#!/usr/bin/env python # -*- encoding: utf-8 -*- import csv import os from ctypes.util import find_library from sys import platform import ctypes from ctypes import c_ubyte, c_uint, c_ushort, c_char from utils.qt import QDateTime from utils.resource import resource_path if platform == "win64": zlg_can_dll = resource_path("config\\ControlCAN.dll") ZLGCAN = ctypes.windll.LoadLibrary(zlg_can_dll) pcan_dll = resource_path("config\\PCANBasic.dll") PCAN = ctypes.windll.LoadLibrary(pcan_dll) elif platform == "win32": zlg_can_dll = resource_path("config\\ControlCAN.dll") ZLGCAN = ctypes.windll.LoadLibrary(zlg_can_dll) pcan_dll = resource_path("config\\PCANBasic.dll") PCAN = ctypes.windll.LoadLibrary(pcan_dll) elif platform == "linux": zlg_can_dll = resource_path("config/linux/libusbcan.so") ZLGCAN = ctypes.cdll.LoadLibrary(zlg_can_dll) else: ZLGCAN = ctypes.cdll.LoadLibrary(find_library("libPCBUSB.0.12.1.dylib")) pcan_dll = resource_path("config/libPCBUSB.0.12.1.dylib") PCAN = ctypes.cdll.LoadLibrary(pcan_dll) ubyte_array = c_ubyte * 8 ubyte_3array = c_ubyte * 3 # can type CANTYPE = { 'USBCAN-I': 3, 'USBCAN-II': 4, } # can mode NORMAL_MODE = 0 LISTEN_MODE = 1 # filter type SINGLE_FILTER = 0 DOUBLE_FILTER = 1 # status STATUS_OK = 1 # sendtype SEND_NORMAL = 0 SEND_SINGLE = 1 SELF_SEND_RECV = 2 SELF_SEND_RECV_SINGLE = 3 class VCI_INIT_CONFIG(ctypes.Structure): _fields_ = [("AccCode", c_uint), # 验收码。SJA1000的帧过滤验收码。对经过屏蔽码过滤为“有关位”进行匹配，全部匹配成功后，此帧可以被接收。 # 屏蔽码。SJA1000的帧过滤屏蔽码。对接收的CAN帧ID进行过滤，对应位为0的是“有关位”，对应位为1的是“无关位”。屏蔽码推荐设置为0xFFFFFFFF，即全部接收。 ("AccMask", c_uint), # 保留 ("Reserved", c_uint), # 滤波方式 ("Filter", c_ubyte), # 波特率定时器 0 ("Timing0", c_ubyte), # 波特率定时器 1 ("Timing1", c_ubyte), # 模式。=0表示正常模式（相当于正常节点），=1表示只听模式（只接收，不影响总线），=2表示自发自收模式（环回模式）。 ("Mode", c_ubyte) ] # VCI_CAN_OBJ结构体是CAN帧结构体，即1个结构体表示一个帧的数据结构。在发送函数VCI_Transmit和接收函数VCI_Receive中，被用来传送CAN信息帧。 class VCI_CAN_OBJ(ctypes.Structure): _fields_ = [("ID", c_uint), # 帧ID。32位变量，数据格式为靠右对齐 # 设备接收到某一帧的时间标识。时间标示从CAN卡上电开始计时，计时单位为0.1ms。 ("TimeStamp", c_uint), # 是否使用时间标识，为1时TimeStamp有效，TimeFlag和TimeStamp只在此帧为接收帧时有意义。 ("TimeFlag", c_ubyte), # 发送帧类型。=0时为正常发送（发送失败会自动重发，重发时间为4秒，4秒内没有发出则取消）；=1时为单次发送（只发送一次，发送失败不会自动重发，总线只产生一帧数据）；其它值无效。 ("SendType", c_ubyte), # 是否是远程帧。=0时为为数据帧，=1时为远程帧（数据段空）。 ("RemoteFlag", c_ubyte), # 是否是扩展帧。=0时为标准帧（11位ID），=1时为扩展帧（29位ID）。 ("ExternFlag", c_ubyte), # 数据长度 DLC (<=8)，即CAN帧Data有几个字节。约束了后面Data[8]中的有效字节 ("DataLen", c_ubyte), ("Data", c_ubyte * 8), # CAN帧的数据。由于CAN规定了最大是8个字节，所以这里预留了8个字节的空间，受DataLen约束。如DataLen定义为3，即Data[0]、Data[1]、Data[2]是有效的 ("Reserved", c_ubyte * 3) # 系统保留 ] class PVCI_ERR_INFO(ctypes.Structure): _fields_ = [("ErrorCode", c_uint), ("PassiveErrData", c_ubyte * 3), ("ArLostErrData", c_ubyte) ] baudRateConfig = { '5Kbps': {'time0': 0xBF, 'time1': 0xFF}, '10Kbps': {'time0': 0x31, 'time1': 0x1C}, '20Kbps': {'time0': 0x18, 'time1': 0x1C}, '40Kbps': {'time0': 0x87, 'time1': 0xFF}, '50Kbps': {'time0': 0x09, 'time1': 0x1C}, '80Kbps': {'time0': 0x83, 'time1': 0xFF}, '100Kbps': {'time0': 0x04, 'time1': 0x1C}, '125Kbps': {'time0': 0x03, 'time1': 0x1C}, '200Kbps': {'time0': 0x81, 'time1': 0xFA}, '250Kbps': {'time0': 0x01, 'time1': 0x1C}, '400Kbps': {'time0': 0x80, 'time1': 0xFA}, '500Kbps': {'time0': 0x00, 'time1': 0x1C}, '666Kbps': {'time0': 0x80, 'time1': 0xB6}, '800Kbps': {'time0': 0x00, 'time1': 0x16}, '1000Kbps': {'time0': 0x00, 'time1': 0x14}, } # PCAN #/////////////////////////////////////////////////////////// # Type