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christiansandbergchristiansandberg
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Restructuring and stripping of code
Remove unused code Add bitrate change support Use vxlapi functions directly instead of wrapping them Timestamps are in absolute time Add flush_tx_buffer()
1 parent 1083940 commit 91db318

3 files changed

Lines changed: 211 additions & 869 deletions

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‎can/interfaces/vector/canlib.py‎

Lines changed: 79 additions & 80 deletions
Original file line numberDiff line numberDiff line change
@@ -16,11 +16,15 @@
1616

1717
# Define Module Logger
1818
# ====================
19-
LOG = logging.getLogger('can.vector')
19+
LOG = logging.getLogger(__name__)
2020

2121
# Import safely Vector API module for Travis tests
2222
if sys.platform == 'win32':
23-
from . import vxlapi
23+
try:
24+
from . import vxlapi
25+
except Exception as exc:
26+
LOG.error('Could not import vxlapi: %s', exc)
27+
vxlapi = None
2428
else:
2529
LOG.warning('Vector API does not work on %s platform', sys.platform)
2630
vxlapi = None
@@ -29,86 +33,75 @@
2933
class VectorBus(BusABC):
3034
"""The CAN Bus implemented for the Vector interface."""
3135

32-
def __init__(self, channel, can_filters=None, poll_interval=0.005,
33-
app_name="CANalyzer", **config):
36+
def __init__(self, channel, can_filters=None, poll_interval=0.01,
37+
bitrate=None, rx_queue_size=256, app_name="CANalyzer", **config):
3438
"""
3539
:param list channel:
3640
The channel indexes to create this bus with.
3741
Can also be a single integer or a comma separated string.
3842
:param float poll_interval:
3943
Poll interval in seconds.
44+
:param int bitrate:
45+
Bitrate in bits/s.
46+
:param int rx_queue_size:
47+
Number of messages in receive queue.
4048
:param str app_name:
4149
Name of application in Hardware Config.
4250
"""
4351
if vxlapi is None:
4452
raise ImportError("The Vector API has not been loaded")
4553
self.poll_interval = poll_interval
4654
if isinstance(channel, (list, tuple)):
47-
self.channel = channel
55+
self.channels = channel
4856
elif isinstance(channel, int):
49-
self.channel = [channel]
57+
self.channels = [channel]
5058
else:
5159
# Assume comma separated string of channels
52-
self.channel = [int(channel) for channel in channel.split(',')]
60+
self.channels = [int(ch.strip()) for ch in channel.split(',')]
5361
self._app_name = app_name.encode()
54-
self._driver_init(can_filters)
62+
self.channel_info = 'Application %s: %s' % (
63+
app_name, ', '.join('CAN %d' % (ch + 1) for ch in self.channels))
64+
65+
vxlapi.xlOpenDriver()
66+
self.port_handle = vxlapi.XLportHandle(vxlapi.XL_INVALID_PORTHANDLE)
67+
self.mask = 0
68+
# Get channels masks
69+
for channel in self.channels:
70+
hw_type = ctypes.c_uint(0)
71+
hw_index = ctypes.c_uint(0)
72+
hw_channel = ctypes.c_uint(0)
73+
vxlapi.xlGetApplConfig(self._app_name, channel, hw_type, hw_index,
74+
hw_channel, vxlapi.XL_BUS_TYPE_CAN)
75+
LOG.debug('Channel index %d found', channel)
76+
mask = vxlapi.xlGetChannelMask(hw_type.value, hw_index.value,
77+
hw_channel.value)
78+
LOG.debug('Channel %d, Type: %d, Mask: %d',
79+
hw_channel.value, hw_type.value, mask)
80+
self.mask |= mask
81+
permission_mask = vxlapi.XLaccess()
82+
vxlapi.xlOpenPort(self.port_handle, self._app_name, self.mask,
83+
permission_mask, rx_queue_size,
84+
vxlapi.XL_INTERFACE_VERSION, vxlapi.XL_BUS_TYPE_CAN)
85+
LOG.debug(
86+
'Open Port: PortHandle: %d, PermissionMask: 0x%X',
87+
self.port_handle.value, permission_mask.value)
88+
if bitrate:
89+
if permission_mask.value != self.mask:
90+
LOG.warning('Can not set bitrate since no init access')
91+
vxlapi.xlCanSetChannelBitrate(self.port_handle, permission_mask, bitrate)
92+
self.set_filters(can_filters)
5593
try:
56-
self._go_on_bus()
94+
vxlapi.xlActivateChannel(self.port_handle, self.mask,
95+
vxlapi.XL_BUS_TYPE_CAN, 0)
5796
except vxlapi.VectorError:
5897
self.shutdown()
5998
raise
99+
# Calculate time offset for absolute timestamps
100+
offset = vxlapi.XLuint64()
101+
vxlapi.xlGetSyncTime(self.port_handle, offset)
102+
self._time_offset = time.time() - offset.value / 1000000000.0
60103
super(VectorBus, self).__init__()
61104

