test/logformats_test.py | 1 - 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/can/io/blf.py b/can/io/blf.py index deefd4736..f6e1b6d4d 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,6 +17,7 @@ import struct import time import zlib +from decimal import Decimal from typing import Any, BinaryIO, Generator, List, Optional, Tuple, Union, cast from ..message import Message @@ -264,8 +265,8 @@ def _parse_data(self, data): continue # Calculate absolute timestamp in seconds - factor = 1e-5 if flags == 1 else 1e-9 - timestamp = timestamp * factor + start_timestamp + factor = Decimal("1e-5") if flags == 1 else Decimal("1e-9") + timestamp = float(Decimal(timestamp) * factor) + start_timestamp if obj_type in (CAN_MESSAGE, CAN_MESSAGE2): channel, flags, dlc, can_id, can_data = unpack_can_msg(data, pos) diff --git a/test/logformats_test.py b/test/logformats_test.py index a2fd0fe09..f3fe485b2 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -694,7 +694,6 @@ def _setup_instance(self): check_fd=True, check_comments=False, test_append=True, - allowed_timestamp_delta=1.0e-6, preserves_channel=False, adds_default_channel=0, ) From 6deca6e233cd01b18a7ea9bd2a008307ad622e36 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 14 Mar 2025 00:25:49 +0100 Subject: [PATCH 404/475] Update black, ruff & mypy (#1929) * update black and ruff * update mypy * fix pylint complaints --------- Co-authored-by: zariiii9003 --- can/__init__.py | 22 +-- can/bit_timing.py | 40 +++--- can/broadcastmanager.py | 6 +- can/bus.py | 4 +- can/ctypesutil.py | 2 +- can/interface.py | 4 +- can/interfaces/ics_neovi/__init__.py | 3 +- can/interfaces/ixxat/canlib_vcinpl.py | 8 +- can/interfaces/ixxat/canlib_vcinpl2.py | 8 +- can/interfaces/ixxat/exceptions.py | 6 +- can/interfaces/ixxat/structures.py | 14 +- can/interfaces/kvaser/__init__.py | 3 +- can/interfaces/neousys/__init__.py | 2 +- can/interfaces/neousys/neousys.py | 2 +- can/interfaces/pcan/__init__.py | 3 +- can/interfaces/seeedstudio/__init__.py | 3 - can/interfaces/serial/__init__.py | 3 +- can/interfaces/slcan.py | 2 +- can/interfaces/socketcan/utils.py | 2 +- can/interfaces/usb2can/__init__.py | 5 +- can/interfaces/usb2can/serial_selector.py | 3 +- can/interfaces/vector/__init__.py | 3 +- can/interfaces/vector/canlib.py | 4 +- can/io/__init__.py | 14 +- can/io/blf.py | 12 +- can/io/canutils.py | 2 +- can/io/generic.py | 8 +- can/io/logger.py | 2 +- can/io/mf4.py | 10 +- can/io/printer.py | 2 +- can/message.py | 16 +-- can/player.py | 11 +- can/typechecking.py | 3 +- can/util.py | 6 +- can/viewer.py | 3 +- pyproject.toml | 8 +- test/listener_test.py | 3 +- test/test_interface_canalystii.py | 3 +- test/test_kvaser.py | 3 +- test/test_neovi.py | 3 +- test/test_vector.py | 166 +++++++++++----------- test/zero_dlc_test.py | 3 +- 42 files changed, 212 insertions(+), 218 deletions(-) diff --git a/can/__init__.py b/can/__init__.py index 324803b9e..1d4b7f0cf 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -11,17 +11,20 @@ from typing import Any, Dict __all__ = [ + "VALID_INTERFACES", "ASCReader", "ASCWriter", "AsyncBufferedReader", - "BitTiming", - "BitTimingFd", "BLFReader", "BLFWriter", + "BitTiming", + "BitTimingFd", "BufferedReader", "Bus", "BusABC", "BusState", + "CSVReader", + "CSVWriter", "CanError", "CanInitializationError", "CanInterfaceNotImplementedError", @@ -30,18 +33,16 @@ "CanTimeoutError", "CanutilsLogReader", "CanutilsLogWriter", - "CSVReader", - "CSVWriter", "CyclicSendTaskABC", "LimitedDurationCyclicSendTaskABC", "Listener", - "Logger", "LogReader", - "ModifiableCyclicTaskABC", - "Message", - "MessageSync", + "Logger", "MF4Reader", "MF4Writer", + "Message", + "MessageSync", + "ModifiableCyclicTaskABC", "Notifier", "Printer", "RedirectReader", @@ -49,11 +50,10 @@ "SizedRotatingLogger", "SqliteReader", "SqliteWriter", - "ThreadSafeBus", "TRCFileVersion", "TRCReader", "TRCWriter", - "VALID_INTERFACES", + "ThreadSafeBus", "bit_timing", "broadcastmanager", "bus", @@ -64,8 +64,8 @@ "interfaces", "io", "listener", - "logconvert", "log", + "logconvert", "logger", "message", "notifier", diff --git a/can/bit_timing.py b/can/bit_timing.py index f5d50eac1..feba8b6d2 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -155,7 +155,7 @@ def from_bitrate_and_segments( if the arguments are invalid. """ try: - brp = int(round(f_clock / (bitrate * (1 + tseg1 + tseg2)))) + brp = round(f_clock / (bitrate * (1 + tseg1 + tseg2))) except ZeroDivisionError: raise ValueError("Invalid inputs") from None @@ -232,7 +232,7 @@ def iterate_from_sample_point( raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") for brp in range(1, 65): - nbt = round(int(f_clock / (bitrate * brp))) + nbt = int(f_clock / (bitrate * brp)) if nbt < 8: break @@ -240,7 +240,7 @@ def iterate_from_sample_point( if abs(effective_bitrate - bitrate) > bitrate / 256: continue - tseg1 = int(round(sample_point / 100 * nbt)) - 1 + tseg1 = round(sample_point / 100 * nbt) - 1 # limit tseg1, so tseg2 is at least 1 TQ tseg1 = min(tseg1, nbt - 2) @@ -312,7 +312,7 @@ def f_clock(self) -> int: @property def bitrate(self) -> int: """Bitrate in bits/s.""" - return int(round(self.f_clock / (self.nbt * self.brp))) + return round(self.f_clock / (self.nbt * self.brp)) @property def brp(self) -> int: @@ -322,7 +322,7 @@ def brp(self) -> int: @property def tq(self) -> int: """Time quantum in nanoseconds""" - return int(round(self.brp / self.f_clock * 1e9)) + return round(self.brp / self.f_clock * 1e9) @property def nbt(self) -> int: @@ -433,7 +433,7 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming": "f_clock change failed because of sample point discrepancy." ) # adapt synchronization jump width, so it has the same size relative to bit time as self - sjw = int(round(self.sjw / self.nbt * bt.nbt)) + sjw = round(self.sjw / self.nbt * bt.nbt) sjw = max(1, min(4, bt.tseg2, sjw)) bt._data["sjw"] = sjw # pylint: disable=protected-access bt._data["nof_samples"] = self.nof_samples # pylint: disable=protected-access @@ -458,7 +458,7 @@ def __repr__(self) -> str: return f"can.{self.__class__.__name__}({args})" def __getitem__(self, key: str) -> int: - return cast(int, self._data.__getitem__(key)) + return cast("int", self._data.__getitem__(key)) def __len__(self) -> int: return self._data.__len__() @@ -716,10 +716,8 @@ def from_bitrate_and_segments( # pylint: disable=too-many-arguments if the arguments are invalid. """ try: - nom_brp = int(round(f_clock / (nom_bitrate * (1 + nom_tseg1 + nom_tseg2)))) - data_brp = int( - round(f_clock / (data_bitrate * (1 + data_tseg1 + data_tseg2))) - ) + nom_brp = round(f_clock / (nom_bitrate * (1 + nom_tseg1 + nom_tseg2))) + data_brp = round(f_clock / (data_bitrate * (1 + data_tseg1 + data_tseg2))) except ZeroDivisionError: raise ValueError("Invalid inputs.") from None @@ -787,7 +785,7 @@ def iterate_from_sample_point( sync_seg = 1 for nom_brp in range(1, 257): - nbt = round(int(f_clock / (nom_bitrate * nom_brp))) + nbt = int(f_clock / (nom_bitrate * nom_brp)) if nbt < 1: break @@ -795,7 +793,7 @@ def iterate_from_sample_point( if abs(effective_nom_bitrate - nom_bitrate) > nom_bitrate / 256: continue - nom_tseg1 = int(round(nom_sample_point / 100 * nbt)) - 1 + nom_tseg1 = round(nom_sample_point / 100 * nbt) - 1 # limit tseg1, so tseg2 is at least 2 TQ nom_tseg1 = min(nom_tseg1, nbt - sync_seg - 2) nom_tseg2 = nbt - nom_tseg1 - 1 @@ -811,7 +809,7 @@ def iterate_from_sample_point( if abs(effective_data_bitrate - data_bitrate) > data_bitrate / 256: continue - data_tseg1 = int(round(data_sample_point / 100 * dbt)) - 1 + data_tseg1 = round(data_sample_point / 100 * dbt) - 1 # limit tseg1, so tseg2 is at least 2 TQ data_tseg1 = min(data_tseg1, dbt - sync_seg - 2) data_tseg2 = dbt - data_tseg1 - 1 @@ -923,7 +921,7 @@ def f_clock(self) -> int: @property def nom_bitrate(self) -> int: """Nominal (arbitration phase) bitrate.""" - return int(round(self.f_clock / (self.nbt * self.nom_brp))) + return round(self.f_clock / (self.nbt * self.nom_brp)) @property def nom_brp(self) -> int: @@ -933,7 +931,7 @@ def nom_brp(self) -> int: @property def nom_tq(self) -> int: """Nominal time quantum in nanoseconds""" - return int(round(self.nom_brp / self.f_clock * 1e9)) + return round(self.nom_brp / self.f_clock * 1e9) @property def nbt(self) -> int: @@ -969,7 +967,7 @@ def nom_sample_point(self) -> float: @property def data_bitrate(self) -> int: """Bitrate of the data phase in bit/s.""" - return int(round(self.f_clock / (self.dbt * self.data_brp))) + return round(self.f_clock / (self.dbt * self.data_brp)) @property def data_brp(self) -> int: @@ -979,7 +977,7 @@ def data_brp(self) -> int: @property def data_tq(self) -> int: """Data time quantum in nanoseconds""" - return int(round(self.data_brp / self.f_clock * 1e9)) + return round(self.data_brp / self.f_clock * 1e9) @property def dbt(self) -> int: @@ -1106,10 +1104,10 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTimingFd": "f_clock change failed because of sample point discrepancy." ) # adapt synchronization jump width, so it has the same size relative to bit time as self - nom_sjw = int(round(self.nom_sjw / self.nbt * bt.nbt)) + nom_sjw = round(self.nom_sjw / self.nbt * bt.nbt) nom_sjw = max(1, min(bt.nom_tseg2, nom_sjw)) bt._data["nom_sjw"] = nom_sjw # pylint: disable=protected-access - data_sjw = int(round(self.data_sjw / self.dbt * bt.dbt)) + data_sjw = round(self.data_sjw / self.dbt * bt.dbt) data_sjw = max(1, min(bt.data_tseg2, data_sjw)) bt._data["data_sjw"] = data_sjw # pylint: disable=protected-access bt._validate() # pylint: disable=protected-access @@ -1138,7 +1136,7 @@ def __repr__(self) -> str: return f"can.{self.__class__.__name__}({args})" def __getitem__(self, key: str) -> int: - return cast(int, self._data.__getitem__(key)) + return cast("int", self._data.__getitem__(key)) def __len__(self) -> int: return self._data.__len__() diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 319fb0f53..19dca8fbc 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -61,7 +61,7 @@ def create_timer(self) -> _Pywin32Event: ): event = self.win32event.CreateWaitableTimer(None, False, None) - return cast(_Pywin32Event, event) + return cast("_Pywin32Event", event) def set_timer(self, event: _Pywin32Event, period_ms: int) -> None: self.win32event.SetWaitableTimer(event.handle, 0, period_ms, None, None, False) @@ -121,12 +121,12 @@ def __init__( # Take the Arbitration ID of the first element self.arbitration_id = messages[0].arbitration_id self.period = period - self.period_ns = int(round(period * 1e9)) + self.period_ns = round(period * 1e9) self.messages = messages @staticmethod def _check_and_convert_messages( - messages: Union[Sequence[Message], Message] + messages: Union[Sequence[Message], Message], ) -> Tuple[Message, ...]: """Helper function to convert a Message or Sequence of messages into a tuple, and raises an error when the given value is invalid. diff --git a/can/bus.py b/can/bus.py index a12808ab6..d186e2d05 100644 --- a/can/bus.py +++ b/can/bus.py @@ -276,7 +276,7 @@ def send_periodic( # Create a backend specific task; will be patched to a _SelfRemovingCyclicTask later task = cast( - _SelfRemovingCyclicTask, + "_SelfRemovingCyclicTask", self._send_periodic_internal( msgs, period, duration, autostart, modifier_callback ), @@ -452,7 +452,7 @@ def _matches_filters(self, msg: Message) -> bool: for _filter in self._filters: # check if this filter even applies to the message if "extended" in _filter: - _filter = cast(can.typechecking.CanFilterExtended, _filter) + _filter = cast("can.typechecking.CanFilterExtended", _filter) if _filter["extended"] != msg.is_extended_id: continue diff --git a/can/ctypesutil.py b/can/ctypesutil.py index 0336b03d3..a80dc3194 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -9,7 +9,7 @@ log = logging.getLogger("can.ctypesutil") -__all__ = ["CLibrary", "HANDLE", "PHANDLE", "HRESULT"] +__all__ = ["HANDLE", "HRESULT", "PHANDLE", "CLibrary"] if sys.platform == "win32": _LibBase = ctypes.WinDLL diff --git a/can/interface.py b/can/interface.py index 2b7e27f8d..f7a8ecc02 100644 --- a/can/interface.py +++ b/can/interface.py @@ -52,7 +52,7 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: f"'{interface}': {e}" ) from None - return cast(Type[BusABC], bus_class) + return cast("Type[BusABC]", bus_class) @util.deprecated_args_alias( @@ -138,7 +138,7 @@ def Bus( # noqa: N802 def detect_available_configs( - interfaces: Union[None, str, Iterable[str]] = None + interfaces: Union[None, str, Iterable[str]] = None, ) -> List[AutoDetectedConfig]: """Detect all configurations/channels that the interfaces could currently connect with. diff --git a/can/interfaces/ics_neovi/__init__.py b/can/interfaces/ics_neovi/__init__.py index 0252c7345..74cb43af4 100644 --- a/can/interfaces/ics_neovi/__init__.py +++ b/can/interfaces/ics_neovi/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "ICSApiError", diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 0579d0942..567dd0cd9 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -35,11 +35,11 @@ from .exceptions import * __all__ = [ - "VCITimeout", - "VCIError", + "IXXATBus", "VCIBusOffError", "VCIDeviceNotFoundError", - "IXXATBus", + "VCIError", + "VCITimeout", "vciFormatError", ] @@ -890,7 +890,7 @@ def __init__( self._count = int(duration / period) if duration else 0 self._msg = structures.CANCYCLICTXMSG() - self._msg.wCycleTime = int(round(period * resolution)) + self._msg.wCycleTime = round(period * resolution) self._msg.dwMsgId = self.messages[0].arbitration_id self._msg.uMsgInfo.Bits.type = constants.CAN_MSGTYPE_DATA self._msg.uMsgInfo.Bits.ext = 1 if self.messages[0].is_extended_id else 0 diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 5872f76b9..79ad34c4f 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -34,11 +34,11 @@ from .exceptions import * __all__ = [ - "VCITimeout", - "VCIError", + "IXXATBus", "VCIBusOffError", "VCIDeviceNotFoundError", - "IXXATBus", + "VCIError", + "VCITimeout", "vciFormatError", ] @@ -1010,7 +1010,7 @@ def __init__( self._count = int(duration / period) if duration else 0 self._msg = structures.CANCYCLICTXMSG2() - self._msg.wCycleTime = int(round(period * resolution)) + self._msg.wCycleTime = round(period * resolution) self._msg.dwMsgId = self.messages[0].arbitration_id self._msg.uMsgInfo.Bits.type = constants.CAN_MSGTYPE_DATA self._msg.uMsgInfo.Bits.ext = 1 if self.messages[0].is_extended_id else 0 diff --git a/can/interfaces/ixxat/exceptions.py b/can/interfaces/ixxat/exceptions.py index 50b84dfa4..771eec307 100644 --- a/can/interfaces/ixxat/exceptions.py +++ b/can/interfaces/ixxat/exceptions.py @@ -12,11 +12,11 @@ ) __all__ = [ - "VCITimeout", - "VCIError", - "VCIRxQueueEmptyError", "VCIBusOffError", "VCIDeviceNotFoundError", + "VCIError", + "VCIRxQueueEmptyError", + "VCITimeout", ] diff --git a/can/interfaces/ixxat/structures.py b/can/interfaces/ixxat/structures.py index 611955db7..680ed1ac6 100644 --- a/can/interfaces/ixxat/structures.py +++ b/can/interfaces/ixxat/structures.py @@ -201,13 +201,13 @@ class CANBTP(ctypes.Structure): ] def __str__(self): - return "dwMode=%d, dwBPS=%d, wTS1=%d, wTS2=%d, wSJW=%d, wTDO=%d" % ( - self.dwMode, - self.dwBPS, - self.wTS1, - self.wTS2, - self.wSJW, - self.wTDO, + return ( + f"dwMode={self.dwMode:d}, " + f"dwBPS={self.dwBPS:d}, " + f"wTS1={self.wTS1:d}, " + f"wTS2={self.wTS2:d}, " + f"wSJW={self.wSJW:d}, " + f"wTDO={self.wTDO:d}" ) diff --git a/can/interfaces/kvaser/__init__.py b/can/interfaces/kvaser/__init__.py index 8e7c3feb9..7cfb13d8d 100644 --- a/can/interfaces/kvaser/__init__.py +++ b/can/interfaces/kvaser/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "CANLIBInitializationError", diff --git a/can/interfaces/neousys/__init__.py b/can/interfaces/neousys/__init__.py index 44bd3127f..f3e0cb039 100644 --- a/can/interfaces/neousys/__init__.py +++ b/can/interfaces/neousys/__init__.py @@ -1,4 +1,4 @@ -""" Neousys CAN bus driver """ +"""Neousys CAN bus driver""" __all__ = [ "NeousysBus", diff --git a/can/interfaces/neousys/neousys.py b/can/interfaces/neousys/neousys.py index cb9d0174d..7e8c877b4 100644 --- a/can/interfaces/neousys/neousys.py +++ b/can/interfaces/neousys/neousys.py @@ -1,4 +1,4 @@ -""" Neousys CAN bus driver """ +"""Neousys CAN bus driver""" # # This kind of interface can be found for example on Neousys POC-551VTC diff --git a/can/interfaces/pcan/__init__.py b/can/interfaces/pcan/__init__.py index 73e351665..a3eafcb4d 100644 --- a/can/interfaces/pcan/__init__.py +++ b/can/interfaces/pcan/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "PcanBus", diff --git a/can/interfaces/seeedstudio/__init__.py b/can/interfaces/seeedstudio/__init__.py index 0b3c7b1c9..9466bde43 100644 --- a/can/interfaces/seeedstudio/__init__.py +++ b/can/interfaces/seeedstudio/__init__.py @@ -1,6 +1,3 @@ -""" -""" - __all__ = [ "SeeedBus", "seeedstudio", diff --git a/can/interfaces/serial/__init__.py b/can/interfaces/serial/__init__.py index beb6457bb..6327530d7 100644 --- a/can/interfaces/serial/__init__.py +++ b/can/interfaces/serial/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "SerialBus", diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index f0a04e305..ddd2bec23 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -305,7 +305,7 @@ def shutdown(self) -> None: def fileno(self) -> int: try: - return cast(int, self.serialPortOrig.fileno()) + return cast("int", self.serialPortOrig.fileno()) except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 679c9cefc..1505c6cf8 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -28,7 +28,7 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes can_id = can_filter["can_id"] can_mask = can_filter["can_mask"] if "extended" in can_filter: - can_filter = cast(typechecking.CanFilterExtended, can_filter) + can_filter = cast("typechecking.CanFilterExtended", can_filter) # Match on either 11-bit OR 29-bit messages instead of both can_mask |= CAN_EFF_FLAG if can_filter["extended"]: diff --git a/can/interfaces/usb2can/__init__.py b/can/interfaces/usb2can/__init__.py index a2b587842..f818130ee 100644 --- a/can/interfaces/usb2can/__init__.py +++ b/can/interfaces/usb2can/__init__.py @@ -1,12 +1,11 @@ -""" -""" +""" """ __all__ = [ "Usb2CanAbstractionLayer", "Usb2canBus", "serial_selector", - "usb2canabstractionlayer", "usb2canInterface", + "usb2canabstractionlayer", ] from .usb2canabstractionlayer import Usb2CanAbstractionLayer diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index 92a3a07a2..de29f03fe 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -1,5 +1,4 @@ -""" -""" +""" """ import logging from typing import List diff --git a/can/interfaces/vector/__init__.py b/can/interfaces/vector/__init__.py index 3a5b13a1f..e78783f1f 100644 --- a/can/interfaces/vector/__init__.py +++ b/can/interfaces/vector/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "VectorBus", diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index d307d076f..d51d74529 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -220,7 +220,7 @@ def __init__( # at the same time. If the VectorBus is instantiated with a config, that was returned from # VectorBus._detect_available_configs(), then use the contained global channel_index # to avoid any ambiguities. - channel_index = cast(int, _channel_index) + channel_index = cast("int", _channel_index) else: channel_index = self._find_global_channel_idx( channel=channel, @@ -410,7 +410,7 @@ def _find_global_channel_idx( app_name, channel ) idx = cast( - int, self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) + "int", self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) ) if idx < 0: # Undocumented behavior! See issue #353. diff --git a/can/io/__init__.py b/can/io/__init__.py index 5601f2591..69894c3d0 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -4,22 +4,22 @@ """ __all__ = [ + "MESSAGE_READERS", + "MESSAGE_WRITERS", "ASCReader", "ASCWriter", - "BaseRotatingLogger", "BLFReader", "BLFWriter", - "CanutilsLogReader", - "CanutilsLogWriter", + "BaseRotatingLogger", "CSVReader", "CSVWriter", - "Logger", + "CanutilsLogReader", + "CanutilsLogWriter", "LogReader", - "MESSAGE_READERS", - "MESSAGE_WRITERS", - "MessageSync", + "Logger", "MF4Reader", "MF4Writer", + "MessageSync", "Printer", "SizedRotatingLogger", "SqliteReader", diff --git a/can/io/blf.py b/can/io/blf.py index f6e1b6d4d..139b44285 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -162,8 +162,12 @@ def __init__( self.file_size = header[10] self.uncompressed_size = header[11] self.object_count = header[12] - self.start_timestamp = systemtime_to_timestamp(cast(TSystemTime, header[14:22])) - self.stop_timestamp = systemtime_to_timestamp(cast(TSystemTime, header[22:30])) + self.start_timestamp = systemtime_to_timestamp( + cast("TSystemTime", header[14:22]) + ) + self.stop_timestamp = systemtime_to_timestamp( + cast("TSystemTime", header[22:30]) + ) # Read rest of header self.file.read(header[1] - FILE_HEADER_STRUCT.size) self._tail = b"" @@ -429,10 +433,10 @@ def __init__( self.uncompressed_size = header[11] self.object_count = header[12] self.start_timestamp: Optional[float] = systemtime_to_timestamp( - cast(TSystemTime, header[14:22]) + cast("TSystemTime", header[14:22]) ) self.stop_timestamp: Optional[float] = systemtime_to_timestamp( - cast(TSystemTime, header[22:30]) + cast("TSystemTime", header[22:30]) ) # Jump to the end of the file self.file.seek(0, 2) diff --git a/can/io/canutils.py b/can/io/canutils.py index d7ae99daf..cc978d4f2 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -165,7 +165,7 @@ def on_message_received(self, msg): timestamp = msg.timestamp channel = msg.channel if msg.channel is not None else self.channel - if isinstance(channel, int) or isinstance(channel, str) and channel.isdigit(): + if isinstance(channel, int) or (isinstance(channel, str) and channel.isdigit()): channel = f"can{channel}" framestr = f"({timestamp:f}) {channel}" diff --git a/can/io/generic.py b/can/io/generic.py index 55468ff16..93840f807 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -50,7 +50,7 @@ def __init__( """ if file is None or (hasattr(file, "read") and hasattr(file, "write")): # file is None or some file-like object - self.file = cast(Optional[typechecking.FileLike], file) + self.file = cast("Optional[typechecking.FileLike]", file) else: encoding: Optional[str] = ( None @@ -60,8 +60,10 @@ def __init__( # pylint: disable=consider-using-with # file is some path-like object self.file = cast( - typechecking.FileLike, - open(cast(typechecking.StringPathLike, file), mode, encoding=encoding), + "typechecking.FileLike", + open( + cast("typechecking.StringPathLike", file), mode, encoding=encoding + ), ) # for multiple inheritance diff --git a/can/io/logger.py b/can/io/logger.py index f54223741..359aae4ac 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -268,7 +268,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: if isinstance(logger, FileIOMessageWriter): return logger elif isinstance(logger, Printer) and logger.file is not None: - return cast(FileIOMessageWriter, logger) + return cast("FileIOMessageWriter", logger) raise ValueError( f'The log format of "{pathlib.Path(filename).name}" ' diff --git a/can/io/mf4.py b/can/io/mf4.py index 4f5336b42..9efa1d83d 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -124,7 +124,7 @@ def __init__( super().__init__(file, mode="w+b") now = datetime.now() - self._mdf = cast(MDF4, MDF(version="4.10")) + self._mdf = cast("MDF4", MDF(version="4.10")) self._mdf.header.start_time = now self.last_timestamp = self._start_time = now.timestamp() @@ -184,7 +184,9 @@ def __init__( def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" # TODO: find solution without accessing private attributes of asammdf - return cast(int, self._mdf._tempfile.tell()) # pylint: disable=protected-access + return cast( + "int", self._mdf._tempfile.tell() # pylint: disable=protected-access + ) def stop(self) -> None: self._mdf.save(self.file, compression=self._compression_level) @@ -463,9 +465,9 @@ def __init__( self._mdf: MDF4 if isinstance(file, BufferedIOBase): - self._mdf = cast(MDF4, MDF(BytesIO(file.read()))) + self._mdf = cast("MDF4", MDF(BytesIO(file.read()))) else: - self._mdf = cast(MDF4, MDF(file)) + self._mdf = cast("MDF4", MDF(file)) self._start_timestamp = self._mdf.header.start_time.timestamp() diff --git a/can/io/printer.py b/can/io/printer.py index 67c353cc6..30bc227ab 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -44,7 +44,7 @@ def __init__( def on_message_received(self, msg: Message) -> None: if self.write_to_file: - cast(TextIO, self.file).write(str(msg) + "\n") + cast("TextIO", self.file).write(str(msg) + "\n") else: print(msg) # noqa: T201 diff --git a/can/message.py b/can/message.py index 6dc6a83bd..d8d94ea84 100644 --- a/can/message.py +++ b/can/message.py @@ -32,19 +32,19 @@ class Message: # pylint: disable=too-many-instance-attributes; OK for a datacla """ __slots__ = ( - "timestamp", + "__weakref__", # support weak references to messages "arbitration_id", - "is_extended_id", - "is_remote_frame", - "is_error_frame", + "bitrate_switch", "channel", - "dlc", "data", + "dlc", + "error_state_indicator", + "is_error_frame", + "is_extended_id", "is_fd", + "is_remote_frame", "is_rx", - "bitrate_switch", - "error_state_indicator", - "__weakref__", # support weak references to messages + "timestamp", ) def __init__( # pylint: disable=too-many-locals, too-many-arguments diff --git a/can/player.py b/can/player.py index 40e4cc43a..9deb0c51f 100644 --- a/can/player.py +++ b/can/player.py @@ -9,12 +9,17 @@ import errno import sys from datetime import datetime -from typing import Iterable, cast +from typing import TYPE_CHECKING, cast -from can import LogReader, Message, MessageSync +from can import LogReader, MessageSync from .logger import _create_base_argument_parser, _create_bus, _parse_additional_config +if TYPE_CHECKING: + from typing import Iterable + + from can import Message + def main() -> None: parser = argparse.ArgumentParser(description="Replay CAN traffic.") @@ -88,7 +93,7 @@ def main() -> None: with _create_bus(results, **additional_config) as bus: with LogReader(results.infile, **additional_config) as reader: in_sync = MessageSync( - cast(Iterable[Message], reader), + cast("Iterable[Message]", reader), timestamps=results.timestamps, gap=results.gap, skip=results.skip, diff --git a/can/typechecking.py b/can/typechecking.py index b0d1c22ac..d993d6bd3 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -1,5 +1,4 @@ -"""Types for mypy type-checking -""" +"""Types for mypy type-checking""" import gzip import struct diff --git a/can/util.py b/can/util.py index 7f2f824db..bb835b846 100644 --- a/can/util.py +++ b/can/util.py @@ -178,7 +178,7 @@ def load_config( # Use the given dict for default values config_sources = cast( - Iterable[Union[Dict[str, Any], Callable[[Any], Dict[str, Any]]]], + "Iterable[Union[Dict[str, Any], Callable[[Any], Dict[str, Any]]]]", [ given_config, can.rc, @@ -251,7 +251,7 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: if "fd" in config: config["fd"] = config["fd"] not in (0, False) - return cast(typechecking.BusConfig, config) + return cast("typechecking.BusConfig", config) def _dict2timing(data: Dict[str, Any]) -> Union[BitTiming, BitTimingFd, None]: @@ -396,7 +396,7 @@ def _rename_kwargs( func_name: str, start: str, end: Optional[str], - kwargs: P1.kwargs, + kwargs: Dict[str, Any], aliases: Dict[str, Optional[str]], ) -> None: """Helper function for `deprecated_args_alias`""" diff --git a/can/viewer.py b/can/viewer.py index 45c313b07..57b3d6f7d 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -166,9 +166,8 @@ def unpack_data(cmd: int, cmd_to_struct: Dict, data: bytes) -> List[float]: # These messages do not contain a data package return [] - for key in cmd_to_struct: + for key, value in cmd_to_struct.items(): if cmd == key if isinstance(key, int) else cmd in key: - value = cmd_to_struct[key] if isinstance(value, tuple): # The struct is given as the fist argument struct_t: struct.Struct = value[0] diff --git a/pyproject.toml b/pyproject.toml index d41bf6e22..c65275559 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -61,9 +61,9 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==3.2.*", - "ruff==0.7.0", - "black==24.10.*", - "mypy==1.12.*", + "ruff==0.10.0", + "black==25.1.*", + "mypy==1.15.*", ] pywin32 = ["pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'"] seeedstudio = ["pyserial>=3.0"] @@ -133,7 +133,7 @@ exclude = [ line-length = 100 [tool.ruff.lint] -select = [ +extend-select = [ "A", # flake8-builtins "B", # flake8-bugbear "C4", # flake8-comprehensions diff --git a/test/listener_test.py b/test/listener_test.py index b530afa60..54496176b 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import asyncio import logging import os diff --git a/test/test_interface_canalystii.py b/test/test_interface_canalystii.py index 65d9ee74b..3bdd281d2 100755 --- a/test/test_interface_canalystii.py +++ b/test/test_interface_canalystii.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import unittest from ctypes import c_ubyte diff --git a/test/test_kvaser.py b/test/test_kvaser.py index 8d18976aa..c18b3bc15 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import ctypes import time diff --git a/test/test_neovi.py b/test/test_neovi.py index d8f54960a..8c816bef2 100644 --- a/test/test_neovi.py +++ b/test/test_neovi.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import pickle import unittest diff --git a/test/test_vector.py b/test/test_vector.py index ca46526fb..5d074f614 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -1042,142 +1042,142 @@ def _find_virtual_can_serial() -> int: XL_DRIVER_CONFIG_EXAMPLE = ( - b"\x0E\x00\x1E\x14\x0C\x00\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x0e\x00\x1e\x14\x0c\x00\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E" - b"\x65\x6C\x20\x53\x74\x72\x65\x61\x6D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x2D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x04" - b"\x0A\x40\x00\x02\x00\x02\x00\x00\x02\x00\x00\x00\x02\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38\x39\x31\x34\x20\x43\x68\x61\x6e\x6e" + b"\x65\x6c\x20\x53\x74\x72\x65\x61\x6d\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x2d\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x04" + b"\x0a\x40\x00\x02\x00\x02\x00\x00\x02\x00\x00\x00\x02\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - 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b"\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x01\x03\x02\x00\x00\x00\x00\x01\x02\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38\x39\x31" + b"\x34\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x31\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x2d\x00\x01\x03\x02\x00\x00\x00\x00\x01\x02\x00\x00" b"\x00\x00\x00\x00\x00\x02\x10\x00\x08\x07\x01\x04\x00\x00\x00\x00\x00\x00\x04\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x04\x00" - b"\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x04\x00" + b"\x00\x00\x00\x00\x00\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x46\x52\x70\x69\x67\x67\x79\x20\x31\x30" - 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b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00" - b"\x00\x08\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03\x00" + b"\x00\x08\x1c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38" - b"\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x37\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x07\x00\x00\x00\x00\x02\x00\x07\x80" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38" + b"\x39\x31\x34\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x37\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2d\x00\x07\x00\x00\x00\x00\x02\x00\x07\x80" b"\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\xe9\x03\x00\x00\x08\x1c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x38" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x08\x3C" - b"\x01\x00\x00\x00\x00\x08\x00\x01\x00\x00\x00\x00\x00\x00\x12\x00\x00\xA2\x01\x00" - b"\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01" + b"\x00\x00\x00\x00\x56\x4e\x38\x39\x31\x34\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x38" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2d\x00\x08\x3c" + b"\x01\x00\x00\x00\x00\x08\x00\x01\x00\x00\x00\x00\x00\x00\x12\x00\x00\xa2\x01\x00" + b"\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xa1\x07\x00\x01\x04\x03\x01\x01" b"\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00" + b"\x00\x00\x00\x0c\x00\x02\x0a\x04\x00\x00\x00\x00\x00\x00\x00\x8e\x00\x02\x0a\x00" b"\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x4F" - b"\x6E\x20\x62\x6F\x61\x72\x64\x20\x43\x41\x4E\x20\x31\x30\x35\x31\x63\x61\x70\x28" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03\x00\x00\x08\x1c\x00\x00\x4f" + b"\x6e\x20\x62\x6f\x61\x72\x64\x20\x43\x41\x4e\x20\x31\x30\x35\x31\x63\x61\x70\x28" b"\x48\x69\x67\x68\x73\x70\x65\x65\x64\x29\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68" - b"\x61\x6E\x6E\x65\x6C\x20\x39\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x2D\x00\x09\x80\x02\x00\x00\x00\x00\x09\x00\x02\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38\x39\x31\x34\x20\x43\x68" + b"\x61\x6e\x6e\x65\x6c\x20\x39\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x2d\x00\x09\x80\x02\x00\x00\x00\x00\x09\x00\x02\x00\x00\x00\x00\x00" b"\x00\x02\x00\x00\x00\x40\x00\x40\x00\x00\x00\x00\x00\x00\x40\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x03\x00\x00\x00\x00\x00" - b"\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03" - b"\x00\x00\x08\x1C\x00\x00\x44\x2F\x41\x20\x49\x4F\x70\x69\x67\x67\x79\x20\x38\x36" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x03\x00\x00\x00\x00\x00" + b"\x00\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03" + b"\x00\x00\x08\x1c\x00\x00\x44\x2f\x41\x20\x49\x4f\x70\x69\x67\x67\x79\x20\x38\x36" b"\x34\x32\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69" - b"\x72\x74\x75\x61\x6C\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x31\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x16\x00\x00\x00\x00\x00\x0A" - b"\x00\x04\x00\x00\x00\x00\x00\x00\x07\x00\x00\xA0\x01\x00\x01\x00\x00\x00\x00\x00" - b"\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01\x00\x00\x00\x00\x00\x00" - b"\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00\x00\x00\x00\x10\x00\x1E" + b"\x72\x74\x75\x61\x6c\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x31\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x16\x00\x00\x00\x00\x00\x0a" + b"\x00\x04\x00\x00\x00\x00\x00\x00\x07\x00\x00\xa0\x01\x00\x01\x00\x00\x00\x00\x00" + b"\x00\x01\x00\x00\x00\x20\xa1\x07\x00\x01\x04\x03\x01\x01\x00\x00\x00\x00\x00\x00" + b"\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00\x00\x00\x00\x10\x00\x1e" b"\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6C" - b"\x20\x43\x41\x4E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6c" + b"\x20\x43\x41\x4e\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6C\x20\x43\x68\x61\x6E\x6E\x65\x6C" + b"\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6c\x20\x43\x68\x61\x6e\x6e\x65\x6c" b"\x20\x32\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01" - b"\x16\x00\x00\x00\x00\x00\x0B\x00\x08\x00\x00\x00\x00\x00\x00\x07\x00\x00\xA0\x01" - b"\x00\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01" + b"\x16\x00\x00\x00\x00\x00\x0b\x00\x08\x00\x00\x00\x00\x00\x00\x07\x00\x00\xa0\x01" + b"\x00\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xa1\x07\x00\x01\x04\x03\x01" b"\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x10\x00\x1E\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x10\x00\x1e\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x56\x69\x72\x74\x75\x61\x6C\x20\x43\x41\x4E\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x56\x69\x72\x74\x75\x61\x6c\x20\x43\x41\x4e\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x02" + 11832 * b"\x00" ) diff --git a/test/zero_dlc_test.py b/test/zero_dlc_test.py index 4e7596caf..d6693e294 100644 --- a/test/zero_dlc_test.py +++ b/test/zero_dlc_test.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import logging import unittest From 5d62394006f42d1bf98e159fe9bb08d10e47e6eb Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Tue, 1 Apr 2025 11:32:10 -0400 Subject: [PATCH 405/475] Refactor timestamp factor calculations to use constants (#1933) --- can/io/blf.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/can/io/blf.py b/can/io/blf.py index 139b44285..e64a2247d 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -99,6 +99,9 @@ class BLFParseError(Exception): TIME_TEN_MICS = 0x00000001 TIME_ONE_NANS = 0x00000002 +TIME_TEN_MICS_FACTOR = Decimal("1e-5") +TIME_ONE_NANS_FACTOR = Decimal("1e-9") + def timestamp_to_systemtime(timestamp: float) -> TSystemTime: if timestamp is None or timestamp < 631152000: @@ -269,7 +272,7 @@ def _parse_data(self, data): continue # Calculate absolute timestamp in seconds - factor = Decimal("1e-5") if flags == 1 else Decimal("1e-9") + factor = TIME_TEN_MICS_FACTOR if flags == 1 else TIME_ONE_NANS_FACTOR timestamp = float(Decimal(timestamp) * factor) + start_timestamp if obj_type in (CAN_MESSAGE, CAN_MESSAGE2): From c46d3ea7bd631df633f2588877cfcd94ac0802e3 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 30 May 2025 11:14:53 +0200 Subject: [PATCH 406/475] Raise minimum python version to 3.9 (#1931) * require python>=3.9 * fix formatting * pin ruff==0.11.12, mypy==1.16.* --------- Co-authored-by: zariiii9003 --- .github/workflows/ci.yml | 4 ---- README.rst | 7 ++---- can/__init__.py | 4 ++-- can/_entry_points.py | 6 +++--- can/bit_timing.py | 7 +++--- can/broadcastmanager.py | 7 +++--- can/bus.py | 14 +++++------- can/ctypesutil.py | 4 ++-- can/exceptions.py | 11 +++------- can/interface.py | 9 ++++---- can/interfaces/__init__.py | 4 +--- can/interfaces/canalystii.py | 11 +++++----- can/interfaces/etas/__init__.py | 10 ++++----- can/interfaces/gs_usb.py | 4 ++-- can/interfaces/iscan.py | 4 ++-- can/interfaces/ixxat/canlib.py | 5 +++-- can/interfaces/ixxat/canlib_vcinpl.py | 7 +++--- can/interfaces/ixxat/canlib_vcinpl2.py | 5 +++-- can/interfaces/nican.py | 6 +++--- can/interfaces/nixnet.py | 6 +++--- can/interfaces/pcan/pcan.py | 6 +++--- can/interfaces/serial/serial_can.py | 8 +++---- can/interfaces/slcan.py | 6 +++--- can/interfaces/socketcan/socketcan.py | 21 +++++++++--------- can/interfaces/socketcan/utils.py | 4 ++-- can/interfaces/socketcand/socketcand.py | 5 ++--- can/interfaces/systec/exceptions.py | 9 ++++---- can/interfaces/udp_multicast/bus.py | 10 ++++----- can/interfaces/udp_multicast/utils.py | 4 ++-- can/interfaces/usb2can/serial_selector.py | 3 +-- can/interfaces/vector/canlib.py | 24 +++++++++------------ can/interfaces/virtual.py | 8 +++---- can/io/asc.py | 13 ++++++------ can/io/blf.py | 7 +++--- can/io/canutils.py | 3 ++- can/io/csv.py | 3 ++- can/io/generic.py | 14 +++++------- can/io/logger.py | 16 ++++++-------- can/io/mf4.py | 11 +++++----- can/io/player.py | 12 ++++------- can/io/sqlite.py | 3 ++- can/io/trc.py | 21 +++++++++--------- can/listener.py | 3 ++- can/logger.py | 19 +++++++---------- can/notifier.py | 9 ++++---- can/player.py | 2 +- can/typechecking.py | 10 ++++----- can/util.py | 26 +++++++++++------------ can/viewer.py | 9 ++++---- pyproject.toml | 7 +++--- test/contextmanager_test.py | 14 ++++++------ 51 files changed, 209 insertions(+), 236 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0ddb3028c..ab14b6b6a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -18,7 +18,6 @@ jobs: os: [ubuntu-latest, macos-latest, windows-latest] experimental: [false] python-version: [ - "3.8", "3.9", "3.10", "3.11", @@ -81,9 +80,6 @@ jobs: run: | python -m pip install --upgrade pip pip install -e .[lint] - - name: mypy 3.8 - run: | - mypy --python-version 3.8 . - name: mypy 3.9 run: | mypy --python-version 3.9 . diff --git a/README.rst b/README.rst index d2f05b2c1..3c185f6cb 100644 --- a/README.rst +++ b/README.rst @@ -3,7 +3,7 @@ python-can |pypi| |conda| |python_implementation| |downloads| |downloads_monthly| -|docs| |github-actions| |coverage| |mergify| |formatter| +|docs| |github-actions| |coverage| |formatter| .. |pypi| image:: https://img.shields.io/pypi/v/python-can.svg :target: https://pypi.python.org/pypi/python-can/ @@ -41,10 +41,6 @@ python-can :target: https://coveralls.io/github/hardbyte/python-can?branch=develop :alt: Test coverage reports on Coveralls.io -.. |mergify| image:: https://img.shields.io/endpoint.svg?url=https://api.mergify.com/v1/badges/hardbyte/python-can&style=flat - :target: https://mergify.io - :alt: Mergify Status - The **C**\ ontroller **A**\ rea **N**\ etwork is a bus standard designed to allow microcontrollers and devices to communicate with each other. It has priority based bus arbitration and reliable deterministic @@ -64,6 +60,7 @@ Library Version Python 3.x 2.7+, 3.5+ 4.0+ 3.7+ 4.3+ 3.8+ + 4.6+ 3.9+ ============================== =========== diff --git a/can/__init__.py b/can/__init__.py index 1d4b7f0cf..b1bd636c1 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,7 +8,7 @@ import contextlib import logging from importlib.metadata import PackageNotFoundError, version -from typing import Any, Dict +from typing import Any __all__ = [ "VALID_INTERFACES", @@ -130,4 +130,4 @@ log = logging.getLogger("can") -rc: Dict[str, Any] = {} +rc: dict[str, Any] = {} diff --git a/can/_entry_points.py b/can/_entry_points.py index 6842e3c1a..e8ce92d7c 100644 --- a/can/_entry_points.py +++ b/can/_entry_points.py @@ -2,7 +2,7 @@ import sys from dataclasses import dataclass from importlib.metadata import entry_points -from typing import Any, List +from typing import Any @dataclass @@ -20,14 +20,14 @@ def load(self) -> Any: # "Compatibility Note". if sys.version_info >= (3, 10): - def read_entry_points(group: str) -> List[_EntryPoint]: + def read_entry_points(group: str) -> list[_EntryPoint]: return [ _EntryPoint(ep.name, ep.module, ep.attr) for ep in entry_points(group=group) ] else: - def read_entry_points(group: str) -> List[_EntryPoint]: + def read_entry_points(group: str) -> list[_EntryPoint]: return [ _EntryPoint(ep.name, *ep.value.split(":", maxsplit=1)) for ep in entry_points().get(group, []) diff --git a/can/bit_timing.py b/can/bit_timing.py index feba8b6d2..4b0074472 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -1,6 +1,7 @@ # pylint: disable=too-many-lines import math -from typing import TYPE_CHECKING, Iterator, List, Mapping, cast +from collections.abc import Iterator, Mapping +from typing import TYPE_CHECKING, cast if TYPE_CHECKING: from can.typechecking import BitTimingDict, BitTimingFdDict @@ -286,7 +287,7 @@ def from_sample_point( if sample_point < 50.0: raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") - possible_solutions: List[BitTiming] = list( + possible_solutions: list[BitTiming] = list( cls.iterate_from_sample_point(f_clock, bitrate, sample_point) ) @@ -874,7 +875,7 @@ def from_sample_point( f"data_sample_point (={data_sample_point}) must not be below 50%." ) - possible_solutions: List[BitTimingFd] = list( + possible_solutions: list[BitTimingFd] = list( cls.iterate_from_sample_point( f_clock, nom_bitrate, diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 19dca8fbc..b2bc28e76 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -12,13 +12,12 @@ import threading import time import warnings +from collections.abc import Sequence from typing import ( TYPE_CHECKING, Callable, Final, Optional, - Sequence, - Tuple, Union, cast, ) @@ -127,7 +126,7 @@ def __init__( @staticmethod def _check_and_convert_messages( messages: Union[Sequence[Message], Message], - ) -> Tuple[Message, ...]: + ) -> tuple[Message, ...]: """Helper function to convert a Message or Sequence of messages into a tuple, and raises an error when the given value is invalid. @@ -194,7 +193,7 @@ def start(self) -> None: class ModifiableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): - def _check_modified_messages(self, messages: Tuple[Message, ...]) -> None: + def _check_modified_messages(self, messages: tuple[Message, ...]) -> None: """Helper function to perform error checking when modifying the data in the cyclic task. diff --git a/can/bus.py b/can/bus.py index d186e2d05..0d031a18b 100644 --- a/can/bus.py +++ b/can/bus.py @@ -6,18 +6,14 @@ import logging import threading from abc import ABC, ABCMeta, abstractmethod +from collections.abc import Iterator, Sequence from enum import Enum, auto from time import time from types import TracebackType from typing import ( Any, Callable, - Iterator, - List, Optional, - Sequence, - Tuple, - Type, Union, cast, ) @@ -97,7 +93,7 @@ def __init__( :raises ~can.exceptions.CanInitializationError: If the bus cannot be initialized """ - self._periodic_tasks: List[_SelfRemovingCyclicTask] = [] + self._periodic_tasks: list[_SelfRemovingCyclicTask] = [] self.set_filters(can_filters) # Flip the class default value when the constructor finishes. That # usually means the derived class constructor was also successful, @@ -147,7 +143,7 @@ def recv(self, timeout: Optional[float] = None) -> Optional[Message]: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: """ Read a message from the bus and tell whether it was filtered. This methods may be called by :meth:`~can.BusABC.recv` @@ -491,7 +487,7 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[Type[BaseException]], + exc_type: Optional[type[BaseException]], exc_value: Optional[BaseException], traceback: Optional[TracebackType], ) -> None: @@ -529,7 +525,7 @@ def protocol(self) -> CanProtocol: return self._can_protocol @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: """Detect all configurations/channels that this interface could currently connect with. diff --git a/can/ctypesutil.py b/can/ctypesutil.py index a80dc3194..8336941be 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -5,7 +5,7 @@ import ctypes import logging import sys -from typing import Any, Callable, Optional, Tuple, Union +from typing import Any, Callable, Optional, Union log = logging.getLogger("can.ctypesutil") @@ -32,7 +32,7 @@ def map_symbol( self, func_name: str, restype: Any = None, - argtypes: Tuple[Any, ...] = (), + argtypes: tuple[Any, ...] = (), errcheck: Optional[Callable[..., Any]] = None, ) -> Any: """ diff --git a/can/exceptions.py b/can/exceptions.py index ca2d6c5a3..8abc75147 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -15,14 +15,9 @@ :class:`ValueError`. This should always be documented for the function at hand. """ -import sys +from collections.abc import Generator from contextlib import contextmanager -from typing import Optional, Type - -if sys.version_info >= (3, 9): - from collections.abc import Generator -else: - from typing import Generator +from typing import Optional class CanError(Exception): @@ -114,7 +109,7 @@ class CanTimeoutError(CanError, TimeoutError): @contextmanager def error_check( error_message: Optional[str] = None, - exception_type: Type[CanError] = CanOperationError, + exception_type: type[CanError] = CanOperationError, ) -> Generator[None, None, None]: """Catches any exceptions and turns them into the new type while preserving the stack trace.""" try: diff --git a/can/interface.py b/can/interface.py index f7a8ecc02..e017b9514 100644 --- a/can/interface.py +++ b/can/interface.py @@ -6,7 +6,8 @@ import importlib import logging -from typing import Any, Iterable, List, Optional, Type, Union, cast +from collections.abc import Iterable +from typing import Any, Optional, Union, cast from . import util from .bus import BusABC @@ -18,7 +19,7 @@ log_autodetect = log.getChild("detect_available_configs") -def _get_class_for_interface(interface: str) -> Type[BusABC]: +def _get_class_for_interface(interface: str) -> type[BusABC]: """ Returns the main bus class for the given interface. @@ -52,7 +53,7 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: f"'{interface}': {e}" ) from None - return cast("Type[BusABC]", bus_class) + return cast("type[BusABC]", bus_class) @util.deprecated_args_alias( @@ -139,7 +140,7 @@ def Bus( # noqa: N802 def detect_available_configs( interfaces: Union[None, str, Iterable[str]] = None, -) -> List[AutoDetectedConfig]: +) -> list[AutoDetectedConfig]: """Detect all configurations/channels that the interfaces could currently connect with. diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index f220d28e5..1b401639a 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -2,8 +2,6 @@ Interfaces contain low level implementations that interact with CAN hardware. """ -from typing import Dict, Tuple - from can._entry_points import read_entry_points __all__ = [ @@ -35,7 +33,7 @@ ] # interface_name => (module, classname) -BACKENDS: Dict[str, Tuple[str, str]] = { +BACKENDS: dict[str, tuple[str, str]] = { "kvaser": ("can.interfaces.kvaser", "KvaserBus"), "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), "serial": ("can.interfaces.serial.serial_can", "SerialBus"), diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index 2fef19497..d85211130 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -1,8 +1,9 @@ import logging import time from collections import deque +from collections.abc import Sequence from ctypes import c_ubyte -from typing import Any, Deque, Dict, Optional, Sequence, Tuple, Union +from typing import Any, Optional, Union import canalystii as driver @@ -26,7 +27,7 @@ def __init__( timing: Optional[Union[BitTiming, BitTimingFd]] = None, can_filters: Optional[CanFilters] = None, rx_queue_size: Optional[int] = None, - **kwargs: Dict[str, Any], + **kwargs: dict[str, Any], ): """ @@ -68,7 +69,7 @@ def __init__( self.channels = list(channel) self.channel_info = f"CANalyst-II: device {device}, channels {self.channels}" - self.rx_queue: Deque[Tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) + self.rx_queue: deque[tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) self.device = driver.CanalystDevice(device_index=device) self._can_protocol = CanProtocol.CAN_20 @@ -129,7 +130,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: if timeout is not None and not send_result: raise CanTimeoutError(f"Send timed out after {timeout} seconds") - def _recv_from_queue(self) -> Tuple[Message, bool]: + def _recv_from_queue(self) -> tuple[Message, bool]: """Return a message from the internal receive queue""" channel, raw_msg = self.rx_queue.popleft() @@ -166,7 +167,7 @@ def poll_received_messages(self) -> None: def _recv_internal( self, timeout: Optional[float] = None - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: """ :param timeout: float in seconds diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 2bfcbf427..9d4d0bd2a 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -1,5 +1,5 @@ import time -from typing import Dict, List, Optional, Tuple +from typing import Optional import can from can.exceptions import CanInitializationError @@ -16,7 +16,7 @@ def __init__( bitrate: int = 1000000, fd: bool = True, data_bitrate: int = 2000000, - **kwargs: Dict[str, any], + **kwargs: dict[str, any], ): self.receive_own_messages = receive_own_messages self._can_protocol = can.CanProtocol.CAN_FD if fd else can.CanProtocol.CAN_20 @@ -122,7 +122,7 @@ def __init__( def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[can.Message], bool]: + ) -> tuple[Optional[can.Message], bool]: ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)() ociMsg = OCI_CANMessageEx() ociMsgs[0] = ctypes.pointer(ociMsg) @@ -295,12 +295,12 @@ def state(self, new_state: can.BusState) -> None: raise NotImplementedError("Setting state is not implemented.") @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: nodeRange = CSI_NodeRange(CSI_NODE_MIN, CSI_NODE_MAX) tree = ctypes.POINTER(CSI_Tree)() CSI_CreateProtocolTree(ctypes.c_char_p(b""), nodeRange, ctypes.byref(tree)) - nodes: List[Dict[str, str]] = [] + nodes: list[dict[str, str]] = [] def _findNodes(tree, prefix): uri = f"{prefix}/{tree.contents.item.uriName.decode()}" diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 6268350ee..4ab541f43 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -1,5 +1,5 @@ import logging -from typing import Optional, Tuple +from typing import Optional import usb from gs_usb.constants import CAN_EFF_FLAG, CAN_ERR_FLAG, CAN_MAX_DLC, CAN_RTR_FLAG @@ -119,7 +119,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None): def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[can.Message], bool]: + ) -> tuple[Optional[can.Message], bool]: """ Read a message from the bus and tell whether it was filtered. This methods may be called by :meth:`~can.BusABC.recv` diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index be0b0dae8..79b4f754d 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -5,7 +5,7 @@ import ctypes import logging import time -from typing import Optional, Tuple, Union +from typing import Optional, Union from can import ( BusABC, @@ -117,7 +117,7 @@ def __init__( def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: raw_msg = MessageExStruct() end_time = time.time() + timeout if timeout is not None else None while True: diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index a1693aeed..e6ad25d57 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -1,4 +1,5 @@ -from typing import Callable, List, Optional, Sequence, Union +from collections.abc import Sequence +from typing import Callable, Optional, Union import can.interfaces.ixxat.canlib_vcinpl as vcinpl import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 @@ -174,5 +175,5 @@ def state(self) -> BusState: return self.bus.state @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: return vcinpl._detect_available_configs() diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 567dd0cd9..ba8f1870b 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -14,7 +14,8 @@ import logging import sys import warnings -from typing import Callable, List, Optional, Sequence, Tuple, Union +from collections.abc import Sequence +from typing import Callable, Optional, Union from can import ( BusABC, @@ -64,7 +65,7 @@ def __vciFormatErrorExtended( - library_instance: CLibrary, function: Callable, vret: int, args: Tuple + library_instance: CLibrary, function: Callable, vret: int, args: tuple ): """Format a VCI error and attach failed function, decoded HRESULT and arguments :param CLibrary library_instance: @@ -961,7 +962,7 @@ def get_ixxat_hwids(): return hwids -def _detect_available_configs() -> List[AutoDetectedConfig]: +def _detect_available_configs() -> list[AutoDetectedConfig]: config_list = [] # list in wich to store the resulting bus kwargs # used to detect HWID diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 79ad34c4f..f9ac5346b 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -15,7 +15,8 @@ import sys import time import warnings -from typing import Callable, Optional, Sequence, Tuple, Union +from collections.abc import Sequence +from typing import Callable, Optional, Union from can import ( BusABC, @@ -62,7 +63,7 @@ def __vciFormatErrorExtended( - library_instance: CLibrary, function: Callable, vret: int, args: Tuple + library_instance: CLibrary, function: Callable, vret: int, args: tuple ): """Format a VCI error and attach failed function, decoded HRESULT and arguments :param CLibrary library_instance: diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index 8a2efade7..1abf0b35f 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -16,7 +16,7 @@ import ctypes import logging import sys -from typing import Optional, Tuple, Type +from typing import Optional import can.typechecking from can import ( @@ -112,7 +112,7 @@ def check_status( result: int, function, arguments, - error_class: Type[NicanError] = NicanOperationError, + error_class: type[NicanError] = NicanOperationError, ) -> int: if result > 0: logger.warning(get_error_message(result)) @@ -281,7 +281,7 @@ def __init__( def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: """ Read a message from a NI-CAN bus. diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index 2b3cbd69a..c723d1f52 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -14,7 +14,7 @@ import warnings from queue import SimpleQueue from types import ModuleType -from typing import Any, List, Optional, Tuple, Union +from typing import Any, Optional, Union import can.typechecking from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message @@ -203,7 +203,7 @@ def fd(self) -> bool: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: end_time = time.perf_counter() + timeout if timeout is not None else None while True: @@ -327,7 +327,7 @@ def shutdown(self) -> None: self._session_receive.close() @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: configs = [] try: diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index d0372a83c..ef3b23e3b 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -6,7 +6,7 @@ import platform import time import warnings -from typing import Any, List, Optional, Tuple, Union +from typing import Any, Optional, Union from packaging import version @@ -502,7 +502,7 @@ def set_device_number(self, device_number): def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: end_time = time.time() + timeout if timeout is not None else None while True: @@ -726,7 +726,7 @@ def _detect_available_configs(): res, value = library_handle.GetValue(PCAN_NONEBUS, PCAN_ATTACHED_CHANNELS) if res != PCAN_ERROR_OK: return interfaces - channel_information: List[TPCANChannelInformation] = list(value) + channel_information: list[TPCANChannelInformation] = list(value) for channel in channel_information: # find channel name in PCAN_CHANNEL_NAMES by value channel_name = next( diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index 476cbd624..9fe715267 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -10,7 +10,7 @@ import io import logging import struct -from typing import Any, List, Optional, Tuple +from typing import Any, Optional from can import ( BusABC, @@ -38,7 +38,7 @@ from serial.tools.list_ports import comports as list_comports except ImportError: # If unavailable on some platform, just return nothing - def list_comports() -> List[Any]: + def list_comports() -> list[Any]: return [] @@ -160,7 +160,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: """ Read a message from the serial device. @@ -229,7 +229,7 @@ def fileno(self) -> int: raise CanOperationError("Cannot fetch fileno") from exception @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: return [ {"interface": "serial", "channel": port.device} for port in list_comports() ] diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index ddd2bec23..c51b298cc 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -7,7 +7,7 @@ import time import warnings from queue import SimpleQueue -from typing import Any, Optional, Tuple, Union, cast +from typing import Any, Optional, Union, cast from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message, typechecking from can.exceptions import ( @@ -230,7 +230,7 @@ def close(self) -> None: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: canId = None remote = False extended = False @@ -315,7 +315,7 @@ def fileno(self) -> int: def get_version( self, timeout: Optional[float] - ) -> Tuple[Optional[int], Optional[int]]: + ) -> tuple[Optional[int], Optional[int]]: """Get HW and SW version of the slcan interface. :param timeout: diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index a5819dcb5..30b75108a 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -15,7 +15,8 @@ import threading import time import warnings -from typing import Callable, Dict, List, Optional, Sequence, Tuple, Type, Union +from collections.abc import Sequence +from typing import Callable, Optional, Union import can from can import BusABC, CanProtocol, Message @@ -50,13 +51,13 @@ # Setup BCM struct def bcm_header_factory( - fields: List[Tuple[str, Union[Type[ctypes.c_uint32], Type[ctypes.c_long]]]], + fields: list[tuple[str, Union[type[ctypes.c_uint32], type[ctypes.c_long]]]], alignment: int = 8, ): curr_stride = 0 - results: List[ - Tuple[ - str, Union[Type[ctypes.c_uint8], Type[ctypes.c_uint32], Type[ctypes.c_long]] + results: list[ + tuple[ + str, Union[type[ctypes.c_uint8], type[ctypes.c_uint32], type[ctypes.c_long]] ] ] = [] pad_index = 0 @@ -292,7 +293,7 @@ def build_bcm_transmit_header( # Note `TX_COUNTEVT` creates the message TX_EXPIRED when count expires flags |= constants.TX_COUNTEVT - def split_time(value: float) -> Tuple[int, int]: + def split_time(value: float) -> tuple[int, int]: """Given seconds as a float, return whole seconds and microseconds""" seconds = int(value) microseconds = int(1e6 * (value - seconds)) @@ -326,7 +327,7 @@ def is_frame_fd(frame: bytes): return len(frame) == constants.CANFD_MTU -def dissect_can_frame(frame: bytes) -> Tuple[int, int, int, bytes]: +def dissect_can_frame(frame: bytes) -> tuple[int, int, int, bytes]: can_id, data_len, flags, len8_dlc = CAN_FRAME_HEADER_STRUCT.unpack_from(frame) if data_len not in can.util.CAN_FD_DLC: @@ -739,7 +740,7 @@ def __init__( self.socket = create_socket() self.channel = channel self.channel_info = f"socketcan channel '{channel}'" - self._bcm_sockets: Dict[str, socket.socket] = {} + self._bcm_sockets: dict[str, socket.socket] = {} self._is_filtered = False self._task_id = 0 self._task_id_guard = threading.Lock() @@ -819,7 +820,7 @@ def shutdown(self) -> None: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: try: # get all sockets that are ready (can be a list with a single value # being self.socket or an empty list if self.socket is not ready) @@ -992,7 +993,7 @@ def fileno(self) -> int: return self.socket.fileno() @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: return [ {"interface": "socketcan", "channel": channel} for channel in find_available_interfaces() diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 1505c6cf8..80dcb203f 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -9,7 +9,7 @@ import struct import subprocess import sys -from typing import List, Optional, cast +from typing import Optional, cast from can import typechecking from can.interfaces.socketcan.constants import CAN_EFF_FLAG @@ -39,7 +39,7 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes return struct.pack(can_filter_fmt, *filter_data) -def find_available_interfaces() -> List[str]: +def find_available_interfaces() -> list[str]: """Returns the names of all open can/vcan interfaces The function calls the ``ip link list`` command. If the lookup fails, an error diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 7a2cc6fd0..3ecda082b 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -17,7 +17,6 @@ import urllib.parse as urlparselib import xml.etree.ElementTree as ET from collections import deque -from typing import List import can @@ -27,7 +26,7 @@ DEFAULT_SOCKETCAND_DISCOVERY_PORT = 42000 -def detect_beacon(timeout_ms: int = 3100) -> List[can.typechecking.AutoDetectedConfig]: +def detect_beacon(timeout_ms: int = 3100) -> list[can.typechecking.AutoDetectedConfig]: """ Detects socketcand servers @@ -340,7 +339,7 @@ def shutdown(self): self.__socket.close() @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: try: return detect_beacon() except Exception as e: diff --git a/can/interfaces/systec/exceptions.py b/can/interfaces/systec/exceptions.py index dcd94bdbf..8768b412a 100644 --- a/can/interfaces/systec/exceptions.py +++ b/can/interfaces/systec/exceptions.py @@ -1,5 +1,4 @@ from abc import ABC, abstractmethod -from typing import Dict from can import CanError @@ -22,7 +21,7 @@ def __init__(self, result, func, arguments): @property @abstractmethod - def _error_message_mapping(self) -> Dict[ReturnCode, str]: ... + def _error_message_mapping(self) -> dict[ReturnCode, str]: ... class UcanError(UcanException): @@ -51,7 +50,7 @@ class UcanError(UcanException): } @property - def _error_message_mapping(self) -> Dict[ReturnCode, str]: + def _error_message_mapping(self) -> dict[ReturnCode, str]: return UcanError._ERROR_MESSAGES @@ -77,7 +76,7 @@ class UcanCmdError(UcanException): } @property - def _error_message_mapping(self) -> Dict[ReturnCode, str]: + def _error_message_mapping(self) -> dict[ReturnCode, str]: return UcanCmdError._ERROR_MESSAGES @@ -102,5 +101,5 @@ class UcanWarning(UcanException): } @property - def _error_message_mapping(self) -> Dict[ReturnCode, str]: + def _error_message_mapping(self) -> dict[ReturnCode, str]: return UcanWarning._ERROR_MESSAGES diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index dd114278c..31744c2b8 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -5,7 +5,7 @@ import struct import time import warnings -from typing import List, Optional, Tuple, Union +from typing import Optional, Union import can from can import BusABC, CanProtocol @@ -26,8 +26,8 @@ # see socket.getaddrinfo() -IPv4_ADDRESS_INFO = Tuple[str, int] # address, port -IPv6_ADDRESS_INFO = Tuple[str, int, int, int] # address, port, flowinfo, scope_id +IPv4_ADDRESS_INFO = tuple[str, int] # address, port +IPv6_ADDRESS_INFO = tuple[str, int, int, int] # address, port, flowinfo, scope_id IP_ADDRESS_INFO = Union[IPv4_ADDRESS_INFO, IPv6_ADDRESS_INFO] # Additional constants for the interaction with Unix kernels @@ -172,7 +172,7 @@ def shutdown(self) -> None: self._multicast.shutdown() @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: if hasattr(socket, "CMSG_SPACE"): return [ { @@ -341,7 +341,7 @@ def send(self, data: bytes, timeout: Optional[float] = None) -> None: def recv( self, timeout: Optional[float] = None - ) -> Optional[Tuple[bytes, IP_ADDRESS_INFO, float]]: + ) -> Optional[tuple[bytes, IP_ADDRESS_INFO, float]]: """ Receive up to **max_buffer** bytes. diff --git a/can/interfaces/udp_multicast/utils.py b/can/interfaces/udp_multicast/utils.py index 35a0df185..5c9454ed4 100644 --- a/can/interfaces/udp_multicast/utils.py +++ b/can/interfaces/udp_multicast/utils.py @@ -2,7 +2,7 @@ Defines common functions. """ -from typing import Any, Dict, Optional +from typing import Any, Optional from can import CanInterfaceNotImplementedError, Message from can.typechecking import ReadableBytesLike @@ -44,7 +44,7 @@ def pack_message(message: Message) -> bytes: def unpack_message( data: ReadableBytesLike, - replace: Optional[Dict[str, Any]] = None, + replace: Optional[dict[str, Any]] = None, check: bool = False, ) -> Message: """Unpack a can.Message from a msgpack byte blob. diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index de29f03fe..9f3b7185e 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -1,7 +1,6 @@ """ """ import logging -from typing import List log = logging.getLogger("can.usb2can") @@ -43,7 +42,7 @@ def WMIDateStringToDate(dtmDate) -> str: return strDateTime -def find_serial_devices(serial_matcher: str = "") -> List[str]: +def find_serial_devices(serial_matcher: str = "") -> list[str]: """ Finds a list of USB devices where the serial number (partially) matches the given string. diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index d51d74529..986f52002 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -10,17 +10,13 @@ import os import time import warnings +from collections.abc import Iterator, Sequence from types import ModuleType from typing import ( Any, Callable, - Dict, - Iterator, - List, NamedTuple, Optional, - Sequence, - Tuple, Union, cast, ) @@ -204,8 +200,8 @@ def __init__( is_fd = isinstance(timing, BitTimingFd) if timing else fd self.mask = 0 - self.channel_masks: Dict[int, int] = {} - self.index_to_channel: Dict[int, int] = {} + self.channel_masks: dict[int, int] = {} + self.index_to_channel: dict[int, int] = {} self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 self._listen_only = listen_only @@ -383,7 +379,7 @@ def _find_global_channel_idx( channel: int, serial: Optional[int], app_name: Optional[str], - channel_configs: List["VectorChannelConfig"], + channel_configs: list["VectorChannelConfig"], ) -> int: if serial is not None: serial_found = False @@ -439,7 +435,7 @@ def _has_init_access(self, channel: int) -> bool: return bool(self.permission_mask & self.channel_masks[channel]) def _read_bus_params( - self, channel_index: int, vcc_list: List["VectorChannelConfig"] + self, channel_index: int, vcc_list: list["VectorChannelConfig"] ) -> "VectorBusParams": for vcc in vcc_list: if vcc.channel_index == channel_index: @@ -712,7 +708,7 @@ def _apply_filters(self, filters: Optional[CanFilters]) -> None: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: end_time = time.time() + timeout if timeout is not None else None while True: @@ -986,7 +982,7 @@ def reset(self) -> None: ) @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: configs = [] channel_configs = get_channel_configs() LOG.info("Found %d channels", len(channel_configs)) @@ -1037,7 +1033,7 @@ def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @staticmethod def get_application_config( app_name: str, app_channel: int - ) -> Tuple[Union[int, xldefine.XL_HardwareType], int, int]: + ) -> tuple[Union[int, xldefine.XL_HardwareType], int, int]: """Retrieve information for an application in Vector Hardware Configuration. :param app_name: @@ -1243,14 +1239,14 @@ def _read_bus_params_from_c_struct( ) -def get_channel_configs() -> List[VectorChannelConfig]: +def get_channel_configs() -> list[VectorChannelConfig]: """Read channel properties from Vector XL API.""" try: driver_config = _get_xl_driver_config() except VectorError: return [] - channel_list: List[VectorChannelConfig] = [] + channel_list: list[VectorChannelConfig] = [] for i in range(driver_config.channelCount): xlcc: xlclass.XLchannelConfig = driver_config.channel[i] vcc = VectorChannelConfig( diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index 62ad0cfe3..aa858913e 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -12,7 +12,7 @@ from copy import deepcopy from random import randint from threading import RLock -from typing import TYPE_CHECKING, Any, Dict, List, Optional, Tuple +from typing import TYPE_CHECKING, Any, Optional from can import CanOperationError from can.bus import BusABC, CanProtocol @@ -25,7 +25,7 @@ # Channels are lists of queues, one for each connection if TYPE_CHECKING: # https://mypy.readthedocs.io/en/stable/runtime_troubles.html#using-classes-that-are-generic-in-stubs-but-not-at-runtime - channels: Dict[Optional[Any], List[queue.Queue[Message]]] = {} + channels: dict[Optional[Any], list[queue.Queue[Message]]] = {} else: channels = {} channels_lock = RLock() @@ -125,7 +125,7 @@ def _check_if_open(self) -> None: def _recv_internal( self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + ) -> tuple[Optional[Message], bool]: self._check_if_open() try: msg = self.queue.get(block=True, timeout=timeout) @@ -168,7 +168,7 @@ def shutdown(self) -> None: del channels[self.channel_id] @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: """ Returns all currently used channels as well as one other currently unused channel. diff --git a/can/io/asc.py b/can/io/asc.py index deb7d429e..0bea823fd 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -8,8 +8,9 @@ import logging import re +from collections.abc import Generator from datetime import datetime -from typing import Any, Dict, Final, Generator, Optional, TextIO, Union +from typing import Any, Final, Optional, TextIO, Union from ..message import Message from ..typechecking import StringPathLike @@ -153,7 +154,7 @@ def _datetime_to_timestamp(datetime_string: str) -> float: raise ValueError(f"Incompatible datetime string {datetime_string}") - def _extract_can_id(self, str_can_id: str, msg_kwargs: Dict[str, Any]) -> None: + def _extract_can_id(self, str_can_id: str, msg_kwargs: dict[str, Any]) -> None: if str_can_id[-1:].lower() == "x": msg_kwargs["is_extended_id"] = True can_id = int(str_can_id[0:-1], self._converted_base) @@ -169,7 +170,7 @@ def _check_base(base: str) -> int: return BASE_DEC if base == "dec" else BASE_HEX def _process_data_string( - self, data_str: str, data_length: int, msg_kwargs: Dict[str, Any] + self, data_str: str, data_length: int, msg_kwargs: dict[str, Any] ) -> None: frame = bytearray() data = data_str.split() @@ -178,7 +179,7 @@ def _process_data_string( msg_kwargs["data"] = frame def _process_classic_can_frame( - self, line: str, msg_kwargs: Dict[str, Any] + self, line: str, msg_kwargs: dict[str, Any] ) -> Message: # CAN error frame if line.strip()[0:10].lower() == "errorframe": @@ -213,7 +214,7 @@ def _process_classic_can_frame( return Message(**msg_kwargs) - def _process_fd_can_frame(self, line: str, msg_kwargs: Dict[str, Any]) -> Message: + def _process_fd_can_frame(self, line: str, msg_kwargs: dict[str, Any]) -> Message: channel, direction, rest_of_message = line.split(None, 2) # See ASCWriter msg_kwargs["channel"] = int(channel) - 1 @@ -285,7 +286,7 @@ def __iter__(self) -> Generator[Message, None, None]: # J1939 message or some other unsupported event continue - msg_kwargs: Dict[str, Union[float, bool, int]] = {} + msg_kwargs: dict[str, Union[float, bool, int]] = {} try: _timestamp, channel, rest_of_message = line.split(None, 2) timestamp = float(_timestamp) + self.start_time diff --git a/can/io/blf.py b/can/io/blf.py index e64a2247d..6a1231fcc 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,15 +17,16 @@ import struct import time import zlib +from collections.abc import Generator from decimal import Decimal -from typing import Any, BinaryIO, Generator, List, Optional, Tuple, Union, cast +from typing import Any, BinaryIO, Optional, Union, cast from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc from .generic import BinaryIOMessageReader, FileIOMessageWriter -TSystemTime = Tuple[int, int, int, int, int, int, int, int] +TSystemTime = tuple[int, int, int, int, int, int, int, int] class BLFParseError(Exception): @@ -422,7 +423,7 @@ def __init__( assert self.file is not None self.channel = channel self.compression_level = compression_level - self._buffer: List[bytes] = [] + self._buffer: list[bytes] = [] self._buffer_size = 0 # If max container size is located in kwargs, then update the instance if kwargs.get("max_container_size", False): diff --git a/can/io/canutils.py b/can/io/canutils.py index cc978d4f2..e83c21926 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -5,7 +5,8 @@ """ import logging -from typing import Any, Generator, TextIO, Union +from collections.abc import Generator +from typing import Any, TextIO, Union from can.message import Message diff --git a/can/io/csv.py b/can/io/csv.py index 2abaeb70e..dcc7996f7 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -10,7 +10,8 @@ """ from base64 import b64decode, b64encode -from typing import Any, Generator, TextIO, Union +from collections.abc import Generator +from typing import Any, TextIO, Union from can.message import Message diff --git a/can/io/generic.py b/can/io/generic.py index 93840f807..82523c3cd 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -3,16 +3,15 @@ import gzip import locale from abc import ABCMeta +from collections.abc import Iterable +from contextlib import AbstractContextManager from types import TracebackType from typing import ( Any, BinaryIO, - ContextManager, - Iterable, Literal, Optional, TextIO, - Type, Union, cast, ) @@ -24,7 +23,7 @@ from ..message import Message -class BaseIOHandler(ContextManager, metaclass=ABCMeta): +class BaseIOHandler(AbstractContextManager): """A generic file handler that can be used for reading and writing. Can be used as a context manager. @@ -60,10 +59,7 @@ def __init__( # pylint: disable=consider-using-with # file is some path-like object self.file = cast( - "typechecking.FileLike", - open( - cast("typechecking.StringPathLike", file), mode, encoding=encoding - ), + "typechecking.FileLike", open(file, mode, encoding=encoding) ) # for multiple inheritance @@ -74,7 +70,7 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[Type[BaseException]], + exc_type: Optional[type[BaseException]], exc_val: Optional[BaseException], exc_tb: Optional[TracebackType], ) -> Literal[False]: diff --git a/can/io/logger.py b/can/io/logger.py index 359aae4ac..f9f029759 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -12,13 +12,9 @@ Any, Callable, ClassVar, - Dict, Final, Literal, Optional, - Set, - Tuple, - Type, cast, ) @@ -43,7 +39,7 @@ #: A map of file suffixes to their corresponding #: :class:`can.io.generic.MessageWriter` class -MESSAGE_WRITERS: Final[Dict[str, Type[MessageWriter]]] = { +MESSAGE_WRITERS: Final[dict[str, type[MessageWriter]]] = { ".asc": ASCWriter, ".blf": BLFWriter, ".csv": CSVWriter, @@ -66,7 +62,7 @@ def _update_writer_plugins() -> None: MESSAGE_WRITERS[entry_point.key] = writer_class -def _get_logger_for_suffix(suffix: str) -> Type[MessageWriter]: +def _get_logger_for_suffix(suffix: str) -> type[MessageWriter]: try: return MESSAGE_WRITERS[suffix] except KeyError: @@ -77,7 +73,7 @@ def _get_logger_for_suffix(suffix: str) -> Type[MessageWriter]: def _compress( filename: StringPathLike, **kwargs: Any -) -> Tuple[Type[MessageWriter], FileLike]: +) -> tuple[type[MessageWriter], FileLike]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. @@ -171,7 +167,7 @@ class BaseRotatingLogger(MessageWriter, ABC): Subclasses must set the `_writer` attribute upon initialization. """ - _supported_formats: ClassVar[Set[str]] = set() + _supported_formats: ClassVar[set[str]] = set() #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotation_filename` #: method delegates to this callable. The parameters passed to the callable are @@ -290,7 +286,7 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[Type[BaseException]], + exc_type: Optional[type[BaseException]], exc_val: Optional[BaseException], exc_tb: Optional[TracebackType], ) -> Literal[False]: @@ -347,7 +343,7 @@ class SizedRotatingLogger(BaseRotatingLogger): :meth:`~can.Listener.stop` is called. """ - _supported_formats: ClassVar[Set[str]] = {".asc", ".blf", ".csv", ".log", ".txt"} + _supported_formats: ClassVar[set[str]] = {".asc", ".blf", ".csv", ".log", ".txt"} def __init__( self, diff --git a/can/io/mf4.py b/can/io/mf4.py index 9efa1d83d..557d882e1 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -8,11 +8,12 @@ import abc import heapq import logging +from collections.abc import Generator, Iterator from datetime import datetime from hashlib import md5 from io import BufferedIOBase, BytesIO from pathlib import Path -from typing import Any, BinaryIO, Dict, Generator, Iterator, List, Optional, Union, cast +from typing import Any, BinaryIO, Optional, Union, cast from ..message import Message from ..typechecking import StringPathLike @@ -339,7 +340,7 @@ def __iter__(self) -> Generator[Message, None, None]: for i in range(len(data)): data_length = int(data["CAN_DataFrame.DataLength"][i]) - kv: Dict[str, Any] = { + kv: dict[str, Any] = { "timestamp": float(data.timestamps[i]) + self._start_timestamp, "arbitration_id": int(data["CAN_DataFrame.ID"][i]) & 0x1FFFFFFF, "data": data["CAN_DataFrame.DataBytes"][i][ @@ -377,7 +378,7 @@ def __iter__(self) -> Generator[Message, None, None]: names = data.samples[0].dtype.names for i in range(len(data)): - kv: Dict[str, Any] = { + kv: dict[str, Any] = { "timestamp": float(data.timestamps[i]) + self._start_timestamp, "is_error_frame": True, } @@ -428,7 +429,7 @@ def __iter__(self) -> Generator[Message, None, None]: names = data.samples[0].dtype.names for i in range(len(data)): - kv: Dict[str, Any] = { + kv: dict[str, Any] = { "timestamp": float(data.timestamps[i]) + self._start_timestamp, "arbitration_id": int(data["CAN_RemoteFrame.ID"][i]) & 0x1FFFFFFF, @@ -474,7 +475,7 @@ def __init__( def __iter__(self) -> Iterator[Message]: # To handle messages split over multiple channel groups, create a single iterator per # channel group and merge these iterators into a single iterator using heapq. - iterators: List[FrameIterator] = [] + iterators: list[FrameIterator] = [] for group_index, group in enumerate(self._mdf.groups): channel_group: ChannelGroup = group.channel_group diff --git a/can/io/player.py b/can/io/player.py index 214112164..2451eab41 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -7,14 +7,10 @@ import gzip import pathlib import time +from collections.abc import Generator, Iterable from typing import ( Any, - Dict, Final, - Generator, - Iterable, - Tuple, - Type, Union, ) @@ -32,7 +28,7 @@ #: A map of file suffixes to their corresponding #: :class:`can.io.generic.MessageReader` class -MESSAGE_READERS: Final[Dict[str, Type[MessageReader]]] = { +MESSAGE_READERS: Final[dict[str, type[MessageReader]]] = { ".asc": ASCReader, ".blf": BLFReader, ".csv": CSVReader, @@ -54,7 +50,7 @@ def _update_reader_plugins() -> None: MESSAGE_READERS[entry_point.key] = reader_class -def _get_logger_for_suffix(suffix: str) -> Type[MessageReader]: +def _get_logger_for_suffix(suffix: str) -> type[MessageReader]: """Find MessageReader class for given suffix.""" try: return MESSAGE_READERS[suffix] @@ -64,7 +60,7 @@ def _get_logger_for_suffix(suffix: str) -> Type[MessageReader]: def _decompress( filename: StringPathLike, -) -> Tuple[Type[MessageReader], Union[str, FileLike]]: +) -> tuple[type[MessageReader], Union[str, FileLike]]: """ Return the suffix and io object of the decompressed file. """ diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 43fd761e9..686e2d038 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -8,7 +8,8 @@ import sqlite3 import threading import time -from typing import Any, Generator +from collections.abc import Generator +from typing import Any from can.listener import BufferedReader from can.message import Message diff --git a/can/io/trc.py b/can/io/trc.py index 2dbe3763c..a07a53a4d 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -9,9 +9,10 @@ import logging import os +from collections.abc import Generator from datetime import datetime, timedelta, timezone from enum import Enum -from typing import Any, Callable, Dict, Generator, Optional, TextIO, Tuple, Union +from typing import Any, Callable, Optional, TextIO, Union from ..message import Message from ..typechecking import StringPathLike @@ -56,13 +57,13 @@ def __init__( super().__init__(file, mode="r") self.file_version = TRCFileVersion.UNKNOWN self._start_time: float = 0 - self.columns: Dict[str, int] = {} + self.columns: dict[str, int] = {} self._num_columns = -1 if not self.file: raise ValueError("The given file cannot be None") - self._parse_cols: Callable[[Tuple[str, ...]], Optional[Message]] = ( + self._parse_cols: Callable[[tuple[str, ...]], Optional[Message]] = ( lambda x: None ) @@ -140,7 +141,7 @@ def _extract_header(self): return line - def _parse_msg_v1_0(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Optional[Message]: arbit_id = cols[2] if arbit_id == "FFFFFFFF": logger.info("TRCReader: Dropping bus info line") @@ -155,7 +156,7 @@ def _parse_msg_v1_0(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg - def _parse_msg_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: arbit_id = cols[3] msg = Message() @@ -168,7 +169,7 @@ def _parse_msg_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: arbit_id = cols[4] msg = Message() @@ -181,7 +182,7 @@ def _parse_msg_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.is_rx = cols[3] == "Rx" return msg - def _parse_msg_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: type_ = cols[self.columns["T"]] bus = self.columns.get("B", None) @@ -208,7 +209,7 @@ def _parse_msg_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: return msg - def _parse_cols_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: dtype = cols[2] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_1(cols) @@ -216,7 +217,7 @@ def _parse_cols_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: dtype = cols[3] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_3(cols) @@ -224,7 +225,7 @@ def _parse_cols_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: dtype = cols[self.columns["T"]] if dtype in {"DT", "FD", "FB", "FE", "BI"}: return self._parse_msg_v2_x(cols) diff --git a/can/listener.py b/can/listener.py index 1f19c3acd..1e95fa990 100644 --- a/can/listener.py +++ b/can/listener.py @@ -6,8 +6,9 @@ import sys import warnings from abc import ABCMeta, abstractmethod +from collections.abc import AsyncIterator from queue import Empty, SimpleQueue -from typing import Any, AsyncIterator, Optional +from typing import Any, Optional from can.bus import BusABC from can.message import Message diff --git a/can/logger.py b/can/logger.py index 4167558d8..9c1134257 100644 --- a/can/logger.py +++ b/can/logger.py @@ -2,15 +2,12 @@ import errno import re import sys +from collections.abc import Sequence from datetime import datetime from typing import ( TYPE_CHECKING, Any, - Dict, - List, Optional, - Sequence, - Tuple, Union, ) @@ -111,7 +108,7 @@ def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC: logging_level_names = ["critical", "error", "warning", "info", "debug", "subdebug"] can.set_logging_level(logging_level_names[min(5, parsed_args.verbosity)]) - config: Dict[str, Any] = {"single_handle": True, **kwargs} + config: dict[str, Any] = {"single_handle": True, **kwargs} if parsed_args.interface: config["interface"] = parsed_args.interface if parsed_args.bitrate: @@ -140,7 +137,7 @@ def __call__( raise argparse.ArgumentError(None, "Invalid filter argument") print(f"Adding filter(s): {values}") - can_filters: List[CanFilter] = [] + can_filters: list[CanFilter] = [] for filt in values: if ":" in filt: @@ -169,7 +166,7 @@ def __call__( if not isinstance(values, list): raise argparse.ArgumentError(None, "Invalid --timing argument") - timing_dict: Dict[str, int] = {} + timing_dict: dict[str, int] = {} for arg in values: try: key, value_string = arg.split("=") @@ -193,19 +190,19 @@ def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): raise ValueError(f"Parsing argument {arg} failed") - def _split_arg(_arg: str) -> Tuple[str, str]: + def _split_arg(_arg: str) -> tuple[str, str]: left, right = _arg.split("=", 1) return left.lstrip("-").replace("-", "_"), right - args: Dict[str, Union[str, int, float, bool]] = {} + args: dict[str, Union[str, int, float, bool]] = {} for key, string_val in map(_split_arg, unknown_args): args[key] = cast_from_string(string_val) return args def _parse_logger_args( - args: List[str], -) -> Tuple[argparse.Namespace, TAdditionalCliArgs]: + args: list[str], +) -> tuple[argparse.Namespace, TAdditionalCliArgs]: """Parse command line arguments for logger script.""" parser = argparse.ArgumentParser( diff --git a/can/notifier.py b/can/notifier.py index 088f0802e..237c874da 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -7,7 +7,8 @@ import logging import threading import time -from typing import Any, Awaitable, Callable, Iterable, List, Optional, Union +from collections.abc import Awaitable, Iterable +from typing import Any, Callable, Optional, Union from can.bus import BusABC from can.listener import Listener @@ -21,7 +22,7 @@ class Notifier: def __init__( self, - bus: Union[BusABC, List[BusABC]], + bus: Union[BusABC, list[BusABC]], listeners: Iterable[MessageRecipient], timeout: float = 1.0, loop: Optional[asyncio.AbstractEventLoop] = None, @@ -43,7 +44,7 @@ def __init__( :param timeout: An optional maximum number of seconds to wait for any :class:`~can.Message`. :param loop: An :mod:`asyncio` event loop to schedule the ``listeners`` in. """ - self.listeners: List[MessageRecipient] = list(listeners) + self.listeners: list[MessageRecipient] = list(listeners) self.bus = bus self.timeout = timeout self._loop = loop @@ -54,7 +55,7 @@ def __init__( self._running = True self._lock = threading.Lock() - self._readers: List[Union[int, threading.Thread]] = [] + self._readers: list[Union[int, threading.Thread]] = [] buses = self.bus if isinstance(self.bus, list) else [self.bus] for each_bus in buses: self.add_bus(each_bus) diff --git a/can/player.py b/can/player.py index 9deb0c51f..38b76a331 100644 --- a/can/player.py +++ b/can/player.py @@ -16,7 +16,7 @@ from .logger import _create_base_argument_parser, _create_bus, _parse_additional_config if TYPE_CHECKING: - from typing import Iterable + from collections.abc import Iterable from can import Message diff --git a/can/typechecking.py b/can/typechecking.py index d993d6bd3..36343ddaa 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -50,13 +50,13 @@ class CanFilterExtended(TypedDict): StringPathLike = typing.Union[str, "os.PathLike[str]"] AcceptedIOType = typing.Union[FileLike, StringPathLike] -BusConfig = typing.NewType("BusConfig", typing.Dict[str, typing.Any]) +BusConfig = typing.NewType("BusConfig", dict[str, typing.Any]) # Used by CLI scripts -TAdditionalCliArgs: TypeAlias = typing.Dict[str, typing.Union[str, int, float, bool]] -TDataStructs: TypeAlias = typing.Dict[ - typing.Union[int, typing.Tuple[int, ...]], - typing.Union[struct.Struct, typing.Tuple, None], +TAdditionalCliArgs: TypeAlias = dict[str, typing.Union[str, int, float, bool]] +TDataStructs: TypeAlias = dict[ + typing.Union[int, tuple[int, ...]], + typing.Union[struct.Struct, tuple, None], ] diff --git a/can/util.py b/can/util.py index bb835b846..2f32dda8e 100644 --- a/can/util.py +++ b/can/util.py @@ -12,15 +12,13 @@ import platform import re import warnings +from collections.abc import Iterable from configparser import ConfigParser from time import get_clock_info, perf_counter, time from typing import ( Any, Callable, - Dict, - Iterable, Optional, - Tuple, TypeVar, Union, cast, @@ -53,7 +51,7 @@ def load_file_config( path: Optional[typechecking.AcceptedIOType] = None, section: str = "default" -) -> Dict[str, str]: +) -> dict[str, str]: """ Loads configuration from file with following content:: @@ -77,7 +75,7 @@ def load_file_config( else: config.read(path) - _config: Dict[str, str] = {} + _config: dict[str, str] = {} if config.has_section(section): _config.update(config.items(section)) @@ -85,7 +83,7 @@ def load_file_config( return _config -def load_environment_config(context: Optional[str] = None) -> Dict[str, str]: +def load_environment_config(context: Optional[str] = None) -> dict[str, str]: """ Loads config dict from environmental variables (if set): @@ -111,7 +109,7 @@ def load_environment_config(context: Optional[str] = None) -> Dict[str, str]: context_suffix = f"_{context}" if context else "" can_config_key = f"CAN_CONFIG{context_suffix}" - config: Dict[str, str] = json.loads(os.environ.get(can_config_key, "{}")) + config: dict[str, str] = json.loads(os.environ.get(can_config_key, "{}")) for key, val in mapper.items(): config_option = os.environ.get(val + context_suffix, None) @@ -123,7 +121,7 @@ def load_environment_config(context: Optional[str] = None) -> Dict[str, str]: def load_config( path: Optional[typechecking.AcceptedIOType] = None, - config: Optional[Dict[str, Any]] = None, + config: Optional[dict[str, Any]] = None, context: Optional[str] = None, ) -> typechecking.BusConfig: """ @@ -178,7 +176,7 @@ def load_config( # Use the given dict for default values config_sources = cast( - "Iterable[Union[Dict[str, Any], Callable[[Any], Dict[str, Any]]]]", + "Iterable[Union[dict[str, Any], Callable[[Any], dict[str, Any]]]]", [ given_config, can.rc, @@ -212,7 +210,7 @@ def load_config( return bus_config -def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: +def _create_bus_config(config: dict[str, Any]) -> typechecking.BusConfig: """Validates some config values, performs compatibility mappings and creates specific structures (e.g. for bit timings). @@ -254,7 +252,7 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: return cast("typechecking.BusConfig", config) -def _dict2timing(data: Dict[str, Any]) -> Union[BitTiming, BitTimingFd, None]: +def _dict2timing(data: dict[str, Any]) -> Union[BitTiming, BitTimingFd, None]: """Try to instantiate a :class:`~can.BitTiming` or :class:`~can.BitTimingFd` from a dictionary. Return `None` if not possible.""" @@ -396,8 +394,8 @@ def _rename_kwargs( func_name: str, start: str, end: Optional[str], - kwargs: Dict[str, Any], - aliases: Dict[str, Optional[str]], + kwargs: dict[str, Any], + aliases: dict[str, Optional[str]], ) -> None: """Helper function for `deprecated_args_alias`""" for alias, new in aliases.items(): @@ -468,7 +466,7 @@ def check_or_adjust_timing_clock(timing: T2, valid_clocks: Iterable[int]) -> T2: ) from None -def time_perfcounter_correlation() -> Tuple[float, float]: +def time_perfcounter_correlation() -> tuple[float, float]: """Get the `perf_counter` value nearest to when time.time() is updated Computed if the default timer used by `time.time` on this platform has a resolution diff --git a/can/viewer.py b/can/viewer.py index 57b3d6f7d..3eed727ab 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -27,7 +27,6 @@ import struct import sys import time -from typing import Dict, List, Tuple from can import __version__ from can.logger import ( @@ -161,7 +160,7 @@ def run(self): # Unpack the data and then convert it into SI-units @staticmethod - def unpack_data(cmd: int, cmd_to_struct: Dict, data: bytes) -> List[float]: + def unpack_data(cmd: int, cmd_to_struct: dict, data: bytes) -> list[float]: if not cmd_to_struct or not data: # These messages do not contain a data package return [] @@ -390,8 +389,8 @@ def _fill_text(self, text, width, indent): def _parse_viewer_args( - args: List[str], -) -> Tuple[argparse.Namespace, TDataStructs, TAdditionalCliArgs]: + args: list[str], +) -> tuple[argparse.Namespace, TDataStructs, TAdditionalCliArgs]: # Parse command line arguments parser = argparse.ArgumentParser( "python -m can.viewer", @@ -524,7 +523,7 @@ def _parse_viewer_args( key, fmt = int(tmp[0], base=16), tmp[1] # The scaling - scaling: List[float] = [] + scaling: list[float] = [] for t in tmp[2:]: # First try to convert to int, if that fails, then convert to a float try: diff --git a/pyproject.toml b/pyproject.toml index c65275559..2e8be3e2a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -13,7 +13,7 @@ dependencies = [ "typing_extensions>=3.10.0.0", "msgpack~=1.1.0", ] -requires-python = ">=3.8" +requires-python = ">=3.9" license = { text = "LGPL v3" } classifiers = [ "Development Status :: 5 - Production/Stable", @@ -29,7 +29,6 @@ classifiers = [ "Operating System :: Microsoft :: Windows", "Operating System :: POSIX :: Linux", "Programming Language :: Python", - "Programming Language :: Python :: 3.8", "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", @@ -61,9 +60,9 @@ changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] lint = [ "pylint==3.2.