definitions #/////////////////////////////////////////////////////////// TPCANHandle = c_ushort # Represents a PCAN hardware channel handle TPCANStatus = int # Represents a PCAN status/error code TPCANParameter = c_ubyte # Represents a PCAN parameter to be read or set TPCANDevice = c_ubyte # Represents a PCAN device TPCANMessageType = c_ubyte # Represents the type of a PCAN message TPCANType = c_ubyte # Represents the type of PCAN hardware to be initialized TPCANMode = c_ubyte # Represents a PCAN filter mode TPCANBaudrate = c_ushort # Represents a PCAN Baud rate register value #/////////////////////////////////////////////////////////// # Value definitions #/////////////////////////////////////////////////////////// # Currently defined and supported PCAN channels # PCAN_NONEBUS = TPCANHandle(0x00) # Undefined/default value for a PCAN bus PCAN_ISABUS1 = TPCANHandle(0x21) # PCAN-ISA interface, channel 1 PCAN_ISABUS2 = TPCANHandle(0x22) # PCAN-ISA interface, channel 2 PCAN_ISABUS3 = TPCANHandle(0x23) # PCAN-ISA interface, channel 3 PCAN_ISABUS4 = TPCANHandle(0x24) # PCAN-ISA interface, channel 4 PCAN_ISABUS5 = TPCANHandle(0x25) # PCAN-ISA interface, channel 5 PCAN_ISABUS6 = TPCANHandle(0x26) # PCAN-ISA interface, channel 6 PCAN_ISABUS7 = TPCANHandle(0x27) # PCAN-ISA interface, channel 7 PCAN_ISABUS8 = TPCANHandle(0x28) # PCAN-ISA interface, channel 8 PCAN_DNGBUS1 = TPCANHandle(0x31) # PCAN-Dongle/LPT interface, channel 1 PCAN_PCIBUS1 = TPCANHandle(0x41) # PCAN-PCI interface, channel 1 PCAN_PCIBUS2 = TPCANHandle(0x42) # PCAN-PCI interface, channel 2 PCAN_PCIBUS3 = TPCANHandle(0x43) # PCAN-PCI interface, channel 3 PCAN_PCIBUS4 = TPCANHandle(0x44) # PCAN-PCI interface, channel 4 PCAN_PCIBUS5 = TPCANHandle(0x45) # PCAN-PCI interface, channel 5 PCAN_PCIBUS6 = TPCANHandle(0x46) # PCAN-PCI interface, channel 6 PCAN_PCIBUS7 = TPCANHandle(0x47) # PCAN-PCI interface, channel 7 PCAN_PCIBUS8 = TPCANHandle(0x48) # PCAN-PCI interface, channel 8 PCAN_PCIBUS9 = TPCANHandle(0x409) # PCAN-PCI interface, channel 9 PCAN_PCIBUS10 = TPCANHandle(0x40A) # PCAN-PCI interface, channel 10 PCAN_PCIBUS11 = TPCANHandle(0x40B) # PCAN-PCI interface, channel 11 PCAN_PCIBUS12 = TPCANHandle(0x40C) # PCAN-PCI interface, channel 12 PCAN_PCIBUS13 = TPCANHandle(0x40D) # PCAN-PCI interface, channel 13 PCAN_PCIBUS14 = TPCANHandle(0x40E) # PCAN-PCI interface, channel 14 PCAN_PCIBUS15 = TPCANHandle(0x40F) # PCAN-PCI interface, channel 15 PCAN_PCIBUS16 = TPCANHandle(0x410) # PCAN-PCI interface, channel 16 PCAN_USBBUS1 = TPCANHandle(0x51) # PCAN-USB interface, channel 1 PCAN_USBBUS2 = TPCANHandle(0x52) # PCAN-USB interface, channel 2 PCAN_USBBUS3 = TPCANHandle(0x53) # PCAN-USB interface, channel 3 PCAN_USBBUS4 = TPCANHandle(0x54) # PCAN-USB interface, channel 4 PCAN_USBBUS5 = TPCANHandle(0x55) # PCAN-USB interface, channel 5 PCAN_USBBUS6 = TPCANHandle(0x56) # PCAN-USB interface, channel 6 PCAN_USBBUS7 = TPCANHandle(0x57) # PCAN-USB interface, channel 7 PCAN_USBBUS8 = TPCANHandle(0x58) # PCAN-USB interface, channel 8 PCAN_USBBUS9 = TPCANHandle(0x509) # PCAN-USB interface, channel 9 PCAN_USBBUS10 = TPCANHandle(0x50A) # PCAN-USB interface, channel 10 PCAN_USBBUS11 = TPCANHandle(0x50B) # PCAN-USB interface, channel 11 PCAN_USBBUS12 = TPCANHandle(0x50C) # PCAN-USB interface, channel 12 PCAN_USBBUS13 = TPCANHandle(0x50D) # PCAN-USB interface, channel 13 PCAN_USBBUS14 = TPCANHandle(0x50E) # PCAN-USB