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christiansandberghardbyte
christiansandberg
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hardbyte
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Split filtering for standard and extended IDs
Update socketcan, kvaser, ixxat, nican, and remote filter configuration. Remove SW filtering in kvaser and neovi. Fixes issue hardbyte#147.
1 parent 7a7b3ec commit 61e2425

10 files changed

Lines changed: 53 additions & 133 deletions

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‎can/bus.py‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -28,9 +28,10 @@ def __init__(self, channel=None, can_filters=None, **config):
2828
The can interface identifier. Expected type is backend dependent.
2929
3030
:param list can_filters:
31-
A list of dictionaries each containing a "can_id" and a "can_mask".
31+
A list of dictionaries each containing a "can_id", a "can_mask",
32+
and an "extended" key.
3233
33-
>>> [{"can_id": 0x11, "can_mask": 0x21}]
34+
>>> [{"can_id": 0x11, "can_mask": 0x21, "extended": False}]
3435
3536
A filter matches, when ``<received_can_id> & can_mask == can_id & can_mask``
3637

‎can/interfaces/ixxat/canlib.py‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -256,7 +256,6 @@ def __init__(self, channel, can_filters=None, **config):
256256
UniqueHardwareId = config.get('UniqueHardwareId', None)
257257
rxFifoSize = config.get('rxFifoSize', 16)
258258
txFifoSize = config.get('txFifoSize', 16)
259-
extended = config.get('extended', False)
260259
# Usually comes as a string from the config file
261260
channel = int(channel)
262261

@@ -319,14 +318,16 @@ def __init__(self, channel, can_filters=None, **config):
319318
if can_filters is not None and len(can_filters):
320319
log.info("The IXXAT VCI backend is filtering messages")
321320
# Disable every message coming in
322-
_canlib.canControlSetAccFilter(self._control_handle,
323-
1 if extended else 0,
324-
constants.CAN_ACC_CODE_NONE,
325-
constants.CAN_ACC_MASK_NONE)
321+
for extended in (0, 1):
322+
_canlib.canControlSetAccFilter(self._control_handle,
323+
extended,
324+
constants.CAN_ACC_CODE_NONE,
325+
constants.CAN_ACC_MASK_NONE)
326326
for can_filter in can_filters:
327327
# Whitelist
328328
code = int(can_filter['can_id'])
329329
mask = int(can_filter['can_mask'])
330+
extended = can_filter.get('extended', False)
330331
_canlib.canControlAddFilterIds(self._control_handle, 1 if extended else 0, code, mask)
331332
rtr = (code & 0x01) and (mask & 0x01)
332333
log.info("Accepting ID:%d MASK:%d RTR:%s", code>>1, mask>>1, "YES" if rtr else "NO")

‎can/interfaces/kvaser/canlib.py‎

Lines changed: 9 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -358,7 +358,6 @@ def __init__(self, channel, can_filters=None, **config):
358358
self._write_handle = canOpenChannel(channel, canstat.canOPEN_ACCEPT_VIRTUAL)
359359
canBusOn(self._read_handle)
360360

361-
self.sw_filters = []
362361
self.set_filters(can_filters)
363362

364363
can_driver_mode = canstat.canDRIVER_SILENT if driver_mode == DRIVER_MODE_SILENT else canstat.canDRIVER_NORMAL
@@ -393,25 +392,19 @@ def set_filters(self, can_filters=None):
393392
394393
A filter matches, when ``<received_can_id> & can_mask == can_id & can_mask``
395394
"""
396-
can_id = 0
397-
can_mask = 0
398-
399-
if not can_filters:
400-
log.info('Filtering has been disabled')
401-
self.sw_filters = []
402-
elif len(can_filters) == 1:
395+
if can_filters and len(can_filters) == 1:
403396
can_id = can_filters[0]['can_id']
404397
can_mask = can_filters[0]['can_mask']
398+
extended = 1 if can_filters[0].get('extended') else 0
405399
log.info('canlib is filtering on ID 0x%X, mask 0x%X', can_id, can_mask)
406-
self.sw_filters = []
407-
elif len(can_filters) > 1:
408-
log.info('Filtering is handled in Python')
409-
self.sw_filters = can_filters
400+
for handle in (self._read_handle, self._write_handle):
401+
canSetAcceptanceFilter(handle, can_id, can_mask, extended)
402+
else:
403+
log.info('Hardware filtering has been disabled')
404+
for handle in (self._read_handle, self._write_handle):
405+
for extended in (0, 1):
406+
canSetAcceptanceFilter(handle, 0, 0, extended)
410407

