diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 000000000..dbe907783 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,27 @@ +# To get started with Dependabot version updates, you'll need to specify which +# package ecosystems to update and where the package manifests are located. +# Please see the documentation for all configuration options: +# https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file + +version: 2 +updates: + - package-ecosystem: "pip" + # Enable version updates for development dependencies + directory: "/" + schedule: + interval: "monthly" + versioning-strategy: "increase-if-necessary" + groups: + dev-deps: + patterns: + - "*" + + - package-ecosystem: "github-actions" + # Enable version updates for GitHub Actions + directory: "/" + schedule: + interval: "monthly" + groups: + github-actions: + patterns: + - "*" diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 000000000..e6ce365d1 --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,37 @@ + + +## Summary of Changes + + + +- + +## Related Issues / Pull Requests + + + +- Closes # +- Related to # + +## Type of Change + +- [ ] Bug fix +- [ ] New feature +- [ ] Documentation update +- [ ] Refactoring +- [ ] Other (please describe): + +## Checklist + +- [ ] I have followed the [contribution guide](https://python-can.readthedocs.io/en/main/development.html). +- [ ] I have added or updated tests as appropriate. +- [ ] I have added or updated documentation as appropriate. +- [ ] I have added a [news fragment](doc/changelog.d/) for towncrier. +- [ ] All checks and tests pass (`tox`). + +## Additional Notes + + diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0ddb3028c..e340b2508 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -5,57 +5,60 @@ on: types: [ published ] pull_request: push: + branches-ignore: + - 'dependabot/**' env: PY_COLORS: "1" +permissions: + contents: read + jobs: test: runs-on: ${{ matrix.os }} - continue-on-error: ${{ matrix.experimental }} # See: https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions#jobsjob_idcontinue-on-error strategy: matrix: os: [ubuntu-latest, macos-latest, windows-latest] - experimental: [false] - python-version: [ - "3.8", - "3.9", - "3.10", - "3.11", - "3.12", - "3.13", - "pypy-3.9", - "pypy-3.10", + env: [ + "py310", + "py311", + "py312", + "py313", + "py314", +# "py313t", +# "py314t", + "pypy310", + "pypy311", ] fail-fast: false steps: - - uses: actions/checkout@v4 - - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v5 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: - python-version: ${{ matrix.python-version }} - allow-prereleases: true - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install tox + fetch-depth: 0 + persist-credentials: false + - name: Install uv + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + - name: Install tox + run: uv tool install tox --with tox-uv - name: Setup SocketCAN if: ${{ matrix.os == 'ubuntu-latest' }} run: | + sudo apt-get update sudo apt-get -y install linux-modules-extra-$(uname -r) sudo ./test/open_vcan.sh - name: Test with pytest via tox run: | - tox -e gh + tox -e ${{ matrix.env }} env: # SocketCAN tests currently fail with PyPy because it does not support raw CAN sockets - # See: https://foss.heptapod.net/pypy/pypy/-/issues/3809 - TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.python-version, 'pypy' ) }}" + # See: https://github.com/pypy/pypy/issues/3808 + TEST_SOCKETCAN: "${{ matrix.os == 'ubuntu-latest' && ! startsWith(matrix.env, 'pypy' ) }}" - name: Coveralls Parallel - uses: coverallsapp/github-action@v2 + uses: coverallsapp/github-action@5cbfd81b66ca5d10c19b062c04de0199c215fb6e # 2.3.7 with: github-token: ${{ secrets.github_token }} - flag-name: Unittests-${{ matrix.os }}-${{ matrix.python-version }} + flag-name: Unittests-${{ matrix.os }}-${{ matrix.env }} parallel: true path-to-lcov: ./coverage.lcov @@ -63,8 +66,12 @@ jobs: needs: test runs-on: ubuntu-latest steps: + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 + with: + fetch-depth: 0 + persist-credentials: false - name: Coveralls Finished - uses: coverallsapp/github-action@v2 + uses: coverallsapp/github-action@5cbfd81b66ca5d10c19b062c04de0199c215fb6e # 2.3.7 with: github-token: ${{ secrets.github_token }} parallel-finished: true @@ -72,70 +79,32 @@ jobs: static-code-analysis: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: - python-version: "3.10" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install -e .[lint] - - name: mypy 3.8 - run: | - mypy --python-version 3.8 . - - name: mypy 3.9 + fetch-depth: 0 + persist-credentials: false + - name: Install uv + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + - name: Install tox + run: uv tool install tox --with tox-uv + - name: Run linters run: | - mypy --python-version 3.9 . - - name: mypy 3.10 + tox -e lint + - name: Run type checker run: | - mypy --python-version 3.10 . - - name: mypy 3.11 - run: | - mypy --python-version 3.11 . - - name: mypy 3.12 - run: | - mypy --python-version 3.12 . - - name: ruff - run: | - ruff check can - - name: pylint - run: | - pylint \ - can/**.py \ - can/io \ - doc/conf.py \ - examples/**.py \ - can/interfaces/socketcan - - format: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 - with: - python-version: "3.10" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install -e .[lint] - - name: Code Format Check with Black - run: | - black --check --verbose . + tox -e type docs: runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: - python-version: "3.12" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install tox + fetch-depth: 0 + persist-credentials: false + - name: Install uv + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 + - name: Install tox + run: uv tool install tox --with tox-uv - name: Build documentation run: | tox -e docs @@ -144,19 +113,18 @@ jobs: name: Packaging runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 - with: - fetch-depth: 0 # fetch tags for setuptools-scm - - name: Set up Python - uses: actions/setup-python@v5 + - uses: actions/checkout@1af3b93b6815bc44a9784bd300feb67ff0d1eeb3 # 6.0.0 with: - python-version: "3.10" + fetch-depth: 0 + persist-credentials: false + - name: Install uv + uses: astral-sh/setup-uv@1e862dfacbd1d6d858c55d9b792c756523627244 # 7.1.4 - name: Build wheel and sdist - run: pipx run build + run: uv build - name: Check build artifacts - run: pipx run twine check --strict dist/* + run: uvx twine check --strict dist/* - name: Save artifacts - uses: actions/upload-artifact@v4 + uses: actions/upload-artifact@330a01c490aca151604b8cf639adc76d48f6c5d4 # 5.0.0 with: name: release path: ./dist @@ -172,10 +140,15 @@ jobs: # upload to PyPI only on release if: github.event.release && github.event.action == 'published' steps: - - uses: actions/download-artifact@v4 + - uses: actions/download-artifact@018cc2cf5baa6db3ef3c5f8a56943fffe632ef53 # 6.0.0 with: path: dist merge-multiple: true + - name: Generate artifact attestation + uses: actions/attest-build-provenance@977bb373ede98d70efdf65b84cb5f73e068dcc2a # 3.0.0 + with: + subject-path: 'dist/*' + - name: Publish release distributions to PyPI - uses: pypa/gh-action-pypi-publish@release/v1 + uses: pypa/gh-action-pypi-publish@ed0c53931b1dc9bd32cbe73a98c7f6766f8a527e # 1.13.0 diff --git a/.gitignore b/.gitignore index 03775bd7c..e4d402ff4 100644 --- a/.gitignore +++ b/.gitignore @@ -18,7 +18,8 @@ __pycache__/ # Distribution / packaging .Python env/ -venv/ +.venv*/ +venv*/ build/ develop-eggs/ dist/ diff --git a/.readthedocs.yml b/.readthedocs.yml index dad8c28db..a8c61d2de 100644 --- a/.readthedocs.yml +++ b/.readthedocs.yml @@ -9,7 +9,10 @@ version: 2 build: os: ubuntu-22.04 tools: - python: "3.12" + python: "3.13" + jobs: + post_install: + - pip install --group docs # Build documentation in the docs/ directory with Sphinx sphinx: @@ -23,10 +26,8 @@ formats: # Optionally declare the Python requirements required to build your docs python: install: - - requirements: doc/doc-requirements.txt - method: pip path: . extra_requirements: - canalystii - - gs_usb - - mf4 + - gs-usb diff --git a/CHANGELOG.md b/CHANGELOG.md index 39cbaa716..75ecab49e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,8 +1,67 @@ -Version 4.5.0 -============= +# Changelog -Features --------- + + + + +## Version [v4.6.1](https://github.com/hardbyte/python-can/tree/v4.6.1) - 2025-08-12 + +### Fixed + +- Fix initialisation of an slcan bus, when setting a bitrate. When using CAN 2.0 (not FD), the default setting for `data_bitrate` was invalid, causing an exception. ([#1978](https://github.com/hardbyte/python-can/issues/1978)) + + +## Version [v4.6.0](https://github.com/hardbyte/python-can/tree/v4.6.0) - 2025-08-05 + +### Removed + +- Remove support for Python 3.8. ([#1931](https://github.com/hardbyte/python-can/issues/1931)) +- Unknown command line arguments ("extra args") are no longer passed down to `can.Bus()` instantiation. Use the `--bus-kwargs` argument instead. ([#1949](https://github.com/hardbyte/python-can/issues/1949)) +- Remove `can.io.generic.BaseIOHandler` class. Improve `can.io.*` type annotations by using `typing.Generic`. ([#1951](https://github.com/hardbyte/python-can/issues/1951)) + +### Added + +- Support 11-bit identifiers in the `serial` interface. ([#1758](https://github.com/hardbyte/python-can/issues/1758)) +- Keep track of active Notifiers and make Notifier usable as a context manager. Add function `Notifier.find_instances(bus)` to find the active Notifier for a given bus instance. ([#1890](https://github.com/hardbyte/python-can/issues/1890)) +- Add Windows support to `udp_multicast` interface. ([#1914](https://github.com/hardbyte/python-can/issues/1914)) +- Add FD support to `slcan` according to CANable 2.0 implementation. ([#1920](https://github.com/hardbyte/python-can/issues/1920)) +- Add support for error messages to the `socketcand` interface. ([#1941](https://github.com/hardbyte/python-can/issues/1941)) +- Add support for remote and error frames in the `serial` interface. ([#1948](https://github.com/hardbyte/python-can/issues/1948)) +- Add public functions `can.cli.add_bus_arguments` and `can.cli.create_bus_from_namespace` for creating bus command line options. Currently downstream packages need to implement their own logic to configure *python-can* buses. Now *python-can* can create and parse bus options for third party packages. ([#1949](https://github.com/hardbyte/python-can/issues/1949)) +- Add support for remote frames to `TRCReader`. ([#1953](https://github.com/hardbyte/python-can/issues/1953)) +- Mention the `python-can-candle` package in the plugin interface section of the documentation. ([#1954](https://github.com/hardbyte/python-can/issues/1954)) +- Add new CLI tool `python -m can.bridge` (or just `can_bridge`) to create a software bridge between two physical buses. ([#1961](https://github.com/hardbyte/python-can/issues/1961)) + +### Changed + +- Allow sending Classic CAN frames with a DLC value larger than 8 using the `socketcan` interface. ([#1851](https://github.com/hardbyte/python-can/issues/1851)) +- The `gs_usb` extra dependency was renamed to `gs-usb`. + The `lint` extra dependency was removed and replaced with new PEP 735 dependency groups `lint`, `docs` and `test`. ([#1945](https://github.com/hardbyte/python-can/issues/1945)) +- Update dependency name from `zlgcan-driver-py` to `zlgcan`. ([#1946](https://github.com/hardbyte/python-can/issues/1946)) +- Use ThreadPoolExecutor in `detect_available_configs()` to reduce runtime and add `timeout` parameter. ([#1947](https://github.com/hardbyte/python-can/issues/1947)) +- Update contribution guide. ([#1960](https://github.com/hardbyte/python-can/issues/1960)) + +### Fixed + +- Fix a bug in `slcanBus.get_version()` and `slcanBus.get_serial_number()`: If any other data was received during the function call, then `None` was returned. ([#1904](https://github.com/hardbyte/python-can/issues/1904)) +- Fix incorrect padding of CAN FD payload in `BlfReader`. ([#1906](https://github.com/hardbyte/python-can/issues/1906)) +- Set correct message direction for messages received with `kvaser` interface and `receive_own_messages=True`. ([#1908](https://github.com/hardbyte/python-can/issues/1908)) +- Fix timestamp rounding error in `BlfWriter`. ([#1921](https://github.com/hardbyte/python-can/issues/1921)) +- Fix timestamp rounding error in `BlfReader`. ([#1927](https://github.com/hardbyte/python-can/issues/1927)) +- Handle timer overflow message and build timestamp according to the epoch in the `ixxat` interface. ([#1934](https://github.com/hardbyte/python-can/issues/1934)) +- Avoid unsupported `ioctl` function call to allow usage of the `udp_multicast` interface on MacOS. ([#1940](https://github.com/hardbyte/python-can/issues/1940)) +- Fix configuration file parsing for the `state` bus parameter. ([#1957](https://github.com/hardbyte/python-can/issues/1957)) +- Mf4Reader: support non-standard `CAN_DataFrame.Dir` values in mf4 files created by [ihedvall/mdflib](https://github.com/ihedvall/mdflib). ([#1967](https://github.com/hardbyte/python-can/issues/1967)) +- PcanBus: Set `Message.channel` attribute in `PcanBus.recv()`. ([#1969](https://github.com/hardbyte/python-can/issues/1969)) + + +## Version 4.5.0 + +### Features * gs_usb command-line support (and documentation updates and stability fixes) by @BenGardiner in https://github.com/hardbyte/python-can/pull/1790 * Faster and more general MF4 support by @cssedev in https://github.com/hardbyte/python-can/pull/1892 @@ -13,8 +72,7 @@ Features * Improve TestBusConfig by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1804 * Improve speed of TRCReader by @lebuni in https://github.com/hardbyte/python-can/pull/1893 -Bug Fixes ---------- +### Bug Fixes * Fix Kvaser timestamp by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1878 * Set end_time in ThreadBasedCyclicSendTask.start() by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1871 @@ -25,8 +83,7 @@ Bug Fixes * Resolve AttributeError within NicanError by @vijaysubbiah20 in https://github.com/hardbyte/python-can/pull/1806 -Miscellaneous -------------- +### Miscellaneous * Fix CI by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1889 * Update msgpack dependency by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1875 @@ -43,11 +100,10 @@ Miscellaneous * Add zlgcan to docs by @zariiii9003 in https://github.com/hardbyte/python-can/pull/1839 -Version 4.4.2 -============= +## Version 4.4.2 + +### Bug Fixes -Bug Fixes ---------- * Remove `abstractmethod` decorator from `Listener.stop()` (#1770, #1795) * Fix `SizedRotatingLogger` file suffix bug (#1792, #1793) * gs_usb: Use `BitTiming` class internally to configure bitrate (#1747, #1748) @@ -56,8 +112,7 @@ Bug Fixes * socketcan: Do not log exception on non-linux platforms (#1800) * vector, kvaser: Activate channels after CAN filters were applied (#1413, #1708, #1796) -Features --------- +### Features * kvaser: Add support for non-ISO CAN FD (#1752) * neovi: Return timestamps relative to epoch (#1789) @@ -66,11 +121,9 @@ Features * vector: Add support for `listen_only` mode (#1764) -Version 4.4.0 -============= +## Version 4.4.0 -Features --------- +### Features * TRC 1.3 Support: Added support for .trc log files as generated by PCAN Explorer v5 and other tools, expanding compatibility with common log file formats (#1753). * ASCReader refactor: improved the ASCReader code (#1717). @@ -80,17 +133,14 @@ Features * CAN FD Bus Connection for VectorBus: Enabled connecting to CAN FD buses without specifying bus timings, simplifying the connection process for users (#1716). * Neousys Configs Detection: Updated the detection mechanism for available Neousys configurations, ensuring more accurate and comprehensive configuration discovery (#1744). - -Bug Fixes ---------- +### Bug Fixes * Send Periodic Messages: Fixed an issue where fixed-duration periodic messages were sent one extra time beyond their intended count (#1713). * Vector Interface on Windows 11: Addressed compatibility issues with the Vector interface on Windows 11, ensuring stable operation across the latest OS version (#1731). * ASCWriter Millisecond Handling: Corrected the handling of milliseconds in ASCWriter, ensuring accurate time representation in log files (#1734). * Various minor bug fixes: Addressed several minor bugs to improve overall stability and performance. -Miscellaneous -------------- +### Miscellaneous * Invert default value logic for BusABC._is_shutdown. (#1774) * Implemented various logging enhancements to provide more detailed and useful operational insights (#1703). @@ -100,29 +150,27 @@ Miscellaneous The release also includes various other minor enhancements and bug fixes aimed at improving the reliability and performance of the software. -Version 4.3.1 -============= +## Version 4.3.1 + +### Bug Fixes -Bug Fixes ---------- * Fix socketcand erroneously discarding frames (#1700) * Fix initialization order in EtasBus (#1693, #1704) -Documentation -------------- +### Documentation + * Fix install instructions for neovi (#1694, #1697) -Version 4.3.0 -============= +## Version 4.3.0 + +### Breaking Changes -Breaking Changes ----------------- * Raise Minimum Python Version to 3.8 (#1597) * Do not stop notifier if exception was handled (#1645) -Bug Fixes ---------- +### Bug Fixes + * Vector: channel detection fails, if there is an active flexray channel (#1634) * ixxat: Fix exception in 'state' property on bus coupling errors (#1647) * NeoVi: Fixed serial number range (#1650) @@ -133,20 +181,22 @@ Bug Fixes * Vector: Skip the `can_op_mode check` if the device reports `can_op_mode=0` (#1678) * Vector: using the config from `detect_available_configs` might raise XL_ERR_INVALID_CHANNEL_MASK error (#1681) -Features --------- +### Features + +#### API -### API * Add `modifier_callback` parameter to `BusABC.send_periodic` for auto-modifying cyclic tasks (#703) * Add `protocol` property to BusABC to determine active CAN Protocol (#1532) * Change Bus constructor implementation and typing (#1557) * Add optional `strict` parameter to relax BitTiming & BitTimingFd Validation (#1618) * Add `BitTiming.iterate_from_sample_point` static methods (#1671) -### IO +#### IO + * Can Player compatibility with interfaces that use additional configuration (#1610) -### Interface Improvements +#### Interface Improvements + * Kvaser: Add BitTiming/BitTimingFd support to KvaserBus (#1510) * Ixxat: Implement `detect_available_configs` for the Ixxat bus. (#1607) * NeoVi: Enable send and receive on network ID above 255 (#1627) @@ -156,7 +206,8 @@ Features * Kvaser: add parameter exclusive and `override_exclusive` (#1660) * socketcand: Add parameter `tcp_tune` to reduce latency (#1683) -### Miscellaneous +#### Miscellaneous + * Distinguish Text/Binary-IO for Reader/Writer classes. (#1585) * Convert setup.py to pyproject.toml (#1592) * activate ruff pycodestyle checks (#1602) @@ -170,32 +221,29 @@ Features * Add Python 3.12 Support / Test Python 3.12 (#1673) -Version 4.2.2 -============= +## Version 4.2.2 + +### Bug Fixes -Bug Fixes ---------- * Fix socketcan KeyError (#1598, #1599). * Fix IXXAT not properly shutdown message (#1606). * Fix Mf4Reader and TRCReader incompatibility with extra CLI args (#1610). * Fix decoding error in Kvaser constructor for non-ASCII product name (#1613). -Version 4.2.1 -============= +## Version 4.2.1 + +### Bug Fixes -Bug Fixes ---------- * The ASCWriter now logs the correct channel for error frames (#1578, #1583). * Fix PCAN library detection (#1579, #1580). * On Windows, the first two periodic frames were sent without delay (#1590). -Version 4.2.0 -============= +## Version 4.2.0 + +### Breaking Changes -Breaking Changes ----------------- * The ``can.BitTiming`` class was replaced with the new ``can.BitTiming`` and `can.BitTimingFd` classes (#1468, #1515). Early adopters of ``can.BitTiming`` will need to update their code. Check the @@ -210,17 +258,16 @@ Breaking Changes There are open pull requests for kvaser (#1510), slcan (#1512) and usb2can (#1511). Testing and reviewing of these open PRs would be most appreciated. -Features --------- +### Features -### IO +#### IO * Add support for MF4 files (#1289). * Add support for version 2 TRC files and other TRC file enhancements (#1530). -### Type Annotations +#### Type Annotations * Export symbols to satisfy type checkers (#1547, #1551, #1558, #1568). -### Interface Improvements +#### Interface Improvements * Add ``__del__`` method to ``can.BusABC`` to automatically release resources (#1489, #1564). * pcan: Update PCAN Basic to 4.6.2.753 (#1481). * pcan: Use select instead of polling on Linux (#1410). @@ -232,21 +279,21 @@ Features * vector: Only check sample point instead of tseg & sjw (#1486). * vector: add VN5611 hwtype (#1501). -Documentation -------------- +### Documentation + * Add new section about related tools to documentation. Add a list of plugin interface packages (#1457). -Bug Fixes ---------- +### Bug Fixes + * Automatic type conversion for config values (#1498, #1499). * pcan: Fix ``Bus.__new__`` for CAN-FD interfaces (#1458, #1460). * pcan: Fix Detection of Library on Windows on ARM (#1463). * socketcand: extended ID bug fixes (#1504, #1508). * vector: improve robustness against unknown HardwareType values (#1500, #1502). -Deprecations ------------- +### Deprecations + * The ``bustype`` parameter of ``can.Bus`` is deprecated and will be removed in version 5.0, use ``interface`` instead. (#1462). * The ``context`` parameter of ``can.Bus`` is deprecated and will be @@ -258,8 +305,8 @@ Deprecations * The ``brs`` and ``log_errors`` parameters of `` NiXNETcanBus`` are deprecated and will be removed in version 5.0. (#1520). -Miscellaneous -------------- +### Miscellaneous + * Use high resolution timer on Windows to improve timing precision for BroadcastManager (#1449). * Improve ThreadBasedCyclicSendTask timing (#1539). @@ -271,11 +318,9 @@ Miscellaneous * Add deprecation period to utility function ``deprecated_args_alias`` (#1477). * Add `ruff` to the CI system (#1551) -Version 4.1.0 -============= +## Version 4.1.0 -Breaking Changes ----------------- +### Breaking Changes * ``windows-curses`` was moved to optional dependencies (#1395). Use ``pip install python-can[viewer]`` if you are using the ``can.viewer`` @@ -284,11 +329,9 @@ Breaking Changes from camelCase to snake_case (#1422). -Features --------- - -### IO +### Features +#### IO * The canutils logger preserves message direction (#1244) and uses common interface names (e.g. can0) instead of just channel numbers (#1271). @@ -299,11 +342,11 @@ Features and player initialisation (#1366). * Initial support for TRC files (#1217) -### Type Annotations +#### Type Annotations * python-can now includes the ``py.typed`` marker to support type checking according to PEP 561 (#1344). -### Interface Improvements +#### Interface Improvements * The gs_usb interface can be selected by device index instead of USB bus/address. Loopback frames are now correctly marked with the ``is_rx`` flag (#1270). @@ -317,8 +360,7 @@ Features be applied according to the arguments of ``VectorBus.__init__`` (#1426). * Ixxat bus now implements BusState api and detects errors (#1141) -Bug Fixes ---------- +### Bug Fixes * Improve robustness of USB2CAN serial number detection (#1129). * Fix channel2int conversion (#1268, #1269). @@ -340,8 +382,7 @@ Bug Fixes * Raise ValueError if gzip is used with incompatible log formats (#1429). * Allow restarting of transmission tasks for socketcan (#1440) -Miscellaneous -------------- +### Miscellaneous * Allow ICSApiError to be pickled and un-pickled (#1341) * Sort interface names in CLI API to make documentation reproducible (#1342) @@ -351,8 +392,7 @@ Miscellaneous * Migrate code coverage reporting from Codecov to Coveralls (#1430) * Migrate building docs and publishing releases to PyPi from Travis-CI to GitHub Actions (#1433) -Version 4.0.0 -==== +## Version 4.0.0 TL;DR: This release includes a ton of improvements from 2.5 years of development! 🎉 Test thoroughly after switching. @@ -366,8 +406,7 @@ Therefore, users are strongly advised to thoroughly test their programs against Re-reading the documentation for your interfaces might be helpful too as limitations and capabilities might have changed or are more explicit. While we did try to avoid breaking changes, in some cases it was not feasible and in particular, many implementation details have changed. -Major features --------------- +### Major features * Type hints for the core library and some interfaces (#652 and many others) * Support for Python 3.7-3.10+ only (dropped support for Python 2.* and 3.5-3.6) (#528 and many others) @@ -375,8 +414,7 @@ Major features * [Support for automatic configuration detection](https://python-can.readthedocs.io/en/develop/api.html#can.detect_available_configs) in most interfaces (#303, #640, #641, #811, #1077, #1085) * Better alignment of interfaces and IO to common conventions and semantics -New interfaces --------------- +### New interfaces * udp_multicast (#644) * robotell (#731) @@ -387,8 +425,7 @@ New interfaces * socketcand (#1140) * etas (#1144) -Improved interfaces -------------------- +### Improved interfaces * socketcan * Support for multiple Cyclic Messages in Tasks (#610) @@ -465,8 +502,7 @@ Improved interfaces * Fix transmitting onto a busy bus (#1114) * Replace binary library with python driver (#726, #1127) -Other API changes and improvements ----------------------------------- +### Other API changes and improvements * CAN FD frame support is pretty complete (#963) * ASCWriter (#604) and ASCReader (#741) @@ -497,8 +533,7 @@ Other API changes and improvements * Add changed byte highlighting to viewer.py (#1159) * Change DLC to DL in Message.\_\_str\_\_() (#1212) -Other Bugfixes --------------- +### Other Bugfixes * BLF PDU padding (#459) * stop_all_periodic_tasks skipping every other task (#634, #637, #645) @@ -524,8 +559,7 @@ Other Bugfixes * Some smaller bugfixes are not listed here since the problems were never part of a proper release * ASCReader & ASCWriter using DLC as data length (#1245, #1246) -Behind the scenes & Quality assurance -------------------------------------- +### Behind the scenes & Quality assurance * We publish both source distributions (`sdist`) and binary wheels (`bdist_wheel`) (#1059, #1071) * Many interfaces were partly rewritten to modernize the code or to better handle errors @@ -543,16 +577,13 @@ Behind the scenes & Quality assurance * [Good test coverage](https://app.codecov.io/gh/hardbyte/python-can/branch/develop) for all but the interfaces * Testing: Many of the new features directly added tests, and coverage of existing code was improved too (for example: #1031, #581, #585, #586, #942, #1196, #1198) -Version 3.3.4 -==== +## Version 3.3.4 Last call for Python2 support. * #850 Fix socket.error is a deprecated alias of OSError used on Python versions lower than 3.3. -Version 3.3.3 -==== - +## Version 3.3.3 Backported fixes from 4.x development branch which targets Python 3. * #798 Backport caching msg.data value in neovi interface. @@ -570,37 +601,30 @@ Backported fixes from 4.x development branch which targets Python 3. * #605 Socketcan BCM status fix. -Version 3.3.2 -==== +## Version 3.3.2 Minor bug fix release addressing issue in PCAN RTR. -Version 3.3.1 -==== +## Version 3.3.1 Minor fix to setup.py to only require pytest-runner when necessary. -Version 3.3.0 -==== +## Version 3.3.0 * Adding CAN FD 64 frame support to blf reader * Updates to installation instructions * Clean up bits generator in PCAN interface #588 * Minor fix to use latest tools when building wheels on travis. -Version 3.2.1 -==== +## Version 3.2.1 * CAN FD 64 frame support to blf reader * Minor fix to use latest tools when building wheels on travis. * Updates links in documentation. -Version 3.2.0 -==== - +## Version 3.2.0 -Major features --------------- +### Major features * FD support added for Pcan by @bmeisels with input from @markuspi, @christiansandberg & @felixdivo in PR #537 @@ -608,8 +632,7 @@ Major features and Python 3.5. Support has been removed for Python 3.4 in this release in PR #532 -Other notable changes ---------------------- +### Other notable changes * #533 BusState is now an enum. * #535 This release should automatically be published to PyPi by travis. @@ -624,26 +647,21 @@ https://github.com/hardbyte/python-can/milestone/7?closed=1 Pulls: #522, #526, #527, #536, #540, #546, #547, #548, #533, #559, #569, #571, #572, #575 -Backend Specific Changes ------------------------- +### Backend Specific Changes -pcan -~~~~ +#### pcan * FD -slcan -~~~~ +#### slcan * ability to set custom can speed instead of using predefined speed values. #553 -socketcan -~~~~ +#### socketcan * Bug fix to properly support 32bit systems. #573 -usb2can -~~~~ +#### usb2can * slightly better error handling * multiple serial devices can be found @@ -651,25 +669,20 @@ usb2can Pulls #511, #535 -vector -~~~~ +#### vector * handle `app_name`. #525 -Version 3.1.1 -==== +## Version 3.1.1 -Major features --------------- +### Major features Two new interfaces this release: - SYSTEC contributed by @idaniel86 in PR #466 - CANalyst-II contributed by @smeng9 in PR #476 - -Other notable changes ---------------------- +### Other notable changes * #477 The kvaser interface now supports bus statistics via a custom bus method. * #434 neovi now supports receiving own messages @@ -686,18 +699,15 @@ Other notable changes * #455 Fix to `Message` initializer * Small bugfixes and improvements -Version 3.1.0 -==== +## Version 3.1.0 Version 3.1.0 was built with old wheel and/or setuptools packages and was replaced with v3.1.1 after an installation but was discovered. -Version 3.0.0 -==== +## Version 3.0.0 -Major features --------------- +### Major features * Adds support for developing `asyncio` applications with `python-can` more easily. This can be useful when implementing protocols that handles simultaneous connections to many nodes since you can write @@ -710,8 +720,7 @@ Major features by calling the bus's new `stop_all_periodic_tasks` method. #412 -Breaking changes ----------------- +### Breaking changes * Interfaces should no longer override `send_periodic` and instead implement `_send_periodic_internal` to allow the Bus base class to manage tasks. #426 @@ -721,8 +730,7 @@ Breaking changes read/writer constructors from `filename` to `file`. -Other notable changes ---------------------- +### Other notable changes * can.Message class updated #413 - Addition of a `Message.equals` method. @@ -754,59 +762,48 @@ Other notable changes General fixes, cleanup and docs changes: (#347, #348, #367, #368, #370, #371, #373, #420, #417, #419, #432) -Backend Specific Changes ------------------------- +### Backend Specific Changes -3rd party interfaces -~~~~~~~~~~~~~~~~~~~~ +#### 3rd party interfaces * Deprecated `python_can.interface` entry point instead use `can.interface`. #389 -neovi -~~~~~ +#### neovi * Added support for CAN-FD #408 * Fix issues checking if bus is open. #381 * Adding multiple channels support. #415 -nican -~~~~~ +#### nican * implements reset instead of custom `flush_tx_buffer`. #364 -pcan -~~~~ +#### pcan * now supported on OSX. #365 - -serial -~~~~~~ +#### serial * Removed TextIOWrapper from serial. #383 * switch to `serial_for_url` enabling using remote ports via `loop://`, ``socket://` and `rfc2217://` URLs. #393 * hardware handshake using `rtscts` kwarg #402 -socketcan -~~~~~~~~~ +#### socketcan * socketcan tasks now reuse a bcm socket #404, #425, #426, * socketcan bugfix to receive error frames #384 -vector -~~~~~~ +#### vector * Vector interface now implements `_detect_available_configs`. #362 * Added support to select device by serial number. #387 -Version 2.2.1 (2018-07-12) -===== +## Version 2.2.1 (2018-07-12) * Fix errors and warnings when importing library on Windows * Fix Vector backend raising ValueError when hardware is not connected -Version 2.2.0 (2018-06-30) -===== +## Version 2.2.0 (2018-06-30) * Fallback message filtering implemented in Python for interfaces that don't offer better accelerated mechanism. * SocketCAN interfaces have been merged (Now use `socketcan` instead of either `socketcan_native` and `socketcan_ctypes`), @@ -817,8 +814,7 @@ Version 2.2.0 (2018-06-30) * Dropped support for Python 3.3 (officially reached end-of-life in Sept. 2017) * Deprecated the old `CAN` module, please use the newer `can` entry point (will be removed in an upcoming major version) -Version 2.1.0 (2018-02-17) -===== +## Version 2.1.0 (2018-02-17) * Support for out of tree can interfaces with pluggy. * Initial support for CAN-FD for socketcan_native and kvaser interfaces. @@ -830,8 +826,7 @@ Version 2.1.0 (2018-02-17) * Other misc improvements and bug fixes -Version 2.0.0 (2018-01-05 -===== +## Version 2.0.0 (2018-01-05) After an extended baking period we have finally tagged version 2.0.0! diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index c00e9bd32..2f4194b31 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -1 +1 @@ -Please read the [Development - Contributing](https://python-can.readthedocs.io/en/stable/development.html#contributing) guidelines in the documentation site. +Please read the [Development - Contributing](https://python-can.readthedocs.io/en/main/development.html#contributing) guidelines in the documentation site. diff --git a/README.rst b/README.rst index d2f05b2c1..6e75d8d7d 100644 --- a/README.rst +++ b/README.rst @@ -3,7 +3,7 @@ python-can |pypi| |conda| |python_implementation| |downloads| |downloads_monthly| -|docs| |github-actions| |coverage| |mergify| |formatter| +|docs| |github-actions| |coverage| |formatter| .. |pypi| image:: https://img.shields.io/pypi/v/python-can.svg :target: https://pypi.python.org/pypi/python-can/ @@ -37,14 +37,10 @@ python-can :target: https://github.com/hardbyte/python-can/actions/workflows/ci.yml :alt: Github Actions workflow status -.. |coverage| image:: https://coveralls.io/repos/github/hardbyte/python-can/badge.svg?branch=develop - :target: https://coveralls.io/github/hardbyte/python-can?branch=develop +.. |coverage| image:: https://coveralls.io/repos/github/hardbyte/python-can/badge.svg?branch=main + :target: https://coveralls.io/github/hardbyte/python-can?branch=main :alt: Test coverage reports on Coveralls.io -.. |mergify| image:: https://img.shields.io/endpoint.svg?url=https://api.mergify.com/v1/badges/hardbyte/python-can&style=flat - :target: https://mergify.io - :alt: Mergify Status - The **C**\ ontroller **A**\ rea **N**\ etwork is a bus standard designed to allow microcontrollers and devices to communicate with each other. It has priority based bus arbitration and reliable deterministic @@ -64,6 +60,8 @@ Library Version Python 3.x 2.7+, 3.5+ 4.0+ 3.7+ 4.3+ 3.8+ + 4.6+ 3.9+ + main branch 3.10+ ============================== =========== diff --git a/can/__init__.py b/can/__init__.py index 324803b9e..b1bd636c1 100644 --- a/can/__init__.py +++ b/can/__init__.py @@ -8,20 +8,23 @@ import contextlib import logging from importlib.metadata import PackageNotFoundError, version -from typing import Any, Dict +from typing import Any __all__ = [ + "VALID_INTERFACES", "ASCReader", "ASCWriter", "AsyncBufferedReader", - "BitTiming", - "BitTimingFd", "BLFReader", "BLFWriter", + "BitTiming", + "BitTimingFd", "BufferedReader", "Bus", "BusABC", "BusState", + "CSVReader", + "CSVWriter", "CanError", "CanInitializationError", "CanInterfaceNotImplementedError", @@ -30,18 +33,16 @@ "CanTimeoutError", "CanutilsLogReader", "CanutilsLogWriter", - "CSVReader", - "CSVWriter", "CyclicSendTaskABC", "LimitedDurationCyclicSendTaskABC", "Listener", - "Logger", "LogReader", - "ModifiableCyclicTaskABC", - "Message", - "MessageSync", + "Logger", "MF4Reader", "MF4Writer", + "Message", + "MessageSync", + "ModifiableCyclicTaskABC", "Notifier", "Printer", "RedirectReader", @@ -49,11 +50,10 @@ "SizedRotatingLogger", "SqliteReader", "SqliteWriter", - "ThreadSafeBus", "TRCFileVersion", "TRCReader", "TRCWriter", - "VALID_INTERFACES", + "ThreadSafeBus", "bit_timing", "broadcastmanager", "bus", @@ -64,8 +64,8 @@ "interfaces", "io", "listener", - "logconvert", "log", + "logconvert", "logger", "message", "notifier", @@ -130,4 +130,4 @@ log = logging.getLogger("can") -rc: Dict[str, Any] = {} +rc: dict[str, Any] = {} diff --git a/can/_entry_points.py b/can/_entry_points.py index 6842e3c1a..fd1a62d24 100644 --- a/can/_entry_points.py +++ b/can/_entry_points.py @@ -1,8 +1,7 @@ import importlib -import sys from dataclasses import dataclass from importlib.metadata import entry_points -from typing import Any, List +from typing import Any @dataclass @@ -16,19 +15,7 @@ def load(self) -> Any: return getattr(module, self.class_name) -# See https://docs.python.org/3/library/importlib.metadata.html#entry-points, -# "Compatibility Note". -if sys.version_info >= (3, 10): - - def read_entry_points(group: str) -> List[_EntryPoint]: - return [ - _EntryPoint(ep.name, ep.module, ep.attr) for ep in entry_points(group=group) - ] - -else: - - def read_entry_points(group: str) -> List[_EntryPoint]: - return [ - _EntryPoint(ep.name, *ep.value.split(":", maxsplit=1)) - for ep in entry_points().get(group, []) - ] +def read_entry_points(group: str) -> list[_EntryPoint]: + return [ + _EntryPoint(ep.name, ep.module, ep.attr) for ep in entry_points(group=group) + ] diff --git a/can/bit_timing.py b/can/bit_timing.py index f5d50eac1..2bb04bfbe 100644 --- a/can/bit_timing.py +++ b/can/bit_timing.py @@ -1,12 +1,13 @@ # pylint: disable=too-many-lines import math -from typing import TYPE_CHECKING, Iterator, List, Mapping, cast +from collections.abc import Iterator, Mapping +from typing import TYPE_CHECKING, cast if TYPE_CHECKING: from can.typechecking import BitTimingDict, BitTimingFdDict -class BitTiming(Mapping): +class BitTiming(Mapping[str, int]): """Representation of a bit timing configuration for a CAN 2.0 bus. The class can be constructed in multiple ways, depending on the information @@ -155,7 +156,7 @@ def from_bitrate_and_segments( if the arguments are invalid. """ try: - brp = int(round(f_clock / (bitrate * (1 + tseg1 + tseg2)))) + brp = round(f_clock / (bitrate * (1 + tseg1 + tseg2))) except ZeroDivisionError: raise ValueError("Invalid inputs") from None @@ -232,7 +233,7 @@ def iterate_from_sample_point( raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") for brp in range(1, 65): - nbt = round(int(f_clock / (bitrate * brp))) + nbt = int(f_clock / (bitrate * brp)) if nbt < 8: break @@ -240,7 +241,7 @@ def iterate_from_sample_point( if abs(effective_bitrate - bitrate) > bitrate / 256: continue - tseg1 = int(round(sample_point / 100 * nbt)) - 1 + tseg1 = round(sample_point / 100 * nbt) - 1 # limit tseg1, so tseg2 is at least 1 TQ tseg1 = min(tseg1, nbt - 2) @@ -286,7 +287,7 @@ def from_sample_point( if sample_point < 50.0: raise ValueError(f"sample_point (={sample_point}) must not be below 50%.") - possible_solutions: List[BitTiming] = list( + possible_solutions: list[BitTiming] = list( cls.iterate_from_sample_point(f_clock, bitrate, sample_point) ) @@ -312,7 +313,7 @@ def f_clock(self) -> int: @property def bitrate(self) -> int: """Bitrate in bits/s.""" - return int(round(self.f_clock / (self.nbt * self.brp))) + return round(self.f_clock / (self.nbt * self.brp)) @property def brp(self) -> int: @@ -322,7 +323,7 @@ def brp(self) -> int: @property def tq(self) -> int: """Time quantum in nanoseconds""" - return int(round(self.brp / self.f_clock * 1e9)) + return round(self.brp / self.f_clock * 1e9) @property def nbt(self) -> int: @@ -433,7 +434,7 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTiming": "f_clock change failed because of sample point discrepancy." ) # adapt synchronization jump width, so it has the same size relative to bit time as self - sjw = int(round(self.sjw / self.nbt * bt.nbt)) + sjw = round(self.sjw / self.nbt * bt.nbt) sjw = max(1, min(4, bt.tseg2, sjw)) bt._data["sjw"] = sjw # pylint: disable=protected-access bt._data["nof_samples"] = self.nof_samples # pylint: disable=protected-access @@ -458,7 +459,7 @@ def __repr__(self) -> str: return f"can.{self.__class__.__name__}({args})" def __getitem__(self, key: str) -> int: - return cast(int, self._data.__getitem__(key)) + return cast("int", self._data.__getitem__(key)) def __len__(self) -> int: return self._data.__len__() @@ -476,7 +477,7 @@ def __hash__(self) -> int: return tuple(self._data.values()).__hash__() -class BitTimingFd(Mapping): +class BitTimingFd(Mapping[str, int]): """Representation of a bit timing configuration for a CAN FD bus. The class can be constructed in multiple ways, depending on the information @@ -716,10 +717,8 @@ def from_bitrate_and_segments( # pylint: disable=too-many-arguments if the arguments are invalid. """ try: - nom_brp = int(round(f_clock / (nom_bitrate * (1 + nom_tseg1 + nom_tseg2)))) - data_brp = int( - round(f_clock / (data_bitrate * (1 + data_tseg1 + data_tseg2))) - ) + nom_brp = round(f_clock / (nom_bitrate * (1 + nom_tseg1 + nom_tseg2))) + data_brp = round(f_clock / (data_bitrate * (1 + data_tseg1 + data_tseg2))) except ZeroDivisionError: raise ValueError("Invalid inputs.") from None @@ -787,7 +786,7 @@ def iterate_from_sample_point( sync_seg = 1 for nom_brp in range(1, 257): - nbt = round(int(f_clock / (nom_bitrate * nom_brp))) + nbt = int(f_clock / (nom_bitrate * nom_brp)) if nbt < 1: break @@ -795,7 +794,7 @@ def iterate_from_sample_point( if abs(effective_nom_bitrate - nom_bitrate) > nom_bitrate / 256: continue - nom_tseg1 = int(round(nom_sample_point / 100 * nbt)) - 1 + nom_tseg1 = round(nom_sample_point / 100 * nbt) - 1 # limit tseg1, so tseg2 is at least 2 TQ nom_tseg1 = min(nom_tseg1, nbt - sync_seg - 2) nom_tseg2 = nbt - nom_tseg1 - 1 @@ -811,7 +810,7 @@ def iterate_from_sample_point( if abs(effective_data_bitrate - data_bitrate) > data_bitrate / 256: continue - data_tseg1 = int(round(data_sample_point / 100 * dbt)) - 1 + data_tseg1 = round(data_sample_point / 100 * dbt) - 1 # limit tseg1, so tseg2 is at least 2 TQ data_tseg1 = min(data_tseg1, dbt - sync_seg - 2) data_tseg2 = dbt - data_tseg1 - 1 @@ -876,7 +875,7 @@ def from_sample_point( f"data_sample_point (={data_sample_point}) must not be below 50%." ) - possible_solutions: List[BitTimingFd] = list( + possible_solutions: list[BitTimingFd] = list( cls.iterate_from_sample_point( f_clock, nom_bitrate, @@ -923,7 +922,7 @@ def f_clock(self) -> int: @property def nom_bitrate(self) -> int: """Nominal (arbitration phase) bitrate.""" - return int(round(self.f_clock / (self.nbt * self.nom_brp))) + return round(self.f_clock / (self.nbt * self.nom_brp)) @property def nom_brp(self) -> int: @@ -933,7 +932,7 @@ def nom_brp(self) -> int: @property def nom_tq(self) -> int: """Nominal time quantum in nanoseconds""" - return int(round(self.nom_brp / self.f_clock * 1e9)) + return round(self.nom_brp / self.f_clock * 1e9) @property def nbt(self) -> int: @@ -969,7 +968,7 @@ def nom_sample_point(self) -> float: @property def data_bitrate(self) -> int: """Bitrate of the data phase in bit/s.""" - return int(round(self.f_clock / (self.dbt * self.data_brp))) + return round(self.f_clock / (self.dbt * self.data_brp)) @property def data_brp(self) -> int: @@ -979,7 +978,7 @@ def data_brp(self) -> int: @property def data_tq(self) -> int: """Data time quantum in nanoseconds""" - return int(round(self.data_brp / self.f_clock * 1e9)) + return round(self.data_brp / self.f_clock * 1e9) @property def dbt(self) -> int: @@ -1106,10 +1105,10 @@ def recreate_with_f_clock(self, f_clock: int) -> "BitTimingFd": "f_clock change failed because of sample point discrepancy." ) # adapt synchronization jump width, so it has the same size relative to bit time as self - nom_sjw = int(round(self.nom_sjw / self.nbt * bt.nbt)) + nom_sjw = round(self.nom_sjw / self.nbt * bt.nbt) nom_sjw = max(1, min(bt.nom_tseg2, nom_sjw)) bt._data["nom_sjw"] = nom_sjw # pylint: disable=protected-access - data_sjw = int(round(self.data_sjw / self.dbt * bt.dbt)) + data_sjw = round(self.data_sjw / self.dbt * bt.dbt) data_sjw = max(1, min(bt.data_tseg2, data_sjw)) bt._data["data_sjw"] = data_sjw # pylint: disable=protected-access bt._validate() # pylint: disable=protected-access @@ -1138,7 +1137,7 @@ def __repr__(self) -> str: return f"can.{self.__class__.__name__}({args})" def __getitem__(self, key: str) -> int: - return cast(int, self._data.__getitem__(key)) + return cast("int", self._data.__getitem__(key)) def __len__(self) -> int: return self._data.