Basic CAN Transport Interface for python-can

.github/workflows/ci.yml

@@ -32,16 +32,16 @@ jobs:
 
       - name: Execute unit tests with coverage report [pytest]
         run: |
-          pytest --cov-report=term-missing --cov=uds -m "not integration and not performance"
+          pytest tests/software_tests --cov-report=term-missing --cov=uds -m "not integration and not performance"
 
       - name: Execute integration tests with coverage report [pytest]
         run: |
-          pytest --cov-report=term-missing --cov=uds -m "integration"
+          pytest tests/software_tests --cov-report=term-missing --cov=uds -m "integration"
 
 # TODO: uncomment when performance tests are added
 #      - name: Execute performance tests with coverage report [pytest]
 #        run: |
-#          pytest --cov-report=term-missing --cov=uds -m "performance"
+#          pytest tests/software_tests --cov-report=term-missing --cov=uds -m "performance"
 
 
   code_coverage:
@@ -72,7 +72,7 @@ jobs:
 
       - name: Execute unit tests [pytest]
         run: |
-          pytest --cov-report=xml --cov=uds -m "not integration and not performance"
+          pytest tests/software_tests --cov-report=xml --cov=uds -m "not integration and not performance"
 
       - name: Upload unit tests report [CodeCov]
         uses: codecov/codecov-action@v2
@@ -83,7 +83,7 @@ jobs:
 
       - name: Execute integration tests [pytest]
         run: |
-          pytest --cov-report=xml --cov=uds -m "integration"
+          pytest tests/software_tests --cov-report=xml --cov=uds -m "integration"
 
       - name: Upload integration tests report [CodeCov]
         uses: codecov/codecov-action@v2
@@ -95,7 +95,7 @@ jobs:
 # TODO: uncomment when performance tests are added
 #      - name: Execute performance tests [pytest]
 #        run: |
-#          pytest --cov-report=xml --cov=uds -m "performance"
+#          pytest tests/software_tests --cov-report=xml --cov=uds -m "performance"
 #
 #      - name: Upload performance tests report [CodeCov]
 #        uses: codecov/codecov-action@v2
@@ -133,10 +133,6 @@ jobs:
         run: |
           prospector --profile tests/prospector_profile.yaml uds
 
-      - name: Execute static code analysis [pyroma]
-        run: |
-          pyroma -a .
-
 
