簡單的Python程序實現PCAN自動發送CAN報文

ID:531389 · 發表于 2019-5-9 11:34

簡單的Python程序（基于Python3.7）實現PCAN自動發送CAN報文。。。。

程序定義了每隔10ms、100ms、1000ms各發送若干幀數據。
修改main.py文件中的msg.ID、msg.MSGTYPE、msg.DATA可以修改幀ID、幀類型和數據。

Python源程序如下:

# PCANBasic.py
#
# ~~~~~~~~~~~~
#
# PCAN-Basic API
#
# ~~~~~~~~~~~~
#
# ------------------------------------------------------------------
# Author : Keneth Wagner
#
# Language: Python 2.7
# ------------------------------------------------------------------
# Module Imports
#
from ctypes import *
import platform
# ///////////////////////////////////////////////////////////
# Type definitions
# ///////////////////////////////////////////////////////////
TPCANHandle = c_ushort # Represents a PCAN hardware channel handle
TPCANStatus = int # Represents a PCAN status/error code
TPCANParameter = c_ubyte # Represents a PCAN parameter to be read or set
TPCANDevice = c_ubyte # Represents a PCAN device
TPCANMessageType = c_ubyte # Represents the type of a PCAN message
TPCANType = c_ubyte # Represents the type of PCAN hardware to be initialized
TPCANMode = c_ubyte # Represents a PCAN filter mode
TPCANBaudrate = c_ushort # Represents a PCAN Baud rate register value
TPCANBitrateFD = c_char_p # Represents a PCAN-FD bit rate string
TPCANTimestampFD = c_ulonglong # Represents a timestamp of a received PCAN FD message
# ///////////////////////////////////////////////////////////
# Value definitions
# ///////////////////////////////////////////////////////////
# Currently defined and supported PCAN channels
#
PCAN_NONEBUS = TPCANHandle(0x00) # Undefined/default value for a PCAN bus
PCAN_ISABUS1 = TPCANHandle(0x21) # PCAN-ISA interface, channel 1
PCAN_ISABUS2 = TPCANHandle(0x22) # PCAN-ISA interface, channel 2
PCAN_ISABUS3 = TPCANHandle(0x23) # PCAN-ISA interface, channel 3
PCAN_ISABUS4 = TPCANHandle(0x24) # PCAN-ISA interface, channel 4
PCAN_ISABUS5 = TPCANHandle(0x25) # PCAN-ISA interface, channel 5
PCAN_ISABUS6 = TPCANHandle(0x26) # PCAN-ISA interface, channel 6
PCAN_ISABUS7 = TPCANHandle(0x27) # PCAN-ISA interface, channel 7
PCAN_ISABUS8 = TPCANHandle(0x28) # PCAN-ISA interface, channel 8
PCAN_DNGBUS1 = TPCANHandle(0x31) # PCAN-Dongle/LPT interface, channel 1
PCAN_PCIBUS1 = TPCANHandle(0x41) # PCAN-PCI interface, channel 1
PCAN_PCIBUS2 = TPCANHandle(0x42) # PCAN-PCI interface, channel 2
PCAN_PCIBUS3 = TPCANHandle(0x43) # PCAN-PCI interface, channel 3
PCAN_PCIBUS4 = TPCANHandle(0x44) # PCAN-PCI interface, channel 4
PCAN_PCIBUS5 = TPCANHandle(0x45) # PCAN-PCI interface, channel 5
PCAN_PCIBUS6 = TPCANHandle(0x46) # PCAN-PCI interface, channel 6
PCAN_PCIBUS7 = TPCANHandle(0x47) # PCAN-PCI interface, channel 7
PCAN_PCIBUS8 = TPCANHandle(0x48) # PCAN-PCI interface, channel 8
PCAN_PCIBUS9 = TPCANHandle(0x409) # PCAN-PCI interface, channel 9
PCAN_PCIBUS10 = TPCANHandle(0x40A) # PCAN-PCI interface, channel 10
PCAN_PCIBUS11 = TPCANHandle(0x40B) # PCAN-PCI interface, channel 11
PCAN_PCIBUS12 = TPCANHandle(0x40C) # PCAN-PCI interface, channel 12
PCAN_PCIBUS13 = TPCANHandle(0x40D) # PCAN-PCI interface, channel 13
PCAN_PCIBUS14 = TPCANHandle(0x40E) # PCAN-PCI interface, channel 14