__len__() diff --git a/can/bridge.py b/can/bridge.py new file mode 100644 index 000000000..57ebb368d --- /dev/null +++ b/can/bridge.py @@ -0,0 +1,66 @@ +""" +Creates a bridge between two CAN buses. + +This will connect to two CAN buses. Messages received on one +bus will be sent to the other bus and vice versa. +""" + +import argparse +import errno +import sys +import time +from datetime import datetime +from typing import Final + +from can.cli import add_bus_arguments, create_bus_from_namespace +from can.listener import RedirectReader +from can.notifier import Notifier + +BRIDGE_DESCRIPTION: Final = """\ +Bridge two CAN buses. + +Both can buses will be connected so that messages from bus1 will be sent on +bus2 and messages from bus2 will be sent to bus1. +""" +BUS_1_PREFIX: Final = "bus1" +BUS_2_PREFIX: Final = "bus2" + + +def _parse_bridge_args(args: list[str]) -> argparse.Namespace: + """Parse command line arguments for bridge script.""" + + parser = argparse.ArgumentParser(description=BRIDGE_DESCRIPTION) + add_bus_arguments(parser, prefix=BUS_1_PREFIX, group_title="Bus 1 arguments") + add_bus_arguments(parser, prefix=BUS_2_PREFIX, group_title="Bus 2 arguments") + + # print help message when no arguments were given + if not args: + parser.print_help(sys.stderr) + raise SystemExit(errno.EINVAL) + + results, _unknown_args = parser.parse_known_args(args) + return results + + +def main() -> None: + results = _parse_bridge_args(sys.argv[1:]) + + with ( + create_bus_from_namespace(results, prefix=BUS_1_PREFIX) as bus1, + create_bus_from_namespace(results, prefix=BUS_2_PREFIX) as bus2, + ): + reader1_to_2 = RedirectReader(bus2) + reader2_to_1 = RedirectReader(bus1) + with Notifier(bus1, [reader1_to_2]), Notifier(bus2, [reader2_to_1]): + print(f"CAN Bridge (Started on {datetime.now()})") + try: + while True: + time.sleep(1) + except KeyboardInterrupt: + pass + + print(f"CAN Bridge (Stopped on {datetime.now()})") + + +if __name__ == "__main__": + main() diff --git a/can/broadcastmanager.py b/can/broadcastmanager.py index 319fb0f53..1fea9ac50 100644 --- a/can/broadcastmanager.py +++ b/can/broadcastmanager.py @@ -12,14 +12,10 @@ import threading import time import warnings +from collections.abc import Callable, Sequence from typing import ( TYPE_CHECKING, - Callable, Final, - Optional, - Sequence, - Tuple, - Union, cast, ) @@ -40,8 +36,8 @@ class _Pywin32Event: class _Pywin32: def __init__(self) -> None: - import pywintypes # pylint: disable=import-outside-toplevel,import-error - import win32event # pylint: disable=import-outside-toplevel,import-error + import pywintypes # noqa: PLC0415 # pylint: disable=import-outside-toplevel,import-error + import win32event # noqa: PLC0415 # pylint: disable=import-outside-toplevel,import-error self.pywintypes = pywintypes self.win32event = win32event @@ -61,7 +57,7 @@ def create_timer(self) -> _Pywin32Event: ): event = self.win32event.CreateWaitableTimer(None, False, None) - return cast(_Pywin32Event, event) + return cast("_Pywin32Event", event) def set_timer(self, event: _Pywin32Event, period_ms: int) -> None: self.win32event.SetWaitableTimer(event.handle, 0, period_ms, None, None, False) @@ -79,7 +75,7 @@ def wait_inf(self, event: _Pywin32Event) -> None: ) -PYWIN32: Optional[_Pywin32] = None +PYWIN32: _Pywin32 | None = None if sys.platform == "win32" and sys.version_info < (3, 11): try: PYWIN32 = _Pywin32() @@ -106,9 +102,7 @@ class CyclicSendTaskABC(CyclicTask, abc.ABC): Message send task with defined period """ - def __init__( - self, messages: Union[Sequence[Message], Message], period: float - ) -> None: + def __init__(self, messages: Sequence[Message] | Message, period: float) -> None: """ :param messages: The messages to be sent periodically. @@ -121,13 +115,13 @@ def __init__( # Take the Arbitration ID of the first element self.arbitration_id = messages[0].arbitration_id self.period = period - self.period_ns = int(round(period * 1e9)) + self.period_ns = round(period * 1e9) self.messages = messages @staticmethod def _check_and_convert_messages( - messages: Union[Sequence[Message], Message] - ) -> Tuple[Message, ...]: + messages: Sequence[Message] | Message, + ) -> tuple[Message, ...]: """Helper function to convert a Message or Sequence of messages into a tuple, and raises an error when the given value is invalid. @@ -165,9 +159,9 @@ def _check_and_convert_messages( class LimitedDurationCyclicSendTaskABC(CyclicSendTaskABC, abc.ABC): def __init__( self, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, period: float, - duration: Optional[float], + duration: float | None, ) -> None: """Message send task with a defined duration and period. @@ -182,7 +176,7 @@ def __init__( """ super().__init__(messages, period) self.duration = duration - self.end_time: Optional[float] = None + self.end_time: float | None = None class RestartableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): @@ -194,7 +188,7 @@ def start(self) -> None: class ModifiableCyclicTaskABC(CyclicSendTaskABC, abc.ABC): - def _check_modified_messages(self, messages: Tuple[Message, ...]) -> None: + def _check_modified_messages(self, messages: tuple[Message, ...]) -> None: """Helper function to perform error checking when modifying the data in the cyclic task. @@ -216,7 +210,7 @@ def _check_modified_messages(self, messages: Tuple[Message, ...]) -> None: "from when the task was created" ) - def modify_data(self, messages: Union[Sequence[Message], Message]) -> None: + def modify_data(self, messages: Sequence[Message] | Message) -> None: """Update the contents of the periodically sent messages, without altering the timing. @@ -243,7 +237,7 @@ class MultiRateCyclicSendTaskABC(CyclicSendTaskABC, abc.ABC): def __init__( self, channel: typechecking.Channel, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, count: int, # pylint: disable=unused-argument initial_period: float, # pylint: disable=unused-argument subsequent_period: float, @@ -273,12 +267,12 @@ def __init__( self, bus: "BusABC", lock: threading.Lock, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, - on_error: Optional[Callable[[Exception], bool]] = None, + duration: float | None = None, + on_error: Callable[[Exception], bool] | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> None: """Transmits `messages` with a `period` seconds for `duration` seconds on a `bus`. @@ -299,13 +293,13 @@ def __init__( self.bus = bus self.send_lock = lock self.stopped = True - self.thread: Optional[threading.Thread] = None + self.thread: threading.Thread | None = None self.on_error = on_error self.modifier_callback = modifier_callback self.period_ms = int(round(period * 1000, 0)) - self.event: Optional[_Pywin32Event] = None + self.event: _Pywin32Event | None = None if PYWIN32: if self.period_ms == 0: # A period of 0 would mean that the timer is signaled only once @@ -339,7 +333,7 @@ def start(self) -> None: self.thread = threading.Thread(target=self._run, name=name) self.thread.daemon = True - self.end_time: Optional[float] = ( + self.end_time: float | None = ( time.perf_counter() + self.duration if self.duration else None ) diff --git a/can/bus.py b/can/bus.py index a12808ab6..03425caaa 100644 --- a/can/bus.py +++ b/can/bus.py @@ -5,26 +5,17 @@ import contextlib import logging import threading -from abc import ABC, ABCMeta, abstractmethod +from abc import ABC, abstractmethod +from collections.abc import Callable, Iterator, Sequence from enum import Enum, auto from time import time from types import TracebackType from typing import ( - Any, - Callable, - Iterator, - List, - Optional, - Sequence, - Tuple, - Type, - Union, cast, ) from typing_extensions import Self -import can import can.typechecking from can.broadcastmanager import CyclicSendTaskABC, ThreadBasedCyclicSendTask from can.message import Message @@ -49,7 +40,7 @@ class CanProtocol(Enum): CAN_XL = auto() -class BusABC(metaclass=ABCMeta): +class BusABC(ABC): """The CAN Bus Abstract Base Class that serves as the basis for all concrete interfaces. @@ -73,8 +64,8 @@ class BusABC(metaclass=ABCMeta): @abstractmethod def __init__( self, - channel: Any, - can_filters: Optional[can.typechecking.CanFilters] = None, + channel: can.typechecking.Channel, + can_filters: can.typechecking.CanFilters | None = None, **kwargs: object, ): """Construct and open a CAN bus instance of the specified type. @@ -97,7 +88,7 @@ def __init__( :raises ~can.exceptions.CanInitializationError: If the bus cannot be initialized """ - self._periodic_tasks: List[_SelfRemovingCyclicTask] = [] + self._periodic_tasks: list[_SelfRemovingCyclicTask] = [] self.set_filters(can_filters) # Flip the class default value when the constructor finishes. That # usually means the derived class constructor was also successful, @@ -107,7 +98,7 @@ def __init__( def __str__(self) -> str: return self.channel_info - def recv(self, timeout: Optional[float] = None) -> Optional[Message]: + def recv(self, timeout: float | None = None) -> Message | None: """Block waiting for a message from the Bus. :param timeout: @@ -145,9 +136,7 @@ def recv(self, timeout: Optional[float] = None) -> Optional[Message]: return None - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: """ Read a message from the bus and tell whether it was filtered. This methods may be called by :meth:`~can.BusABC.recv` @@ -190,7 +179,7 @@ def _recv_internal( raise NotImplementedError("Trying to read from a write only bus?") @abstractmethod - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """Transmit a message to the CAN bus. Override this method to enable the transmit path. @@ -211,12 +200,12 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def send_periodic( self, - msgs: Union[Message, Sequence[Message]], + msgs: Message | Sequence[Message], period: float, - duration: Optional[float] = None, + duration: float | None = None, store_task: bool = True, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -276,7 +265,7 @@ def send_periodic( # Create a backend specific task; will be patched to a _SelfRemovingCyclicTask later task = cast( - _SelfRemovingCyclicTask, + "_SelfRemovingCyclicTask", self._send_periodic_internal( msgs, period, duration, autostart, modifier_callback ), @@ -303,11 +292,11 @@ def wrapped_stop_method(remove_task: bool = True) -> None: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Default implementation of periodic message sending using threading. @@ -384,7 +373,7 @@ def __iter__(self) -> Iterator[Message]: yield msg @property - def filters(self) -> Optional[can.typechecking.CanFilters]: + def filters(self) -> can.typechecking.CanFilters | None: """ Modify the filters of this bus. See :meth:`~can.BusABC.set_filters` for details. @@ -392,12 +381,10 @@ def filters(self) -> Optional[can.typechecking.CanFilters]: return self._filters @filters.setter - def filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def filters(self, filters: can.typechecking.CanFilters | None) -> None: self.set_filters(filters) - def set_filters( - self, filters: Optional[can.typechecking.CanFilters] = None - ) -> None: + def set_filters(self, filters: can.typechecking.CanFilters | None = None) -> None: """Apply filtering to all messages received by this Bus. All messages that match at least one filter are returned. @@ -423,7 +410,7 @@ def set_filters( with contextlib.suppress(NotImplementedError): self._apply_filters(self._filters) - def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def _apply_filters(self, filters: can.typechecking.CanFilters | None) -> None: """ Hook for applying the filters to the underlying kernel or hardware if supported/implemented by the interface. @@ -452,7 +439,6 @@ def _matches_filters(self, msg: Message) -> bool: for _filter in self._filters: # check if this filter even applies to the message if "extended" in _filter: - _filter = cast(can.typechecking.CanFilterExtended, _filter) if _filter["extended"] != msg.is_extended_id: continue @@ -491,9 +477,9 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[Type[BaseException]], - exc_value: Optional[BaseException], - traceback: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, ) -> None: self.shutdown() @@ -529,7 +515,7 @@ def protocol(self) -> CanProtocol: return self._can_protocol @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> Sequence[can.typechecking.AutoDetectedConfig]: """Detect all configurations/channels that this interface could currently connect with. diff --git a/can/cli.py b/can/cli.py new file mode 100644 index 000000000..d0ff70126 --- /dev/null +++ b/can/cli.py @@ -0,0 +1,320 @@ +import argparse +import re +from collections.abc import Sequence +from typing import Any + +import can +from can.typechecking import CanFilter, TAdditionalCliArgs +from can.util import _dict2timing, cast_from_string + + +def add_bus_arguments( + parser: argparse.ArgumentParser, + *, + filter_arg: bool = False, + prefix: str | None = None, + group_title: str | None = None, +) -> None: + """Adds CAN bus configuration options to an argument parser. + + :param parser: + The argument parser to which the options will be added. + :param filter_arg: + Whether to include the filter argument. + :param prefix: + An optional prefix for the argument names, allowing configuration of multiple buses. + :param group_title: + The title of the argument group. If not provided, a default title will be generated + based on the prefix. For example, "bus arguments (prefix)" if a prefix is specified, + or "bus arguments" otherwise. + """ + if group_title is None: + group_title = f"bus arguments ({prefix})" if prefix else "bus arguments" + + group = parser.add_argument_group(group_title) + + flags = [f"--{prefix}-channel"] if prefix else ["-c", "--channel"] + dest = f"{prefix}_channel" if prefix else "channel" + group.add_argument( + *flags, + dest=dest, + default=argparse.SUPPRESS, + metavar="CHANNEL", + help=r"Most backend interfaces require some sort of channel. For " + r"example with the serial interface the channel might be a rfcomm" + r' device: "/dev/rfcomm0". With the socketcan interface valid ' + r'channel examples include: "can0", "vcan0".', + ) + + flags = [f"--{prefix}-interface"] if prefix else ["-i", "--interface"] + dest = f"{prefix}_interface" if prefix else "interface" + group.add_argument( + *flags, + dest=dest, + default=argparse.SUPPRESS, + choices=sorted(can.VALID_INTERFACES), + help="""Specify the backend CAN interface to use. If left blank, + fall back to reading from configuration files.""", + ) + + flags = [f"--{prefix}-bitrate"] if prefix else ["-b", "--bitrate"] + dest = f"{prefix}_bitrate" if prefix else "bitrate" + group.add_argument( + *flags, + dest=dest, + type=int, + default=argparse.SUPPRESS, + metavar="BITRATE", + help="Bitrate to use for the CAN bus.", + ) + + flags = [f"--{prefix}-fd"] if prefix else ["--fd"] + dest = f"{prefix}_fd" if prefix else "fd" + group.add_argument( + *flags, + dest=dest, + default=argparse.SUPPRESS, + action="store_true", + help="Activate CAN-FD support", + ) + + flags = [f"--{prefix}-data-bitrate"] if prefix else ["--data-bitrate"] + dest = f"{prefix}_data_bitrate" if prefix else "data_bitrate" + group.add_argument( + *flags, + dest=dest, + type=int, + default=argparse.SUPPRESS, + metavar="DATA_BITRATE", + help="Bitrate to use for the data phase in case of CAN-FD.", + ) + + flags = [f"--{prefix}-timing"] if prefix else ["--timing"] + dest = f"{prefix}_timing" if prefix else "timing" + group.add_argument( + *flags, + dest=dest, + action=_BitTimingAction, + nargs=argparse.ONE_OR_MORE, + default=argparse.SUPPRESS, + metavar="TIMING_ARG", + help="Configure bit rate and bit timing. For example, use " + "`--timing f_clock=8_000_000 tseg1=5 tseg2=2 sjw=2 brp=2 nof_samples=1` for classical CAN " + "or `--timing f_clock=80_000_000 nom_tseg1=119 nom_tseg2=40 nom_sjw=40 nom_brp=1 " + "data_tseg1=29 data_tseg2=10 data_sjw=10 data_brp=1` for CAN FD. " + "Check the python-can documentation to verify whether your " + "CAN interface supports the `timing` argument.", + ) + + if filter_arg: + flags = [f"--{prefix}-filter"] if prefix else ["--filter"] + dest = f"{prefix}_can_filters" if prefix else "can_filters" + group.add_argument( + *flags, + dest=dest, + nargs=argparse.ONE_OR_MORE, + action=_CanFilterAction, + default=argparse.SUPPRESS, + metavar="{:,~}", + help="R|Space separated CAN filters for the given CAN interface:" + "\n : (matches when & mask ==" + " can_id & mask)" + "\n ~ (matches when & mask !=" + " can_id & mask)" + "\nFx to show only frames with ID 0x100 to 0x103 and 0x200 to 0x20F:" + "\n python -m can.viewer --filter 100:7FC 200:7F0" + "\nNote that the ID and mask are always interpreted as hex values", + ) + + flags = [f"--{prefix}-bus-kwargs"] if prefix else ["--bus-kwargs"] + dest = f"{prefix}_bus_kwargs" if prefix else "bus_kwargs" + group.add_argument( + *flags, + dest=dest, + action=_BusKwargsAction, + nargs=argparse.ONE_OR_MORE, + default=argparse.SUPPRESS, + metavar="BUS_KWARG", + help="Pass keyword arguments down to the instantiation of the bus class. " + "For example, `-i vector -c 1 --bus-kwargs app_name=MyCanApp serial=1234` is equivalent " + "to opening the bus with `can.Bus('vector', channel=1, app_name='MyCanApp', serial=1234)", + ) + + +def create_bus_from_namespace( + namespace: argparse.Namespace, + *, + prefix: str | None = None, + **kwargs: Any, +) -> can.BusABC: + """Creates and returns a CAN bus instance based on the provided namespace and arguments. + + :param namespace: + The namespace containing parsed arguments. + :param prefix: + An optional prefix for the argument names, enabling support for multiple buses. + :param kwargs: + Additional keyword arguments to configure the bus. + :return: + A CAN bus instance. + """ + config: dict[str, Any] = {"single_handle": True, **kwargs} + + for keyword in ( + "channel", + "interface", + "bitrate", + "fd", + "data_bitrate", + "can_filters", + "timing", + "bus_kwargs", + ): + prefixed_keyword = f"{prefix}_{keyword}" if prefix else keyword + + if prefixed_keyword in namespace: + value = getattr(namespace, prefixed_keyword) + + if keyword == "bus_kwargs": + config.update(value) + else: + config[keyword] = value + + try: + return can.Bus(**config) + except Exception as exc: + err_msg = f"Unable to instantiate bus from arguments {vars(namespace)}." + raise argparse.ArgumentError(None, err_msg) from exc + + +class _CanFilterAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: str | Sequence[Any] | None, + option_string: str | None = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(self, "Invalid filter argument") + + print(f"Adding filter(s): {values}") + can_filters: list[CanFilter] = [] + + for filt in values: + if ":" in filt: + parts = filt.split(":") + can_id = int(parts[0], base=16) + can_mask = int(parts[1], base=16) + elif "~" in filt: + parts = filt.split("~") + can_id = int(parts[0], base=16) | 0x20000000 # CAN_INV_FILTER + can_mask = int(parts[1], base=16) & 0x20000000 # socket.CAN_ERR_FLAG + else: + raise argparse.ArgumentError(self, "Invalid filter argument") + can_filters.append({"can_id": can_id, "can_mask": can_mask}) + + setattr(namespace, self.dest, can_filters) + + +class _BitTimingAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: str | Sequence[Any] | None, + option_string: str | None = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(self, "Invalid --timing argument") + + timing_dict: dict[str, int] = {} + for arg in values: + try: + key, value_string = arg.split("=") + value = int(value_string) + timing_dict[key] = value + except ValueError: + raise argparse.ArgumentError( + self, f"Invalid timing argument: {arg}" + ) from None + + if not (timing := _dict2timing(timing_dict)): + err_msg = "Invalid --timing argument. Incomplete parameters." + raise argparse.ArgumentError(self, err_msg) + + setattr(namespace, self.dest, timing) + print(timing) + + +class _BusKwargsAction(argparse.Action): + def __call__( + self, + parser: argparse.ArgumentParser, + namespace: argparse.Namespace, + values: str | Sequence[Any] | None, + option_string: str | None = None, + ) -> None: + if not isinstance(values, list): + raise argparse.ArgumentError(self, "Invalid --bus-kwargs argument") + + bus_kwargs: dict[str, str | int | float | bool] = {} + + for arg in values: + try: + match = re.match( + r"^(?P[_a-zA-Z][_a-zA-Z0-9]*)=(?P\S*?)$", + arg, + ) + if not match: + raise ValueError + key = match["name"].replace("-", "_") + string_val = match["value"] + bus_kwargs[key] = cast_from_string(string_val) + except ValueError: + raise argparse.ArgumentError( + self, + f"Unable to parse bus keyword argument '{arg}'", + ) from None + + setattr(namespace, self.dest, bus_kwargs) + + +def _add_extra_args( + parser: argparse.ArgumentParser | argparse._ArgumentGroup, +) -> None: + parser.add_argument( + "extra_args", + nargs=argparse.REMAINDER, + help="The remaining arguments will be used for logger/player initialisation. " + "For example, `can_logger -i virtual -c test -f logfile.blf --compression-level=9` " + "passes the keyword argument `compression_level=9` to the BlfWriter.", + ) + + +def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: + for arg in unknown_args: + if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): + raise ValueError(f"Parsing argument {arg} failed") + + def _split_arg(_arg: str) -> tuple[str, str]: + left, right = _arg.split("=", 1) + return left.lstrip("-").replace("-", "_"), right + + args: dict[str, str | int | float | bool] = {} + for key, string_val in map(_split_arg, unknown_args): + args[key] = cast_from_string(string_val) + return args + + +def _set_logging_level_from_namespace(namespace: argparse.Namespace) -> None: + if "verbosity" in namespace: + logging_level_names = [ + "critical", + "error", + "warning", + "info", + "debug", + "subdebug", + ] + can.set_logging_level(logging_level_names[min(5, namespace.verbosity)]) diff --git a/can/ctypesutil.py b/can/ctypesutil.py index 0336b03d3..0798de910 100644 --- a/can/ctypesutil.py +++ b/can/ctypesutil.py @@ -5,11 +5,12 @@ import ctypes import logging import sys -from typing import Any, Callable, Optional, Tuple, Union +from collections.abc import Callable +from typing import Any log = logging.getLogger("can.ctypesutil") -__all__ = ["CLibrary", "HANDLE", "PHANDLE", "HRESULT"] +__all__ = ["HANDLE", "HRESULT", "PHANDLE", "CLibrary"] if sys.platform == "win32": _LibBase = ctypes.WinDLL @@ -20,7 +21,7 @@ class CLibrary(_LibBase): - def __init__(self, library_or_path: Union[str, ctypes.CDLL]) -> None: + def __init__(self, library_or_path: str | ctypes.CDLL) -> None: self.func_name: Any if isinstance(library_or_path, str): @@ -32,8 +33,8 @@ def map_symbol( self, func_name: str, restype: Any = None, - argtypes: Tuple[Any, ...] = (), - errcheck: Optional[Callable[..., Any]] = None, + argtypes: tuple[Any, ...] = (), + errcheck: Callable[..., Any] | None = None, ) -> Any: """ Map and return a symbol (function) from a C library. A reference to the diff --git a/can/exceptions.py b/can/exceptions.py index e1c970e27..696701399 100644 --- a/can/exceptions.py +++ b/can/exceptions.py @@ -1,6 +1,6 @@ """ There are several specific :class:`Exception` classes to allow user -code to react to specific scenarios related to CAN busses:: +code to react to specific scenarios related to CAN buses:: Exception (Python standard library) +-- ... @@ -15,14 +15,8 @@ :class:`ValueError`. This should always be documented for the function at hand. """ -import sys +from collections.abc import Generator from contextlib import contextmanager -from typing import Optional, Type - -if sys.version_info >= (3, 9): - from collections.abc import Generator -else: - from typing import Generator class CanError(Exception): @@ -56,7 +50,7 @@ class CanError(Exception): def __init__( self, message: str = "", - error_code: Optional[int] = None, + error_code: int | None = None, ) -> None: self.error_code = error_code super().__init__( @@ -113,8 +107,8 @@ class CanTimeoutError(CanError, TimeoutError): @contextmanager def error_check( - error_message: Optional[str] = None, - exception_type: Type[CanError] = CanOperationError, + error_message: str | None = None, + exception_type: type[CanError] = CanOperationError, ) -> Generator[None, None, None]: """Catches any exceptions and turns them into the new type while preserving the stack trace.""" try: diff --git a/can/interface.py b/can/interface.py index 2b7e27f8d..efde5b214 100644 --- a/can/interface.py +++ b/can/interface.py @@ -4,9 +4,11 @@ CyclicSendTasks. """ +import concurrent.futures.thread import importlib import logging -from typing import Any, Iterable, List, Optional, Type, Union, cast +from collections.abc import Callable, Iterable, Sequence +from typing import Any, cast from . import util from .bus import BusABC @@ -18,7 +20,7 @@ log_autodetect = log.getChild("detect_available_configs") -def _get_class_for_interface(interface: str) -> Type[BusABC]: +def _get_class_for_interface(interface: str) -> type[BusABC]: """ Returns the main bus class for the given interface. @@ -52,7 +54,7 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: f"'{interface}': {e}" ) from None - return cast(Type[BusABC], bus_class) + return cast("type[BusABC]", bus_class) @util.deprecated_args_alias( @@ -62,9 +64,9 @@ def _get_class_for_interface(interface: str) -> Type[BusABC]: context="config_context", ) def Bus( # noqa: N802 - channel: Optional[Channel] = None, - interface: Optional[str] = None, - config_context: Optional[str] = None, + channel: Channel | None = None, + interface: str | None = None, + config_context: str | None = None, ignore_config: bool = False, **kwargs: Any, ) -> BusABC: @@ -138,8 +140,9 @@ def Bus( # noqa: N802 def detect_available_configs( - interfaces: Union[None, str, Iterable[str]] = None -) -> List[AutoDetectedConfig]: + interfaces: None | str | Iterable[str] = None, + timeout: float = 5.0, +) -> Sequence[AutoDetectedConfig]: """Detect all configurations/channels that the interfaces could currently connect with. @@ -147,59 +150,84 @@ def detect_available_configs( Automated configuration detection may not be implemented by every interface on every platform. This method will not raise - an error in that case, but with rather return an empty list + an error in that case, but will rather return an empty list for that interface. :param interfaces: either - the name of an interface to be searched in as a string, - an iterable of interface names to search in, or - `None` to search in all known interfaces. + :param timeout: maximum number of seconds to wait for all interface + detection tasks to complete. If exceeded, any pending tasks + will be cancelled, a warning will be logged, and the method + will return results gathered so far. :rtype: list[dict] :return: an iterable of dicts, each suitable for usage in - the constructor of :class:`can.BusABC`. + the constructor of :class:`can.BusABC`. Interfaces that + timed out will be logged as warnings and excluded. """ - # Figure out where to search + # Determine which interfaces to search if interfaces is None: interfaces = BACKENDS elif isinstance(interfaces, str): interfaces = (interfaces,) - # else it is supposed to be an iterable of strings + # otherwise assume iterable of strings - result = [] - for interface in interfaces: + # Collect detection callbacks + callbacks: dict[str, Callable[[], Sequence[AutoDetectedConfig]]] = {} + for interface_keyword in interfaces: try: - bus_class = _get_class_for_interface(interface) + bus_class = _get_class_for_interface(interface_keyword) + callbacks[interface_keyword] = ( + bus_class._detect_available_configs # pylint: disable=protected-access + ) except CanInterfaceNotImplementedError: log_autodetect.debug( 'interface "%s" cannot be loaded for detection of available configurations', - interface, + interface_keyword, ) - continue - # get available channels - try: - available = list( - bus_class._detect_available_configs() # pylint: disable=protected-access - ) - except NotImplementedError: - log_autodetect.debug( - 'interface "%s" does not support detection of available configurations', - interface, - ) - else: - log_autodetect.debug( - 'interface "%s" detected %i available configurations', - interface, - len(available), - ) - - # add the interface name to the configs if it is not already present - for config in available: - if "interface" not in config: - config["interface"] = interface - - # append to result - result += available + result: list[AutoDetectedConfig] = [] + # Use manual executor to allow shutdown without waiting + executor = concurrent.futures.ThreadPoolExecutor() + try: + futures_to_keyword = { + executor.submit(func): kw for kw, func in callbacks.items() + } + done, not_done = concurrent.futures.wait( + futures_to_keyword, + timeout=timeout, + return_when=concurrent.futures.ALL_COMPLETED, + ) + # Log timed-out tasks + if not_done: + log_autodetect.warning( + "Timeout (%.2fs) reached for interfaces: %s", + timeout, + ", ".join(sorted(futures_to_keyword[fut] for fut in not_done)), + ) + # Process completed futures + for future in done: + keyword = futures_to_keyword[future] + try: + available = future.result() + except NotImplementedError: + log_autodetect.debug( + 'interface "%s" does not support detection of available configurations', + keyword, + ) + else: + log_autodetect.debug( + 'interface "%s" detected %i available configurations', + keyword, + len(available), + ) + for config in available: + config.setdefault("interface", keyword) + result.extend(available) + finally: + # shutdown immediately, do not wait for pending threads + executor.shutdown(wait=False, cancel_futures=True) return result diff --git a/can/interfaces/__init__.py b/can/interfaces/__init__.py index f220d28e5..1b401639a 100644 --- a/can/interfaces/__init__.py +++ b/can/interfaces/__init__.py @@ -2,8 +2,6 @@ Interfaces contain low level implementations that interact with CAN hardware. """ -from typing import Dict, Tuple - from can._entry_points import read_entry_points __all__ = [ @@ -35,7 +33,7 @@ ] # interface_name => (module, classname) -BACKENDS: Dict[str, Tuple[str, str]] = { +BACKENDS: dict[str, tuple[str, str]] = { "kvaser": ("can.interfaces.kvaser", "KvaserBus"), "socketcan": ("can.interfaces.socketcan", "SocketcanBus"), "serial": ("can.interfaces.serial.serial_can", "SerialBus"), diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py index 2fef19497..e2bf7555e 100644 --- a/can/interfaces/canalystii.py +++ b/can/interfaces/canalystii.py @@ -1,8 +1,9 @@ import logging import time from collections import deque +from collections.abc import Sequence from ctypes import c_ubyte -from typing import Any, Deque, Dict, Optional, Sequence, Tuple, Union +from typing import Any import canalystii as driver @@ -20,13 +21,13 @@ class CANalystIIBus(BusABC): ) def __init__( self, - channel: Union[int, Sequence[int], str] = (0, 1), + channel: int | Sequence[int] | str = (0, 1), device: int = 0, - bitrate: Optional[int] = None, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - can_filters: Optional[CanFilters] = None, - rx_queue_size: Optional[int] = None, - **kwargs: Dict[str, Any], + bitrate: int | None = None, + timing: BitTiming | BitTimingFd | None = None, + can_filters: CanFilters | None = None, + rx_queue_size: int | None = None, + **kwargs: dict[str, Any], ): """ @@ -68,7 +69,7 @@ def __init__( self.channels = list(channel) self.channel_info = f"CANalyst-II: device {device}, channels {self.channels}" - self.rx_queue: Deque[Tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) + self.rx_queue: deque[tuple[int, driver.Message]] = deque(maxlen=rx_queue_size) self.device = driver.CanalystDevice(device_index=device) self._can_protocol = CanProtocol.CAN_20 @@ -93,7 +94,7 @@ def __init__( # system. RX_POLL_DELAY = 0.020 - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """Send a CAN message to the bus :param msg: message to send @@ -129,7 +130,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: if timeout is not None and not send_result: raise CanTimeoutError(f"Send timed out after {timeout} seconds") - def _recv_from_queue(self) -> Tuple[Message, bool]: + def _recv_from_queue(self) -> tuple[Message, bool]: """Return a message from the internal receive queue""" channel, raw_msg = self.rx_queue.popleft() @@ -165,8 +166,8 @@ def poll_received_messages(self) -> None: ) def _recv_internal( - self, timeout: Optional[float] = None - ) -> Tuple[Optional[Message], bool]: + self, timeout: float | None = None + ) -> tuple[Message | None, bool]: """ :param timeout: float in seconds @@ -193,7 +194,7 @@ def _recv_internal( return (None, False) - def flush_tx_buffer(self, channel: Optional[int] = None) -> None: + def flush_tx_buffer(self, channel: int | None = None) -> None: """Flush the TX buffer of the device. :param channel: diff --git a/can/interfaces/cantact.py b/can/interfaces/cantact.py index 963a9ee3b..ee01fbf94 100644 --- a/can/interfaces/cantact.py +++ b/can/interfaces/cantact.py @@ -4,7 +4,8 @@ import logging import time -from typing import Any, Optional, Union +from collections.abc import Sequence +from typing import Any from unittest.mock import Mock from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message @@ -14,6 +15,7 @@ CanInterfaceNotImplementedError, error_check, ) +from ..typechecking import AutoDetectedConfig from ..util import check_or_adjust_timing_clock, deprecated_args_alias logger = logging.getLogger(__name__) @@ -31,7 +33,7 @@ class CantactBus(BusABC): """CANtact interface""" @staticmethod - def _detect_available_configs(): + def _detect_available_configs() -> Sequence[AutoDetectedConfig]: try: interface = cantact.Interface() except (NameError, SystemError, AttributeError): @@ -40,7 +42,7 @@ def _detect_available_configs(): ) return [] - channels = [] + channels: list[AutoDetectedConfig] = [] for i in range(0, interface.channel_count()): channels.append({"interface": "cantact", "channel": f"ch:{i}"}) return channels @@ -54,7 +56,7 @@ def __init__( bitrate: int = 500_000, poll_interval: float = 0.01, monitor: bool = False, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + timing: BitTiming | BitTimingFd | None = None, **kwargs: Any, ) -> None: """ @@ -121,7 +123,12 @@ def __init__( **kwargs, ) - def _recv_internal(self, timeout): + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: + if timeout is None: + raise TypeError( + f"{self.__class__.__name__} expects a numeric `timeout` value." + ) + with error_check("Cannot receive message"): frame = self.interface.recv(int(timeout * 1000)) if frame is None: @@ -140,7 +147,7 @@ def _recv_internal(self, timeout): ) return msg, False - def send(self, msg, timeout=None): + def send(self, msg: Message, timeout: float | None = None) -> None: with error_check("Cannot send message"): self.interface.send( self.channel, @@ -151,13 +158,13 @@ def send(self, msg, timeout=None): msg.data, ) - def shutdown(self): + def shutdown(self) -> None: super().shutdown() with error_check("Cannot shutdown interface"): self.interface.stop() -def mock_recv(timeout): +def mock_recv(timeout: int) -> dict[str, Any] | None: if timeout > 0: return { "id": 0x123, diff --git a/can/interfaces/etas/__init__.py b/can/interfaces/etas/__init__.py index 2bfcbf427..f8364a3fd 100644 --- a/can/interfaces/etas/__init__.py +++ b/can/interfaces/etas/__init__.py @@ -1,5 +1,5 @@ import time -from typing import Dict, List, Optional, Tuple +from typing import Any import can from can.exceptions import CanInitializationError @@ -11,12 +11,12 @@ class EtasBus(can.BusABC): def __init__( self, channel: str, - can_filters: Optional[can.typechecking.CanFilters] = None, + can_filters: can.typechecking.CanFilters | None = None, receive_own_messages: bool = False, bitrate: int = 1000000, fd: bool = True, data_bitrate: int = 2000000, - **kwargs: Dict[str, any], + **kwargs: dict[str, Any], ): self.receive_own_messages = receive_own_messages self._can_protocol = can.CanProtocol.CAN_FD if fd else can.CanProtocol.CAN_20 @@ -120,9 +120,7 @@ def __init__( # Super call must be after child init since super calls set_filters super().__init__(channel=channel, **kwargs) - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[can.Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[can.Message | None, bool]: ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)() ociMsg = OCI_CANMessageEx() ociMsgs[0] = ctypes.pointer(ociMsg) @@ -189,7 +187,7 @@ def _recv_internal( return (msg, True) - def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: + def send(self, msg: can.Message, timeout: float | None = None) -> None: ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)() ociMsg = OCI_CANMessageEx() ociMsgs[0] = ctypes.pointer(ociMsg) @@ -219,7 +217,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: OCI_WriteCANDataEx(self.txQueue, OCI_NO_TIME, ociMsgs, 1, None) - def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def _apply_filters(self, filters: can.typechecking.CanFilters | None) -> None: if self._oci_filters: OCI_RemoveCANFrameFilterEx(self.rxQueue, self._oci_filters, 1) @@ -295,12 +293,12 @@ def state(self, new_state: can.BusState) -> None: raise NotImplementedError("Setting state is not implemented.") @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: nodeRange = CSI_NodeRange(CSI_NODE_MIN, CSI_NODE_MAX) tree = ctypes.POINTER(CSI_Tree)() CSI_CreateProtocolTree(ctypes.c_char_p(b""), nodeRange, ctypes.byref(tree)) - nodes: List[Dict[str, str]] = [] + nodes: list[dict[str, str]] = [] def _findNodes(tree, prefix): uri = f"{prefix}/{tree.contents.item.uriName.decode()}" diff --git a/can/interfaces/gs_usb.py b/can/interfaces/gs_usb.py index 6268350ee..6297fc1f5 100644 --- a/can/interfaces/gs_usb.py +++ b/can/interfaces/gs_usb.py @@ -1,5 +1,4 @@ import logging -from typing import Optional, Tuple import usb from gs_usb.constants import CAN_EFF_FLAG, CAN_ERR_FLAG, CAN_MAX_DLC, CAN_RTR_FLAG @@ -82,7 +81,7 @@ def __init__( **kwargs, ) - def send(self, msg: can.Message, timeout: Optional[float] = None): + def send(self, msg: can.Message, timeout: float | None = None): """Transmit a message to the CAN bus. :param Message msg: A message object. @@ -117,9 +116,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None): except usb.core.USBError as exc: raise CanOperationError("The message could not be sent") from exc - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[can.Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[can.Message | None, bool]: """ Read a message from the bus and tell whether it was filtered. This methods may be called by :meth:`~can.BusABC.recv` diff --git a/can/interfaces/ics_neovi/__init__.py b/can/interfaces/ics_neovi/__init__.py index 0252c7345..74cb43af4 100644 --- a/can/interfaces/ics_neovi/__init__.py +++ b/can/interfaces/ics_neovi/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "ICSApiError", diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py index be0b0dae8..2fa19942a 100644 --- a/can/interfaces/iscan.py +++ b/can/interfaces/iscan.py @@ -5,7 +5,6 @@ import ctypes import logging import time -from typing import Optional, Tuple, Union from can import ( BusABC, @@ -82,7 +81,7 @@ class IscanBus(BusABC): def __init__( self, - channel: Union[str, int], + channel: str | int, bitrate: int = 500000, poll_interval: float = 0.01, **kwargs, @@ -115,9 +114,7 @@ def __init__( **kwargs, ) - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: raw_msg = MessageExStruct() end_time = time.time() + timeout if timeout is not None else None while True: @@ -147,7 +144,7 @@ def _recv_internal( ) return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: raw_msg = MessageExStruct( msg.arbitration_id, bool(msg.is_extended_id), diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py index a1693aeed..528e86d5e 100644 --- a/can/interfaces/ixxat/canlib.py +++ b/can/interfaces/ixxat/canlib.py @@ -1,4 +1,4 @@ -from typing import Callable, List, Optional, Sequence, Union +from collections.abc import Callable, Sequence import can.interfaces.ixxat.canlib_vcinpl as vcinpl import can.interfaces.ixxat.canlib_vcinpl2 as vcinpl2 @@ -8,7 +8,6 @@ CyclicSendTaskABC, Message, ) -from can.typechecking import AutoDetectedConfig class IXXATBus(BusABC): @@ -26,20 +25,20 @@ def __init__( channel: int, can_filters=None, receive_own_messages: bool = False, - unique_hardware_id: Optional[int] = None, + unique_hardware_id: int | None = None, extended: bool = True, fd: bool = False, - rx_fifo_size: Optional[int] = None, - tx_fifo_size: Optional[int] = None, + rx_fifo_size: int | None = None, + tx_fifo_size: int | None = None, bitrate: int = 500000, data_bitrate: int = 2000000, - sjw_abr: Optional[int] = None, - tseg1_abr: Optional[int] = None, - tseg2_abr: Optional[int] = None, - sjw_dbr: Optional[int] = None, - tseg1_dbr: Optional[int] = None, - tseg2_dbr: Optional[int] = None, - ssp_dbr: Optional[int] = None, + sjw_abr: int | None = None, + tseg1_abr: int | None = None, + tseg2_abr: int | None = None, + sjw_dbr: int | None = None, + tseg1_dbr: int | None = None, + tseg2_dbr: int | None = None, + ssp_dbr: int | None = None, **kwargs, ): """ @@ -147,16 +146,16 @@ def _recv_internal(self, timeout): """Read a message from IXXAT device.""" return self.bus._recv_internal(timeout) - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: return self.bus.send(msg, timeout) def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> CyclicSendTaskABC: return self.bus._send_periodic_internal( msgs, period, duration, autostart, modifier_callback @@ -174,5 +173,5 @@ def state(self) -> BusState: return self.bus.state @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> Sequence[vcinpl.AutoDetectedIxxatConfig]: return vcinpl._detect_available_configs() diff --git a/can/interfaces/ixxat/canlib_vcinpl.py b/can/interfaces/ixxat/canlib_vcinpl.py index 0579d0942..7c4becafd 100644 --- a/can/interfaces/ixxat/canlib_vcinpl.py +++ b/can/interfaces/ixxat/canlib_vcinpl.py @@ -13,8 +13,9 @@ import functools import logging import sys +import time import warnings -from typing import Callable, List, Optional, Sequence, Tuple, Union +from collections.abc import Callable, Sequence from can import ( BusABC, @@ -35,11 +36,11 @@ from .exceptions import * __all__ = [ - "VCITimeout", - "VCIError", + "IXXATBus", "VCIBusOffError", "VCIDeviceNotFoundError", - "IXXATBus", + "VCIError", + "VCITimeout", "vciFormatError", ] @@ -64,7 +65,7 @@ def __vciFormatErrorExtended( - library_instance: CLibrary, function: Callable, vret: int, args: Tuple + library_instance: CLibrary, function: Callable, vret: int, args: tuple ): """Format a VCI error and attach failed function, decoded HRESULT and arguments :param CLibrary library_instance: @@ -434,7 +435,7 @@ def __init__( channel: int, can_filters=None, receive_own_messages: bool = False, - unique_hardware_id: Optional[int] = None, + unique_hardware_id: int | None = None, extended: bool = True, rx_fifo_size: int = 16, tx_fifo_size: int = 16, @@ -619,7 +620,15 @@ def __init__( log.info("Accepting ID: 0x%X MASK: 0x%X", code, mask) # Start the CAN controller. Messages will be forwarded to the channel + start_begin = time.time() _canlib.canControlStart(self._control_handle, constants.TRUE) + start_end = time.time() + + # Calculate an offset to make them relative to epoch + # Assume that the time offset is in the middle of the start command + self._timeoffset = start_begin + (start_end - start_begin / 2) + self._overrunticks = 0 + self._starttickoffset = 0 # For cyclic transmit list. Set when .send_periodic() is first called self._scheduler = None @@ -692,6 +701,9 @@ def _recv_internal(self, timeout): f"Unknown CAN info message code {self._message.abData[0]}", ) ) + # Handle CAN start info message + if self._message.abData[0] == constants.CAN_INFO_START: + self._starttickoffset = self._message.dwTime elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR: if self._message.uMsgInfo.Bytes.bFlags & constants.CAN_MSGFLAGS_OVR: log.warning("CAN error: data overrun") @@ -708,7 +720,8 @@ def _recv_internal(self, timeout): self._message.uMsgInfo.Bytes.bFlags, ) elif self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_TIMEOVR: - pass + # Add the number of timestamp overruns to the high word + self._overrunticks += self._message.dwMsgId << 32 else: log.warning( "Unexpected message info type 0x%X", @@ -740,11 +753,12 @@ def _recv_internal(self, timeout): # Timed out / can message type is not DATA return None, True - # The _message.dwTime is a 32bit tick value and will overrun, - # so expect to see the value restarting from 0 rx_msg = Message( - timestamp=self._message.dwTime - / self._tick_resolution, # Relative time in s + timestamp=( + (self._message.dwTime + self._overrunticks - self._starttickoffset) + / self._tick_resolution + ) + + self._timeoffset, is_remote_frame=bool(self._message.uMsgInfo.Bits.rtr), is_extended_id=bool(self._message.uMsgInfo.Bits.ext), arbitration_id=self._message.dwMsgId, @@ -755,7 +769,7 @@ def _recv_internal(self, timeout): return rx_msg, True - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Sends a message on the bus. The interface may buffer the message. @@ -790,11 +804,11 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" if modifier_callback is None: @@ -890,7 +904,7 @@ def __init__( self._count = int(duration / period) if duration else 0 self._msg = structures.CANCYCLICTXMSG() - self._msg.wCycleTime = int(round(period * resolution)) + self._msg.wCycleTime = round(period * resolution) self._msg.dwMsgId = self.messages[0].arbitration_id self._msg.uMsgInfo.Bits.type = constants.CAN_MSGTYPE_DATA self._msg.uMsgInfo.Bits.ext = 1 if self.messages[0].is_extended_id else 0 @@ -961,8 +975,8 @@ def get_ixxat_hwids(): return hwids -def _detect_available_configs() -> List[AutoDetectedConfig]: - config_list = [] # list in wich to store the resulting bus kwargs +def _detect_available_configs() -> Sequence["AutoDetectedIxxatConfig"]: + config_list = [] # list in which to store the resulting bus kwargs # used to detect HWID device_handle = HANDLE() @@ -1011,3 +1025,7 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: pass # _canlib is None in the CI tests -> return a blank list return config_list + + +class AutoDetectedIxxatConfig(AutoDetectedConfig): + unique_hardware_id: int diff --git