interface, channel 14 PCAN_USBBUS15 = TPCANHandle(0x50F) # PCAN-USB interface, channel 15 PCAN_USBBUS16 = TPCANHandle(0x510) # PCAN-USB interface, channel 16 PCAN_PCCBUS1 = TPCANHandle(0x61) # PCAN-PC Card interface, channel 1 PCAN_PCCBUS2 = TPCANHandle(0x62) # PCAN-PC Card interface, channel 2 PCAN_LANBUS1 = TPCANHandle(0x801) # PCAN-LAN interface, channel 1 PCAN_LANBUS2 = TPCANHandle(0x802) # PCAN-LAN interface, channel 2 PCAN_LANBUS3 = TPCANHandle(0x803) # PCAN-LAN interface, channel 3 PCAN_LANBUS4 = TPCANHandle(0x804) # PCAN-LAN interface, channel 4 PCAN_LANBUS5 = TPCANHandle(0x805) # PCAN-LAN interface, channel 5 PCAN_LANBUS6 = TPCANHandle(0x806) # PCAN-LAN interface, channel 6 PCAN_LANBUS7 = TPCANHandle(0x807) # PCAN-LAN interface, channel 7 PCAN_LANBUS8 = TPCANHandle(0x808) # PCAN-LAN interface, channel 8 PCAN_LANBUS9 = TPCANHandle(0x809) # PCAN-LAN interface, channel 9 PCAN_LANBUS10 = TPCANHandle(0x80A) # PCAN-LAN interface, channel 10 PCAN_LANBUS11 = TPCANHandle(0x80B) # PCAN-LAN interface, channel 11 PCAN_LANBUS12 = TPCANHandle(0x80C) # PCAN-LAN interface, channel 12 PCAN_LANBUS13 = TPCANHandle(0x80D) # PCAN-LAN interface, channel 13 PCAN_LANBUS14 = TPCANHandle(0x80E) # PCAN-LAN interface, channel 14 PCAN_LANBUS15 = TPCANHandle(0x80F) # PCAN-LAN interface, channel 15 PCAN_LANBUS16 = TPCANHandle(0x810) # PCAN-LAN interface, channel 16 # Represent the PCAN error and status codes # PCAN_ERROR_OK = TPCANStatus(0x00000) # No error PCAN_ERROR_XMTFULL = TPCANStatus(0x00001) # Transmit buffer in CAN controller is full PCAN_ERROR_OVERRUN = TPCANStatus(0x00002) # CAN controller was read too late PCAN_ERROR_BUSLIGHT = TPCANStatus(0x00004) # Bus error: an error counter reached the 'light' limit PCAN_ERROR_BUSHEAVY = TPCANStatus(0x00008) # Bus error: an error counter reached the 'heavy' limit PCAN_ERROR_BUSWARNING = TPCANStatus(PCAN_ERROR_BUSHEAVY) # Bus error: an error counter reached the 'warning' limit PCAN_ERROR_BUSPASSIVE = TPCANStatus(0x40000) # Bus error: the CAN controller is error passive PCAN_ERROR_BUSOFF = TPCANStatus(0x00010) # Bus error: the CAN controller is in bus-off state PCAN_ERROR_ANYBUSERR = TPCANStatus(PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE) # Mask for all bus errors PCAN_ERROR_QRCVEMPTY = TPCANStatus(0x00020) # Receive queue is empty PCAN_ERROR_QOVERRUN = TPCANStatus(0x00040) # Receive queue was read too late PCAN_ERROR_QXMTFULL = TPCANStatus(0x00080) # Transmit queue is full PCAN_ERROR_REGTEST = TPCANStatus(0x00100) # Test of the CAN controller hardware registers failed (no hardware found) PCAN_ERROR_NODRIVER = TPCANStatus(0x00200) # Driver not loaded PCAN_ERROR_HWINUSE = TPCANStatus(0x00400) # Hardware already in use by a Net PCAN_ERROR_NETINUSE = TPCANStatus(0x00800) # A Client is already connected to the Net PCAN_ERROR_ILLHW = TPCANStatus(0x01400) # Hardware handle is invalid PCAN_ERROR_ILLNET = TPCANStatus(0x01800) # Net handle is invalid PCAN_ERROR_ILLCLIENT = TPCANStatus(0x01C00) # Client handle is invalid PCAN_ERROR_ILLHANDLE = TPCANStatus(PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT) # Mask for all handle errors PCAN_ERROR_RESOURCE = TPCANStatus(0x02000) # Resource (FIFO, Client, timeout) cannot be created PCAN_ERROR_ILLPARAMTYPE = TPCANStatus(0x04000) # Invalid parameter PCAN_ERROR_ILLPARAMVAL = TPCANStatus(0x08000) # Invalid parameter value PCAN_ERROR_UNKNOWN = TPCANStatus(0x10000) # Unknown error