Add Neousys WDT_DIO CAN interface

can/interfaces/__init__.py

@@ -28,6 +28,7 @@
     "cantact": ("can.interfaces.cantact", "CantactBus"),
     "gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"),
     "nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"),
+    "neousys": ("can.interfaces.neousys", "NeousysBus"),
 }
 
 BACKENDS.update(

can/interfaces/neousys/__init__.py

@@ -0,0 +1,3 @@
+""" Neousys CAN bus driver """
+
+from can.interfaces.neousys.neousys import NeousysBus

can/interfaces/neousys/neousys.py

@@ -0,0 +1,271 @@
+""" Neousys CAN bus driver """
+
+#
+# This kind of interface can be found for example on Neousys POC-551VTC
+# One needs to have correct drivers and DLL (Share object for Linux) from Neousys
+#
+# https://www.neousys-tech.com/en/support-service/resources/category/299-poc-551vtc-driver
+#
+# Beware this is only tested on Linux kernel higher than v5.3. This should be drop in
+# with Windows but you have to replace with correct named DLL
+#
+
+# pylint: disable=too-few-public-methods
+# pylint: disable=too-many-instance-attributes
+# pylint: disable=wrong-import-position
+# pylint: disable=method-hidden
+# pylint: disable=unused-import
+
+import warnings
+import queue
+import logging
+import platform
+import time
+
+from ctypes import (
+    byref,
+    CFUNCTYPE,
+    c_ubyte,
+    c_uint,
+    c_ushort,
+    POINTER,
+    sizeof,
+    Structure,
+)
+
+if platform.system() == "Windows":
+    from ctypes import WinDLL
+else:
+    from ctypes import CDLL
+from can import BusABC, Message
+
+
+logger = logging.getLogger(__name__)
+
+
+class NeousysCanSetup(Structure):
+    """ C CAN Setup struct """
+
+    _fields_ = [
+        ("bitRate", c_uint),
+        ("recvConfig", c_uint),
+        ("recvId", c_uint),
+        ("recvMask", c_uint),
+    ]
+
+
+class NeousysCanMsg(Structure):
+    """ C CAN Message struct """
+
+    _fields_ = [
+        ("id", c_uint),
+        ("flags", c_ushort),
+        ("extra", c_ubyte),
+        ("len", c_ubyte),
+        ("data", c_ubyte * 8),
+    ]
+
+
+# valid:2~16, sum of the Synchronization, Propagation, and
+#             Phase Buffer 1 segments, measured in time quanta.
+# valid:1~8, the Phase Buffer 2 segment in time quanta.
+# valid:1~4, Resynchronization Jump Width in time quanta
+# valid:1~1023, CAN_CLK divider used to determine time quanta
+class NeousysCanBitClk(Structure):
+    """ C CAN BIT Clock struct """
+
+    _fields_ = [
+        ("syncPropPhase1Seg", c_ushort),
+        ("phase2Seg", c_ushort),
+        ("jumpWidth", c_ushort),
+        ("quantumPrescaler", c_ushort),
+    ]
+
+
+NEOUSYS_CAN_MSG_CALLBACK = CFUNCTYPE(None, POINTER(NeousysCanMsg), c_uint)
+NEOUSYS_CAN_STATUS_CALLBACK = CFUNCTYPE(None, c_uint)
+
+NEOUSYS_CAN_MSG_EXTENDED_ID = 0x0004
+NEOUSYS_CAN_MSG_REMOTE_FRAME = 0x0040
+NEOUSYS_CAN_MSG_DATA_NEW = 0x0080
+NEOUSYS_CAN_MSG_DATA_LOST = 0x0100
+
+NEOUSYS_CAN_MSG_USE_ID_FILTER = 0x00000008
+NEOUSYS_CAN_MSG_USE_DIR_FILTER = (
+    0x00000010 | NEOUSYS_CAN_MSG_USE_ID_FILTER
+)  # only accept the direction specified in the message type
+NEOUSYS_CAN_MSG_USE_EXT_FILTER = (
+    0x00000020 | NEOUSYS_CAN_MSG_USE_ID_FILTER
+)  # filters on only extended identifiers
+
+NEOUSYS_CAN_STATUS_BUS_OFF = 0x00000080
+NEOUSYS_CAN_STATUS_EWARN = (
+    0x00000040  # can controller error level has reached warning level.
+)
+NEOUSYS_CAN_STATUS_EPASS = (
+    0x00000020  # can controller error level has reached error passive level.
+)
+NEOUSYS_CAN_STATUS_LEC_STUFF = 0x00000001  # a bit stuffing error has occurred.
+NEOUSYS_CAN_STATUS_LEC_FORM = 0x00000002  # a formatting error has occurred.
+NEOUSYS_CAN_STATUS_LEC_ACK = 0x00000003  # an acknowledge error has occurred.
+NEOUSYS_CAN_STATUS_LEC_BIT1 = (
+    0x00000004  # the bus remained a bit level of 1 for longer than is allowed.
+)
+NEOUSYS_CAN_STATUS_LEC_BIT0 = (
+    0x00000005  # the bus remained a bit level of 0 for longer than is allowed.
+)
+NEOUSYS_CAN_STATUS_LEC_CRC = 0x00000006  # a crc error has occurred.
+NEOUSYS_CAN_STATUS_LEC_MASK = (
+    0x00000007  # this is the mask for the can last error code (lec).
+)
+
+NEOUSYS_CANLIB = None
+
+try:
+    if platform.system() == "Windows":
+        NEOUSYS_CANLIB = WinDLL("./WDT_DIO.dll")
+    else:
+        NEOUSYS_CANLIB = CDLL("libwdt_dio.so")
+        logger.info("Loaded Neousys WDT_DIO Can driver")
+except OSError as error:
+    logger.info("Cannot Neousys CAN bus dll or share object: %d", format(error))