a/can/interfaces/ixxat/canlib_vcinpl2.py b/can/interfaces/ixxat/canlib_vcinpl2.py index 5872f76b9..b6789885a 100644 --- a/can/interfaces/ixxat/canlib_vcinpl2.py +++ b/can/interfaces/ixxat/canlib_vcinpl2.py @@ -15,7 +15,7 @@ import sys import time import warnings -from typing import Callable, Optional, Sequence, Tuple, Union +from collections.abc import Callable, Sequence from can import ( BusABC, @@ -34,11 +34,11 @@ from .exceptions import * __all__ = [ - "VCITimeout", - "VCIError", + "IXXATBus", "VCIBusOffError", "VCIDeviceNotFoundError", - "IXXATBus", + "VCIError", + "VCITimeout", "vciFormatError", ] @@ -62,7 +62,7 @@ def __vciFormatErrorExtended( - library_instance: CLibrary, function: Callable, vret: int, args: Tuple + library_instance: CLibrary, function: Callable, vret: int, args: tuple ): """Format a VCI error and attach failed function, decoded HRESULT and arguments :param CLibrary library_instance: @@ -430,19 +430,19 @@ def __init__( channel: int, can_filters=None, receive_own_messages: int = False, - unique_hardware_id: Optional[int] = None, + unique_hardware_id: int | None = None, extended: bool = True, rx_fifo_size: int = 1024, tx_fifo_size: int = 128, bitrate: int = 500000, data_bitrate: int = 2000000, - sjw_abr: Optional[int] = None, - tseg1_abr: Optional[int] = None, - tseg2_abr: Optional[int] = None, - sjw_dbr: Optional[int] = None, - tseg1_dbr: Optional[int] = None, - tseg2_dbr: Optional[int] = None, - ssp_dbr: Optional[int] = None, + sjw_abr: int | None = None, + tseg1_abr: int | None = None, + tseg2_abr: int | None = None, + sjw_dbr: int | None = None, + tseg1_dbr: int | None = None, + tseg2_dbr: int | None = None, + ssp_dbr: int | None = None, **kwargs, ): """ @@ -726,7 +726,15 @@ def __init__( log.info("Accepting ID: 0x%X MASK: 0x%X", code, mask) # Start the CAN controller. Messages will be forwarded to the channel + start_begin = time.time() _canlib.canControlStart(self._control_handle, constants.TRUE) + start_end = time.time() + + # Calculate an offset to make them relative to epoch + # Assume that the time offset is in the middle of the start command + self._timeoffset = start_begin + (start_end - start_begin / 2) + self._overrunticks = 0 + self._starttickoffset = 0 # For cyclic transmit list. Set when .send_periodic() is first called self._scheduler = None @@ -831,7 +839,9 @@ def _recv_internal(self, timeout): f"Unknown CAN info message code {self._message.abData[0]}", ) ) - + # Handle CAN start info message + elif self._message.abData[0] == constants.CAN_INFO_START: + self._starttickoffset = self._message.dwTime elif ( self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_ERROR ): @@ -853,7 +863,8 @@ def _recv_internal(self, timeout): self._message.uMsgInfo.Bits.type == constants.CAN_MSGTYPE_TIMEOVR ): - pass + # Add the number of timestamp overruns to the high word + self._overrunticks += self._message.dwMsgId << 32 else: log.warning("Unexpected message info type") @@ -867,11 +878,12 @@ def _recv_internal(self, timeout): return None, True data_len = dlc2len(self._message.uMsgInfo.Bits.dlc) - # The _message.dwTime is a 32bit tick value and will overrun, - # so expect to see the value restarting from 0 rx_msg = Message( - timestamp=self._message.dwTime - / self._tick_resolution, # Relative time in s + timestamp=( + (self._message.dwTime + self._overrunticks - self._starttickoffset) + / self._tick_resolution + ) + + self._timeoffset, is_remote_frame=bool(self._message.uMsgInfo.Bits.rtr), is_fd=bool(self._message.uMsgInfo.Bits.edl), is_rx=True, @@ -889,7 +901,7 @@ def _recv_internal(self, timeout): return rx_msg, True - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Sends a message on the bus. The interface may buffer the message. @@ -934,11 +946,11 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> CyclicSendTaskABC: """Send a message using built-in cyclic transmit list functionality.""" if modifier_callback is None: @@ -1010,7 +1022,7 @@ def __init__( self._count = int(duration / period) if duration else 0 self._msg = structures.CANCYCLICTXMSG2() - self._msg.wCycleTime = int(round(period * resolution)) + self._msg.wCycleTime = round(period * resolution) self._msg.dwMsgId = self.messages[0].arbitration_id self._msg.uMsgInfo.Bits.type = constants.CAN_MSGTYPE_DATA self._msg.uMsgInfo.Bits.ext = 1 if self.messages[0].is_extended_id else 0 diff --git a/can/interfaces/ixxat/exceptions.py b/can/interfaces/ixxat/exceptions.py index 50b84dfa4..771eec307 100644 --- a/can/interfaces/ixxat/exceptions.py +++ b/can/interfaces/ixxat/exceptions.py @@ -12,11 +12,11 @@ ) __all__ = [ - "VCITimeout", - "VCIError", - "VCIRxQueueEmptyError", "VCIBusOffError", "VCIDeviceNotFoundError", + "VCIError", + "VCIRxQueueEmptyError", + "VCITimeout", ] diff --git a/can/interfaces/ixxat/structures.py b/can/interfaces/ixxat/structures.py index 611955db7..680ed1ac6 100644 --- a/can/interfaces/ixxat/structures.py +++ b/can/interfaces/ixxat/structures.py @@ -201,13 +201,13 @@ class CANBTP(ctypes.Structure): ] def __str__(self): - return "dwMode=%d, dwBPS=%d, wTS1=%d, wTS2=%d, wSJW=%d, wTDO=%d" % ( - self.dwMode, - self.dwBPS, - self.wTS1, - self.wTS2, - self.wSJW, - self.wTDO, + return ( + f"dwMode={self.dwMode:d}, " + f"dwBPS={self.dwBPS:d}, " + f"wTS1={self.wTS1:d}, " + f"wTS2={self.wTS2:d}, " + f"wSJW={self.wSJW:d}, " + f"wTDO={self.wTDO:d}" ) diff --git a/can/interfaces/kvaser/__init__.py b/can/interfaces/kvaser/__init__.py index 8e7c3feb9..7cfb13d8d 100644 --- a/can/interfaces/kvaser/__init__.py +++ b/can/interfaces/kvaser/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "CANLIBInitializationError", diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py index 9731a4415..4403b60ca 100644 --- a/can/interfaces/kvaser/canlib.py +++ b/can/interfaces/kvaser/canlib.py @@ -10,7 +10,6 @@ import logging import sys import time -from typing import Optional, Union from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message from can.exceptions import CanError, CanInitializationError, CanOperationError @@ -375,8 +374,8 @@ class KvaserBus(BusABC): def __init__( self, channel: int, - can_filters: Optional[CanFilters] = None, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + can_filters: CanFilters | None = None, + timing: BitTiming | BitTimingFd | None = None, **kwargs, ): """ @@ -439,7 +438,8 @@ def __init__( :param int data_bitrate: Which bitrate to use for data phase in CAN FD. Defaults to arbitration bitrate. - + :param bool no_init_access: + Don't open the handle with init access. """ log.info(f"CAN Filters: {can_filters}") @@ -455,6 +455,7 @@ def __init__( exclusive = kwargs.get("exclusive", False) override_exclusive = kwargs.get("override_exclusive", False) accept_virtual = kwargs.get("accept_virtual", True) + no_init_access = kwargs.get("no_init_access", False) fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) data_bitrate = kwargs.get("data_bitrate", None) fd_non_iso = kwargs.get("fd_non_iso", False) @@ -491,6 +492,8 @@ def __init__( flags |= canstat.canOPEN_OVERRIDE_EXCLUSIVE if accept_virtual: flags |= canstat.canOPEN_ACCEPT_VIRTUAL + if no_init_access: + flags |= canstat.canOPEN_NO_INIT_ACCESS if fd: if fd_non_iso: flags |= canstat.canOPEN_CAN_FD_NONISO diff --git a/can/interfaces/neousys/__init__.py b/can/interfaces/neousys/__init__.py index 44bd3127f..f3e0cb039 100644 --- a/can/interfaces/neousys/__init__.py +++ b/can/interfaces/neousys/__init__.py @@ -1,4 +1,4 @@ -""" Neousys CAN bus driver """ +"""Neousys CAN bus driver""" __all__ = [ "NeousysBus", diff --git a/can/interfaces/neousys/neousys.py b/can/interfaces/neousys/neousys.py index cb9d0174d..7e8c877b4 100644 --- a/can/interfaces/neousys/neousys.py +++ b/can/interfaces/neousys/neousys.py @@ -1,4 +1,4 @@ -""" Neousys CAN bus driver """ +"""Neousys CAN bus driver""" # # This kind of interface can be found for example on Neousys POC-551VTC diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py index 8a2efade7..ba5b991c9 100644 --- a/can/interfaces/nican.py +++ b/can/interfaces/nican.py @@ -16,7 +16,6 @@ import ctypes import logging import sys -from typing import Optional, Tuple, Type import can.typechecking from can import ( @@ -112,7 +111,7 @@ def check_status( result: int, function, arguments, - error_class: Type[NicanError] = NicanOperationError, + error_class: type[NicanError] = NicanOperationError, ) -> int: if result > 0: logger.warning(get_error_message(result)) @@ -187,8 +186,8 @@ class NicanBus(BusABC): def __init__( self, channel: str, - can_filters: Optional[can.typechecking.CanFilters] = None, - bitrate: Optional[int] = None, + can_filters: can.typechecking.CanFilters | None = None, + bitrate: int | None = None, log_errors: bool = True, **kwargs, ) -> None: @@ -279,9 +278,7 @@ def __init__( **kwargs, ) - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: """ Read a message from a NI-CAN bus. @@ -330,7 +327,7 @@ def _recv_internal( ) return msg, True - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Send a message to NI-CAN. diff --git a/can/interfaces/nixnet.py b/can/interfaces/nixnet.py index 2b3cbd69a..ec303a364 100644 --- a/can/interfaces/nixnet.py +++ b/can/interfaces/nixnet.py @@ -14,7 +14,7 @@ import warnings from queue import SimpleQueue from types import ModuleType -from typing import Any, List, Optional, Tuple, Union +from typing import Any import can.typechecking from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message @@ -27,7 +27,7 @@ logger = logging.getLogger(__name__) -nixnet: Optional[ModuleType] = None +nixnet: ModuleType | None = None try: import nixnet # type: ignore import nixnet.constants # type: ignore @@ -52,12 +52,12 @@ def __init__( self, channel: str = "CAN1", bitrate: int = 500_000, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - can_filters: Optional[can.typechecking.CanFilters] = None, + timing: BitTiming | BitTimingFd | None = None, + can_filters: can.typechecking.CanFilters | None = None, receive_own_messages: bool = False, can_termination: bool = False, fd: bool = False, - fd_bitrate: Optional[int] = None, + fd_bitrate: int | None = None, poll_interval: float = 0.001, **kwargs: Any, ) -> None: @@ -201,9 +201,7 @@ def fd(self) -> bool: ) return self._can_protocol is CanProtocol.CAN_FD - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: end_time = time.perf_counter() + timeout if timeout is not None else None while True: @@ -256,7 +254,7 @@ def _recv_internal( ) return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Send a message using NI-XNET. @@ -327,7 +325,7 @@ def shutdown(self) -> None: self._session_receive.close() @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: configs = [] try: diff --git a/can/interfaces/pcan/__init__.py b/can/interfaces/pcan/__init__.py index 73e351665..a3eafcb4d 100644 --- a/can/interfaces/pcan/__init__.py +++ b/can/interfaces/pcan/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "PcanBus", diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py index d0372a83c..a2f5f361f 100644 --- a/can/interfaces/pcan/pcan.py +++ b/can/interfaces/pcan/pcan.py @@ -6,7 +6,7 @@ import platform import time import warnings -from typing import Any, List, Optional, Tuple, Union +from typing import Any from packaging import version @@ -120,9 +120,9 @@ class PcanBus(BusABC): def __init__( self, channel: str = "PCAN_USBBUS1", - device_id: Optional[int] = None, + device_id: int | None = None, state: BusState = BusState.ACTIVE, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + timing: BitTiming | BitTimingFd | None = None, bitrate: int = 500000, receive_own_messages: bool = False, **kwargs: Any, @@ -500,9 +500,7 @@ def set_device_number(self, device_number): return False return True - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: end_time = time.time() + timeout if timeout is not None else None while True: @@ -523,7 +521,7 @@ def _recv_internal( # receive queue is empty, wait or return on timeout if end_time is None: - time_left: Optional[float] = None + time_left: float | None = None timed_out = False else: time_left = max(0.0, end_time - time.time()) @@ -590,6 +588,7 @@ def _recv_internal( ) rx_msg = Message( + channel=self.channel_info, timestamp=timestamp, arbitration_id=pcan_msg.ID, is_extended_id=is_extended_id, @@ -726,7 +725,7 @@ def _detect_available_configs(): res, value = library_handle.GetValue(PCAN_NONEBUS, PCAN_ATTACHED_CHANNELS) if res != PCAN_ERROR_OK: return interfaces - channel_information: List[TPCANChannelInformation] = list(value) + channel_information: list[TPCANChannelInformation] = list(value) for channel in channel_information: # find channel name in PCAN_CHANNEL_NAMES by value channel_name = next( @@ -792,7 +791,7 @@ def _detect_available_configs(): pass return channels - def status_string(self) -> Optional[str]: + def status_string(self) -> str | None: """ Query the PCAN bus status. diff --git a/can/interfaces/robotell.py b/can/interfaces/robotell.py index 16668bdda..b24543856 100644 --- a/can/interfaces/robotell.py +++ b/can/interfaces/robotell.py @@ -5,7 +5,6 @@ import io import logging import time -from typing import Optional from can import BusABC, CanProtocol, Message @@ -380,7 +379,7 @@ def fileno(self): except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception - def get_serial_number(self, timeout: Optional[int]) -> Optional[str]: + def get_serial_number(self, timeout: int | None) -> str | None: """Get serial number of the slcan interface. :param timeout: diff --git a/can/interfaces/seeedstudio/__init__.py b/can/interfaces/seeedstudio/__init__.py index 0b3c7b1c9..9466bde43 100644 --- a/can/interfaces/seeedstudio/__init__.py +++ b/can/interfaces/seeedstudio/__init__.py @@ -1,6 +1,3 @@ -""" -""" - __all__ = [ "SeeedBus", "seeedstudio", diff --git a/can/interfaces/seeedstudio/seeedstudio.py b/can/interfaces/seeedstudio/seeedstudio.py index a0817e932..26339616c 100644 --- a/can/interfaces/seeedstudio/seeedstudio.py +++ b/can/interfaces/seeedstudio/seeedstudio.py @@ -63,6 +63,7 @@ def __init__( frame_type="STD", operation_mode="normal", bitrate=500000, + can_filters=None, **kwargs, ): """ @@ -85,6 +86,12 @@ def __init__( :param bitrate CAN bus bit rate, selected from available list. + :param can_filters: + A list of CAN filter dictionaries. If one filter is provided, + it will be used by the high-performance hardware filter. If + zero or more than one filter is provided, software-based + filtering will be used. Defaults to None (no filtering). + :raises can.CanInitializationError: If the given parameters are invalid. :raises can.CanInterfaceNotImplementedError: If the serial module is not installed. """ @@ -94,11 +101,21 @@ def __init__( "the serial module is not installed" ) + can_id = 0x00 + can_mask = 0x00 + self._is_filtered = False + + if can_filters and len(can_filters) == 1: + self._is_filtered = True + hw_filter = can_filters[0] + can_id = hw_filter["can_id"] + can_mask = hw_filter["can_mask"] + self.bit_rate = bitrate self.frame_type = frame_type self.op_mode = operation_mode - self.filter_id = bytearray([0x00, 0x00, 0x00, 0x00]) - self.mask_id = bytearray([0x00, 0x00, 0x00, 0x00]) + self.filter_id = struct.pack(" List[Any]: - return [] + +CAN_ERR_FLAG = 0x20000000 +CAN_RTR_FLAG = 0x40000000 +CAN_EFF_FLAG = 0x80000000 +CAN_ID_MASK_EXT = 0x1FFFFFFF +CAN_ID_MASK_STD = 0x7FF class SerialBus(BusABC): @@ -56,8 +57,7 @@ def __init__( baudrate: int = 115200, timeout: float = 0.1, rtscts: bool = False, - *args, - **kwargs, + **kwargs: Any, ) -> None: """ :param channel: @@ -100,7 +100,7 @@ def __init__( "could not create the serial device" ) from error - super().__init__(channel, *args, **kwargs) + super().__init__(channel, **kwargs) def shutdown(self) -> None: """ @@ -109,16 +109,13 @@ def shutdown(self) -> None: super().shutdown() self._ser.close() - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """ Send a message over the serial device. :param msg: Message to send. - .. note:: Flags like ``extended_id``, ``is_remote_frame`` and - ``is_error_frame`` will be ignored. - .. note:: If the timestamp is a float value it will be converted to an integer. @@ -134,19 +131,25 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: raise ValueError(f"Timestamp is out of range: {msg.timestamp}") from None # Pack arbitration ID - try: - arbitration_id = struct.pack(" None: except serial.SerialTimeoutException as error: raise CanTimeoutError() from error - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: """ Read a message from the serial device. @@ -171,11 +172,6 @@ def _recv_internal( :returns: Received message and :obj:`False` (because no filtering as taken place). - - .. warning:: - Flags like ``is_extended_id``, ``is_remote_frame`` and ``is_error_frame`` - will not be set over this function, the flags in the return - message are the default values. """ try: rx_byte = self._ser.read() @@ -188,10 +184,14 @@ def _recv_internal( s = self._ser.read(4) arbitration_id = struct.unpack("= 0x20000000: - raise ValueError( - "received arbitration id may not exceed 2^29 (0x20000000)" - ) + is_extended_id = bool(arbitration_id & CAN_EFF_FLAG) + is_error_frame = bool(arbitration_id & CAN_ERR_FLAG) + is_remote_frame = bool(arbitration_id & CAN_RTR_FLAG) + + if is_extended_id: + arbitration_id = arbitration_id & CAN_ID_MASK_EXT + else: + arbitration_id = arbitration_id & CAN_ID_MASK_STD data = self._ser.read(dlc) @@ -204,6 +204,9 @@ def _recv_internal( arbitration_id=arbitration_id, dlc=dlc, data=data, + is_extended_id=is_extended_id, + is_error_frame=is_error_frame, + is_remote_frame=is_remote_frame, ) return msg, False @@ -220,7 +223,7 @@ def _recv_internal( def fileno(self) -> int: try: - return self._ser.fileno() + return cast("int", self._ser.fileno()) except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" @@ -229,7 +232,11 @@ def fileno(self) -> int: raise CanOperationError("Cannot fetch fileno") from exception @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: - return [ - {"interface": "serial", "channel": port.device} for port in list_comports() - ] + def _detect_available_configs() -> Sequence[AutoDetectedConfig]: + configs: list[AutoDetectedConfig] = [] + if serial is None: + return configs + + for port in serial.tools.list_ports.comports(): + configs.append({"interface": "serial", "channel": port.device}) + return configs diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py index f0a04e305..086d9ed32 100644 --- a/can/interfaces/slcan.py +++ b/can/interfaces/slcan.py @@ -7,7 +7,7 @@ import time import warnings from queue import SimpleQueue -from typing import Any, Optional, Tuple, Union, cast +from typing import Any, cast from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message, typechecking from can.exceptions import ( @@ -16,7 +16,12 @@ CanOperationError, error_check, ) -from can.util import check_or_adjust_timing_clock, deprecated_args_alias +from can.util import ( + CAN_FD_DLC, + check_or_adjust_timing_clock, + deprecated_args_alias, + len2dlc, +) logger = logging.getLogger(__name__) @@ -48,6 +53,11 @@ class slcanBus(BusABC): 1000000: "S8", 83300: "S9", } + _DATA_BITRATES = { + 0: "", + 2000000: "Y2", + 5000000: "Y5", + } _SLEEP_AFTER_SERIAL_OPEN = 2 # in seconds @@ -65,8 +75,8 @@ def __init__( self, channel: typechecking.ChannelStr, tty_baudrate: int = 115200, - bitrate: Optional[int] = None, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, + bitrate: int | None = None, + timing: BitTiming | BitTimingFd | None = None, sleep_after_open: float = _SLEEP_AFTER_SERIAL_OPEN, rtscts: bool = False, listen_only: bool = False, @@ -86,7 +96,8 @@ def __init__( If this argument is set then it overrides the bitrate and btr arguments. The `f_clock` value of the timing instance must be set to 8_000_000 (8MHz) for standard CAN. - CAN FD and the :class:`~can.BitTimingFd` class are not supported. + CAN FD and the :class:`~can.BitTimingFd` class have partial support according to the non-standard + slcan protocol implementation in the CANABLE 2.0 firmware: currently only data rates of 2M and 5M. :param poll_interval: Poll interval in seconds when reading messages :param sleep_after_open: @@ -108,7 +119,7 @@ def __init__( if serial is None: raise CanInterfaceNotImplementedError("The serial module is not installed") - btr: Optional[str] = kwargs.get("btr", None) + btr: str | None = kwargs.get("btr", None) if btr is not None: warnings.warn( "The 'btr' argument is deprecated since python-can v4.5.0 " @@ -143,9 +154,7 @@ def __init__( timing = check_or_adjust_timing_clock(timing, valid_clocks=[8_000_000]) self.set_bitrate_reg(f"{timing.btr0:02X}{timing.btr1:02X}") elif isinstance(timing, BitTimingFd): - raise NotImplementedError( - f"CAN FD is not supported by {self.__class__.__name__}." - ) + self.set_bitrate(timing.nom_bitrate, timing.data_bitrate) else: if bitrate is not None and btr is not None: raise ValueError("Bitrate and btr mutually exclusive.") @@ -157,10 +166,12 @@ def __init__( super().__init__(channel, **kwargs) - def set_bitrate(self, bitrate: int) -> None: + def set_bitrate(self, bitrate: int, data_bitrate: int | None = None) -> None: """ :param bitrate: Bitrate in bit/s + :param data_bitrate: + Data Bitrate in bit/s for FD frames :raise ValueError: if ``bitrate`` is not among the possible values """ @@ -170,8 +181,19 @@ def set_bitrate(self, bitrate: int) -> None: bitrates = ", ".join(str(k) for k in self._BITRATES.keys()) raise ValueError(f"Invalid bitrate, choose one of {bitrates}.") + # If data_bitrate is None, we set it to 0 which means no data bitrate + if data_bitrate is None: + data_bitrate = 0 + + if data_bitrate in self._DATA_BITRATES: + dbitrate_code = self._DATA_BITRATES[data_bitrate] + else: + dbitrates = ", ".join(str(k) for k in self._DATA_BITRATES.keys()) + raise ValueError(f"Invalid data bitrate, choose one of {dbitrates}.") + self.close() self._write(bitrate_code) + self._write(dbitrate_code) self.open() def set_bitrate_reg(self, btr: str) -> None: @@ -189,7 +211,7 @@ def _write(self, string: str) -> None: self.serialPortOrig.write(string.encode() + self.LINE_TERMINATOR) self.serialPortOrig.flush() - def _read(self, timeout: Optional[float]) -> Optional[str]: + def _read(self, timeout: float | None) -> str | None: _timeout = serial.Timeout(timeout) with error_check("Could not read from serial device"): @@ -228,16 +250,16 @@ def open(self) -> None: def close(self) -> None: self._write("C") - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: canId = None remote = False extended = False data = None + isFd = False + fdBrs = False if self._queue.qsize(): - string: Optional[str] = self._queue.get_nowait() + string: str | None = self._queue.get_nowait() else: string = self._read(timeout) @@ -268,6 +290,34 @@ def _recv_internal( dlc = int(string[9]) extended = True remote = True + elif string[0] == "d": + # FD standard frame + canId = int(string[1:4], 16) + dlc = int(string[4], 16) + isFd = True + data = bytearray.fromhex(string[5 : 5 + CAN_FD_DLC[dlc] * 2]) + elif string[0] == "D": + # FD extended frame + canId = int(string[1:9], 16) + dlc = int(string[9], 16) + extended = True + isFd = True + data = bytearray.fromhex(string[10 : 10 + CAN_FD_DLC[dlc] * 2]) + elif string[0] == "b": + # FD with bitrate switch + canId = int(string[1:4], 16) + dlc = int(string[4], 16) + isFd = True + fdBrs = True + data = bytearray.fromhex(string[5 : 5 + CAN_FD_DLC[dlc] * 2]) + elif string[0] == "B": + # FD extended with bitrate switch + canId = int(string[1:9], 16) + dlc = int(string[9], 16) + extended = True + isFd = True + fdBrs = True + data = bytearray.fromhex(string[10 : 10 + CAN_FD_DLC[dlc] * 2]) if canId is not None: msg = Message( @@ -275,13 +325,15 @@ def _recv_internal( is_extended_id=extended, timestamp=time.time(), # Better than nothing... is_remote_frame=remote, - dlc=dlc, + is_fd=isFd, + bitrate_switch=fdBrs, + dlc=CAN_FD_DLC[dlc], data=data, ) return msg, False return None, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: if timeout != self.serialPortOrig.write_timeout: self.serialPortOrig.write_timeout = timeout if msg.is_remote_frame: @@ -289,6 +341,20 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: sendStr = f"R{msg.arbitration_id:08X}{msg.dlc:d}" else: sendStr = f"r{msg.arbitration_id:03X}{msg.dlc:d}" + elif msg.is_fd: + fd_dlc = len2dlc(msg.dlc) + if msg.bitrate_switch: + if msg.is_extended_id: + sendStr = f"B{msg.arbitration_id:08X}{fd_dlc:X}" + else: + sendStr = f"b{msg.arbitration_id:03X}{fd_dlc:X}" + sendStr += msg.data.hex().upper() + else: + if msg.is_extended_id: + sendStr = f"D{msg.arbitration_id:08X}{fd_dlc:X}" + else: + sendStr = f"d{msg.arbitration_id:03X}{fd_dlc:X}" + sendStr += msg.data.hex().upper() else: if msg.is_extended_id: sendStr = f"T{msg.arbitration_id:08X}{msg.dlc:d}" @@ -305,7 +371,7 @@ def shutdown(self) -> None: def fileno(self) -> int: try: - return cast(int, self.serialPortOrig.fileno()) + return cast("int", self.serialPortOrig.fileno()) except io.UnsupportedOperation: raise NotImplementedError( "fileno is not implemented using current CAN bus on this platform" @@ -313,9 +379,7 @@ def fileno(self) -> int: except Exception as exception: raise CanOperationError("Cannot fetch fileno") from exception - def get_version( - self, timeout: Optional[float] - ) -> Tuple[Optional[int], Optional[int]]: + def get_version(self, timeout: float | None) -> tuple[int | None, int | None]: """Get HW and SW version of the slcan interface. :param timeout: @@ -343,7 +407,7 @@ def get_version( break return None, None - def get_serial_number(self, timeout: Optional[float]) -> Optional[str]: + def get_serial_number(self, timeout: float | None) -> str | None: """Get serial number of the slcan interface. :param timeout: diff --git a/can/interfaces/socketcan/constants.py b/can/interfaces/socketcan/constants.py index 3144a2cfa..941d52573 100644 --- a/can/interfaces/socketcan/constants.py +++ b/can/interfaces/socketcan/constants.py @@ -53,8 +53,18 @@ SIOCGSTAMP = 0x8906 EXTFLG = 0x0004 -CANFD_BRS = 0x01 -CANFD_ESI = 0x02 +CANFD_BRS = 0x01 # bit rate switch (second bitrate for payload data) +CANFD_ESI = 0x02 # error state indicator of the transmitting node +CANFD_FDF = 0x04 # mark CAN FD for dual use of struct canfd_frame + +# CAN payload length and DLC definitions according to ISO 11898-1 +CAN_MAX_DLC = 8 +CAN_MAX_RAW_DLC = 15 +CAN_MAX_DLEN = 8 + +# CAN FD payload length and DLC definitions according to ISO 11898-7 +CANFD_MAX_DLC = 15 +CANFD_MAX_DLEN = 64 CANFD_MTU = 72 diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py index 40da0d094..6dc856cbf 100644 --- a/can/interfaces/socketcan/socketcan.py +++ b/can/interfaces/socketcan/socketcan.py @@ -15,7 +15,7 @@ import threading import time import warnings -from typing import Callable, Dict, List, Optional, Sequence, Tuple, Type, Union +from collections.abc import Callable, Sequence import can from can import BusABC, CanProtocol, Message @@ -50,14 +50,12 @@ # Setup BCM struct def bcm_header_factory( - fields: List[Tuple[str, Union[Type[ctypes.c_uint32], Type[ctypes.c_long]]]], + fields: list[tuple[str, type[ctypes.c_uint32] | type[ctypes.c_long]]], alignment: int = 8, ): curr_stride = 0 - results: List[ - Tuple[ - str, Union[Type[ctypes.c_uint8], Type[ctypes.c_uint32], Type[ctypes.c_long]] - ] + results: list[ + tuple[str, type[ctypes.c_uint8] | type[ctypes.c_uint32] | type[ctypes.c_long]] ] = [] pad_index = 0 for field in fields: @@ -139,23 +137,68 @@ def bcm_header_factory( # The 32bit can id is directly followed by the 8bit data link count # The data field is aligned on an 8 byte boundary, hence we add padding # which aligns the data field to an 8 byte boundary. -CAN_FRAME_HEADER_STRUCT = struct.Struct("=IBB2x") +CAN_FRAME_HEADER_STRUCT = struct.Struct("=IBB1xB") def build_can_frame(msg: Message) -> bytes: """CAN frame packing/unpacking (see 'struct can_frame' in ) /** - * struct can_frame - basic CAN frame structure - * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above. - * @can_dlc: the data length field of the CAN frame - * @data: the CAN frame payload. - */ + * struct can_frame - Classical CAN frame structure (aka CAN 2.0B) + * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition + * @len: CAN frame payload length in byte (0 .. 8) + * @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8) + * @__pad: padding + * @__res0: reserved / padding + * @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length + * len8_dlc contains values from 9 .. 15 when the payload length is + * 8 bytes but the DLC value (see ISO 11898-1) is greater then 8. + * CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver. + * @data: CAN frame payload (up to 8 byte) + */ struct can_frame { canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ - __u8 can_dlc; /* data length code: 0 .. 8 */ - __u8 data[8] __attribute__((aligned(8))); + union { + /* CAN frame payload length in byte (0 .. CAN_MAX_DLEN) + * was previously named can_dlc so we need to carry that + * name for legacy support + */ + __u8 len; + __u8 can_dlc; /* deprecated */ + } __attribute__((packed)); /* disable padding added in some ABIs */ + __u8 __pad; /* padding */ + __u8 __res0; /* reserved / padding */ + __u8 len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */ + __u8 data[CAN_MAX_DLEN] __attribute__((aligned(8))); }; + /* + * defined bits for canfd_frame.flags + * + * The use of struct canfd_frame implies the FD Frame (FDF) bit to + * be set in the CAN frame bitstream on the wire. The FDF bit switch turns + * the CAN controllers bitstream processor into the CAN FD mode which creates + * two new options within the CAN FD frame specification: + * + * Bit Rate Switch - to indicate a second bitrate is/was used for the payload + * Error State Indicator - represents the error state of the transmitting node + * + * As the CANFD_ESI bit is internally generated by the transmitting CAN + * controller only the CANFD_BRS bit is relevant for real CAN controllers when + * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make + * sense for virtual CAN interfaces to test applications with echoed frames. + * + * The struct can_frame and struct canfd_frame intentionally share the same + * layout to be able to write CAN frame content into a CAN FD frame structure. + * When this is done the former differentiation via CAN_MTU / CANFD_MTU gets + * lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of + * using struct canfd_frame for mixed CAN / CAN FD content (dual use). + * Since the introduction of CAN XL the CANFD_FDF flag is set in all CAN FD + * frame structures provided by the CAN subsystem of the Linux kernel. + */ + #define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */ + #define CANFD_ESI 0x02 /* error state indicator of the transmitting node */ + #define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */ + /** * struct canfd_frame - CAN flexible data rate frame structure * @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition @@ -175,14 +218,30 @@ def build_can_frame(msg: Message) -> bytes: }; """ can_id = _compose_arbitration_id(msg) + flags = 0 + + # The socketcan code identify the received FD frame by the packet length. + # So, padding to the data length is performed according to the message type (Classic / FD) + if msg.is_fd: + flags |= constants.CANFD_FDF + max_len = constants.CANFD_MAX_DLEN + else: + max_len = constants.CAN_MAX_DLEN + if msg.bitrate_switch: flags |= constants.CANFD_BRS if msg.error_state_indicator: flags |= constants.CANFD_ESI - max_len = 64 if msg.is_fd else 8 + data = bytes(msg.data).ljust(max_len, b"\x00") - return CAN_FRAME_HEADER_STRUCT.pack(can_id, msg.dlc, flags) + data + + if msg.is_remote_frame: + data_len = msg.dlc + else: + data_len = min(i for i in can.util.CAN_FD_DLC if i >= len(msg.data)) + header = CAN_FRAME_HEADER_STRUCT.pack(can_id, data_len, flags, msg.dlc) + return header + data def build_bcm_header( @@ -231,7 +290,7 @@ def build_bcm_transmit_header( # Note `TX_COUNTEVT` creates the message TX_EXPIRED when count expires flags |= constants.TX_COUNTEVT - def split_time(value: float) -> Tuple[int, int]: + def split_time(value: float) -> tuple[int, int]: """Given seconds as a float, return whole seconds and microseconds""" seconds = int(value) microseconds = int(1e6 * (value - seconds)) @@ -259,12 +318,31 @@ def build_bcm_update_header(can_id: int, msg_flags: int, nframes: int = 1) -> by ) -def dissect_can_frame(frame: bytes) -> Tuple[int, int, int, bytes]: - can_id, can_dlc, flags = CAN_FRAME_HEADER_STRUCT.unpack_from(frame) - if len(frame) != constants.CANFD_MTU: +def is_frame_fd(frame: bytes): + # According to the SocketCAN implementation the frame length + # should indicate if the message is FD or not (not the flag value) + return len(frame) == constants.CANFD_MTU + + +def dissect_can_frame(frame: bytes) -> tuple[int, int, int, bytes]: + can_id, data_len, flags, len8_dlc = CAN_FRAME_HEADER_STRUCT.unpack_from(frame) + + if data_len not in can.util.CAN_FD_DLC: + data_len = min(i for i in can.util.CAN_FD_DLC if i >= data_len) + + can_dlc = data_len + + if not is_frame_fd(frame): # Flags not valid in non-FD frames flags = 0 - return can_id, can_dlc, flags, frame[8 : 8 + can_dlc] + + if ( + data_len == constants.CAN_MAX_DLEN + and constants.CAN_MAX_DLEN < len8_dlc <= constants.CAN_MAX_RAW_DLC + ): + can_dlc = len8_dlc + + return can_id, can_dlc, flags, frame[8 : 8 + data_len] def create_bcm_socket(channel: str) -> socket.socket: @@ -324,9 +402,9 @@ def __init__( self, bcm_socket: socket.socket, task_id: int, - messages: Union[Sequence[Message], Message], + messages: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, ) -> None: """Construct and :meth:`~start` a task. @@ -426,7 +504,7 @@ def stop(self) -> None: stopframe = build_bcm_tx_delete_header(self.task_id, self.flags) send_bcm(self.bcm_socket, stopframe) - def modify_data(self, messages: Union[Sequence[Message], Message]) -> None: + def modify_data(self, messages: Sequence[Message] | Message) -> None: """Update the contents of the periodically sent CAN messages by sending TX_SETUP message to Linux kernel. @@ -524,9 +602,7 @@ def bind_socket(sock: socket.socket, channel: str = "can0") -> None: log.debug("Bound socket.") -def capture_message( - sock: socket.socket, get_channel: bool = False -) -> Optional[Message]: +def capture_message(sock: socket.socket, get_channel: bool = False) -> Message | None: """ Captures a message from given socket. @@ -621,7 +697,7 @@ def __init__( receive_own_messages: bool = False, local_loopback: bool = True, fd: bool = False, - can_filters: Optional[CanFilters] = None, + can_filters: CanFilters | None = None, ignore_rx_error_frames=False, **kwargs, ) -> None: @@ -659,7 +735,7 @@ def __init__( self.socket = create_socket() self.channel = channel self.channel_info = f"socketcan channel '{channel}'" - self._bcm_sockets: Dict[str, socket.socket] = {} + self._bcm_sockets: dict[str, socket.socket] = {} self._is_filtered = False self._task_id = 0 self._task_id_guard = threading.Lock() @@ -737,9 +813,7 @@ def shutdown(self) -> None: log.debug("Closing raw can socket") self.socket.close() - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: try: # get all sockets that are ready (can be a list with a single value # being self.socket or an empty list if self.socket is not ready) @@ -761,7 +835,7 @@ def _recv_internal( # socket wasn't readable or timeout occurred return None, self._is_filtered - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: """Transmit a message to the CAN bus. :param msg: A message object. @@ -799,7 +873,7 @@ def send(self, msg: Message, timeout: Optional[float] = None) -> None: raise can.CanOperationError("Transmit buffer full") - def _send_once(self, data: bytes, channel: Optional[str] = None) -> int: + def _send_once(self, data: bytes, channel: str | None = None) -> int: try: if self.channel == "" and channel: # Message must be addressed to a specific channel @@ -814,11 +888,11 @@ def _send_once(self, data: bytes, channel: Optional[str] = None) -> int: def _send_periodic_internal( self, - msgs: Union[Sequence[Message], Message], + msgs: Sequence[Message] | Message, period: float, - duration: Optional[float] = None, + duration: float | None = None, autostart: bool = True, - modifier_callback: Optional[Callable[[Message], None]] = None, + modifier_callback: Callable[[Message], None] | None = None, ) -> can.broadcastmanager.CyclicSendTaskABC: """Start sending messages at a given period on this bus. @@ -893,7 +967,7 @@ def _get_bcm_socket(self, channel: str) -> socket.socket: self._bcm_sockets[channel] = create_bcm_socket(self.channel) return self._bcm_sockets[channel] - def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None: + def _apply_filters(self, filters: can.typechecking.CanFilters | None) -> None: try: self.socket.setsockopt( constants.SOL_CAN_RAW, constants.CAN_RAW_FILTER, pack_filters(filters) @@ -912,7 +986,7 @@ def fileno(self) -> int: return self.socket.fileno() @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: return [ {"interface": "socketcan", "channel": channel} for channel in find_available_interfaces() diff --git a/can/interfaces/socketcan/utils.py b/can/interfaces/socketcan/utils.py index 679c9cefc..0740f769d 100644 --- a/can/interfaces/socketcan/utils.py +++ b/can/interfaces/socketcan/utils.py @@ -9,7 +9,6 @@ import struct import subprocess import sys -from typing import List, Optional, cast from can import typechecking from can.interfaces.socketcan.constants import CAN_EFF_FLAG @@ -17,7 +16,7 @@ log = logging.getLogger(__name__) -def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes: +def pack_filters(can_filters: typechecking.CanFilters | None = None) -> bytes: if can_filters is None: # Pass all messages can_filters = [{"can_id": 0, "can_mask": 0}] @@ -28,7 +27,6 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes can_id = can_filter["can_id"] can_mask = can_filter["can_mask"] if "extended" in can_filter: - can_filter = cast(typechecking.CanFilterExtended, can_filter) # Match on either 11-bit OR 29-bit messages instead of both can_mask |= CAN_EFF_FLAG if can_filter["extended"]: @@ -39,7 +37,7 @@ def pack_filters(can_filters: Optional[typechecking.CanFilters] = None) -> bytes return struct.pack(can_filter_fmt, *filter_data) -def find_available_interfaces() -> List[str]: +def find_available_interfaces() -> list[str]: """Returns the names of all open can/vcan interfaces The function calls the ``ip link list`` command. If the lookup fails, an error @@ -73,7 +71,7 @@ def find_available_interfaces() -> List[str]: return interfaces -def error_code_to_str(code: Optional[int]) -> str: +def error_code_to_str(code: int | None) -> str: """ Converts a given error code (errno) to a useful and human readable string. diff --git a/can/interfaces/socketcand/socketcand.py b/can/interfaces/socketcand/socketcand.py index 7a2cc6fd0..d401102f7 100644 --- a/can/interfaces/socketcand/socketcand.py +++ b/can/interfaces/socketcand/socketcand.py @@ -17,7 +17,6 @@ import urllib.parse as urlparselib import xml.etree.ElementTree as ET from collections import deque -from typing import List import can @@ -27,7 +26,7 @@ DEFAULT_SOCKETCAND_DISCOVERY_PORT = 42000 -def detect_beacon(timeout_ms: int = 3100) -> List[can.typechecking.AutoDetectedConfig]: +def detect_beacon(timeout_ms: int = 3100) -> list[can.typechecking.AutoDetectedConfig]: """ Detects socketcand servers @@ -125,10 +124,11 @@ def detect_beacon(timeout_ms: int = 3100) -> List[can.typechecking.AutoDetectedC def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message: - if not ascii_msg.startswith("< frame ") or not ascii_msg.endswith(" >"): - log.warning(f"Could not parse ascii message: {ascii_msg}") + if not ascii_msg.endswith(" >"): + log.warning(f"Missing ending character in ascii message: {ascii_msg}") return None - else: + + if ascii_msg.startswith("< frame "): # frame_string = ascii_msg.removeprefix("< frame ").removesuffix(" >") frame_string = ascii_msg[8:-2] parts = frame_string.split(" ", 3) @@ -147,6 +147,31 @@ def convert_ascii_message_to_can_message(ascii_msg: str) -> can.Message: ) return can_message + if ascii_msg.startswith("< error "): + frame_string = ascii_msg[8:-2] + parts = frame_string.split(" ", 3) + can_id, timestamp = int(parts[0], 16), float(parts[1]) + is_ext = len(parts[0]) != 3 + + # socketcand sends no data in the error message so we don't have information + # about the error details, therefore the can frame is created with one + # data byte set to zero + data = bytearray([0]) + can_dlc = len(data) + can_message = can.Message( + timestamp=timestamp, + arbitration_id=can_id & 0x1FFFFFFF, + is_error_frame=True, + data=data, + dlc=can_dlc, + is_extended_id=True, + is_rx=True, + ) + return can_message + + log.warning(f"Could not parse ascii message: {ascii_msg}") + return None + def convert_can_message_to_ascii_message(can_message: can.Message) -> str: # Note: socketcan bus adds extended flag, remote_frame_flag & error_flag to id @@ -340,7 +365,7 @@ def shutdown(self): self.__socket.close() @staticmethod - def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]: + def _detect_available_configs() -> list[can.typechecking.AutoDetectedConfig]: try: return detect_beacon() except Exception as e: diff --git a/can/interfaces/systec/exceptions.py b/can/interfaces/systec/exceptions.py index dcd94bdbf..8768b412a 100644 --- a/can/interfaces/systec/exceptions.py +++ b/can/interfaces/systec/exceptions.py @@ -1,5 +1,4 @@ from abc import ABC, abstractmethod -from typing import Dict from can import CanError @@ -22,7 +21,7 @@ def __init__(self, result, func, arguments): @property @abstractmethod - def _error_message_mapping(self) -> Dict[ReturnCode, str]: ... + def _error_message_mapping(self) -> dict[ReturnCode, str]: ... class UcanError(UcanException): @@ -51,7 +50,7 @@ class UcanError(UcanException): } @property - def _error_message_mapping(self) -> Dict[ReturnCode, str]: + def _error_message_mapping(self) -> dict[ReturnCode, str]: return UcanError._ERROR_MESSAGES @@ -77,7 +76,7 @@ class UcanCmdError(UcanException): } @property - def _error_message_mapping(self) -> Dict[ReturnCode, str]: + def _error_message_mapping(self) -> dict[ReturnCode, str]: return UcanCmdError._ERROR_MESSAGES @@ -102,5 +101,5 @@ class UcanWarning(UcanException): } @property - def _error_message_mapping(self) -> Dict[ReturnCode, str]: + def _error_message_mapping(self) -> dict[ReturnCode, str]: return UcanWarning._ERROR_MESSAGES diff --git a/can/interfaces/systec/structures.py b/can/interfaces/systec/structures.py index c80f21d44..a50ac4c26 100644 --- a/can/interfaces/systec/structures.py +++ b/can/interfaces/systec/structures.py @@ -51,6 +51,7 @@ class CanMsg(Structure): DWORD, ), # Receive time stamp in ms (for transmit messages no meaning) ] + __hash__ = Structure.__hash__ def __init__( self, id_=0, frame_format=MsgFrameFormat.MSG_FF_STD, data=None, dlc=None @@ -116,6 +117,7 @@ class Status(Structure): ("m_wCanStatus", WORD), # CAN error status (see enum :class:`CanStatus`) ("m_wUsbStatus", WORD), # USB error status (see enum :class:`UsbStatus`) ] + __hash__ = Structure.__hash__ def __eq__(self, other): if not isinstance(other, Status): @@ -171,6 +173,7 @@ class InitCanParam(Structure): WORD, ), # number of transmit buffer entries (default is 4096) ] + __hash__ = Structure.__hash__ def __init__( self, mode, BTR, OCR, AMR, ACR, baudrate, rx_buffer_entries, tx_buffer_entries @@ -277,6 +280,7 @@ class HardwareInfoEx(Structure): ("m_dwUniqueId3", DWORD), ("m_dwFlags", DWORD), # additional flags ] + __hash__ = Structure.__hash__ def __init__(self): super().__init__(sizeof(HardwareInfoEx)) @@ -389,6 +393,7 @@ class ChannelInfo(Structure): WORD, ), # CAN status (same as received by method :meth:`UcanServer.get_status`) ] + __hash__ = Structure.__hash__ def __init__(self): super().