PCAN_PCIBUS15 = TPCANHandle(0x40F) # PCAN-PCI interface, channel 15
PCAN_PCIBUS16 = TPCANHandle(0x410) # PCAN-PCI interface, channel 16
PCAN_USBBUS1 = TPCANHandle(0x51) # PCAN-USB interface, channel 1
PCAN_USBBUS2 = TPCANHandle(0x52) # PCAN-USB interface, channel 2
PCAN_USBBUS3 = TPCANHandle(0x53) # PCAN-USB interface, channel 3
PCAN_USBBUS4 = TPCANHandle(0x54) # PCAN-USB interface, channel 4
PCAN_USBBUS5 = TPCANHandle(0x55) # PCAN-USB interface, channel 5
PCAN_USBBUS6 = TPCANHandle(0x56) # PCAN-USB interface, channel 6
PCAN_USBBUS7 = TPCANHandle(0x57) # PCAN-USB interface, channel 7
PCAN_USBBUS8 = TPCANHandle(0x58) # PCAN-USB interface, channel 8
PCAN_USBBUS9 = TPCANHandle(0x509) # PCAN-USB interface, channel 9
PCAN_USBBUS10 = TPCANHandle(0x50A) # PCAN-USB interface, channel 10
PCAN_USBBUS11 = TPCANHandle(0x50B) # PCAN-USB interface, channel 11
PCAN_USBBUS12 = TPCANHandle(0x50C) # PCAN-USB interface, channel 12
PCAN_USBBUS13 = TPCANHandle(0x50D) # PCAN-USB interface, channel 13
PCAN_USBBUS14 = TPCANHandle(0x50E) # PCAN-USB interface, channel 14
PCAN_USBBUS15 = TPCANHandle(0x50F) # PCAN-USB interface, channel 15
PCAN_USBBUS16 = TPCANHandle(0x510) # PCAN-USB interface, channel 16
PCAN_PCCBUS1 = TPCANHandle(0x61) # PCAN-PC Card interface, channel 1
PCAN_PCCBUS2 = TPCANHandle(0x62) # PCAN-PC Card interface, channel 2
PCAN_LANBUS1 = TPCANHandle(0x801) # PCAN-LAN interface, channel 1
PCAN_LANBUS2 = TPCANHandle(0x802) # PCAN-LAN interface, channel 2
PCAN_LANBUS3 = TPCANHandle(0x803) # PCAN-LAN interface, channel 3
PCAN_LANBUS4 = TPCANHandle(0x804) # PCAN-LAN interface, channel 4
PCAN_LANBUS5 = TPCANHandle(0x805) # PCAN-LAN interface, channel 5
PCAN_LANBUS6 = TPCANHandle(0x806) # PCAN-LAN interface, channel 6
PCAN_LANBUS7 = TPCANHandle(0x807) # PCAN-LAN interface, channel 7
PCAN_LANBUS8 = TPCANHandle(0x808) # PCAN-LAN interface, channel 8
PCAN_LANBUS9 = TPCANHandle(0x809) # PCAN-LAN interface, channel 9
PCAN_LANBUS10 = TPCANHandle(0x80A) # PCAN-LAN interface, channel 10
PCAN_LANBUS11 = TPCANHandle(0x80B) # PCAN-LAN interface, channel 11
PCAN_LANBUS12 = TPCANHandle(0x80C) # PCAN-LAN interface, channel 12
PCAN_LANBUS13 = TPCANHandle(0x80D) # PCAN-LAN interface, channel 13
PCAN_LANBUS14 = TPCANHandle(0x80E) # PCAN-LAN interface, channel 14
PCAN_LANBUS15 = TPCANHandle(0x80F) # PCAN-LAN interface, channel 15
PCAN_LANBUS16 = TPCANHandle(0x810) # PCAN-LAN interface, channel 16
# Represent the PCAN error and status codes
#
PCAN_ERROR_OK = TPCANStatus(0x00000) # No error
PCAN_ERROR_XMTFULL = TPCANStatus(0x00001) # Transmit buffer in CAN controller is full
PCAN_ERROR_OVERRUN = TPCANStatus(0x00002) # CAN controller was read too late
PCAN_ERROR_BUSLIGHT = TPCANStatus(0x00004) # Bus error: an error counter reached the 'light' limit
PCAN_ERROR_BUSHEAVY = TPCANStatus(0x00008) # Bus error: an error counter reached the 'heavy' limit
PCAN_ERROR_BUSWARNING = TPCANStatus(PCAN_ERROR_BUSHEAVY) # Bus error: an error counter reached the 'warning' limit
PCAN_ERROR_BUSPASSIVE = TPCANStatus(0x40000) # Bus error: the CAN controller is error passive