   dependency_checks:
     runs-on: ubuntu-latest

examples/can/kvaser with python-can/config.wcc

@@ -0,0 +1,221 @@
+<?xml version="1.0" standalone="yes"?>
+<!DOCTYPE CK[
+ <!ELEMENT CK (DIR)* >
+ <!ELEMENT DIR (DIR|INT|EXTENDED|DOUBLE|BINARY|BOOL|STR)* >
+ <!ELEMENT INT (#PCDATA)>
+ <!ELEMENT EXTENDED (#PCDATA)>
+ <!ELEMENT DOUBLE (#PCDATA)>
+ <!ELEMENT BINARY (#PCDATA)>
+ <!ELEMENT BOOL (#PCDATA)>
+ <!ELEMENT STR (#PCDATA)>
+ <!ATTLIST CK version CDATA #REQUIRED>
+ <!ATTLIST DIR Name CDATA #REQUIRED>
+ <!ATTLIST INT Name CDATA #REQUIRED>
+ <!ATTLIST EXTENDED Name CDATA #REQUIRED>
+ <!ATTLIST DOUBLE Name CDATA #REQUIRED>
+ <!ATTLIST BINARY Name CDATA #REQUIRED>
+ <!ATTLIST BOOL Name CDATA #REQUIRED>
+ <!ATTLIST STR Name CDATA #REQUIRED>
+]>
+<CK version="1.2">
+<DIR Name="Config">
+  <DIR Name="CANKingProj">
+    <DIR Name="ProjMgr">
+      <INT Name="PixelsPerInch">96</INT>
+      <INT Name="Left">515</INT>
+      <INT Name="Top">215</INT>
+      <INT Name="Width">435</INT>
+      <INT Name="Height">300</INT>
+      <INT Name="State">0</INT>
+      <INT Name="Visible">0</INT>
+    </DIR>
+    <DIR Name="Desktop">
+      <INT Name="PixelsPerInch">96</INT>
+      <INT Name="Left">6</INT>
+      <INT Name="Top">21</INT>
+      <INT Name="Width">663</INT>
+      <INT Name="Height">101</INT>
+      <INT Name="State">0</INT>
+      <INT Name="Visible">1</INT>
+      <STR Name="Caption">Kvaser CanKing</STR>
+    </DIR>
+    <DIR Name="ConnectionRules">
+      <STR Name="R0">^TCANKingDialog\.,$,,0,TCanCtrlWin,,0</STR>
+      <STR Name="R1">^TCANKingDialog\.,$,,0,THistoryWindow,,0</STR>
+      <STR Name="R2">TTrafficGenerator$,$,,0,TCanCtrlWin,,0</STR>
+      <STR Name="R3">TTimedTransmission$,$,,0,TCanCtrlWin,,0</STR>
+    </DIR>
+    <DIR Name="Windows">
+      <DIR Name="0">
+        <STR Name="Class">TCanCtrlWin</STR>
+        <INT Name="Left">6</INT>
+        <INT Name="Top">127</INT>
+        <INT Name="Width">340</INT>
+        <INT Name="Height">650</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">1</INT>
+        <STR Name="Caption">CAN 1</STR>
+        <INT Name="PixelsPerInch">96</INT>
+        <INT Name="BitR">1000000</INT>
+        <INT Name="T1">5</INT>
+        <INT Name="T2">2</INT>
+        <INT Name="SJW">2</INT>
+        <INT Name="ArgBitR">500000</INT>
+        <INT Name="ArgT1">63</INT>
+        <INT Name="ArgT2">16</INT>
+        <INT Name="ArgSJW">16</INT>
+        <INT Name="DataBitR">4000000</INT>
+        <INT Name="DataT1">7</INT>
+        <INT Name="DataT2">2</INT>
+        <INT Name="DataSJW">2</INT>
+        <INT Name="Chan">1</INT>
+        <INT Name="Drv">0</INT>
+        <INT Name="CanFd">1</INT>
+        <INT Name="Page">0</INT>
+      </DIR>
+      <DIR Name="1">
+        <STR Name="Class">TFormatter</STR>
+        <INT Name="Left">351</INT>
+        <INT Name="Top">127</INT>
+        <INT Name="Width">319</INT>
+        <INT Name="Height">316</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">1</INT>
+        <STR Name="Caption">Select Formatters</STR>
+        <INT Name="PixelsPerInch">96</INT>
+        <DIR Name="Fmt0">
+          <STR Name="Name">StandardText</STR>
+          <INT Name="Octal">0</INT>
+          <INT Name="Hex">0</INT>
+          <INT Name="DeltaTime">0</INT>
+          <INT Name="ShowAscii">0</INT>
+          <INT Name="DefaultBase">0</INT>
+          <INT Name="CompactHex">0</INT>
+          <INT Name="HistoryList">0</INT>
+        </DIR>
+      </DIR>
+      <DIR Name="2">
+        <STR Name="Class">TOutputWindow</STR>
+        <INT Name="Left">676</INT>
+        <INT Name="Top">21</INT>
+        <INT Name="Width">1724</INT>
+        <INT Name="Height">1061</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">1</INT>
+        <STR Name="Caption">Output Window</STR>
+        <INT Name="PixelsPerInch">96</INT>
+        <INT Name="AutoScroll">1</INT>
+        <INT Name="FixedPos">0</INT>
+      </DIR>
+      <DIR Name="3">
