Index: DialityCoreCanProtocol.py =================================================================== diff -u -rc460fdd776add82105b0688371e2929dcbaf3d57 -rf1a95e42324e7f6da895039e4863db6af49bf0d2 --- DialityCoreCanProtocol.py (.../DialityCoreCanProtocol.py) (revision c460fdd776add82105b0688371e2929dcbaf3d57) +++ DialityCoreCanProtocol.py (.../DialityCoreCanProtocol.py) (revision f1a95e42324e7f6da895039e4863db6af49bf0d2) @@ -21,29 +21,25 @@ import time from time import sleep import sys +import argparse +import logging class DenaliMessage: - BYTE_ORDER = 'little' + BYTE_ORDER = 'little' START_BYTE = 0xA5 - START_INDEX = 0 MSG_SEQ_INDEX = 1 MSG_ID_INDEX = 3 - PAYLOAD_LENGTH_INDEX = 5 PAYLOAD_START_INDEX = 6 - PAYLOAD_LENGTH_FIRST_PACKET = 1 HEADER_LENGTH = 6 - PACKET_LENGTH = 8 CRC_LENGTH = 1 MAX_MSG_ID_NUMBER = 65535 - MAX_NUMBER_OF_PAYLOAD_BYTES = 254 - CRC_LIST = [ 0, 49, 98, 83, 196, 245, 166, 151, 185, 136, 219, 234, 125, 76, 31, 46, 67, 114, 33, 16, 135, 182, 229, 212, 250, 203, 152, 169, 62, 15, 92, 109, @@ -64,19 +60,20 @@ ] @staticmethod - def buildBasicMessage(channel_id=0, message=None): + def build_basic_message(channel_id=0, message=None): """ - build a message using channel_id and dialin message + Builds a basic message dictionary containing the channel id and message + \param channel_id: integer with channel id - \param message: array of int with message + \param message: an array of ints forming the message \return: dictionary with channel_id and message keys """ if message is None: message = [] return {'channel_id': channel_id, 'message': message} @staticmethod - def buildMessage(channel_id=0, message_id=0, payload=None): + def build_message(channel_id=0, message_id=0, payload=None): """ buildPacket builds a Diality Packet @@ -125,15 +122,15 @@ # Because CRC does not include first byte, then we pass a list with out it message_list += [DenaliMessage.crc8(message_list[1:])] - message_list = DenaliMessage.__padMessageWithZeros(message_list) + message_list = DenaliMessage.pad_message_with_zeros(message_list) - return DenaliMessage.buildBasicMessage(channel_id=channel_id, message=message_list) + return DenaliMessage.build_basic_message(channel_id=channel_id, message=message_list) - @staticmethod def crc8(message_list): """ - returns the calculated crc from a message list + Returns the calculated crc from a message list + \param message_list: is a list of integer numbers containing the message \return: integer containing a unsigned byte """ @@ -145,11 +142,11 @@ return crc @staticmethod - def __padMessageWithZeros(message): + def pad_message_with_zeros(message): """ - returns a packet padded with zeros that guarantees that the packet is a multiple of 8 bytes. - \param message: packet that may or may not be multiple of 8 bytes + Returns a packet padded with zeros that guarantees that the packet is a multiple of 8 bytes. + \param message: packet that may or may not be multiple of 8 bytes \return: packet that is 8-byte multiple """ @@ -166,23 +163,23 @@ return message @staticmethod - def getCRC(message): + def get_crc(message): """ - gets the CRC in message + Gets the CRC in message \param message: Dialin complete message with CRC \return: CRC in message """ - crc_index = DenaliMessage.PAYLOAD_START_INDEX + DenaliMessage.getPayloadLength(message) + crc_index = DenaliMessage.PAYLOAD_START_INDEX + DenaliMessage.get_payload_length(message) return message['message'][crc_index] @staticmethod - def verifyCRC(message): + def verify_crc(message): """ - verifies message CRC equals calculated message CRC + Verifies message CRC equals calculated message CRC \return: TRUE if CRC matches, FALSE otherwise """ @@ -192,16 +189,16 @@ else: message_list = message['message'] - message_length = DenaliMessage.PAYLOAD_START_INDEX + DenaliMessage.getPayloadLength(message) + message_length = DenaliMessage.PAYLOAD_START_INDEX + DenaliMessage.get_payload_length(message) calculated_crc = DenaliMessage.crc8(message_list[1:message_length]) - actual_crc = DenaliMessage.getCRC(message) + actual_crc = DenaliMessage.get_crc(message) return calculated_crc == actual_crc @staticmethod - def getChannelID(message): + def get_channel_id(message): """ - returns request ID from message + Returns request ID from message \param message: dictionary with channel_id and message keys \return: integer with channel id @@ -211,9 +208,9 @@ return message['channel_id'] @staticmethod - def getMessageID(message): + def get_message_id(message): """ - returns request ID from packet + Returns request ID from packet \param message: complete Diality Packet @@ -226,46 +223,49 @@ return int.from_bytes(msg_id_array, byteorder=DenaliMessage.BYTE_ORDER) @staticmethod - def getPayloadLength(message): + def get_payload_length(message): """ - returns payload length from message + Returns payload length from message + \param message: dictionary with channel_id and message keys \return: a unsigned payload length """ return message['message'][DenaliMessage.PAYLOAD_LENGTH_INDEX] @staticmethod - def getPayload(message): + def get_payload(message): """ - returns payload array from message + Returns payload array from message + \param message: dictionary with channel_id and message keys \return: a payload array if exist """ - payload_length = DenaliMessage.getPayloadLength(message) + payload_length = DenaliMessage.get_payload_length(message) if payload_length == 0: return None else: return message['message'][DenaliMessage.PAYLOAD_START_INDEX:] @staticmethod - def getTotalPackets(message, is_array=True): + def get_total_packets(message, is_array=True): """ - returns the number of packets needed to transmit Denali Message + Returns the number of packets needed to transmit Denali Message + \param message: dictionary with channel_id and message keys or raw message \param is_array: True if message is an array and not a dictionary \return: number of packets """ the_message = message if is_array else message['message'] return math.ceil((the_message[DenaliMessage.PAYLOAD_LENGTH_INDEX] + - DenaliMessage.HEADER_LENGTH + DenaliMessage.CRC_LENGTH) / + DenaliMessage.HEADER_LENGTH + DenaliMessage.CRC_LENGTH) / DenaliMessage.PACKET_LENGTH) class DenaliChannels: - # This are all the channels available + # All the available channels hd_alarm_broadcast_ch_id = 0x001 dg_alarm_broadcast_ch_id = 0x002 @@ -305,9 +305,9 @@ \returns object """ - self.__message = can_message - self.__number_of_can_packets_needed = DenaliMessage.getTotalPackets(can_message) - self.__number_of_can_packets_up_to_now = 1 + self.message = can_message + self.number_of_can_packets_needed = DenaliMessage.get_total_packets(can_message) + self.number_of_can_packets_up_to_now = 1 def push(self, can_message, first_packet=False): """ @@ -320,17 +320,17 @@ \return: None if the packet is not completed, otherwise returns the complete packet """ if first_packet: - self.__message = can_message - self.__number_of_can_packets_needed = DenaliMessage.getTotalPackets(can_message) - self.__number_of_can_packets_up_to_now = 1 + self.message = can_message + self.number_of_can_packets_needed = DenaliMessage.get_total_packets(can_message) + self.number_of_can_packets_up_to_now = 1 else: - self.__message += can_message - self.__number_of_can_packets_up_to_now += 1 + self.message += can_message + self.number_of_can_packets_up_to_now += 1 - if self.__number_of_can_packets_up_to_now == self.__number_of_can_packets_needed: - return_message = self.__message - self.