411-
# Set same filter for both handles as well as standard and extended IDs
412-
for handle in (self._read_handle, self._write_handle):
413-
for ext in (0, 1):
414-
canSetAcceptanceFilter(handle, can_id, can_mask, ext)
415408

416409
def flush_tx_buffer(self):
417410
""" Wipeout the transmit buffer on the Kvaser.
@@ -445,26 +438,6 @@ def __convert_timestamp(self, value):
445438
self.pc_time_offset += lag
446439
return timestamp
447440

448-
def _is_filter_match(self, arb_id):
449-
"""
450-
If SW filtering is used, checks if the `arb_id` matches any of
451-
the filters setup.
452-
453-
:param int arb_id:
454-
CAN ID to check against.
455-
456-
:return:
457-
True if `arb_id` matches any filters
458-
(or if SW filtering is not used).
459-
"""
460-
if not self.sw_filters:
461-
# Filtering done on HW or driver level or no filtering
462-
return True
463-
for can_filter in self.sw_filters:
464-
if not (arb_id ^ can_filter['can_id']) & can_filter['can_mask']:
465-
return True
466-
return False
467-
468441
def recv(self, timeout=None):
469442
"""
470443
Read a message from kvaser device.
@@ -495,8 +468,6 @@ def recv(self, timeout=None):
495468

496469
if status == canstat.canOK:
497470
#log.debug('read complete -> status OK')
498-
if not self._is_filter_match(arb_id.value):
499-
return None
500471
data_array = data.raw
501472
flags = flags.value
502473
is_extended = bool(flags & canstat.canMSG_EXT)

‎can/interfaces/neovi_api/neovi_api.py‎

Lines changed: 1 addition & 55 deletions
Original file line numberDiff line numberDiff line change
@@ -57,11 +57,6 @@ def __init__(self, channel=None, can_filters=None, **config):
5757
5858
:param int channel:
5959
The Channel id to create this bus with.
60-
:param list can_filters:
61-
A list of dictionaries each containing a "can_id" and a "can_mask".
62-
63-
>>> [{"can_id": 0x11, "can_mask": 0x21}]
64-
6560
"""
6661
type_filter = config.get('type_filter', neovi.NEODEVICE_ALL)
6762
neodevice.init_api()
@@ -73,8 +68,6 @@ def __init__(self, channel=None, can_filters=None, **config):
7368
channel
7469
)
7570

76-
self.sw_filters = None
77-
self.set_filters(can_filters)
7871
self.rx_buffer = queue.Queue()
7972

8073
self.network = int(channel) if channel is not None else None
@@ -91,28 +84,6 @@ def shutdown(self):
9184
def _rx_buffer(self, msg, user_data):
9285
self.rx_buffer.put_nowait(msg)
9386

94-
def _is_filter_match(self, arb_id):
95-
"""
96-
If SW filtering is used, checks if the `arb_id` matches any of
97-
the filters setup.
98-
99-
:param int arb_id:
100-
CAN ID to check against.
101-
102-
:return:
103-
True if `arb_id` matches any filters
104-
(or if SW filtering is not used).
105-
"""
106-
if not self.sw_filters:
107-
# Filtering done on HW or driver level or no filtering
108-
return True
109-
for can_filter in self.sw_filters:
110-
if not (arb_id ^ can_filter['can_id']) & can_filter['can_mask']:
111-
return True
112-
113-
logging.info("%s not matching" % arb_id)
114-
return False
115-
11687
def _ics_msg_to_message(self, ics_msg):
11788
return Message(
11889
timestamp=neovi.GetTimeStampForMsg(self.device.handle, ics_msg)[1],
@@ -131,8 +102,7 @@ def recv(self, timeout=None):
131102
except queue.Empty:
132103
pass
133104
else:
134-
if ics_msg.NetworkID == self.network and \
135-
self._is_filter_match(ics_msg.ArbIDOrHeader):
105+
if ics_msg.NetworkID == self.network:
136106
return self._ics_msg_to_message(ics_msg)
137107