PCAN_ERROR_BUSOFF = TPCANStatus(0x00010) # Bus error: the CAN controller is in bus-off state
PCAN_ERROR_ANYBUSERR = TPCANStatus(
PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE) # Mask for all bus errors
PCAN_ERROR_QRCVEMPTY = TPCANStatus(0x00020) # Receive queue is empty
PCAN_ERROR_QOVERRUN = TPCANStatus(0x00040) # Receive queue was read too late
PCAN_ERROR_QXMTFULL = TPCANStatus(0x00080) # Transmit queue is full
PCAN_ERROR_REGTEST = TPCANStatus(0x00100) # Test of the CAN controller hardware registers failed (no hardware found)
PCAN_ERROR_NODRIVER = TPCANStatus(0x00200) # Driver not loaded
PCAN_ERROR_HWINUSE = TPCANStatus(0x00400) # Hardware already in use by a Net
PCAN_ERROR_NETINUSE = TPCANStatus(0x00800) # A Client is already connected to the Net
PCAN_ERROR_ILLHW = TPCANStatus(0x01400) # Hardware handle is invalid
PCAN_ERROR_ILLNET = TPCANStatus(0x01800) # Net handle is invalid
PCAN_ERROR_ILLCLIENT = TPCANStatus(0x01C00) # Client handle is invalid
PCAN_ERROR_ILLHANDLE = TPCANStatus(
PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT) # Mask for all handle errors
PCAN_ERROR_RESOURCE = TPCANStatus(0x02000) # Resource (FIFO, Client, timeout) cannot be created
PCAN_ERROR_ILLPARAMTYPE = TPCANStatus(0x04000) # Invalid parameter
PCAN_ERROR_ILLPARAMVAL = TPCANStatus(0x08000) # Invalid parameter value
PCAN_ERROR_UNKNOWN = TPCANStatus(0x10000) # Unknown error
PCAN_ERROR_ILLDATA = TPCANStatus(0x20000) # Invalid data, function, or action
PCAN_ERROR_CAUTION = TPCANStatus(
0x2000000) # An operation was successfully carried out, however, irregularities were registered
PCAN_ERROR_INITIALIZE = TPCANStatus(
0x4000000) # Channel is not initialized [Value was changed from 0x40000 to 0x4000000]
PCAN_ERROR_ILLOPERATION = TPCANStatus(0x8000000) # Invalid operation [Value was changed from 0x80000 to 0x8000000]
# PCAN devices
#
PCAN_NONE = TPCANDevice(0x00) # Undefined, unknown or not selected PCAN device value
PCAN_PEAKCAN = TPCANDevice(0x01) # PCAN Non-Plug&Play devices. NOT USED WITHIN PCAN-Basic API
PCAN_ISA = TPCANDevice(0x02) # PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
PCAN_DNG = TPCANDevice(0x03) # PCAN-Dongle
PCAN_PCI = TPCANDevice(0x04) # PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
PCAN_USB = TPCANDevice(0x05) # PCAN-USB and PCAN-USB Pro
PCAN_PCC = TPCANDevice(0x06) # PCAN-PC Card
PCAN_VIRTUAL = TPCANDevice(0x07) # PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
PCAN_LAN = TPCANDevice(0x08) # PCAN Gateway devices
# PCAN parameters
#
PCAN_DEVICE_NUMBER = TPCANParameter(0x01) # PCAN-USB device number parameter
PCAN_5VOLTS_POWER = TPCANParameter(0x02) # PCAN-PC Card 5-Volt power parameter
PCAN_RECEIVE_EVENT = TPCANParameter(0x03) # PCAN receive event handler parameter
PCAN_MESSAGE_FILTER = TPCANParameter(0x04) # PCAN message filter parameter
PCAN_API_VERSION = TPCANParameter(0x05) # PCAN-Basic API version parameter
PCAN_CHANNEL_VERSION = TPCANParameter(0x06) # PCAN device channel version parameter
PCAN_BUSOFF_AUTORESET = TPCANParameter(0x07) # PCAN Reset-On-Busoff parameter
PCAN_LISTEN_ONLY = TPCANParameter(0x08) # PCAN Listen-Only parameter