__message = None + if self.number_of_can_packets_up_to_now == self.number_of_can_packets_needed: + return_message = self.message + self.message = None return return_message else: @@ -339,9 +339,9 @@ class DenaliCanMessenger: START_BYTE = DenaliMessage.START_BYTE - DIALIN_MSG_RESP_TO = 0.1 # number of seconds to wait for a response to a sent command + DIALIN_MSG_RESP_TO = 0.1 # number of seconds to wait for a response to a sent command - def __init__(self, can_interface='can0'): + def __init__(self, can_interface='can0', log_level="debug"): """ DenaliCanMessenger constructor @@ -350,63 +350,71 @@ \returns DialityCanMessenger object """ - self.__bus = can.interfaces.socketcan.SocketcanBus(channel=can_interface) - self.__listener_buffer = can.BufferedReader() - self.__notifier = can.Notifier(self.__bus, [self.__listener_buffer]) + self.bus = can.interfaces.socketcan.SocketcanBus(channel=can_interface) + self.listener_buffer = can.BufferedReader() + self.notifier = can.Notifier(self.bus, [self.listener_buffer]) - self.__sendPacketRequestID = -1 - self.__sendEvent = threading.Event() + self.send_packet_request_id = -1 + self.send_event = threading.Event() - self.__longMessageBuilders = {} - self.__longMsgChannelIDSet = set() + self.long_message_builders = {} + self.long_msg_channel_id_set = set() - self.__dialinMessageList = None - self.__lastSentMessage = None - self.__dialinCommandResponseMessage = None - self.__dialinResponseChannelID = -1 + self.messages = None + self.last_sent_message = None + self.command_response_message = None + self.response_channel_id = -1 - self.__run = False + self.run = False - self.__sync_response_dictionary = {} + self.sync_response_dictionary = {} + numeric_level = getattr(logging, log_level.upper(), None) + logging.basicConfig(format='%(asctime)s,%(msecs)d %(levelname)-8s [%(filename)s:%(lineno)d] %(message)s', + filename="DialIn.log", + datefmt='%m-%d-%Y:%H:%M:%S', + level=numeric_level) # DEBUG, INFO, WARNING, ERROR, CRITICAL - if self.__bus is not None: - self.__serialListenerThread = threading.Thread(target=self.__listener, daemon=True) + if self.bus is not None: + self.serial_listener_thread = threading.Thread(target=self.listener, daemon=True) else: - self.__serialListenerThread = None - print("Can connection is not valid") + self.serial_listener_thread = None + print_and_log("Can connection is not valid") def start(self): """ starts listening to the can interface. """ - if self.__bus is None: - print("Cannot start can listener.") + if self.bus is None: + print_and_log("Cannot start can listener.") return else: - self.__run = True - self.__serialListenerThread.start() - print("Can listener has started.") + self.run = True + if self.serial_listener_thread is not None: + self.serial_listener_thread.start() + print_and_log("Can listener has started.") + else: + print_and_log("Cannot start listener...") def stop(self): """ - stop listening the can interface + Stop listening the can interface """ - self.__run = False - print("\nCan listener has stopped.") + self.run = False + print_and_log("\nCan listener has stopped.") - def __listener(self): + def listener(self): """ - listens for diality message on the can interface passed during construction. - + Listens for diality message on the can interface passed during construction. """ - while self.__run: + while self.run: - message = self.__listener_buffer.get_message(0.0) + message = self.listener_buffer.get_message(0.0) + print_and_log("Message = {}".format(message)) if message is not None: @@ -416,76 +424,76 @@ channel_id = message.arbitration_id message_length = can_data[DenaliMessage.PAYLOAD_LENGTH_INDEX] - # TEST CODE - REMOVE - #print(str(time.time())+" " + str(channel_id) + " " + str(can_data)) + print_and_log(str(time.time()) + " " + str(channel_id) + " " + str(can_data), log_level="info") # if we are building a long message, then proceed to push it to the channel dictionary - if channel_id in self.