Skip to content

Navigation Menu

Sign in
Appearance settings

Search code, repositories, users, issues, pull requests...

Provide feedback

We read every piece of feedback, and take your input very seriously.

Saved searches

Use saved searches to filter your results more quickly
Appearance settings

Commit 3f62c36

Browse filesBrowse files
DaveP987DaveP987
committed
allows Bus to operate with 11-bit CAN messages
1 parent d76df50 commit 3f62c36
Copy full SHA for 3f62c36

1 file changed

+88-60Lines changed: 88 additions & 60 deletions

File tree

Expand file treeCollapse file tree
Open diff view settings
Filter options
Expand file treeCollapse file tree
Open diff view settings
Collapse file

‎j1939/__init__.py‎

Copy file name to clipboardExpand all lines: j1939/__init__.py
+88-60Lines changed: 88 additions & 60 deletions
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,7 @@
6464
fileHandler.setLevel(lLevel)
6565
logger.addHandler(fileHandler)
6666

67-
can_set_logging_level('debug')
67+
# can_set_logging_level('debug')
6868

6969
class j1939Listner(canListener):
7070

@@ -82,6 +82,13 @@ class Bus(BusABC):
8282
"""
8383
A CAN Bus that implements the J1939 Protocol.
8484
85+
:param bool strict:
86+
87+
indicates whether to operate on strictly J1939 message (True)
88+
or also handle 11-bit CAN messages. If False, then any specfified
89+
`can_filters` will be honored; incoming 11-bit messages will be
90+
accepted; and outgoing 11-bit messages will be sent.
91+
8592
:param list j1939_filters:
8693
a list of dictionaries that specify filters that messages must
8794
match to be received by this Bus. Messages can match any of the
@@ -94,7 +101,7 @@ class Bus(BusABC):
94101

95102
channel_info = "j1939 bus"
96103

97-
def __init__(self, pdu_type=PDU, broadcast=True, *args, **kwargs):
104+
def __init__(self, pdu_type=PDU, broadcast=True, strict=True, *args, **kwargs):
98105
logger.debug("Creating a new j1939 bus")
99106

100107
#self.rx_can_message_queue = Queue()
@@ -104,6 +111,7 @@ def __init__(self, pdu_type=PDU, broadcast=True, *args, **kwargs):
104111

105112
super(Bus, self).__init__(kwargs.get('channel'), kwargs.get('can_filters'))
106113
self._pdu_type = pdu_type
114+
self._strict = strict
107115
self.timeout = 1
108116
self._long_message_throttler = threading.Thread(target=self._throttler_function)
109117
self._long_message_throttler.daemon = True
@@ -129,7 +137,7 @@ def __init__(self, pdu_type=PDU, broadcast=True, *args, **kwargs):
129137
if 'j1939_filters' in kwargs and kwargs['j1939_filters'] is not None:
130138
filters = kwargs.pop('j1939_filters')
131139
logger.debug("Got filters: {}".format(filters))
132-
can_filters = []
140+
can_filters = [] if self._strict else kwargs.get('can_filters', [])
133141
for filt in filters:
134142
can_id, can_mask = 0, 0
135143
if 'pgn' in filt:
@@ -159,13 +167,15 @@ def __init__(self, pdu_type=PDU, broadcast=True, *args, **kwargs):
159167
raise ValueError("Bad timeout type")
160168

161169
logger.debug("Creating a new can bus")
162-
self.can_bus = RawCanBus(*args, **kwargs)
170+
self.can_bus = self._make_can_bus(*args, **kwargs)
163171

164172
canListener = j1939Listner(self.notification)
165173
self.can_notifier = canNotifier(self.can_bus, [canListener], timeout=self.timeout)
166174

167175
self._long_message_throttler.start()
168176

177+
def _make_can_bus(self, *args, **kwargs):
178+
return RawCanBus(*args, **kwargs)
169179

