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implemented so far: - multi-pg send/receive with possibility to enter a time limit - Broadcast Announce Message (BAM) send/receive with up to 4 concurrent sessions and up to 15300 bytes of data per session - RTS/CTS (Destination Specific) send/receive with up to 8 concurrent sessions and up to 16777215 bytes of data per session added j1939-22 transport protocol and multi-pg examples the data-link-layer (j1939-21 or j1939-22) can be selected when creating the ECU instance. the data link layer cannot be changed dynamically, because j1939 does not allow mixing of data link layers either.
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juergen
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Jun 27, 2021
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| import logging | ||
| import time | ||
| import j1939 | ||
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| logging.getLogger('j1939').setLevel(logging.DEBUG) | ||
| logging.getLogger('can').setLevel(logging.DEBUG) | ||
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| def on_message(priority, pgn, sa, timestamp, data): | ||
| """Receive incoming messages from the bus | ||
| :param int priority: | ||
| Priority of the message | ||
| :param int pgn: | ||
| Parameter Group Number of the message | ||
| :param int sa: | ||
| Source Address of the message | ||
| :param int timestamp: | ||
| Timestamp of the message | ||
| :param bytearray data: | ||
| Data of the PDU | ||
| """ | ||
| print("PGN {} length {}".format(pgn, len(data)), timestamp) | ||
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| def ca_timer_callback1(ca): | ||
| """Callback for sending messages | ||
| This callback is registered at the ECU timer event mechanism to be | ||
| executed every 500ms. | ||
| :param cookie: | ||
| A cookie registered at 'add_timer'. May be None. | ||
| """ | ||
| # wait until we have our device_address | ||
| if ca.state != j1939.ControllerApplication.State.NORMAL: | ||
| # returning true keeps the timer event active | ||
| return True | ||
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| # create data with 20 bytes | ||
| data = [j1939.ControllerApplication.FieldValue.NOT_AVAILABLE_8] * 20 | ||
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| # sending broadcast message | ||
| # the following two PGNs are packed into one multi-pg, due to time-limit of 10ms and same destination address (global) | ||
| ca.send_pgn(0, 0xFD, 0xED, 6, data, time_limit=0.01) | ||
| ca.send_pgn(0, 0xFE, 0x32, 6, data, time_limit=0.01) | ||
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| # sending normal peer-to-peer message, destintion address is 0x04 | ||
| # the following PGNs are transferred separately, because time limit == 0 | ||
| ca.send_pgn(0, 0xE0, 0x04, 6, data) | ||
| ca.send_pgn(0, 0xD0, 0x04, 6, data) | ||
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| # returning true keeps the timer event active | ||
| return True | ||
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| def main(): | ||
| print("Initializing") | ||
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| # create the ElectronicControlUnit (one ECU can hold multiple ControllerApplications) with j1939-22 data link layer | ||
| ecu = j1939.ElectronicControlUnit(data_link_layer='j1939-22', max_cmdt_packets=200) | ||
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| # can fd Baud: 500k/2M | ||
| ecu.connect(bustype='pcan', channel='PCAN_USBBUS1', fd=True, | ||
| f_clock_mhz=80, nom_brp=10, nom_tseg1=12, nom_tseg2=3, nom_sjw=1, data_brp=4, data_tseg1=7, data_tseg2=2, data_sjw=1) | ||
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| # subscribe to all (global) messages on the bus | ||
| ecu.subscribe(on_message) | ||
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| # compose the name descriptor for the new ca | ||
| name = j1939.Name( | ||
| arbitrary_address_capable=0, | ||
| industry_group=j1939.Name.IndustryGroup.Industrial, | ||
| vehicle_system_instance=1, | ||
| vehicle_system=1, | ||
| function=1, | ||
| function_instance=1, | ||
| ecu_instance=1, | ||
| manufacturer_code=666, | ||
| identity_number=1234567 | ||
| ) | ||