*", - "ruff==0.10.0", + "ruff==0.11.12", "black==25.1.*", - "mypy==1.15.*", + "mypy==1.16.*", ] pywin32 = ["pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'"] seeedstudio = ["pyserial>=3.0"] diff --git a/test/contextmanager_test.py b/test/contextmanager_test.py index 3adb1e7c6..fe87f33b0 100644 --- a/test/contextmanager_test.py +++ b/test/contextmanager_test.py @@ -17,9 +17,10 @@ def setUp(self): ) def test_open_buses(self): - with can.Bus(interface="virtual") as bus_send, can.Bus( - interface="virtual" - ) as bus_recv: + with ( + can.Bus(interface="virtual") as bus_send, + can.Bus(interface="virtual") as bus_recv, + ): bus_send.send(self.msg_send) msg_recv = bus_recv.recv() @@ -27,9 +28,10 @@ def test_open_buses(self): self.assertTrue(msg_recv) def test_use_closed_bus(self): - with can.Bus(interface="virtual") as bus_send, can.Bus( - interface="virtual" - ) as bus_recv: + with ( + can.Bus(interface="virtual") as bus_send, + can.Bus(interface="virtual") as bus_recv, + ): bus_send.send(self.msg_send) # Receiving a frame after bus has been closed should raise a CanException From 6058ab9dfe8b3ba5d23cbff670c0fe767147390a Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 30 May 2025 15:14:24 +0200 Subject: [PATCH 407/475] Use dependency groups for docs/lint/test (#1945) * use dependency groups for docs/lint/test --------- Co-authored-by: zariiii9003 --- .github/workflows/ci.yml | 7 ++++-- .readthedocs.yml | 8 ++++-- can/interfaces/udp_multicast/bus.py | 4 +-- can/interfaces/udp_multicast/utils.py | 22 +++++++++++++---- can/listener.py | 2 +- doc/development.rst | 2 +- doc/doc-requirements.txt | 5 ---- doc/interfaces/udp_multicast.rst | 9 +++++++ pyproject.toml | 35 +++++++++++++++++++++------ test/back2back_test.py | 12 ++++++--- test/listener_test.py | 7 +++++- tox.ini | 27 +++++++++------------ 12 files changed, 94 insertions(+), 46 deletions(-) delete mode 100644 doc/doc-requirements.txt diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ab14b6b6a..f04654f0d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -79,7 +79,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -e .[lint] + pip install --group lint -e . - name: mypy 3.9 run: | mypy --python-version 3.9 . @@ -92,6 +92,9 @@ jobs: - name: mypy 3.12 run: | mypy --python-version 3.12 . + - name: mypy 3.13 + run: | + mypy --python-version 3.13 . - name: ruff run: | ruff check can @@ -115,7 +118,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install -e .[lint] + pip install --group lint - name: Code Format Check with Black run: | black --check --verbose . diff --git a/.readthedocs.yml b/.readthedocs.yml index dad8c28db..6fe4009e4 100644 --- a/.readthedocs.yml +++ b/.readthedocs.yml @@ -10,6 +10,9 @@ build: os: ubuntu-22.04 tools: python: "3.12" + jobs: + post_install: + - pip install --group docs # Build documentation in the docs/ directory with Sphinx sphinx: @@ -23,10 +26,11 @@ formats: # Optionally declare the Python requirements required to build your docs python: install: - - requirements: doc/doc-requirements.txt - method: pip path: . extra_requirements: - canalystii - - gs_usb + - gs-usb - mf4 + - remote + - serial diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 31744c2b8..ec94e22b5 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -11,7 +11,7 @@ from can import BusABC, CanProtocol from can.typechecking import AutoDetectedConfig -from .utils import check_msgpack_installed, pack_message, unpack_message +from .utils import is_msgpack_installed, pack_message, unpack_message ioctl_supported = True @@ -104,7 +104,7 @@ def __init__( fd: bool = True, **kwargs, ) -> None: - check_msgpack_installed() + is_msgpack_installed() if receive_own_messages: raise can.CanInterfaceNotImplementedError( diff --git a/can/interfaces/udp_multicast/utils.py b/can/interfaces/udp_multicast/utils.py index 5c9454ed4..c6b2630a5 100644 --- a/can/interfaces/udp_multicast/utils.py +++ b/can/interfaces/udp_multicast/utils.py @@ -13,10 +13,22 @@ msgpack = None -def check_msgpack_installed() -> None: - """Raises a :class:`can.CanInterfaceNotImplementedError` if `msgpack` is not installed.""" +def is_msgpack_installed(raise_exception: bool = True) -> bool: + """Check whether the ``msgpack`` module is installed. + + :param raise_exception: + If True, raise a :class:`can.CanInterfaceNotImplementedError` when ``msgpack`` is not installed. + If False, return False instead. + :return: + True if ``msgpack`` is installed, False otherwise. + :raises can.CanInterfaceNotImplementedError: + If ``msgpack`` is not installed and ``raise_exception`` is True. + """ if msgpack is None: - raise CanInterfaceNotImplementedError("msgpack not installed") + if raise_exception: + raise CanInterfaceNotImplementedError("msgpack not installed") + return False + return True def pack_message(message: Message) -> bytes: @@ -25,7 +37,7 @@ def pack_message(message: Message) -> bytes: :param message: the message to be packed """ - check_msgpack_installed() + is_msgpack_installed() as_dict = { "timestamp": message.timestamp, "arbitration_id": message.arbitration_id, @@ -58,7 +70,7 @@ def unpack_message( :raise ValueError: if `check` is true and the message metadata is invalid in some way :raise Exception: if there was another problem while unpacking """ - check_msgpack_installed() + is_msgpack_installed() as_dict = msgpack.unpackb(data, raw=False) if replace is not None: as_dict.update(replace) diff --git a/can/listener.py b/can/listener.py index 1e95fa990..b450cf36d 100644 --- a/can/listener.py +++ b/can/listener.py @@ -136,6 +136,7 @@ class AsyncBufferedReader( """ def __init__(self, **kwargs: Any) -> None: + self._is_stopped: bool = False self.buffer: asyncio.Queue[Message] if "loop" in kwargs: @@ -150,7 +151,6 @@ def __init__(self, **kwargs: Any) -> None: return self.buffer = asyncio.Queue() - self._is_stopped: bool = False def on_message_received(self, msg: Message) -> None: """Append a message to the buffer. diff --git a/doc/development.rst b/doc/development.rst index 31a7ae077..074c1318d 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -52,7 +52,7 @@ The documentation can be built with:: The linters can be run with:: - pip install -e .[lint] + pip install --group lint -e . black --check can mypy can ruff check can diff --git a/doc/doc-requirements.txt b/doc/doc-requirements.txt deleted file mode 100644 index 9a01cf589..000000000 --- a/doc/doc-requirements.txt +++ /dev/null @@ -1,5 +0,0 @@ -sphinx>=5.2.3 -sphinxcontrib-programoutput -sphinx-inline-tabs -sphinx-copybutton -furo diff --git a/doc/interfaces/udp_multicast.rst b/doc/interfaces/udp_multicast.rst index e41925cb3..b2a049d83 100644 --- a/doc/interfaces/udp_multicast.rst +++ b/doc/interfaces/udp_multicast.rst @@ -22,6 +22,15 @@ sufficiently reliable for this interface to function properly. Please refer to the `Bus class documentation`_ below for configuration options and useful resources for specifying multicast IP addresses. +Installation +------------------- + +The Multicast IP Interface depends on the **msgpack** python library, +which is automatically installed with the `multicast` extra keyword:: + + $ pip install python-can[multicast] + + Supported Platforms ------------------- diff --git a/pyproject.toml b/pyproject.toml index 2e8be3e2a..37abec266 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,7 +11,6 @@ dependencies = [ "wrapt~=1.10", "packaging >= 23.1", "typing_extensions>=3.10.0.0", - "msgpack~=1.1.0", ] requires-python = ">=3.9" license = { text = "LGPL v3" } @@ -58,12 +57,6 @@ repository = "https://github.com/hardbyte/python-can" changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] -lint = [ - "pylint==3.2.*", - "ruff==0.11.12", - "black==25.1.*", - "mypy==1.16.*", -] pywin32 = ["pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'"] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] @@ -71,7 +64,7 @@ neovi = ["filelock", "python-ics>=2.12"] canalystii = ["canalystii>=0.1.0"] cantact = ["cantact>=0.0.7"] cvector = ["python-can-cvector"] -gs_usb = ["gs_usb>=0.2.1"] +gs-usb = ["gs-usb>=0.2.1"] nixnet = ["nixnet>=0.3.2"] pcan = ["uptime~=3.0.1"] remote = ["python-can-remote"] @@ -82,6 +75,32 @@ viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] mf4 = ["asammdf>=6.0.0"] +multicast = ["msgpack~=1.1.0"] + +[dependency-groups] +docs = [ + "sphinx>=5.2.3", + "sphinxcontrib-programoutput", + "sphinx-inline-tabs", + "sphinx-copybutton", + "furo", +] +lint = [ + "pylint==3.2.*", + "ruff==0.11.12", + "black==25.1.*", + "mypy==1.16.*", +] +test = [ + "pytest==8.3.*", + "pytest-timeout==2.1.*", + "coveralls==3.3.1", + "pytest-cov==4.0.0", + "coverage==6.5.0", + "hypothesis~=6.35.0", + "pyserial~=3.5", + "parameterized~=0.8", +] [tool.setuptools.dynamic] readme = { file = "README.rst" } diff --git a/test/back2back_test.py b/test/back2back_test.py index fc630fb65..a46597ef4 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -14,14 +14,12 @@ import can from can import CanInterfaceNotImplementedError from can.interfaces.udp_multicast import UdpMulticastBus +from can.interfaces.udp_multicast.utils import is_msgpack_installed from .config import ( IS_CI, IS_OSX, IS_PYPY, - IS_TRAVIS, - IS_UNIX, - IS_WINDOWS, TEST_CAN_FD, TEST_INTERFACE_SOCKETCAN, ) @@ -307,6 +305,10 @@ class BasicTestSocketCan(Back2BackTestCase): IS_CI and IS_OSX, "not supported for macOS CI", ) +@unittest.skipUnless( + is_msgpack_installed(raise_exception=False), + "msgpack not installed", +) class BasicTestUdpMulticastBusIPv4(Back2BackTestCase): INTERFACE_1 = "udp_multicast" CHANNEL_1 = UdpMulticastBus.DEFAULT_GROUP_IPv4 @@ -324,6 +326,10 @@ def test_unique_message_instances(self): IS_CI and IS_OSX, "not supported for macOS CI", ) +@unittest.skipUnless( + is_msgpack_installed(raise_exception=False), + "msgpack not installed", +) class BasicTestUdpMulticastBusIPv6(Back2BackTestCase): HOST_LOCAL_MCAST_GROUP_IPv6 = "ff11:7079:7468:6f6e:6465:6d6f:6d63:6173" diff --git a/test/listener_test.py b/test/listener_test.py index 54496176b..bbcbed56e 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -159,8 +159,13 @@ def testBufferedListenerReceives(self): def test_deprecated_loop_arg(recwarn): + try: + loop = asyncio.get_running_loop() + except RuntimeError: + loop = asyncio.new_event_loop() + warnings.simplefilter("always") - can.AsyncBufferedReader(loop=asyncio.get_event_loop()) + can.AsyncBufferedReader(loop=loop) assert len(recwarn) > 0 assert recwarn.pop(DeprecationWarning) recwarn.clear() diff --git a/tox.ini b/tox.ini index e112c22b4..c69f541f4 100644 --- a/tox.ini +++ b/tox.ini @@ -1,21 +1,15 @@ [tox] +min_version = 4.22 [testenv] +dependency_groups = + test deps = - pytest==8.3.* - pytest-timeout==2.1.* - coveralls==3.3.1 - pytest-cov==4.0.0 - coverage==6.5.0 - hypothesis~=6.35.0 - pyserial~=3.5 - parameterized~=0.8 - asammdf>=6.0; platform_python_implementation=="CPython" and python_version<"3.13" + asammdf>=6.0; platform_python_implementation=="CPython" and python_version<"3.14" + msgpack~=1.1.0; python_version<"3.14" pywin32>=305; platform_system=="Windows" and platform_python_implementation=="CPython" and python_version<"3.14" - commands = pytest {posargs} - extras = canalystii @@ -30,13 +24,14 @@ passenv = [testenv:docs] description = Build and test the documentation basepython = py312 -deps = - -r doc/doc-requirements.txt - gs-usb - +dependency_groups = + docs extras = canalystii - + gs-usb + mf4 + remote + serial commands = python -m sphinx -b html -Wan --keep-going doc build python -m sphinx -b doctest -W --keep-going doc build From c46492b55a9613ef3e6df77b6f59a38e85416d5b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 30 May 2025 16:53:21 +0200 Subject: [PATCH 408/475] rename zlgcan-driver-py to zlgcan (#1946) Co-authored-by: zariiii9003 --- doc/plugin-interface.rst | 4 ++-- pyproject.toml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index bfdedf3c6..8e60c50c2 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -73,7 +73,7 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+-------------------------------------------------------+ | `python-can-sontheim`_ | CAN Driver for Sontheim CAN interfaces (e.g. CANfox) | +----------------------------+-------------------------------------------------------+ -| `zlgcan-driver-py`_ | Python wrapper for zlgcan-driver-rs | +| `zlgcan`_ | Python wrapper for zlgcan-driver-rs | +----------------------------+-------------------------------------------------------+ | `python-can-cando`_ | Python wrapper for Netronics' CANdo and CANdoISO | +----------------------------+-------------------------------------------------------+ @@ -82,6 +82,6 @@ The table below lists interface drivers that can be added by installing addition .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector .. _python-can-remote: https://github.com/christiansandberg/python-can-remote .. _python-can-sontheim: https://github.com/MattWoodhead/python-can-sontheim -.. _zlgcan-driver-py: https://github.com/zhuyu4839/zlgcan-driver +.. _zlgcan: https://github.com/jesses2025smith/zlgcan-driver .. _python-can-cando: https://github.com/belliriccardo/python-can-cando diff --git a/pyproject.toml b/pyproject.toml index 37abec266..6ad9ee7b2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -70,7 +70,7 @@ pcan = ["uptime~=3.0.1"] remote = ["python-can-remote"] sontheim = ["python-can-sontheim>=0.1.2"] canine = ["python-can-canine>=0.2.2"] -zlgcan = ["zlgcan-driver-py"] +zlgcan = ["zlgcan"] viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] From b075a68824b0063d6d1747af187a88e3a4fea768 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 30 May 2025 19:17:07 +0200 Subject: [PATCH 409/475] use ThreadPoolExecutor in detect_available_configs(), add timeout param (#1947) Co-authored-by: zariiii9003 --- can/interface.py | 95 +++++++++++++++-------- can/interfaces/usb2can/serial_selector.py | 2 + doc/conf.py | 2 +- doc/interfaces/gs_usb.rst | 2 +- pyproject.toml | 3 +- 5 files changed, 67 insertions(+), 37 deletions(-) diff --git a/can/interface.py b/can/interface.py index e017b9514..eee58ff41 100644 --- a/can/interface.py +++ b/can/interface.py @@ -4,9 +4,10 @@ CyclicSendTasks. """ +import concurrent.futures.thread import importlib import logging -from collections.abc import Iterable +from collections.abc import Callable, Iterable from typing import Any, Optional, Union, cast from . import util @@ -140,6 +141,7 @@ def Bus( # noqa: N802 def detect_available_configs( interfaces: Union[None, str, Iterable[str]] = None, + timeout: float = 5.0, ) -> list[AutoDetectedConfig]: """Detect all configurations/channels that the interfaces could currently connect with. @@ -148,59 +150,84 @@ def detect_available_configs( Automated configuration detection may not be implemented by every interface on every platform. This method will not raise - an error in that case, but with rather return an empty list + an error in that case, but will rather return an empty list for that interface. :param interfaces: either - the name of an interface to be searched in as a string, - an iterable of interface names to search in, or - `None` to search in all known interfaces. + :param timeout: maximum number of seconds to wait for all interface + detection tasks to complete. If exceeded, any pending tasks + will be cancelled, a warning will be logged, and the method + will return results gathered so far. :rtype: list[dict] :return: an iterable of dicts, each suitable for usage in - the constructor of :class:`can.BusABC`. + the constructor of :class:`can.BusABC`. Interfaces that + timed out will be logged as warnings and excluded. """ - # Figure out where to search + # Determine which interfaces to search if interfaces is None: interfaces = BACKENDS elif isinstance(interfaces, str): interfaces = (interfaces,) - # else it is supposed to be an iterable of strings + # otherwise assume iterable of strings - result = [] - for interface in interfaces: + # Collect detection callbacks + callbacks: dict[str, Callable[[], list[AutoDetectedConfig]]] = {} + for interface_keyword in interfaces: try: - bus_class = _get_class_for_interface(interface) + bus_class = _get_class_for_interface(interface_keyword) + callbacks[interface_keyword] = ( + bus_class._detect_available_configs # pylint: disable=protected-access + ) except CanInterfaceNotImplementedError: log_autodetect.debug( 'interface "%s" cannot be loaded for detection of available configurations', - interface, + interface_keyword, ) - continue - # get available channels - try: - available = list( - bus_class._detect_available_configs() # pylint: disable=protected-access - ) - except NotImplementedError: - log_autodetect.debug( - 'interface "%s" does not support detection of available configurations', - interface, - ) - else: - log_autodetect.debug( - 'interface "%s" detected %i available configurations', - interface, - len(available), - ) - - # add the interface name to the configs if it is not already present - for config in available: - if "interface" not in config: - config["interface"] = interface - - # append to result - result += available + result: list[AutoDetectedConfig] = [] + # Use manual executor to allow shutdown without waiting + executor = concurrent.futures.ThreadPoolExecutor() + try: + futures_to_keyword = { + executor.submit(func): kw for kw, func in callbacks.items() + } + done, not_done = concurrent.futures.wait( + futures_to_keyword, + timeout=timeout, + return_when=concurrent.futures.ALL_COMPLETED, + ) + # Log timed-out tasks + if not_done: + log_autodetect.warning( + "Timeout (%.2fs) reached for interfaces: %s", + timeout, + ", ".join(sorted(futures_to_keyword[fut] for fut in not_done)), + ) + # Process completed futures + for future in done: + keyword = futures_to_keyword[future] + try: + available = future.result() + except NotImplementedError: + log_autodetect.debug( + 'interface "%s" does not support detection of available configurations', + keyword, + ) + else: + log_autodetect.debug( + 'interface "%s" detected %i available configurations', + keyword, + len(available), + ) + for config in available: + config.setdefault("interface", keyword) + result.extend(available) + finally: + # shutdown immediately, do not wait for pending threads + executor.shutdown(wait=False, cancel_futures=True) return result diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index 9f3b7185e..18ad3f873 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -5,6 +5,7 @@ log = logging.getLogger("can.usb2can") try: + import pythoncom import win32com.client except ImportError: log.warning( @@ -50,6 +51,7 @@ def find_serial_devices(serial_matcher: str = "") -> list[str]: only device IDs starting with this string are returned """ serial_numbers = [] + pythoncom.CoInitialize() wmi = win32com.client.GetObject("winmgmts:") for usb_controller in wmi.InstancesOf("Win32_USBControllerDevice"): usb_device = wmi.Get(usb_controller.Dependent) diff --git a/doc/conf.py b/doc/conf.py index 34ce385cb..f4a9ab95f 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -136,7 +136,7 @@ ] # mock windows specific attributes -autodoc_mock_imports = ["win32com"] +autodoc_mock_imports = ["win32com", "pythoncom"] ctypes.windll = MagicMock() ctypesutil.HRESULT = ctypes.c_long diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index e9c0131c5..8bab07c6f 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -6,7 +6,7 @@ Geschwister Schneider and candleLight Windows/Linux/Mac CAN driver based on usbfs or WinUSB WCID for Geschwister Schneider USB/CAN devices and candleLight USB CAN interfaces. -Install: ``pip install "python-can[gs_usb]"`` +Install: ``pip install "python-can[gs-usb]"`` Usage: pass device ``index`` or ``channel`` (starting from 0) if using automatic device detection: diff --git a/pyproject.toml b/pyproject.toml index 6ad9ee7b2..a9f3fcbb1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -86,7 +86,7 @@ docs = [ "furo", ] lint = [ - "pylint==3.2.*", + "pylint==3.3.*", "ruff==0.11.12", "black==25.1.*", "mypy==1.16.*", @@ -205,6 +205,7 @@ disable = [ "too-many-branches", "too-many-instance-attributes", "too-many-locals", + "too-many-positional-arguments", "too-many-public-methods", "too-many-statements", ] From 9fe17e4ce9eb05b63aa4e0ada0a8002d7ceb1de0 Mon Sep 17 00:00:00 2001 From: Nathan Pennie Date: Sat, 31 May 2025 17:48:26 +0000 Subject: [PATCH 410/475] Support 11-bit identifiers in the serial interface (#1758) --- can/interfaces/serial/serial_can.py | 14 +++++++++++--- doc/interfaces/serial.rst | 22 +++++++++++++++++++++- test/serial_test.py | 22 ++++++++++++++++++++-- 3 files changed, 52 insertions(+), 6 deletions(-) diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index 9fe715267..e87a32063 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -135,7 +135,8 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: # Pack arbitration ID try: - arbitration_id = struct.pack("= 0x20000000: + is_extended_id = False if arbitration_id & 0x20000000 else True + arbitration_id -= 0 if is_extended_id else 0x20000000 + if is_extended_id and arbitration_id >= 0x20000000: raise ValueError( - "received arbitration id may not exceed 2^29 (0x20000000)" + "received arbitration id may not exceed or equal 2^29 (0x20000000) if extended" + ) + if not is_extended_id and arbitration_id >= 0x800: + raise ValueError( + "received arbitration id may not exceed or equal 2^11 (0x800) if not extended" ) data = self._ser.read(dlc) @@ -204,6 +211,7 @@ def _recv_internal( arbitration_id=arbitration_id, dlc=dlc, data=data, + is_extended_id=is_extended_id, ) return msg, False diff --git a/doc/interfaces/serial.rst b/doc/interfaces/serial.rst index 99ee54df6..316fc143b 100644 --- a/doc/interfaces/serial.rst +++ b/doc/interfaces/serial.rst @@ -30,7 +30,9 @@ six parts. The start and the stop byte for the frame, the timestamp, DLC, arbitration ID and the payload. The payload has a variable length of between 0 and 8 bytes, the other parts are fixed. Both, the timestamp and the arbitration ID will be interpreted as 4 byte unsigned integers. The DLC is -also an unsigned integer with a length of 1 byte. +also an unsigned integer with a length of 1 byte. Non-extended (11-bit) +identifiers are encoded by adding 0x20000000 to the 11-bit ID. For example, an +11-bit CAN ID of 0x123 is encoded with an arbitration ID of 0x20000123. Serial frame format ^^^^^^^^^^^^^^^^^^^ @@ -102,3 +104,21 @@ Examples of serial frames +================+=====================+======+=====================+==============+ | 0xAA | 0x66 0x73 0x00 0x00 | 0x00 | 0x01 0x00 0x00 0x00 | 0xBB | +----------------+---------------------+------+---------------------+--------------+ + +.. rubric:: CAN message with 0 byte payload with an 11-bit CAN ID + ++----------------+---------+ +| CAN message | ++----------------+---------+ +| Arbitration ID | Payload | ++================+=========+ +| 0x20000001 (1) | None | ++----------------+---------+ + ++----------------+---------------------+------+---------------------+--------------+ +| Serial frame | ++----------------+---------------------+------+---------------------+--------------+ +| Start of frame | Timestamp | DLC | Arbitration ID | End of frame | ++================+=====================+======+=====================+==============+ +| 0xAA | 0x66 0x73 0x00 0x00 | 0x00 | 0x01 0x00 0x00 0x20 | 0xBB | ++----------------+---------------------+------+---------------------+--------------+ diff --git a/test/serial_test.py b/test/serial_test.py index 5fa90704b..e183e8408 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -86,7 +86,7 @@ def test_rx_tx_data_none(self): def test_rx_tx_min_id(self): """ - Tests the transfer with the lowest arbitration id + Tests the transfer with the lowest extended arbitration id """ msg = can.Message(arbitration_id=0) self.bus.send(msg) @@ -95,13 +95,31 @@ def test_rx_tx_min_id(self): def test_rx_tx_max_id(self): """ - Tests the transfer with the highest arbitration id + Tests the transfer with the highest extended arbitration id """ msg = can.Message(arbitration_id=536870911) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) + def test_rx_tx_min_nonext_id(self): + """ + Tests the transfer with the lowest non-extended arbitration id + """ + msg = can.Message(arbitration_id=0x000, is_extended_id=False) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + + def test_rx_tx_max_nonext_id(self): + """ + Tests the transfer with the highest non-extended arbitration id + """ + msg = can.Message(arbitration_id=0x7FF, is_extended_id=False) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + def test_rx_tx_max_timestamp(self): """ Tests the transfer with the highest possible timestamp From 2b1f6f6d04fe3585dbd5b093e2fe52637378b624 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 31 May 2025 20:31:24 +0200 Subject: [PATCH 411/475] Add Support for Remote and Error Frames to SerialBus (#1948) --- .github/workflows/ci.yml | 1 + can/interfaces/serial/serial_can.py | 56 +++++++++++++++-------------- doc/interfaces/serial.rst | 12 +++---- test/serial_test.py | 46 +++++++++++++++++------- 4 files changed, 71 insertions(+), 44 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f04654f0d..588d9a96b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -41,6 +41,7 @@ jobs: - name: Setup SocketCAN if: ${{ matrix.os == 'ubuntu-latest' }} run: | + sudo apt-get update sudo apt-get -y install linux-modules-extra-$(uname -r) sudo ./test/open_vcan.sh - name: Test with pytest via tox diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index e87a32063..12ce5aff1 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -42,6 +42,13 @@ def list_comports() -> list[Any]: return [] +CAN_ERR_FLAG = 0x20000000 +CAN_RTR_FLAG = 0x40000000 +CAN_EFF_FLAG = 0x80000000 +CAN_ID_MASK_EXT = 0x1FFFFFFF +CAN_ID_MASK_STD = 0x7FF + + class SerialBus(BusABC): """ Enable basic can communication over a serial device. @@ -116,9 +123,6 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: :param msg: Message to send. - .. note:: Flags like ``extended_id``, ``is_remote_frame`` and - ``is_error_frame`` will be ignored. - .. note:: If the timestamp is a float value it will be converted to an integer. @@ -134,20 +138,25 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: raise ValueError(f"Timestamp is out of range: {msg.timestamp}") from None # Pack arbitration ID - try: - arbitration_id = msg.arbitration_id + (0 if msg.is_extended_id else 0x20000000) - arbitration_id = struct.pack("= 0x20000000: - raise ValueError( - "received arbitration id may not exceed or equal 2^29 (0x20000000) if extended" - ) - if not is_extended_id and arbitration_id >= 0x800: - raise ValueError( - "received arbitration id may not exceed or equal 2^11 (0x800) if not extended" - ) + is_extended_id = bool(arbitration_id & CAN_EFF_FLAG) + is_error_frame = bool(arbitration_id & CAN_ERR_FLAG) + is_remote_frame = bool(arbitration_id & CAN_RTR_FLAG) + + if is_extended_id: + arbitration_id = arbitration_id & CAN_ID_MASK_EXT + else: + arbitration_id = arbitration_id & CAN_ID_MASK_STD data = self._ser.read(dlc) @@ -212,6 +214,8 @@ def _recv_internal( dlc=dlc, data=data, is_extended_id=is_extended_id, + is_error_frame=is_error_frame, + is_remote_frame=is_remote_frame, ) return msg, False diff --git a/doc/interfaces/serial.rst b/doc/interfaces/serial.rst index 316fc143b..566ec7755 100644 --- a/doc/interfaces/serial.rst +++ b/doc/interfaces/serial.rst @@ -30,9 +30,9 @@ six parts. The start and the stop byte for the frame, the timestamp, DLC, arbitration ID and the payload. The payload has a variable length of between 0 and 8 bytes, the other parts are fixed. Both, the timestamp and the arbitration ID will be interpreted as 4 byte unsigned integers. The DLC is -also an unsigned integer with a length of 1 byte. Non-extended (11-bit) -identifiers are encoded by adding 0x20000000 to the 11-bit ID. For example, an -11-bit CAN ID of 0x123 is encoded with an arbitration ID of 0x20000123. +also an unsigned integer with a length of 1 byte. Extended (29-bit) +identifiers are encoded by adding 0x80000000 to the ID. For example, a +29-bit CAN ID of 0x123 is encoded with an arbitration ID of 0x80000123. Serial frame format ^^^^^^^^^^^^^^^^^^^ @@ -105,14 +105,14 @@ Examples of serial frames | 0xAA | 0x66 0x73 0x00 0x00 | 0x00 | 0x01 0x00 0x00 0x00 | 0xBB | +----------------+---------------------+------+---------------------+--------------+ -.. rubric:: CAN message with 0 byte payload with an 11-bit CAN ID +.. rubric:: Extended Frame CAN message with 0 byte payload with an 29-bit CAN ID +----------------+---------+ | CAN message | +----------------+---------+ | Arbitration ID | Payload | +================+=========+ -| 0x20000001 (1) | None | +| 0x80000001 (1) | None | +----------------+---------+ +----------------+---------------------+------+---------------------+--------------+ @@ -120,5 +120,5 @@ Examples of serial frames +----------------+---------------------+------+---------------------+--------------+ | Start of frame | Timestamp | DLC | Arbitration ID | End of frame | +================+=====================+======+=====================+==============+ -| 0xAA | 0x66 0x73 0x00 0x00 | 0x00 | 0x01 0x00 0x00 0x20 | 0xBB | +| 0xAA | 0x66 0x73 0x00 0x00 | 0x00 | 0x01 0x00 0x00 0x80 | 0xBB | +----------------+---------------------+------+---------------------+--------------+ diff --git a/test/serial_test.py b/test/serial_test.py index e183e8408..409485112 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -84,38 +84,38 @@ def test_rx_tx_data_none(self): msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) - def test_rx_tx_min_id(self): + def test_rx_tx_min_std_id(self): """ - Tests the transfer with the lowest extended arbitration id + Tests the transfer with the lowest standard arbitration id """ - msg = can.Message(arbitration_id=0) + msg = can.Message(arbitration_id=0, is_extended_id=False) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) - def test_rx_tx_max_id(self): + def test_rx_tx_max_std_id(self): """ - Tests the transfer with the highest extended arbitration id + Tests the transfer with the highest standard arbitration id """ - msg = can.Message(arbitration_id=536870911) + msg = can.Message(arbitration_id=0x7FF, is_extended_id=False) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) - def test_rx_tx_min_nonext_id(self): + def test_rx_tx_min_ext_id(self): """ - Tests the transfer with the lowest non-extended arbitration id + Tests the transfer with the lowest extended arbitration id """ - msg = can.Message(arbitration_id=0x000, is_extended_id=False) + msg = can.Message(arbitration_id=0x000, is_extended_id=True) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) - def test_rx_tx_max_nonext_id(self): + def test_rx_tx_max_ext_id(self): """ - Tests the transfer with the highest non-extended arbitration id + Tests the transfer with the highest extended arbitration id """ - msg = can.Message(arbitration_id=0x7FF, is_extended_id=False) + msg = can.Message(arbitration_id=0x1FFFFFFF, is_extended_id=True) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) @@ -155,6 +155,28 @@ def test_rx_tx_min_timestamp_error(self): msg = can.Message(timestamp=-1) self.assertRaises(ValueError, self.bus.send, msg) + def test_rx_tx_err_frame(self): + """ + Test the transfer of error frames. + """ + msg = can.Message( + is_extended_id=False, is_error_frame=True, is_remote_frame=False + ) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + + def test_rx_tx_rtr_frame(self): + """ + Test the transfer of remote frames. + """ + msg = can.Message( + is_extended_id=False, is_error_frame=False, is_remote_frame=True + ) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + def test_when_no_fileno(self): """ Tests for the fileno method catching the missing pyserial implementeation on the Windows platform From dcc33a7027ef491893305dce9f60e28e7a2364ad Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 31 May 2025 21:40:43 +0200 Subject: [PATCH 412/475] Keep Track of Active Notifiers, Make Notifier usable as ContextManager (#1890) --- can/notifier.py | 179 ++++++++++++++++++++++++++++++++---- examples/asyncio_demo.py | 44 +++++---- examples/cyclic_checksum.py | 5 +- examples/print_notifier.py | 15 ++- examples/send_multiple.py | 2 +- examples/serial_com.py | 2 +- examples/vcan_filtered.py | 13 +-- pyproject.toml | 1 + test/notifier_test.py | 36 ++++++++ 9 files changed, 234 insertions(+), 63 deletions(-) diff --git a/can/notifier.py b/can/notifier.py index 237c874da..2b9944450 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -8,7 +8,16 @@ import threading import time from collections.abc import Awaitable, Iterable -from typing import Any, Callable, Optional, Union +from contextlib import AbstractContextManager +from types import TracebackType +from typing import ( + Any, + Callable, + Final, + NamedTuple, + Optional, + Union, +) from can.bus import BusABC from can.listener import Listener @@ -19,7 +28,85 @@ MessageRecipient = Union[Listener, Callable[[Message], Union[Awaitable[None], None]]] -class Notifier: +class _BusNotifierPair(NamedTuple): + bus: "BusABC" + notifier: "Notifier" + + +class _NotifierRegistry: + """A registry to manage the association between CAN buses and Notifiers. + + This class ensures that a bus is not added to multiple active Notifiers. + """ + + def __init__(self) -> None: + """Initialize the registry with an empty list of bus-notifier pairs and a threading lock.""" + self.pairs: list[_BusNotifierPair] = [] + self.lock = threading.Lock() + + def register(self, bus: BusABC, notifier: "Notifier") -> None: + """Register a bus and its associated notifier. + + Ensures that a bus is not added to multiple active :class:`~can.Notifier` instances. + + :param bus: + The CAN bus to register. + :param notifier: + The :class:`~can.Notifier` instance associated with the bus. + :raises ValueError: + If the bus is already assigned to an active Notifier. + """ + with self.lock: + for pair in self.pairs: + if bus is pair.bus and not pair.notifier.stopped: + raise ValueError( + "A bus can not be added to multiple active Notifier instances." + ) + self.pairs.append(_BusNotifierPair(bus, notifier)) + + def unregister(self, bus: BusABC, notifier: "Notifier") -> None: + """Unregister a bus and its associated notifier. + + Removes the bus-notifier pair from the registry. + + :param bus: + The CAN bus to unregister. + :param notifier: + The :class:`~can.Notifier` instance associated with the bus. + """ + with self.lock: + registered_pairs_to_remove: list[_BusNotifierPair] = [] + for pair in self.pairs: + if pair.bus is bus and pair.notifier is notifier: + registered_pairs_to_remove.append(pair) + for pair in registered_pairs_to_remove: + self.pairs.remove(pair) + + def find_instances(self, bus: BusABC) -> tuple["Notifier", ...]: + """Find the :class:`~can.Notifier` instances associated with a given CAN bus. + + This method searches the registry for the :class:`~can.Notifier` + that is linked to the specified bus. If the bus is found, the + corresponding :class:`~can.Notifier` instances are returned. If the bus is not + found in the registry, an empty tuple is returned. + + :param bus: + The CAN bus for which to find the associated :class:`~can.Notifier` . + :return: + A tuple of :class:`~can.Notifier` instances associated with the given bus. + """ + instance_list = [] + with self.lock: + for pair in self.pairs: + if bus is pair.bus: + instance_list.append(pair.notifier) + return tuple(instance_list) + + +class Notifier(AbstractContextManager): + + _registry: Final = _NotifierRegistry() + def __init__( self, bus: Union[BusABC, list[BusABC]], @@ -33,61 +120,81 @@ def __init__( .. Note:: - Remember to call `stop()` after all messages are received as + Remember to call :meth:`~can.Notifier.stop` after all messages are received as many listeners carry out flush operations to persist data. - :param bus: A :ref:`bus` or a list of buses to listen to. + :param bus: + A :ref:`bus` or a list of buses to consume messages from. :param listeners: An iterable of :class:`~can.Listener` or callables that receive a :class:`~can.Message` and return nothing. - :param timeout: An optional maximum number of seconds to wait for any :class:`~can.Message`. - :param loop: An :mod:`asyncio` event loop to schedule the ``listeners`` in. + :param timeout: + An optional maximum number of seconds to wait for any :class:`~can.Message`. + :param loop: + An :mod:`asyncio` event loop to schedule the ``listeners`` in. + :raises ValueError: + If a passed in *bus* is already assigned to an active :class:`~can.Notifier`. """ self.listeners: list[MessageRecipient] = list(listeners) - self.bus = bus + self._bus_list: list[BusABC] = [] self.timeout = timeout self._loop = loop #: Exception raised in thread self.exception: Optional[Exception] = None - self._running = True + self._stopped = False self._lock = threading.Lock() self._readers: list[Union[int, threading.Thread]] = [] - buses = self.bus if isinstance(self.bus, list) else [self.bus] - for each_bus in buses: + _bus_list: list[BusABC] = bus if isinstance(bus, list) else [bus] + for each_bus in _bus_list: self.add_bus(each_bus) + @property + def bus(self) -> Union[BusABC, tuple["BusABC", ...]]: + """Return the associated bus or a tuple of buses.""" + if len(self._bus_list) == 1: + return self._bus_list[0] + return tuple(self._bus_list) + def add_bus(self, bus: BusABC) -> None: """Add a bus for notification. :param bus: CAN bus instance. + :raises ValueError: + If the *bus* is already assigned to an active :class:`~can.Notifier`. """ - reader: int = -1 + # add bus to notifier registry + Notifier._registry.register(bus, self) + + # add bus to internal bus list + self._bus_list.append(bus) + + file_descriptor: int = -1 try: - reader = bus.fileno() + file_descriptor = bus.fileno() except NotImplementedError: # Bus doesn't support fileno, we fall back to thread based reader pass - if self._loop is not None and reader >= 0: + if self._loop is not None and file_descriptor >= 0: # Use bus file descriptor to watch for messages - self._loop.add_reader(reader, self._on_message_available, bus) - self._readers.append(reader) + self._loop.add_reader(file_descriptor, self._on_message_available, bus) + self._readers.append(file_descriptor) else: reader_thread = threading.Thread( target=self._rx_thread, args=(bus,), - name=f'can.notifier for bus "{bus.channel_info}"', + name=f'{self.__class__.__qualname__} for bus "{bus.channel_info}"', ) reader_thread.daemon = True reader_thread.start() self._readers.append(reader_thread) - def stop(self, timeout: float = 5) -> None: + def stop(self, timeout: float = 5.0) -> None: """Stop notifying Listeners when new :class:`~can.Message` objects arrive and call :meth:`~can.Listener.stop` on each Listener. @@ -95,7 +202,7 @@ def stop(self, timeout: float = 5) -> None: Max time in seconds to wait for receive threads to finish. Should be longer than timeout given at instantiation. """ - self._running = False + self._stopped = True end_time = time.time() + timeout for reader in self._readers: if isinstance(reader, threading.Thread): @@ -109,6 +216,10 @@ def stop(self, timeout: float = 5) -> None: if hasattr(listener, "stop"): listener.stop() + # remove bus from registry + for bus in self._bus_list: + Notifier._registry.unregister(bus, self) + def _rx_thread(self, bus: BusABC) -> None: # determine message handling callable early, not inside while loop if self._loop: @@ -119,7 +230,7 @@ def _rx_thread(self, bus: BusABC) -> None: else: handle_message = self._on_message_received - while self._running: + while not self._stopped: try: if msg := bus.recv(self.timeout): with self._lock: @@ -184,3 +295,33 @@ def remove_listener(self, listener: MessageRecipient) -> None: :raises ValueError: if `listener` was never added to this notifier """ self.listeners.remove(listener) + + @property + def stopped(self) -> bool: + """Return ``True``, if Notifier was properly shut down with :meth:`~can.Notifier.stop`.""" + return self._stopped + + @staticmethod + def find_instances(bus: BusABC) -> tuple["Notifier", ...]: + """Find :class:`~can.Notifier` instances associated with a given CAN bus. + + This method searches the registry for the :class:`~can.Notifier` + that is linked to the specified bus. If the bus is found, the + corresponding :class:`~can.Notifier` instances are returned. If the bus is not + found in the registry, an empty tuple is returned. + + :param bus: + The CAN bus for which to find the associated :class:`~can.Notifier` . + :return: + A tuple of :class:`~can.Notifier` instances associated with the given bus. + """ + return Notifier._registry.find_instances(bus) + + def __exit__( + self, + exc_type: Optional[type[BaseException]], + exc_value: Optional[BaseException], + traceback: Optional[TracebackType], + ) -> None: + if not self._stopped: + self.stop() diff --git a/examples/asyncio_demo.py b/examples/asyncio_demo.py index d29f03bc5..6befbe7a9 100755 --- a/examples/asyncio_demo.py +++ b/examples/asyncio_demo.py @@ -5,10 +5,12 @@ """ import asyncio -from typing import List +from typing import TYPE_CHECKING import can -from can.notifier import MessageRecipient + +if TYPE_CHECKING: + from can.notifier import MessageRecipient def print_message(msg: can.Message) -> None: @@ -25,32 +27,28 @@ async def main() -> None: reader = can.AsyncBufferedReader() logger = can.Logger("logfile.asc") - listeners: List[MessageRecipient] = [ + listeners: list[MessageRecipient] = [ print_message, # Callback function reader, # AsyncBufferedReader() listener logger, # Regular Listener object ] # Create Notifier with an explicit loop to use for scheduling of callbacks - loop = asyncio.get_running_loop() - notifier = can.Notifier(bus, listeners, loop=loop) - # Start sending first message - bus.send(can.Message(arbitration_id=0)) - - print("Bouncing 10 messages...") - for _ in range(10): - # Wait for next message from AsyncBufferedReader - msg = await reader.get_message() - # Delay response - await asyncio.sleep(0.5) - msg.arbitration_id += 1 - bus.send(msg) - - # Wait for last message to arrive - await reader.get_message() - print("Done!") - - # Clean-up - notifier.stop() + with can.Notifier(bus, listeners, loop=asyncio.get_running_loop()): + # Start sending first message + bus.send(can.Message(arbitration_id=0)) + + print("Bouncing 10 messages...") + for _ in range(10): + # Wait for next message from AsyncBufferedReader + msg = await reader.get_message() + # Delay response + await asyncio.sleep(0.5) + msg.arbitration_id += 1 + bus.send(msg) + + # Wait for last message to arrive + await reader.get_message() + print("Done!") if __name__ == "__main__": diff --git a/examples/cyclic_checksum.py b/examples/cyclic_checksum.py index 3ab6c78ac..763fcd72b 100644 --- a/examples/cyclic_checksum.py +++ b/examples/cyclic_checksum.py @@ -59,6 +59,5 @@ def compute_xbr_checksum(message: can.Message, counter: int) -> int: if __name__ == "__main__": with can.Bus(channel=0, interface="virtual", receive_own_messages=True) as _bus: - notifier = can.Notifier(bus=_bus, listeners=[print]) - cyclic_checksum_send(_bus) - notifier.stop() + with can.Notifier(bus=_bus, listeners=[print]): + cyclic_checksum_send(_bus) diff --git a/examples/print_notifier.py b/examples/print_notifier.py index 8d55ca1dc..e6e11dbec 100755 --- a/examples/print_notifier.py +++ b/examples/print_notifier.py @@ -8,14 +8,13 @@ def main(): with can.Bus(interface="virtual", receive_own_messages=True) as bus: print_listener = can.Printer() - notifier = can.Notifier(bus, [print_listener]) - - bus.send(can.Message(arbitration_id=1, is_extended_id=True)) - bus.send(can.Message(arbitration_id=2, is_extended_id=True)) - bus.send(can.Message(arbitration_id=1, is_extended_id=False)) - - time.sleep(1.0) - notifier.stop() + with can.Notifier(bus, listeners=[print_listener]): + # using Notifier as a context manager automatically calls `Notifier.stop()` + # at the end of the `with` block + bus.send(can.Message(arbitration_id=1, is_extended_id=True)) + bus.send(can.Message(arbitration_id=2, is_extended_id=True)) + bus.send(can.Message(arbitration_id=1, is_extended_id=False)) + time.sleep(1.0) if __name__ == "__main__": diff --git a/examples/send_multiple.py b/examples/send_multiple.py index fdcaa5b59..9123e1bc8 100755 --- a/examples/send_multiple.py +++ b/examples/send_multiple.py @@ -4,8 +4,8 @@ This demo creates multiple processes of producers to spam a socketcan bus. """ -from time import sleep from concurrent.futures import ProcessPoolExecutor +from time import sleep import can diff --git a/examples/serial_com.py b/examples/serial_com.py index 538c8d12f..9f203b2e0 100755 --- a/examples/serial_com.py +++ b/examples/serial_com.py @@ -18,8 +18,8 @@ com0com: http://com0com.sourceforge.net/ """ -import time import threading +import time import can diff --git a/examples/vcan_filtered.py b/examples/vcan_filtered.py index 9c67390ab..22bca706c 100755 --- a/examples/vcan_filtered.py +++ b/examples/vcan_filtered.py @@ -18,14 +18,11 @@ def main(): # print all incoming messages, which includes the ones sent, # since we set receive_own_messages to True # assign to some variable so it does not garbage collected - notifier = can.Notifier(bus, [can.Printer()]) # pylint: disable=unused-variable - - bus.send(can.Message(arbitration_id=1, is_extended_id=True)) - bus.send(can.Message(arbitration_id=2, is_extended_id=True)) - bus.send(can.Message(arbitration_id=1, is_extended_id=False)) - - time.sleep(1.0) - notifier.stop() + with can.Notifier(bus, [can.Printer()]): # pylint: disable=unused-variable + bus.send(can.Message(arbitration_id=1, is_extended_id=True)) + bus.send(can.Message(arbitration_id=2, is_extended_id=True)) + bus.send(can.Message(arbitration_id=1, is_extended_id=False)) + time.sleep(1.0) if __name__ == "__main__": diff --git a/pyproject.toml b/pyproject.toml index a9f3fcbb1..2a5735598 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -184,6 +184,7 @@ ignore = [ ] "can/logger.py" = ["T20"] # flake8-print "can/player.py" = ["T20"] # flake8-print +"examples/*" = ["T20"] # flake8-print [tool.ruff.lint.isort] known-first-party = ["can"] diff --git a/test/notifier_test.py b/test/notifier_test.py index 6982130cf..c21d51f04 100644 --- a/test/notifier_test.py +++ b/test/notifier_test.py @@ -12,16 +12,19 @@ def test_single_bus(self): with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: reader = can.BufferedReader() notifier = can.Notifier(bus, [reader], 0.1) + self.assertFalse(notifier.stopped) msg = can.Message() bus.send(msg) self.assertIsNotNone(reader.get_message(1)) notifier.stop() + self.assertTrue(notifier.stopped) def test_multiple_bus(self): with can.Bus(0, interface="virtual", receive_own_messages=True) as bus1: with can.Bus(1, interface="virtual", receive_own_messages=True) as bus2: reader = can.BufferedReader() notifier = can.Notifier([bus1, bus2], [reader], 0.1) + self.assertFalse(notifier.stopped) msg = can.Message() bus1.send(msg) time.sleep(0.1) @@ -33,6 +36,39 @@ def test_multiple_bus(self): self.assertIsNotNone(recv_msg) self.assertEqual(recv_msg.channel, 1) notifier.stop() + self.assertTrue(notifier.stopped) + + def test_context_manager(self): + with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: + reader = can.BufferedReader() + with can.Notifier(bus, [reader], 0.1) as notifier: + self.assertFalse(notifier.stopped) + msg = can.Message() + bus.send(msg) + self.assertIsNotNone(reader.get_message(1)) + notifier.stop() + self.assertTrue(notifier.stopped) + + def test_registry(self): + with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: + reader = can.BufferedReader() + with can.Notifier(bus, [reader], 0.1) as notifier: + # creating a second notifier for the same bus must fail + self.assertRaises(ValueError, can.Notifier, bus, [reader], 0.1) + + # find_instance must return the existing instance + self.assertEqual(can.Notifier.find_instances(bus), (notifier,)) + + # Notifier is stopped, find_instances() must return an empty tuple + self.assertEqual(can.Notifier.find_instances(bus), ()) + + # now the first notifier is stopped, a new notifier can be created without error: + with can.Notifier(bus, [reader], 0.1) as notifier: + # the next notifier call should fail again since there is an active notifier already + self.assertRaises(ValueError, can.Notifier, bus, [reader], 0.1) + + # find_instance must return the existing instance + self.assertEqual(can.Notifier.find_instances(bus), (notifier,)) class AsyncNotifierTest(unittest.TestCase): From f43bedbc68777162132251bad91aee6ed77d6b8b Mon Sep 17 00:00:00 2001 From: Joachim Stolberg <106076945+HMS-jost@users.noreply.github.com> Date: Sat, 31 May 2025 21:55:54 +0200 Subject: [PATCH 413/475] Handle timer overflow message and build timestamp according to the epoch in IXXATBus (#1934) * Handle timer overflow message and build timestamp according to the epoch * Revert "Handle timer overflow message and build timestamp according to the epoch" This reverts commit e0ccfb0d4b3fef9fbed24c9a6e673e5199e35c52. * Handle timer overflow message and build timestamp according to the epoch * Fix formating issues * Format with black --- can/interfaces/ixxat/canlib_vcinpl.py | 24 +++++++++++++++++++----- can/interfaces/ixxat/canlib_vcinpl2.py | 24 ++++++++++++++++++------ 2 files changed, 37 insertions(+), 11 deletions(-) diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index ba8f1870b..098b022bb 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -13,6 +13,7 @@ import functools import logging import sys +import time import warnings from collections.abc import Sequence from typing import Callable, Optional, Union @@ -620,7 +621,15 @@ def __init__( log.info("Accepting ID: 0x%X MASK: 0x%X", code, mask) # Start the CAN controller. Messages will be forwarded to the channel + start_begin = time.time() _canlib.canControlStart(self._control_handle, constants.TRUE) + start_end = time.time() + + # Calculate an offset to make them relative to epoch + # Assume that the time offset is in the middle of the start command + self._timeoffset = start_begin + (start_end - start_begin / 2) + self._overrunticks = 0 + self._starttickoffset = 0 # For cyclic transmit list. Set when .send_periodic() is first called self._scheduler = None @@ -693,6 +702,9 @@ def _recv_internal(self, timeout): f"Unknown CAN info message code {self._message.abData[0]}", ) ) + # Handle CAN start info message + if self._message.abData[0] == constants.CAN_INFO_START: + self._starttickoffset = self._message.dwTime elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR: if self._message.uMsgInfo.Bytes.bFlags & constants.CAN_MSGFLAGS_OVR: log.warning("CAN error: data overrun") @@ -709,7 +721,8 @@ def _recv_internal(self, timeout): self._message.uMsgInfo.Bytes.bFlags, ) elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_TIMEOVR: - pass + # Add the number of timestamp overruns to the high word + self._overrunticks += self._message.dwMsgId << 32 else: log.warning( "Unexpected message info type 0x%X", @@ -741,11 +754,12 @@ def _recv_internal(self, timeout): # Timed out / can message type is not DATA return None, True - # The _message.dwTime is a 32bit tick value and will overrun, - # so expect to see the value restarting from 0 rx_msg = Message( - timestamp=self._message.dwTime - / self._tick_resolution, # Relative time in s + timestamp=( + (self._message.dwTime + self._overrunticks - self._starttickoffset) + / self._tick_resolution + ) + + self._timeoffset, is_remote_frame=bool(self._message.uMsgInfo.Bits.rtr), is_extended_id=bool(self._message.uMsgInfo.Bits.ext), arbitration_id=self._message.dwMsgId, diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index f9ac5346b..b7698277f 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -727,7 +727,15 @@ def __init__( log.info("Accepting ID: 0x%X MASK: 0x%X", code, mask) # Start the CAN controller. Messages will be forwarded to the channel + start_begin = time.time() _canlib.canControlStart(self._control_handle, constants.TRUE) + start_end = time.time() + + # Calculate an offset to make them relative to epoch + # Assume that the time offset is in the middle of the start command + self._timeoffset = start_begin + (start_end - start_begin / 2) + self._overrunticks = 0 + self._starttickoffset = 0 # For cyclic transmit list. Set when .send_periodic() is first called self._scheduler = None @@ -832,7 +840,9 @@ def _recv_internal(self, timeout): f"Unknown CAN info message code {self._message.abData[0]}", ) ) - + # Handle CAN start info message + elif self._message.abData[0] == constants.CAN_INFO_START: + self._starttickoffset = self._message.dwTime elif ( self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR ): @@ -854,7 +864,8 @@ def _recv_internal(self, timeout): self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_TIMEOVR ): - pass + # Add the number of timestamp overruns to the high word + self._overrunticks += self._message.dwMsgId << 32 else: log.warning("Unexpected message info type") @@ -868,11 +879,12 @@ def _recv_internal(self, timeout): return None, True data_len = dlc2len(self._message.uMsgInfo.Bits.dlc) - # The _message.dwTime is a 32bit tick value and will overrun, - # so expect to see the value restarting from 0 rx_msg = Message( - timestamp=self._message.dwTime - / self._tick_resolution, # Relative time in s + timestamp=( + (self._message.dwTime + self._overrunticks - self._starttickoffset) + / self._tick_resolution + ) + + self._timeoffset, is_remote_frame=bool(self._message.uMsgInfo.Bits.rtr), is_fd=bool(self._message.uMsgInfo.Bits.edl), is_rx=True, From 3b75c338f4bd6e7eaa006e2b6483c059ac9bd475 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 6 Jun 2025 18:29:22 +0200 Subject: [PATCH 414/475] Add public functions for creating bus command lines options (#1949) --- can/cli.py | 320 ++++++++++++++++++++++++++++++++++++++++++++ can/logger.py | 219 +++--------------------------- can/player.py | 34 +++-- can/viewer.py | 32 ++--- doc/utils.rst | 3 + pyproject.toml | 2 + test/test_cli.py | 154 +++++++++++++++++++++ test/test_logger.py | 15 ++- test/test_viewer.py | 26 ++-- 9 files changed, 559 insertions(+), 246 deletions(-) create mode 100644 can/cli.py create mode 100644 test/test_cli.py diff --git a/can/cli.py b/can/cli.py new file mode 100644 index 000000000..6e3850354 --- /dev/null +++ b/can/cli.py @@ -0,0 +1,320 @@ +import argparse +import re +from collections.abc import Sequence +from typing import Any, Optional, Union + +import can +from can.typechecking import CanFilter, TAdditionalCliArgs +from can.util import _dict2timing, cast_from_string + + +def add_bus_arguments( + parser: argparse.ArgumentParser, + *, + filter_arg: bool = False, + prefix: Optional[str] = None, + group_title: Optional[str] = None, +) -> None: + """Adds CAN bus configuration options to an argument parser. + + :param parser: + The argument parser to which the options will be added. + :param filter_arg: + Whether to include the filter argument. + :param prefix: + An optional prefix for the argument names, allowing configuration of multiple buses. + :param group_title: + The title of the argument group. If not provided, a default title will be generated + based on the prefix. For example, "bus arguments (prefix)" if a prefix is specified, + or "bus arguments" otherwise. + """ + if group_title is None: + group_title = f"bus arguments ({prefix})" if prefix else "bus arguments" + + group = parser.add_argument_group(group_title) + + flags = [f"--{prefix}-channel"] if prefix else ["-c", "--channel"] + dest = f"{prefix}_channel" if prefix else "channel" + group.add_argument( + *flags, + dest=dest, + default=argparse.SUPPRESS, + metavar="CHANNEL", + help=r"Most backend interfaces require some sort of channel. For " + r"example with the serial interface the channel might be a rfcomm" + r' device: "/dev/rfcomm0". With the socketcan interface valid ' + r'channel examples include: "can0", "vcan0".', + ) + + flags = [f"--{prefix}-interface"] if prefix else ["-i", "--interface"] + dest = f"{prefix}_interface" if prefix else "interface" + group.add_argument( + *flags, + dest=dest, + default=argparse.SUPPRESS, + choices=sorted(can.VALID_INTERFACES), + help="""Specify the backend CAN interface to use. If left blank, + fall back to reading from configuration files.""", + ) + + flags = [f"--{prefix}-bitrate"] if prefix else ["-b", "--bitrate"] + dest = f"{prefix}_bitrate" if prefix else "bitrate" + group.add_argument( + *flags, + dest=dest, + type=int, + default=argparse.SUPPRESS, + metavar="BITRATE", + help="Bitrate to use for the CAN bus.", + ) + + flags = [f"--{prefix}-fd"] if prefix else ["--fd"] + dest = f"{prefix}_fd" if prefix else "fd" + group.add_argument( + *flags, + dest=dest, + default=argparse.SUPPRESS, + action="store_true", + help="Activate CAN-FD support", + ) + + flags = [f"--{prefix}-data-bitrate"] if prefix else ["--data-bitrate"] + dest = f"{prefix}_data_bitrate" if prefix else "data_bitrate" + group.add_argument( + *flags, + dest=dest, + type=int, + default=argparse.SUPPRESS, + metavar="DATA_BITRATE", + help="Bitrate to use for the data phase in case of CAN-FD.", + ) + + flags = [f"--{prefix}-timing"] if prefix else ["--timing"] + dest = f"{prefix}_timing" if prefix else "timing" + group.add_argument( + *flags, + dest=dest, + action=_BitTimingAction, + nargs=argparse.ONE_OR_MORE, + default=argparse.SUPPRESS, + metavar="TIMING_ARG", + help="Configure bit rate and bit timing. For example, use " + "`--timing f_clock=8_000_000 tseg1=5 tseg2=2 sjw=2 brp=2 nof_samples=1` for classical CAN " + "or `--timing f_clock=80_000_000 nom_tseg1=119 nom_tseg2=40 nom_sjw=40 nom_brp=1 " + "data_tseg1=29 data_tseg2=10 data_sjw=10 data_brp=1` for CAN FD. " + "Check the python-can documentation to verify whether your " + "CAN interface supports the `timing` argument.", + ) + + if filter_arg: + flags = [f"--{prefix}-filter"] if prefix else ["--filter"] + dest = f"{prefix}_can_filters" if prefix else "can_filters" + group.add_argument( + *flags, + dest=dest, + nargs=argparse.ONE_OR_MORE, + action=_CanFilterAction, + default=argparse.SUPPRESS, + metavar="{:,~}", + help="R|Space separated CAN filters for the given CAN interface:" + "\n : (matches when & mask ==" + " can_id & mask)" + "\n ~ (matches when & mask !=" + " can_id & mask)" + "\nFx to show only frames with ID 0x100 to 0x103 and 0x200 to 0x20F:" + "\n python -m can.viewer --filter 100:7FC 200:7F0" + "\nNote that the ID and mask are always interpreted as hex values", + ) + + flags = [f"--{prefix}-bus-kwargs"] if prefix else ["--bus-kwargs"] + dest = f"{prefix}_bus_kwargs" if prefix else "bus_kwargs" + group.add_argument( + *flags, + dest=dest, + action=_BusKwargsAction, + nargs=argparse.ONE_OR_MORE, + default=argparse.SUPPRESS, + metavar="BUS_KWARG", + help="Pass keyword arguments down to the instantiation of the bus class. " + "For example, `-i vector -c 1 --bus-kwargs app_name=MyCanApp serial=1234` is equivalent " + "to opening the bus with `can.Bus('vector', channel=1, app_name='MyCanApp', serial=1234)", + ) + + +def create_bus_from_namespace( + namespace: argparse.Namespace, + *, + prefix: Optional[str] = None, + **kwargs: Any, +) -> can.BusABC: + """Creates and returns a CAN bus instance based on the provided namespace and arguments. + + :param namespace: + The namespace containing parsed arguments. + :param prefix: + An optional prefix for the argument names, enabling support for multiple buses. + :param kwargs: + Additional keyword arguments to configure the bus. + :return: + A CAN bus instance. + """ + config: dict[str, Any] = {"single_handle": True, **kwargs} + + for keyword in ( + "channel", + "interface", + "bitrate", + "fd", + "data_bitrate", + "can_filters", + "timing", + "bus_kwargs", + ): + prefixed_keyword = f"{prefix}_{keyword}" if prefix else keyword + + if prefixed_keyword in namespace: + value = getattr(namespace, prefixed_keyword) + + if keyword == "bus_kwargs": + config.update(value) + else: + config[keyword] = value + + try: + return can.Bus(**config) + except Exception as exc: + err_msg = f"Unable to instantiate bus from arguments {vars(namespace)}." + raise argparse.ArgumentError(None, err_msg) from exc + + +class _CanFilterAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: Union[str, Sequence[Any], None], + option_string: Optional[str] = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(self, "Invalid filter argument") + + print(f"Adding filter(s): {values}") + can_filters: list[CanFilter] = [] + + for filt in values: + if ":" in filt: + parts = filt.split(":") + can_id = int(parts[0], base=16) + can_mask = int(parts[1], base=16) + elif "~" in filt: + parts = filt.split("~") + can_id = int(parts[0], base=16) | 0x20000000 # CAN_INV_FILTER + can_mask = int(parts[1], base=16) & 0x20000000 # socket.CAN_ERR_FLAG + else: + raise argparse.ArgumentError(self, "Invalid filter argument") + can_filters.append({"can_id": can_id, "can_mask": can_mask}) + + setattr(namespace, self.dest, can_filters) + + +class _BitTimingAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: Union[str, Sequence[Any], None], + option_string: Optional[str] = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(self, "Invalid --timing argument") + + timing_dict: dict[str, int] = {} + for arg in values: + try: + key, value_string = arg.split("=") + value = int(value_string) + timing_dict[key] = value + except ValueError: + raise argparse.ArgumentError( + self, f"Invalid timing argument: {arg}" + ) from None + + if not (timing := _dict2timing(timing_dict)): + err_msg = "Invalid --timing argument. Incomplete parameters." + raise argparse.ArgumentError(self, err_msg) + + setattr(namespace, self.dest, timing) + print(timing) + + +class _BusKwargsAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: Union[str, Sequence[Any], None], + option_string: Optional[str] = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(self, "Invalid --bus-kwargs argument") + + bus_kwargs: dict[str, Union[str, int, float, bool]] = {} + + for arg in values: + try: + match = re.match( + r"^(?P[_a-zA-Z][_a-zA-Z0-9]*)=(?P\S*?)$", + arg, + ) + if not match: + raise ValueError + key = match["name"].replace("-", "_") + string_val = match["value"] + bus_kwargs[key] = cast_from_string(string_val) + except ValueError: + raise argparse.ArgumentError( + self, + f"Unable to parse bus keyword argument '{arg}'", + ) from None + + setattr(namespace, self.dest, bus_kwargs) + + +def _add_extra_args( + parser: Union[argparse.ArgumentParser, argparse._ArgumentGroup], +) -> None: + parser.add_argument( + "extra_args", + nargs=argparse.REMAINDER, + help="The remaining arguments will be used for logger/player initialisation. " + "For example, `can_logger -i virtual -c test -f logfile.blf --compression-level=9` " + "passes the keyword argument `compression_level=9` to the BlfWriter.", + ) + + +def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: + for arg in unknown_args: + if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): + raise ValueError(f"Parsing argument {arg} failed") + + def _split_arg(_arg: str) -> tuple[str, str]: + left, right = _arg.split("=", 1) + return left.lstrip("-").replace("-", "_"), right + + args: dict[str, Union[str, int, float, bool]] = {} + for key, string_val in map(_split_arg, unknown_args): + args[key] = cast_from_string(string_val) + return args + + +def _set_logging_level_from_namespace(namespace: argparse.Namespace) -> None: + if "verbosity" in namespace: + logging_level_names = [ + "critical", + "error", + "warning", + "info", + "debug", + "subdebug", + ] + can.set_logging_level(logging_level_names[min(5, namespace.verbosity)]) diff --git a/can/logger.py b/can/logger.py index 9c1134257..8274d6668 100644 --- a/can/logger.py +++ b/can/logger.py @@ -1,203 +1,25 @@ import argparse import errno -import re import sys -from collections.abc import Sequence from datetime import datetime from typing import ( TYPE_CHECKING, - Any, - Optional, Union, ) -import can -from can import Bus, BusState, Logger, SizedRotatingLogger +from can import BusState, Logger, SizedRotatingLogger +from can.cli import ( + _add_extra_args, + _parse_additional_config, + _set_logging_level_from_namespace, + add_bus_arguments, + create_bus_from_namespace, +) from can.typechecking import TAdditionalCliArgs -from can.util import _dict2timing, cast_from_string if TYPE_CHECKING: from can.io import BaseRotatingLogger from can.io.generic import MessageWriter - from can.typechecking import CanFilter - - -def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: - """Adds common options to an argument parser.""" - - parser.add_argument( - "-c", - "--channel", - help=r"Most backend interfaces require some sort of channel. For " - r"example with the serial interface the channel might be a rfcomm" - r' device: "/dev/rfcomm0". With the socketcan interface valid ' - r'channel examples include: "can0", "vcan0".', - ) - - parser.add_argument( - "-i", - "--interface", - dest="interface", - help="""Specify the backend CAN interface to use. If left blank, - fall back to reading from configuration files.""", - choices=sorted(can.VALID_INTERFACES), - ) - - parser.add_argument( - "-b", "--bitrate", type=int, help="Bitrate to use for the CAN bus." - ) - - parser.add_argument("--fd", help="Activate CAN-FD support", action="store_true") - - parser.add_argument( - "--data_bitrate", - type=int, - help="Bitrate to use for the data phase in case of CAN-FD.", - ) - - parser.add_argument( - "--timing", - action=_BitTimingAction, - nargs=argparse.ONE_OR_MORE, - help="Configure bit rate and bit timing. For example, use " - "`--timing f_clock=8_000_000 tseg1=5 tseg2=2 sjw=2 brp=2 nof_samples=1` for classical CAN " - "or `--timing f_clock=80_000_000 nom_tseg1=119 nom_tseg2=40 nom_sjw=40 nom_brp=1 " - "data_tseg1=29 data_tseg2=10 data_sjw=10 data_brp=1` for CAN FD. " - "Check the python-can documentation to verify whether your " - "CAN interface supports the `timing` argument.", - metavar="TIMING_ARG", - ) - - parser.add_argument( - "extra_args", - nargs=argparse.REMAINDER, - help="The remaining arguments will be used for the interface and " - "logger/player initialisation. " - "For example, `-i vector -c 1 --app-name=MyCanApp` is the equivalent " - "to opening the bus with `Bus('vector', channel=1, app_name='MyCanApp')", - ) - - -def _append_filter_argument( - parser: Union[argparse.ArgumentParser, argparse._ArgumentGroup], - *args: str, - **kwargs: Any, -) -> None: - """Adds the ``filter`` option to an argument parser.""" - - parser.add_argument( - *args, - "--filter", - help="R|Space separated CAN filters for the given CAN interface:" - "\n : (matches when & mask ==" - " can_id & mask)" - "\n ~ (matches when & mask !=" - " can_id & mask)" - "\nFx to show only frames with ID 0x100 to 0x103 and 0x200 to 0x20F:" - "\n python -m can.viewer --filter 100:7FC 200:7F0" - "\nNote that the ID and mask are always interpreted as hex values", - metavar="{:,~}", - nargs=argparse.ONE_OR_MORE, - action=_CanFilterAction, - dest="can_filters", - **kwargs, - ) - - -def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC: - logging_level_names = ["critical", "error", "warning", "info", "debug", "subdebug"] - can.set_logging_level(logging_level_names[min(5, parsed_args.verbosity)]) - - config: dict[str, Any] = {"single_handle": True, **kwargs} - if parsed_args.interface: - config["interface"] = parsed_args.interface - if parsed_args.bitrate: - config["bitrate"] = parsed_args.bitrate - if parsed_args.fd: - config["fd"] = True - if parsed_args.data_bitrate: - config["data_bitrate"] = parsed_args.data_bitrate - if getattr(parsed_args, "can_filters", None): - config["can_filters"] = parsed_args.can_filters - if parsed_args.timing: - config["timing"] = parsed_args.timing - - return Bus(parsed_args.channel, **config) - - -class _CanFilterAction(argparse.Action): - def __call__( - self, - parser: argparse.ArgumentParser, - namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, - ) -> None: - if not isinstance(values, list): - raise argparse.ArgumentError(None, "Invalid filter argument") - - print(f"Adding filter(s): {values}") - can_filters: list[CanFilter] = [] - - for filt in values: - if ":" in filt: - parts = filt.split(":") - can_id = int(parts[0], base=16) - can_mask = int(parts[1], base=16) - elif "~" in filt: - parts = filt.split("~") - can_id = int(parts[0], base=16) | 0x20000000 # CAN_INV_FILTER - can_mask = int(parts[1], base=16) & 0x20000000 # socket.CAN_ERR_FLAG - else: - raise argparse.ArgumentError(None, "Invalid filter argument") - can_filters.append({"can_id": can_id, "can_mask": can_mask}) - - setattr(namespace, self.dest, can_filters) - - -class _BitTimingAction(argparse.Action): - def __call__( - self, - parser: argparse.ArgumentParser, - namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, - ) -> None: - if not isinstance(values, list): - raise argparse.ArgumentError(None, "Invalid --timing argument") - - timing_dict: dict[str, int] = {} - for arg in values: - try: - key, value_string = arg.split("=") - value = int(value_string) - timing_dict[key] = value - except ValueError: - raise argparse.ArgumentError( - None, f"Invalid timing argument: {arg}" - ) from None - - if not (timing := _dict2timing(timing_dict)): - err_msg = "Invalid --timing argument. Incomplete parameters." - raise argparse.ArgumentError(None, err_msg) - - setattr(namespace, self.dest, timing) - print(timing) - - -def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: - for arg in unknown_args: - if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): - raise ValueError(f"Parsing argument {arg} failed") - - def _split_arg(_arg: str) -> tuple[str, str]: - left, right = _arg.split("=", 1) - return left.lstrip("-").replace("-", "_"), right - - args: dict[str, Union[str, int, float, bool]] = {} - for key, string_val in map(_split_arg, unknown_args): - args[key] = cast_from_string(string_val) - return args def _parse_logger_args( @@ -210,11 +32,9 @@ def _parse_logger_args( "given file.", ) - # Generate the standard arguments: - # Channel, bitrate, data_bitrate, interface, app_name, CAN-FD support - _create_base_argument_parser(parser) + logger_group = parser.add_argument_group("logger arguments") - parser.add_argument( + logger_group.add_argument( "-f", "--file_name", dest="log_file", @@ -222,7 +42,7 @@ def _parse_logger_args( default=None, ) - parser.add_argument( + logger_group.add_argument( "-a", "--append", dest="append", @@ -230,7 +50,7 @@ def _parse_logger_args( action="store_true", ) - parser.add_argument( + logger_group.add_argument( "-s", "--file_size", dest="file_size", @@ -242,7 +62,7 @@ def _parse_logger_args( default=None, ) - parser.add_argument( + logger_group.add_argument( "-v", action="count", dest="verbosity", @@ -251,9 +71,7 @@ def _parse_logger_args( default=2, ) - _append_filter_argument(parser) - - state_group = parser.add_mutually_exclusive_group(required=False) + state_group = logger_group.add_mutually_exclusive_group(required=False) state_group.add_argument( "--active", help="Start the bus as active, this is applied by default.", @@ -263,6 +81,12 @@ def _parse_logger_args( "--passive", help="Start the bus as passive.", action="store_true" ) + # handle remaining arguments + _add_extra_args(logger_group) + + # add bus options + add_bus_arguments(parser, filter_arg=True) + # print help message when no arguments were given if not args: parser.print_help(sys.stderr) @@ -275,7 +99,8 @@ def _parse_logger_args( def main() -> None: results, additional_config = _parse_logger_args(sys.argv[1:]) - bus = _create_bus(results, **additional_config) + bus = create_bus_from_namespace(results) + _set_logging_level_from_namespace(results) if results.active: bus.state = BusState.ACTIVE diff --git a/can/player.py b/can/player.py index 38b76a331..a92cccc3d 100644 --- a/can/player.py +++ b/can/player.py @@ -12,8 +12,13 @@ from typing import TYPE_CHECKING, cast from can import LogReader, MessageSync - -from .logger import _create_base_argument_parser, _create_bus, _parse_additional_config +from can.cli import ( + _add_extra_args, + _parse_additional_config, + _set_logging_level_from_namespace, + add_bus_arguments, + create_bus_from_namespace, +) if TYPE_CHECKING: from collections.abc import Iterable @@ -24,9 +29,9 @@ def main() -> None: parser = argparse.ArgumentParser(description="Replay CAN traffic.") - _create_base_argument_parser(parser) + player_group = parser.add_argument_group("Player arguments") - parser.add_argument( + player_group.add_argument( "-f", "--file_name", dest="log_file", @@ -34,7 +39,7 @@ def main() -> None: default=None, ) - parser.add_argument( + player_group.add_argument( "-v", action="count", dest="verbosity", @@ -43,27 +48,27 @@ def main() -> None: default=2, ) - parser.add_argument( + player_group.add_argument( "--ignore-timestamps", dest="timestamps", help="""Ignore timestamps (send all frames immediately with minimum gap between frames)""", action="store_false", ) - parser.add_argument( + player_group.add_argument( "--error-frames", help="Also send error frames to the interface.", action="store_true", ) - parser.add_argument( + player_group.add_argument( "-g", "--gap", type=float, help=" minimum time between replayed frames", default=0.0001, ) - parser.add_argument( + player_group.add_argument( "-s", "--skip", type=float, @@ -71,13 +76,19 @@ def main() -> None: help=" skip gaps greater than 's' seconds", ) - parser.add_argument( + player_group.add_argument( "infile", metavar="input-file", type=str, help="The file to replay. For supported types see can.LogReader.", ) + # handle remaining arguments + _add_extra_args(player_group) + + # add bus options + add_bus_arguments(parser) + # print help message when no arguments were given if len(sys.argv) < 2: parser.print_help(sys.stderr) @@ -86,11 +97,12 @@ def main() -> None: results, unknown_args = parser.parse_known_args() additional_config = _parse_additional_config([*results.extra_args, *unknown_args]) + _set_logging_level_from_namespace(results) verbosity = results.verbosity error_frames = results.error_frames - with _create_bus(results, **additional_config) as bus: + with create_bus_from_namespace(results) as bus: with LogReader(results.infile, **additional_config) as reader: in_sync = MessageSync( cast("Iterable[Message]", reader), diff --git a/can/viewer.py b/can/viewer.py index 3eed727ab..81e8942a4 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -29,13 +29,12 @@ import time from can import __version__ -from can.logger import ( - _append_filter_argument, - _create_base_argument_parser, - _create_bus, - _parse_additional_config, +from can.cli import ( + _set_logging_level_from_namespace, + add_bus_arguments, + create_bus_from_namespace, ) -from can.typechecking import TAdditionalCliArgs, TDataStructs +from can.typechecking import TDataStructs logger = logging.getLogger("can.viewer") @@ -390,7 +389,7 @@ def _fill_text(self, text, width, indent): def _parse_viewer_args( args: list[str], -) -> tuple[argparse.Namespace, TDataStructs, TAdditionalCliArgs]: +) -> tuple[argparse.Namespace, TDataStructs]: # Parse command line arguments parser = argparse.ArgumentParser( "python -m can.viewer", @@ -411,9 +410,8 @@ def _parse_viewer_args( allow_abbrev=False, ) - # Generate the standard arguments: - # Channel, bitrate, data_bitrate, interface, app_name, CAN-FD support - _create_base_argument_parser(parser) + # add bus options group + add_bus_arguments(parser, filter_arg=True, group_title="Bus arguments") optional = parser.add_argument_group("Optional arguments") @@ -470,8 +468,6 @@ def _parse_viewer_args( default="", ) - _append_filter_argument(optional, "-f") - optional.add_argument( "-v", action="count", @@ -487,6 +483,8 @@ def _parse_viewer_args( raise SystemExit(errno.EINVAL) parsed_args, unknown_args = parser.parse_known_args(args) + if unknown_args: + print("Unknown arguments:", unknown_args) # Dictionary used to convert between Python values and C structs represented as Python strings. # If the value is 'None' then the message does not contain any data package. @@ -536,15 +534,13 @@ def _parse_viewer_args( else: data_structs[key] = struct.Struct(fmt) - additional_config = _parse_additional_config( - [*parsed_args.extra_args, *unknown_args] - ) - return parsed_args, data_structs, additional_config + return parsed_args, data_structs def main() -> None: - parsed_args, data_structs, additional_config = _parse_viewer_args(sys.argv[1:]) - bus = _create_bus(parsed_args, **additional_config) + parsed_args, data_structs = _parse_viewer_args(sys.argv[1:]) + bus = create_bus_from_namespace(parsed_args) + _set_logging_level_from_namespace(parsed_args) curses.wrapper(CanViewer, bus, data_structs) # type: ignore[attr-defined,unused-ignore] diff --git a/doc/utils.rst b/doc/utils.rst index a87d411a9..9c742e2fb 100644 --- a/doc/utils.rst +++ b/doc/utils.rst @@ -4,4 +4,7 @@ Utilities .. autofunction:: can.detect_available_configs +.. autofunction:: can.cli.add_bus_arguments + +.. autofunction:: can.cli.create_bus_from_namespace diff --git a/pyproject.toml b/pyproject.toml index 2a5735598..ee98fec24 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -182,8 +182,10 @@ ignore = [ "PGH003", # blanket-type-ignore "RUF012", # mutable-class-default ] +"can/cli.py" = ["T20"] # flake8-print "can/logger.py" = ["T20"] # flake8-print "can/player.py" = ["T20"] # flake8-print +"can/viewer.py" = ["T20"] # flake8-print "examples/*" = ["T20"] # flake8-print [tool.ruff.lint.isort] diff --git a/test/test_cli.py b/test/test_cli.py new file mode 100644 index 000000000..ecc662832 --- /dev/null +++ b/test/test_cli.py @@ -0,0 +1,154 @@ +import argparse +import unittest +from unittest.mock import patch + +from can.cli import add_bus_arguments, create_bus_from_namespace + + +class TestCliUtils(unittest.TestCase): + def test_add_bus_arguments(self): + parser = argparse.ArgumentParser() + add_bus_arguments(parser, filter_arg=True, prefix="test") + + parsed_args = parser.parse_args( + [ + "--test-channel", + "0", + "--test-interface", + "vector", + "--test-timing", + "f_clock=8000000", + "brp=4", + "tseg1=11", + "tseg2=4", + "sjw=2", + "nof_samples=3", + "--test-filter", + "100:7FF", + "200~7F0", + "--test-bus-kwargs", + "app_name=MyApp", + "serial=1234", + ] + ) + + self.assertNotIn("channel", parsed_args) + self.assertNotIn("test_bitrate", parsed_args) + self.assertNotIn("test_data_bitrate", parsed_args) + self.assertNotIn("test_fd", parsed_args) + + self.assertEqual(parsed_args.test_channel, "0") + self.assertEqual(parsed_args.test_interface, "vector") + self.assertEqual(parsed_args.test_timing.f_clock, 8000000) + self.assertEqual(parsed_args.test_timing.brp, 4) + self.assertEqual(parsed_args.test_timing.tseg1, 11) + self.assertEqual(parsed_args.test_timing.tseg2, 4) + self.assertEqual(parsed_args.test_timing.sjw, 2) + self.assertEqual(parsed_args.test_timing.nof_samples, 3) + self.assertEqual(len(parsed_args.test_can_filters), 2) + self.assertEqual(parsed_args.test_can_filters[0]["can_id"], 0x100) + self.assertEqual(parsed_args.test_can_filters[0]["can_mask"], 0x7FF) + self.assertEqual(parsed_args.test_can_filters[1]["can_id"], 0x200 | 0x20000000) + self.assertEqual( + parsed_args.test_can_filters[1]["can_mask"], 0x7F0 & 0x20000000 + ) + self.assertEqual(parsed_args.test_bus_kwargs["app_name"], "MyApp") + self.assertEqual(parsed_args.test_bus_kwargs["serial"], 1234) + + def test_add_bus_arguments_no_prefix(self): + parser = argparse.ArgumentParser() + add_bus_arguments(parser, filter_arg=True) + + parsed_args = parser.parse_args( + [ + "--channel", + "0", + "--interface", + "vector", + "--timing", + "f_clock=8000000", + "brp=4", + "tseg1=11", + "tseg2=4", + "sjw=2", + "nof_samples=3", + "--filter", + "100:7FF", + "200~7F0", + "--bus-kwargs", + "app_name=MyApp", + "serial=1234", + ] + ) + + self.assertEqual(parsed_args.channel, "0") + self.assertEqual(parsed_args.interface, "vector") + self.assertEqual(parsed_args.timing.f_clock, 8000000) + self.assertEqual(parsed_args.timing.brp, 4) + self.assertEqual(parsed_args.timing.tseg1, 11) + self.assertEqual(parsed_args.timing.tseg2, 4) + self.assertEqual(parsed_args.timing.sjw, 2) + self.assertEqual(parsed_args.timing.nof_samples, 3) + self.assertEqual(len(parsed_args.can_filters), 2) + self.assertEqual(parsed_args.can_filters[0]["can_id"], 0x100) + self.assertEqual(parsed_args.can_filters[0]["can_mask"], 0x7FF) + self.assertEqual(parsed_args.can_filters[1]["can_id"], 0x200 | 0x20000000) + self.assertEqual(parsed_args.can_filters[1]["can_mask"], 0x7F0 & 0x20000000) + self.assertEqual(parsed_args.bus_kwargs["app_name"], "MyApp") + self.assertEqual(parsed_args.bus_kwargs["serial"], 1234) + + @patch("can.Bus") + def test_create_bus_from_namespace(self, mock_bus): + namespace = argparse.Namespace( + test_channel="vcan0", + test_interface="virtual", + test_bitrate=500000, + test_data_bitrate=2000000, + test_fd=True, + test_can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + test_bus_kwargs={"app_name": "MyApp", "serial": 1234}, + ) + + create_bus_from_namespace(namespace, prefix="test") + + mock_bus.assert_called_once_with( + channel="vcan0", + interface="virtual", + bitrate=500000, + data_bitrate=2000000, + fd=True, + can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + app_name="MyApp", + serial=1234, + single_handle=True, + ) + + @patch("can.Bus") + def test_create_bus_from_namespace_no_prefix(self, mock_bus): + namespace = argparse.Namespace( + channel="vcan0", + interface="virtual", + bitrate=500000, + data_bitrate=2000000, + fd=True, + can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + bus_kwargs={"app_name": "MyApp", "serial": 1234}, + ) + + create_bus_from_namespace(namespace) + + mock_bus.assert_called_once_with( + channel="vcan0", + interface="virtual", + bitrate=500000, + data_bitrate=2000000, + fd=True, + can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + app_name="MyApp", + serial=1234, + single_handle=True, + ) + + +if __name__ == "__main__": + unittest.main() diff --git a/test/test_logger.py b/test/test_logger.py index d9f200e00..41778ab6a 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -14,6 +14,7 @@ import pytest import can +import can.cli import can.logger @@ -89,7 +90,7 @@ def test_log_virtual_with_config(self): "--bitrate", "250000", "--fd", - "--data_bitrate", + "--data-bitrate", "2000000", ] can.logger.main() @@ -111,7 +112,7 @@ def test_parse_logger_args(self): "--bitrate", "250000", "--fd", - "--data_bitrate", + "--data-bitrate", "2000000", "--receive-own-messages=True", ] @@ -205,7 +206,7 @@ def test_parse_additional_config(self): "--offset=1.5", "--tseg1-abr=127", ] - parsed_args = can.logger._parse_additional_config(unknown_args) + parsed_args = can.cli._parse_additional_config(unknown_args) assert "app_name" in parsed_args assert parsed_args["app_name"] == "CANalyzer" @@ -232,16 +233,16 @@ def test_parse_additional_config(self): assert parsed_args["tseg1_abr"] == 127 with pytest.raises(ValueError): - can.logger._parse_additional_config(["--wrong-format"]) + can.cli._parse_additional_config(["--wrong-format"]) with pytest.raises(ValueError): - can.logger._parse_additional_config(["-wrongformat=value"]) + can.cli._parse_additional_config(["-wrongformat=value"]) with pytest.raises(ValueError): - can.logger._parse_additional_config(["--wrongformat=value1 value2"]) + can.cli._parse_additional_config(["--wrongformat=value1 value2"]) with pytest.raises(ValueError): - can.logger._parse_additional_config(["wrongformat="]) + can.cli._parse_additional_config(["wrongformat="]) class TestLoggerCompressedFile(unittest.TestCase): diff --git a/test/test_viewer.py b/test/test_viewer.py index 3bd32b25a..e71d06dc8 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -397,19 +397,19 @@ def test_pack_unpack(self): ) def test_parse_args(self): - parsed_args, _, _ = _parse_viewer_args(["-b", "250000"]) + parsed_args, _ = _parse_viewer_args(["-b", "250000"]) self.assertEqual(parsed_args.bitrate, 250000) - parsed_args, _, _ = _parse_viewer_args(["--bitrate", "500000"]) + parsed_args, _ = _parse_viewer_args(["--bitrate", "500000"]) self.assertEqual(parsed_args.bitrate, 500000) - parsed_args, _, _ = _parse_viewer_args(["-c", "can0"]) + parsed_args, _ = _parse_viewer_args(["-c", "can0"]) self.assertEqual(parsed_args.channel, "can0") - parsed_args, _, _ = _parse_viewer_args(["--channel", "PCAN_USBBUS1"]) + parsed_args, _ = _parse_viewer_args(["--channel", "PCAN_USBBUS1"]) self.assertEqual(parsed_args.channel, "PCAN_USBBUS1") - parsed_args, data_structs, _ = _parse_viewer_args(["-d", "100: Date: Fri, 13 Jun 2025 00:04:43 +0200 Subject: [PATCH 415/475] Parse socketcand error messages to create a CAN error frame (#1941) * parse socketcand error messages to create a CAN error frame * Add test for socketcand convert_ascii_message_to_can_message --- can/interfaces/socketcand/socketcand.py | 32 +++++++++++++++-- test/test_socketcand.py | 46 +++++++++++++++++++++++++ 2 files changed, 75 insertions(+), 3 deletions(-) create mode 100644 test/test_socketcand.py diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 3ecda082b..d401102f7 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -124,10 +124,11 @@ def detect_beacon(timeout_ms: int = 3100) -> list[can.typechecking.AutoDetectedC def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message: - if not ascii_msg.startswith("< frame ") or not ascii_msg.endswith(" >"): - log.warning(f"Could not parse ascii message: {ascii_msg}") + if not ascii_msg.endswith(" >"): + log.warning(f"Missing ending character in ascii message: {ascii_msg}") return None - else: + + if ascii_msg.startswith("< frame "): # frame_string = ascii_msg.removeprefix("< frame ").removesuffix(" >") frame_string = ascii_msg[8:-2] parts = frame_string.split(" ", 3) @@ -146,6 +147,31 @@ def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message: ) return can_message + if ascii_msg.startswith("< error "): + frame_string = ascii_msg[8:-2] + parts = frame_string.split(" ", 3) + can_id, timestamp = int(parts[0], 16), float(parts[1]) + is_ext = len(parts[0]) != 3 + + # socketcand sends no data in the error message so we don't have information + # about the error details, therefore the can frame is created with one + # data byte set to zero + data = bytearray([0]) + can_dlc = len(data) + can_message = can.Message( + timestamp=timestamp, + arbitration_id=can_id & 0x1FFFFFFF, + is_error_frame=True, + data=data, + dlc=can_dlc, + is_extended_id=True, + is_rx=True, + ) + return can_message + + log.warning(f"Could not parse ascii message: {ascii_msg}") + return None + def convert_can_message_to_ascii_message(can_message: can.Message) -> str: # Note: socketcan bus adds extended flag, remote_frame_flag & error_flag to id diff --git a/test/test_socketcand.py b/test/test_socketcand.py new file mode 100644 index 000000000..7050b9f20 --- /dev/null +++ b/test/test_socketcand.