__init__(sizeof(ChannelInfo)) diff --git a/can/interfaces/udp_multicast/bus.py b/can/interfaces/udp_multicast/bus.py index dd114278c..87a0800fa 100644 --- a/can/interfaces/udp_multicast/bus.py +++ b/can/interfaces/udp_multicast/bus.py @@ -1,34 +1,30 @@ import errno import logging +import platform import select import socket import struct import time import warnings -from typing import List, Optional, Tuple, Union +from typing import Any import can -from can import BusABC, CanProtocol +from can import BusABC, CanProtocol, Message from can.typechecking import AutoDetectedConfig -from .utils import check_msgpack_installed, pack_message, unpack_message +from .utils import is_msgpack_installed, pack_message, unpack_message -ioctl_supported = True - -try: +is_linux = platform.system() == "Linux" +if is_linux: from fcntl import ioctl -except ModuleNotFoundError: # Missing on Windows - ioctl_supported = False - pass - log = logging.getLogger(__name__) # see socket.getaddrinfo() -IPv4_ADDRESS_INFO = Tuple[str, int] # address, port -IPv6_ADDRESS_INFO = Tuple[str, int, int, int] # address, port, flowinfo, scope_id -IP_ADDRESS_INFO = Union[IPv4_ADDRESS_INFO, IPv6_ADDRESS_INFO] +IPv4_ADDRESS_INFO = tuple[str, int] # address, port +IPv6_ADDRESS_INFO = tuple[str, int, int, int] # address, port, flowinfo, scope_id +IP_ADDRESS_INFO = IPv4_ADDRESS_INFO | IPv6_ADDRESS_INFO # Additional constants for the interaction with Unix kernels SO_TIMESTAMPNS = 35 @@ -102,9 +98,9 @@ def __init__( hop_limit: int = 1, receive_own_messages: bool = False, fd: bool = True, - **kwargs, + **kwargs: Any, ) -> None: - check_msgpack_installed() + is_msgpack_installed() if receive_own_messages: raise can.CanInterfaceNotImplementedError( @@ -130,7 +126,7 @@ def is_fd(self) -> bool: ) return self._can_protocol is CanProtocol.CAN_FD - def _recv_internal(self, timeout: Optional[float]): + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: result = self._multicast.recv(timeout) if not result: return None, False @@ -150,7 +146,7 @@ def _recv_internal(self, timeout: Optional[float]): return can_message, False - def send(self, msg: can.Message, timeout: Optional[float] = None) -> None: + def send(self, msg: can.Message, timeout: float | None = None) -> None: if self._can_protocol is not CanProtocol.CAN_FD and msg.is_fd: raise can.CanOperationError( "cannot send FD message over bus with CAN FD disabled" @@ -172,7 +168,7 @@ def shutdown(self) -> None: self._multicast.shutdown() @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: if hasattr(socket, "CMSG_SPACE"): return [ { @@ -208,7 +204,7 @@ def __init__( # Look up multicast group address in name server and find out IP version of the first suitable target # and then get the address family of it (socket.AF_INET or socket.AF_INET6) - connection_candidates = socket.getaddrinfo( # type: ignore + connection_candidates = socket.getaddrinfo( group, self.port, type=socket.SOCK_DGRAM ) sock = None @@ -244,7 +240,7 @@ def __init__( # used by send() self._send_destination = (self.group, self.port) - self._last_send_timeout: Optional[float] = None + self._last_send_timeout: float | None = None def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: """Creates a new socket. This might fail and raise an exception! @@ -275,6 +271,10 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: # Allow multiple programs to access that address + port sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + # Option not supported on Windows. + if hasattr(socket, "SO_REUSEPORT"): + sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1) + # set how to receive timestamps try: sock.setsockopt(socket.SOL_SOCKET, SO_TIMESTAMPNS, 1) @@ -317,7 +317,7 @@ def _create_socket(self, address_family: socket.AddressFamily) -> socket.socket: "could not create or configure socket" ) from error - def send(self, data: bytes, timeout: Optional[float] = None) -> None: + def send(self, data: bytes, timeout: float | None = None) -> None: """Send data to all group members. This call blocks. :param timeout: the timeout in seconds after which an Exception is raised is sending has failed @@ -340,8 +340,8 @@ def send(self, data: bytes, timeout: Optional[float] = None) -> None: raise can.CanOperationError("failed to send via socket") from error def recv( - self, timeout: Optional[float] = None - ) -> Optional[Tuple[bytes, IP_ADDRESS_INFO, float]]: + self, timeout: float | None = None + ) -> tuple[bytes, IP_ADDRESS_INFO, float] | None: """ Receive up to **max_buffer** bytes. @@ -401,7 +401,8 @@ def recv( self.max_buffer ) - if ioctl_supported: + if is_linux: + # This ioctl isn't supported on Darwin & Windows. result_buffer = ioctl( self._socket.fileno(), SIOCGSTAMP, diff --git a/can/interfaces/udp_multicast/utils.py b/can/interfaces/udp_multicast/utils.py index 35a0df185..1e1d62c23 100644 --- a/can/interfaces/udp_multicast/utils.py +++ b/can/interfaces/udp_multicast/utils.py @@ -2,7 +2,7 @@ Defines common functions. """ -from typing import Any, Dict, Optional +from typing import Any, cast from can import CanInterfaceNotImplementedError, Message from can.typechecking import ReadableBytesLike @@ -13,10 +13,22 @@ msgpack = None -def check_msgpack_installed() -> None: - """Raises a :class:`can.CanInterfaceNotImplementedError` if `msgpack` is not installed.""" +def is_msgpack_installed(raise_exception: bool = True) -> bool: + """Check whether the ``msgpack`` module is installed. + + :param raise_exception: + If True, raise a :class:`can.CanInterfaceNotImplementedError` when ``msgpack`` is not installed. + If False, return False instead. + :return: + True if ``msgpack`` is installed, False otherwise. + :raises can.CanInterfaceNotImplementedError: + If ``msgpack`` is not installed and ``raise_exception`` is True. + """ if msgpack is None: - raise CanInterfaceNotImplementedError("msgpack not installed") + if raise_exception: + raise CanInterfaceNotImplementedError("msgpack not installed") + return False + return True def pack_message(message: Message) -> bytes: @@ -25,7 +37,7 @@ def pack_message(message: Message) -> bytes: :param message: the message to be packed """ - check_msgpack_installed() + is_msgpack_installed() as_dict = { "timestamp": message.timestamp, "arbitration_id": message.arbitration_id, @@ -39,12 +51,12 @@ def pack_message(message: Message) -> bytes: "bitrate_switch": message.bitrate_switch, "error_state_indicator": message.error_state_indicator, } - return msgpack.packb(as_dict, use_bin_type=True) + return cast("bytes", msgpack.packb(as_dict, use_bin_type=True)) def unpack_message( data: ReadableBytesLike, - replace: Optional[Dict[str, Any]] = None, + replace: dict[str, Any] | None = None, check: bool = False, ) -> Message: """Unpack a can.Message from a msgpack byte blob. @@ -58,7 +70,7 @@ def unpack_message( :raise ValueError: if `check` is true and the message metadata is invalid in some way :raise Exception: if there was another problem while unpacking """ - check_msgpack_installed() + is_msgpack_installed() as_dict = msgpack.unpackb(data, raw=False) if replace is not None: as_dict.update(replace) diff --git a/can/interfaces/usb2can/__init__.py b/can/interfaces/usb2can/__init__.py index a2b587842..f818130ee 100644 --- a/can/interfaces/usb2can/__init__.py +++ b/can/interfaces/usb2can/__init__.py @@ -1,12 +1,11 @@ -""" -""" +""" """ __all__ = [ "Usb2CanAbstractionLayer", "Usb2canBus", "serial_selector", - "usb2canabstractionlayer", "usb2canInterface", + "usb2canabstractionlayer", ] from .usb2canabstractionlayer import Usb2CanAbstractionLayer diff --git a/can/interfaces/usb2can/serial_selector.py b/can/interfaces/usb2can/serial_selector.py index 92a3a07a2..18ad3f873 100644 --- a/can/interfaces/usb2can/serial_selector.py +++ b/can/interfaces/usb2can/serial_selector.py @@ -1,12 +1,11 @@ -""" -""" +""" """ import logging -from typing import List log = logging.getLogger("can.usb2can") try: + import pythoncom import win32com.client except ImportError: log.warning( @@ -44,7 +43,7 @@ def WMIDateStringToDate(dtmDate) -> str: return strDateTime -def find_serial_devices(serial_matcher: str = "") -> List[str]: +def find_serial_devices(serial_matcher: str = "") -> list[str]: """ Finds a list of USB devices where the serial number (partially) matches the given string. @@ -52,6 +51,7 @@ def find_serial_devices(serial_matcher: str = "") -> List[str]: only device IDs starting with this string are returned """ serial_numbers = [] + pythoncom.CoInitialize() wmi = win32com.client.GetObject("winmgmts:") for usb_controller in wmi.InstancesOf("Win32_USBControllerDevice"): usb_device = wmi.Get(usb_controller.Dependent) diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py index adc16e8b3..66c171f4d 100644 --- a/can/interfaces/usb2can/usb2canInterface.py +++ b/can/interfaces/usb2can/usb2canInterface.py @@ -4,7 +4,6 @@ import logging from ctypes import byref -from typing import Optional, Union from can import ( BitTiming, @@ -110,12 +109,12 @@ class Usb2canBus(BusABC): def __init__( self, - channel: Optional[str] = None, + channel: str | None = None, dll: str = "usb2can.dll", flags: int = 0x00000008, bitrate: int = 500000, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - serial: Optional[str] = None, + timing: BitTiming | BitTimingFd | None = None, + serial: str | None = None, **kwargs, ): self.can = Usb2CanAbstractionLayer(dll) @@ -207,7 +206,7 @@ def _detect_available_configs(): return Usb2canBus.detect_available_configs() @staticmethod - def detect_available_configs(serial_matcher: Optional[str] = None): + def detect_available_configs(serial_matcher: str | None = None): """ Uses the *Windows Management Instrumentation* to identify serial devices. diff --git a/can/interfaces/vector/__init__.py b/can/interfaces/vector/__init__.py index 3a5b13a1f..e78783f1f 100644 --- a/can/interfaces/vector/__init__.py +++ b/can/interfaces/vector/__init__.py @@ -1,5 +1,4 @@ -""" -""" +""" """ __all__ = [ "VectorBus", diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py index d307d076f..8bdd77b83 100644 --- a/can/interfaces/vector/canlib.py +++ b/can/interfaces/vector/canlib.py @@ -10,18 +10,11 @@ import os import time import warnings +from collections.abc import Callable, Iterator, Sequence from types import ModuleType from typing import ( Any, - Callable, - Dict, - Iterator, - List, NamedTuple, - Optional, - Sequence, - Tuple, - Union, cast, ) @@ -49,14 +42,14 @@ LOG = logging.getLogger(__name__) # Import safely Vector API module for Travis tests -xldriver: Optional[ModuleType] = None +xldriver: ModuleType | None = None try: from . import xldriver except FileNotFoundError as exc: LOG.warning("Could not import vxlapi: %s", exc) -WaitForSingleObject: Optional[Callable[[int, int], int]] -INFINITE: Optional[int] +WaitForSingleObject: Callable[[int, int], int] | None +INFINITE: int | None try: # Try builtin Python 3 Windows API from _winapi import ( # type: ignore[attr-defined,no-redef,unused-ignore] @@ -87,24 +80,24 @@ class VectorBus(BusABC): ) def __init__( self, - channel: Union[int, Sequence[int], str], - can_filters: Optional[CanFilters] = None, + channel: int | Sequence[int] | str, + can_filters: CanFilters | None = None, poll_interval: float = 0.01, receive_own_messages: bool = False, - timing: Optional[Union[BitTiming, BitTimingFd]] = None, - bitrate: Optional[int] = None, + timing: BitTiming | BitTimingFd | None = None, + bitrate: int | None = None, rx_queue_size: int = 2**14, - app_name: Optional[str] = "CANalyzer", - serial: Optional[int] = None, + app_name: str | None = "CANalyzer", + serial: int | None = None, fd: bool = False, - data_bitrate: Optional[int] = None, + data_bitrate: int | None = None, sjw_abr: int = 2, tseg1_abr: int = 6, tseg2_abr: int = 3, sjw_dbr: int = 2, tseg1_dbr: int = 6, tseg2_dbr: int = 3, - listen_only: Optional[bool] = False, + listen_only: bool | None = False, **kwargs: Any, ) -> None: """ @@ -204,8 +197,8 @@ def __init__( is_fd = isinstance(timing, BitTimingFd) if timing else fd self.mask = 0 - self.channel_masks: Dict[int, int] = {} - self.index_to_channel: Dict[int, int] = {} + self.channel_masks: dict[int, int] = {} + self.index_to_channel: dict[int, int] = {} self._can_protocol = CanProtocol.CAN_FD if is_fd else CanProtocol.CAN_20 self._listen_only = listen_only @@ -220,7 +213,7 @@ def __init__( # at the same time. If the VectorBus is instantiated with a config, that was returned from # VectorBus._detect_available_configs(), then use the contained global channel_index # to avoid any ambiguities. - channel_index = cast(int, _channel_index) + channel_index = cast("int", _channel_index) else: channel_index = self._find_global_channel_idx( channel=channel, @@ -381,9 +374,9 @@ def fd(self) -> bool: def _find_global_channel_idx( self, channel: int, - serial: Optional[int], - app_name: Optional[str], - channel_configs: List["VectorChannelConfig"], + serial: int | None, + app_name: str | None, + channel_configs: list["VectorChannelConfig"], ) -> int: if serial is not None: serial_found = False @@ -410,7 +403,7 @@ def _find_global_channel_idx( app_name, channel ) idx = cast( - int, self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) + "int", self.xldriver.xlGetChannelIndex(hw_type, hw_index, hw_channel) ) if idx < 0: # Undocumented behavior! See issue #353. @@ -439,7 +432,7 @@ def _has_init_access(self, channel: int) -> bool: return bool(self.permission_mask & self.channel_masks[channel]) def _read_bus_params( - self, channel_index: int, vcc_list: List["VectorChannelConfig"] + self, channel_index: int, vcc_list: list["VectorChannelConfig"] ) -> "VectorBusParams": for vcc in vcc_list: if vcc.channel_index == channel_index: @@ -569,10 +562,10 @@ def _check_can_settings( self, channel_mask: int, bitrate: int, - sample_point: Optional[float] = None, + sample_point: float | None = None, fd: bool = False, - data_bitrate: Optional[int] = None, - data_sample_point: Optional[float] = None, + data_bitrate: int | None = None, + data_sample_point: float | None = None, ) -> None: """Compare requested CAN settings to active settings in driver.""" vcc_list = get_channel_configs() @@ -660,7 +653,7 @@ def _check_can_settings( f"These are the currently active settings: {settings_string}." ) - def _apply_filters(self, filters: Optional[CanFilters]) -> None: + def _apply_filters(self, filters: CanFilters | None) -> None: if filters: # Only up to one filter per ID type allowed if len(filters) == 1 or ( @@ -710,9 +703,7 @@ def _apply_filters(self, filters: Optional[CanFilters]) -> None: except VectorOperationError as exc: LOG.warning("Could not reset filters: %s", exc) - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: end_time = time.time() + timeout if timeout is not None else None while True: @@ -745,7 +736,7 @@ def _recv_internal( # Wait a short time until we try again time.sleep(self.poll_interval) - def _recv_canfd(self) -> Optional[Message]: + def _recv_canfd(self) -> Message | None: xl_can_rx_event = xlclass.XLcanRxEvent() self.xldriver.xlCanReceive(self.port_handle, xl_can_rx_event) @@ -790,7 +781,7 @@ def _recv_canfd(self) -> Optional[Message]: data=data_struct.data[:dlc], ) - def _recv_can(self) -> Optional[Message]: + def _recv_can(self) -> Message | None: xl_event = xlclass.XLevent() event_count = ctypes.c_uint(1) self.xldriver.xlReceive(self.port_handle, event_count, xl_event) @@ -846,7 +837,7 @@ def handle_canfd_event(self, event: xlclass.XLcanRxEvent) -> None: `XL_CAN_EV_TAG_TX_ERROR`, `XL_TIMER` or `XL_CAN_EV_TAG_CHIP_STATE` tag. """ - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: self._send_sequence([msg]) def _send_sequence(self, msgs: Sequence[Message]) -> int: @@ -986,8 +977,8 @@ def reset(self) -> None: ) @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: - configs = [] + def _detect_available_configs() -> Sequence["AutoDetectedVectorConfig"]: + configs: list[AutoDetectedVectorConfig] = [] channel_configs = get_channel_configs() LOG.info("Found %d channels", len(channel_configs)) for channel_config in channel_configs: @@ -1003,16 +994,13 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: ) configs.append( { - # data for use in VectorBus.__init__(): "interface": "vector", "channel": channel_config.hw_channel, "serial": channel_config.serial_number, "channel_index": channel_config.channel_index, - # data for use in VectorBus.set_application_config(): "hw_type": channel_config.hw_type, "hw_index": channel_config.hw_index, "hw_channel": channel_config.hw_channel, - # additional information: "supports_fd": bool( channel_config.channel_capabilities & xldefine.XL_ChannelCapabilities.XL_CHANNEL_FLAG_CANFD_ISO_SUPPORT @@ -1020,7 +1008,7 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: "vector_channel_config": channel_config, } ) - return configs # type: ignore + return configs @staticmethod def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @@ -1037,7 +1025,7 @@ def popup_vector_hw_configuration(wait_for_finish: int = 0) -> None: @staticmethod def get_application_config( app_name: str, app_channel: int - ) -> Tuple[Union[int, xldefine.XL_HardwareType], int, int]: + ) -> tuple[int | xldefine.XL_HardwareType, int, int]: """Retrieve information for an application in Vector Hardware Configuration. :param app_name: @@ -1083,7 +1071,7 @@ def get_application_config( def set_application_config( app_name: str, app_channel: int, - hw_type: Union[int, xldefine.XL_HardwareType], + hw_type: int | xldefine.XL_HardwareType, hw_index: int, hw_channel: int, **kwargs: Any, @@ -1177,7 +1165,7 @@ class VectorChannelConfig(NamedTuple): """NamedTuple which contains the channel properties from Vector XL API.""" name: str - hw_type: Union[int, xldefine.XL_HardwareType] + hw_type: int | xldefine.XL_HardwareType hw_index: int hw_channel: int channel_index: int @@ -1186,12 +1174,25 @@ class VectorChannelConfig(NamedTuple): channel_bus_capabilities: xldefine.XL_BusCapabilities is_on_bus: bool connected_bus_type: xldefine.XL_BusTypes - bus_params: Optional[VectorBusParams] + bus_params: VectorBusParams | None serial_number: int article_number: int transceiver_name: str +class AutoDetectedVectorConfig(AutoDetectedConfig): + # data for use in VectorBus.__init__(): + serial: int + channel_index: int + # data for use in VectorBus.set_application_config(): + hw_type: int + hw_index: int + hw_channel: int + # additional information: + supports_fd: bool + vector_channel_config: VectorChannelConfig + + def _get_xl_driver_config() -> xlclass.XLdriverConfig: if xldriver is None: raise VectorError( @@ -1208,7 +1209,7 @@ def _get_xl_driver_config() -> xlclass.XLdriverConfig: def _read_bus_params_from_c_struct( bus_params: xlclass.XLbusParams, -) -> Optional[VectorBusParams]: +) -> VectorBusParams | None: bus_type = xldefine.XL_BusTypes(bus_params.busType) if bus_type is not xldefine.XL_BusTypes.XL_BUS_TYPE_CAN: return None @@ -1243,14 +1244,14 @@ def _read_bus_params_from_c_struct( ) -def get_channel_configs() -> List[VectorChannelConfig]: +def get_channel_configs() -> list[VectorChannelConfig]: """Read channel properties from Vector XL API.""" try: driver_config = _get_xl_driver_config() except VectorError: return [] - channel_list: List[VectorChannelConfig] = [] + channel_list: list[VectorChannelConfig] = [] for i in range(driver_config.channelCount): xlcc: xlclass.XLchannelConfig = driver_config.channel[i] vcc = VectorChannelConfig( @@ -1277,7 +1278,7 @@ def get_channel_configs() -> List[VectorChannelConfig]: return channel_list -def _hw_type(hw_type: int) -> Union[int, xldefine.XL_HardwareType]: +def _hw_type(hw_type: int) -> int | xldefine.XL_HardwareType: try: return xldefine.XL_HardwareType(hw_type) except ValueError: diff --git a/can/interfaces/vector/exceptions.py b/can/interfaces/vector/exceptions.py index 53c774e6f..779365893 100644 --- a/can/interfaces/vector/exceptions.py +++ b/can/interfaces/vector/exceptions.py @@ -1,10 +1,14 @@ """Exception/error declarations for the vector interface.""" +from typing import Any + from can import CanError, CanInitializationError, CanOperationError class VectorError(CanError): - def __init__(self, error_code, error_string, function): + def __init__( + self, error_code: int | None, error_string: str, function: str + ) -> None: super().__init__( message=f"{function} failed ({error_string})", error_code=error_code ) @@ -12,7 +16,7 @@ def __init__(self, error_code, error_string, function): # keep reference to args for pickling self._args = error_code, error_string, function - def __reduce__(self): + def __reduce__(self) -> str | tuple[Any, ...]: return type(self), self._args, {} diff --git a/can/interfaces/virtual.py b/can/interfaces/virtual.py index 62ad0cfe3..ba33a6ea8 100644 --- a/can/interfaces/virtual.py +++ b/can/interfaces/virtual.py @@ -12,23 +12,18 @@ from copy import deepcopy from random import randint from threading import RLock -from typing import TYPE_CHECKING, Any, Dict, List, Optional, Tuple +from typing import Any, Final from can import CanOperationError from can.bus import BusABC, CanProtocol from can.message import Message -from can.typechecking import AutoDetectedConfig +from can.typechecking import AutoDetectedConfig, Channel logger = logging.getLogger(__name__) - # Channels are lists of queues, one for each connection -if TYPE_CHECKING: - # https://mypy.readthedocs.io/en/stable/runtime_troubles.html#using-classes-that-are-generic-in-stubs-but-not-at-runtime - channels: Dict[Optional[Any], List[queue.Queue[Message]]] = {} -else: - channels = {} -channels_lock = RLock() +channels: Final[dict[Channel, list[queue.Queue[Message]]]] = {} +channels_lock: Final = RLock() class VirtualBus(BusABC): @@ -58,7 +53,7 @@ class VirtualBus(BusABC): def __init__( self, - channel: Any = None, + channel: Channel = "channel-0", receive_own_messages: bool = False, rx_queue_size: int = 0, preserve_timestamps: bool = False, @@ -71,9 +66,9 @@ def __init__( bus by virtual instances constructed with the same channel identifier. :param channel: The channel identifier. This parameter can be an - arbitrary value. The bus instance will be able to see messages - from other virtual bus instances that were created with the same - value. + arbitrary hashable value. The bus instance will be able to see + messages from other virtual bus instances that were created with + the same value. :param receive_own_messages: If set to True, sent messages will be reflected back on the input queue. :param rx_queue_size: The size of the reception queue. The reception @@ -123,9 +118,7 @@ def _check_if_open(self) -> None: if not self._open: raise CanOperationError("Cannot operate on a closed bus") - def _recv_internal( - self, timeout: Optional[float] - ) -> Tuple[Optional[Message], bool]: + def _recv_internal(self, timeout: float | None) -> tuple[Message | None, bool]: self._check_if_open() try: msg = self.queue.get(block=True, timeout=timeout) @@ -134,7 +127,7 @@ def _recv_internal( else: return msg, False - def send(self, msg: Message, timeout: Optional[float] = None) -> None: + def send(self, msg: Message, timeout: float | None = None) -> None: self._check_if_open() timestamp = msg.timestamp if self.preserve_timestamps else time.time() @@ -168,7 +161,7 @@ def shutdown(self) -> None: del channels[self.channel_id] @staticmethod - def _detect_available_configs() -> List[AutoDetectedConfig]: + def _detect_available_configs() -> list[AutoDetectedConfig]: """ Returns all currently used channels as well as one other currently unused channel. @@ -183,7 +176,7 @@ def _detect_available_configs() -> List[AutoDetectedConfig]: available_channels = list(channels.keys()) # find a currently unused channel - def get_extra(): + def get_extra() -> str: return f"channel-{randint(0, 9999)}" extra = get_extra() diff --git a/can/io/__init__.py b/can/io/__init__.py index 5601f2591..69894c3d0 100644 --- a/can/io/__init__.py +++ b/can/io/__init__.py @@ -4,22 +4,22 @@ """ __all__ = [ + "MESSAGE_READERS", + "MESSAGE_WRITERS", "ASCReader", "ASCWriter", - "BaseRotatingLogger", "BLFReader", "BLFWriter", - "CanutilsLogReader", - "CanutilsLogWriter", + "BaseRotatingLogger", "CSVReader", "CSVWriter", - "Logger", + "CanutilsLogReader", + "CanutilsLogWriter", "LogReader", - "MESSAGE_READERS", - "MESSAGE_WRITERS", - "MessageSync", + "Logger", "MF4Reader", "MF4Writer", + "MessageSync", "Printer", "SizedRotatingLogger", "SqliteReader", diff --git a/can/io/asc.py b/can/io/asc.py index deb7d429e..fcf8fc5e4 100644 --- a/can/io/asc.py +++ b/can/io/asc.py @@ -8,8 +8,9 @@ import logging import re +from collections.abc import Generator from datetime import datetime -from typing import Any, Dict, Final, Generator, Optional, TextIO, Union +from typing import Any, Final, TextIO from ..message import Message from ..typechecking import StringPathLike @@ -38,11 +39,9 @@ class ASCReader(TextIOMessageReader): bus statistics, J1939 Transport Protocol messages) is ignored. """ - file: TextIO - def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, base: str = "hex", relative_timestamp: bool = True, **kwargs: Any, @@ -65,10 +64,10 @@ def __init__( self.base = base self._converted_base = self._check_base(base) self.relative_timestamp = relative_timestamp - self.date: Optional[str] = None + self.date: str | None = None self.start_time = 0.0 # TODO - what is this used for? The ASC Writer only prints `absolute` - self.timestamps_format: Optional[str] = None + self.timestamps_format: str | None = None self.internal_events_logged = False def _extract_header(self) -> None: @@ -117,43 +116,52 @@ def _extract_header(self) -> None: @staticmethod def _datetime_to_timestamp(datetime_string: str) -> float: - # ugly locale independent solution month_map = { - "Jan": 1, - "Feb": 2, - "Mar": 3, - "Apr": 4, - "May": 5, - "Jun": 6, - "Jul": 7, - "Aug": 8, - "Sep": 9, - "Oct": 10, - "Nov": 11, - "Dec": 12, - "Mär": 3, - "Mai": 5, - "Okt": 10, - "Dez": 12, + "jan": 1, + "feb": 2, + "mar": 3, + "apr": 4, + "may": 5, + "jun": 6, + "jul": 7, + "aug": 8, + "sep": 9, + "oct": 10, + "nov": 11, + "dec": 12, + "mär": 3, + "mai": 5, + "okt": 10, + "dez": 12, } - for name, number in month_map.items(): - datetime_string = datetime_string.replace(name, str(number).zfill(2)) datetime_formats = ( "%m %d %I:%M:%S.%f %p %Y", "%m %d %I:%M:%S %p %Y", "%m %d %H:%M:%S.%f %Y", "%m %d %H:%M:%S %Y", + "%m %d %H:%M:%S.%f %p %Y", + "%m %d %H:%M:%S %p %Y", ) + + datetime_string_parts = datetime_string.split(" ", 1) + month = datetime_string_parts[0].strip().lower() + + try: + datetime_string_parts[0] = f"{month_map[month]:02d}" + except KeyError: + raise ValueError(f"Unsupported month abbreviation: {month}") from None + datetime_string = " ".join(datetime_string_parts) + for format_str in datetime_formats: try: return datetime.strptime(datetime_string, format_str).timestamp() except ValueError: continue - raise ValueError(f"Incompatible datetime string {datetime_string}") + raise ValueError(f"Unsupported datetime format: '{datetime_string}'") - def _extract_can_id(self, str_can_id: str, msg_kwargs: Dict[str, Any]) -> None: + def _extract_can_id(self, str_can_id: str, msg_kwargs: dict[str, Any]) -> None: if str_can_id[-1:].lower() == "x": msg_kwargs["is_extended_id"] = True can_id = int(str_can_id[0:-1], self._converted_base) @@ -169,7 +177,7 @@ def _check_base(base: str) -> int: return BASE_DEC if base == "dec" else BASE_HEX def _process_data_string( - self, data_str: str, data_length: int, msg_kwargs: Dict[str, Any] + self, data_str: str, data_length: int, msg_kwargs: dict[str, Any] ) -> None: frame = bytearray() data = data_str.split() @@ -178,7 +186,7 @@ def _process_data_string( msg_kwargs["data"] = frame def _process_classic_can_frame( - self, line: str, msg_kwargs: Dict[str, Any] + self, line: str, msg_kwargs: dict[str, Any] ) -> Message: # CAN error frame if line.strip()[0:10].lower() == "errorframe": @@ -213,7 +221,7 @@ def _process_classic_can_frame( return Message(**msg_kwargs) - def _process_fd_can_frame(self, line: str, msg_kwargs: Dict[str, Any]) -> Message: + def _process_fd_can_frame(self, line: str, msg_kwargs: dict[str, Any]) -> Message: channel, direction, rest_of_message = line.split(None, 2) # See ASCWriter msg_kwargs["channel"] = int(channel) - 1 @@ -285,7 +293,7 @@ def __iter__(self) -> Generator[Message, None, None]: # J1939 message or some other unsupported event continue - msg_kwargs: Dict[str, Union[float, bool, int]] = {} + msg_kwargs: dict[str, float | bool | int] = {} try: _timestamp, channel, rest_of_message = line.split(None, 2) timestamp = float(_timestamp) + self.start_time @@ -321,8 +329,6 @@ class ASCWriter(TextIOMessageWriter): It the first message does not have a timestamp, it is set to zero. """ - file: TextIO - FORMAT_MESSAGE = "{channel} {id:<15} {dir:<4} {dtype} {data}" FORMAT_MESSAGE_FD = " ".join( [ @@ -350,7 +356,7 @@ class ASCWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, channel: int = 1, **kwargs: Any, ) -> None: @@ -396,7 +402,7 @@ def stop(self) -> None: self.file.write("End TriggerBlock\n") super().stop() - def log_event(self, message: str, timestamp: Optional[float] = None) -> None: + def log_event(self, message: str, timestamp: float | None = None) -> None: """Add a message to the log file. :param message: an arbitrary message diff --git a/can/io/blf.py b/can/io/blf.py index 7d944a846..77bd02fae 100644 --- a/can/io/blf.py +++ b/can/io/blf.py @@ -17,14 +17,16 @@ import struct import time import zlib -from typing import Any, BinaryIO, Generator, List, Optional, Tuple, Union, cast +from collections.abc import Generator, Iterator +from decimal import Decimal +from typing import Any, BinaryIO, cast from ..message import Message from ..typechecking import StringPathLike from ..util import channel2int, dlc2len, len2dlc -from .generic import BinaryIOMessageReader, FileIOMessageWriter +from .generic import BinaryIOMessageReader, BinaryIOMessageWriter -TSystemTime = Tuple[int, int, int, int, int, int, int, int] +TSystemTime = tuple[int, int, int, int, int, int, int, int] class BLFParseError(Exception): @@ -98,8 +100,11 @@ class BLFParseError(Exception): TIME_TEN_MICS = 0x00000001 TIME_ONE_NANS = 0x00000002 +TIME_TEN_MICS_FACTOR = Decimal("1e-5") +TIME_ONE_NANS_FACTOR = Decimal("1e-9") -def timestamp_to_systemtime(timestamp: float) -> TSystemTime: + +def timestamp_to_systemtime(timestamp: float | None) -> TSystemTime: if timestamp is None or timestamp < 631152000: # Probably not a Unix timestamp return 0, 0, 0, 0, 0, 0, 0, 0 @@ -141,11 +146,9 @@ class BLFReader(BinaryIOMessageReader): silently ignored. """ - file: BinaryIO - def __init__( self, - file: Union[StringPathLike, BinaryIO], + file: StringPathLike | BinaryIO, **kwargs: Any, ) -> None: """ @@ -161,8 +164,12 @@ def __init__( self.file_size = header[10] self.uncompressed_size = header[11] self.object_count = header[12] - self.start_timestamp = systemtime_to_timestamp(cast(TSystemTime, header[14:22])) - self.stop_timestamp = systemtime_to_timestamp(cast(TSystemTime, header[22:30])) + self.start_timestamp = systemtime_to_timestamp( + cast("TSystemTime", header[14:22]) + ) + self.stop_timestamp = systemtime_to_timestamp( + cast("TSystemTime", header[22:30]) + ) # Read rest of header self.file.read(header[1] - FILE_HEADER_STRUCT.size) self._tail = b"" @@ -197,7 +204,7 @@ def __iter__(self) -> Generator[Message, None, None]: yield from self._parse_container(data) self.stop() - def _parse_container(self, data): + def _parse_container(self, data: bytes) -> Iterator[Message]: if self._tail: data = b"".join((self._tail, data)) try: @@ -208,7 +215,7 @@ def _parse_container(self, data): # Save the remaining data that could not be processed self._tail = data[self._pos :] - def _parse_data(self, data): + def _parse_data(self, data: bytes) -> Iterator[Message]: """Optimized inner loop by making local copies of global variables and class members and hardcoding some values.""" unpack_obj_header_base = OBJ_HEADER_BASE_STRUCT.unpack_from @@ -264,8 +271,8 @@ def _parse_data(self, data): continue # Calculate absolute timestamp in seconds - factor = 1e-5 if flags == 1 else 1e-9 - timestamp = timestamp * factor + start_timestamp + factor = TIME_TEN_MICS_FACTOR if flags == 1 else TIME_ONE_NANS_FACTOR + timestamp = float(Decimal(timestamp) * factor) + start_timestamp if obj_type in (CAN_MESSAGE, CAN_MESSAGE2): channel, flags, dlc, can_id, can_data = unpack_can_msg(data, pos) @@ -366,13 +373,11 @@ def _parse_data(self, data): pos = next_pos -class BLFWriter(FileIOMessageWriter): +class BLFWriter(BinaryIOMessageWriter): """ Logs CAN data to a Binary Logging File compatible with Vector's tools. """ - file: BinaryIO - #: Max log container size of uncompressed data max_container_size = 128 * 1024 @@ -381,7 +386,7 @@ class BLFWriter(FileIOMessageWriter): def __init__( self, - file: Union[StringPathLike, BinaryIO], + file: StringPathLike | BinaryIO, append: bool = False, channel: int = 1, compression_level: int = -1, @@ -403,18 +408,16 @@ def __init__( Z_DEFAULT_COMPRESSION represents a default compromise between speed and compression (currently equivalent to level 6). """ - mode = "rb+" if append else "wb" try: - super().__init__(file, mode=mode) + super().__init__(file, mode="rb+" if append else "wb") except FileNotFoundError: # Trying to append to a non-existing file, create a new one append = False - mode = "wb" - super().__init__(file, mode=mode) + super().__init__(file, mode="wb") assert self.file is not None self.channel = channel self.compression_level = compression_level - self._buffer: List[bytes] = [] + self._buffer: list[bytes] = [] self._buffer_size = 0 # If max container size is located in kwargs, then update the instance if kwargs.get("max_container_size", False): @@ -427,11 +430,11 @@ def __init__( raise BLFParseError("Unexpected file format") self.uncompressed_size = header[11] self.object_count = header[12] - self.start_timestamp: Optional[float] = systemtime_to_timestamp( - cast(TSystemTime, header[14:22]) + self.start_timestamp: float | None = systemtime_to_timestamp( + cast("TSystemTime", header[14:22]) ) - self.stop_timestamp: Optional[float] = systemtime_to_timestamp( - cast(TSystemTime, header[22:30]) + self.stop_timestamp: float | None = systemtime_to_timestamp( + cast("TSystemTime", header[22:30]) ) # Jump to the end of the file self.file.seek(0, 2) @@ -443,7 +446,7 @@ def __init__( # Write a default header which will be updated when stopped self._write_header(FILE_HEADER_SIZE) - def _write_header(self, filesize): + def _write_header(self, filesize: int) -> None: header = [b"LOGG", FILE_HEADER_SIZE, self.application_id, 0, 0, 0, 2, 6, 8, 1] # The meaning of "count of objects read" is unknown header.extend([filesize, self.uncompressed_size, self.object_count, 0]) @@ -453,7 +456,7 @@ def _write_header(self, filesize): # Pad to header size self.file.write(b"\x00" * (FILE_HEADER_SIZE - FILE_HEADER_STRUCT.size)) - def on_message_received(self, msg): + def on_message_received(self, msg: Message) -> None: channel = channel2int(msg.channel) if channel is None: channel = self.channel @@ -505,7 +508,7 @@ def on_message_received(self, msg): data = CAN_MSG_STRUCT.pack(channel, flags, msg.dlc, arb_id, can_data) self._add_object(CAN_MESSAGE, data, msg.timestamp) - def log_event(self, text, timestamp=None): + def log_event(self, text: str, timestamp: float | None = None) -> None: """Add an arbitrary message to the log file as a global marker. :param str text: @@ -516,21 +519,26 @@ def log_event(self, text, timestamp=None): """ try: # Only works on Windows - text = text.encode("mbcs") + encoded = text.encode("mbcs") except LookupError: - text = text.encode("ascii") + encoded = text.encode("ascii") comment = b"Added by python-can" marker = b"python-can" data = GLOBAL_MARKER_STRUCT.pack( - 0, 0xFFFFFF, 0xFF3300, 0, len(text), len(marker), len(comment) + 0, 0xFFFFFF, 0xFF3300, 0, len(encoded), len(marker), len(comment) ) - self._add_object(GLOBAL_MARKER, data + text + marker + comment, timestamp) + self._add_object(GLOBAL_MARKER, data + encoded + marker + comment, timestamp) - def _add_object(self, obj_type, data, timestamp=None): + def _add_object( + self, obj_type: int, data: bytes, timestamp: float | None = None + ) -> None: if timestamp is None: timestamp = self.stop_timestamp or time.time() if self.start_timestamp is None: - self.start_timestamp = timestamp + # Save start timestamp using the same precision as the BLF format + # Truncating to milliseconds to avoid rounding errors when calculating + # the timestamp difference + self.start_timestamp = int(timestamp * 1000) / 1000 self.stop_timestamp = timestamp timestamp = int((timestamp - self.start_timestamp) * 1e9) header_size = OBJ_HEADER_BASE_STRUCT.size + OBJ_HEADER_V1_STRUCT.size @@ -552,7 +560,7 @@ def _add_object(self, obj_type, data, timestamp=None): if self._buffer_size >= self.max_container_size: self._flush() - def _flush(self): + def _flush(self) -> None: """Compresses and writes data in the buffer to file.""" if self.file.closed: return @@ -566,7 +574,7 @@ def _flush(self): self._buffer = [tail] self._buffer_size = len(tail) if not self.compression_level: - data = uncompressed_data + data: "bytes | memoryview[int]" = uncompressed_data # noqa: UP037 method = NO_COMPRESSION else: data = zlib.compress(uncompressed_data, self.compression_level) @@ -589,7 +597,7 @@ def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" return self.file.tell() + self._buffer_size - def stop(self): + def stop(self) -> None: """Stops logging and closes the file.""" self._flush() if self.file.seekable(): diff --git a/can/io/canutils.py b/can/io/canutils.py index d7ae99daf..800125b73 100644 --- a/can/io/canutils.py +++ b/can/io/canutils.py @@ -5,7 +5,8 @@ """ import logging -from typing import Any, Generator, TextIO, Union +from collections.abc import Generator +from typing import Any, TextIO from can.message import Message @@ -33,11 +34,9 @@ class CanutilsLogReader(TextIOMessageReader): ``(0.0) vcan0 001#8d00100100820100`` """ - file: TextIO - def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, **kwargs: Any, ) -> None: """ @@ -64,7 +63,7 @@ def __iter__(self) -> Generator[Message, None, None]: timestamp = float(timestamp_string[1:-1]) can_id_string, data = frame.split("#", maxsplit=1) - channel: Union[int, str] + channel: int | str if channel_string.isdigit(): channel = int(channel_string) else: @@ -133,7 +132,7 @@ class CanutilsLogWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, channel: str = "vcan0", append: bool = False, **kwargs: Any, @@ -147,13 +146,12 @@ def __init__( :param bool append: if set to `True` messages are appended to the file, else the file is truncated """ - mode = "a" if append else "w" - super().__init__(file, mode=mode) + super().__init__(file, mode="a" if append else "w") self.channel = channel - self.last_timestamp = None + self.last_timestamp: float | None = None - def on_message_received(self, msg): + def on_message_received(self, msg: Message) -> None: # this is the case for the very first message: if self.last_timestamp is None: self.last_timestamp = msg.timestamp or 0.0 @@ -165,7 +163,7 @@ def on_message_received(self, msg): timestamp = msg.timestamp channel = msg.channel if msg.channel is not None else self.channel - if isinstance(channel, int) or isinstance(channel, str) and channel.isdigit(): + if isinstance(channel, int) or (isinstance(channel, str) and channel.isdigit()): channel = f"can{channel}" framestr = f"({timestamp:f}) {channel}" diff --git a/can/io/csv.py b/can/io/csv.py index 2abaeb70e..0c8ba02a4 100644 --- a/can/io/csv.py +++ b/can/io/csv.py @@ -10,7 +10,8 @@ """ from base64 import b64decode, b64encode -from typing import Any, Generator, TextIO, Union +from collections.abc import Generator +from typing import Any, TextIO from can.message import Message @@ -27,11 +28,9 @@ class CSVReader(TextIOMessageReader): Any line separator is accepted. """ - file: TextIO - def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, **kwargs: Any, ) -> None: """ @@ -88,11 +87,9 @@ class CSVWriter(TextIOMessageWriter): Each line is terminated with a platform specific line separator. """ - file: TextIO - def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, append: bool = False, **kwargs: Any, ) -> None: @@ -105,8 +102,7 @@ def __init__( the file is truncated and starts with a newly written header line """ - mode = "a" if append else "w" - super().__init__(file, mode=mode) + super().__init__(file, mode="a" if append else "w") # Write a header row if not append: diff --git a/can/io/generic.py b/can/io/generic.py index 55468ff16..bda4e1cce 100644 --- a/can/io/generic.py +++ b/can/io/generic.py @@ -1,131 +1,258 @@ -"""Contains generic base classes for file IO.""" +"""This module provides abstract base classes for CAN message reading and writing operations +to various file formats. + +.. note:: + All classes in this module are abstract and should be subclassed to implement + specific file format handling. +""" -import gzip import locale -from abc import ABCMeta +import os +from abc import ABC, abstractmethod +from collections.abc import Iterable +from contextlib import AbstractContextManager +from io import BufferedIOBase, TextIOWrapper +from pathlib import Path from types import TracebackType from typing import ( + TYPE_CHECKING, Any, BinaryIO, - ContextManager, - Iterable, + Generic, Literal, - Optional, TextIO, - Type, - Union, - cast, + TypeVar, ) from typing_extensions import Self -from .. import typechecking from ..listener import Listener from ..message import Message +from ..typechecking import FileLike, StringPathLike +if TYPE_CHECKING: + from _typeshed import ( + OpenBinaryModeReading, + OpenBinaryModeUpdating, + OpenBinaryModeWriting, + OpenTextModeReading, + OpenTextModeUpdating, + OpenTextModeWriting, + ) -class BaseIOHandler(ContextManager, metaclass=ABCMeta): - """A generic file handler that can be used for reading and writing. - Can be used as a context manager. +#: type parameter used in generic classes :class:`MessageReader` and :class:`MessageWriter` +_IoTypeVar = TypeVar("_IoTypeVar", bound=FileLike) - :attr file: - the file-like object that is kept internally, or `None` if none - was opened - """ - file: Optional[typechecking.FileLike] +class MessageWriter(AbstractContextManager["MessageWriter"], Listener, ABC): + """Abstract base class for all CAN message writers. - def __init__( - self, - file: Optional[typechecking.AcceptedIOType], - mode: str = "rt", - **kwargs: Any, - ) -> None: - """ - :param file: a path-like object to open a file, a file-like object - to be used as a file or `None` to not use a file at all - :param mode: the mode that should be used to open the file, see - :func:`open`, ignored if *file* is `None` - """ - if file is None or (hasattr(file, "read") and hasattr(file, "write")): - # file is None or some file-like object - self.file = cast(Optional[typechecking.FileLike], file) - else: - encoding: Optional[str] = ( - None - if "b" in mode - else kwargs.get("encoding", locale.getpreferredencoding(False)) - ) - # pylint: disable=consider-using-with - # file is some path-like object - self.file = cast( - typechecking.FileLike, - open(cast(typechecking.StringPathLike, file), mode, encoding=encoding), - ) + This class serves as a foundation for implementing different message writer formats. + It combines context manager capabilities with the message listener interface. - # for multiple inheritance - super().__init__() + :param file: Path-like object or string representing the output file location + :param kwargs: Additional keyword arguments for specific writer implementations + """ + + @abstractmethod + def __init__(self, file: StringPathLike, **kwargs: Any) -> None: + pass + + @abstractmethod + def stop(self) -> None: + """Stop handling messages and cleanup any resources.""" def __enter__(self) -> Self: + """Enter the context manager.""" return self def __exit__( self, - exc_type: Optional[Type[BaseException]], - exc_val: Optional[BaseException], - exc_tb: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, ) -> Literal[False]: + """Exit the context manager and ensure proper cleanup.""" self.stop() return False - def stop(self) -> None: - """Closes the underlying file-like object and flushes it, if it was opened in write mode.""" - if self.file is not None: - # this also implies a flush() - self.file.close() +class SizedMessageWriter(MessageWriter, ABC): + """Abstract base class for message writers that can report their file size. + + This class extends :class:`MessageWriter` with the ability to determine the size + of the output file. + """ -class MessageWriter(BaseIOHandler, Listener, metaclass=ABCMeta): - """The base class for all writers.""" + @abstractmethod + def file_size(self) -> int: + """Get the current size of the output file in bytes. - file: Optional[typechecking.FileLike] + :return: The size of the file in bytes + :rtype: int + """ -class FileIOMessageWriter(MessageWriter, metaclass=ABCMeta): - """A specialized base class for all writers with file descriptors.""" +class FileIOMessageWriter(SizedMessageWriter, Generic[_IoTypeVar]): + """Base class for writers that operate on file descriptors. - file: typechecking.FileLike + This class provides common functionality for writers that work with file objects. - def __init__( - self, file: typechecking.AcceptedIOType, mode: str = "wt", **kwargs: Any - ) -> None: - # Not possible with the type signature, but be verbose for user-friendliness - if file is None: - raise ValueError("The given file cannot be None") + :param file: A path-like object or file object to write to + :param kwargs: Additional keyword arguments for specific writer implementations - super().