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Add Neousys WDT_DIO CAN interface (#980)
* Add Neousys WDT_DIO CAN interface * Neousys: Rename can/interfaces/neousys_wdt.py to can/interfaces/neousys/__init__.py * Neousys: reorganise stuff from init to own file and rename NeousysWdtBus to NeousysBus * Neousys: Remove threading code and start using Queue as thread safe message bug * Neousys: Add minimal unittest case(s) for creating, receiving, sending and shutdown * Update test_neousys.py * Neousys: Update Pylint disables that they are in more readable form Co-authored-by: Felix Divo <[email protected]> * Neousys: Make super-method more Python 3.x Co-authored-by: Felix Divo <[email protected]> Co-authored-by: Brian Thorne <[email protected]> Co-authored-by: Felix Divo <[email protected]>
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‎can/interfaces/__init__.py

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"cantact": ("can.interfaces.cantact", "CantactBus"),
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"gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"),
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"nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"),
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"neousys": ("can.interfaces.neousys", "NeousysBus"),
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}
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BACKENDS.update(

‎can/interfaces/neousys/__init__.py

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""" Neousys CAN bus driver """
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from can.interfaces.neousys.neousys import NeousysBus

‎can/interfaces/neousys/neousys.py

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""" Neousys CAN bus driver """
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#
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# This kind of interface can be found for example on Neousys POC-551VTC
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# One needs to have correct drivers and DLL (Share object for Linux) from Neousys
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#
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# https://www.neousys-tech.com/en/support-service/resources/category/299-poc-551vtc-driver
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#
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# Beware this is only tested on Linux kernel higher than v5.3. This should be drop in
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# with Windows but you have to replace with correct named DLL
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#
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# pylint: disable=too-few-public-methods
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# pylint: disable=too-many-instance-attributes
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# pylint: disable=wrong-import-position
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# pylint: disable=method-hidden
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# pylint: disable=unused-import
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import warnings
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import queue
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import logging
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import platform
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import time
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from ctypes import (
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byref,
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CFUNCTYPE,
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c_ubyte,
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c_uint,
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c_ushort,
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POINTER,
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sizeof,
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Structure,
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)
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if platform.system() == "Windows":
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from ctypes import WinDLL
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else:
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from ctypes import CDLL
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from can import BusABC, Message
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logger = logging.getLogger(__name__)
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class NeousysCanSetup(Structure):
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""" C CAN Setup struct """
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_fields_ = [
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("bitRate", c_uint),
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("recvConfig", c_uint),
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("recvId", c_uint),
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("recvMask", c_uint),
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]
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class NeousysCanMsg(Structure):
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""" C CAN Message struct """
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_fields_ = [
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("id", c_uint),
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("flags", c_ushort),
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("extra", c_ubyte),
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("len", c_ubyte),
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("data", c_ubyte * 8),
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]
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# valid:2~16, sum of the Synchronization, Propagation, and
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# Phase Buffer 1 segments, measured in time quanta.
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# valid:1~8, the Phase Buffer 2 segment in time quanta.
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# valid:1~4, Resynchronization Jump Width in time quanta
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# valid:1~1023, CAN_CLK divider used to determine time quanta
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class NeousysCanBitClk(Structure):
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""" C CAN BIT Clock struct """
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_fields_ = [
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("syncPropPhase1Seg", c_ushort),
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("phase2Seg", c_ushort),
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("jumpWidth", c_ushort),
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("quantumPrescaler", c_ushort),
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]
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NEOUSYS_CAN_MSG_CALLBACK = CFUNCTYPE(None, POINTER(NeousysCanMsg), c_uint)
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NEOUSYS_CAN_STATUS_CALLBACK = CFUNCTYPE(None, c_uint)
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NEOUSYS_CAN_MSG_EXTENDED_ID = 0x0004
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NEOUSYS_CAN_MSG_REMOTE_FRAME = 0x0040
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NEOUSYS_CAN_MSG_DATA_NEW = 0x0080
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NEOUSYS_CAN_MSG_DATA_LOST = 0x0100
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NEOUSYS_CAN_MSG_USE_ID_FILTER = 0x00000008
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NEOUSYS_CAN_MSG_USE_DIR_FILTER = (
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0x00000010 | NEOUSYS_CAN_MSG_USE_ID_FILTER
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) # only accept the direction specified in the message type
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NEOUSYS_CAN_MSG_USE_EXT_FILTER = (
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0x00000020 | NEOUSYS_CAN_MSG_USE_ID_FILTER
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) # filters on only extended identifiers
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NEOUSYS_CAN_STATUS_BUS_OFF = 0x00000080
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NEOUSYS_CAN_STATUS_EWARN = (
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0x00000040 # can controller error level has reached warning level.
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)
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NEOUSYS_CAN_STATUS_EPASS = (
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0x00000020 # can controller error level has reached error passive level.
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)
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NEOUSYS_CAN_STATUS_LEC_STUFF = 0x00000001 # a bit stuffing error has occurred.
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NEOUSYS_CAN_STATUS_LEC_FORM = 0x00000002 # a formatting error has occurred.
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NEOUSYS_CAN_STATUS_LEC_ACK = 0x00000003 # an acknowledge error has occurred.
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NEOUSYS_CAN_STATUS_LEC_BIT1 = (
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0x00000004 # the bus remained a bit level of 1 for longer than is allowed.
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)
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NEOUSYS_CAN_STATUS_LEC_BIT0 = (
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0x00000005 # the bus remained a bit level of 0 for longer than is allowed.
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)
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NEOUSYS_CAN_STATUS_LEC_CRC = 0x00000006 # a crc error has occurred.