PCAN_LOG_LOCATION = TPCANParameter(0x09) # Directory path for log files
PCAN_LOG_STATUS = TPCANParameter(0x0A) # Debug-Log activation status
PCAN_LOG_CONFIGURE = TPCANParameter(0x0B) # Configuration of the debugged information (LOG_FUNCTION_***)
PCAN_LOG_TEXT = TPCANParameter(0x0C) # Custom insertion of text into the log file
PCAN_CHANNEL_CONDITION = TPCANParameter(0x0D) # Availability status of a PCAN-Channel
PCAN_HARDWARE_NAME = TPCANParameter(0x0E) # PCAN hardware name parameter
PCAN_RECEIVE_STATUS = TPCANParameter(0x0F) # Message reception status of a PCAN-Channel
PCAN_CONTROLLER_NUMBER = TPCANParameter(0x10) # CAN-Controller number of a PCAN-Channel
PCAN_TRACE_LOCATION = TPCANParameter(0x11) # Directory path for PCAN trace files
PCAN_TRACE_STATUS = TPCANParameter(0x12) # CAN tracing activation status
PCAN_TRACE_SIZE = TPCANParameter(0x13) # Configuration of the maximum file size of a CAN trace
PCAN_TRACE_CONFIGURE = TPCANParameter(0x14) # Configuration of the trace file storing mode (TRACE_FILE_***)
PCAN_CHANNEL_IDENTIFYING = TPCANParameter(
0x15) # Physical identification of a USB based PCAN-Channel by blinking its associated LED
PCAN_CHANNEL_FEATURES = TPCANParameter(0x16) # Capabilities of a PCAN device (FEATURE_***)
PCAN_BITRATE_ADAPTING = TPCANParameter(0x17) # Using of an existing bit rate (PCAN-View connected to a channel)
PCAN_BITRATE_INFO = TPCANParameter(0x18) # Configured bit rate as Btr0Btr1 value
PCAN_BITRATE_INFO_FD = TPCANParameter(0x19) # Configured bit rate as TPCANBitrateFD string
PCAN_BUSSPEED_NOMINAL = TPCANParameter(0x1A) # Configured nominal CAN Bus speed as Bits per seconds
PCAN_BUSSPEED_DATA = TPCANParameter(0x1B) # Configured CAN data speed as Bits per seconds
PCAN_IP_ADDRESS = TPCANParameter(0x1C) # Remote address of a LAN channel as string in IPv4 format
PCAN_LAN_SERVICE_STATUS = TPCANParameter(0x1D) # Status of the Virtual PCAN-Gateway Service
# 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 (Plug&Play 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_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
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)
FEATURE_FD_CAPABLE = int(0x01) # Device supports flexible data-rate (CAN-FD)
SERVICE_STATUS_STOPPED = int(0x01) # The service is not running
SERVICE_STATUS_RUNNING = int(0x04) # The service is running
# PCAN message types
#
PCAN_MESSAGE_STANDARD = TPCANMessageType(0x00) # The PCAN message is a CAN Standard Frame (11-bit identifier)
PCAN_MESSAGE_RTR = TPCANMessageType(0x01) # The PCAN message is a CAN Remote-Transfer-Request Frame
PCAN_MESSAGE_EXTENDED = TPCANMessageType(0x02) # The PCAN message is a CAN Extended Frame (29-bit identifier)
PCAN_MESSAGE_FD = TPCANMessageType(0x04) # The PCAN message represents a FD frame in terms of CiA Specs
PCAN_MESSAGE_BRS = TPCANMessageType(
0x08) # The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
PCAN_MESSAGE_ESI = TPCANMessageType(
0x10) # The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
PCAN_MESSAGE_STATUS = TPCANMessageType(0x80) # The PCAN message represents a PCAN status message