__init__(file, mode, **kwargs) + :ivar file: The file object being written to + """ + + file: _IoTypeVar + + @abstractmethod + def __init__(self, file: StringPathLike | _IoTypeVar, **kwargs: Any) -> None: + pass + + def stop(self) -> None: + """Close the file and stop writing.""" + self.file.close() def file_size(self) -> int: - """Return an estimate of the current file size in bytes.""" + """Get the current file size.""" return self.file.tell() -class TextIOMessageWriter(FileIOMessageWriter, metaclass=ABCMeta): - file: TextIO +class TextIOMessageWriter(FileIOMessageWriter[TextIO | TextIOWrapper], ABC): + """Text-based message writer implementation. + :param file: Text file to write to + :param mode: File open mode for text operations + :param kwargs: Additional arguments like encoding + """ -class BinaryIOMessageWriter(FileIOMessageWriter, metaclass=ABCMeta): - file: Union[BinaryIO, gzip.GzipFile] + def __init__( + self, + file: StringPathLike | TextIO | TextIOWrapper, + mode: "OpenTextModeUpdating | OpenTextModeWriting" = "w", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + encoding: str = kwargs.get("encoding", locale.getpreferredencoding(False)) + # pylint: disable=consider-using-with + self.file = Path(file).open(mode=mode, encoding=encoding) + else: + self.file = file + + +class BinaryIOMessageWriter(FileIOMessageWriter[BinaryIO | BufferedIOBase], ABC): + """Binary file message writer implementation. + + :param file: Binary file to write to + :param mode: File open mode for binary operations + :param kwargs: Additional implementation specific arguments + """ + def __init__( # pylint: disable=unused-argument + self, + file: StringPathLike | BinaryIO | BufferedIOBase, + mode: "OpenBinaryModeUpdating | OpenBinaryModeWriting" = "wb", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + # pylint: disable=consider-using-with,unspecified-encoding + self.file = Path(file).open(mode=mode) + else: + self.file = file -class MessageReader(BaseIOHandler, Iterable[Message], metaclass=ABCMeta): - """The base class for all readers.""" +class MessageReader(AbstractContextManager["MessageReader"], Iterable[Message], ABC): + """Abstract base class for all CAN message readers. -class TextIOMessageReader(MessageReader, metaclass=ABCMeta): - file: TextIO + This class serves as a foundation for implementing different message reader formats. + It combines context manager capabilities with iteration interface. + :param file: Path-like object or string representing the input file location + :param kwargs: Additional keyword arguments for specific reader implementations + """ -class BinaryIOMessageReader(MessageReader, metaclass=ABCMeta): - file: Union[BinaryIO, gzip.GzipFile] + @abstractmethod + def __init__(self, file: StringPathLike, **kwargs: Any) -> None: + pass + + @abstractmethod + def stop(self) -> None: + """Stop reading messages and cleanup any resources.""" + + def __enter__(self) -> Self: + return self + + def __exit__( + self, + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, + ) -> Literal[False]: + self.stop() + return False + + +class FileIOMessageReader(MessageReader, Generic[_IoTypeVar]): + """Base class for readers that operate on file descriptors. + + This class provides common functionality for readers that work with file objects. + + :param file: A path-like object or file object to read from + :param kwargs: Additional keyword arguments for specific reader implementations + + :ivar file: The file object being read from + """ + + file: _IoTypeVar + + @abstractmethod + def __init__(self, file: StringPathLike | _IoTypeVar, **kwargs: Any) -> None: + pass + + def stop(self) -> None: + self.file.close() + + +class TextIOMessageReader(FileIOMessageReader[TextIO | TextIOWrapper], ABC): + """Text-based message reader implementation. + + :param file: Text file to read from + :param mode: File open mode for text operations + :param kwargs: Additional arguments like encoding + """ + + def __init__( + self, + file: StringPathLike | TextIO | TextIOWrapper, + mode: "OpenTextModeReading" = "r", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + encoding: str = kwargs.get("encoding", locale.getpreferredencoding(False)) + # pylint: disable=consider-using-with + self.file = Path(file).open(mode=mode, encoding=encoding) + else: + self.file = file + + +class BinaryIOMessageReader(FileIOMessageReader[BinaryIO | BufferedIOBase], ABC): + """Binary file message reader implementation. + + :param file: Binary file to read from + :param mode: File open mode for binary operations + :param kwargs: Additional implementation specific arguments + """ + + def __init__( # pylint: disable=unused-argument + self, + file: StringPathLike | BinaryIO | BufferedIOBase, + mode: "OpenBinaryModeReading" = "rb", + **kwargs: Any, + ) -> None: + if isinstance(file, (str, os.PathLike)): + # pylint: disable=consider-using-with,unspecified-encoding + self.file = Path(file).open(mode=mode) + else: + self.file = file diff --git a/can/io/logger.py b/can/io/logger.py index f54223741..5009c9756 100644 --- a/can/io/logger.py +++ b/can/io/logger.py @@ -6,27 +6,21 @@ import os import pathlib from abc import ABC, abstractmethod +from collections.abc import Callable from datetime import datetime from types import TracebackType from typing import ( Any, - Callable, ClassVar, - Dict, Final, Literal, - Optional, - Set, - Tuple, - Type, - cast, ) from typing_extensions import Self from .._entry_points import read_entry_points from ..message import Message -from ..typechecking import AcceptedIOType, FileLike, StringPathLike +from ..typechecking import StringPathLike from .asc import ASCWriter from .blf import BLFWriter from .canutils import CanutilsLogWriter @@ -35,6 +29,8 @@ BinaryIOMessageWriter, FileIOMessageWriter, MessageWriter, + SizedMessageWriter, + TextIOMessageWriter, ) from .mf4 import MF4Writer from .printer import Printer @@ -43,7 +39,7 @@ #: A map of file suffixes to their corresponding #: :class:`can.io.generic.MessageWriter` class -MESSAGE_WRITERS: Final[Dict[str, Type[MessageWriter]]] = { +MESSAGE_WRITERS: Final[dict[str, type[MessageWriter]]] = { ".asc": ASCWriter, ".blf": BLFWriter, ".csv": CSVWriter, @@ -66,7 +62,7 @@ def _update_writer_plugins() -> None: MESSAGE_WRITERS[entry_point.key] = writer_class -def _get_logger_for_suffix(suffix: str) -> Type[MessageWriter]: +def _get_logger_for_suffix(suffix: str) -> type[MessageWriter]: try: return MESSAGE_WRITERS[suffix] except KeyError: @@ -75,9 +71,7 @@ def _get_logger_for_suffix(suffix: str) -> Type[MessageWriter]: ) from None -def _compress( - filename: StringPathLike, **kwargs: Any -) -> Tuple[Type[MessageWriter], FileLike]: +def _compress(filename: StringPathLike, **kwargs: Any) -> FileIOMessageWriter[Any]: """ Return the suffix and io object of the decompressed file. File will automatically recompress upon close. @@ -97,15 +91,22 @@ def _compress( append = kwargs.get("append", False) if issubclass(logger_type, BinaryIOMessageWriter): - mode = "ab" if append else "wb" - else: - mode = "at" if append else "wt" + return logger_type( + file=gzip.open(filename=filename, mode="ab" if append else "wb"), **kwargs + ) + + elif issubclass(logger_type, TextIOMessageWriter): + return logger_type( + file=gzip.open(filename=filename, mode="at" if append else "wt"), **kwargs + ) - return logger_type, gzip.open(filename, mode) + raise ValueError( + f"The file type {real_suffix} is currently incompatible with gzip." + ) def Logger( # noqa: N802 - filename: Optional[StringPathLike], **kwargs: Any + filename: StringPathLike | None, **kwargs: Any ) -> MessageWriter: """Find and return the appropriate :class:`~can.io.generic.MessageWriter` instance for a given file suffix. @@ -147,12 +148,11 @@ def Logger( # noqa: N802 _update_writer_plugins() suffix = pathlib.PurePath(filename).suffix.lower() - file_or_filename: AcceptedIOType = filename if suffix == ".gz": - logger_type, file_or_filename = _compress(filename, **kwargs) - else: - logger_type = _get_logger_for_suffix(suffix) - return logger_type(file=file_or_filename, **kwargs) + return _compress(filename, **kwargs) + + logger_type = _get_logger_for_suffix(suffix) + return logger_type(file=filename, **kwargs) class BaseRotatingLogger(MessageWriter, ABC): @@ -171,29 +171,27 @@ class BaseRotatingLogger(MessageWriter, ABC): Subclasses must set the `_writer` attribute upon initialization. """ - _supported_formats: ClassVar[Set[str]] = set() + _supported_formats: ClassVar[set[str]] = set() #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotation_filename` #: method delegates to this callable. The parameters passed to the callable are #: those passed to :meth:`~BaseRotatingLogger.rotation_filename`. - namer: Optional[Callable[[StringPathLike], StringPathLike]] = None + namer: Callable[[StringPathLike], StringPathLike] | None = None #: If this attribute is set to a callable, the :meth:`~BaseRotatingLogger.rotate` method #: delegates to this callable. The parameters passed to the callable are those #: passed to :meth:`~BaseRotatingLogger.rotate`. - rotator: Optional[Callable[[StringPathLike, StringPathLike], None]] = None + rotator: Callable[[StringPathLike, StringPathLike], None] | None = None #: An integer counter to track the number of rollovers. rollover_count: int = 0 def __init__(self, **kwargs: Any) -> None: - super().__init__(**{**kwargs, "file": None}) - self.writer_kwargs = kwargs @property @abstractmethod - def writer(self) -> FileIOMessageWriter: + def writer(self) -> MessageWriter: """This attribute holds an instance of a writer class which manages the actual file IO.""" raise NotImplementedError @@ -247,7 +245,7 @@ def on_message_received(self, msg: Message) -> None: self.writer.on_message_received(msg) - def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: + def _get_new_writer(self, filename: StringPathLike) -> MessageWriter: """Instantiate a new writer. .. note:: @@ -265,10 +263,7 @@ def _get_new_writer(self, filename: StringPathLike) -> FileIOMessageWriter: if suffix not in self._supported_formats: continue logger = Logger(filename=filename, **self.writer_kwargs) - if isinstance(logger, FileIOMessageWriter): - return logger - elif isinstance(logger, Printer) and logger.file is not None: - return cast(FileIOMessageWriter, logger) + return logger raise ValueError( f'The log format of "{pathlib.Path(filename).name}" ' @@ -290,11 +285,12 @@ def __enter__(self) -> Self: def __exit__( self, - exc_type: Optional[Type[BaseException]], - exc_val: Optional[BaseException], - exc_tb: Optional[TracebackType], + exc_type: type[BaseException] | None, + exc_val: BaseException | None, + exc_tb: TracebackType | None, ) -> Literal[False]: - return self.writer.__exit__(exc_type, exc_val, exc_tb) + self.stop() + return False @abstractmethod def should_rollover(self, msg: Message) -> bool: @@ -347,7 +343,7 @@ class SizedRotatingLogger(BaseRotatingLogger): :meth:`~can.Listener.stop` is called. """ - _supported_formats: ClassVar[Set[str]] = {".asc", ".blf", ".csv", ".log", ".txt"} + _supported_formats: ClassVar[set[str]] = {".asc", ".blf", ".csv", ".log", ".txt"} def __init__( self, @@ -370,18 +366,25 @@ def __init__( self._writer = self._get_new_writer(self.base_filename) + def _get_new_writer(self, filename: StringPathLike) -> SizedMessageWriter: + writer = super()._get_new_writer(filename) + if isinstance(writer, SizedMessageWriter): + return writer + raise TypeError + @property - def writer(self) -> FileIOMessageWriter: + def writer(self) -> SizedMessageWriter: return self._writer def should_rollover(self, msg: Message) -> bool: if self.max_bytes <= 0: return False - if self.writer.file_size() >= self.max_bytes: - return True + file_size = self.writer.file_size() + if file_size is None: + return False - return False + return file_size >= self.max_bytes def do_rollover(self) -> None: if self.writer: diff --git a/can/io/mf4.py b/can/io/mf4.py index 4f5336b42..fcde2e193 100644 --- a/can/io/mf4.py +++ b/can/io/mf4.py @@ -8,11 +8,12 @@ import abc import heapq import logging +from collections.abc import Generator, Iterator from datetime import datetime from hashlib import md5 from io import BufferedIOBase, BytesIO from pathlib import Path -from typing import Any, BinaryIO, Dict, Generator, Iterator, List, Optional, Union, cast +from typing import Any, BinaryIO, cast from ..message import Message from ..typechecking import StringPathLike @@ -92,8 +93,8 @@ class MF4Writer(BinaryIOMessageWriter): def __init__( self, - file: Union[StringPathLike, BinaryIO], - database: Optional[StringPathLike] = None, + file: StringPathLike | BinaryIO, + database: StringPathLike | None = None, compression_level: int = 2, **kwargs: Any, ) -> None: @@ -124,7 +125,7 @@ def __init__( super().__init__(file, mode="w+b") now = datetime.now() - self._mdf = cast(MDF4, MDF(version="4.10")) + self._mdf = cast("MDF4", MDF(version="4.10")) self._mdf.header.start_time = now self.last_timestamp = self._start_time = now.timestamp() @@ -184,7 +185,10 @@ def __init__( def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" # TODO: find solution without accessing private attributes of asammdf - return cast(int, self._mdf._tempfile.tell()) # pylint: disable=protected-access + return cast( + "int", + self._mdf._tempfile.tell(), # pylint: disable=protected-access,no-member + ) def stop(self) -> None: self._mdf.save(self.file, compression=self._compression_level) @@ -270,7 +274,7 @@ def on_message_received(self, msg: Message) -> None: self._rtr_buffer = np.zeros(1, dtype=RTR_DTYPE) -class FrameIterator(metaclass=abc.ABCMeta): +class FrameIterator(abc.ABC): """ Iterator helper class for common handling among CAN DataFrames, ErrorFrames and RemoteFrames. """ @@ -337,7 +341,7 @@ def __iter__(self) -> Generator[Message, None, None]: for i in range(len(data)): data_length = int(data["CAN_DataFrame.DataLength"][i]) - kv: Dict[str, Any] = { + kv: dict[str, Any] = { "timestamp": float(data.timestamps[i]) + self._start_timestamp, "arbitration_id": int(data["CAN_DataFrame.ID"][i]) & 0x1FFFFFFF, "data": data["CAN_DataFrame.DataBytes"][i][ @@ -348,7 +352,10 @@ def __iter__(self) -> Generator[Message, None, None]: if "CAN_DataFrame.BusChannel" in names: kv["channel"] = int(data["CAN_DataFrame.BusChannel"][i]) if "CAN_DataFrame.Dir" in names: - kv["is_rx"] = int(data["CAN_DataFrame.Dir"][i]) == 0 + if data["CAN_DataFrame.Dir"][i].dtype.kind == "S": + kv["is_rx"] = data["CAN_DataFrame.Dir"][i] == b"Rx" + else: + kv["is_rx"] = int(data["CAN_DataFrame.Dir"][i]) == 0 if "CAN_DataFrame.IDE" in names: kv["is_extended_id"] = bool(data["CAN_DataFrame.IDE"][i]) if "CAN_DataFrame.EDL" in names: @@ -375,7 +382,7 @@ def __iter__(self) -> Generator[Message, None, None]: names = data.samples[0].dtype.names for i in range(len(data)): - kv: Dict[str, Any] = { + kv: dict[str, Any] = { "timestamp": float(data.timestamps[i]) + self._start_timestamp, "is_error_frame": True, } @@ -383,7 +390,10 @@ def __iter__(self) -> Generator[Message, None, None]: if "CAN_ErrorFrame.BusChannel" in names: kv["channel"] = int(data["CAN_ErrorFrame.BusChannel"][i]) if "CAN_ErrorFrame.Dir" in names: - kv["is_rx"] = int(data["CAN_ErrorFrame.Dir"][i]) == 0 + if data["CAN_ErrorFrame.Dir"][i].dtype.kind == "S": + kv["is_rx"] = data["CAN_ErrorFrame.Dir"][i] == b"Rx" + else: + kv["is_rx"] = int(data["CAN_ErrorFrame.Dir"][i]) == 0 if "CAN_ErrorFrame.ID" in names: kv["arbitration_id"] = ( int(data["CAN_ErrorFrame.ID"][i]) & 0x1FFFFFFF @@ -426,7 +436,7 @@ def __iter__(self) -> Generator[Message, None, None]: names = data.samples[0].dtype.names for i in range(len(data)): - kv: Dict[str, Any] = { + kv: dict[str, Any] = { "timestamp": float(data.timestamps[i]) + self._start_timestamp, "arbitration_id": int(data["CAN_RemoteFrame.ID"][i]) & 0x1FFFFFFF, @@ -437,7 +447,10 @@ def __iter__(self) -> Generator[Message, None, None]: if "CAN_RemoteFrame.BusChannel" in names: kv["channel"] = int(data["CAN_RemoteFrame.BusChannel"][i]) if "CAN_RemoteFrame.Dir" in names: - kv["is_rx"] = int(data["CAN_RemoteFrame.Dir"][i]) == 0 + if data["CAN_RemoteFrame.Dir"][i].dtype.kind == "S": + kv["is_rx"] = data["CAN_RemoteFrame.Dir"][i] == b"Rx" + else: + kv["is_rx"] = int(data["CAN_RemoteFrame.Dir"][i]) == 0 if "CAN_RemoteFrame.IDE" in names: kv["is_extended_id"] = bool(data["CAN_RemoteFrame.IDE"][i]) @@ -445,7 +458,7 @@ def __iter__(self) -> Generator[Message, None, None]: def __init__( self, - file: Union[StringPathLike, BinaryIO], + file: StringPathLike | BinaryIO, **kwargs: Any, ) -> None: """ @@ -463,16 +476,16 @@ def __init__( self._mdf: MDF4 if isinstance(file, BufferedIOBase): - self._mdf = cast(MDF4, MDF(BytesIO(file.read()))) + self._mdf = cast("MDF4", MDF(BytesIO(file.read()))) else: - self._mdf = cast(MDF4, MDF(file)) + self._mdf = cast("MDF4", MDF(file)) self._start_timestamp = self._mdf.header.start_time.timestamp() def __iter__(self) -> Iterator[Message]: # To handle messages split over multiple channel groups, create a single iterator per # channel group and merge these iterators into a single iterator using heapq. - iterators: List[FrameIterator] = [] + iterators: list[FrameIterator] = [] for group_index, group in enumerate(self._mdf.groups): channel_group: ChannelGroup = group.channel_group @@ -484,7 +497,7 @@ def __iter__(self) -> Iterator[Message]: # No data, skip continue - acquisition_source: Optional[Source] = channel_group.acq_source + acquisition_source: Source | None = channel_group.acq_source if acquisition_source is None: # No source information, skip diff --git a/can/io/player.py b/can/io/player.py index 214112164..c0015b185 100644 --- a/can/io/player.py +++ b/can/io/player.py @@ -7,32 +7,27 @@ import gzip import pathlib import time +from collections.abc import Generator, Iterable from typing import ( Any, - Dict, Final, - Generator, - Iterable, - Tuple, - Type, - Union, ) from .._entry_points import read_entry_points from ..message import Message -from ..typechecking import AcceptedIOType, FileLike, StringPathLike +from ..typechecking import StringPathLike from .asc import ASCReader from .blf import BLFReader from .canutils import CanutilsLogReader from .csv import CSVReader -from .generic import BinaryIOMessageReader, MessageReader +from .generic import BinaryIOMessageReader, MessageReader, TextIOMessageReader from .mf4 import MF4Reader from .sqlite import SqliteReader from .trc import TRCReader #: A map of file suffixes to their corresponding #: :class:`can.io.generic.MessageReader` class -MESSAGE_READERS: Final[Dict[str, Type[MessageReader]]] = { +MESSAGE_READERS: Final[dict[str, type[MessageReader]]] = { ".asc": ASCReader, ".blf": BLFReader, ".csv": CSVReader, @@ -54,7 +49,7 @@ def _update_reader_plugins() -> None: MESSAGE_READERS[entry_point.key] = reader_class -def _get_logger_for_suffix(suffix: str) -> Type[MessageReader]: +def _get_logger_for_suffix(suffix: str) -> type[MessageReader]: """Find MessageReader class for given suffix.""" try: return MESSAGE_READERS[suffix] @@ -62,24 +57,25 @@ def _get_logger_for_suffix(suffix: str) -> Type[MessageReader]: raise ValueError(f'No read support for unknown log format "{suffix}"') from None -def _decompress( - filename: StringPathLike, -) -> Tuple[Type[MessageReader], Union[str, FileLike]]: +def _decompress(filename: StringPathLike, **kwargs: Any) -> MessageReader: """ Return the suffix and io object of the decompressed file. """ suffixes = pathlib.Path(filename).suffixes if len(suffixes) != 2: raise ValueError( - f"No write support for unknown log format \"{''.join(suffixes)}\"" - ) from None + f"No read support for unknown log format \"{''.join(suffixes)}\"" + ) real_suffix = suffixes[-2].lower() reader_type = _get_logger_for_suffix(real_suffix) - mode = "rb" if issubclass(reader_type, BinaryIOMessageReader) else "rt" + if issubclass(reader_type, TextIOMessageReader): + return reader_type(gzip.open(filename, mode="rt"), **kwargs) + elif issubclass(reader_type, BinaryIOMessageReader): + return reader_type(gzip.open(filename, mode="rb"), **kwargs) - return reader_type, gzip.open(filename, mode) + raise ValueError(f"No read support for unknown log format \"{''.join(suffixes)}\"") def LogReader(filename: StringPathLike, **kwargs: Any) -> MessageReader: # noqa: N802 @@ -122,12 +118,11 @@ def LogReader(filename: StringPathLike, **kwargs: Any) -> MessageReader: # noqa _update_reader_plugins() suffix = pathlib.PurePath(filename).suffix.lower() - file_or_filename: AcceptedIOType = filename if suffix == ".gz": - reader_type, file_or_filename = _decompress(filename) - else: - reader_type = _get_logger_for_suffix(suffix) - return reader_type(file=file_or_filename, **kwargs) + return _decompress(filename) + + reader_type = _get_logger_for_suffix(suffix) + return reader_type(file=filename, **kwargs) class MessageSync: diff --git a/can/io/printer.py b/can/io/printer.py index 67c353cc6..c41a83691 100644 --- a/can/io/printer.py +++ b/can/io/printer.py @@ -3,16 +3,18 @@ """ import logging -from typing import Any, Optional, TextIO, Union, cast +import sys +from io import TextIOWrapper +from typing import Any, TextIO from ..message import Message from ..typechecking import StringPathLike -from .generic import MessageWriter +from .generic import TextIOMessageWriter log = logging.getLogger("can.io.printer") -class Printer(MessageWriter): +class Printer(TextIOMessageWriter): """ The Printer class is a subclass of :class:`~can.Listener` which simply prints any messages it receives to the terminal (stdout). A message is turned into a @@ -22,11 +24,9 @@ class Printer(MessageWriter): standard out """ - file: Optional[TextIO] - def __init__( self, - file: Optional[Union[StringPathLike, TextIO]] = None, + file: StringPathLike | TextIO | TextIOWrapper = sys.stdout, append: bool = False, **kwargs: Any, ) -> None: @@ -38,18 +38,17 @@ def __init__( :param append: If set to `True` messages, are appended to the file, else the file is truncated """ - self.write_to_file = file is not None - mode = "a" if append else "w" - super().__init__(file, mode=mode) + super().__init__(file, mode="a" if append else "w") def on_message_received(self, msg: Message) -> None: - if self.write_to_file: - cast(TextIO, self.file).write(str(msg) + "\n") - else: - print(msg) # noqa: T201 + self.file.write(str(msg) + "\n") def file_size(self) -> int: """Return an estimate of the current file size in bytes.""" - if self.file is not None: + if self.file is not sys.stdout: return self.file.tell() return 0 + + def stop(self) -> None: + if self.file is not sys.stdout: + super().stop() diff --git a/can/io/sqlite.py b/can/io/sqlite.py index 43fd761e9..5f4885adb 100644 --- a/can/io/sqlite.py +++ b/can/io/sqlite.py @@ -8,7 +8,8 @@ import sqlite3 import threading import time -from typing import Any, Generator +from collections.abc import Generator, Iterator +from typing import Any, TypeAlias from can.listener import BufferedReader from can.message import Message @@ -18,6 +19,8 @@ log = logging.getLogger("can.io.sqlite") +_MessageTuple: TypeAlias = "tuple[float, int, bool, bool, bool, int, memoryview[int]]" + class SqliteReader(MessageReader): """ @@ -48,7 +51,6 @@ def __init__( do not accept file-like objects as the `file` parameter. It also runs in ``append=True`` mode all the time. """ - super().__init__(file=None) self._conn = sqlite3.connect(file) self._cursor = self._conn.cursor() self.table_name = table_name @@ -58,7 +60,7 @@ def __iter__(self) -> Generator[Message, None, None]: yield SqliteReader._assemble_message(frame_data) @staticmethod - def _assemble_message(frame_data): + def _assemble_message(frame_data: _MessageTuple) -> Message: timestamp, can_id, is_extended, is_remote, is_error, dlc, data = frame_data return Message( timestamp=timestamp, @@ -70,12 +72,12 @@ def _assemble_message(frame_data): data=data, ) - def __len__(self): + def __len__(self) -> int: # this might not run in constant time result = self._cursor.execute(f"SELECT COUNT(*) FROM {self.table_name}") return int(result.fetchone()[0]) - def read_all(self): + def read_all(self) -> Iterator[Message]: """Fetches all messages in the database. :rtype: Generator[can.Message] @@ -83,9 +85,8 @@ def read_all(self): result = self._cursor.execute(f"SELECT * FROM {self.table_name}").fetchall() return (SqliteReader._assemble_message(frame) for frame in result) - def stop(self): + def stop(self) -> None: """Closes the connection to the database.""" - super().stop() self._conn.close() @@ -153,11 +154,10 @@ def __init__( f"The append argument should not be used in " f"conjunction with the {self.__class__.__name__}." ) - super().__init__(file=None) + BufferedReader.__init__(self) self.table_name = table_name self._db_filename = file self._stop_running_event = threading.Event() - self._conn = None self._writer_thread = threading.Thread(target=self._db_writer_thread) self._writer_thread.start() self.num_frames = 0 @@ -166,7 +166,8 @@ def __init__( f"INSERT INTO {self.table_name} VALUES (?, ?, ?, ?, ?, ?, ?)" ) - def _create_db(self): + @staticmethod + def _create_db(file: StringPathLike, table_name: str) -> sqlite3.Connection: """Creates a new databae or opens a connection to an existing one. .. note:: @@ -174,11 +175,11 @@ def _create_db(self): hence we setup the db here. It has the upside of running async. """ log.debug("Creating sqlite database") - self._conn = sqlite3.connect(self._db_filename) + conn = sqlite3.connect(file) # create table structure - self._conn.cursor().execute( - f"""CREATE TABLE IF NOT EXISTS {self.table_name} + conn.cursor().execute( + f"""CREATE TABLE IF NOT EXISTS {table_name} ( ts REAL, arbitration_id INTEGER, @@ -189,14 +190,16 @@ def _create_db(self): data BLOB )""" ) - self._conn.commit() + conn.commit() + + return conn - def _db_writer_thread(self): - self._create_db() + def _db_writer_thread(self) -> None: + conn = SqliteWriter._create_db(self._db_filename, self.table_name) try: while True: - messages = [] # reset buffer + messages: list[_MessageTuple] = [] # reset buffer msg = self.get_message(self.GET_MESSAGE_TIMEOUT) while msg is not None: @@ -225,10 +228,10 @@ def _db_writer_thread(self): count = len(messages) if count > 0: - with self._conn: + with conn: # log.debug("Writing %d frames to db", count) - self._conn.executemany(self._insert_template, messages) - self._conn.commit() # make the changes visible to the entire database + conn.executemany(self._insert_template, messages) + conn.commit() # make the changes visible to the entire database self.num_frames += count self.last_write = time.time() @@ -237,14 +240,13 @@ def _db_writer_thread(self): break finally: - self._conn.close() + conn.close() log.info("Stopped sqlite writer after writing %d messages", self.num_frames) - def stop(self): + def stop(self) -> None: """Stops the reader an writes all remaining messages to the database. Thus, this might take a while and block. """ BufferedReader.stop(self) self._stop_running_event.set() self._writer_thread.join() - MessageReader.stop(self) diff --git a/can/io/trc.py b/can/io/trc.py index 2dbe3763c..c02bdcfe9 100644 --- a/can/io/trc.py +++ b/can/io/trc.py @@ -9,9 +9,11 @@ import logging import os +from collections.abc import Callable, Generator from datetime import datetime, timedelta, timezone from enum import Enum -from typing import Any, Callable, Dict, Generator, Optional, TextIO, Tuple, Union +from io import TextIOWrapper +from typing import Any, TextIO from ..message import Message from ..typechecking import StringPathLike @@ -30,8 +32,8 @@ class TRCFileVersion(Enum): V2_0 = 200 V2_1 = 201 - def __ge__(self, other): - if self.__class__ is other.__class__: + def __ge__(self, other: Any) -> bool: + if isinstance(other, TRCFileVersion): return self.value >= other.value return NotImplemented @@ -41,11 +43,9 @@ class TRCReader(TextIOMessageReader): Iterator of CAN messages from a TRC logging file. """ - file: TextIO - def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO, **kwargs: Any, ) -> None: """ @@ -56,23 +56,21 @@ def __init__( super().__init__(file, mode="r") self.file_version = TRCFileVersion.UNKNOWN self._start_time: float = 0 - self.columns: Dict[str, int] = {} + self.columns: dict[str, int] = {} self._num_columns = -1 if not self.file: raise ValueError("The given file cannot be None") - self._parse_cols: Callable[[Tuple[str, ...]], Optional[Message]] = ( - lambda x: None - ) + self._parse_cols: Callable[[tuple[str, ...]], Message | None] = lambda x: None @property - def start_time(self) -> Optional[datetime]: + def start_time(self) -> datetime | None: if self._start_time: return datetime.fromtimestamp(self._start_time, timezone.utc) return None - def _extract_header(self): + def _extract_header(self) -> str: line = "" for _line in self.file: line = _line.strip() @@ -140,7 +138,7 @@ def _extract_header(self): return line - def _parse_msg_v1_0(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Message | None: arbit_id = cols[2] if arbit_id == "FFFFFFFF": logger.info("TRCReader: Dropping bus info line") @@ -152,10 +150,13 @@ def _parse_msg_v1_0(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(arbit_id) > 4 msg.channel = 1 msg.dlc = int(cols[3]) - msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) + if len(cols) > 4 and cols[4] == "RTR": + msg.is_remote_frame = True + else: + msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)]) return msg - def _parse_msg_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Message | None: arbit_id = cols[3] msg = Message() @@ -164,11 +165,14 @@ def _parse_msg_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(arbit_id) > 4 msg.channel = 1 msg.dlc = int(cols[4]) - msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)]) + if len(cols) > 5 and cols[5] == "RTR": + msg.is_remote_frame = True + else: + msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)]) msg.is_rx = cols[2] == "Rx" return msg - def _parse_msg_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Message | None: arbit_id = cols[4] msg = Message() @@ -177,11 +181,14 @@ def _parse_msg_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(arbit_id) > 4 msg.channel = int(cols[2]) msg.dlc = int(cols[6]) - msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)]) + if len(cols) > 7 and cols[7] == "RTR": + msg.is_remote_frame = True + else: + msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)]) msg.is_rx = cols[3] == "Rx" return msg - def _parse_msg_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Message | None: type_ = cols[self.columns["T"]] bus = self.columns.get("B", None) @@ -199,7 +206,8 @@ def _parse_msg_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: msg.is_extended_id = len(cols[self.columns["I"]]) > 4 msg.channel = int(cols[bus]) if bus is not None else 1 msg.dlc = dlc - if dlc: + msg.is_remote_frame = type_ in {"RR"} + if dlc and not msg.is_remote_frame: msg.data = bytearray.fromhex(cols[self.columns["D"]]) msg.is_rx = cols[self.columns["d"]] == "Rx" msg.is_fd = type_ in {"FD", "FB", "FE", "BI"} @@ -208,7 +216,7 @@ def _parse_msg_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: return msg - def _parse_cols_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v1_1(self, cols: tuple[str, ...]) -> Message | None: dtype = cols[2] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_1(cols) @@ -216,7 +224,7 @@ def _parse_cols_v1_1(self, cols: Tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Message | None: dtype = cols[3] if dtype in ("Tx", "Rx"): return self._parse_msg_v1_3(cols) @@ -224,15 +232,15 @@ def _parse_cols_v1_3(self, cols: Tuple[str, ...]) -> Optional[Message]: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_cols_v2_x(self, cols: Tuple[str, ...]) -> Optional[Message]: + def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Message | None: dtype = cols[self.columns["T"]] - if dtype in {"DT", "FD", "FB", "FE", "BI"}: + if dtype in {"DT", "FD", "FB", "FE", "BI", "RR"}: return self._parse_msg_v2_x(cols) else: logger.info("TRCReader: Unsupported type '%s'", dtype) return None - def _parse_line(self, line: str) -> Optional[Message]: + def _parse_line(self, line: str) -> Message | None: logger.debug("TRCReader: Parse '%s'", line) try: cols = tuple(line.split(maxsplit=self._num_columns)) @@ -275,9 +283,6 @@ class TRCWriter(TextIOMessageWriter): If the first message does not have a timestamp, it is set to zero. """ - file: TextIO - first_timestamp: Optional[float] - FORMAT_MESSAGE = ( "{msgnr:>7} {time:13.3f} DT {channel:>2} {id:>8} {dir:>2} - {dlc:<4} {data}" ) @@ -285,7 +290,7 @@ class TRCWriter(TextIOMessageWriter): def __init__( self, - file: Union[StringPathLike, TextIO], + file: StringPathLike | TextIO | TextIOWrapper, channel: int = 1, **kwargs: Any, ) -> None: @@ -307,7 +312,7 @@ def __init__( self.filepath = os.path.abspath(self.file.name) self.header_written = False self.msgnr = 0 - self.first_timestamp = None + self.first_timestamp: float | None = None self.file_version = TRCFileVersion.V2_1 self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 self._format_message = self._format_message_init @@ -359,7 +364,7 @@ def _write_header_v2_1(self, start_time: datetime) -> None: ] self.file.writelines(line + "\n" for line in lines) - def _format_message_by_format(self, msg, channel): + def _format_message_by_format(self, msg: Message, channel: int) -> str: if msg.is_extended_id: arb_id = f"{msg.arbitration_id:07X}" else: @@ -367,6 +372,8 @@ def _format_message_by_format(self, msg, channel): data = [f"{byte:02X}" for byte in msg.data] + if self.first_timestamp is None: + raise ValueError serialized = self._msg_fmt_string.format( msgnr=self.msgnr, time=(msg.timestamp - self.first_timestamp) * 1000, @@ -378,7 +385,7 @@ def _format_message_by_format(self, msg, channel): ) return serialized - def _format_message_init(self, msg, channel): + def _format_message_init(self, msg: Message, channel: int) -> str: if self.file_version == TRCFileVersion.V1_0: self._format_message = self._format_message_by_format self._msg_fmt_string = self.FORMAT_MESSAGE_V1_0 diff --git a/can/listener.py b/can/listener.py index 1f19c3acd..1e289bea6 100644 --- a/can/listener.py +++ b/can/listener.py @@ -3,17 +3,17 @@ """ import asyncio -import sys import warnings -from abc import ABCMeta, abstractmethod +from abc import ABC, abstractmethod +from collections.abc import AsyncIterator from queue import Empty, SimpleQueue -from typing import Any, AsyncIterator, Optional +from typing import Any from can.bus import BusABC from can.message import Message -class Listener(metaclass=ABCMeta): +class Listener(ABC): """The basic listener that can be called directly to handle some CAN message:: @@ -98,7 +98,7 @@ def on_message_received(self, msg: Message) -> None: else: self.buffer.put(msg) - def get_message(self, timeout: float = 0.5) -> Optional[Message]: + def get_message(self, timeout: float = 0.5) -> Message | None: """ Attempts to retrieve the message that has been in the queue for the longest amount of time (FIFO). If no message is available, it blocks for given timeout or until a @@ -135,6 +135,7 @@ class AsyncBufferedReader( """ def __init__(self, **kwargs: Any) -> None: + self._is_stopped: bool = False self.buffer: asyncio.Queue[Message] if "loop" in kwargs: @@ -144,12 +145,7 @@ def __init__(self, **kwargs: Any) -> None: DeprecationWarning, stacklevel=2, ) - if sys.version_info < (3, 10): - self.buffer = asyncio.Queue(loop=kwargs["loop"]) - return - self.buffer = asyncio.Queue() - self._is_stopped: bool = False def on_message_received(self, msg: Message) -> None: """Append a message to the buffer. diff --git a/can/logconvert.py b/can/logconvert.py index 49cdaf4bb..4527dc23e 100644 --- a/can/logconvert.py +++ b/can/logconvert.py @@ -5,17 +5,21 @@ import argparse import errno import sys +from typing import TYPE_CHECKING, NoReturn from can import Logger, LogReader, SizedRotatingLogger +if TYPE_CHECKING: + from can.io.generic import MessageWriter + class ArgumentParser(argparse.ArgumentParser): - def error(self, message): + def error(self, message: str) -> NoReturn: self.print_help(sys.stderr) self.exit(errno.EINVAL, f"{self.prog}: error: {message}\n") -def main(): +def main() -> None: parser = ArgumentParser( description="Convert a log file from one format to another.", ) @@ -47,7 +51,7 @@ def main(): with LogReader(args.input) as reader: if args.file_size: - logger = SizedRotatingLogger( + logger: MessageWriter = SizedRotatingLogger( base_filename=args.output, max_bytes=args.file_size ) else: diff --git a/can/logger.py b/can/logger.py index 4167558d8..537356643 100644 --- a/can/logger.py +++ b/can/logger.py @@ -1,211 +1,29 @@ import argparse import errno -import re import sys from datetime import datetime from typing import ( TYPE_CHECKING, - Any, - Dict, - List, - Optional, - Sequence, - Tuple, - Union, ) -import can -from can import Bus, BusState, Logger, SizedRotatingLogger +from can import BusState, Logger, SizedRotatingLogger +from can.cli import ( + _add_extra_args, + _parse_additional_config, + _set_logging_level_from_namespace, + add_bus_arguments, + create_bus_from_namespace, +) from can.typechecking import TAdditionalCliArgs -from can.util import _dict2timing, cast_from_string if TYPE_CHECKING: from can.io import BaseRotatingLogger from can.io.generic import MessageWriter - from can.typechecking import CanFilter - - -def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None: - """Adds common options to an argument parser.""" - - parser.add_argument( - "-c", - "--channel", - help=r"Most backend interfaces require some sort of channel. For " - r"example with the serial interface the channel might be a rfcomm" - r' device: "/dev/rfcomm0". With the socketcan interface valid ' - r'channel examples include: "can0", "vcan0".', - ) - - parser.add_argument( - "-i", - "--interface", - dest="interface", - help="""Specify the backend CAN interface to use. If left blank, - fall back to reading from configuration files.""", - choices=sorted(can.VALID_INTERFACES), - ) - - parser.add_argument( - "-b", "--bitrate", type=int, help="Bitrate to use for the CAN bus." - ) - - parser.add_argument("--fd", help="Activate CAN-FD support", action="store_true") - - parser.add_argument( - "--data_bitrate", - type=int, - help="Bitrate to use for the data phase in case of CAN-FD.", - ) - - parser.add_argument( - "--timing", - action=_BitTimingAction, - nargs=argparse.ONE_OR_MORE, - help="Configure bit rate and bit timing. For example, use " - "`--timing f_clock=8_000_000 tseg1=5 tseg2=2 sjw=2 brp=2 nof_samples=1` for classical CAN " - "or `--timing f_clock=80_000_000 nom_tseg1=119 nom_tseg2=40 nom_sjw=40 nom_brp=1 " - "data_tseg1=29 data_tseg2=10 data_sjw=10 data_brp=1` for CAN FD. " - "Check the python-can documentation to verify whether your " - "CAN interface supports the `timing` argument.", - metavar="TIMING_ARG", - ) - - parser.add_argument( - "extra_args", - nargs=argparse.REMAINDER, - help="The remaining arguments will be used for the interface and " - "logger/player initialisation. " - "For example, `-i vector -c 1 --app-name=MyCanApp` is the equivalent " - "to opening the bus with `Bus('vector', channel=1, app_name='MyCanApp')", - ) - - -def _append_filter_argument( - parser: Union[argparse.ArgumentParser, argparse._ArgumentGroup], - *args: str, - **kwargs: Any, -) -> None: - """Adds the ``filter`` option to an argument parser.""" - - parser.add_argument( - *args, - "--filter", - help="R|Space separated CAN filters for the given CAN interface:" - "\n : (matches when & mask ==" - " can_id & mask)" - "\n ~ (matches when & mask !=" - " can_id & mask)" - "\nFx to show only frames with ID 0x100 to 0x103 and 0x200 to 0x20F:" - "\n python -m can.viewer --filter 100:7FC 200:7F0" - "\nNote that the ID and mask are always interpreted as hex values", - metavar="{:,~}", - nargs=argparse.ONE_OR_MORE, - action=_CanFilterAction, - dest="can_filters", - **kwargs, - ) - - -def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC: - logging_level_names = ["critical", "error", "warning", "info", "debug", "subdebug"] - can.set_logging_level(logging_level_names[min(5, parsed_args.verbosity)]) - - config: Dict[str, Any] = {"single_handle": True, **kwargs} - if parsed_args.interface: - config["interface"] = parsed_args.interface - if parsed_args.bitrate: - config["bitrate"] = parsed_args.bitrate - if parsed_args.fd: - config["fd"] = True - if parsed_args.data_bitrate: - config["data_bitrate"] = parsed_args.data_bitrate - if getattr(parsed_args, "can_filters", None): - config["can_filters"] = parsed_args.can_filters - if parsed_args.timing: - config["timing"] = parsed_args.timing - - return Bus(parsed_args.channel, **config) - - -class _CanFilterAction(argparse.Action): - def __call__( - self, - parser: argparse.ArgumentParser, - namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, - ) -> None: - if not isinstance(values, list): - raise argparse.ArgumentError(None, "Invalid filter argument") - - print(f"Adding filter(s): {values}") - can_filters: List[CanFilter] = [] - - for filt in values: - if ":" in filt: - parts = filt.split(":") - can_id = int(parts[0], base=16) - can_mask = int(parts[1], base=16) - elif "~" in filt: - parts = filt.split("~") - can_id = int(parts[0], base=16) | 0x20000000 # CAN_INV_FILTER - can_mask = int(parts[1], base=16) & 0x20000000 # socket.CAN_ERR_FLAG - else: - raise argparse.ArgumentError(None, "Invalid filter argument") - can_filters.append({"can_id": can_id, "can_mask": can_mask}) - - setattr(namespace, self.dest, can_filters) - - -class _BitTimingAction(argparse.Action): - def __call__( - self, - parser: argparse.ArgumentParser, - namespace: argparse.Namespace, - values: Union[str, Sequence[Any], None], - option_string: Optional[str] = None, - ) -> None: - if not isinstance(values, list): - raise argparse.ArgumentError(None, "Invalid --timing argument") - - timing_dict: Dict[str, int] = {} - for arg in values: - try: - key, value_string = arg.split("=") - value = int(value_string) - timing_dict[key] = value - except ValueError: - raise argparse.ArgumentError( - None, f"Invalid timing argument: {arg}" - ) from None - - if not (timing := _dict2timing(timing_dict)): - err_msg = "Invalid --timing argument. Incomplete parameters." - raise argparse.ArgumentError(None, err_msg) - - setattr(namespace, self.dest, timing) - print(timing) - - -def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs: - for arg in unknown_args: - if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg): - raise ValueError(f"Parsing argument {arg} failed") - - def _split_arg(_arg: str) -> Tuple[str, str]: - left, right = _arg.split("=", 1) - return left.lstrip("-").replace("-", "_"), right - - args: Dict[str, Union[str, int, float, bool]] = {} - for key, string_val in map(_split_arg, unknown_args): - args[key] = cast_from_string(string_val) - return args def _parse_logger_args( - args: List[str], -) -> Tuple[argparse.Namespace, TAdditionalCliArgs]: + args: list[str], +) -> tuple[argparse.Namespace, TAdditionalCliArgs]: """Parse command line arguments for logger script.""" parser = argparse.ArgumentParser( @@ -213,11 +31,9 @@ def _parse_logger_args( "given file.", ) - # Generate the standard arguments: - # Channel, bitrate, data_bitrate, interface, app_name, CAN-FD support - _create_base_argument_parser(parser) + logger_group = parser.add_argument_group("logger arguments") - parser.add_argument( + logger_group.add_argument( "-f", "--file_name", dest="log_file", @@ -225,7 +41,7 @@ def _parse_logger_args( default=None, ) - parser.add_argument( + logger_group.add_argument( "-a", "--append", dest="append", @@ -233,7 +49,7 @@ def _parse_logger_args( action="store_true", ) - parser.add_argument( + logger_group.add_argument( "-s", "--file_size", dest="file_size", @@ -245,7 +61,7 @@ def _parse_logger_args( default=None, ) - parser.add_argument( + logger_group.add_argument( "-v", action="count", dest="verbosity", @@ -254,9 +70,7 @@ def _parse_logger_args( default=2, ) - _append_filter_argument(parser) - - state_group = parser.add_mutually_exclusive_group(required=False) + state_group = logger_group.add_mutually_exclusive_group(required=False) state_group.add_argument( "--active", help="Start the bus as active, this is applied by default.", @@ -266,6 +80,12 @@ def _parse_logger_args( "--passive", help="Start the bus as passive.", action="store_true" ) + # handle remaining arguments + _add_extra_args(logger_group) + + # add bus options + add_bus_arguments(parser, filter_arg=True) + # print help message when no arguments were given if not args: parser.print_help(sys.stderr) @@ -278,7 +98,8 @@ def _parse_logger_args( def main() -> None: results, additional_config = _parse_logger_args(sys.argv[1:]) - bus = _create_bus(results, **additional_config) + bus = create_bus_from_namespace(results) + _set_logging_level_from_namespace(results) if results.active: bus.state = BusState.ACTIVE @@ -288,7 +109,7 @@ def main() -> None: print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}") print(f"Can Logger (Started on {datetime.now()})") - logger: Union[MessageWriter, BaseRotatingLogger] + logger: MessageWriter | BaseRotatingLogger if results.file_size: logger = SizedRotatingLogger( base_filename=results.log_file, diff --git a/can/message.py b/can/message.py index 6dc6a83bd..3e60ca641 100644 --- a/can/message.py +++ b/can/message.py @@ -8,7 +8,7 @@ from copy import deepcopy from math import isinf, isnan -from typing import Optional +from typing import Any from . import typechecking @@ -32,19 +32,19 @@ class Message: # pylint: disable=too-many-instance-attributes; OK for a datacla """ __slots__ = ( - "timestamp", + "__weakref__", # support weak references to messages "arbitration_id", - "is_extended_id", - "is_remote_frame", - "is_error_frame", + "bitrate_switch", "channel", - "dlc", "data", + "dlc", + "error_state_indicator", + "is_error_frame", + "is_extended_id", "is_fd", + "is_remote_frame", "is_rx", - "bitrate_switch", - "error_state_indicator", - "__weakref__", # support weak references to messages + "timestamp", ) def __init__( # pylint: disable=too-many-locals, too-many-arguments @@ -54,9 +54,9 @@ def __init__( # pylint: disable=too-many-locals, too-many-arguments is_extended_id: bool = True, is_remote_frame: bool = False, is_error_frame: bool = False, - channel: Optional[typechecking.Channel] = None, - dlc: Optional[int] = None, - data: Optional[typechecking.CanData] = None, + channel: typechecking.Channel | None = None, + dlc: int | None = None, + data: typechecking.CanData | None = None, is_fd: bool = False, is_rx: bool = True, bitrate_switch: bool = False, @@ -185,7 +185,7 @@ def __repr__(self) -> str: return f"can.Message({', '.join(args)})" - def __format__(self, format_spec: Optional[str]) -> str: + def __format__(self, format_spec: str | None) -> str: if not format_spec: return self.