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python + +import unittest +import can +from can.interfaces.socketcand import socketcand + + +class TestConvertAsciiMessageToCanMessage(unittest.TestCase): + def test_valid_frame_message(self): + # Example: < frame 123 1680000000.0 01020304 > + ascii_msg = "< frame 123 1680000000.0 01020304 >" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsInstance(msg, can.Message) + self.assertEqual(msg.arbitration_id, 0x123) + self.assertEqual(msg.timestamp, 1680000000.0) + self.assertEqual(msg.data, bytearray([1, 2, 3, 4])) + self.assertEqual(msg.dlc, 4) + self.assertFalse(msg.is_extended_id) + self.assertTrue(msg.is_rx) + + def test_valid_error_message(self): + # Example: < error 1ABCDEF0 1680000001.0 > + ascii_msg = "< error 1ABCDEF0 1680000001.0 >" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsInstance(msg, can.Message) + self.assertEqual(msg.arbitration_id, 0x1ABCDEF0) + self.assertEqual(msg.timestamp, 1680000001.0) + self.assertEqual(msg.data, bytearray([0])) + self.assertEqual(msg.dlc, 1) + self.assertTrue(msg.is_extended_id) + self.assertTrue(msg.is_error_frame) + self.assertTrue(msg.is_rx) + + def test_invalid_message(self): + ascii_msg = "< unknown 123 0.0 >" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsNone(msg) + + def test_missing_ending_character(self): + ascii_msg = "< frame 123 1680000000.0 01020304" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsNone(msg) + + +if __name__ == "__main__": + unittest.main() From 958fc64ed504d6c655e92e66c48e0b49ee8f8aca Mon Sep 17 00:00:00 2001 From: Dennis Johnson <23355179+Dennis-Johnson@users.noreply.github.com> Date: Fri, 13 Jun 2025 21:40:41 +0530 Subject: [PATCH 416/475] Fix UDP multicast interface on MacOS (#1940) * Add sock option SO_REUSEPORT to allow udp multicast on macos * macos doesn't support ioctl SIOCGSTAMP * REUSE PORT option not supported on windows * only import ioctl on linux --- can/interfaces/udp_multicast/bus.py | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index ec94e22b5..45882ec07 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -1,5 +1,6 @@ import errno import logging +import platform import select import socket import struct @@ -13,14 +14,9 @@ from .utils import is_msgpack_installed, pack_message, unpack_message -ioctl_supported = True - -try: +is_linux = platform.system() == "Linux" +if is_linux: from fcntl import ioctl -except ModuleNotFoundError: # Missing on Windows - ioctl_supported = False - pass - log = logging.getLogger(__name__) @@ -275,6 +271,10 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: # Allow multiple programs to access that address + port sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + # Option not supported on Windows. + if hasattr(socket, "SO_REUSEPORT"): + sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1) + # set how to receive timestamps try: sock.setsockopt(socket.SOL_SOCKET, SO_TIMESTAMPNS, 1) @@ -401,7 +401,8 @@ def recv( self.max_buffer ) - if ioctl_supported: + if is_linux: + # This ioctl isn't supported on Darwin & Windows. result_buffer = ioctl( self._socket.fileno(), SIOCGSTAMP, From 82d52fcd5b231fa05f5164beb26108d0db8a1bda Mon Sep 17 00:00:00 2001 From: Denis Jullien Date: Mon, 21 Jul 2025 10:55:32 +0200 Subject: [PATCH 417/475] Add TRCReader RTR frames support (#1953) * New trc test files with RTR frame * trc reader support for RTR frames parsing * black format --- can/io/trc.py | 20 ++++++++++---- test/data/test_CanMessage_V1_0_BUS1.trc | 7 ++--- test/data/test_CanMessage_V1_1.trc | 3 ++- test/data/test_CanMessage_V1_3.trc | 35 ++++++++++++++----------- test/data/test_CanMessage_V2_0_BUS1.trc | 11 ++++---- test/data/test_CanMessage_V2_1.trc | 11 ++++---- test/logformats_test.py | 16 +++++++++++ 7 files changed, 68 insertions(+), 35 deletions(-) diff --git a/can/io/trc.py b/can/io/trc.py index a07a53a4d..e1eaa077c 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -153,7 +153,10 @@ def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(arbit_id) > 4 msg.channel = 1 msg.dlc = int(cols[3]) - msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) + if len(cols) > 4 and cols[4] == "RTR": + msg.is_remote_frame = True + else: + msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: @@ -165,7 +168,10 @@ def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(arbit_id) > 4 msg.channel = 1 msg.dlc = int(cols[4]) - msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)]) + if len(cols) > 5 and cols[5] == "RTR": + msg.is_remote_frame = True + else: + msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)]) msg.is_rx = cols[2] == "Rx" return msg @@ -178,7 +184,10 @@ def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(arbit_id) > 4 msg.channel = int(cols[2]) msg.dlc = int(cols[6]) - msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)]) + if len(cols) > 7 and cols[7] == "RTR": + msg.is_remote_frame = True + else: + msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)]) msg.is_rx = cols[3] == "Rx" return msg @@ -200,7 +209,8 @@ def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(cols[self.columns["I"]]) > 4 msg.channel = int(cols[bus]) if bus is not None else 1 msg.dlc = dlc - if dlc: + msg.is_remote_frame = type_ in {"RR"} + if dlc and not msg.is_remote_frame: msg.data = bytearray.fromhex(cols[self.columns["D"]]) msg.is_rx = cols[self.columns["d"]] == "Rx" msg.is_fd = type_ in {"FD", "FB", "FE", "BI"} @@ -227,7 +237,7 @@ def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: dtype = cols[self.columns["T"]] - if dtype in {"DT", "FD", "FB", "FE", "BI"}: + if dtype in {"DT", "FD", "FB", "FE", "BI", "RR"}: return self._parse_msg_v2_x(cols) else: logger.info("TRCReader: Unsupported type '%s'", dtype) diff --git a/test/data/test_CanMessage_V1_0_BUS1.trc b/test/data/test_CanMessage_V1_0_BUS1.trc index 8985db188..c3905ae47 100644 --- a/test/data/test_CanMessage_V1_0_BUS1.trc +++ b/test/data/test_CanMessage_V1_0_BUS1.trc @@ -1,10 +1,10 @@ ;########################################################################## -; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_0_BUS1.trc +; C:\NewFileName_BUS1.trc ; -; CAN activities imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; CAN activities imported from C:\test_CanMessage_V1_1.trc ; Start time: 18.12.2021 14:28:07.062 ; PCAN-Net: N/A -; Generated by PEAK-Converter Version 2.2.4.136 +; Generated by PEAK-Converter Version 3.0.4.594 ; ; Columns description: ; ~~~~~~~~~~~~~~~~~~~~~ @@ -26,3 +26,4 @@ 9) 20798 00000100 8 00 00 00 00 00 00 00 00 10) 20956 00000100 8 00 00 00 00 00 00 00 00 11) 21097 00000100 8 00 00 00 00 00 00 00 00 + 12) 48937 0704 1 RTR \ No newline at end of file diff --git a/test/data/test_CanMessage_V1_1.trc b/test/data/test_CanMessage_V1_1.trc index 5a02cd59b..9a9cc7574 100644 --- a/test/data/test_CanMessage_V1_1.trc +++ b/test/data/test_CanMessage_V1_1.trc @@ -22,4 +22,5 @@ 8) 20592.7 Tx 00000100 8 00 00 00 00 00 00 00 00 9) 20798.6 Tx 00000100 8 00 00 00 00 00 00 00 00 10) 20956.0 Tx 00000100 8 00 00 00 00 00 00 00 00 - 11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00 + 11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00 + 12) 48937.6 Rx 0704 1 RTR diff --git a/test/data/test_CanMessage_V1_3.trc b/test/data/test_CanMessage_V1_3.trc index 5b0bf060a..96db1748c 100644 --- a/test/data/test_CanMessage_V1_3.trc +++ b/test/data/test_CanMessage_V1_3.trc @@ -1,13 +1,14 @@ ;$FILEVERSION=1.3 ;$STARTTIME=44548.6028595139 +; C:\NewFileName_V1_3.trc ; -; C:\test.trc -; Start time: 18.12.2021 14:28:07.062.0 -; Generated by PCAN-Explorer v5.4.0 +; Start time: 18.12.2021 14:28:07.062.1 +; +; Generated by PEAK-Converter Version 3.0.4.594 +; Data imported from C:\test_CanMessage_V1_1.trc ;------------------------------------------------------------------------------- -; Bus Name Connection Protocol Bit rate -; 1 PCAN Untitled@pcan_usb CAN 500 kbit/s -; 2 PTCAN PCANLight_USB_16@pcan_usb CAN +; Bus Name Connection Protocol +; N/A N/A N/A CAN ;------------------------------------------------------------------------------- ; Message Number ; | Time Offset (ms) @@ -20,13 +21,15 @@ ; | | | | | | | | ; | | | | | | | | ;---+-- ------+------ +- --+-- ----+--- +- -+-- -+ -- -- -- -- -- -- -- - 1) 17535.4 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 2) 17700.3 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 3) 17873.8 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 4) 19295.4 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 - 5) 19500.6 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 - 6) 19705.2 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 - 7) 20592.7 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 8) 20798.6 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 9) 20956.0 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 10) 21097.1 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 1) 17535.400 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 2) 17540.300 1 Warng FFFFFFFF - 4 00 00 00 08 BUSHEAVY + 3) 17700.300 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 4) 17873.800 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 5) 19295.400 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 6) 19500.600 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 7) 19705.200 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 8) 20592.700 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 9) 20798.600 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 10) 20956.000 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 11) 21097.100 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 12) 48937.600 1 Rx 0704 - 1 RTR diff --git a/test/data/test_CanMessage_V2_0_BUS1.trc b/test/data/test_CanMessage_V2_0_BUS1.trc index cf2384df0..c1af8abc1 100644 --- a/test/data/test_CanMessage_V2_0_BUS1.trc +++ b/test/data/test_CanMessage_V2_0_BUS1.trc @@ -2,18 +2,18 @@ ;$STARTTIME=44548.6028595139 ;$COLUMNS=N,O,T,I,d,l,D ; -; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_0_BUS1.trc +; C:\test_CanMessage_V2_0_BUS1.trc ; Start time: 18.12.2021 14:28:07.062.001 -; Generated by PEAK-Converter Version 2.2.4.136 -; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; Generated by PEAK-Converter Version 3.0.4.594 +; Data imported from C:\test_CanMessage_V1_1.trc ;------------------------------------------------------------------------------- ; Connection Bit rate -; N/A N/A +; N/A N/A ;------------------------------------------------------------------------------- ; Message Time Type ID Rx/Tx ; Number Offset | [hex] | Data Length ; | [ms] | | | | Data [hex] ... -; | | | | | | | +; | | | | | | | ;---+-- ------+------ +- --+----- +- +- +- -- -- -- -- -- -- -- 1 17535.400 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 2 17540.300 ST Rx 00 00 00 08 @@ -26,3 +26,4 @@ 9 20798.600 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 10 20956.000 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 11 21097.100 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 12 48937.600 RR 0704 Rx 1 \ No newline at end of file diff --git a/test/data/test_CanMessage_V2_1.trc b/test/data/test_CanMessage_V2_1.trc index 55ceefaf1..0d259f084 100644 --- a/test/data/test_CanMessage_V2_1.trc +++ b/test/data/test_CanMessage_V2_1.trc @@ -2,19 +2,19 @@ ;$STARTTIME=44548.6028595139 ;$COLUMNS=N,O,T,B,I,d,R,L,D ; -; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_1.trc +; C:\test_CanMessage_V2_1.trc ; Start time: 18.12.2021 14:28:07.062.001 -; Generated by PEAK-Converter Version 2.2.4.136 -; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; Generated by PEAK-Converter Version 3.0.4.594 +; Data imported from C:\test_CanMessage_V1_1.trc ;------------------------------------------------------------------------------- ; Bus Name Connection Protocol -; N/A N/A N/A N/A +; N/A N/A N/A N/A ;------------------------------------------------------------------------------- ; Message Time Type ID Rx/Tx ; Number Offset | Bus [hex] | Reserved ; | [ms] | | | | | Data Length Code ; | | | | | | | | Data [hex] ... -; | | | | | | | | | +; | | | | | | | | | ;---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- -- 1 17535.400 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 2 17540.300 ST 1 - Rx - 4 00 00 00 08 @@ -27,3 +27,4 @@ 9 20798.600 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 10 20956.000 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 11 21097.100 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 12 48937.600 RR 1 0704 Rx - 1 \ No newline at end of file diff --git a/test/logformats_test.py b/test/logformats_test.py index f3fe485b2..e9db47af3 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -990,6 +990,7 @@ def test_can_message(self): ("V1_0", "test_CanMessage_V1_0_BUS1.trc", False), ("V1_1", "test_CanMessage_V1_1.trc", True), ("V1_3", "test_CanMessage_V1_3.trc", True), + ("V2_0", "test_CanMessage_V2_0_BUS1.trc", True), ("V2_1", "test_CanMessage_V2_1.trc", True), ] ) @@ -1029,6 +1030,20 @@ def msg_ext(timestamp): msg.is_rx = False return msg + def msg_rtr(timestamp): + msg = can.Message( + timestamp=timestamp + start_time, + arbitration_id=0x704, + is_extended_id=False, + is_remote_frame=True, + channel=1, + dlc=1, + data=[], + ) + if is_rx_support: + msg.is_rx = True + return msg + expected_messages = [ msg_ext(17.5354), msg_ext(17.7003), @@ -1040,6 +1055,7 @@ def msg_ext(timestamp): msg_ext(20.7986), msg_ext(20.9560), msg_ext(21.0971), + msg_rtr(48.9376), ] actual = self._read_log_file(filename) self.assertMessagesEqual(actual, expected_messages) From 141223a47aad9d7663609a4713be0f47d217100c Mon Sep 17 00:00:00 2001 From: Arclight <59406481+chinaheyu@users.noreply.github.com> Date: Mon, 21 Jul 2025 17:06:47 +0800 Subject: [PATCH 418/475] Add an alternative plugin interface for gs_usb (#1954) --- doc/plugin-interface.rst | 3 +++ pyproject.toml | 1 + 2 files changed, 4 insertions(+) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index 8e60c50c2..d841281e8 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -77,6 +77,8 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+-------------------------------------------------------+ | `python-can-cando`_ | Python wrapper for Netronics' CANdo and CANdoISO | +----------------------------+-------------------------------------------------------+ +| `python-can-candle`_ | A full-featured driver for candleLight | ++----------------------------+-------------------------------------------------------+ .. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector @@ -84,4 +86,5 @@ The table below lists interface drivers that can be added by installing addition .. _python-can-sontheim: https://github.com/MattWoodhead/python-can-sontheim .. _zlgcan: https://github.com/jesses2025smith/zlgcan-driver .. _python-can-cando: https://github.com/belliriccardo/python-can-cando +.. _python-can-candle: https://github.com/BIRLab/python-can-candle diff --git a/pyproject.toml b/pyproject.toml index ee98fec24..a6a7f38c4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -71,6 +71,7 @@ remote = ["python-can-remote"] sontheim = ["python-can-sontheim>=0.1.2"] canine = ["python-can-canine>=0.2.2"] zlgcan = ["zlgcan"] +candle = ["python-can-candle>=1.2.2"] viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] From c4808b744fac75b4d1a7a1658def9f7601413ada Mon Sep 17 00:00:00 2001 From: fl0gee <132301678+fl0gee@users.noreply.github.com> Date: Mon, 21 Jul 2025 11:10:56 +0200 Subject: [PATCH 419/475] Support "no init access" feature of Kvaser interfaces (#1955) * Add keyword argument and set flag accordingly * Add test case * Trim trailing whitespace * Run black formatting --- can/interfaces/kvaser/canlib.py | 6 +++++- test/test_kvaser.py | 13 +++++++++++++ 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 9731a4415..a1dd03e58 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -439,7 +439,8 @@ def __init__( :param int data_bitrate: Which bitrate to use for data phase in CAN FD. Defaults to arbitration bitrate. - + :param bool no_init_access: + Don't open the handle with init access. """ log.info(f"CAN Filters: {can_filters}") @@ -455,6 +456,7 @@ def __init__( exclusive = kwargs.get("exclusive", False) override_exclusive = kwargs.get("override_exclusive", False) accept_virtual = kwargs.get("accept_virtual", True) + no_init_access = kwargs.get("no_init_access", False) fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) data_bitrate = kwargs.get("data_bitrate", None) fd_non_iso = kwargs.get("fd_non_iso", False) @@ -491,6 +493,8 @@ def __init__( flags |= canstat.canOPEN_OVERRIDE_EXCLUSIVE if accept_virtual: flags |= canstat.canOPEN_ACCEPT_VIRTUAL + if no_init_access: + flags |= canstat.canOPEN_NO_INIT_ACCESS if fd: if fd_non_iso: flags |= canstat.canOPEN_CAN_FD_NONISO diff --git a/test/test_kvaser.py b/test/test_kvaser.py index c18b3bc15..1ad035dec 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -277,6 +277,19 @@ def test_bus_get_stats(self): self.assertTrue(canlib.canGetBusStatistics.called) self.assertIsInstance(stats, canlib.structures.BusStatistics) + def test_bus_no_init_access(self): + canlib.canOpenChannel.reset_mock() + bus = can.Bus(interface="kvaser", channel=0, no_init_access=True) + + self.assertGreater(canlib.canOpenChannel.call_count, 0) + for call in canlib.canOpenChannel.call_args_list: + self.assertEqual( + call[0][1] & constants.canOPEN_NO_INIT_ACCESS, + constants.canOPEN_NO_INIT_ACCESS, + ) + + bus.shutdown() + @staticmethod def canGetNumberOfChannels(count): count._obj.value = 2 From 85b1cb2dd19f781d8ff2aa224b814dddbda6e037 Mon Sep 17 00:00:00 2001 From: ssj71 Date: Tue, 22 Jul 2025 04:51:31 -0700 Subject: [PATCH 420/475] Add FD support to slcan according to CANable 2.0 impementation (#1920) * add FD support to slcan according to CANable 2.0 impementation * allow 0 data bitrate to allow non-FD settings * make interface more consistent with other HW * proper DLC handling for FD frames in slcan * adding tests for slcan FD support * black formatting * adding optional keyword to optional arg --------- Co-authored-by: spencer --- can/interfaces/slcan.py | 77 ++++++++++-- test/test_slcan.py | 258 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 328 insertions(+), 7 deletions(-) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index c51b298cc..01ba9c995 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -16,7 +16,12 @@ CanOperationError, error_check, ) -from can.util import check_or_adjust_timing_clock, deprecated_args_alias +from can.util import ( + CAN_FD_DLC, + check_or_adjust_timing_clock, + deprecated_args_alias, + len2dlc, +) logger = logging.getLogger(__name__) @@ -48,6 +53,11 @@ class slcanBus(BusABC): 1000000: "S8", 83300: "S9", } + _DATA_BITRATES = { + 0: "", + 2000000: "Y2", + 5000000: "Y5", + } _SLEEP_AFTER_SERIAL_OPEN = 2 # in seconds @@ -86,7 +96,8 @@ def __init__( If this argument is set then it overrides the bitrate and btr arguments. The `f_clock` value of the timing instance must be set to 8_000_000 (8MHz) for standard CAN. - CAN FD and the :class:`~can.BitTimingFd` class are not supported. + CAN FD and the :class:`~can.BitTimingFd` class have partial support according to the non-standard + slcan protocol implementation in the CANABLE 2.0 firmware: currently only data rates of 2M and 5M. :param poll_interval: Poll interval in seconds when reading messages :param sleep_after_open: @@ -143,9 +154,7 @@ def __init__( timing = check_or_adjust_timing_clock(timing, valid_clocks=[8_000_000]) self.set_bitrate_reg(f"{timing.btr0:02X}{timing.btr1:02X}") elif isinstance(timing, BitTimingFd): - raise NotImplementedError( - f"CAN FD is not supported by {self.__class__.__name__}." - ) + self.set_bitrate(timing.nom_bitrate, timing.data_bitrate) else: if bitrate is not None and btr is not None: raise ValueError("Bitrate and btr mutually exclusive.") @@ -157,10 +166,12 @@ def __init__( super().__init__(channel, **kwargs) - def set_bitrate(self, bitrate: int) -> None: + def set_bitrate(self, bitrate: int, data_bitrate: Optional[int] = None) -> None: """ :param bitrate: Bitrate in bit/s + :param data_bitrate: + Data Bitrate in bit/s for FD frames :raise ValueError: if ``bitrate`` is not among the possible values """ @@ -169,9 +180,15 @@ def set_bitrate(self, bitrate: int) -> None: else: bitrates = ", ".join(str(k) for k in self._BITRATES.keys()) raise ValueError(f"Invalid bitrate, choose one of {bitrates}.") + if data_bitrate in self._DATA_BITRATES: + dbitrate_code = self._DATA_BITRATES[data_bitrate] + else: + dbitrates = ", ".join(str(k) for k in self._DATA_BITRATES.keys()) + raise ValueError(f"Invalid data bitrate, choose one of {dbitrates}.") self.close() self._write(bitrate_code) + self._write(dbitrate_code) self.open() def set_bitrate_reg(self, btr: str) -> None: @@ -235,6 +252,8 @@ def _recv_internal( remote = False extended = False data = None + isFd = False + fdBrs = False if self._queue.qsize(): string: Optional[str] = self._queue.get_nowait() @@ -268,6 +287,34 @@ def _recv_internal( dlc = int(string[9]) extended = True remote = True + elif string[0] == "d": + # FD standard frame + canId = int(string[1:4], 16) + dlc = int(string[4], 16) + isFd = True + data = bytearray.fromhex(string[5 : 5 + CAN_FD_DLC[dlc] * 2]) + elif string[0] == "D": + # FD extended frame + canId = int(string[1:9], 16) + dlc = int(string[9], 16) + extended = True + isFd = True + data = bytearray.fromhex(string[10 : 10 + CAN_FD_DLC[dlc] * 2]) + elif string[0] == "b": + # FD with bitrate switch + canId = int(string[1:4], 16) + dlc = int(string[4], 16) + isFd = True + fdBrs = True + data = bytearray.fromhex(string[5 : 5 + CAN_FD_DLC[dlc] * 2]) + elif string[0] == "B": + # FD extended with bitrate switch + canId = int(string[1:9], 16) + dlc = int(string[9], 16) + extended = True + isFd = True + fdBrs = True + data = bytearray.fromhex(string[10 : 10 + CAN_FD_DLC[dlc] * 2]) if canId is not None: msg = Message( @@ -275,7 +322,9 @@ def _recv_internal( is_extended_id=extended, timestamp=time.time(), # Better than nothing... is_remote_frame=remote, - dlc=dlc, + is_fd=isFd, + bitrate_switch=fdBrs, + dlc=CAN_FD_DLC[dlc], data=data, ) return msg, False @@ -289,6 +338,20 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: sendStr = f"R{msg.arbitration_id:08X}{msg.dlc:d}" else: sendStr = f"r{msg.arbitration_id:03X}{msg.dlc:d}" + elif msg.is_fd: + fd_dlc = len2dlc(msg.dlc) + if msg.bitrate_switch: + if msg.is_extended_id: + sendStr = f"B{msg.arbitration_id:08X}{fd_dlc:X}" + else: + sendStr = f"b{msg.arbitration_id:03X}{fd_dlc:X}" + sendStr += msg.data.hex().upper() + else: + if msg.is_extended_id: + sendStr = f"D{msg.arbitration_id:08X}{fd_dlc:X}" + else: + sendStr = f"d{msg.arbitration_id:03X}{fd_dlc:X}" + sendStr += msg.data.hex().upper() else: if msg.is_extended_id: sendStr = f"T{msg.arbitration_id:08X}{msg.dlc:d}" diff --git a/test/test_slcan.py b/test/test_slcan.py index 220a6d7e0..491800e24 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -178,6 +178,264 @@ def test_send_extended_remote(self): rx_msg = self.bus.recv(TIMEOUT) self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + def test_recv_fd(self): + self.serial.set_input_buffer(b"d123A303132333435363738393a3b3c3d3e3f\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x123) + self.assertEqual(msg.is_extended_id, False) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.is_fd, True) + self.assertEqual(msg.bitrate_switch, False) + self.assertEqual(msg.dlc, 16) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd(self): + payload = b"d123A303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x123, + is_extended_id=False, + is_fd=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + + def test_recv_fd_extended(self): + self.serial.set_input_buffer(b"D12ABCDEFA303132333435363738393A3B3C3D3E3F\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x12ABCDEF) + self.assertEqual(msg.is_extended_id, True) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.dlc, 16) + self.assertEqual(msg.bitrate_switch, False) + self.assertTrue(msg.is_fd) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd_extended(self): + payload = b"D12ABCDEFA303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x12ABCDEF, + is_extended_id=True, + is_fd=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + + def test_recv_fd_brs(self): + self.serial.set_input_buffer(b"b123A303132333435363738393a3b3c3d3e3f\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x123) + self.assertEqual(msg.is_extended_id, False) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.is_fd, True) + self.assertEqual(msg.bitrate_switch, True) + self.assertEqual(msg.dlc, 16) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd_brs(self): + payload = b"b123A303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x123, + is_extended_id=False, + is_fd=True, + bitrate_switch=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + + def test_recv_fd_brs_extended(self): + self.serial.set_input_buffer(b"B12ABCDEFA303132333435363738393A3B3C3D3E3F\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x12ABCDEF) + self.assertEqual(msg.is_extended_id, True) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.dlc, 16) + self.assertEqual(msg.bitrate_switch, True) + self.assertTrue(msg.is_fd) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd_brs_extended(self): + payload = b"B12ABCDEFA303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x12ABCDEF, + is_extended_id=True, + is_fd=True, + bitrate_switch=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + def test_partial_recv(self): self.serial.set_input_buffer(b"T12ABCDEF") msg = self.bus.recv(TIMEOUT) From 32f07c3117cf9d3c3a20d7a91c271523144a0ad1 Mon Sep 17 00:00:00 2001 From: Greg Brooks Date: Tue, 22 Jul 2025 13:00:13 +0100 Subject: [PATCH 421/475] Convert BusState to enum when read with configparser (#1957) * Convert BusState to enum when read with configparser (#1956) * Move BusState conversion to util.py (#1956) * Check state argument type before attempting conversion (#1956) * Add tests (#1956) * Fix formatting (#1956) * Compare enums by identity (#1956) --------- Co-authored-by: Greg Brooks --- can/util.py | 6 ++++++ doc/interfaces/pcan.rst | 2 +- test/test_util.py | 23 +++++++++++++++++++++++ 3 files changed, 30 insertions(+), 1 deletion(-) diff --git a/can/util.py b/can/util.py index 2f32dda8e..895c721ae 100644 --- a/can/util.py +++ b/can/util.py @@ -249,6 +249,12 @@ def _create_bus_config(config: dict[str, Any]) -> typechecking.BusConfig: if "fd" in config: config["fd"] = config["fd"] not in (0, False) + if "state" in config and not isinstance(config["state"], can.BusState): + try: + config["state"] = can.BusState[config["state"]] + except KeyError as e: + raise ValueError("State config not valid!") from e + return cast("typechecking.BusConfig", config) diff --git a/doc/interfaces/pcan.rst b/doc/interfaces/pcan.rst index 2f73dd3a7..48e7dba05 100644 --- a/doc/interfaces/pcan.rst +++ b/doc/interfaces/pcan.rst @@ -15,7 +15,7 @@ Here is an example configuration file for using `PCAN-USB None: From 7bc904e66a84e30e8fd669731c452fd8174118e3 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Wed, 23 Jul 2025 10:42:28 +0200 Subject: [PATCH 422/475] Improve can.io type annotations (#1951) --- .github/workflows/ci.yml | 2 +- can/_entry_points.py | 2 +- can/io/asc.py | 4 - can/io/blf.py | 46 +++---- can/io/canutils.py | 11 +- can/io/csv.py | 7 +- can/io/generic.py | 273 +++++++++++++++++++++++++++++---------- can/io/logger.py | 59 +++++---- can/io/player.py | 29 ++--- can/io/printer.py | 27 ++-- can/io/sqlite.py | 49 +++---- can/io/trc.py | 22 ++-- can/listener.py | 4 +- can/typechecking.py | 30 ++--- can/util.py | 4 +- doc/conf.py | 6 + doc/file_io.rst | 2 +- doc/internal-api.rst | 10 +- doc/notifier.rst | 3 +- test/logformats_test.py | 21 +-- 20 files changed, 373 insertions(+), 238 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 588d9a96b..ec5c1bbac 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -76,7 +76,7 @@ jobs: - name: Set up Python uses: actions/setup-python@v5 with: - python-version: "3.10" + python-version: "3.13" - name: Install dependencies run: | python -m pip install --upgrade pip diff --git a/can/_entry_points.py b/can/_entry_points.py index e8ce92d7c..6320b797b 100644 --- a/can/_entry_points.py +++ b/can/_entry_points.py @@ -30,5 +30,5 @@ def read_entry_points(group: str) -> list[_EntryPoint]: def read_entry_points(group: str) -> list[_EntryPoint]: return [ _EntryPoint(ep.name, *ep.value.split(":", maxsplit=1)) - for ep in entry_points().get(group, []) + for ep in entry_points().get(group, []) # pylint: disable=no-member ] diff --git a/can/io/asc.py b/can/io/asc.py index 0bea823fd..e917953ff 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -39,8 +39,6 @@ class ASCReader(TextIOMessageReader): bus statistics, J1939 Transport Protocol messages) is ignored. """ - file: TextIO - def __init__( self, file: Union[StringPathLike, TextIO], @@ -322,8 +320,6 @@ class ASCWriter(TextIOMessageWriter): It the first message does not have a timestamp, it is set to zero. """ - file: TextIO - FORMAT_MESSAGE = "{channel} {id:<15} {dir:<4} {dtype} {data}" FORMAT_MESSAGE_FD = " ".join( [ diff --git a/can/io/blf.py b/can/io/blf.py index 6a1231fcc..2c9050d54 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,14 +17,14 @@ import struct import time import zlib -from collections.abc import Generator +from collections.abc import Generator, Iterator from decimal import Decimal from typing import Any, BinaryIO, Optional, Union, cast from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc -from .generic import BinaryIOMessageReader, FileIOMessageWriter +from .generic import BinaryIOMessageReader, BinaryIOMessageWriter TSystemTime = tuple[int, int, int, int, int, int, int, int] @@ -104,7 +104,7 @@ class BLFParseError(Exception): TIME_ONE_NANS_FACTOR = Decimal("1e-9") -def timestamp_to_systemtime(timestamp: float) -> TSystemTime: +def timestamp_to_systemtime(timestamp: Optional[float]) -> TSystemTime: if timestamp is None or timestamp < 631152000: # Probably not a Unix timestamp return 0, 0, 0, 0, 0, 0, 0, 0 @@ -146,8 +146,6 @@ class BLFReader(BinaryIOMessageReader): silently ignored. """ - file: BinaryIO - def __init__( self, file: Union[StringPathLike, BinaryIO], @@ -206,7 +204,7 @@ def __iter__(self) -> Generator[Message, None, None]: yield from self._parse_container(data) self.stop() - def _parse_container(self, data): + def _parse_container(self, data: bytes) -> Iterator[Message]: if self._tail: data = b"".join((self._tail, data)) try: @@ -217,7 +215,7 @@ def _parse_container(self, data): # Save the remaining data that could not be processed self._tail = data[self._pos :] - def _parse_data(self, data): + def _parse_data(self, data: bytes) -> Iterator[Message]: """Optimized inner loop by making local copies of global variables and class members and hardcoding some values.""" unpack_obj_header_base = OBJ_HEADER_BASE_STRUCT.unpack_from @@ -375,13 +373,11 @@ def _parse_data(self, data): pos = next_pos -class BLFWriter(FileIOMessageWriter): +class BLFWriter(BinaryIOMessageWriter): """ Logs CAN data to a Binary Logging File compatible with Vector's tools. """ - file: BinaryIO - #: Max log container size of uncompressed data max_container_size = 128 * 1024 @@ -412,14 +408,12 @@ def __init__( Z_DEFAULT_COMPRESSION represents a default compromise between speed and compression (currently equivalent to level 6). """ - mode = "rb+" if append else "wb" try: - super().__init__(file, mode=mode) + super().__init__(file, mode="rb+" if append else "wb") except FileNotFoundError: # Trying to append to a non-existing file, create a new one append = False - mode = "wb" - super().__init__(file, mode=mode) + super().__init__(file, mode="wb") assert self.file is not None self.channel = channel self.compression_level = compression_level @@ -452,7 +446,7 @@ def __init__( # Write a default header which will be updated when stopped self._write_header(FILE_HEADER_SIZE) - def _write_header(self, filesize): + def _write_header(self, filesize: int) -> None: header = [b"LOGG", FILE_HEADER_SIZE, self.application_id, 0, 0, 0, 2, 6, 8, 1] # The meaning of "count of objects read" is unknown header.extend([filesize, self.uncompressed_size, self.object_count, 0]) @@ -462,7 +456,7 @@ def _write_header(self, filesize): # Pad to header size self.file.write(b"\x00" * (FILE_HEADER_SIZE - FILE_HEADER_STRUCT.size)) - def on_message_received(self, msg): + def on_message_received(self, msg: Message) -> None: channel = channel2int(msg.channel) if channel is None: channel = self.channel @@ -514,7 +508,7 @@ def on_message_received(self, msg): data = CAN_MSG_STRUCT.pack(channel, flags, msg.dlc, arb_id, can_data) self._add_object(CAN_MESSAGE, data, msg.timestamp) - def log_event(self, text, timestamp=None): + def log_event(self, text: str, timestamp: Optional[float] = None) -> None: """Add an arbitrary message to the log file as a global marker. :param str text: @@ -525,17 +519,19 @@ def log_event(self, text, timestamp=None): """ try: # Only works on Windows - text = text.encode("mbcs") + encoded = text.encode("mbcs") except LookupError: - text = text.encode("ascii") + encoded = text.encode("ascii") comment = b"Added by python-can" marker = b"python-can" data = GLOBAL_MARKER_STRUCT.pack( - 0, 0xFFFFFF, 0xFF3300, 0, len(text), len(marker), len(comment) + 0, 0xFFFFFF, 0xFF3300, 0, len(encoded), len(marker), len(comment) ) - self._add_object(GLOBAL_MARKER, data + text + marker + comment, timestamp) + self._add_object(GLOBAL_MARKER, data + encoded + marker + comment, timestamp) - def _add_object(self, obj_type, data, timestamp=None): + def _add_object( + self, obj_type: int, data: bytes, timestamp: Optional[float] = None + ) -> None: if timestamp is None: timestamp = self.stop_timestamp or time.time() if self.start_timestamp is None: @@ -564,7 +560,7 @@ def _add_object(self, obj_type, data, timestamp=None): if self._buffer_size >= self.max_container_size: self._flush() - def _flush(self): + def _flush(self) -> None: """Compresses and writes data in the buffer to file.""" if self.file.closed: return @@ -578,7 +574,7 @@ def _flush(self): self._buffer = [tail] self._buffer_size = len(tail) if not self.compression_level: - data = uncompressed_data + data: "Union[bytes, memoryview[int]]" = uncompressed_data # noqa: UP037 method = NO_COMPRESSION else: data = zlib.compress(uncompressed_data, self.compression_level) @@ -601,7 +597,7 @@ def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" return self.file.tell() + self._buffer_size - def stop(self): + def stop(self) -> None: """Stops logging and closes the file.""" self._flush() if self.file.seekable(): diff --git a/can/io/canutils.py b/can/io/canutils.py index e83c21926..78d081637 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -6,7 +6,7 @@ import logging from collections.abc import Generator -from typing import Any, TextIO, Union +from typing import Any, Optional, TextIO, Union from can.message import Message @@ -34,8 +34,6 @@ class CanutilsLogReader(TextIOMessageReader): ``(0.0) vcan0 001#8d00100100820100`` """ - file: TextIO - def __init__( self, file: Union[StringPathLike, TextIO], @@ -148,13 +146,12 @@ def __init__( :param bool append: if set to `True` messages are appended to the file, else the file is truncated """ - mode = "a" if append else "w" - super().__init__(file, mode=mode) + super().__init__(file, mode="a" if append else "w") self.channel = channel - self.last_timestamp = None + self.last_timestamp: Optional[float] = None - def on_message_received(self, msg): + def on_message_received(self, msg: Message) -> None: # this is the case for the very first message: if self.last_timestamp is None: self.last_timestamp = msg.timestamp or 0.0 diff --git a/can/io/csv.py b/can/io/csv.py index dcc7996f7..865ef9af0 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -28,8 +28,6 @@ class CSVReader(TextIOMessageReader): Any line separator is accepted. """ - file: TextIO - def __init__( self, file: Union[StringPathLike, TextIO], @@ -89,8 +87,6 @@ class CSVWriter(TextIOMessageWriter): Each line is terminated with a platform specific line separator. """ - file: TextIO - def __init__( self, file: Union[StringPathLike, TextIO], @@ -106,8 +102,7 @@ def __init__( the file is truncated and starts with a newly written header line """ - mode = "a" if append else "w" - super().__init__(file, mode=mode) + super().__init__(file, mode="a" if append else "w") # Write a header row if not append: diff --git a/can/io/generic.py b/can/io/generic.py index 82523c3cd..21fc3e8e8 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -1,129 +1,260 @@ -"""Contains generic base classes for file IO.""" +"""This module provides abstract base classes for CAN message reading and writing operations +to various file formats. + +.. note:: + All classes in this module are abstract and should be subclassed to implement + specific file format handling. +""" -import gzip import locale -from abc import ABCMeta +import os +from abc import ABC, abstractmethod from collections.abc import Iterable from contextlib import AbstractContextManager +from io import BufferedIOBase, TextIOWrapper +from pathlib import Path from types import TracebackType from typing import ( + TYPE_CHECKING, Any, BinaryIO, + Generic, Literal, Optional, TextIO, + TypeVar, Union, - cast, ) from typing_extensions import Self -from .. import typechecking from ..listener import Listener from ..message import Message +from ..typechecking import FileLike, StringPathLike +if TYPE_CHECKING: + from _typeshed import ( + OpenBinaryModeReading, + OpenBinaryModeUpdating, + OpenBinaryModeWriting, + OpenTextModeReading, + OpenTextModeUpdating, + OpenTextModeWriting, + ) -class BaseIOHandler(AbstractContextManager): - """A generic file handler that can be used for reading and writing. - Can be used as a context manager. +#: type parameter used in generic classes :class:`MessageReader` and :class:`MessageWriter` +_IoTypeVar = TypeVar("_IoTypeVar", bound=FileLike) - :attr file: - the file-like object that is kept internally, or `None` if none - was opened - """ - file: Optional[typechecking.FileLike] +class MessageWriter(AbstractContextManager["MessageWriter"], Listener, ABC): + """Abstract base class for all CAN message writers. - def __init__( - self, - file: Optional[typechecking.AcceptedIOType], - mode: str = "rt", - **kwargs: Any, - ) -> None: - """ - :param file: a path-like object to open a file, a file-like object - to be used as a file or `None` to not use a file at all - :param mode: the mode that should be used to open the file, see - :func:`open`, ignored if *file* is `None` - """ - if file is None or (hasattr(file, "read") and hasattr(file, "write")): - # file is None or some file-like object - self.file = cast("Optional[typechecking.FileLike]", file) - else: - encoding: Optional[str] = ( - None - if "b" in mode - else kwargs.get("encoding", locale.getpreferredencoding(False)) - ) - # pylint: disable=consider-using-with - # file is some path-like object - self.file = cast( - "typechecking.FileLike", open(file, mode, encoding=encoding) - ) + This class serves as a foundation for implementing different message writer formats. + It combines context manager capabilities with the message listener interface. - # for multiple inheritance - super().__init__() + :param file: Path-like object or string representing the output file location + :param kwargs: Additional keyword arguments for specific writer implementations + """ + + @abstractmethod + def __init__(self, file: StringPathLike, **kwargs: Any) -> None: + pass + + @abstractmethod + def stop(self) -> None: + """Stop handling messages and cleanup any resources.""" def __enter__(self) -> Self: + """Enter the context manager.""" return self def __exit__( self, exc_type: Optional[type[BaseException]], - exc_val: Optional[BaseException], - exc_tb: Optional[TracebackType], + exc_value: Optional[BaseException], + traceback: Optional[TracebackType], ) -> Literal[False]: + """Exit the context manager and ensure proper cleanup.""" self.stop() return False + +class SizedMessageWriter(MessageWriter, ABC): + """Abstract base class for message writers that can report their file size. + + This class extends :class:`MessageWriter` with the ability to determine the size + of the output file. + """ + + @abstractmethod + def file_size(self) -> int: + """Get the current size of the output file in bytes. + + :return: The size of the file in bytes + :rtype: int + """ + + +class FileIOMessageWriter(SizedMessageWriter, Generic[_IoTypeVar]): + """Base class for writers that operate on file descriptors. + + This class provides common functionality for writers that work with file objects. + + :param file: A path-like object or file object to write to + :param kwargs: Additional keyword arguments for specific writer implementations + + :ivar file: The file object being written to + """ + + file: _IoTypeVar + + @abstractmethod + def __init__(self, file: Union[StringPathLike, _IoTypeVar], **kwargs: Any) -> None: + pass + def stop(self) -> None: - """Closes the underlying file-like object and flushes it, if it was opened in write mode.""" - if self.file is not None: - # this also implies a flush() - self.file.close() + """Close the file and stop writing.""" + self.file.close() + def file_size(self) -> int: + """Get the current file size.""" + return self.file.tell() -class MessageWriter(BaseIOHandler, Listener, metaclass=ABCMeta): - """The base class for all writers.""" - file: Optional[typechecking.FileLike] +class TextIOMessageWriter(FileIOMessageWriter[Union[TextIO, TextIOWrapper]], ABC): + """Text-based message writer implementation. + :param file: Text file to write to + :param mode: File open mode for text operations + :param kwargs: Additional arguments like encoding + """ + + def __init__( + self, + file: Union[StringPathLike, TextIO, TextIOWrapper], + mode: "Union[OpenTextModeUpdating, OpenTextModeWriting]" = "w", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + encoding: str = kwargs.get("encoding", locale.getpreferredencoding(False)) + # pylint: disable=consider-using-with + self.file = Path(file).open(mode=mode, encoding=encoding) + else: + self.file = file -class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): - """A specialized base class for all writers with file descriptors.""" - file: typechecking.FileLike +class BinaryIOMessageWriter(FileIOMessageWriter[Union[BinaryIO, BufferedIOBase]], ABC): + """Binary file message writer implementation. + + :param file: Binary file to write to + :param mode: File open mode for binary operations + :param kwargs: Additional implementation specific arguments + """ def __init__( - self, file: typechecking.AcceptedIOType, mode: str = "wt", **kwargs: Any + self, + file: Union[StringPathLike, BinaryIO, BufferedIOBase], + mode: "Union[OpenBinaryModeUpdating, OpenBinaryModeWriting]" = "wb", + **kwargs: Any, ) -> None: - # Not possible with the type signature, but be verbose for user-friendliness - if file is None: - raise ValueError("The given file cannot be None") + if isinstance(file, (str, os.PathLike)): + # pylint: disable=consider-using-with,unspecified-encoding + self.file = Path(file).open(mode=mode) + else: + self.file = file - super().__init__(file, mode, **kwargs) - def file_size(self) -> int: - """Return an estimate of the current file size in bytes.""" - return self.file.tell() +class MessageReader(AbstractContextManager["MessageReader"], Iterable[Message], ABC): + """Abstract base class for all CAN message readers. + + This class serves as a foundation for implementing different message reader formats. + It combines context manager capabilities with iteration interface. + + :param file: Path-like object or string representing the input file location + :param kwargs: Additional keyword arguments for specific reader implementations + """ + + @abstractmethod + def __init__(self, file: StringPathLike, **kwargs: Any) -> None: + pass + + @abstractmethod + def stop(self) -> None: + """Stop reading messages and cleanup any resources.""" + + def __enter__(self) -> Self: + return self + + def __exit__( + self, + exc_type: Optional[type[BaseException]], + exc_value: Optional[BaseException], + traceback: Optional[TracebackType], + ) -> Literal[False]: + self.stop() + return False -class TextIOMessageWriter(FileIOMessageWriter, metaclass=ABCMeta): - file: TextIO +class FileIOMessageReader(MessageReader, Generic[_IoTypeVar]): + """Base class for readers that operate on file descriptors. + This class provides common functionality for readers that work with file objects. -class BinaryIOMessageWriter(FileIOMessageWriter, metaclass=ABCMeta): - file: Union[BinaryIO, gzip.GzipFile] + :param file: A path-like object or file object to read from + :param kwargs: Additional keyword arguments for specific reader implementations + :ivar file: The file object being read from + """ + + file: _IoTypeVar + + @abstractmethod + def __init__(self, file: Union[StringPathLike, _IoTypeVar], **kwargs: Any) -> None: + pass -class MessageReader(BaseIOHandler, Iterable[Message], metaclass=ABCMeta): - """The base class for all readers.""" + def stop(self) -> None: + self.file.close() -class TextIOMessageReader(MessageReader, metaclass=ABCMeta): - file: TextIO +class TextIOMessageReader(FileIOMessageReader[Union[TextIO, TextIOWrapper]], ABC): + """Text-based message reader implementation. + :param file: Text file to read from + :param mode: File open mode for text operations + :param kwargs: Additional arguments like encoding + """ -class BinaryIOMessageReader(MessageReader, metaclass=ABCMeta): - file: Union[BinaryIO, gzip.GzipFile] + def __init__( + self, + file: Union[StringPathLike, TextIO, TextIOWrapper], + mode: "OpenTextModeReading" = "r", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + encoding: str = kwargs.get("encoding", locale.getpreferredencoding(False)) + # pylint: disable=consider-using-with + self.file = Path(file).open(mode=mode, encoding=encoding) + else: + self.file = file + + +class BinaryIOMessageReader(FileIOMessageReader[Union[BinaryIO, BufferedIOBase]], ABC): + """Binary file message reader implementation. + + :param file: Binary file to read from + :param mode: File open mode for binary operations + :param kwargs: Additional implementation specific arguments + """ + + def __init__( + self, + file: Union[StringPathLike, BinaryIO, BufferedIOBase], + mode: "OpenBinaryModeReading" = "rb", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + # pylint: disable=consider-using-with,unspecified-encoding + self.file = Path(file).open(mode=mode) + else: + self.file = file diff --git a/can/io/logger.py b/can/io/logger.py index f9f029759..9febfe680 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -15,14 +15,13 @@ Final, Literal, Optional, - cast, ) from typing_extensions import Self from .._entry_points import read_entry_points from ..message import Message -from ..typechecking import AcceptedIOType, FileLike, StringPathLike +from ..typechecking import StringPathLike from .asc import ASCWriter from .blf import BLFWriter from .canutils import CanutilsLogWriter @@ -31,6 +30,8 @@ BinaryIOMessageWriter, FileIOMessageWriter, MessageWriter, + SizedMessageWriter, + TextIOMessageWriter, ) from .mf4 import MF4Writer from .printer import Printer @@ -71,9 +72,7 @@ def _get_logger_for_suffix(suffix: str) -> type[MessageWriter]: ) from None -def _compress( - filename: StringPathLike, **kwargs: Any -) -> tuple[type[MessageWriter], FileLike]: +def _compress(filename: StringPathLike, **kwargs: Any) -> FileIOMessageWriter[Any]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. @@ -93,11 +92,18 @@ def _compress( append = kwargs.get("append", False) if issubclass(logger_type, BinaryIOMessageWriter): - mode = "ab" if append else "wb" - else: - mode = "at" if append else "wt" + return logger_type( + file=gzip.open(filename=filename, mode="ab" if append else "wb"), **kwargs + ) + + elif issubclass(logger_type, TextIOMessageWriter): + return logger_type( + file=gzip.open(filename=filename, mode="at" if append else "wt"), **kwargs + ) - return logger_type, gzip.open(filename, mode) + raise ValueError( + f"The file type {real_suffix} is currently incompatible with gzip." + ) def Logger( # noqa: N802 @@ -143,12 +149,11 @@ def Logger( # noqa: N802 _update_writer_plugins() suffix = pathlib.PurePath(filename).suffix.lower() - file_or_filename: AcceptedIOType = filename if suffix == ".gz": - logger_type, file_or_filename = _compress(filename, **kwargs) - else: - logger_type = _get_logger_for_suffix(suffix) - return logger_type(file=file_or_filename, **kwargs) + return _compress(filename, **kwargs) + + logger_type = _get_logger_for_suffix(suffix) + return logger_type(file=filename, **kwargs) class BaseRotatingLogger(MessageWriter, ABC): @@ -183,13 +188,11 @@ class BaseRotatingLogger(MessageWriter, ABC): rollover_count: int = 0 def __init__(self, **kwargs: Any) -> None: - super().__init__(**{**kwargs, "file": None}) - self.writer_kwargs = kwargs @property @abstractmethod - def writer(self) -> FileIOMessageWriter: + def writer(self) -> MessageWriter: """This attribute holds an instance of a writer class which manages the actual file IO.""" raise NotImplementedError @@ -243,7 +246,7 @@ def on_message_received(self, msg: Message) -> None: self.writer.on_message_received(msg) - def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: + def _get_new_writer(self, filename: StringPathLike) -> MessageWriter: """Instantiate a new writer. .. note:: @@ -261,10 +264,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: if suffix not in self._supported_formats: continue logger = Logger(filename=filename, **self.writer_kwargs) - if isinstance(logger, FileIOMessageWriter): - return logger - elif isinstance(logger, Printer) and logger.file is not None: - return cast("FileIOMessageWriter", logger) + return logger raise ValueError( f'The log format of "{pathlib.Path(filename).name}" ' @@ -366,18 +366,25 @@ def __init__( self._writer = self._get_new_writer(self.base_filename) + def _get_new_writer(self, filename: StringPathLike) -> SizedMessageWriter: + writer = super()._get_new_writer(filename) + if isinstance(writer, SizedMessageWriter): + return writer + raise TypeError + @property - def writer(self) -> FileIOMessageWriter: + def writer(self) -> SizedMessageWriter: return self._writer def should_rollover(self, msg: Message) -> bool: if self.max_bytes <= 0: return False - if self.writer.file_size() >= self.max_bytes: - return True + file_size = self.writer.file_size() + if file_size is None: + return False - return False + return file_size >= self.max_bytes def do_rollover(self) -> None: if self.writer: diff --git a/can/io/player.py b/can/io/player.py index 2451eab41..c0015b185 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -11,17 +11,16 @@ from typing import ( Any, Final, - Union, ) from .._entry_points import read_entry_points from ..message import Message -from ..typechecking import AcceptedIOType, FileLike, StringPathLike +from ..typechecking import StringPathLike from .asc import ASCReader from .blf import BLFReader from .canutils import CanutilsLogReader from .csv import CSVReader -from .generic import BinaryIOMessageReader, MessageReader +from .generic import BinaryIOMessageReader, MessageReader, TextIOMessageReader from .mf4 import MF4Reader from .sqlite import SqliteReader from .trc import TRCReader @@ -58,24 +57,25 @@ def _get_logger_for_suffix(suffix: str) -> type[MessageReader]: raise ValueError(f'No read support for unknown log format "{suffix}"') from None -def _decompress( - filename: StringPathLike, -) -> tuple[type[MessageReader], Union[str, FileLike]]: +def _decompress(filename: StringPathLike, **kwargs: Any) -> MessageReader: """ Return the suffix and io object of the decompressed file. """ suffixes = pathlib.Path(filename).suffixes if len(suffixes) != 2: raise ValueError( - f"No write support for unknown log format \"{''.join(suffixes)}\"" - ) from None + f"No read support for unknown log format \"{''.join(suffixes)}\"" + ) real_suffix = suffixes[-2].lower() reader_type = _get_logger_for_suffix(real_suffix) - mode = "rb" if issubclass(reader_type, BinaryIOMessageReader) else "rt" + if issubclass(reader_type, TextIOMessageReader): + return reader_type(gzip.open(filename, mode="rt"), **kwargs) + elif issubclass(reader_type, BinaryIOMessageReader): + return reader_type(gzip.open(filename, mode="rb"), **kwargs) - return reader_type, gzip.open(filename, mode) + raise ValueError(f"No read support for unknown log format \"{''.join(suffixes)}\"") def LogReader(filename: StringPathLike, **kwargs: Any) -> MessageReader: # noqa: N802 @@ -118,12 +118,11 @@ def LogReader(filename: StringPathLike, **kwargs: Any) -> MessageReader: # noqa _update_reader_plugins() suffix = pathlib.PurePath(filename).suffix.lower() - file_or_filename: AcceptedIOType = filename if suffix == ".gz": - reader_type, file_or_filename = _decompress(filename) - else: - reader_type = _get_logger_for_suffix(suffix) - return reader_type(file=file_or_filename, **kwargs) + return _decompress(filename) + + reader_type = _get_logger_for_suffix(suffix) + return reader_type(file=filename, **kwargs) class MessageSync: diff --git a/can/io/printer.py b/can/io/printer.py index 30bc227ab..786cb7261 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -3,16 +3,18 @@ """ import logging -from typing import Any, Optional, TextIO, Union, cast +import sys +from io import TextIOWrapper +from typing import Any, TextIO, Union from ..message import Message from ..typechecking import StringPathLike -from .generic import MessageWriter +from .generic import TextIOMessageWriter log = logging.getLogger("can.io.printer") -class Printer(MessageWriter): +class Printer(TextIOMessageWriter): """ The Printer class is a subclass of :class:`~can.Listener` which simply prints any messages it receives to the terminal (stdout). A message is turned into a @@ -22,11 +24,9 @@ class Printer(MessageWriter): standard out """ - file: Optional[TextIO] - def __init__( self, - file: Optional[Union[StringPathLike, TextIO]] = None, + file: Union[StringPathLike, TextIO, TextIOWrapper] = sys.stdout, append: bool = False, **kwargs: Any, ) -> None: @@ -38,18 +38,17 @@ def __init__( :param append: If set to `True` messages, are appended to the file, else the file is truncated """ - self.write_to_file = file is not None - mode = "a" if append else "w" - super().__init__(file, mode=mode) + super().__init__(file, mode="a" if append else "w") def on_message_received(self, msg: Message) -> None: - if self.write_to_file: - cast("TextIO", self.file).write(str(msg) + "\n") - else: - print(msg) # noqa: T201 + self.file.write(str(msg) + "\n") def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" - if self.file is not None: + if self.file is not sys.stdout: return self.file.tell() return 0 + + def stop(self) -> None: + if self.file is not sys.stdout: + super().stop() diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 686e2d038..73aa2961c 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -8,9 +8,11 @@ import sqlite3 import threading import time -from collections.abc import Generator +from collections.abc import Generator, Iterator from typing import Any +from typing_extensions import TypeAlias + from can.listener import BufferedReader from can.message import Message @@ -19,6 +21,8 @@ log = logging.getLogger("can.io.sqlite") +_MessageTuple: TypeAlias = "tuple[float, int, bool, bool, bool, int, memoryview[int]]" + class SqliteReader(MessageReader): """ @@ -49,7 +53,6 @@ def __init__( do not accept file-like objects as the `file` parameter. It also runs in ``append=True`` mode all the time. """ - super().__init__(file=None) self._conn = sqlite3.connect(file) self._cursor = self._conn.cursor() self.table_name = table_name @@ -59,7 +62,7 @@ def __iter__(self) -> Generator[Message, None, None]: yield SqliteReader._assemble_message(frame_data) @staticmethod - def _assemble_message(frame_data): + def _assemble_message(frame_data: _MessageTuple) -> Message: timestamp, can_id, is_extended, is_remote, is_error, dlc, data = frame_data return Message( timestamp=timestamp, @@ -71,12 +74,12 @@ def _assemble_message(frame_data): data=data, ) - def __len__(self): + def __len__(self) -> int: # this might not run in constant time result = self._cursor.execute(f"SELECT COUNT(*) FROM {self.table_name}") return int(result.fetchone()[0]) - def read_all(self): + def read_all(self) -> Iterator[Message]: """Fetches all messages in the database. :rtype: Generator[can.Message] @@ -84,9 +87,8 @@ def read_all(self): result = self._cursor.execute(f"SELECT * FROM {self.table_name}").fetchall() return (SqliteReader._assemble_message(frame) for frame in result) - def stop(self): + def stop(self) -> None: """Closes the connection to the database.""" - super().stop() self._conn.close() @@ -154,11 +156,10 @@ def __init__( f"The append argument should not be used in " f"conjunction with the {self.__class__.__name__}." ) - super().__init__(file=None) + BufferedReader.__init__(self) self.table_name = table_name self._db_filename = file self._stop_running_event = threading.Event() - self._conn = None self._writer_thread = threading.Thread(target=self._db_writer_thread) self._writer_thread.start() self.num_frames = 0 @@ -167,7 +168,8 @@ def __init__( f"INSERT INTO {self.table_name} VALUES (?, ?, ?, ?, ?, ?, ?)" ) - def _create_db(self): + @staticmethod + def _create_db(file: StringPathLike, table_name: str) -> sqlite3.Connection: """Creates a new databae or opens a connection to an existing one. .. note:: @@ -175,11 +177,11 @@ def _create_db(self): hence we setup the db here. It has the upside of running async. """ log.debug("Creating sqlite database") - self._conn = sqlite3.connect(self._db_filename) + conn = sqlite3.connect(file) # create table structure - self._conn.cursor().execute( - f"""CREATE TABLE IF NOT EXISTS {self.table_name} + conn.cursor().execute( + f"""CREATE TABLE IF NOT EXISTS {table_name} ( ts REAL, arbitration_id INTEGER, @@ -190,14 +192,16 @@ def _create_db(self): data BLOB )""" ) - self._conn.commit() + conn.commit() + + return conn - def _db_writer_thread(self): - self._create_db() + def _db_writer_thread(self) -> None: + conn = SqliteWriter._create_db(self._db_filename, self.table_name) try: while True: - messages = [] # reset buffer + messages: list[_MessageTuple] = [] # reset buffer msg = self.get_message(self.GET_MESSAGE_TIMEOUT) while msg is not None: @@ -226,10 +230,10 @@ def _db_writer_thread(self): count = len(messages) if count > 0: - with self._conn: + with conn: # log.debug("Writing %d frames to db", count) - self._conn.executemany(self._insert_template, messages) - self._conn.commit() # make the changes visible to the entire database + conn.executemany(self._insert_template, messages) + conn.commit() # make the changes visible to the entire database self.num_frames += count self.last_write = time.time() @@ -238,14 +242,13 @@ def _db_writer_thread(self): break finally: - self._conn.close() + conn.close() log.info("Stopped sqlite writer after writing %d messages", self.num_frames) - def stop(self): + def stop(self) -> None: """Stops the reader an writes all remaining messages to the database. Thus, this might take a while and block. """ BufferedReader.stop(self) self._stop_running_event.set() self._writer_thread.join() - MessageReader.stop(self) diff --git a/can/io/trc.py b/can/io/trc.py index e1eaa077c..fa8ee88e7 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -12,6 +12,7 @@ from collections.abc import Generator from datetime import datetime, timedelta, timezone from enum import Enum +from io import TextIOWrapper from typing import Any, Callable, Optional, TextIO, Union from ..message import Message @@ -31,8 +32,8 @@ class TRCFileVersion(Enum): V2_0 = 200 V2_1 = 201 - def __ge__(self, other): - if self.__class__ is other.__class__: + def __ge__(self, other: Any) -> bool: + if isinstance(other, TRCFileVersion): return self.value >= other.value return NotImplemented @@ -42,8 +43,6 @@ class TRCReader(TextIOMessageReader): Iterator of CAN messages from a TRC logging file. """ - file: TextIO - def __init__( self, file: Union[StringPathLike, TextIO], @@ -73,7 +72,7 @@ def start_time(self) -> Optional[datetime]: return datetime.fromtimestamp(self._start_time, timezone.utc) return None - def _extract_header(self): + def _extract_header(self) -> str: line = "" for _line in self.file: line = _line.strip() @@ -286,9 +285,6 @@ class TRCWriter(TextIOMessageWriter): If the first message does not have a timestamp, it is set to zero. """ - file: TextIO - first_timestamp: Optional[float] - FORMAT_MESSAGE = ( "{msgnr:>7} {time:13.3f} DT {channel:>2} {id:>8} {dir:>2} - {dlc:<4} {data}" ) @@ -296,7 +292,7 @@ class TRCWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: Union[StringPathLike, TextIO, TextIOWrapper], channel: int = 1, **kwargs: Any, ) -> None: @@ -318,7 +314,7 @@ def __init__( self.filepath = os.path.abspath(self.file.name) self.header_written = False self.msgnr = 0 - self.first_timestamp = None + self.first_timestamp: Optional[float] = None self.file_version = TRCFileVersion.V2_1 self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 self._format_message = self._format_message_init @@ -370,7 +366,7 @@ def _write_header_v2_1(self, start_time: datetime) -> None: ] self.file.writelines(line + "\n" for line in lines) - def _format_message_by_format(self, msg, channel): + def _format_message_by_format(self, msg: Message, channel: int) -> str: if msg.is_extended_id: arb_id = f"{msg.arbitration_id:07X}" else: @@ -378,6 +374,8 @@ def _format_message_by_format(self, msg, channel): data = [f"{byte:02X}" for byte in msg.data] + if self.first_timestamp is None: + raise ValueError serialized = self._msg_fmt_string.format( msgnr=self.msgnr, time=(msg.timestamp - self.first_timestamp) * 1000, @@ -389,7 +387,7 @@ def _format_message_by_format(self, msg, channel): ) return serialized - def _format_message_init(self, msg, channel): + def _format_message_init(self, msg: Message, channel: int) -> str: if self.file_version == TRCFileVersion.V1_0: self._format_message = self._format_message_by_format self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 diff --git a/can/listener.py b/can/listener.py index b450cf36d..6256d33b6 100644 --- a/can/listener.py +++ b/can/listener.py @@ -147,7 +147,9 @@ def __init__(self, **kwargs: Any) -> None: stacklevel=2, ) if sys.version_info < (3, 10): - self.buffer = asyncio.Queue(loop=kwargs["loop"]) + self.buffer = asyncio.Queue( # pylint: disable=unexpected-keyword-arg + loop=kwargs["loop"] + ) return self.buffer = asyncio.Queue() diff --git a/can/typechecking.py b/can/typechecking.py index 36343ddaa..fc0c87c0d 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -1,9 +1,9 @@ """Types for mypy type-checking""" -import gzip -import struct +import io import sys -import typing +from collections.abc import Iterable, Sequence +from typing import IO, TYPE_CHECKING, Any, NewType, Union if sys.version_info >= (3, 10): from typing import TypeAlias @@ -16,8 +16,9 @@ from typing_extensions import TypedDict -if typing.TYPE_CHECKING: +if TYPE_CHECKING: import os + import struct class CanFilter(TypedDict): @@ -31,32 +32,31 @@ class CanFilterExtended(TypedDict): extended: bool -CanFilters = typing.Sequence[typing.Union[CanFilter, CanFilterExtended]] +CanFilters = Sequence[Union[CanFilter, CanFilterExtended]] # TODO: Once buffer protocol support lands in typing, we should switch to that, # since can.message.Message attempts to call bytearray() on the given data, so # this should have the same typing info. # # See: https://github.com/python/typing/issues/593 -CanData = typing.Union[bytes, bytearray, int, typing.Iterable[int]] +CanData = Union[bytes, bytearray, int, Iterable[int]] # Used for the Abstract Base Class ChannelStr = str ChannelInt = int -Channel = typing.Union[ChannelInt, ChannelStr] +Channel = Union[ChannelInt, ChannelStr, Sequence[ChannelInt]] # Used by the IO module -FileLike = typing.Union[typing.TextIO, typing.BinaryIO, gzip.GzipFile] -StringPathLike = typing.Union[str, "os.PathLike[str]"] -AcceptedIOType = typing.Union[FileLike, StringPathLike] +FileLike = Union[IO[Any], io.TextIOWrapper, io.BufferedIOBase] +StringPathLike = Union[str, "os.PathLike[str]"] -BusConfig = typing.NewType("BusConfig", dict[str, typing.Any]) +BusConfig = NewType("BusConfig", dict[str, Any]) # Used by CLI scripts -TAdditionalCliArgs: TypeAlias = dict[str, typing.Union[str, int, float, bool]] +TAdditionalCliArgs: TypeAlias = dict[str, Union[str, int, float, bool]] TDataStructs: TypeAlias = dict[ - typing.Union[int, tuple[int, ...]], - typing.Union[struct.Struct, tuple, None], + Union[int, tuple[int, ...]], + "Union[struct.Struct, tuple[struct.Struct, *tuple[float, ...]]]", ] @@ -65,7 +65,7 @@ class AutoDetectedConfig(TypedDict): channel: Channel -ReadableBytesLike = typing.Union[bytes, bytearray, memoryview] +ReadableBytesLike = Union[bytes, bytearray, memoryview] class BitTimingDict(TypedDict): diff --git a/can/util.py b/can/util.py index 895c721ae..584b7dfa9 100644 --- a/can/util.py +++ b/can/util.py @@ -50,7 +50,7 @@ def load_file_config( - path: Optional[typechecking.AcceptedIOType] = None, section: str = "default" + path: Optional[typechecking.StringPathLike] = None, section: str = "default" ) -> dict[str, str]: """ Loads configuration from file with following content:: @@ -120,7 +120,7 @@ def load_environment_config(context: Optional[str] = None) -> dict[str, str]: def load_config( - path: Optional[typechecking.AcceptedIOType] = None, + path: Optional[typechecking.StringPathLike] = None, config: Optional[dict[str, Any]] = None, context: Optional[str] = None, ) -> typechecking.BusConfig: diff --git a/doc/conf.py b/doc/conf.py index f4a9ab95f..7ae0480d5 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -122,6 +122,12 @@ # disable specific warnings nitpick_ignore = [ # Ignore warnings for type aliases. Remove once Sphinx supports PEP613 + ("py:class", "OpenTextModeUpdating"), + ("py:class", "OpenTextModeWriting"), + ("py:class", "OpenBinaryModeUpdating"), + ("py:class", "OpenBinaryModeWriting"), + ("py:class", "OpenTextModeReading"), + ("py:class", "OpenBinaryModeReading"), ("py:class", "BusConfig"), ("py:class", "can.typechecking.BusConfig"), ("py:class", "can.typechecking.CanFilter"), diff --git a/doc/file_io.rst b/doc/file_io.rst index ff9431695..329ccac53 100644 --- a/doc/file_io.rst +++ b/doc/file_io.rst @@ -94,7 +94,7 @@ as further references can-utils can be used: Log (.log can-utils Logging format) ----------------------------------- -CanutilsLogWriter logs CAN data to an ASCII log file compatible with `can-utils ` +CanutilsLogWriter logs CAN data to an ASCII log file compatible with `can-utils `_ As specification following references can-utils can be used: `asc2log `_, `log2asc `_. diff --git a/doc/internal-api.rst b/doc/internal-api.rst index 73984bf1a..9e544f052 100644 --- a/doc/internal-api.rst +++ b/doc/internal-api.rst @@ -90,8 +90,8 @@ About the IO module Handling of the different file formats is implemented in ``can.io``. Each file/IO type is within a separate module and ideally implements both a *Reader* and a *Writer*. -The reader usually extends :class:`can.io.generic.BaseIOHandler`, while -the writer often additionally extends :class:`can.Listener`, +The reader extends :class:`can.io.generic.MessageReader`, while the writer extends +:class:`can.io.generic.MessageWriter`, a subclass of the :class:`can.Listener`, to be able to be passed directly to a :class:`can.Notifier`. @@ -104,9 +104,9 @@ Ideally add both reading and writing support for the new file format, although t 1. Create a new module: *can/io/canstore.py* (*or* simply copy some existing one like *can/io/csv.py*) -2. Implement a reader ``CanstoreReader`` (which often extends :class:`can.io.generic.BaseIOHandler`, but does not have to). +2. Implement a reader ``CanstoreReader`` which extends :class:`can.io.generic.MessageReader`. Besides from a constructor, only ``__iter__(self)`` needs to be implemented. -3. Implement a writer ``CanstoreWriter`` (which often extends :class:`can.io.generic.BaseIOHandler` and :class:`can.Listener`, but does not have to). +3. Implement a writer ``CanstoreWriter`` which extends :class:`can.io.generic.MessageWriter`. Besides from a constructor, only ``on_message_received(self, msg)`` needs to be implemented. 4. Add a case to ``can.io.player.LogReader``'s ``__new__()``. 5. Document the two new classes (and possibly additional helpers) with docstrings and comments. @@ -126,7 +126,9 @@ IO Utilities .. automodule:: can.io.generic + :show-inheritance: :members: + :private-members: :member-order: bysource diff --git a/doc/notifier.rst b/doc/notifier.rst index 05edbd90d..e1b160a6e 100644 --- a/doc/notifier.rst +++ b/doc/notifier.rst @@ -58,7 +58,8 @@ readers are also documented here. be added using the ``can.io.message_writer`` entry point. The format of the entry point is ``reader_name=module:classname`` where ``classname`` - is a :class:`can.io.generic.BaseIOHandler` concrete implementation. + is a concrete implementation of :class:`~can.io.generic.MessageReader` or + :class:`~can.io.generic.MessageWriter`. :: diff --git a/test/logformats_test.py b/test/logformats_test.py index e9db47af3..f4bd1191f 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -137,6 +137,7 @@ def _setup_instance_helper( allowed_timestamp_delta=0.0, preserves_channel=True, adds_default_channel=None, + assert_file_closed=True, ): """ :param Callable writer_constructor: the constructor of the writer class @@ -187,6 +188,7 @@ def _setup_instance_helper( self.reader_constructor = reader_constructor self.binary_file = binary_file self.test_append_enabled = test_append + self.assert_file_closed = assert_file_closed ComparingMessagesTestCase.__init__( self, @@ -212,7 +214,7 @@ def test_path_like_explicit_stop(self): self._write_all(writer) self._ensure_fsync(writer) writer.stop() - if hasattr(writer.file, "closed"): + if self.assert_file_closed: self.assertTrue(writer.file.closed) print("reading all messages") @@ -220,7 +222,7 @@ def test_path_like_explicit_stop(self): read_messages = list(reader) # redundant, but this checks if stop() can be called multiple times reader.stop() - if hasattr(writer.file, "closed"): + if self.assert_file_closed: self.assertTrue(writer.file.closed) # check if at least the number of messages matches @@ -243,7 +245,7 @@ def test_path_like_context_manager(self): self._write_all(writer) self._ensure_fsync(writer) w = writer - if hasattr(w.file, "closed"): + if self.assert_file_closed: self.assertTrue(w.file.closed) # read all written messages @@ -251,7 +253,7 @@ def test_path_like_context_manager(self): with self.reader_constructor(self.test_file_name) as reader: read_messages = list(reader) r = reader - if hasattr(r.file, "closed"): + if self.assert_file_closed: self.assertTrue(r.file.closed) # check if at least the number of messages matches; @@ -274,7 +276,7 @@ def test_file_like_explicit_stop(self): self._write_all(writer) self._ensure_fsync(writer) writer.stop() - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) print("reading all messages") @@ -283,7 +285,7 @@ def test_file_like_explicit_stop(self): read_messages = list(reader) # redundant, but this checks if stop() can be called multiple times reader.stop() - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) # check if at least the number of messages matches @@ -307,7 +309,7 @@ def test_file_like_context_manager(self): self._write_all(writer) self._ensure_fsync(writer) w = writer - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) # read all written messages @@ -316,7 +318,7 @@ def test_file_like_context_manager(self): with self.reader_constructor(my_file) as reader: read_messages = list(reader) r = reader - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) # check if at least the number of messages matches; @@ -380,7 +382,7 @@ def _write_all(self, writer): writer(msg) def _ensure_fsync(self, io_handler): - if hasattr(io_handler.file, "fileno"): + if hasattr(io_handler, "file") and hasattr(io_handler.file, "fileno"): io_handler.file.flush() os.fsync(io_handler.file.fileno()) @@ -871,6 +873,7 @@ def _setup_instance(self): check_comments=False, preserves_channel=False, adds_default_channel=None, + assert_file_closed=False, ) @unittest.skip("not implemented") From 55474135591a1a1f27b6e42cc9c6fdc91908ea13 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 25 Jul 2025 19:15:59 +0200 Subject: [PATCH 423/475] Add CAN bridge script (#1961) * Add basic implementation for can bridge * Implement basic configuration parsing * Add implementation for bridge * Improve exit handling * Add debug logging * Add error handling for wrong arguments * Use stderr * Add custom usage * Add bus configuration info * Code format * Add exception for prints for can_bridge * Add from to exception in exception * Remove assignment to unused variable * Shorten line length * Organize imports * Remove unnecessary else * Add documentation for new script * Add handling for -h and help sub command Necessary for generation of documentation * Add from none to exception * Fix typo busses to bus * Add type annotations * Fix type annotations * Fix type annotations again * Add --help to get help * Add basic print help test * Add basic test file for bridge script * Add very basic test * Add different channels for virtual bus * Add assert for call to exit * Patch correct function * test * fjkdf * once again -.- * Try snakecase * use new api to create cli args for bus1 and bus2 --------- Co-authored-by: Peter Kessen --- can/bridge.py | 66 +++++++++++++++++++++++ doc/scripts.rst | 9 ++++ pyproject.toml | 2 + test/test_bridge.py | 126 +++++++++++++++++++++++++++++++++++++++++++ test/test_scripts.py | 14 +++++ 5 files changed, 217 insertions(+) create mode 100644 can/bridge.py create mode 100644 test/test_bridge.py diff --git a/can/bridge.py b/can/bridge.py new file mode 100644 index 000000000..57ebb368d --- /dev/null +++ b/can/bridge.py @@ -0,0 +1,66 @@ +""" +Creates a bridge between two CAN buses. + +This will connect to two CAN buses. Messages received on one +bus will be sent to the other bus and vice versa. +""" + +import argparse +import errno +import sys +import time +from datetime import datetime +from typing import Final + +from can.cli import add_bus_arguments, create_bus_from_namespace +from can.listener import RedirectReader +from can.notifier import Notifier + +BRIDGE_DESCRIPTION: Final = """\ +Bridge two CAN buses. + +Both can buses will be connected so that messages from bus1 will be sent on +bus2 and messages from bus2 will be sent to bus1. +""" +BUS_1_PREFIX: Final = "bus1" +BUS_2_PREFIX: Final = "bus2" + + +def _parse_bridge_args(args: list[str]) -> argparse.Namespace: + """Parse command line arguments for bridge script.""" + + parser = argparse.ArgumentParser(description=BRIDGE_DESCRIPTION) + add_bus_arguments(parser, prefix=BUS_1_PREFIX, group_title="Bus 1 arguments") + add_bus_arguments(parser, prefix=BUS_2_PREFIX, group_title="Bus 2 arguments") + + # print help message when no arguments were given + if not args: + parser.print_help(sys.stderr) + raise SystemExit(errno.EINVAL) + + results, _unknown_args = parser.parse_known_args(args) + return results + + +def main() -> None: + results = _parse_bridge_args(sys.argv[1:]) + + with ( + create_bus_from_namespace(results, prefix=BUS_1_PREFIX) as bus1, + create_bus_from_namespace(results, prefix=BUS_2_PREFIX) as bus2, + ): + reader1_to_2 = RedirectReader(bus2) + reader2_to_1 = RedirectReader(bus1) + with Notifier(bus1, [reader1_to_2]), Notifier(bus2, [reader2_to_1]): + print(f"CAN Bridge (Started on {datetime.now()})") + try: + while True: + time.sleep(1) + except KeyboardInterrupt: + pass + + print(f"CAN Bridge (Stopped on {datetime.now()})") + + +if __name__ == "__main__": + main() diff --git a/doc/scripts.rst b/doc/scripts.rst index 2d59b7528..1d730a74b 100644 --- a/doc/scripts.rst +++ b/doc/scripts.rst @@ -57,6 +57,15 @@ The full usage page can be seen below: :shell: +can.bridge +---------- + +A small application that can be used to connect two can buses: + +.. command-output:: python -m can.bridge -h + :shell: + + can.logconvert -------------- diff --git a/pyproject.toml b/pyproject.toml index a6a7f38c4..8fd77de21 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -49,6 +49,7 @@ can_logconvert = "can.logconvert:main" can_logger = "can.logger:main" can_player = "can.player:main" can_viewer = "can.viewer:main" +can_bridge = "can.bridge:main" [project.urls] homepage = "https://github.com/hardbyte/python-can" @@ -186,6 +187,7 @@ ignore = [ "can/cli.py" = ["T20"] # flake8-print "can/logger.py" = ["T20"] # flake8-print "can/player.py" = ["T20"] # flake8-print +"can/bridge.py" = ["T20"] # flake8-print "can/viewer.py" = ["T20"] # flake8-print "examples/*" = ["T20"] # flake8-print diff --git a/test/test_bridge.py b/test/test_bridge.py new file mode 100644 index 000000000..ee41bd949 --- /dev/null +++ b/test/test_bridge.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python + +""" +This module tests the functions inside of bridge.py +""" + +import random +import string +import sys +import threading +import time +from time import sleep as real_sleep +import unittest.mock + +import can +import can.bridge +from can.interfaces import virtual + +from .message_helper import ComparingMessagesTestCase + + +class TestBridgeScriptModule(unittest.TestCase, ComparingMessagesTestCase): + + TIMEOUT = 3.0 + + def __init__(self, *args, **kwargs): + unittest.TestCase.__init__(self, *args, **kwargs) + ComparingMessagesTestCase.__init__( + self, + allowed_timestamp_delta=None, + preserves_channel=False, + ) + + def setUp(self) -> None: + self.stop_event = threading.Event() + + self.channel1 = "".join(random.choices(string.ascii_letters, k=8)) + self.channel2 = "".join(random.choices(string.ascii_letters, k=8)) + + self.cli_args = [ + "--bus1-interface", + "virtual", + "--bus1-channel", + self.channel1, + "--bus2-interface", + "virtual", + "--bus2-channel", + self.channel2, + ] + + self.testmsg = can.Message( + arbitration_id=0xC0FFEE, data=[0, 25, 0, 1, 3, 1, 4, 1], is_extended_id=True + ) + + def fake_sleep(self, duration): + """A fake replacement for time.sleep that checks periodically + whether self.stop_event is set, and raises KeyboardInterrupt + if so. + + This allows tests to simulate an interrupt (like Ctrl+C) + during long sleeps, in a controlled and responsive way. + """ + interval = 0.05 # Small interval for responsiveness + t_wakeup = time.perf_counter() + duration + while time.perf_counter() < t_wakeup: + if self.stop_event.is_set(): + raise KeyboardInterrupt("Simulated interrupt from fake_sleep") + real_sleep(interval) + + def test_bridge(self): + with ( + unittest.mock.patch("can.bridge.time.sleep", new=self.fake_sleep), + unittest.mock.patch("can.bridge.sys.argv", [sys.argv[0], *self.cli_args]), + ): + # start script + thread = threading.Thread(target=can.bridge.main) + thread.start() + + # wait until script instantiates virtual buses + t0 = time.perf_counter() + while True: + with virtual.channels_lock: + if ( + self.channel1 in virtual.channels + and self.channel2 in virtual.channels + ): + break + if time.perf_counter() > t0 + 2.0: + raise TimeoutError("Bridge script did not create virtual buses") + real_sleep(0.2) + + # create buses with the same channels as in scripts + with ( + can.interfaces.virtual.VirtualBus(self.channel1) as bus1, + can.interfaces.virtual.VirtualBus(self.channel2) as bus2, + ): + # send test message to bus1, it should be received on bus2 + bus1.send(self.testmsg) + recv_msg = bus2.recv(self.TIMEOUT) + self.assertMessageEqual(self.testmsg, recv_msg) + + # assert that both buses are empty + self.assertIsNone(bus1.recv(0)) + self.assertIsNone(bus2.recv(0)) + + # send test message to bus2, it should be received on bus1 + bus2.send(self.testmsg) + recv_msg = bus1.recv(self.TIMEOUT) + self.assertMessageEqual(self.testmsg, recv_msg) + + # assert that both buses are empty + self.assertIsNone(bus1.recv(0)) + self.assertIsNone(bus2.recv(0)) + + # stop the bridge script + self.stop_event.set() + thread.join() + + # assert that the virtual buses were closed + with virtual.channels_lock: + self.assertNotIn(self.channel1, virtual.channels) + self.assertNotIn(self.channel2, virtual.channels) + + +if __name__ == "__main__": + unittest.main() diff --git a/test/test_scripts.py b/test/test_scripts.py index 9d8c059cf..c1a6c082d 100644 --- a/test/test_scripts.py +++ b/test/test_scripts.py @@ -98,6 +98,20 @@ def _import(self): return module +class TestBridgeScript(CanScriptTest): + def _commands(self): + commands = [ + "python -m can.bridge --help", + "can_bridge --help", + ] + return commands + + def _import(self): + import can.bridge as module + + return module + + class TestLogconvertScript(CanScriptTest): def _commands(self): commands = [ From afb1204c0e6fafc36ced42c8fc0be04a5c840454 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 27 Jul 2025 13:21:26 +0200 Subject: [PATCH 424/475] Update contribution guide, move all checks to tox (#1960) * docs: remove unused extras, use py3.13 * move all checks to tox, use uv in CI * update contribution guidelines * minor type annotation fixes * add missing `install` cmd * disable free-threaded tests, TestThreadSafeBus::test_send_periodic_duration is flaky * update docs as requested by review --------- Co-authored-by: zariiii9003 --- .github/workflows/ci.yml | 116 +++++----------- .gitignore | 3 +- .readthedocs.yml | 5 +- CONTRIBUTING.md | 2 +- can/bus.py | 3 +- can/interfaces/virtual.py | 12 +- can/io/mf4.py | 3 +- doc/conf.py | 2 +- doc/development.rst | 273 ++++++++++++++++++++++++++------------ doc/installation.rst | 7 + pyproject.toml | 13 +- test/back2back_test.py | 10 +- test/test_socketcan.py | 4 + tox.ini | 73 +++++++--- 14 files changed, 309 insertions(+), 217 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ec5c1bbac..8c3bb407f 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -12,32 +12,28 @@ env: jobs: test: runs-on: ${{ matrix.os }} - continue-on-error: ${{ matrix.experimental }} # See: https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idcontinue-on-error strategy: matrix: os: [ubuntu-latest, macos-latest, windows-latest] - experimental: [false] - python-version: [ - "3.9", - "3.10", - "3.11", - "3.12", - "3.13", - "pypy-3.9", - "pypy-3.10", + env: [ + "py39", + "py310", + "py311", + "py312", + "py313", + "py314", +# "py313t", +# "py314t", + "pypy310", + "pypy311", ] fail-fast: false steps: - uses: actions/checkout@v4 - - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v5 - with: - python-version: ${{ matrix.python-version }} - allow-prereleases: true - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install tox + - name: Install uv + uses: astral-sh/setup-uv@v6 + - name: Install tox + run: uv tool install tox --with tox-uv - name: Setup SocketCAN if: ${{ matrix.os == 'ubuntu-latest' }} run: | @@ -46,11 +42,11 @@ jobs: sudo ./test/open_vcan.sh - name: Test with pytest via tox run: | - tox -e gh + tox -e ${{ matrix.env }} env: # SocketCAN tests currently fail with PyPy because it does not support raw CAN sockets # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 - TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.python-version, 'pypy' ) }}" + TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.env, 'pypy' ) }}" - name: Coveralls Parallel uses: coverallsapp/github-action@v2 with: @@ -73,69 +69,25 @@ jobs: runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 - with: - python-version: "3.13" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install --group lint -e . - - name: mypy 3.9 - run: | - mypy --python-version 3.9 . - - name: mypy 3.10 + - name: Install uv + uses: astral-sh/setup-uv@v6 + - name: Install tox + run: uv tool install tox --with tox-uv + - name: Run linters run: | - mypy --python-version 3.10 . - - name: mypy 3.11 + tox -e lint + - name: Run type checker run: | - mypy --python-version 3.11 . - - name: mypy 3.12 - run: | - mypy --python-version 3.12 . - - name: mypy 3.13 - run: | - mypy --python-version 3.13 . - - name: ruff - run: | - ruff check can - - name: pylint - run: | - pylint \ - can/**.py \ - can/io \ - doc/conf.py \ - examples/**.py \ - can/interfaces/socketcan - - format: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 - with: - python-version: "3.10" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install --group lint - - name: Code Format Check with Black - run: | - black --check --verbose . + tox -e type docs: runs-on: ubuntu-latest steps: - uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 - with: - python-version: "3.12" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install tox + - name: Install uv + uses: astral-sh/setup-uv@v6 + - name: Install tox + run: uv tool install tox --with tox-uv - name: Build documentation run: | tox -e docs @@ -147,14 +99,12 @@ jobs: - uses: actions/checkout@v4 with: fetch-depth: 0 # fetch tags for setuptools-scm - - name: Set up Python - uses: actions/setup-python@v5 - with: - python-version: "3.10" + - name: Install uv + uses: astral-sh/setup-uv@v6 - name: Build wheel and sdist - run: pipx run build + run: uvx --from build pyproject-build --installer uv - name: Check build artifacts - run: pipx run twine check --strict dist/* + run: uvx twine check --strict dist/* - name: Save artifacts uses: actions/upload-artifact@v4 with: diff --git a/.gitignore b/.gitignore index 03775bd7c..e4d402ff4 100644 --- a/.gitignore +++ b/.gitignore @@ -18,7 +18,8 @@ __pycache__/ # Distribution / packaging .Python env/ -venv/ +.venv*/ +venv*/ build/ develop-eggs/ dist/ diff --git a/.readthedocs.yml b/.readthedocs.yml index 6fe4009e4..a8c61d2de 100644 --- a/.readthedocs.yml +++ b/.readthedocs.yml @@ -9,7 +9,7 @@ version: 2 build: os: ubuntu-22.04 tools: - python: "3.12" + python: "3.13" jobs: post_install: - pip install --group docs @@ -31,6 +31,3 @@ python: extra_requirements: - canalystii - gs-usb - - mf4 - - remote - - serial diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index c00e9bd32..2f4194b31 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -1 +1 @@ -Please read the [Development - Contributing](https://python-can.readthedocs.io/en/stable/development.html#contributing) guidelines in the documentation site. +Please read the [Development - Contributing](https://python-can.readthedocs.io/en/main/development.html#contributing) guidelines in the documentation site. diff --git a/can/bus.py b/can/bus.py index 0d031a18b..f053c4aa7 100644 --- a/can/bus.py +++ b/can/bus.py @@ -11,7 +11,6 @@ from time import time from types import TracebackType from typing import ( - Any, Callable, Optional, Union, @@ -69,7 +68,7 @@ class BusABC(metaclass=ABCMeta): @abstractmethod def __init__( self, - channel: Any, + channel: Optional[can.typechecking.Channel], can_filters: Optional[can.typechecking.CanFilters] = None, **kwargs: object, ): diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index aa858913e..6b62e5ceb 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -12,22 +12,18 @@ from copy import deepcopy from random import randint from threading import RLock -from typing import TYPE_CHECKING, Any, Optional +from typing import Any, Optional from can import CanOperationError from can.bus import BusABC, CanProtocol from can.message import Message -from can.typechecking import AutoDetectedConfig +from can.typechecking import AutoDetectedConfig, Channel logger = logging.getLogger(__name__) # Channels are lists of queues, one for each connection -if TYPE_CHECKING: - # https://mypy.readthedocs.io/en/stable/runtime_troubles.html#using-classes-that-are-generic-in-stubs-but-not-at-runtime - channels: dict[Optional[Any], list[queue.Queue[Message]]] = {} -else: - channels = {} +channels: dict[Optional[Channel], list[queue.Queue[Message]]] = {} channels_lock = RLock() @@ -58,7 +54,7 @@ class VirtualBus(BusABC): def __init__( self, - channel: Any = None, + channel: Optional[Channel] = None, receive_own_messages: bool = False, rx_queue_size: int = 0, preserve_timestamps: bool = False, diff --git a/can/io/mf4.py b/can/io/mf4.py index 557d882e1..7007c3627 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -186,7 +186,8 @@ def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" # TODO: find solution without accessing private attributes of asammdf return cast( - "int", self._mdf._tempfile.tell() # pylint: disable=protected-access + "int", + self._mdf._tempfile.tell(), # pylint: disable=protected-access,no-member ) def stop(self) -> None: diff --git a/doc/conf.py b/doc/conf.py index 7ae0480d5..5e413361c 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -138,7 +138,7 @@ ("py:class", "~P1"), # intersphinx fails to reference some builtins ("py:class", "asyncio.events.AbstractEventLoop"), - ("py:class", "_thread.allocate_lock"), + ("py:class", "_thread.lock"), ] # mock windows specific attributes diff --git a/doc/development.rst b/doc/development.rst index 074c1318d..97c175ada 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -1,133 +1,232 @@ Developer's Overview ==================== +Quick Start for Contributors +---------------------------- +* Fork the repository on GitHub and clone your fork. +* Create a new branch for your changes. +* Set up your development environment. +* Make your changes, add/update tests and documentation as needed. +* Run `tox` to check your changes. +* Push your branch and open a pull request. Contributing ------------ -Contribute to source code, documentation, examples and report issues: -https://github.com/hardbyte/python-can +Welcome! Thank you for your interest in python-can. Whether you want to fix a bug, +add a feature, improve documentation, write examples, help solve issues, +or simply report a problem, your contribution is valued. +Contributions are made via the `python-can GitHub repository `_. +If you have questions, feel free to open an issue or start a discussion on GitHub. -Note that the latest released version on PyPi may be significantly behind the -``main`` branch. Please open any feature requests against the ``main`` branch +If you're new to the codebase, see the next section for an overview of the code structure. +For more about the internals, see :ref:`internalapi` and information on extending the ``can.io`` module. -There is also a `python-can `__ -mailing list for development discussion. +Code Structure +^^^^^^^^^^^^^^ + +The modules in ``python-can`` are: + ++---------------------------------+------------------------------------------------------+ +|Module | Description | ++=================================+======================================================+ +|:doc:`interfaces ` | Contains interface dependent code. | ++---------------------------------+------------------------------------------------------+ +|:doc:`bus ` | Contains the interface independent Bus object. | ++---------------------------------+------------------------------------------------------+ +|:doc:`message ` | Contains the interface independent Message object. | ++---------------------------------+------------------------------------------------------+ +|:doc:`io ` | Contains a range of file readers and writers. | ++---------------------------------+------------------------------------------------------+ +|:doc:`broadcastmanager ` | Contains interface independent broadcast manager | +| | code. | ++---------------------------------+------------------------------------------------------+ -Some more information about the internals of this library can be found -in the chapter :ref:`internalapi`. -There is also additional information on extending the ``can.io`` module. +Step-by-Step Contribution Guide +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1. **Fork and Clone the Repository** -Pre-releases ------------- + * Fork the python-can repository on GitHub to your own account. + * Clone your fork: + + .. code-block:: shell + + git clone https://github.com//python-can.git + cd python-can + + * Create a new branch for your work: + + .. code-block:: shell + + git checkout -b my-feature-branch + + * Ensure your branch is up to date with the latest changes from the main repository. + First, add the main repository as a remote (commonly named `upstream`) if you haven't already: + + .. code-block:: shell + + git remote add upstream https://github.com/hardbyte/python-can.git + + Then, regularly fetch and rebase from the main branch: + + .. code-block:: shell + + git fetch upstream + git rebase upstream/main + +2. **Set Up Your Development Environment** + + We recommend using `uv `__ to install development tools and run CLI utilities. + `uv` is a modern Python packaging tool that can quickly create virtual environments and manage dependencies, + including downloading required Python versions automatically. The `uvx` command allows you to run CLI tools + in isolated environments, separate from your global Python installation. This is useful for installing and + running Python applications (such as tox) without affecting your project's dependencies or environment. + + **Install tox (if not already available):** + + + .. code-block:: shell + + uv tool install tox --with tox-uv + + + **Quickly running your local python-can code** + + To run a local script (e.g., `snippet.py`) using your current python-can code, + you can use either the traditional `virtualenv` and `pip` workflow or the modern `uv` tool. + + **Traditional method (virtualenv + pip):** + + Create a virtual environment and install the package in editable mode. + This allows changes to your local code to be reflected immediately, without reinstalling. + + .. code-block:: shell + + # Create a new virtual environment + python -m venv .venv + + # Activate the environment + .venv\Scripts\activate # On Windows + source .venv/bin/activate # On Unix/macOS -The latest pre-release can be installed with:: + # Upgrade pip and install python-can in editable mode with development dependencies + python -m pip install --upgrade pip + pip install -e .