# Frame Type / Initialization Mode
#
PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD
PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED
# Baud rate codes = BTR0/BTR1 register values for the CAN controller.
# You can define your own Baud rate with the BTROBTR1 register.
# Take a look at www.peak-system.com for our free software "BAUDTOOL"
# to calculate the BTROBTR1 register for every bit rate and sample point.
#
PCAN_BAUD_1M = TPCANBaudrate(0x0014) # 1 MBit/s
PCAN_BAUD_800K = TPCANBaudrate(0x0016) # 800 kBit/s
PCAN_BAUD_500K = TPCANBaudrate(0x001C) # 500 kBit/s
PCAN_BAUD_250K = TPCANBaudrate(0x011C) # 250 kBit/s
PCAN_BAUD_125K = TPCANBaudrate(0x031C) # 125 kBit/s
PCAN_BAUD_100K = TPCANBaudrate(0x432F) # 100 kBit/s
PCAN_BAUD_95K = TPCANBaudrate(0xC34E) # 95,238 kBit/s
PCAN_BAUD_83K = TPCANBaudrate(0x852B) # 83,333 kBit/s
PCAN_BAUD_50K = TPCANBaudrate(0x472F) # 50 kBit/s
PCAN_BAUD_47K = TPCANBaudrate(0x1414) # 47,619 kBit/s
PCAN_BAUD_33K = TPCANBaudrate(0x8B2F) # 33,333 kBit/s
PCAN_BAUD_20K = TPCANBaudrate(0x532F) # 20 kBit/s
PCAN_BAUD_10K = TPCANBaudrate(0x672F) # 10 kBit/s
PCAN_BAUD_5K = TPCANBaudrate(0x7F7F) # 5 kBit/s
# Represents the configuration for a CAN bit rate
# Note:
# * Each parameter and its value must be separated with a '='.
# * Each pair of parameter/value must be separated using ','.
#
# Example:
# f_clock=80000000,nom_brp=0,nom_tseg1=13,nom_tseg2=0,nom_sjw=0,data_brp=0,data_tseg1=13,data_tseg2=0,data_sjw=0
#
# PCAN_BR_CLOCK = TPCANBitrateFD("f_clock")
# PCAN_BR_CLOCK_MHZ = TPCANBitrateFD("f_clock_mhz")
# PCAN_BR_NOM_BRP = TPCANBitrateFD("nom_brp")
# PCAN_BR_NOM_TSEG1 = TPCANBitrateFD("nom_tseg1")
# PCAN_BR_NOM_TSEG2 = TPCANBitrateFD("nom_tseg2")
# PCAN_BR_NOM_SJW = TPCANBitrateFD("nom_sjw")
# PCAN_BR_NOM_SAMPLE = TPCANBitrateFD("nom_sam")
# PCAN_BR_DATA_BRP = TPCANBitrateFD("data_brp")
# PCAN_BR_DATA_TSEG1 = TPCANBitrateFD("data_tseg1")
# PCAN_BR_DATA_TSEG2 = TPCANBitrateFD("data_tseg2")
# PCAN_BR_DATA_SJW = TPCANBitrateFD("data_sjw")
# PCAN_BR_DATA_SAMPLE = TPCANBitrateFD("data_ssp_offset")
# Supported No-Plug-And-Play Hardware types
#
PCAN_TYPE_ISA = TPCANType(0x01) # PCAN-ISA 82C200
PCAN_TYPE_ISA_SJA = TPCANType(0x09) # PCAN-ISA SJA1000
PCAN_TYPE_ISA_PHYTEC = TPCANType(0x04) # PHYTEC ISA
PCAN_TYPE_DNG = TPCANType(0x02) # PCAN-Dongle 82C200
PCAN_TYPE_DNG_EPP = TPCANType(0x03) # PCAN-Dongle EPP 82C200
PCAN_TYPE_DNG_SJA = TPCANType(0x05) # PCAN-Dongle SJA1000
PCAN_TYPE_DNG_SJA_EPP = TPCANType(0x06) # PCAN-Dongle EPP SJA1000
# Represents a PCAN message
#
class TPCANMsg(Structure):
"""
Represents a PCAN message
"""
_fields_ = [("ID", c_uint), # 11/29-bit message identifier
("MSGTYPE", TPCANMessageType), # Type of the message
("LEN", c_ubyte), # Data Length Code of the message (0..8)
("DATA", c_ubyte * 8)] # Data of the message (DATA[0]..DATA[7])
# Represents a timestamp of a received PCAN message
# Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
#
class TPCANTimestamp(Structure):
"""
Represents a timestamp of a received PCAN message
Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
"""
_fields_ = [("millis", c_uint), # Base-value: milliseconds: 0.. 2^32-1
("millis_overflow", c_ushort), # Roll-arounds of millis
("micros", c_ushort)] # Microseconds: 0..999
# Represents a PCAN message from a FD capable hardware
#
class TPCANMsgFD(Structure):
"""
Represents a PCAN message
"""
_fields_ = [("ID", c_uint), # 11/29-bit message identifier
("MSGTYPE", TPCANMessageType), # Type of the message
("DLC", c_ubyte), # Data Length Code of the message (0..15)
("DATA", c_ubyte * 64)] # Data of the message (DATA[0]..DATA[63])
# ///////////////////////////////////////////////////////////
# PCAN-Basic API function declarations
# ///////////////////////////////////////////////////////////
# PCAN-Basic API class implementation
#
class PCANBasic:
"""
PCAN-Basic API class implementation
"""
def __init__(self):
# Loads the PCANBasic.dll
#
if platform.system() == 'Windows':
self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
else:
self.__m_dllBasic = cdll.LoadLibrary("libpcanbasic.so")
if self.__m_dllBasic == None:
print("Exception: The PCAN-Basic DLL couldn't be loaded!")
# Initializes a PCAN Channel
#
def Initialize(
self,
Channel,
Btr0Btr1,
HwType=TPCANType(0),
IOPort=c_uint(0),
Interrupt=c_ushort(0)):
"""
Initializes a PCAN Channel
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Btr0Btr1 : The speed for the communication (BTR0BTR1 code)
HwType : NON PLUG&PLAY: The type of hardware and operation mode
IOPort : NON PLUG&PLAY: The I/O address for the parallel port
Interrupt: NON PLUG&PLAY: Interrupt number of the parallel port
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Initialize(Channel, Btr0Btr1, HwType, IOPort, Interrupt)
return TPCANStatus(res)
except:
print("Exception on PCANBasic.Initialize")
raise
# Initializes a FD capable PCAN Channel
#
def InitializeFD(
self,
Channel,
BitrateFD):
"""
Initializes a FD capable PCAN Channel
Parameters:
Channel : The handle of a FD capable PCAN Channel
BitrateFD : The speed for the communication (FD bit rate string)
Remarks:
See PCAN_BR_* values.