__longMsgChannelIDSet: - self.__dialinMessageList = self.__longMessageBuilders[channel_id].push(can_data) + if channel_id in self.long_msg_channel_id_set: + self.messages = self.long_message_builders[channel_id].push(can_data) elif can_data[0] == DenaliMessage.START_BYTE and \ message_length <= DenaliMessage.PAYLOAD_LENGTH_FIRST_PACKET: # This is a short packet # This is the first time that we are building a message - self.__dialinMessageList = can_data # deliver the packet + self.messages = can_data # deliver the packet elif can_data[0] == self.START_BYTE and \ message_length > DenaliMessage.PAYLOAD_LENGTH_FIRST_PACKET: # Long packet start # We are starting to build a long message, include it in the lonMsgChannelIDSet - self.__longMsgChannelIDSet.add(channel_id) + self.long_msg_channel_id_set.add(channel_id) - if channel_id not in self.__longMessageBuilders.keys(): # if we don't have a builder. Create it! - self.__longMessageBuilders[channel_id] = LongDenaliMessageBuilder(can_data) - self.__dialinMessageList = None + if channel_id not in self.long_message_builders.keys(): # if we don't have a builder. Create it! + self.long_message_builders[channel_id] = LongDenaliMessageBuilder(can_data) + self.messages = None else: # if we do have a builder. This is the first time -# self.__dialinMessageList = self.__longMessageBuilders[channel_id].push(can_data, first_packet=True) - self.__longMessageBuilders[channel_id].push(can_data, first_packet=True) - self.__dialinMessageList = None + # self.messages = self.long_message_builders[channel_id].push(can_data, first_packet=True) + self.long_message_builders[channel_id].push(can_data, first_packet=True) + self.messages = None # Do we have a complete (long or short) Denali Message? - if self.__dialinMessageList is not None: - message_valid = True #assume true for now, set to false if CRC check fails below - complete_dialin_message = DenaliMessage.buildBasicMessage(channel_id=channel_id, - message=self.__dialinMessageList) - dialin_msg_id = DenaliMessage.getMessageID(complete_dialin_message) - dialin_ch_id = DenaliMessage.getChannelID(complete_dialin_message) + if self.messages is not None: + message_valid = True # assume true for now, set to false if CRC check fails below + complete_dialin_message = DenaliMessage.build_basic_message(channel_id=channel_id, + message=self.messages) + dialin_msg_id = DenaliMessage.get_message_id(complete_dialin_message) + dialin_ch_id = DenaliMessage.get_channel_id(complete_dialin_message) - if dialin_ch_id in self.__longMsgChannelIDSet: + if dialin_ch_id in self.long_msg_channel_id_set: # We need to remove channel ID from the long message set - self.__longMsgChannelIDSet.remove(dialin_ch_id) + self.long_msg_channel_id_set.remove(dialin_ch_id) # Need to verify CRC at this point - if DenaliMessage.verifyCRC(complete_dialin_message) is False: + if DenaliMessage.verify_crc(complete_dialin_message) is False: # if verify is False, let's drop (ignore) this message message_valid = False dialin_ch_id = None dialin_msg_id = None - sys.stderr.write("Incorrect CRC, received message: {}, crc: {}, calculated crc: {}\n".format( - self.__dialinMessageList, DenaliMessage.getCRC(complete_dialin_message), - DenaliMessage.crc8(self.__dialinMessageList))) + sys.stderr.write( + "Incorrect CRC, received message: {}, crc: {}, calculated crc: {}\n".format( + self.messages, DenaliMessage.get_crc(complete_dialin_message), + DenaliMessage.crc8(self.messages))) if message_valid == True: # We first check if this is a response to a send request that is pending - if dialin_msg_id == self.__sendPacketRequestID: + if dialin_msg_id == self.send_packet_request_id: - self.__dialinCommandResponseMessage = complete_dialin_message - self.