[dev] - pip install --upgrade --pre python-can + # Run your script + python snippet.py + **Modern method (uv):** + With `uv`, you can run your script directly: -Building & Installing ---------------------- + .. code-block:: shell -The following assumes that the commands are executed from the root of the repository: + uv run snippet.py -The project can be built with:: + When ``uv run ...`` is called inside a project, + `uv` automatically sets up the environment and symlinks local packages. + No editable install is needed—changes to your code are reflected immediately. - pipx run build - pipx run twine check dist/* +3. **Make Your Changes** -The project can be installed in editable mode with:: + * Edit code, documentation, or tests as needed. + * If you fix a bug or add a feature, add or update tests in the ``test/`` directory. + * If your change affects users, update documentation in ``doc/`` and relevant docstrings. - pip install -e . +4. **Test Your Changes** -The unit tests can be run with:: + This project uses `tox `__ to automate all checks (tests, lint, type, docs). + Tox will set up isolated environments and run the right tools for you. - pipx run tox -e py + To run all checks: -The documentation can be built with:: + .. code-block:: shell - pipx run tox -e docs + tox -The linters can be run with:: + To run a specific check, use: - pip install --group lint -e . - black --check can - mypy can - ruff check can - pylint can/**.py can/io doc/conf.py examples/**.py can/interfaces/socketcan + .. code-block:: shell + tox -e lint # Run code style and lint checks (black, ruff, pylint) + tox -e type # Run type checks (mypy) + tox -e docs # Build and test documentation (sphinx) + tox -e py # Run tests (pytest) + + To run all checks in parallel (where supported), you can use: + + .. code-block:: shell + + tox p + + Some environments require specific Python versions. + If you use `uv`, it will automatically download and manage these for you. + +5. **(Optional) Build Source Distribution and Wheels** + + If you want to manually build the source distribution (sdist) and wheels for python-can, + you can use `uvx` to run the build and twine tools: + + .. code-block:: shell + + uv build + uvx twine check --strict dist/* + +6. **Push and Submit Your Contribution** + + * Push your branch: + + .. code-block:: shell + + git push origin my-feature-branch + + * Open a pull request from your branch to the ``main`` branch of the main python-can repository on GitHub. + + Please be patient — maintainers review contributions as time allows. Creating a new interface/backend -------------------------------- +.. attention:: + Please note: Pull requests that attempt to add new hardware interfaces directly to the + python-can codebase will not be accepted. Instead, we encourage contributors to create + plugins by publishing a Python package containing your :class:`can.BusABC` subclass and + using it within the python-can API. We will mention your package in this documentation + and add it as an optional dependency. For current best practices, please refer to + :ref:`plugin interface`. + + The following guideline is retained for informational purposes only and is not valid for new + contributions. + These steps are a guideline on how to add a new backend to python-can. -- Create a module (either a ``*.py`` or an entire subdirectory depending - on the complexity) inside ``can.interfaces`` -- Implement the central part of the backend: the bus class that extends +* Create a module (either a ``*.py`` or an entire subdirectory depending + on the complexity) inside ``can.interfaces``. See ``can/interfaces/socketcan`` for a reference implementation. +* Implement the central part of the backend: the bus class that extends :class:`can.BusABC`. See :ref:`businternals` for more info on this one! -- Register your backend bus class in ``BACKENDS`` in the file ``can.interfaces.__init__.py``. -- Add docs where appropriate. At a minimum add to ``doc/interfaces.rst`` and add +* Register your backend bus class in ``BACKENDS`` in the file ``can.interfaces.__init__.py``. +* Add docs where appropriate. At a minimum add to ``doc/interfaces.rst`` and add a new interface specific document in ``doc/interface/*``. It should document the supported platforms and also the hardware/software it requires. A small snippet of how to install the dependencies would also be useful to get people started without much friction. -- Also, don't forget to document your classes, methods and function with docstrings. -- Add tests in ``test/*`` where appropriate. - To get started, have a look at ``back2back_test.py``: - Simply add a test case like ``BasicTestSocketCan`` and some basic tests will be executed for the new interface. - -.. attention:: - We strongly recommend using the :ref:`plugin interface` to extend python-can. - Publish a python package that contains your :class:`can.BusABC` subclass and use - it within the python-can API. We will mention your package inside this documentation - and add it as an optional dependency. - -Code Structure --------------- - -The modules in ``python-can`` are: - -+---------------------------------+------------------------------------------------------+ -|Module | Description | -+=================================+======================================================+ -|:doc:`interfaces ` | Contains interface dependent code. | -+---------------------------------+------------------------------------------------------+ -|:doc:`bus ` | Contains the interface independent Bus object. | -+---------------------------------+------------------------------------------------------+ -|:doc:`message ` | Contains the interface independent Message object. | -+---------------------------------+------------------------------------------------------+ -|:doc:`io ` | Contains a range of file readers and writers. | -+---------------------------------+------------------------------------------------------+ -|:doc:`broadcastmanager ` | Contains interface independent broadcast manager | -| | code. | -+---------------------------------+------------------------------------------------------+ - +* Also, don't forget to document your classes, methods and function with docstrings. +* Add tests in ``test/*`` where appropriate. For example, see ``test/back2back_test.py`` and add a test case like ``BasicTestSocketCan`` for your new interface. Creating a new Release ---------------------- -- Release from the ``main`` branch (except for pre-releases). -- Check if any deprecations are pending. -- Run all tests and examples against available hardware. -- Update ``CONTRIBUTORS.txt`` with any new contributors. -- For larger changes update ``doc/history.rst``. -- Sanity check that documentation has stayed inline with code. -- In a new virtual env check that the package can be installed with pip: ``pip install python-can==X.Y.Z``. -- Create a new tag in the repository. -- Check the release on - `PyPi `__, - `Read the Docs `__ and - `GitHub `__. - +* Releases are automated via GitHub Actions. To create a new release: -Manual release steps (deprecated) ---------------------------------- + * Ensure all tests pass and documentation is up-to-date. + * Update ``CONTRIBUTORS.txt`` with any new contributors. + * For larger changes, update ``doc/history.rst``. + * Create a new tag and GitHub release (e.g., ``vX.Y.Z``) targeting the ``main`` branch. Add release notes and publish. + * The CI workflow will automatically build, check, and upload the release to PyPI and other platforms. -- Create a temporary virtual environment. -- Create a new tag in the repository. Use `semantic versioning `__. -- Build with ``pipx run build`` -- Sign the packages with gpg ``gpg --detach-sign -a dist/python_can-X.Y.Z-py3-none-any.whl``. -- Upload with twine ``twine upload dist/python-can-X.Y.Z*``. +* You can monitor the release status on: + `PyPi `__, + `Read the Docs `__ and + `GitHub Releases `__. diff --git a/doc/installation.rst b/doc/installation.rst index ff72ae21b..822de2ce0 100644 --- a/doc/installation.rst +++ b/doc/installation.rst @@ -21,6 +21,13 @@ Install the ``can`` package from PyPi with ``pip`` or similar:: $ pip install python-can[serial] +Pre-releases +------------ + +The latest pre-release can be installed with:: + + pip install --upgrade --pre python-can + GNU/Linux dependencies ---------------------- diff --git a/pyproject.toml b/pyproject.toml index 8fd77de21..9eb98e37b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,5 +1,5 @@ [build-system] -requires = ["setuptools >= 67.7", "setuptools_scm>=8"] +requires = ["setuptools >= 77.0", "setuptools_scm>=8"] build-backend = "setuptools.build_meta" [project] @@ -13,7 +13,7 @@ dependencies = [ "typing_extensions>=3.10.0.0", ] requires-python = ">=3.9" -license = { text = "LGPL v3" } +license = "LGPL-3.0-only" classifiers = [ "Development Status :: 5 - Production/Stable", "Environment :: Console", @@ -22,7 +22,6 @@ classifiers = [ "Intended Audience :: Information Technology", "Intended Audience :: Manufacturing", "Intended Audience :: Telecommunications Industry", - "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)", "Natural Language :: English", "Operating System :: MacOS", "Operating System :: Microsoft :: Windows", @@ -100,9 +99,13 @@ test = [ "pytest-cov==4.0.0", "coverage==6.5.0", "hypothesis~=6.35.0", - "pyserial~=3.5", "parameterized~=0.8", ] +dev = [ + {include-group = "docs"}, + {include-group = "lint"}, + {include-group = "test"}, +] [tool.setuptools.dynamic] readme = { file = "README.rst" } @@ -195,8 +198,8 @@ ignore = [ known-first-party = ["can"] [tool.pylint] +extension-pkg-allow-list = ["curses"] disable = [ - "c-extension-no-member", "cyclic-import", "duplicate-code", "fixme", diff --git a/test/back2back_test.py b/test/back2back_test.py index a46597ef4..b52bae530 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -272,23 +272,21 @@ def test_sub_second_timestamp_resolution(self): self.bus2.recv(0) self.bus2.recv(0) - @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_send_periodic_duration(self): """ Verify that send_periodic only transmits for the specified duration. Regression test for #1713. """ - for params in [(0.01, 0.003), (0.1, 0.011), (1, 0.4)]: - duration, period = params + for duration, period in [(0.01, 0.003), (0.1, 0.011), (1, 0.4)]: messages = [] self.bus2.send_periodic(can.Message(), period, duration) - while (msg := self.bus1.recv(period * 1.25)) is not None: + while (msg := self.bus1.recv(period + self.TIMEOUT)) is not None: messages.append(msg) - delta_t = round(messages[-1].timestamp - messages[0].timestamp, 2) - assert delta_t <= duration + delta_t = messages[-1].timestamp - messages[0].timestamp + assert delta_t < duration + 0.05 @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan") diff --git a/test/test_socketcan.py b/test/test_socketcan.py index af06b8169..3df233f96 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -5,6 +5,7 @@ """ import ctypes import struct +import sys import unittest import warnings from unittest.mock import patch @@ -34,6 +35,7 @@ def setUp(self): self._ctypes_sizeof = ctypes.sizeof self._ctypes_alignment = ctypes.alignment + @unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer") @patch("ctypes.sizeof") @patch("ctypes.alignment") def test_bcm_header_factory_32_bit_sizeof_long_4_alignof_long_4( @@ -103,6 +105,7 @@ def side_effect_ctypes_alignment(value): ] self.assertEqual(expected_fields, BcmMsgHead._fields_) + @unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer") @patch("ctypes.sizeof") @patch("ctypes.alignment") def test_bcm_header_factory_32_bit_sizeof_long_4_alignof_long_long_8( @@ -172,6 +175,7 @@ def side_effect_ctypes_alignment(value): ] self.assertEqual(expected_fields, BcmMsgHead._fields_) + @unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer") @patch("ctypes.sizeof") @patch("ctypes.alignment") def test_bcm_header_factory_64_bit_sizeof_long_8_alignof_long_8( diff --git a/tox.ini b/tox.ini index c69f541f4..5f393cb93 100644 --- a/tox.ini +++ b/tox.ini @@ -1,46 +1,83 @@ +# https://tox.wiki/en/latest/config.html [tox] -min_version = 4.22 +min_version = 4.26 +env_list = py,lint,type,docs [testenv] +passenv = + CI + GITHUB_* + COVERALLS_* + PY_COLORS + TEST_SOCKETCAN dependency_groups = test -deps = - asammdf>=6.0; platform_python_implementation=="CPython" and python_version<"3.14" - msgpack~=1.1.0; python_version<"3.14" - pywin32>=305; platform_system=="Windows" and platform_python_implementation=="CPython" and python_version<"3.14" +extras = + canalystii + mf4 + multicast + pywin32 + serial + viewer commands = pytest {posargs} + +[testenv:py314] extras = canalystii + serial + pywin32 -[testenv:gh] -passenv = - CI - GITHUB_* - COVERALLS_* - PY_COLORS - TEST_SOCKETCAN +[testenv:{py313t,py314t,pypy310,pypy311}] +extras = + canalystii + serial [testenv:docs] description = Build and test the documentation -basepython = py312 +basepython = py313 dependency_groups = docs extras = canalystii gs-usb - mf4 - remote - serial commands = python -m sphinx -b html -Wan --keep-going doc build python -m sphinx -b doctest -W --keep-going doc build +[testenv:lint] +description = Run linters +basepython = py313 +dependency_groups = + lint +extras = + viewer +commands = + black --check . + ruff check can examples doc + pylint \ + can/**.py \ + can/io \ + doc/conf.py \ + examples/**.py \ + can/interfaces/socketcan + +[testenv:type] +description = Run type checker +basepython = py313 +dependency_groups = + lint +extras = +commands = + mypy --python-version 3.9 . + mypy --python-version 3.10 . + mypy --python-version 3.11 . + mypy --python-version 3.12 . + mypy --python-version 3.13 . [pytest] testpaths = test -addopts = -v --timeout=300 --cov=can --cov-config=tox.ini --cov-report=lcov --cov-report=term - +addopts = -v --timeout=300 --cov=can --cov-config=tox.ini --cov-report=lcov --cov-report=term --color=yes [coverage:run] # we could also use branch coverage From a4f4742df593b2de917ebbfb68a76f4210396a8d Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 27 Jul 2025 13:52:23 +0200 Subject: [PATCH 425/475] Minor Typing Improvements (#1962) --- can/bit_timing.py | 4 +- can/bus.py | 10 ++-- can/interface.py | 6 +-- can/interfaces/cantact.py | 21 +++++--- can/interfaces/ixxat/canlib.py | 3 +- can/interfaces/ixxat/canlib_vcinpl.py | 8 ++- can/interfaces/serial/serial_can.py | 33 ++++++------ can/interfaces/socketcan/utils.py | 3 +- can/interfaces/udp_multicast/bus.py | 12 +++-- can/interfaces/udp_multicast/utils.py | 4 +- can/interfaces/vector/canlib.py | 22 +++++--- can/interfaces/vector/exceptions.py | 8 ++- can/interfaces/virtual.py | 17 +++--- can/io/mf4.py | 2 +- can/listener.py | 4 +- can/logconvert.py | 10 ++-- can/message.py | 4 +- can/notifier.py | 2 +- can/thread_safe_bus.py | 74 +++++++++++++++++---------- can/typechecking.py | 8 ++- can/viewer.py | 2 +- pyproject.toml | 6 --- 22 files changed, 150 insertions(+), 113 deletions(-) diff --git a/can/bit_timing.py b/can/bit_timing.py index 4b0074472..2bb04bfbe 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -7,7 +7,7 @@ from can.typechecking import BitTimingDict, BitTimingFdDict -class BitTiming(Mapping): +class BitTiming(Mapping[str, int]): """Representation of a bit timing configuration for a CAN 2.0 bus. The class can be constructed in multiple ways, depending on the information @@ -477,7 +477,7 @@ def __hash__(self) -> int: return tuple(self._data.values()).__hash__() -class BitTimingFd(Mapping): +class BitTimingFd(Mapping[str, int]): """Representation of a bit timing configuration for a CAN FD bus. The class can be constructed in multiple ways, depending on the information diff --git a/can/bus.py b/can/bus.py index f053c4aa7..ec9eb09b7 100644 --- a/can/bus.py +++ b/can/bus.py @@ -5,7 +5,7 @@ import contextlib import logging import threading -from abc import ABC, ABCMeta, abstractmethod +from abc import ABC, abstractmethod from collections.abc import Iterator, Sequence from enum import Enum, auto from time import time @@ -19,7 +19,6 @@ from typing_extensions import Self -import can import can.typechecking from can.broadcastmanager import CyclicSendTaskABC, ThreadBasedCyclicSendTask from can.message import Message @@ -44,7 +43,7 @@ class CanProtocol(Enum): CAN_XL = auto() -class BusABC(metaclass=ABCMeta): +class BusABC(ABC): """The CAN Bus Abstract Base Class that serves as the basis for all concrete interfaces. @@ -68,7 +67,7 @@ class BusABC(metaclass=ABCMeta): @abstractmethod def __init__( self, - channel: Optional[can.typechecking.Channel], + channel: can.typechecking.Channel, can_filters: Optional[can.typechecking.CanFilters] = None, **kwargs: object, ): @@ -447,7 +446,6 @@ def _matches_filters(self, msg: Message) -> bool: for _filter in self._filters: # check if this filter even applies to the message if "extended" in _filter: - _filter = cast("can.typechecking.CanFilterExtended", _filter) if _filter["extended"] != msg.is_extended_id: continue @@ -524,7 +522,7 @@ def protocol(self) -> CanProtocol: return self._can_protocol @staticmethod - def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> Sequence[can.typechecking.AutoDetectedConfig]: """Detect all configurations/channels that this interface could currently connect with. diff --git a/can/interface.py b/can/interface.py index eee58ff41..4aa010a36 100644 --- a/can/interface.py +++ b/can/interface.py @@ -7,7 +7,7 @@ import concurrent.futures.thread import importlib import logging -from collections.abc import Callable, Iterable +from collections.abc import Callable, Iterable, Sequence from typing import Any, Optional, Union, cast from . import util @@ -142,7 +142,7 @@ def Bus( # noqa: N802 def detect_available_configs( interfaces: Union[None, str, Iterable[str]] = None, timeout: float = 5.0, -) -> list[AutoDetectedConfig]: +) -> Sequence[AutoDetectedConfig]: """Detect all configurations/channels that the interfaces could currently connect with. @@ -175,7 +175,7 @@ def detect_available_configs( # otherwise assume iterable of strings # Collect detection callbacks - callbacks: dict[str, Callable[[], list[AutoDetectedConfig]]] = {} + callbacks: dict[str, Callable[[], Sequence[AutoDetectedConfig]]] = {} for interface_keyword in interfaces: try: bus_class = _get_class_for_interface(interface_keyword) diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 963a9ee3b..08fe15b72 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -4,6 +4,7 @@ import logging import time +from collections.abc import Sequence from typing import Any, Optional, Union from unittest.mock import Mock @@ -14,6 +15,7 @@ CanInterfaceNotImplementedError, error_check, ) +from ..typechecking import AutoDetectedConfig from ..util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) @@ -31,7 +33,7 @@ class CantactBus(BusABC): """CANtact interface""" @staticmethod - def _detect_available_configs(): + def _detect_available_configs() -> Sequence[AutoDetectedConfig]: try: interface = cantact.Interface() except (NameError, SystemError, AttributeError): @@ -40,7 +42,7 @@ def _detect_available_configs(): ) return [] - channels = [] + channels: list[AutoDetectedConfig] = [] for i in range(0, interface.channel_count()): channels.append({"interface": "cantact", "channel": f"ch:{i}"}) return channels @@ -121,7 +123,14 @@ def __init__( **kwargs, ) - def _recv_internal(self, timeout): + def _recv_internal( + self, timeout: Optional[float] + ) -> tuple[Optional[Message], bool]: + if timeout is None: + raise TypeError( + f"{self.__class__.__name__} expects a numeric `timeout` value." + ) + with error_check("Cannot receive message"): frame = self.interface.recv(int(timeout * 1000)) if frame is None: @@ -140,7 +149,7 @@ def _recv_internal(self, timeout): ) return msg, False - def send(self, msg, timeout=None): + def send(self, msg: Message, timeout: Optional[float] = None) -> None: with error_check("Cannot send message"): self.interface.send( self.channel, @@ -151,13 +160,13 @@ def send(self, msg, timeout=None): msg.data, ) - def shutdown(self): + def shutdown(self) -> None: super().shutdown() with error_check("Cannot shutdown interface"): self.interface.stop() -def mock_recv(timeout): +def mock_recv(timeout: int) -> Optional[dict[str, Any]]: if timeout > 0: return { "id": 0x123, diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index e6ad25d57..6192367c4 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -9,7 +9,6 @@ CyclicSendTaskABC, Message, ) -from can.typechecking import AutoDetectedConfig class IXXATBus(BusABC): @@ -175,5 +174,5 @@ def state(self) -> BusState: return self.bus.state @staticmethod - def _detect_available_configs() -> list[AutoDetectedConfig]: + def _detect_available_configs() -> Sequence[vcinpl.AutoDetectedIxxatConfig]: return vcinpl._detect_available_configs() diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 098b022bb..59f98417d 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -976,8 +976,8 @@ def get_ixxat_hwids(): return hwids -def _detect_available_configs() -> list[AutoDetectedConfig]: - config_list = [] # list in wich to store the resulting bus kwargs +def _detect_available_configs() -> Sequence["AutoDetectedIxxatConfig"]: + config_list = [] # list in which to store the resulting bus kwargs # used to detect HWID device_handle = HANDLE() @@ -1026,3 +1026,7 @@ def _detect_available_configs() -> list[AutoDetectedConfig]: pass # _canlib is None in the CI tests -> return a blank list return config_list + + +class AutoDetectedIxxatConfig(AutoDetectedConfig): + unique_hardware_id: int diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index 12ce5aff1..680cf10f6 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -10,7 +10,8 @@ import io import logging import struct -from typing import Any, Optional +from collections.abc import Sequence +from typing import Any, Optional, cast from can import ( BusABC, @@ -26,21 +27,14 @@ logger = logging.getLogger("can.serial") try: - import serial + import serial.tools.list_ports except ImportError: logger.warning( "You won't be able to use the serial can backend without " - "the serial module installed!" + "the `pyserial` package installed!" ) serial = None -try: - from serial.tools.list_ports import comports as list_comports -except ImportError: - # If unavailable on some platform, just return nothing - def list_comports() -> list[Any]: - return [] - CAN_ERR_FLAG = 0x20000000 CAN_RTR_FLAG = 0x40000000 @@ -63,8 +57,7 @@ def __init__( baudrate: int = 115200, timeout: float = 0.1, rtscts: bool = False, - *args, - **kwargs, + **kwargs: Any, ) -> None: """ :param channel: @@ -107,7 +100,7 @@ def __init__( "could not create the serial device" ) from error - super().__init__(channel, *args, **kwargs) + super().__init__(channel, **kwargs) def shutdown(self) -> None: """ @@ -232,7 +225,7 @@ def _recv_internal( def fileno(self) -> int: try: - return self._ser.fileno() + return cast("int", self._ser.fileno()) except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" @@ -241,7 +234,11 @@ def fileno(self) -> int: raise CanOperationError("Cannot fetch fileno") from exception @staticmethod - def _detect_available_configs() -> list[AutoDetectedConfig]: - return [ - {"interface": "serial", "channel": port.device} for port in list_comports() - ] + def _detect_available_configs() -> Sequence[AutoDetectedConfig]: + configs: list[AutoDetectedConfig] = [] + if serial is None: + return configs + + for port in serial.tools.list_ports.comports(): + configs.append({"interface": "serial", "channel": port.device}) + return configs diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 80dcb203f..1c096f66e 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -9,7 +9,7 @@ import struct import subprocess import sys -from typing import Optional, cast +from typing import Optional from can import typechecking from can.interfaces.socketcan.constants import CAN_EFF_FLAG @@ -28,7 +28,6 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes can_id = can_filter["can_id"] can_mask = can_filter["can_mask"] if "extended" in can_filter: - can_filter = cast("typechecking.CanFilterExtended", can_filter) # Match on either 11-bit OR 29-bit messages instead of both can_mask |= CAN_EFF_FLAG if can_filter["extended"]: diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 45882ec07..9e0187ea2 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -6,10 +6,10 @@ import struct import time import warnings -from typing import Optional, Union +from typing import Any, Optional, Union import can -from can import BusABC, CanProtocol +from can import BusABC, CanProtocol, Message from can.typechecking import AutoDetectedConfig from .utils import is_msgpack_installed, pack_message, unpack_message @@ -98,7 +98,7 @@ def __init__( hop_limit: int = 1, receive_own_messages: bool = False, fd: bool = True, - **kwargs, + **kwargs: Any, ) -> None: is_msgpack_installed() @@ -126,7 +126,9 @@ def is_fd(self) -> bool: ) return self._can_protocol is CanProtocol.CAN_FD - def _recv_internal(self, timeout: Optional[float]): + def _recv_internal( + self, timeout: Optional[float] + ) -> tuple[Optional[Message], bool]: result = self._multicast.recv(timeout) if not result: return None, False @@ -204,7 +206,7 @@ def __init__( # Look up multicast group address in name server and find out IP version of the first suitable target # and then get the address family of it (socket.AF_INET or socket.AF_INET6) - connection_candidates = socket.getaddrinfo( # type: ignore + connection_candidates = socket.getaddrinfo( group, self.port, type=socket.SOCK_DGRAM ) sock = None diff --git a/can/interfaces/udp_multicast/utils.py b/can/interfaces/udp_multicast/utils.py index c6b2630a5..de39833a3 100644 --- a/can/interfaces/udp_multicast/utils.py +++ b/can/interfaces/udp_multicast/utils.py @@ -2,7 +2,7 @@ Defines common functions. """ -from typing import Any, Optional +from typing import Any, Optional, cast from can import CanInterfaceNotImplementedError, Message from can.typechecking import ReadableBytesLike @@ -51,7 +51,7 @@ def pack_message(message: Message) -> bytes: "bitrate_switch": message.bitrate_switch, "error_state_indicator": message.error_state_indicator, } - return msgpack.packb(as_dict, use_bin_type=True) + return cast("bytes", msgpack.packb(as_dict, use_bin_type=True)) def unpack_message( diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index 986f52002..d15b89803 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -982,8 +982,8 @@ def reset(self) -> None: ) @staticmethod - def _detect_available_configs() -> list[AutoDetectedConfig]: - configs = [] + def _detect_available_configs() -> Sequence["AutoDetectedVectorConfig"]: + configs: list[AutoDetectedVectorConfig] = [] channel_configs = get_channel_configs() LOG.info("Found %d channels", len(channel_configs)) for channel_config in channel_configs: @@ -999,16 +999,13 @@ def _detect_available_configs() -> list[AutoDetectedConfig]: ) configs.append( { - # data for use in VectorBus.__init__(): "interface": "vector", "channel": channel_config.hw_channel, "serial": channel_config.serial_number, "channel_index": channel_config.channel_index, - # data for use in VectorBus.set_application_config(): "hw_type": channel_config.hw_type, "hw_index": channel_config.hw_index, "hw_channel": channel_config.hw_channel, - # additional information: "supports_fd": bool( channel_config.channel_capabilities & xldefine.XL_ChannelCapabilities.XL_CHANNEL_FLAG_CANFD_ISO_SUPPORT @@ -1016,7 +1013,7 @@ def _detect_available_configs() -> list[AutoDetectedConfig]: "vector_channel_config": channel_config, } ) - return configs # type: ignore + return configs @staticmethod def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @@ -1188,6 +1185,19 @@ class VectorChannelConfig(NamedTuple): transceiver_name: str +class AutoDetectedVectorConfig(AutoDetectedConfig): + # data for use in VectorBus.__init__(): + serial: int + channel_index: int + # data for use in VectorBus.set_application_config(): + hw_type: int + hw_index: int + hw_channel: int + # additional information: + supports_fd: bool + vector_channel_config: VectorChannelConfig + + def _get_xl_driver_config() -> xlclass.XLdriverConfig: if xldriver is None: raise VectorError( diff --git a/can/interfaces/vector/exceptions.py b/can/interfaces/vector/exceptions.py index 53c774e6f..b43df5e6c 100644 --- a/can/interfaces/vector/exceptions.py +++ b/can/interfaces/vector/exceptions.py @@ -1,10 +1,14 @@ """Exception/error declarations for the vector interface.""" +from typing import Any, Optional, Union + from can import CanError, CanInitializationError, CanOperationError class VectorError(CanError): - def __init__(self, error_code, error_string, function): + def __init__( + self, error_code: Optional[int], error_string: str, function: str + ) -> None: super().__init__( message=f"{function} failed ({error_string})", error_code=error_code ) @@ -12,7 +16,7 @@ def __init__(self, error_code, error_string, function): # keep reference to args for pickling self._args = error_code, error_string, function - def __reduce__(self): + def __reduce__(self) -> Union[str, tuple[Any, ...]]: return type(self), self._args, {} diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index 6b62e5ceb..e4f68b0c4 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -12,7 +12,7 @@ from copy import deepcopy from random import randint from threading import RLock -from typing import Any, Optional +from typing import Any, Final, Optional from can import CanOperationError from can.bus import BusABC, CanProtocol @@ -21,10 +21,9 @@ logger = logging.getLogger(__name__) - # Channels are lists of queues, one for each connection -channels: dict[Optional[Channel], list[queue.Queue[Message]]] = {} -channels_lock = RLock() +channels: Final[dict[Channel, list[queue.Queue[Message]]]] = {} +channels_lock: Final = RLock() class VirtualBus(BusABC): @@ -54,7 +53,7 @@ class VirtualBus(BusABC): def __init__( self, - channel: Optional[Channel] = None, + channel: Channel = "channel-0", receive_own_messages: bool = False, rx_queue_size: int = 0, preserve_timestamps: bool = False, @@ -67,9 +66,9 @@ def __init__( bus by virtual instances constructed with the same channel identifier. :param channel: The channel identifier. This parameter can be an - arbitrary value. The bus instance will be able to see messages - from other virtual bus instances that were created with the same - value. + arbitrary hashable value. The bus instance will be able to see + messages from other virtual bus instances that were created with + the same value. :param receive_own_messages: If set to True, sent messages will be reflected back on the input queue. :param rx_queue_size: The size of the reception queue. The reception @@ -179,7 +178,7 @@ def _detect_available_configs() -> list[AutoDetectedConfig]: available_channels = list(channels.keys()) # find a currently unused channel - def get_extra(): + def get_extra() -> str: return f"channel-{randint(0, 9999)}" extra = get_extra() diff --git a/can/io/mf4.py b/can/io/mf4.py index 7007c3627..68aff87ae 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -274,7 +274,7 @@ def on_message_received(self, msg: Message) -> None: self._rtr_buffer = np.zeros(1, dtype=RTR_DTYPE) -class FrameIterator(metaclass=abc.ABCMeta): +class FrameIterator(abc.ABC): """ Iterator helper class for common handling among CAN DataFrames, ErrorFrames and RemoteFrames. """ diff --git a/can/listener.py b/can/listener.py index 6256d33b6..7f8f436a0 100644 --- a/can/listener.py +++ b/can/listener.py @@ -5,7 +5,7 @@ import asyncio import sys import warnings -from abc import ABCMeta, abstractmethod +from abc import ABC, abstractmethod from collections.abc import AsyncIterator from queue import Empty, SimpleQueue from typing import Any, Optional @@ -14,7 +14,7 @@ from can.message import Message -class Listener(metaclass=ABCMeta): +class Listener(ABC): """The basic listener that can be called directly to handle some CAN message:: diff --git a/can/logconvert.py b/can/logconvert.py index 49cdaf4bb..4527dc23e 100644 --- a/can/logconvert.py +++ b/can/logconvert.py @@ -5,17 +5,21 @@ import argparse import errno import sys +from typing import TYPE_CHECKING, NoReturn from can import Logger, LogReader, SizedRotatingLogger +if TYPE_CHECKING: + from can.io.generic import MessageWriter + class ArgumentParser(argparse.ArgumentParser): - def error(self, message): + def error(self, message: str) -> NoReturn: self.print_help(sys.stderr) self.exit(errno.EINVAL, f"{self.prog}: error: {message}\n") -def main(): +def main() -> None: parser = ArgumentParser( description="Convert a log file from one format to another.", ) @@ -47,7 +51,7 @@ def main(): with LogReader(args.input) as reader: if args.file_size: - logger = SizedRotatingLogger( + logger: MessageWriter = SizedRotatingLogger( base_filename=args.output, max_bytes=args.file_size ) else: diff --git a/can/message.py b/can/message.py index d8d94ea84..c1fbffd21 100644 --- a/can/message.py +++ b/can/message.py @@ -8,7 +8,7 @@ from copy import deepcopy from math import isinf, isnan -from typing import Optional +from typing import Any, Optional from . import typechecking @@ -210,7 +210,7 @@ def __copy__(self) -> "Message": error_state_indicator=self.error_state_indicator, ) - def __deepcopy__(self, memo: dict) -> "Message": + def __deepcopy__(self, memo: Optional[dict[int, Any]]) -> "Message": return Message( timestamp=self.timestamp, arbitration_id=self.arbitration_id, diff --git a/can/notifier.py b/can/notifier.py index 2b9944450..b2f550df7 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -103,7 +103,7 @@ def find_instances(self, bus: BusABC) -> tuple["Notifier", ...]: return tuple(instance_list) -class Notifier(AbstractContextManager): +class Notifier(AbstractContextManager["Notifier"]): _registry: Final = _NotifierRegistry() diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 9b008667f..35a4f400c 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -1,4 +1,12 @@ +from contextlib import nullcontext from threading import RLock +from typing import Any, Optional + +from can import typechecking +from can.bus import BusABC, BusState, CanProtocol +from can.message import Message + +from .interface import Bus try: # Only raise an exception on instantiation but allow module @@ -10,10 +18,6 @@ ObjectProxy = object import_exc = exc -from contextlib import nullcontext - -from .interface import Bus - class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method """ @@ -32,65 +36,81 @@ class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method instead of :meth:`~can.BusABC.recv` directly. """ - def __init__(self, *args, **kwargs): + __wrapped__: BusABC + + def __init__( + self, + channel: Optional[typechecking.Channel] = None, + interface: Optional[str] = None, + config_context: Optional[str] = None, + ignore_config: bool = False, + **kwargs: Any, + ) -> None: if import_exc is not None: raise import_exc - super().__init__(Bus(*args, **kwargs)) + super().__init__( + Bus( + channel=channel, + interface=interface, + config_context=config_context, + ignore_config=ignore_config, + **kwargs, + ) + ) # now, BusABC.send_periodic() does not need a lock anymore, but the # implementation still requires a context manager - self.__wrapped__._lock_send_periodic = nullcontext() + self.__wrapped__._lock_send_periodic = nullcontext() # type: ignore[assignment] # init locks for sending and receiving separately self._lock_send = RLock() self._lock_recv = RLock() - def recv( - self, timeout=None, *args, **kwargs - ): # pylint: disable=keyword-arg-before-vararg + def recv(self, timeout: Optional[float] = None) -> Optional[Message]: with self._lock_recv: - return self.__wrapped__.recv(timeout=timeout, *args, **kwargs) + return self.__wrapped__.recv(timeout=timeout) - def send( - self, msg, timeout=None, *args, **kwargs - ): # pylint: disable=keyword-arg-before-vararg + def send(self, msg: Message, timeout: Optional[float] = None) -> None: with self._lock_send: - return self.__wrapped__.send(msg, timeout=timeout, *args, **kwargs) + return self.__wrapped__.send(msg=msg, timeout=timeout) # send_periodic does not need a lock, since the underlying # `send` method is already synchronized @property - def filters(self): + def filters(self) -> Optional[typechecking.CanFilters]: with self._lock_recv: return self.__wrapped__.filters @filters.setter - def filters(self, filters): + def filters(self, filters: Optional[typechecking.CanFilters]) -> None: with self._lock_recv: self.__wrapped__.filters = filters - def set_filters( - self, filters=None, *args, **kwargs - ): # pylint: disable=keyword-arg-before-vararg + def set_filters(self, filters: Optional[typechecking.CanFilters] = None) -> None: with self._lock_recv: - return self.__wrapped__.set_filters(filters=filters, *args, **kwargs) + return self.__wrapped__.set_filters(filters=filters) - def flush_tx_buffer(self, *args, **kwargs): + def flush_tx_buffer(self) -> None: with self._lock_send: - return self.__wrapped__.flush_tx_buffer(*args, **kwargs) + return self.__wrapped__.flush_tx_buffer() - def shutdown(self, *args, **kwargs): + def shutdown(self) -> None: with self._lock_send, self._lock_recv: - return self.__wrapped__.shutdown(*args, **kwargs) + return self.__wrapped__.shutdown() @property - def state(self): + def state(self) -> BusState: with self._lock_send, self._lock_recv: return self.__wrapped__.state @state.setter - def state(self, new_state): + def state(self, new_state: BusState) -> None: with self._lock_send, self._lock_recv: self.__wrapped__.state = new_state + + @property + def protocol(self) -> CanProtocol: + with self._lock_send, self._lock_recv: + return self.__wrapped__.protocol diff --git a/can/typechecking.py b/can/typechecking.py index fc0c87c0d..8c25e8b57 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -21,18 +21,16 @@ import struct -class CanFilter(TypedDict): +class _CanFilterBase(TypedDict): can_id: int can_mask: int -class CanFilterExtended(TypedDict): - can_id: int - can_mask: int +class CanFilter(_CanFilterBase, total=False): extended: bool -CanFilters = Sequence[Union[CanFilter, CanFilterExtended]] +CanFilters = Sequence[CanFilter] # TODO: Once buffer protocol support lands in typing, we should switch to that, # since can.message.Message attempts to call bytearray() on the given data, so diff --git a/can/viewer.py b/can/viewer.py index 81e8942a4..97bda1676 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -159,7 +159,7 @@ def run(self): # Unpack the data and then convert it into SI-units @staticmethod - def unpack_data(cmd: int, cmd_to_struct: dict, data: bytes) -> list[float]: + def unpack_data(cmd: int, cmd_to_struct: TDataStructs, data: bytes) -> list[float]: if not cmd_to_struct or not data: # These messages do not contain a data package return [] diff --git a/pyproject.toml b/pyproject.toml index 9eb98e37b..47d8e7a6d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -130,11 +130,8 @@ disallow_incomplete_defs = true warn_redundant_casts = true warn_unused_ignores = true exclude = [ - "venv", "^doc/conf.py$", - "^build", "^test", - "^can/interfaces/__init__.py", "^can/interfaces/etas", "^can/interfaces/gs_usb", "^can/interfaces/ics_neovi", @@ -144,12 +141,9 @@ exclude = [ "^can/interfaces/nican", "^can/interfaces/neousys", "^can/interfaces/pcan", - "^can/interfaces/serial", "^can/interfaces/socketcan", "^can/interfaces/systec", - "^can/interfaces/udp_multicast", "^can/interfaces/usb2can", - "^can/interfaces/virtual", ] [tool.ruff] From 7c521af9dac83ee76c4ae9eeb092b51c5e21abc7 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sun, 27 Jul 2025 15:22:17 +0200 Subject: [PATCH 426/475] Update Test Dependencies (#1963) * update test dependencies * use pytest-modern for prettier pytest output * update ruff * fix coveralls flag-name * checkout to fix failing "git log" cmd --- .github/workflows/ci.yml | 3 ++- can/broadcastmanager.py | 4 ++-- can/interfaces/systec/structures.py | 5 +++++ pyproject.toml | 19 ++++++++++--------- 4 files changed, 19 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 8c3bb407f..b799b463e 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -51,7 +51,7 @@ jobs: uses: coverallsapp/github-action@v2 with: github-token: ${{ secrets.github_token }} - flag-name: Unittests-${{ matrix.os }}-${{ matrix.python-version }} + flag-name: Unittests-${{ matrix.os }}-${{ matrix.env }} parallel: true path-to-lcov: ./coverage.lcov @@ -59,6 +59,7 @@ jobs: needs: test runs-on: ubuntu-latest steps: + - uses: actions/checkout@v4 - name: Coveralls Finished uses: coverallsapp/github-action@v2 with: diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index b2bc28e76..a71f6fd11 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -39,8 +39,8 @@ class _Pywin32Event: class _Pywin32: def __init__(self) -> None: - import pywintypes # pylint: disable=import-outside-toplevel,import-error - import win32event # pylint: disable=import-outside-toplevel,import-error + import pywintypes # noqa: PLC0415 # pylint: disable=import-outside-toplevel,import-error + import win32event # noqa: PLC0415 # pylint: disable=import-outside-toplevel,import-error self.pywintypes = pywintypes self.win32event = win32event diff --git a/can/interfaces/systec/structures.py b/can/interfaces/systec/structures.py index c80f21d44..a50ac4c26 100644 --- a/can/interfaces/systec/structures.py +++ b/can/interfaces/systec/structures.py @@ -51,6 +51,7 @@ class CanMsg(Structure): DWORD, ), # Receive time stamp in ms (for transmit messages no meaning) ] + __hash__ = Structure.__hash__ def __init__( self, id_=0, frame_format=MsgFrameFormat.MSG_FF_STD, data=None, dlc=None @@ -116,6 +117,7 @@ class Status(Structure): ("m_wCanStatus", WORD), # CAN error status (see enum :class:`CanStatus`) ("m_wUsbStatus", WORD), # USB error status (see enum :class:`UsbStatus`) ] + __hash__ = Structure.__hash__ def __eq__(self, other): if not isinstance(other, Status): @@ -171,6 +173,7 @@ class InitCanParam(Structure): WORD, ), # number of transmit buffer entries (default is 4096) ] + __hash__ = Structure.__hash__ def __init__( self, mode, BTR, OCR, AMR, ACR, baudrate, rx_buffer_entries, tx_buffer_entries @@ -277,6 +280,7 @@ class HardwareInfoEx(Structure): ("m_dwUniqueId3", DWORD), ("m_dwFlags", DWORD), # additional flags ] + __hash__ = Structure.__hash__ def __init__(self): super().__init__(sizeof(HardwareInfoEx)) @@ -389,6 +393,7 @@ class ChannelInfo(Structure): WORD, ), # CAN status (same as received by method :meth:`UcanServer.get_status`) ] + __hash__ = Structure.__hash__ def __init__(self): super().__init__(sizeof(ChannelInfo)) diff --git a/pyproject.toml b/pyproject.toml index 47d8e7a6d..51bcff693 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -88,18 +88,19 @@ docs = [ ] lint = [ "pylint==3.3.*", - "ruff==0.11.12", + "ruff==0.12.5", "black==25.1.*", - "mypy==1.16.*", + "mypy==1.17.*", ] test = [ - "pytest==8.3.*", - "pytest-timeout==2.1.*", - "coveralls==3.3.1", - "pytest-cov==4.0.0", - "coverage==6.5.0", - "hypothesis~=6.35.0", - "parameterized~=0.8", + "pytest==8.4.*", + "pytest-timeout==2.4.*", + "pytest-modern==0.7.*;platform_system!='Windows'", + "coveralls==4.0.*", + "pytest-cov==6.2.*", + "coverage==7.10.*", + "hypothesis==6.136.*", + "parameterized==0.9.*", ] dev = [ {include-group = "docs"}, From 51689bca00ce257a12d5b6b508f3da330f14a553 Mon Sep 17 00:00:00 2001 From: John Whittington Date: Tue, 5 Aug 2025 14:12:54 +0200 Subject: [PATCH 427/475] Mf4Reader: support files from ihedvall/mdflib (#1967) --- can/io/mf4.py | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/can/io/mf4.py b/can/io/mf4.py index 68aff87ae..bf594e3a5 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -352,7 +352,10 @@ def __iter__(self) -> Generator[Message, None, None]: if "CAN_DataFrame.BusChannel" in names: kv["channel"] = int(data["CAN_DataFrame.BusChannel"][i]) if "CAN_DataFrame.Dir" in names: - kv["is_rx"] = int(data["CAN_DataFrame.Dir"][i]) == 0 + if data["CAN_DataFrame.Dir"][i].dtype.kind == "S": + kv["is_rx"] = data["CAN_DataFrame.Dir"][i] == b"Rx" + else: + kv["is_rx"] = int(data["CAN_DataFrame.Dir"][i]) == 0 if "CAN_DataFrame.IDE" in names: kv["is_extended_id"] = bool(data["CAN_DataFrame.IDE"][i]) if "CAN_DataFrame.EDL" in names: @@ -387,7 +390,10 @@ def __iter__(self) -> Generator[Message, None, None]: if "CAN_ErrorFrame.BusChannel" in names: kv["channel"] = int(data["CAN_ErrorFrame.BusChannel"][i]) if "CAN_ErrorFrame.Dir" in names: - kv["is_rx"] = int(data["CAN_ErrorFrame.Dir"][i]) == 0 + if data["CAN_ErrorFrame.Dir"][i].dtype.kind == "S": + kv["is_rx"] = data["CAN_ErrorFrame.Dir"][i] == b"Rx" + else: + kv["is_rx"] = int(data["CAN_ErrorFrame.Dir"][i]) == 0 if "CAN_ErrorFrame.ID" in names: kv["arbitration_id"] = ( int(data["CAN_ErrorFrame.ID"][i]) & 0x1FFFFFFF @@ -441,7 +447,10 @@ def __iter__(self) -> Generator[Message, None, None]: if "CAN_RemoteFrame.BusChannel" in names: kv["channel"] = int(data["CAN_RemoteFrame.BusChannel"][i]) if "CAN_RemoteFrame.Dir" in names: - kv["is_rx"] = int(data["CAN_RemoteFrame.Dir"][i]) == 0 + if data["CAN_RemoteFrame.Dir"][i].dtype.kind == "S": + kv["is_rx"] = data["CAN_RemoteFrame.Dir"][i] == b"Rx" + else: + kv["is_rx"] = int(data["CAN_RemoteFrame.Dir"][i]) == 0 if "CAN_RemoteFrame.IDE" in names: kv["is_extended_id"] = bool(data["CAN_RemoteFrame.IDE"][i]) From 6160f76a214d1813cb1314371730586cb11416bb Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 5 Aug 2025 14:36:42 +0200 Subject: [PATCH 428/475] Use `towncrier` for Automated Changelog Generation, Add PR Template (#1965) * add towncrier configuration * add pull request template * add news fragments * add fragment for 1967 --- .github/pull_request_template.md | 37 ++++ CHANGELOG.md | 281 +++++++++++++------------------ doc/changelog.d/.gitignore | 11 ++ doc/changelog.d/1758.added.md | 1 + doc/changelog.d/1851.changed.md | 1 + doc/changelog.d/1890.added.md | 1 + doc/changelog.d/1904.fixed.md | 1 + doc/changelog.d/1906.fixed.md | 1 + doc/changelog.d/1908.fixed.md | 1 + doc/changelog.d/1914.added.md | 1 + doc/changelog.d/1920.added.md | 1 + doc/changelog.d/1921.fixed.md | 1 + doc/changelog.d/1927.fixed.md | 1 + doc/changelog.d/1931.removed.md | 1 + doc/changelog.d/1934.fixed.md | 1 + doc/changelog.d/1940.fixed.md | 1 + doc/changelog.d/1941.added.md | 1 + doc/changelog.d/1945.changed.md | 2 + doc/changelog.d/1946.changed.md | 1 + doc/changelog.d/1947.changed.md | 1 + doc/changelog.d/1948.added.md | 1 + doc/changelog.d/1949.added.md | 1 + doc/changelog.d/1951.removed.md | 1 + doc/changelog.d/1953.added.md | 1 + doc/changelog.d/1954.added.md | 1 + doc/changelog.d/1957.fixed.md | 1 + doc/changelog.d/1960.changed.md | 1 + doc/changelog.d/1961.added.md | 1 + doc/changelog.d/1967.fixed.md | 1 + doc/development.rst | 65 ++++++- pyproject.toml | 40 ++++- 31 files changed, 284 insertions(+), 177 deletions(-) create mode 100644 .github/pull_request_template.md create mode 100644 doc/changelog.d/.gitignore create mode 100644 doc/changelog.d/1758.added.md create mode 100644 doc/changelog.d/1851.changed.md create mode 100644 doc/changelog.d/1890.added.md create mode 100644 doc/changelog.d/1904.fixed.md create mode 100644 doc/changelog.d/1906.fixed.md create mode 100644 doc/changelog.d/1908.fixed.md create mode 100644 doc/changelog.d/1914.added.md create mode 100644 doc/changelog.d/1920.added.md create mode 100644 doc/changelog.d/1921.fixed.md create mode 100644 doc/changelog.d/1927.fixed.md create mode 100644 doc/changelog.d/1931.removed.md create mode 100644 doc/changelog.d/1934.fixed.md create mode 100644 doc/changelog.d/1940.fixed.md create mode 100644 doc/changelog.d/1941.added.md create mode 100644 doc/changelog.d/1945.changed.md create mode 100644 doc/changelog.d/1946.changed.md create mode 100644 doc/changelog.d/1947.changed.md create mode 100644 doc/changelog.d/1948.added.md create mode 100644 doc/changelog.d/1949.added.md create mode 100644 doc/changelog.d/1951.removed.md create mode 100644 doc/changelog.d/1953.added.md create mode 100644 doc/changelog.d/1954.added.md create mode 100644 doc/changelog.d/1957.fixed.md create mode 100644 doc/changelog.d/1960.changed.md create mode 100644 doc/changelog.d/1961.added.md create mode 100644 doc/changelog.d/1967.fixed.md diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 000000000..e6ce365d1 --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,37 @@ + + +## Summary of Changes + + + +- + +## Related Issues / Pull Requests + + + +- Closes # +- Related to # + +## Type of Change + +- [ ] Bug fix +- [ ] New feature +- [ ] Documentation update +- [ ] Refactoring +- [ ] Other (please describe): + +## Checklist + +- [ ] I have followed the [contribution guide](https://python-can.readthedocs.io/en/main/development.html). +- [ ] I have added or updated tests as appropriate. +- [ ] I have added or updated documentation as appropriate. +- [ ] I have added a [news fragment](doc/changelog.d/) for towncrier. +- [ ] All checks and tests pass (`tox`). + +## Additional Notes + + diff --git a/CHANGELOG.md b/CHANGELOG.md index 39cbaa716..a8ec28f12 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,8 +1,17 @@ -Version 4.5.0 -============= +# Changelog -Features --------- + + + + + +## Version 4.5.0 + +### Features * gs_usb command-line support (and documentation updates and stability fixes) by @BenGardiner in https://github.com/hardbyte/python-can/pull/1790 * Faster and more general MF4 support by @cssedev in https://github.com/hardbyte/python-can/pull/1892 @@ -13,8 +22,7 @@ Features * Improve TestBusConfig by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1804 * Improve speed of TRCReader by @lebuni in https://github.com/hardbyte/python-can/pull/1893 -Bug Fixes ---------- +### Bug Fixes * Fix Kvaser timestamp by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1878 * Set end_time in ThreadBasedCyclicSendTask.start() by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1871 @@ -25,8 +33,7 @@ Bug Fixes * Resolve AttributeError within NicanError by @vijaysubbiah20 in https://github.com/hardbyte/python-can/pull/1806 -Miscellaneous -------------- +### Miscellaneous * Fix CI by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1889 * Update msgpack dependency by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1875 @@ -43,11 +50,10 @@ Miscellaneous * Add zlgcan to docs by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1839 -Version 4.4.2 -============= +## Version 4.4.2 + +### Bug Fixes -Bug Fixes ---------- * Remove `abstractmethod` decorator from `Listener.stop()` (#1770, #1795) * Fix `SizedRotatingLogger` file suffix bug (#1792, #1793) * gs_usb: Use `BitTiming` class internally to configure bitrate (#1747, #1748) @@ -56,8 +62,7 @@ Bug Fixes * socketcan: Do not log exception on non-linux platforms (#1800) * vector, kvaser: Activate channels after CAN filters were applied (#1413, #1708, #1796) -Features --------- +### Features * kvaser: Add support for non-ISO CAN FD (#1752) * neovi: Return timestamps relative to epoch (#1789) @@ -66,11 +71,9 @@ Features * vector: Add support for `listen_only` mode (#1764) -Version 4.4.0 -============= +## Version 4.4.0 -Features --------- +### Features * TRC 1.3 Support: Added support for .trc log files as generated by PCAN Explorer v5 and other tools, expanding compatibility with common log file formats (#1753). * ASCReader refactor: improved the ASCReader code (#1717). @@ -80,17 +83,14 @@ Features * CAN FD Bus Connection for VectorBus: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (#1716). * Neousys Configs Detection: Updated the detection mechanism for available Neousys configurations, ensuring more accurate and comprehensive configuration discovery (#1744). - -Bug Fixes ---------- +### Bug Fixes * Send Periodic Messages: Fixed an issue where fixed-duration periodic messages were sent one extra time beyond their intended count (#1713). * Vector Interface on Windows 11: Addressed compatibility issues with the Vector interface on Windows 11, ensuring stable operation across the latest OS version (#1731). * ASCWriter Millisecond Handling: Corrected the handling of milliseconds in ASCWriter, ensuring accurate time representation in log files (#1734). * Various minor bug fixes: Addressed several minor bugs to improve overall stability and performance. -Miscellaneous -------------- +### Miscellaneous * Invert default value logic for BusABC._is_shutdown. (#1774) * Implemented various logging enhancements to provide more detailed and useful operational insights (#1703). @@ -100,29 +100,27 @@ Miscellaneous The release also includes various other minor enhancements and bug fixes aimed at improving the reliability and performance of the software. -Version 4.3.1 -============= +## Version 4.3.1 + +### Bug Fixes -Bug Fixes ---------- * Fix socketcand erroneously discarding frames (#1700) * Fix initialization order in EtasBus (#1693, #1704) -Documentation -------------- +### Documentation + * Fix install instructions for neovi (#1694, #1697) -Version 4.3.0 -============= +## Version 4.3.0 + +### Breaking Changes -Breaking Changes ----------------- * Raise Minimum Python Version to 3.8 (#1597) * Do not stop notifier if exception was handled (#1645) -Bug Fixes ---------- +### Bug Fixes + * Vector: channel detection fails, if there is an active flexray channel (#1634) * ixxat: Fix exception in 'state' property on bus coupling errors (#1647) * NeoVi: Fixed serial number range (#1650) @@ -133,20 +131,22 @@ Bug Fixes * Vector: Skip the `can_op_mode check` if the device reports `can_op_mode=0` (#1678) * Vector: using the config from `detect_available_configs` might raise XL_ERR_INVALID_CHANNEL_MASK error (#1681) -Features --------- +### Features + +#### API -### API * Add `modifier_callback` parameter to `BusABC.send_periodic` for auto-modifying cyclic tasks (#703) * Add `protocol` property to BusABC to determine active CAN Protocol (#1532) * Change Bus constructor implementation and typing (#1557) * Add optional `strict` parameter to relax BitTiming & BitTimingFd Validation (#1618) * Add `BitTiming.iterate_from_sample_point` static methods (#1671) -### IO +#### IO + * Can Player compatibility with interfaces that use additional configuration (#1610) -### Interface Improvements +#### Interface Improvements + * Kvaser: Add BitTiming/BitTimingFd support to KvaserBus (#1510) * Ixxat: Implement `detect_available_configs` for the Ixxat bus. (#1607) * NeoVi: Enable send and receive on network ID above 255 (#1627) @@ -156,7 +156,8 @@ Features * Kvaser: add parameter exclusive and `override_exclusive` (#1660) * socketcand: Add parameter `tcp_tune` to reduce latency (#1683) -### Miscellaneous +#### Miscellaneous + * Distinguish Text/Binary-IO for Reader/Writer classes. (#1585) * Convert setup.py to pyproject.toml (#1592) * activate ruff pycodestyle checks (#1602) @@ -170,32 +171,29 @@ Features * Add Python 3.12 Support / Test Python 3.12 (#1673) -Version 4.2.2 -============= +## Version 4.2.2 + +### Bug Fixes -Bug Fixes ---------- * Fix socketcan KeyError (#1598, #1599). * Fix IXXAT not properly shutdown message (#1606). * Fix Mf4Reader and TRCReader incompatibility with extra CLI args (#1610). * Fix decoding error in Kvaser constructor for non-ASCII product name (#1613). -Version 4.2.1 -============= +## Version 4.2.1 + +### Bug Fixes -Bug Fixes ---------- * The ASCWriter now logs the correct channel for error frames (#1578, #1583). * Fix PCAN library detection (#1579, #1580). * On Windows, the first two periodic frames were sent without delay (#1590). -Version 4.2.0 -============= +## Version 4.2.0 + +### Breaking Changes -Breaking Changes ----------------- * The ``can.BitTiming`` class was replaced with the new ``can.BitTiming`` and `can.BitTimingFd` classes (#1468, #1515). Early adopters of ``can.BitTiming`` will need to update their code. Check the @@ -210,17 +208,16 @@ Breaking Changes There are open pull requests for kvaser (#1510), slcan (#1512) and usb2can (#1511). Testing and reviewing of these open PRs would be most appreciated. -Features --------- +### Features -### IO +#### IO * Add support for MF4 files (#1289). * Add support for version 2 TRC files and other TRC file enhancements (#1530). -### Type Annotations +#### Type Annotations * Export symbols to satisfy type checkers (#1547, #1551, #1558, #1568). -### Interface Improvements +#### Interface Improvements * Add ``__del__`` method to ``can.BusABC`` to automatically release resources (#1489, #1564). * pcan: Update PCAN Basic to 4.6.2.753 (#1481). * pcan: Use select instead of polling on Linux (#1410). @@ -232,21 +229,21 @@ Features * vector: Only check sample point instead of tseg & sjw (#1486). * vector: add VN5611 hwtype (#1501). -Documentation -------------- +### Documentation + * Add new section about related tools to documentation. Add a list of plugin interface packages (#1457). -Bug Fixes ---------- +### Bug Fixes + * Automatic type conversion for config values (#1498, #1499). * pcan: Fix ``Bus.__new__`` for CAN-FD interfaces (#1458, #1460). * pcan: Fix Detection of Library on Windows on ARM (#1463). * socketcand: extended ID bug fixes (#1504, #1508). * vector: improve robustness against unknown HardwareType values (#1500, #1502). -Deprecations ------------- +### Deprecations + * The ``bustype`` parameter of ``can.Bus`` is deprecated and will be removed in version 5.0, use ``interface`` instead. (#1462). * The ``context`` parameter of ``can.Bus`` is deprecated and will be @@ -258,8 +255,8 @@ Deprecations * The ``brs`` and ``log_errors`` parameters of `` NiXNETcanBus`` are deprecated and will be removed in version 5.0. (#1520). -Miscellaneous -------------- +### Miscellaneous + * Use high resolution timer on Windows to improve timing precision for BroadcastManager (#1449). * Improve ThreadBasedCyclicSendTask timing (#1539). @@ -271,11 +268,9 @@ Miscellaneous * Add deprecation period to utility function ``deprecated_args_alias`` (#1477). * Add `ruff` to the CI system (#1551) -Version 4.1.0 -============= +## Version 4.1.0 -Breaking Changes ----------------- +### Breaking Changes * ``windows-curses`` was moved to optional dependencies (#1395). Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` @@ -284,11 +279,9 @@ Breaking Changes from camelCase to snake_case (#1422). -Features --------- - -### IO +### Features +#### IO * The canutils logger preserves message direction (#1244) and uses common interface names (e.g. can0) instead of just channel numbers (#1271). @@ -299,11 +292,11 @@ Features and player initialisation (#1366). * Initial support for TRC files (#1217) -### Type Annotations +#### Type Annotations * python-can now includes the ``py.typed`` marker to support type checking according to PEP 561 (#1344). -### Interface Improvements +#### Interface Improvements * The gs_usb interface can be selected by device index instead of USB bus/address. Loopback frames are now correctly marked with the ``is_rx`` flag (#1270). @@ -317,8 +310,7 @@ Features be applied according to the arguments of ``VectorBus.__init__`` (#1426). * Ixxat bus now implements BusState api and detects errors (#1141) -Bug Fixes ---------- +### Bug Fixes * Improve robustness of USB2CAN serial number detection (#1129). * Fix channel2int conversion (#1268, #1269). @@ -340,8 +332,7 @@ Bug Fixes * Raise ValueError if gzip is used with incompatible log formats (#1429). * Allow restarting of transmission tasks for socketcan (#1440) -Miscellaneous -------------- +### Miscellaneous * Allow ICSApiError to be pickled and un-pickled (#1341) * Sort interface names in CLI API to make documentation reproducible (#1342) @@ -351,8 +342,7 @@ Miscellaneous * Migrate code coverage reporting from Codecov to Coveralls (#1430) * Migrate building docs and publishing releases to PyPi from Travis-CI to GitHub Actions (#1433) -Version 4.0.0 -==== +## Version 4.0.0 TL;DR: This release includes a ton of improvements from 2.5 years of development! 🎉 Test thoroughly after switching. @@ -366,8 +356,7 @@ Therefore, users are strongly advised to thoroughly test their programs against Re-reading the documentation for your interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. While we did try to avoid breaking changes, in some cases it was not feasible and in particular, many implementation details have changed. -Major features --------------- +### Major features * Type hints for the core library and some interfaces (#652 and many others) * Support for Python 3.7-3.10+ only (dropped support for Python 2.* and 3.5-3.6) (#528 and many others) @@ -375,8 +364,7 @@ Major features * [Support for automatic configuration detection](https://python-can.readthedocs.io/en/develop/api.html#can.detect_available_configs) in most interfaces (#303, #640, #641, #811, #1077, #1085) * Better alignment of interfaces and IO to common conventions and semantics -New interfaces --------------- +### New interfaces * udp_multicast (#644) * robotell (#731) @@ -387,8 +375,7 @@ New interfaces * socketcand (#1140) * etas (#1144) -Improved interfaces -------------------- +### Improved interfaces * socketcan * Support for multiple Cyclic Messages in Tasks (#610) @@ -465,8 +452,7 @@ Improved interfaces * Fix transmitting onto a busy bus (#1114) * Replace binary library with python driver (#726, #1127) -Other API changes and improvements ----------------------------------- +### Other API changes and improvements * CAN FD frame support is pretty complete (#963) * ASCWriter (#604) and ASCReader (#741) @@ -497,8 +483,7 @@ Other API changes and improvements * Add changed byte highlighting to viewer.py (#1159) * Change DLC to DL in Message.\_\_str\_\_() (#1212) -Other Bugfixes --------------- +### Other Bugfixes * BLF PDU padding (#459) * stop_all_periodic_tasks skipping every other task (#634, #637, #645) @@ -524,8 +509,7 @@ Other Bugfixes * Some smaller bugfixes are not listed here since the problems were never part of a proper release * ASCReader & ASCWriter using DLC as data length (#1245, #1246) -Behind the scenes & Quality assurance -------------------------------------- +### Behind the scenes & Quality assurance * We publish both source distributions (`sdist`) and binary wheels (`bdist_wheel`) (#1059, #1071) * Many interfaces were partly rewritten to modernize the code or to better handle errors @@ -543,16 +527,13 @@ Behind the scenes & Quality assurance * [Good test coverage](https://app.codecov.io/gh/hardbyte/python-can/branch/develop) for all but the interfaces * Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: #1031, #581, #585, #586, #942, #1196, #1198) -Version 3.3.4 -==== +## Version 3.3.4 Last call for Python2 support. * #850 Fix socket.error is a deprecated alias of OSError used on Python versions lower than 3.3. -Version 3.3.3 -==== - +## Version 3.3.3 Backported fixes from 4.x development branch which targets Python 3. * #798 Backport caching msg.data value in neovi interface. @@ -570,37 +551,30 @@ Backported fixes from 4.x development branch which targets Python 3. * #605 Socketcan BCM status fix. -Version 3.3.2 -==== +## Version 3.3.2 Minor bug fix release addressing issue in PCAN RTR. -Version 3.3.1 -==== +## Version 3.3.1 Minor fix to setup.py to only require pytest-runner when necessary. -Version 3.3.0 -==== +## Version 3.3.0 * Adding CAN FD 64 frame support to blf reader * Updates to installation instructions * Clean up bits generator in PCAN interface #588 * Minor fix to use latest tools when building wheels on travis. -Version 3.2.1 -==== +## Version 3.2.1 * CAN FD 64 frame support to blf reader * Minor fix to use latest tools when building wheels on travis. * Updates links in documentation. -Version 3.2.0 -==== +## Version 3.2.0 - -Major features --------------- +### Major features * FD support added for Pcan by @bmeisels with input from @markuspi, @christiansandberg & @felixdivo in PR #537 @@ -608,8 +582,7 @@ Major features and Python 3.5. Support has been removed for Python 3.4 in this release in PR #532 -Other notable changes ---------------------- +### Other notable changes * #533 BusState is now an enum. * #535 This release should automatically be published to PyPi by travis. @@ -624,26 +597,21 @@ https://github.com/hardbyte/python-can/milestone/7?closed=1 Pulls: #522, #526, #527, #536, #540, #546, #547, #548, #533, #559, #569, #571, #572, #575 -Backend Specific Changes ------------------------- +### Backend Specific Changes -pcan -~~~~ +#### pcan * FD -slcan -~~~~ +#### slcan * ability to set custom can speed instead of using predefined speed values. #553 -socketcan -~~~~ +#### socketcan * Bug fix to properly support 32bit systems. #573 -usb2can -~~~~ +#### usb2can * slightly better error handling * multiple serial devices can be found @@ -651,25 +619,20 @@ usb2can Pulls #511, #535 -vector -~~~~ +#### vector * handle `app_name`. #525 -Version 3.1.1 -==== +## Version 3.1.1 -Major features --------------- +### Major features Two new interfaces this release: - SYSTEC contributed by @idaniel86 in PR #466 - CANalyst-II contributed by @smeng9 in PR #476 - -Other notable changes ---------------------- +### Other notable changes * #477 The kvaser interface now supports bus statistics via a custom bus method. * #434 neovi now supports receiving own messages @@ -686,18 +649,15 @@ Other notable changes * #455 Fix to `Message` initializer * Small bugfixes and improvements -Version 3.1.0 -==== +## Version 3.1.0 Version 3.1.0 was built with old wheel and/or setuptools packages and was replaced with v3.1.1 after an installation but was discovered. -Version 3.0.0 -==== +## Version 3.0.0 -Major features --------------- +### Major features * Adds support for developing `asyncio` applications with `python-can` more easily. This can be useful when implementing protocols that handles simultaneous connections to many nodes since you can write @@ -710,8 +670,7 @@ Major features by calling the bus's new `stop_all_periodic_tasks` method. #412 -Breaking changes ----------------- +### Breaking changes * Interfaces should no longer override `send_periodic` and instead implement `_send_periodic_internal` to allow the Bus base class to manage tasks. #426 @@ -721,8 +680,7 @@ Breaking changes read/writer constructors from `filename` to `file`. -Other notable changes ---------------------- +### Other notable changes * can.Message class updated #413 - Addition of a `Message.equals` method. @@ -754,59 +712,48 @@ Other notable changes General fixes, cleanup and docs changes: (#347, #348, #367, #368, #370, #371, #373, #420, #417, #419, #432) -Backend Specific Changes ------------------------- +### Backend Specific Changes -3rd party interfaces -~~~~~~~~~~~~~~~~~~~~ +#### 3rd party interfaces * Deprecated `python_can.interface` entry point instead use `can.interface`. #389 -neovi -~~~~~ +#### neovi * Added support for CAN-FD #408 * Fix issues checking if bus is open. #381 * Adding multiple channels support. #415 -nican -~~~~~ +#### nican * implements reset instead of custom `flush_tx_buffer`. #364 -pcan -~~~~ +#### pcan * now supported on OSX. #365 - -serial -~~~~~~ +#### serial * Removed TextIOWrapper from serial. #383 * switch to `serial_for_url` enabling using remote ports via `loop://`, ``socket://` and `rfc2217://` URLs. #393 * hardware handshake using `rtscts` kwarg #402 -socketcan -~~~~~~~~~ +#### socketcan * socketcan tasks now reuse a bcm socket #404, #425, #426, * socketcan bugfix to receive error frames #384 -vector -~~~~~~ +#### vector * Vector interface now implements `_detect_available_configs`. #362 * Added support to select device by serial number. #387 -Version 2.2.1 (2018-07-12) -===== +## Version 2.2.1 (2018-07-12) * Fix errors and warnings when importing library on Windows * Fix Vector backend raising ValueError when hardware is not connected -Version 2.2.0 (2018-06-30) -===== +## Version 2.2.0 (2018-06-30) * Fallback message filtering implemented in Python for interfaces that don't offer better accelerated mechanism. * SocketCAN interfaces have been merged (Now use `socketcan` instead of either `socketcan_native` and `socketcan_ctypes`), @@ -817,8 +764,7 @@ Version 2.2.0 (2018-06-30) * Dropped support for Python 3.3 (officially reached end-of-life in Sept. 2017) * Deprecated the old `CAN` module, please use the newer `can` entry point (will be removed in an upcoming major version) -Version 2.1.0 (2018-02-17) -===== +## Version 2.1.0 (2018-02-17) * Support for out of tree can interfaces with pluggy. * Initial support for CAN-FD for socketcan_native and kvaser interfaces. @@ -830,8 +776,7 @@ Version 2.1.0 (2018-02-17) * Other misc improvements and bug fixes -Version 2.0.0 (2018-01-05 -===== +## Version 2.0.0 (2018-01-05) After an extended baking period we have finally tagged version 2.0.0! diff --git a/doc/changelog.d/.gitignore b/doc/changelog.d/.gitignore new file mode 100644 index 000000000..b56b00acb --- /dev/null +++ b/doc/changelog.d/.gitignore @@ -0,0 +1,11 @@ +# Ignore everything... +* +!.gitignore + +# ...except markdown news fragments +!*.security.md +!*.removed.md +!*.deprecated.md +!*.added.md +!*.changed.md +!*.fixed.md diff --git a/doc/changelog.d/1758.added.md b/doc/changelog.d/1758.added.md new file mode 100644 index 000000000..0b95b14e2 --- /dev/null +++ b/doc/changelog.d/1758.added.md @@ -0,0 +1 @@ +Support 11-bit identifiers in the `serial` interface. diff --git a/doc/changelog.d/1851.changed.md b/doc/changelog.d/1851.changed.md new file mode 100644 index 000000000..672f7bd7d --- /dev/null +++ b/doc/changelog.d/1851.changed.md @@ -0,0 +1 @@ +Allow sending Classic CAN frames with a DLC value larger than 8 using the `socketcan` interface. \ No newline at end of file diff --git a/doc/changelog.d/1890.added.md b/doc/changelog.d/1890.added.md new file mode 100644 index 000000000..802629ed3 --- /dev/null +++ b/doc/changelog.d/1890.added.md @@ -0,0 +1 @@ +Keep track of active Notifiers and make Notifier usable as a context manager. Add function `Notifier.find_instances(bus)` to find the active Notifier for a given bus instance. diff --git a/doc/changelog.d/1904.fixed.md b/doc/changelog.d/1904.fixed.md new file mode 100644 index 000000000..80b665a6b --- /dev/null +++ b/doc/changelog.d/1904.fixed.md @@ -0,0 +1 @@ +Fix a bug in `slcanBus.get_version()` and `slcanBus.get_serial_number()`: If any other data was received during the function call, then `None` was returned. \ No newline at end of file diff --git a/doc/changelog.d/1906.fixed.md b/doc/changelog.d/1906.fixed.md new file mode 100644 index 000000000..f8988ff48 --- /dev/null +++ b/doc/changelog.d/1906.fixed.md @@ -0,0 +1 @@ +Fix incorrect padding of CAN FD payload in `BlfReader`. \ No newline at end of file diff --git a/doc/changelog.d/1908.fixed.md b/doc/changelog.d/1908.fixed.md new file mode 100644 index 000000000..ce8947029 --- /dev/null +++ b/doc/changelog.d/1908.fixed.md @@ -0,0 +1 @@ +Set correct message direction for messages received with `kvaser` interface and `receive_own_messages=True`. \ No newline at end of file diff --git a/doc/changelog.d/1914.added.md b/doc/changelog.d/1914.added.md new file mode 100644 index 000000000..a1f838001 --- /dev/null +++ b/doc/changelog.d/1914.added.md @@ -0,0 +1 @@ +Add Windows support to `udp_multicast` interface. \ No newline at end of file diff --git a/doc/changelog.d/1920.added.md b/doc/changelog.d/1920.added.md new file mode 100644 index 000000000..c4f0e532e --- /dev/null +++ b/doc/changelog.d/1920.added.md @@ -0,0 +1 @@ +Add FD support to `slcan` according to CANable 2.0 implementation. diff --git a/doc/changelog.d/1921.fixed.md b/doc/changelog.d/1921.fixed.md new file mode 100644 index 000000000..139d2979f --- /dev/null +++ b/doc/changelog.d/1921.fixed.md @@ -0,0 +1 @@ +Fix timestamp rounding error in `BlfWriter`. diff --git a/doc/changelog.d/1927.fixed.md b/doc/changelog.d/1927.fixed.md new file mode 100644 index 000000000..5fb005d05 --- /dev/null +++ b/doc/changelog.d/1927.fixed.md @@ -0,0 +1 @@ +Fix timestamp rounding error in `BlfReader`. \ No newline at end of file diff --git a/doc/changelog.d/1931.removed.md b/doc/changelog.d/1931.removed.md new file mode 100644 index 000000000..416329a83 --- /dev/null +++ b/doc/changelog.d/1931.removed.md @@ -0,0 +1 @@ +Remove support for Python 3.8. diff --git a/doc/changelog.d/1934.fixed.md b/doc/changelog.d/1934.fixed.md new file mode 100644 index 000000000..a12e4ffb2 --- /dev/null +++ b/doc/changelog.d/1934.fixed.md @@ -0,0 +1 @@ +Handle timer overflow message and build timestamp according to the epoch in the `ixxat` interface. \ No newline at end of file diff --git a/doc/changelog.d/1940.fixed.md b/doc/changelog.d/1940.fixed.md new file mode 100644 index 000000000..9f4fc09ba --- /dev/null +++ b/doc/changelog.d/1940.fixed.md @@ -0,0 +1 @@ +Avoid unsupported `ioctl` function call to allow usage of the `udp_multicast` interface on MacOS. \ No newline at end of file diff --git a/doc/changelog.d/1941.added.md b/doc/changelog.d/1941.added.md new file mode 100644 index 000000000..a3d87cb6b --- /dev/null +++ b/doc/changelog.d/1941.added.md @@ -0,0 +1 @@ +Add support for error messages to the `socketcand` interface. \ No newline at end of file diff --git a/doc/changelog.d/1945.changed.md b/doc/changelog.d/1945.changed.md new file mode 100644 index 000000000..59a48774f --- /dev/null +++ b/doc/changelog.d/1945.changed.md @@ -0,0 +1,2 @@ +The `gs_usb` extra dependency was renamed to `gs-usb`. +The `lint` extra dependency was removed and replaced with new PEP 735 dependency groups `lint`, `docs` and `test`. \ No newline at end of file diff --git a/doc/changelog.d/1946.changed.md b/doc/changelog.d/1946.changed.md new file mode 100644 index 000000000..d5dad4225 --- /dev/null +++ b/doc/changelog.d/1946.changed.md @@ -0,0 +1 @@ +Update dependency name from `zlgcan-driver-py` to `zlgcan`. \ No newline at end of file diff --git a/doc/changelog.d/1947.changed.md b/doc/changelog.d/1947.changed.md new file mode 100644 index 000000000..db12a0318 --- /dev/null +++ b/doc/changelog.d/1947.changed.md @@ -0,0 +1 @@ +Use ThreadPoolExecutor in `detect_available_configs()` to reduce runtime and add `timeout` parameter. \ No newline at end of file diff --git a/doc/changelog.d/1948.added.md b/doc/changelog.d/1948.added.md new file mode 100644 index 000000000..132d49d98 --- /dev/null +++ b/doc/changelog.d/1948.added.md @@ -0,0 +1 @@ +Add support for remote and error frames in the `serial` interface. \ No newline at end of file diff --git a/doc/changelog.d/1949.added.md b/doc/changelog.d/1949.added.md new file mode 100644 index 000000000..6e8ac79b5 --- /dev/null +++ b/doc/changelog.d/1949.added.md @@ -0,0 +1 @@ +Add public functions `can.cli.add_bus_arguments` and `can.cli.create_bus_from_namespace` for creating bus command line options. Currently downstream packages need to implement their own logic to configure *python-can* buses. Now *python-can* can create and parse bus options for third party packages. \ No newline at end of file diff --git a/doc/changelog.d/1951.removed.md b/doc/changelog.d/1951.removed.md new file mode 100644 index 000000000..6d56c5d50 --- /dev/null +++ b/doc/changelog.d/1951.removed.md @@ -0,0 +1 @@ +Remove `can.io.generic.BaseIOHandler` class. Improve `can.io.*` type annotations by using `typing.Generic`. diff --git a/doc/changelog.d/1953.added.md b/doc/changelog.d/1953.added.md new file mode 100644 index 000000000..76ef5137a --- /dev/null +++ b/doc/changelog.d/1953.added.md @@ -0,0 +1 @@ +Add support for remote frames to `TRCReader`. diff --git a/doc/changelog.d/1954.added.md b/doc/changelog.d/1954.added.md new file mode 100644 index 000000000..d2d50669b --- /dev/null +++ b/doc/changelog.d/1954.added.md @@ -0,0 +1 @@ +Mention the `python-can-candle` package in the plugin interface section of the documentation. diff --git a/doc/changelog.d/1957.fixed.md b/doc/changelog.d/1957.fixed.md new file mode 100644 index 000000000..9d5dd6071 --- /dev/null +++ b/doc/changelog.d/1957.fixed.md @@ -0,0 +1 @@ +Fix configuration file parsing for the `state` bus parameter. diff --git a/doc/changelog.d/1960.changed.md b/doc/changelog.d/1960.changed.md new file mode 100644 index 000000000..f3977aedb --- /dev/null +++ b/doc/changelog.d/1960.changed.md @@ -0,0 +1 @@ +Update contribution guide. diff --git a/doc/changelog.d/1961.added.md b/doc/changelog.d/1961.added.md new file mode 100644 index 000000000..483427ec0 --- /dev/null +++ b/doc/changelog.d/1961.added.md @@ -0,0 +1 @@ +Add new CLI tool `python -m can.bridge` (or just `can_bridge`) to create a software bridge between two physical buses. diff --git a/doc/changelog.d/1967.fixed.md b/doc/changelog.d/1967.fixed.md new file mode 100644 index 000000000..fdd72b363 --- /dev/null +++ b/doc/changelog.d/1967.fixed.md @@ -0,0 +1 @@ +Mf4Reader: support non-standard `CAN_DataFrame.Dir` values in mf4 files created by [ihedvall/mdflib](https://github.com/ihedvall/mdflib). diff --git a/doc/development.rst b/doc/development.rst index 97c175ada..40604c346 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -164,7 +164,36 @@ Step-by-Step Contribution Guide Some environments require specific Python versions. If you use `uv`, it will automatically download and manage these for you. -5. **(Optional) Build Source Distribution and Wheels** + + +5. **Add a News Fragment for the Changelog** + + This project uses `towncrier `__ to manage the changelog in + ``CHANGELOG.md``. For every user-facing change (new feature, bugfix, deprecation, etc.), you + must add a news fragment: + + * News fragments are short files describing your change, stored in ``doc/changelog.d``. + * Name each fragment ``..md``, where ```` is one of: + ``added``, ``changed``, ``deprecated``, ``removed``, ``fixed``, or ``security``. + * Example (for a feature added in PR #1234): + + .. code-block:: shell + + echo "Added support for CAN FD." > doc/changelog.d/1234.added.md + + * Or use the towncrier CLI: + + .. code-block:: shell + + uvx towncrier create --dir doc/changelog.d -c "Added support for CAN FD." 1234.added.md + + * For changes not tied to an issue/PR, the fragment name must start with a plus symbol + (e.g., ``+mychange.added.md``). Towncrier calls these "orphan fragments". + + .. note:: You do not need to manually update ``CHANGELOG.md``—maintainers will build the + changelog at release time. + +6. **(Optional) Build Source Distribution and Wheels** If you want to manually build the source distribution (sdist) and wheels for python-can, you can use `uvx` to run the build and twine tools: @@ -174,7 +203,7 @@ Step-by-Step Contribution Guide uv build uvx twine check --strict dist/* -6. **Push and Submit Your Contribution** +7. **Push and Submit Your Contribution** * Push your branch: @@ -218,13 +247,33 @@ These steps are a guideline on how to add a new backend to python-can. Creating a new Release ---------------------- -* Releases are automated via GitHub Actions. To create a new release: +Releases are automated via GitHub Actions. To create a new release: + +* Build the changelog with towncrier: + + + * Collect all news fragments and update ``CHANGELOG.md`` by running: + + .. code-block:: shell + + uvx towncrier build --yes --version vX.Y.Z + + (Replace ``vX.Y.Z`` with the new version number. **The version must exactly match the tag you will create for the release.**) + This will add all news fragments to the changelog and remove the fragments by default. + + .. note:: You can generate the changelog for prereleases, but keep the news + fragments so they are included in the final release. To do this, replace ``--yes`` with ``--keep``. + This will update ``CHANGELOG.md`` but leave the fragments in place for future builds. + + * Review ``CHANGELOG.md`` for accuracy and completeness. - * Ensure all tests pass and documentation is up-to-date. - * Update ``CONTRIBUTORS.txt`` with any new contributors. - * For larger changes, update ``doc/history.rst``. - * Create a new tag and GitHub release (e.g., ``vX.Y.Z``) targeting the ``main`` branch. Add release notes and publish. - * The CI workflow will automatically build, check, and upload the release to PyPI and other platforms. +* Ensure all tests pass and documentation is up-to-date. +* Update ``CONTRIBUTORS.txt`` with any new contributors. +* For larger changes, update ``doc/history.rst``. +* Create a new tag and GitHub release (e.g., ``vX.Y.Z``) targeting the ``main`` + branch. Add release notes and publish. +* The CI workflow will automatically build, check, and upload the release to PyPI + and other platforms. * You can monitor the release status on: `PyPi `__, diff --git a/pyproject.toml b/pyproject.toml index 51bcff693..72e706740 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -88,7 +88,7 @@ docs = [ ] lint = [ "pylint==3.3.*", - "ruff==0.12.5", + "ruff==0.12.7", "black==25.1.*", "mypy==1.17.*", ] @@ -213,3 +213,41 @@ disable = [ "too-many-public-methods", "too-many-statements", ] + +[tool.towncrier] +directory = "doc/changelog.d" +filename = "CHANGELOG.md" +start_string = "\n" +underlines = ["", "", ""] +title_format = "## Version [{version}](https://github.com/hardbyte/python-can/tree/{version}) - {project_date}" +issue_format = "[#{issue}](https://github.com/hardbyte/python-can/issues/{issue})" + +[[tool.towncrier.type]] +directory = "security" +name = "Security" +showcontent = true + +[[tool.towncrier.type]] +directory = "removed" +name = "Removed" +showcontent = true + +[[tool.towncrier.type]] +directory = "deprecated" +name = "Deprecated" +showcontent = true + +[[tool.towncrier.type]] +directory = "added" +name = "Added" +showcontent = true + +[[tool.towncrier.type]] +directory = "changed" +name = "Changed" +showcontent = true + +[[tool.towncrier.type]] +directory = "fixed" +name = "Fixed" +showcontent = true From 963bbee9a5911f9286a4f6eeace86cd4b56b88ed Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 5 Aug 2025 16:01:45 +0200 Subject: [PATCH 429/475] fix tests to avoid unclosed files and failed PyPy tests (#1968) --- can/io/logger.py | 3 +- test/test_rotating_loggers.py | 103 +++++++++++++++------------------- 2 files changed, 48 insertions(+), 58 deletions(-) diff --git a/can/io/logger.py b/can/io/logger.py index 9febfe680..4d8ddc070 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -290,7 +290,8 @@ def __exit__( exc_val: Optional[BaseException], exc_tb: Optional[TracebackType], ) -> Literal[False]: - return self.writer.__exit__(exc_type, exc_val, exc_tb) + self.stop() + return False @abstractmethod def should_rollover(self, msg: Message) -> bool: diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index ab977e3ce..77a2c7f5d 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -29,7 +29,7 @@ def __init__(self, file: StringPathLike, **kwargs) -> None: suffix = Path(file).suffix.lower() if suffix not in self._supported_formats: raise ValueError(f"Unsupported file format: {suffix}") - self._writer = can.Printer(file=file) + self._writer = can.Logger(filename=file) @property def writer(self) -> FileIOMessageWriter: @@ -59,26 +59,20 @@ def test_attributes(self): assert hasattr(can.io.BaseRotatingLogger, "do_rollover") def test_get_new_writer(self, tmp_path): - with self._get_instance(tmp_path / "__unused.txt") as logger_instance: - writer = logger_instance._get_new_writer(tmp_path / "file.ASC") - assert isinstance(writer, can.ASCWriter) - writer.stop() + with self._get_instance(tmp_path / "file.ASC") as logger_instance: + assert isinstance(logger_instance.writer, can.ASCWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.BLF") - assert isinstance(writer, can.BLFWriter) - writer.stop() + with self._get_instance(tmp_path / "file.BLF") as logger_instance: + assert isinstance(logger_instance.writer, can.BLFWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.CSV") - assert isinstance(writer, can.CSVWriter) - writer.stop() + with self._get_instance(tmp_path / "file.CSV") as logger_instance: + assert isinstance(logger_instance.writer, can.CSVWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.LOG") - assert isinstance(writer, can.CanutilsLogWriter) - writer.stop() + with self._get_instance(tmp_path / "file.LOG") as logger_instance: + assert isinstance(logger_instance.writer, can.CanutilsLogWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.TXT") - assert isinstance(writer, can.Printer) - writer.stop() + with self._get_instance(tmp_path / "file.TXT") as logger_instance: + assert isinstance(logger_instance.writer, can.Printer) def test_rotation_filename(self, tmp_path): with self._get_instance(tmp_path / "__unused.txt") as logger_instance: @@ -89,63 +83,61 @@ def test_rotation_filename(self, tmp_path): assert logger_instance.rotation_filename(default_name) == "default_by_namer" def test_rotate_without_rotator(self, tmp_path): - with self._get_instance(tmp_path / "__unused.txt") as logger_instance: - source = str(tmp_path / "source.txt") - dest = str(tmp_path / "dest.txt") + source = str(tmp_path / "source.txt") + dest = str(tmp_path / "dest.txt") - assert os.path.exists(source) is False - assert os.path.exists(dest) is False + assert os.path.exists(source) is False + assert os.path.exists(dest) is False - logger_instance._writer = logger_instance._get_new_writer(source) - logger_instance.stop() + with self._get_instance(source) as logger_instance: + # use context manager to create `source` file and close it + pass - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + assert os.path.exists(source) is True + assert os.path.exists(dest) is False - logger_instance.rotate(source, dest) + logger_instance.rotate(source, dest) - assert os.path.exists(source) is False - assert os.path.exists(dest) is True + assert os.path.exists(source) is False + assert os.path.exists(dest) is True def test_rotate_with_rotator(self, tmp_path): - with self._get_instance(tmp_path / "__unused.txt") as logger_instance: - rotator_func = Mock() - logger_instance.rotator = rotator_func + source = str(tmp_path / "source.txt") + dest = str(tmp_path / "dest.txt") - source = str(tmp_path / "source.txt") - dest = str(tmp_path / "dest.txt") + assert os.path.exists(source) is False + assert os.path.exists(dest) is False - assert os.path.exists(source) is False - assert os.path.exists(dest) is False + with self._get_instance(source) as logger_instance: + # use context manager to create `source` file and close it + pass - logger_instance._writer = logger_instance._get_new_writer(source) - logger_instance.stop() + rotator_func = Mock() + logger_instance.rotator = rotator_func + logger_instance._writer = logger_instance._get_new_writer(source) + logger_instance.stop() - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + assert os.path.exists(source) is True + assert os.path.exists(dest) is False - logger_instance.rotate(source, dest) - rotator_func.assert_called_with(source, dest) + logger_instance.rotate(source, dest) + rotator_func.assert_called_with(source, dest) - # assert that no rotation was performed since rotator_func - # does not do anything - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + # assert that no rotation was performed since rotator_func + # does not do anything + assert os.path.exists(source) is True + assert os.path.exists(dest) is False def test_stop(self, tmp_path): """Test if stop() method of writer is called.""" with self._get_instance(tmp_path / "file.ASC") as logger_instance: # replace stop method of writer with Mock - original_stop = logger_instance.writer.stop - mock_stop = Mock() + mock_stop = Mock(side_effect=logger_instance.writer.stop) logger_instance.writer.stop = mock_stop logger_instance.stop() mock_stop.assert_called() - # close file.ASC to enable cleanup of temp_dir - original_stop() - def test_on_message_received(self, tmp_path): with self._get_instance(tmp_path / "file.ASC") as logger_instance: # Test without rollover @@ -181,12 +173,9 @@ def test_on_message_received(self, tmp_path): writers_on_message_received.assert_called_with(msg) def test_issue_1792(self, tmp_path): - with self._get_instance(tmp_path / "__unused.log") as logger_instance: - writer = logger_instance._get_new_writer( - tmp_path / "2017_Jeep_Grand_Cherokee_3.6L_V6.log" - ) - assert isinstance(writer, can.CanutilsLogWriter) - writer.stop() + filepath = tmp_path / "2017_Jeep_Grand_Cherokee_3.6L_V6.log" + with self._get_instance(filepath) as logger_instance: + assert isinstance(logger_instance.writer, can.CanutilsLogWriter) class TestSizedRotatingLogger: From 54d271844e8841d7e9ef36c91e41cfd3065f21a8 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 5 Aug 2025 19:55:10 +0200 Subject: [PATCH 430/475] set Message.channel in PcanBus.recv (#1969) --- can/interfaces/pcan/pcan.py | 1 + doc/changelog.d/1969.fixed.md | 1 + test/test_pcan.py | 2 ++ 3 files changed, 4 insertions(+) create mode 100644 doc/changelog.d/1969.fixed.md diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index ef3b23e3b..d63981580 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -590,6 +590,7 @@ def _recv_internal( ) rx_msg = Message( + channel=self.channel_info, timestamp=timestamp, arbitration_id=pcan_msg.ID, is_extended_id=is_extended_id, diff --git a/doc/changelog.d/1969.fixed.md b/doc/changelog.d/1969.fixed.md new file mode 100644 index 000000000..3ee6f6c50 --- /dev/null +++ b/doc/changelog.d/1969.fixed.md @@ -0,0 +1 @@ +PcanBus: Set `Message.channel` attribute in `PcanBus.recv()`. diff --git a/test/test_pcan.py b/test/test_pcan.py index 31c541f0a..a9c6ea922 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -232,6 +232,7 @@ def test_recv(self): self.assertEqual(recv_msg.is_fd, False) self.assertSequenceEqual(recv_msg.data, msg.DATA) self.assertEqual(recv_msg.timestamp, 0) + self.assertEqual(recv_msg.channel, "PCAN_USBBUS1") def test_recv_fd(self): data = (ctypes.c_ubyte * 64)(*[x for x in range(64)]) @@ -255,6 +256,7 @@ def test_recv_fd(self): self.assertEqual(recv_msg.is_fd, True) self.assertSequenceEqual(recv_msg.data, msg.DATA) self.assertEqual(recv_msg.timestamp, 0) + self.assertEqual(recv_msg.channel, "PCAN_USBBUS1") @pytest.mark.timeout(3.0) @patch("select.select", return_value=([], [], [])) From 380a4239a03649df9b179b2c7cac0238bd0578db Mon Sep 17 00:00:00 2001 From: Brian Thorne Date: Sat, 9 Aug 2025 01:40:59 +1200 Subject: [PATCH 431/475] Create dependabot.yml (#1972) --- .github/dependabot.yml | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 .github/dependabot.yml diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 000000000..34c1a3a8c --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,11 @@ +# To get started with Dependabot version updates, you'll need to specify which +# package ecosystems to update and where the package manifests are located. +# Please see the documentation for all configuration options: +# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file + +version: 2 +updates: + - package-ecosystem: "uv" + directory: "/" + schedule: + interval: "weekly" From df8819f40c20210af6145f51dbae6719fb40640b Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 8 Aug 2025 15:55:16 +0200 Subject: [PATCH 432/475] Fix zizmor warnings and update dependabot.yml (#1971) * fix broken url * fix zizmor warnings * update dependabot.yml --- .github/dependabot.yml | 17 ++++++++++++- .github/workflows/ci.yml | 55 +++++++++++++++++++++++++++------------- test/test_socketcan.py | 4 +-- 3 files changed, 56 insertions(+), 20 deletions(-) diff --git a/.github/dependabot.yml b/.github/dependabot.yml index 34c1a3a8c..e2781e2ef 100644 --- a/.github/dependabot.yml +++ b/.github/dependabot.yml @@ -6,6 +6,21 @@ version: 2 updates: - package-ecosystem: "uv" + # Enable version updates for development dependencies directory: "/" schedule: - interval: "weekly" + interval: "monthly" + groups: + dev-deps: + patterns: + - "*" + + - package-ecosystem: "github-actions" + # Enable version updates for GitHub Actions + directory: "/" + schedule: + interval: "monthly" + groups: + github-actions: + patterns: + - "*" \ No newline at end of file diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index b799b463e..f85b08d20 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -9,6 +9,9 @@ on: env: PY_COLORS: "1" +permissions: + contents: read + jobs: test: runs-on: ${{ matrix.os }} @@ -29,9 +32,12 @@ jobs: ] fail-fast: false steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + with: + fetch-depth: 0 + persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@v6 + uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -45,10 +51,10 @@ jobs: tox -e ${{ matrix.env }} env: # SocketCAN tests currently fail with PyPy because it does not support raw CAN sockets - # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 + # See: https://github.com/pypy/pypy/issues/3808 TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.env, 'pypy' ) }}" - name: Coveralls Parallel - uses: coverallsapp/github-action@v2 + uses: coverallsapp/github-action@648a8eb78e6d50909eff900e4ec85cab4524a45b # 2.3.6 with: github-token: ${{ secrets.github_token }} flag-name: Unittests-${{ matrix.os }}-${{ matrix.env }} @@ -59,9 +65,12 @@ jobs: needs: test runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + with: + fetch-depth: 0 + persist-credentials: false - name: Coveralls Finished - uses: coverallsapp/github-action@v2 + uses: coverallsapp/github-action@648a8eb78e6d50909eff900e4ec85cab4524a45b # 2.3.6 with: github-token: ${{ secrets.github_token }} parallel-finished: true @@ -69,9 +78,12 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + with: + fetch-depth: 0 + persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@v6 + uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -84,9 +96,12 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + with: + fetch-depth: 0 + persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@v6 + uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -97,17 +112,18 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 with: - fetch-depth: 0 # fetch tags for setuptools-scm + fetch-depth: 0 + persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@v6 + uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 - name: Build wheel and sdist - run: uvx --from build pyproject-build --installer uv + run: uv build - name: Check build artifacts run: uvx twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@v4 + uses: actions/upload-artifact@ea165f8d65b6e75b540449e92b4886f43607fa02 # 4.6.2 with: name: release path: ./dist @@ -123,10 +139,15 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@v4 + - uses: actions/download-artifact@d3f86a106a0bac45b974a628896c90dbdf5c8093 # 4.3.0 with: path: dist merge-multiple: true + - name: Generate artifact attestation + uses: actions/attest-build-provenance@e8998f949152b193b063cb0ec769d69d929409be # 2.4.0 + with: + subject-path: 'dist/*' + - name: Publish release distributions to PyPI - uses: pypa/gh-action-pypi-publish@release/v1 + uses: pypa/gh-action-pypi-publish@76f52bc884231f62b9a034ebfe128415bbaabdfc # 1.12.4 diff --git a/test/test_socketcan.py b/test/test_socketcan.py index 3df233f96..534ee2a61 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -377,7 +377,7 @@ def test_pypy_socketcan_support(self): This test shall document raw CAN socket support under PyPy. Once this test fails, it is likely that PyPy either implemented raw CAN socket support or at least changed the error that is thrown. - https://foss.heptapod.net/pypy/pypy/-/issues/3809 + https://github.com/pypy/pypy/issues/3808 https://github.com/hardbyte/python-can/issues/1479 """ try: @@ -386,7 +386,7 @@ def test_pypy_socketcan_support(self): if "unknown address family" not in str(e): warnings.warn( "Please check if PyPy has implemented raw CAN socket support! " - "See: https://foss.heptapod.net/pypy/pypy/-/issues/3809" + "See: https://github.com/pypy/pypy/issues/3808" ) From 8ebb9e2d920706fbfe6b52187b6892c7b1533b0e Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 8 Aug 2025 16:22:15 +0200 Subject: [PATCH 433/475] Bump the dev-deps group with 2 updates (#1976) Updates the requirements on [ruff](https://github.com/astral-sh/ruff) and [hypothesis](https://github.com/HypothesisWorks/hypothesis) to permit the latest version. Updates `ruff` from 0.12.7 to 0.12.8 - [Release notes](https://github.com/astral-sh/ruff/releases) - [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md) - [Commits](https://github.com/astral-sh/ruff/compare/0.12.7...0.12.8) Updates `hypothesis` to 6.137.1 - [Release notes](https://github.com/HypothesisWorks/hypothesis/releases) - [Commits](https://github.com/HypothesisWorks/hypothesis/compare/hypothesis-python-6.136.0...hypothesis-python-6.137.1) --- updated-dependencies: - dependency-name: ruff dependency-version: 0.12.8 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: dev-deps - dependency-name: hypothesis dependency-version: 6.137.1 dependency-type: direct:production dependency-group: dev-deps ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- pyproject.