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Implement support for container and CAN-FD frames #151

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Implement support for container and CAN-FD frames #151

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ad9755d
Implement support for container frames
AlexMicWalz Nov 3, 2023
e33aeec
Allow to open can interfaces in FD-mode
AlexMicWalz Nov 3, 2023
7a0f8a2
Adapt output message for reading the database file
AlexMicWalz Nov 3, 2023
a3e0454
Make flake8 happy :-)
Nov 7, 2023
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13 changes: 10 additions & 3 deletions dbc2val/dbcfeeder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -143,6 +143,7 @@ def __init__(self, kuksa_client: clientwrapper.ClientWrapper,
def start(
self,
canport: str,
can_fd: bool,
dbc_file_names: List[str],
mappingfile: str,
dbc_default_file: Optional[str],
Expand Down Expand Up @@ -170,7 +171,7 @@ def start(
self._reader = j1939reader.J1939Reader(self._dbc2vss_queue, self._mapper, canport, candumpfile)
else:
log.info("Using DBC reader")
self._reader = dbcreader.DBCReader(self._dbc2vss_queue, self._mapper, canport, candumpfile)
self._reader = dbcreader.DBCReader(self._dbc2vss_queue, self._mapper, canport, can_fd, candumpfile)

if canport == 'elmcan':
log.info("Using elmcan. Trying to set up elm2can bridge")
Expand All @@ -196,7 +197,7 @@ def start(
# For now creating another bus
# Maybe support different buses for downstream/upstream in the future

self._canclient = CANClient(interface="socketcan", channel=canport)
self._canclient = CANClient(interface="socketcan", channel=canport, can_fd=can_fd)

transmitter = threading.Thread(target=self._run_transmitter)
transmitter.start()
Expand Down Expand Up @@ -451,6 +452,11 @@ def _get_command_line_args_parser() -> argparse.ArgumentParser:
action="store_true",
help="Use SocketCAN (overriding any use of --dumpfile)",
)
parser.add_argument(
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this new parameter should probably also be documented in the README

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Yes, and we should better discuss if we think this one need to be controllable by environment variable and config file as well, similar to how canport is managed.

if args.canport:
        canport = args.canport
    elif os.environ.get("CAN_PORT"):
        canport = os.environ.get("CAN_PORT")
    else:
        canport = config.get(CONFIG_SECTION_CAN, CONFIG_OPTION_PORT, fallback=None)

'--canfd',
action='store_true',
help="Open bus interface in CAN-FD mode"
)
parser.add_argument(
"--mapping",
metavar="FILE",
Expand Down Expand Up @@ -613,7 +619,8 @@ def signal_handler(signal_received, *_):
dbc_default_file=dbc_default,
candumpfile=candumpfile,
use_j1939=use_j1939,
use_strict_parsing=args.strict
use_strict_parsing=args.strict,
can_fd=args.canfd
)

return 0
Expand Down
106 changes: 63 additions & 43 deletions dbc2val/dbcfeederlib/canreader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,8 @@ class CanReader(ABC):
"""
Provides means to read messages from a CAN bus.
"""
def __init__(self, rxqueue: Queue, mapper: Mapper, can_port: str, dump_file: Optional[str] = None):
def __init__(self, rxqueue: Queue, mapper: Mapper, can_port: str,
dump_file: Optional[str] = None, can_fd: bool = False):
"""
This init method is only supposed to be called by subclass' __init__ functions.
"""
Expand All @@ -44,7 +45,12 @@ def __init__(self, rxqueue: Queue, mapper: Mapper, can_port: str, dump_file: Opt

can_filters = mapper.can_frame_id_whitelist()
log.info("Using CAN frame ID whitelist=%s", can_filters)
self._can_kwargs: Dict[str, Any] = {"interface": "socketcan", "channel": can_port, "can_filters": can_filters}
self._can_kwargs: Dict[str, Any] = {
"interface": "socketcan",
"channel": can_port,
"can_filters": can_filters,
"fd": can_fd
}
if dump_file is not None:
self._can_kwargs["interface"] = "virtual"
self._can_kwargs["bitrate"] = 500000
Expand Down Expand Up @@ -83,44 +89,58 @@ def stop(self):
self._stop_can_bus_listener()

def _process_can_message(self, frame_id: int, data: Any):
try:
message_def = self._mapper.get_message_for_canid(frame_id)
if message_def is not None:
decode = message_def.decode(bytes(data), allow_truncated=True)
if log.isEnabledFor(logging.DEBUG):
log.debug("Decoded message: %s", str(decode))
rx_time = time.time()
for signal_name, raw_value in decode.items(): # type: ignore
signal: cantools.database.Signal = message_def.get_signal_by_name(signal_name)
if isinstance(raw_value, (int, float)):
# filter out signals with values out of defined range
# which is usually because the signal's value is unavailable
# (represented as e.g. "all bits set")
if signal.minimum is not None and raw_value < signal.minimum:
log.debug(
"discarding out-of-range value [signal: %s, min: %s, value: %s]",
signal_name, signal.minimum, raw_value
)
continue
if signal.maximum is not None and raw_value > signal.maximum:
log.debug(
"discarding out-of-range value [signal: %s, max: %s, value: %s]",
signal_name, signal.maximum, raw_value
)
continue
for signal_mapping in self._mapper.get_dbc2vss_mappings(signal_name):