__sendEvent.set() - self.__sendPacketRequestID = -1 + self.command_response_message = complete_dialin_message + self.send_event.set() + self.send_packet_request_id = -1 # If it is not, this is a publication message and we need to call it's register function - elif dialin_ch_id in self.__sync_response_dictionary.keys() and \ - dialin_msg_id in self.__sync_response_dictionary[channel_id].keys(): + elif dialin_ch_id in self.sync_response_dictionary.keys() and \ + dialin_msg_id in self.sync_response_dictionary[channel_id].keys(): - self.__sync_response_dictionary[dialin_ch_id][dialin_msg_id](complete_dialin_message) + self.sync_response_dictionary[dialin_ch_id][dialin_msg_id](complete_dialin_message) # Done with this message, let's get the next one - self.__dialinMessageList = None + self.messages = None - else: #no new packets in receive buffer + else: # no new packets in receive buffer # We have received nothing, let's sleep 1 msec and let's check again sleep(0.01) - def registerReceivingPublicationFunction(self, channel_id, message_id, function): + def register_receiving_publication_function(self, channel_id, message_id, function): """ assign a function with packet parameter to an sync request id, e.g., def function(packet). @@ -496,12 +504,12 @@ """ # if the channel_id exist, we just update the dictionary for the channel_id - if channel_id in self.__sync_response_dictionary.keys(): - self.__sync_response_dictionary[channel_id].update({message_id: function}) + if channel_id in self.sync_response_dictionary.keys(): + self.sync_response_dictionary[channel_id].update({message_id: function}) # otherwise, we need to create the dictionary for the channel_id else: - self.__sync_response_dictionary[channel_id] = {message_id: function} + self.sync_response_dictionary[channel_id] = {message_id: function} def send(self, built_message, time_out=DIALIN_MSG_RESP_TO): """ @@ -517,21 +525,20 @@ # keep trying to send message until we get a response while msg_sent is not True: - self.__lastSentMessage = built_message + self.last_sent_message = built_message - channel_id = DenaliMessage.getChannelID(built_message) + channel_id = DenaliMessage.get_channel_id(built_message) padded_can_message_array = built_message['message'] - self.__sendPacketRequestID = DenaliMessage.getMessageID(built_message) + self.send_packet_request_id = DenaliMessage.get_message_id(built_message) # A message can be longer than 8 bytes, so we need to split it # into 8 bytes packets. - number_of_packets = DenaliMessage.getTotalPackets(padded_can_message_array) + number_of_packets = DenaliMessage.get_total_packets(padded_can_message_array) # We are sending one message at a time on CAN - for n in range(number_of_packets): packet = padded_can_message_array[n * DenaliMessage.PACKET_LENGTH: (n + 1) * DenaliMessage.PACKET_LENGTH] @@ -541,34 +548,56 @@ data=packet, is_extended_id=False) - #print(packet) - self.__bus.send(packet, 0) # 0.1) - #sleep(0.01) + self.logger.debug(packet) + # input("Press enter to send...") + self.bus.send(packet, 0) # 0.1) # Sending - self.__dialinCommandResponseMessage = None + self.command_response_message = None # After all message has been sent, we clear a flag - self.__sendEvent.clear() + self.send_event.clear() # At this point, we sleep until the system times out or flag is set - self.__sendEvent.wait(time_out) + self.send_event.wait(time_out) - if self.__dialinCommandResponseMessage is not None: + if self.command_response_message is not None: msg_sent = True elif time_out == 0: msg_sent = True else: - #msg_sent = False - print("No response. Re-sending message.") + # msg_sent = False + print_and_log("No response. Re-sending message.") # We are ready to send again. Reset request ID appropriately - self.