PCAN_ERROR_ILLDATA = TPCANStatus(0x20000) # Invalid data, function, or action PCAN_ERROR_ILLMODE = TPCANStatus(0x80000) # Driver object state is wrong for the attempted operation PCAN_ERROR_CAUTION = TPCANStatus(0x2000000)# An operation was successfully carried out, however, irregularities were registered PCAN_ERROR_INITIALIZE = TPCANStatus(0x4000000)# Channel is not initialized [Value was changed from 0x40000 to 0x4000000] PCAN_ERROR_ILLOPERATION = TPCANStatus(0x8000000)# Invalid operation [Value was changed from 0x80000 to 0x8000000] # PCAN devices # PCAN_NONE = TPCANDevice(0x00) # Undefined, unknown or not selected PCAN device value PCAN_PEAKCAN = TPCANDevice(0x01) # PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API PCAN_ISA = TPCANDevice(0x02) # PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus PCAN_DNG = TPCANDevice(0x03) # PCAN-Dongle PCAN_PCI = TPCANDevice(0x04) # PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express PCAN_USB = TPCANDevice(0x05) # PCAN-USB and PCAN-USB Pro PCAN_PCC = TPCANDevice(0x06) # PCAN-PC Card PCAN_VIRTUAL = TPCANDevice(0x07) # PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API PCAN_LAN = TPCANDevice(0x08) # PCAN Gateway devices # PCAN parameters # PCAN_DEVICE_ID = TPCANParameter(0x01) # Device identifier parameter PCAN_5VOLTS_POWER = TPCANParameter(0x02) # 5-Volt power parameter PCAN_RECEIVE_EVENT = TPCANParameter(0x03) # PCAN receive event handler parameter PCAN_MESSAGE_FILTER = TPCANParameter(0x04) # PCAN message filter parameter PCAN_API_VERSION = TPCANParameter(0x05) # PCAN-Basic API version parameter PCAN_CHANNEL_VERSION = TPCANParameter(0x06) # PCAN device channel version parameter PCAN_BUSOFF_AUTORESET = TPCANParameter(0x07) # PCAN Reset-On-Busoff parameter PCAN_LISTEN_ONLY = TPCANParameter(0x08) # PCAN Listen-Only parameter PCAN_LOG_LOCATION = TPCANParameter(0x09) # Directory path for log files PCAN_LOG_STATUS = TPCANParameter(0x0A) # Debug-Log activation status PCAN_LOG_CONFIGURE = TPCANParameter(0x0B) # Configuration of the debugged information (LOG_FUNCTION_***) PCAN_LOG_TEXT = TPCANParameter(0x0C) # Custom insertion of text into the log file PCAN_CHANNEL_CONDITION = TPCANParameter(0x0D) # Availability status of a PCAN-Channel PCAN_HARDWARE_NAME = TPCANParameter(0x0E) # PCAN hardware name parameter PCAN_RECEIVE_STATUS = TPCANParameter(0x0F) # Message reception status of a PCAN-Channel PCAN_CONTROLLER_NUMBER = TPCANParameter(0x10) # CAN-Controller number of a PCAN-Channel PCAN_TRACE_LOCATION = TPCANParameter(0x11) # Directory path for PCAN trace files PCAN_TRACE_STATUS = TPCANParameter(0x12) # CAN tracing activation status PCAN_TRACE_SIZE = TPCANParameter(0x13) # Configuration of the maximum file size of a CAN trace PCAN_TRACE_CONFIGURE = TPCANParameter(0x14) # Configuration of the trace file storing mode (TRACE_FILE_***) PCAN_CHANNEL_IDENTIFYING = TPCANParameter(0x15) # Physical identification of a USB based PCAN-Channel by blinking its associated LED PCAN_CHANNEL_FEATURES = TPCANParameter(0x16) # Capabilities of a PCAN device (FEATURE_***) PCAN_BITRATE_ADAPTING = TPCANParameter(0x17) # Using of an existing bit rate (PCAN-View connected to a channel) PCAN_BITRATE_INFO = TPCANParameter(0x18) # Configured bit rate as Btr0Btr1 value PCAN_BITRATE_INFO_FD = TPCANParameter(0x19) # Configured bit rate as TPCANBitrateFD string PCAN_BUSSPEED_NOMINAL = TPCANParameter(0x1A) # Configured nominal CAN