* Added an error message
* Now using .dll from system path.
This commit is contained in:
Christian Sueltrop
parent
a04155be8c
commit
358a871493
3 changed files with 133 additions and 131 deletions
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@ -1,130 +1,131 @@
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# -*- coding: UTF-8 -*-
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'''
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Created on 06.07.2012
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@author: Christian Sültrop
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'''
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import PCANBasic # PCANBasic wrapper library provided by PEAK
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import sys
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class PcanAdapter (object):
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'''
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A class for controlling a PEAK PCan adapter. Based on the PCANBasic library.
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'''
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# Class variables:
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Baudrate = { '125k' : PCANBasic.PCAN_BAUD_125K,
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'500k' : PCANBasic.PCAN_BAUD_500K,
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'1000k' : PCANBasic.PCAN_BAUD_1M }
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def __init__(self, Baudrate):
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'''
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Constructor.
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@param Baudrate: Baud rate from the PcanAdapter. Baud rate dictionary
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'''
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# Instance variables:
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self.Messages = {}
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self.Channel = PCANBasic.PCAN_USBBUS1
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self.Pcan = PCANBasic.PCANBasic()
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self.Baudrate = Baudrate # Baud rate from PCANBasic
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self.isInitialised = False
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def __del__(self):
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'''
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Destructor.
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Uninitialises the PCAN adapter.
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'''
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print '\nDestructor:'
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self.uninitialize()
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def addMessage(self, CanMessage):
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'''
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Add a Message of type CanMessage to the list of messages.
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@param CanMessage: The message to add to the list of messages.
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'''
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self.Messages.update({CanMessage.Label: CanMessage})
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def removeMessage(self, CanMessageLabel):
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try:
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self.Messages.pop(CanMessageLabel)
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except:
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pass
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def clearMessages(self):
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self.Messages = {}
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def initialize(self):
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'''
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Initializes the PCAN adapter.
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'''
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self.Pcan.Uninitialize(PCANBasic.PCAN_NONEBUS)
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status = self.Pcan.Initialize(self.Channel, self.Baudrate)
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if status != PCANBasic.PCAN_ERROR_OK:
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print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
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sys.exit("PCAN initialisation error")
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print("PCAN initialised")
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self.isInitialised = True
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channel, hwId = self.Pcan.GetValue( self.Channel, PCANBasic.PCAN_DEVICE_NUMBER )
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print 'DeviceNumber: ', hwId
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def uninitialize(self):
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'''
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Unitialize the PCAN adapter.
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'''
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if self.isInitialised:
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status = self.Pcan.Uninitialize(self.Channel)
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if status != PCANBasic.PCAN_ERROR_OK:
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print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
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sys.exit("PCAN deinitialisation error")
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print("PCAN deinitialised")
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def sendMessage(self, Message):
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'''
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Sends the CanMessage object Message onto the CAN bus.
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@param Messge: The CanMessage object that is to be sent.
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'''
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Message.composeData() # compose message data array from the signals in Message.Signals.
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msg = PCANBasic.TPCANMsg() # create a new PCAN message object
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msg.ID = Message.Id # copy the ID
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msg.MSGTYPE = PCANBasic.PCAN_MESSAGE_STANDARD # Message type is standard (not extended)
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msg.LEN = Message.Length # copy the length
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msg.DATA[0:Message.Length] = Message.Data # copy the message data into the PCAN message object
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self.Pcan.Write(self.Channel, msg) # write it onto the Bus
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#print ('Message ' + Message.Label + ' written.')
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def receiveMessage(self):
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'''
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Tries to receive a CAN message and puts its data into the according CanMessage object's Data field.
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This method should be called frequently.
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'''
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while True: # do this while messages are read from the bus
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result, msg, timestamp = self.Pcan.Read(self.Channel)
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if result == PCANBasic.PCAN_ERROR_OK:
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# loop through the messages and look for one that matches the received message:
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for msgKey in self.Messages:
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if self.Messages[msgKey].Id == msg.ID:
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if msg.LEN != self.Messages[msgKey].Length:
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# an error message could be posted at this point
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pass
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else:
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#print msgKey
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for i in range(0, self.Messages[msgKey].Length):
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self.Messages[msgKey].Data[i] = msg.DATA[i]
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self.Messages[msgKey].decomposeData()
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elif result == PCANBasic.PCAN_ERROR_QRCVEMPTY:
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break
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# -*- coding: UTF-8 -*-
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'''
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Created on 06.07.2012
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@author: Christian Sültrop
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'''
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import PCANBasic # PCANBasic wrapper library provided by PEAK
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import sys
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class PcanAdapter (object):
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'''
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A class for controlling a PEAK PCan adapter. Based on the PCANBasic library.