__sendPacketRequestID = -1 + self.send_packet_request_id = -1 # This value is None or it has a message depending of the listener - return self.__dialinCommandResponseMessage + return self.command_response_message +def print_and_log(message, log_level="debug"): + """ + Prints and logs a message + + \param message: The message to print and log + \param log_level: The logging level, indicates the severity of the message + + \returns: None + """ + print(message) + if log_level == "debug": + logging.debug(message) + elif log_level == "info": + logging.info(message) + elif log_level == "warning": + logging.warning(message) + elif log_level == "error": + logging.error(message) + elif log_level == "critical": + logging.critical(message) + + def tst_print_received_packet(message, sync=False): channel_id = message[0] message[0] = DenaliMessage.START_BYTE @@ -577,12 +606,12 @@ if sync: introduction = "Sync " + introduction - print(introduction, message, " in channel: ", channel_id) + print_and_log(introduction, message, " in channel: ", channel_id) def tst_print_to_screen(message): if message is None: - print("Timeout!!!") + print_and_log("Timeout!!!") else: tst_print_received_packet(message) @@ -592,39 +621,38 @@ def tst_print_sending_dg_board(message): - print("Sending to board: ", message['message'], " in channel: ", message['channel_id']) + print_and_log("Sending to board: ", message['message'], " in channel: ", message['channel_id']) def tst_print_sending_dg_sim(message): - print("Sending to DG simulator: ", message['message'], " in channel", message['channel_id'], end=" ---> ") + print_and_log("Sending to DG simulator: ", message['message'], " in channel", message['channel_id'], end=" ---> ") -if __name__ == "__main__": - test_messenger = DenaliCanMessenger() - test_channel_id = DenaliChannels.ui_to_hd_ch_id +def tst_dg(log_level): + test_messenger = DenaliCanMessenger(log_level=log_level) test_received_channel_id = DenaliChannels.hd_to_ui_ch_id test_received_message_id = 0x100 - test_messenger.registerReceivingPublicationFunction(test_received_channel_id, test_received_message_id, - tst_function_for_sync) + test_messenger.register_receiving_publication_function(test_received_channel_id, test_received_message_id, + tst_function_for_sync) test_dg_simulator_received_channel_id = DenaliChannels.dialin_to_dg_ch_id test_dg_simulator_sync_msg_id = 0x05 test_dg_simulator_msg_id = 0x03 - test_messenger.registerReceivingPublicationFunction(test_dg_simulator_received_channel_id, - test_dg_simulator_sync_msg_id, - tst_function_for_sync) + test_messenger.register_receiving_publication_function(test_dg_simulator_received_channel_id, + test_dg_simulator_sync_msg_id, + tst_function_for_sync) test_messenger.start() - test_msg = DenaliMessage.buildMessage(channel_id=1000, - message_id=0x01, - payload=[1]) - test_dg_msg = DenaliMessage.buildMessage(channel_id=test_dg_simulator_received_channel_id, - message_id=test_dg_simulator_msg_id, - payload=[]) + test_msg = DenaliMessage.build_message(channel_id=1000, + message_id=0x01, + payload=[1]) + test_dg_msg = DenaliMessage.build_message(channel_id=test_dg_simulator_received_channel_id, + message_id=test_dg_simulator_msg_id, + payload=[]) sleep(3.0) tst_print_sending_dg_board(test_msg) @@ -645,3 +673,21 @@ tst_print_sending_dg_sim(test_dg_msg) test_response = test_messenger.send(test_dg_msg) tst_print_to_screen(test_response) + + +def tst_can(): + test_messenger = DenaliCanMessenger() + test_messenger.start() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Dial-In Core Can Protocol") + parser.add_argument("--test-dg", action="store_true") + parser.add_argument("--log-level", default="debug") + args = parser.parse_args() + + if args.test_dg: + tst_dg(args.log_level) + + if len(sys.argv) < 2: + parser.print_help()