Bus speed as Bits per seconds PCAN_BUSSPEED_DATA = TPCANParameter(0x1B) # Configured CAN data speed as Bits per seconds PCAN_IP_ADDRESS = TPCANParameter(0x1C) # Remote address of a LAN channel as string in IPv4 format PCAN_LAN_SERVICE_STATUS = TPCANParameter(0x1D) # Status of the Virtual PCAN-Gateway Service PCAN_ALLOW_STATUS_FRAMES = TPCANParameter(0x1E) # Status messages reception status within a PCAN-Channel PCAN_ALLOW_RTR_FRAMES = TPCANParameter(0x1F) # RTR messages reception status within a PCAN-Channel PCAN_ALLOW_ERROR_FRAMES = TPCANParameter(0x20) # Error messages reception status within a PCAN-Channel PCAN_INTERFRAME_DELAY = TPCANParameter(0x21) # Delay, in microseconds, between sending frames PCAN_ACCEPTANCE_FILTER_11BIT = TPCANParameter(0x22) # Filter over code and mask patterns for 11-Bit messages PCAN_ACCEPTANCE_FILTER_29BIT = TPCANParameter(0x23) # Filter over code and mask patterns for 29-Bit messages PCAN_IO_DIGITAL_CONFIGURATION = TPCANParameter(0x24) # Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive PCAN_IO_DIGITAL_VALUE = TPCANParameter(0x25) # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip PCAN_IO_DIGITAL_SET = TPCANParameter(0x26) # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High PCAN_IO_DIGITAL_CLEAR = TPCANParameter(0x27) # Clear multiple digital I/O pins to 0 PCAN_IO_ANALOG_VALUE = TPCANParameter(0x28) # Get value of a single analog input pin PCAN_FIRMWARE_VERSION = TPCANParameter(0x29) # Get the version of the firmware used by the device associated with a PCAN-Channel PCAN_ATTACHED_CHANNELS_COUNT = TPCANParameter(0x2A) # Get the amount of PCAN channels attached to a system PCAN_ATTACHED_CHANNELS = TPCANParameter(0x2B) # Get information about PCAN channels attached to a system PCAN_ALLOW_ECHO_FRAMES = TPCANParameter(0x2C) # Echo messages reception status within a PCAN-Channel PCAN_DEVICE_PART_NUMBER = TPCANParameter(0x2D) # Get the part number associated to a device # DEPRECATED parameters # PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID # DEPRECATED. Use PCAN_DEVICE_ID instead # PCAN parameter values # PCAN_PARAMETER_OFF = int(0x00) # The PCAN parameter is not set (inactive) PCAN_PARAMETER_ON = int(0x01) # The PCAN parameter is set (active) PCAN_FILTER_CLOSE = int(0x00) # The PCAN filter is closed. No messages will be received PCAN_FILTER_OPEN = int(0x01) # The PCAN filter is fully opened. All messages will be received PCAN_FILTER_CUSTOM = int(0x02) # The PCAN filter is custom configured. Only registered messages will be received PCAN_CHANNEL_UNAVAILABLE = int(0x00) # The PCAN-Channel handle is illegal, or its associated hardware is not available PCAN_CHANNEL_AVAILABLE = int(0x01) # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in) PCAN_CHANNEL_OCCUPIED = int(0x02) # The PCAN-Channel handle is valid, and is already being used PCAN_CHANNEL_PCANVIEW = PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED # The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect LOG_FUNCTION_DEFAULT = int(0x00) # Logs system exceptions / errors LOG_FUNCTION_ENTRY = int(0x01) # Logs the entries to the PCAN-Basic API functions LOG_FUNCTION_PARAMETERS = int(0x02) # Logs the parameters passed to the PCAN-Basic API functions LOG_FUNCTION_LEAVE = int(0x04) # Logs the exits from the PCAN-Basic API functions LOG_FUNCTION_WRITE = int(0x08) # Logs the CAN messages passed to the CAN_Write function LOG_FUNCTION_READ = int(0x10) # Logs the CAN messages received within the CAN_Read function LOG_FUNCTION_ALL = int(0xFFFF) # Logs all possible information within the PCAN-Basic API functions TRACE_FILE_SINGLE = int(0x00) # A single file is written until it size reaches PAN_TRACE_SIZE TRACE_FILE_SEGMENTED = int(0x01) # Traced data is distributed in several files with size PAN_TRACE_SIZE TRACE_FILE_DATE = int(0x02) # Includes the date into the name of the trace file TRACE_FILE_TIME = int(0x04) # Includes the start time into the name of the trace file TRACE_FILE_OVERWRITE = int(0x80) # Causes the overwriting of available traces (same name) TRACE_FILE_DATA_LENGTH = int(0x100) # Causes using the data length column ('l') instead of the DLC column ('L') in the trace file FEATURE_FD_CAPABLE = int(0x01) # Device supports flexible data-rate (CAN-FD) FEATURE_DELAY_CAPABLE = int(0x02) # Device supports a delay between sending frames (FPGA based USB devices) FEATURE_IO_CAPABLE = int(0x04) # Device supports I/O functionality for electronic circuits (USB-Chip devices) SERVICE_STATUS_STOPPED = int(0x01) # The service is not running SERVICE_STATUS_RUNNING = int(0x04) # The service is running # Other constants # MAX_LENGTH_HARDWARE_NAME = int(33) # Maximum length of the name of a device: 32 characters + terminator MAX_LENGTH_VERSION_STRING = int(256) # Maximum length of a version string: 255 characters + terminator # PCAN message types # PCAN_MESSAGE_STANDARD = TPCANMessageType(0x00) # The PCAN message is a CAN Standard Frame (11-bit identifier) PCAN_MESSAGE_RTR = TPCANMessageType(0x01) # The PCAN message is a CAN Remote-Transfer-Request Frame PCAN_MESSAGE_EXTENDED = TPCANMessageType(0x02) # The PCAN message is a CAN Extended Frame (29-bit identifier) PCAN_MESSAGE_FD = TPCANMessageType(0x04) # The PCAN message represents a FD frame in terms of CiA Specs PCAN_MESSAGE_BRS = TPCANMessageType(0x08) # The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate) PCAN_MESSAGE_ESI = TPCANMessageType(0x10) # The PCAN message represents a FD error state indicator(CAN FD transmitter was error active) PCAN_MESSAGE_ECHO = TPCANMessageType(0x20) # The PCAN message represents an echo CAN Frame PCAN_MESSAGE_ERRFRAME = TPCANMessageType(0x40) # The PCAN message represents an error frame PCAN_MESSAGE_STATUS = TPCANMessageType(0x80) # The PCAN message represents a PCAN status message # LookUp Parameters # LOOKUP_DEVICE_TYPE = b"devicetype" # Lookup channel by Device type (see PCAN devices e.g. PCAN_USB) LOOKUP_DEVICE_ID = b"deviceid" # Lookup channel by device id LOOKUP_CONTROLLER_NUMBER = b"controllernumber" # Lookup channel by CAN controller 0-based index LOOKUP_IP_ADDRESS = b"ipaddress" # Lookup channel by IP address (LAN channels only) # Frame Type / Initialization Mode # PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED # Baud rate codes = BTR0/BTR1 register values for the CAN controller. # You can define your own Baud rate with the BTROBTR1 register. # Take a look at www.peak-system.com for our free software "BAUDTOOL" # to calculate the BTROBTR1 register for every bit rate and sample point. # PCAN_BAUD_1M = TPCANBaudrate(0x0014) # 1 MBit/s PCAN_BAUD_800K = TPCANBaudrate(0x0016) # 800 kBit/s PCAN_BAUD_500K = TPCANBaudrate(0x001C) # 500 kBit/s PCAN_BAUD_250K = TPCANBaudrate(0x011C) # 250 kBit/s PCAN_BAUD_125K = TPCANBaudrate(0x031C) # 125 kBit/s PCAN_BAUD_100K = TPCANBaudrate(0x432F) # 100 kBit/s