* parameter and values must be separated by '='
* Couples of Parameter/value must be separated by ','
* Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
* Following Parameters are optional (not used yet): data_ssp_offset, nom_samp
Example:
f_clock_mhz=80,nom_brp=0,nom_tseg1=13,nom_tseg2=0,nom_sjw=0,data_brp=0,data_tseg1=13,data_tseg2=0,data_sjw=0
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_InitializeFD(Channel, BitrateFD)
return TPCANStatus(res)
except:
print("Exception on PCANBasic.InitializeFD")
raise
# 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:
Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized channels
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Uninitialize(Channel)
return TPCANStatus(res)
except:
print("Exception on PCANBasic.Uninitialize")
raise
# 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:
A reset of the CAN controller is not performed
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Reset(Channel)
return TPCANStatus(res)
except:
print("Exception on PCANBasic.Reset")
raise
# Gets the current status of a PCAN Channel
#
def GetStatus(
self,
Channel):
"""
Gets the current status of a PCAN Channel
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_GetStatus(Channel)
return TPCANStatus(res)
except:
print("Exception on PCANBasic.GetStatus")
raise
# 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:
The return value of this method is a 3-touple, where
the first value is the result (TPCANStatus) of the method.
The order of the values are:
[0]: A TPCANStatus error code
[1]: A TPCANMsg structure with the CAN message read
[2]: A TPCANTimestamp structure with the time when a message was read
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A touple with three values
"""
try:
msg = TPCANMsg()
timestamp = TPCANTimestamp()
res = self.__m_dllBasic.CAN_Read(Channel, byref(msg), byref(timestamp))
return TPCANStatus(res), msg, timestamp
except:
print("Exception on PCANBasic.Read")
raise
# 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:
The return value of this method is a 3-touple, where
the first value is the result (TPCANStatus) of the method.
The order of the values are:
[0]: A TPCANStatus error code
[1]: A TPCANMsgFD structure with the CAN message read
[2]: A TPCANTimestampFD that is the time when a message was read
Parameters:
Channel : The handle of a FD capable PCAN Channel
Returns:
A touple with three values
"""
try:
msg = TPCANMsgFD()
timestamp = TPCANTimestampFD()
res = self.__m_dllBasic.CAN_ReadFD(Channel, byref(msg), byref(timestamp))
return TPCANStatus(res), msg, timestamp
except:
print("Exception on PCANBasic.ReadFD")
raise
# Transmits a CAN message
#
def Write(
self,
Channel,
MessageBuffer):
"""
Transmits a CAN message
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
MessageBuffer: A TPCANMsg representing the CAN message to be sent
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Write(Channel, byref(MessageBuffer))
return TPCANStatus(res)
except:
print("Exception on PCANBasic.Write")
raise
# 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:
Channel : The handle of a FD capable PCAN Channel
MessageBuffer: A TPCANMsgFD buffer with the message to be sent
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_WriteFD(Channel, byref(MessageBuffer))
return TPCANStatus(res)
except:
print("Exception on PCANBasic.WriteFD")
raise
# Configures the reception filter
#
def FilterMessages(
self,
Channel,
FromID,
ToID,
Mode):
"""
Configures the reception filter
Remarks:
The message filter will be expanded with every call to this function.
If it is desired to reset the filter, please use the 'SetValue' function.
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
FromID : A c_uint value with the lowest CAN ID to be received
ToID : A c_uint value with the highest CAN ID to be received
Mode : A TPCANMode representing the message type (Standard, 11-bit
identifier, or Extended, 29-bit identifier)
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_FilterMessages(Channel, FromID, ToID, Mode)
return TPCANStatus(res)
except:
print("Exception on PCANBasic.FilterMessages")
raise
# Retrieves a PCAN Channel value
#
def GetValue(
self,
Channel,
Parameter):
"""
Retrieves a PCAN Channel value
Remarks:
Parameters can be present or not according with the kind
of Hardware (PCAN Channel) being used. If a parameter is not available,
a PCAN_ERROR_ILLPARAMTYPE error will be returned.
The return value of this method is a 2-touple, where
the first value is the result (TPCANStatus) of the method and
the second one, the asked value
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Parameter : The TPCANParameter parameter to get
Returns:
A touple with 2 values
"""
try:
if Parameter == PCAN_API_VERSION or Parameter == PCAN_HARDWARE_NAME or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_TRACE_LOCATION or Parameter == PCAN_BITRATE_INFO_FD or Parameter == PCAN_IP_ADDRESS:
mybuffer = create_string_buffer(256)
else:
mybuffer = c_int(0)
res = self.__m_dllBasic.CAN_GetValue(Channel, Parameter, byref(mybuffer), sizeof(mybuffer))
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