+        <STR Name="Class">THistoryWindow</STR>
+        <INT Name="Left">389</INT>
+        <INT Name="Top">411</INT>
+        <INT Name="Width">453</INT>
+        <INT Name="Height">275</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">0</INT>
+        <STR Name="Caption">History list</STR>
+        <INT Name="PixelsPerInch">96</INT>
+      </DIR>
+      <DIR Name="4">
+        <STR Name="Class">TTimedTransmission</STR>
+        <INT Name="Left">389</INT>
+        <INT Name="Top">411</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">0</INT>
+        <STR Name="Caption">Timed transmission</STR>
+        <INT Name="PixelsPerInch">96</INT>
+        <INT Name="Interval">10</INT>
+        <INT Name="Mode">0</INT>
+        <INT Name="Timing">0</INT>
+      </DIR>
+      <DIR Name="5">
+        <STR Name="Class">TLogToFile</STR>
+        <INT Name="Left">530</INT>
+        <INT Name="Top">448</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">0</INT>
+        <STR Name="Caption">Log To Text File</STR>
+        <INT Name="PixelsPerInch">96</INT>
+        <STR Name="FileName"></STR>
+      </DIR>
+      <DIR Name="6">
+        <STR Name="Class">TTextWindow</STR>
+        <INT Name="Left">389</INT>
+        <INT Name="Top">411</INT>
+        <INT Name="Width">600</INT>
+        <INT Name="Height">233</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">0</INT>
+        <STR Name="Caption">System Messages</STR>
+        <INT Name="PixelsPerInch">96</INT>
+      </DIR>
+      <DIR Name="7">
+        <STR Name="Class">TLogFilePlayer</STR>
+        <INT Name="Left">356</INT>
+        <INT Name="Top">455</INT>
+        <INT Name="State">0</INT>
+        <INT Name="Visible">0</INT>
+        <STR Name="Caption">Log File Player</STR>
+        <INT Name="PixelsPerInch">96</INT>
+        <STR Name="FileName"></STR>
+        <INT Name="AutoStart">1</INT>
+      </DIR>
+      <STR Name="ReverseZOrder">1,0,2</STR>
+    </DIR>
+    <DIR Name="Connections">
+      <STR Name="C0">0,1,0,0</STR>
+      <STR Name="C1">1,2,0,0</STR>
+      <STR Name="C2">3,4,1,0</STR>
+      <STR Name="C3">1,2,1,1</STR>
+      <STR Name="C4">4,0,0,0</STR>
+      <STR Name="C5">1,5,0,0</STR>
+      <STR Name="C6">1,5,1,1</STR>
+      <STR Name="C7">7,4,0,0</STR>
+    </DIR>
+  </DIR>
+  <DIR Name="CKMenu">
+    <DIR Name="0">
+      <STR Name="Parent">$MAIN</STR>
+      <INT Name="InsertBefore">0</INT>
+      <STR Name="TargetItem">View1</STR>
+      <STR Name="Item0">*,&amp;Messages,MsgMenu</STR>
+    </DIR>
+    <DIR Name="MsgMenu">
+      <STR Name="Item0">Universal,C,U,TCanKingDialog.TUtilPage.TUniversalMessage</STR>
+      <STR Name="Item1">Traffic Generator,C,G,TTrafficGenerator</STR>
+      <STR Name="Item2">*,Misc,MiscMenu</STR>
+    </DIR>
+    <DIR Name="MiscMenu">
+      <STR Name="Item0">1-4 Ints,C,I,TCanKingDialog.TUtilPage.TInt4Page</STR>
+      <STR Name="Item1">1-2 Longs,C,L,TCanKingDialog.TUtilPage.TLongintPage</STR>
+      <STR Name="Item2">1-2 Floats,C,F,TCanKingDialog.TUtilPage.TFloatPage</STR>
+      <STR Name="Item3">String,C,S,TCanKingDialog.TUtilPage.TStrPage</STR>
+      <STR Name="Item4">Error Frame,C,E,TCanKingDialog.TUtilPage.TErrorFlagPage</STR>
+    </DIR>
+    <DIR Name="1">
+      <STR Name="Parent">$MAIN</STR>
+      <INT Name="InsertBefore">0</INT>
+      <STR Name="TargetItem">_MsgMenu</STR>
+      <STR Name="Item0">*,&amp;Options,OptionsMenu</STR>
+    </DIR>
+    <DIR Name="OptionsMenu">
+      <STR Name="Item0">&amp;Global...,,,TGlobalOptionsDlg</STR>
+    </DIR>
+  </DIR>
+  <DIR Name="Plugin">
+    <DIR Name="&#123;FC073F12-61C1-11D2-BCE1-0060089830AD&#125;">
+      <INT Name="KingsEnvelope">0</INT>
+      <INT Name="DefaultCityGrpAddress">0</INT>
+      <INT Name="KingsEnvIsExt">0</INT>
+    </DIR>
+  </DIR>
+  <DIR Name="MdiMode">
+    <INT Name="MdiMode">0</INT>
+  </DIR>
+  <DIR Name="Global">
+    <INT Name="UseHex">0</INT>
+  </DIR>
+</DIR>
+</CK>

