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- 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
- CANTYPE = {
- 'USBCAN-I': 3,
- 'USBCAN-II': 4,
- }
- NORMAL_MODE = 0
- LISTEN_MODE = 1
- SINGLE_FILTER = 0
- DOUBLE_FILTER = 1
- STATUS_OK = 1
- 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),
-
- ("AccMask", c_uint),
-
- ("Reserved", c_uint),
-
- ("Filter", c_ubyte),
-
- ("Timing0", c_ubyte),
-
- ("Timing1", c_ubyte),
-
- ("Mode", c_ubyte)
- ]
- class VCI_CAN_OBJ(ctypes.Structure):
- _fields_ = [("ID", c_uint),
-
- ("TimeStamp", c_uint),
-
- ("TimeFlag", c_ubyte),
-
- ("SendType", c_ubyte),
-
- ("RemoteFlag", c_ubyte),
-
- ("ExternFlag", c_ubyte),
-
- ("DataLen", c_ubyte),
- ("Data", c_ubyte * 8),
-
- ("Reserved", c_ubyte * 3)
- ]
- 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},
- }
- TPCANHandle = c_ushort
- TPCANStatus = int
- TPCANParameter = c_ubyte
- TPCANDevice = c_ubyte
- TPCANMessageType = c_ubyte
- TPCANType = c_ubyte
- TPCANMode = c_ubyte
- TPCANBaudrate = c_ushort
- PCAN_NONEBUS = TPCANHandle(0x00)
-
- PCAN_ISABUS1 = TPCANHandle(0x21)
- PCAN_ISABUS2 = TPCANHandle(0x22)
- PCAN_ISABUS3 = TPCANHandle(0x23)
- PCAN_ISABUS4 = TPCANHandle(0x24)
- PCAN_ISABUS5 = TPCANHandle(0x25)
- PCAN_ISABUS6 = TPCANHandle(0x26)
- PCAN_ISABUS7 = TPCANHandle(0x27)
- PCAN_ISABUS8 = TPCANHandle(0x28)
-
- PCAN_DNGBUS1 = TPCANHandle(0x31)
-
- PCAN_PCIBUS1 = TPCANHandle(0x41)
- PCAN_PCIBUS2 = TPCANHandle(0x42)
- PCAN_PCIBUS3 = TPCANHandle(0x43)
- PCAN_PCIBUS4 = TPCANHandle(0x44)
- PCAN_PCIBUS5 = TPCANHandle(0x45)
- PCAN_PCIBUS6 = TPCANHandle(0x46)
- PCAN_PCIBUS7 = TPCANHandle(0x47)
- PCAN_PCIBUS8 = TPCANHandle(0x48)
- PCAN_PCIBUS9 = TPCANHandle(0x409)
- PCAN_PCIBUS10 = TPCANHandle(0x40A)
- PCAN_PCIBUS11 = TPCANHandle(0x40B)
- PCAN_PCIBUS12 = TPCANHandle(0x40C)
- PCAN_PCIBUS13 = TPCANHandle(0x40D)
- PCAN_PCIBUS14 = TPCANHandle(0x40E)
- PCAN_PCIBUS15 = TPCANHandle(0x40F)
- PCAN_PCIBUS16 = TPCANHandle(0x410)
-
- PCAN_USBBUS1 = TPCANHandle(0x51)
- PCAN_USBBUS2 = TPCANHandle(0x52)
- PCAN_USBBUS3 = TPCANHandle(0x53)
- PCAN_USBBUS4 = TPCANHandle(0x54)
- PCAN_USBBUS5 = TPCANHandle(0x55)
- PCAN_USBBUS6 = TPCANHandle(0x56)
- PCAN_USBBUS7 = TPCANHandle(0x57)
- PCAN_USBBUS8 = TPCANHandle(0x58)
- PCAN_USBBUS9 = TPCANHandle(0x509)
- PCAN_USBBUS10 = TPCANHandle(0x50A)
- PCAN_USBBUS11 = TPCANHandle(0x50B)
- PCAN_USBBUS12 = TPCANHandle(0x50C)
- PCAN_USBBUS13 = TPCANHandle(0x50D)
- PCAN_USBBUS14 = TPCANHandle(0x50E)
- PCAN_USBBUS15 = TPCANHandle(0x50F)
- PCAN_USBBUS16 = TPCANHandle(0x510)