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 72e706740..52a910067 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -88,7 +88,7 @@ docs = [ ] lint = [ "pylint==3.3.*", - "ruff==0.12.7", + "ruff==0.12.8", "black==25.1.*", "mypy==1.17.*", ] @@ -99,7 +99,7 @@ test = [ "coveralls==4.0.*", "pytest-cov==6.2.*", "coverage==7.10.*", - "hypothesis==6.136.*", + "hypothesis>=6.136,<6.138", "parameterized==0.9.*", ] dev = [ From 9dc14896783d8ee30e49c29785927fb3e8693e2c Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 8 Aug 2025 16:22:31 +0200 Subject: [PATCH 434/475] Bump actions/download-artifact in the github-actions group (#1975) Bumps the github-actions group with 1 update: [actions/download-artifact](https://github.com/actions/download-artifact). Updates `actions/download-artifact` from 4.3.0 to 5.0.0 - [Release notes](https://github.com/actions/download-artifact/releases) - [Commits](https://github.com/actions/download-artifact/compare/d3f86a106a0bac45b974a628896c90dbdf5c8093...634f93cb2916e3fdff6788551b99b062d0335ce0) --- updated-dependencies: - dependency-name: actions/download-artifact dependency-version: 5.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index f85b08d20..77f1cc1f9 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -139,7 +139,7 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@d3f86a106a0bac45b974a628896c90dbdf5c8093 # 4.3.0 + - uses: actions/download-artifact@634f93cb2916e3fdff6788551b99b062d0335ce0 # 5.0.0 with: path: dist merge-multiple: true From 9c7115146c60b2ae3dc9d23674f61c0802e18f7c Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 8 Aug 2025 21:17:31 +0200 Subject: [PATCH 435/475] Generate Changelog for v4.6.0 (#1970) * add python 3.14 classifier * add another fragmet for 1949 * generate changelog for v4.6.0 * dependabot PRs should not trigger workflow twice --- .github/workflows/ci.yml | 2 ++ CHANGELOG.md | 43 +++++++++++++++++++++++++++++++++ doc/changelog.d/1758.added.md | 1 - doc/changelog.d/1851.changed.md | 1 - doc/changelog.d/1890.added.md | 1 - doc/changelog.d/1904.fixed.md | 1 - doc/changelog.d/1906.fixed.md | 1 - doc/changelog.d/1908.fixed.md | 1 - doc/changelog.d/1914.added.md | 1 - doc/changelog.d/1920.added.md | 1 - doc/changelog.d/1921.fixed.md | 1 - doc/changelog.d/1927.fixed.md | 1 - doc/changelog.d/1931.removed.md | 1 - doc/changelog.d/1934.fixed.md | 1 - doc/changelog.d/1940.fixed.md | 1 - doc/changelog.d/1941.added.md | 1 - doc/changelog.d/1945.changed.md | 2 -- doc/changelog.d/1946.changed.md | 1 - doc/changelog.d/1947.changed.md | 1 - doc/changelog.d/1948.added.md | 1 - doc/changelog.d/1949.added.md | 1 - doc/changelog.d/1951.removed.md | 1 - doc/changelog.d/1953.added.md | 1 - doc/changelog.d/1954.added.md | 1 - doc/changelog.d/1957.fixed.md | 1 - doc/changelog.d/1960.changed.md | 1 - doc/changelog.d/1961.added.md | 1 - doc/changelog.d/1967.fixed.md | 1 - doc/changelog.d/1969.fixed.md | 1 - pyproject.toml | 1 + 30 files changed, 46 insertions(+), 28 deletions(-) delete mode 100644 doc/changelog.d/1758.added.md delete mode 100644 doc/changelog.d/1851.changed.md delete mode 100644 doc/changelog.d/1890.added.md delete mode 100644 doc/changelog.d/1904.fixed.md delete mode 100644 doc/changelog.d/1906.fixed.md delete mode 100644 doc/changelog.d/1908.fixed.md delete mode 100644 doc/changelog.d/1914.added.md delete mode 100644 doc/changelog.d/1920.added.md delete mode 100644 doc/changelog.d/1921.fixed.md delete mode 100644 doc/changelog.d/1927.fixed.md delete mode 100644 doc/changelog.d/1931.removed.md delete mode 100644 doc/changelog.d/1934.fixed.md delete mode 100644 doc/changelog.d/1940.fixed.md delete mode 100644 doc/changelog.d/1941.added.md delete mode 100644 doc/changelog.d/1945.changed.md delete mode 100644 doc/changelog.d/1946.changed.md delete mode 100644 doc/changelog.d/1947.changed.md delete mode 100644 doc/changelog.d/1948.added.md delete mode 100644 doc/changelog.d/1949.added.md delete mode 100644 doc/changelog.d/1951.removed.md delete mode 100644 doc/changelog.d/1953.added.md delete mode 100644 doc/changelog.d/1954.added.md delete mode 100644 doc/changelog.d/1957.fixed.md delete mode 100644 doc/changelog.d/1960.changed.md delete mode 100644 doc/changelog.d/1961.added.md delete mode 100644 doc/changelog.d/1967.fixed.md delete mode 100644 doc/changelog.d/1969.fixed.md diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 77f1cc1f9..a80f1e247 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -5,6 +5,8 @@ on: types: [ published ] pull_request: push: + branches-ignore: + - 'dependabot/**' env: PY_COLORS: "1" diff --git a/CHANGELOG.md b/CHANGELOG.md index a8ec28f12..8fdbcecf1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,49 @@ This project uses [*towncrier*](https://towncrier.readthedocs.io/) and the chang +## Version [v4.6.0](https://github.com/hardbyte/python-can/tree/v4.6.0) - 2025-08-05 + +### Removed + +- Remove support for Python 3.8. ([#1931](https://github.com/hardbyte/python-can/issues/1931)) +- Unknown command line arguments ("extra args") are no longer passed down to `can.Bus()` instantiation. Use the `--bus-kwargs` argument instead. ([#1949](https://github.com/hardbyte/python-can/issues/1949)) +- Remove `can.io.generic.BaseIOHandler` class. Improve `can.io.*` type annotations by using `typing.Generic`. ([#1951](https://github.com/hardbyte/python-can/issues/1951)) + +### Added + +- Support 11-bit identifiers in the `serial` interface. ([#1758](https://github.com/hardbyte/python-can/issues/1758)) +- Keep track of active Notifiers and make Notifier usable as a context manager. Add function `Notifier.find_instances(bus)` to find the active Notifier for a given bus instance. ([#1890](https://github.com/hardbyte/python-can/issues/1890)) +- Add Windows support to `udp_multicast` interface. ([#1914](https://github.com/hardbyte/python-can/issues/1914)) +- Add FD support to `slcan` according to CANable 2.0 implementation. ([#1920](https://github.com/hardbyte/python-can/issues/1920)) +- Add support for error messages to the `socketcand` interface. ([#1941](https://github.com/hardbyte/python-can/issues/1941)) +- Add support for remote and error frames in the `serial` interface. ([#1948](https://github.com/hardbyte/python-can/issues/1948)) +- Add public functions `can.cli.add_bus_arguments` and `can.cli.create_bus_from_namespace` for creating bus command line options. Currently downstream packages need to implement their own logic to configure *python-can* buses. Now *python-can* can create and parse bus options for third party packages. ([#1949](https://github.com/hardbyte/python-can/issues/1949)) +- Add support for remote frames to `TRCReader`. ([#1953](https://github.com/hardbyte/python-can/issues/1953)) +- Mention the `python-can-candle` package in the plugin interface section of the documentation. ([#1954](https://github.com/hardbyte/python-can/issues/1954)) +- Add new CLI tool `python -m can.bridge` (or just `can_bridge`) to create a software bridge between two physical buses. ([#1961](https://github.com/hardbyte/python-can/issues/1961)) + +### Changed + +- Allow sending Classic CAN frames with a DLC value larger than 8 using the `socketcan` interface. ([#1851](https://github.com/hardbyte/python-can/issues/1851)) +- The `gs_usb` extra dependency was renamed to `gs-usb`. + The `lint` extra dependency was removed and replaced with new PEP 735 dependency groups `lint`, `docs` and `test`. ([#1945](https://github.com/hardbyte/python-can/issues/1945)) +- Update dependency name from `zlgcan-driver-py` to `zlgcan`. ([#1946](https://github.com/hardbyte/python-can/issues/1946)) +- Use ThreadPoolExecutor in `detect_available_configs()` to reduce runtime and add `timeout` parameter. ([#1947](https://github.com/hardbyte/python-can/issues/1947)) +- Update contribution guide. ([#1960](https://github.com/hardbyte/python-can/issues/1960)) + +### Fixed + +- Fix a bug in `slcanBus.get_version()` and `slcanBus.get_serial_number()`: If any other data was received during the function call, then `None` was returned. ([#1904](https://github.com/hardbyte/python-can/issues/1904)) +- Fix incorrect padding of CAN FD payload in `BlfReader`. ([#1906](https://github.com/hardbyte/python-can/issues/1906)) +- Set correct message direction for messages received with `kvaser` interface and `receive_own_messages=True`. ([#1908](https://github.com/hardbyte/python-can/issues/1908)) +- Fix timestamp rounding error in `BlfWriter`. ([#1921](https://github.com/hardbyte/python-can/issues/1921)) +- Fix timestamp rounding error in `BlfReader`. ([#1927](https://github.com/hardbyte/python-can/issues/1927)) +- Handle timer overflow message and build timestamp according to the epoch in the `ixxat` interface. ([#1934](https://github.com/hardbyte/python-can/issues/1934)) +- Avoid unsupported `ioctl` function call to allow usage of the `udp_multicast` interface on MacOS. ([#1940](https://github.com/hardbyte/python-can/issues/1940)) +- Fix configuration file parsing for the `state` bus parameter. ([#1957](https://github.com/hardbyte/python-can/issues/1957)) +- Mf4Reader: support non-standard `CAN_DataFrame.Dir` values in mf4 files created by [ihedvall/mdflib](https://github.com/ihedvall/mdflib). ([#1967](https://github.com/hardbyte/python-can/issues/1967)) +- PcanBus: Set `Message.channel` attribute in `PcanBus.recv()`. ([#1969](https://github.com/hardbyte/python-can/issues/1969)) + ## Version 4.5.0 diff --git a/doc/changelog.d/1758.added.md b/doc/changelog.d/1758.added.md deleted file mode 100644 index 0b95b14e2..000000000 --- a/doc/changelog.d/1758.added.md +++ /dev/null @@ -1 +0,0 @@ -Support 11-bit identifiers in the `serial` interface. diff --git a/doc/changelog.d/1851.changed.md b/doc/changelog.d/1851.changed.md deleted file mode 100644 index 672f7bd7d..000000000 --- a/doc/changelog.d/1851.changed.md +++ /dev/null @@ -1 +0,0 @@ -Allow sending Classic CAN frames with a DLC value larger than 8 using the `socketcan` interface. \ No newline at end of file diff --git a/doc/changelog.d/1890.added.md b/doc/changelog.d/1890.added.md deleted file mode 100644 index 802629ed3..000000000 --- a/doc/changelog.d/1890.added.md +++ /dev/null @@ -1 +0,0 @@ -Keep track of active Notifiers and make Notifier usable as a context manager. Add function `Notifier.find_instances(bus)` to find the active Notifier for a given bus instance. diff --git a/doc/changelog.d/1904.fixed.md b/doc/changelog.d/1904.fixed.md deleted file mode 100644 index 80b665a6b..000000000 --- a/doc/changelog.d/1904.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Fix a bug in `slcanBus.get_version()` and `slcanBus.get_serial_number()`: If any other data was received during the function call, then `None` was returned. \ No newline at end of file diff --git a/doc/changelog.d/1906.fixed.md b/doc/changelog.d/1906.fixed.md deleted file mode 100644 index f8988ff48..000000000 --- a/doc/changelog.d/1906.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Fix incorrect padding of CAN FD payload in `BlfReader`. \ No newline at end of file diff --git a/doc/changelog.d/1908.fixed.md b/doc/changelog.d/1908.fixed.md deleted file mode 100644 index ce8947029..000000000 --- a/doc/changelog.d/1908.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Set correct message direction for messages received with `kvaser` interface and `receive_own_messages=True`. \ No newline at end of file diff --git a/doc/changelog.d/1914.added.md b/doc/changelog.d/1914.added.md deleted file mode 100644 index a1f838001..000000000 --- a/doc/changelog.d/1914.added.md +++ /dev/null @@ -1 +0,0 @@ -Add Windows support to `udp_multicast` interface. \ No newline at end of file diff --git a/doc/changelog.d/1920.added.md b/doc/changelog.d/1920.added.md deleted file mode 100644 index c4f0e532e..000000000 --- a/doc/changelog.d/1920.added.md +++ /dev/null @@ -1 +0,0 @@ -Add FD support to `slcan` according to CANable 2.0 implementation. diff --git a/doc/changelog.d/1921.fixed.md b/doc/changelog.d/1921.fixed.md deleted file mode 100644 index 139d2979f..000000000 --- a/doc/changelog.d/1921.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Fix timestamp rounding error in `BlfWriter`. diff --git a/doc/changelog.d/1927.fixed.md b/doc/changelog.d/1927.fixed.md deleted file mode 100644 index 5fb005d05..000000000 --- a/doc/changelog.d/1927.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Fix timestamp rounding error in `BlfReader`. \ No newline at end of file diff --git a/doc/changelog.d/1931.removed.md b/doc/changelog.d/1931.removed.md deleted file mode 100644 index 416329a83..000000000 --- a/doc/changelog.d/1931.removed.md +++ /dev/null @@ -1 +0,0 @@ -Remove support for Python 3.8. diff --git a/doc/changelog.d/1934.fixed.md b/doc/changelog.d/1934.fixed.md deleted file mode 100644 index a12e4ffb2..000000000 --- a/doc/changelog.d/1934.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Handle timer overflow message and build timestamp according to the epoch in the `ixxat` interface. \ No newline at end of file diff --git a/doc/changelog.d/1940.fixed.md b/doc/changelog.d/1940.fixed.md deleted file mode 100644 index 9f4fc09ba..000000000 --- a/doc/changelog.d/1940.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Avoid unsupported `ioctl` function call to allow usage of the `udp_multicast` interface on MacOS. \ No newline at end of file diff --git a/doc/changelog.d/1941.added.md b/doc/changelog.d/1941.added.md deleted file mode 100644 index a3d87cb6b..000000000 --- a/doc/changelog.d/1941.added.md +++ /dev/null @@ -1 +0,0 @@ -Add support for error messages to the `socketcand` interface. \ No newline at end of file diff --git a/doc/changelog.d/1945.changed.md b/doc/changelog.d/1945.changed.md deleted file mode 100644 index 59a48774f..000000000 --- a/doc/changelog.d/1945.changed.md +++ /dev/null @@ -1,2 +0,0 @@ -The `gs_usb` extra dependency was renamed to `gs-usb`. -The `lint` extra dependency was removed and replaced with new PEP 735 dependency groups `lint`, `docs` and `test`. \ No newline at end of file diff --git a/doc/changelog.d/1946.changed.md b/doc/changelog.d/1946.changed.md deleted file mode 100644 index d5dad4225..000000000 --- a/doc/changelog.d/1946.changed.md +++ /dev/null @@ -1 +0,0 @@ -Update dependency name from `zlgcan-driver-py` to `zlgcan`. \ No newline at end of file diff --git a/doc/changelog.d/1947.changed.md b/doc/changelog.d/1947.changed.md deleted file mode 100644 index db12a0318..000000000 --- a/doc/changelog.d/1947.changed.md +++ /dev/null @@ -1 +0,0 @@ -Use ThreadPoolExecutor in `detect_available_configs()` to reduce runtime and add `timeout` parameter. \ No newline at end of file diff --git a/doc/changelog.d/1948.added.md b/doc/changelog.d/1948.added.md deleted file mode 100644 index 132d49d98..000000000 --- a/doc/changelog.d/1948.added.md +++ /dev/null @@ -1 +0,0 @@ -Add support for remote and error frames in the `serial` interface. \ No newline at end of file diff --git a/doc/changelog.d/1949.added.md b/doc/changelog.d/1949.added.md deleted file mode 100644 index 6e8ac79b5..000000000 --- a/doc/changelog.d/1949.added.md +++ /dev/null @@ -1 +0,0 @@ -Add public functions `can.cli.add_bus_arguments` and `can.cli.create_bus_from_namespace` for creating bus command line options. Currently downstream packages need to implement their own logic to configure *python-can* buses. Now *python-can* can create and parse bus options for third party packages. \ No newline at end of file diff --git a/doc/changelog.d/1951.removed.md b/doc/changelog.d/1951.removed.md deleted file mode 100644 index 6d56c5d50..000000000 --- a/doc/changelog.d/1951.removed.md +++ /dev/null @@ -1 +0,0 @@ -Remove `can.io.generic.BaseIOHandler` class. Improve `can.io.*` type annotations by using `typing.Generic`. diff --git a/doc/changelog.d/1953.added.md b/doc/changelog.d/1953.added.md deleted file mode 100644 index 76ef5137a..000000000 --- a/doc/changelog.d/1953.added.md +++ /dev/null @@ -1 +0,0 @@ -Add support for remote frames to `TRCReader`. diff --git a/doc/changelog.d/1954.added.md b/doc/changelog.d/1954.added.md deleted file mode 100644 index d2d50669b..000000000 --- a/doc/changelog.d/1954.added.md +++ /dev/null @@ -1 +0,0 @@ -Mention the `python-can-candle` package in the plugin interface section of the documentation. diff --git a/doc/changelog.d/1957.fixed.md b/doc/changelog.d/1957.fixed.md deleted file mode 100644 index 9d5dd6071..000000000 --- a/doc/changelog.d/1957.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Fix configuration file parsing for the `state` bus parameter. diff --git a/doc/changelog.d/1960.changed.md b/doc/changelog.d/1960.changed.md deleted file mode 100644 index f3977aedb..000000000 --- a/doc/changelog.d/1960.changed.md +++ /dev/null @@ -1 +0,0 @@ -Update contribution guide. diff --git a/doc/changelog.d/1961.added.md b/doc/changelog.d/1961.added.md deleted file mode 100644 index 483427ec0..000000000 --- a/doc/changelog.d/1961.added.md +++ /dev/null @@ -1 +0,0 @@ -Add new CLI tool `python -m can.bridge` (or just `can_bridge`) to create a software bridge between two physical buses. diff --git a/doc/changelog.d/1967.fixed.md b/doc/changelog.d/1967.fixed.md deleted file mode 100644 index fdd72b363..000000000 --- a/doc/changelog.d/1967.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Mf4Reader: support non-standard `CAN_DataFrame.Dir` values in mf4 files created by [ihedvall/mdflib](https://github.com/ihedvall/mdflib). diff --git a/doc/changelog.d/1969.fixed.md b/doc/changelog.d/1969.fixed.md deleted file mode 100644 index 3ee6f6c50..000000000 --- a/doc/changelog.d/1969.fixed.md +++ /dev/null @@ -1 +0,0 @@ -PcanBus: Set `Message.channel` attribute in `PcanBus.recv()`. diff --git a/pyproject.toml b/pyproject.toml index 52a910067..e36b50ad0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,6 +32,7 @@ classifiers = [ "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", "Programming Language :: Python :: 3.13", + "Programming Language :: Python :: 3.14", "Programming Language :: Python :: Implementation :: CPython", "Programming Language :: Python :: Implementation :: PyPy", "Topic :: Software Development :: Embedded Systems", From c0e5a8ed9f92eff10415d8c4d59d8d38fb2a0b99 Mon Sep 17 00:00:00 2001 From: David Charles Ambler Snowdon <3860429+dcasnowdon@users.noreply.github.com> Date: Tue, 12 Aug 2025 16:52:28 +1000 Subject: [PATCH 436/475] Resolve an unset data_bitrate to no operation in slcan. (#1978) * Change the default to 0, which is a no-op for data_bitrate. * Added a changelog fragment. * Fix black formatting for test_slcan.py * Revert the function signature, and explicitly check for `None` in data_bitrate. * Update the town crier news fragment. --- can/interfaces/slcan.py | 5 +++++ doc/changelog.d/1978.fixed.md | 1 + test/test_slcan.py | 8 +++++++- 3 files changed, 13 insertions(+), 1 deletion(-) create mode 100644 doc/changelog.d/1978.fixed.md diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 01ba9c995..d9eab5edf 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -180,6 +180,11 @@ def set_bitrate(self, bitrate: int, data_bitrate: Optional[int] = None) -> None: else: bitrates = ", ".join(str(k) for k in self._BITRATES.keys()) raise ValueError(f"Invalid bitrate, choose one of {bitrates}.") + + # If data_bitrate is None, we set it to 0 which means no data bitrate + if data_bitrate is None: + data_bitrate = 0 + if data_bitrate in self._DATA_BITRATES: dbitrate_code = self._DATA_BITRATES[data_bitrate] else: diff --git a/doc/changelog.d/1978.fixed.md b/doc/changelog.d/1978.fixed.md new file mode 100644 index 000000000..1de50bb60 --- /dev/null +++ b/doc/changelog.d/1978.fixed.md @@ -0,0 +1 @@ +Fix initialisation of an slcan bus, when setting a bitrate. When using CAN 2.0 (not FD), the default setting for `data_bitrate` was invalid, causing an exception. \ No newline at end of file diff --git a/test/test_slcan.py b/test/test_slcan.py index 491800e24..b757ad04d 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -74,7 +74,13 @@ class slcanTestCase(unittest.TestCase): def setUp(self): self.bus = cast( can.interfaces.slcan.slcanBus, - can.Bus("loop://", interface="slcan", sleep_after_open=0, timeout=TIMEOUT), + can.Bus( + "loop://", + interface="slcan", + sleep_after_open=0, + timeout=TIMEOUT, + bitrate=500000, + ), ) self.serial = cast(SerialMock, self.bus.serialPortOrig) self.serial.reset_input_buffer() From 702ec3eb79530b9242a1167c049cfe2cfec235e5 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 12 Aug 2025 09:32:01 +0200 Subject: [PATCH 437/475] prepare CHANGELOG.md for v4.6.1 (#1979) --- CHANGELOG.md | 7 +++++++ README.rst | 4 ++-- doc/changelog.d/1978.fixed.md | 1 - 3 files changed, 9 insertions(+), 3 deletions(-) delete mode 100644 doc/changelog.d/1978.fixed.md diff --git a/CHANGELOG.md b/CHANGELOG.md index 8fdbcecf1..75ecab49e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,13 @@ This project uses [*towncrier*](https://towncrier.readthedocs.io/) and the chang +## Version [v4.6.1](https://github.com/hardbyte/python-can/tree/v4.6.1) - 2025-08-12 + +### Fixed + +- Fix initialisation of an slcan bus, when setting a bitrate. When using CAN 2.0 (not FD), the default setting for `data_bitrate` was invalid, causing an exception. ([#1978](https://github.com/hardbyte/python-can/issues/1978)) + + ## Version [v4.6.0](https://github.com/hardbyte/python-can/tree/v4.6.0) - 2025-08-05 ### Removed diff --git a/README.rst b/README.rst index 3c185f6cb..2579871b9 100644 --- a/README.rst +++ b/README.rst @@ -37,8 +37,8 @@ python-can :target: https://github.com/hardbyte/python-can/actions/workflows/ci.yml :alt: Github Actions workflow status -.. |coverage| image:: https://coveralls.io/repos/github/hardbyte/python-can/badge.svg?branch=develop - :target: https://coveralls.io/github/hardbyte/python-can?branch=develop +.. |coverage| image:: https://coveralls.io/repos/github/hardbyte/python-can/badge.svg?branch=main + :target: https://coveralls.io/github/hardbyte/python-can?branch=main :alt: Test coverage reports on Coveralls.io The **C**\ ontroller **A**\ rea **N**\ etwork is a bus standard designed diff --git a/doc/changelog.d/1978.fixed.md b/doc/changelog.d/1978.fixed.md deleted file mode 100644 index 1de50bb60..000000000 --- a/doc/changelog.d/1978.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Fix initialisation of an slcan bus, when setting a bitrate. When using CAN 2.0 (not FD), the default setting for `data_bitrate` was invalid, causing an exception. \ No newline at end of file From bc248e8aaf96280a574c06e8e7d2778a67f091e3 Mon Sep 17 00:00:00 2001 From: Ben Beasley Date: Tue, 12 Aug 2025 19:10:35 -0400 Subject: [PATCH 438/475] Allow wrapt 2.x (#1980) --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index e36b50ad0..e125ea84f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -8,7 +8,7 @@ dynamic = ["readme", "version"] description = "Controller Area Network interface module for Python" authors = [{ name = "python-can contributors" }] dependencies = [ - "wrapt~=1.10", + "wrapt >= 1.10, < 3", "packaging >= 23.1", "typing_extensions>=3.10.0.0", ] From 921b47ecb97f07f1012032fe6740941a68116a70 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 19 Aug 2025 17:57:40 +0200 Subject: [PATCH 439/475] keep a reference to asyncio tasks (#1982) --- can/notifier.py | 7 +++++-- doc/changelog.d/1938.fixed.md | 1 + 2 files changed, 6 insertions(+), 2 deletions(-) create mode 100644 doc/changelog.d/1938.fixed.md diff --git a/can/notifier.py b/can/notifier.py index b2f550df7..a2ee512fc 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -148,6 +148,7 @@ def __init__( self._lock = threading.Lock() self._readers: list[Union[int, threading.Thread]] = [] + self._tasks: set[asyncio.Task] = set() _bus_list: list[BusABC] = bus if isinstance(bus, list) else [bus] for each_bus in _bus_list: self.add_bus(each_bus) @@ -256,8 +257,10 @@ def _on_message_received(self, msg: Message) -> None: for callback in self.listeners: res = callback(msg) if res and self._loop and asyncio.iscoroutine(res): - # Schedule coroutine - self._loop.create_task(res) + # Schedule coroutine and keep a reference to the task + task = self._loop.create_task(res) + self._tasks.add(task) + task.add_done_callback(self._tasks.discard) def _on_error(self, exc: Exception) -> bool: """Calls ``on_error()`` for all listeners if they implement it. diff --git a/doc/changelog.d/1938.fixed.md b/doc/changelog.d/1938.fixed.md new file mode 100644 index 000000000..f9aad1089 --- /dev/null +++ b/doc/changelog.d/1938.fixed.md @@ -0,0 +1 @@ +Keep a reference to asyncio tasks in `can.Notifier` as recommended by [python documentation](https://docs.python.org/3/library/asyncio-task.html#asyncio.create_task). From efa9f0d401ae0f800429dd58385431deda604609 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 23 Aug 2025 14:27:47 +0200 Subject: [PATCH 440/475] Ensure that all virtual channels are closed after tests (#1984) --- test/back2back_test.py | 14 +-- test/conftest.py | 24 ++++ test/notifier_test.py | 36 +++--- test/simplecyclic_test.py | 224 +++++++++++++++++++------------------- test/test_bus.py | 8 +- test/zero_dlc_test.py | 45 ++++---- 6 files changed, 187 insertions(+), 164 deletions(-) create mode 100644 test/conftest.py diff --git a/test/back2back_test.py b/test/back2back_test.py index b52bae530..738c9d16b 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -164,37 +164,33 @@ def test_message_is_rx(self): ) def test_message_is_rx_receive_own_messages(self): """The same as `test_message_direction` but testing with `receive_own_messages=True`.""" - bus3 = can.Bus( + with can.Bus( channel=self.CHANNEL_2, interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, receive_own_messages=True, - ) - try: + ) as bus3: msg = can.Message( is_extended_id=False, arbitration_id=0x300, data=[2, 1, 3], is_rx=False ) bus3.send(msg) self_recv_msg_bus3 = bus3.recv(self.TIMEOUT) self.assertTrue(self_recv_msg_bus3.is_rx) - finally: - bus3.shutdown() def test_unique_message_instances(self): """Verify that we have a different instances of message for each bus even with `receive_own_messages=True`. """ - bus3 = can.Bus( + with can.Bus( channel=self.CHANNEL_2, interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, receive_own_messages=True, - ) - try: + ) as bus3: msg = can.Message( is_extended_id=False, arbitration_id=0x300, data=[2, 1, 3] ) @@ -209,8 +205,6 @@ def test_unique_message_instances(self): recv_msg_bus1.data[0] = 4 self.assertNotEqual(recv_msg_bus1.data, recv_msg_bus2.data) self.assertEqual(recv_msg_bus2.data, self_recv_msg_bus3.data) - finally: - bus3.shutdown() def test_fd_message(self): msg = can.Message( diff --git a/test/conftest.py b/test/conftest.py new file mode 100644 index 000000000..c54238be1 --- /dev/null +++ b/test/conftest.py @@ -0,0 +1,24 @@ +import pytest + +from can.interfaces import virtual + + +@pytest.fixture(autouse=True) +def check_unclosed_virtual_channel(): + """ + Pytest fixture for detecting leaked virtual CAN channels. + + - The fixture yields control to the test. + - After the test completes, it acquires `virtual.channels_lock` and asserts + that `virtual.channels` is empty. + - If a test leaves behind any unclosed virtual CAN channels, the assertion + will fail, surfacing resource leaks early. + + This helps maintain test isolation and prevents subtle bugs caused by + leftover state between tests. + """ + + yield + + with virtual.channels_lock: + assert len(virtual.channels) == 0 diff --git a/test/notifier_test.py b/test/notifier_test.py index c21d51f04..d8512a00b 100644 --- a/test/notifier_test.py +++ b/test/notifier_test.py @@ -20,23 +20,25 @@ def test_single_bus(self): self.assertTrue(notifier.stopped) def test_multiple_bus(self): - with can.Bus(0, interface="virtual", receive_own_messages=True) as bus1: - with can.Bus(1, interface="virtual", receive_own_messages=True) as bus2: - reader = can.BufferedReader() - notifier = can.Notifier([bus1, bus2], [reader], 0.1) - self.assertFalse(notifier.stopped) - msg = can.Message() - bus1.send(msg) - time.sleep(0.1) - bus2.send(msg) - recv_msg = reader.get_message(1) - self.assertIsNotNone(recv_msg) - self.assertEqual(recv_msg.channel, 0) - recv_msg = reader.get_message(1) - self.assertIsNotNone(recv_msg) - self.assertEqual(recv_msg.channel, 1) - notifier.stop() - self.assertTrue(notifier.stopped) + with ( + can.Bus(0, interface="virtual", receive_own_messages=True) as bus1, + can.Bus(1, interface="virtual", receive_own_messages=True) as bus2, + ): + reader = can.BufferedReader() + notifier = can.Notifier([bus1, bus2], [reader], 0.1) + self.assertFalse(notifier.stopped) + msg = can.Message() + bus1.send(msg) + time.sleep(0.1) + bus2.send(msg) + recv_msg = reader.get_message(1) + self.assertIsNotNone(recv_msg) + self.assertEqual(recv_msg.channel, 0) + recv_msg = reader.get_message(1) + self.assertIsNotNone(recv_msg) + self.assertEqual(recv_msg.channel, 1) + notifier.stop() + self.assertTrue(notifier.stopped) def test_context_manager(self): with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index c4c1a2340..91bbf3bbe 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -36,123 +36,120 @@ def test_cycle_time(self): is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] ) - with can.interface.Bus(interface="virtual") as bus1: - with can.interface.Bus(interface="virtual") as bus2: - # disabling the garbage collector makes the time readings more reliable - gc.disable() - - task = bus1.send_periodic(msg, 0.01, 1) - self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) + with ( + can.interface.Bus(interface="virtual") as bus1, + can.interface.Bus(interface="virtual") as bus2, + ): + # disabling the garbage collector makes the time readings more reliable + gc.disable() + + task = bus1.send_periodic(msg, 0.01, 1) + self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - sleep(2) - size = bus2.queue.qsize() - # About 100 messages should have been transmitted - self.assertTrue( - 80 <= size <= 120, - "100 +/- 20 messages should have been transmitted. But queue contained {}".format( - size - ), - ) - last_msg = bus2.recv() - next_last_msg = bus2.recv() + sleep(2) + size = bus2.queue.qsize() + # About 100 messages should have been transmitted + self.assertTrue( + 80 <= size <= 120, + "100 +/- 20 messages should have been transmitted. But queue contained {}".format( + size + ), + ) + last_msg = bus2.recv() + next_last_msg = bus2.recv() - # we need to reenable the garbage collector again - gc.enable() + # we need to reenable the garbage collector again + gc.enable() - # Check consecutive messages are spaced properly in time and have - # the same id/data - self.assertMessageEqual(last_msg, next_last_msg) + # Check consecutive messages are spaced properly in time and have + # the same id/data + self.assertMessageEqual(last_msg, next_last_msg) - # Check the message id/data sent is the same as message received - # Set timestamp and channel to match recv'd because we don't care - # and they are not initialized by the can.Message constructor. - msg.timestamp = last_msg.timestamp - msg.channel = last_msg.channel - self.assertMessageEqual(msg, last_msg) + # Check the message id/data sent is the same as message received + # Set timestamp and channel to match recv'd because we don't care + # and they are not initialized by the can.Message constructor. + msg.timestamp = last_msg.timestamp + msg.channel = last_msg.channel + self.assertMessageEqual(msg, last_msg) def test_removing_bus_tasks(self): - bus = can.interface.Bus(interface="virtual") - tasks = [] - for task_i in range(10): - msg = can.Message( - is_extended_id=False, - arbitration_id=0x123, - data=[0, 1, 2, 3, 4, 5, 6, 7], - ) - msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 1) - tasks.append(task) - self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) + with can.interface.Bus(interface="virtual") as bus: + tasks = [] + for task_i in range(10): + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) + msg.arbitration_id = task_i + task = bus.send_periodic(msg, 0.1, 1) + tasks.append(task) + self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - assert len(bus._periodic_tasks) == 10 + assert len(bus._periodic_tasks) == 10 - for task in tasks: - # Note calling task.stop will remove the task from the Bus's internal task management list - task.stop() + for task in tasks: + # Note calling task.stop will remove the task from the Bus's internal task management list + task.stop() - self.join_threads([task.thread for task in tasks], 5.0) + self.join_threads([task.thread for task in tasks], 5.0) - assert len(bus._periodic_tasks) == 0 - bus.shutdown() + assert len(bus._periodic_tasks) == 0 def test_managed_tasks(self): - bus = can.interface.Bus(interface="virtual", receive_own_messages=True) - tasks = [] - for task_i in range(3): - msg = can.Message( - is_extended_id=False, - arbitration_id=0x123, - data=[0, 1, 2, 3, 4, 5, 6, 7], - ) - msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 10, store_task=False) - tasks.append(task) - self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - - assert len(bus._periodic_tasks) == 0 + with can.interface.Bus(interface="virtual", receive_own_messages=True) as bus: + tasks = [] + for task_i in range(3): + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) + msg.arbitration_id = task_i + task = bus.send_periodic(msg, 0.1, 10, store_task=False) + tasks.append(task) + self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - # Self managed tasks should still be sending messages - for _ in range(50): - received_msg = bus.recv(timeout=5.0) - assert received_msg is not None - assert received_msg.arbitration_id in {0, 1, 2} + assert len(bus._periodic_tasks) == 0 - for task in tasks: - task.stop() + # Self managed tasks should still be sending messages + for _ in range(50): + received_msg = bus.recv(timeout=5.0) + assert received_msg is not None + assert received_msg.arbitration_id in {0, 1, 2} - self.join_threads([task.thread for task in tasks], 5.0) + for task in tasks: + task.stop() - bus.shutdown() + self.join_threads([task.thread for task in tasks], 5.0) def test_stopping_perodic_tasks(self): - bus = can.interface.Bus(interface="virtual") - tasks = [] - for task_i in range(10): - msg = can.Message( - is_extended_id=False, - arbitration_id=0x123, - data=[0, 1, 2, 3, 4, 5, 6, 7], - ) - msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 1) - tasks.append(task) - - assert len(bus._periodic_tasks) == 10 - # stop half the tasks using the task object - for task in tasks[::2]: - task.stop() + with can.interface.Bus(interface="virtual") as bus: + tasks = [] + for task_i in range(10): + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) + msg.arbitration_id = task_i + task = bus.send_periodic(msg, 0.1, 1) + tasks.append(task) - assert len(bus._periodic_tasks) == 5 + assert len(bus._periodic_tasks) == 10 + # stop half the tasks using the task object + for task in tasks[::2]: + task.stop() - # stop the other half using the bus api - bus.stop_all_periodic_tasks(remove_tasks=False) - self.join_threads([task.thread for task in tasks], 5.0) + assert len(bus._periodic_tasks) == 5 - # Tasks stopped via `stop_all_periodic_tasks` with remove_tasks=False should - # still be associated with the bus (e.g. for restarting) - assert len(bus._periodic_tasks) == 5 + # stop the other half using the bus api + bus.stop_all_periodic_tasks(remove_tasks=False) + self.join_threads([task.thread for task in tasks], 5.0) - bus.shutdown() + # Tasks stopped via `stop_all_periodic_tasks` with remove_tasks=False should + # still be associated with the bus (e.g. for restarting) + assert len(bus._periodic_tasks) == 5 def test_restart_perodic_tasks(self): period = 0.01 @@ -214,25 +211,26 @@ def _read_all_messages(_bus: "can.interfaces.virtual.VirtualBus") -> None: @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_thread_based_cyclic_send_task(self): - bus = can.ThreadSafeBus(interface="virtual") - msg = can.Message( - is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] - ) + with can.ThreadSafeBus(interface="virtual") as bus: + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) - # good case, bus is up - on_error_mock = MagicMock(return_value=False) - task = can.broadcastmanager.ThreadBasedCyclicSendTask( - bus=bus, - lock=bus._lock_send_periodic, - messages=msg, - period=0.1, - duration=3, - on_error=on_error_mock, - ) - sleep(1) - on_error_mock.assert_not_called() - task.stop() - bus.shutdown() + # good case, bus is up + on_error_mock = MagicMock(return_value=False) + task = can.broadcastmanager.ThreadBasedCyclicSendTask( + bus=bus, + lock=bus._lock_send_periodic, + messages=msg, + period=0.1, + duration=3, + on_error=on_error_mock, + ) + sleep(1) + on_error_mock.assert_not_called() + task.stop() # bus has been shut down on_error_mock = MagicMock(return_value=False) diff --git a/test/test_bus.py b/test/test_bus.py index 24421b2fd..6a09a6deb 100644 --- a/test/test_bus.py +++ b/test/test_bus.py @@ -8,11 +8,11 @@ def test_bus_ignore_config(): with patch.object( target=can.util, attribute="load_config", side_effect=can.util.load_config ): - _ = can.Bus(interface="virtual", ignore_config=True) - assert not can.util.load_config.called + with can.Bus(interface="virtual", ignore_config=True): + assert not can.util.load_config.called - _ = can.Bus(interface="virtual") - assert can.util.load_config.called + with can.Bus(interface="virtual"): + assert can.util.load_config.called @patch.object(can.bus.BusABC, "shutdown") diff --git a/test/zero_dlc_test.py b/test/zero_dlc_test.py index d6693e294..e8ae8c293 100644 --- a/test/zero_dlc_test.py +++ b/test/zero_dlc_test.py @@ -12,35 +12,40 @@ class ZeroDLCTest(unittest.TestCase): def test_recv_non_zero_dlc(self): - bus_send = can.interface.Bus(interface="virtual") - bus_recv = can.interface.Bus(interface="virtual") - data = [0, 1, 2, 3, 4, 5, 6, 7] - msg_send = can.Message(is_extended_id=False, arbitration_id=0x100, data=data) + with ( + can.interface.Bus(interface="virtual") as bus_send, + can.interface.Bus(interface="virtual") as bus_recv, + ): + data = [0, 1, 2, 3, 4, 5, 6, 7] + msg_send = can.Message( + is_extended_id=False, arbitration_id=0x100, data=data + ) - bus_send.send(msg_send) - msg_recv = bus_recv.recv() + bus_send.send(msg_send) + msg_recv = bus_recv.recv() - # Receiving a frame with data should evaluate msg_recv to True - self.assertTrue(msg_recv) + # Receiving a frame with data should evaluate msg_recv to True + self.assertTrue(msg_recv) def test_recv_none(self): - bus_recv = can.interface.Bus(interface="virtual") + with can.interface.Bus(interface="virtual") as bus_recv: + msg_recv = bus_recv.recv(timeout=0) - msg_recv = bus_recv.recv(timeout=0) - - # Receiving nothing should evaluate msg_recv to False - self.assertFalse(msg_recv) + # Receiving nothing should evaluate msg_recv to False + self.assertFalse(msg_recv) def test_recv_zero_dlc(self): - bus_send = can.interface.Bus(interface="virtual") - bus_recv = can.interface.Bus(interface="virtual") - msg_send = can.Message(is_extended_id=False, arbitration_id=0x100, data=[]) + with ( + can.interface.Bus(interface="virtual") as bus_send, + can.interface.Bus(interface="virtual") as bus_recv, + ): + msg_send = can.Message(is_extended_id=False, arbitration_id=0x100, data=[]) - bus_send.send(msg_send) - msg_recv = bus_recv.recv() + bus_send.send(msg_send) + msg_recv = bus_recv.recv() - # Receiving a frame without data (dlc == 0) should evaluate msg_recv to True - self.assertTrue(msg_recv) + # Receiving a frame without data (dlc == 0) should evaluate msg_recv to True + self.assertTrue(msg_recv) if __name__ == "__main__": From b6280b1d8a5fc3c17e3a6f888b41092733d563d7 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 23 Aug 2025 16:09:10 +0200 Subject: [PATCH 441/475] Improve PyPy test robustness (#1985) * increase timeout for PyPy * remove duration arg --- test/back2back_test.py | 2 +- test/simplecyclic_test.py | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/test/back2back_test.py b/test/back2back_test.py index 738c9d16b..ce7c39e2a 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -33,7 +33,7 @@ class Back2BackTestCase(unittest.TestCase): """ BITRATE = 500000 - TIMEOUT = 0.1 + TIMEOUT = 1.0 if IS_PYPY else 0.1 INTERFACE_1 = "virtual" CHANNEL_1 = "virtual_channel_0" diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index 91bbf3bbe..22a11e643 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -5,18 +5,18 @@ """ import gc +import platform import sys import time import traceback import unittest from threading import Thread from time import sleep -from typing import List from unittest.mock import MagicMock import can -from .config import * +from .config import IS_CI, IS_PYPY from .message_helper import ComparingMessagesTestCase @@ -133,7 +133,7 @@ def test_stopping_perodic_tasks(self): data=[0, 1, 2, 3, 4, 5, 6, 7], ) msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 1) + task = bus.send_periodic(msg, period=0.1) tasks.append(task) assert len(bus._periodic_tasks) == 10 @@ -261,7 +261,7 @@ def test_thread_based_cyclic_send_task(self): task.stop() def test_modifier_callback(self) -> None: - msg_list: List[can.Message] = [] + msg_list: list[can.Message] = [] def increment_first_byte(msg: can.Message) -> None: msg.data[0] = (msg.data[0] + 1) % 256 @@ -288,8 +288,8 @@ def increment_first_byte(msg: can.Message) -> None: self.assertEqual(b"\x07\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[6].data)) @staticmethod - def join_threads(threads: List[Thread], timeout: float) -> None: - stuck_threads: List[Thread] = [] + def join_threads(threads: list[Thread], timeout: float) -> None: + stuck_threads: list[Thread] = [] t0 = time.perf_counter() for thread in threads: time_left = timeout - (time.perf_counter() - t0) From e142868ee494414e6079b1a5e4fec56196aacc94 Mon Sep 17 00:00:00 2001 From: Gerrit Beine Date: Sun, 31 Aug 2025 15:32:41 +0200 Subject: [PATCH 442/475] Add CAN-over-Ethernet interface plugin to documentation (#1987) * Add COE interface plugin to the list. * Add news fragment for documentation change --------- Co-authored-by: Gerrit Beine --- doc/changelog.d/1987.added.md | 1 + doc/plugin-interface.rst | 37 +++++++++++++++++++---------------- 2 files changed, 21 insertions(+), 17 deletions(-) create mode 100644 doc/changelog.d/1987.added.md diff --git a/doc/changelog.d/1987.added.md b/doc/changelog.d/1987.added.md new file mode 100644 index 000000000..398add3e3 --- /dev/null +++ b/doc/changelog.d/1987.added.md @@ -0,0 +1 @@ +Add [python-can-coe](https://c0d3.sh/smarthome/python-can-coe) interface plugin to the documentation. diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index d841281e8..2f295b678 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -62,23 +62,25 @@ The table below lists interface drivers that can be added by installing addition .. note:: The packages listed below are maintained by other authors. Any issues should be reported in their corresponding repository and **not** in the python-can repository. -+----------------------------+-------------------------------------------------------+ -| Name | Description | -+============================+=======================================================+ -| `python-can-canine`_ | CAN Driver for the CANine CAN interface | -+----------------------------+-------------------------------------------------------+ -| `python-can-cvector`_ | Cython based version of the 'VectorBus' | -+----------------------------+-------------------------------------------------------+ -| `python-can-remote`_ | CAN over network bridge | -+----------------------------+-------------------------------------------------------+ -| `python-can-sontheim`_ | CAN Driver for Sontheim CAN interfaces (e.g. CANfox) | -+----------------------------+-------------------------------------------------------+ -| `zlgcan`_ | Python wrapper for zlgcan-driver-rs | -+----------------------------+-------------------------------------------------------+ -| `python-can-cando`_ | Python wrapper for Netronics' CANdo and CANdoISO | -+----------------------------+-------------------------------------------------------+ -| `python-can-candle`_ | A full-featured driver for candleLight | -+----------------------------+-------------------------------------------------------+ ++----------------------------+----------------------------------------------------------+ +| Name | Description | ++============================+==========================================================+ +| `python-can-canine`_ | CAN Driver for the CANine CAN interface | ++----------------------------+----------------------------------------------------------+ +| `python-can-cvector`_ | Cython based version of the 'VectorBus' | ++----------------------------+----------------------------------------------------------+ +| `python-can-remote`_ | CAN over network bridge | ++----------------------------+----------------------------------------------------------+ +| `python-can-sontheim`_ | CAN Driver for Sontheim CAN interfaces (e.g. CANfox) | ++----------------------------+----------------------------------------------------------+ +| `zlgcan`_ | Python wrapper for zlgcan-driver-rs | ++----------------------------+----------------------------------------------------------+ +| `python-can-cando`_ | Python wrapper for Netronics' CANdo and CANdoISO | ++----------------------------+----------------------------------------------------------+ +| `python-can-candle`_ | A full-featured driver for candleLight | ++----------------------------+----------------------------------------------------------+ +| `python-can-coe`_ | A CAN-over-Ethernet interface for Technische Alternative | ++----------------------------+----------------------------------------------------------+ .. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector @@ -87,4 +89,5 @@ The table below lists interface drivers that can be added by installing addition .. _zlgcan: https://github.com/jesses2025smith/zlgcan-driver .. _python-can-cando: https://github.com/belliriccardo/python-can-cando .. _python-can-candle: https://github.com/BIRLab/python-can-candle +.. _python-can-coe: https://c0d3.sh/smarthome/python-can-coe From ef30d088740b2c448cf3db29de66413e926f0589 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 2 Sep 2025 06:12:38 +0000 Subject: [PATCH 443/475] Bump the github-actions group with 3 updates Bumps the github-actions group with 3 updates: [actions/checkout](https://github.com/actions/checkout), [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv) and [actions/attest-build-provenance](https://github.com/actions/attest-build-provenance). Updates `actions/checkout` from 4.2.2 to 5.0.0 - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/11bd71901bbe5b1630ceea73d27597364c9af683...08c6903cd8c0fde910a37f88322edcfb5dd907a8) Updates `astral-sh/setup-uv` from 6.4.3 to 6.6.1 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/e92bafb6253dcd438e0484186d7669ea7a8ca1cc...557e51de59eb14aaaba2ed9621916900a91d50c6) Updates `actions/attest-build-provenance` from 2.4.0 to 3.0.0 - [Release notes](https://github.com/actions/attest-build-provenance/releases) - [Changelog](https://github.com/actions/attest-build-provenance/blob/main/RELEASE.md) - [Commits](https://github.com/actions/attest-build-provenance/compare/e8998f949152b193b063cb0ec769d69d929409be...977bb373ede98d70efdf65b84cb5f73e068dcc2a) --- updated-dependencies: - dependency-name: actions/checkout dependency-version: 5.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: astral-sh/setup-uv dependency-version: 6.6.1 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions - dependency-name: actions/attest-build-provenance dependency-version: 3.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index a80f1e247..5078a33ee 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -34,12 +34,12 @@ jobs: ] fail-fast: false steps: - - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 + uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -67,7 +67,7 @@ jobs: needs: test runs-on: ubuntu-latest steps: - - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 with: fetch-depth: 0 persist-credentials: false @@ -80,12 +80,12 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 + uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -98,12 +98,12 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 + uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -114,12 +114,12 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # 4.2.2 + - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@e92bafb6253dcd438e0484186d7669ea7a8ca1cc # 6.4.3 + uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 - name: Build wheel and sdist run: uv build - name: Check build artifacts @@ -147,7 +147,7 @@ jobs: merge-multiple: true - name: Generate artifact attestation - uses: actions/attest-build-provenance@e8998f949152b193b063cb0ec769d69d929409be # 2.4.0 + uses: actions/attest-build-provenance@977bb373ede98d70efdf65b84cb5f73e068dcc2a # 3.0.0 with: subject-path: 'dist/*' From 4ac05e56e85536b120af42f28af6611979b7e404 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 2 Sep 2025 04:26:23 +0000 Subject: [PATCH 444/475] Bump ruff from 0.12.8 to 0.12.11 in the dev-deps group Bumps the dev-deps group with 1 update: [ruff](https://github.com/astral-sh/ruff). Updates `ruff` from 0.12.8 to 0.12.11 - [Release notes](https://github.com/astral-sh/ruff/releases) - [Changelog](https://github.com/astral-sh/ruff/blob/main/CHANGELOG.md) - [Commits](https://github.com/astral-sh/ruff/compare/0.12.8...0.12.11) --- updated-dependencies: - dependency-name: ruff dependency-version: 0.12.11 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: dev-deps ... Signed-off-by: dependabot[bot] --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index e125ea84f..bc526ce73 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -89,7 +89,7 @@ docs = [ ] lint = [ "pylint==3.3.*", - "ruff==0.12.8", + "ruff==0.12.11", "black==25.1.*", "mypy==1.17.*", ] From f17c37622c143ec4990fb57d86654e9c25a62e91 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 10 Oct 2025 16:00:41 +0200 Subject: [PATCH 445/475] remove support for Python 3.9 (#1996) Co-authored-by: zariiii9003 --- .github/dependabot.yml | 5 +- .github/workflows/ci.yml | 1 - README.rst | 1 + can/_entry_points.py | 21 ++------ can/broadcastmanager.py | 37 ++++++------- can/bus.py | 43 +++++++-------- can/cli.py | 26 ++++----- can/ctypesutil.py | 7 +-- can/exceptions.py | 5 +- can/interface.py | 10 ++-- can/interfaces/canalystii.py | 20 +++---- can/interfaces/cantact.py | 12 ++--- can/interfaces/etas/__init__.py | 14 +++-- can/interfaces/gs_usb.py | 7 +-- can/interfaces/iscan.py | 9 ++-- can/interfaces/ixxat/canlib.py | 31 ++++++----- can/interfaces/ixxat/canlib_vcinpl.py | 13 +++-- can/interfaces/ixxat/canlib_vcinpl2.py | 27 +++++----- can/interfaces/kvaser/canlib.py | 5 +- can/interfaces/nican.py | 11 ++-- can/interfaces/nixnet.py | 16 +++--- can/interfaces/pcan/pcan.py | 14 +++-- can/interfaces/robotell.py | 3 +- can/interfaces/serial/serial_can.py | 8 ++- can/interfaces/slcan.py | 26 ++++----- can/interfaces/socketcan/socketcan.py | 37 ++++++------- can/interfaces/socketcan/utils.py | 5 +- can/interfaces/udp_multicast/bus.py | 18 +++---- can/interfaces/udp_multicast/utils.py | 4 +- can/interfaces/usb2can/usb2canInterface.py | 9 ++-- can/interfaces/vector/canlib.py | 61 ++++++++++------------ can/interfaces/vector/exceptions.py | 6 +-- can/interfaces/virtual.py | 8 ++- can/io/asc.py | 14 ++--- can/io/blf.py | 18 +++---- can/io/canutils.py | 10 ++-- can/io/csv.py | 6 +-- can/io/generic.py | 42 +++++++-------- can/io/logger.py | 15 +++--- can/io/mf4.py | 10 ++-- can/io/printer.py | 4 +- can/io/sqlite.py | 4 +- can/io/trc.py | 32 ++++++------ can/listener.py | 11 +--- can/logger.py | 3 +- can/message.py | 14 ++--- can/notifier.py | 23 ++++---- can/thread_safe_bus.py | 18 +++---- can/typechecking.py | 25 ++++----- can/util.py | 31 +++++------ can/viewer.py | 4 +- doc/changelog.d/1996.removed.md | 1 + pyproject.toml | 12 ++--- tox.ini | 2 +- 54 files changed, 363 insertions(+), 456 deletions(-) create mode 100644 doc/changelog.d/1996.removed.md diff --git a/.github/dependabot.yml b/.github/dependabot.yml index e2781e2ef..dbe907783 100644 --- a/.github/dependabot.yml +++ b/.github/dependabot.yml @@ -5,11 +5,12 @@ version: 2 updates: - - package-ecosystem: "uv" + - package-ecosystem: "pip" # Enable version updates for development dependencies directory: "/" schedule: interval: "monthly" + versioning-strategy: "increase-if-necessary" groups: dev-deps: patterns: @@ -23,4 +24,4 @@ updates: groups: github-actions: patterns: - - "*" \ No newline at end of file + - "*" diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5078a33ee..12022ba35 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -21,7 +21,6 @@ jobs: matrix: os: [ubuntu-latest, macos-latest, windows-latest] env: [ - "py39", "py310", "py311", "py312", diff --git a/README.rst b/README.rst index 2579871b9..6e75d8d7d 100644 --- a/README.rst +++ b/README.rst @@ -61,6 +61,7 @@ Library Version Python 4.0+ 3.7+ 4.3+ 3.8+ 4.6+ 3.9+ + main branch 3.10+ ============================== =========== diff --git a/can/_entry_points.py b/can/_entry_points.py index 6320b797b..fd1a62d24 100644 --- a/can/_entry_points.py +++ b/can/_entry_points.py @@ -1,5 +1,4 @@ import importlib -import sys from dataclasses import dataclass from importlib.metadata import entry_points from typing import Any @@ -16,19 +15,7 @@ def load(self) -> Any: return getattr(module, self.class_name) -# See https://docs.python.org/3/library/importlib.metadata.html#entry-points, -# "Compatibility Note". -if sys.version_info >= (3, 10): - - def read_entry_points(group: str) -> list[_EntryPoint]: - return [ - _EntryPoint(ep.name, ep.module, ep.attr) for ep in entry_points(group=group) - ] - -else: - - def read_entry_points(group: str) -> list[_EntryPoint]: - return [ - _EntryPoint(ep.name, *ep.value.split(":", maxsplit=1)) - for ep in entry_points().get(group, []) # pylint: disable=no-member - ] +def read_entry_points(group: str) -> list[_EntryPoint]: + return [ + _EntryPoint(ep.name, ep.module, ep.attr) for ep in entry_points(group=group) + ] diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index a71f6fd11..1fea9ac50 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -12,13 +12,10 @@ import threading import time import warnings -from collections.abc import Sequence +from collections.abc import Callable, Sequence from typing import ( TYPE_CHECKING, - Callable, Final, - Optional, - Union, cast, ) @@ -78,7 +75,7 @@ def wait_inf(self, event: _Pywin32Event) -> None: ) -PYWIN32: Optional[_Pywin32] = None +PYWIN32: _Pywin32 | None = None if sys.platform == "win32" and sys.version_info < (3, 11): try: PYWIN32 = _Pywin32() @@ -105,9 +102,7 @@ class CyclicSendTaskABC(CyclicTask, abc.ABC): Message send task with defined period """ - def __init__( - self, messages: Union[Sequence[Message], Message], period: float - ) -> None: + def __init__(self, messages: Sequence[Message] | Message, period: float) -> None: """ :param messages: The messages to be sent periodically. @@ -125,7 +120,7 @@ def __init__( @staticmethod def _check_and_convert_messages( - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, ) -> tuple[Message, ...]: """Helper function to convert a Message or Sequence of messages into a tuple, and raises an error when the given value is invalid. @@ -164,9 +159,9 @@ def _check_and_convert_messages( class LimitedDurationCyclicSendTaskABC(CyclicSendTaskABC, abc.ABC): def __init__( self, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, period: float, - duration: Optional[float], + duration: float | None, ) -> None: """Message send task with a defined duration and period. @@ -181,7 +176,7 @@ def __init__( """ super().__init__(messages, period) self.duration = duration - self.end_time: Optional[float] = None + self.end_time: float | None = None class RestartableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): @@ -215,7 +210,7 @@ def _check_modified_messages(self, messages: tuple[Message, ...]) -> None: "from when the task was created" ) - def modify_data(self, messages: Union[Sequence[Message], Message]) -> None: + def modify_data(self, messages: Sequence[Message] | Message) -> None: """Update the contents of the periodically sent messages, without altering the timing. @@ -242,7 +237,7 @@ class MultiRateCyclicSendTaskABC(CyclicSendTaskABC, abc.ABC): def __init__( self, channel: typechecking.Channel, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, count: int, # pylint: disable=unused-argument initial_period: float, # pylint: disable=unused-argument subsequent_period: float, @@ -272,12 +267,12 @@ def __init__( self, bus: "BusABC", lock: threading.Lock, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, - on_error: Optional[Callable[[Exception], bool]] = None, + duration: float | None = None, + on_error: Callable[[Exception], bool] | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> None: """Transmits `messages` with a `period` seconds for `duration` seconds on a `bus`. @@ -298,13 +293,13 @@ def __init__( self.bus = bus self.send_lock = lock self.stopped = True - self.thread: Optional[threading.Thread] = None + self.thread: threading.Thread | None = None self.on_error = on_error self.modifier_callback = modifier_callback self.period_ms = int(round(period * 1000, 0)) - self.event: Optional[_Pywin32Event] = None + self.event: _Pywin32Event | None = None if PYWIN32: if self.period_ms == 0: # A period of 0 would mean that the timer is signaled only once @@ -338,7 +333,7 @@ def start(self) -> None: self.thread = threading.Thread(target=self._run, name=name) self.thread.daemon = True - self.end_time: Optional[float] = ( + self.end_time: float | None = ( time.perf_counter() + self.duration if self.duration else None ) diff --git a/can/bus.py b/can/bus.py index ec9eb09b7..03425caaa 100644 --- a/can/bus.py +++ b/can/bus.py @@ -6,14 +6,11 @@ import logging import threading from abc import ABC, abstractmethod -from collections.abc import Iterator, Sequence +from collections.abc import Callable, Iterator, Sequence from enum import Enum, auto from time import time from types import TracebackType from typing import ( - Callable, - Optional, - Union, cast, ) @@ -68,7 +65,7 @@ class BusABC(ABC): def __init__( self, channel: can.typechecking.Channel, - can_filters: Optional[can.typechecking.CanFilters] = None, + can_filters: can.typechecking.CanFilters | None = None, **kwargs: object, ): """Construct and open a CAN bus instance of the specified type. @@ -101,7 +98,7 @@ def __init__( def __str__(self) -> str: return self.channel_info - def recv(self, timeout: Optional[float] = None) -> Optional[Message]: + def recv(self, timeout: float | None = None) -> Message | None: """Block waiting for a message from the Bus. :param timeout: @@ -139,9 +136,7 @@ def recv(self, timeout: Optional[float] = None) -> Optional[Message]: return None - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: """ Read a message from the bus and tell whether it was filtered. This methods may be called by :meth:`~can.BusABC.recv` @@ -184,7 +179,7 @@ def _recv_internal( raise NotImplementedError("Trying to read from a write only bus?") @abstractmethod - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """Transmit a message to the CAN bus. Override this method to enable the transmit path. @@ -205,12 +200,12 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def send_periodic( self, - msgs: Union[Message, Sequence[Message]], + msgs: Message | Sequence[Message], period: float, - duration: Optional[float] = None, + duration: float | None = None, store_task: bool = True, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -297,11 +292,11 @@ def wrapped_stop_method(remove_task: bool = True) -> None: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Default implementation of periodic message sending using threading. @@ -378,7 +373,7 @@ def __iter__(self) -> Iterator[Message]: yield msg @property - def filters(self) -> Optional[can.typechecking.CanFilters]: + def filters(self) -> can.typechecking.CanFilters | None: """ Modify the filters of this bus. See :meth:`~can.BusABC.set_filters` for details. @@ -386,12 +381,10 @@ def filters(self) -> Optional[can.typechecking.CanFilters]: return self._filters @filters.setter - def filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def filters(self, filters: can.typechecking.CanFilters | None) -> None: self.set_filters(filters) - def set_filters( - self, filters: Optional[can.typechecking.CanFilters] = None - ) -> None: + def set_filters(self, filters: can.typechecking.CanFilters | None = None) -> None: """Apply filtering to all messages received by this Bus. All messages that match at least one filter are returned. @@ -417,7 +410,7 @@ def set_filters( with contextlib.suppress(NotImplementedError): self._apply_filters(self._filters) - def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def _apply_filters(self, filters: can.typechecking.CanFilters | None) -> None: """ Hook for applying the filters to the underlying kernel or hardware if supported/implemented by the interface. @@ -484,9 +477,9 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[type[BaseException]], - exc_value: Optional[BaseException], - traceback: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, ) -> None: self.shutdown() diff --git a/can/cli.py b/can/cli.py index 6e3850354..d0ff70126 100644 --- a/can/cli.py +++ b/can/cli.py @@ -1,7 +1,7 @@ import argparse import re from collections.abc import Sequence -from typing import Any, Optional, Union +from typing import Any import can from can.typechecking import CanFilter, TAdditionalCliArgs @@ -12,8 +12,8 @@ def add_bus_arguments( parser: argparse.ArgumentParser, *, filter_arg: bool = False, - prefix: Optional[str] = None, - group_title: Optional[str] = None, + prefix: str | None = None, + group_title: str | None = None, ) -> None: """Adds CAN bus configuration options to an argument parser. @@ -144,7 +144,7 @@ def add_bus_arguments( def create_bus_from_namespace( namespace: argparse.Namespace, *, - prefix: Optional[str] = None, + prefix: str | None = None, **kwargs: Any, ) -> can.BusABC: """Creates and returns a CAN bus instance based on the provided namespace and arguments. @@ -192,8 +192,8 @@ def __call__( self, parser: argparse.ArgumentParser, namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, + values: str | Sequence[Any] | None, + option_string: str | None = None, ) -> None: if not isinstance(values, list): raise argparse.ArgumentError(self, "Invalid filter argument") @@ -222,8 +222,8 @@ def __call__( self, parser: argparse.ArgumentParser, namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, + values: str | Sequence[Any] | None, + option_string: str | None = None, ) -> None: if not isinstance(values, list): raise argparse.ArgumentError(self, "Invalid --timing argument") @@ -252,13 +252,13 @@ def __call__( self, parser: argparse.ArgumentParser, namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, + values: str | Sequence[Any] | None, + option_string: str | None = None, ) -> None: if not isinstance(values, list): raise argparse.ArgumentError(self, "Invalid --bus-kwargs argument") - bus_kwargs: dict[str, Union[str, int, float, bool]] = {} + bus_kwargs: dict[str, str | int | float | bool] = {} for arg in values: try: @@ -281,7 +281,7 @@ def __call__( def _add_extra_args( - parser: Union[argparse.ArgumentParser, argparse._ArgumentGroup], + parser: argparse.ArgumentParser | argparse._ArgumentGroup, ) -> None: parser.add_argument( "extra_args", @@ -301,7 +301,7 @@ def _split_arg(_arg: str) -> tuple[str, str]: left, right = _arg.split("=", 1) return left.lstrip("-").replace("-", "_"), right - args: dict[str, Union[str, int, float, bool]] = {} + args: dict[str, str | int | float | bool] = {} for key, string_val in map(_split_arg, unknown_args): args[key] = cast_from_string(string_val) return args diff --git a/can/ctypesutil.py b/can/ctypesutil.py index 8336941be..0798de910 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -5,7 +5,8 @@ import ctypes import logging import sys -from typing import Any, Callable, Optional, Union +from collections.abc import Callable +from typing import Any log = logging.getLogger("can.ctypesutil") @@ -20,7 +21,7 @@ class CLibrary(_LibBase): - def __init__(self, library_or_path: Union[str, ctypes.CDLL]) -> None: + def __init__(self, library_or_path: str | ctypes.CDLL) -> None: self.func_name: Any if isinstance(library_or_path, str): @@ -33,7 +34,7 @@ def map_symbol( func_name: str, restype: Any = None, argtypes: tuple[Any, ...] = (), - errcheck: Optional[Callable[..., Any]] = None, + errcheck: Callable[..., Any] | None = None, ) -> Any: """ Map and return a symbol (function) from a C library. A reference to the diff --git a/can/exceptions.py b/can/exceptions.py index 8abc75147..696701399 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -17,7 +17,6 @@ from collections.abc import Generator from contextlib import contextmanager -from typing import Optional class CanError(Exception): @@ -51,7 +50,7 @@ class CanError(Exception): def __init__( self, message: str = "", - error_code: Optional[int] = None, + error_code: int | None = None, ) -> None: self.error_code = error_code super().__init__( @@ -108,7 +107,7 @@ class CanTimeoutError(CanError, TimeoutError): @contextmanager def error_check( - error_message: Optional[str] = None, + error_message: str | None = None, exception_type: type[CanError] = CanOperationError, ) -> Generator[None, None, None]: """Catches any exceptions and turns them into the new type while preserving the stack trace.""" diff --git a/can/interface.py b/can/interface.py index 4aa010a36..efde5b214 100644 --- a/can/interface.py +++ b/can/interface.py @@ -8,7 +8,7 @@ import importlib import logging from collections.abc import Callable, Iterable, Sequence -from typing import Any, Optional, Union, cast +from typing import Any, cast from . import util from .bus import BusABC @@ -64,9 +64,9 @@ def _get_class_for_interface(interface: str) -> type[BusABC]: context="config_context", ) def Bus( # noqa: N802 - channel: Optional[Channel] = None, - interface: Optional[str] = None, - config_context: Optional[str] = None, + channel: Channel | None = None, + interface: str | None = None, + config_context: str | None = None, ignore_config: bool = False, **kwargs: Any, ) -> BusABC: @@ -140,7 +140,7 @@ def Bus( # noqa: N802 def detect_available_configs( - interfaces: Union[None, str, Iterable[str]] = None, + interfaces: None | str | Iterable[str] = None, timeout: float = 5.0, ) -> Sequence[AutoDetectedConfig]: """Detect all configurations/channels that the interfaces could diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index d85211130..e2bf7555e 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -3,7 +3,7 @@ from collections import deque from collections.abc import Sequence from ctypes import c_ubyte -from typing import Any, Optional, Union +from typing import Any import canalystii as driver @@ -21,12 +21,12 @@ class CANalystIIBus(BusABC): ) def __init__( self, - channel: Union[int, Sequence[int], str] = (0, 1), + channel: int | Sequence[int] | str = (0, 1), device: int = 0, - bitrate: Optional[int] = None, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - can_filters: Optional[CanFilters] = None, - rx_queue_size: Optional[int] = None, + bitrate: int | None = None, + timing: BitTiming | BitTimingFd | None = None, + can_filters: CanFilters | None = None, + rx_queue_size: int | None = None, **kwargs: dict[str, Any], ): """ @@ -94,7 +94,7 @@ def __init__( # system. RX_POLL_DELAY = 0.020 - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """Send a CAN message to the bus :param msg: message to send @@ -166,8 +166,8 @@ def poll_received_messages(self) -> None: ) def _recv_internal( - self, timeout: Optional[float] = None - ) -> tuple[Optional[Message], bool]: + self, timeout: float | None = None + ) -> tuple[Message | None, bool]: """ :param timeout: float in seconds @@ -194,7 +194,7 @@ def _recv_internal( return (None, False) - def flush_tx_buffer(self, channel: Optional[int] = None) -> None: + def flush_tx_buffer(self, channel: int | None = None) -> None: """Flush the TX buffer of the device. :param channel: diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 08fe15b72..ee01fbf94 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -5,7 +5,7 @@ import logging import time from collections.abc import Sequence -from typing import Any, Optional, Union +from typing import Any from unittest.mock import Mock from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message @@ -56,7 +56,7 @@ def __init__( bitrate: int = 500_000, poll_interval: float = 0.01, monitor: bool = False, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + timing: BitTiming | BitTimingFd | None = None, **kwargs: Any, ) -> None: """ @@ -123,9 +123,7 @@ def __init__( **kwargs, ) - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: if timeout is None: raise TypeError( f"{self.__class__.__name__} expects a numeric `timeout` value." @@ -149,7 +147,7 @@ def _recv_internal( ) return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: with error_check("Cannot send message"): self.interface.send( self.channel, @@ -166,7 +164,7 @@ def shutdown(self) -> None: self.interface.stop() -def mock_recv(timeout: int) -> Optional[dict[str, Any]]: +def mock_recv(timeout: int) -> dict[str, Any] | None: if timeout > 0: return { "id": 0x123, diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 9d4d0bd2a..f8364a3fd 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -1,5 +1,5 @@ import time -from typing import Optional +from typing import Any import can from can.exceptions import CanInitializationError @@ -11,12 +11,12 @@ class EtasBus(can.BusABC): def __init__( self, channel: str, - can_filters: Optional[can.typechecking.CanFilters] = None, + can_filters: can.typechecking.CanFilters | None = None, receive_own_messages: bool = False, bitrate: int = 1000000, fd: bool = True, data_bitrate: int = 2000000, - **kwargs: dict[str, any], + **kwargs: dict[str, Any], ): self.receive_own_messages = receive_own_messages self._can_protocol = can.CanProtocol.CAN_FD if fd else can.CanProtocol.CAN_20 @@ -120,9 +120,7 @@ def __init__( # Super call must be after child init since super calls set_filters super().__init__(channel=channel, **kwargs) - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[can.Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[can.Message | None, bool]: ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)() ociMsg = OCI_CANMessageEx() ociMsgs[0] = ctypes.pointer(ociMsg) @@ -189,7 +187,7 @@ def _recv_internal( return (msg, True) - def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: + def send(self, msg: can.Message, timeout: float | None = None) -> None: ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)() ociMsg = OCI_CANMessageEx() ociMsgs[0] = ctypes.pointer(ociMsg) @@ -219,7 +217,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: OCI_WriteCANDataEx(self.txQueue, OCI_NO_TIME, ociMsgs, 1, None) - def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def _apply_filters(self, filters: can.typechecking.CanFilters | None) -> None: if self._oci_filters: OCI_RemoveCANFrameFilterEx(self.rxQueue, self._oci_filters, 1) diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 4ab541f43..6297fc1f5 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -1,5 +1,4 @@ import logging -from typing import Optional import usb from gs_usb.constants import CAN_EFF_FLAG, CAN_ERR_FLAG, CAN_MAX_DLC, CAN_RTR_FLAG @@ -82,7 +81,7 @@ def __init__( **kwargs, ) - def send(self, msg: can.Message, timeout: Optional[float] = None): + def send(self, msg: can.Message, timeout: float | None = None): """Transmit a message to the CAN bus. :param Message msg: A message object. @@ -117,9 +116,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None): except usb.core.USBError as exc: raise CanOperationError("The message could not be sent") from exc - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[can.Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[can.Message | None, bool]: """ Read a message from the bus and tell whether it was filtered. This methods may be called by :meth:`~can.BusABC.recv` diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index 79b4f754d..2fa19942a 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -5,7 +5,6 @@ import ctypes import logging import time -from typing import Optional, Union from can import ( BusABC, @@ -82,7 +81,7 @@ class IscanBus(BusABC): def __init__( self, - channel: Union[str, int], + channel: str | int, bitrate: int = 500000, poll_interval: float = 0.01, **kwargs, @@ -115,9 +114,7 @@ def __init__( **kwargs, ) - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: raw_msg = MessageExStruct() end_time = time.time() + timeout if timeout is not None else None while True: @@ -147,7 +144,7 @@ def _recv_internal( ) return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: raw_msg = MessageExStruct( msg.arbitration_id, bool(msg.is_extended_id), diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index 6192367c4..528e86d5e 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -1,5 +1,4 @@ -from collections.abc import Sequence -from typing import Callable, Optional, Union +from collections.abc import Callable, Sequence import can.interfaces.ixxat.canlib_vcinpl as vcinpl import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 @@ -26,20 +25,20 @@ def __init__( channel: int, can_filters=None, receive_own_messages: bool = False, - unique_hardware_id: Optional[int] = None, + unique_hardware_id: int | None = None, extended: bool = True, fd: bool = False, - rx_fifo_size: Optional[int] = None, - tx_fifo_size: Optional[int] = None, + rx_fifo_size: int | None = None, + tx_fifo_size: int | None = None, bitrate: int = 500000, data_bitrate: int = 2000000, - sjw_abr: Optional[int] = None, - tseg1_abr: Optional[int] = None, - tseg2_abr: Optional[int] = None, - sjw_dbr: Optional[int] = None, - tseg1_dbr: Optional[int] = None, - tseg2_dbr: Optional[int] = None, - ssp_dbr: Optional[int] = None, + sjw_abr: int | None = None, + tseg1_abr: int | None = None, + tseg2_abr: int | None = None, + sjw_dbr: int | None = None, + tseg1_dbr: int | None = None, + tseg2_dbr: int | None = None, + ssp_dbr: int | None = None, **kwargs, ): """ @@ -147,16 +146,16 @@ def _recv_internal(self, timeout): """Read a message from IXXAT device.""" return self.bus._recv_internal(timeout) - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: return self.bus.send(msg, timeout) def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> CyclicSendTaskABC: return self.bus._send_periodic_internal( msgs, period, duration, autostart, modifier_callback diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 59f98417d..7c4becafd 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -15,8 +15,7 @@ import sys import time import warnings -from collections.abc import Sequence -from typing import Callable, Optional, Union +from collections.abc import Callable, Sequence from can import ( BusABC, @@ -436,7 +435,7 @@ def __init__( channel: int, can_filters=None, receive_own_messages: bool = False, - unique_hardware_id: Optional[int] = None, + unique_hardware_id: int | None = None, extended: bool = True, rx_fifo_size: int = 16, tx_fifo_size: int = 16, @@ -770,7 +769,7 @@ def _recv_internal(self, timeout): return rx_msg, True - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Sends a message on the bus. The interface may buffer the message. @@ -805,11 +804,11 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" if modifier_callback is None: diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index b7698277f..b6789885a 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -15,8 +15,7 @@ import sys import time import warnings -from collections.abc import Sequence -from typing import Callable, Optional, Union +from collections.abc import Callable, Sequence from can import ( BusABC, @@ -431,19 +430,19 @@ def __init__( channel: int, can_filters=None, receive_own_messages: int = False, - unique_hardware_id: Optional[int] = None, + unique_hardware_id: int | None = None, extended: bool = True, rx_fifo_size: int = 1024, tx_fifo_size: int = 128, bitrate: int = 500000, data_bitrate: int = 2000000, - sjw_abr: Optional[int] = None, - tseg1_abr: Optional[int] = None, - tseg2_abr: Optional[int] = None, - sjw_dbr: Optional[int] = None, - tseg1_dbr: Optional[int] = None, - tseg2_dbr: Optional[int] = None, - ssp_dbr: Optional[int] = None, + sjw_abr: int | None = None, + tseg1_abr: int | None = None, + tseg2_abr: int | None = None, + sjw_dbr: int | None = None, + tseg1_dbr: int | None = None, + tseg2_dbr: int | None = None, + ssp_dbr: int | None = None, **kwargs, ): """ @@ -902,7 +901,7 @@ def _recv_internal(self, timeout): return rx_msg, True - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Sends a message on the bus. The interface may buffer the message. @@ -947,11 +946,11 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" if modifier_callback is None: diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index a1dd03e58..4403b60ca 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -10,7 +10,6 @@ import logging import sys import time -from typing import Optional, Union from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message from can.exceptions import CanError, CanInitializationError, CanOperationError @@ -375,8 +374,8 @@ class KvaserBus(BusABC): def __init__( self, channel: int, - can_filters: Optional[CanFilters] = None, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + can_filters: CanFilters | None = None, + timing: BitTiming | BitTimingFd | None = None, **kwargs, ): """ diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index 1abf0b35f..ba5b991c9 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -16,7 +16,6 @@ import ctypes import logging import sys -from typing import Optional import can.typechecking from can import ( @@ -187,8 +186,8 @@ class NicanBus(BusABC): def __init__( self, channel: str, - can_filters: Optional[can.typechecking.CanFilters] = None, - bitrate: Optional[int] = None, + can_filters: can.typechecking.CanFilters | None = None, + bitrate: int | None = None, log_errors: bool = True, **kwargs, ) -> None: @@ -279,9 +278,7 @@ def __init__( **kwargs, ) - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: """ Read a message from a NI-CAN bus. @@ -330,7 +327,7 @@ def _recv_internal( ) return msg, True - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Send a message to NI-CAN. diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index c723d1f52..ec303a364 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -14,7 +14,7 @@ import warnings from queue import SimpleQueue from types import ModuleType -from typing import Any, Optional, Union +from typing import Any import can.typechecking from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message @@ -27,7 +27,7 @@ logger = logging.getLogger(__name__) -nixnet: Optional[ModuleType] = None +nixnet: ModuleType | None = None try: import nixnet # type: ignore import nixnet.constants # type: ignore @@ -52,12 +52,12 @@ def __init__( self, channel: str = "CAN1", bitrate: int = 500_000, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - can_filters: Optional[can.typechecking.CanFilters] = None, + timing: BitTiming | BitTimingFd | None = None, + can_filters: can.typechecking.CanFilters | None = None, receive_own_messages: bool = False, can_termination: bool = False, fd: bool = False, - fd_bitrate: Optional[int] = None, + fd_bitrate: int | None = None, poll_interval: float = 0.001, **kwargs: Any, ) -> None: @@ -201,9 +201,7 @@ def fd(self) -> bool: ) return self._can_protocol is CanProtocol.CAN_FD - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: end_time = time.perf_counter() + timeout if timeout is not None else None while True: @@ -256,7 +254,7 @@ def _recv_internal( ) return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Send a message using NI-XNET. diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index d63981580..a2f5f361f 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -6,7 +6,7 @@ import platform import time import warnings -from typing import Any, Optional, Union +from typing import Any from packaging import version @@ -120,9 +120,9 @@ class PcanBus(BusABC): def __init__( self, channel: str = "PCAN_USBBUS1", - device_id: Optional[int] = None, + device_id: int | None = None, state: BusState = BusState.ACTIVE, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + timing: BitTiming | BitTimingFd | None = None, bitrate: int = 500000, receive_own_messages: bool = False, **kwargs: Any, @@ -500,9 +500,7 @@ def set_device_number(self, device_number): return False return True - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: end_time = time.time() + timeout if timeout is not None else None while True: @@ -523,7 +521,7 @@ def _recv_internal( # receive queue is empty, wait or return on timeout if end_time is None: - time_left: Optional[float] = None + time_left: float | None = None timed_out = False else: time_left = max(0.0, end_time - time.time()) @@ -793,7 +791,7 @@ def _detect_available_configs(): pass return channels - def status_string(self) -> Optional[str]: + def status_string(self) -> str | None: """ Query the PCAN bus status. diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 16668bdda..b24543856 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -5,7 +5,6 @@ import io import logging import time -from typing import Optional from can import BusABC, CanProtocol, Message @@ -380,7 +379,7 @@ def fileno(self): except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception - def get_serial_number(self, timeout: Optional[int]) -> Optional[str]: + def get_serial_number(self, timeout: int | None) -> str | None: """Get serial number of the slcan interface. :param timeout: diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py index 680cf10f6..efef6cf59 100644 --- a/can/interfaces/serial/serial_can.py +++ b/can/interfaces/serial/serial_can.py @@ -11,7 +11,7 @@ import logging import struct from collections.abc import Sequence -from typing import Any, Optional, cast +from typing import Any, cast from can import ( BusABC, @@ -109,7 +109,7 @@ def shutdown(self) -> None: super().shutdown() self._ser.close() - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Send a message over the serial device. @@ -161,9 +161,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: except serial.SerialTimeoutException as error: raise CanTimeoutError() from error - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: """ Read a message from the serial device. diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index d9eab5edf..086d9ed32 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -7,7 +7,7 @@ import time import warnings from queue import SimpleQueue -from typing import Any, Optional, Union, cast +from typing import Any, cast from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message, typechecking from can.exceptions import ( @@ -75,8 +75,8 @@ def __init__( self, channel: typechecking.ChannelStr, tty_baudrate: int = 115200, - bitrate: Optional[int] = None, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + bitrate: int | None = None, + timing: BitTiming | BitTimingFd | None = None, sleep_after_open: float = _SLEEP_AFTER_SERIAL_OPEN, rtscts: bool = False, listen_only: bool = False, @@ -119,7 +119,7 @@ def __init__( if serial is None: raise CanInterfaceNotImplementedError("The serial module is not installed") - btr: Optional[str] = kwargs.get("btr", None) + btr: str | None = kwargs.get("btr", None) if btr is not None: warnings.warn( "The 'btr' argument is deprecated since python-can v4.5.0 " @@ -166,7 +166,7 @@ def __init__( super().