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'''
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# Class variables:
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Baudrate = { '125k' : PCANBasic.PCAN_BAUD_125K,
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'500k' : PCANBasic.PCAN_BAUD_500K,
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'1000k' : PCANBasic.PCAN_BAUD_1M }
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def __init__(self, Baudrate):
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'''
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Constructor.
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@param Baudrate: Baud rate from the PcanAdapter. Baud rate dictionary
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'''
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# Instance variables:
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self.Messages = {}
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self.Channel = PCANBasic.PCAN_USBBUS1
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self.Pcan = PCANBasic.PCANBasic()
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self.Baudrate = Baudrate # Baud rate from PCANBasic
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self.isInitialised = False
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def __del__(self):
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'''
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Destructor.
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Uninitialises the PCAN adapter.
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'''
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print '\nDestructor:'
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self.uninitialize()
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def addMessage(self, CanMessage):
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'''
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Add a Message of type CanMessage to the list of messages.
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@param CanMessage: The message to add to the list of messages.
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'''
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self.Messages.update({CanMessage.Label: CanMessage})
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def removeMessage(self, CanMessageLabel):
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try:
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self.Messages.pop(CanMessageLabel)
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except:
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pass
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def clearMessages(self):
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self.Messages = {}
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def initialize(self):
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'''
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Initializes the PCAN adapter.
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'''
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self.Pcan.Uninitialize(PCANBasic.PCAN_NONEBUS)
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status = self.Pcan.Initialize(self.Channel, self.Baudrate)
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if status != PCANBasic.PCAN_ERROR_OK:
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print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
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sys.exit("PCAN initialisation error")
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print("PCAN initialised")
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self.isInitialised = True
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channel, hwId = self.Pcan.GetValue( self.Channel, PCANBasic.PCAN_DEVICE_NUMBER )
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print 'DeviceNumber: ', hwId
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def uninitialize(self):
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'''
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Unitialize the PCAN adapter.
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'''
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if self.isInitialised:
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status = self.Pcan.Uninitialize(self.Channel)
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if status != PCANBasic.PCAN_ERROR_OK:
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print 'Error: ', self.Pcan.GetErrorText(status, 0)[1]
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sys.exit("PCAN deinitialisation error")
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print("PCAN deinitialised")
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def sendMessage(self, Message):
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'''
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Sends the CanMessage object Message onto the CAN bus.
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@param Messge: The CanMessage object that is to be sent.
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'''
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Message.composeData() # compose message data array from the signals in Message.Signals.
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msg = PCANBasic.TPCANMsg() # create a new PCAN message object
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msg.ID = Message.Id # copy the ID
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msg.MSGTYPE = PCANBasic.PCAN_MESSAGE_STANDARD # Message type is standard (not extended)
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msg.LEN = Message.Length # copy the length
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msg.DATA[0:Message.Length] = Message.Data # copy the message data into the PCAN message object
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self.Pcan.Write(self.Channel, msg) # write it onto the Bus
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#print ('Message ' + Message.Label + ' written.')
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def receiveMessage(self):
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'''
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Tries to receive a CAN message and puts its data into the according CanMessage object's Data field.
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This method should be called frequently.
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'''
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while True: # do this while messages are read from the bus
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result, msg, timestamp = self.Pcan.Read(self.Channel)
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if result == PCANBasic.PCAN_ERROR_OK:
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# loop through the messages and look for one that matches the received message:
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for msgKey in self.Messages:
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if self.Messages[msgKey].Id == msg.ID:
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if msg.LEN != self.Messages[msgKey].Length:
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# an error message could be posted at this point
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print 'ERROR: Message ID %s received, but length does not match definition.' % (hex(msg.ID))
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pass
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else:
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#print msgKey
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for i in range(0, self.Messages[msgKey].Length):
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self.Messages[msgKey].Data[i] = msg.DATA[i]
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self.Messages[msgKey].decomposeData()
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elif result == PCANBasic.PCAN_ERROR_QRCVEMPTY:
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break
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@ -227,7 +227,8 @@ class PCANBasic:
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def __init__(self):
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# Loads the PCANBasic.dll
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#
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self.__m_dllBasic = windll.LoadLibrary("../PCANBasic/PCANBasic")
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#self.__m_dllBasic = windll.LoadLibrary("../PCANBasic/PCANBasic")
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self.__m_dllBasic = windll.LoadLibrary('PCANBasic')
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if self.__m_dllBasic == None:
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print "Exception: The PCAN-Basic DLL couldn't be loaded!"
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