__str__() else: @@ -210,7 +210,7 @@ def __copy__(self) -> "Message": error_state_indicator=self.error_state_indicator, ) - def __deepcopy__(self, memo: dict) -> "Message": + def __deepcopy__(self, memo: dict[int, Any] | None) -> "Message": return Message( timestamp=self.timestamp, arbitration_id=self.arbitration_id, @@ -289,7 +289,7 @@ def _check(self) -> None: def equals( self, other: "Message", - timestamp_delta: Optional[float] = 1.0e-6, + timestamp_delta: float | None = 1.0e-6, check_channel: bool = True, check_direction: bool = True, ) -> bool: diff --git a/can/notifier.py b/can/notifier.py index 088f0802e..cb91cf7b4 100644 --- a/can/notifier.py +++ b/can/notifier.py @@ -7,7 +7,14 @@ import logging import threading import time -from typing import Any, Awaitable, Callable, Iterable, List, Optional, Union +from collections.abc import Awaitable, Callable, Iterable +from contextlib import AbstractContextManager +from types import TracebackType +from typing import ( + Any, + Final, + NamedTuple, +) from can.bus import BusABC from can.listener import Listener @@ -15,16 +22,94 @@ logger = logging.getLogger("can.Notifier") -MessageRecipient = Union[Listener, Callable[[Message], Union[Awaitable[None], None]]] +MessageRecipient = Listener | Callable[[Message], Awaitable[None] | None] -class Notifier: +class _BusNotifierPair(NamedTuple): + bus: "BusABC" + notifier: "Notifier" + + +class _NotifierRegistry: + """A registry to manage the association between CAN buses and Notifiers. + + This class ensures that a bus is not added to multiple active Notifiers. + """ + + def __init__(self) -> None: + """Initialize the registry with an empty list of bus-notifier pairs and a threading lock.""" + self.pairs: list[_BusNotifierPair] = [] + self.lock = threading.Lock() + + def register(self, bus: BusABC, notifier: "Notifier") -> None: + """Register a bus and its associated notifier. + + Ensures that a bus is not added to multiple active :class:`~can.Notifier` instances. + + :param bus: + The CAN bus to register. + :param notifier: + The :class:`~can.Notifier` instance associated with the bus. + :raises ValueError: + If the bus is already assigned to an active Notifier. + """ + with self.lock: + for pair in self.pairs: + if bus is pair.bus and not pair.notifier.stopped: + raise ValueError( + "A bus can not be added to multiple active Notifier instances." + ) + self.pairs.append(_BusNotifierPair(bus, notifier)) + + def unregister(self, bus: BusABC, notifier: "Notifier") -> None: + """Unregister a bus and its associated notifier. + + Removes the bus-notifier pair from the registry. + + :param bus: + The CAN bus to unregister. + :param notifier: + The :class:`~can.Notifier` instance associated with the bus. + """ + with self.lock: + registered_pairs_to_remove: list[_BusNotifierPair] = [] + for pair in self.pairs: + if pair.bus is bus and pair.notifier is notifier: + registered_pairs_to_remove.append(pair) + for pair in registered_pairs_to_remove: + self.pairs.remove(pair) + + def find_instances(self, bus: BusABC) -> tuple["Notifier", ...]: + """Find the :class:`~can.Notifier` instances associated with a given CAN bus. + + This method searches the registry for the :class:`~can.Notifier` + that is linked to the specified bus. If the bus is found, the + corresponding :class:`~can.Notifier` instances are returned. If the bus is not + found in the registry, an empty tuple is returned. + + :param bus: + The CAN bus for which to find the associated :class:`~can.Notifier` . + :return: + A tuple of :class:`~can.Notifier` instances associated with the given bus. + """ + instance_list = [] + with self.lock: + for pair in self.pairs: + if bus is pair.bus: + instance_list.append(pair.notifier) + return tuple(instance_list) + + +class Notifier(AbstractContextManager["Notifier"]): + + _registry: Final = _NotifierRegistry() + def __init__( self, - bus: Union[BusABC, List[BusABC]], + bus: BusABC | list[BusABC], listeners: Iterable[MessageRecipient], timeout: float = 1.0, - loop: Optional[asyncio.AbstractEventLoop] = None, + loop: asyncio.AbstractEventLoop | None = None, ) -> None: """Manages the distribution of :class:`~can.Message` instances to listeners. @@ -32,61 +117,82 @@ def __init__( .. Note:: - Remember to call `stop()` after all messages are received as + Remember to call :meth:`~can.Notifier.stop` after all messages are received as many listeners carry out flush operations to persist data. - :param bus: A :ref:`bus` or a list of buses to listen to. + :param bus: + A :ref:`bus` or a list of buses to consume messages from. :param listeners: An iterable of :class:`~can.Listener` or callables that receive a :class:`~can.Message` and return nothing. - :param timeout: An optional maximum number of seconds to wait for any :class:`~can.Message`. - :param loop: An :mod:`asyncio` event loop to schedule the ``listeners`` in. + :param timeout: + An optional maximum number of seconds to wait for any :class:`~can.Message`. + :param loop: + An :mod:`asyncio` event loop to schedule the ``listeners`` in. + :raises ValueError: + If a passed in *bus* is already assigned to an active :class:`~can.Notifier`. """ - self.listeners: List[MessageRecipient] = list(listeners) - self.bus = bus + self.listeners: list[MessageRecipient] = list(listeners) + self._bus_list: list[BusABC] = [] self.timeout = timeout self._loop = loop #: Exception raised in thread - self.exception: Optional[Exception] = None + self.exception: Exception | None = None - self._running = True + self._stopped = False self._lock = threading.Lock() - self._readers: List[Union[int, threading.Thread]] = [] - buses = self.bus if isinstance(self.bus, list) else [self.bus] - for each_bus in buses: + self._readers: list[int | threading.Thread] = [] + self._tasks: set[asyncio.Task] = set() + _bus_list: list[BusABC] = bus if isinstance(bus, list) else [bus] + for each_bus in _bus_list: self.add_bus(each_bus) + @property + def bus(self) -> BusABC | tuple["BusABC", ...]: + """Return the associated bus or a tuple of buses.""" + if len(self._bus_list) == 1: + return self._bus_list[0] + return tuple(self._bus_list) + def add_bus(self, bus: BusABC) -> None: """Add a bus for notification. :param bus: CAN bus instance. + :raises ValueError: + If the *bus* is already assigned to an active :class:`~can.Notifier`. """ - reader: int = -1 + # add bus to notifier registry + Notifier._registry.register(bus, self) + + # add bus to internal bus list + self._bus_list.append(bus) + + file_descriptor: int = -1 try: - reader = bus.fileno() + file_descriptor = bus.fileno() except NotImplementedError: # Bus doesn't support fileno, we fall back to thread based reader pass - if self._loop is not None and reader >= 0: + if self._loop is not None and file_descriptor >= 0: # Use bus file descriptor to watch for messages - self._loop.add_reader(reader, self._on_message_available, bus) - self._readers.append(reader) + self._loop.add_reader(file_descriptor, self._on_message_available, bus) + self._readers.append(file_descriptor) else: reader_thread = threading.Thread( target=self._rx_thread, args=(bus,), - name=f'can.notifier for bus "{bus.channel_info}"', + name=f'{self.__class__.__qualname__} for bus "{bus.channel_info}"', ) reader_thread.daemon = True reader_thread.start() self._readers.append(reader_thread) - def stop(self, timeout: float = 5) -> None: + def stop(self, timeout: float = 5.0) -> None: """Stop notifying Listeners when new :class:`~can.Message` objects arrive and call :meth:`~can.Listener.stop` on each Listener. @@ -94,7 +200,7 @@ def stop(self, timeout: float = 5) -> None: Max time in seconds to wait for receive threads to finish. Should be longer than timeout given at instantiation. """ - self._running = False + self._stopped = True end_time = time.time() + timeout for reader in self._readers: if isinstance(reader, threading.Thread): @@ -108,6 +214,10 @@ def stop(self, timeout: float = 5) -> None: if hasattr(listener, "stop"): listener.stop() + # remove bus from registry + for bus in self._bus_list: + Notifier._registry.unregister(bus, self) + def _rx_thread(self, bus: BusABC) -> None: # determine message handling callable early, not inside while loop if self._loop: @@ -118,7 +228,7 @@ def _rx_thread(self, bus: BusABC) -> None: else: handle_message = self._on_message_received - while self._running: + while not self._stopped: try: if msg := bus.recv(self.timeout): with self._lock: @@ -144,8 +254,10 @@ def _on_message_received(self, msg: Message) -> None: for callback in self.listeners: res = callback(msg) if res and self._loop and asyncio.iscoroutine(res): - # Schedule coroutine - self._loop.create_task(res) + # Schedule coroutine and keep a reference to the task + task = self._loop.create_task(res) + self._tasks.add(task) + task.add_done_callback(self._tasks.discard) def _on_error(self, exc: Exception) -> bool: """Calls ``on_error()`` for all listeners if they implement it. @@ -183,3 +295,33 @@ def remove_listener(self, listener: MessageRecipient) -> None: :raises ValueError: if `listener` was never added to this notifier """ self.listeners.remove(listener) + + @property + def stopped(self) -> bool: + """Return ``True``, if Notifier was properly shut down with :meth:`~can.Notifier.stop`.""" + return self._stopped + + @staticmethod + def find_instances(bus: BusABC) -> tuple["Notifier", ...]: + """Find :class:`~can.Notifier` instances associated with a given CAN bus. + + This method searches the registry for the :class:`~can.Notifier` + that is linked to the specified bus. If the bus is found, the + corresponding :class:`~can.Notifier` instances are returned. If the bus is not + found in the registry, an empty tuple is returned. + + :param bus: + The CAN bus for which to find the associated :class:`~can.Notifier` . + :return: + A tuple of :class:`~can.Notifier` instances associated with the given bus. + """ + return Notifier._registry.find_instances(bus) + + def __exit__( + self, + exc_type: type[BaseException] | None, + exc_value: BaseException | None, + traceback: TracebackType | None, + ) -> None: + if not self._stopped: + self.stop() diff --git a/can/player.py b/can/player.py index 40e4cc43a..6190a58d8 100644 --- a/can/player.py +++ b/can/player.py @@ -7,29 +7,62 @@ import argparse import errno +import math import sys from datetime import datetime -from typing import Iterable, cast - -from can import LogReader, Message, MessageSync - -from .logger import _create_base_argument_parser, _create_bus, _parse_additional_config +from typing import TYPE_CHECKING, cast + +from can import LogReader, MessageSync +from can.cli import ( + _add_extra_args, + _parse_additional_config, + _set_logging_level_from_namespace, + add_bus_arguments, + create_bus_from_namespace, +) + +if TYPE_CHECKING: + from collections.abc import Iterable + + from can import Message + + +def _parse_loop(value: str) -> int | float: + """Parse the loop argument, allowing integer or 'i' for infinite.""" + if value == "i": + return float("inf") + try: + return int(value) + except ValueError as exc: + err_msg = "Loop count must be an integer or 'i' for infinite." + raise argparse.ArgumentTypeError(err_msg) from exc + + +def _format_player_start_message(iteration: int, loop_count: int | float) -> str: + """ + Generate a status message indicating the start of a CAN log replay iteration. + + :param iteration: + The current loop iteration (zero-based). + :param loop_count: + Total number of replay loops, or infinity for endless replay. + :return: + A formatted string describing the replay start and loop information. + """ + if loop_count < 2: + loop_info = "" + else: + loop_val = "∞" if math.isinf(loop_count) else str(loop_count) + loop_info = f" [loop {iteration + 1}/{loop_val}]" + return f"Can LogReader (Started on {datetime.now()}){loop_info}" def main() -> None: parser = argparse.ArgumentParser(description="Replay CAN traffic.") - _create_base_argument_parser(parser) - - parser.add_argument( - "-f", - "--file_name", - dest="log_file", - help="Path and base log filename, for supported types see can.LogReader.", - default=None, - ) + player_group = parser.add_argument_group("Player arguments") - parser.add_argument( + player_group.add_argument( "-v", action="count", dest="verbosity", @@ -38,41 +71,58 @@ def main() -> None: default=2, ) - parser.add_argument( + player_group.add_argument( "--ignore-timestamps", dest="timestamps", help="""Ignore timestamps (send all frames immediately with minimum gap between frames)""", action="store_false", ) - parser.add_argument( + player_group.add_argument( "--error-frames", help="Also send error frames to the interface.", action="store_true", ) - parser.add_argument( + player_group.add_argument( "-g", "--gap", type=float, help=" minimum time between replayed frames", default=0.0001, ) - parser.add_argument( + player_group.add_argument( "-s", "--skip", type=float, default=60 * 60 * 24, - help=" skip gaps greater than 's' seconds", + help="Skip gaps greater than 's' seconds between messages. " + "Default is 86400 (24 hours), meaning only very large gaps are skipped. " + "Set to 0 to never skip any gaps (all delays are preserved). " + "Set to a very small value (e.g., 1e-4) " + "to skip all gaps and send messages as fast as possible.", ) - - parser.add_argument( + player_group.add_argument( + "-l", + "--loop", + type=_parse_loop, + metavar="NUM", + default=1, + help="Replay file NUM times. Use 'i' for infinite loop (default: 1)", + ) + player_group.add_argument( "infile", metavar="input-file", type=str, help="The file to replay. For supported types see can.LogReader.", ) + # handle remaining arguments + _add_extra_args(player_group) + + # add bus options + add_bus_arguments(parser) + # print help message when no arguments were given if len(sys.argv) < 2: parser.print_help(sys.stderr) @@ -81,30 +131,34 @@ def main() -> None: results, unknown_args = parser.parse_known_args() additional_config = _parse_additional_config([*results.extra_args, *unknown_args]) + _set_logging_level_from_namespace(results) verbosity = results.verbosity error_frames = results.error_frames - with _create_bus(results, **additional_config) as bus: - with LogReader(results.infile, **additional_config) as reader: - in_sync = MessageSync( - cast(Iterable[Message], reader), - timestamps=results.timestamps, - gap=results.gap, - skip=results.skip, - ) - - print(f"Can LogReader (Started on {datetime.now()})") - - try: - for message in in_sync: - if message.is_error_frame and not error_frames: - continue - if verbosity >= 3: - print(message) - bus.send(message) - except KeyboardInterrupt: - pass + with create_bus_from_namespace(results) as bus: + loop_count: int | float = results.loop + iteration = 0 + try: + while iteration < loop_count: + with LogReader(results.infile, **additional_config) as reader: + in_sync = MessageSync( + cast("Iterable[Message]", reader), + timestamps=results.timestamps, + gap=results.gap, + skip=results.skip, + ) + print(_format_player_start_message(iteration, loop_count)) + + for message in in_sync: + if message.is_error_frame and not error_frames: + continue + if verbosity >= 3: + print(message) + bus.send(message) + iteration += 1 + except KeyboardInterrupt: + pass if __name__ == "__main__": diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py index 9b008667f..518604364 100644 --- a/can/thread_safe_bus.py +++ b/can/thread_safe_bus.py @@ -1,4 +1,14 @@ +from contextlib import nullcontext from threading import RLock +from typing import TYPE_CHECKING, Any, cast + +from . import typechecking +from .bus import BusState, CanProtocol +from .interface import Bus +from .message import Message + +if TYPE_CHECKING: + from .bus import BusABC try: # Only raise an exception on instantiation but allow module @@ -7,15 +17,13 @@ import_exc = None except ImportError as exc: - ObjectProxy = object + ObjectProxy = None # type: ignore[misc,assignment] import_exc = exc -from contextlib import nullcontext -from .interface import Bus - - -class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method +class ThreadSafeBus( + ObjectProxy +): # pylint: disable=abstract-method # type: ignore[assignment] """ Contains a thread safe :class:`can.BusABC` implementation that wraps around an existing interface instance. All public methods @@ -32,65 +40,82 @@ class ThreadSafeBus(ObjectProxy): # pylint: disable=abstract-method instead of :meth:`~can.BusABC.recv` directly. """ - def __init__(self, *args, **kwargs): + def __init__( + self, + channel: typechecking.Channel | None = None, + interface: str | None = None, + config_context: str | None = None, + ignore_config: bool = False, + **kwargs: Any, + ) -> None: if import_exc is not None: raise import_exc - super().__init__(Bus(*args, **kwargs)) + super().__init__( + Bus( + channel=channel, + interface=interface, + config_context=config_context, + ignore_config=ignore_config, + **kwargs, + ) + ) + + # store wrapped bus as a proxy-local attribute. Name it with the + # `_self_` prefix so wrapt won't forward it onto the wrapped object. + self._self_wrapped = cast( + "BusABC", object.__getattribute__(self, "__wrapped__") + ) # now, BusABC.send_periodic() does not need a lock anymore, but the # implementation still requires a context manager - self.__wrapped__._lock_send_periodic = nullcontext() + self._self_wrapped._lock_send_periodic = nullcontext() # type: ignore[assignment] # init locks for sending and receiving separately - self._lock_send = RLock() - self._lock_recv = RLock() - - def recv( - self, timeout=None, *args, **kwargs - ): # pylint: disable=keyword-arg-before-vararg - with self._lock_recv: - return self.__wrapped__.recv(timeout=timeout, *args, **kwargs) + self._self_lock_send = RLock() + self._self_lock_recv = RLock() - def send( - self, msg, timeout=None, *args, **kwargs - ): # pylint: disable=keyword-arg-before-vararg - with self._lock_send: - return self.__wrapped__.send(msg, timeout=timeout, *args, **kwargs) + def recv(self, timeout: float | None = None) -> Message | None: + with self._self_lock_recv: + return self._self_wrapped.recv(timeout=timeout) - # send_periodic does not need a lock, since the underlying - # `send` method is already synchronized + def send(self, msg: Message, timeout: float | None = None) -> None: + with self._self_lock_send: + return self._self_wrapped.send(msg=msg, timeout=timeout) @property - def filters(self): - with self._lock_recv: - return self.__wrapped__.filters + def filters(self) -> typechecking.CanFilters | None: + with self._self_lock_recv: + return self._self_wrapped.filters @filters.setter - def filters(self, filters): - with self._lock_recv: - self.__wrapped__.filters = filters + def filters(self, filters: typechecking.CanFilters | None) -> None: + with self._self_lock_recv: + self._self_wrapped.filters = filters - def set_filters( - self, filters=None, *args, **kwargs - ): # pylint: disable=keyword-arg-before-vararg - with self._lock_recv: - return self.__wrapped__.set_filters(filters=filters, *args, **kwargs) + def set_filters(self, filters: typechecking.CanFilters | None = None) -> None: + with self._self_lock_recv: + return self._self_wrapped.set_filters(filters=filters) - def flush_tx_buffer(self, *args, **kwargs): - with self._lock_send: - return self.__wrapped__.flush_tx_buffer(*args, **kwargs) + def flush_tx_buffer(self) -> None: + with self._self_lock_send: + return self._self_wrapped.flush_tx_buffer() - def shutdown(self, *args, **kwargs): - with self._lock_send, self._lock_recv: - return self.__wrapped__.shutdown(*args, **kwargs) + def shutdown(self) -> None: + with self._self_lock_send, self._self_lock_recv: + return self._self_wrapped.shutdown() @property - def state(self): - with self._lock_send, self._lock_recv: - return self.__wrapped__.state + def state(self) -> BusState: + with self._self_lock_send, self._self_lock_recv: + return self._self_wrapped.state @state.setter - def state(self, new_state): - with self._lock_send, self._lock_recv: - self.__wrapped__.state = new_state + def state(self, new_state: BusState) -> None: + with self._self_lock_send, self._self_lock_recv: + self._self_wrapped.state = new_state + + @property + def protocol(self) -> CanProtocol: + with self._self_lock_send, self._self_lock_recv: + return self._self_wrapped.protocol diff --git a/can/typechecking.py b/can/typechecking.py index b0d1c22ac..56ac5927f 100644 --- a/can/typechecking.py +++ b/can/typechecking.py @@ -1,15 +1,10 @@ -"""Types for mypy type-checking -""" +"""Types for mypy type-checking""" -import gzip -import struct +import io +import os import sys -import typing - -if sys.version_info >= (3, 10): - from typing import TypeAlias -else: - from typing_extensions import TypeAlias +from collections.abc import Iterable, Sequence +from typing import IO, TYPE_CHECKING, Any, NewType, TypeAlias if sys.version_info >= (3, 12): from typing import TypedDict @@ -17,47 +12,44 @@ from typing_extensions import TypedDict -if typing.TYPE_CHECKING: - import os +if TYPE_CHECKING: + import struct -class CanFilter(TypedDict): +class _CanFilterBase(TypedDict): can_id: int can_mask: int -class CanFilterExtended(TypedDict): - can_id: int - can_mask: int +class CanFilter(_CanFilterBase, total=False): extended: bool -CanFilters = typing.Sequence[typing.Union[CanFilter, CanFilterExtended]] +CanFilters = Sequence[CanFilter] # TODO: Once buffer protocol support lands in typing, we should switch to that, # since can.message.Message attempts to call bytearray() on the given data, so # this should have the same typing info. # # See: https://github.com/python/typing/issues/593 -CanData = typing.Union[bytes, bytearray, int, typing.Iterable[int]] +CanData = bytes | bytearray | int | Iterable[int] # Used for the Abstract Base Class ChannelStr = str ChannelInt = int -Channel = typing.Union[ChannelInt, ChannelStr] +Channel = ChannelInt | ChannelStr | Sequence[ChannelInt] # Used by the IO module -FileLike = typing.Union[typing.TextIO, typing.BinaryIO, gzip.GzipFile] -StringPathLike = typing.Union[str, "os.PathLike[str]"] -AcceptedIOType = typing.Union[FileLike, StringPathLike] +FileLike = IO[Any] | io.TextIOWrapper | io.BufferedIOBase +StringPathLike = str | os.PathLike[str] -BusConfig = typing.NewType("BusConfig", typing.Dict[str, typing.Any]) +BusConfig = NewType("BusConfig", dict[str, Any]) # Used by CLI scripts -TAdditionalCliArgs: TypeAlias = typing.Dict[str, typing.Union[str, int, float, bool]] -TDataStructs: TypeAlias = typing.Dict[ - typing.Union[int, typing.Tuple[int, ...]], - typing.Union[struct.Struct, typing.Tuple, None], +TAdditionalCliArgs: TypeAlias = dict[str, str | int | float | bool] +TDataStructs: TypeAlias = dict[ + int | tuple[int, ...], + "struct.Struct | tuple[struct.Struct, *tuple[float, ...]]", ] @@ -66,7 +58,7 @@ class AutoDetectedConfig(TypedDict): channel: Channel -ReadableBytesLike = typing.Union[bytes, bytearray, memoryview] +ReadableBytesLike = bytes | bytearray | memoryview class BitTimingDict(TypedDict): diff --git a/can/util.py b/can/util.py index 7f2f824db..4cbeec60e 100644 --- a/can/util.py +++ b/can/util.py @@ -12,17 +12,12 @@ import platform import re import warnings +from collections.abc import Callable, Iterable from configparser import ConfigParser from time import get_clock_info, perf_counter, time from typing import ( Any, - Callable, - Dict, - Iterable, - Optional, - Tuple, TypeVar, - Union, cast, ) @@ -52,8 +47,8 @@ def load_file_config( - path: Optional[typechecking.AcceptedIOType] = None, section: str = "default" -) -> Dict[str, str]: + path: typechecking.StringPathLike | None = None, section: str = "default" +) -> dict[str, str]: """ Loads configuration from file with following content:: @@ -77,7 +72,7 @@ def load_file_config( else: config.read(path) - _config: Dict[str, str] = {} + _config: dict[str, str] = {} if config.has_section(section): _config.update(config.items(section)) @@ -85,7 +80,7 @@ def load_file_config( return _config -def load_environment_config(context: Optional[str] = None) -> Dict[str, str]: +def load_environment_config(context: str | None = None) -> dict[str, str]: """ Loads config dict from environmental variables (if set): @@ -111,7 +106,7 @@ def load_environment_config(context: Optional[str] = None) -> Dict[str, str]: context_suffix = f"_{context}" if context else "" can_config_key = f"CAN_CONFIG{context_suffix}" - config: Dict[str, str] = json.loads(os.environ.get(can_config_key, "{}")) + config: dict[str, str] = json.loads(os.environ.get(can_config_key, "{}")) for key, val in mapper.items(): config_option = os.environ.get(val + context_suffix, None) @@ -122,9 +117,9 @@ def load_environment_config(context: Optional[str] = None) -> Dict[str, str]: def load_config( - path: Optional[typechecking.AcceptedIOType] = None, - config: Optional[Dict[str, Any]] = None, - context: Optional[str] = None, + path: typechecking.StringPathLike | None = None, + config: dict[str, Any] | None = None, + context: str | None = None, ) -> typechecking.BusConfig: """ Returns a dict with configuration details which is loaded from (in this order): @@ -178,7 +173,7 @@ def load_config( # Use the given dict for default values config_sources = cast( - Iterable[Union[Dict[str, Any], Callable[[Any], Dict[str, Any]]]], + "Iterable[dict[str, Any] | Callable[[Any], dict[str, Any]]]", [ given_config, can.rc, @@ -212,7 +207,7 @@ def load_config( return bus_config -def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: +def _create_bus_config(config: dict[str, Any]) -> typechecking.BusConfig: """Validates some config values, performs compatibility mappings and creates specific structures (e.g. for bit timings). @@ -251,10 +246,16 @@ def _create_bus_config(config: Dict[str, Any]) -> typechecking.BusConfig: if "fd" in config: config["fd"] = config["fd"] not in (0, False) - return cast(typechecking.BusConfig, config) + if "state" in config and not isinstance(config["state"], can.BusState): + try: + config["state"] = can.BusState[config["state"]] + except KeyError as e: + raise ValueError("State config not valid!") from e + + return cast("typechecking.BusConfig", config) -def _dict2timing(data: Dict[str, Any]) -> Union[BitTiming, BitTimingFd, None]: +def _dict2timing(data: dict[str, Any]) -> BitTiming | BitTimingFd | None: """Try to instantiate a :class:`~can.BitTiming` or :class:`~can.BitTimingFd` from a dictionary. Return `None` if not possible.""" @@ -321,7 +322,7 @@ def dlc2len(dlc: int) -> int: return CAN_FD_DLC[dlc] if dlc <= 15 else 64 -def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: +def channel2int(channel: typechecking.Channel | None) -> int | None: """Try to convert the channel to an integer. :param channel: @@ -344,8 +345,8 @@ def channel2int(channel: Optional[typechecking.Channel]) -> Optional[int]: def deprecated_args_alias( deprecation_start: str, - deprecation_end: Optional[str] = None, - **aliases: Optional[str], + deprecation_end: str | None = None, + **aliases: str | None, ) -> Callable[[Callable[P1, T1]], Callable[P1, T1]]: """Allows to rename/deprecate a function kwarg(s) and optionally have the deprecated kwarg(s) set as alias(es) @@ -395,9 +396,9 @@ def wrapper(*args: P1.args, **kwargs: P1.kwargs) -> T1: def _rename_kwargs( func_name: str, start: str, - end: Optional[str], - kwargs: P1.kwargs, - aliases: Dict[str, Optional[str]], + end: str | None, + kwargs: dict[str, Any], + aliases: dict[str, str | None], ) -> None: """Helper function for `deprecated_args_alias`""" for alias, new in aliases.items(): @@ -468,7 +469,7 @@ def check_or_adjust_timing_clock(timing: T2, valid_clocks: Iterable[int]) -> T2: ) from None -def time_perfcounter_correlation() -> Tuple[float, float]: +def time_perfcounter_correlation() -> tuple[float, float]: """Get the `perf_counter` value nearest to when time.time() is updated Computed if the default timer used by `time.time` on this platform has a resolution @@ -497,7 +498,7 @@ def time_perfcounter_correlation() -> Tuple[float, float]: return t1, performance_counter -def cast_from_string(string_val: str) -> Union[str, int, float, bool]: +def cast_from_string(string_val: str) -> str | int | float | bool: """Perform trivial type conversion from :class:`str` values. :param string_val: diff --git a/can/viewer.py b/can/viewer.py index 45c313b07..8d9d228bb 100644 --- a/can/viewer.py +++ b/can/viewer.py @@ -27,16 +27,14 @@ import struct import sys import time -from typing import Dict, List, Tuple from can import __version__ -from can.logger import ( - _append_filter_argument, - _create_base_argument_parser, - _create_bus, - _parse_additional_config, +from can.cli import ( + _set_logging_level_from_namespace, + add_bus_arguments, + create_bus_from_namespace, ) -from can.typechecking import TAdditionalCliArgs, TDataStructs +from can.typechecking import TDataStructs logger = logging.getLogger("can.viewer") @@ -161,14 +159,13 @@ def run(self): # Unpack the data and then convert it into SI-units @staticmethod - def unpack_data(cmd: int, cmd_to_struct: Dict, data: bytes) -> List[float]: + def unpack_data(cmd: int, cmd_to_struct: TDataStructs, data: bytes) -> list[float]: if not cmd_to_struct or not data: # These messages do not contain a data package return [] - for key in cmd_to_struct: + for key, value in cmd_to_struct.items(): if cmd == key if isinstance(key, int) else cmd in key: - value = cmd_to_struct[key] if isinstance(value, tuple): # The struct is given as the fist argument struct_t: struct.Struct = value[0] @@ -176,7 +173,9 @@ def unpack_data(cmd: int, cmd_to_struct: Dict, data: bytes) -> List[float]: # The conversion from raw values to SI-units are given in the rest of the tuple values = [ d // val if isinstance(val, int) else float(d) / val - for d, val in zip(struct_t.unpack(data), value[1:]) + for d, val in zip( + struct_t.unpack(data), value[1:], strict=False + ) ] else: # No conversion from SI-units is needed @@ -391,8 +390,8 @@ def _fill_text(self, text, width, indent): def _parse_viewer_args( - args: List[str], -) -> Tuple[argparse.Namespace, TDataStructs, TAdditionalCliArgs]: + args: list[str], +) -> tuple[argparse.Namespace, TDataStructs]: # Parse command line arguments parser = argparse.ArgumentParser( "python -m can.viewer", @@ -413,9 +412,8 @@ def _parse_viewer_args( allow_abbrev=False, ) - # Generate the standard arguments: - # Channel, bitrate, data_bitrate, interface, app_name, CAN-FD support - _create_base_argument_parser(parser) + # add bus options group + add_bus_arguments(parser, filter_arg=True, group_title="Bus arguments") optional = parser.add_argument_group("Optional arguments") @@ -472,8 +470,6 @@ def _parse_viewer_args( default="", ) - _append_filter_argument(optional, "-f") - optional.add_argument( "-v", action="count", @@ -489,6 +485,8 @@ def _parse_viewer_args( raise SystemExit(errno.EINVAL) parsed_args, unknown_args = parser.parse_known_args(args) + if unknown_args: + print("Unknown arguments:", unknown_args) # Dictionary used to convert between Python values and C structs represented as Python strings. # If the value is 'None' then the message does not contain any data package. @@ -525,7 +523,7 @@ def _parse_viewer_args( key, fmt = int(tmp[0], base=16), tmp[1] # The scaling - scaling: List[float] = [] + scaling: list[float] = [] for t in tmp[2:]: # First try to convert to int, if that fails, then convert to a float try: @@ -538,15 +536,13 @@ def _parse_viewer_args( else: data_structs[key] = struct.Struct(fmt) - additional_config = _parse_additional_config( - [*parsed_args.extra_args, *unknown_args] - ) - return parsed_args, data_structs, additional_config + return parsed_args, data_structs def main() -> None: - parsed_args, data_structs, additional_config = _parse_viewer_args(sys.argv[1:]) - bus = _create_bus(parsed_args, **additional_config) + parsed_args, data_structs = _parse_viewer_args(sys.argv[1:]) + bus = create_bus_from_namespace(parsed_args) + _set_logging_level_from_namespace(parsed_args) curses.wrapper(CanViewer, bus, data_structs) # type: ignore[attr-defined,unused-ignore] diff --git a/doc/changelog.d/.gitignore b/doc/changelog.d/.gitignore new file mode 100644 index 000000000..b56b00acb --- /dev/null +++ b/doc/changelog.d/.gitignore @@ -0,0 +1,11 @@ +# Ignore everything... +* +!.gitignore + +# ...except markdown news fragments +!*.security.md +!*.removed.md +!*.deprecated.md +!*.added.md +!*.changed.md +!*.fixed.md diff --git a/doc/changelog.d/1815.added.md b/doc/changelog.d/1815.added.md new file mode 100644 index 000000000..65756fb41 --- /dev/null +++ b/doc/changelog.d/1815.added.md @@ -0,0 +1 @@ +Added support for replaying CAN log files multiple times or infinitely in the player script via the new --loop/-l argument. diff --git a/doc/changelog.d/1815.removed.md b/doc/changelog.d/1815.removed.md new file mode 100644 index 000000000..61b4e9b1d --- /dev/null +++ b/doc/changelog.d/1815.removed.md @@ -0,0 +1 @@ +Removed the unused --file_name/-f argument from the player CLI. diff --git a/doc/changelog.d/1938.fixed.md b/doc/changelog.d/1938.fixed.md new file mode 100644 index 000000000..f9aad1089 --- /dev/null +++ b/doc/changelog.d/1938.fixed.md @@ -0,0 +1 @@ +Keep a reference to asyncio tasks in `can.Notifier` as recommended by [python documentation](https://docs.python.org/3/library/asyncio-task.html#asyncio.create_task). diff --git a/doc/changelog.d/1987.added.md b/doc/changelog.d/1987.added.md new file mode 100644 index 000000000..398add3e3 --- /dev/null +++ b/doc/changelog.d/1987.added.md @@ -0,0 +1 @@ +Add [python-can-coe](https://c0d3.sh/smarthome/python-can-coe) interface plugin to the documentation. diff --git a/doc/changelog.d/1995.added.md b/doc/changelog.d/1995.added.md new file mode 100644 index 000000000..81e39d0df --- /dev/null +++ b/doc/changelog.d/1995.added.md @@ -0,0 +1 @@ +Added hardware filter support for SeeedBus during initialization, with a software fallback. \ No newline at end of file diff --git a/doc/changelog.d/1996.removed.md b/doc/changelog.d/1996.removed.md new file mode 100644 index 000000000..77458ad75 --- /dev/null +++ b/doc/changelog.d/1996.removed.md @@ -0,0 +1 @@ +Remove support for end-of-life Python 3.9. \ No newline at end of file diff --git a/doc/changelog.d/2009.changed.md b/doc/changelog.d/2009.changed.md new file mode 100644 index 000000000..6e68198a1 --- /dev/null +++ b/doc/changelog.d/2009.changed.md @@ -0,0 +1 @@ +Improved datetime parsing and added support for “double-defined” datetime strings (such as, e.g., `"30 15:06:13.191 pm 2017"`) for ASCReader class. \ No newline at end of file diff --git a/doc/conf.py b/doc/conf.py index 34ce385cb..5e413361c 100755 --- a/doc/conf.py +++ b/doc/conf.py @@ -122,6 +122,12 @@ # disable specific warnings nitpick_ignore = [ # Ignore warnings for type aliases. Remove once Sphinx supports PEP613 + ("py:class", "OpenTextModeUpdating"), + ("py:class", "OpenTextModeWriting"), + ("py:class", "OpenBinaryModeUpdating"), + ("py:class", "OpenBinaryModeWriting"), + ("py:class", "OpenTextModeReading"), + ("py:class", "OpenBinaryModeReading"), ("py:class", "BusConfig"), ("py:class", "can.typechecking.BusConfig"), ("py:class", "can.typechecking.CanFilter"), @@ -132,11 +138,11 @@ ("py:class", "~P1"), # intersphinx fails to reference some builtins ("py:class", "asyncio.events.AbstractEventLoop"), - ("py:class", "_thread.allocate_lock"), + ("py:class", "_thread.lock"), ] # mock windows specific attributes -autodoc_mock_imports = ["win32com"] +autodoc_mock_imports = ["win32com", "pythoncom"] ctypes.windll = MagicMock() ctypesutil.HRESULT = ctypes.c_long diff --git a/doc/development.rst b/doc/development.rst index 31a7ae077..40604c346 100644 --- a/doc/development.rst +++ b/doc/development.rst @@ -1,133 +1,281 @@ Developer's Overview ==================== +Quick Start for Contributors +---------------------------- +* Fork the repository on GitHub and clone your fork. +* Create a new branch for your changes. +* Set up your development environment. +* Make your changes, add/update tests and documentation as needed. +* Run `tox` to check your changes. +* Push your branch and open a pull request. Contributing ------------ -Contribute to source code, documentation, examples and report issues: -https://github.com/hardbyte/python-can +Welcome! Thank you for your interest in python-can. Whether you want to fix a bug, +add a feature, improve documentation, write examples, help solve issues, +or simply report a problem, your contribution is valued. +Contributions are made via the `python-can GitHub repository `_. +If you have questions, feel free to open an issue or start a discussion on GitHub. -Note that the latest released version on PyPi may be significantly behind the -``main`` branch. Please open any feature requests against the ``main`` branch +If you're new to the codebase, see the next section for an overview of the code structure. +For more about the internals, see :ref:`internalapi` and information on extending the ``can.io`` module. -There is also a `python-can `__ -mailing list for development discussion. +Code Structure +^^^^^^^^^^^^^^ -Some more information about the internals of this library can be found -in the chapter :ref:`internalapi`. -There is also additional information on extending the ``can.io`` module. +The modules in ``python-can`` are: ++---------------------------------+------------------------------------------------------+ +|Module | Description | ++=================================+======================================================+ +|:doc:`interfaces ` | Contains interface dependent code. | ++---------------------------------+------------------------------------------------------+ +|:doc:`bus ` | Contains the interface independent Bus object. | ++---------------------------------+------------------------------------------------------+ +|:doc:`message ` | Contains the interface independent Message object. | ++---------------------------------+------------------------------------------------------+ +|:doc:`io ` | Contains a range of file readers and writers. | ++---------------------------------+------------------------------------------------------+ +|:doc:`broadcastmanager ` | Contains interface independent broadcast manager | +| | code. | ++---------------------------------+------------------------------------------------------+ -Pre-releases ------------- +Step-by-Step Contribution Guide +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1. **Fork and Clone the Repository** + + * Fork the python-can repository on GitHub to your own account. + * Clone your fork: + + .. code-block:: shell + + git clone https://github.com//python-can.git + cd python-can + + * Create a new branch for your work: + + .. code-block:: shell + + git checkout -b my-feature-branch + + * Ensure your branch is up to date with the latest changes from the main repository. + First, add the main repository as a remote (commonly named `upstream`) if you haven't already: + + .. code-block:: shell + + git remote add upstream https://github.com/hardbyte/python-can.git + + Then, regularly fetch and rebase from the main branch: + + .. code-block:: shell + + git fetch upstream + git rebase upstream/main + +2. **Set Up Your Development Environment** + + We recommend using `uv `__ to install development tools and run CLI utilities. + `uv` is a modern Python packaging tool that can quickly create virtual environments and manage dependencies, + including downloading required Python versions automatically. The `uvx` command allows you to run CLI tools + in isolated environments, separate from your global Python installation. This is useful for installing and + running Python applications (such as tox) without affecting your project's dependencies or environment. + + **Install tox (if not already available):** + + + .. code-block:: shell + + uv tool install tox --with tox-uv + + + **Quickly running your local python-can code** + + To run a local script (e.g., `snippet.py`) using your current python-can code, + you can use either the traditional `virtualenv` and `pip` workflow or the modern `uv` tool. + + **Traditional method (virtualenv + pip):** + + Create a virtual environment and install the package in editable mode. + This allows changes to your local code to be reflected immediately, without reinstalling. + + .. code-block:: shell + + # Create a new virtual environment + python -m venv .venv + + # Activate the environment + .venv\Scripts\activate # On Windows + source .venv/bin/activate # On Unix/macOS + + # Upgrade pip and install python-can in editable mode with development dependencies + python -m pip install --upgrade pip + pip install -e .[dev] + + # Run your script + python snippet.py -The latest pre-release can be installed with:: + **Modern method (uv):** - pip install --upgrade --pre python-can + With `uv`, you can run your script directly: + .. code-block:: shell + uv run snippet.py -Building & Installing ---------------------- + When ``uv run ...`` is called inside a project, + `uv` automatically sets up the environment and symlinks local packages. + No editable install is needed—changes to your code are reflected immediately. -The following assumes that the commands are executed from the root of the repository: +3. **Make Your Changes** -The project can be built with:: + * Edit code, documentation, or tests as needed. + * If you fix a bug or add a feature, add or update tests in the ``test/`` directory. + * If your change affects users, update documentation in ``doc/`` and relevant docstrings. - pipx run build - pipx run twine check dist/* +4. **Test Your Changes** -The project can be installed in editable mode with:: + This project uses `tox `__ to automate all checks (tests, lint, type, docs). + Tox will set up isolated environments and run the right tools for you. - pip install -e . + To run all checks: -The unit tests can be run with:: + .. code-block:: shell - pipx run tox -e py + tox -The documentation can be built with:: + To run a specific check, use: - pipx run tox -e docs + .. code-block:: shell -The linters can be run with:: + tox -e lint # Run code style and lint checks (black, ruff, pylint) + tox -e type # Run type checks (mypy) + tox -e docs # Build and test documentation (sphinx) + tox -e py # Run tests (pytest) - pip install -e .[lint] - black --check can - mypy can - ruff check can - pylint can/**.py can/io doc/conf.py examples/**.py can/interfaces/socketcan + To run all checks in parallel (where supported), you can use: + .. code-block:: shell + + tox p + + Some environments require specific Python versions. + If you use `uv`, it will automatically download and manage these for you. + + + +5. **Add a News Fragment for the Changelog** + + This project uses `towncrier `__ to manage the changelog in + ``CHANGELOG.md``. For every user-facing change (new feature, bugfix, deprecation, etc.), you + must add a news fragment: + + * News fragments are short files describing your change, stored in ``doc/changelog.d``. + * Name each fragment ``..md``, where ```` is one of: + ``added``, ``changed``, ``deprecated``, ``removed``, ``fixed``, or ``security``. + * Example (for a feature added in PR #1234): + + .. code-block:: shell + + echo "Added support for CAN FD." > doc/changelog.d/1234.added.md + + * Or use the towncrier CLI: + + .. code-block:: shell + + uvx towncrier create --dir doc/changelog.d -c "Added support for CAN FD." 1234.added.md + + * For changes not tied to an issue/PR, the fragment name must start with a plus symbol + (e.g., ``+mychange.added.md``). Towncrier calls these "orphan fragments". + + .. note:: You do not need to manually update ``CHANGELOG.md``—maintainers will build the + changelog at release time. + +6. **(Optional) Build Source Distribution and Wheels** + + If you want to manually build the source distribution (sdist) and wheels for python-can, + you can use `uvx` to run the build and twine tools: + + .. code-block:: shell + + uv build + uvx twine check --strict dist/* + +7. **Push and Submit Your Contribution** + + * Push your branch: + + .. code-block:: shell + + git push origin my-feature-branch + + * Open a pull request from your branch to the ``main`` branch of the main python-can repository on GitHub. + + Please be patient — maintainers review contributions as time allows. Creating a new interface/backend -------------------------------- +.. attention:: + Please note: Pull requests that attempt to add new hardware interfaces directly to the + python-can codebase will not be accepted. Instead, we encourage contributors to create + plugins by publishing a Python package containing your :class:`can.BusABC` subclass and + using it within the python-can API. We will mention your package in this documentation + and add it as an optional dependency. For current best practices, please refer to + :ref:`plugin interface`. + + The following guideline is retained for informational purposes only and is not valid for new + contributions. + These steps are a guideline on how to add a new backend to python-can. -- Create a module (either a ``*.py`` or an entire subdirectory depending - on the complexity) inside ``can.interfaces`` -- Implement the central part of the backend: the bus class that extends +* Create a module (either a ``*.py`` or an entire subdirectory depending + on the complexity) inside ``can.interfaces``. See ``can/interfaces/socketcan`` for a reference implementation. +* Implement the central part of the backend: the bus class that extends :class:`can.BusABC`. See :ref:`businternals` for more info on this one! -- Register your backend bus class in ``BACKENDS`` in the file ``can.interfaces.