__init__(channel, **kwargs) - def set_bitrate(self, bitrate: int, data_bitrate: Optional[int] = None) -> None: + def set_bitrate(self, bitrate: int, data_bitrate: int | None = None) -> None: """ :param bitrate: Bitrate in bit/s @@ -211,7 +211,7 @@ def _write(self, string: str) -> None: self.serialPortOrig.write(string.encode() + self.LINE_TERMINATOR) self.serialPortOrig.flush() - def _read(self, timeout: Optional[float]) -> Optional[str]: + def _read(self, timeout: float | None) -> str | None: _timeout = serial.Timeout(timeout) with error_check("Could not read from serial device"): @@ -250,9 +250,7 @@ def open(self) -> None: def close(self) -> None: self._write("C") - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: canId = None remote = False extended = False @@ -261,7 +259,7 @@ def _recv_internal( fdBrs = False if self._queue.qsize(): - string: Optional[str] = self._queue.get_nowait() + string: str | None = self._queue.get_nowait() else: string = self._read(timeout) @@ -335,7 +333,7 @@ def _recv_internal( return msg, False return None, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: if timeout != self.serialPortOrig.write_timeout: self.serialPortOrig.write_timeout = timeout if msg.is_remote_frame: @@ -381,9 +379,7 @@ def fileno(self) -> int: except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception - def get_version( - self, timeout: Optional[float] - ) -> tuple[Optional[int], Optional[int]]: + def get_version(self, timeout: float | None) -> tuple[int | None, int | None]: """Get HW and SW version of the slcan interface. :param timeout: @@ -411,7 +407,7 @@ def get_version( break return None, None - def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: + def get_serial_number(self, timeout: float | None) -> str | None: """Get serial number of the slcan interface. :param timeout: diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 30b75108a..6dc856cbf 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -15,8 +15,7 @@ import threading import time import warnings -from collections.abc import Sequence -from typing import Callable, Optional, Union +from collections.abc import Callable, Sequence import can from can import BusABC, CanProtocol, Message @@ -51,14 +50,12 @@ # Setup BCM struct def bcm_header_factory( - fields: list[tuple[str, Union[type[ctypes.c_uint32], type[ctypes.c_long]]]], + fields: list[tuple[str, type[ctypes.c_uint32] | type[ctypes.c_long]]], alignment: int = 8, ): curr_stride = 0 results: list[ - tuple[ - str, Union[type[ctypes.c_uint8], type[ctypes.c_uint32], type[ctypes.c_long]] - ] + tuple[str, type[ctypes.c_uint8] | type[ctypes.c_uint32] | type[ctypes.c_long]] ] = [] pad_index = 0 for field in fields: @@ -405,9 +402,9 @@ def __init__( self, bcm_socket: socket.socket, task_id: int, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, ) -> None: """Construct and :meth:`~start` a task. @@ -507,7 +504,7 @@ def stop(self) -> None: stopframe = build_bcm_tx_delete_header(self.task_id, self.flags) send_bcm(self.bcm_socket, stopframe) - def modify_data(self, messages: Union[Sequence[Message], Message]) -> None: + def modify_data(self, messages: Sequence[Message] | Message) -> None: """Update the contents of the periodically sent CAN messages by sending TX_SETUP message to Linux kernel. @@ -605,9 +602,7 @@ def bind_socket(sock: socket.socket, channel: str = "can0") -> None: log.debug("Bound socket.") -def capture_message( - sock: socket.socket, get_channel: bool = False -) -> Optional[Message]: +def capture_message(sock: socket.socket, get_channel: bool = False) -> Message | None: """ Captures a message from given socket. @@ -702,7 +697,7 @@ def __init__( receive_own_messages: bool = False, local_loopback: bool = True, fd: bool = False, - can_filters: Optional[CanFilters] = None, + can_filters: CanFilters | None = None, ignore_rx_error_frames=False, **kwargs, ) -> None: @@ -818,9 +813,7 @@ def shutdown(self) -> None: log.debug("Closing raw can socket") self.socket.close() - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: try: # get all sockets that are ready (can be a list with a single value # being self.socket or an empty list if self.socket is not ready) @@ -842,7 +835,7 @@ def _recv_internal( # socket wasn't readable or timeout occurred return None, self._is_filtered - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """Transmit a message to the CAN bus. :param msg: A message object. @@ -880,7 +873,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: raise can.CanOperationError("Transmit buffer full") - def _send_once(self, data: bytes, channel: Optional[str] = None) -> int: + def _send_once(self, data: bytes, channel: str | None = None) -> int: try: if self.channel == "" and channel: # Message must be addressed to a specific channel @@ -895,11 +888,11 @@ def _send_once(self, data: bytes, channel: Optional[str] = None) -> int: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -974,7 +967,7 @@ def _get_bcm_socket(self, channel: str) -> socket.socket: self._bcm_sockets[channel] = create_bcm_socket(self.channel) return self._bcm_sockets[channel] - def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def _apply_filters(self, filters: can.typechecking.CanFilters | None) -> None: try: self.socket.setsockopt( constants.SOL_CAN_RAW, constants.CAN_RAW_FILTER, pack_filters(filters) diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 1c096f66e..0740f769d 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -9,7 +9,6 @@ import struct import subprocess import sys -from typing import Optional from can import typechecking from can.interfaces.socketcan.constants import CAN_EFF_FLAG @@ -17,7 +16,7 @@ log = logging.getLogger(__name__) -def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes: +def pack_filters(can_filters: typechecking.CanFilters | None = None) -> bytes: if can_filters is None: # Pass all messages can_filters = [{"can_id": 0, "can_mask": 0}] @@ -72,7 +71,7 @@ def find_available_interfaces() -> list[str]: return interfaces -def error_code_to_str(code: Optional[int]) -> str: +def error_code_to_str(code: int | None) -> str: """ Converts a given error code (errno) to a useful and human readable string. diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 9e0187ea2..87a0800fa 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -6,7 +6,7 @@ import struct import time import warnings -from typing import Any, Optional, Union +from typing import Any import can from can import BusABC, CanProtocol, Message @@ -24,7 +24,7 @@ # see socket.getaddrinfo() IPv4_ADDRESS_INFO = tuple[str, int] # address, port IPv6_ADDRESS_INFO = tuple[str, int, int, int] # address, port, flowinfo, scope_id -IP_ADDRESS_INFO = Union[IPv4_ADDRESS_INFO, IPv6_ADDRESS_INFO] +IP_ADDRESS_INFO = IPv4_ADDRESS_INFO | IPv6_ADDRESS_INFO # Additional constants for the interaction with Unix kernels SO_TIMESTAMPNS = 35 @@ -126,9 +126,7 @@ def is_fd(self) -> bool: ) return self._can_protocol is CanProtocol.CAN_FD - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: result = self._multicast.recv(timeout) if not result: return None, False @@ -148,7 +146,7 @@ def _recv_internal( return can_message, False - def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: + def send(self, msg: can.Message, timeout: float | None = None) -> None: if self._can_protocol is not CanProtocol.CAN_FD and msg.is_fd: raise can.CanOperationError( "cannot send FD message over bus with CAN FD disabled" @@ -242,7 +240,7 @@ def __init__( # used by send() self._send_destination = (self.group, self.port) - self._last_send_timeout: Optional[float] = None + self._last_send_timeout: float | None = None def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: """Creates a new socket. This might fail and raise an exception! @@ -319,7 +317,7 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: "could not create or configure socket" ) from error - def send(self, data: bytes, timeout: Optional[float] = None) -> None: + def send(self, data: bytes, timeout: float | None = None) -> None: """Send data to all group members. This call blocks. :param timeout: the timeout in seconds after which an Exception is raised is sending has failed @@ -342,8 +340,8 @@ def send(self, data: bytes, timeout: Optional[float] = None) -> None: raise can.CanOperationError("failed to send via socket") from error def recv( - self, timeout: Optional[float] = None - ) -> Optional[tuple[bytes, IP_ADDRESS_INFO, float]]: + self, timeout: float | None = None + ) -> tuple[bytes, IP_ADDRESS_INFO, float] | None: """ Receive up to **max_buffer** bytes. diff --git a/can/interfaces/udp_multicast/utils.py b/can/interfaces/udp_multicast/utils.py index de39833a3..1e1d62c23 100644 --- a/can/interfaces/udp_multicast/utils.py +++ b/can/interfaces/udp_multicast/utils.py @@ -2,7 +2,7 @@ Defines common functions. """ -from typing import Any, Optional, cast +from typing import Any, cast from can import CanInterfaceNotImplementedError, Message from can.typechecking import ReadableBytesLike @@ -56,7 +56,7 @@ def pack_message(message: Message) -> bytes: def unpack_message( data: ReadableBytesLike, - replace: Optional[dict[str, Any]] = None, + replace: dict[str, Any] | None = None, check: bool = False, ) -> Message: """Unpack a can.Message from a msgpack byte blob. diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index adc16e8b3..66c171f4d 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -4,7 +4,6 @@ import logging from ctypes import byref -from typing import Optional, Union from can import ( BitTiming, @@ -110,12 +109,12 @@ class Usb2canBus(BusABC): def __init__( self, - channel: Optional[str] = None, + channel: str | None = None, dll: str = "usb2can.dll", flags: int = 0x00000008, bitrate: int = 500000, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - serial: Optional[str] = None, + timing: BitTiming | BitTimingFd | None = None, + serial: str | None = None, **kwargs, ): self.can = Usb2CanAbstractionLayer(dll) @@ -207,7 +206,7 @@ def _detect_available_configs(): return Usb2canBus.detect_available_configs() @staticmethod - def detect_available_configs(serial_matcher: Optional[str] = None): + def detect_available_configs(serial_matcher: str | None = None): """ Uses the *Windows Management Instrumentation* to identify serial devices. diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index d15b89803..8bdd77b83 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -10,14 +10,11 @@ import os import time import warnings -from collections.abc import Iterator, Sequence +from collections.abc import Callable, Iterator, Sequence from types import ModuleType from typing import ( Any, - Callable, NamedTuple, - Optional, - Union, cast, ) @@ -45,14 +42,14 @@ LOG = logging.getLogger(__name__) # Import safely Vector API module for Travis tests -xldriver: Optional[ModuleType] = None +xldriver: ModuleType | None = None try: from . import xldriver except FileNotFoundError as exc: LOG.warning("Could not import vxlapi: %s", exc) -WaitForSingleObject: Optional[Callable[[int, int], int]] -INFINITE: Optional[int] +WaitForSingleObject: Callable[[int, int], int] | None +INFINITE: int | None try: # Try builtin Python 3 Windows API from _winapi import ( # type: ignore[attr-defined,no-redef,unused-ignore] @@ -83,24 +80,24 @@ class VectorBus(BusABC): ) def __init__( self, - channel: Union[int, Sequence[int], str], - can_filters: Optional[CanFilters] = None, + channel: int | Sequence[int] | str, + can_filters: CanFilters | None = None, poll_interval: float = 0.01, receive_own_messages: bool = False, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - bitrate: Optional[int] = None, + timing: BitTiming | BitTimingFd | None = None, + bitrate: int | None = None, rx_queue_size: int = 2**14, - app_name: Optional[str] = "CANalyzer", - serial: Optional[int] = None, + app_name: str | None = "CANalyzer", + serial: int | None = None, fd: bool = False, - data_bitrate: Optional[int] = None, + data_bitrate: int | None = None, sjw_abr: int = 2, tseg1_abr: int = 6, tseg2_abr: int = 3, sjw_dbr: int = 2, tseg1_dbr: int = 6, tseg2_dbr: int = 3, - listen_only: Optional[bool] = False, + listen_only: bool | None = False, **kwargs: Any, ) -> None: """ @@ -377,8 +374,8 @@ def fd(self) -> bool: def _find_global_channel_idx( self, channel: int, - serial: Optional[int], - app_name: Optional[str], + serial: int | None, + app_name: str | None, channel_configs: list["VectorChannelConfig"], ) -> int: if serial is not None: @@ -565,10 +562,10 @@ def _check_can_settings( self, channel_mask: int, bitrate: int, - sample_point: Optional[float] = None, + sample_point: float | None = None, fd: bool = False, - data_bitrate: Optional[int] = None, - data_sample_point: Optional[float] = None, + data_bitrate: int | None = None, + data_sample_point: float | None = None, ) -> None: """Compare requested CAN settings to active settings in driver.""" vcc_list = get_channel_configs() @@ -656,7 +653,7 @@ def _check_can_settings( f"These are the currently active settings: {settings_string}." ) - def _apply_filters(self, filters: Optional[CanFilters]) -> None: + def _apply_filters(self, filters: CanFilters | None) -> None: if filters: # Only up to one filter per ID type allowed if len(filters) == 1 or ( @@ -706,9 +703,7 @@ def _apply_filters(self, filters: Optional[CanFilters]) -> None: except VectorOperationError as exc: LOG.warning("Could not reset filters: %s", exc) - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: end_time = time.time() + timeout if timeout is not None else None while True: @@ -741,7 +736,7 @@ def _recv_internal( # Wait a short time until we try again time.sleep(self.poll_interval) - def _recv_canfd(self) -> Optional[Message]: + def _recv_canfd(self) -> Message | None: xl_can_rx_event = xlclass.XLcanRxEvent() self.xldriver.xlCanReceive(self.port_handle, xl_can_rx_event) @@ -786,7 +781,7 @@ def _recv_canfd(self) -> Optional[Message]: data=data_struct.data[:dlc], ) - def _recv_can(self) -> Optional[Message]: + def _recv_can(self) -> Message | None: xl_event = xlclass.XLevent() event_count = ctypes.c_uint(1) self.xldriver.xlReceive(self.port_handle, event_count, xl_event) @@ -842,7 +837,7 @@ def handle_canfd_event(self, event: xlclass.XLcanRxEvent) -> None: `XL_CAN_EV_TAG_TX_ERROR`, `XL_TIMER` or `XL_CAN_EV_TAG_CHIP_STATE` tag. """ - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: self._send_sequence([msg]) def _send_sequence(self, msgs: Sequence[Message]) -> int: @@ -1030,7 +1025,7 @@ def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @staticmethod def get_application_config( app_name: str, app_channel: int - ) -> tuple[Union[int, xldefine.XL_HardwareType], int, int]: + ) -> tuple[int | xldefine.XL_HardwareType, int, int]: """Retrieve information for an application in Vector Hardware Configuration. :param app_name: @@ -1076,7 +1071,7 @@ def get_application_config( def set_application_config( app_name: str, app_channel: int, - hw_type: Union[int, xldefine.XL_HardwareType], + hw_type: int | xldefine.XL_HardwareType, hw_index: int, hw_channel: int, **kwargs: Any, @@ -1170,7 +1165,7 @@ class VectorChannelConfig(NamedTuple): """NamedTuple which contains the channel properties from Vector XL API.""" name: str - hw_type: Union[int, xldefine.XL_HardwareType] + hw_type: int | xldefine.XL_HardwareType hw_index: int hw_channel: int channel_index: int @@ -1179,7 +1174,7 @@ class VectorChannelConfig(NamedTuple): channel_bus_capabilities: xldefine.XL_BusCapabilities is_on_bus: bool connected_bus_type: xldefine.XL_BusTypes - bus_params: Optional[VectorBusParams] + bus_params: VectorBusParams | None serial_number: int article_number: int transceiver_name: str @@ -1214,7 +1209,7 @@ def _get_xl_driver_config() -> xlclass.XLdriverConfig: def _read_bus_params_from_c_struct( bus_params: xlclass.XLbusParams, -) -> Optional[VectorBusParams]: +) -> VectorBusParams | None: bus_type = xldefine.XL_BusTypes(bus_params.busType) if bus_type is not xldefine.XL_BusTypes.XL_BUS_TYPE_CAN: return None @@ -1283,7 +1278,7 @@ def get_channel_configs() -> list[VectorChannelConfig]: return channel_list -def _hw_type(hw_type: int) -> Union[int, xldefine.XL_HardwareType]: +def _hw_type(hw_type: int) -> int | xldefine.XL_HardwareType: try: return xldefine.XL_HardwareType(hw_type) except ValueError: diff --git a/can/interfaces/vector/exceptions.py b/can/interfaces/vector/exceptions.py index b43df5e6c..779365893 100644 --- a/can/interfaces/vector/exceptions.py +++ b/can/interfaces/vector/exceptions.py @@ -1,13 +1,13 @@ """Exception/error declarations for the vector interface.""" -from typing import Any, Optional, Union +from typing import Any from can import CanError, CanInitializationError, CanOperationError class VectorError(CanError): def __init__( - self, error_code: Optional[int], error_string: str, function: str + self, error_code: int | None, error_string: str, function: str ) -> None: super().__init__( message=f"{function} failed ({error_string})", error_code=error_code @@ -16,7 +16,7 @@ def __init__( # keep reference to args for pickling self._args = error_code, error_string, function - def __reduce__(self) -> Union[str, tuple[Any, ...]]: + def __reduce__(self) -> str | tuple[Any, ...]: return type(self), self._args, {} diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index e4f68b0c4..ba33a6ea8 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -12,7 +12,7 @@ from copy import deepcopy from random import randint from threading import RLock -from typing import Any, Final, Optional +from typing import Any, Final from can import CanOperationError from can.bus import BusABC, CanProtocol @@ -118,9 +118,7 @@ def _check_if_open(self) -> None: if not self._open: raise CanOperationError("Cannot operate on a closed bus") - def _recv_internal( - self, timeout: Optional[float] - ) -> tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: self._check_if_open() try: msg = self.queue.get(block=True, timeout=timeout) @@ -129,7 +127,7 @@ def _recv_internal( else: return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: self._check_if_open() timestamp = msg.timestamp if self.preserve_timestamps else time.time() diff --git a/can/io/asc.py b/can/io/asc.py index e917953ff..2c80458c4 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -10,7 +10,7 @@ import re from collections.abc import Generator from datetime import datetime -from typing import Any, Final, Optional, TextIO, Union +from typing import Any, Final, TextIO from ..message import Message from ..typechecking import StringPathLike @@ -41,7 +41,7 @@ class ASCReader(TextIOMessageReader): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, base: str = "hex", relative_timestamp: bool = True, **kwargs: Any, @@ -64,10 +64,10 @@ def __init__( self.base = base self._converted_base = self._check_base(base) self.relative_timestamp = relative_timestamp - self.date: Optional[str] = None + self.date: str | None = None self.start_time = 0.0 # TODO - what is this used for? The ASC Writer only prints `absolute` - self.timestamps_format: Optional[str] = None + self.timestamps_format: str | None = None self.internal_events_logged = False def _extract_header(self) -> None: @@ -284,7 +284,7 @@ def __iter__(self) -> Generator[Message, None, None]: # J1939 message or some other unsupported event continue - msg_kwargs: dict[str, Union[float, bool, int]] = {} + msg_kwargs: dict[str, float | bool | int] = {} try: _timestamp, channel, rest_of_message = line.split(None, 2) timestamp = float(_timestamp) + self.start_time @@ -347,7 +347,7 @@ class ASCWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, channel: int = 1, **kwargs: Any, ) -> None: @@ -393,7 +393,7 @@ def stop(self) -> None: self.file.write("End TriggerBlock\n") super().stop() - def log_event(self, message: str, timestamp: Optional[float] = None) -> None: + def log_event(self, message: str, timestamp: float | None = None) -> None: """Add a message to the log file. :param message: an arbitrary message diff --git a/can/io/blf.py b/can/io/blf.py index 2c9050d54..77bd02fae 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -19,7 +19,7 @@ import zlib from collections.abc import Generator, Iterator from decimal import Decimal -from typing import Any, BinaryIO, Optional, Union, cast +from typing import Any, BinaryIO, cast from ..message import Message from ..typechecking import StringPathLike @@ -104,7 +104,7 @@ class BLFParseError(Exception): TIME_ONE_NANS_FACTOR = Decimal("1e-9") -def timestamp_to_systemtime(timestamp: Optional[float]) -> TSystemTime: +def timestamp_to_systemtime(timestamp: float | None) -> TSystemTime: if timestamp is None or timestamp < 631152000: # Probably not a Unix timestamp return 0, 0, 0, 0, 0, 0, 0, 0 @@ -148,7 +148,7 @@ class BLFReader(BinaryIOMessageReader): def __init__( self, - file: Union[StringPathLike, BinaryIO], + file: StringPathLike | BinaryIO, **kwargs: Any, ) -> None: """ @@ -386,7 +386,7 @@ class BLFWriter(BinaryIOMessageWriter): def __init__( self, - file: Union[StringPathLike, BinaryIO], + file: StringPathLike | BinaryIO, append: bool = False, channel: int = 1, compression_level: int = -1, @@ -430,10 +430,10 @@ def __init__( raise BLFParseError("Unexpected file format") self.uncompressed_size = header[11] self.object_count = header[12] - self.start_timestamp: Optional[float] = systemtime_to_timestamp( + self.start_timestamp: float | None = systemtime_to_timestamp( cast("TSystemTime", header[14:22]) ) - self.stop_timestamp: Optional[float] = systemtime_to_timestamp( + self.stop_timestamp: float | None = systemtime_to_timestamp( cast("TSystemTime", header[22:30]) ) # Jump to the end of the file @@ -508,7 +508,7 @@ def on_message_received(self, msg: Message) -> None: data = CAN_MSG_STRUCT.pack(channel, flags, msg.dlc, arb_id, can_data) self._add_object(CAN_MESSAGE, data, msg.timestamp) - def log_event(self, text: str, timestamp: Optional[float] = None) -> None: + def log_event(self, text: str, timestamp: float | None = None) -> None: """Add an arbitrary message to the log file as a global marker. :param str text: @@ -530,7 +530,7 @@ def log_event(self, text: str, timestamp: Optional[float] = None) -> None: self._add_object(GLOBAL_MARKER, data + encoded + marker + comment, timestamp) def _add_object( - self, obj_type: int, data: bytes, timestamp: Optional[float] = None + self, obj_type: int, data: bytes, timestamp: float | None = None ) -> None: if timestamp is None: timestamp = self.stop_timestamp or time.time() @@ -574,7 +574,7 @@ def _flush(self) -> None: self._buffer = [tail] self._buffer_size = len(tail) if not self.compression_level: - data: "Union[bytes, memoryview[int]]" = uncompressed_data # noqa: UP037 + data: "bytes | memoryview[int]" = uncompressed_data # noqa: UP037 method = NO_COMPRESSION else: data = zlib.compress(uncompressed_data, self.compression_level) diff --git a/can/io/canutils.py b/can/io/canutils.py index 78d081637..800125b73 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -6,7 +6,7 @@ import logging from collections.abc import Generator -from typing import Any, Optional, TextIO, Union +from typing import Any, TextIO from can.message import Message @@ -36,7 +36,7 @@ class CanutilsLogReader(TextIOMessageReader): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, **kwargs: Any, ) -> None: """ @@ -63,7 +63,7 @@ def __iter__(self) -> Generator[Message, None, None]: timestamp = float(timestamp_string[1:-1]) can_id_string, data = frame.split("#", maxsplit=1) - channel: Union[int, str] + channel: int | str if channel_string.isdigit(): channel = int(channel_string) else: @@ -132,7 +132,7 @@ class CanutilsLogWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, channel: str = "vcan0", append: bool = False, **kwargs: Any, @@ -149,7 +149,7 @@ def __init__( super().__init__(file, mode="a" if append else "w") self.channel = channel - self.last_timestamp: Optional[float] = None + self.last_timestamp: float | None = None def on_message_received(self, msg: Message) -> None: # this is the case for the very first message: diff --git a/can/io/csv.py b/can/io/csv.py index 865ef9af0..0c8ba02a4 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -11,7 +11,7 @@ from base64 import b64decode, b64encode from collections.abc import Generator -from typing import Any, TextIO, Union +from typing import Any, TextIO from can.message import Message @@ -30,7 +30,7 @@ class CSVReader(TextIOMessageReader): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, **kwargs: Any, ) -> None: """ @@ -89,7 +89,7 @@ class CSVWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, append: bool = False, **kwargs: Any, ) -> None: diff --git a/can/io/generic.py b/can/io/generic.py index 21fc3e8e8..bda4e1cce 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -20,10 +20,8 @@ BinaryIO, Generic, Literal, - Optional, TextIO, TypeVar, - Union, ) from typing_extensions import Self @@ -71,9 +69,9 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[type[BaseException]], - exc_value: Optional[BaseException], - traceback: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, ) -> Literal[False]: """Exit the context manager and ensure proper cleanup.""" self.stop() @@ -110,7 +108,7 @@ class FileIOMessageWriter(SizedMessageWriter, Generic[_IoTypeVar]): file: _IoTypeVar @abstractmethod - def __init__(self, file: Union[StringPathLike, _IoTypeVar], **kwargs: Any) -> None: + def __init__(self, file: StringPathLike | _IoTypeVar, **kwargs: Any) -> None: pass def stop(self) -> None: @@ -122,7 +120,7 @@ def file_size(self) -> int: return self.file.tell() -class TextIOMessageWriter(FileIOMessageWriter[Union[TextIO, TextIOWrapper]], ABC): +class TextIOMessageWriter(FileIOMessageWriter[TextIO | TextIOWrapper], ABC): """Text-based message writer implementation. :param file: Text file to write to @@ -132,8 +130,8 @@ class TextIOMessageWriter(FileIOMessageWriter[Union[TextIO, TextIOWrapper]], ABC def __init__( self, - file: Union[StringPathLike, TextIO, TextIOWrapper], - mode: "Union[OpenTextModeUpdating, OpenTextModeWriting]" = "w", + file: StringPathLike | TextIO | TextIOWrapper, + mode: "OpenTextModeUpdating | OpenTextModeWriting" = "w", **kwargs: Any, ) -> None: if isinstance(file, (str, os.PathLike)): @@ -144,7 +142,7 @@ def __init__( self.file = file -class BinaryIOMessageWriter(FileIOMessageWriter[Union[BinaryIO, BufferedIOBase]], ABC): +class BinaryIOMessageWriter(FileIOMessageWriter[BinaryIO | BufferedIOBase], ABC): """Binary file message writer implementation. :param file: Binary file to write to @@ -152,10 +150,10 @@ class BinaryIOMessageWriter(FileIOMessageWriter[Union[BinaryIO, BufferedIOBase]] :param kwargs: Additional implementation specific arguments """ - def __init__( + def __init__( # pylint: disable=unused-argument self, - file: Union[StringPathLike, BinaryIO, BufferedIOBase], - mode: "Union[OpenBinaryModeUpdating, OpenBinaryModeWriting]" = "wb", + file: StringPathLike | BinaryIO | BufferedIOBase, + mode: "OpenBinaryModeUpdating | OpenBinaryModeWriting" = "wb", **kwargs: Any, ) -> None: if isinstance(file, (str, os.PathLike)): @@ -188,9 +186,9 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[type[BaseException]], - exc_value: Optional[BaseException], - traceback: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, ) -> Literal[False]: self.stop() return False @@ -210,14 +208,14 @@ class FileIOMessageReader(MessageReader, Generic[_IoTypeVar]): file: _IoTypeVar @abstractmethod - def __init__(self, file: Union[StringPathLike, _IoTypeVar], **kwargs: Any) -> None: + def __init__(self, file: StringPathLike | _IoTypeVar, **kwargs: Any) -> None: pass def stop(self) -> None: self.file.close() -class TextIOMessageReader(FileIOMessageReader[Union[TextIO, TextIOWrapper]], ABC): +class TextIOMessageReader(FileIOMessageReader[TextIO | TextIOWrapper], ABC): """Text-based message reader implementation. :param file: Text file to read from @@ -227,7 +225,7 @@ class TextIOMessageReader(FileIOMessageReader[Union[TextIO, TextIOWrapper]], ABC def __init__( self, - file: Union[StringPathLike, TextIO, TextIOWrapper], + file: StringPathLike | TextIO | TextIOWrapper, mode: "OpenTextModeReading" = "r", **kwargs: Any, ) -> None: @@ -239,7 +237,7 @@ def __init__( self.file = file -class BinaryIOMessageReader(FileIOMessageReader[Union[BinaryIO, BufferedIOBase]], ABC): +class BinaryIOMessageReader(FileIOMessageReader[BinaryIO | BufferedIOBase], ABC): """Binary file message reader implementation. :param file: Binary file to read from @@ -247,9 +245,9 @@ class BinaryIOMessageReader(FileIOMessageReader[Union[BinaryIO, BufferedIOBase]] :param kwargs: Additional implementation specific arguments """ - def __init__( + def __init__( # pylint: disable=unused-argument self, - file: Union[StringPathLike, BinaryIO, BufferedIOBase], + file: StringPathLike | BinaryIO | BufferedIOBase, mode: "OpenBinaryModeReading" = "rb", **kwargs: Any, ) -> None: diff --git a/can/io/logger.py b/can/io/logger.py index 4d8ddc070..5009c9756 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -6,15 +6,14 @@ import os import pathlib from abc import ABC, abstractmethod +from collections.abc import Callable from datetime import datetime from types import TracebackType from typing import ( Any, - Callable, ClassVar, Final, Literal, - Optional, ) from typing_extensions import Self @@ -107,7 +106,7 @@ def _compress(filename: StringPathLike, **kwargs: Any) -> FileIOMessageWriter[An def Logger( # noqa: N802 - filename: Optional[StringPathLike], **kwargs: Any + filename: StringPathLike | None, **kwargs: Any ) -> MessageWriter: """Find and return the appropriate :class:`~can.io.generic.MessageWriter` instance for a given file suffix. @@ -177,12 +176,12 @@ class BaseRotatingLogger(MessageWriter, ABC): #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotation_filename` #: method delegates to this callable. The parameters passed to the callable are #: those passed to :meth:`~BaseRotatingLogger.rotation_filename`. - namer: Optional[Callable[[StringPathLike], StringPathLike]] = None + namer: Callable[[StringPathLike], StringPathLike] | None = None #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotate` method #: delegates to this callable. The parameters passed to the callable are those #: passed to :meth:`~BaseRotatingLogger.rotate`. - rotator: Optional[Callable[[StringPathLike, StringPathLike], None]] = None + rotator: Callable[[StringPathLike, StringPathLike], None] | None = None #: An integer counter to track the number of rollovers. rollover_count: int = 0 @@ -286,9 +285,9 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[type[BaseException]], - exc_val: Optional[BaseException], - exc_tb: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_val: BaseException | None, + exc_tb: TracebackType | None, ) -> Literal[False]: self.stop() return False diff --git a/can/io/mf4.py b/can/io/mf4.py index bf594e3a5..fcde2e193 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -13,7 +13,7 @@ from hashlib import md5 from io import BufferedIOBase, BytesIO from pathlib import Path -from typing import Any, BinaryIO, Optional, Union, cast +from typing import Any, BinaryIO, cast from ..message import Message from ..typechecking import StringPathLike @@ -93,8 +93,8 @@ class MF4Writer(BinaryIOMessageWriter): def __init__( self, - file: Union[StringPathLike, BinaryIO], - database: Optional[StringPathLike] = None, + file: StringPathLike | BinaryIO, + database: StringPathLike | None = None, compression_level: int = 2, **kwargs: Any, ) -> None: @@ -458,7 +458,7 @@ def __iter__(self) -> Generator[Message, None, None]: def __init__( self, - file: Union[StringPathLike, BinaryIO], + file: StringPathLike | BinaryIO, **kwargs: Any, ) -> None: """ @@ -497,7 +497,7 @@ def __iter__(self) -> Iterator[Message]: # No data, skip continue - acquisition_source: Optional[Source] = channel_group.acq_source + acquisition_source: Source | None = channel_group.acq_source if acquisition_source is None: # No source information, skip diff --git a/can/io/printer.py b/can/io/printer.py index 786cb7261..c41a83691 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -5,7 +5,7 @@ import logging import sys from io import TextIOWrapper -from typing import Any, TextIO, Union +from typing import Any, TextIO from ..message import Message from ..typechecking import StringPathLike @@ -26,7 +26,7 @@ class Printer(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO, TextIOWrapper] = sys.stdout, + file: StringPathLike | TextIO | TextIOWrapper = sys.stdout, append: bool = False, **kwargs: Any, ) -> None: diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 73aa2961c..5f4885adb 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -9,9 +9,7 @@ import threading import time from collections.abc import Generator, Iterator -from typing import Any - -from typing_extensions import TypeAlias +from typing import Any, TypeAlias from can.listener import BufferedReader from can.message import Message diff --git a/can/io/trc.py b/can/io/trc.py index fa8ee88e7..c02bdcfe9 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -9,11 +9,11 @@ import logging import os -from collections.abc import Generator +from collections.abc import Callable, Generator from datetime import datetime, timedelta, timezone from enum import Enum from io import TextIOWrapper -from typing import Any, Callable, Optional, TextIO, Union +from typing import Any, TextIO from ..message import Message from ..typechecking import StringPathLike @@ -45,7 +45,7 @@ class TRCReader(TextIOMessageReader): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, **kwargs: Any, ) -> None: """ @@ -62,12 +62,10 @@ def __init__( if not self.file: raise ValueError("The given file cannot be None") - self._parse_cols: Callable[[tuple[str, ...]], Optional[Message]] = ( - lambda x: None - ) + self._parse_cols: Callable[[tuple[str, ...]], Message | None] = lambda x: None @property - def start_time(self) -> Optional[datetime]: + def start_time(self) -> datetime | None: if self._start_time: return datetime.fromtimestamp(self._start_time, timezone.utc) return None @@ -140,7 +138,7 @@ def _extract_header(self) -> str: return line - def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Message | None: arbit_id = cols[2] if arbit_id == "FFFFFFFF": logger.info("TRCReader: Dropping bus info line") @@ -158,7 +156,7 @@ def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Optional[Message]: msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg - def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Message | None: arbit_id = cols[3] msg = Message() @@ -174,7 +172,7 @@ def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Message | None: arbit_id = cols[4] msg = Message() @@ -190,7 +188,7 @@ def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: msg.is_rx = cols[3] == "Rx" return msg - def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Message | None: type_ = cols[self.columns["T"]] bus = self.columns.get("B", None) @@ -218,7 +216,7 @@ def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: return msg - def _parse_cols_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v1_1(self, cols: tuple[str, ...]) -> Message | None: dtype = cols[2] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_1(cols) @@ -226,7 +224,7 @@ def _parse_cols_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Message | None: dtype = cols[3] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_3(cols) @@ -234,7 +232,7 @@ def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Message | None: dtype = cols[self.columns["T"]] if dtype in {"DT", "FD", "FB", "FE", "BI", "RR"}: return self._parse_msg_v2_x(cols) @@ -242,7 +240,7 @@ def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_line(self, line: str) -> Optional[Message]: + def _parse_line(self, line: str) -> Message | None: logger.debug("TRCReader: Parse '%s'", line) try: cols = tuple(line.split(maxsplit=self._num_columns)) @@ -292,7 +290,7 @@ class TRCWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO, TextIOWrapper], + file: StringPathLike | TextIO | TextIOWrapper, channel: int = 1, **kwargs: Any, ) -> None: @@ -314,7 +312,7 @@ def __init__( self.filepath = os.path.abspath(self.file.name) self.header_written = False self.msgnr = 0 - self.first_timestamp: Optional[float] = None + self.first_timestamp: float | None = None self.file_version = TRCFileVersion.V2_1 self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 self._format_message = self._format_message_init diff --git a/can/listener.py b/can/listener.py index 7f8f436a0..1e289bea6 100644 --- a/can/listener.py +++ b/can/listener.py @@ -3,12 +3,11 @@ """ import asyncio -import sys import warnings from abc import ABC, abstractmethod from collections.abc import AsyncIterator from queue import Empty, SimpleQueue -from typing import Any, Optional +from typing import Any from can.bus import BusABC from can.message import Message @@ -99,7 +98,7 @@ def on_message_received(self, msg: Message) -> None: else: self.buffer.put(msg) - def get_message(self, timeout: float = 0.5) -> Optional[Message]: + def get_message(self, timeout: float = 0.5) -> Message | None: """ Attempts to retrieve the message that has been in the queue for the longest amount of time (FIFO). If no message is available, it blocks for given timeout or until a @@ -146,12 +145,6 @@ def __init__(self, **kwargs: Any) -> None: DeprecationWarning, stacklevel=2, ) - if sys.version_info < (3, 10): - self.buffer = asyncio.Queue( # pylint: disable=unexpected-keyword-arg - loop=kwargs["loop"] - ) - return - self.buffer = asyncio.Queue() def on_message_received(self, msg: Message) -> None: diff --git a/can/logger.py b/can/logger.py index 8274d6668..537356643 100644 --- a/can/logger.py +++ b/can/logger.py @@ -4,7 +4,6 @@ from datetime import datetime from typing import ( TYPE_CHECKING, - Union, ) from can import BusState, Logger, SizedRotatingLogger @@ -110,7 +109,7 @@ def main() -> None: print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}") print(f"Can Logger (Started on {datetime.now()})") - logger: Union[MessageWriter, BaseRotatingLogger] + logger: MessageWriter | BaseRotatingLogger if results.file_size: logger = SizedRotatingLogger( base_filename=results.log_file, diff --git a/can/message.py b/can/message.py index c1fbffd21..3e60ca641 100644 --- a/can/message.py +++ b/can/message.py @@ -8,7 +8,7 @@ from copy import deepcopy from math import isinf, isnan -from typing import Any, Optional +from typing import Any from . import typechecking @@ -54,9 +54,9 @@ def __init__( # pylint: disable=too-many-locals, too-many-arguments is_extended_id: bool = True, is_remote_frame: bool = False, is_error_frame: bool = False, - channel: Optional[typechecking.Channel] = None, - dlc: Optional[int] = None, - data: Optional[typechecking.CanData] = None, + channel: typechecking.Channel | None = None, + dlc: int | None = None, + data: typechecking.CanData | None = None, is_fd: bool = False, is_rx: bool = True, bitrate_switch: bool = False, @@ -185,7 +185,7 @@ def __repr__(self) -> str: return f"can.Message({', '.join(args)})" - def __format__(self, format_spec: Optional[str]) -> str: + def __format__(self, format_spec: str | None) -> str: if not format_spec: return self.__str__() else: @@ -210,7 +210,7 @@ def __copy__(self) -> "Message": error_state_indicator=self.error_state_indicator, ) - def __deepcopy__(self, memo: Optional[dict[int, Any]]) -> "Message": + def __deepcopy__(self, memo: dict[int, Any] | None) -> "Message": return Message( timestamp=self.timestamp, arbitration_id=self.arbitration_id, @@ -289,7 +289,7 @@ def _check(self) -> None: def equals( self, other: "Message", - timestamp_delta: Optional[float] = 1.0e-6, + timestamp_delta: float | None = 1.0e-6, check_channel: bool = True, check_direction: bool = True, ) -> bool: diff --git a/can/notifier.py b/can/notifier.py index a2ee512fc..cb91cf7b4 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -7,16 +7,13 @@ import logging import threading import time -from collections.abc import Awaitable, Iterable +from collections.abc import Awaitable, Callable, Iterable from contextlib import AbstractContextManager from types import TracebackType from typing import ( Any, - Callable, Final, NamedTuple, - Optional, - Union, ) from can.bus import BusABC @@ -25,7 +22,7 @@ logger = logging.getLogger("can.Notifier") -MessageRecipient = Union[Listener, Callable[[Message], Union[Awaitable[None], None]]] +MessageRecipient = Listener | Callable[[Message], Awaitable[None] | None] class _BusNotifierPair(NamedTuple): @@ -109,10 +106,10 @@ class Notifier(AbstractContextManager["Notifier"]): def __init__( self, - bus: Union[BusABC, list[BusABC]], + bus: BusABC | list[BusABC], listeners: Iterable[MessageRecipient], timeout: float = 1.0, - loop: Optional[asyncio.AbstractEventLoop] = None, + loop: asyncio.AbstractEventLoop | None = None, ) -> None: """Manages the distribution of :class:`~can.Message` instances to listeners. @@ -142,19 +139,19 @@ def __init__( self._loop = loop #: Exception raised in thread - self.exception: Optional[Exception] = None + self.exception: Exception | None = None self._stopped = False self._lock = threading.Lock() - self._readers: list[Union[int, threading.Thread]] = [] + self._readers: list[int | threading.Thread] = [] self._tasks: set[asyncio.Task] = set() _bus_list: list[BusABC] = bus if isinstance(bus, list) else [bus] for each_bus in _bus_list: self.add_bus(each_bus) @property - def bus(self) -> Union[BusABC, tuple["BusABC", ...]]: + def bus(self) -> BusABC | tuple["BusABC", ...]: """Return the associated bus or a tuple of buses.""" if len(self._bus_list) == 1: return self._bus_list[0] @@ -322,9 +319,9 @@ def find_instances(bus: BusABC) -> tuple["Notifier", ...]: def __exit__( self, - exc_type: Optional[type[BaseException]], - exc_value: Optional[BaseException], - traceback: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, ) -> None: if not self._stopped: self.stop() diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 35a4f400c..71d6a5536 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -1,6 +1,6 @@ from contextlib import nullcontext from threading import RLock -from typing import Any, Optional +from typing import Any from can import typechecking from can.bus import BusABC, BusState, CanProtocol @@ -40,9 +40,9 @@ class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method def __init__( self, - channel: Optional[typechecking.Channel] = None, - interface: Optional[str] = None, - config_context: Optional[str] = None, + channel: typechecking.Channel | None = None, + interface: str | None = None, + config_context: str | None = None, ignore_config: bool = False, **kwargs: Any, ) -> None: @@ -67,11 +67,11 @@ def __init__( self._lock_send = RLock() self._lock_recv = RLock() - def recv(self, timeout: Optional[float] = None) -> Optional[Message]: + def recv(self, timeout: float | None = None) -> Message | None: with self._lock_recv: return self.__wrapped__.recv(timeout=timeout) - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: with self._lock_send: return self.__wrapped__.send(msg=msg, timeout=timeout) @@ -79,16 +79,16 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: # `send` method is already synchronized @property - def filters(self) -> Optional[typechecking.CanFilters]: + def filters(self) -> typechecking.CanFilters | None: with self._lock_recv: return self.__wrapped__.filters @filters.setter - def filters(self, filters: Optional[typechecking.CanFilters]) -> None: + def filters(self, filters: typechecking.CanFilters | None) -> None: with self._lock_recv: self.__wrapped__.filters = filters - def set_filters(self, filters: Optional[typechecking.CanFilters] = None) -> None: + def set_filters(self, filters: typechecking.CanFilters | None = None) -> None: with self._lock_recv: return self.__wrapped__.set_filters(filters=filters) diff --git a/can/typechecking.py b/can/typechecking.py index 8c25e8b57..56ac5927f 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -1,14 +1,10 @@ """Types for mypy type-checking""" import io +import os import sys from collections.abc import Iterable, Sequence -from typing import IO, TYPE_CHECKING, Any, NewType, Union - -if sys.version_info >= (3, 10): - from typing import TypeAlias -else: - from typing_extensions import TypeAlias +from typing import IO, TYPE_CHECKING, Any, NewType, TypeAlias if sys.version_info >= (3, 12): from typing import TypedDict @@ -17,7 +13,6 @@ if TYPE_CHECKING: - import os import struct @@ -37,24 +32,24 @@ class CanFilter(_CanFilterBase, total=False): # this should have the same typing info. # # See: https://github.com/python/typing/issues/593 -CanData = Union[bytes, bytearray, int, Iterable[int]] +CanData = bytes | bytearray | int | Iterable[int] # Used for the Abstract Base Class ChannelStr = str ChannelInt = int -Channel = Union[ChannelInt, ChannelStr, Sequence[ChannelInt]] +Channel = ChannelInt | ChannelStr | Sequence[ChannelInt] # Used by the IO module -FileLike = Union[IO[Any], io.TextIOWrapper, io.BufferedIOBase] -StringPathLike = Union[str, "os.PathLike[str]"] +FileLike = IO[Any] | io.TextIOWrapper | io.BufferedIOBase +StringPathLike = str | os.PathLike[str] BusConfig = NewType("BusConfig", dict[str, Any]) # Used by CLI scripts -TAdditionalCliArgs: TypeAlias = dict[str, Union[str, int, float, bool]] +TAdditionalCliArgs: TypeAlias = dict[str, str | int | float | bool] TDataStructs: TypeAlias = dict[ - Union[int, tuple[int, ...]], - "Union[struct.Struct, tuple[struct.Struct, *tuple[float, ...]]]", + int | tuple[int, ...], + "struct.Struct | tuple[struct.Struct, *tuple[float, ...]]", ] @@ -63,7 +58,7 @@ class AutoDetectedConfig(TypedDict): channel: Channel -ReadableBytesLike = Union[bytes, bytearray, memoryview] +ReadableBytesLike = bytes | bytearray | memoryview class BitTimingDict(TypedDict): diff --git a/can/util.py b/can/util.py index 584b7dfa9..4cbeec60e 100644 --- a/can/util.py +++ b/can/util.py @@ -12,15 +12,12 @@ import platform import re import warnings -from collections.abc import Iterable +from collections.abc import Callable, Iterable from configparser import ConfigParser from time import get_clock_info, perf_counter, time from typing import ( Any, - Callable, - Optional, TypeVar, - Union, cast, ) @@ -50,7 +47,7 @@ def load_file_config( - path: Optional[typechecking.StringPathLike] = None, section: str = "default" + path: typechecking.StringPathLike | None = None, section: str = "default" ) -> dict[str, str]: """ Loads configuration from file with following content:: @@ -83,7 +80,7 @@ def load_file_config( return _config -def load_environment_config(context: Optional[str] = None) -> dict[str, str]: +def load_environment_config(context: str | None = None) -> dict[str, str]: """ Loads config dict from environmental variables (if set): @@ -120,9 +117,9 @@ def load_environment_config(context: Optional[str] = None) -> dict[str, str]: def load_config( - path: Optional[typechecking.StringPathLike] = None, - config: Optional[dict[str, Any]] = None, - context: Optional[str] = None, + path: typechecking.StringPathLike | None = None, + config: dict[str, Any] | None = None, + context: str | None = None, ) -> typechecking.BusConfig: """ Returns a dict with configuration details which is loaded from (in this order): @@ -176,7 +173,7 @@ def load_config( # Use the given dict for default values config_sources = cast( - "Iterable[Union[dict[str, Any], Callable[[Any], dict[str, Any]]]]", + "Iterable[dict[str, Any] | Callable[[Any], dict[str, Any]]]", [ given_config, can.rc, @@ -258,7 +255,7 @@ def _create_bus_config(config: dict[str, Any]) -> typechecking.BusConfig: return cast("typechecking.BusConfig", config) -def _dict2timing(data: dict[str, Any]) -> Union[BitTiming, BitTimingFd, None]: +def _dict2timing(data: dict[str, Any]) -> BitTiming | BitTimingFd | None: """Try to instantiate a :class:`~can.BitTiming` or :class:`~can.BitTimingFd` from a dictionary. Return `None` if not possible.""" @@ -325,7 +322,7 @@ def dlc2len(dlc: int) -> int: return CAN_FD_DLC[dlc] if dlc <= 15 else 64 -def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: +def channel2int(channel: typechecking.Channel | None) -> int | None: """Try to convert the channel to an integer. :param channel: @@ -348,8 +345,8 @@ def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: def deprecated_args_alias( deprecation_start: str, - deprecation_end: Optional[str] = None, - **aliases: Optional[str], + deprecation_end: str | None = None, + **aliases: str | None, ) -> Callable[[Callable[P1, T1]], Callable[P1, T1]]: """Allows to rename/deprecate a function kwarg(s) and optionally have the deprecated kwarg(s) set as alias(es) @@ -399,9 +396,9 @@ def wrapper(*args: P1.args, **kwargs: P1.kwargs) -> T1: def _rename_kwargs( func_name: str, start: str, - end: Optional[str], + end: str | None, kwargs: dict[str, Any], - aliases: dict[str, Optional[str]], + aliases: dict[str, str | None], ) -> None: """Helper function for `deprecated_args_alias`""" for alias, new in aliases.items(): @@ -501,7 +498,7 @@ def time_perfcounter_correlation() -> tuple[float, float]: return t1, performance_counter -def cast_from_string(string_val: str) -> Union[str, int, float, bool]: +def cast_from_string(string_val: str) -> str | int | float | bool: """Perform trivial type conversion from :class:`str` values. :param string_val: diff --git a/can/viewer.py b/can/viewer.py index 97bda1676..8d9d228bb 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -173,7 +173,9 @@ def unpack_data(cmd: int, cmd_to_struct: TDataStructs, data: bytes) -> list[floa # The conversion from raw values to SI-units are given in the rest of the tuple values = [ d // val if isinstance(val, int) else float(d) / val - for d, val in zip(struct_t.unpack(data), value[1:]) + for d, val in zip( + struct_t.unpack(data), value[1:], strict=False + ) ] else: # No conversion from SI-units is needed diff --git a/doc/changelog.d/1996.removed.md b/doc/changelog.d/1996.removed.md new file mode 100644 index 000000000..77458ad75 --- /dev/null +++ b/doc/changelog.d/1996.removed.md @@ -0,0 +1 @@ +Remove support for end-of-life Python 3.9. \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index bc526ce73..551a7f3bd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,7 +12,7 @@ dependencies = [ "packaging >= 23.1", "typing_extensions>=3.10.0.0", ] -requires-python = ">=3.9" +requires-python = ">=3.10" license = "LGPL-3.0-only" classifiers = [ "Development Status :: 5 - Production/Stable", @@ -27,7 +27,6 @@ classifiers = [ "Operating System :: Microsoft :: Windows", "Operating System :: POSIX :: Linux", "Programming Language :: Python", - "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", @@ -89,9 +88,9 @@ docs = [ ] lint = [ "pylint==3.3.*", - "ruff==0.12.11", - "black==25.1.*", - "mypy==1.17.*", + "ruff==0.14.*", + "black==25.9.*", + "mypy==1.18.*", ] test = [ "pytest==8.4.*", @@ -100,7 +99,7 @@ test = [ "coveralls==4.0.*", "pytest-cov==6.2.*", "coverage==7.10.*", - "hypothesis>=6.136,<6.138", + "hypothesis==6.*", "parameterized==0.9.*", ] dev = [ @@ -132,6 +131,7 @@ disallow_incomplete_defs = true warn_redundant_casts = true warn_unused_ignores = true exclude = [ + "^build", "^doc/conf.py$", "^test", "^can/interfaces/etas", diff --git a/tox.ini b/tox.ini index 5f393cb93..4e96291ed 100644 --- a/tox.ini +++ b/tox.ini @@ -69,11 +69,11 @@ dependency_groups = lint extras = commands = - mypy --python-version 3.9 . mypy --python-version 3.10 . mypy --python-version 3.11 . mypy --python-version 3.12 . mypy --python-version 3.13 . + mypy --python-version 3.14 . [pytest] testpaths = test From 39a2c7fedcde0564957e10c78ebd49e8f03463c2 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Fri, 10 Oct 2025 17:03:48 +0200 Subject: [PATCH 446/475] add loop arg to player script (#1986) --- can/player.py | 95 +++++++++++++++++++++++---------- doc/changelog.d/1815.added.md | 1 + doc/changelog.d/1815.removed.md | 1 + test/test_player.py | 55 ++++++++++++++++--- 4 files changed, 117 insertions(+), 35 deletions(-) create mode 100644 doc/changelog.d/1815.added.md create mode 100644 doc/changelog.d/1815.removed.md diff --git a/can/player.py b/can/player.py index a92cccc3d..6190a58d8 100644 --- a/can/player.py +++ b/can/player.py @@ -7,6 +7,7 @@ import argparse import errno +import math import sys from datetime import datetime from typing import TYPE_CHECKING, cast @@ -26,19 +27,41 @@ from can import Message +def _parse_loop(value: str) -> int | float: + """Parse the loop argument, allowing integer or 'i' for infinite.""" + if value == "i": + return float("inf") + try: + return int(value) + except ValueError as exc: + err_msg = "Loop count must be an integer or 'i' for infinite." + raise argparse.ArgumentTypeError(err_msg) from exc + + +def _format_player_start_message(iteration: int, loop_count: int | float) -> str: + """ + Generate a status message indicating the start of a CAN log replay iteration. + + :param iteration: + The current loop iteration (zero-based). + :param loop_count: + Total number of replay loops, or infinity for endless replay. + :return: + A formatted string describing the replay start and loop information. + """ + if loop_count < 2: + loop_info = "" + else: + loop_val = "∞" if math.isinf(loop_count) else str(loop_count) + loop_info = f" [loop {iteration + 1}/{loop_val}]" + return f"Can LogReader (Started on {datetime.now()}){loop_info}" + + def main() -> None: parser = argparse.ArgumentParser(description="Replay CAN traffic.") player_group = parser.add_argument_group("Player arguments") - player_group.add_argument( - "-f", - "--file_name", - dest="log_file", - help="Path and base log filename, for supported types see can.LogReader.", - default=None, - ) - player_group.add_argument( "-v", action="count", @@ -73,9 +96,20 @@ def main() -> None: "--skip", type=float, default=60 * 60 * 24, - help=" skip gaps greater than 's' seconds", + help="Skip gaps greater than 's' seconds between messages. " + "Default is 86400 (24 hours), meaning only very large gaps are skipped. " + "Set to 0 to never skip any gaps (all delays are preserved). " + "Set to a very small value (e.g., 1e-4) " + "to skip all gaps and send messages as fast as possible.", + ) + player_group.add_argument( + "-l", + "--loop", + type=_parse_loop, + metavar="NUM", + default=1, + help="Replay file NUM times. Use 'i' for infinite loop (default: 1)", ) - player_group.add_argument( "infile", metavar="input-file", @@ -103,25 +137,28 @@ def main() -> None: error_frames = results.error_frames with create_bus_from_namespace(results) as bus: - with LogReader(results.infile, **additional_config) as reader: - in_sync = MessageSync( - cast("Iterable[Message]", reader), - timestamps=results.timestamps, - gap=results.gap, - skip=results.skip, - ) - - print(f"Can LogReader (Started on {datetime.now()})") - - try: - for message in in_sync: - if message.is_error_frame and not error_frames: - continue - if verbosity >= 3: - print(message) - bus.send(message) - except KeyboardInterrupt: - pass + loop_count: int | float = results.loop + iteration = 0 + try: + while iteration < loop_count: + with LogReader(results.infile, **additional_config) as reader: + in_sync = MessageSync( + cast("Iterable[Message]", reader), + timestamps=results.timestamps, + gap=results.gap, + skip=results.skip, + ) + print(_format_player_start_message(iteration, loop_count)) + + for message in in_sync: + if message.is_error_frame and not error_frames: + continue + if verbosity >= 3: + print(message) + bus.send(message) + iteration += 1 + except KeyboardInterrupt: + pass if __name__ == "__main__": diff --git a/doc/changelog.d/1815.added.md b/doc/changelog.d/1815.added.md new file mode 100644 index 000000000..65756fb41 --- /dev/null +++ b/doc/changelog.d/1815.added.md @@ -0,0 +1 @@ +Added support for replaying CAN log files multiple times or infinitely in the player script via the new --loop/-l argument. diff --git a/doc/changelog.d/1815.removed.md b/doc/changelog.d/1815.removed.md new file mode 100644 index 000000000..61b4e9b1d --- /dev/null +++ b/doc/changelog.d/1815.removed.md @@ -0,0 +1 @@ +Removed the unused --file_name/-f argument from the player CLI. diff --git a/test/test_player.py b/test/test_player.py index e5e77fe8a..c4c3c90ef 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -11,6 +11,8 @@ from unittest import mock from unittest.mock import Mock +from parameterized import parameterized + import can import can.player @@ -38,7 +40,7 @@ def assertSuccessfulCleanup(self): self.mock_virtual_bus.__exit__.assert_called_once() def test_play_virtual(self): - sys.argv = self.baseargs + [self.logfile] + sys.argv = [*self.baseargs, self.logfile] can.player.main() msg1 = can.Message( timestamp=2.501, @@ -65,8 +67,8 @@ def test_play_virtual(self): self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): - sys.argv = self.baseargs + ["-v", self.logfile] - with unittest.mock.patch("sys.stdout", new_callable=io.StringIO) as mock_stdout: + sys.argv = [*self.baseargs, "-v", self.logfile] + with mock.patch("sys.stdout", new_callable=io.StringIO) as mock_stdout: can.player.main() self.assertIn("09 08 07 06 05 04 03 02", mock_stdout.getvalue()) self.assertIn("05 0c 00 00 00 00 00 00", mock_stdout.getvalue()) @@ -76,7 +78,7 @@ def test_play_virtual_verbose(self): def test_play_virtual_exit(self): self.MockSleep.side_effect = [None, KeyboardInterrupt] - sys.argv = self.baseargs + [self.logfile] + sys.argv = [*self.baseargs, self.logfile] can.player.main() assert self.mock_virtual_bus.send.call_count <= 2 self.assertSuccessfulCleanup() @@ -85,7 +87,7 @@ def test_play_skip_error_frame(self): logfile = os.path.join( os.path.dirname(__file__), "data", "logfile_errorframes.asc" ) - sys.argv = self.baseargs + ["-v", logfile] + sys.argv = [*self.baseargs, "-v", logfile] can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 9) self.assertSuccessfulCleanup() @@ -94,11 +96,52 @@ def test_play_error_frame(self): logfile = os.path.join( os.path.dirname(__file__), "data", "logfile_errorframes.asc" ) - sys.argv = self.baseargs + ["-v", "--error-frames", logfile] + sys.argv = [*self.baseargs, "-v", "--error-frames", logfile] can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 12) self.assertSuccessfulCleanup() + @parameterized.expand([0, 1, 2, 3]) + def test_play_loop(self, loop_val): + sys.argv = [*self.baseargs, "--loop", str(loop_val), self.logfile] + can.player.main() + msg1 = can.Message( + timestamp=2.501, + arbitration_id=0xC8, + is_extended_id=False, + is_fd=False, + is_rx=False, + channel=1, + dlc=8, + data=[0x9, 0x8, 0x7, 0x6, 0x5, 0x4, 0x3, 0x2], + ) + msg2 = can.Message( + timestamp=17.876708, + arbitration_id=0x6F9, + is_extended_id=False, + is_fd=False, + is_rx=True, + channel=0, + dlc=8, + data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], + ) + for i in range(loop_val): + self.assertTrue( + msg1.equals(self.mock_virtual_bus.send.mock_calls[2 * i + 0].args[0]) + ) + self.assertTrue( + msg2.equals(self.mock_virtual_bus.send.mock_calls[2 * i + 1].args[0]) + ) + self.assertEqual(self.mock_virtual_bus.send.call_count, 2 * loop_val) + self.assertSuccessfulCleanup() + + def test_play_loop_infinite(self): + self.mock_virtual_bus.send.side_effect = [None] * 99 + [KeyboardInterrupt] + sys.argv = [*self.baseargs, "-l", "i", self.logfile] + can.player.main() + self.assertEqual(self.mock_virtual_bus.send.call_count, 100) + self.assertSuccessfulCleanup() + class TestPlayerCompressedFile(TestPlayerScriptModule): """ From ec78efc79c6c456822f3eefaab650ac35286c564 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 10 Oct 2025 14:06:05 +0000 Subject: [PATCH 447/475] Bump the github-actions group with 2 updates Bumps the github-actions group with 2 updates: [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv) and [pypa/gh-action-pypi-publish](https://github.com/pypa/gh-action-pypi-publish). Updates `astral-sh/setup-uv` from 6.6.1 to 6.8.0 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/557e51de59eb14aaaba2ed9621916900a91d50c6...d0cc045d04ccac9d8b7881df0226f9e82c39688e) Updates `pypa/gh-action-pypi-publish` from 1.12.4 to 1.13.0 - [Release notes](https://github.com/pypa/gh-action-pypi-publish/releases) - [Commits](https://github.com/pypa/gh-action-pypi-publish/compare/76f52bc884231f62b9a034ebfe128415bbaabdfc...ed0c53931b1dc9bd32cbe73a98c7f6766f8a527e) --- updated-dependencies: - dependency-name: astral-sh/setup-uv dependency-version: 6.8.0 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions - dependency-name: pypa/gh-action-pypi-publish dependency-version: 1.13.0 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 12022ba35..e85906a23 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -38,7 +38,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 + uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -84,7 +84,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 + uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -102,7 +102,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 + uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -118,7 +118,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@557e51de59eb14aaaba2ed9621916900a91d50c6 # 6.6.1 + uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 - name: Build wheel and sdist run: uv build - name: Check build artifacts @@ -151,4 +151,4 @@ jobs: subject-path: 'dist/*' - name: Publish release distributions to PyPI - uses: pypa/gh-action-pypi-publish@76f52bc884231f62b9a034ebfe128415bbaabdfc # 1.12.4 + uses: pypa/gh-action-pypi-publish@ed0c53931b1dc9bd32cbe73a98c7f6766f8a527e # 1.13.0 From efd4de5619331d3ae8da10688979624cbb6d0342 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Fri, 10 Oct 2025 14:03:50 +0000 Subject: [PATCH 448/475] Update pytest-cov requirement in the dev-deps group Updates the requirements on [pytest-cov](https://github.com/pytest-dev/pytest-cov) to permit the latest version. Updates `pytest-cov` to 7.0.0 - [Changelog](https://github.com/pytest-dev/pytest-cov/blob/master/CHANGELOG.rst) - [Commits](https://github.com/pytest-dev/pytest-cov/compare/v6.2.0...v7.0.0) --- updated-dependencies: - dependency-name: pytest-cov dependency-version: 7.0.0 dependency-type: direct:production dependency-group: dev-deps ... Signed-off-by: dependabot[bot] --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 551a7f3bd..3c263579f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -97,7 +97,7 @@ test = [ "pytest-timeout==2.4.*", "pytest-modern==0.7.*;platform_system!='Windows'", "coveralls==4.0.*", - "pytest-cov==6.2.*", + "pytest-cov==7.0.*", "coverage==7.10.*", "hypothesis==6.*", "parameterized==0.9.*", From b4d5094fa70277228fa2dc9fa1f30228fbdd79b7 Mon Sep 17 00:00:00 2001 From: Varun Penumudi <73636316+varunpenumudi@users.noreply.github.com> Date: Tue, 21 Oct 2025 19:00:26 +0530 Subject: [PATCH 449/475] SeedBus: Added can_filters parameter in SeedBus.__init__ method (#1999) * Added hardware filter support for SeeedBus during initialization * Implement software fallback for can_filters in SeedBus - Updated the __init__ function in SeedBus - Implemented software fallback, if the user passes multiple filters in can_filters dict. * updated changelog for PR #1999 * Updated _recv_internal method of SeedBus - updated _recv_internal method of SeedBus to return also the Boolean value based on whether hw filter is enabled or not --- can/interfaces/seeedstudio/seeedstudio.py | 36 +++++++++++++++++------ doc/changelog.d/1995.added.md | 1 + doc/interfaces/seeedstudio.rst | 17 ++++++++++- 3 files changed, 44 insertions(+), 10 deletions(-) create mode 100644 doc/changelog.d/1995.added.md diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index a0817e932..26339616c 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -63,6 +63,7 @@ def __init__( frame_type="STD", operation_mode="normal", bitrate=500000, + can_filters=None, **kwargs, ): """ @@ -85,6 +86,12 @@ def __init__( :param bitrate CAN bus bit rate, selected from available list. + :param can_filters: + A list of CAN filter dictionaries. If one filter is provided, + it will be used by the high-performance hardware filter. If + zero or more than one filter is provided, software-based + filtering will be used. Defaults to None (no filtering). + :raises can.CanInitializationError: If the given parameters are invalid. :raises can.CanInterfaceNotImplementedError: If the serial module is not installed. """ @@ -94,11 +101,21 @@ def __init__( "the serial module is not installed" ) + can_id = 0x00 + can_mask = 0x00 + self._is_filtered = False + + if can_filters and len(can_filters) == 1: + self._is_filtered = True + hw_filter = can_filters[0] + can_id = hw_filter["can_id"] + can_mask = hw_filter["can_mask"] + self.bit_rate = bitrate self.frame_type = frame_type self.op_mode = operation_mode - self.filter_id = bytearray([0x00, 0x00, 0x00, 0x00]) - self.mask_id = bytearray([0x00, 0x00, 0x00, 0x00]) + self.filter_id = struct.pack(" Date: Sun, 16 Nov 2025 12:27:37 +0100 Subject: [PATCH 450/475] fix pylint complaints (#2006) --- can/thread_safe_bus.py | 75 ++++++++++++++++++++++-------------------- pyproject.toml | 2 +- 2 files changed, 41 insertions(+), 36 deletions(-) diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 71d6a5536..518604364 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -1,12 +1,14 @@ from contextlib import nullcontext from threading import RLock -from typing import Any - -from can import typechecking -from can.bus import BusABC, BusState, CanProtocol -from can.message import Message +from typing import TYPE_CHECKING, Any, cast +from . import typechecking +from .bus import BusState, CanProtocol from .interface import Bus +from .message import Message + +if TYPE_CHECKING: + from .bus import BusABC try: # Only raise an exception on instantiation but allow module @@ -15,11 +17,13 @@ import_exc = None except ImportError as exc: - ObjectProxy = object + ObjectProxy = None # type: ignore[misc,assignment] import_exc = exc -class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method +class ThreadSafeBus( + ObjectProxy +): # pylint: disable=abstract-method # type: ignore[assignment] """ Contains a thread safe :class:`can.BusABC` implementation that wraps around an existing interface instance. All public methods @@ -36,8 +40,6 @@ class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method instead of :meth:`~can.BusABC.recv` directly. """ - __wrapped__: BusABC - def __init__( self, channel: typechecking.Channel | None = None, @@ -59,58 +61,61 @@ def __init__( ) ) + # store wrapped bus as a proxy-local attribute. Name it with the + # `_self_` prefix so wrapt won't forward it onto the wrapped object. + self._self_wrapped = cast( + "BusABC", object.__getattribute__(self, "__wrapped__") + ) + # now, BusABC.send_periodic() does not need a lock anymore, but the # implementation still requires a context manager - self.__wrapped__._lock_send_periodic = nullcontext() # type: ignore[assignment] + self._self_wrapped._lock_send_periodic = nullcontext() # type: ignore[assignment] # init locks for sending and receiving separately - self._lock_send = RLock() - self._lock_recv = RLock() + self._self_lock_send = RLock() + self._self_lock_recv = RLock() def recv(self, timeout: float | None = None) -> Message | None: - with self._lock_recv: - return self.__wrapped__.recv(timeout=timeout) + with self._self_lock_recv: + return self._self_wrapped.recv(timeout=timeout) def send(self, msg: Message, timeout: float | None = None) -> None: - with self._lock_send: - return self.__wrapped__.send(msg=msg, timeout=timeout) - - # send_periodic does not need a lock, since the underlying - # `send` method is already synchronized + with self._self_lock_send: + return self._self_wrapped.send(msg=msg, timeout=timeout) @property def filters(self) -> typechecking.CanFilters | None: - with self._lock_recv: - return self.__wrapped__.filters + with self._self_lock_recv: + return self._self_wrapped.filters @filters.setter def filters(self, filters: typechecking.CanFilters | None) -> None: - with self._lock_recv: - self.__wrapped__.filters = filters + with self._self_lock_recv: + self._self_wrapped.filters = filters def set_filters(self, filters: typechecking.CanFilters | None = None) -> None: - with self._lock_recv: - return self.__wrapped__.set_filters(filters=filters) + with self._self_lock_recv: + return self._self_wrapped.set_filters(filters=filters) def flush_tx_buffer(self) -> None: - with self._lock_send: - return self.__wrapped__.flush_tx_buffer() + with self._self_lock_send: + return self._self_wrapped.flush_tx_buffer() def shutdown(self) -> None: - with self._lock_send, self._lock_recv: - return self.__wrapped__.shutdown() + with self._self_lock_send, self._self_lock_recv: + return self._self_wrapped.shutdown() @property def state(self) -> BusState: - with self._lock_send, self._lock_recv: - return self.__wrapped__.state + with self._self_lock_send, self._self_lock_recv: + return self._self_wrapped.state @state.setter def state(self, new_state: BusState) -> None: - with self._lock_send, self._lock_recv: - self.__wrapped__.state = new_state + with self._self_lock_send, self._self_lock_recv: + self._self_wrapped.state = new_state @property def protocol(self) -> CanProtocol: - with self._lock_send, self._lock_recv: - return self.__wrapped__.protocol + with self._self_lock_send, self._self_lock_recv: + return self._self_wrapped.protocol diff --git a/pyproject.toml b/pyproject.toml index 3c263579f..c59970544 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -87,7 +87,7 @@ docs = [ "furo", ] lint = [ - "pylint==3.3.*", + "pylint==4.0.*", "ruff==0.14.*", "black==25.9.*", "mypy==1.18.*", From 61a1e7610b3ef14b3c5fa150e9df09251fef571f Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sun, 16 Nov 2025 11:30:07 +0000 Subject: [PATCH 451/475] Bump the dev-deps group across 1 directory with 3 updates Updates the requirements on [black](https://github.com/psf/black), [pytest](https://github.com/pytest-dev/pytest) and [coverage](https://github.com/coveragepy/coveragepy) to permit the latest version. Updates `black` to 25.11.0 - [Release notes](https://github.com/psf/black/releases) - [Changelog](https://github.com/psf/black/blob/main/CHANGES.md) - [Commits](https://github.com/psf/black/compare/25.9.0...25.11.0) Updates `pytest` to 9.0.1 - [Release notes](https://github.com/pytest-dev/pytest/releases) - [Changelog](https://github.com/pytest-dev/pytest/blob/main/CHANGELOG.rst) - [Commits](https://github.com/pytest-dev/pytest/compare/8.4.0.dev0...9.0.1) Updates `coverage` to 7.11.3 - [Release notes](https://github.com/coveragepy/coveragepy/releases) - [Changelog](https://github.com/coveragepy/coveragepy/blob/main/CHANGES.rst) - [Commits](https://github.com/coveragepy/coveragepy/compare/7.10.0...7.11.3) --- updated-dependencies: - dependency-name: black dependency-version: 25.11.0 dependency-type: direct:development dependency-group: dev-deps - dependency-name: pytest dependency-version: 9.0.1 dependency-type: direct:development dependency-group: dev-deps - dependency-name: coverage dependency-version: 7.11.3 dependency-type: direct:development dependency-group: dev-deps ... Signed-off-by: dependabot[bot] --- pyproject.toml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index c59970544..eb823bd64 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -89,16 +89,16 @@ docs = [ lint = [ "pylint==4.0.*", "ruff==0.14.*", - "black==25.9.*", + "black==25.11.*", "mypy==1.18.*", ] test = [ - "pytest==8.4.*", + "pytest==9.0.*", "pytest-timeout==2.4.*", "pytest-modern==0.7.*;platform_system!='Windows'", "coveralls==4.0.*", "pytest-cov==7.0.*", - "coverage==7.10.*", + "coverage==7.11.*", "hypothesis==6.*", "parameterized==0.9.*", ] From 3f54ccaf0cb900af9bcf616069e4ce8d8a5eb4d6 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sat, 1 Nov 2025 16:19:36 +0000 Subject: [PATCH 452/475] Bump the github-actions group with 3 updates Bumps the github-actions group with 3 updates: [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv), [actions/upload-artifact](https://github.com/actions/upload-artifact) and [actions/download-artifact](https://github.com/actions/download-artifact). Updates `astral-sh/setup-uv` from 7.0.0 to 7.1.2 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/eb1897b8dc4b5d5bfe39a428a8f2304605e0983c...85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41) Updates `actions/upload-artifact` from 4.6.2 to 5.0.0 - [Release notes](https://github.com/actions/upload-artifact/releases) - [Commits](https://github.com/actions/upload-artifact/compare/ea165f8d65b6e75b540449e92b4886f43607fa02...330a01c490aca151604b8cf639adc76d48f6c5d4) Updates `actions/download-artifact` from 5.0.0 to 6.0.0 - [Release notes](https://github.com/actions/download-artifact/releases) - [Commits](https://github.com/actions/download-artifact/compare/634f93cb2916e3fdff6788551b99b062d0335ce0...018cc2cf5baa6db3ef3c5f8a56943fffe632ef53) --- updated-dependencies: - dependency-name: astral-sh/setup-uv dependency-version: 7.1.2 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions - dependency-name: actions/upload-artifact dependency-version: 5.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: actions/download-artifact dependency-version: 6.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e85906a23..ffa24aca7 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -38,7 +38,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 + uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -84,7 +84,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 + uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -102,7 +102,7 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 + uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -118,13 +118,13 @@ jobs: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@eb1897b8dc4b5d5bfe39a428a8f2304605e0983c # 7.0.0 + uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 - name: Build wheel and sdist run: uv build - name: Check build artifacts run: uvx twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@ea165f8d65b6e75b540449e92b4886f43607fa02 # 4.6.2 + uses: actions/upload-artifact@330a01c490aca151604b8cf639adc76d48f6c5d4 # 5.0.0 with: name: release path: ./dist @@ -140,7 +140,7 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@634f93cb2916e3fdff6788551b99b062d0335ce0 # 5.0.0 + - uses: actions/download-artifact@018cc2cf5baa6db3ef3c5f8a56943fffe632ef53 # 6.0.0 with: path: dist merge-multiple: true From 58860affe829f4b9979b33f9ff5bd1c702ba69f4 Mon Sep 17 00:00:00 2001 From: Ben Gardiner Date: Sat, 29 Nov 2025 23:21:41 -0500 Subject: [PATCH 453/475] add RP1210 python-can driver --- doc/plugin-interface.rst | 3 +++ pyproject.toml | 1 + 2 files changed, 4 insertions(+) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index 2f295b678..a18e27daf 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -81,6 +81,8 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+----------------------------------------------------------+ | `python-can-coe`_ | A CAN-over-Ethernet interface for Technische Alternative | +----------------------------+----------------------------------------------------------+ +| `RP1210`_ | CAN channels in RP1210 Vehicle Diagnostic Adapters | ++----------------------------+----------------------------------------------------------+ .. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector @@ -90,4 +92,5 @@ The table below lists interface drivers that can be added by installing addition .. _python-can-cando: https://github.com/belliriccardo/python-can-cando .. _python-can-candle: https://github.com/BIRLab/python-can-candle .. _python-can-coe: https://c0d3.sh/smarthome/python-can-coe +.. _RP1210: https://github.com/dfieschko/RP1210 diff --git a/pyproject.toml b/pyproject.toml index eb823bd64..90412b95f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -72,6 +72,7 @@ sontheim = ["python-can-sontheim>=0.1.2"] canine = ["python-can-canine>=0.2.2"] zlgcan = ["zlgcan"] candle = ["python-can-candle>=1.2.2"] +rp1210 = ["rp1210>=1.0.1"] viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] From 2630fb3eba9e756351406acfa81e1e7a4687d3d3 Mon Sep 17 00:00:00 2001 From: Ged Lex <79421501+Gedlex@users.noreply.github.com> Date: Tue, 2 Dec 2025 20:30:20 +0100 Subject: [PATCH 454/475] ASCReader: Improve datetime parsing and support double-defined AM/PM cases (#2009) * ASCReader: Improve datetime parsing and support double-defined AM/PM cases * Fixed code formatting and add a news fragment for PR 2009 * Updated formatting of logformats_test.py * Updated test for cross-platform compatibility and (hopefully) fixed formatting for good now * Corrected micro- to milliseconds --- can/io/asc.py | 49 +++++++++++++++++++-------------- doc/changelog.d/2009.changed.md | 1 + test/logformats_test.py | 34 +++++++++++++++++++++++ 3 files changed, 64 insertions(+), 20 deletions(-) create mode 100644 doc/changelog.d/2009.changed.md diff --git a/can/io/asc.py b/can/io/asc.py index 2c80458c4..fcf8fc5e4 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -116,41 +116,50 @@ def _extract_header(self) -> None: @staticmethod def _datetime_to_timestamp(datetime_string: str) -> float: - # ugly locale independent solution month_map = { - "Jan": 1, - "Feb": 2, - "Mar": 3, - "Apr": 4, - "May": 5, - "Jun": 6, - "Jul": 7, - "Aug": 8, - "Sep": 9, - "Oct": 10, - "Nov": 11, - "Dec": 12, - "Mär": 3, - "Mai": 5, - "Okt": 10, - "Dez": 12, + "jan": 1, + "feb": 2, + "mar": 3, + "apr": 4, + "may": 5, + "jun": 6, + "jul": 7, + "aug": 8, + "sep": 9, + "oct": 10, + "nov": 11, + "dec": 12, + "mär": 3, + "mai": 5, + "okt": 10, + "dez": 12, } - for name, number in month_map.items(): - datetime_string = datetime_string.replace(name, str(number).zfill(2)) datetime_formats = ( "%m %d %I:%M:%S.%f %p %Y", "%m %d %I:%M:%S %p %Y", "%m %d %H:%M:%S.%f %Y", "%m %d %H:%M:%S %Y", + "%m %d %H:%M:%S.%f %p %Y", + "%m %d %H:%M:%S %p %Y", ) + + datetime_string_parts = datetime_string.split(" ", 1) + month = datetime_string_parts[0].strip().lower() + + try: + datetime_string_parts[0] = f"{month_map[month]:02d}" + except KeyError: + raise ValueError(f"Unsupported month abbreviation: {month}") from None + datetime_string = " ".join(datetime_string_parts) + for format_str in datetime_formats: try: return datetime.strptime(datetime_string, format_str).timestamp() except ValueError: continue - raise ValueError(f"Incompatible datetime string {datetime_string}") + raise ValueError(f"Unsupported datetime format: '{datetime_string}'") def _extract_can_id(self, str_can_id: str, msg_kwargs: dict[str, Any]) -> None: if str_can_id[-1:].lower() == "x": diff --git a/doc/changelog.d/2009.changed.md b/doc/changelog.d/2009.changed.md new file mode 100644 index 000000000..6e68198a1 --- /dev/null +++ b/doc/changelog.d/2009.changed.md @@ -0,0 +1 @@ +Improved datetime parsing and added support for “double-defined” datetime strings (such as, e.g., `"30 15:06:13.191 pm 2017"`) for ASCReader class. \ No newline at end of file diff --git a/test/logformats_test.py b/test/logformats_test.py index f4bd1191f..f8a8de91d 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -680,6 +680,40 @@ def test_write(self): self.assertEqual(expected_file.read_text(), actual_file.read_text()) + @parameterized.expand( + [ + ( + "May 27 04:09:35.000 pm 2014", + datetime(2014, 5, 27, 16, 9, 35, 0).timestamp(), + ), + ( + "Mai 27 04:09:35.000 pm 2014", + datetime(2014, 5, 27, 16, 9, 35, 0).timestamp(), + ), + ( + "Apr 28 10:44:52.480 2022", + datetime(2022, 4, 28, 10, 44, 52, 480000).timestamp(), + ), + ( + "Sep 30 15:06:13.191 2017", + datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + ), + ( + "Sep 30 15:06:13.191 pm 2017", + datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + ), + ( + "Sep 30 15:06:13.191 am 2017", + datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + ), + ] + ) + def test_datetime_to_timestamp( + self, datetime_string: str, expected_timestamp: float + ): + timestamp = can.ASCReader._datetime_to_timestamp(datetime_string) + self.assertAlmostEqual(timestamp, expected_timestamp) + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. From d48dcb8c7ee80843b074341af8f3f17f341e0d9a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 1 Dec 2025 18:57:16 +0000 Subject: [PATCH 455/475] Bump the dev-deps group with 2 updates Updates the requirements on [mypy](https://github.com/python/mypy) and [coverage](https://github.com/coveragepy/coveragepy) to permit the latest version. Updates `mypy` to 1.19.0 - [Changelog](https://github.com/python/mypy/blob/master/CHANGELOG.md) - [Commits](https://github.com/python/mypy/compare/v1.18.1...v1.19.0) Updates `coverage` to 7.12.0 - [Release notes](https://github.com/coveragepy/coveragepy/releases) - [Changelog](https://github.com/coveragepy/coveragepy/blob/main/CHANGES.rst) - [Commits](https://github.com/coveragepy/coveragepy/compare/7.11.0...7.12.0) --- updated-dependencies: - dependency-name: mypy dependency-version: 1.19.0 dependency-type: direct:development dependency-group: dev-deps - dependency-name: coverage dependency-version: 7.12.0 dependency-type: direct:development dependency-group: dev-deps ... Signed-off-by: dependabot[bot] --- pyproject.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 90412b95f..740d02a96 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -91,7 +91,7 @@ lint = [ "pylint==4.0.*", "ruff==0.14.*", "black==25.11.*", - "mypy==1.18.*", + "mypy==1.19.*", ] test = [ "pytest==9.0.*", @@ -99,7 +99,7 @@ test = [ "pytest-modern==0.7.*;platform_system!='Windows'", "coveralls==4.0.*", "pytest-cov==7.0.*", - "coverage==7.11.*", + "coverage==7.12.*", "hypothesis==6.*", "parameterized==0.9.*", ] From c8bb0f8f7cbf65317fcb4b4623264d6bba1e2a5a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 1 Dec 2025 18:08:00 +0000 Subject: [PATCH 456/475] Bump the github-actions group with 3 updates Bumps the github-actions group with 3 updates: [actions/checkout](https://github.com/actions/checkout), [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv) and [coverallsapp/github-action](https://github.com/coverallsapp/github-action). Updates `actions/checkout` from 5.0.0 to 6.0.0 - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/08c6903cd8c0fde910a37f88322edcfb5dd907a8...1af3b93b6815bc44a9784bd300feb67ff0d1eeb3) Updates `astral-sh/setup-uv` from 7.1.2 to 7.1.4 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41...1e862dfacbd1d6d858c55d9b792c756523627244) Updates `coverallsapp/github-action` from 2.3.6 to 2.3.7 - [Release notes](https://github.com/coverallsapp/github-action/releases) - [Commits](https://github.com/coverallsapp/github-action/compare/648a8eb78e6d50909eff900e4ec85cab4524a45b...5cbfd81b66ca5d10c19b062c04de0199c215fb6e) --- updated-dependencies: - dependency-name: actions/checkout dependency-version: 6.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: astral-sh/setup-uv dependency-version: 7.1.4 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: coverallsapp/github-action dependency-version: 2.3.7 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ffa24aca7..e340b2508 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -33,12 +33,12 @@ jobs: ] fail-fast: false steps: - - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -55,7 +55,7 @@ jobs: # See: https://github.com/pypy/pypy/issues/3808 TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.env, 'pypy' ) }}" - name: Coveralls Parallel - uses: coverallsapp/github-action@648a8eb78e6d50909eff900e4ec85cab4524a45b # 2.3.6 + uses: coverallsapp/github-action@5cbfd81b66ca5d10c19b062c04de0199c215fb6e # 2.3.7 with: github-token: ${{ secrets.github_token }} flag-name: Unittests-${{ matrix.os }}-${{ matrix.env }} @@ -66,12 +66,12 @@ jobs: needs: test runs-on: ubuntu-latest steps: - - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: fetch-depth: 0 persist-credentials: false - name: Coveralls Finished - uses: coverallsapp/github-action@648a8eb78e6d50909eff900e4ec85cab4524a45b # 2.3.6 + uses: coverallsapp/github-action@5cbfd81b66ca5d10c19b062c04de0199c215fb6e # 2.3.7 with: github-token: ${{ secrets.github_token }} parallel-finished: true @@ -79,12 +79,12 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -97,12 +97,12 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -113,12 +113,12 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@08c6903cd8c0fde910a37f88322edcfb5dd907a8 # 5.0.0 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@85856786d1ce8acfbcc2f13a5f3fbd6b938f9f41 # 7.1.2 + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 - name: Build wheel and sdist run: uv build - name: Check build artifacts From b57bc514a64e61ff1579a7d456310ef2bc30c80d Mon Sep 17 00:00:00 2001 From: Gao Yichuan Date: Sat, 6 Dec 2025 19:22:06 +0800 Subject: [PATCH 457/475] Add python-can-damiao plugin support (#2014) Add python-can-damiao as an optional dependency plugin, providing support for Damiao USB-CAN adapters. The plugin enables CAN communication through Damiao USB-CAN adapters with a simple interface following the python-can plugin API. Tested with: - Damiao USB-CAN adapter - DM4310 motor Repository: https://github.com/gaoyichuan/python-can-damiao --- doc/plugin-interface.rst | 3 +++ pyproject.toml | 1 + 2 files changed, 4 insertions(+) diff --git a/doc/plugin-interface.rst b/doc/plugin-interface.rst index a18e27daf..612148033 100644 --- a/doc/plugin-interface.rst +++ b/doc/plugin-interface.rst @@ -83,6 +83,8 @@ The table below lists interface drivers that can be added by installing addition +----------------------------+----------------------------------------------------------+ | `RP1210`_ | CAN channels in RP1210 Vehicle Diagnostic Adapters | +----------------------------+----------------------------------------------------------+ +| `python-can-damiao`_ | Interface for Damiao USB-CAN adapters | ++----------------------------+----------------------------------------------------------+ .. _python-can-canine: https://github.com/tinymovr/python-can-canine .. _python-can-cvector: https://github.com/zariiii9003/python-can-cvector @@ -93,4 +95,5 @@ The table below lists interface drivers that can be added by installing addition .. _python-can-candle: https://github.com/BIRLab/python-can-candle .. _python-can-coe: https://c0d3.sh/smarthome/python-can-coe .. _RP1210: https://github.com/dfieschko/RP1210 +.. _python-can-damiao: https://github.com/gaoyichuan/python-can-damiao diff --git a/pyproject.toml b/pyproject.toml index 740d02a96..94bf60823 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -73,6 +73,7 @@ canine = ["python-can-canine>=0.2.2"] zlgcan = ["zlgcan"] candle = ["python-can-candle>=1.2.2"] rp1210 = ["rp1210>=1.0.1"] +damiao = ["python-can-damiao"] viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] From da6fea8a72243c35ae4c82031ecf3746c8f8201a Mon Sep 17 00:00:00 2001 From: lesti <51439715+lesti@users.noreply.github.com> Date: Sat, 7 Feb 2026 14:17:57 +0100 Subject: [PATCH 458/475] IXXAT: improve handling of controller errors (#2023) * move errors indicated by CANLINESTATUS into own exceptions * raise data overrun exception based on error frame instead of CANLINESTATUS because the CAN_STATUS_OVRRUN flag is only cleared on controller reset --- can/interfaces/ixxat/canlib_vcinpl.py | 18 ++++++++---------- can/interfaces/ixxat/canlib_vcinpl2.py | 2 +- can/interfaces/ixxat/exceptions.py | 18 ++++++++++++++++-- doc/changelog.d/2023.changed.md | 1 + 4 files changed, 26 insertions(+), 13 deletions(-) create mode 100644 doc/changelog.d/2023.changed.md diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 7c4becafd..c6c924d8c 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -706,7 +706,7 @@ def _recv_internal(self, timeout): self._starttickoffset = self._message.dwTime elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR: if self._message.uMsgInfo.Bytes.bFlags & constants.CAN_MSGFLAGS_OVR: - log.warning("CAN error: data overrun") + raise VCIDataOverrunError("Data overrun occurred") else: log.warning( CAN_ERROR_MESSAGES.get( @@ -735,19 +735,17 @@ def _recv_internal(self, timeout): error_byte_1 = status.dwStatus & 0x0F error_byte_2 = status.dwStatus & 0xF0 if error_byte_1 > constants.CAN_STATUS_TXPEND: - # CAN_STATUS_OVRRUN = 0x02 # data overrun occurred - # CAN_STATUS_ERRLIM = 0x04 # error warning limit exceeded - # CAN_STATUS_BUSOFF = 0x08 # bus off status - if error_byte_1 & constants.CAN_STATUS_OVRRUN: - raise VCIError("Data overrun occurred") + # check CAN_STATUS_BUSOFF first because it is more severe than the other ones + if error_byte_1 & constants.CAN_STATUS_BUSOFF: + raise VCIBusOffError("Bus off status") elif error_byte_1 & constants.CAN_STATUS_ERRLIM: - raise VCIError("Error warning limit exceeded") - elif error_byte_1 & constants.CAN_STATUS_BUSOFF: - raise VCIError("Bus off status") + raise VCIErrorLimitExceededError("Error warning limit exceeded") + # Not checking CAN_STATUS_OVRRUN here because it is handled above and would be + # raised every time as the flag is never cleared until a reset. elif error_byte_2 > constants.CAN_STATUS_ININIT: # CAN_STATUS_BUSCERR = 0x20 # bus coupling error if error_byte_2 & constants.CAN_STATUS_BUSCERR: - raise VCIError("Bus coupling error") + raise VCIBusCouplingError("Bus coupling error") if not data_received: # Timed out / can message type is not DATA diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index b6789885a..f74d4cece 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -857,7 +857,7 @@ def _recv_internal(self, timeout): ): log.info(_format_can_status(self._message.abData[0])) if self._message.abData[0] & constants.CAN_STATUS_BUSOFF: - raise VCIBusOffError() + raise VCIBusOffError("Controller is in BUSOFF state") elif ( self._message.uMsgInfo.Bits.type diff --git a/can/interfaces/ixxat/exceptions.py b/can/interfaces/ixxat/exceptions.py index 771eec307..21dea465f 100644 --- a/can/interfaces/ixxat/exceptions.py +++ b/can/interfaces/ixxat/exceptions.py @@ -12,9 +12,12 @@ ) __all__ = [ + "VCIBusCouplingError", "VCIBusOffError", + "VCIDataOverrunError", "VCIDeviceNotFoundError", "VCIError", + "VCIErrorLimitExceededError", "VCIRxQueueEmptyError", "VCITimeout", ] @@ -36,8 +39,19 @@ def __init__(self): class VCIBusOffError(VCIError): - def __init__(self): - super().__init__("Controller is in BUSOFF state") + """Controller is in BUSOFF state""" + + +class VCIErrorLimitExceededError(VCIError): + """overrun of error counter occurred""" + + +class VCIDataOverrunError(VCIError): + """data overrun in receive buffer occurred""" + + +class VCIBusCouplingError(VCIError): + """Bus coupling error occurred""" class VCIDeviceNotFoundError(CanInitializationError): diff --git a/doc/changelog.d/2023.changed.md b/doc/changelog.d/2023.changed.md new file mode 100644 index 000000000..f20e2997c --- /dev/null +++ b/doc/changelog.d/2023.changed.md @@ -0,0 +1 @@ +Improve IXXAT VCI exception handling From 164f229cc9da19780878f6767e9feb67534e663e Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 1 Jan 2026 16:20:55 +0000 Subject: [PATCH 459/475] Bump the github-actions group with 5 updates Bumps the github-actions group with 5 updates: | Package | From | To | | --- | --- | --- | | [actions/checkout](https://github.com/actions/checkout) | `6.0.0` | `6.0.1` | | [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv) | `7.1.4` | `7.1.6` | | [actions/upload-artifact](https://github.com/actions/upload-artifact) | `5.0.0` | `6.0.0` | | [actions/download-artifact](https://github.com/actions/download-artifact) | `6.0.0` | `7.0.0` | | [actions/attest-build-provenance](https://github.com/actions/attest-build-provenance) | `3.0.0` | `3.1.0` | Updates `actions/checkout` from 6.0.0 to 6.0.1 - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/1af3b93b6815bc44a9784bd300feb67ff0d1eeb3...8e8c483db84b4bee98b60c0593521ed34d9990e8) Updates `astral-sh/setup-uv` from 7.1.4 to 7.1.6 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/1e862dfacbd1d6d858c55d9b792c756523627244...681c641aba71e4a1c380be3ab5e12ad51f415867) Updates `actions/upload-artifact` from 5.0.0 to 6.0.0 - [Release notes](https://github.com/actions/upload-artifact/releases) - [Commits](https://github.com/actions/upload-artifact/compare/330a01c490aca151604b8cf639adc76d48f6c5d4...b7c566a772e6b6bfb58ed0dc250532a479d7789f) Updates `actions/download-artifact` from 6.0.0 to 7.0.0 - [Release notes](https://github.com/actions/download-artifact/releases) - [Commits](https://github.com/actions/download-artifact/compare/018cc2cf5baa6db3ef3c5f8a56943fffe632ef53...37930b1c2abaa49bbe596cd826c3c89aef350131) Updates `actions/attest-build-provenance` from 3.0.0 to 3.1.0 - [Release notes](https://github.com/actions/attest-build-provenance/releases) - [Changelog](https://github.com/actions/attest-build-provenance/blob/main/RELEASE.md) - [Commits](https://github.com/actions/attest-build-provenance/compare/977bb373ede98d70efdf65b84cb5f73e068dcc2a...00014ed6ed5efc5b1ab7f7f34a39eb55d41aa4f8) --- updated-dependencies: - dependency-name: actions/checkout dependency-version: 6.0.1 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: astral-sh/setup-uv dependency-version: 7.1.6 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: actions/upload-artifact dependency-version: 6.