170180
def notification(self, inboundMessage):
171181
#self.rx_can_message_queue.put(inboundMessage)
@@ -176,55 +186,64 @@ def notification(self, inboundMessage):
176186
if isinstance(inboundMessage, Message):
177187
logger.info('\n\n{}: Got a Message from CAN: {}'.format(inspect.stack()[0][3],inboundMessage))
178188
if inboundMessage.id_type:
179-
# Extended ID
180-
# Only J1939 messages (i.e. 29-bit IDs) should go further than this point.
181-
# Non-J1939 systems can co-exist with J1939 systems, but J1939 doesn't care
182-
# about the content of their messages.
183-
logger.info('{}: Message is j1939 msg'.format(inspect.stack()[0][3]))
184-
185-
#
186-
# Need to determine if it's a broadcast message or
187-
# limit to listening nodes only
188-
#
189-
arbitration_id = ArbitrationID()
190-
arbitration_id.can_id = inboundMessage.arbitration_id
191-
logger.info("{}: ArbitrationID = {}, inboundMessage.arbitration_id: 0x{:08x}".format(inspect.stack()[0][3],arbitration_id, inboundMessage.arbitration_id))
192-
193-
for (node, l_notifier) in self.node_queue_list:
194-
logger.debug("notification: node=%s" % (node))
195-
logger.debug(" notifier=%s" % (l_notifier))
196-
logger.debug(" arbitration_id.pgn=%s" % (arbitration_id.pgn))
197-
logger.debug(" destination_address=%s" % (arbitration_id.destination_address))
198-
199-
# redirect the AC stuff to the node processors. the rest can go
200-
# to the main queue.
201-
if node and (arbitration_id.pgn in [PGN_AC_ADDRESS_CLAIMED, PGN_AC_COMMANDED_ADDRESS, PGN_REQUEST_FOR_PGN]):
202-
logger.info("{}: sending to notifier queue".format(inspect.stack()[0][3]))
203-
# send the PDU to the node processor.
204-
l_notifier.queue.put(inboundMessage)
205-
206-
# if node has the destination address, do something with the PDU
207-
elif node and (arbitration_id.destination_address in node.address_list):
208-
logger.info("{}: sending to process_incoming_message".format(inspect.stack()[0][3]))
209-
rx_pdu = self._process_incoming_message(inboundMessage)
210-
if rx_pdu:
211-
logger.info("WP02: notification: sent to general queue: %s QQ=%s" % (rx_pdu, self.queue))
212-
self.queue.put(rx_pdu)
213-
elif node and (arbitration_id.destination_address is None):
214-
logger.info("{}: sending broadcast to general queue".format(inspect.stack()[0][3]))
215-
rx_pdu = self._process_incoming_message(inboundMessage)
216-
logger.info("WP01: notification: sent broadcast to general queue: %s QQ=%s" % (rx_pdu, self.queue))
217-
self.queue.put(rx_pdu)
218-
elif node is None:
219-
# always send the message to the logging queue
220-
logger.info("{}: sending to general queue".format(inspect.stack()[0][3]))
221-
rx_pdu = self._process_incoming_message(inboundMessage)
222-
logger.info("WP03: notification: sent pdu [%s] to general queue" % rx_pdu)
223-
self.queue.put(rx_pdu)
224-
else:
225-
logger.info("WP04: notification: pdu dropped: %s\n\n" % inboundMessage)
189+
self._handle_pdu_msg(inboundMessage)
190+
else:
191+
self._handle_non_pdu_msg(inboundMessage)
192+
193+
def _handle_pdu_msg(self, inboundMessage):
194+
# Extended ID
195+
# Only J1939 messages (i.e. 29-bit IDs) should go further than this point.
196+
# Non-J1939 systems can co-exist with J1939 systems, but J1939 doesn't care
197+
# about the content of their messages.
198+
logger.info('{}: Message is j1939 msg'.format(inspect.stack()[0][3]))
199+
200+
#
201+
# Need to determine if it's a broadcast message or
202+
# limit to listening nodes only
203+
#
204+
arbitration_id = ArbitrationID()
205+
arbitration_id.can_id = inboundMessage.arbitration_id
206+
logger.info("{}: ArbitrationID = {}, inboundMessage.arbitration_id: 0x{:08x}".format(inspect.stack()[0][3],arbitration_id, inboundMessage.arbitration_id))
207+
208+
for (node, l_notifier) in self.node_queue_list:
209+
logger.debug("notification: node=%s" % (node))
210+
logger.debug(" notifier=%s" % (l_notifier))
211+
logger.debug(" arbitration_id.pgn=%s" % (arbitration_id.pgn))
212+
logger.debug(" destination_address=%s" % (arbitration_id.destination_address))
213+
214+
# redirect the AC stuff to the node processors. the rest can go
215+
# to the main queue.
216+
if node and (arbitration_id.pgn in [PGN_AC_ADDRESS_CLAIMED, PGN_AC_COMMANDED_ADDRESS, PGN_REQUEST_FOR_PGN]):
217+
logger.info("{}: sending to notifier queue".format(inspect.stack()[0][3]))
218+
# send the PDU to the node processor.
219+
l_notifier.queue.put(inboundMessage)
220+
221+
# if node has the destination address, do something with the PDU
222+
elif node and (arbitration_id.destination_address in node.address_list):
223+
logger.info("{}: sending to process_incoming_message".format(inspect.stack()[0][3]))
224+
rx_pdu = self._process_incoming_message(inboundMessage)
225+
if rx_pdu:
226+
logger.info("WP02: notification: sent to general queue: %s QQ=%s" % (rx_pdu, self.queue))
227+
self.queue.put(rx_pdu)
228+
elif node and (arbitration_id.destination_address is None):
229+
logger.info("{}: sending broadcast to general queue".format(inspect.stack()[0][3]))
230+
rx_pdu = self._process_incoming_message(inboundMessage)
231+
logger.info("WP01: notification: sent broadcast to general queue: %s QQ=%s" % (rx_pdu, self.queue))
232+
self.queue.put(rx_pdu)
233+
elif node is None:
234+
# always send the message to the logging queue
235+
logger.info("{}: sending to general queue".format(inspect.stack()[0][3]))
236+
rx_pdu = self._process_incoming_message(inboundMessage)
237+
logger.info("WP03: notification: sent pdu [%s] to general queue" % rx_pdu)
238+
self.queue.put(rx_pdu)
226239
else:
227-
logger.info("Received non J1939 message (ignoring)")
240+
logger.info("WP04: notification: pdu dropped: %s\n\n" % inboundMessage)
241+
242+
def _handle_non_pdu_msg(self, inboundMessage):
243+
if self._strict:
244+
logger.info("Received non J1939 message (ignoring)")
245+
else:
246+
self.queue.put(inboundMessage)
228247