__init__.py``. -- Add docs where appropriate. At a minimum add to ``doc/interfaces.rst`` and add +* Register your backend bus class in ``BACKENDS`` in the file ``can.interfaces.__init__.py``. +* Add docs where appropriate. At a minimum add to ``doc/interfaces.rst`` and add a new interface specific document in ``doc/interface/*``. It should document the supported platforms and also the hardware/software it requires. A small snippet of how to install the dependencies would also be useful to get people started without much friction. -- Also, don't forget to document your classes, methods and function with docstrings. -- Add tests in ``test/*`` where appropriate. - To get started, have a look at ``back2back_test.py``: - Simply add a test case like ``BasicTestSocketCan`` and some basic tests will be executed for the new interface. +* Also, don't forget to document your classes, methods and function with docstrings. +* Add tests in ``test/*`` where appropriate. For example, see ``test/back2back_test.py`` and add a test case like ``BasicTestSocketCan`` for your new interface. -.. attention:: - We strongly recommend using the :ref:`plugin interface` to extend python-can. - Publish a python package that contains your :class:`can.BusABC` subclass and use - it within the python-can API. We will mention your package inside this documentation - and add it as an optional dependency. +Creating a new Release +---------------------- -Code Structure --------------- +Releases are automated via GitHub Actions. To create a new release: -The modules in ``python-can`` are: +* Build the changelog with towncrier: -+---------------------------------+------------------------------------------------------+ -|Module | Description | -+=================================+======================================================+ -|:doc:`interfaces ` | Contains interface dependent code. | -+---------------------------------+------------------------------------------------------+ -|:doc:`bus ` | Contains the interface independent Bus object. | -+---------------------------------+------------------------------------------------------+ -|:doc:`message ` | Contains the interface independent Message object. | -+---------------------------------+------------------------------------------------------+ -|:doc:`io ` | Contains a range of file readers and writers. | -+---------------------------------+------------------------------------------------------+ -|:doc:`broadcastmanager ` | Contains interface independent broadcast manager | -| | code. | -+---------------------------------+------------------------------------------------------+ + * Collect all news fragments and update ``CHANGELOG.md`` by running: -Creating a new Release ----------------------- + .. code-block:: shell -- Release from the ``main`` branch (except for pre-releases). -- Check if any deprecations are pending. -- Run all tests and examples against available hardware. -- Update ``CONTRIBUTORS.txt`` with any new contributors. -- For larger changes update ``doc/history.rst``. -- Sanity check that documentation has stayed inline with code. -- In a new virtual env check that the package can be installed with pip: ``pip install python-can==X.Y.Z``. -- Create a new tag in the repository. -- Check the release on - `PyPi `__, - `Read the Docs `__ and - `GitHub `__. + uvx towncrier build --yes --version vX.Y.Z + + (Replace ``vX.Y.Z`` with the new version number. **The version must exactly match the tag you will create for the release.**) + This will add all news fragments to the changelog and remove the fragments by default. + .. note:: You can generate the changelog for prereleases, but keep the news + fragments so they are included in the final release. To do this, replace ``--yes`` with ``--keep``. + This will update ``CHANGELOG.md`` but leave the fragments in place for future builds. + + * Review ``CHANGELOG.md`` for accuracy and completeness. -Manual release steps (deprecated) ---------------------------------- +* Ensure all tests pass and documentation is up-to-date. +* Update ``CONTRIBUTORS.txt`` with any new contributors. +* For larger changes, update ``doc/history.rst``. +* Create a new tag and GitHub release (e.g., ``vX.Y.Z``) targeting the ``main`` + branch. Add release notes and publish. +* The CI workflow will automatically build, check, and upload the release to PyPI + and other platforms. -- Create a temporary virtual environment. -- Create a new tag in the repository. Use `semantic versioning `__. -- Build with ``pipx run build`` -- Sign the packages with gpg ``gpg --detach-sign -a dist/python_can-X.Y.Z-py3-none-any.whl``. -- Upload with twine ``twine upload dist/python-can-X.Y.Z*``. +* You can monitor the release status on: + `PyPi `__, + `Read the Docs `__ and + `GitHub Releases `__. diff --git a/doc/doc-requirements.txt b/doc/doc-requirements.txt deleted file mode 100644 index 9a01cf589..000000000 --- a/doc/doc-requirements.txt +++ /dev/null @@ -1,5 +0,0 @@ -sphinx>=5.2.3 -sphinxcontrib-programoutput -sphinx-inline-tabs -sphinx-copybutton -furo diff --git a/doc/file_io.rst b/doc/file_io.rst index ff9431695..329ccac53 100644 --- a/doc/file_io.rst +++ b/doc/file_io.rst @@ -94,7 +94,7 @@ as further references can-utils can be used: Log (.log can-utils Logging format) ----------------------------------- -CanutilsLogWriter logs CAN data to an ASCII log file compatible with `can-utils ` +CanutilsLogWriter logs CAN data to an ASCII log file compatible with `can-utils `_ As specification following references can-utils can be used: `asc2log `_, `log2asc `_. diff --git a/doc/installation.rst b/doc/installation.rst index ff72ae21b..822de2ce0 100644 --- a/doc/installation.rst +++ b/doc/installation.rst @@ -21,6 +21,13 @@ Install the ``can`` package from PyPi with ``pip`` or similar:: $ pip install python-can[serial] +Pre-releases +------------ + +The latest pre-release can be installed with:: + + pip install --upgrade --pre python-can + GNU/Linux dependencies ---------------------- diff --git a/doc/interfaces/gs_usb.rst b/doc/interfaces/gs_usb.rst index e9c0131c5..8bab07c6f 100755 --- a/doc/interfaces/gs_usb.rst +++ b/doc/interfaces/gs_usb.rst @@ -6,7 +6,7 @@ Geschwister Schneider and candleLight Windows/Linux/Mac CAN driver based on usbfs or WinUSB WCID for Geschwister Schneider USB/CAN devices and candleLight USB CAN interfaces. -Install: ``pip install "python-can[gs_usb]"`` +Install: ``pip install "python-can[gs-usb]"`` Usage: pass device ``index`` or ``channel`` (starting from 0) if using automatic device detection: diff --git a/doc/interfaces/pcan.rst b/doc/interfaces/pcan.rst index 2f73dd3a7..48e7dba05 100644 --- a/doc/interfaces/pcan.rst +++ b/doc/interfaces/pcan.rst @@ -15,7 +15,7 @@ Here is an example configuration file for using `PCAN-USB None: @@ -25,32 +27,28 @@ async def main() -> None: reader = can.AsyncBufferedReader() logger = can.Logger("logfile.asc") - listeners: List[MessageRecipient] = [ + listeners: list[MessageRecipient] = [ print_message, # Callback function reader, # AsyncBufferedReader() listener logger, # Regular Listener object ] # Create Notifier with an explicit loop to use for scheduling of callbacks - loop = asyncio.get_running_loop() - notifier = can.Notifier(bus, listeners, loop=loop) - # Start sending first message - bus.send(can.Message(arbitration_id=0)) - - print("Bouncing 10 messages...") - for _ in range(10): - # Wait for next message from AsyncBufferedReader - msg = await reader.get_message() - # Delay response - await asyncio.sleep(0.5) - msg.arbitration_id += 1 - bus.send(msg) - - # Wait for last message to arrive - await reader.get_message() - print("Done!") - - # Clean-up - notifier.stop() + with can.Notifier(bus, listeners, loop=asyncio.get_running_loop()): + # Start sending first message + bus.send(can.Message(arbitration_id=0)) + + print("Bouncing 10 messages...") + for _ in range(10): + # Wait for next message from AsyncBufferedReader + msg = await reader.get_message() + # Delay response + await asyncio.sleep(0.5) + msg.arbitration_id += 1 + bus.send(msg) + + # Wait for last message to arrive + await reader.get_message() + print("Done!") if __name__ == "__main__": diff --git a/examples/cyclic_checksum.py b/examples/cyclic_checksum.py index 3ab6c78ac..763fcd72b 100644 --- a/examples/cyclic_checksum.py +++ b/examples/cyclic_checksum.py @@ -59,6 +59,5 @@ def compute_xbr_checksum(message: can.Message, counter: int) -> int: if __name__ == "__main__": with can.Bus(channel=0, interface="virtual", receive_own_messages=True) as _bus: - notifier = can.Notifier(bus=_bus, listeners=[print]) - cyclic_checksum_send(_bus) - notifier.stop() + with can.Notifier(bus=_bus, listeners=[print]): + cyclic_checksum_send(_bus) diff --git a/examples/print_notifier.py b/examples/print_notifier.py index 8d55ca1dc..e6e11dbec 100755 --- a/examples/print_notifier.py +++ b/examples/print_notifier.py @@ -8,14 +8,13 @@ def main(): with can.Bus(interface="virtual", receive_own_messages=True) as bus: print_listener = can.Printer() - notifier = can.Notifier(bus, [print_listener]) - - bus.send(can.Message(arbitration_id=1, is_extended_id=True)) - bus.send(can.Message(arbitration_id=2, is_extended_id=True)) - bus.send(can.Message(arbitration_id=1, is_extended_id=False)) - - time.sleep(1.0) - notifier.stop() + with can.Notifier(bus, listeners=[print_listener]): + # using Notifier as a context manager automatically calls `Notifier.stop()` + # at the end of the `with` block + bus.send(can.Message(arbitration_id=1, is_extended_id=True)) + bus.send(can.Message(arbitration_id=2, is_extended_id=True)) + bus.send(can.Message(arbitration_id=1, is_extended_id=False)) + time.sleep(1.0) if __name__ == "__main__": diff --git a/examples/send_multiple.py b/examples/send_multiple.py index fdcaa5b59..9123e1bc8 100755 --- a/examples/send_multiple.py +++ b/examples/send_multiple.py @@ -4,8 +4,8 @@ This demo creates multiple processes of producers to spam a socketcan bus. """ -from time import sleep from concurrent.futures import ProcessPoolExecutor +from time import sleep import can diff --git a/examples/serial_com.py b/examples/serial_com.py index 538c8d12f..9f203b2e0 100755 --- a/examples/serial_com.py +++ b/examples/serial_com.py @@ -18,8 +18,8 @@ com0com: http://com0com.sourceforge.net/ """ -import time import threading +import time import can diff --git a/examples/vcan_filtered.py b/examples/vcan_filtered.py index 9c67390ab..22bca706c 100755 --- a/examples/vcan_filtered.py +++ b/examples/vcan_filtered.py @@ -18,14 +18,11 @@ def main(): # print all incoming messages, which includes the ones sent, # since we set receive_own_messages to True # assign to some variable so it does not garbage collected - notifier = can.Notifier(bus, [can.Printer()]) # pylint: disable=unused-variable - - bus.send(can.Message(arbitration_id=1, is_extended_id=True)) - bus.send(can.Message(arbitration_id=2, is_extended_id=True)) - bus.send(can.Message(arbitration_id=1, is_extended_id=False)) - - time.sleep(1.0) - notifier.stop() + with can.Notifier(bus, [can.Printer()]): # pylint: disable=unused-variable + bus.send(can.Message(arbitration_id=1, is_extended_id=True)) + bus.send(can.Message(arbitration_id=2, is_extended_id=True)) + bus.send(can.Message(arbitration_id=1, is_extended_id=False)) + time.sleep(1.0) if __name__ == "__main__": diff --git a/pyproject.toml b/pyproject.toml index d41bf6e22..94bf60823 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,5 +1,5 @@ [build-system] -requires = ["setuptools >= 67.7", "setuptools_scm>=8"] +requires = ["setuptools >= 77.0", "setuptools_scm>=8"] build-backend = "setuptools.build_meta" [project] @@ -8,13 +8,12 @@ dynamic = ["readme", "version"] description = "Controller Area Network interface module for Python" authors = [{ name = "python-can contributors" }] dependencies = [ - "wrapt~=1.10", + "wrapt >= 1.10, < 3", "packaging >= 23.1", "typing_extensions>=3.10.0.0", - "msgpack~=1.1.0", ] -requires-python = ">=3.8" -license = { text = "LGPL v3" } +requires-python = ">=3.10" +license = "LGPL-3.0-only" classifiers = [ "Development Status :: 5 - Production/Stable", "Environment :: Console", @@ -23,18 +22,16 @@ classifiers = [ "Intended Audience :: Information Technology", "Intended Audience :: Manufacturing", "Intended Audience :: Telecommunications Industry", - "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)", "Natural Language :: English", "Operating System :: MacOS", "Operating System :: Microsoft :: Windows", "Operating System :: POSIX :: Linux", "Programming Language :: Python", - "Programming Language :: Python :: 3.8", - "Programming Language :: Python :: 3.9", "Programming Language :: Python :: 3.10", "Programming Language :: Python :: 3.11", "Programming Language :: Python :: 3.12", "Programming Language :: Python :: 3.13", + "Programming Language :: Python :: 3.14", "Programming Language :: Python :: Implementation :: CPython", "Programming Language :: Python :: Implementation :: PyPy", "Topic :: Software Development :: Embedded Systems", @@ -51,6 +48,7 @@ can_logconvert = "can.logconvert:main" can_logger = "can.logger:main" can_player = "can.player:main" can_viewer = "can.viewer:main" +can_bridge = "can.bridge:main" [project.urls] homepage = "https://github.com/hardbyte/python-can" @@ -59,12 +57,6 @@ repository = "https://github.com/hardbyte/python-can" changelog = "https://github.com/hardbyte/python-can/blob/develop/CHANGELOG.md" [project.optional-dependencies] -lint = [ - "pylint==3.2.*", - "ruff==0.7.0", - "black==24.10.*", - "mypy==1.12.*", -] pywin32 = ["pywin32>=305; platform_system == 'Windows' and platform_python_implementation == 'CPython'"] seeedstudio = ["pyserial>=3.0"] serial = ["pyserial~=3.0"] @@ -72,17 +64,51 @@ neovi = ["filelock", "python-ics>=2.12"] canalystii = ["canalystii>=0.1.0"] cantact = ["cantact>=0.0.7"] cvector = ["python-can-cvector"] -gs_usb = ["gs_usb>=0.2.1"] +gs-usb = ["gs-usb>=0.2.1"] nixnet = ["nixnet>=0.3.2"] pcan = ["uptime~=3.0.1"] remote = ["python-can-remote"] sontheim = ["python-can-sontheim>=0.1.2"] canine = ["python-can-canine>=0.2.2"] -zlgcan = ["zlgcan-driver-py"] +zlgcan = ["zlgcan"] +candle = ["python-can-candle>=1.2.2"] +rp1210 = ["rp1210>=1.0.1"] +damiao = ["python-can-damiao"] viewer = [ "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'" ] mf4 = ["asammdf>=6.0.0"] +multicast = ["msgpack~=1.1.0"] + +[dependency-groups] +docs = [ + "sphinx>=5.2.3", + "sphinxcontrib-programoutput", + "sphinx-inline-tabs", + "sphinx-copybutton", + "furo", +] +lint = [ + "pylint==4.0.*", + "ruff==0.14.*", + "black==25.11.*", + "mypy==1.19.*", +] +test = [ + "pytest==9.0.*", + "pytest-timeout==2.4.*", + "pytest-modern==0.7.*;platform_system!='Windows'", + "coveralls==4.0.*", + "pytest-cov==7.0.*", + "coverage==7.12.*", + "hypothesis==6.*", + "parameterized==0.9.*", +] +dev = [ + {include-group = "docs"}, + {include-group = "lint"}, + {include-group = "test"}, +] [tool.setuptools.dynamic] readme = { file = "README.rst" } @@ -107,11 +133,9 @@ disallow_incomplete_defs = true warn_redundant_casts = true warn_unused_ignores = true exclude = [ - "venv", - "^doc/conf.py$", "^build", + "^doc/conf.py$", "^test", - "^can/interfaces/__init__.py", "^can/interfaces/etas", "^can/interfaces/gs_usb", "^can/interfaces/ics_neovi", @@ -121,19 +145,16 @@ exclude = [ "^can/interfaces/nican", "^can/interfaces/neousys", "^can/interfaces/pcan", - "^can/interfaces/serial", "^can/interfaces/socketcan", "^can/interfaces/systec", - "^can/interfaces/udp_multicast", "^can/interfaces/usb2can", - "^can/interfaces/virtual", ] [tool.ruff] line-length = 100 [tool.ruff.lint] -select = [ +extend-select = [ "A", # flake8-builtins "B", # flake8-bugbear "C4", # flake8-comprehensions @@ -164,15 +185,19 @@ ignore = [ "PGH003", # blanket-type-ignore "RUF012", # mutable-class-default ] +"can/cli.py" = ["T20"] # flake8-print "can/logger.py" = ["T20"] # flake8-print "can/player.py" = ["T20"] # flake8-print +"can/bridge.py" = ["T20"] # flake8-print +"can/viewer.py" = ["T20"] # flake8-print +"examples/*" = ["T20"] # flake8-print [tool.ruff.lint.isort] known-first-party = ["can"] [tool.pylint] +extension-pkg-allow-list = ["curses"] disable = [ - "c-extension-no-member", "cyclic-import", "duplicate-code", "fixme", @@ -187,6 +212,45 @@ disable = [ "too-many-branches", "too-many-instance-attributes", "too-many-locals", + "too-many-positional-arguments", "too-many-public-methods", "too-many-statements", ] + +[tool.towncrier] +directory = "doc/changelog.d" +filename = "CHANGELOG.md" +start_string = "\n" +underlines = ["", "", ""] +title_format = "## Version [{version}](https://github.com/hardbyte/python-can/tree/{version}) - {project_date}" +issue_format = "[#{issue}](https://github.com/hardbyte/python-can/issues/{issue})" + +[[tool.towncrier.type]] +directory = "security" +name = "Security" +showcontent = true + +[[tool.towncrier.type]] +directory = "removed" +name = "Removed" +showcontent = true + +[[tool.towncrier.type]] +directory = "deprecated" +name = "Deprecated" +showcontent = true + +[[tool.towncrier.type]] +directory = "added" +name = "Added" +showcontent = true + +[[tool.towncrier.type]] +directory = "changed" +name = "Changed" +showcontent = true + +[[tool.towncrier.type]] +directory = "fixed" +name = "Fixed" +showcontent = true diff --git a/test/back2back_test.py b/test/back2back_test.py index fc630fb65..ce7c39e2a 100644 --- a/test/back2back_test.py +++ b/test/back2back_test.py @@ -14,14 +14,12 @@ import can from can import CanInterfaceNotImplementedError from can.interfaces.udp_multicast import UdpMulticastBus +from can.interfaces.udp_multicast.utils import is_msgpack_installed from .config import ( IS_CI, IS_OSX, IS_PYPY, - IS_TRAVIS, - IS_UNIX, - IS_WINDOWS, TEST_CAN_FD, TEST_INTERFACE_SOCKETCAN, ) @@ -35,7 +33,7 @@ class Back2BackTestCase(unittest.TestCase): """ BITRATE = 500000 - TIMEOUT = 0.1 + TIMEOUT = 1.0 if IS_PYPY else 0.1 INTERFACE_1 = "virtual" CHANNEL_1 = "virtual_channel_0" @@ -166,37 +164,33 @@ def test_message_is_rx(self): ) def test_message_is_rx_receive_own_messages(self): """The same as `test_message_direction` but testing with `receive_own_messages=True`.""" - bus3 = can.Bus( + with can.Bus( channel=self.CHANNEL_2, interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, receive_own_messages=True, - ) - try: + ) as bus3: msg = can.Message( is_extended_id=False, arbitration_id=0x300, data=[2, 1, 3], is_rx=False ) bus3.send(msg) self_recv_msg_bus3 = bus3.recv(self.TIMEOUT) self.assertTrue(self_recv_msg_bus3.is_rx) - finally: - bus3.shutdown() def test_unique_message_instances(self): """Verify that we have a different instances of message for each bus even with `receive_own_messages=True`. """ - bus3 = can.Bus( + with can.Bus( channel=self.CHANNEL_2, interface=self.INTERFACE_2, bitrate=self.BITRATE, fd=TEST_CAN_FD, single_handle=True, receive_own_messages=True, - ) - try: + ) as bus3: msg = can.Message( is_extended_id=False, arbitration_id=0x300, data=[2, 1, 3] ) @@ -211,8 +205,6 @@ def test_unique_message_instances(self): recv_msg_bus1.data[0] = 4 self.assertNotEqual(recv_msg_bus1.data, recv_msg_bus2.data) self.assertEqual(recv_msg_bus2.data, self_recv_msg_bus3.data) - finally: - bus3.shutdown() def test_fd_message(self): msg = can.Message( @@ -274,23 +266,21 @@ def test_sub_second_timestamp_resolution(self): self.bus2.recv(0) self.bus2.recv(0) - @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_send_periodic_duration(self): """ Verify that send_periodic only transmits for the specified duration. Regression test for #1713. """ - for params in [(0.01, 0.003), (0.1, 0.011), (1, 0.4)]: - duration, period = params + for duration, period in [(0.01, 0.003), (0.1, 0.011), (1, 0.4)]: messages = [] self.bus2.send_periodic(can.Message(), period, duration) - while (msg := self.bus1.recv(period * 1.25)) is not None: + while (msg := self.bus1.recv(period + self.TIMEOUT)) is not None: messages.append(msg) - delta_t = round(messages[-1].timestamp - messages[0].timestamp, 2) - assert delta_t <= duration + delta_t = messages[-1].timestamp - messages[0].timestamp + assert delta_t < duration + 0.05 @unittest.skipUnless(TEST_INTERFACE_SOCKETCAN, "skip testing of socketcan") @@ -307,6 +297,10 @@ class BasicTestSocketCan(Back2BackTestCase): IS_CI and IS_OSX, "not supported for macOS CI", ) +@unittest.skipUnless( + is_msgpack_installed(raise_exception=False), + "msgpack not installed", +) class BasicTestUdpMulticastBusIPv4(Back2BackTestCase): INTERFACE_1 = "udp_multicast" CHANNEL_1 = UdpMulticastBus.DEFAULT_GROUP_IPv4 @@ -324,6 +318,10 @@ def test_unique_message_instances(self): IS_CI and IS_OSX, "not supported for macOS CI", ) +@unittest.skipUnless( + is_msgpack_installed(raise_exception=False), + "msgpack not installed", +) class BasicTestUdpMulticastBusIPv6(Back2BackTestCase): HOST_LOCAL_MCAST_GROUP_IPv6 = "ff11:7079:7468:6f6e:6465:6d6f:6d63:6173" diff --git a/test/conftest.py b/test/conftest.py new file mode 100644 index 000000000..c54238be1 --- /dev/null +++ b/test/conftest.py @@ -0,0 +1,24 @@ +import pytest + +from can.interfaces import virtual + + +@pytest.fixture(autouse=True) +def check_unclosed_virtual_channel(): + """ + Pytest fixture for detecting leaked virtual CAN channels. + + - The fixture yields control to the test. + - After the test completes, it acquires `virtual.channels_lock` and asserts + that `virtual.channels` is empty. + - If a test leaves behind any unclosed virtual CAN channels, the assertion + will fail, surfacing resource leaks early. + + This helps maintain test isolation and prevents subtle bugs caused by + leftover state between tests. + """ + + yield + + with virtual.channels_lock: + assert len(virtual.channels) == 0 diff --git a/test/contextmanager_test.py b/test/contextmanager_test.py index 3adb1e7c6..fe87f33b0 100644 --- a/test/contextmanager_test.py +++ b/test/contextmanager_test.py @@ -17,9 +17,10 @@ def setUp(self): ) def test_open_buses(self): - with can.Bus(interface="virtual") as bus_send, can.Bus( - interface="virtual" - ) as bus_recv: + with ( + can.Bus(interface="virtual") as bus_send, + can.Bus(interface="virtual") as bus_recv, + ): bus_send.send(self.msg_send) msg_recv = bus_recv.recv() @@ -27,9 +28,10 @@ def test_open_buses(self): self.assertTrue(msg_recv) def test_use_closed_bus(self): - with can.Bus(interface="virtual") as bus_send, can.Bus( - interface="virtual" - ) as bus_recv: + with ( + can.Bus(interface="virtual") as bus_send, + can.Bus(interface="virtual") as bus_recv, + ): bus_send.send(self.msg_send) # Receiving a frame after bus has been closed should raise a CanException diff --git a/test/data/example_data.py b/test/data/example_data.py index 592556926..b78420e4e 100644 --- a/test/data/example_data.py +++ b/test/data/example_data.py @@ -160,7 +160,7 @@ def sort_messages(messages): TEST_MESSAGES_ERROR_FRAMES = sort_messages( [ - Message(is_error_frame=True), + Message(is_error_frame=True, timestamp=TEST_TIME), Message(is_error_frame=True, timestamp=TEST_TIME + 0.170), Message(is_error_frame=True, timestamp=TEST_TIME + 17.157), ] diff --git a/test/data/test_CanMessage_V1_0_BUS1.trc b/test/data/test_CanMessage_V1_0_BUS1.trc index 8985db188..c3905ae47 100644 --- a/test/data/test_CanMessage_V1_0_BUS1.trc +++ b/test/data/test_CanMessage_V1_0_BUS1.trc @@ -1,10 +1,10 @@ ;########################################################################## -; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_0_BUS1.trc +; C:\NewFileName_BUS1.trc ; -; CAN activities imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; CAN activities imported from C:\test_CanMessage_V1_1.trc ; Start time: 18.12.2021 14:28:07.062 ; PCAN-Net: N/A -; Generated by PEAK-Converter Version 2.2.4.136 +; Generated by PEAK-Converter Version 3.0.4.594 ; ; Columns description: ; ~~~~~~~~~~~~~~~~~~~~~ @@ -26,3 +26,4 @@ 9) 20798 00000100 8 00 00 00 00 00 00 00 00 10) 20956 00000100 8 00 00 00 00 00 00 00 00 11) 21097 00000100 8 00 00 00 00 00 00 00 00 + 12) 48937 0704 1 RTR \ No newline at end of file diff --git a/test/data/test_CanMessage_V1_1.trc b/test/data/test_CanMessage_V1_1.trc index 5a02cd59b..9a9cc7574 100644 --- a/test/data/test_CanMessage_V1_1.trc +++ b/test/data/test_CanMessage_V1_1.trc @@ -22,4 +22,5 @@ 8) 20592.7 Tx 00000100 8 00 00 00 00 00 00 00 00 9) 20798.6 Tx 00000100 8 00 00 00 00 00 00 00 00 10) 20956.0 Tx 00000100 8 00 00 00 00 00 00 00 00 - 11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00 + 11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00 + 12) 48937.6 Rx 0704 1 RTR diff --git a/test/data/test_CanMessage_V1_3.trc b/test/data/test_CanMessage_V1_3.trc index 5b0bf060a..96db1748c 100644 --- a/test/data/test_CanMessage_V1_3.trc +++ b/test/data/test_CanMessage_V1_3.trc @@ -1,13 +1,14 @@ ;$FILEVERSION=1.3 ;$STARTTIME=44548.6028595139 +; C:\NewFileName_V1_3.trc ; -; C:\test.trc -; Start time: 18.12.2021 14:28:07.062.0 -; Generated by PCAN-Explorer v5.4.0 +; Start time: 18.12.2021 14:28:07.062.1 +; +; Generated by PEAK-Converter Version 3.0.4.594 +; Data imported from C:\test_CanMessage_V1_1.trc ;------------------------------------------------------------------------------- -; Bus Name Connection Protocol Bit rate -; 1 PCAN Untitled@pcan_usb CAN 500 kbit/s -; 2 PTCAN PCANLight_USB_16@pcan_usb CAN +; Bus Name Connection Protocol +; N/A N/A N/A CAN ;------------------------------------------------------------------------------- ; Message Number ; | Time Offset (ms) @@ -20,13 +21,15 @@ ; | | | | | | | | ; | | | | | | | | ;---+-- ------+------ +- --+-- ----+--- +- -+-- -+ -- -- -- -- -- -- -- - 1) 17535.4 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 2) 17700.3 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 3) 17873.8 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 4) 19295.4 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 - 5) 19500.6 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 - 6) 19705.2 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 - 7) 20592.7 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 8) 20798.6 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 9) 20956.0 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 - 10) 21097.1 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 1) 17535.400 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 2) 17540.300 1 Warng FFFFFFFF - 4 00 00 00 08 BUSHEAVY + 3) 17700.300 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 4) 17873.800 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 5) 19295.400 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 6) 19500.600 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 7) 19705.200 1 Tx 0000 - 8 00 00 00 00 00 00 00 00 + 8) 20592.700 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 9) 20798.600 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 10) 20956.000 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 11) 21097.100 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00 + 12) 48937.600 1 Rx 0704 - 1 RTR diff --git a/test/data/test_CanMessage_V2_0_BUS1.trc b/test/data/test_CanMessage_V2_0_BUS1.trc index cf2384df0..c1af8abc1 100644 --- a/test/data/test_CanMessage_V2_0_BUS1.trc +++ b/test/data/test_CanMessage_V2_0_BUS1.trc @@ -2,18 +2,18 @@ ;$STARTTIME=44548.6028595139 ;$COLUMNS=N,O,T,I,d,l,D ; -; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_0_BUS1.trc +; C:\test_CanMessage_V2_0_BUS1.trc ; Start time: 18.12.2021 14:28:07.062.001 -; Generated by PEAK-Converter Version 2.2.4.136 -; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; Generated by PEAK-Converter Version 3.0.4.594 +; Data imported from C:\test_CanMessage_V1_1.trc ;------------------------------------------------------------------------------- ; Connection Bit rate -; N/A N/A +; N/A N/A ;------------------------------------------------------------------------------- ; Message Time Type ID Rx/Tx ; Number Offset | [hex] | Data Length ; | [ms] | | | | Data [hex] ... -; | | | | | | | +; | | | | | | | ;---+-- ------+------ +- --+----- +- +- +- -- -- -- -- -- -- -- 1 17535.400 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 2 17540.300 ST Rx 00 00 00 08 @@ -26,3 +26,4 @@ 9 20798.600 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 10 20956.000 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 11 21097.100 DT 00000100 Tx 8 00 00 00 00 00 00 00 00 + 12 48937.600 RR 0704 Rx 1 \ No newline at end of file diff --git a/test/data/test_CanMessage_V2_1.trc b/test/data/test_CanMessage_V2_1.trc index 55ceefaf1..0d259f084 100644 --- a/test/data/test_CanMessage_V2_1.trc +++ b/test/data/test_CanMessage_V2_1.trc @@ -2,19 +2,19 @@ ;$STARTTIME=44548.6028595139 ;$COLUMNS=N,O,T,B,I,d,R,L,D ; -; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_1.trc +; C:\test_CanMessage_V2_1.trc ; Start time: 18.12.2021 14:28:07.062.001 -; Generated by PEAK-Converter Version 2.2.4.136 -; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc +; Generated by PEAK-Converter Version 3.0.4.594 +; Data imported from C:\test_CanMessage_V1_1.trc ;------------------------------------------------------------------------------- ; Bus Name Connection Protocol -; N/A N/A N/A N/A +; N/A N/A N/A N/A ;------------------------------------------------------------------------------- ; Message Time Type ID Rx/Tx ; Number Offset | Bus [hex] | Reserved ; | [ms] | | | | | Data Length Code ; | | | | | | | | Data [hex] ... -; | | | | | | | | | +; | | | | | | | | | ;---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- -- 1 17535.400 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 2 17540.300 ST 1 - Rx - 4 00 00 00 08 @@ -27,3 +27,4 @@ 9 20798.600 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 10 20956.000 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 11 21097.100 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00 + 12 48937.600 RR 1 0704 Rx - 1 \ No newline at end of file diff --git a/test/listener_test.py b/test/listener_test.py index b530afa60..bbcbed56e 100644 --- a/test/listener_test.py +++ b/test/listener_test.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import asyncio import logging import os @@ -160,8 +159,13 @@ def testBufferedListenerReceives(self): def test_deprecated_loop_arg(recwarn): + try: + loop = asyncio.get_running_loop() + except RuntimeError: + loop = asyncio.new_event_loop() + warnings.simplefilter("always") - can.AsyncBufferedReader(loop=asyncio.get_event_loop()) + can.AsyncBufferedReader(loop=loop) assert len(recwarn) > 0 assert recwarn.pop(DeprecationWarning) recwarn.clear() diff --git a/test/logformats_test.py b/test/logformats_test.py index a2fd0fe09..f8a8de91d 100644 --- a/test/logformats_test.py +++ b/test/logformats_test.py @@ -137,6 +137,7 @@ def _setup_instance_helper( allowed_timestamp_delta=0.0, preserves_channel=True, adds_default_channel=None, + assert_file_closed=True, ): """ :param Callable writer_constructor: the constructor of the writer class @@ -187,6 +188,7 @@ def _setup_instance_helper( self.reader_constructor = reader_constructor self.binary_file = binary_file self.test_append_enabled = test_append + self.assert_file_closed = assert_file_closed ComparingMessagesTestCase.__init__( self, @@ -212,7 +214,7 @@ def test_path_like_explicit_stop(self): self._write_all(writer) self._ensure_fsync(writer) writer.stop() - if hasattr(writer.file, "closed"): + if self.assert_file_closed: self.assertTrue(writer.file.closed) print("reading all messages") @@ -220,7 +222,7 @@ def test_path_like_explicit_stop(self): read_messages = list(reader) # redundant, but this checks if stop() can be called multiple times reader.stop() - if hasattr(writer.file, "closed"): + if self.assert_file_closed: self.assertTrue(writer.file.closed) # check if at least the number of messages matches @@ -243,7 +245,7 @@ def test_path_like_context_manager(self): self._write_all(writer) self._ensure_fsync(writer) w = writer - if hasattr(w.file, "closed"): + if self.assert_file_closed: self.assertTrue(w.file.closed) # read all written messages @@ -251,7 +253,7 @@ def test_path_like_context_manager(self): with self.reader_constructor(self.test_file_name) as reader: read_messages = list(reader) r = reader - if hasattr(r.file, "closed"): + if self.assert_file_closed: self.assertTrue(r.file.closed) # check if at least the number of messages matches; @@ -274,7 +276,7 @@ def test_file_like_explicit_stop(self): self._write_all(writer) self._ensure_fsync(writer) writer.stop() - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) print("reading all messages") @@ -283,7 +285,7 @@ def test_file_like_explicit_stop(self): read_messages = list(reader) # redundant, but this checks if stop() can be called multiple times reader.stop() - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) # check if at least the number of messages matches @@ -307,7 +309,7 @@ def test_file_like_context_manager(self): self._write_all(writer) self._ensure_fsync(writer) w = writer - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) # read all written messages @@ -316,7 +318,7 @@ def test_file_like_context_manager(self): with self.reader_constructor(my_file) as reader: read_messages = list(reader) r = reader - if hasattr(my_file, "closed"): + if self.assert_file_closed: self.assertTrue(my_file.closed) # check if at least the number of messages matches; @@ -380,7 +382,7 @@ def _write_all(self, writer): writer(msg) def _ensure_fsync(self, io_handler): - if hasattr(io_handler.file, "fileno"): + if hasattr(io_handler, "file") and hasattr(io_handler.file, "fileno"): io_handler.file.flush() os.fsync(io_handler.file.fileno()) @@ -678,6 +680,40 @@ def test_write(self): self.assertEqual(expected_file.read_text(), actual_file.read_text()) + @parameterized.expand( + [ + ( + "May 27 04:09:35.000 pm 2014", + datetime(2014, 5, 27, 16, 9, 35, 0).timestamp(), + ), + ( + "Mai 27 04:09:35.000 pm 2014", + datetime(2014, 5, 27, 16, 9, 35, 0).timestamp(), + ), + ( + "Apr 28 10:44:52.480 2022", + datetime(2022, 4, 28, 10, 44, 52, 480000).timestamp(), + ), + ( + "Sep 30 15:06:13.191 2017", + datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + ), + ( + "Sep 30 15:06:13.191 pm 2017", + datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + ), + ( + "Sep 30 15:06:13.191 am 2017", + datetime(2017, 9, 30, 15, 6, 13, 191000).timestamp(), + ), + ] + ) + def test_datetime_to_timestamp( + self, datetime_string: str, expected_timestamp: float + ): + timestamp = can.ASCReader._datetime_to_timestamp(datetime_string) + self.assertAlmostEqual(timestamp, expected_timestamp) + class TestBlfFileFormat(ReaderWriterTest): """Tests can.BLFWriter and can.BLFReader. @@ -694,7 +730,6 @@ def _setup_instance(self): check_fd=True, check_comments=False, test_append=True, - allowed_timestamp_delta=1.0e-6, preserves_channel=False, adds_default_channel=0, ) @@ -872,6 +907,7 @@ def _setup_instance(self): check_comments=False, preserves_channel=False, adds_default_channel=None, + assert_file_closed=False, ) @unittest.skip("not implemented") @@ -991,6 +1027,7 @@ def test_can_message(self): ("V1_0", "test_CanMessage_V1_0_BUS1.trc", False), ("V1_1", "test_CanMessage_V1_1.trc", True), ("V1_3", "test_CanMessage_V1_3.trc", True), + ("V2_0", "test_CanMessage_V2_0_BUS1.trc", True), ("V2_1", "test_CanMessage_V2_1.trc", True), ] ) @@ -1030,6 +1067,20 @@ def msg_ext(timestamp): msg.is_rx = False return msg + def msg_rtr(timestamp): + msg = can.Message( + timestamp=timestamp + start_time, + arbitration_id=0x704, + is_extended_id=False, + is_remote_frame=True, + channel=1, + dlc=1, + data=[], + ) + if is_rx_support: + msg.is_rx = True + return msg + expected_messages = [ msg_ext(17.5354), msg_ext(17.7003), @@ -1041,6 +1092,7 @@ def msg_ext(timestamp): msg_ext(20.7986), msg_ext(20.9560), msg_ext(21.0971), + msg_rtr(48.9376), ] actual = self._read_log_file(filename) self.assertMessagesEqual(actual, expected_messages) diff --git a/test/notifier_test.py b/test/notifier_test.py index 6982130cf..d8512a00b 100644 --- a/test/notifier_test.py +++ b/test/notifier_test.py @@ -12,27 +12,65 @@ def test_single_bus(self): with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: reader = can.BufferedReader() notifier = can.Notifier(bus, [reader], 0.1) + self.assertFalse(notifier.stopped) msg = can.Message() bus.send(msg) self.assertIsNotNone(reader.get_message(1)) notifier.stop() + self.assertTrue(notifier.stopped) def test_multiple_bus(self): - with can.Bus(0, interface="virtual", receive_own_messages=True) as bus1: - with can.Bus(1, interface="virtual", receive_own_messages=True) as bus2: - reader = can.BufferedReader() - notifier = can.Notifier([bus1, bus2], [reader], 0.1) + with ( + can.Bus(0, interface="virtual", receive_own_messages=True) as bus1, + can.Bus(1, interface="virtual", receive_own_messages=True) as bus2, + ): + reader = can.BufferedReader() + notifier = can.Notifier([bus1, bus2], [reader], 0.1) + self.assertFalse(notifier.stopped) + msg = can.Message() + bus1.send(msg) + time.sleep(0.1) + bus2.send(msg) + recv_msg = reader.get_message(1) + self.assertIsNotNone(recv_msg) + self.assertEqual(recv_msg.channel, 0) + recv_msg = reader.get_message(1) + self.assertIsNotNone(recv_msg) + self.assertEqual(recv_msg.channel, 1) + notifier.stop() + self.assertTrue(notifier.stopped) + + def test_context_manager(self): + with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: + reader = can.BufferedReader() + with can.Notifier(bus, [reader], 0.1) as notifier: + self.assertFalse(notifier.stopped) msg = can.Message() - bus1.send(msg) - time.sleep(0.1) - bus2.send(msg) - recv_msg = reader.get_message(1) - self.assertIsNotNone(recv_msg) - self.assertEqual(recv_msg.channel, 0) - recv_msg = reader.get_message(1) - self.assertIsNotNone(recv_msg) - self.assertEqual(recv_msg.channel, 1) + bus.send(msg) + self.assertIsNotNone(reader.get_message(1)) notifier.stop() + self.assertTrue(notifier.stopped) + + def test_registry(self): + with can.Bus("test", interface="virtual", receive_own_messages=True) as bus: + reader = can.BufferedReader() + with can.Notifier(bus, [reader], 0.1) as notifier: + # creating a second notifier for the same bus must fail + self.assertRaises(ValueError, can.Notifier, bus, [reader], 0.1) + + # find_instance must return the existing instance + self.assertEqual(can.Notifier.find_instances(bus), (notifier,)) + + # Notifier is stopped, find_instances() must return an empty tuple + self.assertEqual(can.Notifier.find_instances(bus), ()) + + # now the first notifier is stopped, a new notifier can be created without error: + with can.Notifier(bus, [reader], 0.1) as notifier: + # the next notifier call should fail again since there is an active notifier already + self.assertRaises(ValueError, can.Notifier, bus, [reader], 0.1) + + # find_instance must return the existing instance + self.assertEqual(can.Notifier.find_instances(bus), (notifier,)) class AsyncNotifierTest(unittest.TestCase): diff --git a/test/serial_test.py b/test/serial_test.py index 5fa90704b..409485112 100644 --- a/test/serial_test.py +++ b/test/serial_test.py @@ -84,20 +84,38 @@ def test_rx_tx_data_none(self): msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) - def test_rx_tx_min_id(self): + def test_rx_tx_min_std_id(self): """ - Tests the transfer with the lowest arbitration id + Tests the transfer with the lowest standard arbitration id """ - msg = can.Message(arbitration_id=0) + msg = can.Message(arbitration_id=0, is_extended_id=False) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) - def test_rx_tx_max_id(self): + def test_rx_tx_max_std_id(self): """ - Tests the transfer with the highest arbitration id + Tests the transfer with the highest standard arbitration id """ - msg = can.Message(arbitration_id=536870911) + msg = can.Message(arbitration_id=0x7FF, is_extended_id=False) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + + def test_rx_tx_min_ext_id(self): + """ + Tests the transfer with the lowest extended arbitration id + """ + msg = can.Message(arbitration_id=0x000, is_extended_id=True) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + + def test_rx_tx_max_ext_id(self): + """ + Tests the transfer with the highest extended arbitration id + """ + msg = can.Message(arbitration_id=0x1FFFFFFF, is_extended_id=True) self.bus.send(msg) msg_receive = self.bus.recv() self.assertMessageEqual(msg, msg_receive) @@ -137,6 +155,28 @@ def test_rx_tx_min_timestamp_error(self): msg = can.Message(timestamp=-1) self.assertRaises(ValueError, self.bus.send, msg) + def test_rx_tx_err_frame(self): + """ + Test the transfer of error frames. + """ + msg = can.Message( + is_extended_id=False, is_error_frame=True, is_remote_frame=False + ) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + + def test_rx_tx_rtr_frame(self): + """ + Test the transfer of remote frames. + """ + msg = can.Message( + is_extended_id=False, is_error_frame=False, is_remote_frame=True + ) + self.bus.send(msg) + msg_receive = self.bus.recv() + self.assertMessageEqual(msg, msg_receive) + def test_when_no_fileno(self): """ Tests for the fileno method catching the missing pyserial implementeation on the Windows platform diff --git a/test/simplecyclic_test.py b/test/simplecyclic_test.py index c4c1a2340..22a11e643 100644 --- a/test/simplecyclic_test.py +++ b/test/simplecyclic_test.py @@ -5,18 +5,18 @@ """ import gc +import platform import sys import time import traceback import unittest from threading import Thread from time import sleep -from typing import List from unittest.mock import MagicMock import can -from .config import * +from .config import IS_CI, IS_PYPY from .message_helper import ComparingMessagesTestCase @@ -36,123 +36,120 @@ def test_cycle_time(self): is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] ) - with can.interface.Bus(interface="virtual") as bus1: - with can.interface.Bus(interface="virtual") as bus2: - # disabling the garbage collector makes the time readings more reliable - gc.disable() + with ( + can.interface.Bus(interface="virtual") as bus1, + can.interface.Bus(interface="virtual") as bus2, + ): + # disabling the garbage collector makes the time readings more reliable + gc.disable() - task = bus1.send_periodic(msg, 0.01, 1) - self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) + task = bus1.send_periodic(msg, 0.01, 1) + self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - sleep(2) - size = bus2.queue.qsize() - # About 100 messages should have been transmitted - self.assertTrue( - 80 <= size <= 120, - "100 +/- 20 messages should have been transmitted. But queue contained {}".format( - size - ), - ) - last_msg = bus2.recv() - next_last_msg = bus2.recv() + sleep(2) + size = bus2.queue.qsize() + # About 100 messages should have been transmitted + self.assertTrue( + 80 <= size <= 120, + "100 +/- 20 messages should have been transmitted. But queue contained {}".format( + size + ), + ) + last_msg = bus2.recv() + next_last_msg = bus2.recv() - # we need to reenable the garbage collector again - gc.enable() + # we need to reenable the garbage collector again + gc.enable() - # Check consecutive messages are spaced properly in time and have - # the same id/data - self.assertMessageEqual(last_msg, next_last_msg) + # Check consecutive messages are spaced properly in time and have + # the same id/data + self.assertMessageEqual(last_msg, next_last_msg) - # Check the message id/data sent is the same as message received - # Set timestamp and channel to match recv'd because we don't care - # and they are not initialized by the can.Message constructor. - msg.timestamp = last_msg.timestamp - msg.channel = last_msg.channel - self.assertMessageEqual(msg, last_msg) + # Check the message id/data sent is the same as message received + # Set timestamp and channel to match recv'd because we don't care + # and they are not initialized by the can.Message constructor. + msg.timestamp = last_msg.timestamp + msg.channel = last_msg.channel + self.assertMessageEqual(msg, last_msg) def test_removing_bus_tasks(self): - bus = can.interface.Bus(interface="virtual") - tasks = [] - for task_i in range(10): - msg = can.Message( - is_extended_id=False, - arbitration_id=0x123, - data=[0, 1, 2, 3, 4, 5, 6, 7], - ) - msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 1) - tasks.append(task) - self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) + with can.interface.Bus(interface="virtual") as bus: + tasks = [] + for task_i in range(10): + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) + msg.arbitration_id = task_i + task = bus.send_periodic(msg, 0.1, 1) + tasks.append(task) + self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - assert len(bus._periodic_tasks) == 10 + assert len(bus._periodic_tasks) == 10 - for task in tasks: - # Note calling task.stop will remove the task from the Bus's internal task management list - task.stop() + for task in tasks: + # Note calling task.stop will remove the task from the Bus's internal task management list + task.stop() - self.join_threads([task.thread for task in tasks], 5.0) + self.join_threads([task.thread for task in tasks], 5.0) - assert len(bus._periodic_tasks) == 0 - bus.shutdown() + assert len(bus._periodic_tasks) == 0 def test_managed_tasks(self): - bus = can.interface.Bus(interface="virtual", receive_own_messages=True) - tasks = [] - for task_i in range(3): - msg = can.Message( - is_extended_id=False, - arbitration_id=0x123, - data=[0, 1, 2, 3, 4, 5, 6, 7], - ) - msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 10, store_task=False) - tasks.append(task) - self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - - assert len(bus._periodic_tasks) == 0 + with can.interface.Bus(interface="virtual", receive_own_messages=True) as bus: + tasks = [] + for task_i in range(3): + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) + msg.arbitration_id = task_i + task = bus.send_periodic(msg, 0.1, 10, store_task=False) + tasks.append(task) + self.assertIsInstance(task, can.broadcastmanager.CyclicSendTaskABC) - # Self managed tasks should still be sending messages - for _ in range(50): - received_msg = bus.recv(timeout=5.0) - assert received_msg is not None - assert received_msg.arbitration_id in {0, 1, 2} + assert len(bus._periodic_tasks) == 0 - for task in tasks: - task.stop() + # Self managed tasks should still be sending messages + for _ in range(50): + received_msg = bus.recv(timeout=5.0) + assert received_msg is not None + assert received_msg.arbitration_id in {0, 1, 2} - self.join_threads([task.thread for task in tasks], 5.0) + for task in tasks: + task.stop() - bus.shutdown() + self.join_threads([task.thread for task in tasks], 5.0) def test_stopping_perodic_tasks(self): - bus = can.interface.Bus(interface="virtual") - tasks = [] - for task_i in range(10): - msg = can.Message( - is_extended_id=False, - arbitration_id=0x123, - data=[0, 1, 2, 3, 4, 5, 6, 7], - ) - msg.arbitration_id = task_i - task = bus.send_periodic(msg, 0.1, 1) - tasks.append(task) - - assert len(bus._periodic_tasks) == 10 - # stop half the tasks using the task object - for task in tasks[::2]: - task.stop() + with can.interface.Bus(interface="virtual") as bus: + tasks = [] + for task_i in range(10): + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) + msg.arbitration_id = task_i + task = bus.send_periodic(msg, period=0.1) + tasks.append(task) - assert len(bus._periodic_tasks) == 5 + assert len(bus._periodic_tasks) == 10 + # stop half the tasks using the task object + for task in tasks[::2]: + task.stop() - # stop the other half using the bus api - bus.stop_all_periodic_tasks(remove_tasks=False) - self.join_threads([task.thread for task in tasks], 5.0) + assert len(bus._periodic_tasks) == 5 - # Tasks stopped via `stop_all_periodic_tasks` with remove_tasks=False should - # still be associated with the bus (e.g. for restarting) - assert len(bus._periodic_tasks) == 5 + # stop the other half using the bus api + bus.stop_all_periodic_tasks(remove_tasks=False) + self.join_threads([task.thread for task in tasks], 5.0) - bus.shutdown() + # Tasks stopped via `stop_all_periodic_tasks` with remove_tasks=False should + # still be associated with the bus (e.g. for restarting) + assert len(bus._periodic_tasks) == 5 def test_restart_perodic_tasks(self): period = 0.01 @@ -214,25 +211,26 @@ def _read_all_messages(_bus: "can.interfaces.virtual.VirtualBus") -> None: @unittest.skipIf(IS_CI, "fails randomly when run on CI server") def test_thread_based_cyclic_send_task(self): - bus = can.ThreadSafeBus(interface="virtual") - msg = can.Message( - is_extended_id=False, arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7] - ) + with can.ThreadSafeBus(interface="virtual") as bus: + msg = can.Message( + is_extended_id=False, + arbitration_id=0x123, + data=[0, 1, 2, 3, 4, 5, 6, 7], + ) - # good case, bus is up - on_error_mock = MagicMock(return_value=False) - task = can.broadcastmanager.ThreadBasedCyclicSendTask( - bus=bus, - lock=bus._lock_send_periodic, - messages=msg, - period=0.1, - duration=3, - on_error=on_error_mock, - ) - sleep(1) - on_error_mock.assert_not_called() - task.stop() - bus.shutdown() + # good case, bus is up + on_error_mock = MagicMock(return_value=False) + task = can.broadcastmanager.ThreadBasedCyclicSendTask( + bus=bus, + lock=bus._lock_send_periodic, + messages=msg, + period=0.1, + duration=3, + on_error=on_error_mock, + ) + sleep(1) + on_error_mock.assert_not_called() + task.stop() # bus has been shut down on_error_mock = MagicMock(return_value=False) @@ -263,7 +261,7 @@ def test_thread_based_cyclic_send_task(self): task.stop() def test_modifier_callback(self) -> None: - msg_list: List[can.Message] = [] + msg_list: list[can.Message] = [] def increment_first_byte(msg: can.Message) -> None: msg.data[0] = (msg.data[0] + 1) % 256 @@ -290,8 +288,8 @@ def increment_first_byte(msg: can.Message) -> None: self.assertEqual(b"\x07\x00\x00\x00\x00\x00\x00\x00", bytes(msg_list[6].data)) @staticmethod - def join_threads(threads: List[Thread], timeout: float) -> None: - stuck_threads: List[Thread] = [] + def join_threads(threads: list[Thread], timeout: float) -> None: + stuck_threads: list[Thread] = [] t0 = time.perf_counter() for thread in threads: time_left = timeout - (time.perf_counter() - t0) diff --git a/test/test_bridge.py b/test/test_bridge.py new file mode 100644 index 000000000..ee41bd949 --- /dev/null +++ b/test/test_bridge.py @@ -0,0 +1,126 @@ +#!