pcan

python-can库的注意事项

python can 库 3.3.4 版本可以正常使用pcan，但是4.2.0会有问题，经过排查发现是软件bug。

bug解决方案如下:

源代码

改为如下:

if uptime.boottime() is None:
    boottimeEpoch = 0
else:
    boottimeEpoch = (datetime.now()-datetime(1970, 1, 1)).total_seconds()

脚本收发示例

import can
can0 = can.Bus(bustype='pcan', channel='PCAN_USBBUS1', bitrate=500000)
# msg = can.Message(arbitration_id=0x123,data=[0, 25, 0, 1, 3, 1, 4, 1])
can0.flash(True)
msg=can0.recv()
can0.flash(False)
try:
    can0.send(msg)
    print("Message sent on {}".format(can0.channel_info))
except can.CanError:
    print("Message NOT sent")

灯的控制

can0.flash(True)
#亮红灯

False
#亮绿灯

log文件的写入

import can
import time
can0 = can.Bus(bustype='pcan', channel='PCAN_USBBUS1', bitrate=500000)
msg = can.Message(arbitration_id=0x123,data=[0, 25, 0, 1, 3, 1, 4, 1])
logger = can.Logger('bus_log.asc')
for i in range(1000):
    try:
        can0.send(msg)
        msg.is_rx=False
        logger.on_message_received(msg)
        time.sleep(0.001)
    except can.CanError:
        print("Message NOT sent")
can0.shutdown()
logger.stop()

消息打印示例

import can
from can import Notifier, SizedRotatingLogger
import time, datetime
can0 = can.Bus(bustype="pcan", channel="PCAN_USBBUS1", bitrate=500000)
msg = can.Message(arbitration_id=0x123, data=[0, 25, 0, 1, 3, 1, 4, 1])
for i in range(1000):
    try:
        can0.send(msg)
        msg.is_rx = False
        print(datetime.datetime.now().strftime("%H:%M:%S.%f")[:-3], end="\t")
        print("RX\t", end="\t")
        print("id:%#x" % msg.arbitration_id, end="\t")
        print("data:", end="")
        for i in msg.data:
            print("%#.2x" % i, end=" ")
        print("")
        time.sleep(0.001)
    except can.CanError:
        print("Message NOT sent")
can0.shutdown()

logging文件示例

import can
from can import Notifier, SizedRotatingLogger
import time, datetime
import logging
logging.basicConfig(level=logging.INFO,
                format='%(message)s',
                datefmt='%S',
                filename='can.log',
                filemode='w')
can0 = can.Bus(bustype="pcan", channel="PCAN_USBBUS1", bitrate=500000)
msg = can.Message(arbitration_id=0x123, data=[0, 25, 0, 1, 3, 1, 4, 1])
for i in range(1000):
    try:
        can0.send(msg)
        msg.is_rx = False
        logMsg=''
        logMsg+=datetime.datetime.now().strftime("%H:%M:%S.%f")[:-3]+"\t"
        logMsg+= "TX\t"
        logMsg+= "id:%#x" % msg.arbitration_id +"\t"
        logMsg+= "data:"
        for i in msg.data:
            logMsg+= "%#.2x" % i +" "
        logging.info(logMsg)
        time.sleep(0.001)
    except can.CanError:
        logging.debug("Message NOT sent")
can0.shutdown()

过滤器设置示例

can0.set_filters([{"can_id": 0x582, "can_mask": 0x582, "extended": False}])