PCAN_BAUD_95K = TPCANBaudrate(0xC34E) # 95,238 kBit/s PCAN_BAUD_83K = TPCANBaudrate(0x852B) # 83,333 kBit/s PCAN_BAUD_50K = TPCANBaudrate(0x472F) # 50 kBit/s PCAN_BAUD_47K = TPCANBaudrate(0x1414) # 47,619 kBit/s PCAN_BAUD_33K = TPCANBaudrate(0x8B2F) # 33,333 kBit/s PCAN_BAUD_20K = TPCANBaudrate(0x532F) # 20 kBit/s PCAN_BAUD_10K = TPCANBaudrate(0x672F) # 10 kBit/s PCAN_BAUD_5K = TPCANBaudrate(0x7F7F) # 5 kBit/s # Supported Non-PnP Hardware types # PZLGCAN_ISA = TPCANType(0x01) # PCAN-ISA 82C200 PZLGCAN_ISA_SJA = TPCANType(0x09) # PCAN-ISA SJA1000 PZLGCAN_ISA_PHYTEC = TPCANType(0x04) # PHYTEC ISA PZLGCAN_DNG = TPCANType(0x02) # PCAN-Dongle 82C200 PZLGCAN_DNG_EPP = TPCANType(0x03) # PCAN-Dongle EPP 82C200 PZLGCAN_DNG_SJA = TPCANType(0x05) # PCAN-Dongle SJA1000 PZLGCAN_DNG_SJA_EPP = TPCANType(0x06) # PCAN-Dongle EPP SJA1000 # Represents a PCAN message # class TPCANMsg (ctypes.Structure): """ Represents a PCAN message """ _fields_ = [ ("ID", c_uint), # 11/29-bit message identifier ("MSGTYPE", TPCANMessageType), # Type of the message ("LEN", c_ubyte), # Data Length Code of the message (0..8) ("DATA", c_ubyte * 8) ] # Data of the message (DATA[0]..DATA[7]) # Represents a timestamp of a received PCAN message # Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow # class TPCANTimestamp (ctypes.Structure): """ Represents a timestamp of a received PCAN message Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow """ _fields_ = [ ("millis", c_uint), # Base-value: milliseconds: 0.. 2^32-1 ("millis_overflow", c_ushort), # Roll-arounds of millis ("micros", c_ushort) ] # Microseconds: 0..999 class MessageDeal: def __init__(self): self.can_connect = 0 self.index = 0 self.can_file = "" def set_can_board(self, can_type, canIndex, canChannel, canBaudrate): if can_type == 0: self.canType = CANTYPE['USBCAN-II'] self.can_connect = 0 else: self.canType = PCAN_USBBUS1 self.can_connect = 1 self.canIndex = canIndex self.canChannel = canChannel self.canBaudrate = canBaudrate def open_device(self): if self.can_connect: if self.canBaudrate == "125Kbps": ret = PCAN.CAN_Initialize(self.canType, PCAN_BAUD_125K ,0,0,0) elif self.canBaudrate == "250Kbps": ret = PCAN.CAN_Initialize(self.canType, PCAN_BAUD_250K ,0,0,0) else: ret = PCAN.CAN_Initialize(self.canType, PCAN_BAUD_500K ,0,0,0) if TPCANStatus(ret) != PCAN_ERROR_OK: return False time_str = "/CAN_RawDataFile_" + QDateTime.currentDateTime().toString("yyyy_MM_dd_HH_mm_ss") + '.csv' time_str_path = resource_path("DataDirectory") if not os.path.exists(time_str_path): os.mkdir(time_str_path) self.can_file = time_str_path + time_str # self.can_file = resource_path(time_str) return True else: if (STATUS_OK != ZLGCAN.VCI_OpenDevice(self.canType, self.canChannel, self.canChannel)): return False _vci_initconfig = VCI_INIT_CONFIG(0x00000000, 0xFFFFFFFF, 0, DOUBLE_FILTER, baudRateConfig[self.canBaudrate]['time0'], baudRateConfig[self.canBaudrate]['time1'], NORMAL_MODE) if (STATUS_OK != ZLGCAN.VCI_InitCAN(self.canType, self.canIndex, self.canChannel, ctypes.byref(_vci_initconfig))): return False if (STATUS_OK != ZLGCAN.VCI_StartCAN(self.canType, self.canIndex, self.canChannel)): return False time_str = "/CAN_RawDataFile_" + QDateTime.currentDateTime().toString("yyyy_MM_dd_HH_mm_ss") + '.csv' time_str_path = resource_path("DataDirectory") if not os.path.exists(time_str_path): os.mkdir(time_str_path) self.can_file = time_str_path + time_str return True