62-
def _driver_init(self, can_filters):
63-
xl_status = vxlapi.open_driver()
64-
LOG.debug('Open Driver: Status: %d', xl_status.value)
65-
if xl_status.value == vxlapi.XL_SUCCESS:
66-
channel_mask = []
67-
# Get channels masks
68-
for channel in self.channel:
69-
app_channel = ctypes.c_uint(channel)
70-
hw_type = ctypes.c_uint(0)
71-
hw_index = ctypes.c_uint(0)
72-
hw_channel = ctypes.c_uint(0)
73-
xl_status = vxlapi.get_appl_config(
74-
app_name=self._app_name,
75-
app_channel=app_channel,
76-
hw_type=hw_type,
77-
hw_index=hw_index,
78-
hw_channel=hw_channel)
79-
if xl_status.value == vxlapi.XL_SUCCESS:
80-
LOG.debug('Channel index %d found', app_channel.value)
81-
hw_type = ctypes.c_int(hw_type.value)
82-
hw_index = ctypes.c_int(hw_index.value)
83-
hw_channel = ctypes.c_int(hw_channel.value)
84-
channel_mask.append(
85-
vxlapi.get_channel_mask(hw_type, hw_index, hw_channel))
86-
LOG.debug('Channel %d, Type: %d, Mask: %d',
87-
hw_channel.value, hw_type.value,
88-
channel_mask[app_channel.value].value)
89-
# Open one port for all channels
90-
self.mask = vxlapi.XLaccess(0)
91-
for CM in channel_mask:
92-
self.mask.value += CM.value
93-
self.port_handle = vxlapi.XLportHandle(
94-
vxlapi.XL_INVALID_PORTHANDLE)
95-
access_mask = self.mask
96-
permission_mask = self.mask
97-
xl_status = vxlapi.open_port(
98-
user_name=self._app_name,
99-
port_handle=self.port_handle,
100-
access_mask=access_mask,
101-
permission_mask=permission_mask)
102-
LOG.debug(
103-
'Open Port: PortHandle: %d, PermissionMask: %s, Status: %d',
104-
self.port_handle.value, permission_mask.value, xl_status.value)
105-
self.set_filters(can_filters)
106-
return xl_status
107-
108-
def _go_on_bus(self):
109-
vxlapi.activate_channel(
110-
port_handle=self.port_handle, access_mask=self.mask)
111-
112105
def set_filters(self, can_filters=None):
113106
if can_filters:
114107
# Only one filter per ID type allowed
@@ -117,7 +110,7 @@ def set_filters(self, can_filters=None):
117110
can_filters[0].get("extended") != can_filters[1].get("extended")):
118111
for can_filter in can_filters:
119112
try:
120-
vxlapi.can_set_channel_acceptance(
113+
vxlapi.xlCanSetChannelAcceptance(
121114
self.port_handle, self.mask,
122115
can_filter["can_id"], can_filter["can_mask"],
123116
vxlapi.XL_CAN_EXT if can_filter.get("extended") else vxlapi.XL_CAN_STD)
@@ -132,22 +125,26 @@ def recv(self, timeout=None):
132125
while True:
133126
event_count = ctypes.c_uint(1)
134127
try:
135-
vxlapi.receive(self.port_handle, event_count, event)
128+
vxlapi.xlReceive(self.port_handle, event_count, event)