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NEOUSYS_CAN_STATUS_LEC_MASK = (
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0x00000007 # this is the mask for the can last error code (lec).
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)
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NEOUSYS_CANLIB = None
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try:
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if platform.system() == "Windows":
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NEOUSYS_CANLIB = WinDLL("./WDT_DIO.dll")
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else:
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NEOUSYS_CANLIB = CDLL("libwdt_dio.so")
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logger.info("Loaded Neousys WDT_DIO Can driver")
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except OSError as error:
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logger.info("Cannot Neousys CAN bus dll or share object: %d", format(error))
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# NEOUSYS_CANLIB = None
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class NeousysBus(BusABC):
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""" Neousys CAN bus Class"""
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def __init__(self, channel, device=0, bitrate=500000, **kwargs):
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"""
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:param channel: channel number
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:param device: device number
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:param bitrate: bit rate. Renamed to bitrate in next release.
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"""
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super().__init__(channel, **kwargs)
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if NEOUSYS_CANLIB is not None:
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self.channel = channel
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self.device = device
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self.channel_info = "Neousys Can: device {}, channel {}".format(
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self.device, self.channel
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)
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self.queue = queue.Queue()
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# Init with accept all and wanted bitrate
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self.init_config = NeousysCanSetup(
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bitrate, NEOUSYS_CAN_MSG_USE_ID_FILTER, 0, 0
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)
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self._neousys_recv_cb = NEOUSYS_CAN_MSG_CALLBACK(self._neousys_recv_cb)
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self._neousys_status_cb = NEOUSYS_CAN_STATUS_CALLBACK(
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self._neousys_status_cb
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)
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if NEOUSYS_CANLIB.CAN_RegisterReceived(0, self._neousys_recv_cb) == 0:
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logger.error("Neousys CAN bus Setup receive callback")
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if NEOUSYS_CANLIB.CAN_RegisterStatus(0, self._neousys_status_cb) == 0:
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logger.error("Neousys CAN bus Setup status callback")
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if (
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NEOUSYS_CANLIB.CAN_Setup(
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channel, byref(self.init_config), sizeof(self.init_config)
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)
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== 0
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):
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logger.error("Neousys CAN bus Setup Error")
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if NEOUSYS_CANLIB.CAN_Start(channel) == 0:
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logger.error("Neousys CAN bus Start Error")
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def send(self, msg, timeout=None):
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"""
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:param msg: message to send
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:param timeout: timeout is not used here
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:return:
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"""
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if NEOUSYS_CANLIB is None:
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logger.error("Can't send msg as Neousys DLL/SO is not loaded")
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else:
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tx_msg = NeousysCanMsg(
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msg.arbitration_id, 0, 0, msg.dlc, (c_ubyte * 8)(*msg.data)
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)
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if (
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NEOUSYS_CANLIB.CAN_Send(self.channel, byref(tx_msg), sizeof(tx_msg))
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== 0
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):
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logger.error("Neousys Can can't send message")
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def _recv_internal(self, timeout):
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msg = None
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if not self.queue.empty():
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msg = self.queue.get()
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return msg, False
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def _neousys_recv_cb(self, msg, sizeof_msg):
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"""
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:param msg struct CAN_MSG
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:param sizeof_msg message number
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:return:
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"""
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remote_frame = False
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extended_frame = False
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msg_bytes = bytearray(msg.contents.data)
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if msg.contents.flags & NEOUSYS_CAN_MSG_REMOTE_FRAME:
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remote_frame = True
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if msg.contents.flags & NEOUSYS_CAN_MSG_EXTENDED_ID:
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extended_frame = True
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if msg.contents.flags & NEOUSYS_CAN_MSG_DATA_LOST:
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logger.error("_neousys_recv_cb flag CAN_MSG_DATA_LOST")
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msg = Message(
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timestamp=time.time(),
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arbitration_id=msg.contents.id,
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is_remote_frame=remote_frame,
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is_extended_id=extended_frame,
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channel=self.channel,
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dlc=msg.contents.len,
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data=msg_bytes[: msg.contents.len],
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)
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# Reading happens in Callback function and
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# with Python-CAN it happens polling
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# so cache stuff in array to for poll
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if not self.queue.full():
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self.queue.put(msg)
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else:
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logger.error("Neousys message Queue is full")
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def _neousys_status_cb(self, status):
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"""
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:param status BUS Status
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:return:
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"""
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logger.info("%s _neousys_status_cb: %d", self.init_config, status)
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def shutdown(self):
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if NEOUSYS_CANLIB is not None:
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NEOUSYS_CANLIB.CAN_Stop(self.channel)
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def fileno(self):
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# Return an invalid file descriptor as not used
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return -1
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@staticmethod
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def _detect_available_configs():
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channels = []
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# There is only one channel
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channels.append({"interface": "neousys", "channel": 0})
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return channels

