Add FD support to canutils

simontegelid · simontegelid · commit 4b300a64ef0b · 2021-05-07T09:39:21.000+02:00
Remove RTR tests for FD frames since they doesn't exist
and thus cannot be represented in the canutils log format.
See "CAN with Flexible Data-Rate, version 1.0, Bosch,
April 17th, 2012, pp.11": "The REMOTE TRANSMISSION REQUEST
(RTR) bit only exists in CAN format frames. [...] There are
no REMOTE FRAMES in CAN FD format."
diff --git a/can/io/canutils.py b/can/io/canutils.py
@@ -18,6 +18,8 @@
 CAN_ERR_BUSERROR = 0x00000080
 CAN_ERR_DLC = 8
 
+CANFD_BRS = 0x01
+CANFD_ESI = 0x02
 
 class CanutilsLogReader(BaseIOHandler):
     """
@@ -47,13 +49,24 @@ def __iter__(self):
 
             timestamp, channel, frame = temp.split()
             timestamp = float(timestamp[1:-1])
-            canId, data = frame.split("#")
+            canId, data = frame.split("#", maxsplit=1)
             if channel.isdigit():
                 channel = int(channel)
 
             isExtended = len(canId) > 3
             canId = int(canId, 16)
 
+            is_fd = False
+            brs = False
+            esi = False
+
+            if data and data[0] == "#":
+                is_fd = True
+                fd_flags = int(data[1])
+                brs = bool(fd_flags & CANFD_BRS)
+                esi = bool(fd_flags & CANFD_ESI)
+                data = data[2:]
+
             if data and data[0].lower() == "r":
                 isRemoteFrame = True
 
@@ -79,6 +92,9 @@ def __iter__(self):
                     arbitration_id=canId & 0x1FFFFFFF,
                     is_extended_id=isExtended,
                     is_remote_frame=isRemoteFrame,
+                    is_fd=is_fd,
+                    bitrate_switch=brs,
+                    error_state_indicator=esi,
                     dlc=dlc,
                     data=dataBin,
                     channel=channel,
@@ -126,20 +142,25 @@ def on_message_received(self, msg):
 
         channel = msg.channel if msg.channel is not None else self.channel
 
+        framestr = "(%f) %s" % (timestamp, channel)
+
         if msg.is_error_frame:
-            self.file.write(
-                "(%f) %s %08X#0000000000000000\n"
-                % (timestamp, channel, CAN_ERR_FLAG | CAN_ERR_BUSERROR)
-            )
+            framestr += " %08X#" % (CAN_ERR_FLAG | CAN_ERR_BUSERROR)
+        elif msg.is_extended_id:
+            framestr += " %08X#" % (msg.arbitration_id)
         else:
-            arbitration_id_str = ("%08X" if msg.is_extended_id else "%03X") % msg.arbitration_id
+            framestr += " %03X#" % (msg.arbitration_id)
 
-            if msg.is_remote_frame:
-                self.file.write(
-                    "(%f) %s %s#R\n" % (timestamp, channel, arbitration_id_str)
-                )
-            else:
-                self.file.write(
-                    "(%f) %s %s#%s\n"
-                    % (timestamp, channel, arbitration_id_str, msg.data.hex().upper())
-                )
+        if msg.is_remote_frame:
+            framestr += "R\n"
+        else:
+            if msg.is_fd:
+                fd_flags = 0
+                if msg.bitrate_switch:
+                    fd_flags |= CANFD_BRS
+                if msg.error_state_indicator:
+                    fd_flags |= CANFD_ESI
+                framestr += "#%X" % fd_flags
+            framestr += "%s\n" % (msg.data.hex().upper())
+
+        self.file.write(framestr)
diff --git a/test/data/example_data.py b/test/data/example_data.py
@@ -112,8 +112,6 @@ def sort_messages(messages):
     [
         Message(is_fd=True, data=range(64)),
         Message(is_fd=True, data=range(8)),
-        Message(is_fd=True, bitrate_switch=True, is_remote_frame=True),
-        Message(is_fd=True, error_state_indicator=True, is_remote_frame=True),
         Message(is_fd=True, data=range(8), bitrate_switch=True),
         Message(is_fd=True, data=range(8), error_state_indicator=True),
     ]
diff --git a/test/logformats_test.py b/test/logformats_test.py
@@ -662,7 +662,7 @@ def _setup_instance(self):
         super()._setup_instance_helper(
             can.CanutilsLogWriter,
             can.CanutilsLogReader,
-            check_fd=False,
+            check_fd=True,
             test_append=True,
             check_comments=False,
             preserves_channel=False,

Original file line number	Diff line number	Diff line change
`@@ -112,8 +112,6 @@ def sort_messages(messages):`
`112`	`112`	`[`
`113`	`113`	`Message(is_fd=True, data=range(64)),`
`114`	`114`	`Message(is_fd=True, data=range(8)),`
`115`		`- Message(is_fd=True, bitrate_switch=True, is_remote_frame=True),`
`116`		`- Message(is_fd=True, error_state_indicator=True, is_remote_frame=True),`
`117`	`115`	`Message(is_fd=True, data=range(8), bitrate_switch=True),`
`118`	`116`	`Message(is_fd=True, data=range(8), error_state_indicator=True),`
`119`	`117`	`]`