136129
except vxlapi.VectorError as exc:
137-
if exc.status != vxlapi.XL_ERR_QUEUE_IS_EMPTY:
130+
if exc.error_code != vxlapi.XL_ERR_QUEUE_IS_EMPTY:
138131
raise
139-
if event.tag == vxlapi.XL_RECEIVE_MSG.value:
140-
msg_id = event.tagData.msg.id
141-
dlc = event.tagData.msg.dlc
142-
flags = event.tagData.msg.flags
143-
return Message(
144-
timestamp=event.timeStamp / 1000000000.0,
145-
arbitration_id=msg_id & 0x1FFFFFFF,
146-
extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID),
147-
is_remote_frame=bool(flags & vxlapi.XL_CAN_MSG_FLAG_REMOTE_FRAME),
148-
is_error_frame=bool(flags & vxlapi.XL_CAN_MSG_FLAG_ERROR_FRAME),
149-
dlc=dlc,
150-
data=event.tagData.msg.data[:dlc])
132+
else:
133+
if event.tag == vxlapi.XL_RECEIVE_MSG:
134+
msg_id = event.tagData.msg.id
135+
dlc = event.tagData.msg.dlc
136+
flags = event.tagData.msg.flags
137+
timestamp = event.timeStamp / 1000000000.0
138+
msg = Message(
139+
timestamp=timestamp + self._time_offset,
140+
arbitration_id=msg_id & 0x1FFFFFFF,
141+
extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID),
142+
is_remote_frame=bool(flags & vxlapi.XL_CAN_MSG_FLAG_REMOTE_FRAME),
143+
is_error_frame=bool(flags & vxlapi.XL_CAN_MSG_FLAG_ERROR_FRAME),
144+
dlc=dlc,
145+
data=event.tagData.msg.data[:dlc])
146+
msg.channel = event.chanIndex
147+
return msg
151148
if end_time is not None and time.time() > end_time:
152149
return None
153150
time.sleep(self.poll_interval)
@@ -161,16 +158,18 @@ def send(self, msg, timeout=None):
161158
if msg.is_remote_frame:
162159
flags |= vxlapi.XL_CAN_MSG_FLAG_REMOTE_FRAME
163160
xl_event = vxlapi.XLevent()
164-
xl_event.tag = vxlapi.XL_TRANSMIT_MSG.value
161+
xl_event.tag = vxlapi.XL_TRANSMIT_MSG
165162
xl_event.tagData.msg.id = msg_id
166163
xl_event.tagData.msg.dlc = msg.dlc
167164
xl_event.tagData.msg.flags = flags
168165
for idx, value in enumerate(msg.data):
169166
xl_event.tagData.msg.data[idx] = value
170-
xl_status = vxlapi.can_transmit(
171-
self.port_handle, self.mask, message_count, xl_event)
167+
vxlapi.xlCanTransmit(self.port_handle, self.mask, message_count, xl_event)
168+
169+
def flush_tx_buffer(self):
170+
vxlapi.xlCanFlushTransmitQueue(self.port_handle, self.mask)
172171

173172
def shutdown(self):
174-
vxlapi.deactivate_channel(self.port_handle, self.mask)
175-
vxlapi.close_port(self.port_handle)
176-
vxlapi.close_driver()
173+
vxlapi.xlDeactivateChannel(self.port_handle, self.mask)
174+
vxlapi.xlClosePort(self.port_handle)
175+
vxlapi.xlCloseDriver()

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