‎test/test_neousys.py

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#!/usr/bin/env python
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# coding: utf-8
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import ctypes
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import os
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import pickle
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import unittest
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from unittest.mock import Mock
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from ctypes import (
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byref,
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cast,
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POINTER,
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sizeof,
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c_ubyte,
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)
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import pytest
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import can
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from can.interfaces.neousys import neousys
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class TestNeousysBus(unittest.TestCase):
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def setUp(self) -> None:
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB = Mock()
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_RegisterReceived = Mock(
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return_value=1
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)
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_RegisterStatus = Mock(
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return_value=1
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)
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup = Mock(return_value=1)
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Start = Mock(return_value=1)
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Send = Mock(return_value=1)
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Stop = Mock(return_value=1)
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self.bus = can.Bus(channel=0, bustype="neousys", _testing=True)
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def tearDown(self) -> None:
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if self.bus:
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self.bus.shutdown()
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self.bus = None
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def test_bus_creation(self) -> None:
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self.assertIsInstance(self.bus, neousys.NeousysBus)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Setup.called)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Start.called)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_RegisterReceived.called)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_RegisterStatus.called)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Send.not_called)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Stop.not_called)
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CAN_Start_args = (
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0]
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)
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# sizeof struct should be 16
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self.assertEqual(CAN_Start_args[0], 0)
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self.assertEqual(CAN_Start_args[2], 16)
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NeousysCanSetup_struct = cast(
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CAN_Start_args[1], POINTER(neousys.NeousysCanSetup)
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)
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self.assertEqual(NeousysCanSetup_struct.contents.bitRate, 500000)
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self.assertEqual(
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NeousysCanSetup_struct.contents.recvConfig,
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neousys.NEOUSYS_CAN_MSG_USE_ID_FILTER,
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)
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def test_bus_creation_bitrate(self) -> None:
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self.bus = can.Bus(channel=0, bustype="neousys", bitrate=200000, _testing=True)
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self.assertIsInstance(self.bus, neousys.NeousysBus)
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CAN_Start_args = (
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can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0]
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)
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# sizeof struct should be 16
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self.assertEqual(CAN_Start_args[0], 0)
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self.assertEqual(CAN_Start_args[2], 16)
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NeousysCanSetup_struct = cast(
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CAN_Start_args[1], POINTER(neousys.NeousysCanSetup)
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)
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self.assertEqual(NeousysCanSetup_struct.contents.bitRate, 200000)
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self.assertEqual(
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NeousysCanSetup_struct.contents.recvConfig,
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neousys.NEOUSYS_CAN_MSG_USE_ID_FILTER,
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)
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def test_receive(self) -> None:
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recv_msg = self.bus.recv(timeout=0.05)
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self.assertEqual(recv_msg, None)
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msg_data = [0x01, 0x02, 0x03, 0x04, 0x05]
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NeousysCanMsg_msg = neousys.NeousysCanMsg(
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0x01, 0x00, 0x00, 0x05, (c_ubyte * 8)(*msg_data)
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)
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self.bus._neousys_recv_cb(byref(NeousysCanMsg_msg), sizeof(NeousysCanMsg_msg))
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recv_msg = self.bus.recv(timeout=0.05)
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self.assertEqual(recv_msg.dlc, 5)
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self.assertSequenceEqual(recv_msg.data, msg_data)
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def test_send(self) -> None:
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msg = can.Message(
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arbitration_id=0x01, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=False
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)
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self.bus.send(msg)
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Send.called)
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def test_shutdown(self) -> None:
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self.bus.shutdown()
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self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Stop.called)
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if __name__ == "__main__":
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unittest.main()

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