138108
def send(self, msg, timeout=None):
@@ -150,27 +120,3 @@ def send(self, msg, timeout=None):
150120
ics_msg.DescriptionID = self.device.tx_id
151121
self.device.tx_id += 1
152122
self.device.tx_raw_message(ics_msg, self.network)
153-
154-
def set_filters(self, can_filters=None):
155-
"""Apply filtering to all messages received by this Bus.
156-
157-
Calling without passing any filters will reset the applied filters.
158-
159-
:param list can_filters:
160-
A list of dictionaries each containing a "can_id" and a "can_mask".
161-
162-
>>> [{"can_id": 0x11, "can_mask": 0x21}]
163-
164-
A filter matches, when
165-
``<received_can_id> & can_mask == can_id & can_mask``
166-
167-
"""
168-
self.sw_filters = can_filters
169-
170-
if self.sw_filters is None:
171-
logger.info("Filtering has been disabled")
172-
else:
173-
for can_filter in can_filters:
174-
can_id = can_filter["can_id"]
175-
can_mask = can_filter["can_mask"]
176-
logger.info("Filtering on ID 0x%X, mask 0x%X", can_id, can_mask)

‎can/interfaces/nican.py‎

Lines changed: 10 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -159,12 +159,16 @@ def __init__(self, channel, can_filters=None, bitrate=None, log_errors=True,
159159
can_id = can_filter["can_id"]
160160
can_mask = can_filter["can_mask"]
161161
logger.info("Filtering on ID 0x%X, mask 0x%X", can_id, can_mask)
162-
config.extend([
163-
(NC_ATTR_CAN_COMP_STD, can_id),
164-
(NC_ATTR_CAN_MASK_STD, can_mask),
165-
(NC_ATTR_CAN_COMP_XTD, can_id | NC_FL_CAN_ARBID_XTD),
166-
(NC_ATTR_CAN_MASK_XTD, can_mask)
167-
])
162+
if can_filter.get("extended"):
163+
config.extend([
164+
(NC_ATTR_CAN_COMP_XTD, can_id | NC_FL_CAN_ARBID_XTD),
165+
(NC_ATTR_CAN_MASK_XTD, can_mask)
166+
])
167+
else:
168+
config.extend([
169+
(NC_ATTR_CAN_COMP_STD, can_id),
170+
(NC_ATTR_CAN_MASK_STD, can_mask),
171+
])
168172

169173
if bitrate:
170174
config.append((NC_ATTR_BAUD_RATE, bitrate))

‎can/interfaces/remote/__init__.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,6 @@
33

44

55
# If the protocol changes, increase this number
6-
PROTOCOL_VERSION = 4
6+
PROTOCOL_VERSION = 5
77

88
DEFAULT_PORT = 54701

‎can/interfaces/remote/events.py‎

Lines changed: 10 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -397,7 +397,7 @@ class FilterConfig(BaseEvent):
397397
+========+=======+========================================================+
398398
| 0 | U8 | Number of filters |
399399
+--------+-------+--------------------------------------------------------+
400-
| 1 - 4 | U32 | CAN ID for filter 1 |
400+
| 1 - 4 | U32 | CAN ID for filter 1 (bit 31 set if extended) |
401401
+--------+-------+--------------------------------------------------------+
402402
| 5 - 8 | U32 | CAN mask for filter 1 |
403403
+--------+-------+--------------------------------------------------------+
@@ -425,8 +425,11 @@ def __init__(self, can_filters=None):
425425
def encode(self):
426426
data = [struct.pack('B', len(self.can_filters))]
427427
for can_filter in self.can_filters:
428+
can_id = can_filter['can_id']
429+
if can_filter.get('extended'):
430+
can_id |= 0x80000000
428431
filter_data = self._STRUCT.pack(
429-
can_filter['can_id'], can_filter['can_mask'])
432+
can_id, can_filter['can_mask'])
430433
data.append(filter_data)
431434
return b''.join(data)
432435

@@ -438,7 +441,11 @@ def from_buffer(cls, buf):
438441
for i in range(nof_filters):
439442
offset = 1 + i * cls._STRUCT.size
440443
can_id, can_mask = cls._STRUCT.unpack_from(buf, offset)
441-
can_filters.append({'can_id': can_id, 'can_mask': can_mask})
444+
extended = bool(can_id & 0x80000000)
445+
can_filters.append({
446+
'can_id': can_id & 0x1FFFFFFF,
447+
'can_mask': can_mask,
448+
'extended': extended})
442449
except struct.error:
443450
raise NeedMoreDataError()
444451