/usr/bin/env python + +""" +This module tests the functions inside of bridge.py +""" + +import random +import string +import sys +import threading +import time +from time import sleep as real_sleep +import unittest.mock + +import can +import can.bridge +from can.interfaces import virtual + +from .message_helper import ComparingMessagesTestCase + + +class TestBridgeScriptModule(unittest.TestCase, ComparingMessagesTestCase): + + TIMEOUT = 3.0 + + def __init__(self, *args, **kwargs): + unittest.TestCase.__init__(self, *args, **kwargs) + ComparingMessagesTestCase.__init__( + self, + allowed_timestamp_delta=None, + preserves_channel=False, + ) + + def setUp(self) -> None: + self.stop_event = threading.Event() + + self.channel1 = "".join(random.choices(string.ascii_letters, k=8)) + self.channel2 = "".join(random.choices(string.ascii_letters, k=8)) + + self.cli_args = [ + "--bus1-interface", + "virtual", + "--bus1-channel", + self.channel1, + "--bus2-interface", + "virtual", + "--bus2-channel", + self.channel2, + ] + + self.testmsg = can.Message( + arbitration_id=0xC0FFEE, data=[0, 25, 0, 1, 3, 1, 4, 1], is_extended_id=True + ) + + def fake_sleep(self, duration): + """A fake replacement for time.sleep that checks periodically + whether self.stop_event is set, and raises KeyboardInterrupt + if so. + + This allows tests to simulate an interrupt (like Ctrl+C) + during long sleeps, in a controlled and responsive way. + """ + interval = 0.05 # Small interval for responsiveness + t_wakeup = time.perf_counter() + duration + while time.perf_counter() < t_wakeup: + if self.stop_event.is_set(): + raise KeyboardInterrupt("Simulated interrupt from fake_sleep") + real_sleep(interval) + + def test_bridge(self): + with ( + unittest.mock.patch("can.bridge.time.sleep", new=self.fake_sleep), + unittest.mock.patch("can.bridge.sys.argv", [sys.argv[0], *self.cli_args]), + ): + # start script + thread = threading.Thread(target=can.bridge.main) + thread.start() + + # wait until script instantiates virtual buses + t0 = time.perf_counter() + while True: + with virtual.channels_lock: + if ( + self.channel1 in virtual.channels + and self.channel2 in virtual.channels + ): + break + if time.perf_counter() > t0 + 2.0: + raise TimeoutError("Bridge script did not create virtual buses") + real_sleep(0.2) + + # create buses with the same channels as in scripts + with ( + can.interfaces.virtual.VirtualBus(self.channel1) as bus1, + can.interfaces.virtual.VirtualBus(self.channel2) as bus2, + ): + # send test message to bus1, it should be received on bus2 + bus1.send(self.testmsg) + recv_msg = bus2.recv(self.TIMEOUT) + self.assertMessageEqual(self.testmsg, recv_msg) + + # assert that both buses are empty + self.assertIsNone(bus1.recv(0)) + self.assertIsNone(bus2.recv(0)) + + # send test message to bus2, it should be received on bus1 + bus2.send(self.testmsg) + recv_msg = bus1.recv(self.TIMEOUT) + self.assertMessageEqual(self.testmsg, recv_msg) + + # assert that both buses are empty + self.assertIsNone(bus1.recv(0)) + self.assertIsNone(bus2.recv(0)) + + # stop the bridge script + self.stop_event.set() + thread.join() + + # assert that the virtual buses were closed + with virtual.channels_lock: + self.assertNotIn(self.channel1, virtual.channels) + self.assertNotIn(self.channel2, virtual.channels) + + +if __name__ == "__main__": + unittest.main() diff --git a/test/test_bus.py b/test/test_bus.py index 24421b2fd..6a09a6deb 100644 --- a/test/test_bus.py +++ b/test/test_bus.py @@ -8,11 +8,11 @@ def test_bus_ignore_config(): with patch.object( target=can.util, attribute="load_config", side_effect=can.util.load_config ): - _ = can.Bus(interface="virtual", ignore_config=True) - assert not can.util.load_config.called + with can.Bus(interface="virtual", ignore_config=True): + assert not can.util.load_config.called - _ = can.Bus(interface="virtual") - assert can.util.load_config.called + with can.Bus(interface="virtual"): + assert can.util.load_config.called @patch.object(can.bus.BusABC, "shutdown") diff --git a/test/test_cli.py b/test/test_cli.py new file mode 100644 index 000000000..ecc662832 --- /dev/null +++ b/test/test_cli.py @@ -0,0 +1,154 @@ +import argparse +import unittest +from unittest.mock import patch + +from can.cli import add_bus_arguments, create_bus_from_namespace + + +class TestCliUtils(unittest.TestCase): + def test_add_bus_arguments(self): + parser = argparse.ArgumentParser() + add_bus_arguments(parser, filter_arg=True, prefix="test") + + parsed_args = parser.parse_args( + [ + "--test-channel", + "0", + "--test-interface", + "vector", + "--test-timing", + "f_clock=8000000", + "brp=4", + "tseg1=11", + "tseg2=4", + "sjw=2", + "nof_samples=3", + "--test-filter", + "100:7FF", + "200~7F0", + "--test-bus-kwargs", + "app_name=MyApp", + "serial=1234", + ] + ) + + self.assertNotIn("channel", parsed_args) + self.assertNotIn("test_bitrate", parsed_args) + self.assertNotIn("test_data_bitrate", parsed_args) + self.assertNotIn("test_fd", parsed_args) + + self.assertEqual(parsed_args.test_channel, "0") + self.assertEqual(parsed_args.test_interface, "vector") + self.assertEqual(parsed_args.test_timing.f_clock, 8000000) + self.assertEqual(parsed_args.test_timing.brp, 4) + self.assertEqual(parsed_args.test_timing.tseg1, 11) + self.assertEqual(parsed_args.test_timing.tseg2, 4) + self.assertEqual(parsed_args.test_timing.sjw, 2) + self.assertEqual(parsed_args.test_timing.nof_samples, 3) + self.assertEqual(len(parsed_args.test_can_filters), 2) + self.assertEqual(parsed_args.test_can_filters[0]["can_id"], 0x100) + self.assertEqual(parsed_args.test_can_filters[0]["can_mask"], 0x7FF) + self.assertEqual(parsed_args.test_can_filters[1]["can_id"], 0x200 | 0x20000000) + self.assertEqual( + parsed_args.test_can_filters[1]["can_mask"], 0x7F0 & 0x20000000 + ) + self.assertEqual(parsed_args.test_bus_kwargs["app_name"], "MyApp") + self.assertEqual(parsed_args.test_bus_kwargs["serial"], 1234) + + def test_add_bus_arguments_no_prefix(self): + parser = argparse.ArgumentParser() + add_bus_arguments(parser, filter_arg=True) + + parsed_args = parser.parse_args( + [ + "--channel", + "0", + "--interface", + "vector", + "--timing", + "f_clock=8000000", + "brp=4", + "tseg1=11", + "tseg2=4", + "sjw=2", + "nof_samples=3", + "--filter", + "100:7FF", + "200~7F0", + "--bus-kwargs", + "app_name=MyApp", + "serial=1234", + ] + ) + + self.assertEqual(parsed_args.channel, "0") + self.assertEqual(parsed_args.interface, "vector") + self.assertEqual(parsed_args.timing.f_clock, 8000000) + self.assertEqual(parsed_args.timing.brp, 4) + self.assertEqual(parsed_args.timing.tseg1, 11) + self.assertEqual(parsed_args.timing.tseg2, 4) + self.assertEqual(parsed_args.timing.sjw, 2) + self.assertEqual(parsed_args.timing.nof_samples, 3) + self.assertEqual(len(parsed_args.can_filters), 2) + self.assertEqual(parsed_args.can_filters[0]["can_id"], 0x100) + self.assertEqual(parsed_args.can_filters[0]["can_mask"], 0x7FF) + self.assertEqual(parsed_args.can_filters[1]["can_id"], 0x200 | 0x20000000) + self.assertEqual(parsed_args.can_filters[1]["can_mask"], 0x7F0 & 0x20000000) + self.assertEqual(parsed_args.bus_kwargs["app_name"], "MyApp") + self.assertEqual(parsed_args.bus_kwargs["serial"], 1234) + + @patch("can.Bus") + def test_create_bus_from_namespace(self, mock_bus): + namespace = argparse.Namespace( + test_channel="vcan0", + test_interface="virtual", + test_bitrate=500000, + test_data_bitrate=2000000, + test_fd=True, + test_can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + test_bus_kwargs={"app_name": "MyApp", "serial": 1234}, + ) + + create_bus_from_namespace(namespace, prefix="test") + + mock_bus.assert_called_once_with( + channel="vcan0", + interface="virtual", + bitrate=500000, + data_bitrate=2000000, + fd=True, + can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + app_name="MyApp", + serial=1234, + single_handle=True, + ) + + @patch("can.Bus") + def test_create_bus_from_namespace_no_prefix(self, mock_bus): + namespace = argparse.Namespace( + channel="vcan0", + interface="virtual", + bitrate=500000, + data_bitrate=2000000, + fd=True, + can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + bus_kwargs={"app_name": "MyApp", "serial": 1234}, + ) + + create_bus_from_namespace(namespace) + + mock_bus.assert_called_once_with( + channel="vcan0", + interface="virtual", + bitrate=500000, + data_bitrate=2000000, + fd=True, + can_filters=[{"can_id": 0x100, "can_mask": 0x7FF}], + app_name="MyApp", + serial=1234, + single_handle=True, + ) + + +if __name__ == "__main__": + unittest.main() diff --git a/test/test_interface_canalystii.py b/test/test_interface_canalystii.py index 65d9ee74b..3bdd281d2 100755 --- a/test/test_interface_canalystii.py +++ b/test/test_interface_canalystii.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import unittest from ctypes import c_ubyte diff --git a/test/test_kvaser.py b/test/test_kvaser.py index 8d18976aa..1ad035dec 100644 --- a/test/test_kvaser.py +++ b/test/test_kvaser.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import ctypes import time @@ -278,6 +277,19 @@ def test_bus_get_stats(self): self.assertTrue(canlib.canGetBusStatistics.called) self.assertIsInstance(stats, canlib.structures.BusStatistics) + def test_bus_no_init_access(self): + canlib.canOpenChannel.reset_mock() + bus = can.Bus(interface="kvaser", channel=0, no_init_access=True) + + self.assertGreater(canlib.canOpenChannel.call_count, 0) + for call in canlib.canOpenChannel.call_args_list: + self.assertEqual( + call[0][1] & constants.canOPEN_NO_INIT_ACCESS, + constants.canOPEN_NO_INIT_ACCESS, + ) + + bus.shutdown() + @staticmethod def canGetNumberOfChannels(count): count._obj.value = 2 diff --git a/test/test_logger.py b/test/test_logger.py index d9f200e00..41778ab6a 100644 --- a/test/test_logger.py +++ b/test/test_logger.py @@ -14,6 +14,7 @@ import pytest import can +import can.cli import can.logger @@ -89,7 +90,7 @@ def test_log_virtual_with_config(self): "--bitrate", "250000", "--fd", - "--data_bitrate", + "--data-bitrate", "2000000", ] can.logger.main() @@ -111,7 +112,7 @@ def test_parse_logger_args(self): "--bitrate", "250000", "--fd", - "--data_bitrate", + "--data-bitrate", "2000000", "--receive-own-messages=True", ] @@ -205,7 +206,7 @@ def test_parse_additional_config(self): "--offset=1.5", "--tseg1-abr=127", ] - parsed_args = can.logger._parse_additional_config(unknown_args) + parsed_args = can.cli._parse_additional_config(unknown_args) assert "app_name" in parsed_args assert parsed_args["app_name"] == "CANalyzer" @@ -232,16 +233,16 @@ def test_parse_additional_config(self): assert parsed_args["tseg1_abr"] == 127 with pytest.raises(ValueError): - can.logger._parse_additional_config(["--wrong-format"]) + can.cli._parse_additional_config(["--wrong-format"]) with pytest.raises(ValueError): - can.logger._parse_additional_config(["-wrongformat=value"]) + can.cli._parse_additional_config(["-wrongformat=value"]) with pytest.raises(ValueError): - can.logger._parse_additional_config(["--wrongformat=value1 value2"]) + can.cli._parse_additional_config(["--wrongformat=value1 value2"]) with pytest.raises(ValueError): - can.logger._parse_additional_config(["wrongformat="]) + can.cli._parse_additional_config(["wrongformat="]) class TestLoggerCompressedFile(unittest.TestCase): diff --git a/test/test_neovi.py b/test/test_neovi.py index d8f54960a..8c816bef2 100644 --- a/test/test_neovi.py +++ b/test/test_neovi.py @@ -1,7 +1,6 @@ #!/usr/bin/env python -""" -""" +""" """ import pickle import unittest diff --git a/test/test_pcan.py b/test/test_pcan.py index 31c541f0a..a9c6ea922 100644 --- a/test/test_pcan.py +++ b/test/test_pcan.py @@ -232,6 +232,7 @@ def test_recv(self): self.assertEqual(recv_msg.is_fd, False) self.assertSequenceEqual(recv_msg.data, msg.DATA) self.assertEqual(recv_msg.timestamp, 0) + self.assertEqual(recv_msg.channel, "PCAN_USBBUS1") def test_recv_fd(self): data = (ctypes.c_ubyte * 64)(*[x for x in range(64)]) @@ -255,6 +256,7 @@ def test_recv_fd(self): self.assertEqual(recv_msg.is_fd, True) self.assertSequenceEqual(recv_msg.data, msg.DATA) self.assertEqual(recv_msg.timestamp, 0) + self.assertEqual(recv_msg.channel, "PCAN_USBBUS1") @pytest.mark.timeout(3.0) @patch("select.select", return_value=([], [], [])) diff --git a/test/test_player.py b/test/test_player.py index e5e77fe8a..c4c3c90ef 100755 --- a/test/test_player.py +++ b/test/test_player.py @@ -11,6 +11,8 @@ from unittest import mock from unittest.mock import Mock +from parameterized import parameterized + import can import can.player @@ -38,7 +40,7 @@ def assertSuccessfulCleanup(self): self.mock_virtual_bus.__exit__.assert_called_once() def test_play_virtual(self): - sys.argv = self.baseargs + [self.logfile] + sys.argv = [*self.baseargs, self.logfile] can.player.main() msg1 = can.Message( timestamp=2.501, @@ -65,8 +67,8 @@ def test_play_virtual(self): self.assertSuccessfulCleanup() def test_play_virtual_verbose(self): - sys.argv = self.baseargs + ["-v", self.logfile] - with unittest.mock.patch("sys.stdout", new_callable=io.StringIO) as mock_stdout: + sys.argv = [*self.baseargs, "-v", self.logfile] + with mock.patch("sys.stdout", new_callable=io.StringIO) as mock_stdout: can.player.main() self.assertIn("09 08 07 06 05 04 03 02", mock_stdout.getvalue()) self.assertIn("05 0c 00 00 00 00 00 00", mock_stdout.getvalue()) @@ -76,7 +78,7 @@ def test_play_virtual_verbose(self): def test_play_virtual_exit(self): self.MockSleep.side_effect = [None, KeyboardInterrupt] - sys.argv = self.baseargs + [self.logfile] + sys.argv = [*self.baseargs, self.logfile] can.player.main() assert self.mock_virtual_bus.send.call_count <= 2 self.assertSuccessfulCleanup() @@ -85,7 +87,7 @@ def test_play_skip_error_frame(self): logfile = os.path.join( os.path.dirname(__file__), "data", "logfile_errorframes.asc" ) - sys.argv = self.baseargs + ["-v", logfile] + sys.argv = [*self.baseargs, "-v", logfile] can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 9) self.assertSuccessfulCleanup() @@ -94,11 +96,52 @@ def test_play_error_frame(self): logfile = os.path.join( os.path.dirname(__file__), "data", "logfile_errorframes.asc" ) - sys.argv = self.baseargs + ["-v", "--error-frames", logfile] + sys.argv = [*self.baseargs, "-v", "--error-frames", logfile] can.player.main() self.assertEqual(self.mock_virtual_bus.send.call_count, 12) self.assertSuccessfulCleanup() + @parameterized.expand([0, 1, 2, 3]) + def test_play_loop(self, loop_val): + sys.argv = [*self.baseargs, "--loop", str(loop_val), self.logfile] + can.player.main() + msg1 = can.Message( + timestamp=2.501, + arbitration_id=0xC8, + is_extended_id=False, + is_fd=False, + is_rx=False, + channel=1, + dlc=8, + data=[0x9, 0x8, 0x7, 0x6, 0x5, 0x4, 0x3, 0x2], + ) + msg2 = can.Message( + timestamp=17.876708, + arbitration_id=0x6F9, + is_extended_id=False, + is_fd=False, + is_rx=True, + channel=0, + dlc=8, + data=[0x5, 0xC, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0], + ) + for i in range(loop_val): + self.assertTrue( + msg1.equals(self.mock_virtual_bus.send.mock_calls[2 * i + 0].args[0]) + ) + self.assertTrue( + msg2.equals(self.mock_virtual_bus.send.mock_calls[2 * i + 1].args[0]) + ) + self.assertEqual(self.mock_virtual_bus.send.call_count, 2 * loop_val) + self.assertSuccessfulCleanup() + + def test_play_loop_infinite(self): + self.mock_virtual_bus.send.side_effect = [None] * 99 + [KeyboardInterrupt] + sys.argv = [*self.baseargs, "-l", "i", self.logfile] + can.player.main() + self.assertEqual(self.mock_virtual_bus.send.call_count, 100) + self.assertSuccessfulCleanup() + class TestPlayerCompressedFile(TestPlayerScriptModule): """ diff --git a/test/test_rotating_loggers.py b/test/test_rotating_loggers.py index ab977e3ce..77a2c7f5d 100644 --- a/test/test_rotating_loggers.py +++ b/test/test_rotating_loggers.py @@ -29,7 +29,7 @@ def __init__(self, file: StringPathLike, **kwargs) -> None: suffix = Path(file).suffix.lower() if suffix not in self._supported_formats: raise ValueError(f"Unsupported file format: {suffix}") - self._writer = can.Printer(file=file) + self._writer = can.Logger(filename=file) @property def writer(self) -> FileIOMessageWriter: @@ -59,26 +59,20 @@ def test_attributes(self): assert hasattr(can.io.BaseRotatingLogger, "do_rollover") def test_get_new_writer(self, tmp_path): - with self._get_instance(tmp_path / "__unused.txt") as logger_instance: - writer = logger_instance._get_new_writer(tmp_path / "file.ASC") - assert isinstance(writer, can.ASCWriter) - writer.stop() + with self._get_instance(tmp_path / "file.ASC") as logger_instance: + assert isinstance(logger_instance.writer, can.ASCWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.BLF") - assert isinstance(writer, can.BLFWriter) - writer.stop() + with self._get_instance(tmp_path / "file.BLF") as logger_instance: + assert isinstance(logger_instance.writer, can.BLFWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.CSV") - assert isinstance(writer, can.CSVWriter) - writer.stop() + with self._get_instance(tmp_path / "file.CSV") as logger_instance: + assert isinstance(logger_instance.writer, can.CSVWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.LOG") - assert isinstance(writer, can.CanutilsLogWriter) - writer.stop() + with self._get_instance(tmp_path / "file.LOG") as logger_instance: + assert isinstance(logger_instance.writer, can.CanutilsLogWriter) - writer = logger_instance._get_new_writer(tmp_path / "file.TXT") - assert isinstance(writer, can.Printer) - writer.stop() + with self._get_instance(tmp_path / "file.TXT") as logger_instance: + assert isinstance(logger_instance.writer, can.Printer) def test_rotation_filename(self, tmp_path): with self._get_instance(tmp_path / "__unused.txt") as logger_instance: @@ -89,63 +83,61 @@ def test_rotation_filename(self, tmp_path): assert logger_instance.rotation_filename(default_name) == "default_by_namer" def test_rotate_without_rotator(self, tmp_path): - with self._get_instance(tmp_path / "__unused.txt") as logger_instance: - source = str(tmp_path / "source.txt") - dest = str(tmp_path / "dest.txt") + source = str(tmp_path / "source.txt") + dest = str(tmp_path / "dest.txt") - assert os.path.exists(source) is False - assert os.path.exists(dest) is False + assert os.path.exists(source) is False + assert os.path.exists(dest) is False - logger_instance._writer = logger_instance._get_new_writer(source) - logger_instance.stop() + with self._get_instance(source) as logger_instance: + # use context manager to create `source` file and close it + pass - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + assert os.path.exists(source) is True + assert os.path.exists(dest) is False - logger_instance.rotate(source, dest) + logger_instance.rotate(source, dest) - assert os.path.exists(source) is False - assert os.path.exists(dest) is True + assert os.path.exists(source) is False + assert os.path.exists(dest) is True def test_rotate_with_rotator(self, tmp_path): - with self._get_instance(tmp_path / "__unused.txt") as logger_instance: - rotator_func = Mock() - logger_instance.rotator = rotator_func + source = str(tmp_path / "source.txt") + dest = str(tmp_path / "dest.txt") - source = str(tmp_path / "source.txt") - dest = str(tmp_path / "dest.txt") + assert os.path.exists(source) is False + assert os.path.exists(dest) is False - assert os.path.exists(source) is False - assert os.path.exists(dest) is False + with self._get_instance(source) as logger_instance: + # use context manager to create `source` file and close it + pass - logger_instance._writer = logger_instance._get_new_writer(source) - logger_instance.stop() + rotator_func = Mock() + logger_instance.rotator = rotator_func + logger_instance._writer = logger_instance._get_new_writer(source) + logger_instance.stop() - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + assert os.path.exists(source) is True + assert os.path.exists(dest) is False - logger_instance.rotate(source, dest) - rotator_func.assert_called_with(source, dest) + logger_instance.rotate(source, dest) + rotator_func.assert_called_with(source, dest) - # assert that no rotation was performed since rotator_func - # does not do anything - assert os.path.exists(source) is True - assert os.path.exists(dest) is False + # assert that no rotation was performed since rotator_func + # does not do anything + assert os.path.exists(source) is True + assert os.path.exists(dest) is False def test_stop(self, tmp_path): """Test if stop() method of writer is called.""" with self._get_instance(tmp_path / "file.ASC") as logger_instance: # replace stop method of writer with Mock - original_stop = logger_instance.writer.stop - mock_stop = Mock() + mock_stop = Mock(side_effect=logger_instance.writer.stop) logger_instance.writer.stop = mock_stop logger_instance.stop() mock_stop.assert_called() - # close file.ASC to enable cleanup of temp_dir - original_stop() - def test_on_message_received(self, tmp_path): with self._get_instance(tmp_path / "file.ASC") as logger_instance: # Test without rollover @@ -181,12 +173,9 @@ def test_on_message_received(self, tmp_path): writers_on_message_received.assert_called_with(msg) def test_issue_1792(self, tmp_path): - with self._get_instance(tmp_path / "__unused.log") as logger_instance: - writer = logger_instance._get_new_writer( - tmp_path / "2017_Jeep_Grand_Cherokee_3.6L_V6.log" - ) - assert isinstance(writer, can.CanutilsLogWriter) - writer.stop() + filepath = tmp_path / "2017_Jeep_Grand_Cherokee_3.6L_V6.log" + with self._get_instance(filepath) as logger_instance: + assert isinstance(logger_instance.writer, can.CanutilsLogWriter) class TestSizedRotatingLogger: diff --git a/test/test_scripts.py b/test/test_scripts.py index 9d8c059cf..c1a6c082d 100644 --- a/test/test_scripts.py +++ b/test/test_scripts.py @@ -98,6 +98,20 @@ def _import(self): return module +class TestBridgeScript(CanScriptTest): + def _commands(self): + commands = [ + "python -m can.bridge --help", + "can_bridge --help", + ] + return commands + + def _import(self): + import can.bridge as module + + return module + + class TestLogconvertScript(CanScriptTest): def _commands(self): commands = [ diff --git a/test/test_slcan.py b/test/test_slcan.py index 220a6d7e0..b757ad04d 100644 --- a/test/test_slcan.py +++ b/test/test_slcan.py @@ -74,7 +74,13 @@ class slcanTestCase(unittest.TestCase): def setUp(self): self.bus = cast( can.interfaces.slcan.slcanBus, - can.Bus("loop://", interface="slcan", sleep_after_open=0, timeout=TIMEOUT), + can.Bus( + "loop://", + interface="slcan", + sleep_after_open=0, + timeout=TIMEOUT, + bitrate=500000, + ), ) self.serial = cast(SerialMock, self.bus.serialPortOrig) self.serial.reset_input_buffer() @@ -178,6 +184,264 @@ def test_send_extended_remote(self): rx_msg = self.bus.recv(TIMEOUT) self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + def test_recv_fd(self): + self.serial.set_input_buffer(b"d123A303132333435363738393a3b3c3d3e3f\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x123) + self.assertEqual(msg.is_extended_id, False) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.is_fd, True) + self.assertEqual(msg.bitrate_switch, False) + self.assertEqual(msg.dlc, 16) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd(self): + payload = b"d123A303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x123, + is_extended_id=False, + is_fd=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + + def test_recv_fd_extended(self): + self.serial.set_input_buffer(b"D12ABCDEFA303132333435363738393A3B3C3D3E3F\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x12ABCDEF) + self.assertEqual(msg.is_extended_id, True) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.dlc, 16) + self.assertEqual(msg.bitrate_switch, False) + self.assertTrue(msg.is_fd) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd_extended(self): + payload = b"D12ABCDEFA303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x12ABCDEF, + is_extended_id=True, + is_fd=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + + def test_recv_fd_brs(self): + self.serial.set_input_buffer(b"b123A303132333435363738393a3b3c3d3e3f\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x123) + self.assertEqual(msg.is_extended_id, False) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.is_fd, True) + self.assertEqual(msg.bitrate_switch, True) + self.assertEqual(msg.dlc, 16) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd_brs(self): + payload = b"b123A303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x123, + is_extended_id=False, + is_fd=True, + bitrate_switch=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + + def test_recv_fd_brs_extended(self): + self.serial.set_input_buffer(b"B12ABCDEFA303132333435363738393A3B3C3D3E3F\r") + msg = self.bus.recv(TIMEOUT) + self.assertIsNotNone(msg) + self.assertEqual(msg.arbitration_id, 0x12ABCDEF) + self.assertEqual(msg.is_extended_id, True) + self.assertEqual(msg.is_remote_frame, False) + self.assertEqual(msg.dlc, 16) + self.assertEqual(msg.bitrate_switch, True) + self.assertTrue(msg.is_fd) + self.assertSequenceEqual( + msg.data, + [ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + + def test_send_fd_brs_extended(self): + payload = b"B12ABCDEFA303132333435363738393A3B3C3D3E3F\r" + msg = can.Message( + arbitration_id=0x12ABCDEF, + is_extended_id=True, + is_fd=True, + bitrate_switch=True, + data=[ + 0x30, + 0x31, + 0x32, + 0x33, + 0x34, + 0x35, + 0x36, + 0x37, + 0x38, + 0x39, + 0x3A, + 0x3B, + 0x3C, + 0x3D, + 0x3E, + 0x3F, + ], + ) + self.bus.send(msg) + self.assertEqual(payload, self.serial.get_output_buffer()) + + self.serial.set_input_buffer(payload) + rx_msg = self.bus.recv(TIMEOUT) + self.assertTrue(msg.equals(rx_msg, timestamp_delta=None)) + def test_partial_recv(self): self.serial.set_input_buffer(b"T12ABCDEF") msg = self.bus.recv(TIMEOUT) diff --git a/test/test_socketcan.py b/test/test_socketcan.py index af06b8169..534ee2a61 100644 --- a/test/test_socketcan.py +++ b/test/test_socketcan.py @@ -5,6 +5,7 @@ """ import ctypes import struct +import sys import unittest import warnings from unittest.mock import patch @@ -34,6 +35,7 @@ def setUp(self): self._ctypes_sizeof = ctypes.sizeof self._ctypes_alignment = ctypes.alignment + @unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer") @patch("ctypes.sizeof") @patch("ctypes.alignment") def test_bcm_header_factory_32_bit_sizeof_long_4_alignof_long_4( @@ -103,6 +105,7 @@ def side_effect_ctypes_alignment(value): ] self.assertEqual(expected_fields, BcmMsgHead._fields_) + @unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer") @patch("ctypes.sizeof") @patch("ctypes.alignment") def test_bcm_header_factory_32_bit_sizeof_long_4_alignof_long_long_8( @@ -172,6 +175,7 @@ def side_effect_ctypes_alignment(value): ] self.assertEqual(expected_fields, BcmMsgHead._fields_) + @unittest.skipIf(sys.version_info >= (3, 14), "Fails on Python 3.14 or newer") @patch("ctypes.sizeof") @patch("ctypes.alignment") def test_bcm_header_factory_64_bit_sizeof_long_8_alignof_long_8( @@ -373,7 +377,7 @@ def test_pypy_socketcan_support(self): This test shall document raw CAN socket support under PyPy. Once this test fails, it is likely that PyPy either implemented raw CAN socket support or at least changed the error that is thrown. - https://foss.heptapod.net/pypy/pypy/-/issues/3809 + https://github.com/pypy/pypy/issues/3808 https://github.com/hardbyte/python-can/issues/1479 """ try: @@ -382,7 +386,7 @@ def test_pypy_socketcan_support(self): if "unknown address family" not in str(e): warnings.warn( "Please check if PyPy has implemented raw CAN socket support! " - "See: https://foss.heptapod.net/pypy/pypy/-/issues/3809" + "See: https://github.com/pypy/pypy/issues/3808" ) diff --git a/test/test_socketcand.py b/test/test_socketcand.py new file mode 100644 index 000000000..7050b9f20 --- /dev/null +++ b/test/test_socketcand.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python + +import unittest +import can +from can.interfaces.socketcand import socketcand + + +class TestConvertAsciiMessageToCanMessage(unittest.TestCase): + def test_valid_frame_message(self): + # Example: < frame 123 1680000000.0 01020304 > + ascii_msg = "< frame 123 1680000000.0 01020304 >" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsInstance(msg, can.Message) + self.assertEqual(msg.arbitration_id, 0x123) + self.assertEqual(msg.timestamp, 1680000000.0) + self.assertEqual(msg.data, bytearray([1, 2, 3, 4])) + self.assertEqual(msg.dlc, 4) + self.assertFalse(msg.is_extended_id) + self.assertTrue(msg.is_rx) + + def test_valid_error_message(self): + # Example: < error 1ABCDEF0 1680000001.0 > + ascii_msg = "< error 1ABCDEF0 1680000001.0 >" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsInstance(msg, can.Message) + self.assertEqual(msg.arbitration_id, 0x1ABCDEF0) + self.assertEqual(msg.timestamp, 1680000001.0) + self.assertEqual(msg.data, bytearray([0])) + self.assertEqual(msg.dlc, 1) + self.assertTrue(msg.is_extended_id) + self.assertTrue(msg.is_error_frame) + self.assertTrue(msg.is_rx) + + def test_invalid_message(self): + ascii_msg = "< unknown 123 0.0 >" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsNone(msg) + + def test_missing_ending_character(self): + ascii_msg = "< frame 123 1680000000.0 01020304" + msg = socketcand.convert_ascii_message_to_can_message(ascii_msg) + self.assertIsNone(msg) + + +if __name__ == "__main__": + unittest.main() diff --git a/test/test_util.py b/test/test_util.py index f3524468b..53a9c973b 100644 --- a/test/test_util.py +++ b/test/test_util.py @@ -209,6 +209,29 @@ def test_bit_timing_fd_cfg(self): assert timing.data_tseg2 == 10 assert timing.data_sjw == 10 + def test_state_with_str(self): + can_cfg = _create_bus_config( + { + **self.base_config, + "state": "PASSIVE", + } + ) + state = can_cfg["state"] + assert isinstance(state, can.BusState) + assert state is can.BusState.PASSIVE + + def test_state_with_enum(self): + expected_state = can.BusState.PASSIVE + can_cfg = _create_bus_config( + { + **self.base_config, + "state": expected_state, + } + ) + state = can_cfg["state"] + assert isinstance(state, can.BusState) + assert state is expected_state + class TestChannel2Int(unittest.TestCase): def test_channel2int(self) -> None: diff --git a/test/test_vector.py b/test/test_vector.py index ca46526fb..5d074f614 100644 --- a/test/test_vector.py +++ b/test/test_vector.py @@ -1042,142 +1042,142 @@ def _find_virtual_can_serial() -> int: XL_DRIVER_CONFIG_EXAMPLE = ( - b"\x0E\x00\x1E\x14\x0C\x00\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x0e\x00\x1e\x14\x0c\x00\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E" - b"\x65\x6C\x20\x53\x74\x72\x65\x61\x6D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x2D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x04" - b"\x0A\x40\x00\x02\x00\x02\x00\x00\x02\x00\x00\x00\x02\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38\x39\x31\x34\x20\x43\x68\x61\x6e\x6e" + b"\x65\x6c\x20\x53\x74\x72\x65\x61\x6d\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x2d\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x04" + b"\x0a\x40\x00\x02\x00\x02\x00\x00\x02\x00\x00\x00\x02\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00\x8E" - b"\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08" - b"\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x04\x00\x00\x00\x00\x00\x00\x00\x8e" + b"\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03\x00\x00\x08" + b"\x1c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31" - b"\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x31\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x01\x03\x02\x00\x00\x00\x00\x01\x02\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38\x39\x31" + b"\x34\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x31\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x2d\x00\x01\x03\x02\x00\x00\x00\x00\x01\x02\x00\x00" b"\x00\x00\x00\x00\x00\x02\x10\x00\x08\x07\x01\x04\x00\x00\x00\x00\x00\x00\x04\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x04\x00" - b"\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x04\x00" + b"\x00\x00\x00\x00\x00\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x46\x52\x70\x69\x67\x67\x79\x20\x31\x30" - 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b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00" - b"\x00\x08\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03\x00" + b"\x00\x08\x1c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38" - b"\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x37\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x07\x00\x00\x00\x00\x02\x00\x07\x80" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38" + b"\x39\x31\x34\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x37\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2d\x00\x07\x00\x00\x00\x00\x02\x00\x07\x80" b"\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\xe9\x03\x00\x00\x08\x1c\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x38" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2D\x00\x08\x3C" - b"\x01\x00\x00\x00\x00\x08\x00\x01\x00\x00\x00\x00\x00\x00\x12\x00\x00\xA2\x01\x00" - b"\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01" + b"\x00\x00\x00\x00\x56\x4e\x38\x39\x31\x34\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x38" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x2d\x00\x08\x3c" + b"\x01\x00\x00\x00\x00\x08\x00\x01\x00\x00\x00\x00\x00\x00\x12\x00\x00\xa2\x01\x00" + b"\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xa1\x07\x00\x01\x04\x03\x01\x01" b"\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x0C\x00\x02\x0A\x04\x00\x00\x00\x00\x00\x00\x00\x8E\x00\x02\x0A\x00" + b"\x00\x00\x00\x0c\x00\x02\x0a\x04\x00\x00\x00\x00\x00\x00\x00\x8e\x00\x02\x0a\x00" b"\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03\x00\x00\x08\x1C\x00\x00\x4F" - b"\x6E\x20\x62\x6F\x61\x72\x64\x20\x43\x41\x4E\x20\x31\x30\x35\x31\x63\x61\x70\x28" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03\x00\x00\x08\x1c\x00\x00\x4f" + b"\x6e\x20\x62\x6f\x61\x72\x64\x20\x43\x41\x4e\x20\x31\x30\x35\x31\x63\x61\x70\x28" b"\x48\x69\x67\x68\x73\x70\x65\x65\x64\x29\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4E\x38\x39\x31\x34\x20\x43\x68" - b"\x61\x6E\x6E\x65\x6C\x20\x39\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x2D\x00\x09\x80\x02\x00\x00\x00\x00\x09\x00\x02\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x4e\x38\x39\x31\x34\x20\x43\x68" + b"\x61\x6e\x6e\x65\x6c\x20\x39\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x2d\x00\x09\x80\x02\x00\x00\x00\x00\x09\x00\x02\x00\x00\x00\x00\x00" b"\x00\x02\x00\x00\x00\x40\x00\x40\x00\x00\x00\x00\x00\x00\x40\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0C\x00\x02\x0A\x03\x00\x00\x00\x00\x00" - b"\x00\x00\x8E\x00\x02\x0A\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xE9\x03" - b"\x00\x00\x08\x1C\x00\x00\x44\x2F\x41\x20\x49\x4F\x70\x69\x67\x67\x79\x20\x38\x36" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x0c\x00\x02\x0a\x03\x00\x00\x00\x00\x00" + b"\x00\x00\x8e\x00\x02\x0a\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xe9\x03" + b"\x00\x00\x08\x1c\x00\x00\x44\x2f\x41\x20\x49\x4f\x70\x69\x67\x67\x79\x20\x38\x36" b"\x34\x32\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x03\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69" - b"\x72\x74\x75\x61\x6C\x20\x43\x68\x61\x6E\x6E\x65\x6C\x20\x31\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x16\x00\x00\x00\x00\x00\x0A" - b"\x00\x04\x00\x00\x00\x00\x00\x00\x07\x00\x00\xA0\x01\x00\x01\x00\x00\x00\x00\x00" - b"\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01\x01\x00\x00\x00\x00\x00\x00" - b"\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00\x00\x00\x00\x10\x00\x1E" + b"\x72\x74\x75\x61\x6c\x20\x43\x68\x61\x6e\x6e\x65\x6c\x20\x31\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x16\x00\x00\x00\x00\x00\x0a" + b"\x00\x04\x00\x00\x00\x00\x00\x00\x07\x00\x00\xa0\x01\x00\x01\x00\x00\x00\x00\x00" + b"\x00\x01\x00\x00\x00\x20\xa1\x07\x00\x01\x04\x03\x01\x01\x00\x00\x00\x00\x00\x00" + b"\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00\x00\x00\x00\x00\x10\x00\x1e" b"\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6C" - b"\x20\x43\x41\x4E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6c" + b"\x20\x43\x41\x4e\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x02\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6C\x20\x43\x68\x61\x6E\x6E\x65\x6C" + b"\x00\x00\x00\x00\x00\x56\x69\x72\x74\x75\x61\x6c\x20\x43\x68\x61\x6e\x6e\x65\x6c" b"\x20\x32\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01" - b"\x16\x00\x00\x00\x00\x00\x0B\x00\x08\x00\x00\x00\x00\x00\x00\x07\x00\x00\xA0\x01" - b"\x00\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xA1\x07\x00\x01\x04\x03\x01" + b"\x16\x00\x00\x00\x00\x00\x0b\x00\x08\x00\x00\x00\x00\x00\x00\x07\x00\x00\xa0\x01" + b"\x00\x01\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x20\xa1\x07\x00\x01\x04\x03\x01" b"\x01\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x68\x89\x09\x00\x00\x00\x00" - b"\x00\x00\x00\x00\x10\x00\x1E\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x00\x00\x00\x00\x10\x00\x1e\x14\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00" - b"\x56\x69\x72\x74\x75\x61\x6C\x20\x43\x41\x4E\x00\x00\x00\x00\x00\x00\x00\x00\x00" + b"\x56\x69\x72\x74\x75\x61\x6c\x20\x43\x41\x4e\x00\x00\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00" b"\x00\x00\x00\x02" + 11832 * b"\x00" ) diff --git a/test/test_viewer.py b/test/test_viewer.py index 3bd32b25a..e71d06dc8 100644 --- a/test/test_viewer.py +++ b/test/test_viewer.py @@ -397,19 +397,19 @@ def test_pack_unpack(self): ) def test_parse_args(self): - parsed_args, _, _ = _parse_viewer_args(["-b", "250000"]) + parsed_args, _ = _parse_viewer_args(["-b", "250000"]) self.assertEqual(parsed_args.bitrate, 250000) - parsed_args, _, _ = _parse_viewer_args(["--bitrate", "500000"]) + parsed_args, _ = _parse_viewer_args(["--bitrate", "500000"]) self.assertEqual(parsed_args.bitrate, 500000) - parsed_args, _, _ = _parse_viewer_args(["-c", "can0"]) + parsed_args, _ = _parse_viewer_args(["-c", "can0"]) self.assertEqual(parsed_args.channel, "can0") - parsed_args, _, _ = _parse_viewer_args(["--channel", "PCAN_USBBUS1"]) + parsed_args, _ = _parse_viewer_args(["--channel", "PCAN_USBBUS1"]) self.assertEqual(parsed_args.channel, "PCAN_USBBUS1") - parsed_args, data_structs, _ = _parse_viewer_args(["-d", "100:=6.0; platform_python_implementation=="CPython" and python_version<"3.13" - pywin32>=305; platform_system=="Windows" and platform_python_implementation=="CPython" and python_version<"3.14" - -commands = - pytest {posargs} - -extras = - canalystii - -[testenv:gh] passenv = CI GITHUB_* COVERALLS_* PY_COLORS TEST_SOCKETCAN +dependency_groups = + test +extras = + canalystii + mf4 + multicast + pywin32 + serial + viewer +commands = + pytest {posargs} -[testenv:docs] -description = Build and test the documentation -basepython = py312 -deps = - -r doc/doc-requirements.txt - gs-usb +[testenv:py314] +extras = + canalystii + serial + pywin32 +[testenv:{py313t,py314t,pypy310,pypy311}] extras = canalystii + serial +[testenv:docs] +description = Build and test the documentation +basepython = py313 +dependency_groups = + docs +extras = + canalystii + gs-usb commands = python -m sphinx -b html -Wan --keep-going doc build python -m sphinx -b doctest -W --keep-going doc build +[testenv:lint] +description = Run linters +basepython = py313 +dependency_groups = + lint +extras = + viewer +commands = + black --check . + ruff check can examples doc + pylint \ + can/**.py \ + can/io \ + doc/conf.py \ + examples/**.py \ + can/interfaces/socketcan + +[testenv:type] +description = Run type checker +basepython = py313 +dependency_groups = + lint +extras = +commands = + mypy --python-version 3.10 . + mypy --python-version 3.11 . + mypy --python-version 3.12 . + mypy --python-version 3.13 . + mypy --python-version 3.14 . [pytest] testpaths = test -addopts = -v --timeout=300 --cov=can --cov-config=tox.ini --cov-report=lcov --cov-report=term - +addopts = -v --timeout=300 --cov=can --cov-config=tox.ini --cov-report=lcov --cov-report=term --color=yes [coverage:run] # we could also use branch coverage