if signal_mapping.time_condition_fulfilled(rx_time):
log.debug(
"Queueing %s, triggered by %s, raw value %s",
signal_mapping.vss_name, signal_name, raw_value
)
self._queue.put(VSSObservation(
signal_name, signal_mapping.vss_name, raw_value, rx_time))
else:
log.debug(
"Ignoring %s, triggered by %s, raw value %s",
signal_mapping.vss_name, signal_name, raw_value
)
except Exception:
log.warning("Error processing CAN message with frame ID: %#x", frame_id, exc_info=True)
message_def = self._mapper.get_message_for_canid(frame_id)
if message_def is not None:
try:
decode = message_def.decode(bytes(data), allow_truncated=True, decode_containers=True)
except Exception as e:
log.warning("Error processing CAN message with frame ID: %#x", frame_id, exc_info=True)
log.warning("Error: ", e)

if log.isEnabledFor(logging.DEBUG):
log.debug("Decoded message: %s", str(decode))
rx_time = time.time()

if isinstance(decode, dict):
# handle normal frame
self._handle_decoded_frame(message_def, decode, rx_time)
else:
# handle container frame
for tmp in decode:
if isinstance(tmp[1], bytes):
continue
self._handle_decoded_frame(tmp[0], tmp[1], rx_time)

def _handle_decoded_frame(self, message_def, decoded, rx_time):
for signal_name, raw_value in decoded.items(): # type: ignore
signal: cantools.database.Signal = message_def.get_signal_by_name(signal_name)
if isinstance(raw_value, (int, float)):
# filter out signals with values out of defined range
# which is usually because the signal's value is unavailable
# (represented as e.g. "all bits set")
if signal.minimum is not None and raw_value < signal.minimum:
log.debug(
"discarding out-of-range value [signal: %s, min: %s, value: %s]",
signal_name, signal.minimum, raw_value
)
continue
if signal.maximum is not None and raw_value > signal.maximum:
log.debug(
"discarding out-of-range value [signal: %s, max: %s, value: %s]",
signal_name, signal.maximum, raw_value
)
continue
for signal_mapping in self._mapper.get_dbc2vss_mappings(signal_name):

if signal_mapping.time_condition_fulfilled(rx_time):
log.debug(
"Queueing %s, triggered by %s, raw value %s",
signal_mapping.vss_name, signal_name, raw_value
)
self._queue.put(VSSObservation(
signal_name, signal_mapping.vss_name, raw_value, rx_time))
else:
log.debug(
"Ignoring %s, triggered by %s, raw value %s",
signal_mapping.vss_name, signal_name, raw_value
)
25 changes: 14 additions & 11 deletions dbc2val/dbcfeederlib/dbcparser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ def __init__(self,
continue
processed_files.add(filename)
if first:
log.info("Reading definitions from DBC file %s", filename)
log.info("Reading definitions from bus description file %s", filename)
database = cantools.database.load_file(
filename,
strict=use_strict_parsing,
Expand Down Expand Up @@ -111,12 +111,14 @@ def get_canid_for_signal(self, sig_to_find: str) -> Optional[int]:
return self._signal_to_canid[sig_to_find]

for msg in self._db.messages:
for signal in msg.signals:
if signal.name == sig_to_find:
frame_id = msg.frame_id
log.debug("Found signal %s in CAN message with frame ID %#x", signal.name, frame_id)
self._signal_to_canid[sig_to_find] = frame_id
return frame_id
for inner_msg in [msg, *(msg.contained_messages or [])]:
for signal in inner_msg.signals:
if signal.name == sig_to_find:
frame_id = msg.frame_id
log.debug("Found signal %s in CAN message with frame ID %#x", signal.name, frame_id)
self._signal_to_canid[sig_to_find] = frame_id
return frame_id

log.warning("Signal %s not found in CAN message database", sig_to_find)
self._signal_to_canid[sig_to_find] = None
return None
Expand All @@ -127,10 +129,11 @@ def get_signals_for_canid(self, canid: int) -> Set[str]:
return self._canid_to_signals[canid]

names: Set[str] = set()
message = self.get_message_for_canid(canid)
if message is not None:
for signal in message.signals:
names.add(signal.name)
msg = self.get_message_for_canid(canid)
if msg is not None:
for inner_msg in [msg, *(msg.contained_messages or [])]:
for signal in inner_msg.signals:
names.add(signal.name)
self._canid_to_signals[canid] = names
return names

Expand Down
5 changes: 3 additions & 2 deletions dbc2val/dbcfeederlib/dbcreader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,9 @@


class DBCReader(canreader.CanReader):
def __init__(self, rxqueue: Queue, mapper: dbc2vssmapper.Mapper, can_port: str, dump_file: Optional[str] = None):
super().__init__(rxqueue, mapper, can_port, dump_file)
def __init__(self, rxqueue: Queue, mapper: dbc2vssmapper.Mapper, can_port: str,
can_fd: bool, dump_file: Optional[str] = None):
super().__init__(rxqueue, mapper, can_port, dump_file, can_fd=can_fd)

def _rx_worker(self):

Expand Down
1 change: 0 additions & 1 deletion dds2val/tests/conftest.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
#################################################################################

import pytest
from py.xml import html


def pytest_html_report_title(report):
Expand Down
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