def get_undeal_number(self): if self.can_connect: return 1 else: return ZLGCAN.VCI_GetReceiveNum(self.canType, self.canIndex, self.canChannel) def receive(self, number=1): if self.can_connect: msg = TPCANMsg() timestamp = TPCANTimestamp() res = PCAN.CAN_Read(self.canType,ctypes.byref(msg),ctypes.byref(timestamp)) if (res != PCAN_ERROR_QRCVEMPTY): self.format_msg_data(self.index, msg.ID, msg.LEN, msg.DATA, 1) self.index += 1 return 1, msg.ID, msg.DATA else: return 0, 0, 0 else: objs = (VCI_CAN_OBJ * number)() ret = ZLGCAN.VCI_Receive(self.canType, self.canIndex, self.canChannel, ctypes.byref(objs), number, 10) if (ret > 0): for i in range(0, ret): self.format_msg_data(self.index, objs[i].ID, objs[i].DataLen, objs[i].Data, 1) self.index += 1 return 1, objs[i].ID, objs[i].Data else: return 0, 0, 0 def send(self, ID, data, data_len=8): if self.can_connect: msg = TPCANMsg() msg.ID = ID msg.LEN = data_len if (ID > 0x7FF): msg.MSGTYPE = PCAN_MESSAGE_EXTENDED else: msg.MSGTYPE = PCAN_MESSAGE_STANDARD if len(data) < 8: data += (8 - len(data)) * [0] msg.DATA = (c_ubyte * 8)(data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]) send_status = PCAN.CAN_Write(self.canType,ctypes.byref(msg)) if (TPCANStatus(send_status) != PCAN_ERROR_OK): return False else: self.format_msg_data(self.index, msg.ID, msg.LEN, msg.DATA, 0) self.index += 1 return True else: vci_can_obj = VCI_CAN_OBJ() vci_can_obj.ID = ID vci_can_obj.DataLen = data_len vci_can_obj.SendType = SEND_NORMAL if (ID > 0x7FF): vci_can_obj.ExternFlag = 1 else: vci_can_obj.ExternFlag = 0 vci_can_obj.RemoteFlag = 0 if len(data) < 8: data += (8 - len(data)) * [0] vci_can_obj.Data = (c_ubyte * 8)(data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]) ret = ZLGCAN.VCI_Transmit(self.canType, self.canIndex, self.canChannel, ctypes.byref(vci_can_obj), 1) if ret != STATUS_OK: return False else: self.format_msg_data(self.index, vci_can_obj.ID, vci_can_obj.DataLen, vci_can_obj.Data, 0) self.index += 1 return True def read_err_info(self): errInfo = PVCI_ERR_INFO(0, ubyte_3array(0, 0, 0), 0) ZLGCAN.VCI_ReadErrInfo(self.canType, self.canIndex, self.canChannel, ctypes.byref(errInfo)) def close_can(self): if self.can_connect: PCAN.CAN_Uninitialize(self.canType) else: ZLGCAN.VCI_ClearBuffer(self.canType, self.canIndex, self.canChannel) ZLGCAN.VCI_CloseDevice(self.canType, self.canIndex) def format_msg_data(self, index, id, len, can_data, received): data = [] can_rec_time = QDateTime.currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz") data.append('{0:0>7}'.format(index)) data.append(can_rec_time) data.append('接收' if received else '发送') data.append(str.upper('0x' + '{:0>8x}'.format(id)).replace('X', 'x')) data.append(len) data.append(' '.join(['{:0>2x}'.format(a) for a in list(can_data)])) if os.path.exists(self.can_file): with open(self.can_file, 'a') as csvfile: writer = csv.writer(csvfile, dialect='excel', lineterminator='\n') writer.writerow(data) else: time_str = "/CAN_RawDataFile_" + QDateTime.currentDateTime().toString("yyyy_MM_dd_HH_mm_ss") + '.csv' time_str_path = resource_path("DataDirectory") if not os.path.exists(time_str_path): os.mkdir(time_str_path) self.can_file = time_str_path + time_str with open(self.can_file, 'w') as csvfile: writer = csv.writer(csvfile, dialect='excel', lineterminator='\n') header = ["序号", "时间戳", "收/发", "CAN ID", "CAN LEN", "CAN DATA"] writer.writerow(header) writer.writerow(data)