-
- PCAN_PCCBUS1 = TPCANHandle(0x61)
- PCAN_PCCBUS2 = TPCANHandle(0x62)
- PCAN_LANBUS1 = TPCANHandle(0x801)
- PCAN_LANBUS2 = TPCANHandle(0x802)
- PCAN_LANBUS3 = TPCANHandle(0x803)
- PCAN_LANBUS4 = TPCANHandle(0x804)
- PCAN_LANBUS5 = TPCANHandle(0x805)
- PCAN_LANBUS6 = TPCANHandle(0x806)
- PCAN_LANBUS7 = TPCANHandle(0x807)
- PCAN_LANBUS8 = TPCANHandle(0x808)
- PCAN_LANBUS9 = TPCANHandle(0x809)
- PCAN_LANBUS10 = TPCANHandle(0x80A)
- PCAN_LANBUS11 = TPCANHandle(0x80B)
- PCAN_LANBUS12 = TPCANHandle(0x80C)
- PCAN_LANBUS13 = TPCANHandle(0x80D)
- PCAN_LANBUS14 = TPCANHandle(0x80E)
- PCAN_LANBUS15 = TPCANHandle(0x80F)
- PCAN_LANBUS16 = TPCANHandle(0x810)
- PCAN_ERROR_OK = TPCANStatus(0x00000)
- PCAN_ERROR_XMTFULL = TPCANStatus(0x00001)
- PCAN_ERROR_OVERRUN = TPCANStatus(0x00002)
- PCAN_ERROR_BUSLIGHT = TPCANStatus(0x00004)
- PCAN_ERROR_BUSHEAVY = TPCANStatus(0x00008)
- PCAN_ERROR_BUSWARNING = TPCANStatus(PCAN_ERROR_BUSHEAVY)
- PCAN_ERROR_BUSPASSIVE = TPCANStatus(0x40000)
- PCAN_ERROR_BUSOFF = TPCANStatus(0x00010)
- PCAN_ERROR_ANYBUSERR = TPCANStatus(PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE)
- PCAN_ERROR_QRCVEMPTY = TPCANStatus(0x00020)
- PCAN_ERROR_QOVERRUN = TPCANStatus(0x00040)
- PCAN_ERROR_QXMTFULL = TPCANStatus(0x00080)
- PCAN_ERROR_REGTEST = TPCANStatus(0x00100)
- PCAN_ERROR_NODRIVER = TPCANStatus(0x00200)
- PCAN_ERROR_HWINUSE = TPCANStatus(0x00400)
- PCAN_ERROR_NETINUSE = TPCANStatus(0x00800)
- PCAN_ERROR_ILLHW = TPCANStatus(0x01400)
- PCAN_ERROR_ILLNET = TPCANStatus(0x01800)
- PCAN_ERROR_ILLCLIENT = TPCANStatus(0x01C00)
- PCAN_ERROR_ILLHANDLE = TPCANStatus(PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT)
- PCAN_ERROR_RESOURCE = TPCANStatus(0x02000)
- PCAN_ERROR_ILLPARAMTYPE = TPCANStatus(0x04000)
- PCAN_ERROR_ILLPARAMVAL = TPCANStatus(0x08000)
- PCAN_ERROR_UNKNOWN = TPCANStatus(0x10000)
- PCAN_ERROR_ILLDATA = TPCANStatus(0x20000)
- PCAN_ERROR_ILLMODE = TPCANStatus(0x80000)
- PCAN_ERROR_CAUTION = TPCANStatus(0x2000000)
- PCAN_ERROR_INITIALIZE = TPCANStatus(0x4000000)
- PCAN_ERROR_ILLOPERATION = TPCANStatus(0x8000000)
- PCAN_NONE = TPCANDevice(0x00)
- PCAN_PEAKCAN = TPCANDevice(0x01)
- PCAN_ISA = TPCANDevice(0x02)
- PCAN_DNG = TPCANDevice(0x03)
- PCAN_PCI = TPCANDevice(0x04)
- PCAN_USB = TPCANDevice(0x05)
- PCAN_PCC = TPCANDevice(0x06)
- PCAN_VIRTUAL = TPCANDevice(0x07)
- PCAN_LAN = TPCANDevice(0x08)
- PCAN_DEVICE_ID = TPCANParameter(0x01)
- PCAN_5VOLTS_POWER = TPCANParameter(0x02)
- PCAN_RECEIVE_EVENT = TPCANParameter(0x03)
