Add Parameter for Enabling PCAN Auto Bus-Off Reset (#1345)

* parametrise pcan auto reset

* add unit tests, fix build error

* formatting

Co-authored-by: Atabey <[email protected]>

Author: 1atabey1

can/interfaces/pcan/pcan.py

@@ -56,6 +56,7 @@
     PCAN_CHANNEL_FEATURES,
     FEATURE_FD_CAPABLE,
     PCAN_DICT_STATUS,
+    PCAN_BUSOFF_AUTORESET,
 )
 
 
@@ -206,6 +207,10 @@ def __init__(
             In the range (1..16).
             Ignored if not using CAN-FD.
 
+        :param bool auto_reset:
+            Enable automatic recovery in bus off scenario.
+            Resetting the driver takes ~500ms during which
+            it will not be responsive.
         """
         self.m_objPCANBasic = PCANBasic()
 
@@ -276,6 +281,14 @@ def __init__(
                     "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.10"
                 )
 
+        if kwargs.get("auto_reset", False):
+            result = self.m_objPCANBasic.SetValue(
+                self.m_PcanHandle, PCAN_BUSOFF_AUTORESET, PCAN_PARAMETER_ON
+            )
+
+            if result != PCAN_ERROR_OK:
+                raise PcanCanInitializationError(self._get_formatted_error(result))
+
         if HAS_EVENTS:
             self._recv_event = CreateEvent(None, 0, 0, None)
             result = self.m_objPCANBasic.SetValue(

test/test_pcan.py

@@ -363,6 +363,16 @@ def get_value_side_effect(handle, param):
             self.bus = can.Bus(bustype="pcan", device_id=dev_id)
             self.assertEqual(expected_result, self.bus.channel_info)
 
+    def test_bus_creation_auto_reset(self):
+        self.bus = can.Bus(bustype="pcan", auto_reset=True)
+        self.assertIsInstance(self.bus, PcanBus)
+        self.MockPCANBasic.assert_called_once()
+
+    def test_auto_reset_init_fault(self):
+        self.mock_pcan.SetValue = Mock(return_value=PCAN_ERROR_INITIALIZE)
+        with self.assertRaises(CanInitializationError):
+            self.bus = can.Bus(bustype="pcan", auto_reset=True)
+
 
 if __name__ == "__main__":
     unittest.main()