‎can/interfaces/socketcan/socketcan_common.py‎

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4,18 +4,24 @@
44
"""
55
import struct
66

7+
from can.interfaces.socketcan.socketcan_constants import CAN_EFF_FLAG
8+
79

810
def pack_filters(can_filters=None):
911
if can_filters is None:
1012
# Pass all messages
1113
can_filters = [{
1214
'can_id': 0,
13-
'can_mask': 0
15+
'can_mask': 0,
16+
'extended': False
1417
}]
1518

1619
can_filter_fmt = "={}I".format(2 * len(can_filters))
1720
filter_data = []
1821
for can_filter in can_filters:
19-
filter_data.append(can_filter['can_id'])
22+
can_id = can_filter['can_id']
23+
if can_filter.get('extended'):
24+
can_id |= CAN_EFF_FLAG
25+
filter_data.append(can_id)
2026
filter_data.append(can_filter['can_mask'])
2127
return struct.pack(can_filter_fmt, *filter_data)

‎test/remote_test.py‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -49,8 +49,8 @@ def test_bus_request(self):
4949

5050
def test_filter_config(self):
5151
event1 = events.FilterConfig([
52-
{'can_id': 0x123, 'can_mask': 0xFFF},
53-
{'can_id': 0x001, 'can_mask': 0x00F}
52+
{'can_id': 0x1FFFFFFF, 'can_mask': 0x1FFFFFFF, 'extended': True},
53+
{'can_id': 0x001, 'can_mask': 0x00F, 'extended': False}
5454
])
5555
buf = event1.encode()
5656
event2 = events.FilterConfig.from_buffer(buf)
@@ -187,8 +187,8 @@ def test_initialization(self):
187187

188188
# Test to create a new bus with filters
189189
can_filters = [
190-
{'can_id': 0x12, 'can_mask': 0xFF},
191-
{'can_id': 0x13, 'can_mask': 0xFF}
190+
{'can_id': 0x12, 'can_mask': 0xFF, 'extended': False},
191+
{'can_id': 0x13, 'can_mask': 0xFF, 'extended': True}
192192
]
193193
bus = can.interface.Bus('127.0.0.1:54700',
194194
bustype='remote',

‎test/test_kvaser.py‎

Lines changed: 1 addition & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -65,12 +65,10 @@ def test_filter_setup(self):
6565
# One filter, will be handled by canlib
6666
canlib.canSetAcceptanceFilter.reset_mock()
6767
self.bus.set_filters([
68-
{'can_id': 0x8, 'can_mask': 0xff}
68+
{'can_id': 0x8, 'can_mask': 0xff, 'extended': True}
6969
])
7070
expected_args = [
71-
((0, 0x8, 0xff, 0),), # Enable filtering STD on read handle
7271
((0, 0x8, 0xff, 1),), # Enable filtering EXT on read handle
73-
((0, 0x8, 0xff, 0),), # Enable filtering STD on write handle
7472
((0, 0x8, 0xff, 1),), # Enable filtering EXT on write handle
7573
]
7674
self.assertEqual(canlib.canSetAcceptanceFilter.call_args_list,
@@ -91,20 +89,6 @@ def test_filter_setup(self):
9189
]
9290
self.assertEqual(canlib.canSetAcceptanceFilter.call_args_list,
9391
expected_args)
94-
self.assertEqual(self.bus.sw_filters, multiple_filters)
95-
96-
def test_sw_filtering(self):
97-
self.bus.set_filters([
98-
{'can_id': 0x8, 'can_mask': 0xff},
99-
{'can_id': 0x9, 'can_mask': 0xffff}
100-
])
101-
self.assertTrue(self.bus._is_filter_match(0x8))
102-
self.assertTrue(self.bus._is_filter_match(0x9))
103-
self.assertTrue(self.bus._is_filter_match(0x108))
104-
self.assertTrue(self.bus._is_filter_match(0x10009))
105-
self.assertFalse(self.bus._is_filter_match(0x10))
106-
self.assertFalse(self.bus._is_filter_match(0x0))
107-
self.assertFalse(self.bus._is_filter_match(0x109))
10892

10993
def test_send_extended(self):
11094
msg = can.Message(

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