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: actions/download-artifact dependency-version: 7.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: actions/attest-build-provenance dependency-version: 3.1.0 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index e340b2508..270e2fd01 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -33,12 +33,12 @@ jobs: ] fail-fast: false steps: - - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 + - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -66,7 +66,7 @@ jobs: needs: test runs-on: ubuntu-latest steps: - - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 + - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 with: fetch-depth: 0 persist-credentials: false @@ -79,12 +79,12 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 + - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -97,12 +97,12 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 + - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -113,18 +113,18 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 + - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 - name: Build wheel and sdist run: uv build - name: Check build artifacts run: uvx twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@330a01c490aca151604b8cf639adc76d48f6c5d4 # 5.0.0 + uses: actions/upload-artifact@b7c566a772e6b6bfb58ed0dc250532a479d7789f # 6.0.0 with: name: release path: ./dist @@ -140,13 +140,13 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@018cc2cf5baa6db3ef3c5f8a56943fffe632ef53 # 6.0.0 + - uses: actions/download-artifact@37930b1c2abaa49bbe596cd826c3c89aef350131 # 7.0.0 with: path: dist merge-multiple: true - name: Generate artifact attestation - uses: actions/attest-build-provenance@977bb373ede98d70efdf65b84cb5f73e068dcc2a # 3.0.0 + uses: actions/attest-build-provenance@00014ed6ed5efc5b1ab7f7f34a39eb55d41aa4f8 # 3.1.0 with: subject-path: 'dist/*' From 10ba2ebe9e00b52ee70b37f32c024d5ec2f2f1eb Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 1 Jan 2026 16:23:22 +0000 Subject: [PATCH 460/475] Bump the dev-deps group with 2 updates Updates the requirements on [black](https://github.com/psf/black) and [coverage](https://github.com/coveragepy/coveragepy) to permit the latest version. Updates `black` to 25.12.0 - [Release notes](https://github.com/psf/black/releases) - [Changelog](https://github.com/psf/black/blob/main/CHANGES.md) - [Commits](https://github.com/psf/black/compare/25.11.0...25.12.0) Updates `coverage` to 7.13.1 - [Release notes](https://github.com/coveragepy/coveragepy/releases) - [Changelog](https://github.com/coveragepy/coveragepy/blob/main/CHANGES.rst) - [Commits](https://github.com/coveragepy/coveragepy/compare/7.12.0...7.13.1) --- updated-dependencies: - dependency-name: black dependency-version: 25.12.0 dependency-type: direct:development dependency-group: dev-deps - dependency-name: coverage dependency-version: 7.13.1 dependency-type: direct:development dependency-group: dev-deps ... Signed-off-by: dependabot[bot] --- pyproject.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 94bf60823..ddaf61ef5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -91,7 +91,7 @@ docs = [ lint = [ "pylint==4.0.*", "ruff==0.14.*", - "black==25.11.*", + "black==25.12.*", "mypy==1.19.*", ] test = [ @@ -100,7 +100,7 @@ test = [ "pytest-modern==0.7.*;platform_system!='Windows'", "coveralls==4.0.*", "pytest-cov==7.0.*", - "coverage==7.12.*", + "coverage==7.13.*", "hypothesis==6.*", "parameterized==0.9.*", ] From e3d2655ce413ec1b9b09f360d5ab1e077f9d9777 Mon Sep 17 00:00:00 2001 From: aaronfultonnz Date: Sat, 21 Feb 2026 08:16:00 +1300 Subject: [PATCH 461/475] Changed slcan serial read routine to be faster and to manage the buffer more carefully (#2028) * Changed slcan serial read routine to be faster and to manage the buffer more cauciously * As per merge request suggestion Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * as per merge request suggestion Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> * Simplified slcan serial reading * Added news fragment --------- Co-authored-by: Aaron Fulton Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/interfaces/slcan.py | 18 +++++++----------- doc/changelog.d/2028.changed.md | 1 + 2 files changed, 8 insertions(+), 11 deletions(-) create mode 100644 doc/changelog.d/2028.changed.md diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 086d9ed32..a6430d4e2 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -218,17 +218,13 @@ def _read(self, timeout: float | None) -> str | None: while True: # Due to accessing `serialPortOrig.in_waiting` too often will reduce the performance. # We read the `serialPortOrig.in_waiting` only once here. - in_waiting = self.serialPortOrig.in_waiting - for _ in range(max(1, in_waiting)): - new_byte = self.serialPortOrig.read(1) - if new_byte: - self._buffer.extend(new_byte) - else: - break - - if new_byte in (self._ERROR, self._OK): - string = self._buffer.decode() - self._buffer.clear() + size = self.serialPortOrig.in_waiting or 1 + self._buffer.extend(self.serialPortOrig.read(size)) + + for i, byte in enumerate(self._buffer): + if byte in (self._OK[0], self._ERROR[0]): + string = self._buffer[: i + 1].decode() + del self._buffer[: i + 1] return string if _timeout.expired(): diff --git a/doc/changelog.d/2028.changed.md b/doc/changelog.d/2028.changed.md new file mode 100644 index 000000000..d64d9a08b --- /dev/null +++ b/doc/changelog.d/2028.changed.md @@ -0,0 +1 @@ +Improved performance in slcan interface From e0bef6bbda194b6922422de09dae641ff6f218eb Mon Sep 17 00:00:00 2001 From: Ben Gardiner Date: Tue, 24 Feb 2026 14:25:29 -0500 Subject: [PATCH 462/475] cantact: Handle `None` timeout correctly (#2026) timeout=None means block forever --- can/interfaces/cantact.py | 4 +--- doc/changelog.d/2026.changed.md | 1 + 2 files changed, 2 insertions(+), 3 deletions(-) create mode 100644 doc/changelog.d/2026.changed.md diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index ee01fbf94..26b4102c0 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -125,9 +125,7 @@ def __init__( def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: if timeout is None: - raise TypeError( - f"{self.__class__.__name__} expects a numeric `timeout` value." - ) + timeout = 2**64 - 1 with error_check("Cannot receive message"): frame = self.interface.recv(int(timeout * 1000)) diff --git a/doc/changelog.d/2026.changed.md b/doc/changelog.d/2026.changed.md new file mode 100644 index 000000000..2a9c12fa1 --- /dev/null +++ b/doc/changelog.d/2026.changed.md @@ -0,0 +1 @@ +* cantact: handle None timeouts as 'forever' (with 0xFFF....) From 74201b963e6eafaf0cce9b8ff398676114d620f2 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 28 Feb 2026 20:50:36 +0100 Subject: [PATCH 463/475] Add timezone argument to ASCReader and ASCWriter (#2035) * add timezone argument to ASCReader and ASCWriter * add news fragment --- can/io/asc.py | 61 ++++++++++++------- doc/changelog.d/2035.added.md | 1 + test/logformats_test.py | 111 ++++++++++++++++++++-------------- 3 files changed, 107 insertions(+), 66 deletions(-) create mode 100644 doc/changelog.d/2035.added.md diff --git a/can/io/asc.py b/can/io/asc.py index fcf8fc5e4..c02020e27 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -9,7 +9,7 @@ import logging import re from collections.abc import Generator -from datetime import datetime +from datetime import datetime, timezone, tzinfo from typing import Any, Final, TextIO from ..message import Message @@ -17,6 +17,8 @@ from ..util import channel2int, dlc2len, len2dlc from .generic import TextIOMessageReader, TextIOMessageWriter +_LOCAL_TZ: Final = datetime.now(timezone.utc).astimezone().tzinfo + CAN_MSG_EXT = 0x80000000 CAN_ID_MASK = 0x1FFFFFFF BASE_HEX = 16 @@ -44,24 +46,31 @@ def __init__( file: StringPathLike | TextIO, base: str = "hex", relative_timestamp: bool = True, + tz: tzinfo | None = _LOCAL_TZ, **kwargs: Any, ) -> None: """ - :param file: a path-like object or as file-like object to read from - If this is a file-like object, is has to opened in text - read mode, not binary read mode. - :param base: Select the base(hex or dec) of id and data. - If the header of the asc file contains base information, - this value will be overwritten. Default "hex". - :param relative_timestamp: Select whether the timestamps are - `relative` (starting at 0.0) or `absolute` (starting at - the system time). Default `True = relative`. + :param file: + a path-like object or a file-like object to read from. + If this is a file-like object, it must be opened in text + read mode, not binary read mode. + :param base: + Select the base ('hex' or 'dec') for CAN IDs and data bytes. + If the header of the ASC file contains base information, + this value will be overwritten. Default is "hex". + :param relative_timestamp: + Select whether the timestamps are + `relative` (starting at 0.0) or `absolute` (starting at + the system time). Default is `True` (relative). + :param tz: + Timezone for absolute timestamps. Defaults to local timezone. """ super().__init__(file, mode="r") if not self.file: raise ValueError("The given file cannot be None") self.base = base + self._timezone = tz self._converted_base = self._check_base(base) self.relative_timestamp = relative_timestamp self.date: str | None = None @@ -93,7 +102,7 @@ def _extract_header(self) -> None: self.start_time = ( 0.0 if self.relative_timestamp - else self._datetime_to_timestamp(self.date) + else self._datetime_to_timestamp(self.date, self._timezone) ) continue @@ -115,7 +124,7 @@ def _extract_header(self) -> None: break @staticmethod - def _datetime_to_timestamp(datetime_string: str) -> float: + def _datetime_to_timestamp(datetime_string: str, tz: tzinfo | None) -> float: month_map = { "jan": 1, "feb": 2, @@ -155,7 +164,11 @@ def _datetime_to_timestamp(datetime_string: str) -> float: for format_str in datetime_formats: try: - return datetime.strptime(datetime_string, format_str).timestamp() + return ( + datetime.strptime(datetime_string, format_str) + .replace(tzinfo=tz) + .timestamp() + ) except ValueError: continue @@ -279,7 +292,7 @@ def __iter__(self) -> Generator[Message, None, None]: self.start_time = ( 0.0 if self.relative_timestamp - else self._datetime_to_timestamp(datetime_str) + else self._datetime_to_timestamp(datetime_str, self._timezone) ) continue @@ -358,14 +371,19 @@ def __init__( self, file: StringPathLike | TextIO, channel: int = 1, + tz: tzinfo | None = _LOCAL_TZ, **kwargs: Any, ) -> None: """ - :param file: a path-like object or as file-like object to write to - If this is a file-like object, is has to opened in text - write mode, not binary write mode. - :param channel: a default channel to use when the message does not - have a channel set + :param file: + a path-like object or a file-like object to write to. + If this is a file-like object, it must be opened in text + write mode, not binary write mode. + :param channel: + a default channel to use when the message does not + have a channel set. Default is 1. + :param tz: + Timezone for timestamps in the log file. Defaults to local timezone. """ if kwargs.get("append", False): raise ValueError( @@ -374,10 +392,11 @@ def __init__( ) super().__init__(file, mode="w") + self._timezone = tz self.channel = channel # write start of file header - start_time = self._format_header_datetime(datetime.now()) + start_time = self._format_header_datetime(datetime.now(tz=self._timezone)) self.file.write(f"date {start_time}\n") self.file.write("base hex timestamps absolute\n") self.file.write("internal events logged\n") @@ -417,7 +436,7 @@ def log_event(self, message: str, timestamp: float | None = None) -> None: if not self.header_written: self.started = self.last_timestamp = timestamp or 0.0 - start_time = datetime.fromtimestamp(self.last_timestamp) + start_time = datetime.fromtimestamp(self.last_timestamp, tz=self._timezone) formatted_date = self._format_header_datetime(start_time) self.file.write(f"Begin Triggerblock {formatted_date}\n") diff --git a/doc/changelog.d/2035.added.md b/doc/changelog.d/2035.added.md new file mode 100644 index 000000000..1751f9a97 --- /dev/null +++ b/doc/changelog.d/2035.added.md @@ -0,0 +1 @@ +Add new timezone parameter `tz` to `can.io.asc.ASCReader` and `can.io.asc.ASCWriter`. \ No newline at end of file diff --git a/test/logformats_test.py b/test/logformats_test.py index f8a8de91d..6839c2450 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -18,15 +18,16 @@ import unittest from abc import ABCMeta, abstractmethod from contextlib import contextmanager -from datetime import datetime +from datetime import datetime, timedelta, timezone from itertools import zip_longest from pathlib import Path from unittest.mock import patch from parameterized import parameterized -import can -from can.io import blf +import can.io +from can.io import asc, blf + from .data.example_data import ( TEST_COMMENTS, TEST_MESSAGES_BASE, @@ -427,9 +428,11 @@ def _read_log_file(self, filename, **kwargs): def test_read_absolute_time(self): time_from_file = "Sat Sep 30 10:06:13.191 PM 2017" - start_time = datetime.strptime( - time_from_file, self.FORMAT_START_OF_FILE_DATE - ).timestamp() + start_time = ( + datetime.strptime(time_from_file, self.FORMAT_START_OF_FILE_DATE) + .replace(tzinfo=asc._LOCAL_TZ) + .timestamp() + ) expected_messages = [ can.Message( @@ -629,24 +632,25 @@ def test_read_error_frame_channel(self): os.unlink(temp_file.name) def test_write_millisecond_handling(self): + tz = asc._LOCAL_TZ now = datetime( - year=2017, month=9, day=30, hour=15, minute=6, second=13, microsecond=191456 + year=2017, + month=9, + day=30, + hour=15, + minute=6, + second=13, + microsecond=191456, + tzinfo=tz, ) - # We temporarily set the locale to C to ensure test reproducibility - with override_locale(category=locale.LC_TIME, locale_str="C"): - # We mock datetime.now during ASCWriter __init__ for reproducibility - # Unfortunately, now() is a readonly attribute, so we mock datetime - with patch("can.io.asc.datetime") as mock_datetime: - mock_datetime.now.return_value = now - writer = can.ASCWriter(self.test_file_name) - - msg = can.Message( - timestamp=now.timestamp(), arbitration_id=0x123, data=b"h" - ) - writer.on_message_received(msg) + with patch("can.io.asc.datetime") as mock_datetime: + mock_datetime.now.return_value = now + writer = can.ASCWriter(self.test_file_name, tz=tz) - writer.stop() + msg = can.Message(timestamp=now.timestamp(), arbitration_id=0x123, data=b"h") + writer.on_message_received(msg) + writer.stop() actual_file = Path(self.test_file_name) expected_file = self._get_logfile_location("single_frame_us_locale.asc") @@ -654,26 +658,29 @@ def test_write_millisecond_handling(self): self.assertEqual(expected_file.read_text(), actual_file.read_text()) def test_write(self): - now = datetime( - year=2017, month=9, day=30, hour=15, minute=6, second=13, microsecond=191456 - ) - - # We temporarily set the locale to C to ensure test reproducibility - with override_locale(category=locale.LC_TIME, locale_str="C"): - # We mock datetime.now during ASCWriter __init__ for reproducibility - # Unfortunately, now() is a readonly attribute, so we mock datetime - with patch("can.io.asc.datetime") as mock_datetime: - mock_datetime.now.return_value = now - writer = can.ASCWriter(self.test_file_name) - - msg = can.Message( - timestamp=now.timestamp(), - arbitration_id=0x123, - data=range(64), + tz = asc._LOCAL_TZ + with patch("can.io.asc.datetime") as mock_datetime: + now = datetime( + year=2017, + month=9, + day=30, + hour=15, + minute=6, + second=13, + microsecond=191456, + tzinfo=tz, ) + mock_datetime.now.return_value = now + writer = can.ASCWriter(self.test_file_name, tz=tz) - with writer: - writer.on_message_received(msg) + msg = can.Message( + timestamp=now.timestamp(), + arbitration_id=0x123, + data=range(64), + ) + + with writer: + writer.on_message_received(msg) actual_file = Path(self.test_file_name) expected_file = self._get_logfile_location("single_frame.asc") @@ -684,34 +691,48 @@ def test_write(self): [ ( "May 27 04:09:35.000 pm 2014", - datetime(2014, 5, 27, 16, 9, 35, 0).timestamp(), + datetime( + 2014, 5, 27, 16, 9, 35, 0, tzinfo=timezone(timedelta(hours=5)) + ).timestamp(), ), ( "Mai 27 04:09:35.000 pm 2014", - datetime(2014, 5, 27, 16, 9, 35, 0).timestamp(), + datetime( + 2014, 5, 27, 16, 9, 35, 0, tzinfo=timezone(timedelta(hours=5)) + ).timestamp(), ), ( "Apr 28 10:44:52.480 2022", - datetime(2022, 4, 28, 10, 44, 52, 480000).timestamp(), + datetime( + 2022, 4, 28, 10, 44, 52, 480000, tzinfo=timezone(timedelta(hours=5)) + ).timestamp(), ), ( "Sep 30 15:06:13.191 2017", - datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + datetime( + 2017, 9, 30, 15, 6, 13, 191000, tzinfo=timezone(timedelta(hours=5)) + ).timestamp(), ), ( "Sep 30 15:06:13.191 pm 2017", - datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + datetime( + 2017, 9, 30, 15, 6, 13, 191000, tzinfo=timezone(timedelta(hours=5)) + ).timestamp(), ), ( "Sep 30 15:06:13.191 am 2017", - datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + datetime( + 2017, 9, 30, 15, 6, 13, 191000, tzinfo=timezone(timedelta(hours=5)) + ).timestamp(), ), ] ) def test_datetime_to_timestamp( self, datetime_string: str, expected_timestamp: float ): - timestamp = can.ASCReader._datetime_to_timestamp(datetime_string) + timestamp = can.ASCReader._datetime_to_timestamp( + datetime_string, tz=timezone(timedelta(hours=5)) + ) self.assertAlmostEqual(timestamp, expected_timestamp) From 59b2e4354671d029b6578de145791db1862bde23 Mon Sep 17 00:00:00 2001 From: Ju-Daeng-E <121679584+Ju-Daeng-E@users.noreply.github.com> Date: Tue, 3 Mar 2026 21:16:06 +0100 Subject: [PATCH 464/475] Fix/asc writer timestamps format (#2032) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat(asc): add timestamps_format parameter to ASCWriter Allow callers to choose between 'absolute' (default, existing behaviour) and 'relative' when creating an ASC log file. The value is written into the 'base hex timestamps ...' header line so that other tools (CANalyzer, CANoe, etc.) can interpret the file correctly. Closes #2022 * docs: add changelog fragment for #2022 * style: apply black formatting to logformats_test.py * fix(asc): apply timestamps_format to actual written timestamps, not just header Previously, log_event() always subtracted self.started from every timestamp regardless of timestamps_format, meaning "relative" mode only changed the header line while writing identical data to "absolute" mode. Per the ASC format specification: - "absolute": each timestamp is an offset from the start of measurement - "relative": each timestamp is a delta from the preceding event Fix log_event() to compute per-event deltas when timestamps_format="relative", and update self.last_timestamp after each event so the next delta is correct. Also add two tests that verify the actual values written to the file differ between the two modes (3-message uneven spacing exposes the distinction at msg3: absolute writes 1.0, relative writes 0.7). Update changelog fragment to describe the semantic difference accurately. * fix(asc): address PR review feedback on timestamps_format Reviewer feedback received (zariiii9003): 1. Use Literal type hint for timestamps_format parameter - Changed: timestamps_format: str = "absolute" - To: timestamps_format: Literal["absolute", "relative"] = "absolute" - Added Literal to typing imports 2. Simplify log_event timestamp computation - Moved monotonic clamp out of if/else blocks: timestamp = max(timestamp, self.last_timestamp) - Each branch now contains only simple arithmetic: absolute: written_timestamp = timestamp - self.started relative: written_timestamp = timestamp - self.last_timestamp 3. Use relative_timestamp=False in roundtrip tests - Updated test_write_relative_timestamp_roundtrip and test_write_absolute_timestamps_are_offsets_from_start to use relative_timestamp=False so assertions verify original message timestamps are recovered (100.0, 100.3, 101.0) rather than file-stored offsets (0.0, 0.3, 1.0) Additional issues found and fixed during review: 4. Removed outdated TODO comment in ASCReader - Removed: "TODO - what is this used for? The ASC Writer only prints absolute" — no longer accurate since ASCWriter now supports both "absolute" and "relative" formats 5. Lowered assertAlmostEqual precision from places=5 to places=3 - The datetime triggerblock roundtrip (fromtimestamp -> strftime -> strptime -> timestamp) only preserves millisecond precision due to the ".NNN" format. places=5 (5 microseconds) is stricter than what the format can guarantee; places=3 (0.5 ms) correctly reflects the actual precision limit. Verified empirically: sub-millisecond timestamps incur ~0.456 ms error which passes places=3 but fails places=5. 6. Updated docstrings for both modified roundtrip tests to accurately describe the new assertion semantics (original timestamp recovery) * fix(asc): fix relative timestamp roundtrip for 3+ messages ASCReader was treating all timestamps as cumulative offsets from start_time, ignoring the timestamps_format value. When reading a file written with timestamps_format="relative" (per-event deltas) and relative_timestamp=False, the reader now accumulates deltas into start_time instead of adding each delta independently. Without this fix, a 3-message roundtrip would produce: msg3: 0.7 + 100.0 = 100.7 (wrong, expected 101.0) Also strengthen test_write_relative_timestamp_roundtrip to use 3 messages, exposing the bug that was masked by the 2-message case. * fix(asc): use private _last_timestamp instead of mutating start_time Use self._last_timestamp to accumulate relative timestamps in ASCReader so that self.start_time remains unchanged and safe for external access. --- can/io/asc.py | 45 ++++++++++++++---- doc/changelog.d/2022.added.md | 4 ++ test/logformats_test.py | 89 +++++++++++++++++++++++++++++++++++ 3 files changed, 130 insertions(+), 8 deletions(-) create mode 100644 doc/changelog.d/2022.added.md diff --git a/can/io/asc.py b/can/io/asc.py index c02020e27..93ed79c35 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -10,7 +10,7 @@ import re from collections.abc import Generator from datetime import datetime, timezone, tzinfo -from typing import Any, Final, TextIO +from typing import Any, Final, Literal, TextIO from ..message import Message from ..typechecking import StringPathLike @@ -75,7 +75,7 @@ def __init__( self.relative_timestamp = relative_timestamp self.date: str | None = None self.start_time = 0.0 - # TODO - what is this used for? The ASC Writer only prints `absolute` + self._last_timestamp = 0.0 self.timestamps_format: str | None = None self.internal_events_logged = False @@ -294,6 +294,7 @@ def __iter__(self) -> Generator[Message, None, None]: if self.relative_timestamp else self._datetime_to_timestamp(datetime_str, self._timezone) ) + self._last_timestamp = self.start_time continue # Handle the "Start of measurement" line @@ -309,7 +310,11 @@ def __iter__(self) -> Generator[Message, None, None]: msg_kwargs: dict[str, float | bool | int] = {} try: _timestamp, channel, rest_of_message = line.split(None, 2) - timestamp = float(_timestamp) + self.start_time + if self.timestamps_format == "relative" and not self.relative_timestamp: + self._last_timestamp += float(_timestamp) + timestamp = self._last_timestamp + else: + timestamp = float(_timestamp) + self.start_time msg_kwargs["timestamp"] = timestamp if channel == "CANFD": msg_kwargs["is_fd"] = True @@ -372,6 +377,7 @@ def __init__( file: StringPathLike | TextIO, channel: int = 1, tz: tzinfo | None = _LOCAL_TZ, + timestamps_format: Literal["absolute", "relative"] = "absolute", **kwargs: Any, ) -> None: """ @@ -384,7 +390,22 @@ def __init__( have a channel set. Default is 1. :param tz: Timezone for timestamps in the log file. Defaults to local timezone. + :param timestamps_format: + the format of timestamps in the header. + Use ``"absolute"`` (default) so that readers can recover + the original wall-clock timestamps by combining the + per-message offset with the trigger-block start time. + Use ``"relative"`` when only the elapsed time from the + start of the recording matters and no absolute time + recovery is needed. + :raises ValueError: if *timestamps_format* is not ``"absolute"`` or + ``"relative"`` """ + if timestamps_format not in ("absolute", "relative"): + raise ValueError( + f"timestamps_format must be 'absolute' or 'relative', " + f"got {timestamps_format!r}" + ) if kwargs.get("append", False): raise ValueError( f"{self.__class__.__name__} is currently not equipped to " @@ -394,11 +415,12 @@ def __init__( self._timezone = tz self.channel = channel + self.timestamps_format = timestamps_format # write start of file header start_time = self._format_header_datetime(datetime.now(tz=self._timezone)) self.file.write(f"date {start_time}\n") - self.file.write("base hex timestamps absolute\n") + self.file.write(f"base hex timestamps {self.timestamps_format}\n") self.file.write("internal events logged\n") # the last part is written with the timestamp of the first message @@ -445,10 +467,17 @@ def log_event(self, message: str, timestamp: float | None = None) -> None: # Use last known timestamp if unknown if timestamp is None: timestamp = self.last_timestamp - # turn into relative timestamps if necessary - if timestamp >= self.started: - timestamp -= self.started - line = self.FORMAT_EVENT.format(timestamp=timestamp, message=message) + timestamp = max(timestamp, self.last_timestamp) + # Compute written timestamp based on configured format + if self.timestamps_format == "absolute": + # offsets from the start of measurement + written_timestamp = timestamp - self.started + else: + # deltas from the preceding event + written_timestamp = timestamp - self.last_timestamp + # Track last timestamp so the next event can compute its delta + self.last_timestamp = timestamp + line = self.FORMAT_EVENT.format(timestamp=written_timestamp, message=message) self.file.write(line) def on_message_received(self, msg: Message) -> None: diff --git a/doc/changelog.d/2022.added.md b/doc/changelog.d/2022.added.md new file mode 100644 index 000000000..b8b8cd205 --- /dev/null +++ b/doc/changelog.d/2022.added.md @@ -0,0 +1,4 @@ +Added `timestamps_format` parameter to `ASCWriter` to support configurable timestamp +format: `"absolute"` (default, timestamps are offsets from the start of measurement) +or `"relative"` (each timestamp is the delta from the preceding event), matching the +semantics described in the ASC format specification. diff --git a/test/logformats_test.py b/test/logformats_test.py index 6839c2450..42ed29b13 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -11,6 +11,7 @@ TODO: correctly set preserves_channel and adds_default_channel """ + import locale import logging import os @@ -687,6 +688,94 @@ def test_write(self): self.assertEqual(expected_file.read_text(), actual_file.read_text()) + def test_write_timestamps_format_default_is_absolute(self): + """ASCWriter should write 'timestamps absolute' in the header by default.""" + with can.ASCWriter(self.test_file_name) as writer: + pass + + content = Path(self.test_file_name).read_text() + self.assertIn("timestamps absolute", content) + + def test_write_timestamps_format_relative(self): + """ASCWriter should write 'timestamps relative' when requested.""" + with can.ASCWriter(self.test_file_name, timestamps_format="relative") as writer: + pass + + content = Path(self.test_file_name).read_text() + self.assertIn("timestamps relative", content) + self.assertNotIn("timestamps absolute", content) + + def test_write_timestamps_format_invalid(self): + """ASCWriter should raise ValueError for an unsupported timestamps_format.""" + with self.assertRaises(ValueError): + can.ASCWriter(self.test_file_name, timestamps_format="unix") + + def test_write_relative_timestamp_roundtrip(self): + """Messages written with relative format round-trip to their original timestamps.""" + msgs = [ + can.Message(timestamp=100.0, arbitration_id=0x1, data=b"\x01"), + can.Message(timestamp=100.3, arbitration_id=0x2, data=b"\x02"), + can.Message(timestamp=101.0, arbitration_id=0x3, data=b"\x03"), + ] + + with can.ASCWriter(self.test_file_name, timestamps_format="relative") as writer: + for m in msgs: + writer.on_message_received(m) + + with can.ASCReader(self.test_file_name, relative_timestamp=False) as reader: + result = list(reader) + + self.assertEqual(len(result), len(msgs)) + self.assertAlmostEqual(result[0].timestamp, 100.0, places=3) + self.assertAlmostEqual(result[1].timestamp, 100.3, places=3) + self.assertAlmostEqual(result[2].timestamp, 101.0, places=3) + + def test_write_relative_timestamps_are_per_event_deltas(self): + """With timestamps_format='relative', each written timestamp is a delta from the + preceding event (not an offset from measurement start).""" + msgs = [ + can.Message(timestamp=100.0, arbitration_id=0x1, data=b"\x01"), + can.Message(timestamp=100.3, arbitration_id=0x2, data=b"\x02"), + can.Message(timestamp=101.0, arbitration_id=0x3, data=b"\x03"), + ] + + with can.ASCWriter(self.test_file_name, timestamps_format="relative") as writer: + for m in msgs: + writer.on_message_received(m) + + with can.ASCReader(self.test_file_name, relative_timestamp=True) as reader: + result = list(reader) + + self.assertEqual(len(result), len(msgs)) + # msg1: 0.0 (delta from "Start of measurement" at same time) + # msg2: 0.3 (delta from msg1) + # msg3: 0.7 (delta from msg2 — NOT 1.0, which would be absolute offset) + self.assertAlmostEqual(result[0].timestamp, 0.0, places=5) + self.assertAlmostEqual(result[1].timestamp, 0.3, places=5) + self.assertAlmostEqual(result[2].timestamp, 0.7, places=5) + + def test_write_absolute_timestamps_are_offsets_from_start(self): + """With timestamps_format='absolute' (default), messages round-trip to their + original timestamps when read back with relative_timestamp=False.""" + msgs = [ + can.Message(timestamp=100.0, arbitration_id=0x1, data=b"\x01"), + can.Message(timestamp=100.3, arbitration_id=0x2, data=b"\x02"), + can.Message(timestamp=101.0, arbitration_id=0x3, data=b"\x03"), + ] + + with can.ASCWriter(self.test_file_name, timestamps_format="absolute") as writer: + for m in msgs: + writer.on_message_received(m) + + with can.ASCReader(self.test_file_name, relative_timestamp=False) as reader: + result = list(reader) + + self.assertEqual(len(result), len(msgs)) + # Timestamps are recovered from the triggerblock start time + file offset: + self.assertAlmostEqual(result[0].timestamp, 100.0, places=3) + self.assertAlmostEqual(result[1].timestamp, 100.3, places=3) + self.assertAlmostEqual(result[2].timestamp, 101.0, places=3) + @parameterized.expand( [ ( From e6a429db4f7b51a19a43214b9748af25dba1ed6d Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sun, 1 Mar 2026 16:18:28 +0000 Subject: [PATCH 465/475] Bump the github-actions group with 5 updates Bumps the github-actions group with 5 updates: | Package | From | To | | --- | --- | --- | | [actions/checkout](https://github.com/actions/checkout) | `6.0.1` | `6.0.2` | | [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv) | `7.1.6` | `7.3.1` | | [actions/upload-artifact](https://github.com/actions/upload-artifact) | `6.0.0` | `7.0.0` | | [actions/download-artifact](https://github.com/actions/download-artifact) | `7.0.0` | `8.0.0` | | [actions/attest-build-provenance](https://github.com/actions/attest-build-provenance) | `3.1.0` | `4.1.0` | Updates `actions/checkout` from 6.0.1 to 6.0.2 - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/8e8c483db84b4bee98b60c0593521ed34d9990e8...de0fac2e4500dabe0009e67214ff5f5447ce83dd) Updates `astral-sh/setup-uv` from 7.1.6 to 7.3.1 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/681c641aba71e4a1c380be3ab5e12ad51f415867...5a095e7a2014a4212f075830d4f7277575a9d098) Updates `actions/upload-artifact` from 6.0.0 to 7.0.0 - [Release notes](https://github.com/actions/upload-artifact/releases) - [Commits](https://github.com/actions/upload-artifact/compare/b7c566a772e6b6bfb58ed0dc250532a479d7789f...bbbca2ddaa5d8feaa63e36b76fdaad77386f024f) Updates `actions/download-artifact` from 7.0.0 to 8.0.0 - [Release notes](https://github.com/actions/download-artifact/releases) - [Commits](https://github.com/actions/download-artifact/compare/37930b1c2abaa49bbe596cd826c3c89aef350131...70fc10c6e5e1ce46ad2ea6f2b72d43f7d47b13c3) Updates `actions/attest-build-provenance` from 3.1.0 to 4.1.0 - [Release notes](https://github.com/actions/attest-build-provenance/releases) - [Changelog](https://github.com/actions/attest-build-provenance/blob/main/RELEASE.md) - [Commits](https://github.com/actions/attest-build-provenance/compare/00014ed6ed5efc5b1ab7f7f34a39eb55d41aa4f8...a2bbfa25375fe432b6a289bc6b6cd05ecd0c4c32) --- updated-dependencies: - dependency-name: actions/checkout dependency-version: 6.0.2 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: astral-sh/setup-uv dependency-version: 7.3.1 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions - dependency-name: actions/upload-artifact dependency-version: 7.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: actions/download-artifact dependency-version: 8.0.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: actions/attest-build-provenance dependency-version: 4.1.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 270e2fd01..796e7c65a 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -33,12 +33,12 @@ jobs: ] fail-fast: false steps: - - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 + - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 + uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -66,7 +66,7 @@ jobs: needs: test runs-on: ubuntu-latest steps: - - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 + - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 with: fetch-depth: 0 persist-credentials: false @@ -79,12 +79,12 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 + - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 + uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -97,12 +97,12 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 + - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 + uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -113,18 +113,18 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # 6.0.1 + - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@681c641aba71e4a1c380be3ab5e12ad51f415867 # 7.1.6 + uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 - name: Build wheel and sdist run: uv build - name: Check build artifacts run: uvx twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@b7c566a772e6b6bfb58ed0dc250532a479d7789f # 6.0.0 + uses: actions/upload-artifact@bbbca2ddaa5d8feaa63e36b76fdaad77386f024f # 7.0.0 with: name: release path: ./dist @@ -140,13 +140,13 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@37930b1c2abaa49bbe596cd826c3c89aef350131 # 7.0.0 + - uses: actions/download-artifact@70fc10c6e5e1ce46ad2ea6f2b72d43f7d47b13c3 # 8.0.0 with: path: dist merge-multiple: true - name: Generate artifact attestation - uses: actions/attest-build-provenance@00014ed6ed5efc5b1ab7f7f34a39eb55d41aa4f8 # 3.1.0 + uses: actions/attest-build-provenance@a2bbfa25375fe432b6a289bc6b6cd05ecd0c4c32 # 4.1.0 with: subject-path: 'dist/*' From 31b57a666b5c3095a5245f06dab07194f9846176 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Tue, 3 Mar 2026 22:02:02 +0100 Subject: [PATCH 466/475] Update linters (#2038) --- can/interfaces/robotell.py | 2 +- can/interfaces/slcan.py | 2 +- can/interfaces/systec/structures.py | 2 +- can/interfaces/udp_multicast/bus.py | 2 +- can/io/sqlite.py | 6 ++---- can/util.py | 4 +--- pyproject.toml | 6 +++--- test/listener_test.py | 1 + test/test_cyclic_socketcan.py | 1 + test/test_neovi.py | 1 + test/test_socketcan.py | 1 + test/test_socketcan_loopback.py | 1 + tox.ini | 5 ++++- 13 files changed, 19 insertions(+), 15 deletions(-) diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index b24543856..d34e524ab 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -74,7 +74,7 @@ def __init__( if not channel: # if None or empty raise TypeError("Must specify a serial port.") if "@" in channel: - (channel, ttyBaudrate) = channel.split("@") + channel, ttyBaudrate = channel.split("@") self.serialPortOrig = serial.serial_for_url( channel, baudrate=ttyBaudrate, rtscts=rtscts ) diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index a6430d4e2..4618ed1c1 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -132,7 +132,7 @@ def __init__( if not channel: # if None or empty raise ValueError("Must specify a serial port.") if "@" in channel: - (channel, baudrate) = channel.split("@") + channel, baudrate = channel.split("@") tty_baudrate = int(baudrate) with error_check(exception_type=CanInitializationError): diff --git a/can/interfaces/systec/structures.py b/can/interfaces/systec/structures.py index a50ac4c26..5687308ad 100644 --- a/can/interfaces/systec/structures.py +++ b/can/interfaces/systec/structures.py @@ -74,7 +74,7 @@ def __eq__(self, other): def id(self): return self.m_dwID - @id.setter + @id.setter # noqa: A003 def id(self, value): self.m_dwID = value diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index 87a0800fa..01f67bd8e 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -397,7 +397,7 @@ def recv( timestamp = seconds + nanoseconds * 1.0e-9 else: # fetch data & source address - (raw_message_data, sender_address) = self._socket.recvfrom( + raw_message_data, sender_address = self._socket.recvfrom( self.max_buffer ) diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 5f4885adb..a21ec4438 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -178,8 +178,7 @@ def _create_db(file: StringPathLike, table_name: str) -> sqlite3.Connection: conn = sqlite3.connect(file) # create table structure - conn.cursor().execute( - f"""CREATE TABLE IF NOT EXISTS {table_name} + conn.cursor().execute(f"""CREATE TABLE IF NOT EXISTS {table_name} ( ts REAL, arbitration_id INTEGER, @@ -188,8 +187,7 @@ def _create_db(file: StringPathLike, table_name: str) -> sqlite3.Connection: error INTEGER, dlc INTEGER, data BLOB - )""" - ) + )""") conn.commit() return conn diff --git a/can/util.py b/can/util.py index 4cbeec60e..42ae8dc5f 100644 --- a/can/util.py +++ b/can/util.py @@ -177,9 +177,7 @@ def load_config( [ given_config, can.rc, - lambda _context: load_environment_config( # pylint: disable=unnecessary-lambda - _context - ), + load_environment_config, lambda _context: load_environment_config(), lambda _context: load_file_config(path, _context), lambda _context: load_file_config(path), diff --git a/pyproject.toml b/pyproject.toml index ddaf61ef5..9eb4a41cd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -90,15 +90,15 @@ docs = [ ] lint = [ "pylint==4.0.*", - "ruff==0.14.*", - "black==25.12.*", + "ruff==0.15.*", + "black==26.1.*", "mypy==1.19.*", ] test = [ "pytest==9.0.*", "pytest-timeout==2.4.*", "pytest-modern==0.7.*;platform_system!='Windows'", - "coveralls==4.0.*", + "coveralls==4.1.*", "pytest-cov==7.0.*", "coverage==7.13.*", "hypothesis==6.*", diff --git a/test/listener_test.py b/test/listener_test.py index bbcbed56e..77fd0d2e0 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -1,6 +1,7 @@ #!/usr/bin/env python """ """ + import asyncio import logging import os diff --git a/test/test_cyclic_socketcan.py b/test/test_cyclic_socketcan.py index f19ce95b9..86f1c82dd 100644 --- a/test/test_cyclic_socketcan.py +++ b/test/test_cyclic_socketcan.py @@ -3,6 +3,7 @@ """ This module tests multiple message cyclic send tasks. """ + import time import unittest diff --git a/test/test_neovi.py b/test/test_neovi.py index 8c816bef2..cc6ddc297 100644 --- a/test/test_neovi.py +++ b/test/test_neovi.py @@ -1,6 +1,7 @@ #!/usr/bin/env python """ """ + import pickle import unittest diff --git a/test/test_socketcan.py b/test/test_socketcan.py index 534ee2a61..9d042f425 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -3,6 +3,7 @@ """ Test functions in `can.interfaces.socketcan.socketcan`. """ + import ctypes import struct import sys diff --git a/test/test_socketcan_loopback.py b/test/test_socketcan_loopback.py index 2934eb9ea..ae045448d 100644 --- a/test/test_socketcan_loopback.py +++ b/test/test_socketcan_loopback.py @@ -6,6 +6,7 @@ for a good explanation of why this might be needed: https://www.kernel.org/doc/html/v4.17/networking/can.html#socketcan-local-loopback1 """ + import unittest import can diff --git a/tox.ini b/tox.ini index 4e96291ed..e635ec000 100644 --- a/tox.ini +++ b/tox.ini @@ -25,8 +25,11 @@ commands = [testenv:py314] extras = canalystii - serial + mf4 + multicast pywin32 + serial + # still no windows-curses for py314 [testenv:{py313t,py314t,pypy310,pypy311}] extras = From a624fd8793055c44b41fa164995b088fdaec8526 Mon Sep 17 00:00:00 2001 From: Ben Gardiner Date: Wed, 11 Mar 2026 13:38:58 -0400 Subject: [PATCH 467/475] gs-usb WinUSB support and timeout=none is forever (#2031) * Update gs_usb driver to support WinUSB by not forcing libusb1 backend Replace GsUsb.scan() and GsUsb.find() calls with local helper functions that call usb.core.find() without specifying a backend, allowing pyusb to auto-detect the best available backend. This enables WinUSB support on Windows in addition to libusbK. Update documentation to reflect WinUSB support and add unit tests. Co-authored-by: BenGardiner <243321+BenGardiner@users.noreply.github.com> * Add pyusb as explicit dependency in gs-usb optional group The gs_usb interface directly imports `usb` (pyusb) for USB device discovery, so pyusb must be an explicit dependency rather than relying on it being a transitive dependency of the gs-usb package. Co-authored-by: BenGardiner <243321+BenGardiner@users.noreply.github.com> * gs_usb: treat timeout=None as forever pass '0' when timeout=None (as proposed by @zariiii9003 in https://github.com/hardbyte/python-can/pull/2026#issuecomment-3941747658) * add news fragment * formatting fixes * gs_usb module needed in tests deps now * Fix gs_usb shutdown to always call parent BusABC.shutdown() BusABC has a class-level _is_shutdown = True attribute. When __init__ was not called (as in test mocks), GsUsbBus.shutdown() resolved this class attribute and returned early, never calling super().shutdown(). Restructure shutdown() to always call super().shutdown(), using the pre-call _is_shutdown state only to guard interface-specific cleanup. Co-authored-by: BenGardiner <243321+BenGardiner@users.noreply.github.com> * note pyusb not WinUSB in news and news frags are a sentence not a list (@zariiii9003) * put gs-usb dep into tox.ini (@zariiii9003) * combine _scan_gs_usb_devices() and _find_gs_usb_device() (@zariiii9003) * don't instantiate a GsUsb device for every one detected (@zariiii9003) * remove gs-usb from mypy (@zariiii9003) * gs_usb: explicitly handle timeout=None separate from =0 (@zariiii9003) --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: BenGardiner <243321+BenGardiner@users.noreply.github.com> --- can/interfaces/gs_usb.py | 108 ++++++++++++++++++++++---------- doc/changelog.d/2031.changed.md | 1 + doc/interfaces/gs_usb.rst | 6 +- pyproject.toml | 3 +- test/test_interface_gs_usb.py | 67 ++++++++++++++++++++ tox.ini | 4 ++ 6 files changed, 153 insertions(+), 36 deletions(-) create mode 100644 doc/changelog.d/2031.changed.md create mode 100644 test/test_interface_gs_usb.py diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 6297fc1f5..fcf21d3f4 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -1,4 +1,5 @@ import logging +from typing import Any import usb from gs_usb.constants import CAN_EFF_FLAG, CAN_ERR_FLAG, CAN_MAX_DLC, CAN_RTR_FLAG @@ -12,17 +13,46 @@ logger = logging.getLogger(__name__) +def _find_gs_usb_devices( + bus: int | None = None, address: int | None = None +) -> list[usb.core.Device]: + """Find raw USB devices for gs_usb using auto-detected backend. + + Unlike :meth:`GsUsb.scan`, this does not force the ``libusb1`` backend, + allowing ``pyusb`` to auto-detect the best available backend. This enables + support for WinUSB on Windows in addition to libusbK. + + :param bus: number of the bus that the device is connected to + :param address: address of the device on the bus it is connected to + :return: a list of found raw USB devices + """ + kwargs = {} + if bus is not None: + kwargs["bus"] = bus + if address is not None: + kwargs["address"] = address + + return list( + usb.core.find( + find_all=True, + custom_match=GsUsb.is_gs_usb_device, + **kwargs, + ) + or [] + ) + + class GsUsbBus(can.BusABC): def __init__( self, - channel, + channel: can.typechecking.Channel, bitrate: int = 500_000, - index=None, - bus=None, - address=None, - can_filters=None, - **kwargs, - ): + index: int | None = None, + bus: int | None = None, + address: int | None = None, + can_filters: can.typechecking.CanFilters | None = None, + **kwargs: Any, + ) -> None: """ :param channel: usb device name :param index: device number if using automatic scan, starting from 0. @@ -32,31 +62,41 @@ def __init__( :param can_filters: not supported :param bitrate: CAN network bandwidth (bits/s) """ - self._is_shutdown = False if (index is not None) and ((bus or address) is not None): raise CanInitializationError( "index and bus/address cannot be used simultaneously" ) if index is None and address is None and bus is None: - index = channel + _index: Any = channel + else: + _index = index - self._index = None - if index is not None: - devs = GsUsb.scan() - if len(devs) <= index: + self._index: int | None = None + if _index is not None: + if not isinstance(_index, int): + try: + _index = int(_index) + except (ValueError, TypeError): + raise CanInitializationError( + f"index must be an integer, but got {type(_index).__name__} ({_index})" + ) from None + + devs = _find_gs_usb_devices() + if len(devs) <= _index: raise CanInitializationError( - f"Cannot find device {index}. Devices found: {len(devs)}" + f"Cannot find device {_index}. Devices found: {len(devs)}" ) - gs_usb = devs[index] - self._index = index + gs_usb_dev = devs[_index] + self._index = _index else: - gs_usb = GsUsb.find(bus=bus, address=address) - if not gs_usb: + devs = _find_gs_usb_devices(bus=bus, address=address) + if not devs: raise CanInitializationError(f"Cannot find device {channel}") + gs_usb_dev = devs[0] - self.gs_usb = gs_usb - self.channel_info = channel + self.gs_usb = GsUsb(gs_usb_dev) + self.channel_info = str(channel) self._can_protocol = can.CanProtocol.CAN_20 bit_timing = can.BitTiming.from_sample_point( @@ -81,7 +121,7 @@ def __init__( **kwargs, ) - def send(self, msg: can.Message, timeout: float | None = None): + def send(self, msg: can.Message, timeout: float | None = None) -> None: """Transmit a message to the CAN bus. :param Message msg: A message object. @@ -138,10 +178,13 @@ def _recv_internal(self, timeout: float | None) -> tuple[can.Message | None, boo """ frame = GsUsbFrame() - # Do not set timeout as None or zero here to avoid blocking - timeout_ms = round(timeout * 1000) if timeout else 1 - if not self.gs_usb.read(frame=frame, timeout_ms=timeout_ms): - return None, False + if timeout is None: + timeout_ms = 0 + else: + # Do not set timeout as None or zero here to avoid blocking + timeout_ms = round(timeout * 1000) if timeout else 1 + if not self.gs_usb.read(frame=frame, timeout_ms=timeout_ms): + return None, False msg = can.Message( timestamp=frame.timestamp, @@ -158,21 +201,22 @@ def _recv_internal(self, timeout: float | None) -> tuple[can.Message | None, boo return msg, False def shutdown(self): - if self._is_shutdown: + already_shutdown = self._is_shutdown + super().shutdown() + if already_shutdown: return - super().shutdown() self.gs_usb.stop() if self._index is not None: - # Avoid errors on subsequent __init() by repeating the .scan() and .start() that would otherwise fail - # the next time the device is opened in __init__() - devs = GsUsb.scan() + # Avoid errors on subsequent __init() by repeating the .scan() and + # .start() that would otherwise fail the next time the device is + # opened in __init__() + devs = _find_gs_usb_devices() if self._index < len(devs): - gs_usb = devs[self._index] + gs_usb = GsUsb(devs[self._index]) try: gs_usb.set_bitrate(self._bitrate) gs_usb.start() gs_usb.stop() except usb.core.USBError: pass - self._is_shutdown = True diff --git a/doc/changelog.d/2031.changed.md b/doc/changelog.d/2031.changed.md new file mode 100644 index 000000000..9d6bf79aa --- /dev/null +++ b/doc/changelog.d/2031.changed.md @@ -0,0 +1 @@ +make gs_usb use pyusb (allows WinUSB instead of requiring libusbK on windows) also timeout=None means foreever diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index 8bab07c6f..580a994fc 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -52,8 +52,10 @@ Windows, Linux and Mac. The backend driver depends on `pyusb `_ so a ``pyusb`` backend driver library such as ``libusb`` must be installed. - On Windows a tool such as `Zadig `_ can be used to set the USB device driver to - ``libusbK``. + On Windows, WinUSB and libusbK are both supported. Devices with WCID (Windows Compatible ID) descriptors, + such as candleLight firmware, will automatically use WinUSB without any additional driver installation. + Alternatively, a tool such as `Zadig `_ can be used to set the USB device driver to + either ``WinUSB`` or ``libusbK``. Supplementary Info diff --git a/pyproject.toml b/pyproject.toml index 9eb4a41cd..da7ff7cfb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -64,7 +64,7 @@ neovi = ["filelock", "python-ics>=2.12"] canalystii = ["canalystii>=0.1.0"] cantact = ["cantact>=0.0.7"] cvector = ["python-can-cvector"] -gs-usb = ["gs-usb>=0.2.1"] +gs-usb = ["gs-usb>=0.2.1", "pyusb>=1.0.2"] nixnet = ["nixnet>=0.3.2"] pcan = ["uptime~=3.0.1"] remote = ["python-can-remote"] @@ -137,7 +137,6 @@ exclude = [ "^doc/conf.py$", "^test", "^can/interfaces/etas", - "^can/interfaces/gs_usb", "^can/interfaces/ics_neovi", "^can/interfaces/iscan", "^can/interfaces/ixxat", diff --git a/test/test_interface_gs_usb.py b/test/test_interface_gs_usb.py new file mode 100644 index 000000000..9f0e35534 --- /dev/null +++ b/test/test_interface_gs_usb.py @@ -0,0 +1,67 @@ +"""Tests for the gs_usb interface.""" + +from unittest.mock import MagicMock, patch + +import pytest + +from can.interfaces.gs_usb import ( + GsUsbBus, + _find_gs_usb_devices, +) + + +@patch("can.interfaces.gs_usb.usb.core.find") +def test_find_devices_does_not_force_backend(mock_find): + """Verify that _find_gs_usb_devices does not pass a backend argument, + allowing pyusb to auto-detect the best available backend (WinUSB, libusbK, etc.).""" + mock_find.return_value = [] + + _find_gs_usb_devices() + + mock_find.assert_called_once() + call_kwargs = mock_find.call_args[1] + assert ( + "backend" not in call_kwargs + ), "backend should not be specified so pyusb can auto-detect" + assert call_kwargs["find_all"] is True + + +@patch("can.interfaces.gs_usb.usb.core.find") +def test_find_devices_with_args_does_not_force_backend(mock_find): + """Verify that _find_gs_usb_devices with bus/address does not pass a backend argument.""" + mock_find.return_value = [] + + _find_gs_usb_devices(bus=1, address=2) + + mock_find.assert_called_once() + call_kwargs = mock_find.call_args[1] + assert ( + "backend" not in call_kwargs + ), "backend should not be specified so pyusb can auto-detect" + assert call_kwargs["bus"] == 1 + assert call_kwargs["address"] == 2 + assert call_kwargs["find_all"] is True + + +@patch("can.interfaces.gs_usb.usb.core.find") +def test_find_devices_returns_raw_usb_devices(mock_find): + """Verify that _find_gs_usb_devices returns the raw USB devices.""" + mock_dev1 = MagicMock() + mock_dev2 = MagicMock() + mock_find.return_value = [mock_dev1, mock_dev2] + + devices = _find_gs_usb_devices() + + assert len(devices) == 2 + assert devices[0] is mock_dev1 + assert devices[1] is mock_dev2 + + +@patch("can.interfaces.gs_usb.usb.core.find") +def test_find_devices_returns_empty_list_when_no_devices(mock_find): + """Verify that _find_gs_usb_devices returns an empty list when no devices are found.""" + mock_find.return_value = [] + + devices = _find_gs_usb_devices() + + assert devices == [] diff --git a/tox.ini b/tox.ini index e635ec000..2e695f9e4 100644 --- a/tox.ini +++ b/tox.ini @@ -14,6 +14,7 @@ dependency_groups = test extras = canalystii + gs-usb mf4 multicast pywin32 @@ -27,6 +28,8 @@ extras = canalystii mf4 multicast + gs-usb + serial pywin32 serial # still no windows-curses for py314 @@ -34,6 +37,7 @@ extras = [testenv:{py313t,py314t,pypy310,pypy311}] extras = canalystii + gs-usb serial [testenv:docs] From 5fa629a39ab12a20fe77347742d0990912772ad1 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 21 Mar 2026 11:24:34 +0100 Subject: [PATCH 468/475] Move changelog to documentation (#2039) * include changelog in documentation * add github release template * add news fragments for 2039 --- .github/release.yml | 4 + CHANGELOG.md | 852 ------------- doc/changelog.d/.gitignore | 12 +- .../{1815.added.md => 1815.added.rst} | 2 +- doc/changelog.d/1815.removed.md | 1 - doc/changelog.d/1815.removed.rst | 1 + doc/changelog.d/1938.fixed.md | 1 - doc/changelog.d/1938.fixed.rst | 1 + doc/changelog.d/1987.added.md | 1 - doc/changelog.d/1987.added.rst | 1 + .../{1995.added.md => 1995.added.rst} | 0 .../{1996.removed.md => 1996.removed.rst} | 0 doc/changelog.d/2009.changed.md | 1 - doc/changelog.d/2009.changed.rst | 1 + doc/changelog.d/2022.added.md | 4 - doc/changelog.d/2022.added.rst | 4 + doc/changelog.d/2023.changed.md | 1 - doc/changelog.d/2023.changed.rst | 1 + doc/changelog.d/2026.changed.md | 1 - doc/changelog.d/2026.changed.rst | 1 + doc/changelog.d/2028.changed.md | 1 - doc/changelog.d/2028.changed.rst | 1 + doc/changelog.d/2031.changed.md | 1 - doc/changelog.d/2031.changed.rst | 1 + doc/changelog.d/2035.added.md | 1 - doc/changelog.d/2035.added.rst | 1 + doc/changelog.d/2039.added.rst | 1 + doc/changelog.d/2039.changed.rst | 1 + doc/changelog.rst | 1069 +++++++++++++++++ doc/conf.py | 11 +- doc/development.rst | 18 +- doc/index.rst | 1 + pyproject.toml | 12 +- 33 files changed, 1120 insertions(+), 889 deletions(-) create mode 100644 .github/release.yml delete mode 100644 CHANGELOG.md rename doc/changelog.d/{1815.added.md => 1815.added.rst} (50%) delete mode 100644 doc/changelog.d/1815.removed.md create mode 100644 doc/changelog.d/1815.removed.rst delete mode 100644 doc/changelog.d/1938.fixed.md create mode 100644 doc/changelog.d/1938.fixed.rst delete mode 100644 doc/changelog.d/1987.added.md create mode 100644 doc/changelog.d/1987.added.rst rename doc/changelog.d/{1995.added.md => 1995.added.rst} (100%) rename doc/changelog.d/{1996.removed.md => 1996.removed.rst} (100%) delete mode 100644 doc/changelog.d/2009.changed.md create mode 100644 doc/changelog.d/2009.changed.rst delete mode 100644 doc/changelog.d/2022.added.md create mode 100644 doc/changelog.d/2022.added.rst delete mode 100644 doc/changelog.d/2023.changed.md create mode 100644 doc/changelog.d/2023.changed.rst delete mode 100644 doc/changelog.d/2026.changed.md create mode 100644 doc/changelog.d/2026.changed.rst delete mode 100644 doc/changelog.d/2028.changed.md create mode 100644 doc/changelog.d/2028.changed.rst delete mode 100644 doc/changelog.d/2031.changed.md create mode 100644 doc/changelog.d/2031.changed.rst delete mode 100644 doc/changelog.d/2035.added.md create mode 100644 doc/changelog.d/2035.added.rst create mode 100644 doc/changelog.d/2039.added.rst create mode 100644 doc/changelog.d/2039.changed.rst create mode 100644 doc/changelog.rst diff --git a/.github/release.yml b/.github/release.yml new file mode 100644 index 000000000..8c7b09949 --- /dev/null +++ b/.github/release.yml @@ -0,0 +1,4 @@ +changelog: + exclude: + authors: + - dependabot[bot] diff --git a/CHANGELOG.md b/CHANGELOG.md deleted file mode 100644 index 75ecab49e..000000000 --- a/CHANGELOG.md +++ /dev/null @@ -1,852 +0,0 @@ -# Changelog - - - - - -## Version [v4.6.1](https://github.com/hardbyte/python-can/tree/v4.6.1) - 2025-08-12 - -### Fixed - -- Fix initialisation of an slcan bus, when setting a bitrate. When using CAN 2.0 (not FD), the default setting for `data_bitrate` was invalid, causing an exception. ([#1978](https://github.com/hardbyte/python-can/issues/1978)) - - -## Version [v4.6.0](https://github.com/hardbyte/python-can/tree/v4.6.0) - 2025-08-05 - -### Removed - -- Remove support for Python 3.8. ([#1931](https://github.com/hardbyte/python-can/issues/1931)) -- Unknown command line arguments ("extra args") are no longer passed down to `can.Bus()` instantiation. Use the `--bus-kwargs` argument instead. ([#1949](https://github.com/hardbyte/python-can/issues/1949)) -- Remove `can.io.generic.BaseIOHandler` class. Improve `can.io.*` type annotations by using `typing.Generic`. ([#1951](https://github.com/hardbyte/python-can/issues/1951)) - -### Added - -- Support 11-bit identifiers in the `serial` interface. ([#1758](https://github.com/hardbyte/python-can/issues/1758)) -- Keep track of active Notifiers and make Notifier usable as a context manager. Add function `Notifier.find_instances(bus)` to find the active Notifier for a given bus instance. ([#1890](https://github.com/hardbyte/python-can/issues/1890)) -- Add Windows support to `udp_multicast` interface. ([#1914](https://github.com/hardbyte/python-can/issues/1914)) -- Add FD support to `slcan` according to CANable 2.0 implementation. ([#1920](https://github.com/hardbyte/python-can/issues/1920)) -- Add support for error messages to the `socketcand` interface. ([#1941](https://github.com/hardbyte/python-can/issues/1941)) -- Add support for remote and error frames in the `serial` interface. ([#1948](https://github.com/hardbyte/python-can/issues/1948)) -- Add public functions `can.cli.add_bus_arguments` and `can.cli.create_bus_from_namespace` for creating bus command line options. Currently downstream packages need to implement their own logic to configure *python-can* buses. Now *python-can* can create and parse bus options for third party packages. ([#1949](https://github.com/hardbyte/python-can/issues/1949)) -- Add support for remote frames to `TRCReader`. ([#1953](https://github.com/hardbyte/python-can/issues/1953)) -- Mention the `python-can-candle` package in the plugin interface section of the documentation. ([#1954](https://github.com/hardbyte/python-can/issues/1954)) -- Add new CLI tool `python -m can.bridge` (or just `can_bridge`) to create a software bridge between two physical buses. ([#1961](https://github.com/hardbyte/python-can/issues/1961)) - -### Changed - -- Allow sending Classic CAN frames with a DLC value larger than 8 using the `socketcan` interface. ([#1851](https://github.com/hardbyte/python-can/issues/1851)) -- The `gs_usb` extra dependency was renamed to `gs-usb`. - The `lint` extra dependency was removed and replaced with new PEP 735 dependency groups `lint`, `docs` and `test`. ([#1945](https://github.com/hardbyte/python-can/issues/1945)) -- Update dependency name from `zlgcan-driver-py` to `zlgcan`. ([#1946](https://github.com/hardbyte/python-can/issues/1946)) -- Use ThreadPoolExecutor in `detect_available_configs()` to reduce runtime and add `timeout` parameter. ([#1947](https://github.com/hardbyte/python-can/issues/1947)) -- Update contribution guide. ([#1960](https://github.com/hardbyte/python-can/issues/1960)) - -### Fixed - -- Fix a bug in `slcanBus.get_version()` and `slcanBus.get_serial_number()`: If any other data was received during the function call, then `None` was returned. ([#1904](https://github.com/hardbyte/python-can/issues/1904)) -- Fix incorrect padding of CAN FD payload in `BlfReader`. ([#1906](https://github.com/hardbyte/python-can/issues/1906)) -- Set correct message direction for messages received with `kvaser` interface and `receive_own_messages=True`. ([#1908](https://github.com/hardbyte/python-can/issues/1908)) -- Fix timestamp rounding error in `BlfWriter`. ([#1921](https://github.com/hardbyte/python-can/issues/1921)) -- Fix timestamp rounding error in `BlfReader`. ([#1927](https://github.com/hardbyte/python-can/issues/1927)) -- Handle timer overflow message and build timestamp according to the epoch in the `ixxat` interface. ([#1934](https://github.com/hardbyte/python-can/issues/1934)) -- Avoid unsupported `ioctl` function call to allow usage of the `udp_multicast` interface on MacOS. ([#1940](https://github.com/hardbyte/python-can/issues/1940)) -- Fix configuration file parsing for the `state` bus parameter. ([#1957](https://github.com/hardbyte/python-can/issues/1957)) -- Mf4Reader: support non-standard `CAN_DataFrame.Dir` values in mf4 files created by [ihedvall/mdflib](https://github.com/ihedvall/mdflib). ([#1967](https://github.com/hardbyte/python-can/issues/1967)) -- PcanBus: Set `Message.channel` attribute in `PcanBus.recv()`. ([#1969](https://github.com/hardbyte/python-can/issues/1969)) - - -## Version 4.5.0 - -### Features - -* gs_usb command-line support (and documentation updates and stability fixes) by @BenGardiner in https://github.com/hardbyte/python-can/pull/1790 -* Faster and more general MF4 support by @cssedev in https://github.com/hardbyte/python-can/pull/1892 -* ASCWriter speed improvement by @pierreluctg in https://github.com/hardbyte/python-can/pull/1856 -* Faster Message string representation by @pierreluctg in https://github.com/hardbyte/python-can/pull/1858 -* Added Netronic's CANdo and CANdoISO adapters interface by @belliriccardo in https://github.com/hardbyte/python-can/pull/1887 -* Add autostart option to BusABC.send_periodic() to fix issue #1848 by @SWolfSchunk in https://github.com/hardbyte/python-can/pull/1853 -* Improve TestBusConfig by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1804 -* Improve speed of TRCReader by @lebuni in https://github.com/hardbyte/python-can/pull/1893 - -### Bug Fixes - -* Fix Kvaser timestamp by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1878 -* Set end_time in ThreadBasedCyclicSendTask.start() by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1871 -* Fix regex in _parse_additional_config() by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1868 -* Fix for #1849 (PCAN fails when PCAN_ERROR_ILLDATA is read via ReadFD) by @bures in https://github.com/hardbyte/python-can/pull/1850 -* Period must be >= 1ms for BCM using Win32 API by @pierreluctg in https://github.com/hardbyte/python-can/pull/1847 -* Fix ASCReader Crash on "Start of Measurement" Line by @RitheeshBaradwaj in https://github.com/hardbyte/python-can/pull/1811 -* Resolve AttributeError within NicanError by @vijaysubbiah20 in https://github.com/hardbyte/python-can/pull/1806 - - -### Miscellaneous - -* Fix CI by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1889 -* Update msgpack dependency by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1875 -* Add tox environment for doctest by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1870 -* Use typing_extensions.TypedDict on python < 3.12 for pydantic support by @NickCao in https://github.com/hardbyte/python-can/pull/1845 -* Replace PyPy3.8 with PyPy3.10 by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1838 -* Fix slcan tests by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1834 -* Test on Python 3.13 by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1833 -* Stop notifier in examples by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1814 -* Use setuptools_scm by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1810 -* Added extra info for Kvaser dongles by @FedericoSpada in https://github.com/hardbyte/python-can/pull/1797 -* Socketcand: show actual response as well as expected in error by @liamkinne in https://github.com/hardbyte/python-can/pull/1807 -* Refactor CLI filter parsing, add tests by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1805 -* Add zlgcan to docs by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1839 - - -## Version 4.4.2 - -### Bug Fixes - -* Remove `abstractmethod` decorator from `Listener.stop()` (#1770, #1795) -* Fix `SizedRotatingLogger` file suffix bug (#1792, #1793) -* gs_usb: Use `BitTiming` class internally to configure bitrate (#1747, #1748) -* pcan: Fix unpack error in `PcanBus._detect_available_configs()` (#1767) -* socketcan: Improve error handling in `SocketcanBus.__init__()` (#1771) -* socketcan: Do not log exception on non-linux platforms (#1800) -* vector, kvaser: Activate channels after CAN filters were applied (#1413, #1708, #1796) - -### Features - -* kvaser: Add support for non-ISO CAN FD (#1752) -* neovi: Return timestamps relative to epoch (#1789) -* slcan: Support CANdapter extended length arbitration ID (#1506, #1528) -* slcan: Add support for `listen_only` mode (#1496) -* vector: Add support for `listen_only` mode (#1764) - - -## Version 4.4.0 - -### Features - -* TRC 1.3 Support: Added support for .trc log files as generated by PCAN Explorer v5 and other tools, expanding compatibility with common log file formats (#1753). -* ASCReader refactor: improved the ASCReader code (#1717). -* SYSTEC Interface Enhancements: Added the ability to pass an explicit DLC value to the send() method when using the SYSTEC interface, enhancing flexibility for message definitions (#1756). -* Socketcand Beacon Detection: Introduced a feature for detecting socketcand beacons, facilitating easier connection and configuration with socketcand servers (#1687). -* PCAN Driver Echo Frames: Enabled echo frames in the PCAN driver when receive_own_messages is set, improving feedback for message transmissions (#1723). -* CAN FD Bus Connection for VectorBus: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (#1716). -* Neousys Configs Detection: Updated the detection mechanism for available Neousys configurations, ensuring more accurate and comprehensive configuration discovery (#1744). - -### Bug Fixes - -* Send Periodic Messages: Fixed an issue where fixed-duration periodic messages were sent one extra time beyond their intended count (#1713). -* Vector Interface on Windows 11: Addressed compatibility issues with the Vector interface on Windows 11, ensuring stable operation across the latest OS version (#1731). -* ASCWriter Millisecond Handling: Corrected the handling of milliseconds in ASCWriter, ensuring accurate time representation in log files (#1734). -* Various minor bug fixes: Addressed several minor bugs to improve overall stability and performance. - -### Miscellaneous - -* Invert default value logic for BusABC._is_shutdown. (#1774) -* Implemented various logging enhancements to provide more detailed and useful operational insights (#1703). -* Updated CI to use OIDC for connecting GitHub Actions to PyPi, improving security and access control for CI workflows. -* Fix CI to work for MacOS (#1772). -* -The release also includes various other minor enhancements and bug fixes aimed at improving the reliability and performance of the software. - - -## Version 4.3.1 - -### Bug Fixes - -* Fix socketcand erroneously discarding frames (#1700) -* Fix initialization order in EtasBus (#1693, #1704) - -### Documentation - -* Fix install instructions for neovi (#1694, #1697) - - -## Version 4.3.0 - -### Breaking Changes - -* Raise Minimum Python Version to 3.8 (#1597) -* Do not stop notifier if exception was handled (#1645) - -### Bug Fixes - -* Vector: channel detection fails, if there is an active flexray channel (#1634) -* ixxat: Fix exception in 'state' property on bus coupling errors (#1647) -* NeoVi: Fixed serial number range (#1650) -* PCAN: Fix timestamp offset due to timezone (#1651) -* Catch `pywintypes.error` in broadcast manager (#1659) -* Fix BLFReader error for incomplete or truncated stream (#1662) -* PCAN: remove Windows registry check to fix 32bit compatibility (#1672) -* Vector: Skip the `can_op_mode check` if the device reports `can_op_mode=0` (#1678) -* Vector: using the config from `detect_available_configs` might raise XL_ERR_INVALID_CHANNEL_MASK error (#1681) - -### Features - -#### API - -* Add `modifier_callback` parameter to `BusABC.send_periodic` for auto-modifying cyclic tasks (#703) -* Add `protocol` property to BusABC to determine active CAN Protocol (#1532) -* Change Bus constructor implementation and typing (#1557) -* Add optional `strict` parameter to relax BitTiming & BitTimingFd Validation (#1618) -* Add `BitTiming.iterate_from_sample_point` static methods (#1671) - -#### IO - -* Can Player compatibility with interfaces that use additional configuration (#1610) - -#### Interface Improvements - -* Kvaser: Add BitTiming/BitTimingFd support to KvaserBus (#1510) -* Ixxat: Implement `detect_available_configs` for the Ixxat bus. (#1607) -* NeoVi: Enable send and receive on network ID above 255 (#1627) -* Vector: Send HighPriority Message to flush Tx buffer (#1636) -* PCAN: Optimize send performance (#1640) -* PCAN: Support version string of older PCAN basic API (#1644) -* Kvaser: add parameter exclusive and `override_exclusive` (#1660) -* socketcand: Add parameter `tcp_tune` to reduce latency (#1683) - -#### Miscellaneous - -* Distinguish Text/Binary-IO for Reader/Writer classes. (#1585) -* Convert setup.py to pyproject.toml (#1592) -* activate ruff pycodestyle checks (#1602) -* Update linter instructions in development.rst (#1603) -* remove unnecessary script files (#1604) -* BigEndian test fixes (#1625) -* align `ID:` in can.Message string (#1635) -* Use same configuration file as Linux on macOS (#1657) -* We do not need to account for drift when we `USE_WINDOWS_EVENTS` (#1666, #1679) -* Update linters, activate more ruff rules (#1669) -* Add Python 3.12 Support / Test Python 3.12 (#1673) - - -## Version 4.2.2 - -### Bug Fixes - -* Fix socketcan KeyError (#1598, #1599). -* Fix IXXAT not properly shutdown message (#1606). -* Fix Mf4Reader and TRCReader incompatibility with extra CLI args (#1610). -* Fix decoding error in Kvaser constructor for non-ASCII product name (#1613). - - -## Version 4.2.1 - -### Bug Fixes - -* The ASCWriter now logs the correct channel for error frames (#1578, #1583). -* Fix PCAN library detection (#1579, #1580). -* On Windows, the first two periodic frames were sent without delay (#1590). - - -## Version 4.2.0 - -### Breaking Changes - -* The ``can.BitTiming`` class was replaced with the new - ``can.BitTiming`` and `can.BitTimingFd` classes (#1468, #1515). - Early adopters of ``can.BitTiming`` will need to update their code. Check the - [documentation](https://python-can.readthedocs.io/en/develop/bit_timing.html) - for more information. Currently, the following interfaces support the new classes: - * canalystii (#1468) - * cantact (#1468) - * nixnet (#1520) - * pcan (#1514) - * vector (#1470, #1516) - - There are open pull requests for kvaser (#1510), slcan (#1512) and usb2can (#1511). Testing - and reviewing of these open PRs would be most appreciated. - -### Features - -#### IO -* Add support for MF4 files (#1289). -* Add support for version 2 TRC files and other TRC file enhancements (#1530). - -#### Type Annotations -* Export symbols to satisfy type checkers (#1547, #1551, #1558, #1568). - -#### Interface Improvements -* Add ``__del__`` method to ``can.BusABC`` to automatically release resources (#1489, #1564). -* pcan: Update PCAN Basic to 4.6.2.753 (#1481). -* pcan: Use select instead of polling on Linux (#1410). -* socketcan: Use ip link JSON output in ``find_available_interfaces`` (#1478). -* socketcan: Enable SocketCAN interface tests in GitHub CI (#1484). -* slcan: improve receiving performance (#1490). -* usb2can: Stop using root logger (#1483). -* usb2can: Faster channel detection on Windows (#1480). -* vector: Only check sample point instead of tseg & sjw (#1486). -* vector: add VN5611 hwtype (#1501). - -### Documentation - -* Add new section about related tools to documentation. Add a list of - plugin interface packages (#1457). - -### Bug Fixes - -* Automatic type conversion for config values (#1498, #1499). -* pcan: Fix ``Bus.__new__`` for CAN-FD interfaces (#1458, #1460). -* pcan: Fix Detection of Library on Windows on ARM (#1463). -* socketcand: extended ID bug fixes (#1504, #1508). -* vector: improve robustness against unknown HardwareType values (#1500, #1502). - -### Deprecations - -* The ``bustype`` parameter of ``can.Bus`` is deprecated and will be - removed in version 5.0, use ``interface`` instead. (#1462). -* The ``context`` parameter of ``can.Bus`` is deprecated and will be - removed in version 5.0, use ``config_context`` instead. (#1474). -* The ``bit_timing`` parameter of ``CantactBus`` is deprecated and will be - removed in version 5.0, use ``timing`` instead. (#1468). -* The ``bit_timing`` parameter of ``CANalystIIBus`` is deprecated and will be - removed in version 5.0, use ``timing`` instead. (#1468). -* The ``brs`` and ``log_errors`` parameters of `` NiXNETcanBus`` are deprecated - and will be removed in version 5.0. (#1520). - -### Miscellaneous - -* Use high resolution timer on Windows to improve - timing precision for BroadcastManager (#1449). -* Improve ThreadBasedCyclicSendTask timing (#1539). -* Make code examples executable on Linux (#1452). -* Fix CanFilter type annotation (#1456). -* Fix ``The entry_points().get`` deprecation warning and improve - type annotation of ``can.interfaces.BACKENDS`` (#1465). -* Add ``ignore_config`` parameter to ``can.Bus`` (#1474). -* Add deprecation period to utility function ``deprecated_args_alias`` (#1477). -* Add `ruff` to the CI system (#1551) - -## Version 4.1.0 - -### Breaking Changes - -* ``windows-curses`` was moved to optional dependencies (#1395). - Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` - script on Windows. -* The attributes of ``can.interfaces.vector.VectorChannelConfig`` were renamed - from camelCase to snake_case (#1422). - - -### Features - -#### IO -* The canutils logger preserves message direction (#1244) - and uses common interface names (e.g. can0) instead of just - channel numbers (#1271). -* The ``can.logger`` script accepts the ``-a, --append`` option - to add new data to an existing log file (#1326, #1327, #1361). - Currently only the blf-, canutils- and csv-formats are supported. -* All CLI ``extra_args`` are passed to the bus, logger - and player initialisation (#1366). -* Initial support for TRC files (#1217) - -#### Type Annotations -* python-can now includes the ``py.typed`` marker to support type checking - according to PEP 561 (#1344). - -#### Interface Improvements -* The gs_usb interface can be selected by device index instead - of USB bus/address. Loopback frames are now correctly marked - with the ``is_rx`` flag (#1270). -* The PCAN interface can be selected by its device ID instead - of just the channel name (#1346). -* The PCAN Bus implementation supports auto bus-off reset (#1345). -* SocketCAN: Make ``find_available_interfaces()`` find slcanX interfaces (#1369). -* Vector: Add xlGetReceiveQueueLevel, xlGenerateSyncPulse and - xlFlushReceiveQueue to xldriver (#1387). -* Vector: Raise a CanInitializationError, if the CAN settings can not - be applied according to the arguments of ``VectorBus.__init__`` (#1426). -* Ixxat bus now implements BusState api and detects errors (#1141) - -### Bug Fixes - -* Improve robustness of USB2CAN serial number detection (#1129). -* Fix channel2int conversion (#1268, #1269). -* Fix BLF timestamp conversion (#1266, #1273). -* Fix timestamp handling in udp_multicast on macOS (#1275, #1278). -* Fix failure to initiate the Neousys DLL (#1281). -* Fix AttributeError in IscanError (#1292, #1293). -* Add missing vector devices (#1296). -* Fix error for DLC > 8 in ASCReader (#1299, #1301). -* Set default mode for FileIOMessageWriter to wt instead of rt (#1303). -* Fix conversion for port number from config file (#1309). -* Fix fileno error on Windows (#1312, #1313, #1333). -* Remove redundant ``writer.stop()`` call that throws error (#1316, #1317). -* Detect and cast types of CLI ``extra_args`` (#1280, #1328). -* Fix ASC/CANoe incompatibility due to timestamp format (#1315, #1362). -* Fix MessageSync timings (#1372, #1374). -* Fix file name for compressed files in SizedRotatingLogger (#1382, #1683). -* Fix memory leak in neoVI bus where message_receipts grows with no limit (#1427). -* Raise ValueError if gzip is used with incompatible log formats (#1429). -* Allow restarting of transmission tasks for socketcan (#1440) - -### Miscellaneous - -* Allow ICSApiError to be pickled and un-pickled (#1341) -* Sort interface names in CLI API to make documentation reproducible (#1342) -* Exclude repository-configuration from git-archive (#1343) -* Improve documentation (#1397, #1401, #1405, #1420, #1421, #1434) -* Officially support Python 3.11 (#1423) -* Migrate code coverage reporting from Codecov to Coveralls (#1430) -* Migrate building docs and publishing releases to PyPi from Travis-CI to GitHub Actions (#1433) - -## Version 4.0.0 - -TL;DR: This release includes a ton of improvements from 2.5 years of development! 🎉 Test thoroughly after switching. - -For more than two years, there was no major release of *python-can*. -However, development was very much active over most of this time, and many parts were switched out and improved. -Over this time, over 530 issues and PRs have been resolved or merged, and discussions took place in even more. -Statistics of the final diff: About 200 files changed due to ~22k additions and ~7k deletions from more than thirty contributors. - -This changelog diligently lists the major changes but does not promise to be the complete list of changes. -Therefore, users are strongly advised to thoroughly test their programs against this new version. -Re-reading the documentation for your interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. -While we did try to avoid breaking changes, in some cases it was not feasible and in particular, many implementation details have changed. - -### Major features - -* Type hints for the core library and some interfaces (#652 and many others) -* Support for Python 3.7-3.10+ only (dropped support for Python 2.* and 3.5-3.6) (#528 and many others) -* [Granular and unified exceptions](https://python-can.readthedocs.io/en/develop/api.html#errors) (#356, #562, #1025; overview in #1046) -* [Support for automatic configuration detection](https://python-can.readthedocs.io/en/develop/api.html#can.detect_available_configs) in most interfaces (#303, #640, #641, #811, #1077, #1085) -* Better alignment of interfaces and IO to common conventions and semantics - -### New interfaces - -* udp_multicast (#644) -* robotell (#731) -* cantact (#853) -* gs_usb (#905) -* nixnet (#968, #1154) -* neousys (#980, #1076) -* socketcand (#1140) -* etas (#1144) - -### Improved interfaces - -* socketcan - * Support for multiple Cyclic Messages in Tasks (#610) - * Socketcan crash when attempting to stop CyclicSendTask with same arbitration ID (#605, #638, #720) - * Relax restriction of arbitration ID uniqueness for CyclicSendTask (#721, #785, #930) - * Add nanosecond resolution time stamping to socketcan (#938, #1015) - * Add support for changing the loopback flag (#960) - * Socketcan timestamps are missing sub-second precision (#1021, #1029) - * Add parameter to ignore CAN error frames (#1128) -* socketcan_ctypes - * Removed and replaced by socketcan after deprecation period -* socketcan_native - * Removed and replaced by socketcan after deprecation period -* vector - * Add chip state API (#635) - * Add methods to handle non message events (#708) - * Implement XLbusParams (#718) - * Add support for VN8900 xlGetChannelTime function (#732, #733) - * Add vector hardware config popup (#774) - * Fix Vector CANlib treatment of empty app name (#796, #814) - * Make VectorError pickleable (#848) - * Add methods get_application_config(), set_application_config() and set_timer_rate() to VectorBus (#849) - * Interface arguments are now lowercase (#858) - * Fix errors using multiple Vector devices (#898, #971, #977) - * Add more interface information to channel config (#917) - * Improve timestamp accuracy on Windows (#934, #936) - * Fix error with VN8900 (#1184) - * Add static typing (#1229) -* PCAN - * Do not incorrectly reset CANMsg.MSGTYPE on remote frame (#659, #681) - * Add support for error frames (#711) - * Added keycheck for windows platform for better error message (#724) - * Added status_string method to return simple status strings (#725) - * Fix timestamp timezone offset (#777, #778) - * Add [Cygwin](https://www.cygwin.com/) support (#840) - * Update PCAN basic Python file to February 7, 2020 (#929) - * Fix compatibility with the latest macOS SDK (#947, #948, #957, #976) - * Allow numerical channel specifier (#981, #982) - * macOS: Try to find libPCBUSB.dylib before loading it (#983, #984) - * Disable command PCAN_ALLOW_ERROR_FRAMES on macOS (#985) - * Force english error messages (#986, #993, #994) - * Add set/get device number (#987) - * Timestamps are silently incorrect on Windows without uptime installed (#1053, #1093) - * Implement check for minimum version of pcan library (#1065, #1188) - * Handle case where uptime is imported successfully but returns None (#1102, #1103) -* slcan - * Fix bitrate setting (#691) - * Fix fileno crash on Windows (#924) -* ics_neovi - * Filter out Tx error messages (#854) - * Adding support for send timeout (#855) - * Raising more precise API error when set bitrate fails (#865) - * Avoid flooding the logger with many errors when they are the same (#1125) - * Omit the transmit exception cause for brevity (#1086) - * Raise ValueError if message data is over max frame length (#1177, #1181) - * Setting is_error_frame message property (#1189) -* ixxat - * Raise exception on busoff in recv() (#856) - * Add support for 666 kbit/s bitrate (#911) - * Add function to list hwids of available devices (#926) - * Add CAN FD support (#1119) -* seeed - * Fix fileno crash on Windows (#902) -* kvaser - * Improve timestamp accuracy on Windows (#934, #936) -* usb2can - * Fix "Error 8" on Windows and provide better error messages (#989) - * Fix crash on initialization (#1248, #1249) - * Pass flags instead of flags_t type upon initialization (#1252) -* serial - * Fix "TypeError: cannot unpack non-iterable NoneType" and more robust error handling (#1000, #1010) -* canalystii - * Fix is_extended_id (#1006) - * Fix transmitting onto a busy bus (#1114) - * Replace binary library with python driver (#726, #1127) - -### Other API changes and improvements - -* CAN FD frame support is pretty complete (#963) - * ASCWriter (#604) and ASCReader (#741) - * Canutils reader and writer (#1042) - * Logger, viewer and player tools can handle CAN FD (#632) - * Many bugfixes and more testing coverage -* IO - * [Log rotation](https://python-can.readthedocs.io/en/develop/listeners.html#can.SizedRotatingLogger) (#648, #874, #881, #1147) - * Transparent (de)compression of [gzip](https://docs.python.org/3/library/gzip.html) files for all formats (#1221) - * Add [plugin support to can.io Reader/Writer](https://python-can.readthedocs.io/en/develop/listeners.html#listener) (#783) - * ASCReader/Writer enhancements like increased robustness (#820, #1223, #1256, #1257) - * Adding absolute timestamps to ASC reader (#761) - * Support other base number (radix) at ASCReader (#764) - * Add [logconvert script](https://python-can.readthedocs.io/en/develop/scripts.html#can-logconvert) (#1072, #1194) - * Adding support for gzipped ASC logging file (.asc.gz) (#1138) - * Improve [IO class hierarchy](https://python-can.readthedocs.io/en/develop/internal-api.html#module-can.io.generic) (#1147) -* An [overview over various "virtual" interfaces](https://python-can.readthedocs.io/en/develop/interfaces/virtual.html#other-virtual-interfaces) (#644) -* Make ThreadBasedCyclicSendTask event based & improve timing accuracy (#656) -* Ignore error frames in can.player by default, add --error-frames option (#690) -* Add an error callback to ThreadBasedCyclicSendTask (#743, #781) -* Add direction to CAN messages (#773, #779, #780, #852, #966) -* Notifier no longer raises handled exceptions in rx_thread (#775, #789) but does so if no listener handles them (#1039, #1040) -* Changes to serial device number decoding (#869) -* Add a default fileno function to the BusABC (#877) -* Disallow Messages to simultaneously be "FD" and "remote" (#1049) -* Speed up interface plugin imports by avoiding pkg_resources (#1110) -* Allowing for extra config arguments in can.logger (#1142, #1170) -* Add changed byte highlighting to viewer.py (#1159) -* Change DLC to DL in Message.