229248
def connect(self, node):
230249
"""
@@ -263,7 +282,13 @@ def recv(self, timeout=None):
263282
# listener.on_error_received(rx_error)
264283

265284
def send(self, msg, timeout=None):
266-
logger.info("j1939.send: msg={}".format(msg))
285+
logger.info("j1939.send: msg=%s", msg)
286+
if isinstance(msg, self._pdu_type):
287+
self._send_pdu(msg)
288+
elif not self._strict:
289+
self._send(msg)
290+
291+
def _send_pdu(self, msg):
267292
messages = []
268293
if len(msg.data) > 8:
269294
logger.info("j1939.send: message is > than 8 bytes")
@@ -403,13 +428,16 @@ def send(self, msg, timeout=None):
403428
dlc=len(msg.data),
404429
data=msg.data)
405430

406-
logger.debug("j1939.send: calling can_bus_send: can-msg: {}".format(can_message))
407-
try:
408-
self.can_bus.send(can_message)
409-
except CanError:
410-
if self._ignore_can_send_error:
411-
pass
412-
raise
431+
self._send(can_message)
432+
433+
def _send(self, can_message):
434+
logger.debug("j1939.send: calling can_bus_send: can-msg: %s", can_message)
435+
try:
436+
self.can_bus.send(can_message)
437+
except CanError:
438+
if self._ignore_can_send_error:
439+
pass
440+
raise
413441

414442
def shutdown(self):
415443
self.can_notifier._running = False

0 commit comments

Comments
0 (0)
Morty Proxy This is a proxified and sanitized view of the page, visit original site.