- PCAN_MESSAGE_FILTER = TPCANParameter(0x04)
- PCAN_API_VERSION = TPCANParameter(0x05)
- PCAN_CHANNEL_VERSION = TPCANParameter(0x06)
- PCAN_BUSOFF_AUTORESET = TPCANParameter(0x07)
- PCAN_LISTEN_ONLY = TPCANParameter(0x08)
- PCAN_LOG_LOCATION = TPCANParameter(0x09)
- PCAN_LOG_STATUS = TPCANParameter(0x0A)
- PCAN_LOG_CONFIGURE = TPCANParameter(0x0B)
- PCAN_LOG_TEXT = TPCANParameter(0x0C)
- PCAN_CHANNEL_CONDITION = TPCANParameter(0x0D)
- PCAN_HARDWARE_NAME = TPCANParameter(0x0E)
- PCAN_RECEIVE_STATUS = TPCANParameter(0x0F)
- PCAN_CONTROLLER_NUMBER = TPCANParameter(0x10)
- PCAN_TRACE_LOCATION = TPCANParameter(0x11)
- PCAN_TRACE_STATUS = TPCANParameter(0x12)
- PCAN_TRACE_SIZE = TPCANParameter(0x13)
- PCAN_TRACE_CONFIGURE = TPCANParameter(0x14)
- PCAN_CHANNEL_IDENTIFYING = TPCANParameter(0x15)
- PCAN_CHANNEL_FEATURES = TPCANParameter(0x16)
- PCAN_BITRATE_ADAPTING = TPCANParameter(0x17)
- PCAN_BITRATE_INFO = TPCANParameter(0x18)
- PCAN_BITRATE_INFO_FD = TPCANParameter(0x19)
- PCAN_BUSSPEED_NOMINAL = TPCANParameter(0x1A)
- PCAN_BUSSPEED_DATA = TPCANParameter(0x1B)
- PCAN_IP_ADDRESS = TPCANParameter(0x1C)
- PCAN_LAN_SERVICE_STATUS = TPCANParameter(0x1D)
- PCAN_ALLOW_STATUS_FRAMES = TPCANParameter(0x1E)
- PCAN_ALLOW_RTR_FRAMES = TPCANParameter(0x1F)
- PCAN_ALLOW_ERROR_FRAMES = TPCANParameter(0x20)
- PCAN_INTERFRAME_DELAY = TPCANParameter(0x21)
- PCAN_ACCEPTANCE_FILTER_11BIT = TPCANParameter(0x22)
- PCAN_ACCEPTANCE_FILTER_29BIT = TPCANParameter(0x23)
- PCAN_IO_DIGITAL_CONFIGURATION = TPCANParameter(0x24)
- PCAN_IO_DIGITAL_VALUE = TPCANParameter(0x25)
- PCAN_IO_DIGITAL_SET = TPCANParameter(0x26)
- PCAN_IO_DIGITAL_CLEAR = TPCANParameter(0x27)
- PCAN_IO_ANALOG_VALUE = TPCANParameter(0x28)
- PCAN_FIRMWARE_VERSION = TPCANParameter(0x29)
- PCAN_ATTACHED_CHANNELS_COUNT = TPCANParameter(0x2A)
- PCAN_ATTACHED_CHANNELS = TPCANParameter(0x2B)
- PCAN_ALLOW_ECHO_FRAMES = TPCANParameter(0x2C)
- PCAN_DEVICE_PART_NUMBER = TPCANParameter(0x2D)
- PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID
- PCAN_PARAMETER_OFF = int(0x00)
- PCAN_PARAMETER_ON = int(0x01)
- PCAN_FILTER_CLOSE = int(0x00)
- PCAN_FILTER_OPEN = int(0x01)
- PCAN_FILTER_CUSTOM = int(0x02)
- PCAN_CHANNEL_UNAVAILABLE = int(0x00)
- PCAN_CHANNEL_AVAILABLE = int(0x01)
- PCAN_CHANNEL_OCCUPIED = int(0x02)
- PCAN_CHANNEL_PCANVIEW = PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED
-
- LOG_FUNCTION_DEFAULT = int(0x00)
- LOG_FUNCTION_ENTRY = int(0x01)
- LOG_FUNCTION_PARAMETERS = int(0x02)
- LOG_FUNCTION_LEAVE = int(0x04)
- LOG_FUNCTION_WRITE = int(0x08)