+    # NEOUSYS_CANLIB = None
+
+
+class NeousysBus(BusABC):
+    """ Neousys CAN bus Class"""
+
+    def __init__(self, channel, device=0, bitrate=500000, **kwargs):
+        """
+        :param channel: channel number
+        :param device: device number
+        :param bitrate: bit rate. Renamed to bitrate in next release.
+        """
+        super().__init__(channel, **kwargs)
+
+        if NEOUSYS_CANLIB is not None:
+            self.channel = channel
+
+            self.device = device
+
+            self.channel_info = "Neousys Can: device {}, channel {}".format(
+                self.device, self.channel
+            )
+
+            self.queue = queue.Queue()
+
+            # Init with accept all and wanted bitrate
+            self.init_config = NeousysCanSetup(
+                bitrate, NEOUSYS_CAN_MSG_USE_ID_FILTER, 0, 0
+            )
+
+            self._neousys_recv_cb = NEOUSYS_CAN_MSG_CALLBACK(self._neousys_recv_cb)
+            self._neousys_status_cb = NEOUSYS_CAN_STATUS_CALLBACK(
+                self._neousys_status_cb
+            )
+
+            if NEOUSYS_CANLIB.CAN_RegisterReceived(0, self._neousys_recv_cb) == 0:
+                logger.error("Neousys CAN bus Setup receive callback")
+
+            if NEOUSYS_CANLIB.CAN_RegisterStatus(0, self._neousys_status_cb) == 0:
+                logger.error("Neousys CAN bus Setup status callback")
+
+            if (
+                NEOUSYS_CANLIB.CAN_Setup(
+                    channel, byref(self.init_config), sizeof(self.init_config)
+                )
+                == 0
+            ):
+                logger.error("Neousys CAN bus Setup Error")
+
+            if NEOUSYS_CANLIB.CAN_Start(channel) == 0:
+                logger.error("Neousys CAN bus Start Error")
+
+    def send(self, msg, timeout=None):
+        """
+        :param msg: message to send
+        :param timeout: timeout is not used here
+        :return:
+        """
+
+        if NEOUSYS_CANLIB is None:
+            logger.error("Can't send msg as Neousys DLL/SO is not loaded")
+        else:
+            tx_msg = NeousysCanMsg(
+                msg.arbitration_id, 0, 0, msg.dlc, (c_ubyte * 8)(*msg.data)
+            )
+
+            if (
+                NEOUSYS_CANLIB.CAN_Send(self.channel, byref(tx_msg), sizeof(tx_msg))
+                == 0
+            ):
+                logger.error("Neousys Can can't send message")
+
+    def _recv_internal(self, timeout):
+        msg = None
+
+        if not self.queue.empty():
+            msg = self.queue.get()
+
+        return msg, False
+
+    def _neousys_recv_cb(self, msg, sizeof_msg):
+        """
+        :param msg struct CAN_MSG
+        :param sizeof_msg message number
+        :return:
+        """
+        remote_frame = False
+        extended_frame = False
+
+        msg_bytes = bytearray(msg.contents.data)
+
+        if msg.contents.flags & NEOUSYS_CAN_MSG_REMOTE_FRAME:
+            remote_frame = True
+
+        if msg.contents.flags & NEOUSYS_CAN_MSG_EXTENDED_ID:
+            extended_frame = True
+
+        if msg.contents.flags & NEOUSYS_CAN_MSG_DATA_LOST:
+            logger.error("_neousys_recv_cb flag CAN_MSG_DATA_LOST")
+
+        msg = Message(
+            timestamp=time.time(),
+            arbitration_id=msg.contents.id,
+            is_remote_frame=remote_frame,
+            is_extended_id=extended_frame,
+            channel=self.channel,
+            dlc=msg.contents.len,
+            data=msg_bytes[: msg.contents.len],
+        )
+
+        # Reading happens in Callback function and
+        # with Python-CAN it happens polling
+        # so cache stuff in array to for poll
+        if not self.queue.full():
+            self.queue.put(msg)
+        else:
+            logger.error("Neousys message Queue is full")
+
+    def _neousys_status_cb(self, status):
+        """
+        :param status BUS Status
+        :return:
+        """
+        logger.info("%s _neousys_status_cb: %d", self.init_config, status)
+
+    def shutdown(self):
+        if NEOUSYS_CANLIB is not None:
+            NEOUSYS_CANLIB.CAN_Stop(self.channel)
+
+    def fileno(self):
+        # Return an invalid file descriptor as not used
+        return -1
+
+    @staticmethod
+    def _detect_available_configs():
+        channels = []
+
+        # There is only one channel
+        channels.append({"interface": "neousys", "channel": 0})
+        return channels