examples/can/kvaser with python-can/python_can_timing_issue.py

@@ -0,0 +1,29 @@
+"""UDS Issue: https://github.com/mdabrowski1990/uds/issues/228"""
+
+from time import time
+from threading import Timer
+from can import Notifier, BufferedReader, Bus, Message
+
+if __name__ == "__main__":
+    kvaser_interface_1 = Bus(interface="kvaser", channel=0, fd=True, receive_own_messages=True)
+    kvaser_interface_2 = Bus(interface="kvaser", channel=1, fd=True, receive_own_messages=True)  # connected with bus 1
+
+    buffered_reader = BufferedReader()
+    notifier = Notifier(bus=kvaser_interface_1, listeners=[buffered_reader])
+
+    message = Message(data=[0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC, 0xDE, 0xF0], arbitration_id=0x100)
+
+    for _ in range(10):
+        Timer(interval=0.1, function=kvaser_interface_1.send, args=(message,)).start()
+
+        sent_message = buffered_reader.get_message(timeout=1)
+        timestamp_after_send = time()
+
+        print(f"-----------------------------------------------\n"
+              f"Result:\n"
+              f"Message timestamp: {sent_message.timestamp}\n"
+              f"Current timestamp: {timestamp_after_send}\n"
+              f"Message timestamp <= Current timestamp: {sent_message.timestamp <= timestamp_after_send} (expected `True`)")
+
+    kvaser_interface_1.shutdown()
+    kvaser_interface_2.shutdown()

examples/can/kvaser with python-can/receive_packets.py

@@ -0,0 +1,46 @@
+from pprint import pprint
+from threading import Timer
+from time import sleep
+
+from can import Bus, Message
+from uds.transport_interface import PyCanTransportInterface
+from uds.can import CanAddressingInformation, CanAddressingFormat
+
+if __name__ == "__main__":
+    # configure CAN interfaces
+    kvaser_interface_1 = Bus(interface="kvaser", channel=0, fd=True, receive_own_messages=True)
+    kvaser_interface_2 = Bus(interface="kvaser", channel=1, fd=True, receive_own_messages=True)
+
+    # configure Addressing Information of a CAN Node
+    addressing_information = CanAddressingInformation(
+        addressing_format=CanAddressingFormat.NORMAL_11BIT_ADDRESSING,
+        tx_physical={"can_id": 0x611},
+        rx_physical={"can_id": 0x612},
+        tx_functional={"can_id": 0x6FF},
+        rx_functional={"can_id": 0x6FE})
+
+    # create Transport Interface object for UDS communication
+    can_ti = PyCanTransportInterface(can_bus_manager=kvaser_interface_1,
+                                     addressing_information=addressing_information)
+
+    # some frames to be received later on
+    frame_1 = Message(arbitration_id=0x6FE, data=[0x10, 0x03])
+    frame_2 = Message(arbitration_id=0x611, data=[0x10, 0x03])  # shall be ignored, as it is not observed CAN ID
+    frame_3 = Message(arbitration_id=0x612, data=[0x3E, 0x00, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA])
+
+    # receive CAN packet 1
+    Timer(interval=0.1, function=kvaser_interface_1.send, args=(frame_1,)).start()  # schedule transmission of frame 1
+    record_1 = can_ti.receive_packet(timeout=1000)  # receive CAN packet 1 carried by frame 1
+    pprint(record_1.__dict__)  # show attributes of CAN packet record 1
+
+    # receive CAN packet 2
+    Timer(interval=0.3, function=kvaser_interface_1.send, args=(frame_2,)).start()  # schedule transmission of frame 2
+    Timer(interval=0.8, function=kvaser_interface_1.send, args=(frame_3,)).start()  # schedule transmission of frame 3
+    record_2 = can_ti.receive_packet(timeout=1000)  # receive CAN packet 2 carried by frame 3
+    pprint(record_2.__dict__)  # show attributes of CAN packet record 2
+
+    # close connections with CAN interfaces
+    del can_ti
+    sleep(0.1)  # wait to make sure all tasks are closed
+    kvaser_interface_1.shutdown()
+    kvaser_interface_2.shutdown()