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| # create the ControllerApplications | ||
| ca = j1939.ControllerApplication(name, 0x1) | ||
| ecu.add_ca(controller_application=ca) | ||
| # callback every 0.5s | ||
| ca.add_timer(0.500, ca_timer_callback1, ca) | ||
| ca.start() | ||
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| time.sleep(120) | ||
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| print("Deinitializing") | ||
| ca.stop() | ||
| ecu.disconnect() | ||
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| if __name__ == '__main__': | ||
| main() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| import logging | ||
| import time | ||
| import j1939 | ||
|
|
||
|
|
||
| logging.getLogger('j1939').setLevel(logging.DEBUG) | ||
| logging.getLogger('can').setLevel(logging.DEBUG) | ||
|
|
||
|
|
||
| def on_message(priority, pgn, sa, timestamp, data): | ||
| """Receive incoming messages from the bus | ||
| :param int priority: | ||
| Priority of the message | ||
| :param int pgn: | ||
| Parameter Group Number of the message | ||
| :param int sa: | ||
| Source Address of the message | ||
| :param int timestamp: | ||
| Timestamp of the message | ||
| :param bytearray data: | ||
| Data of the PDU | ||
| """ | ||
| print("PGN {} length {}".format(pgn, len(data)), timestamp) | ||
|
|
||
|
|
||
| def ca_timer_callback1(ca): | ||
| """Callback for sending messages | ||
| This callback is registered at the ECU timer event mechanism to be | ||
| executed every 500ms. | ||
| :param cookie: | ||
| A cookie registered at 'add_timer'. May be None. | ||
| """ | ||
| # wait until we have our device_address | ||
| if ca.state != j1939.ControllerApplication.State.NORMAL: | ||
| # returning true keeps the timer event active | ||
| return True | ||
|
|
||
| # create data with 500 bytes | ||
| data = [j1939.ControllerApplication.FieldValue.NOT_AVAILABLE_8] * 500 | ||
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| # sending transport protocol broadcast message (BAM) | ||
| successful = ca.send_pgn(0, 0xFD, 0xED, 6, data) | ||
| if not successful: | ||
| print( 'error occurred while sending BAM' ) | ||
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| # sending transport protocol peer-to-peer message (rts/cts), destintion address is 0x04 | ||
| successful = ca.send_pgn(0, 0xE0, 0x04, 6, data) | ||
| if not successful: | ||
| print( 'error occurred while sending rts/cts message' ) | ||
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| # returning true keeps the timer event active | ||
| return True | ||
|
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||
|
|
||
| def main(): | ||
| print("Initializing") | ||
|
|
||
| # create the ElectronicControlUnit (one ECU can hold multiple ControllerApplications) with j1939-22 data link layer | ||
| ecu = j1939.ElectronicControlUnit(data_link_layer='j1939-22', max_cmdt_packets=200) | ||
|
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||
| # can fd Baud: 500k/2M | ||
| ecu.connect(bustype='pcan', channel='PCAN_USBBUS1', fd=True, | ||
| f_clock_mhz=80, nom_brp=10, nom_tseg1=12, nom_tseg2=3, nom_sjw=1, data_brp=4, data_tseg1=7, data_tseg2=2, data_sjw=1) | ||
|
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||
| # subscribe to all (global) messages on the bus | ||
| ecu.subscribe(on_message) | ||
|
|
||
| # compose the name descriptor for the new ca | ||
| name = j1939.Name( | ||
| arbitrary_address_capable=0, | ||
| industry_group=j1939.Name.IndustryGroup.Industrial, | ||
| vehicle_system_instance=1, | ||
| vehicle_system=1, | ||
| function=1, | ||
| function_instance=1, | ||
| ecu_instance=1, | ||
| manufacturer_code=666, | ||
| identity_number=1234567 | ||
| ) | ||
|
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| # create the ControllerApplications | ||
| ca = j1939.ControllerApplication(name, 0x1) | ||
| ecu.add_ca(controller_application=ca) | ||
| # callback every 0.5s | ||
| ca.add_timer(0.500, ca_timer_callback1, ca) | ||
| ca.start() | ||
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| time.sleep(120) | ||
|
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| print("Deinitializing") | ||
| ca.stop() | ||
| ecu.disconnect() | ||
|
|
||
| if __name__ == '__main__': | ||
| main() |
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