test/test_neousys.py

@@ -0,0 +1,113 @@
+#!/usr/bin/env python
+# coding: utf-8
+
+import ctypes
+import os
+import pickle
+import unittest
+from unittest.mock import Mock
+
+from ctypes import (
+    byref,
+    cast,
+    POINTER,
+    sizeof,
+    c_ubyte,
+)
+
+import pytest
+
+import can
+from can.interfaces.neousys import neousys
+
+
+class TestNeousysBus(unittest.TestCase):
+    def setUp(self) -> None:
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB = Mock()
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_RegisterReceived = Mock(
+            return_value=1
+        )
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_RegisterStatus = Mock(
+            return_value=1
+        )
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup = Mock(return_value=1)
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Start = Mock(return_value=1)
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Send = Mock(return_value=1)
+        can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Stop = Mock(return_value=1)
+        self.bus = can.Bus(channel=0, bustype="neousys", _testing=True)
+
+    def tearDown(self) -> None:
+        if self.bus:
+            self.bus.shutdown()
+            self.bus = None
+
+    def test_bus_creation(self) -> None:
+        self.assertIsInstance(self.bus, neousys.NeousysBus)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Setup.called)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Start.called)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_RegisterReceived.called)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_RegisterStatus.called)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Send.not_called)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Stop.not_called)
+
+        CAN_Start_args = (
+            can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0]
+        )
+
+        # sizeof struct should be 16
+        self.assertEqual(CAN_Start_args[0], 0)
+        self.assertEqual(CAN_Start_args[2], 16)
+        NeousysCanSetup_struct = cast(
+            CAN_Start_args[1], POINTER(neousys.NeousysCanSetup)
+        )
+        self.assertEqual(NeousysCanSetup_struct.contents.bitRate, 500000)
+        self.assertEqual(
+            NeousysCanSetup_struct.contents.recvConfig,
+            neousys.NEOUSYS_CAN_MSG_USE_ID_FILTER,
+        )
+
+    def test_bus_creation_bitrate(self) -> None:
+        self.bus = can.Bus(channel=0, bustype="neousys", bitrate=200000, _testing=True)
+        self.assertIsInstance(self.bus, neousys.NeousysBus)
+        CAN_Start_args = (
+            can.interfaces.neousys.neousys.NEOUSYS_CANLIB.CAN_Setup.call_args[0]
+        )
+
+        # sizeof struct should be 16
+        self.assertEqual(CAN_Start_args[0], 0)
+        self.assertEqual(CAN_Start_args[2], 16)
+        NeousysCanSetup_struct = cast(
+            CAN_Start_args[1], POINTER(neousys.NeousysCanSetup)
+        )
+        self.assertEqual(NeousysCanSetup_struct.contents.bitRate, 200000)
+        self.assertEqual(
+            NeousysCanSetup_struct.contents.recvConfig,
+            neousys.NEOUSYS_CAN_MSG_USE_ID_FILTER,
+        )
+
+    def test_receive(self) -> None:
+        recv_msg = self.bus.recv(timeout=0.05)
+        self.assertEqual(recv_msg, None)
+        msg_data = [0x01, 0x02, 0x03, 0x04, 0x05]
+        NeousysCanMsg_msg = neousys.NeousysCanMsg(
+            0x01, 0x00, 0x00, 0x05, (c_ubyte * 8)(*msg_data)
+        )
+        self.bus._neousys_recv_cb(byref(NeousysCanMsg_msg), sizeof(NeousysCanMsg_msg))
+        recv_msg = self.bus.recv(timeout=0.05)
+        self.assertEqual(recv_msg.dlc, 5)
+        self.assertSequenceEqual(recv_msg.data, msg_data)
+
+    def test_send(self) -> None:
+        msg = can.Message(
+            arbitration_id=0x01, data=[1, 2, 3, 4, 5, 6, 7, 8], is_extended_id=False
+        )
+        self.bus.send(msg)
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Send.called)
+
+    def test_shutdown(self) -> None:
+        self.bus.shutdown()
+        self.assertTrue(neousys.NEOUSYS_CANLIB.CAN_Stop.called)
+
+
+if __name__ == "__main__":
+    unittest.main()