- LOG_FUNCTION_READ = int(0x10)
- LOG_FUNCTION_ALL = int(0xFFFF)
-
- TRACE_FILE_SINGLE = int(0x00)
- TRACE_FILE_SEGMENTED = int(0x01)
- TRACE_FILE_DATE = int(0x02)
- TRACE_FILE_TIME = int(0x04)
- TRACE_FILE_OVERWRITE = int(0x80)
- TRACE_FILE_DATA_LENGTH = int(0x100)
-
- FEATURE_FD_CAPABLE = int(0x01)
- FEATURE_DELAY_CAPABLE = int(0x02)
- FEATURE_IO_CAPABLE = int(0x04)
-
- SERVICE_STATUS_STOPPED = int(0x01)
- SERVICE_STATUS_RUNNING = int(0x04)
- MAX_LENGTH_HARDWARE_NAME = int(33)
- MAX_LENGTH_VERSION_STRING = int(256)
-
- PCAN_MESSAGE_STANDARD = TPCANMessageType(0x00)
- PCAN_MESSAGE_RTR = TPCANMessageType(0x01)
- PCAN_MESSAGE_EXTENDED = TPCANMessageType(0x02)
- PCAN_MESSAGE_FD = TPCANMessageType(0x04)
- PCAN_MESSAGE_BRS = TPCANMessageType(0x08)
- PCAN_MESSAGE_ESI = TPCANMessageType(0x10)
- PCAN_MESSAGE_ECHO = TPCANMessageType(0x20)
- PCAN_MESSAGE_ERRFRAME = TPCANMessageType(0x40)
- PCAN_MESSAGE_STATUS = TPCANMessageType(0x80)
- LOOKUP_DEVICE_TYPE = b"devicetype"
- LOOKUP_DEVICE_ID = b"deviceid"
- LOOKUP_CONTROLLER_NUMBER = b"controllernumber"
- LOOKUP_IP_ADDRESS = b"ipaddress"
- PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD
- PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED
- PCAN_BAUD_1M = TPCANBaudrate(0x0014)
- PCAN_BAUD_800K = TPCANBaudrate(0x0016)
- PCAN_BAUD_500K = TPCANBaudrate(0x001C)
- PCAN_BAUD_250K = TPCANBaudrate(0x011C)
- PCAN_BAUD_125K = TPCANBaudrate(0x031C)
- PCAN_BAUD_100K = TPCANBaudrate(0x432F)
- PCAN_BAUD_95K = TPCANBaudrate(0xC34E)
- PCAN_BAUD_83K = TPCANBaudrate(0x852B)
- PCAN_BAUD_50K = TPCANBaudrate(0x472F)
- PCAN_BAUD_47K = TPCANBaudrate(0x1414)
- PCAN_BAUD_33K = TPCANBaudrate(0x8B2F)
- PCAN_BAUD_20K = TPCANBaudrate(0x532F)
- PCAN_BAUD_10K = TPCANBaudrate(0x672F)
- PCAN_BAUD_5K = TPCANBaudrate(0x7F7F)
- PZLGCAN_ISA = TPCANType(0x01)
- PZLGCAN_ISA_SJA = TPCANType(0x09)
- PZLGCAN_ISA_PHYTEC = TPCANType(0x04)
- PZLGCAN_DNG = TPCANType(0x02)
- PZLGCAN_DNG_EPP = TPCANType(0x03)
- PZLGCAN_DNG_SJA = TPCANType(0x05)
- PZLGCAN_DNG_SJA_EPP = TPCANType(0x06)
-
- class TPCANMsg (ctypes.Structure):
- """
- Represents a PCAN message
- """
- _fields_ = [ ("ID", c_uint),
- ("MSGTYPE", TPCANMessageType),
- ("LEN", c_ubyte),
- ("DATA", c_ubyte * 8) ]
- 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),
- ("millis_overflow", c_ushort),
- ("micros", c_ushort) ]
- 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
-
- 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)
-
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