\_\_str\_\_() (#1212) - -### Other Bugfixes - -* BLF PDU padding (#459) -* stop_all_periodic_tasks skipping every other task (#634, #637, #645) -* Preserve capitalization when reading config files (#702, #1062) -* ASCReader: Skip J1939Tp messages (#701) -* Fix crash in Canutils Log Reader when parsing RTR frames (#713) -* Various problems with the installation of the library -* ASCWriter: Fix date format to show correct day of month (#754) -* Fixes that some BLF files can't be read ( #763, #765) -* Seek for start of object instead of calculating it (#786, #803, #806) -* Only import winreg when on Windows (#800, #802) -* Find the correct Reader/Writer independently of the file extension case (#895) -* RecursionError when unpickling message object (#804, #885, #904) -* Move "filelock" to neovi dependencies (#943) -* Bus() with "fd" parameter as type bool always resolved to fd-enabled configuration (#954, #956) -* Asyncio code hits error due to deprecated loop parameter (#1005, #1013) -* Catch time before 1970 in ASCReader (#1034) -* Fix a bug where error handlers were not called correctly (#1116) -* Improved user interface of viewer script (#1118) -* Correct app_name argument in logger (#1151) -* Calling stop_all_periodic_tasks() in BusABC.shutdown() and all interfaces call it on shutdown (#1174) -* Timing configurations do not allow int (#1175) -* Some smaller bugfixes are not listed here since the problems were never part of a proper release -* ASCReader & ASCWriter using DLC as data length (#1245, #1246) - -### Behind the scenes & Quality assurance - -* We publish both source distributions (`sdist`) and binary wheels (`bdist_wheel`) (#1059, #1071) -* Many interfaces were partly rewritten to modernize the code or to better handle errors -* Performance improvements -* Dependencies have changed -* Derive type information in Sphinx docs directly from type hints (#654) -* Better documentation in many, many places; This includes the examples, README and python-can developer resources -* Add issue templates (#1008, #1017, #1018, #1178) -* Many continuous integration (CI) discussions & improvements (for example: #951, #940, #1032) - * Use the [mypy](https://github.com/python/mypy) static type checker (#598, #651) - * Use [tox](https://tox.wiki/en/latest/) for testing (#582, #833, #870) - * Use [Mergify](https://mergify.com/) (#821, #835, #937) - * Switch between various CI providers, abandoned [AppVeyor](https://www.appveyor.com/) (#1009) and partly [Travis CI](https://travis-ci.org/), ended up with mostly [GitHub Actions](https://docs.github.com/en/actions) (#827, #1224) - * Use the [black](https://black.readthedocs.io/en/stable/) auto-formatter (#950) - * [Good test coverage](https://app.codecov.io/gh/hardbyte/python-can/branch/develop) for all but the interfaces -* Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: #1031, #581, #585, #586, #942, #1196, #1198) - -## Version 3.3.4 - -Last call for Python2 support. - -* #850 Fix socket.error is a deprecated alias of OSError used on Python versions lower than 3.3. - -## Version 3.3.3 -Backported fixes from 4.x development branch which targets Python 3. - -* #798 Backport caching msg.data value in neovi interface. -* #796 Fix Vector CANlib treatment of empty app name. -* #771 Handle empty CSV file. -* #741 ASCII reader can now handle FD frames. -* #740 Exclude test packages from distribution. -* #713 RTR crash fix in canutils log reader parsing RTR frames. -* #701 Skip J1939 messages in ASC Reader. -* #690 Exposes a configuration option to allow the CAN message player to send error frames - (and sets the default to not send error frames). -* #638 Fixes the semantics provided by periodic tasks in SocketCAN interface. -* #628 Avoid padding CAN_FD_MESSAGE_64 objects to 4 bytes. -* #617 Fixes the broken CANalyst-II interface. -* #605 Socketcan BCM status fix. - - -## Version 3.3.2 - -Minor bug fix release addressing issue in PCAN RTR. - -## Version 3.3.1 - -Minor fix to setup.py to only require pytest-runner when necessary. - -## Version 3.3.0 - -* Adding CAN FD 64 frame support to blf reader -* Updates to installation instructions -* Clean up bits generator in PCAN interface #588 -* Minor fix to use latest tools when building wheels on travis. - -## Version 3.2.1 - -* CAN FD 64 frame support to blf reader -* Minor fix to use latest tools when building wheels on travis. -* Updates links in documentation. - -## Version 3.2.0 - -### Major features - -* FD support added for Pcan by @bmeisels with input from - @markuspi, @christiansandberg & @felixdivo in PR #537 -* This is the last version of python-can which will support Python 2.7 - and Python 3.5. Support has been removed for Python 3.4 in this - release in PR #532 - -### Other notable changes - -* #533 BusState is now an enum. -* #535 This release should automatically be published to PyPi by travis. -* #577 Travis-ci now uses stages. -* #548 A guide has been added for new io formats. -* #550 Finish moving from nose to pytest. -* #558 Fix installation on Windows. -* #561 Tests for MessageSync added. - -General fixes, cleanup and docs changes can be found on the GitHub milestone -https://github.com/hardbyte/python-can/milestone/7?closed=1 - -Pulls: #522, #526, #527, #536, #540, #546, #547, #548, #533, #559, #569, #571, #572, #575 - -### Backend Specific Changes - -#### pcan - -* FD - -#### slcan - -* ability to set custom can speed instead of using predefined speed values. #553 - -#### socketcan - -* Bug fix to properly support 32bit systems. #573 - -#### usb2can - -* slightly better error handling -* multiple serial devices can be found -* support for the `_detect_available_configs()` API - -Pulls #511, #535 - -#### vector - -* handle `app_name`. #525 - -## Version 3.1.1 - -### Major features - -Two new interfaces this release: - -- SYSTEC contributed by @idaniel86 in PR #466 -- CANalyst-II contributed by @smeng9 in PR #476 - -### Other notable changes - -* #477 The kvaser interface now supports bus statistics via a custom bus method. -* #434 neovi now supports receiving own messages -* #490 Adding option to override the neovi library name -* #488 Allow simultaneous access to IXXAT cards -* #447 Improvements to serial interface: - * to allow receiving partial messages - * to fix issue with DLC of remote frames - * addition of unit tests -* #497 Small API changes to `Message` and added unit tests -* #471 Fix CAN FD issue in kvaser interface -* #462 Fix `Notifier` issue with asyncio -* #481 Fix PCAN support on OSX -* #455 Fix to `Message` initializer -* Small bugfixes and improvements - -## Version 3.1.0 - -Version 3.1.0 was built with old wheel and/or setuptools -packages and was replaced with v3.1.1 after an installation -but was discovered. - -## Version 3.0.0 - -### Major features - -* Adds support for developing `asyncio` applications with `python-can` more easily. This can be useful - when implementing protocols that handles simultaneous connections to many nodes since you can write - synchronous looking code without handling multiple threads and locking mechanisms. #388 -* New can viewer terminal application. (`python -m can.viewer`) #390 -* More formally adds task management responsibility to the `Bus`. By default tasks created with - `bus.send_periodic` will have a reference held by the bus - this means in many cases the user - doesn't need to keep the task in scope for their periodic messages to continue being sent. If - this behavior isn't desired pass `store_task=False` to the `send_periodic` method. Stop all tasks - by calling the bus's new `stop_all_periodic_tasks` method. #412 - - -### Breaking changes - -* Interfaces should no longer override `send_periodic` and instead implement - `_send_periodic_internal` to allow the Bus base class to manage tasks. #426 -* writing to closed writers is not supported any more (it was supported only for some) -* the file in the reader/writer is now always stored in the attribute uniformly called `file`, and not in - something like `fp`, `log_file` or `output_file`. Changed the name of the first parameter of the - read/writer constructors from `filename` to `file`. - - -### Other notable changes - -* can.Message class updated #413 - - Addition of a `Message.equals` method. - - Deprecate id_type in favor of is_extended_id - - Initializer parameter extended_id deprecated in favor of is_extended_id - - documentation, testing and example updates - - Addition of support for various builtins: __repr__, __slots__, __copy__ -* IO module updates to bring consistency to the different CAN message writers and readers. #348 - - context manager support for all readers and writers - - they share a common super class called `BaseIOHandler` - - all file handles can now be closed with the `stop()` method - - the table name in `SqliteReader`/`SqliteWriter` can be adjusted - - append mode added in `CSVWriter` and `CanutilsLogWriter` - - [file-like](https://docs.python.org/3/glossary.html#term-file-like-object) and - [path-like](https://docs.python.org/3/glossary.html#term-path-like-object) objects can now be passed to - the readers and writers (except to the Sqlite handlers) - - add a `__ne__()` method to the `Message` class (this was required by the tests) - - added a `stop()` method for `BufferedReader` - - `SqliteWriter`: this now guarantees that all messages are being written, exposes some previously internal metrics - and only buffers messages up to a certain limit before writing/committing to the database. - - the unused `header_line` attribute from `CSVReader` has been removed - - privatized some attributes that are only to be used internally in the classes - - the method `Listener.on_message_received()` is now abstract (using `@abc.abstractmethod`) -* Start testing against Python 3.7 #380 -* All scripts have been moved into `can/scripts`. #370, #406 -* Added support for additional sections to the config #338 -* Code coverage reports added. #346, #374 -* Bug fix to thread safe bus. #397 - -General fixes, cleanup and docs changes: (#347, #348, #367, #368, #370, #371, #373, #420, #417, #419, #432) - -### Backend Specific Changes - -#### 3rd party interfaces - -* Deprecated `python_can.interface` entry point instead use `can.interface`. #389 - -#### neovi - -* Added support for CAN-FD #408 -* Fix issues checking if bus is open. #381 -* Adding multiple channels support. #415 - -#### nican - -* implements reset instead of custom `flush_tx_buffer`. #364 - -#### pcan - -* now supported on OSX. #365 - -#### serial - -* Removed TextIOWrapper from serial. #383 -* switch to `serial_for_url` enabling using remote ports via `loop://`, ``socket://` and `rfc2217://` URLs. #393 -* hardware handshake using `rtscts` kwarg #402 - -#### socketcan - -* socketcan tasks now reuse a bcm socket #404, #425, #426, -* socketcan bugfix to receive error frames #384 - -#### vector - -* Vector interface now implements `_detect_available_configs`. #362 -* Added support to select device by serial number. #387 - -## Version 2.2.1 (2018-07-12) - -* Fix errors and warnings when importing library on Windows -* Fix Vector backend raising ValueError when hardware is not connected - -## Version 2.2.0 (2018-06-30) - -* Fallback message filtering implemented in Python for interfaces that don't offer better accelerated mechanism. -* SocketCAN interfaces have been merged (Now use `socketcan` instead of either `socketcan_native` and `socketcan_ctypes`), - this is now completely transparent for the library user. -* automatic detection of available configs/channels in supported interfaces. -* Added synchronized (thread-safe) Bus variant. -* context manager support for the Bus class. -* Dropped support for Python 3.3 (officially reached end-of-life in Sept. 2017) -* Deprecated the old `CAN` module, please use the newer `can` entry point (will be removed in an upcoming major version) - -## Version 2.1.0 (2018-02-17) - -* Support for out of tree can interfaces with pluggy. -* Initial support for CAN-FD for socketcan_native and kvaser interfaces. -* Neovi interface now uses Intrepid Control Systems's own interface library. -* Improvements and new documentation for SQL reader/writer. -* Fix bug in neovi serial number decoding. -* Add testing on OSX to TravisCI -* Fix non english decoding error on pcan -* Other misc improvements and bug fixes - - -## Version 2.0.0 (2018-01-05) - -After an extended baking period we have finally tagged version 2.0.0! - -Quite a few major changes from v1.x: - -* New interfaces: - * Vector - * NI-CAN - * isCAN - * neoVI -* Simplified periodic send API with initial support for SocketCAN -* Protocols module including J1939 support removed -* Logger script moved to module `can.logger` -* New `can.player` script to replay log files -* BLF, ASC log file support added in new `can.io` module - -You can install from [PyPi](https://pypi.python.org/pypi/python-can/2.0.0) with pip: - -``` -pip install python-can==2.0.0 -``` - -The documentation for v2.0.0 is available at http://python-can.readthedocs.io/en/2.0.0/ diff --git a/doc/changelog.d/.gitignore b/doc/changelog.d/.gitignore index b56b00acb..0a936f1de 100644 --- a/doc/changelog.d/.gitignore +++ b/doc/changelog.d/.gitignore @@ -3,9 +3,9 @@ !.gitignore # ...except markdown news fragments -!*.security.md -!*.removed.md -!*.deprecated.md -!*.added.md -!*.changed.md -!*.fixed.md +!*.security.rst +!*.removed.rst +!*.deprecated.rst +!*.added.rst +!*.changed.rst +!*.fixed.rst diff --git a/doc/changelog.d/1815.added.md b/doc/changelog.d/1815.added.rst similarity index 50% rename from doc/changelog.d/1815.added.md rename to doc/changelog.d/1815.added.rst index 65756fb41..51aec65a4 100644 --- a/doc/changelog.d/1815.added.md +++ b/doc/changelog.d/1815.added.rst @@ -1 +1 @@ -Added support for replaying CAN log files multiple times or infinitely in the player script via the new --loop/-l argument. +Added support for replaying CAN log files multiple times or infinitely in the player script via the new ``--loop/-l`` argument. diff --git a/doc/changelog.d/1815.removed.md b/doc/changelog.d/1815.removed.md deleted file mode 100644 index 61b4e9b1d..000000000 --- a/doc/changelog.d/1815.removed.md +++ /dev/null @@ -1 +0,0 @@ -Removed the unused --file_name/-f argument from the player CLI. diff --git a/doc/changelog.d/1815.removed.rst b/doc/changelog.d/1815.removed.rst new file mode 100644 index 000000000..226d3cdd5 --- /dev/null +++ b/doc/changelog.d/1815.removed.rst @@ -0,0 +1 @@ +Removed the unused ``--file_name/-f`` argument from the player CLI. diff --git a/doc/changelog.d/1938.fixed.md b/doc/changelog.d/1938.fixed.md deleted file mode 100644 index f9aad1089..000000000 --- a/doc/changelog.d/1938.fixed.md +++ /dev/null @@ -1 +0,0 @@ -Keep a reference to asyncio tasks in `can.Notifier` as recommended by [python documentation](https://docs.python.org/3/library/asyncio-task.html#asyncio.create_task). diff --git a/doc/changelog.d/1938.fixed.rst b/doc/changelog.d/1938.fixed.rst new file mode 100644 index 000000000..72442592b --- /dev/null +++ b/doc/changelog.d/1938.fixed.rst @@ -0,0 +1 @@ +Keep a reference to asyncio tasks in ``can.Notifier`` as recommended by `python documentation `_. diff --git a/doc/changelog.d/1987.added.md b/doc/changelog.d/1987.added.md deleted file mode 100644 index 398add3e3..000000000 --- a/doc/changelog.d/1987.added.md +++ /dev/null @@ -1 +0,0 @@ -Add [python-can-coe](https://c0d3.sh/smarthome/python-can-coe) interface plugin to the documentation. diff --git a/doc/changelog.d/1987.added.rst b/doc/changelog.d/1987.added.rst new file mode 100644 index 000000000..e5c4963f4 --- /dev/null +++ b/doc/changelog.d/1987.added.rst @@ -0,0 +1 @@ +Added `python-can-coe `_ interface plugin to the documentation. diff --git a/doc/changelog.d/1995.added.md b/doc/changelog.d/1995.added.rst similarity index 100% rename from doc/changelog.d/1995.added.md rename to doc/changelog.d/1995.added.rst diff --git a/doc/changelog.d/1996.removed.md b/doc/changelog.d/1996.removed.rst similarity index 100% rename from doc/changelog.d/1996.removed.md rename to doc/changelog.d/1996.removed.rst diff --git a/doc/changelog.d/2009.changed.md b/doc/changelog.d/2009.changed.md deleted file mode 100644 index 6e68198a1..000000000 --- a/doc/changelog.d/2009.changed.md +++ /dev/null @@ -1 +0,0 @@ -Improved datetime parsing and added support for “double-defined” datetime strings (such as, e.g., `"30 15:06:13.191 pm 2017"`) for ASCReader class. \ No newline at end of file diff --git a/doc/changelog.d/2009.changed.rst b/doc/changelog.d/2009.changed.rst new file mode 100644 index 000000000..bf313ce47 --- /dev/null +++ b/doc/changelog.d/2009.changed.rst @@ -0,0 +1 @@ +Improved datetime parsing and added support for `double-defined` datetime strings (such as, e.g., ``"30 15:06:13.191 pm 2017"``) for ``ASCReader`` class. \ No newline at end of file diff --git a/doc/changelog.d/2022.added.md b/doc/changelog.d/2022.added.md deleted file mode 100644 index b8b8cd205..000000000 --- a/doc/changelog.d/2022.added.md +++ /dev/null @@ -1,4 +0,0 @@ -Added `timestamps_format` parameter to `ASCWriter` to support configurable timestamp -format: `"absolute"` (default, timestamps are offsets from the start of measurement) -or `"relative"` (each timestamp is the delta from the preceding event), matching the -semantics described in the ASC format specification. diff --git a/doc/changelog.d/2022.added.rst b/doc/changelog.d/2022.added.rst new file mode 100644 index 000000000..d1887857d --- /dev/null +++ b/doc/changelog.d/2022.added.rst @@ -0,0 +1,4 @@ +Added ``timestamps_format`` parameter to ``ASCWriter`` to support configurable timestamp +format: ``"absolute"`` (default, timestamps are offsets from the start of measurement) +or ``"relative"`` (each timestamp is the delta from the preceding event), matching the +semantics described in the ASC format specification. diff --git a/doc/changelog.d/2023.changed.md b/doc/changelog.d/2023.changed.md deleted file mode 100644 index f20e2997c..000000000 --- a/doc/changelog.d/2023.changed.md +++ /dev/null @@ -1 +0,0 @@ -Improve IXXAT VCI exception handling diff --git a/doc/changelog.d/2023.changed.rst b/doc/changelog.d/2023.changed.rst new file mode 100644 index 000000000..fac310927 --- /dev/null +++ b/doc/changelog.d/2023.changed.rst @@ -0,0 +1 @@ +Improved IXXAT VCI exception handling. diff --git a/doc/changelog.d/2026.changed.md b/doc/changelog.d/2026.changed.md deleted file mode 100644 index 2a9c12fa1..000000000 --- a/doc/changelog.d/2026.changed.md +++ /dev/null @@ -1 +0,0 @@ -* cantact: handle None timeouts as 'forever' (with 0xFFF....) diff --git a/doc/changelog.d/2026.changed.rst b/doc/changelog.d/2026.changed.rst new file mode 100644 index 000000000..4c737f2dc --- /dev/null +++ b/doc/changelog.d/2026.changed.rst @@ -0,0 +1 @@ +``cantact``: calling ``CantactBus.recv(timeout=None)`` now blocks 'forever'. diff --git a/doc/changelog.d/2028.changed.md b/doc/changelog.d/2028.changed.md deleted file mode 100644 index d64d9a08b..000000000 --- a/doc/changelog.d/2028.changed.md +++ /dev/null @@ -1 +0,0 @@ -Improved performance in slcan interface diff --git a/doc/changelog.d/2028.changed.rst b/doc/changelog.d/2028.changed.rst new file mode 100644 index 000000000..0e0c49281 --- /dev/null +++ b/doc/changelog.d/2028.changed.rst @@ -0,0 +1 @@ +Improved performance in ``slcan`` interface. diff --git a/doc/changelog.d/2031.changed.md b/doc/changelog.d/2031.changed.md deleted file mode 100644 index 9d6bf79aa..000000000 --- a/doc/changelog.d/2031.changed.md +++ /dev/null @@ -1 +0,0 @@ -make gs_usb use pyusb (allows WinUSB instead of requiring libusbK on windows) also timeout=None means foreever diff --git a/doc/changelog.d/2031.changed.rst b/doc/changelog.d/2031.changed.rst new file mode 100644 index 000000000..2ce0446b2 --- /dev/null +++ b/doc/changelog.d/2031.changed.rst @@ -0,0 +1 @@ +``gs_usb``: use ``pyusb`` package to allow WinUSB instead of requiring libusbK on Windows; calling ``GsUsbBus.recv(timeout=None)`` now blocks 'forever'. diff --git a/doc/changelog.d/2035.added.md b/doc/changelog.d/2035.added.md deleted file mode 100644 index 1751f9a97..000000000 --- a/doc/changelog.d/2035.added.md +++ /dev/null @@ -1 +0,0 @@ -Add new timezone parameter `tz` to `can.io.asc.ASCReader` and `can.io.asc.ASCWriter`. \ No newline at end of file diff --git a/doc/changelog.d/2035.added.rst b/doc/changelog.d/2035.added.rst new file mode 100644 index 000000000..a1fd769fb --- /dev/null +++ b/doc/changelog.d/2035.added.rst @@ -0,0 +1 @@ +Add new timezone parameter ``tz`` to ``can.io.asc.ASCReader`` and ``can.io.asc.ASCWriter``. \ No newline at end of file diff --git a/doc/changelog.d/2039.added.rst b/doc/changelog.d/2039.added.rst new file mode 100644 index 000000000..8f1158c00 --- /dev/null +++ b/doc/changelog.d/2039.added.rst @@ -0,0 +1 @@ +Include unreleased changes in documentation. \ No newline at end of file diff --git a/doc/changelog.d/2039.changed.rst b/doc/changelog.d/2039.changed.rst new file mode 100644 index 000000000..0da43fe32 --- /dev/null +++ b/doc/changelog.d/2039.changed.rst @@ -0,0 +1 @@ +Move changelog from CHANGELOG.md to documentation. \ No newline at end of file diff --git a/doc/changelog.rst b/doc/changelog.rst new file mode 100644 index 000000000..154451dd8 --- /dev/null +++ b/doc/changelog.rst @@ -0,0 +1,1069 @@ +Changelog +========= + +.. towncrier-draft-entries:: + +.. towncrier release notes start + +Version `v4.6.1 `_ - 2025-08-12 +----------------------------------------------------------------------------------- + + +Fixed +~~~~~ + +- Fix initialisation of an slcan bus, when setting a bitrate. When using CAN 2.0 (not FD), the default setting for ``data_bitrate`` was invalid, causing an exception. (:issue:`1978`) + + + +Version `v4.6.0 `_ - 2025-08-09 +----------------------------------------------------------------------------------- + + +Removed +~~~~~~~ + +- Remove support for Python 3.8. (:issue:`1931`) +- Unknown command line arguments ("extra args") are no longer passed down to ``can.Bus()`` instantiation. Use the ``--bus-kwargs`` argument instead. (:issue:`1949`) +- Remove ``can.io.generic.BaseIOHandler`` class. Improve ``can.io.*`` type annotations by using ``typing.Generic``. (:issue:`1951`) + + +Added +~~~~~ + +- Support 11-bit identifiers in the ``serial`` interface. (:issue:`1758`) +- Keep track of active Notifiers and make Notifier usable as a context manager. Add function ``Notifier.find_instances(bus)`` to find the active Notifier for a given bus instance. (:issue:`1890`) +- Add Windows support to ``udp_multicast`` interface. (:issue:`1914`) +- Add FD support to ``slcan`` according to CANable 2.0 implementation. (:issue:`1920`) +- Add support for error messages to the ``socketcand`` interface. (:issue:`1941`) +- Add support for remote and error frames in the ``serial`` interface. (:issue:`1948`) +- Add public functions ``can.cli.add_bus_arguments`` and ``can.cli.create_bus_from_namespace`` for creating bus command line options. Currently downstream packages need to implement their own logic to configure *python-can* buses. Now *python-can* can create and parse bus options for third party packages. (:issue:`1949`) +- Add support for remote frames to ``TRCReader``. (:issue:`1953`) +- Mention the ``python-can-candle`` package in the plugin interface section of the documentation. (:issue:`1954`) +- Add new CLI tool ``python -m can.bridge`` (or just ``can_bridge``) to create a software bridge between two physical buses. (:issue:`1961`) + + +Changed +~~~~~~~ + +- Allow sending Classic CAN frames with a DLC value larger than 8 using the ``socketcan`` interface. (:issue:`1851`) +- The ``gs_usb`` extra dependency was renamed to ``gs-usb``. + The ``lint`` extra dependency was removed and replaced with new PEP 735 dependency groups ``lint``, ``docs`` and ``test``. (:issue:`1945`) +- Update dependency name from ``zlgcan-driver-py`` to ``zlgcan``. (:issue:`1946`) +- Use ThreadPoolExecutor in ``detect_available_configs()`` to reduce runtime and add ``timeout`` parameter. (:issue:`1947`) +- Update contribution guide. (:issue:`1960`) + + +Fixed +~~~~~ + +- Fix a bug in ``slcanBus.get_version()`` and ``slcanBus.get_serial_number()``: If any other data was received during the function call, then ``None`` was returned. (:issue:`1904`) +- Fix incorrect padding of CAN FD payload in ``BlfReader``. (:issue:`1906`) +- Set correct message direction for messages received with ``kvaser`` interface and ``receive_own_messages=True``. (:issue:`1908`) +- Fix timestamp rounding error in ``BlfWriter``. (:issue:`1921`) +- Fix timestamp rounding error in ``BlfReader``. (:issue:`1927`) +- Handle timer overflow message and build timestamp according to the epoch in the ``ixxat`` interface. (:issue:`1934`) +- Avoid unsupported ``ioctl`` function call to allow usage of the ``udp_multicast`` interface on MacOS. (:issue:`1940`) +- Fix configuration file parsing for the ``state`` bus parameter. (:issue:`1957`) +- Mf4Reader: support non-standard ``CAN_DataFrame.Dir`` values in mf4 files created by `ihedvall/mdflib `_. (:issue:`1967`) +- PcanBus: Set ``Message.channel`` attribute in ``PcanBus.recv()``. (:issue:`1969`) + + + +Version `v4.5.0 `_ - 2024-11-28 +----------------------------------------------------------------------------------- + +Features +~~~~~~~~ + +- gs_usb command-line support (and documentation updates and stability fixes) (:issue:`1790`) +- Faster and more general MF4 support (:issue:`1892`) +- ASCWriter speed improvement (:issue:`1856`) +- Faster Message string representation (:issue:`1858`) +- Added Netronic's CANdo and CANdoISO adapters interface (:issue:`1887`) +- Add autostart option to BusABC.send_periodic() to fix issue :issue:`1848` (:issue:`1853`) +- Improve TestBusConfig (:issue:`1804`) +- Improve speed of TRCReader (:issue:`1893`) + + +Bug Fixes +~~~~~~~~~ + +- Fix Kvaser timestamp (:issue:`1878`) +- Set end_time in ThreadBasedCyclicSendTask.start() (:issue:`1871`) +- Fix regex in _parse_additional_config() (:issue:`1868`) +- Fix for :issue:`1849` (PCAN fails when PCAN_ERROR_ILLDATA is read via ReadFD) (:issue:`1850`) +- Period must be >= 1ms for BCM using Win32 API (:issue:`1847`) +- Fix ASCReader Crash on "Start of Measurement" Line (:issue:`1811`) +- Resolve AttributeError within NicanError (:issue:`1806`) + + + +Miscellaneous +~~~~~~~~~~~~~ + +- Fix CI (:issue:`1889`) +- Update msgpack dependency (:issue:`1875`) +- Add tox environment for doctest (:issue:`1870`) +- Use typing_extensions.TypedDict on python < 3.12 for pydantic support (:issue:`1845`) +- Replace PyPy3.8 with PyPy3.10 (:issue:`1838`) +- Fix slcan tests (:issue:`1834`) +- Test on Python 3.13 (:issue:`1833`) +- Stop notifier in examples (:issue:`1814`) +- Use setuptools_scm (:issue:`1810`) +- Added extra info for Kvaser dongles (:issue:`1797`) +- Socketcand: show actual response as well as expected in error (:issue:`1807`) +- Refactor CLI filter parsing, add tests (:issue:`1805`) +- Add zlgcan to docs (:issue:`1839`) + + + +Version `v4.4.2 `_ - 2024-06-23 +----------------------------------------------------------------------------------- + +Bug Fixes +~~~~~~~~~ + +- Remove ``abstractmethod`` decorator from ``Listener.stop()`` (:issue:`1770`, :issue:`1795`) +- Fix ``SizedRotatingLogger`` file suffix bug (:issue:`1792`, :issue:`1793`) +- gs_usb: Use ``BitTiming`` class internally to configure bitrate (:issue:`1747`, :issue:`1748`) +- pcan: Fix unpack error in ``PcanBus._detect_available_configs()`` (:issue:`1767`) +- socketcan: Improve error handling in ``SocketcanBus.__init__()`` (:issue:`1771`) +- socketcan: Do not log exception on non-linux platforms (:issue:`1800`) +- vector, kvaser: Activate channels after CAN filters were applied (:issue:`1413`, :issue:`1708`, :issue:`1796`) + + +Features +~~~~~~~~ + +- kvaser: Add support for non-ISO CAN FD (:issue:`1752`) +- neovi: Return timestamps relative to epoch (:issue:`1789`) +- slcan: Support CANdapter extended length arbitration ID (:issue:`1506`, :issue:`1528`) +- slcan: Add support for ``listen_only`` mode (:issue:`1496`) +- vector: Add support for ``listen_only`` mode (:issue:`1764`) + + + +Version `v4.4.0 `_ - 2024-06-08 +----------------------------------------------------------------------------------- + +Features +~~~~~~~~ + +- TRC 1.3 Support: Added support for .trc log files as generated by PCAN Explorer v5 and other tools, expanding compatibility with common log file formats (:issue:`1753`). +- ASCReader refactor: improved the ASCReader code (:issue:`1717`). +- SYSTEC Interface Enhancements: Added the ability to pass an explicit DLC value to the send() method when using the SYSTEC interface, enhancing flexibility for message definitions (:issue:`1756`). +- Socketcand Beacon Detection: Introduced a feature for detecting socketcand beacons, facilitating easier connection and configuration with socketcand servers (:issue:`1687`). +- PCAN Driver Echo Frames: Enabled echo frames in the PCAN driver when receive_own_messages is set, improving feedback for message transmissions (:issue:`1723`). +- CAN FD Bus Connection for VectorBus: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (:issue:`1716`). +- Neousys Configs Detection: Updated the detection mechanism for available Neousys configurations, ensuring more accurate and comprehensive configuration discovery (:issue:`1744`). + + +Bug Fixes +~~~~~~~~~ + +- Send Periodic Messages: Fixed an issue where fixed-duration periodic messages were sent one extra time beyond their intended count (:issue:`1713`). +- Vector Interface on Windows 11: Addressed compatibility issues with the Vector interface on Windows 11, ensuring stable operation across the latest OS version (:issue:`1731`). +- ASCWriter Millisecond Handling: Corrected the handling of milliseconds in ASCWriter, ensuring accurate time representation in log files (:issue:`1734`). +- Various minor bug fixes: Addressed several minor bugs to improve overall stability and performance. + + +Miscellaneous +~~~~~~~~~~~~~ + +- Invert default value logic for BusABC._is_shutdown. (:issue:`1774`) +- Implemented various logging enhancements to provide more detailed and useful operational insights (:issue:`1703`). +- Updated CI to use OIDC for connecting GitHub Actions to PyPi, improving security and access control for CI workflows. +- Fix CI to work for MacOS (:issue:`1772`). +- The release also includes various other minor enhancements and bug fixes aimed at improving the reliability and performance of the software. + + + +Version `v4.3.1 `_ - 2023-12-12 +----------------------------------------------------------------------------------- + +Bug Fixes +~~~~~~~~~ + +- Fix socketcand erroneously discarding frames (:issue:`1700`) +- Fix initialization order in EtasBus (:issue:`1693`, :issue:`1704`) + + +Documentation +~~~~~~~~~~~~~ + +- Fix install instructions for neovi (:issue:`1694`, :issue:`1697`) + + + +Version `v4.3.0 `_ - 2023-11-17 +----------------------------------------------------------------------------------- + +Breaking Changes +~~~~~~~~~~~~~~~~ + +- Raise Minimum Python Version to 3.8 (:issue:`1597`) +- Do not stop notifier if exception was handled (:issue:`1645`) + + +Bug Fixes +~~~~~~~~~ + +- Vector: channel detection fails, if there is an active flexray channel (:issue:`1634`) +- ixxat: Fix exception in 'state' property on bus coupling errors (:issue:`1647`) +- NeoVi: Fixed serial number range (:issue:`1650`) +- PCAN: Fix timestamp offset due to timezone (:issue:`1651`) +- Catch ``pywintypes.error`` in broadcast manager (:issue:`1659`) +- Fix BLFReader error for incomplete or truncated stream (:issue:`1662`) +- PCAN: remove Windows registry check to fix 32bit compatibility (:issue:`1672`) +- Vector: Skip the ``can_op_mode check`` if the device reports ``can_op_mode=0`` (:issue:`1678`) +- Vector: using the config from ``detect_available_configs`` might raise XL_ERR_INVALID_CHANNEL_MASK error (:issue:`1681`) + + +Features +~~~~~~~~ + + +API +^^^ + +- Add ``modifier_callback`` parameter to ``BusABC.send_periodic`` for auto-modifying cyclic tasks (:issue:`703`) +- Add ``protocol`` property to BusABC to determine active CAN Protocol (:issue:`1532`) +- Change Bus constructor implementation and typing (:issue:`1557`) +- Add optional ``strict`` parameter to relax BitTiming & BitTimingFd Validation (:issue:`1618`) +- Add ``BitTiming.iterate_from_sample_point`` static methods (:issue:`1671`) + + +IO +^^ + +- Can Player compatibility with interfaces that use additional configuration (:issue:`1610`) + + +Interface Improvements +^^^^^^^^^^^^^^^^^^^^^^ + +- Kvaser: Add BitTiming/BitTimingFd support to KvaserBus (:issue:`1510`) +- Ixxat: Implement ``detect_available_configs`` for the Ixxat bus. (:issue:`1607`) +- NeoVi: Enable send and receive on network ID above 255 (:issue:`1627`) +- Vector: Send HighPriority Message to flush Tx buffer (:issue:`1636`) +- PCAN: Optimize send performance (:issue:`1640`) +- PCAN: Support version string of older PCAN basic API (:issue:`1644`) +- Kvaser: add parameter exclusive and ``override_exclusive`` (:issue:`1660`) +- socketcand: Add parameter ``tcp_tune`` to reduce latency (:issue:`1683`) + + +Miscellaneous +^^^^^^^^^^^^^ + +- Distinguish Text/Binary-IO for Reader/Writer classes. (:issue:`1585`) +- Convert setup.py to pyproject.toml (:issue:`1592`) +- activate ruff pycodestyle checks (:issue:`1602`) +- Update linter instructions in development.rst (:issue:`1603`) +- remove unnecessary script files (:issue:`1604`) +- BigEndian test fixes (:issue:`1625`) +- align ``ID:`` in can.Message string (:issue:`1635`) +- Use same configuration file as Linux on macOS (:issue:`1657`) +- We do not need to account for drift when we ``USE_WINDOWS_EVENTS`` (:issue:`1666`, :issue:`1679`) +- Update linters, activate more ruff rules (:issue:`1669`) +- Add Python 3.12 Support / Test Python 3.12 (:issue:`1673`) + + + +Version `v4.2.2 `_ - 2023-06-18 +----------------------------------------------------------------------------------- + +Bug Fixes +~~~~~~~~~ + +- Fix socketcan KeyError (:issue:`1598`, :issue:`1599`). +- Fix IXXAT not properly shutdown message (:issue:`1606`). +- Fix Mf4Reader and TRCReader incompatibility with extra CLI args (:issue:`1610`). +- Fix decoding error in Kvaser constructor for non-ASCII product name (:issue:`1613`). + + + +Version `v4.2.1 `_ - 2023-05-15 +----------------------------------------------------------------------------------- + +Bug Fixes +~~~~~~~~~ + +- The ASCWriter now logs the correct channel for error frames (:issue:`1578`, :issue:`1583`). +- Fix PCAN library detection (:issue:`1579`, :issue:`1580`). +- On Windows, the first two periodic frames were sent without delay (:issue:`1590`). + + + +Version `v4.2.0 `_ - 2023-04-26 +----------------------------------------------------------------------------------- + +Breaking Changes +~~~~~~~~~~~~~~~~ + +- The ``can.BitTiming`` class was replaced with the new + ``can.BitTiming`` and ``can.BitTimingFd`` classes (:issue:`1468`, :issue:`1515`). + Early adopters of ``can.BitTiming`` will need to update their code. Check the + `documentation `_ + for more information. Currently, the following interfaces support the new classes: + + * canalystii (:issue:`1468`) + * cantact (:issue:`1468`) + * nixnet (:issue:`1520`) + * pcan (:issue:`1514`) + * vector (:issue:`1470`, :issue:`1516`) + + There are open pull requests for kvaser (:issue:`1510`), slcan (:issue:`1512`) and usb2can (:issue:`1511`). Testing + and reviewing of these open PRs would be most appreciated. + + +Features +~~~~~~~~ + + +IO +^^ +- Add support for MF4 files (:issue:`1289`). +- Add support for version 2 TRC files and other TRC file enhancements (:issue:`1530`). + + +Type Annotations +^^^^^^^^^^^^^^^^ +- Export symbols to satisfy type checkers (:issue:`1547`, :issue:`1551`, :issue:`1558`, :issue:`1568`). + + +Interface Improvements +^^^^^^^^^^^^^^^^^^^^^^ +- Add ``__del__`` method to ``can.BusABC`` to automatically release resources (:issue:`1489`, :issue:`1564`). +- pcan: Update PCAN Basic to 4.6.2.753 (:issue:`1481`). +- pcan: Use select instead of polling on Linux (:issue:`1410`). +- socketcan: Use ip link JSON output in ``find_available_interfaces`` (:issue:`1478`). +- socketcan: Enable SocketCAN interface tests in GitHub CI (:issue:`1484`). +- slcan: improve receiving performance (:issue:`1490`). +- usb2can: Stop using root logger (:issue:`1483`). +- usb2can: Faster channel detection on Windows (:issue:`1480`). +- vector: Only check sample point instead of tseg & sjw (:issue:`1486`). +- vector: add VN5611 hwtype (:issue:`1501`). + + +Documentation +~~~~~~~~~~~~~ + +- Add new section about related tools to documentation. Add a list of + plugin interface packages (:issue:`1457`). + + +Bug Fixes +~~~~~~~~~ + +- Automatic type conversion for config values (:issue:`1498`, :issue:`1499`). +- pcan: Fix ``Bus.__new__`` for CAN-FD interfaces (:issue:`1458`, :issue:`1460`). +- pcan: Fix Detection of Library on Windows on ARM (:issue:`1463`). +- socketcand: extended ID bug fixes (:issue:`1504`, :issue:`1508`). +- vector: improve robustness against unknown HardwareType values (:issue:`1500`, :issue:`1502`). + + +Deprecations +~~~~~~~~~~~~ + +- The ``bustype`` parameter of ``can.Bus`` is deprecated and will be + removed in version 5.0, use ``interface`` instead. (:issue:`1462`). +- The ``context`` parameter of ``can.Bus`` is deprecated and will be + removed in version 5.0, use ``config_context`` instead. (:issue:`1474`). +- The ``bit_timing`` parameter of ``CantactBus`` is deprecated and will be + removed in version 5.0, use ``timing`` instead. (:issue:`1468`). +- The ``bit_timing`` parameter of ``CANalystIIBus`` is deprecated and will be + removed in version 5.0, use ``timing`` instead. (:issue:`1468`). +- The ``brs`` and ``log_errors`` parameters of ``NiXNETcanBus`` are deprecated + and will be removed in version 5.0. (:issue:`1520`). + + +Miscellaneous +~~~~~~~~~~~~~ + +- Use high resolution timer on Windows to improve + timing precision for BroadcastManager (:issue:`1449`). +- Improve ThreadBasedCyclicSendTask timing (:issue:`1539`). +- Make code examples executable on Linux (:issue:`1452`). +- Fix CanFilter type annotation (:issue:`1456`). +- Fix ``The entry_points().get`` deprecation warning and improve + type annotation of ``can.interfaces.BACKENDS`` (:issue:`1465`). +- Add ``ignore_config`` parameter to ``can.Bus`` (:issue:`1474`). +- Add deprecation period to utility function ``deprecated_args_alias`` (:issue:`1477`). +- Add ``ruff`` to the CI system (:issue:`1551`) + + +Version `v4.1.0 `_ - 2022-11-24 +----------------------------------------------------------------------------------- + +Breaking Changes +~~~~~~~~~~~~~~~~ + +- ``windows-curses`` was moved to optional dependencies (:issue:`1395`). + Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` + script on Windows. +- The attributes of ``can.interfaces.vector.VectorChannelConfig`` were renamed + from camelCase to snake_case (:issue:`1422`). + + + +Features +~~~~~~~~ + + +IO +^^ +- The canutils logger preserves message direction (:issue:`1244`) + and uses common interface names (e.g. can0) instead of just + channel numbers (:issue:`1271`). +- The ``can.logger`` script accepts the ``-a, --append`` option + to add new data to an existing log file (:issue:`1326`, :issue:`1327`, :issue:`1361`). + Currently only the blf-, canutils- and csv-formats are supported. +- All CLI ``extra_args`` are passed to the bus, logger + and player initialisation (:issue:`1366`). +- Initial support for TRC files (:issue:`1217`) + + +Type Annotations +^^^^^^^^^^^^^^^^ +- python-can now includes the ``py.typed`` marker to support type checking + according to PEP 561 (:issue:`1344`). + + +Interface Improvements +^^^^^^^^^^^^^^^^^^^^^^ +- The gs_usb interface can be selected by device index instead + of USB bus/address. Loopback frames are now correctly marked + with the ``is_rx`` flag (:issue:`1270`). +- The PCAN interface can be selected by its device ID instead + of just the channel name (:issue:`1346`). +- The PCAN Bus implementation supports auto bus-off reset (:issue:`1345`). +- SocketCAN: Make ``find_available_interfaces()`` find slcanX interfaces (:issue:`1369`). +- Vector: Add xlGetReceiveQueueLevel, xlGenerateSyncPulse and + xlFlushReceiveQueue to xldriver (:issue:`1387`). +- Vector: Raise a CanInitializationError, if the CAN settings can not + be applied according to the arguments of ``VectorBus.__init__`` (:issue:`1426`). +- Ixxat bus now implements BusState api and detects errors (:issue:`1141`) + + +Bug Fixes +~~~~~~~~~ + +- Improve robustness of USB2CAN serial number detection (:issue:`1129`). +- Fix channel2int conversion (:issue:`1268`, :issue:`1269`). +- Fix BLF timestamp conversion (:issue:`1266`, :issue:`1273`). +- Fix timestamp handling in udp_multicast on macOS (:issue:`1275`, :issue:`1278`). +- Fix failure to initiate the Neousys DLL (:issue:`1281`). +- Fix AttributeError in IscanError (:issue:`1292`, :issue:`1293`). +- Add missing vector devices (:issue:`1296`). +- Fix error for DLC > 8 in ASCReader (:issue:`1299`, :issue:`1301`). +- Set default mode for FileIOMessageWriter to wt instead of rt (:issue:`1303`). +- Fix conversion for port number from config file (:issue:`1309`). +- Fix fileno error on Windows (:issue:`1312`, :issue:`1313`, :issue:`1333`). +- Remove redundant ``writer.stop()`` call that throws error (:issue:`1316`, :issue:`1317`). +- Detect and cast types of CLI ``extra_args`` (:issue:`1280`, :issue:`1328`). +- Fix ASC/CANoe incompatibility due to timestamp format (:issue:`1315`, :issue:`1362`). +- Fix MessageSync timings (:issue:`1372`, :issue:`1374`). +- Fix file name for compressed files in SizedRotatingLogger (:issue:`1382`, :issue:`1683`). +- Fix memory leak in neoVI bus where message_receipts grows with no limit (:issue:`1427`). +- Raise ValueError if gzip is used with incompatible log formats (:issue:`1429`). +- Allow restarting of transmission tasks for socketcan (:issue:`1440`) + + +Miscellaneous +~~~~~~~~~~~~~ + +- Allow ICSApiError to be pickled and un-pickled (:issue:`1341`) +- Sort interface names in CLI API to make documentation reproducible (:issue:`1342`) +- Exclude repository-configuration from git-archive (:issue:`1343`) +- Improve documentation (:issue:`1397`, :issue:`1401`, :issue:`1405`, :issue:`1420`, :issue:`1421`, :issue:`1434`) +- Officially support Python 3.11 (:issue:`1423`) +- Migrate code coverage reporting from Codecov to Coveralls (:issue:`1430`) +- Migrate building docs and publishing releases to PyPi from Travis-CI to GitHub Actions (:issue:`1433`) + + +Version `v4.0.0 `_ - 2022-02-19 +---------------------------------------------------------------------------------- + +TL;DR: This release includes a ton of improvements from 2.5 years of development! 🎉 Test thoroughly after switching. + +For more than two years, there was no major release of *python-can*. +However, development was very much active over most of this time, and many parts were switched out and improved. +Over this time, over 530 issues and PRs have been resolved or merged, and discussions took place in even more. +Statistics of the final diff: About 200 files changed due to ~22k additions and ~7k deletions from more than thirty contributors. + +This changelog diligently lists the major changes but does not promise to be the complete list of changes. +Therefore, users are strongly advised to thoroughly test their programs against this new version. +Re-reading the documentation for your interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. +While we did try to avoid breaking changes, in some cases it was not feasible and in particular, many implementation details have changed. + + +Major features +~~~~~~~~~~~~~~ + +- Type hints for the core library and some interfaces (:issue:`652` and many others) +- Support for Python 3.7-3.10+ only (dropped support for Python 2.* and 3.5-3.6) (:issue:`528` and many others) +- `Granular and unified exceptions `_ (:issue:`356`, :issue:`562`, :issue:`1025`; overview in :issue:`1046`) +- `Support for automatic configuration detection `_ in most interfaces (:issue:`303`, :issue:`640`, :issue:`641`, :issue:`811`, :issue:`1077`, :issue:`1085`) +- Better alignment of interfaces and IO to common conventions and semantics + + +New interfaces +~~~~~~~~~~~~~~ + +- udp_multicast (:issue:`644`) +- robotell (:issue:`731`) +- cantact (:issue:`853`) +- gs_usb (:issue:`905`) +- nixnet (:issue:`968`, :issue:`1154`) +- neousys (:issue:`980`, :issue:`1076`) +- socketcand (:issue:`1140`) +- etas (:issue:`1144`) + + +Improved interfaces +~~~~~~~~~~~~~~~~~~~ + +- socketcan + + * Support for multiple Cyclic Messages in Tasks (:issue:`610`) + * Socketcan crash when attempting to stop CyclicSendTask with same arbitration ID (:issue:`605`, :issue:`638`, :issue:`720`) + * Relax restriction of arbitration ID uniqueness for CyclicSendTask (:issue:`721`, :issue:`785`, :issue:`930`) + * Add nanosecond resolution time stamping to socketcan (:issue:`938`, :issue:`1015`) + * Add support for changing the loopback flag (:issue:`960`) + * Socketcan timestamps are missing sub-second precision (:issue:`1021`, :issue:`1029`) + * Add parameter to ignore CAN error frames (:issue:`1128`) + +- socketcan_ctypes + + * Removed and replaced by socketcan after deprecation period + +- socketcan_native + + * Removed and replaced by socketcan after deprecation period + +- vector + + * Add chip state API (:issue:`635`) + * Add methods to handle non message events (:issue:`708`) + * Implement XLbusParams (:issue:`718`) + * Add support for VN8900 xlGetChannelTime function (:issue:`732`, :issue:`733`) + * Add vector hardware config popup (:issue:`774`) + * Fix Vector CANlib treatment of empty app name (:issue:`796`, :issue:`814`) + * Make VectorError pickleable (:issue:`848`) + * Add methods get_application_config(), set_application_config() and set_timer_rate() to VectorBus (:issue:`849`) + * Interface arguments are now lowercase (:issue:`858`) + * Fix errors using multiple Vector devices (:issue:`898`, :issue:`971`, :issue:`977`) + * Add more interface information to channel config (:issue:`917`) + * Improve timestamp accuracy on Windows (:issue:`934`, :issue:`936`) + * Fix error with VN8900 (:issue:`1184`) + * Add static typing (:issue:`1229`) + +- PCAN + + * Do not incorrectly reset CANMsg.MSGTYPE on remote frame (:issue:`659`, :issue:`681`) + * Add support for error frames (:issue:`711`) + * Added keycheck for windows platform for better error message (:issue:`724`) + * Added status_string method to return simple status strings (:issue:`725`) + * Fix timestamp timezone offset (:issue:`777`, :issue:`778`) + * Add `Cygwin `_ support (:issue:`840`) + * Update PCAN basic Python file to February 7, 2020 (:issue:`929`) + * Fix compatibility with the latest macOS SDK (:issue:`947`, :issue:`948`, :issue:`957`, :issue:`976`) + * Allow numerical channel specifier (:issue:`981`, :issue:`982`) + * macOS: Try to find libPCBUSB.dylib before loading it (:issue:`983`, :issue:`984`) + * Disable command PCAN_ALLOW_ERROR_FRAMES on macOS (:issue:`985`) + * Force english error messages (:issue:`986`, :issue:`993`, :issue:`994`) + * Add set/get device number (:issue:`987`) + * Timestamps are silently incorrect on Windows without uptime installed (:issue:`1053`, :issue:`1093`) + * Implement check for minimum version of pcan library (:issue:`1065`, :issue:`1188`) + * Handle case where uptime is imported successfully but returns None (:issue:`1102`, :issue:`1103`) + +- slcan + + * Fix bitrate setting (:issue:`691`) + * Fix fileno crash on Windows (:issue:`924`) + +- ics_neovi + + * Filter out Tx error messages (:issue:`854`) + * Adding support for send timeout (:issue:`855`) + * Raising more precise API error when set bitrate fails (:issue:`865`) + * Avoid flooding the logger with many errors when they are the same (:issue:`1125`) + * Omit the transmit exception cause for brevity (:issue:`1086`) + * Raise ValueError if message data is over max frame length (:issue:`1177`, :issue:`1181`) + * Setting is_error_frame message property (:issue:`1189`) + +- ixxat + + * Raise exception on busoff in recv() (:issue:`856`) + * Add support for 666 kbit/s bitrate (:issue:`911`) + * Add function to list hwids of available devices (:issue:`926`) + * Add CAN FD support (:issue:`1119`) + +- seeed + + * Fix fileno crash on Windows (:issue:`902`) + +- kvaser + + * Improve timestamp accuracy on Windows (:issue:`934`, :issue:`936`) + +- usb2can + + * Fix "Error 8" on Windows and provide better error messages (:issue:`989`) + * Fix crash on initialization (:issue:`1248`, :issue:`1249`) + * Pass flags instead of flags_t type upon initialization (:issue:`1252`) + +- serial + + * Fix "TypeError: cannot unpack non-iterable NoneType" and more robust error handling (:issue:`1000`, :issue:`1010`) + +- canalystii + + * Fix is_extended_id (:issue:`1006`) + * Fix transmitting onto a busy bus (:issue:`1114`) + * Replace binary library with python driver (:issue:`726`, :issue:`1127`) + + +Other API changes and improvements +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +- CAN FD frame support is pretty complete (:issue:`963`) + + * ASCWriter (:issue:`604`) and ASCReader (:issue:`741`) + * Canutils reader and writer (:issue:`1042`) + * Logger, viewer and player tools can handle CAN FD (:issue:`632`) + * Many bugfixes and more testing coverage + +- IO + + * `Log rotation `_ (:issue:`648`, :issue:`874`, :issue:`881`, :issue:`1147`) + * Transparent (de)compression of `gzip `_ files for all formats (:issue:`1221`) + * Add `plugin support to can.io Reader/Writer `_ (:issue:`783`) + * ASCReader/Writer enhancements like increased robustness (:issue:`820`, :issue:`1223`, :issue:`1256`, :issue:`1257`) + * Adding absolute timestamps to ASC reader (:issue:`761`) + * Support other base number (radix) at ASCReader (:issue:`764`) + * Add `logconvert script `_ (:issue:`1072`, :issue:`1194`) + * Adding support for gzipped ASC logging file (.asc.gz) (:issue:`1138`) + * Improve `IO class hierarchy `_ (:issue:`1147`) + +- An `overview over various "virtual" interfaces `_ (:issue:`644`) +- Make ThreadBasedCyclicSendTask event based & improve timing accuracy (:issue:`656`) +- Ignore error frames in can.player by default, add --error-frames option (:issue:`690`) +- Add an error callback to ThreadBasedCyclicSendTask (:issue:`743`, :issue:`781`) +- Add direction to CAN messages (:issue:`773`, :issue:`779`, :issue:`780`, :issue:`852`, :issue:`966`) +- Notifier no longer raises handled exceptions in rx_thread (:issue:`775`, :issue:`789`) but does so if no listener handles them (:issue:`1039`, :issue:`1040`) +- Changes to serial device number decoding (:issue:`869`) +- Add a default fileno function to the BusABC (:issue:`877`) +- Disallow Messages to simultaneously be "FD" and "remote" (:issue:`1049`) +- Speed up interface plugin imports by avoiding pkg_resources (:issue:`1110`) +- Allowing for extra config arguments in can.logger (:issue:`1142`, :issue:`1170`) +- Add changed byte highlighting to viewer.py (:issue:`1159`) +- Change DLC to DL in ``Message.__str__()`` (:issue:`1212`) + + +Other Bugfixes +~~~~~~~~~~~~~~ + +- BLF PDU padding (:issue:`459`) +- stop_all_periodic_tasks skipping every other task (:issue:`634`, :issue:`637`, :issue:`645`) +- Preserve capitalization when reading config files (:issue:`702`, :issue:`1062`) +- ASCReader: Skip J1939Tp messages (:issue:`701`) +- Fix crash in Canutils Log Reader when parsing RTR frames (:issue:`713`) +- Various problems with the installation of the library +- ASCWriter: Fix date format to show correct day of month (:issue:`754`) +- Fixes that some BLF files can't be read ( :issue:`763`, :issue:`765`) +- Seek for start of object instead of calculating it (:issue:`786`, :issue:`803`, :issue:`806`) +- Only import winreg when on Windows (:issue:`800`, :issue:`802`) +- Find the correct Reader/Writer independently of the file extension case (:issue:`895`) +- RecursionError when unpickling message object (:issue:`804`, :issue:`885`, :issue:`904`) +- Move "filelock" to neovi dependencies (:issue:`943`) +- Bus() with "fd" parameter as type bool always resolved to fd-enabled configuration (:issue:`954`, :issue:`956`) +- Asyncio code hits error due to deprecated loop parameter (:issue:`1005`, :issue:`1013`) +- Catch time before 1970 in ASCReader (:issue:`1034`) +- Fix a bug where error handlers were not called correctly (:issue:`1116`) +- Improved user interface of viewer script (:issue:`1118`) +- Correct app_name argument in logger (:issue:`1151`) +- Calling stop_all_periodic_tasks() in BusABC.shutdown() and all interfaces call it on shutdown (:issue:`1174`) +- Timing configurations do not allow int (:issue:`1175`) +- Some smaller bugfixes are not listed here since the problems were never part of a proper release +- ASCReader & ASCWriter using DLC as data length (:issue:`1245`, :issue:`1246`) + + +Behind the scenes & Quality assurance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +- We publish both source distributions (``sdist``) and binary wheels (``bdist_wheel``) (:issue:`1059`, :issue:`1071`) +- Many interfaces were partly rewritten to modernize the code or to better handle errors +- Performance improvements +- Dependencies have changed +- Derive type information in Sphinx docs directly from type hints (:issue:`654`) +- Better documentation in many, many places; This includes the examples, README and python-can developer resources +- Add issue templates (:issue:`1008`, :issue:`1017`, :issue:`1018`, :issue:`1178`) +- Many continuous integration (CI) discussions & improvements (for example: :issue:`951`, :issue:`940`, :issue:`1032`) + + * Use the `mypy `_ static type checker (:issue:`598`, :issue:`651`) + * Use `tox `_ for testing (:issue:`582`, :issue:`833`, :issue:`870`) + * Use `Mergify `_ (:issue:`821`, :issue:`835`, :issue:`937`) + * Switch between various CI providers, abandoned `AppVeyor `_ (:issue:`1009`) and partly `Travis CI `_, ended up with mostly `GitHub Actions `_ (:issue:`827`, :issue:`1224`) + * Use the `black `_ auto-formatter (:issue:`950`) + * `Good test coverage `_ for all but the interfaces + +- Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: :issue:`1031`, :issue:`581`, :issue:`585`, :issue:`586`, :issue:`942`, :issue:`1196`, :issue:`1198`) + + +Version `v3.3.4 `_ - 2020-10-04 +---------------------------------------------------------------------------------- + +Last call for Python2 support. + +- :issue:`850` Fix socket.error is a deprecated alias of OSError used on Python versions lower than 3.3. + + +Version `v3.3.3 `_ - 2020-05-18 +---------------------------------------------------------------------------------- + +- :issue:`798` Backport caching msg.data value in neovi interface. +- :issue:`796` Fix Vector CANlib treatment of empty app name. +- :issue:`771` Handle empty CSV file. +- :issue:`741` ASCII reader can now handle FD frames. +- :issue:`740` Exclude test packages from distribution. +- :issue:`713` RTR crash fix in canutils log reader parsing RTR frames. +- :issue:`701` Skip J1939 messages in ASC Reader. +- :issue:`690` Exposes a configuration option to allow the CAN message player to send error frames (and sets the default to not send error frames). +- :issue:`638` Fixes the semantics provided by periodic tasks in SocketCAN interface. +- :issue:`628` Avoid padding CAN_FD_MESSAGE_64 objects to 4 bytes. +- :issue:`617` Fixes the broken CANalyst-II interface. +- :issue:`605` Socketcan BCM status fix. + + +Version `v3.3.2 `_ - 2019-08-16 +---------------------------------------------------------------------------------- +Minor bug fix release addressing issue in PCAN RTR. + + +Version `v3.3.1 `_ - 2019-07-23 +---------------------------------------------------------------------------------- +Minor fix to setup.py to only require pytest-runner when necessary. + + +Version `v3.3.0 `_ - 2019-06-27 +---------------------------------------------------------------------------------- + +- Adding CAN FD 64 frame support to blf reader +- Updates to installation instructions +- Clean up bits generator in PCAN interface :issue:`588` +- Minor fix to use latest tools when building wheels on travis. + + +Version `v3.2.1 `_ - 2019-06-25 +---------------------------------------------------------------------------------- + +- CAN FD 64 frame support to blf reader +- Minor fix to use latest tools when building wheels on travis. +- Updates links in documentation. + + +Version `v3.2.0 `_ - 2019-05-16 +---------------------------------------------------------------------------------- + +Major features +~~~~~~~~~~~~~~ + +- FD support added for Pcan by @bmeisels with input from + @markuspi, @christiansandberg & @felixdivo in PR :issue:`537` +- This is the last version of python-can which will support Python 2.7 + and Python 3.5. Support has been removed for Python 3.4 in this + release in PR :issue:`532` + + +Other notable changes +~~~~~~~~~~~~~~~~~~~~~ + +- :issue:`533` BusState is now an enum. +- :issue:`535` This release should automatically be published to PyPi by travis. +- :issue:`577` Travis-ci now uses stages. +- :issue:`548` A guide has been added for new io formats. +- :issue:`550` Finish moving from nose to pytest. +- :issue:`558` Fix installation on Windows. +- :issue:`561` Tests for MessageSync added. + +General fixes, cleanup and docs changes can be found on the GitHub milestone +https://github.com/hardbyte/python-can/milestone/7?closed=1 + +Pulls: :issue:`522`, :issue:`526`, :issue:`527`, :issue:`536`, :issue:`540`, :issue:`546`, :issue:`547`, :issue:`548`, :issue:`533`, :issue:`559`, :issue:`569`, :issue:`571`, :issue:`572`, :issue:`575` + + +Backend Specific Changes +~~~~~~~~~~~~~~~~~~~~~~~~ + + +pcan +^^^^ + +- FD + + +slcan +^^^^^ + +- ability to set custom can speed instead of using predefined speed values. :issue:`553` + + +socketcan +^^^^^^^^^ + +- Bug fix to properly support 32bit systems. :issue:`573` + + +usb2can +^^^^^^^ + +- slightly better error handling +- multiple serial devices can be found +- support for the ``_detect_available_configs()`` API + +Pulls :issue:`511`, :issue:`535` + + +vector +^^^^^^ + +- handle ``app_name``. :issue:`525` + + +Version `v3.1.1 `_ - 2019-02-24 +---------------------------------------------------------------------------------- + +Major features +~~~~~~~~~~~~~~ + +Two new interfaces this release: + +- SYSTEC contributed by @idaniel86 in PR :issue:`466` +- CANalyst-II contributed by @smeng9 in PR :issue:`476` + + +Other notable changes +~~~~~~~~~~~~~~~~~~~~~ + +- :issue:`477` The kvaser interface now supports bus statistics via a custom bus method. +- :issue:`434` neovi now supports receiving own messages +- :issue:`490` Adding option to override the neovi library name +- :issue:`488` Allow simultaneous access to IXXAT cards +- :issue:`447` Improvements to serial interface: + + * to allow receiving partial messages + * to fix issue with DLC of remote frames + * addition of unit tests + +- :issue:`497` Small API changes to ``Message`` and added unit tests +- :issue:`471` Fix CAN FD issue in kvaser interface +- :issue:`462` Fix ``Notifier`` issue with asyncio +- :issue:`481` Fix PCAN support on OSX +- :issue:`455` Fix to ``Message`` initializer +- Small bugfixes and improvements + + +Version `v3.1.0 `_ - 2023-03-01 +----------------------------------------------------------------------------------- + +Version 3.1.0 was built with old wheel and/or setuptools +packages and was replaced with v3.1.1 after an installation +but was discovered. + + +Version `v3.0.0 `_ - 2019-02-23 +---------------------------------------------------------------------------------- + +Major features +~~~~~~~~~~~~~~ + +- Adds support for developing ``asyncio`` applications with ``python-can`` more easily. This can be useful + when implementing protocols that handles simultaneous connections to many nodes since you can write + synchronous looking code without handling multiple threads and locking mechanisms. :issue:`388` +- New can viewer terminal application. (``python -m can.viewer``) :issue:`390` +- More formally adds task management responsibility to the ``Bus``. By default tasks created with + ``bus.send_periodic`` will have a reference held by the bus - this means in many cases the user + doesn't need to keep the task in scope for their periodic messages to continue being sent. If + this behavior isn't desired pass ``store_task=False`` to the ``send_periodic`` method. Stop all tasks + by calling the bus's new ``stop_all_periodic_tasks`` method. :issue:`412` + + + +Breaking changes +~~~~~~~~~~~~~~~~ + +- Interfaces should no longer override ``send_periodic`` and instead implement + ``_send_periodic_internal`` to allow the Bus base class to manage tasks. :issue:`426` +- writing to closed writers is not supported any more (it was supported only for some) +- the file in the reader/writer is now always stored in the attribute uniformly called ``file``, and not in + something like ``fp``, ``log_file`` or ``output_file``. Changed the name of the first parameter of the + read/writer constructors from ``filename`` to ``file``. + + + +Other notable changes +~~~~~~~~~~~~~~~~~~~~~ + +- can.Message class updated :issue:`413` + + - Addition of a ``Message.equals`` method. + - Deprecate id_type in favor of is_extended_id + - Initializer parameter extended_id deprecated in favor of is_extended_id + - documentation, testing and example updates + - Addition of support for various builtins: __repr__, __slots__, __copy__ + +- IO module updates to bring consistency to the different CAN message writers and readers. :issue:`348` + + - context manager support for all readers and writers + - they share a common super class called ``BaseIOHandler`` + - all file handles can now be closed with the ``stop()`` method + - the table name in ``SqliteReader``/``SqliteWriter`` can be adjusted + - append mode added in ``CSVWriter`` and ``CanutilsLogWriter`` + - `file-like `_ and + `path-like `_ objects can now be passed to + the readers and writers (except to the Sqlite handlers) + - add a ``__ne__()`` method to the ``Message`` class (this was required by the tests) + - added a ``stop()`` method for ``BufferedReader`` + - ``SqliteWriter``: this now guarantees that all messages are being written, exposes some previously internal metrics + and only buffers messages up to a certain limit before writing/committing to the database. + - the unused ``header_line`` attribute from ``CSVReader`` has been removed + - privatized some attributes that are only to be used internally in the classes + - the method ``Listener.on_message_received()`` is now abstract (using ``@abc.abstractmethod``) + +- Start testing against Python 3.7 :issue:`380` +- All scripts have been moved into ``can/scripts``. :issue:`370`, :issue:`406` +- Added support for additional sections to the config :issue:`338` +- Code coverage reports added. :issue:`346`, :issue:`374` +- Bug fix to thread safe bus. :issue:`397` + +General fixes, cleanup and docs changes: (:issue:`347`, :issue:`348`, :issue:`367`, :issue:`368`, :issue:`370`, :issue:`371`, :issue:`373`, :issue:`420`, :issue:`417`, :issue:`419`, :issue:`432`) + + +Backend Specific Changes +~~~~~~~~~~~~~~~~~~~~~~~~ + + +3rd party interfaces +^^^^^^^^^^^^^^^^^^^^ + +- Deprecated ``python_can.interface`` entry point instead use ``can.interface``. :issue:`389` + + +neovi +^^^^^ + +- Added support for CAN-FD :issue:`408` +- Fix issues checking if bus is open. :issue:`381` +- Adding multiple channels support. :issue:`415` + + +nican +^^^^^ + +- implements reset instead of custom ``flush_tx_buffer``. :issue:`364` + + +pcan +^^^^ + +- now supported on OSX. :issue:`365` + + +serial +^^^^^^ + +- Removed TextIOWrapper from serial. :issue:`383` +- switch to ``serial_for_url`` enabling using remote ports via ``loop://``, ``socket://`` and ``rfc2217://`` URLs. :issue:`393` +- hardware handshake using ``rtscts`` kwarg :issue:`402` + + +socketcan +^^^^^^^^^ + +- socketcan tasks now reuse a bcm socket :issue:`404`, :issue:`425`, :issue:`426`, +- socketcan bugfix to receive error frames :issue:`384` + + +vector +^^^^^^ + +- Vector interface now implements ``_detect_available_configs``. :issue:`362` +- Added support to select device by serial number. :issue:`387` + + +Version `v2.2.1 `_ - 2018-07-12 +---------------------------------------------------------------------------------- + +- Fix errors and warnings when importing library on Windows +- Fix Vector backend raising ValueError when hardware is not connected + + +Version `v2.2.0 `_ - 2018-07-03 +---------------------------------------------------------------------------------- + +- Fallback message filtering implemented in Python for interfaces that don't offer better accelerated mechanism. +- SocketCAN interfaces have been merged (Now use ``socketcan`` instead of either ``socketcan_native`` and ``socketcan_ctypes``), + this is now completely transparent for the library user. +- automatic detection of available configs/channels in supported interfaces. +- Added synchronized (thread-safe) Bus variant. +- context manager support for the Bus class. +- Dropped support for Python 3.3 (officially reached end-of-life in Sept. 2017) +- Deprecated the old ``CAN`` module, please use the newer ``can`` entry point (will be removed in an upcoming major version) + + +Version `v2.1.0 `_ - 2018-02-18 +---------------------------------------------------------------------------------- + +- Support for out of tree can interfaces with pluggy. +- Initial support for CAN-FD for socketcan_native and kvaser interfaces. +- Neovi interface now uses Intrepid Control Systems's own interface library. +- Improvements and new documentation for SQL reader/writer. +- Fix bug in neovi serial number decoding. +- Add testing on OSX to TravisCI +- Fix non english decoding error on pcan +- Other misc improvements and bug fixes + + +Version `v2.0.0 `_ - 2018-01-05 +---------------------------------------------------------------------------------- + +After an extended baking period we have finally tagged version 2.0.0! + +Quite a few major changes from v1.x: + +- New interfaces: + + * Vector + * NI-CAN + * isCAN + * neoVI + +- Simplified periodic send API with initial support for SocketCAN +- Protocols module including J1939 support removed +- Logger script moved to module ``can.logger`` +- New ``can.player`` script to replay log files +- BLF, ASC log file support added in new ``can.io`` module + +You can install from `PyPi `_ with pip: + +``` +pip install python-can==2.0.0 +``` + + +Version `v1.5.2 `_ - 2016-09-10 +---------------------------------------------------------------------------------- + + +Version `v1.4.2 `_ - 2016-01-12 +---------------------------------------------------------------------------------- + + +Version `v1.0.0 `_ - 2010-11-18 +---------------------------------------------------------------------------------- + + +Version `v0.4.1 `_ - 2010-07-01 +---------------------------------------------------------------------------------- diff --git a/doc/conf.py b/doc/conf.py index 5e413361c..b91ca231e 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -10,6 +10,7 @@ import os import sys from importlib.metadata import version as get_version +from pathlib import Path from unittest.mock import MagicMock # If extensions (or modules to document with autodoc) are in another directory, @@ -49,12 +50,18 @@ "sphinx.ext.viewcode", "sphinx.ext.graphviz", "sphinxcontrib.programoutput", + "sphinxcontrib.towncrier.ext", "sphinx_inline_tabs", "sphinx_copybutton", ] +# Options: draft/sphinx-version/sphinx-release +towncrier_draft_autoversion_mode = "draft" +towncrier_draft_include_empty = False +towncrier_draft_working_directory = Path(__file__).parent.parent + # Now, you can use the alias name as a new role, e.g. :issue:`123`. -extlinks = {"issue": ("https://github.com/hardbyte/python-can/issues/%s/", "issue #%s")} +extlinks = {"issue": ("https://github.com/hardbyte/python-can/issues/%s/", "#%s")} intersphinx_mapping = {"python": ("https://docs.python.org/3/", None)} @@ -88,7 +95,7 @@ # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. -exclude_patterns = ["_build"] +exclude_patterns = ["_build", "changelog.d/*"] # The reST default role (used for this markup: `text`) to use for all documents # default_role = None diff --git a/doc/development.rst b/doc/development.rst index 40604c346..ff0ca42df 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -169,28 +169,28 @@ Step-by-Step Contribution Guide 5. **Add a News Fragment for the Changelog** This project uses `towncrier `__ to manage the changelog in - ``CHANGELOG.md``. For every user-facing change (new feature, bugfix, deprecation, etc.), you + ``doc/changelog.rst``. For every user-facing change (new feature, bugfix, deprecation, etc.), you must add a news fragment: * News fragments are short files describing your change, stored in ``doc/changelog.d``. - * Name each fragment ``..md``, where ```` is one of: + * Name each fragment ``..rst``, where ```` is one of: ``added``, ``changed``, ``deprecated``, ``removed``, ``fixed``, or ``security``. * Example (for a feature added in PR #1234): .. code-block:: shell - echo "Added support for CAN FD." > doc/changelog.d/1234.added.md + echo "Added support for CAN FD." > doc/changelog.d/1234.added.rst * Or use the towncrier CLI: .. code-block:: shell - uvx towncrier create --dir doc/changelog.d -c "Added support for CAN FD." 1234.added.md + uvx towncrier create --dir doc/changelog.d -c "Added support for CAN FD." 1234.added.rst * For changes not tied to an issue/PR, the fragment name must start with a plus symbol - (e.g., ``+mychange.added.md``). Towncrier calls these "orphan fragments". + (e.g., ``+mychange.added.rst``). Towncrier calls these "orphan fragments". - .. note:: You do not need to manually update ``CHANGELOG.md``—maintainers will build the + .. note:: You do not need to manually update ``doc/changelog.rst``—maintainers will build the changelog at release time. 6. **(Optional) Build Source Distribution and Wheels** @@ -252,7 +252,7 @@ Releases are automated via GitHub Actions. To create a new release: * Build the changelog with towncrier: - * Collect all news fragments and update ``CHANGELOG.md`` by running: + * Collect all news fragments and update ``doc/changelog.rst`` by running: .. code-block:: shell @@ -263,9 +263,9 @@ Releases are automated via GitHub Actions. To create a new release: .. note:: You can generate the changelog for prereleases, but keep the news fragments so they are included in the final release. To do this, replace ``--yes`` with ``--keep``. - This will update ``CHANGELOG.md`` but leave the fragments in place for future builds. + This will update ``doc/changelog.rst`` but leave the fragments in place for future builds. - * Review ``CHANGELOG.md`` for accuracy and completeness. + * Review ``doc/changelog.rst`` for accuracy and completeness. * Ensure all tests pass and documentation is up-to-date. * Update ``CONTRIBUTORS.txt`` with any new contributors. diff --git a/doc/index.rst b/doc/index.rst index 402a485e7..0c35b3624 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -49,6 +49,7 @@ Contents: scripts development history + changelog Known Bugs diff --git a/pyproject.toml b/pyproject.toml index da7ff7cfb..23bebd12e 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -54,7 +54,7 @@ can_bridge = "can.bridge:main" homepage = "https://github.com/hardbyte/python-can" documentation = "https://python-can.readthedocs.io" repository = "https://github.com/hardbyte/python-can" -changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" +changelog = "https://python-can.readthedocs.io/en/main/changelog.html" [project.optional-dependencies] pywin32 = ["pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'"] @@ -84,6 +84,7 @@ multicast = ["msgpack~=1.1.0"] docs = [ "sphinx>=5.2.3", "sphinxcontrib-programoutput", + "sphinxcontrib-towncrier", "sphinx-inline-tabs", "sphinx-copybutton", "furo", @@ -218,11 +219,10 @@ disable = [ [tool.towncrier] directory = "doc/changelog.d" -filename = "CHANGELOG.md" -start_string = "\n" -underlines = ["", "", ""] -title_format = "## Version [{version}](https://github.com/hardbyte/python-can/tree/{version}) - {project_date}" -issue_format = "[#{issue}](https://github.com/hardbyte/python-can/issues/{issue})" +filename = "doc/changelog.rst" +title_format = "Version {version} - {project_date}" +issue_format = ":issue:`{issue}`" +underlines = ["-", "~", "^"] [[tool.towncrier.type]] directory = "security" From 5d5cc168bb7bb6f0888459d75c5f5defa11c8bc5 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 21 Mar 2026 12:24:00 +0100 Subject: [PATCH 469/475] check more interfaces with pylint (#2042) --- can/interfaces/cantact.py | 7 +++-- can/interfaces/robotell.py | 31 +++++++++++------------ can/interfaces/seeedstudio/seeedstudio.py | 12 ++------- can/interfaces/serial/__init__.py | 2 -- can/interfaces/slcan.py | 19 ++++++++------ tox.ini | 14 ++++++++-- 6 files changed, 43 insertions(+), 42 deletions(-) diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 26b4102c0..332a7e234 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -9,14 +9,13 @@ from unittest.mock import Mock from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message - -from ..exceptions import ( +from can.exceptions import ( CanInitializationError, CanInterfaceNotImplementedError, error_check, ) -from ..typechecking import AutoDetectedConfig -from ..util import check_or_adjust_timing_clock, deprecated_args_alias +from can.typechecking import AutoDetectedConfig +from can.util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index d34e524ab..c90faec29 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -62,9 +62,11 @@ def __init__( port of underlying serial or usb device (e.g. ``/dev/ttyUSB0``, ``COM8``, ...) Must not be empty. Can also end with ``@115200`` (or similarly) to specify the baudrate. :param int ttyBaudrate: - baudrate of underlying serial or usb device (Ignored if set via the ``channel`` parameter) + baudrate of underlying serial or usb device + (Ignored if set via the ``channel`` parameter) :param int bitrate: - CAN Bitrate in bit/s. Value is stored in the adapter and will be used as default if no bitrate is specified + CAN Bitrate in bit/s. + Value is stored in the adapter and will be used as default if no bitrate is specified :param bool rtscts: turn hardware handshake (RTS/CTS) on and off """ @@ -141,7 +143,8 @@ def set_hw_filter(self, filterid, enabled, msgid_value, msgid_mask, extended_msg :param bool enabled: This filter is enabled :param int msgid_value: - CAN message ID to filter on. The test unit does not accept an extented message ID unless bit 31 of the ID was set. + CAN message ID to filter on. + The test unit does not accept an extented message ID unless bit 31 of the ID was set. :param int msgid_mask: Mask to apply to CAN messagge ID :param bool extended_msg: @@ -156,9 +159,9 @@ def set_hw_filter(self, filterid, enabled, msgid_value, msgid_mask, extended_msg self._writeconfig(configid, msgid_value, msgid_mask) def _getconfigsize(self, configid): - if configid == self._CAN_ART_ID or configid == self._CAN_ABOM_ID: + if configid in (self._CAN_ART_ID, self._CAN_ABOM_ID): return 1 - if configid == self._CAN_BAUD_ID or configid == self._CAN_INIT_FLASH_ID: + if configid in (self._CAN_BAUD_ID, self._CAN_INIT_FLASH_ID): return 4 if configid == self._CAN_SERIALBPS_ID: return 4 @@ -181,7 +184,7 @@ def _readconfig(self, configid, timeout): newmsg = self._readmessage(not self._loopback_test, True, timeout) if newmsg is None: logger.warning( - f"Timeout waiting for response when reading config value {configid:04X}." + "Timeout waiting for response when reading config value %04X.", configid ) return None return newmsg[4:12] @@ -236,7 +239,7 @@ def _readmessage(self, flushold, cfgchannel, timeout): headpos = self._rxbuffer.find(header) if headpos > 0: # data does not start with expected header bytes. Log error and ignore garbage - logger.warning("Ignoring extra " + str(headpos) + " garbage bytes") + logger.warning("Ignoring extra %s garbage bytes", headpos) del self._rxbuffer[:headpos] headpos = self._rxbuffer.find(header) # should now be at index 0! @@ -316,11 +319,7 @@ def _writemessage(self, msgid, msgdata, datalen, msgchan, msgformat, msgtype): packet.append(self._PACKET_HEAD) packet.append(self._PACKET_HEAD) for msgbyte in msgbuf: - if ( - msgbyte == self._PACKET_ESC - or msgbyte == self._PACKET_HEAD - or msgbyte == self._PACKET_TAIL - ): + if msgbyte in (self._PACKET_ESC, self._PACKET_HEAD, self._PACKET_TAIL): packet.append(self._PACKET_ESC) packet.append(msgbyte) packet.append(self._PACKET_TAIL) @@ -395,9 +394,9 @@ def get_serial_number(self, timeout: int | None) -> str | None: if sn2 is None: return None - serial = "" + serial_number = "" for idx in range(0, 8, 2): - serial += f"{sn1[idx]:02X}{sn1[idx + 1]:02X}-" + serial_number += f"{sn1[idx]:02X}{sn1[idx + 1]:02X}-" for idx in range(0, 4, 2): - serial += f"{sn2[idx]:02X}{sn2[idx + 1]:02X}-" - return serial[:-1] + serial_number += f"{sn2[idx]:02X}{sn2[idx + 1]:02X}-" + return serial_number[:-1] diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index 26339616c..b7b0e46ab 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -141,14 +141,10 @@ def shutdown(self): super().shutdown() self.ser.close() - def init_frame(self, timeout=None): + def init_frame(self): """ Send init message to setup the device for comms. this is called during interface creation. - - :param timeout: - This parameter will be ignored. The timeout value of the channel is - used instead. """ byte_msg = bytearray() byte_msg.append(0xAA) # Frame Start Byte 1 @@ -175,14 +171,10 @@ def init_frame(self, timeout=None): def flush_buffer(self): self.ser.flushInput() - def status_frame(self, timeout=None): + def status_frame(self): """ Send status request message over the serial device. The device will respond but details of error codes are unknown but are logged - DEBUG. - - :param timeout: - This parameter will be ignored. The timeout value of the channel is - used instead. """ byte_msg = bytearray() byte_msg.append(0xAA) # Frame Start Byte 1 diff --git a/can/interfaces/serial/__init__.py b/can/interfaces/serial/__init__.py index 6327530d7..c97012ae9 100644 --- a/can/interfaces/serial/__init__.py +++ b/can/interfaces/serial/__init__.py @@ -1,5 +1,3 @@ -""" """ - __all__ = [ "SerialBus", "serial_can", diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index 4618ed1c1..2ec4df238 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -86,9 +86,11 @@ def __init__( """ :param str channel: port of underlying serial or usb device (e.g. ``/dev/ttyUSB0``, ``COM8``, ...) - Must not be empty. Can also end with ``@115200`` (or similarly) to specify the baudrate. + Must not be empty. Can also end with ``@115200`` (or similarly) + to specify the baudrate. :param int tty_baudrate: - baudrate of underlying serial or usb device (Ignored if set via the ``channel`` parameter) + baudrate of underlying serial or usb device + (Ignored if set via the ``channel`` parameter) :param bitrate: Bitrate in bit/s :param timing: @@ -96,8 +98,9 @@ def __init__( If this argument is set then it overrides the bitrate and btr arguments. The `f_clock` value of the timing instance must be set to 8_000_000 (8MHz) for standard CAN. - CAN FD and the :class:`~can.BitTimingFd` class have partial support according to the non-standard - slcan protocol implementation in the CANABLE 2.0 firmware: currently only data rates of 2M and 5M. + CAN FD and the :class:`~can.BitTimingFd` class have partial support according to + the non-standard slcan protocol implementation in the + CANABLE 2.0 firmware: currently only data rates of 2M and 5M. :param poll_interval: Poll interval in seconds when reading messages :param sleep_after_open: @@ -178,7 +181,7 @@ def set_bitrate(self, bitrate: int, data_bitrate: int | None = None) -> None: if bitrate in self._BITRATES: bitrate_code = self._BITRATES[bitrate] else: - bitrates = ", ".join(str(k) for k in self._BITRATES.keys()) + bitrates = ", ".join(str(k) for k in self._BITRATES) raise ValueError(f"Invalid bitrate, choose one of {bitrates}.") # If data_bitrate is None, we set it to 0 which means no data bitrate @@ -188,7 +191,7 @@ def set_bitrate(self, bitrate: int, data_bitrate: int | None = None) -> None: if data_bitrate in self._DATA_BITRATES: dbitrate_code = self._DATA_BITRATES[data_bitrate] else: - dbitrates = ", ".join(str(k) for k in self._DATA_BITRATES.keys()) + dbitrates = ", ".join(str(k) for k in self._DATA_BITRATES) raise ValueError(f"Invalid data bitrate, choose one of {dbitrates}.") self.close() @@ -216,8 +219,8 @@ def _read(self, timeout: float | None) -> str | None: with error_check("Could not read from serial device"): while True: - # Due to accessing `serialPortOrig.in_waiting` too often will reduce the performance. - # We read the `serialPortOrig.in_waiting` only once here. + # Due to accessing `serialPortOrig.in_waiting` too often will reduce + # the performance. We read the `serialPortOrig.in_waiting` only once here. size = self.serialPortOrig.in_waiting or 1 self._buffer.extend(self.serialPortOrig.read(size)) diff --git a/tox.ini b/tox.ini index 2e695f9e4..ca02beb28 100644 --- a/tox.ini +++ b/tox.ini @@ -29,7 +29,6 @@ extras = mf4 multicast gs-usb - serial pywin32 serial # still no windows-curses for py314 @@ -58,6 +57,8 @@ basepython = py313 dependency_groups = lint extras = + canalystii + gs-usb viewer commands = black --check . @@ -67,7 +68,16 @@ commands = can/io \ doc/conf.py \ examples/**.py \ - can/interfaces/socketcan + can/interfaces/canalystii \ + can/interfaces/cantact \ + can/interfaces/gs_usb.py \ + can/interfaces/iscan.py \ + can/interfaces/robotell.py \ + can/interfaces/seeedstudio \ + can/interfaces/serial \ + can/interfaces/slcan.py \ + can/interfaces/socketcan \ + can/interfaces/virtual.py [testenv:type] description = Run type checker From 491a691fd1faffab1c48956bafd711e7c653db54 Mon Sep 17 00:00:00 2001 From: Sai Asish Y Date: Sun, 31 May 2026 03:16:07 -0700 Subject: [PATCH 470/475] fix(pcan): swap SetValue and GetErrorText docstrings (#2058) * fix(pcan): swap SetValue and GetErrorText docstrings The docstrings for SetValue and GetErrorText in pcan/basic.py were swapped: SetValue described returning an error text and GetErrorText described configuring a channel value. Swap them so each docstring matches its function. Fixes #2047 * ci: retrigger flaky test_send_periodic_duration Signed-off-by: Sai Asish Y --------- Signed-off-by: Sai Asish Y --- can/interfaces/pcan/basic.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/can/interfaces/pcan/basic.py b/can/interfaces/pcan/basic.py index 4d175c645..3654699c5 100644 --- a/can/interfaces/pcan/basic.py +++ b/can/interfaces/pcan/basic.py @@ -990,12 +990,10 @@ def GetValue(self, Channel, Parameter): logger.error("Exception on PCANBasic.GetValue") raise - # Returns a descriptive text of a given TPCANStatus - # error code, in any desired language + # Configures or sets a PCAN Channel value # def SetValue(self, Channel, Parameter, Buffer): - """Returns a descriptive text of a given TPCANStatus error - code, in any desired language + """Configures or sets a PCAN Channel value Remarks: Parameters can be present or not according with the kind @@ -1036,7 +1034,8 @@ def SetValue(self, Channel, Parameter, Buffer): raise def GetErrorText(self, Error, Language=0): - """Configures or sets a PCAN Channel value + """Returns a descriptive text of a given TPCANStatus error + code, in any desired language Remarks: From 0d5b7fb82943bee093a3d0078b9cfd94b8a4f7c7 Mon Sep 17 00:00:00 2001 From: Pierre-Luc Date: Sat, 6 Jun 2026 05:15:35 -0400 Subject: [PATCH 471/475] refactor(notifier): change listeners from list to set for uniqueness (#2066) This prevents adding the same listener multiple times Co-authored-by: Pierre-Luc Tessier Gagne --- can/notifier.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/can/notifier.py b/can/notifier.py index cb91cf7b4..fd21a0662 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -133,7 +133,7 @@ def __init__( :raises ValueError: If a passed in *bus* is already assigned to an active :class:`~can.Notifier`. """ - self.listeners: list[MessageRecipient] = list(listeners) + self.listeners: set[MessageRecipient] = set(listeners) self._bus_list: list[BusABC] = [] self.timeout = timeout self._loop = loop @@ -278,20 +278,18 @@ def _on_error(self, exc: Exception) -> bool: return was_handled def add_listener(self, listener: MessageRecipient) -> None: - """Add new Listener to the notification list. - If it is already present, it will be called two times - each time a message arrives. + """Add new Listener to the notification set. :param listener: Listener to be added to the list to be notified """ - self.listeners.append(listener) + self.listeners.add(listener) def remove_listener(self, listener: MessageRecipient) -> None: - """Remove a listener from the notification list. This method + """Remove a listener from the notification set. This method throws an exception if the given listener is not part of the stored listeners. - :param listener: Listener to be removed from the list to be notified + :param listener: Listener to be removed from the set to be notified :raises ValueError: if `listener` was never added to this notifier """ self.listeners.remove(listener) From 41f575d93aed3a7458c03ec4433ea5b823d248bd Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 2 Jun 2026 23:28:08 +0000 Subject: [PATCH 472/475] Bump the dev-deps group across 1 directory with 4 updates Updates the requirements on [black](https://github.com/psf/black), [mypy](https://github.com/python/mypy), [pytest-cov](https://github.com/pytest-dev/pytest-cov) and [coverage](https://github.com/coveragepy/coveragepy) to permit the latest version. Updates `black` to 26.5.1 - [Release notes](https://github.com/psf/black/releases) - [Changelog](https://github.com/psf/black/blob/main/CHANGES.md) - [Commits](https://github.com/psf/black/compare/26.1a1...26.5.1) Updates `mypy` to 2.1.0 - [Changelog](https://github.com/python/mypy/blob/master/CHANGELOG.md) - [Commits](https://github.com/python/mypy/compare/v1.19.0...v2.1.0) Updates `pytest-cov` to 7.1.0 - [Changelog](https://github.com/pytest-dev/pytest-cov/blob/master/CHANGELOG.rst) - [Commits](https://github.com/pytest-dev/pytest-cov/compare/v7.0.0...v7.1.0) Updates `coverage` to 7.14.1 - [Release notes](https://github.com/coveragepy/coveragepy/releases) - [Changelog](https://github.com/coveragepy/coveragepy/blob/main/CHANGES.rst) - [Commits](https://github.com/coveragepy/coveragepy/compare/7.13.0...7.14.1) --- updated-dependencies: - dependency-name: black dependency-version: 26.5.1 dependency-type: direct:development dependency-group: dev-deps - dependency-name: mypy dependency-version: 2.1.0 dependency-type: direct:development dependency-group: dev-deps - dependency-name: pytest-cov dependency-version: 7.1.0 dependency-type: direct:development dependency-group: dev-deps - dependency-name: coverage dependency-version: 7.14.1 dependency-type: direct:development dependency-group: dev-deps ... Signed-off-by: dependabot[bot] --- pyproject.toml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 23bebd12e..9dd55f8df 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -92,16 +92,16 @@ docs = [ lint = [ "pylint==4.0.*", "ruff==0.15.*", - "black==26.1.*", - "mypy==1.19.*", + "black==26.5.*", + "mypy==2.1.*", ] test = [ "pytest==9.0.*", "pytest-timeout==2.4.*", "pytest-modern==0.7.*;platform_system!='Windows'", "coveralls==4.1.*", - "pytest-cov==7.0.*", - "coverage==7.13.*", + "pytest-cov==7.1.*", + "coverage==7.14.*", "hypothesis==6.*", "parameterized==0.9.*", ] From 2d77d4a6ac7b5531bb76c3fd3ae286727039cffe Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 2 Jun 2026 23:26:30 +0000 Subject: [PATCH 473/475] Bump the github-actions group across 1 directory with 5 updates Bumps the github-actions group with 5 updates in the / directory: | Package | From | To | | --- | --- | --- | | [actions/checkout](https://github.com/actions/checkout) | `6.0.2` | `6.0.3` | | [astral-sh/setup-uv](https://github.com/astral-sh/setup-uv) | `7.3.1` | `8.1.0` | | [actions/upload-artifact](https://github.com/actions/upload-artifact) | `7.0.0` | `7.0.1` | | [actions/download-artifact](https://github.com/actions/download-artifact) | `8.0.0` | `8.0.1` | | [pypa/gh-action-pypi-publish](https://github.com/pypa/gh-action-pypi-publish) | `1.13.0` | `1.14.0` | Updates `actions/checkout` from 6.0.2 to 6.0.3 - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/de0fac2e4500dabe0009e67214ff5f5447ce83dd...df4cb1c069e1874edd31b4311f1884172cec0e10) Updates `astral-sh/setup-uv` from 7.3.1 to 8.1.0 - [Release notes](https://github.com/astral-sh/setup-uv/releases) - [Commits](https://github.com/astral-sh/setup-uv/compare/5a095e7a2014a4212f075830d4f7277575a9d098...08807647e7069bb48b6ef5acd8ec9567f424441b) Updates `actions/upload-artifact` from 7.0.0 to 7.0.1 - [Release notes](https://github.com/actions/upload-artifact/releases) - [Commits](https://github.com/actions/upload-artifact/compare/bbbca2ddaa5d8feaa63e36b76fdaad77386f024f...043fb46d1a93c77aae656e7c1c64a875d1fc6a0a) Updates `actions/download-artifact` from 8.0.0 to 8.0.1 - [Release notes](https://github.com/actions/download-artifact/releases) - [Commits](https://github.com/actions/download-artifact/compare/70fc10c6e5e1ce46ad2ea6f2b72d43f7d47b13c3...3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c) Updates `pypa/gh-action-pypi-publish` from 1.13.0 to 1.14.0 - [Release notes](https://github.com/pypa/gh-action-pypi-publish/releases) - [Commits](https://github.com/pypa/gh-action-pypi-publish/compare/ed0c53931b1dc9bd32cbe73a98c7f6766f8a527e...cef221092ed1bacb1cc03d23a2d87d1d172e277b) --- updated-dependencies: - dependency-name: actions/checkout dependency-version: 6.0.3 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: astral-sh/setup-uv dependency-version: 8.1.0 dependency-type: direct:production update-type: version-update:semver-major dependency-group: github-actions - dependency-name: actions/upload-artifact dependency-version: 7.0.1 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: actions/download-artifact dependency-version: 8.0.1 dependency-type: direct:production update-type: version-update:semver-patch dependency-group: github-actions - dependency-name: pypa/gh-action-pypi-publish dependency-version: 1.14.0 dependency-type: direct:production update-type: version-update:semver-minor dependency-group: github-actions ... Signed-off-by: dependabot[bot] --- .github/workflows/ci.yml | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 796e7c65a..26da1e61c 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -33,12 +33,12 @@ jobs: ] fail-fast: false steps: - - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 + - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # 6.0.3 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 + uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -66,7 +66,7 @@ jobs: needs: test runs-on: ubuntu-latest steps: - - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 + - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # 6.0.3 with: fetch-depth: 0 persist-credentials: false @@ -79,12 +79,12 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 + - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # 6.0.3 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 + uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -97,12 +97,12 @@ jobs: docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 + - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # 6.0.3 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 + uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -113,18 +113,18 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # 6.0.2 + - uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10 # 6.0.3 with: fetch-depth: 0 persist-credentials: false - name: Install uv - uses: astral-sh/setup-uv@5a095e7a2014a4212f075830d4f7277575a9d098 # 7.3.1 + uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 - name: Build wheel and sdist run: uv build - name: Check build artifacts run: uvx twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@bbbca2ddaa5d8feaa63e36b76fdaad77386f024f # 7.0.0 + uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # 7.0.1 with: name: release path: ./dist @@ -140,7 +140,7 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@70fc10c6e5e1ce46ad2ea6f2b72d43f7d47b13c3 # 8.0.0 + - uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # 8.0.1 with: path: dist merge-multiple: true @@ -151,4 +151,4 @@ jobs: subject-path: 'dist/*' - name: Publish release distributions to PyPI - uses: pypa/gh-action-pypi-publish@ed0c53931b1dc9bd32cbe73a98c7f6766f8a527e # 1.13.0 + uses: pypa/gh-action-pypi-publish@cef221092ed1bacb1cc03d23a2d87d1d172e277b # 1.14.0 From 6b1f0533e727748b93db6645e9cb752a599d3799 Mon Sep 17 00:00:00 2001 From: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> Date: Sat, 6 Jun 2026 12:39:54 +0200 Subject: [PATCH 474/475] update gh workflow files (#2067) --- .github/dependabot.yml | 10 ++++++++-- .github/workflows/ci.yml | 8 ++++++++ .mergify.yml | 25 ------------------------- 3 files changed, 16 insertions(+), 27 deletions(-) delete mode 100644 .mergify.yml diff --git a/.github/dependabot.yml b/.github/dependabot.yml index dbe907783..70463c491 100644 --- a/.github/dependabot.yml +++ b/.github/dependabot.yml @@ -9,7 +9,10 @@ updates: # Enable version updates for development dependencies directory: "/" schedule: - interval: "monthly" + interval: "cron" + cronjob: "0 0 1 */3 *" # Run once every 3 months + cooldown: + default-days: 7 versioning-strategy: "increase-if-necessary" groups: dev-deps: @@ -20,7 +23,10 @@ updates: # Enable version updates for GitHub Actions directory: "/" schedule: - interval: "monthly" + interval: "cron" + cronjob: "0 0 1 */3 *" # Run once every 3 months + cooldown: + default-days: 7 groups: github-actions: patterns: diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 26da1e61c..e9655039f 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -39,6 +39,8 @@ jobs: persist-credentials: false - name: Install uv uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 + with: + enable-cache: false - name: Install tox run: uv tool install tox --with tox-uv - name: Setup SocketCAN @@ -85,6 +87,8 @@ jobs: persist-credentials: false - name: Install uv uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 + with: + enable-cache: false - name: Install tox run: uv tool install tox --with tox-uv - name: Run linters @@ -103,6 +107,8 @@ jobs: persist-credentials: false - name: Install uv uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 + with: + enable-cache: false - name: Install tox run: uv tool install tox --with tox-uv - name: Build documentation @@ -119,6 +125,8 @@ jobs: persist-credentials: false - name: Install uv uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b # 8.1.0 + with: + enable-cache: false - name: Build wheel and sdist run: uv build - name: Check build artifacts diff --git a/.mergify.yml b/.mergify.yml deleted file mode 100644 index 52b243cd3..000000000 --- a/.mergify.yml +++ /dev/null @@ -1,25 +0,0 @@ -queue_rules: - - name: default - conditions: - - "status-success=test" # "GitHub Actions works slightly differently [...], only the job name is used." - - "status-success=format" - -pull_request_rules: - - name: Automatic merge passing PR on up to date branch with approving CR - conditions: - - "base=develop" - - "#approved-reviews-by>=1" - - "#review-requested=0" - - "#changes-requested-reviews-by=0" - - "status-success=test" - - "status-success=format" - - "label!=work-in-progress" - actions: - queue: - name: default - - - name: Delete head branch after merge - conditions: - - merged - actions: - delete_head_branch: {} From b4f82abede25ff83376be793a2935c41f81c3869 Mon Sep 17 00:00:00 2001 From: dreamer0129 Date: Sat, 6 Jun 2026 18:53:52 +0800 Subject: [PATCH 475/475] fix: only call _validate() when strict=True (#2062) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix: only call _validate() when strict=True _validate() was called unconditionally, rejecting brp values > 64 even when strict=False. This is too restrictive for some peripherals like FYSETC UCAN which support brp up to 1024. Only call _validate() when strict=True, matching the behavior of _restrict_to_minimum_range(). Fixes #2061 * add news fragment --------- Co-authored-by: 小慧 Co-authored-by: zariiii9003 <52598363+zariiii9003@users.noreply.github.com> --- can/bit_timing.py | 2 +- doc/changelog.d/2061.fixed.rst | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 doc/changelog.d/2061.fixed.rst diff --git a/can/bit_timing.py b/can/bit_timing.py index 2bb04bfbe..4311ff9a4 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -74,8 +74,8 @@ def __init__( "sjw": sjw, "nof_samples": nof_samples, } - self._validate() if strict: + self._validate() self._restrict_to_minimum_range() def _validate(self) -> None: diff --git a/doc/changelog.d/2061.fixed.rst b/doc/changelog.d/2061.fixed.rst new file mode 100644 index 000000000..48afb4c86 --- /dev/null +++ b/doc/changelog.d/2061.fixed.rst @@ -0,0 +1 @@ +Fix ``can.BitTiming`` rejecting bit rate prescaler values greater than 64 even when ``strict=False``. \ No newline at end of file